CN106276287A - A kind of carton stacking machine and method of work thereof - Google Patents
A kind of carton stacking machine and method of work thereof Download PDFInfo
- Publication number
- CN106276287A CN106276287A CN201610804004.4A CN201610804004A CN106276287A CN 106276287 A CN106276287 A CN 106276287A CN 201610804004 A CN201610804004 A CN 201610804004A CN 106276287 A CN106276287 A CN 106276287A
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- China
- Prior art keywords
- carton
- clamp
- station
- piling
- standby
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Classifications
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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
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- Manipulator (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The present invention relates to robotics, particularly to a kind of carton stacking machine and method of work thereof.The method of work of carton stacking machine comprises the following steps: S1: input needs the size of piling carton, and system automatically generates piling planar graph and the piling number of plies；S2: put into clamp and make it placed in the middle to clamp station, card slab adjusting device push card plate；S3: the carton wrapped is put linking drawstring and is transported to for grabbing station；S4: mechanical hand captures for grabbing the carton on station, mobile to clamp station, by carton successively piling on clamp；S5: carton piling to input height after, automatic alarm, clamp is transported, and repeats step S2.The present invention also provides for a kind of carton stacking machine.Present invention achieves precise positioning during piling, also improve working performance simultaneously.
Description
Technical field
The present invention relates to robotics, particularly to a kind of carton stacking machine and method of work thereof.
Background technology
The carrying piling mode that China's palletizing operation uses at present has: one is a dead lift；Two is mechanical type stacking machine；Three
It it is robot palletizer.A dead lift exists that labor intensity is big, efficiency is low and the problem of poor stability；And mechanical type stacking machine is tied
The restriction of the factors such as structure, also exists the shortcomings such as floor space is big, operation sequence change trouble, power consumption are big.And robot palletizer
The goods of variously-shaped packaging is all suitable for, and due to dependable performance, maintenance simply, is applied more and more widely.
Current robot palletizer is to carry out automatic stacking by piling algorithm, but owing to the goods after piling is still needed to
Manually moving, so this will result in there is time deviation in palletization, the solution that this kind of situation is general is by code
Buttress operation, restarts palletizing operation, during stacking machine cannot transport goods again after goods is transported after reserving piling room
Continue operation, cause temporal waste, reduce working performance.Piling station needs to put in advance clamp, transports later,
But the position of clamp does not position, after causing piling, there is deviation the position of goods and the position of clamp, it is impossible to realize accurately
Location.
Summary of the invention
The present invention provides a kind of carton stacking machine and method of work thereof, it is intended to improve the working performance of stacking machine and accurate code
The problem of buttress.
The present invention provides the method for work of a kind of carton stacking machine to comprise the following steps:
S1: input needs the size of piling carton, and system automatically generates piling planar graph and the piling number of plies；
S2: put into clamp and make it placed in the middle to clamp station, card slab adjusting device push card plate；
S3: the carton wrapped is put linking drawstring and is transported to for grabbing station；
S4: mechanical hand captures for grabbing the carton on station, mobile to clamp station, by carton successively piling on clamp；
S5: carton piling to input height after, automatic alarm, clamp is transported, and repeats step S2.
As a further improvement on the present invention, described step S2 also includes:
S21: clamp is put into from the front of clamp station, and card slab adjusting device promotes connected baffle plate from the two of clamp station
Side and direction, three, rear are moved simultaneously, and clamp is squeezed in the intermediate stations of clamp station.
As a further improvement on the present invention, described step S4 also includes:
S41: when detecting that carton piling that clamp station is not put on clamp, or clamp is to specified altitude assignment, stops
Cardboard is put into clamp station；
S42: the carton on detection linking drawstring is the fullest, if less than, continue to transmit carton toward standby station of grabbing；If
Full, then by standby grab the carton on station capture successively be placed on standby grab about station standby knock off on position；
S43: detection is standby, and to grab station, the standby carton knocking off on position the fullest, as less than then continuing to place；As being full, then certainly
Dynamic warning, mechanical hand quits work.
As a further improvement on the present invention, described step S4 also includes:
S44: put into clamp on clamp station when again detecting, or when clamp upper paper box does not piles specified altitude assignment, machinery
Hands restarts, and the carton captured on linking drawstring is placed on clamp；
S45: without carton on drawstring to be connected, about crawl, two standby cartons knocked off on position are placed on clamp；
S46: restart linking drawstring transmission carton.
As a further improvement on the present invention, described step S4 also includes:
S47: mechanical hand captures for grabbing the carton on station, rotates acute angle or right angle successively, moves carton to clamp work
Position, and stagger piling successively on clamp.
The present invention also provides for a kind of carton stacking machine and includes being connected drawstring, clamp adjusting means, mechanical hand and piling framework,
Described linking drawstring, clamp adjusting means, mechanical hand are connected on piling framework, and described piling framework is provided with one side at
Opening wide three clamp stations stopped, described piling framework includes three pieces of controllable registers, and described three pieces of controllable registers connect successively
Being connected in clamp adjusting means, described clamp adjusting means drives controllable register to move to centre from the both sides of clamp station and rear
Dynamic.
As a further improvement on the present invention, described piling framework is provided with for setting level platform, and described linking drawstring is connected to standby
Setting level the middle part of platform, described linking drawstring is provided with for grabbing station with the standby junction setting level platform, and described linking drawstring both sides are standby puts
Platform is provided with standby position of knocking off.
As a further improvement on the present invention, described piling framework is provided with robot track, described machinery in frame roof
Hands is slidably connected with robot track.
As a further improvement on the present invention, described mechanical hand includes machinery transverse arm, machinery trailing arm, mechanical chuck, described
Machinery transverse arm vertical sliding motion horizontal with robot track is connected, described mechanical trailing arm and mechanical transverse arm is longitudinally perpendicular is slidably connected,
Described mechanical chuck is connected to the bottom of machinery trailing arm, and described mechanical chuck includes chuck cylinder and intermediate plate, described chuck cylinder
Two ends connect bottom and intermediate plate, described chuck air cylinder driven intermediate plate rotation and the opening and closing of machinery trailing arm respectively.
As a further improvement on the present invention, carton stacking machine also includes carton height detector and alarm, described paper
Case height sensor is connected on the piling framework in clamp region, and described alarm is connected with piling framework.
The invention has the beneficial effects as follows: the clamp placing carton, before piling, is first centered about by the present invention, is directed at piling
The piling position of machine mechanical hand, prevents carton piling deviation from tilting, it is achieved that precise positioning.Also it is additionally arranged a standby conduct of knocking off
Relief area, when transporting the complete goods of piling, the most sustainable work of mechanical hand, after reapposing empty calorie plate, mechanical hand is nearby
By the goods piling of buffering, improve the efficiency of operation.
Accompanying drawing explanation
Fig. 1 is the first structure chart of the present invention a kind of carton stacking machine；
Fig. 2 is the second structure chart of the present invention a kind of carton stacking machine.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.
Embodiment one:
The method of work of a kind of carton stacking machine of the present invention comprises the following steps:
S1: input needs the size of piling carton, and system automatically generates piling planar graph and the piling number of plies；
Before operation starts, pressing start key after the length size after input carton packing, system will automatically generate piling and put down
Face figure and the piling number of plies.Carton piling full-size is 1800mm(length) X 1800mm(width) X 1700mm(height).
S2: putting into clamp to clamp station 41, card slab adjusting device 2 promotes clamp to make it placed in the middle；
The card slab adjusting device 2 of carton stacking machine promotes the controllable register 42 of three automatically to be adjusted by clamp between two parties.Clamp station
41 can to accommodate clamp full-size be 1800mm(length) X 1800mm(width).
S3: packed carton being put linking drawstring 1 and is transported to standby station 44 of grabbing, linking drawstring 1 is by packed paper
Case is sent into by step pitch；
S4: mechanical hand 3 captures for grabbing the carton on station 44, mobile to clamp station 41, by carton successively piling on clamp；
S5: carton piling to input height after, automatic alarm, clamp is transported, and repeats step S2.
Embodiment two:
The method of work of carton stacking machine comprises the following steps:
S1: input needs the size of piling carton, and system automatically generates piling planar graph and the piling number of plies；
S21: clamp is put into from the front of clamp station 41, and card slab adjusting device promotes connected baffle plate from clamp station 41
Both sides and direction, three, rear move simultaneously, clamp is squeezed in the intermediate stations of clamp station 41；
S3: packed carton is put linking drawstring 1 and is transported to for grabbing station 44；
S41: when detecting that carton piling that clamp station 41 is not put on clamp, or clamp is to specified altitude assignment, stop
Only cardboard is put into clamp station 41；
S42: the carton on detection linking drawstring is the fullest, if less than, continue to grab station 44 transmit carton toward standby；If
Full, then grab the carton on station 44 and capture successively to be placed on standby and standby grab the standby of station about 44 and knock off on position 45；
S43: detection is standby, and to grab station 44, the standby carton on position 45 of knocking off the fullest, as less than then continuing to place；As being full,
Then automatic alarm, mechanical hand 3 quits work；
When clamp do not put into or piling good, and be connected on drawstring 1 carton received completely time, mechanical hand 3 can capture linking
Drawstring 1 upper paper box puts into standby position 45 of knocking off, left and right, if standby position 45 of knocking off is the fullest with linking drawstring 1, system can be reported to the police.
S44: put into clamp on clamp station 41 when again detecting, or clamp upper paper box does not piles specified altitude assignment
Time, mechanical hand 3 restarts, and the carton captured on linking drawstring 1 is placed on clamp；After clamp is put into, mechanical hand 3 is by excellent
From linking drawstring 1, first take carton piling, after linking drawstring 1 takes, then take the carton piling of standby position 45 of knocking off；
S45: without carton on drawstring 1 to be connected, about crawl, two standby cartons knocked off on position 45 are placed on clamp；
S46: restart linking drawstring 1 and transmit carton；
S47: mechanical hand captures for grabbing the carton on station 44, rotates acute angle or right angle successively, moves carton to clamp
Station 41, and stagger piling successively on clamp.
Clamp is put into carton stacking machine and is specified region by artificial hand fork lifter, pulls out hand fork lifter, and system will automatically
In running order, one has carton to pull up a horse automatic stacking, and in palletization, system interface has piling plan-position to show and the number of plies
Display.
S5: carton piling to input height after, automatic alarm, clamp is transported, and repeats step S2.
This carton stacking machine automatic alarm has a Three models:
1) clamp piling is good, completes prompting；
2) standby district of putting all piles carton with linking drawstring 1, fully loaded prompting；
3) equipment breaks down, fault cues.
Embodiment three:
As depicted in figs. 1 and 2, a kind of carton stacking machine of the present invention includes being connected drawstring 1, clamp adjusting means 2, mechanical hand 3
With piling framework 4, linking drawstring 1, clamp adjusting means 2, mechanical hand 3 be connected on piling framework 4, and piling framework 4 sets
Having the clamp station 41 that at, recording quantity three stops, piling framework includes three pieces of controllable registers 42, three pieces of controllable registers
42 are connected in turn in clamp adjusting means 2, and clamp adjusting means 2 drives controllable register from the both sides of clamp station 41 and rear
Move to centre.Three pieces of controllable registers 42 can move simultaneously position, and settle at one go clamp placed in the middle.
Wherein, piling framework 4 is provided with standby platform 43 of setting level, and linking drawstring 1 is connected to the standby middle part setting level platform 43, is connected drawstring
1 is provided with standby station 44 of grabbing with the standby junction setting level platform 43, and the standby platform 43 of setting level in linking drawstring 1 both sides is provided with standby position 45 of knocking off.Standby
Grabbing station 44 is the position that mechanical hand 3 preferentially grips, and the carton on linking drawstring 1 is that step pitch is sent into, the joint of cooperative mechanical hands 3
Play, can guarantee that the standby cardboard grabbing station 44 is removed rapidly, grab the carton on station 44 have little time to be put into clamp station when standby
When 41, the effect of buffering can be played in standby position 45 of knocking off, and the cardboard that cannot remove in time is put into standby knocking off on position 45.
Carton stacking machine includes that carton height detector and alarm, carton height detector are connected to clamp station 41
On piling framework 4, alarm is connected with piling framework 4.Height sensor monitors the height of clamp station 41 piling carton in real time,
When highly meeting or exceeding the setting of system, by alarm automatic alarm.
Embodiment four:
As depicted in figs. 1 and 2, the piling framework 4 of carton stacking machine is provided with robot track 46 in frame roof, mechanical hand 3 with
Robot track 46 is slidably connected.Mechanical hand 3 includes machinery transverse arm 31, machinery trailing arm 32, mechanical chuck 33, machinery transverse arm 31 with
The horizontal vertical sliding motion of robot track 46 connects, machinery trailing arm 32 with mechanical transverse arm 31 is longitudinally perpendicular is slidably connected, mechanical chuck
33 bottoms being connected to machinery trailing arm 32, mechanical chuck 33 includes that chuck cylinder and intermediate plate, chuck cylinder two ends connect machine respectively
The bottom of tool trailing arm 32 and intermediate plate, chuck air cylinder driven intermediate plate rotation and opening and closing.Mechanical hand 3 can do X, Y, Z, R four axes motion,
I.e. three stereo directionals and a sense of rotation, the mechanical hand 3 movement by X, Y, Z axis direction, carton is grabbed from standby accurately
Move to clamp station 41 on station 44, then by the axial rotation of R, be placed into clamp station at each packed carton
When 41, rotate a certain angle, make the carton of each layer mutually stagger, facilitate follow-up taking.The mechanical chuck 33 of mechanical hand 3
Can automatically adjust the width of gripping, meanwhile, mechanical chuck 33 can also be replaced by as required and adapt to difformity goods
Chuck.
Above content is to combine concrete preferred implementation further description made for the present invention, it is impossible to assert
Being embodied as of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of present inventive concept, it is also possible to make some simple deduction or replace, all should be considered as belonging to the present invention's
Protection domain.
Claims (10)
1. the method for work of a carton stacking machine, it is characterised in that comprise the following steps:
S1: input needs the size of piling carton, and system automatically generates piling planar graph and the piling number of plies；
S2: put into clamp and make it placed in the middle to clamp station, card slab adjusting device push card plate；
S3: packed carton is put linking drawstring and is transported to for grabbing station；
S4: mechanical hand captures for grabbing the carton on station, mobile to clamp station, by carton successively piling on clamp；
S5: carton piling to input height after, automatic alarm, clamp is transported, and repeats step S2.
The method of work of carton stacking machine the most according to claim 1, it is characterised in that described step S2 also includes:
S21: clamp is put into from the front of clamp station, and card slab adjusting device promotes connected baffle plate from the two of clamp station
Side and direction, three, rear are moved simultaneously, and clamp is squeezed in the intermediate stations of clamp station.
The method of work of carton stacking machine the most according to claim 1, it is characterised in that described step S4 also includes:
S41: when detecting that carton piling that clamp station is not put on clamp, or clamp is to specified altitude assignment, stops
Cardboard is put into clamp station；
S42: the carton on detection linking drawstring is the fullest, if less than, continue to transmit carton toward standby station of grabbing；If
Full, then by standby grab the carton on station capture successively be placed on standby grab about station standby knock off on position；
S43: detection is standby, and to grab station, the standby carton knocking off on position the fullest, as less than then continuing to place；As being full, then certainly
Dynamic warning, mechanical hand quits work.
The method of work of carton stacking machine the most according to claim 3, it is characterised in that described step S4 also includes:
S44: put into clamp on clamp station when again detecting, or when clamp upper paper box does not piles specified altitude assignment, machinery
Hands restarts, and the carton captured on linking drawstring is placed on clamp；
S45: without carton on drawstring to be connected, about crawl, two standby cartons knocked off on position are placed on clamp；
S46: restart linking drawstring transmission carton.
The method of work of carton stacking machine the most according to claim 1, it is characterised in that described step S4 also includes:
S47: mechanical hand captures for grabbing the carton on station, rotates acute angle or right angle successively, moves carton to clamp work
Position, and stagger piling successively on clamp.
6. the carton stacking machine according to method described in any one of claim 1-5, it is characterised in that include being connected drawstring
(1), clamp adjusting means (2), mechanical hand (3) and piling framework (4), described linking drawstring (1), clamp adjusting means (2), machine
Tool hands (3) is connected on piling framework (4), and described piling framework (4) is provided with the clamp that at, recording quantity three stops
Station (41), described piling framework includes three pieces of controllable registers (42), and described three pieces of controllable registers (42) are connected to card in turn
In plate adjusting means (2), described clamp adjusting means (2) drives controllable register (42) from the both sides of clamp station (41) and rear
Move to centre.
Carton stacking machine the most according to claim 6, it is characterised in that described piling framework (4) is provided with for setting level platform
(43), described linking drawstring (1) is connected to the standby middle part setting level platform (43), and described linking drawstring (1) sets level platform (43) with standby
Junction is provided with for grabbing station (44), and the standby platform (43) of setting level in described linking drawstring (1) both sides is provided with standby position (45) of knocking off.
Carton stacking machine the most according to claim 6, it is characterised in that described piling framework (4) is provided with in frame roof
Robot track (46), described mechanical hand (3) is slidably connected with robot track (46).
Carton stacking machine the most according to claim 8, it is characterised in that described mechanical hand (3) include machinery transverse arm (31),
Machinery trailing arm (32), mechanical chuck (33), described machinery transverse arm (31) is connected with robot track (46) laterally vertical sliding motion, institute
Stating machinery trailing arm (32) longitudinally perpendicular to be slidably connected with machinery transverse arm (31), described mechanical chuck (33) is connected to mechanical trailing arm
(32) bottom, it is vertical that described mechanical chuck (33) includes that chuck cylinder and intermediate plate, described chuck cylinder two ends connect machinery respectively
The bottom of arm (32) and intermediate plate, described chuck air cylinder driven intermediate plate rotation and opening and closing.
Carton stacking machine the most according to claim 6, it is characterised in that also include carton height detector and alarm,
Described carton height detector is connected on the piling framework (4) of clamp station (41), and described alarm is with piling framework (4) even
Connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610804004.4A CN106276287B (en) | 2016-09-06 | 2016-09-06 | A kind of carton stacking machine and its working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610804004.4A CN106276287B (en) | 2016-09-06 | 2016-09-06 | A kind of carton stacking machine and its working method |
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| Publication Number | Publication Date |
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| CN106276287A true CN106276287A (en) | 2017-01-04 |
| CN106276287B CN106276287B (en) | 2018-09-07 |
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ID=57710884
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| CN201610804004.4A Active CN106276287B (en) | 2016-09-06 | 2016-09-06 | A kind of carton stacking machine and its working method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109279371A (en) * | 2017-07-19 | 2019-01-29 | 苏州喜和喜精密机械有限公司 | A kind of self-propelled stacking machine of intelligent optical |
| CN110636928A (en) * | 2017-05-17 | 2019-12-31 | 豪迈面板分割科技有限公司 | Stacking device, workpiece processing installation and method for operating a stacking device |
| CN110716507A (en) * | 2018-07-11 | 2020-01-21 | 江苏扬子净化工程有限公司 | Integrated automatic control display system for clean workshop |
| CN110877823A (en) * | 2019-11-29 | 2020-03-13 | 广东际鸿智能设备有限公司 | Manipulator carton stacking system and method |
| CN110921340A (en) * | 2019-12-23 | 2020-03-27 | 襄阳申谦包装有限公司 | But deviation prevention mechanism of quick adjustment spacing distance during carton pile up neatly |
| CN118419623A (en) * | 2024-06-04 | 2024-08-02 | 贵州省凯里化冶总厂 | Automatic plate transferring and stacking device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110636928A (en) * | 2017-05-17 | 2019-12-31 | 豪迈面板分割科技有限公司 | Stacking device, workpiece processing installation and method for operating a stacking device |
| CN110636928B (en) * | 2017-05-17 | 2022-03-08 | 豪迈面板分割科技有限公司 | Stacking device, workpiece processing installation and method for operating a stacking device |
| CN109279371A (en) * | 2017-07-19 | 2019-01-29 | 苏州喜和喜精密机械有限公司 | A kind of self-propelled stacking machine of intelligent optical |
| CN109279371B (en) * | 2017-07-19 | 2021-01-15 | 苏州喜和喜精密机械有限公司 | Intelligent optical self-propelled stacker crane |
| CN110716507A (en) * | 2018-07-11 | 2020-01-21 | 江苏扬子净化工程有限公司 | Integrated automatic control display system for clean workshop |
| CN110877823A (en) * | 2019-11-29 | 2020-03-13 | 广东际鸿智能设备有限公司 | Manipulator carton stacking system and method |
| CN110921340A (en) * | 2019-12-23 | 2020-03-27 | 襄阳申谦包装有限公司 | But deviation prevention mechanism of quick adjustment spacing distance during carton pile up neatly |
| CN110921340B (en) * | 2019-12-23 | 2022-04-01 | 襄阳申谦包装有限公司 | But deviation prevention mechanism of quick adjustment spacing distance during carton pile up neatly |
| CN118419623A (en) * | 2024-06-04 | 2024-08-02 | 贵州省凯里化冶总厂 | Automatic plate transferring and stacking device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106276287B (en) | 2018-09-07 |
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Address after: 518000 First Floor D of Building C, Junxing Industrial Zone B, Oyster Road, Fuyong Street, Baoan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Power Flying Intelligent Equipment Co., Ltd. Address before: 518000 First Floor D of Building C, Junxing Industrial Zone B, Oyster Road, Fuyong Street, Baoan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN POWERFLY AUTOMATION EQUIPMENT CO., LTD. |
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