CN106742309B - Robot unpacking, packing and stacking all-in-one machine - Google Patents
Robot unpacking, packing and stacking all-in-one machine Download PDFInfo
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- CN106742309B CN106742309B CN201611165616.XA CN201611165616A CN106742309B CN 106742309 B CN106742309 B CN 106742309B CN 201611165616 A CN201611165616 A CN 201611165616A CN 106742309 B CN106742309 B CN 106742309B
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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
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/12—Feeding flexible bags or carton blanks in flat or collapsed state; Feeding flat bags connected to form a series or chain
- B65B43/14—Feeding individual bags or carton blanks from piles or magazines
- B65B43/16—Feeding individual bags or carton blanks from piles or magazines by grippers
- B65B43/18—Feeding individual bags or carton blanks from piles or magazines by grippers by suction-operated grippers
- B65B43/185—Feeding individual bags or carton blanks from piles or magazines by grippers by suction-operated grippers specially adapted for carton blanks
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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
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
- B65B35/38—Arranging and feeding articles in groups by grippers by suction-operated grippers
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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
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/24—Breaking creases to facilitate setting-up cartons
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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
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/06—Packaging groups of articles, the groups being treated as single articles
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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
- B65B7/00—Closing containers or receptacles after filling
- B65B7/16—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons
- B65B7/20—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons by folding-down preformed flaps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- 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
- B65G2201/0235—Containers
- B65G2201/025—Boxes
Abstract
The invention discloses a robot unpacking, packing and stacking all-in-one machine which is arranged in an operation area defined by guardrails and comprises a product conveying line, a transition line, a box loading machine, a bottom box sealing machine, a cover folding box sealing machine, a stacking station, a discharging station and a robot. The product conveying line comprises a product arranging station and a product positioning and grabbing station; the transition line comprises a front section transition line, a transverse transition line and a rear section transition line; the head of the transition line at the front section is a boxing station; the head of the rear transition line is a stacking grabbing station; the box loading machine is arranged in a box inlet hole in the left side wall of the guardrail; the bottom case sealer is arranged at the front end of the front section transition line; the box sealing machine is arranged above the rear part of the boxing station; the stacking station and the discharging station are arranged at the right front part of the operation area; the robot is arranged in the center of the front of the operation area, and a box opening stacking sucker, a box loading sucker and a folding fixing sucker are arranged on a gripper arranged on an arm of the robot. The all-in-one machine has high automation degree and does not need human intervention.
Description
Technical Field
The invention relates to boxing equipment in the field of packaging, in particular to a robot unpacking, boxing and stacking all-in-one machine.
Background
Among conventional packaging materials, corrugated containers have always occupied an important position. The corrugated case is used as a transport packaging material, is economical, light and convenient, saves labor when being stacked and is easy to process. Corrugated boxes are high-function, low-cost, good shipping containers, and are one of the most important packaging forms used in countries throughout the world today. The economic and developed national carton industry output value accounts for about 40 percent of the whole packaging industry output value. In a conventional automated packaging process, the steps of carton forming, product packing, and box sealing are performed at work stations one after another, that is, the packaging process is performed in a flow-line manner at each work station, and the work stations are arranged in a predetermined packaging sequence to perform product packaging. For example, traditional assembly line packaging system adopts the manual work to put into the carton with the product after the carton shaping usually, and this intensity of labour is big, waste time and energy, holds to damage the product moreover, is difficult for aiming at the accommodation space in the carton when still making the product put into, influences the improvement of packing efficiency.
Disclosure of Invention
The invention aims to provide a robot unpacking, packing and stacking all-in-one machine which is reasonable in overall structural layout, free of human intervention, high in automation degree, capable of achieving assembly line operation and capable of greatly improving working efficiency.
The technical scheme for realizing the purpose is as follows: a robot unpacking, boxing and stacking all-in-one machine is arranged in an operation area defined by four guardrails; the all-in-one machine comprises a product conveying line, a transition line, a box loading machine, a bottom box sealing machine, a cover folding box sealing machine, a stacking station, a discharging station and a robot, wherein,
the product conveying line longitudinally penetrates into the operation area from the rear side wall of the guardrail and comprises a product arranging station and a product positioning and grabbing station;
the height of the transition line is lower than that of the product conveying line, and the transition line comprises a front section transition line which is arranged on the left side of the product conveying line in parallel, a transverse transition line which is connected to the rear end of the front section transition line and penetrates through the lower part of the product conveying line, and a rear section transition line which is connected to the right end of the transverse transition line and arranged on the right side of the product conveying line in parallel, wherein the rear section transition line is arranged in a U shape; the length of the rear section transition line is the same as that of the front section transition line; the head of the front section transition line is a boxing station; the head of the rear transition line is a stacking grabbing station;
the box loading machine is arranged in a box inlet hole formed in the left side wall of the guardrail and positioned in front of the front section transition line;
the bottom case sealer is arranged between the front end of the front section transition line and the upper case sealer;
the box sealing machine is arranged above the front section transition line and behind the box filling station;
the stacking station and the discharging station are arranged at the front right part of the operation area in a back-to-front mode, and a pallet is arranged on the stacking station;
the robot is arranged in the center in front of the operation area, and a gripper arranged on an arm of the robot is provided with a box opening stacking sucker, a box packing sucker perpendicular to the box opening stacking sucker and a folding fixing sucker;
the product conveying line is used for conveying products to be packaged to a product positioning and grabbing station through a product arranging station, meanwhile, a carton box on a carton box feeding machine is grabbed by a carton unpacking and stacking sucker on a gripper of a robot and folded, then the products are conveyed to a bottom box sealing machine for lower cover folding and bottom box sealing, then the products are conveyed to a box packing station, the products on the product positioning and grabbing station are grabbed by the packing sucker on the gripper for packing, then upper cover folding and box sealing are carried out through the box sealing machine, finally, the carton box subjected to box sealing sequentially passes through the rear part of the front section crossing line, the transverse crossing line and the rear section crossing line to reach the stacking and grabbing station, and the carton box is grabbed by the carton unpacking sucker on the gripper and conveyed to the stacking station for stacking.
The robot box opening, boxing and stacking all-in-one machine comprises a gripper, a box opening and stacking sucker, a top frame, a box filling sucker and a folding mechanism, wherein the gripper comprises a connecting flange, a front fixing plate, a rear fixing plate, a square frame, a box opening and stacking sucker, and the rear fixing plate is connected to the connecting flange; the square frame is connected to the front surface of the rear fixing plate; the front fixing plate is connected to the front end of the square frame; the box opening stacking sucker is arranged on the front surface of the front fixed plate in a rectangular array mode through a box opening suction plate; the top frame is arranged on the upper end face of the square frame; the boxing suckers are arranged on the top frame in a rectangular array mode through boxing suction plates; the folding mechanism comprises a support fixed on one side face of the square frame, an upper air cylinder and a lower air cylinder which are parallelly installed on the support, an upper swing arm and a lower swing arm which are hinged to piston rods of the upper air cylinder and the lower air cylinder in a one-to-one correspondence mode, and a folding fixing sucker fixed at the outer end of the upper swing arm, wherein the inner end of the upper swing arm and the inner end of the lower swing arm are hinged to the support.
The robot box opening, boxing and stacking all-in-one machine is characterized in that the end of the lower swing arm is also connected with a rectangular-ruler-shaped beating rod.
The robot box opening, boxing and stacking all-in-one machine is characterized in that the folding fixed sucker is connected to the end of the upper swing arm through a tripod, so that the folding fixed sucker is located below the lower swing arm.
The robot unpacking, boxing and stacking all-in-one machine comprises a vertical frame, an upper box frame, a left baffle plate, a right baffle plate adjusting mechanism, a right baffle plate, a rear pressure plate, an upper left baffle plate, an upper right baffle plate and a middle pressure plate, wherein the vertical frame comprises a left supporting leg, a right supporting leg, a left inclined strut, a right inclined strut, two transverse struts, two longitudinal struts and an upper cross beam, and a transverse waist-shaped groove is formed in the middle part and the right part of the upper cross beam; the upper box frame is a Chinese character 'tian' -shaped frame consisting of a left frame, a right frame, an inner frame, an outer frame, a middle cross brace and a middle longitudinal brace, and the left sides of the inner frame and the outer frame of the upper box frame are bridged with two longitudinal guide rods; two transverse guide rods are bridged between the right frame and the middle longitudinal support of the upper box frame; the upper box frame is arranged on the vertical frame in a way that the outer part is higher and the inner part is inclined by 30 degrees; the left baffle is fixed on a left frame of the upper box rack; the right baffle plate adjusting mechanism comprises a screw rod transversely bridged between the right frame and the middle longitudinal support of the upper box frame and a hand wheel connected to the right end of the screw rod; the right baffle is sleeved on the two transverse guide rods and connected to the screw rod through a nut; the rear pressure plate is sleeved on the two longitudinal guide rods through a vertical plate in a sliding manner; the upper left barrier is fixed at the left end of the upper cross beam; the upper right barrier is arranged at the right part of the upper cross beam through a bolt which penetrates through a right kidney-shaped groove of the upper cross beam; the middle pressure plate is arranged in the middle of the upper cross beam through a bolt penetrating through a middle kidney-shaped groove of the upper cross beam.
The robot box opening, boxing and stacking all-in-one machine is characterized in that the bottom box sealing machine comprises a rack, two bottom cover guide pipes, a fixing frame and a tape sticking machine; the frame comprises a base and an upper warping plate arranged at the upper end of the front part of the base; the two bottom cover guide pipes are connected to the base and symmetrically positioned on the left side and the right side of the upper warping plate; the fixed frame is arranged at the rear part of the base; the tape sticking machine is arranged in the fixed frame.
The robot box opening, boxing and stacking all-in-one machine further comprises a stack supplying machine arranged at the right rear part of the working area.
The robot unpacking, boxing and stacking all-in-one machine is characterized in that a plurality of partition plates are arranged on the product arranging station in parallel.
The invention has the beneficial effects that: overall structure is rationally distributed, and all be realized by robot cooperation box closing machine, bottom case sealer, case sealer and cross the crossover line from taking packing carton, packing carton folding paper, bottom case sealer, vanning, case sealer to the pile up neatly, need not operating personnel's intervention completely, and degree of automation is high, and assembly line operation makes the material business turn over swift, can control orderly handling procedure, reduces the spoilage of article, improves article delivery, the automatic efficiency of changing stock.
Drawings
FIG. 1 is a perspective view of the robotic case opening, filling and palletizing all-in-one machine of the present invention;
FIG. 2 is a top view of the robotic case opening, filling and palletizing all-in-one machine of the present invention;
FIG. 3 is a perspective view of a gripper in the robotic case opening and palletizing all-in-one machine of the present invention;
FIG. 4 is a perspective view of a box loader in the robotic box opening and packing pallet all-in-one machine of the present invention;
FIG. 4a is a top view of the box loading machine in the robotic box opening, packing and palletizing all-in-one machine of the present invention
FIG. 5 is a perspective view of a bottom box sealer in the robotic case opening, filling and palletizing all-in-one machine of the present invention;
FIG. 5a is a top view of the bottom box sealer in the robotic case opening, filling and palletizing all-in-one machine of the present invention;
FIG. 6 is a state diagram of a gripper in the robot box opening and packing and stacking all-in-one machine of the invention in a box taking state;
FIG. 7 is a state view of the folding of the gripper in the robotic case opening and palletizing all-in-one machine of the present invention;
FIG. 8 is a state diagram of the gripper in the robot case opening and filling pallet all-in-one machine of the invention in case;
fig. 9 is a state diagram of the robot box opening and packing integrated machine of the invention in the state of stacking.
Detailed Description
The invention will be further explained with reference to the drawings.
Referring to fig. 1 to 9, the robot unpacking, packing and stacking all-in-one machine of the invention is arranged in a working area surrounded by four side guardrails 1. The all-in-one machine comprises a product conveying line 2, a transition line, a box feeding machine 4, a bottom box sealing machine 5, a box sealing machine 6, a stacking station 7, a discharging station 8, a stack supplying machine 9 and a robot 10.
The product conveying line 2 is a conveying belt, the product conveying line 2 longitudinally penetrates into the operation area from the rear side wall of the guardrail 1 and comprises a product arranging station 21 and a product positioning and grabbing station 22; the product arranging station 21 is provided with a plurality of partition plates in parallel, so that the products can enter the product positioning and grabbing station 22 orderly along the channels separated by the partition plates.
The height of the transition line is lower than that of the product conveying line 2, the transition line comprises a front section transition line 31 which is arranged on the left side of the product conveying line 2 in parallel, a transverse transition line 32 which is connected to the rear end of the front section transition line 31 and penetrates through the lower part of the product conveying line 2, and a rear section transition line 33 which is connected to the other end of the transverse transition line 32 and is arranged on the right side of the product conveying line in parallel, the rear section transition line 33 is arranged in a U shape, and the length of the rear section transition line 33 is the same as that of the front section transition line 31; the head of the front section transition line 31 is a boxing station 34; the head of the rear transition line 33 is a pallet grabbing station 35.
The box loading machine 4 is arranged in a box inlet hole formed in the left side wall of the guardrail 1 and is positioned in front of the front section transition line 31.
The bottom box sealing machine 5 is installed between the front end of the front section transition line 31 and the upper box sealing machine 4.
The box sealer 6 is installed above the front section transition line 31 and behind the box packing station 34.
The stacking station 7 and the discharging station 8 are arranged at the right front part of the operation area one behind the other, and a pallet is arranged on the stacking station 7.
The stack supplying machine 9 is arranged at the right rear part of the operation area, and the stack supplying machine 9 is used for conveying pallets for the stacking station 7.
The robot 10 is installed at the front center of the working area, and a gripper 100 attached to an arm of the robot 10 is provided with a box opening pallet chuck 101, a box packing chuck 102 perpendicular to the box opening pallet chuck 101, and a folding fixing chuck 103.
The gripper 100 on the arm of the robot 10 comprises a connecting flange 11, a front fixing plate 12, a rear fixing plate 14, a square frame 13, a box opening stacking sucker 101, a top frame 16, a box packing sucker 102 and a folding mechanism, wherein the rear fixing plate 14 is connected to the connecting flange 11; the cube frame 13 is connected to the front surface of the rear fixing plate 14; the front fixing plate 12 is connected to the front end of the square frame 13; the unpacking stacking suction cups 101 are mounted on the front surface of the front fixing plate 12 in a rectangular array mode through unpacking suction plates 15; the top frame 16 is composed of four top rods and is arranged on the upper end surface of the square frame 13; the boxing suction cups 102 are mounted on the top frame 16 in a rectangular array by boxing suction plates 17; the folding mechanism comprises a bracket 181 fixed on one side surface of the square frame 13, an upper air cylinder 182 and a lower air cylinder 183 which are arranged on the bracket 181 in parallel, an upper swing arm 184 and a lower swing arm 185 which are hinged on the piston rod of the upper air cylinder 182 and the lower air cylinder 183 in a one-to-one correspondence manner, and a folding fixing suction cup 103 fixed at the outer end of the upper swing arm 184, wherein the folding fixing suction cup 103 is fixed at the outer end of the upper swing arm 184 through a tripod 186, so that the folding fixing suction cup 103 is positioned below the lower swing arm 185; the inner end of the upper swing arm 184 and the inner end of the lower swing arm 185 are both hinged on the bracket 181; the outer end of lower swing arm 185 is also connected to a square-shaped clapper 187 (see FIG. 3).
The box loading machine 4 comprises a vertical frame 40, a box loading machine frame 41, a left baffle 42, a right baffle adjusting mechanism, a right baffle 43, a rear pressing plate 45, an upper left barrier 46, an upper right barrier 47 and a middle pressing plate 48; the vertical frame 40 comprises a left leg 401, a right leg 401, a left supporting foot 402, a right supporting foot 402, a left inclined strut 403, a right inclined strut 404, two cross struts 404, two longitudinal struts 405 and an upper cross beam 406, wherein the middle part and the right part of the upper cross beam 406 are both provided with a transverse kidney-shaped groove; the upper box frame 41 is a field-shaped frame composed of a left frame 411, a right frame 411, an inner frame 412, an outer frame 412, a middle cross brace 413 and a middle longitudinal brace 414, and two longitudinal guide rods 415 are bridged on the left sides of the inner frame 412 and the outer frame 412 of the upper box frame 41; two transverse guide rods 416 are bridged between a right frame 411 and a middle longitudinal support 414 of the upper box frame 41, and the upper box frame 41 is arranged on the vertical frame 40 in a manner that the outer part is higher and the inner part is lower and inclined by 30 degrees; the left baffle 42 is fixed on the left frame of the upper box frame 41; the right baffle plate adjusting mechanism comprises a screw rod 417 which is transversely bridged between the right frame 411 and the middle longitudinal support 414 of the upper box frame 40 and is positioned between the two transverse guide rods 416, and a hand wheel 418 connected with the right end of the screw rod 417; the right baffle 43 is sleeved on the two transverse guide rods 416 through a linear bearing and connected to the screw rod 417 through a nut 419; the rear pressing plate 45 is sleeved on the two longitudinal guide rods 415 in a sliding way through a vertical plate 450 and a linear bearing 451; the upper left stop 46 is fixed to the left end of the upper beam 406; the upper right stop 47 is mounted on the right portion of the upper beam 406 by a bolt passing through a right kidney slot of the upper beam 406; the intermediate pressure plate 48 is mounted to the middle of the upper cross member 406 by bolts passing through a central kidney slot in the upper cross member 406 (see fig. 4 and 4 a).
The left and right flaps 42, 43 may secure the carton board at the bottom and the upper left and right stops 46, 47 may secure the carton board at the top, preventing the carton board from tipping over. The right baffle 43 is connected with the screw 417 through a nut 419, so that the position of the right baffle 43 can be adjusted through rotating the hand wheel 418, and the position of the right upper block 47 is adjusted through a right kidney-shaped groove on the upper cross beam 406, so as to adapt to carton boards with different widths. The middle press 48 may be aligned with the split between the face and side panels of the carton blank through the middle kidney slot of the upper cross member 406 to facilitate subsequent folding. Because the included angle between the upper box frame 41 and the horizontal plane is 30 degrees, the rear pressing plate 45 is arranged on the two longitudinal guide rods 415 of the upper box frame 41 through the vertical plate 450 and the linear bearing 451, and the feeding can be automatically finished by directly sliding the cartons and the rear pressing plate 45 downwards along the longitudinal guide rods 415 under the dead weight of the cartons and the rear pressing plate 45 without adding any driving mechanism. When a carton board is placed in the rear pressing plate 45, the carton board is fixed, and after the carton board is sucked away by the vacuum box sucking mechanism, the carton board slides down due to the gravity of the carton board and the rear pressing plate 45 to automatically complete carton feeding, so that the feeding position of the carton is ensured to be proper every time.
The bottom case sealer 5 comprises a frame 50, two bottom cover guide pipes 51, a fixing frame 52 and a tape sticking machine 53; the rack 50 comprises a base 501 and a seesaw 502 arranged at the upper end of the front part of the base 501; two bottom cover guide tubes 51 are connected to the base 501 and symmetrically located at the left and right sides of the seesaw 502; the fixed frame 52 is arranged at the rear part of the base 501; the taping machine 53 is mounted in a holder 52 (see fig. 5 and 5 a). The taping machine 53 is provided with front and rear rollers, a spring, a saw tooth member, a crank and the like.
The main function of the bottom box sealing machine 5 is to seal the carton with the front and rear covers and the side covers folded by using adhesive tapes. After the carton is placed on the upper rocker 502, the robot compacts and moves the carton so that the front, rear, and side covers are folded by the bottom cover guide tube 51. When the carton with the front cover and the rear cover folded with the side covers moves forward under the action of friction force of the belt, the front roller is firmly pressed down by the carton due to compaction of a robot, so that the front roller rotates, and meanwhile, the top end of the adhesive tape of the front roller is stuck to the carton. The carton continues to move forward, the front roller drives the rear roller through the crank, the front roller and the rear roller rotate simultaneously, and the spring connected with the rear roller is stretched. The carton is advanced while depressing the saw tooth links, causing the springs connected to the saw tooth links to be stretched. When the carton crosses the serrated link, the serrated link rotates upward under the action of the spring, and the serrated rotates with the serrated link first due to the action of the small spring, so that the adhesive tape can be cut. When the carton crosses the rear roller, the spring connected with the rear roller recovers the original shape and contracts, so that the rear roller is driven to rotate upwards, the rear half part of the adhesive tape at the bottom of the carton is compacted, meanwhile, the rear roller drives the front roller to rotate through the crank, and therefore after the carton passes through the tape pasting machine 53 and the adhesive tape is sealed, the whole tape pasting machine 53 can automatically restore.
The robot unpacking, boxing and stacking all-in-one machine has the working process that: the robot and the upper box machine cooperate to take boxes → the gripper of the robot folds → the robot and the bottom box sealing machine cooperate to seal boxes at the bottom → the gripper of the robot packs boxes → the box sealing machine seals boxes → a transition line arrives at the stacking and grabbing station → the gripper of the robot is stacked.
The specific work flow is as follows: the products 300 reach the product positioning and grabbing station 22 through the product arranging station 21 by the product conveying line 2 to wait for boxing, meanwhile, the carton opening and stacking suction cups 101 on the grippers 100 of the robot 10 suck the carton boards 200 (see fig. 6) on the carton loader 4, the cartons 200 are taken out by controlling the walking path, the panels of the carton boards 200 are sucked by the carton opening and stacking suction cups 101 on the grippers 100, the lower swing arm 185 rotates 90 degrees under the control of the lower air cylinder 183 to fold the side plates of the carton boards 200 (see fig. 7) for 90 degrees to form cartons, and then the upper swing arm 184 rotates 90 degrees under the control of the upper air cylinder 182 to enable the folding fixing suction cups 103 to suck the side plates of the cartons 200 to be fixedly folded. After the robot folds, the walking path is controlled by a robot program, when the robot passes through the bottom box sealing machine 5, the bottom cover plate of the paper box 200 is folded and sealed, and then the paper box 200 is placed at the boxing station 34. The box loading suction cups 102 on the control grippers 100 suck the products 300 on the product positioning and grabbing stations 22, the robots control the postures of the grippers to place the products 300 into the cartons 200 (see fig. 8), after the cartons 200 are filled, the carton sealing machine 6 on the front section transition line 31 folds and seals the top cover plates of the cartons 200, then the cartons 200 which are sealed sequentially pass through the transverse transition line 32 and the rear section transition line 33 to reach the stacking and grabbing stations 35, the box opening and piling suction cups 101 on the robot grippers 100 suck the cartons 200 and pile the cartons 200 on pallets of the stacking stations 7 (see fig. 9), when the boxes on the pallets reach a certain height, the cartons are conveyed to the discharging stations 8, and finally the pallets are conveyed together by the forklift. The pallet feeder 9 then feeds the pallet to the vacating palletizing station 7.
The robot unpacking, boxing and stacking all-in-one machine is reasonable in overall structural layout, all operations from taking of a packing carton, folding of the packing carton, bottom box sealing, boxing, box sealing and stacking are realized by the robot matched with the box closing machine, the bottom box sealing machine, the box sealing machine and a transition line, the intervention of operators is completely avoided, the automation degree is high, the assembly line operation is realized, the material can enter and exit quickly, the ordered loading and unloading program can be controlled, the damage rate of articles is reduced, and the efficiency of article delivery and automatic inventory transfer is improved.
The above embodiments are provided only for illustrating the present invention and not for limiting the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and therefore all equivalent technical solutions should also fall within the scope of the present invention, and should be defined by the claims.
Claims (6)
1. A robot unpacking, boxing and stacking all-in-one machine is arranged in an operation area defined by four guardrails; the all-in-one machine comprises a product conveying line, a transition line, a box loading machine, a bottom box sealing machine, a cover folding box sealing machine, a stacking station, a discharging station and a robot, and is characterized in that,
the product conveying line longitudinally penetrates into the operation area from the rear side wall of the guardrail and comprises a product arranging station and a product positioning and grabbing station;
the height of the transition line is lower than that of the product conveying line, and the transition line comprises a front section transition line which is arranged on the left side of the product conveying line in parallel, a transverse transition line which is connected to the rear end of the front section transition line and penetrates through the lower part of the product conveying line, and a rear section transition line which is connected to the right end of the transverse transition line and arranged on the right side of the product conveying line in parallel, wherein the rear section transition line is arranged in a U shape; the length of the rear section transition line is the same as that of the front section transition line; the head of the front section transition line is a boxing station; the head of the rear transition line is a stacking grabbing station;
the box loading machine is arranged in a box inlet hole formed in the left side wall of the guardrail and positioned in front of the front section transition line;
the box loading machine comprises a vertical frame, a box loading machine frame, a left baffle, a right baffle adjusting mechanism, a right baffle, a rear pressure plate, a left upper baffle, a right upper baffle and a middle pressure plate, wherein the vertical frame comprises a left supporting leg, a right supporting leg, a left inclined strut, a right inclined strut, two cross struts, two longitudinal struts and an upper cross beam, and the middle part and the right part of the upper cross beam are both provided with a transverse kidney-shaped groove; the upper box frame is a Chinese character 'tian' -shaped frame consisting of a left frame, a right frame, an inner frame, an outer frame, a middle cross brace and a middle longitudinal brace, and the left sides of the inner frame and the outer frame of the upper box frame are bridged with two longitudinal guide rods; two transverse guide rods are bridged between the right frame and the middle longitudinal support of the upper box frame; the upper box frame is arranged on the vertical frame in a way that the outer part is higher and the inner part is inclined by 30 degrees; the left baffle is fixed on a left frame of the upper box rack; the right baffle plate adjusting mechanism comprises a screw rod transversely bridged between the right frame and the middle longitudinal support of the upper box frame and a hand wheel connected to the right end of the screw rod; the right baffle is sleeved on the two transverse guide rods and connected to the screw rod through a nut; the rear pressure plate is sleeved on the two longitudinal guide rods through a vertical plate in a sliding manner; the upper left barrier is fixed at the left end of the upper cross beam; the upper right barrier is arranged at the right part of the upper cross beam through a bolt which penetrates through a right kidney-shaped groove of the upper cross beam; the middle pressure plate is arranged in the middle of the upper cross beam through a bolt penetrating through a middle kidney-shaped groove of the upper cross beam;
the bottom case sealer is arranged between the front end of the front section transition line and the upper case sealer;
the bottom case sealer comprises a frame, two bottom cover guide pipes, a fixing frame and a tape sticking machine; the frame comprises a base and an upper warping plate arranged at the upper end of the front part of the base; the two bottom cover guide pipes are connected to the base and symmetrically positioned on the left side and the right side of the upper warping plate; the fixed frame is arranged at the rear part of the base; the tape sticking machine is arranged in the fixed frame;
the box sealing machine is arranged above the front section transition line and behind the box filling station;
the stacking station and the discharging station are arranged at the front right part of the operation area in a back-to-front mode, and a pallet is arranged on the stacking station;
the robot is arranged in the center in front of the operation area, and a gripper arranged on an arm of the robot is provided with a box opening stacking sucker, a box packing sucker perpendicular to the box opening stacking sucker and a folding fixing sucker;
the product conveying line is used for conveying products to be packaged to a product positioning and grabbing station through a product arranging station, meanwhile, a carton box on a carton box feeding machine is grabbed by a carton unpacking and stacking sucker on a gripper of a robot and folded, then the products are conveyed to a bottom box sealing machine for lower cover folding and bottom box sealing, then the products are conveyed to a box packing station, the products on the product positioning and grabbing station are grabbed by the packing sucker on the gripper for packing, then upper cover folding and box sealing are carried out through the box sealing machine, finally, the carton box subjected to box sealing sequentially passes through the rear part of the front section crossing line, the transverse crossing line and the rear section crossing line to reach the stacking and grabbing station, and the carton box is grabbed by the carton unpacking sucker on the gripper and conveyed to the stacking station for stacking.
2. The robot unpacking, packing and stacking all-in-one machine according to claim 1, wherein the gripper comprises a connecting flange, a front fixing plate, a rear fixing plate, a square frame, a unpacking, stacking and sucking disc, a top frame, a packing and sucking disc and a folding mechanism, wherein the rear fixing plate is connected to the connecting flange; the square frame is connected to the front surface of the rear fixing plate; the front fixing plate is connected to the front end of the square frame; the box opening stacking sucker is arranged on the front surface of the front fixed plate in a rectangular array mode through a box opening suction plate; the top frame is arranged on the upper end face of the square frame; the boxing suckers are arranged on the top frame in a rectangular array mode through boxing suction plates; the folding mechanism comprises a support fixed on one side face of the square frame, an upper air cylinder and a lower air cylinder which are parallelly installed on the support, an upper swing arm and a lower swing arm which are hinged to piston rods of the upper air cylinder and the lower air cylinder in a one-to-one correspondence mode, and a folding fixing sucker fixed at the outer end of the upper swing arm, wherein the inner end of the upper swing arm and the inner end of the lower swing arm are hinged to the support.
3. The robot box opening, box packing and stacking all-in-one machine as claimed in claim 2, wherein the end of the lower swing arm is further connected with a rectangular-ruler-shaped flapping rod.
4. The robot unpacking, packing and stacking all-in-one machine as claimed in claim 2, wherein the folding fixing sucker is connected to the end of the upper swing arm through a tripod, so that the folding fixing sucker is positioned below the lower swing arm.
5. The all-in-one machine for robot unpacking, packing and palletizing as claimed in claim 1, further comprising a stacker supplying machine arranged at the right rear part of the working area.
6. The all-in-one machine of robot unpacking, packing and stacking as claimed in claim 1, wherein a plurality of partition plates are arranged on the product sorting station in parallel.
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| CN201611165616.XA CN106742309B (en) | 2016-12-16 | 2016-12-16 | Robot unpacking, packing and stacking all-in-one machine |
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| CN201611165616.XA CN106742309B (en) | 2016-12-16 | 2016-12-16 | Robot unpacking, packing and stacking all-in-one machine |
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| CN106742309B true CN106742309B (en) | 2022-04-22 |
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