CN105217102B - The method of the small obbbin recrater of robot and small obbbin automatic boxing - Google Patents
The method of the small obbbin recrater of robot and small obbbin automatic boxing Download PDFInfo
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- CN105217102B CN105217102B CN201510671847.7A CN201510671847A CN105217102B CN 105217102 B CN105217102 B CN 105217102B CN 201510671847 A CN201510671847 A CN 201510671847A CN 105217102 B CN105217102 B CN 105217102B
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- obbbin
- small
- conveying device
- carton
- pickup
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- 238000000034 method Methods 0.000 title claims description 7
- 238000003860 storage Methods 0.000 claims abstract description 42
- 238000009826 distribution Methods 0.000 claims abstract description 8
- 239000000463 material Substances 0.000 claims description 26
- 238000001514 detection method Methods 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 13
- 229910001220 stainless steel Inorganic materials 0.000 claims description 12
- 239000010935 stainless steel Substances 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 6
- 238000012384 transportation and delivery Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 2
- 230000007423 decrease Effects 0.000 claims 2
- 238000005247 gettering Methods 0.000 claims 1
- 239000000203 mixture Substances 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000011232 storage material Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
- B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
- B65B65/003—Packaging lines, e.g. general layout
- B65B65/006—Multiple parallel packaging lines
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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
-
- 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
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
-
- 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
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
Abstract
The small obbbin recrater of robot includes some frames, control unit, storing conveying device, pickup conveying device, storage tank conveying device, carton conveying device, cross module, small obbbin grabbing device and distribution box.Storing conveying device and pickup conveying device are responsible for transporting small obbbin, and storage tank conveying device and carton conveying device are responsible for transporting carton, and cross module moves back and forth up and down is put into small obbbin in carton.The beneficial effects of the present invention are：Utilize full-automatic small obbbin recrater of the present invention, it is possible to achieve the small obbbin vanning of mechanization, there is efficiency high, the characteristics of cost is low, in addition, recrater of the present invention have it is simple in construction, it is easy to manufacture, it is easy to maintenance the characteristics of.
Description
Technical field
The invention belongs to mechanical device field, the more particularly to small obbbin recrater of robot and its method.
Background technology
After coil paper or small obbbin are produced by manufacturer at present, mainly manually cased, which has cost
High, the defects of efficiency is low, quality is unstable.
The content of the invention
The purpose of the present invention is in view of the shortcomings of the prior art, to propose the small obbbin recrater of robot, and the recrater is answered
With so that small obbbin can be automated assembly in carton by mechanical arm, and extensive application not only reduces cost of labor, and has
It is efficient high, case steady quality the characteristics of.
The small obbbin recrater of robot of the present invention includes some frames, control unit, storing conveying device, pickup
Conveying device, storage tank conveying device, carton conveying device, cross module, small obbbin grabbing device and distribution box；Wherein,
The storing conveying device, pickup conveying device, storage tank conveying device, be respectively arranged with carton conveying device with
Matching frame；The both ends of the storing conveying device and pickup conveying device are joined together to form small obbbin and transport dress
Put, the horizontal plane of the storing conveying device flushes in the horizontal plane of pickup conveying device；The storage tank conveying device and carton
The both ends of conveying device are joined together to form carton conveyer, and the horizontal plane of storage tank conveying device flushes in carton conveying dress
The horizontal plane put；The shallow bid paper transferrer and carton conveyer formation material supply line placed side by side；
The storing conveying device is provided with small obbbin close to the top of pickup conveying device and transmits control panel, the shallow bid
Paper transmits the conveying and stopping that control panel is used for small obbbin；The storage tank conveying device is installed close to the top of carton conveying device
There is carton to transmit control panel, the carton transmits the conveying and stopping that control panel is used to control carton；The small obbbin transmission control
Making sheet and carton transmit control panel and pass through control of the cylinder realization to small obbbin or carton；
The large span frame being arranged above across both of the pickup conveying device and carton conveying device；
The cross module is fixedly mounted on by installing plate on the crossbeam of large span frame；The distribution box is fixedly mounted
In large span shell outside；
Small obbbin grabbing device is provided with by connecting rod immediately below the cross module, the small obbbin grabbing device by
Equidistant three groups fold up combination unit form, described every group fold up combination unit on be provided with four cylinder blocks, each cylinder
One cylinder is housed on seat, fixture block is housed on cylinder connector；On sliding block, slide rail is arranged on crawl plate fixture block；
Described control unit is arranged on the side of large span frame；Described control unit includes energy supply control module and can compiled
Journey logic control element forms, and the energy supply control module is responsible for the control of power supply, and programmable logic control unit is responsible for storing
Logic working order between conveying device, pickup conveying device, storage tank conveying device, carton conveying device and cross module；
Set on the storing conveying device, pickup conveying device, storage tank conveying device, carton conveying device and cross module
Infrared detector is equipped with, the infrared detector is connected with control unit；
Electricity is provided with the storing conveying device, pickup conveying device, storage tank conveying device and carton conveying device
Machine, for driving the storing conveying device, pickup conveying device, storage tank conveying device and carton conveying device operating.
A carton opening detection means is additionally provided with above the junction of the storage tank conveying device and carton conveying device,
The carton opening detection means mainly detects to carton opening situation, when detecting the underproof carton of opening, paper
Case opening detection means is alarmed.
The cross module includes two structure identical litter and a bindiny mechanism；It is logical one of in the litter
Cross installing plate to be fixedly mounted on the crossbeam of large span frame and can not be subjected to displacement, another litter is by bindiny mechanism and admittedly
The litter connection being scheduled on crossbeam；Two litter are provided at both ends with servomotor, and two litter are internally provided with rolling
Ballscrew, the litter both sides are provided with linear slide rail；The bindiny mechanism is arranged on the linear slide rail of litter, by ball wire
Bar drives attachment structure to be subjected to displacement, and the servomotor drives bindiny mechanism to realize litter left and right and mutually sliding up and down each other
It is dynamic.
Three sub-material railings and three matching axle cylinders, the three axles cylinder are provided with the pickup conveying device
The lifting of sub-material railing is controlled, the sub-material railing is used to control small obbbin to reach specified location.
The storing conveying device middle is provided with stainless steel separator, and the stainless steel separator is fixed by crossing grip holder
In storing conveying device, the stainless steel separator is mainly used in two small obbbin smooth delivery of power and will not misplaced.
Further, the small obbbin, which transmits control panel, includes gear letterweight plate and small obbbin support plate, the gear letterweight plate installation
In the surface on storing conveying device top and immovable, the small obbbin support plate is arranged at the top of storing conveying device
On, the small obbbin support plate is driven by cylinder and realizes up and down motion.
The both sides of the shallow bid paper transferrer and carton conveyer are provided with guardrail, and the guardrail is used to protect shallow bid
Paper or carton smoothly transmit, and prevent small obbbin or carton from deviateing desired trajectory.
The beneficial effects of the present invention are：Utilize full-automatic small obbbin recrater of the present invention, it is possible to achieve machinery
Change the vanning of small obbbin, there is efficiency high, the characteristics of cost is low, in addition, recrater of the present invention has simple in construction, manufacture
Easily, the characteristics of easy to maintenance.
Brief description of the drawings
The small obbbin recrater overall structure diagram of Fig. 1 robots of the present invention；
The storing transport conveyor constructions schematic diagram of the small obbbin recrater of Fig. 2 robots of the present invention；
The pickup transport conveyor constructions schematic diagram of the small obbbin recrater of Fig. 3 robots of the present invention；
The storage tank transport conveyor constructions schematic diagram of the small obbbin recrater of Fig. 4 robots of the present invention；
The carton conveying device structural representation of the small obbbin recrater of Fig. 5 robots of the present invention；
The cross module overall structure diagram of the small obbbin recrater of Fig. 6 robots of the present invention；
Cross die set structural representation Fig. 1 of the small obbbin recrater of Fig. 7 robots of the present invention；
Cross die set structural representation Fig. 2 of the small obbbin recrater of Fig. 8 robots of the present invention；
The small obbbin recrater of Fig. 9 robots of the present invention folds up combination unit structural representation；
The expanding device structural representation of the small obbbin recrater of Figure 10 robots of the present invention；
In figure：1 carriage, 2 control units, 3 storing conveying devices, 4 pickup conveying devices, 5 storage tank conveying devices, 6 paper
Case conveying device, 7 cross modules, 8 small obbbin grabbing devices, 9 distribution boxs, 10 motors, 11, stainless steel separator, 12 crossing grip holders,
13 guardrails, 14 grades of letterweight plates, 15 small obbbin support plates, 16 sub-material railings, 17 3 axle cylinders, 18 carton opening detection means, 19 connect
Extension bar, 20 fold up combination unit, 21 cylinder blocks, 22 large span carriages, 23 small obbbins, 24 servomotors, 25 bindiny mechanisms, 26
Litter, 27 installing plates, 28 crossbeams, 29 cartons, 30 cylinders, 31 fixture blocks, 32 sliding blocks, 33 connecting plates, 34 carton expanding devices, 35 are expanded
Mouth baffle plate, 36 fixed support plates, 37 frameworks, 38 regulation cylinders.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, below in conjunction with accompanying drawing to skill of the present invention
Art scheme is described in further detail.It should be noted that in the case where not conflicting, in embodiments herein and embodiment
Feature can arbitrarily be mutually combined.
As shown in Figures 1 to 5, the small obbbin recrater of robot of the present invention includes carriage 1, control unit 2, storage
Material conveying device 3, pickup conveying device 4, storage tank conveying device 5, carton conveying device 6, cross module 7, small obbbin crawl dress
Put 8 and distribution box 9；Wherein,
Matching carriage, the pickup are respectively arranged with the storing conveying device 3 and storage tank conveying device 5
Conveying device 4 and carton conveying device 6 are fixed on both large span carriages 22；The storing conveying device 3 with
The both ends of pickup conveying device 4 are joined together to form shallow bid paper transferrer, and the horizontal plane of the storing conveying device 3 is concordant
In the horizontal plane of pickup conveying device 4；The storage tank conveying device 5 and the both ends of carton conveying device 6 are joined together to form
Carton conveyer, the horizontal plane of the storage tank conveying device 5 flush in the horizontal plane of carton conveying device 6；The small obbbin
Conveyer and carton conveyer formation material supply line placed side by side；
The storing conveying device 3 is provided with small obbbin close to the top of pickup conveying device 4 and transmits control panel, described small
Obbbin transmits the conveying and stopping that control panel is used for small obbbin；The storage tank conveying device 5 is close to the top of carton conveying device 6
Carton is installed and transmits control panel, the carton transmits the conveying and stopping that control panel is used to control carton；The small obbbin passes
Pass control panel and carton transmits control panel and passes through control of the cylinder realization to small obbbin 23 or carton 29；
The large span carriage 22 is provided with crossbeam 28, and the crossbeam is positioned at pickup conveying device 4 and carton conveying dress
6 top is put, passes through the fixed installation cross of installing plate 27 module 7 on the crossbeam 28；The distribution box 9 be fixedly installed in greatly across
Spend the outside of carriage 22.
As shown in figure 9, small obbbin grabbing device, the small obbbin grabbing device are installed immediately below the cross module 7
Combination unit 20 is folded up by equidistant three groups to form, the combination unit 20 that folds up includes connecting rod 19, connecting plate 33, cylinder
Seat 21, cylinder 30, fixture block 31 and sliding block 32, the connecting plate 33 are fixedly connected by connecting rod 19 with cross module 7, the company
The corner of fishplate bar 33 is respectively fixed with a sliding block 32, and a fixture block 31 is respectively arranged with the sliding block, and the fixture block 31 is right respectively
A cylinder 30 should be connected, the cylinder 30 is arranged on cylinder block 21, and the cylinder block 21 is fixed on connecting plate 33；
Described control unit 2 is arranged on the side of large span carriage 22；Described control unit 2 includes energy supply control module
Formed with programmable logic control unit, the energy supply control module is responsible for the control of power supply, and programmable logic control unit is born
Patrolling between duty storing conveying device 3, pickup conveying device 4, storage tank conveying device 5, carton conveying device 6 and cross module 7
Collect order of work；
The storing conveying device 3, pickup conveying device 4, storage tank conveying device 5, carton conveying device 6 and cross module
Infrared detector is provided with 7, the infrared detector is used for the transporting position for detecting small obbbin or carton, described infrared
Detecting devices is connected with control unit 2.
The storage tank conveying device 5 fills with being additionally provided with carton opening detection above the junction of carton conveying device 6
18 are put, when detecting the underproof carton of opening, carton opening detection means 18 is alarmed.
As shown in Figure 6 to 8, the cross module 7 includes two structure identical litter 26 and a bindiny mechanism 25；Institute
One of state in litter 26 and to be fixedly mounted on the crossbeam 28 of large span carriage 22 and can not occur by installing plate 27
Displacement, another litter 26 are connected by bindiny mechanism 25 with the litter being fixed on crossbeam 28；Described one end of litter 26 is set
There is servomotor 24, the litter 26 is internally provided with ball screw, and the both sides of litter 26 are provided with linear slide rail；The company
Connection mechanism 25 is arranged on the linear slide rail of litter 26, drives attachment structure 25 to be subjected to displacement by ball screw, the servo electricity
Machine 24 drives bindiny mechanism 25 to realize litter 26 left and right and mutually slip up and down each other.
It is respectively provided with the storing conveying device 3, pickup conveying device 4, storage tank conveying device 5 and carton conveying device 6
There is motor 10, the motor 10 is used to drive the storing conveying device 3, pickup conveying device 4, storage tank conveying device 5 and paper
The operating of case conveying device 6.
Described pick up is provided with three sub-material railings 16 and three matching axle cylinders 17 in conveying device 4, and described three
Axle cylinder 17 controls the lifting of sub-material railing 16, and the sub-material railing 16 is used to control small obbbin 23 to reach specified location；It is described
Three sub-material railings 16 will pick up conveying device 4 and be divided into equidistant four pickups section, first three away from storing conveying device 3
Duan Wei little obbbins pick-up area is picked up, a pickup Duan Wei little obbbin close to storing conveying device 3 waits pick-up area.
The small obbbin pick-up area is divided into the first small obbbin pick-up area, the second small obbbin pick-up area and the 3rd small obbbin pickup
Area；The corresponding sub-material railing is respectively the first sub-material railing, the second sub-material railing and the 3rd sub-material railing.
The middle of storing conveying device 3 is provided with stainless steel separator 11, and the stainless steel separator 11 passes through cross clamp
First 12 are fixedly mounted in storing conveying device 3, and the stainless steel separator 11 is mainly used in two small obbbin smooth delivery of power and not
It can misplace；The storing conveying device 3 is provided with small obbbin close to the top of pickup conveying device 4 and transmits control panel, described small
Obbbin transmits the stopping and conveying that control panel is used for small obbbin.
Further, the small obbbin, which transmits control panel, includes shelves letterweight plate 14 and small obbbin support plate 15, the shelves letterweight
Plate 14 is installed on the surface on the top of storing conveying device 3, and shelves letterweight plate 14 can be carried out up and down according to the different of small paper disc specification
Adjustment, the small obbbin support plate 15 are arranged on the top of storing conveying device 3, and the small obbbin support plate 15 is driven by cylinder
Realize and move up and down.
The both sides of the shallow bid paper transferrer and carton conveyer are provided with guardrail 13, and the guardrail 13 is used to protect
Small obbbin 23 or carton 29 smoothly transmit, and prevent small obbbin 23 or carton 29 from deviateing desired trajectory.
As shown in Figure 10, the side of large span carriage 22 of full-automatic small obbbin recrater of the present invention is additionally provided with
One carton expanding device 34, the carton expanding device 34 include regulation cylinder 38, enlarging baffle plate 35, fixed support plate 36 and frame
Frame 37, the fixed support plate 36 are arranged on the inside of framework, and the framework is divided into three small frames, the small frame size and carton mark
Quasi- openings of sizes matches, and the framework 37 is connected by adjusting cylinder 38 with fixed support plate 36, and the framework 37 passes through tune
The further enlarging to carton is realized in the lifting of displacements of cylinders 38, to ensure that small obbbin is smoothly put into carton.
Carton expanding device of the present invention is suitable for the enlarging of different carton sizes.
Realize that the method for small obbbin automatic boxing is using a kind of small obbbin recrater of robot of the present invention：
Step 1：After small obbbin is transported to storing conveying device, the stainless steel separator of storing conveying device is by small obbbin
It is divided into two row sequential deliveries to the boundary of storing conveying device and pickup conveying device；
Step 2：When pickup conveying device front end pick-up area does not have small obbbin, the small obbbin branch of small obbbin transmission control
Plate declines under cylinder action so that small obbbin is conveyed in pickup conveying device；When pickup conveying device front end pick-up area
When having small obbbin, the small obbbin support plate of small obbbin transmission control rises under cylinder action, in shelves letterweight plate and small obbbin support plate
Under collective effect, small obbbin rests on storing conveying device and waits transport；
The carton that storage tank conveying device is transported simultaneously is transported at carton opening detection means, carton opening detection means
Carton opening is detected and the prompting that gives a warning；The normal carton that is open is transported to carton conveying device；
Step 3：When pick up conveying device small obbbin pick-up area have small obbbin when, cross module drive fold up device to
Small obbbin pick-up area motion, the fixture block folded up in device are shunk by cylinder, shallow bid folder are risen；Then cross module is to carton
Motion, after small obbbin is gripped in carton, cylinder elongation, fixture block unclamps, folds up device and exit carton, carton is by carton afterwards
Conveying device is transported away from, and carries out follow-up joint sealing processing；
When the small obbbin pick-up area for picking up conveying device does not have small obbbin, three sub-material columns of the pickup conveying device
Bar rises simultaneously under the drive of cylinder, and small obbbin waits the small obbbin of pick-up area to be transported to the first small obbbin pick-up area, small
After obbbin reaches the first small obbbin pick-up area, the first sub-material railing declines, and small obbbin waits the small obbbin of pick-up area to be transported to
Second small obbbin pick-up area, after small obbbin reaches the second small obbbin pick-up area, the second sub-material railing declines, and small obbbin waits pickup
The small obbbin in area is transported to the 3rd small obbbin pick-up area, and the 3rd sub-material railing declines, then the small obbbin of small obbbin pick-up area
Wait sucker pickup；
Meanwhile when on carton conveying device without carton, the carton of the storage tank conveying device transmits control panel in cylinder
Effect is lower to be risen so that carton is transported on carton conveying device；When carton conveying device upper paper box, the storage tank conveying
The carton of device transmits control panel and declined under cylinder action so that carton can not be transported on carton conveying device；
Step 4：When there is small obbbin three crawl positions of storing conveying device, start cross module, cross module drives small
Obbbin grabbing device is grabbed small obbbin in case by left and right and moving up and down；
Step 5：Repeat the above steps, that is, realize small obbbin Full-automatic circulation vanning into carton.
One of ordinary skill in the art will appreciate that all or part of step in the above method can be instructed by program
Related hardware is completed, and described program can be stored in computer-readable recording medium, such as read-only storage, disk or CD
Deng.Alternatively, all or part of step of above-described embodiment can also be realized using one or more integrated circuits.Accordingly
Ground, each module/unit in above-described embodiment can be realized in the form of hardware, can also use the shape of software function module
Formula is realized.The application is not restricted to the combination of the hardware and software of any particular form.
It is described above, it is only the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all this
Within the spirit and principle of invention, any modification, equivalent substitution and improvements done etc., the protection model of the present invention should be included in
Within enclosing.
Claims (9)
1. the small obbbin recrater of robot, it is characterised in that：The small paper disc recrater of robot includes some frames, control list
Member, storing conveying device, pickup conveying device, storage tank conveying device, carton conveying device, cross module, small obbbin crawl dress
Put and distribution box；Wherein,
The storing conveying device, pickup conveying device, storage tank conveying device, it is respectively arranged with carton conveying device therewith
The frame matched somebody with somebody；The both ends of the storing conveying device and pickup conveying device are joined together to form shallow bid paper transferrer, institute
The horizontal plane for stating storing conveying device flushes in the horizontal plane of pickup conveying device；The storage tank conveying device fills with carton conveying
The both ends put are joined together to form carton conveyer, and the horizontal plane of storage tank conveying device flushes in the water of carton conveying device
Plane；The shallow bid paper transferrer and carton conveyer formation material supply line placed side by side；
The storing conveying device is provided with small obbbin close to the top of pickup conveying device and transmits control panel, and the small obbbin passes
Pass conveying and stopping that control panel is used for small obbbin；The storage tank conveying device is provided with paper close to the top of carton conveying device
Case transmits control panel, and the carton transmits the conveying and stopping that control panel is used to control carton；The small obbbin transmits control panel
Control panel, which is transmitted, with carton passes through control of the cylinder realization to small obbbin or carton；
The large span frame being arranged above across both of the pickup conveying device and carton conveying device；
The cross module is fixedly mounted on by installing plate on the crossbeam of large span frame；The distribution box is fixedly installed in greatly
Span shell outside；
Small obbbin grabbing device is provided with by connecting rod immediately below the cross module, the small obbbin grabbing device is by between grade
Away from three groups fold up combination unit and form, described every group folds up and is provided with four cylinder blocks on combination unit, on each cylinder block
Equipped with a cylinder, fixture block is housed on cylinder connector；On sliding block, slide rail is arranged on crawl plate fixture block；
Described control unit is arranged on the side of large span frame；Described control unit includes energy supply control module and may be programmed to patrol
Control unit composition is collected, the energy supply control module is responsible for the control of power supply, and programmable logic control unit is responsible for storing conveying
Logic working order between device, pickup conveying device, storage tank conveying device, carton conveying device and cross module；
It is provided with the storing conveying device, pickup conveying device, storage tank conveying device, carton conveying device and cross module
Infrared detector, the infrared detector are connected with control unit；
Motor is provided with the storing conveying device, pickup conveying device, storage tank conveying device and carton conveying device, is used
Operated in driving the storing conveying device, pickup conveying device, storage tank conveying device and carton conveying device.
2. the small obbbin recrater of robot as claimed in claim 1, it is characterised in that：The storage tank conveying device and carton are defeated
Send and be additionally provided with a carton opening detection means above the junction of device, the carton opening detection means is mainly opened carton
Mouth situation is detected, when detecting the underproof carton of opening, the alarm of carton opening detection means.
3. the small obbbin recrater of robot as claimed in claim 1, it is characterised in that：The cross module includes two structures
Identical litter and a bindiny mechanism；The horizontal stroke of large span frame is fixedly mounted on one of in the litter by installing plate
On beam and it can not be subjected to displacement, another litter is connected by bindiny mechanism with the litter being fixed on crossbeam；Two cunnings
Pole is provided at both ends with servomotor, and two litter are internally provided with ball screw, and two litter both sides set wired
Property slide rail；The bindiny mechanism is arranged on the linear slide rail of litter, drives attachment structure to be subjected to displacement by ball screw, described
Servomotor drives bindiny mechanism to realize litter left and right and mutually slip up and down each other.
4. the small obbbin recrater of robot as claimed in claim 1, it is characterised in that：It is provided with the pickup conveying device
Three sub-material railings and three matching axle cylinders, the lifting of the three axles cylinder control sub-material railing, the sub-material railing
For controlling small obbbin to reach specified location.
5. the small obbbin recrater of robot as claimed in claim 1, it is characterised in that：The storing conveying device middle is set
Stainless steel separator is equipped with, the stainless steel separator is fixedly mounted in storing conveying device by crossing grip holder, the stainless steel
Dividing plate is mainly used in two small obbbin smooth delivery of power and will not misplaced.
6. the small obbbin recrater of robot as claimed in claim 1, it is characterised in that：The small obbbin, which transmits control panel, to be included
Letterweight plate and small obbbin support plate are kept off, the gear letterweight plate is installed on the surface on storing conveying device top and immovable, institute
State small obbbin support plate to be arranged on the top of storing conveying device, the small obbbin support plate is realized by cylinder driving and transported up and down
It is dynamic.
7. the small obbbin recrater of robot as claimed in claim 1, it is characterised in that：The shallow bid paper transferrer and carton
The both sides of conveyer are provided with guardrail, and the guardrail is used to protect small obbbin or carton smoothly to transmit, and prevents small obbbin or paper
Case deviates desired trajectory.
8. realize that the method for small obbbin automatic boxing is using the small obbbin recrater of robot as claimed in claim 1：
Step 1：After obbbin is transported to storing conveying device, small obbbin is divided into two by the stainless steel separator of storing conveying device
Row sequential delivery to storing conveying device with pickup conveying device boundary；
Step 2：When pickup conveying device front end pick-up area does not have small obbbin, the small obbbin support plate for transmitting control is made in cylinder
With decline so that small obbbin is transported in pickup conveying device；It is small when there is small obbbin pickup conveying device front end pick-up area
The small obbbin support plate of obbbin transmission control rises under cylinder action, small under gear letterweight plate and small obbbin support plate collective effect
Obbbin rests on storing conveying device and waits transport；
The carton that storage tank conveying device is transported simultaneously is transported at carton opening detection means, and carton opening detection means is to paper
Case opening is detected and the prompting that gives a warning；The normal carton that is open is transported to carton conveying device；
Step 3：When there is small obbbin the small obbbin pick-up area for picking up conveying device, cross module drives and folds up device to shallow bid
Paper pick-up area is moved, and the fixture block folded up in device is shunk by cylinder, and shallow bid folder is risen；Then cross module is transported to carton
Dynamic, after small obbbin is gripped in carton, cylinder elongation, fixture block unclamps, folds up device and exit carton, carton is defeated by carton afterwards
Send device to be transported away from, carry out follow-up joint sealing processing；
When the small obbbin pick-up area for picking up conveying device does not have small obbbin, three sub-material railings of the pickup conveying device exist
Risen simultaneously under the drive of cylinder, small obbbin waits the small obbbin of pick-up area to be transported to the first small obbbin pick-up area, small obbbin
After reaching the first small obbbin pick-up area, the first sub-material railing declines, and small obbbin waits the small obbbin of pick-up area to be transported to second
Small obbbin pick-up area, after small obbbin reaches the second small obbbin pick-up area, the second sub-material railing declines, and small obbbin waits pick-up area
Small obbbin is transported to the 3rd small obbbin pick-up area, and the 3rd sub-material railing declines, and then the small obbbin of small obbbin pick-up area waits
Fold up device pickup；
Meanwhile when on carton conveying device without carton, the carton of the storage tank conveying device transmits control panel in cylinder action
Lower decline so that carton is transported on carton conveying device；When there is carton on carton conveying device, the storage tank conveying dress
The carton put transmits control panel and risen under cylinder action so that carton can not be transported on carton conveying device；
Step 4：When three gettering sites of storing conveying device have small obbbin, start cross module, cross module drives small obbbin
Shallow bid folder is put into case by grabbing device by left and right and moving up and down；
Step 5：Repeat the above steps, that is, realize small obbbin Full-automatic circulation vanning into carton.
9. the method that the small obbbin recrater of robot as claimed in claim 8 realizes small obbbin automatic boxing, it is characterised in that：
Each gear case apparatus one carton of corresponding gear in the storage tank conveying device.
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Effective date of registration: 20200923 Address after: Room 408, information Avenue (R & D building B), Nanhai software technology park, Shishan town, Nanhai District, Foshan City, Guangdong Province Patentee after: FOSHAN BANDEYI ROBOT TECHNOLOGY Co.,Ltd. Address before: Room A609, A610 scientific research building in the town of Nanhai District, Nanhai Software Technology Park high-tech center for Buddhist A block 528225 in Guangdong city of Foshan Province Patentee before: GUANGDONG XINXING ROBOT TECHNOLOGY Co.,Ltd. |
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