CN106742298A - A kind of multi-function robot tears the dismounting technique of paper stack open - Google Patents
A kind of multi-function robot tears the dismounting technique of paper stack open Download PDFInfo
- Publication number
- CN106742298A CN106742298A CN201611086205.1A CN201611086205A CN106742298A CN 106742298 A CN106742298 A CN 106742298A CN 201611086205 A CN201611086205 A CN 201611086205A CN 106742298 A CN106742298 A CN 106742298A
- Authority
- CN
- China
- Prior art keywords
- cardboard
- plank
- paper stack
- dismounting
- pallet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- B65B41/00—Supplying or feeding container-forming sheets or wrapping material
- B65B41/02—Feeding sheets or wrapper blanks
- B65B41/04—Feeding sheets or wrapper blanks by grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
- B65B57/04—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of such material, containers, or packages
-
- 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
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
Abstract
A kind of multi-function robot tears the dismounting technique of paper stack, including pallet dismounting, plank dismounting and cardboard dismounting open, wherein：The cardboard dismounting includes sondage pile, lifts, injects, pushing, removing；The present invention adapts to paper stack dismounting and provides all actions, realizes the automation of paper stack dismounting.Cardboard contour structures can be identified so as to select to capture direction；Judge to distinguish the positive and negative of cardboard by color, turning operation is carried out to cardboard so as to choose whether to need；Paper stack can be drawn and spread superincumbent plank and dividing plate in charging；Paper stack dismounting can be captured and finish remaining empty pallet, removed workman from and climb the action dismantled, greatly reduce the labour intensity of workman.
Description
Technical field
The present invention relates to intellectuality dismounting paper stack field, particularly a kind of multi-function robot tears the dismounting technique of paper stack open.
Background technology
At present, in each chemical product packaging industry, such as beer, soy sauce etc. needs wrapping machine fast package, the feeding of cardboard
Artificial disassembling paper wrapper thing from top to bottom from a pallet cardboard is rested on to be put on conveyer belt for wrapping machine feeding
Present situation, the feeding of cardboard turns into the heavy operation of baling line, increased the labour intensity of workman, is unfavorable for the automation hair of enterprise
Exhibition.
The content of the invention
In order to overcome the disadvantages mentioned above of prior art, climb what is dismantled it is an object of the invention to provide workman is removed from,
A kind of multi-function robot for greatly reducing labor strength tears the dismounting technique of paper stack open.
The technical solution adopted for the present invention to solve the technical problems is：A kind of multi-function robot tears the dismounting work of paper stack open
Skill, including pallet dismounting, plank dismounting and cardboard dismounting, wherein：Cardboard dismounting include sondage pile, lift, inject, under
Press, remove；
The sondage pile, the benchmark for being dismantled to paper stack is set up, and the seat of paper stack X-direction and Y-direction is detected by light electrical resistivity survey pile
Mark, determines the anchor point of robot gripper；
Described to lift, the side of the cardboard for needs to be removed lifts, and makes to produce space between cardboard and cardboard, by machine
The lancet of people's handgrip triggers the side of the cardboard of setting thickness；
The reeve, for carrying the cardboard for needing to remove, by the supporting plate of robot gripper, the sky produced in step is lifted
Gap is injected, the cardboard that carrying is triggered, and after the completion of reeve, unclamps lancet；
Described pushes, and for the cardboard that fixed needs are removed, is provided with air cylinder driven above the supporting plate of robot gripper
Pressing plate, is pushed by pressing plate, and cardboard is fixed between pressing plate and supporting plate, and parallel with pressing plate and supporting plate, completes grabbing for cardboard
Take；
It is described to remove, after the crawl that robot gripper completes cardboard in paper stack, determine cardboard just by colour code Photoelectric Detection
Reverse side, is moved to that position is put in corresponding front or reverse side puts position according to front or back, and the reverse side is put on position also has positive and negative to turn over
Favourable turn overturns to cardboard.
As a further improvement on the present invention：Pallet dismounting includes being captured from paper stack, be moved to collection tray area,
The placement in collection tray area, described crawl from paper stack is grabbed by the rotation hand of the side of robot gripper four, and crawl support is turned under rotation
Disk four side edge, lifts and is moved to collection tray area, and the collection tray area makes pallet and piles up the feedback that quantity is calculated, if
Forbidding robot gripper carries out placement tray task, while when robot gripper completes a pallet crawl, collection tray area
Pallet piles up quantity and is recorded as p=p+1, and piling up quantity p when the pallet in collection tray area reaches setting value, and empty support is walked by forklift
Disk.
As a further improvement on the present invention：Plank dismounting includes being captured from paper stack, be moved to plank collecting region,
The placement of plank collecting region, it is described from paper stack crawl include crawl paper stack top layer or bottom plank, between cardboard and cardboard
Dividing plate, by the sucker of robot gripper, the plank being positioned over or the top of dividing plate drive sucker suction plank or dividing plate, carry
Rise and be moved to plank collecting region, the plank collecting region is made plank and piles up the feedback that quantity is calculated, if forbid robot to grab
Hand carries out placing plank task, while when robot gripper completes a plank crawl, the plank of plank collecting region piles up quantity
M=m+1 is recorded as, piling up quantity m when the plank of plank collecting region reaches setting value, and empty pallet is walked by forklift.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention adapts to paper stack dismounting and provides all actions, realizes
The automation of paper stack dismounting.Cardboard contour structures can be identified so as to select to capture direction；Judge to distinguish by color
The positive and negative of cardboard, turning operation is carried out so as to choose whether to need to cardboard；Paper stack can be drawn to be layered on above in charging
Plank and dividing plate；Paper stack dismounting can be captured and finish remaining empty pallet, removed workman from and climb the action dismantled, greatly
The big labour intensity for reducing workman.
Specific embodiment
The present invention is further described for current embodiment：
A kind of multi-function robot tears the dismounting technique of paper stack, including pallet dismounting, plank dismounting and cardboard dismounting open, wherein：Institute
Stating cardboard dismounting includes sondage pile, lifts, injects, pushing, removing；
The sondage pile, the benchmark for being dismantled to paper stack is set up, and the seat of paper stack X-direction and Y-direction is detected by light electrical resistivity survey pile
Mark, determines the anchor point of robot gripper；Robot gripper is run to sondage pile Y points in sondage pile order, and light electrical resistivity survey pile is held
The light electrical resistivity survey pile and driven machine people handgrip of row Y-direction visit pile along Y-axis rectilinear movement 200mm, and to be checked to measure trailing edge, calculating is torn open
Paper X-coordinate, operation to sondage pile X points, light electrical resistivity survey pile performs the light electrical resistivity survey pile and driven machine people handgrip of X-direction along X-axis straight line
Mobile 200mm visits pile, to be checked to measure trailing edge, and paper Y-coordinate is torn in calculating open, and it is exactly anchor point to tear paper X-coordinate open and tear paper Y-coordinate open.
Described to lift, the side of the cardboard for needs to be removed lifts, and makes to produce space between cardboard and cardboard, passes through
The lancet of robot gripper triggers the side of the cardboard of setting thickness；
The reeve, for carrying the cardboard for needing to remove, by the supporting plate of robot gripper, the sky produced in step is lifted
Gap is injected, the cardboard that carrying is triggered, and after the completion of reeve, unclamps lancet；
Described pushes, and for the cardboard that fixed needs are removed, is provided with air cylinder driven above the supporting plate of robot gripper
Pressing plate, is pushed by pressing plate, and cardboard is fixed between pressing plate and supporting plate, and parallel with pressing plate and supporting plate, completes grabbing for cardboard
Take；
It is described to remove, after the crawl that robot gripper completes cardboard in paper stack, determine cardboard just by colour code Photoelectric Detection
Reverse side, is moved to that position is put in corresponding front or reverse side puts position according to front or back, and the reverse side is put on position also has positive and negative to turn over
Favourable turn overturns to cardboard.
Pallet dismounting includes being captured from paper stack, be moved to collection tray area, the placement in collection tray area, it is described from
Captured in paper stack and run to pallet upper center by robot gripper, grabbed by the rotation hand of four sides, crawl pallet is turned under rotation
Four side edge, lifts and is moved to collection tray area, and the collection tray area makes pallet and piles up the feedback that quantity is calculated, if prohibit
Only robot gripper carries out placement tray task, while when robot gripper completes a pallet crawl, the support in collection tray area
Disk piles up quantity and is recorded as p=p+1, and piling up quantity p when the pallet in collection tray area reaches setting value p>10, sky is walked by forklift
Pallet.
Plank dismounting includes being captured from paper stack, be moved to plank collecting region, the placement of plank collecting region, it is described from
Crawl includes the space bar of the plank, cardboard and cardboard that capture paper stack top layer or bottom in paper stack, by the suction of robot gripper
Disk, the plank being positioned over or the top of dividing plate, drive sucker suction plank or dividing plate, lift and are moved to plank collecting region, described
Plank collecting region make plank pile up quantity calculate feedback, if forbid robot gripper carry out place plank task, while
When robot gripper completes a plank crawl, the plank of plank collecting region piles up quantity and is recorded as m=m+1, when plank collecting region
Plank pile up quantity m reach setting value m>10, empty pallet is walked by forklift.
In sum, after one of ordinary skill in the art reads file of the present invention, technology according to the present invention scheme with
Technology design makes other various corresponding conversion schemes without creative mental labour, belongs to the model that the present invention is protected
Enclose.
Claims (3)
1. a kind of multi-function robot tears the dismounting technique of paper stack, including pallet dismounting, plank dismounting and cardboard dismounting, its feature open
It is：The cardboard dismounting includes sondage pile, lifts, injects, pushing, removing；
The sondage pile, the benchmark for being dismantled to paper stack is set up, and the seat of paper stack X-direction and Y-direction is detected by light electrical resistivity survey pile
Mark, determines the anchor point of robot gripper；
Described to lift, the side of the cardboard for needs to be removed lifts, and makes to produce space between cardboard and cardboard, by machine
The lancet of people's handgrip triggers the side of the cardboard of setting thickness；
The reeve, for carrying the cardboard for needing to remove, by the supporting plate of robot gripper, the sky produced in step is lifted
Gap is injected, the cardboard that carrying is triggered, and after the completion of reeve, unclamps lancet；
Described pushes, and for the cardboard that fixed needs are removed, is provided with air cylinder driven above the supporting plate of robot gripper
Pressing plate, is pushed by pressing plate, and cardboard is fixed between pressing plate and supporting plate, and parallel with pressing plate and supporting plate, completes grabbing for cardboard
Take；
It is described to remove, after the crawl that robot gripper completes cardboard in paper stack, determine cardboard just by colour code Photoelectric Detection
Reverse side, is moved to that position is put in corresponding front or reverse side puts position according to front or back, and the reverse side is put on position also has positive and negative to turn over
Favourable turn overturns to cardboard.
2. a kind of multi-function robot according to claim 1 tears the dismounting technique of paper stack open, it is characterized in that：The pallet is torn open
The placement including collection tray area, collection tray area are captured, be moved to from paper stack is unloaded, the crawl from paper stack passes through machine
The rotation hand of the side of people's handgrip four is grabbed, and crawl pallet four side edge is turned under rotation, is lifted and is moved to collection tray area, and the pallet is received
Ji Qu makes pallet and piles up the feedback that quantity is calculated, if forbid the robot gripper to carry out placement tray task, while robot
When handgrip completes a pallet crawl, the pallet in collection tray area piles up quantity and is recorded as p=p+1, when the pallet in collection tray area
Pile up quantity p and reach setting value, empty pallet is walked by forklift.
3. a kind of multi-function robot according to claim 1 tears the dismounting technique of paper stack open, it is characterized in that：The plank is torn open
The placement including plank collecting region, plank collecting region are captured, be moved to from paper stack is unloaded, the crawl from paper stack includes crawl
The space bar of the plank, cardboard and cardboard of paper stack top layer or bottom, by the sucker of robot gripper, the plank being positioned over or every
The top of plate, drives sucker suction plank or dividing plate, lifts and is moved to plank collecting region, and the plank collecting region makes plank heap
Product amount calculate feedback, if forbid robot gripper carry out place plank task, while robot gripper complete once wood
When plate is captured, the plank of plank collecting region piles up quantity and is recorded as m=m+1, and piling up quantity m when the plank of plank collecting region reaches
Setting value, empty pallet is walked by forklift.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611086205.1A CN106742298A (en) | 2016-12-01 | 2016-12-01 | A kind of multi-function robot tears the dismounting technique of paper stack open |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611086205.1A CN106742298A (en) | 2016-12-01 | 2016-12-01 | A kind of multi-function robot tears the dismounting technique of paper stack open |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106742298A true CN106742298A (en) | 2017-05-31 |
Family
ID=58914072
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611086205.1A Pending CN106742298A (en) | 2016-12-01 | 2016-12-01 | A kind of multi-function robot tears the dismounting technique of paper stack open |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106742298A (en) |
Citations (15)
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| US4787810A (en) * | 1987-09-04 | 1988-11-29 | Cawley Wesley D | Method and apparatus for handling stacks of loose sheet material |
| US20050089389A1 (en) * | 2003-10-22 | 2005-04-28 | Saga Automation, Inc. | Method, system, and apparatus for securing a section of a vertical stack of generally flat sheets, cartons, and like |
| CN101462654A (en) * | 2007-12-20 | 2009-06-24 | 米勒·马蒂尼控股公司 | Bundle gripper for a palletizing machine and method for the palletizing of bundles |
| CN101746607A (en) * | 2009-12-30 | 2010-06-23 | 邮政科学研究规划院 | Stacking and unstacking conveying device and method for palletizing and storing postal container boxes |
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| CN202744019U (en) * | 2012-07-20 | 2013-02-20 | 惠小强 | Fully-automatic pile dismantling and stacking integrated machine |
| CN203357469U (en) * | 2012-08-13 | 2013-12-25 | 国家电网公司 | Robot system with turnover box recognition function |
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| CN103863830A (en) * | 2012-12-10 | 2014-06-18 | 中国五环工程有限公司 | Automatic unstacking system |
| CN203845469U (en) * | 2014-06-05 | 2014-09-24 | 国家电网公司 | Paper pass box stacking and un-stacking device for automated verification system of electric energy meter |
| CN204149162U (en) * | 2014-07-15 | 2015-02-11 | 上海发那科机器人有限公司 | Piling paw torn open by a kind of robot |
| CN204172044U (en) * | 2014-10-09 | 2015-02-25 | 武汉人天机器人技术有限公司 | A kind of multi-function robot handgrip |
| CN204211157U (en) * | 2014-10-20 | 2015-03-18 | 佛山市万世德机器人技术有限公司 | A kind of Ma Xiang handgrip mechanism |
| CN105936427A (en) * | 2016-06-01 | 2016-09-14 | 合肥雄鹰自动化工程科技有限公司 | Multifunctional gripper equipment for tray sucking and destacking |
-
2016
- 2016-12-01 CN CN201611086205.1A patent/CN106742298A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4787810A (en) * | 1987-09-04 | 1988-11-29 | Cawley Wesley D | Method and apparatus for handling stacks of loose sheet material |
| US20050089389A1 (en) * | 2003-10-22 | 2005-04-28 | Saga Automation, Inc. | Method, system, and apparatus for securing a section of a vertical stack of generally flat sheets, cartons, and like |
| CN101462654A (en) * | 2007-12-20 | 2009-06-24 | 米勒·马蒂尼控股公司 | Bundle gripper for a palletizing machine and method for the palletizing of bundles |
| CN101746607A (en) * | 2009-12-30 | 2010-06-23 | 邮政科学研究规划院 | Stacking and unstacking conveying device and method for palletizing and storing postal container boxes |
| CN102303785A (en) * | 2011-09-30 | 2012-01-04 | 广州达意隆包装机械股份有限公司 | Unpiler |
| CN202744019U (en) * | 2012-07-20 | 2013-02-20 | 惠小强 | Fully-automatic pile dismantling and stacking integrated machine |
| CN203357469U (en) * | 2012-08-13 | 2013-12-25 | 国家电网公司 | Robot system with turnover box recognition function |
| CN203380890U (en) * | 2012-08-13 | 2014-01-08 | 国家电网公司 | Robot with three-dimension scanning identification function and stacking and unstacking system |
| CN102862804A (en) * | 2012-10-12 | 2013-01-09 | 苏州金科信汇光电科技有限公司 | Device for automatically recognizing front and reverse sides |
| CN103863830A (en) * | 2012-12-10 | 2014-06-18 | 中国五环工程有限公司 | Automatic unstacking system |
| CN203845469U (en) * | 2014-06-05 | 2014-09-24 | 国家电网公司 | Paper pass box stacking and un-stacking device for automated verification system of electric energy meter |
| CN204149162U (en) * | 2014-07-15 | 2015-02-11 | 上海发那科机器人有限公司 | Piling paw torn open by a kind of robot |
| CN204172044U (en) * | 2014-10-09 | 2015-02-25 | 武汉人天机器人技术有限公司 | A kind of multi-function robot handgrip |
| CN204211157U (en) * | 2014-10-20 | 2015-03-18 | 佛山市万世德机器人技术有限公司 | A kind of Ma Xiang handgrip mechanism |
| CN105936427A (en) * | 2016-06-01 | 2016-09-14 | 合肥雄鹰自动化工程科技有限公司 | Multifunctional gripper equipment for tray sucking and destacking |
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Inventor after: Liu Yuanqiang Inventor after: Tan Guowen Inventor after: Tan Runmian Inventor after: Chen Taibai Inventor after: Chen Jianyi Inventor before: Liu Yuanqiang Inventor before: Tan Guowen Inventor before: Tan Runmian |
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Effective date of registration: 20170711 Address after: 510000, Nanhai Town, Nanhai District, Guangdong, Foshan Nanhai Software Technology Park (R & D building A) A401-6 room Applicant after: FOSHAN VANTA ROBOT TECHNOLOGY CO., LTD. Applicant after: Foshan Haitian (Gaoming) Seasoning Co., Ltd. Address before: Room A308 scientific research building in the town of Nanhai District, Nanhai Software Technology Park high-tech center for Buddhist A block 510000 in Guangdong city of Foshan Province Applicant before: Foshan wisdom Technology Co., Ltd. Applicant before: FOSHAN VANTA ROBOT TECHNOLOGY CO., LTD. |
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Effective date of registration: 20180516 Address after: 528000 Dongjiang Industrial Park, Gaoming District, Foshan, Guangdong Applicant after: Foshan Haitian (Gaoming) Seasoning Co., Ltd. Applicant after: Foshan Haitian Flavoring & Food Co., Ltd. Applicant after: Foshan Haitian (Jiangsu) seasoning Food Co., Ltd. Address before: 510000 A401-6 room, Nanhai software science and Technology Park (R & D building A), Shihan Town, Nanhai District, Foshan, Guangdong Applicant before: FOSHAN VANTA ROBOT TECHNOLOGY CO., LTD. Applicant before: Foshan Haitian (Gaoming) Seasoning Co., Ltd. |
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Application publication date: 20170531 |