CN106347740A - Bottle blank robot sorting and tidying box charging system - Google Patents
Bottle blank robot sorting and tidying box charging system Download PDFInfo
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- CN106347740A CN106347740A CN201610965314.4A CN201610965314A CN106347740A CN 106347740 A CN106347740 A CN 106347740A CN 201610965314 A CN201610965314 A CN 201610965314A CN 106347740 A CN106347740 A CN 106347740A
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- sorting
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- embryo
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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
- B65B21/00—Packaging or unpacking of bottles
- B65B21/02—Packaging or unpacking of bottles in or from preformed containers, e.g. crates
- B65B21/04—Arranging, assembling, feeding, or orientating the bottles prior to introduction into, or after removal from, containers
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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
- B65B21/00—Packaging or unpacking of bottles
- B65B21/02—Packaging or unpacking of bottles in or from preformed containers, e.g. crates
- B65B21/08—Introducing or removing single bottles, or groups of bottles, e.g. for progressive filling or emptying of containers
- B65B21/12—Introducing or removing single bottles, or groups of bottles, e.g. for progressive filling or emptying of containers using grippers engaging bottles, e.g. bottle necks
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Abstract
The invention discloses a bottle blank robot sorting and tidying box charging system, which comprises a robot sorting unit, an arrangement and sorting unit, a box charging unit, a box and cage conveying unit, wherein an output opening of the robot sorting unit is connected with an input opening of the arrangement sorting unit; an output opening of the arrangement and sorting unit is connected with an input opening of the box charging unit; an output opening of the box charging unit is connected with the cage and box conveying unit. A serious of continuous functions of automatic sorting, continuous tidying and box charging of a great number of bottle blanks can be realized; the structure is simple; the middle links are reduced; the error rate is low; the efficiency is improved; the maintenance is convenient; the operation is easy; the cost is low; the fast and precise sorting on small-piece articles can be realized; the collision and damage due to conventional mechanical hopper sorting of the bottle blanks can be avoided; the bottle blanks can be effectively protected in the sorting and tidying process.
Description
Technical field
The present invention relates to packaging vanning technical field is and in particular to the robot sorting of a kind of bottle of embryo arranges packaging system.
Background technology
In the automated package technical field of bottle embryo, bottle embryo is to be produced by the mould of injection machine.Mould once becomes
Type produces dozens or even hundreds of bottle embryo, and yield is big.After bottle embryo forming, injection machine bottle embryo is discharged on conveyer belt and is transported to
Rear end carries out subsequent handling process.Subsequent treatment has two kinds of situations:
1. direct bottle blowing: by equipment, bottle embryo at random is arranged in column, enter bottle blowing machine bottle blowing；
2. vanning transhipment: by equipment, bottle embryo at random is arranged in column, cased by equipment and put in storage.
At present both processing method common practices be all by mechanical hopper equipment, bottle embryo at random is carried out sorting,
Arrange in column, so that subsequent treatment.Its principle is as shown in accompanying drawing 12～Figure 13: bottle embryo lifting at random is conveyed by belt elevator machine
To permutation bucket, permutation bucket structure is in herringbone formula；It is provided with two groups of opposite cylinders rotating below permutation bucket.Bottle using bottle embryo
With diameter greater than body diameter, the periphery body that bottleneck is hung on cylinder relies on deadweight to turn over downwards to neck, thus bottle embryo is vertical in column
Output.The method largely solves the problems, such as the arrangement of bottle embryo at random, but there is also problems demand solution new as follows simultaneously
Certainly:
(1) hinder bottle problem: in the middle of conveying, the process of arrangement, bottle embryo often falls, collides with, and bottleneck or even body are caused
Damaging thus forming defective work and waste product, causing unnecessary loss to enterprise.
(2) production problems: at present this method for sorting yield of 24 hours typically between 20 ten thousand to 25 ten thousand it is impossible to suitable
Answer the requirement of higher yield.
(3) specification adjustment: the specification pattern of bottle embryo is varied, and this method for sorting cannot adapt to more at present
Bottle embryo specification.As shown in accompanying drawing 14～Figure 15, bottle embryo have straight neck bottle and narrow mouth container point.For narrow mouth container, the overlap joint of suspension away from
Less than normal from s=(d-d)/2, during arrangement, bottle embryo easily tilts sideslip；For 32g and less small dimension bottle embryo, due to bottle embryo from
Weight is relatively light, and shorter cannot normally the turning in time of body size falls, bottle embryo often horizontal in cylinder surface thus cannot be organized into
Row output.
So a kind of new bottle embryo finishing technique of industry requirement, meet bottle embryo arrange require while, solve tradition side
The problem above that formula is brought.
Content of the invention
The technical problem to be solved in the present invention is, in view of the foregoing defects the prior art has, there is provided a kind of bottle of embryo
Robot sorting arranges packaging system, realizes the automatic sorting to big measuring bottle embryo, a series of continuous continuous work(that arrange and case
Can, structure is simple, decreases intermediate link, fault rate is little, improves efficiency, easy to maintenance, processing ease, and cost is relatively low, real
Now quickly accurately sorting to small article, it is to avoid what bottle embryo passed through that the sorting of traditional mechanical bucket brings colliding with and damage, can
It is effectively protected a bottle embryo during sorting, arrangement.
The present invention be the technical scheme is that by solving above-mentioned technical problem
The robot sorting of a kind of bottle of embryo arranges packaging system, arranges unit, vanning including robot sorting unit, arrangement
Unit and boxes and baskets supply unit, the input port that the delivery outlet of robot sorting unit arranges unit with arrangement is connected, and arrangement arranges
The delivery outlet of unit is connected with the input port of vanning unit, and the delivery outlet of vanning unit is connected with boxes and baskets supply unit.
According to technique scheme, robot sorting unit includes a bottle embryo conveyer belt, vision detection system and sorting machine
People, vision detection system and sorting machine people are sequentially distributed in the top of bottle embryo conveyer belt along the conveying direction of bottle embryo conveyer belt,
Robot installing rack is connected with the pedestal of sorting machine people, is fixedly connected by robot installing rack, the end of sorting machine people
End is provided with sorting and inhales tool, and the bottle embryo at random that front end injection machine link exports is delivered to rear end, vision-based detection system by bottle embryo conveyer belt
System carries out snapshots and carries out the calculating analysis of shaped position, by analysis result with the shape of signal to bottle embryo on bottle embryo conveyer belt
Formula passes to sorting machine people, and sorting machine people's basis signal sorts to the bottle embryo on bottle embryo conveyer belt.
According to technique scheme, sorting is inhaled tool and is included installing plate, vacuum cup and backplate, the upper end of vacuum cup and peace
Dress plate connects, and backplate is connected in the both sides of vacuum cup, and vacuum cup using the vacsorb producing and places bottle embryo, shield
Plate is defined to bottle embryo from both sides and protects, and prevents bottle embryo from deflecting in absorption and placement process.
According to technique scheme, vision detection system includes vision camera, contrast light source and control system, control system
It is connected with vision camera and contrast light source respectively.
According to technique scheme, arrangement arranges unit and includes arranging belt feeder, and the belt surface of arrangement belt feeder is horizontal
Being equally spaced has multiple flexibility blend stops, and two adjacent flexible blend stops are uniformly distributed in the conveyor belt surface formation of arrangement belt feeder
Little lattice, bottle embryo at random on bottle embryo conveyer belt is sorted to the little lattice that on arrangement belt feeder, flexible blend stop is formed by sorting machine people
Interior, bottle embryo is transformed into rule by stacking at random and piles up.
According to technique scheme, the number arranging belt feeder has multiple, and be arranged side by side arrangement, the number of sorting machine people
Consistent with the number of arrangement belt feeder, arrangement belt feeder forms one-to-one relation with sorting machine people, and each arranges belt
A corresponding sorting machine people, bottle embryo is regularly placed in the little lattice between flexible blend stop sorting machine people, sorting machine
People often places a bottle embryo, then corresponding arrangement belt feeder runs forward the distance of little lattice, thus realizing bottle embryo at random
Proper alignment becomes the purpose of two row.
According to technique scheme, unit of casing includes big frame, horicontal motion mechanism, vertical movement mechanism and vanning and inhales
Tool, horicontal motion mechanism is arranged in big frame, and vertical movement mechanism is arranged on horicontal motion mechanism, and vanning is inhaled tool and is arranged at
In vertical movement mechanism, horicontal motion mechanism drives vertical movement mechanism and vanning to inhale tool and move horizontally, vertical movement mechanism band
Dynamic vanning is inhaled tool and is vertically moved.
According to technique scheme, horicontal motion mechanism includes horizontal beam, and horizontal beam is arranged in big frame, on horizontal beam
It is provided with guide rail, the end face of horizontal beam is provided with servomotor, and servomotor is connected with vertical movement mechanism by Timing Belt, servo electricity
Machine drives Timing Belt to rotate, thus driving vertical movement mechanism horizontal reciprocating to move；
Vertical movement mechanism includes vertical fine strain of millet, and vertical beam is arranged on horicontal motion mechanism, and vertical beam is provided with ball wire
Thick stick, the end of vertical beam is provided with servomotor, and servomotor is passed through ball-screw and is connected with vanning suction tool, and servomotor passes through rolling
Ballscrew drives vanning to inhale tool and vertically back and forth lifts；
Vanning is inhaled tool and is included flange connecting plate, sucker installing plate, vacuum cup and vacuum generator, and sucker installing plate is arranged
In the lower end of flange connecting plate, vacuum cup is distributed in the lower end of sucker installing plate in column, and vacuum generator is with vacuum cup even
Connect, vacuum generator makes vacuum cup produce negative pressure, thus drawing a bottle embryo, the upper end of flange connecting plate is with vertical movement mechanism even
Connect.
According to technique scheme, boxes and baskets supply unit includes empty van conveying mechanism, the packaging conveyor structure being sequentially connected
With trunkful conveying mechanism, packaging conveyor structure is provided with stop detent mechanism, and described empty van conveying mechanism will be defeated for empty boxes and baskets
Deliver to packaging conveyor structure, stop that boxes and baskets are positioned the specified location of packaging conveyor structure by detent mechanism, wait vanning unit
The bottle embryo of marshalling is loaded boxes and baskets, after boxes and baskets load program and set the bottle embryo of quantity, packaging conveyor structure is by full case
Cage exports to trunkful conveying mechanism, on-carriage warehouse-in after wait.
According to technique scheme, empty van conveying mechanism is chain transfer, packaging conveyor structure and trunkful conveying mechanism
All roller conveyors.
The method have the advantages that
1st, pass through robot sorting unit, arrangement arranges the combination of unit, vanning unit and boxes and baskets supply unit, will be at random
Bottle embryo arrange through sorting and arrangement, finally load and specify in boxes and baskets, realize to the automatic sorting of big measuring bottle embryo, continuous arrange
With a series of continuous functions of casing, structure is simple, can directly dock with the delivery outlet of the injection machine of production bottle embryo, in decreasing
Between other links, fault rate is little, improves efficiency, easy to maintenance, processing ease, and cost is relatively low, particularly by robot sorting
Unit sorts, and realizes quickly accurately sorting to small article, it is to avoid what bottle embryo passed through that the sorting of traditional mechanical bucket brings collides with
And damage, a bottle embryo can be effectively protected during sorting, arrangement.
2nd, tool is inhaled by sorting and vanning is inhaled tool and completed to draw and placement process, by the flexible nature of vacuum cup,
Further reduce utensil the external force of bottle embryo is damaged, in addition vacuum cup to the specification of bottle embryo, structural style, size and
Weight no extra demand, wide adaptability, it is easy to safeguard.
3rd, due to bottle embryo material transparent characteristic itself, not easy to identify by simple vision camera, made by contrasting light source
Bottle embryo produces aberration with environment it is easier to be identified, and improves accuracy rate and the efficiency of sorting.
Brief description
Fig. 1 is the facade layout drawing of the robot sorting arrangement packaging system of bottle embryo in the embodiment of the present invention；
Fig. 2 is the top view of the robot sorting arrangement packaging system of bottle embryo in the embodiment of the present invention；
Fig. 3 is the facade layout drawing of robot sorting unit in the embodiment of the present invention；
Fig. 4 is the facade layout drawing that in the embodiment of the present invention, arrangement arranges unit；
Fig. 5 is a partial schematic diagram of Fig. 4；
Fig. 6 is the facade layout drawing of vanning unit in the embodiment of the present invention；
Fig. 7 is the front view of vanning unit in the embodiment of the present invention；
Fig. 8 is the elevation of boxes and baskets supply unit in the embodiment of the present invention；
Fig. 9 is the front view of boxes and baskets supply unit in the embodiment of the present invention；
Figure 10 is the elevation that in the embodiment of the present invention, tool is inhaled in sorting；
Figure 11 is the elevation that in the embodiment of the present invention, tool is inhaled in vanning；
Figure 12 is the front view of traditional mechanical bucket sorting；
Figure 13 is the b-b sectional view of Figure 12；
Figure 14 is the structural representation of the straight neck bottle in bottle embryo；
Figure 15 is the structural representation of the narrow mouth container in bottle embryo；
In figure, 1- robot sorting unit, 1-1- bottle embryo conveyer belt, 1-1-1- first conveyer belt, 1-1-2- first motor,
1-1-3- first foot rest, 1-1-4- the first foot cup, 1-2- vision detection system, 1-3- robot installing rack, 1-4- sorting machine
People, tool, 1-5-1- first installing plate, 1-5-2- first vacuum cup, 1-5-3- backplate are inhaled in 1-5- sorting, and 2- arrangement arranges single
Unit, 2-1- arranges belt feeder, 2-1-1- second conveyer belt, 2-1-2- flexibility blend stop, 2-1-3- belt frame, and 2-1-4- first watches
Take motor, 2-2- second foot rest, 2-3- crus secunda cup, 3- vanning unit, the big frame of 3-1-, 3-2- horicontal motion mechanism, 3-2-
1- second servomotor, 3-2-2- guide rail, 3-2-3- Timing Belt, 3-3- vertical movement mechanism, 3-3-1- the 3rd servomotor, 3-
3-2- vertical beam, 3-3-3- ball-screw, tool, 3-4-1- flange connecting plate, 3-4-2- second installing plate, 3-4- are inhaled in 3-4- vanning
3- second vacuum cup, 3-4-4- vacuum generator, 4- boxes and baskets supply unit, 4-1- empty van conveying mechanism, 4-1-1- first is defeated
Send frame, 4-1-2- sprocket wheel, 4-1-3- chain, 4-1-4- second motor, 4-2- packaging conveyor structure, 4-2-1- second conveyor
Frame, 4-2-2- double-strand cylinder, 4-2-3- the 3rd motor, 4-2-4- cylinder, 4-2-5- stops location-plate, 4-3- trunkful conveyer
Structure, 4-4- boxes and baskets, 5- permutation bucket, 6- belt elevator machine, 7- rotates cylinder in opposite directions.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.
With reference to shown in Fig. 1～Figure 15, the robot sorting of the bottle embryo in the embodiment that the present invention provides arranges vanning
System, arranges unit 2, vanning unit 3 and boxes and baskets supply unit 4 including robot sorting unit 1, arrangement, robot sorting is single
The input port of unit 1 is connected with the delivery outlet of the injection machine producing bottle embryo, and the delivery outlet of robot sorting unit 1 and arrangement arrange single
The input port linking of unit 2, the delivery outlet that arrangement arranges unit 2 is connected with the input port of vanning unit 3, the output of vanning unit 3
Mouth is connected with boxes and baskets supply unit 4；Unit 2, vanning unit 3 and boxes and baskets conveying are arranged by robot sorting unit 1, arrangement single
The combination of unit 4, bottle embryo at random is arranged through sorting and arrangement, finally loads and specifies in boxes and baskets 4-4, realizes to big measuring bottle embryo
Automatic sorting, a series of continuous continuous functions that arrange and case, structure is simple, can directly with the injection machine of production bottle embryo
Delivery outlet docks, and decreases other links middle, and fault rate is little, improves efficiency, easy to maintenance, processing ease, and cost is relatively low,
Sort particularly by robot sorting unit 4, realize quickly accurately sorting to small article, it is to avoid bottle embryo passes through traditional machine
What sorting of fighting with weapons brought colliding with and damaging, and can be effectively protected a bottle embryo during sorting, arrangement.
Further, robot sorting unit 1 includes bottle embryo conveyer belt 1-1, vision detection system 1-2 and a sorting machine people
1-4, vision detection system 1-2 and sorting machine people 1-4 are sequentially distributed in the conveying of bottle embryo along the conveying direction of bottle embryo conveyer belt 1-1
With the top of 1-1, the pedestal of sorting machine people 1-4 is connected with robot installing rack 1-3, by robot installing rack 1-3 with
Ground is fixedly connected, and the end of sorting machine people 1-4 is provided with sorting and inhales tool 1-5, and bottle embryo conveyer belt 1-1 is by front end injection machine link
The bottle embryo at random of output is delivered to rear end, and vision detection system 1-2 carries out snapshots to bottle embryo on bottle embryo conveyer belt 1-1 and goes forward side by side
The calculating analysis of row shaped position, analysis result is passed in the form of a signal sorting machine people 1-4, sorting machine people 1-4
Basis signal sorts to the bottle embryo on bottle embryo conveyer belt 1-1.
Further, robot installing rack 1-3 can be provided with multiple sorting machine people 1-4, successively along bottle embryo conveyer belt 1-1
Conveying direction setting, the end of every sorting machine people 1-4 is equipped with sorting and inhales tool 1-5, and sorting is inhaled tool 1-5 and adopts vacuum to inhale
Disk draw bottle embryo, sorting machine people 1-4 receive the signal instruction that vision detection system 1-2 sends over after to the bottle embryo coming
Quickly drawn sorting.
Further, the model scara robot of sorting machine people 1-4；The arrangement in one minute of separate unit scara robot
105, Liang Tai robot 300,000 bottle embryos of arrangement in 24 hours, thus improve yield.
Further, described bottle embryo conveyer belt 1-1 includes first conveyer belt 1-1-1, first motor 1-1-2, Duo Ge
One foot rest 1-1-3 and the first foot cup 1-1-4, by injection machine, bottle embryo at random out is delivered to rear end to first conveyer belt 1-1-1,
First motor 1-1-2 drives conveying operating, and the upper end of the first foot rest 1-1-3 is connected with first conveyer belt 1-1-1, the first foot cup 1-
1-4 is connected with the first foot rest 1-1-3 by screw rod, the height of rotary screw scalable bottle embryo conveyer belt 1-1 and angle.
Further, sorting suction tool 1-5 includes the first installing plate 1-5-1, the first vacuum cup 1-5-2 and backplate 1-5-3,
The upper end of the first vacuum cup 1-5-2 is connected with the first installing plate 1-5-1, and backplate 1-5-3 is connected in the first vacuum cup
The both sides of 1-5-2, the first vacuum cup 1-5-2 using the vacsorb producing and places bottle embryo, and backplate 1-5-3 is from both sides to bottle
Embryo is defined and protects, and prevents bottle embryo from deflecting in absorption and placement process；Inhale tool 1-5 by sorting to complete to sort
With arrangement alignment processes, by the flexible nature of vacuum cup, further reduce utensil and the external force of bottle embryo is damaged, in addition very
Suction disk, to the specification of bottle embryo, structural style, size and weight no extra demand, wide adaptability, is easy to safeguard.
Further, sorting suction tool 1-5 includes two the first vacuum cup 1-5-2 being arranged side by side, the first vacuum cup
1-5-2 is small-sized suction nozzle, and two the first vacuum cup 1-5-2 draw a bottle embryo by small-sized suction nozzle simultaneously, can be very stable
Draw, two the first vacuum cup 1-5-2 have shared weight, improve bearing capacity, small-sized suction nozzle is difficult gas leakage simultaneously, thus
Cause vacuum leak, leakage occurs and inhales bottle embryo situation.
Further, the section of described backplate 1-5-3 is c shape, and vacuum cup is arranged in the c shape opening of backplate 1-5-3.
Further, vision detection system 1-2 includes vision camera, contrast light source and control system, and control system is respectively
It is connected with vision camera and contrast light source；Vision camera carries out snapshots to passing bottle embryo, and transmits in the form of a signal
Carry out shaped position to control system and calculate analysis, analysis result is passed to sorting machine people by control system in the form of a signal
1-4, contrast light source irradiates to passing bottle embryo polishing and makes bottle embryo obvious with the contrast of surrounding, is easy to control system pair
Bottle embryo is identified analyzing；Due to bottle embryo material transparent characteristic itself, not easy to identify by simple vision camera, by contrast
Light source makes bottle embryo produce aberration with environment it is easier to be identified, and improves accuracy rate and the efficiency of sorting.
Further, arrangement arranges unit 2 and includes arranging belt feeder 2-1, and the belt surface of arrangement belt feeder 2-1 is laterally etc.
Away from multiple flexibility blend stop 2-1-2s are distributed with, two adjacent flexible blend stop 2-1-2 are in the second conveyer belt arranging belt feeder 2-1
2-1-1 surface forms equally distributed little lattice, and bottle embryo at random on bottle embryo conveyer belt 1-1 is sorted to row by sorting machine people 1-4
In the little lattice that on row belt feeder 2-1, flexible blend stop 2-1-2 is formed, bottle embryo is transformed into rule by stacking at random and piles up.
Further, arrangement belt feeder 2-1 has multiple, and be arranged side by side arrangement, the number of sorting machine people 1-4 with arrange skin
Number with machine 2-1 is consistent, and arrangement belt feeder 2-1 and sorting machine people 1-4 forms one-to-one relation, and each arranges belt
Bottle embryo is regularly placed on the little lattice between flexible blend stop 2-1-2 by a corresponding sorting machine people 1-4, sorting machine people 1-4
In, sorting machine people 1-4 often places a bottle embryo, then corresponding arrangement belt feeder 2-1 runs forward the distance of little lattice, thus
Realize bottle embryo proper alignment at random becomes the purpose of two row.
Further, the number of arrangement belt feeder 2-1 is two, and two arrangement belt feeder 2-1 are arranged side by side arrangement, sort
Robot 1-4 number is 2.
Further, arrangement belt feeder 2-1 is provided with the first servomotor 2-1-4, and the first servomotor 2-1-4 drives row
Row belt feeder 2-1 operates, and the belt frame 2-1-3 of arrangement belt feeder 2-1 is connected with the second foot rest 2-2, the second foot rest 2-2 bottom
Portion is provided with crus secunda cup 2-3, and crus secunda cup 2-3 is connected with the second foot rest 2-2 by screw rod, and rotary screw scalable bottle embryo conveys
Height with 1-1 and angle.
Further, vanning unit 3 includes big frame 3-1, horicontal motion mechanism 3-2, vertical movement mechanism 3-3 and vanning
Inhale tool 3-4, horicontal motion mechanism 3-2 is arranged in big frame 3-1, and vertical movement mechanism 3-3 is arranged at horicontal motion mechanism 3-2
On, vanning is inhaled tool 3-4 and is arranged in vertical movement mechanism 3-3, and horicontal motion mechanism 3-2 drives vertical movement mechanism 3-3 and dress
Case is inhaled tool 3-4 and is moved horizontally, and vertical movement mechanism 3-3 drives vanning to inhale tool 3-4 and vertically moves；Vanning suction tool 3-4 will arrange whole
On reason unit 2, the bottle embryo of marshalling is drawn, and vertical movement mechanism 3-3 drives vanning suction tool 3-4 to rise, meanwhile, level
Motion 3-2 drives vertical movement mechanism 3-3 and vanning to inhale tool 3-4 horizontal movement to the boxes and baskets 4-4's of boxes and baskets supply unit 4
Top, after vertical movement mechanism 3-3 drives vanning to inhale tool 3-4 decline certain altitude, neat for bottle embryo is placed on by release vacuum
Inside the boxes and baskets 4-4 of boxes and baskets supply unit 4, vertical movement mechanism 3-3 drives vanning to inhale tool 3-4 rising, horicontal motion mechanism 3-2
Drive vertical movement mechanism 3-3 and vanning to inhale tool 3-4 level and reversely move to the top that arrangement arranges unit 2, wait the row of absorption
The bottle embryo that column warp finishes, so moves in circles.
Further, described big frame 3-1 is arranged at arrangement and arranges above unit 2 and boxes and baskets supply unit 4, respectively with
Arrangement arranges unit 22 and is mutually connected with boxes and baskets supply unit 4.
Further, horicontal motion mechanism 3-2 includes horizontal beam, and horizontal beam is arranged in big frame 3-1, and horizontal beam sets
There is guide rail 3-2-2, the end face of horizontal beam is provided with the second servomotor 3-2-1, the second servomotor 3-2-1 passes through Timing Belt 3-2-
3 are connected with vertical movement mechanism 3-3, and the second servomotor 3-2-1 drives Timing Belt 3-2-3 to rotate, thus driving vertical movement
Mechanism's 3-3 horizontal reciprocating moves；
Vertical movement mechanism 3-3 includes vertical fine strain of millet, and vertical beam 3-3-2 is arranged on horicontal motion mechanism 3-2, vertical beam 3-
3-2 is provided with ball-screw 3-3-3, and the end of vertical beam 3-3-2 is provided with the 3rd servomotor 3-3-1, the 3rd servomotor 3-
3-1 is passed through ball-screw 3-3-3 and is connected with vanning suction tool 3-4, and the 3rd servomotor 3-3-1 is driven by ball-screw 3-3-3
Vanning is inhaled tool 3-4 and is vertically back and forth lifted；
Vanning is inhaled tool 3-4 and is included flange connecting plate 3-4-1, the second installing plate 3-4-2, the second vacuum cup 3-4-3 and true
Empty generator 3-4-4, the second installing plate 3-4-2 are arranged at the lower end of flange connecting plate 3-4-1, and the second vacuum cup 3-4-3 becomes
Column distribution is connected with the second vacuum cup 3-4-3 in the lower end of the second installing plate 3-4-2, vacuum generator 3-4-4, and vacuum occurs
Device 3-4-4 make second vacuum cup 3-4-3 produce negative pressure, thus drawing a bottle embryo, the upper end of flange connecting plate 3-4-1 with vertical transport
Motivation structure 3-3 connects.
Further, vacuum cup becomes column distribution, corresponding with equally distributed little lattice on arrangement belt feeder 2-1.
Further, vacuum cup is arranged in two rows.
Further, boxes and baskets supply unit 4 include empty van conveying mechanism 4-1, the packaging conveyor structure 4-2 being sequentially connected and
Trunkful conveying mechanism 4-3, packaging conveyor structure 4-2 are provided with stop detent mechanism, and described empty van conveying mechanism 4-1 will be empty
Boxes and baskets 4-4 is delivered to packaging conveyor structure 4-2, stops that boxes and baskets 4-4 is positioned specifying of packaging conveyor structure 4-2 by detent mechanism
Position, waits vanning unit 3 that the bottle embryo of marshalling is loaded boxes and baskets 4-4, treats that boxes and baskets 4-4 loads program and sets the bottle embryo of quantity
Afterwards, packaging conveyor structure 4-2 exports full boxes and baskets 4-4 to trunkful conveying mechanism 4-3, on-carriage warehouse-in after wait.
Further, empty van conveying mechanism 4-1 is chain transfer, and chain transfer includes the first conveying frame 4-1-1
With the second motor 4-1-4, first conveying frame 4-1-1 two ends end to end be provided with multigroup sprocket wheel 4-1-2, the sprocket wheel 4- at two ends end to end
Multigroup chain 4-1-3 is connected, the second motor 4-1-4 is connected with sprocket wheel 4-1-2, the second motor 4-1-4 drive sprocket 4- between 1-2
1-2 drives chain 4-1-3 operating, and then drives the empty van being positioned on chain 4-1-3 to move；
Packaging conveyor structure 4-2 and trunkful conveying mechanism 4-3 is roller conveyor, and roller conveyor includes the second conveying
Frame 4-2-1, the side of second conveyor frame 4-2-1 is provided with the 3rd motor 4-2-3, and second conveyor frame 4-2-1 is provided with many
Group double-strand cylinder 4-2-2, connect by chain between adjacent double-strand cylinder 4-2-2, the 3rd motor 4-2-3 by chain and its
In double-strand cylinder 4-2-2 connect, and then drive multiple double-strand cylinder 4-2-2 to rotate together；
Stop that detent mechanism includes stopping that location-plate 4-2-5 and cylinder 4-2-4, cylinder 4-2-4 are arranged at packaging conveyor
The second conveyor frame 4-2-1 bottom of structure 4-2, stops that location-plate 4-2-5 is arranged between two double-strand cylinder 4-2-2, stops
Location-plate 4-2-5 is connected with cylinder 4-2-4, and cylinder 4-2-4 drives and stops location-plate 4-2-5 lifting, as stop location-plate 4-2-5
During rise, higher than the roll surface of double-strand cylinder 4-2-2, when stopping location-plate 4-2-5, during decline, it is less than the roller of double-strand cylinder 4-2-2
Face.
Above be only presently preferred embodiments of the present invention, certainly the interest field of the present invention can not be limited with this,
The equivalence changes therefore made according to scope of the present invention patent, still belong to protection scope of the present invention.
Claims (10)
1. the robot sorting of a kind of bottle of embryo arranges packaging system it is characterised in that including robot sorting unit, arrangement arranges
Unit, vanning unit and boxes and baskets supply unit, the input port that the delivery outlet of robot sorting unit arranges unit with arrangement is connected,
The delivery outlet that arrangement arranges unit is connected with the input port of vanning unit, and the delivery outlet of vanning unit and boxes and baskets supply unit are held in the mouth
Connect.
2. the robot sorting of according to claim 1 bottle of embryo arranges packaging system it is characterised in that robot sorting is single
Unit includes bottle embryo conveyer belt, vision detection system and sorting machine people, and vision detection system and sorting machine people convey along bottle embryo
The conveying direction of band is sequentially distributed and is connected with robot installing rack on the top of bottle embryo conveyer belt, the pedestal of sorting machine people,
It is fixedly connected by robot installing rack, the end of sorting machine people is provided with sorting and inhales tool, bottle embryo conveyer belt is by front end injection machine
The bottle embryo at random of link output is delivered to rear end, and vision detection system carries out snapshots and carries out to bottle embryo on bottle embryo conveyer belt
The calculating analysis of shaped position, analysis result is passed in the form of a signal sorting machine people, sorting machine people's basis signal
Bottle embryo on bottle embryo conveyer belt is sorted.
3. the robot sorting of according to claim 2 bottle of embryo arranges packaging system it is characterised in that sorting suction tool includes
Installing plate, vacuum cup and backplate, the upper end of vacuum cup is connected with installing plate, and backplate is connected in the two of vacuum cup
Side, vacuum cup using the vacsorb producing and places bottle embryo, and backplate is defined to bottle embryo from both sides and protects, and prevents bottle
Embryo deflects in absorption and placement process.
4. the robot sorting of according to claim 2 bottle of embryo arranges packaging system it is characterised in that vision detection system
Including vision camera, contrast light source and control system, control system is connected with vision camera and contrast light source respectively.
5. the robot sorting of according to claim 2 bottle of embryo arranges packaging system it is characterised in that arrangement arranges unit
Including arrangement belt feeder, the belt surface of arrangement belt feeder is laterally equally spaced multiple flexibility blend stops, two adjacent flexibilities
Blend stop forms equally distributed little lattice in the conveyor belt surface of arrangement belt feeder, and sorting machine people will be at random on bottle embryo conveyer belt
Bottle embryo is sorted in the little lattice that on arrangement belt feeder, flexible blend stop is formed, and bottle embryo is transformed into rule by stacking at random and piles up.
6. the robot sorting of according to claim 5 bottle of embryo arranges packaging system it is characterised in that arranging belt feeder
Number has multiple, and be arranged side by side arrangement, and the number of sorting machine people is consistent with the number of arrangement belt feeder, arrangement belt feeder with divide
Pick robot and form one-to-one relation, each arrangement belt corresponds to a sorting machine people, and bottle embryo is advised by sorting machine people
Then be placed in the little lattice between flexible blend stop, sorting machine people often places a bottle embryo, then corresponding arrangement belt feeder to
The front distance running little lattice, thus realize bottle embryo proper alignment at random becomes the purpose of two row.
7. the robot sorting of according to claim 1 bottle of embryo arranges packaging system it is characterised in that vanning unit includes
Tool is inhaled in big frame, horicontal motion mechanism, vertical movement mechanism and vanning, and horicontal motion mechanism is arranged in big frame, vertically transports
Motivation structure is arranged on horicontal motion mechanism, and vanning is inhaled tool and is arranged in vertical movement mechanism, and horicontal motion mechanism drives vertical
Motion and vanning are inhaled tool and are moved horizontally, and vertical movement mechanism drives vanning to inhale tool and vertically moves.
8. the robot sorting of according to claim 7 bottle of embryo arranges packaging system it is characterised in that horicontal motion mechanism
Including horizontal beam, horizontal beam is arranged in big frame, and horizontal beam is provided with guide rail, and the end face of horizontal beam is provided with servomotor, watches
Take motor to be connected with vertical movement mechanism by Timing Belt, servomotor drives Timing Belt to rotate, thus driving vertical movement machine
Structure horizontal reciprocating moves；
Vertical movement mechanism includes vertical fine strain of millet, and vertical beam is arranged on horicontal motion mechanism, and vertical beam is provided with ball-screw, hangs down
The end of straight beam is provided with servomotor, and servomotor is passed through ball-screw and is connected with vanning suction tool, and servomotor passes through ball wire
Thick stick drives vanning to inhale tool and vertically back and forth lifts；
Vanning is inhaled tool and is included flange connecting plate, sucker installing plate, vacuum cup and vacuum generator, and sucker installing plate is arranged at method
The lower end of blue connecting plate, vacuum cup is distributed in the lower end of sucker installing plate in column, and vacuum generator is connected with vacuum cup, very
Empty generator makes vacuum cup produce negative pressure, thus drawing a bottle embryo, the upper end of flange connecting plate is connected with vertical movement mechanism.
9. the robot sorting of according to claim 1 bottle of embryo arranges packaging system it is characterised in that boxes and baskets supply unit
Including the empty van conveying mechanism being sequentially connected, packaging conveyor structure and trunkful conveying mechanism, packaging conveyor structure is provided with stop
Detent mechanism, empty boxes and baskets are delivered to packaging conveyor structure by described empty van conveying mechanism, stop that detent mechanism is fixed by boxes and baskets
Positioned at the specified location of packaging conveyor structure, wait vanning unit that the bottle embryo of marshalling is loaded boxes and baskets, treat that boxes and baskets load journey
After sequence sets the bottle embryo of quantity, packaging conveyor structure exports full boxes and baskets to trunkful conveying mechanism, on-carriage warehouse-in after wait.
10. the robot sorting of according to claim 9 bottle of embryo arranges packaging system it is characterised in that empty van conveyer
Structure is chain transfer, packaging conveyor structure and the equal roller conveyor of trunkful conveying mechanism.
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| CN201610965314.4A CN106347740B (en) | 2016-11-04 | 2016-11-04 | A kind of robot sorting arrangement packaging system of bottle embryo |
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| CN201610965314.4A CN106347740B (en) | 2016-11-04 | 2016-11-04 | A kind of robot sorting arrangement packaging system of bottle embryo |
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| CN108001769A (en) * | 2017-12-28 | 2018-05-08 | 刘荣富 | Automotive storage bucket automated production workshop |
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| CN109178486A (en) * | 2018-11-08 | 2019-01-11 | 江苏省惠山中等专业学校 | Packing box sylphon sorting equipment |
| CN109516178A (en) * | 2018-12-29 | 2019-03-26 | 苏州市厚宏智能科技有限公司 | Bottle embryo cache pool |
| CN110480940A (en) * | 2019-08-28 | 2019-11-22 | 广东伯朗特智能装备股份有限公司 | One kind can draw jig to plug bottle embryo |
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| CN112938480A (en) * | 2021-02-23 | 2021-06-11 | 杭州娃哈哈精密机械有限公司 | Bottle embryo transportation equipment |
| CN113003214A (en) * | 2021-02-23 | 2021-06-22 | 杭州娃哈哈精密机械有限公司 | Horizontal material receiving and transferring device for bottle blanks |
| CN113022923A (en) * | 2019-12-24 | 2021-06-25 | 珠海市宏晨隆科技有限公司 | Automatic binding and boxing method and process for PET (polyethylene terephthalate) bottles |
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