CN106347740B - A kind of robot sorting arrangement packaging system of bottle embryo - Google Patents
A kind of robot sorting arrangement packaging system of bottle embryo Download PDFInfo
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- CN106347740B CN106347740B CN201610965314.4A CN201610965314A CN106347740B CN 106347740 B CN106347740 B CN 106347740B CN 201610965314 A CN201610965314 A CN 201610965314A CN 106347740 B CN106347740 B CN 106347740B
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- bottle embryo
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- robot
- vanning
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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
It is sorted the invention discloses a kind of robot of bottle embryo and arranges packaging system, including robot sorting unit, arrangement finishing unit, vanning unit and boxes and baskets supply unit, the delivery outlet of robot sorting unit is connected with the input port of arrangement finishing unit, the delivery outlet for arranging finishing unit is connected with the input port of vanning unit, and the delivery outlet for unit of casing is connected with boxes and baskets supply unit.Realize the automatic sorting to a large amount of bottle embryos, continuously arrange and case a series of continuous functions; structure is simple; reduce intermediate link, fault rate is small, improves efficiency; it is easy to maintain; operation is easy, and cost is relatively low, realizes the quick accurate sorting to small article; avoid bottle embryo by traditional machine fight with weapons sorting belt come collide with and damage, can sorting, arrange during bottle embryo be effectively protected.
Description
Technical field
The present invention relates to packaging vanning technical fields, and in particular to a kind of robot sorting arrangement packaging system of bottle embryo.
Background technique
In the automated package technical field of bottle embryo, bottle embryo is produced by the mold of injection molding machine.Mold once at
Type produces dozens or even hundreds of bottle embryo, and yield is big.Bottle embryo is discharged on conveyer belt by injection molding machine after bottle embryo molding is transported to
Rear end carries out subsequent handling processing.There are two types of situations for subsequent processing:
1. directly blowing bottle: arranging in column bottle embryo at random by equipment, blow bottle into bottle blowing machine；
2. vanning transhipment: arranging in column bottle embryo at random by equipment, cased and be put in storage by equipment.
At present both processing method common practices be all bottle embryo at random is sorted by mechanical hopper equipment,
It arranges in column, so as to subsequent processing.Its principle is as shown in 12~Figure 13 of attached drawing: bottle embryo at random is promoted conveying by belt elevator machine
To permutation bucket, permutation bucket structure is in herringbone formula；Two groups of rollers rotated towards each other are equipped with below permutation bucket.Utilize the bottle of bottle embryo
Neck diameter is greater than body diameter, and bottleneck, which is hung on the periphery body of roller and turns over by self weight, to be fallen downwards, so that bottle embryo is vertically in column
Output.This method largely solves the problems, such as the arrangement of bottle embryo at random, but there is also following new problems urgently to solve simultaneously
Certainly:
(1) hurt bottle problem: in conveying, the process arranged, bottle embryo is often fallen, collides with, and causes to bottleneck or even body
Damage causes unnecessary loss to enterprise to form rejected product and waste product.
(2) production problems: current this 24 hours yield of method for sorting is generally between 200,000 to 250,000, Wu Fashi
Answer the requirement of higher yield.
(3) specification adjustment: the specification pattern of bottle embryo is varied, and current this method for sorting can not adapt to more
Bottle embryo specification.As shown in 14~Figure 15 of attached drawing, bottle embryo is divided into straight neck bottle and narrow mouth container.For narrow mouth container, the overlap joint of suspension away from
Less than normal from s=(D-d)/2, bottle embryo is easy inclination sideslip when arrangement；For 32g and smaller small dimension bottle embryo, certainly due to bottle embryo
Weight is lighter, and shorter can not normally turn in time of body size falls, bottle embryo often it is horizontal in cylinder surface to can not be organized into
Column output.
So a kind of new bottle embryo finishing technique of industry requirement, while meeting bottle embryo arrangement and requiring, tradition side is solved
Formula bring problem above.
Summary of the invention
The technical problem to be solved by the present invention is in view of the foregoing defects the prior art has, provide a kind of bottle embryo
Robot sorting arranges packaging system, realizes the automatic sorting to a large amount of bottle embryos, continuously arrange and case a series of continuous function
Can, structure is simple, reduces intermediate link, and fault rate is small, improves efficiency, and easy to maintain, operation is easy, and cost is relatively low, real
Now to the quick accurate sorting of small article, avoid bottle embryo by traditional machine fight with weapons sorting belt come collide with and damage, can
Bottle embryo is effectively protected during sorting, arrangement.
Used technical solution is the present invention to solve above-mentioned technical problem:
A kind of robot sorting arrangement packaging system of bottle embryo, including robot sorting unit, arrangement finishing unit, vanning
The delivery outlet of unit and boxes and baskets supply unit, robot sorting unit is connected with the input port of arrangement finishing unit, and arrangement arranges
The delivery outlet of unit is connected with the input port of vanning unit, and the delivery outlet for unit of casing is connected with boxes and baskets supply unit.
According to above-mentioned technical proposal, robot sorting unit includes bottle embryo conveyer belt, vision detection system and sorting machine
People, vision detection system and sorting machine people are sequentially distributed along the conveying direction of bottle embryo conveyer belt in the top of bottle embryo conveyer belt,
It is connected with robot mounting rack on the pedestal of sorting machine people, is fixedly connected by robot mounting rack, the end of sorting machine people
End is equipped with sorting and inhales tool, and the bottle embryo at random that front end injection molding machine link exports is transmitted to rear end, vision-based detection system by bottle embryo conveyer belt
It unites and the calculating that bottle embryo on bottle embryo conveyer belt carries out snapshots and carries out shaped position is analyzed, by analysis result with the shape of signal
Formula passes to sorting machine people, and sorting machine people basis signal sorts the bottle embryo on bottle embryo conveyer belt.
According to above-mentioned technical proposal, sorting inhales tool and includes mounting plate, vacuum chuck and backplate, the upper end of vacuum chuck and peace
Loading board connection, backplate are connected in the two sides of vacuum chuck, and vacuum chuck is using the vacsorb generated and places bottle embryo, shield
Plate is defined and protects from two sides to bottle embryo, prevents bottle embryo from drawing and deflecting in placement process.
According to above-mentioned technical proposal, vision detection system includes vision camera, comparison light source and control system, control system
It is connect respectively with vision camera and comparison light source.
According to above-mentioned technical proposal, arranging finishing unit includes arrangement belt feeder, and the belt surface for arranging belt feeder is lateral
Being equally spaced has multiple flexible blend stops, and two adjacent flexibility blend stops are uniformly distributed in the conveyor belt surface formation of arrangement belt feeder
Small lattice, bottle embryo at random on bottle embryo conveyer belt is sorted to the small lattice that flexible blend stop is formed on arrangement belt feeder by sorting machine people
It is interior, bottle embryo is transformed into regular stacking by stacking at random.
According to above-mentioned technical proposal, the number for arranging belt feeder has multiple, and be arranged side by side arrangement, the number of sorting machine people
Consistent with the arrangement number of belt feeder, arrangement belt feeder and sorting machine are humanoid at one-to-one relationship, each arrangement belt
Bottle embryo is regularly placed in the small lattice between flexible blend stop by a corresponding sorting machine people, sorting machine people, sorting machine
People's one bottle embryo of every placement, then corresponding arrangement belt feeder moves forwards the distance of a small lattice, to realize bottle embryo at random
The purpose that proper alignment is arranged at two.
According to above-mentioned technical proposal, unit of casing includes that big rack, horicontal motion mechanism, vertical movement mechanism and vanning are inhaled
Tool, horicontal motion mechanism are set in big rack, and vertical movement mechanism is set on horicontal motion mechanism, and vanning is inhaled tool and is set to
In vertical movement mechanism, horicontal motion mechanism drives vertical movement mechanism and vanning to inhale tool and moves horizontally, vertical movement mechanism band
Dynamic vanning is inhaled tool and is vertically moved.
According to above-mentioned technical proposal, horicontal motion mechanism includes horizontal beam, and horizontal beam is set in big rack, on horizontal beam
Equipped with guide rail, the end face of horizontal beam is equipped with servo motor, and servo motor is connect by synchronous belt with vertical movement mechanism, servo electricity
Machine drives synchronous belt rotation, so that vertical movement mechanism be driven to move back and forth horizontally；
Vertical movement mechanism includes vertical fine strain of millet, and vertical beam is set on horicontal motion mechanism, and vertical beam is equipped with ball wire
Thick stick, the end of vertical beam are equipped with servo motor, and servo motor inhales tool connection by ball-screw and vanning, and servo motor passes through rolling
Ballscrew drives vanning to inhale tool vertically reciprocal lifting；
It includes flange connecting plate, sucker mounting plate, vacuum chuck and vacuum generator, the setting of sucker mounting plate that tool is inhaled in vanning
In the lower end of flange connecting plate, vacuum chuck is distributed in the lower end of sucker mounting plate in column, and vacuum generator and vacuum chuck connect
It connects, vacuum generator makes vacuum chuck generate negative pressure, to draw bottle embryo, the upper end of flange connecting plate and vertical movement mechanism connect
It connects.
According to above-mentioned technical proposal, boxes and baskets supply unit includes sequentially connected empty van conveying mechanism, packaging conveyor structure
With trunkful conveying mechanism, packaging conveyor structure, which is equipped with, stops positioning mechanism, and the empty van conveying mechanism is defeated by empty boxes and baskets
It send to packaging conveyor structure, stops positioning mechanism that boxes and baskets are positioned to the designated position of packaging conveyor structure, wait vanning unit
The bottle embryo of marshalling is packed into boxes and baskets, after boxes and baskets load program and set the bottle embryo of quantity, packaging conveyor structure is by full case
Cage is exported to trunkful conveying mechanism, and on-carriage is put in storage after waiting.
According to above-mentioned technical proposal, empty van conveying mechanism is chain transfer, packaging conveyor structure and trunkful conveying mechanism
Equal roller conveyor.
The invention has the following advantages:
It 1, will be at random by robot sorting unit, the combination of arrangement finishing unit, case unit and boxes and baskets supply unit
Bottle embryo arranged by sorting and arrangement, is finally fitted into specified boxes and baskets, realizes the automatic sorting to a large amount of bottle embryos, continuous arrangement
With a series of continuous functions of casing, structure is simple, can directly dock with the delivery outlet of the injection molding machine of production bottle embryo, reduces
Between other links, fault rate is small, improves efficiency, easy to maintain, and operation is easy, and cost is relatively low, sorts particularly by robot
Unit sorting, realizes quick accurate sorting to small article, avoid bottle embryo by traditional machine fight with weapons sorting belt come collide with
And damage, bottle embryo can be effectively protected during sorting, arrangement.
2, tool inhaled by sorting and vanning inhales tool to complete to draw and placement process, by the flexible nature of vacuum chuck,
Utensil is further reduced to damage the external force of bottle embryo, in addition vacuum chuck to the specification of bottle embryo, structural style, size and
For weight without extra demand, wide adaptability is convenient for safeguarding.
3, not easy to identify by simple vision camera due to bottle embryo material transparent characteristic itself, made by comparing light source
Bottle embryo and environment generate color difference, it is easier to and it is identified, improve the accuracy rate and efficiency of sorting.
Detailed description of the invention
Fig. 1 is that the robot sorting of bottle embryo in the embodiment of the present invention arranges the facade layout drawing of packaging system；
Fig. 2 is that the robot sorting of bottle embryo in the embodiment of the present invention arranges the top view of packaging system；
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 finishing unit is arranged in the embodiment of the present invention；
Fig. 5 is the 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 main 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 main view of boxes and baskets supply unit in the embodiment of the present invention；
Figure 10 is the elevation that tool is inhaled in sorting in the embodiment of the present invention；
Figure 11 is the elevation that tool is inhaled in vanning in the embodiment of the present invention；
Figure 12 is that traditional machine is fought with weapons the main view of sorting；
Figure 13 is the B-B cross-sectional view of Figure 12；
Figure 14 is the structural schematic diagram of the straight neck bottle in bottle embryo；
Figure 15 is the structural schematic diagram 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,
The first foot prop of 1-1-3-, the first footed glass of 1-1-4-, 1-2- vision detection system, 1-3- robot mounting rack, 1-4- sorting machine
Tool is inhaled in people, 1-5- sorting, and the first mounting plate of 1-5-1-, the first vacuum chuck of 1-5-2-, 1-5-3- backplate, 2- arrangement arranges single
Member, 2-1- arrangement belt feeder, the second conveyer belt of 2-1-1-, 2-1-2- flexibility blend stop, 2-1-3- belt frame, 2-1-4- first are watched
Take motor, the second foot prop of 2-2-, the second footed glass of 2-3-, 3- vanning unit, the big rack of 3-1-, 3-2- horicontal motion mechanism, 3-2-
The second servo motor of 1-, 3-2-2- guide rail, 3-2-3- synchronous belt, 3-3- vertical movement mechanism, 3-3-1- third servo motor, 3-
Tool, 3-4-1- flange connecting plate, the second mounting plate of 3-4-2-, 3-4- are inhaled in 3-2- vertical beam, 3-3-3- ball-screw, 3-4- vanning
The second vacuum chuck of 3-, 3-4-4- vacuum generator, 4- boxes and baskets supply unit, 4-1- empty van conveying mechanism, 4-1-1- first are defeated
Send rack, 4-1-2- sprocket wheel, 4-1-3- chain, the second motor of 4-1-4-, 4-2- packaging conveyor structure, 4-2-1- second conveyor
Frame, 4-2-2- double-strand roller, 4-2-3- third motor, 4-2-4- cylinder, 4-2-5- stop positioning plate, 4-3- trunkful conveyer
Structure, 4-4- boxes and baskets, 5- permutation bucket, 6- belt elevator machine, 7- rotate towards each other roller.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.
Shown in referring to Fig.1~Figure 15, the robot sorting of the bottle embryo in one embodiment provided by the invention arranges vanning
System, including robot sorting unit 1, arrangement finishing unit 2, vanning unit 3 and boxes and baskets supply unit 4, robot sorting are single
The input port of member 1 is connected with the delivery outlet of the injection molding machine of production bottle embryo, and the delivery outlet of robot sorting unit 1 and arrangement arrangement are single
The input port linking of member 2, the delivery outlet for arranging finishing unit 2 are connected with the input port of vanning unit 3, the output for unit 3 of casing
Mouth is connected with boxes and baskets supply unit 4；It is single by robot sorting unit 1, arrangement finishing unit 2, vanning unit 3 and boxes and baskets conveying
Bottle embryo at random is arranged by sorting and arrangement, is finally fitted into specified boxes and baskets 4-4, realizes to a large amount of bottle embryos by the combination of member 4
Automatic sorting, continuously arrange and case a series of continuous functions, structure is simple, can directly with the injection molding machine of production bottle embryo
Delivery outlet docking reduces other intermediate links, and fault rate is small, improves efficiency, and easy to maintain, operation is easy, and cost is relatively low,
It is sorted particularly by robot sorting unit 4, realizes the quick accurate sorting to small article, avoid bottle embryo and pass through traditional machine
Fight with weapons and sort bring and collide with and damage, can sorting, arrange during bottle embryo be effectively protected.
Further, robot sorting unit 1 includes bottle embryo conveyer belt 1-1, vision detection system 1-2 and sorting machine people
1-4, vision detection system 1-2 and sorting machine people 1-4 are sequentially distributed along the conveying direction of bottle embryo conveyer belt 1-1 and convey in bottle embryo
Top with 1-1 is connected with robot mounting rack 1-3 on the pedestal of sorting machine people 1-4, by robot mounting rack 1-3 with
Ground is fixedly connected, and the end of sorting machine people 1-4 is equipped with sorting and inhales tool 1-5, bottle embryo conveyer belt 1-1 for front end injection molding machine link
The bottle embryo at random of output is transmitted 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 of row shaped position is analyzed, and analysis result is passed to sorting machine people 1-4, sorting machine people 1-4 in the form of a signal
Basis signal sorts the bottle embryo on bottle embryo conveyer belt 1-1.
Further, robot mounting rack 1-3 may 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 be equipped with sorting inhale tool 1-5, sorting inhale tool 1-5 using vacuum suction
Disk draws bottle embryo, and sorting machine people 1-4 is received after the signal instruction that vision detection system 1-2 is sended over to the bottle embryo to come
It carries out quickly drawing sorting.
Further, the model SCARA robot of sorting machine people 1-4；Separate unit SCARA robot arranges for one minute
105, Liang Tai robot 300,000 bottle embryos of arrangement in 24 hours, to improve yield.
Further, the bottle embryo conveyer belt 1-1 includes first conveyer belt 1-1-1, first motor 1-1-2, Duo Ge
The bottle embryo at random that injection molding machine comes out is transmitted to rear end by one foot prop 1-1-3 and the first footed glass 1-1-4, first conveyer belt 1-1-1,
First motor 1-1-2 drives conveying operating, and the upper end of the first foot prop 1-1-3 is connect with first conveyer belt 1-1-1, the first footed glass 1-
1-4 is connect by screw rod with the first foot prop 1-1-3, and the height and angle of bottle embryo conveyer belt 1-1 is adjusted in rotary screw.
Further, sorting suction tool 1-5 includes the first mounting plate 1-5-1, the first vacuum chuck 1-5-2 and backplate 1-5-3,
The upper end of first vacuum chuck 1-5-2 is connect with the first mounting plate 1-5-1, and backplate 1-5-3 is connected in the first vacuum chuck
The two sides of 1-5-2, the first vacuum chuck 1-5-2 is using the vacsorb generated and places bottle embryo, and backplate 1-5-3 is from two sides to bottle
Embryo is defined and protects, and prevents bottle embryo from drawing and deflecting in placement process；Tool 1-5 is inhaled by sorting to complete to sort
It further reduces utensil by the flexible nature of vacuum chuck with arrangement alignment processes and the external force of bottle embryo is damaged, in addition very
For suction disk to the specification of bottle embryo, structural style, size and weight without extra demand, wide adaptability is convenient for safeguarding.
Further, it includes two the first vacuum chuck 1-5-2 arranged side by side, the first vacuum chuck that tool 1-5 is inhaled in sorting
1-5-2 is small-sized suction nozzle, and two the first vacuum chuck 1-5-2 draw bottle embryo simultaneously by small-sized suction nozzle, can be very stable
It drawing, two the first vacuum chuck 1-5-2 have shared weight, have improved bearing capacity, while small-sized suction nozzle is not easy gas leakage, thus
Vacuum leak is caused, leakage occurs and inhales bottle embryo situation.
Further, the section of the backplate 1-5-3 is C-shaped, and vacuum chuck is set in the c-shaped opening of backplate 1-5-3.
Further, vision detection system 1-2 includes vision camera, comparison light source and control system, control system difference
It is connect with vision camera and comparison light source；Vision camera carries out snapshots to passing bottle embryo, and transmits in the form of a signal
Shaped position is carried out to control system and calculates analysis, and control system passes to sorting machine people for result is analyzed in the form of a signal
1-4 compares light source to passing bottle embryo polishing irradiation so that bottle embryo and the contrast of ambient enviroment are obvious, convenient for control system pair
Bottle embryo carries out discriminance analysis；It is not easy to identify by simple vision camera due to bottle embryo material transparent characteristic itself, pass through comparison
Light source makes bottle embryo and environment generate color difference, it is easier to and it is identified, improve the accuracy rate and efficiency of sorting.
Further, arrangement finishing unit 2 includes arranging belt feeder 2-1, and the belt surface of arrangement belt feeder 2-1 is lateral etc.
Away from be distributed with multiple flexibility blend stop 2-1-2, two adjacent flexibility blend stop 2-1-2 arrangement belt feeder 2-1 the second conveyer belt
The surface 2-1-1 forms equally distributed small 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 small lattice that flexibility blend stop 2-1-2 is formed on column belt feeder 2-1, bottle embryo is transformed into regular stacking by stacking at random.
Further, arrangement belt feeder 2-1 has multiple, and be arranged side by side arrangement, the number and arrangement skin of sorting machine people 1-4
Number with machine 2-1 is consistent, and arrangement belt feeder 2-1 and sorting machine people 1-4 form one-to-one relationship, each arrangement belt
Bottle embryo is regularly placed on the small lattice between flexible blend stop 2-1-2 by corresponding sorting machine a people 1-4, sorting machine people 1-4
In, sorting machine people 1-4 one bottle embryo of every placement, then corresponding arrangement belt feeder 2-1 moves forwards the distance of a small lattice, thus
Realize the purpose by bottle embryo proper alignment at random at two column.
Further, the number for arranging belt feeder 2-1 is two, and two arrangement belt feeder 2-1 are arranged side by side arrangement, is sorted
1-4 number of robot is 2.
Further, arrangement belt feeder 2-1 is equipped with first servo motor 2-1-4, first servo motor 2-1-4 driving row
The belt frame 2-1-3 of column belt feeder 2-1 operating, arrangement belt feeder 2-1 is connected with the second foot prop 2-2, the second bottom foot prop 2-2
Portion is equipped with the second footed glass 2-3, the second footed glass 2-3 and is connect by screw rod with the second foot prop 2-2, and bottle embryo conveying is adjusted in rotary screw
Height and angle with 1-1.
Further, vanning unit 3 includes big rack 3-1, horicontal motion mechanism 3-2, vertical movement mechanism 3-3 and vanning
Tool 3-4 is inhaled, horicontal motion mechanism 3-2 is set on big rack 3-1, and vertical movement mechanism 3-3 is set to horicontal motion mechanism 3-2
On, vanning is inhaled tool 3-4 and is set on 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
The bottle embryo for managing marshalling on unit 2 is drawn, and vertical movement mechanism 3-3 drives vanning suction tool 3-4 to rise, at the same time, horizontal
Movement mechanism 3-2 drives vertical movement mechanism 3-3 and vanning suction 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, release vacuum is placed on bottle embryo is neat
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
It drives vertical movement mechanism 3-3 and vanning to inhale the horizontal top for reversely moving to arrangement finishing unit 2 tool 3-4, waits the row of absorption
The bottle embryo that column warp finishes, loops back and forth like this.
Further, the big rack 3-1 is set to arrangement finishing unit 2 and the top of boxes and baskets supply unit 4, respectively with
Arrangement finishing unit 22 is mutually connected with boxes and baskets supply unit 4.
Further, horicontal motion mechanism 3-2 includes horizontal beam, and horizontal beam is set on big rack 3-1, sets on horizontal beam
There is guide rail 3-2-2, the end face of horizontal beam is equipped with the second servo motor 3-2-1, the second servo motor 3-2-1 and passes through synchronous belt 3-2-
3 connect with vertical movement mechanism 3-3, and the second servo motor 3-2-1 drives synchronous belt 3-2-3 rotation, to drive vertical movement
Mechanism 3-3 is moved back and forth horizontally；
Vertical movement mechanism 3-3 includes vertical fine strain of millet, and vertical beam 3-3-2 is set on horicontal motion mechanism 3-2, vertical beam 3-
3-2 is equipped with ball-screw 3-3-3, and the end of vertical beam 3-3-2 is equipped with third servo motor 3-3-1, third servo motor 3-
3-1 inhales tool 3-4 with vanning by ball-screw 3-3-3 and connect, and third servo motor 3-3-1 is driven by ball-screw 3-3-3
Vanning is inhaled tool 3-4 and is vertically back and forth gone up and down；
It includes flange connecting plate 3-4-1, the second mounting plate 3-4-2, the second vacuum chuck 3-4-3 and true that tool 3-4 is inhaled in vanning
Empty generator 3-4-4, the second mounting plate 3-4-2 are set to the lower end of flange connecting plate 3-4-1, the second vacuum chuck 3-4-3 at
Column distribution is connect in the lower end of the second mounting plate 3-4-2, vacuum generator 3-4-4 with the second vacuum chuck 3-4-3, and vacuum occurs
Device 3-4-4 makes the second vacuum chuck 3-4-3 generate negative pressure, to draw bottle embryo, the upper end of flange connecting plate 3-4-1 is transported with vertical
The 3-3 connection of motivation structure.
Further, vacuum chuck is corresponding with equally distributed small lattice on arrangement belt feeder 2-1 at column distribution.
Further, vacuum chuck is arranged in two rows.
Further, boxes and baskets supply unit 4 include sequentially connected empty van conveying mechanism 4-1, packaging conveyor structure 4-2 and
Trunkful conveying mechanism 4-3, packaging conveyor structure 4-2, which are equipped with, stops positioning mechanism, and the empty van conveying mechanism 4-1 will be empty
Boxes and baskets 4-4 is delivered to packaging conveyor structure 4-2, stops positioning mechanism that boxes and baskets 4-4 is positioned at the specified of packaging conveyor structure 4-2
Position waits vanning unit 3 that the bottle embryo of marshalling is packed into boxes and baskets 4-4, loads program to boxes and baskets 4-4 and set the bottle embryo of quantity
Afterwards, packaging conveyor structure 4-2 exports full boxes and baskets 4-4 to trunkful conveying mechanism 4-3, and on-carriage is put in storage after waiting.
Further, empty van conveying mechanism 4-1 is chain transfer, and chain transfer includes the first conveying frame 4-1-1
It is equipped with multiple groups sprocket wheel 4-1-2 with the both ends end to end of the second motor 4-1-4, the first conveying frame 4-1-1, end to end the sprocket wheel 4- at both ends
Multiple groups chain 4-1-3 is connected between 1-2, the second motor 4-1-4 is connect with sprocket wheel 4-1-2, the second motor 4-1-4 drive sprocket 4-
1-2 drives chain 4-1-3 operating, and then drives the empty van being placed on chain 4-1-3 mobile；
Packaging conveyor structure 4-2 and trunkful conveying mechanism 4-3 is roller conveyor, and roller conveyor includes the second conveying
The side of rack 4-2-1, second conveyor frame 4-2-1 are equipped with third motor 4-2-3, and second conveyor frame 4-2-1 is equipped with more
It is connected between group double-strand roller 4-2-2, adjacent double-strand roller 4-2-2 by chain, third motor 4-2-3 passes through chain and its
In a double-strand roller 4-2-2 connection, and then multiple double-strand roller 4-2-2 is driven to rotate together；
Stopping positioning mechanism includes that positioning plate 4-2-5 and cylinder 4-2-4, cylinder 4-2-4 is stopped to be set to packaging conveyor
The bottom second conveyor frame 4-2-1 of structure 4-2 stops positioning plate 4-2-5 to be set between two double-strand roller 4-2-2, stops
Positioning plate 4-2-5 is connect with cylinder 4-2-4, and cylinder 4-2-4, which drives, stops positioning plate 4-2-5 lifting, as blocking positioning plate 4-2-5
Roller when rise, higher than the roll surface of double-strand roller 4-2-2, as blocking positioning plate 4-2-5, decline lower than double-strand roller 4-2-2
Face.
Above is only presently preferred embodiments of the present invention, and of course, the scope of rights of the present invention cannot be limited by this,
Therefore according to equivalence changes made by scope of the present invention patent, still belong to protection scope of the present invention.
Claims (7)
1. a kind of robot sorting of bottle embryo arranges packaging system, which is characterized in that arranged including robot sorting unit, arrangement
The delivery outlet of unit, vanning unit and boxes and baskets supply unit, robot sorting unit is connected with the input port of arrangement finishing unit,
The delivery outlet for arranging finishing unit is connected with the input port of vanning unit, and the delivery outlet and boxes and baskets supply unit for unit of casing are held in the mouth
It connects；
Robot sorting unit includes bottle embryo conveyer belt, vision detection system and sorting machine people, vision detection system and sorting
The conveying direction of Robot bottle embryo conveyer belt is sequentially distributed to be connected on the top of bottle embryo conveyer belt, the pedestal of sorting machine people
There is robot mounting rack, be fixedly connected by robot mounting rack, the end of sorting machine people is equipped with sorting and inhales tool, bottle embryo conveying
The bottle embryo at random that front end injection molding machine link exports is transmitted to rear end by band, and vision detection system carries out bottle embryo on bottle embryo conveyer belt
Analysis result is passed to sorting machine people in the form of a signal, sorted by snapshots and the calculating analysis for carrying out shaped position
Robot basis signal sorts the bottle embryo on bottle embryo conveyer belt；
It includes mounting plate, vacuum chuck and backplate that tool is inhaled in sorting, and the upper end of vacuum chuck is connect with mounting plate, backplate connection setting
In the two sides of vacuum chuck, vacuum chuck is using the vacsorb generated and places bottle embryo, and backplate limits bottle embryo from two sides
Fixed and protection prevents bottle embryo from drawing and deflecting in placement process；
Vision detection system includes vision camera, comparison light source and control system, control system respectively with vision camera and comparison
Light source connection；Vision camera carries out snapshots to passing bottle embryo, and is transferred to control system in the form of a signal and carries out shape
Shape position calculates analysis, and control system passes to sorting machine people for result is analyzed in the form of a signal, compares light source to passing
Bottle embryo polishing irradiation is so that bottle embryo and the contrast of ambient enviroment are obvious, convenient for control system to bottle embryo progress discriminance analysis.
2. the robot sorting of bottle embryo according to claim 1 arranges packaging system, which is characterized in that arrangement finishing unit
Including arranging belt feeder, the belt surface for arranging belt feeder, which is laterally equally spaced, multiple flexible blend stops, two adjacent flexibilities
Blend stop forms equally distributed small 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 small lattice that flexible blend stop is formed on arrangement belt feeder, and bottle embryo is transformed into regular stacking by stacking at random.
3. the robot sorting of bottle embryo according to claim 2 arranges packaging system, which is characterized in that arrange belt feeder
Number has multiple, and be arranged side by side arrangement, and the number of sorting machine people is consistent with the arrangement number of belt feeder, arrangement belt feeder with point
It picks robot and forms one-to-one relationship, the corresponding sorting machine people of each arrangement belt, sorting machine people advises bottle embryo
Then be placed in the small lattice between flexible blend stop, sorting machine people one bottle embryo of every placement, then corresponding arrangement belt feeder to
The distance of one small lattice of preceding operation, to realize the purpose by bottle embryo proper alignment at random at two column.
4. bottle embryo according to claim 1 robot sorting arrange packaging system, which is characterized in that vanning unit include
Tool is inhaled in big rack, horicontal motion mechanism, vertical movement mechanism and vanning, and horicontal motion mechanism is set in big rack, vertical to transport
Motivation structure is set on horicontal motion mechanism, and vanning is inhaled tool and is set in vertical movement mechanism, and horicontal motion mechanism drives vertical
Movement mechanism and vanning are inhaled tool and are moved horizontally, and vertical movement mechanism drives vanning to inhale tool and vertically moves.
5. the robot sorting of bottle embryo according to claim 4 arranges packaging system, which is characterized in that horicontal motion mechanism
Including horizontal beam, horizontal beam is set in big rack, and horizontal beam is equipped with guide rail, and the end face of horizontal beam is equipped with servo motor, watches
It takes motor to connect by synchronous belt with vertical movement mechanism, servo motor drives synchronous belt rotation, to drive vertical movement machine
Structure moves back and forth horizontally；
Vertical movement mechanism includes vertical fine strain of millet, and vertical beam is set on horicontal motion mechanism, and vertical beam is equipped with ball-screw, is hung down
The end of straight beam is equipped with servo motor, and servo motor inhales tool connection by ball-screw and vanning, and servo motor passes through ball wire
Thick stick drives vanning to inhale tool vertically reciprocal lifting；
It includes flange connecting plate, sucker mounting plate, vacuum chuck and vacuum generator that tool is inhaled in vanning, and sucker mounting plate is set to method
The lower end of blue connecting plate, vacuum chuck are distributed in the lower end of sucker mounting plate in column, and vacuum generator is connect with vacuum chuck, very
Empty generator makes vacuum chuck generate negative pressure, to draw bottle embryo, the upper end of flange connecting plate is connect with vertical movement mechanism.
6. the robot sorting of bottle embryo according to claim 1 arranges packaging system, which is characterized in that boxes and baskets supply unit
Including sequentially connected empty van conveying mechanism, packaging conveyor structure and trunkful conveying mechanism, packaging conveyor structure, which is equipped with, to be stopped
Empty boxes and baskets are delivered to packaging conveyor structure by positioning mechanism, the empty van conveying mechanism, and positioning mechanism is stopped to determine boxes and baskets
It positioned at the designated position of packaging conveyor structure, waits vanning unit that the bottle embryo of marshalling is packed into boxes and baskets, is packed into journey to boxes and baskets
After sequence sets the bottle embryo of quantity, packaging conveyor structure exports full boxes and baskets to trunkful conveying mechanism, and on-carriage is put in storage after waiting.
7. the robot sorting of bottle embryo according to claim 6 arranges packaging system, which is characterized in that empty van conveying mechanism
For chain transfer, packaging conveyor structure and the equal roller conveyor of trunkful conveying mechanism.
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| CN108033063A (en) * | 2017-12-15 | 2018-05-15 | 深圳市海科瑞科技有限公司 | A kind of cup food automatic disc filling device and method of view-based access control model system |
| CN108001769A (en) * | 2017-12-28 | 2018-05-08 | 刘荣富 | Automotive storage bucket automated production workshop |
| CN109178486B (en) * | 2018-11-08 | 2024-05-28 | 江苏省惠山中等专业学校 | Empty box sorting device for packaging boxes |
| 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 |
| CN110480940B (en) * | 2019-08-28 | 2021-07-27 | 伯朗特机器人股份有限公司 | Can absorb tool to inserting bottle embryo |
| 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 |
| CN111003249B (en) * | 2019-12-27 | 2022-04-26 | 重庆环视高科技有限公司 | Bottling method, bottling device and packaging machine |
| CN113003214B (en) * | 2021-02-23 | 2022-05-24 | 杭州娃哈哈精密机械有限公司 | Horizontal material receiving and transferring device for bottle blanks |
| CN112938480B (en) * | 2021-02-23 | 2022-12-09 | 杭州娃哈哈精密机械有限公司 | Bottle blank transportation equipment |
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| CN2582994Y (en) * | 2002-09-28 | 2003-10-29 | 武汉人天包装机械有限公司 | Automatic boxing machine |
| CN2727053Y (en) * | 2003-04-24 | 2005-09-21 | 武汉人天包装机械有限公司 | Hard package automatic container loading machine |
| CN101920796B (en) * | 2010-07-26 | 2012-01-04 | 武汉人天包装技术有限公司 | Bottle blank box filling machine |
| ES1074788Y (en) * | 2010-11-16 | 2011-09-16 | Iberfluid Instr S A | HORTOFRUTICOLAS PRODUCT PACKING MACHINE |
| CN102527643B (en) * | 2010-12-31 | 2014-04-09 | 东莞理工学院 | Sorting manipulator structure and product sorting system |
| CN102745353B (en) * | 2012-07-20 | 2015-01-21 | 金坛市金旺包装科技有限公司 | Semi-automatic arraying and boxing equipment |
| CN103922110B (en) * | 2014-04-17 | 2016-03-23 | 石家庄开发区冀科双实科技有限公司 | The Bottle arrangement machine structure of medicinal glass bottle manufacturing line |
| CN104057459B (en) * | 2014-06-25 | 2017-02-22 | 上海发那科机器人有限公司 | Device and method for intelligently sorting workpieces by robot |
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| CN206171898U (en) * | 2016-11-04 | 2017-05-17 | 武汉人天机器人工程有限公司 | Letter sorting arrangement vanning system of robot of bottle embryo |
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