CN106276287B - A kind of carton stacking machine and its working method - Google Patents
A kind of carton stacking machine and its working method Download PDFInfo
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- CN106276287B CN106276287B CN201610804004.4A CN201610804004A CN106276287B CN 106276287 B CN106276287 B CN 106276287B CN 201610804004 A CN201610804004 A CN 201610804004A CN 106276287 B CN106276287 B CN 106276287B
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- snap
- gauge
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- stacking
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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 robotic technology field, more particularly to a kind of carton stacking machine and its working method.The working method of carton stacking machine includes the following steps：S1：Input needs the size of stacking carton, system automatically generated stacking planar graph and the stacking number of plies；S2：Snap-gauge is put into snap-gauge station, snap-gauge adjusting apparatus pushes snap-gauge to keep it placed in the middle；S3：It the carton wrapped is put into linking drawstring is transported to and standby grab station；S4：The standby carton grabbed on station of manipulator crawl, is moved to snap-gauge station, by carton successively stacking on snap-gauge；S5：After carton stacking to the height of input, automatic alarm transports snap-gauge, and repeats step S2.The present invention also provides a kind of carton stacking machines.The present invention realizes precise positioning when stacking, while also improving operating efficiency.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of carton stacking machine and its working method.
Background technology
The carrying stacking mode that China's palletizing operation uses at present has：First, manually carrying；Second is that mechanical stacking machine；Three
It is robot palletizer.Artificial carry has that labor intensity is big, efficiency is low and safety is poor；And mechanical stacking machine is tied
The limitation of the factors such as structure, there is take up a large area, operation sequence change trouble, power consumption is big the shortcomings of.And robot palletizer
The cargo of variously-shaped packaging is all suitable for, and since dependable performance, maintenance are simple, is applied more and more widely.
Current robot palletizer is to carry out automatic stacking by stacking algorithm, but due to being still needed to the cargo after stacking
It manually moves, so this will result in the existence time deviation in palletization, such general solution of situation is by code
Pile operation restarts palletizing operation, during stacking machine can not transport cargo again after reserving stacking vacancy after cargo is transported
Continue to operate, causes temporal waste, reduce operating efficiency.Piling station needs put snap-gauge in advance, transport later,
But the position of snap-gauge does not position, and the position of cargo and the position of snap-gauge after stacking is caused to have deviation, cannot achieve accurate
Positioning.
Invention content
A kind of carton stacking machine of present invention offer and its working method, it is intended to improve the operating efficiency of stacking machine and accurate code
The problem of pile.
The present invention provides a kind of working method of carton stacking machine and includes the following steps：
S1：Input needs the size of stacking carton, system automatically generated stacking planar graph and the stacking number of plies；
S2：Snap-gauge is put into snap-gauge station, snap-gauge adjusting apparatus pushes snap-gauge to keep it placed in the middle；
S3：It the carton wrapped is put into linking drawstring is transported to and standby grab station；
S4：The standby carton grabbed on station of manipulator crawl, is moved to snap-gauge station, by carton successively stacking on snap-gauge；
S5：After carton stacking to the height of input, automatic alarm transports snap-gauge, and repeats step S2.
As a further improvement on the present invention, the step S2 further includes：
S21：Snap-gauge is put into front of snap-gauge station, and snap-gauge adjusting apparatus pushes baffle connected to it from snap-gauge station
Both sides and three, rear direction it is mobile simultaneously, snap-gauge is extruded in the intermediate stations of snap-gauge station.
As a further improvement on the present invention, the step S4 further includes：
S41：When detecting carton stacking that snap-gauge station is not put on snap-gauge or snap-gauge to specified altitude assignment,
Stop cardboard being put into snap-gauge station；
S42：Whether the carton on detection linking drawstring has expired, if less than, continues to grab station transmission carton toward standby；If
Expired, then standby will grab the carton on station capture successively be placed on it is standby grab station or so for putting on station；
S43：Detection is standby to grab station, whether the standby carton put on station has expired, and as less than, continues to place；Such as it is full,
Then automatic alarm, manipulator are stopped.
As a further improvement on the present invention, the step S4 further includes：
S44：It is put into snap-gauge on snap-gauge station or when snap-gauge upper paper box does not pile specified altitude assignment when detecting again,
Manipulator restarts, and the carton on crawl linking drawstring is placed on snap-gauge；
S45：It is placed on snap-gauge without carton, the standby carton put on station in crawl left and right two on drawstring to be connected；
S46：Restarting linking drawstring transmits carton.
As a further improvement on the present invention, the step S4 further includes：
S47：The standby carton grabbed on station of manipulator crawl, rotates acute angle or right angle, carton is moved to card successively
Plate station, and stacking is staggered successively on snap-gauge.
Include being connected drawstring, snap-gauge regulating device, manipulator and stacking frame the present invention also provides a kind of carton stacking machine,
The linking drawstring, snap-gauge regulating device, manipulator are connected on stacking frame, and the stacking frame is equipped with one side at one
The snap-gauge station of three faces blocking is opened wide, the stacking frame includes three pieces of controllable registers, and three pieces of controllable registers connect successively
It is connected in snap-gauge regulating device, the snap-gauge regulating device drives controllable register to be moved among the both sides of snap-gauge station and rear direction
It is dynamic.
As a further improvement on the present invention, the stacking frame is equipped with for platform is laid flat, and the linking drawstring is connected to standby
It is laid flat the middle part of platform, the linking drawstring is equipped with to grab station with the standby junction for being laid flat platform, and the linking drawstring both sides are standby to put
Platform is equipped with to put station.
As a further improvement on the present invention, the stacking frame is equipped with robot track, the machinery in frame roof
Hand is slidably connected with robot track.
As a further improvement on the present invention, the manipulator includes mechanical transverse arm, mechanical trailing arm, mechanical chuck, described
Mechanical transverse arm is connect with robot track transverse direction vertical sliding motion, the machinery trailing arm with it is mechanical transverse arm is longitudinally perpendicular is slidably connected,
The mechanical chuck is connected to the bottom of mechanical trailing arm, and the mechanical chuck includes collet cylinder and intermediate plate, the collet cylinder
Both ends are separately connected bottom and the intermediate plate of mechanical trailing arm, the collet cylinder driving intermediate plate rotation and opening and closing.
As a further improvement on the present invention, carton stacking machine further includes carton height detector and alarm, the paper
Case height sensor is connected on the stacking frame in snap-gauge region, and the alarm is connect with stacking frame.
The beneficial effects of the invention are as follows：The snap-gauge for placing carton is first centered about by the present invention before stacking, is directed at stacking
The stacking position of machine manipulator prevents carton stacking deviation and tilts, realizes precise positioning.It is also additionally arranged for station conduct is put
Buffering area, when transporting the complete cargo of stacking, the still sustainable work of manipulator, after reapposing empty calorie plate, manipulator is nearby
By the cargo stacking of buffering, the efficiency of operation is improved.
Description of the drawings
Fig. 1 is a kind of first structure figure of carton stacking machine of the present invention；
Fig. 2 is a kind of second structure chart of carton stacking machine of the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.
Embodiment one：
A kind of working method of carton stacking machine of the present invention includes the following steps：
S1：Input needs the size of stacking carton, system automatically generated stacking planar graph and the stacking number of plies；
Before operation starts, start key is pressed after the length size after input carton packing, system will automatically generate code
Pile planar graph and the stacking number of plies.Carton stacking full-size is 1800mm（It is long） X 1800mm（It is wide） X 1700mm（It is high）.
S2：Snap-gauge is put into snap-gauge station 41, snap-gauge adjusting apparatus 2 pushes snap-gauge to keep it placed in the middle；
The snap-gauge adjusting apparatus 2 of carton stacking machine pushes the controllable register 42 in three faces that snap-gauge adjust automatically is placed in the middle.Snap-gauge
It is 1800mm that station 41, which can accommodate snap-gauge full-size,（It is long） X 1800mm（It is wide）.
S3：Packed carton is put linking drawstring 1 to be transported to for station 44 is grabbed, is connected drawstring 1 by packed paper
Case is sent by step pitch；
S4：Manipulator 3 captures the standby carton grabbed on station 44, snap-gauge station 41 is moved to, by carton successively stacking in card
On plate；
S5：After carton stacking to the height of input, automatic alarm transports snap-gauge, and repeats step S2.
Embodiment two：
The working method of carton stacking machine includes the following steps：
S1：Input needs the size of stacking carton, system automatically generated stacking planar graph and the stacking number of plies；
S21：Snap-gauge is put into from the front of snap-gauge station 41, and snap-gauge adjusting apparatus pushes baffle connected to it from snap-gauge work
The both sides and three, rear direction of position 41 are mobile simultaneously, and snap-gauge is extruded in the intermediate stations of snap-gauge station 41；
S3：It packed carton is put into linking drawstring 1 is transported to and standby grab station 44；
S41：When detecting carton stacking that snap-gauge station 41 is not put on snap-gauge or snap-gauge to specified altitude assignment
When, stop cardboard being put into snap-gauge station 41；
S42：Whether the carton on detection linking drawstring has expired, if less than, continues to transmit carton toward standby station 44 of grabbing；Such as
Fruit has been expired, then standby will grab the carton on station 44 capture successively be placed on it is standby grab station 44 or so for putting on station 45；
S43：Detection is standby to grab station 44, whether the standby carton put on station 45 has expired, and as less than, continues to place；As all
Full, then automatic alarm, manipulator 3 are stopped；
When snap-gauge is not put into or stacking is good, and when being connected the carton received on drawstring 1 and having expired, manipulator 3 can capture
Linking 1 upper paper box of drawstring is put into that left and right is standby to put station 45, puts station 45 and linking drawstring 1 is all full if standby, system can alarm.
S44：When detecting that being put into snap-gauge or snap-gauge upper paper box on snap-gauge station 41 does not pile specified altitude assignment again
When, manipulator 3 restarts, and the carton on crawl linking drawstring 1 is placed on snap-gauge；After snap-gauge is put into, manipulator 3 will be excellent
After first taking carton stacking, linking drawstring 1 to take from linking drawstring 1, then take the standby carton stacking for putting station 45；
S45：It is placed on snap-gauge without carton, the standby carton put on station 45 in crawl left and right two on drawstring 1 to be connected；
S46：Restarting linking drawstring 1 transmits carton；
S47：The standby carton grabbed on station 44 of manipulator crawl, rotates acute angle or right angle, carton is moved to successively
Snap-gauge station 41, and stacking is staggered successively on snap-gauge.
Snap-gauge is manually put into carton stacking machine with hand fork lifter to specify in region, pulls out hand fork lifter, system will be automatic
In running order, one has carton to pull up a horse automatic stacking, and in palletization, system interface has stacking plan-position to show and the number of plies
Display.
S5：After carton stacking to the height of input, automatic alarm transports snap-gauge, and repeats step S2.
There are three types of patterns for this carton stacking machine automatic alarm：
1）Snap-gauge stacking is good, completes prompt；
2）Standby area and the linking drawstring 1 put piles carton, is fully loaded with prompt；
3）Equipment breaks down, fault cues.
Embodiment three：
As depicted in figs. 1 and 2, a kind of carton stacking machine of the invention includes linking drawstring 1, snap-gauge regulating device 2, machinery
Hand 3 and stacking frame 4, linking drawstring 1, snap-gauge regulating device 2, manipulator 3 are connected on stacking frame 4, stacking frame 4
Snap-gauge station 41 equipped with three face of recording quantity blocking at one, stacking frame include three pieces of controllable registers 42, and three pieces adjust gear
Plate 42 is connected in turn in snap-gauge regulating device 2, and snap-gauge regulating device 2 drives controllable register from the both sides of snap-gauge station 41 with after
It is mobile among direction.Three pieces of controllable registers 42 can move simultaneously to be positioned, and is settled at one go snap-gauge is placed in the middle.
Wherein, stacking frame 4 is equipped with for platform 43 is laid flat, and linking drawstring 1 is connected to the standby middle part for being laid flat platform 43, is connected drawstring
1 grabs station 44 with the standby junction for being laid flat platform 43 equipped with standby, and the standby platform 43 that is laid flat in 1 both sides of linking drawstring is equipped with for station 45 is put.It is standby
It is the position that manipulator 3 preferentially grips to grab station 44, and it is that step pitch is sent into be connected the carton on drawstring 1, the section of cooperative mechanical hand 3
It plays, can guarantee that the standby cardboard for grabbing station 44 is rapidly removed, grab the carton on station 44 when standby and have little time to be put into snap-gauge station
When 41, buffering can be played the role of for station 45 is put, the cardboard that can not be removed in time is put into standby put on station 45.
Carton stacking machine includes carton height detector and alarm, and carton height detector is connected to snap-gauge station 41
On stacking frame 4, alarm is connect with stacking frame 4.Height sensor monitors the height of 41 stacking carton of snap-gauge station in real time,
When highly meeting or exceeding the setting of system, pass through alarm automatic alarm.
Example IV：
As depicted in figs. 1 and 2, the stacking frame 4 of carton stacking machine is equipped with robot track 46, manipulator in frame roof
3 are slidably connected with robot track 46.Manipulator 3 includes mechanical transverse arm 31, mechanical trailing arm 32, mechanical chuck 33, mechanical transverse arm
31 connects with the lateral vertical sliding motion of robot track 46, mechanical trailing arm 32 with it is mechanical transverse arm 31 is longitudinally perpendicular is slidably connected, it is mechanical
Collet 33 is connected to the bottom of mechanical trailing arm 32, and mechanical chuck 33 includes collet cylinder and intermediate plate, and collet cylinder both ends connect respectively
It picks the bottom of tool trailing arm 32 and intermediate plate, collet cylinder drives intermediate plate rotation and opening and closing.Manipulator 3 can do tetra- axis of X, Y, Z, R fortune
Dynamic, i.e. three stereo directionals and a sense of rotation, manipulator 3 is by the movement in X, Y, Z axis direction, by carton accurately from standby
It grabs and is moved to snap-gauge station 41 on station 44, then by the rotation of R axis directions, snap-gauge work is placed into each packed carton
When position 41, rotates a certain angle, each layer of carton is made to mutually stagger, facilitate subsequent take.The mechanical chuck of manipulator 3
33 width that can be gripped with adjust automatically, meanwhile, mechanical chuck 33 can also be changed to as needed adapts to different shape cargo
Collet.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
The specific implementation of the present invention is confined to these explanations.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to the present invention's
Protection domain.
Claims (10)
1. a kind of working method of carton stacking machine, which is characterized in that include the following steps：
S1：Input needs the size of stacking carton, system automatically generated stacking planar graph and the stacking number of plies；
S2：Snap-gauge is put into snap-gauge station, snap-gauge adjusting apparatus pushes snap-gauge to keep it placed in the middle；
S3：It packed carton is put into linking drawstring is transported to and standby grab station；
S4：The standby carton grabbed on station of manipulator crawl, is moved to snap-gauge station, by carton successively stacking on snap-gauge；
S5：After carton stacking to the height of input, automatic alarm transports snap-gauge, and repeats step S2.
2. the working method of carton stacking machine according to claim 1, which is characterized in that the step S2 further includes：
S21：Snap-gauge is put into front of snap-gauge station, and snap-gauge adjusting apparatus pushes baffle connected to it from the two of snap-gauge station
Side and three, rear direction are mobile simultaneously, and snap-gauge is extruded in the intermediate stations of snap-gauge station.
3. the working method of carton stacking machine according to claim 1, which is characterized in that the step S4 further includes：
S41：When detecting carton stacking that snap-gauge station is not put on snap-gauge or snap-gauge to specified altitude assignment, stop
Cardboard is put into snap-gauge station；
S42：Whether the carton on detection linking drawstring has expired, if less than, continues to grab station transmission carton toward standby；If
It is full, then standby will grab the carton on station capture successively be placed on it is standby grab station or so for putting on station；
S43：Detection is standby to grab station, whether the standby carton put on station has expired, and as less than, continues to place；It is such as full, then certainly
Dynamic alarm, manipulator are stopped.
4. the working method of carton stacking machine according to claim 3, which is characterized in that the step S4 further includes：
S44：It is put into snap-gauge on snap-gauge station or when snap-gauge upper paper box does not pile specified altitude assignment when detecting again, machinery
Hand restarts, and the carton on crawl linking drawstring is placed on snap-gauge；
S45：It is placed on snap-gauge without carton, the standby carton put on station in crawl left and right two on drawstring to be connected；
S46：Restarting linking drawstring transmits carton.
5. the working method of carton stacking machine according to claim 1, which is characterized in that the step S4 further includes：
S47：The standby carton grabbed on station of manipulator crawl, rotates acute angle or right angle, carton is moved to snap-gauge work successively
Position, and stacking is staggered successively on snap-gauge.
6. a kind of carton stacking machine for executing the working method according to any one of the claim 1-5 carton stacking machines,
It is characterised in that it includes linking drawstring（1）, snap-gauge regulating device（2）, manipulator（3）With stacking frame（4）, the linking drawing
Band（1）, snap-gauge regulating device（2）, manipulator（3）It is connected to stacking frame（4）On, the stacking frame（4）Equipped with one
Locate the snap-gauge station of three face of recording quantity blocking（41）, the stacking frame includes three pieces of controllable registers（42）, described three pieces
Controllable register（42）It is connected to snap-gauge regulating device in turn（2）On, the snap-gauge regulating device（2）Drive controllable register（42）From
Snap-gauge station（41）Both sides and rear direction among it is mobile.
7. carton stacking machine according to claim 6, which is characterized in that the stacking frame（4）It is laid flat platform equipped with standby
（43）, the linking drawstring（1）It is connected to for platform is laid flat（43）Middle part, the linking drawstring（1）It is laid flat platform with standby（43）'s
Junction is equipped with to grab station（44）, the linking drawstring（1）Both sides are standby to be laid flat platform（43）Station is put equipped with standby（45）.
8. carton stacking machine according to claim 6, which is characterized in that the stacking frame（4）It is equipped in frame roof
Robot track（46）, the manipulator（3）With robot track（46）It is slidably connected.
9. carton stacking machine according to claim 8, which is characterized in that the manipulator（3）Including mechanical transverse arm（31）、
Mechanical trailing arm（32）, mechanical chuck（33）, the machinery transverse arm（31）With robot track（46）Lateral vertical sliding motion connection, institute
State mechanical trailing arm（32）With mechanical transverse arm（31）It is longitudinally perpendicular to be slidably connected, the mechanical chuck（33）It is connected to mechanical trailing arm
（32）Bottom, the mechanical chuck（33）Including collet cylinder and intermediate plate, it is vertical that collet cylinder both ends are separately connected machinery
Arm（32）Bottom and intermediate plate, collet cylinder driving intermediate plate rotation and opening and closing.
10. carton stacking machine according to claim 6, which is characterized in that further include carton height detector and alarm,
The carton height detector is connected to snap-gauge station（41）Stacking frame（4）On, the alarm and stacking frame（4）Even
It connects.
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 |
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| 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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| CN106276287A CN106276287A (en) | 2017-01-04 |
| CN106276287B true CN106276287B (en) | 2018-09-07 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102017110744A1 (en) * | 2017-05-17 | 2018-11-22 | Homag Plattenaufteiltechnik Gmbh | Stacking device, workpiece machining system and method for operating a stacking device |
| 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 |
| 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 |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19815434A1 (en) * | 1998-04-07 | 1999-10-14 | Focke & Co | Lifting device (palletizer) with swivel arm |
| CN201031085Y (en) * | 2007-02-13 | 2008-03-05 | 上海发那科机器人有限公司 | Multiple cardboard box meanwhile stacking carry paw |
| CN101492104B (en) * | 2009-03-06 | 2011-05-18 | 东方机器制造（昆明）有限公司 | Automatic box feeding machine |
| CN202744019U (en) * | 2012-07-20 | 2013-02-20 | 惠小强 | Fully-automatic pile dismantling and stacking integrated machine |
| CN103481361B (en) * | 2013-09-26 | 2017-11-24 | 泉州市三联机械制造有限公司 | Machine for forming composite block |
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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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