CN107381077B - Conveying line system for automatically switching stacking boxes and stacking bottles and stacking control method - Google Patents
Conveying line system for automatically switching stacking boxes and stacking bottles and stacking control method Download PDFInfo
- Publication number
- CN107381077B CN107381077B CN201710683841.0A CN201710683841A CN107381077B CN 107381077 B CN107381077 B CN 107381077B CN 201710683841 A CN201710683841 A CN 201710683841A CN 107381077 B CN107381077 B CN 107381077B
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- stacking
- clamp
- bottle
- robot
- conveying line
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Classifications
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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
-
- 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
-
- 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
- B65G2201/0244—Bottles
Landscapes
- Stacking Of Articles And Auxiliary Devices (AREA)
- Branching, Merging, And Special Transfer Between Conveyors (AREA)
Abstract
The invention discloses a conveying line system for automatically switching a stacking box and a stacking bottle and a stacking control method. The conveying line system for automatically switching the stacking boxes and the stacking bottles and the stacking control method can save the occupied space of workshops and the equipment quantity, and reduce the production cost of enterprises.
Description
Technical Field
The invention relates to material stacking equipment, in particular to a common conveying line structure for stacking boxes and stacking bottles and a stacking control method.
Background
In the automatic production of factories, when bottled products and carton products are produced, two automatic production lines are usually arranged to respectively produce the bottled products and the carton products, and two products with different packages cannot share one automatic production line, so that the production line layout of factory production workshops needs to occupy a large amount of land, and the daily maintenance of production line equipment is very high in cost, so that a very high economic burden is brought to enterprises. In order to save space of workshops and equipment cost of production lines, production of bottled products and carton products on the same automatic production line is generally considered, but automatic production of different packaged products has different marshalling area conveying line structures and robot stacking and marshalling modes, and clamps are different, so that the mode that the bottled products and the carton products share the same automatic production line is difficult to realize.
Disclosure of Invention
The invention aims to provide a conveying line system and a stacking control method capable of realizing automatic switching of stacking boxes and stacking bottles of bottled products and carton products sharing the same automatic production line.
The invention relates to a conveying line system for automatically switching a code box and a code bottle, which comprises a computer control system, a robot, a clamp unit and a marshalling area conveying line mechanism, wherein the robot and the marshalling area conveying line mechanism are respectively and electrically connected with the computer system; the clamp unit comprises a stacking clamp, a stacking bottle clamp and a clamp positioning base, and the robot can be connected with the stacking clamp or the stacking bottle clamp under the control of the computer system; the marshalling district transfer chain mechanism is including installing the driving belt on the transfer chain support, and driving belt's end is provided with the baffle, and two bottle protection boards of interval adjustable are provided with side by side on the transfer chain support of driving belt one side, and bottle protection boards can promote the removal by linear motion mechanism, are provided with on the transfer chain support of driving belt opposite side and collude the case slot between, still are provided with the sensor on the transfer chain support, and linear motion mechanism and sensor are connected with the computer system electricity.
According to the stacking control method for automatically switching the stacking boxes and the stacking bottles, formula parameters of products to be produced are downloaded in a computer control system, robot initialization is carried out, and then whether a clamp needs to be replaced or not is judged according to a clamp instruction triggered by the downloaded product formula; if the current robot clamp is consistent with the clamp required by the downloaded product formula, the robot clamp does not need to be replaced, the marshalling area conveying line mechanism is kept unchanged, and the production process is normally carried out; if the current robot clamp is inconsistent with the clamp required by the downloaded product formula, the computer system sends out a command for replacing the clamp and adjusting the marshalling area conveying line mechanism, the robot replaces the clamp, the marshalling area conveying line mechanism carries out structural adjustment, and then the normal production procedure is executed.
The invention relates to a conveying line system for automatically switching a stacking box and stacking bottles and a stacking control method, wherein two bottle protection plates driven by a linear motion mechanism are arranged on a conveying line support, the state of the bottle protection plates is detected by a sensor to determine whether a stacking clamp or a stacking box clamp is connected with a robot, so that whether the clamp needs to be replaced or not is judged according to downloaded product formula parameters, and the structure of a conveying line mechanism in a marshalling area is adjusted, so that the structure of a production line and the clamp on the robot are suitable for the requirements of products to be produced, such as the production of bottled products of the downloaded product formula parameters, and the former production line is used for producing carton products. The conveying line system for automatically switching the stacking boxes and the stacking bottles is simultaneously suitable for production of bottled products and carton products, saves the occupied space of a production workshop and the number of production line equipment, and reduces the production cost of enterprises.
Drawings
Fig. 1 is a schematic structural diagram of a conveyor line system for automatically switching between a code box and a code bottle.
Fig. 2 is a schematic view of the organization of the group conveyor line mechanism in the production of carton products.
Fig. 3 is a schematic view of the organization conveyor line mechanism for producing bottled products.
Detailed Description
As shown in fig. 1, 2 and 3, a conveyor line system for automatically switching code boxes and code bottles comprises a computer control system, a robot 1, a clamp unit and a marshalling area conveyor line mechanism, wherein the robot 1 and the marshalling area conveyor line mechanism are respectively and electrically connected with the computer system; the clamp unit comprises a stacking clamp 2, a stacking bottle clamp 3 and a clamp positioning base 4, and the robot 1 can be connected with the stacking clamp 2 or the stacking bottle clamp 3 under the control of a computer system; the marshalling district transfer chain mechanism is including installing the driving belt 6 on transfer chain support 5, and driving belt's end is provided with baffle 12, and driving belt 6 one side is provided with two bottle protection boards 7 of interval adjustable side by side on the transfer chain support 5, and bottle protection boards 7 can be pushed by linear motion mechanism and remove, are provided with on the transfer chain support 5 of driving belt 6 opposite side and collude case interval groove 8, still are provided with sensor 9 on the transfer chain support 5, and linear motion mechanism and sensor 9 are connected with the computer system electricity.
The width of the transmission belt 6 is larger than the maximum width of the paper box, so that when the paper box is arranged on the transmission belt 6, the robot 1 controls the box stacking clamp 2 to push a paper box product to one side of the box hooking groove 8 for a certain distance, and then the box clamping action is executed, so that the box hooking mechanism of the box stacking clamp 2 can fall on the box hooking groove 8 to avoid collision with the transmission belt 6.
The side of the conveyor line bracket, provided with the bottle protection plate 7, is also provided with a position-adjustable guardrail 10, and the guardrail 10 is positioned at the outer side of the bottle protection plate; the guardrail 10 can ensure that the cartons are in the correct positions when being arranged on the transmission belt 6, so that the carton stacking clamp 2 can accurately grasp the cartons, and the clamp plates of the carton stacking clamp 2 are prevented from colliding with the carton products.
The fixture positioning base 4 is provided with a positioning hole 11; the positioning holes 11 can enable the robot 1 to replace the clamp more accurately and quickly.
The linear motion mechanism can be an air cylinder.
The stacking control method for automatically switching the stacking boxes and the stacking bottles comprises the steps of firstly downloading formula parameters of products to be produced in a computer control system, initializing a robot, and judging whether a clamp needs to be replaced according to a clamp instruction triggered by the downloaded product formula; if the current robot clamp is consistent with the clamp required by the downloaded product formula, the robot clamp does not need to be replaced, the marshalling area conveying line mechanism is kept unchanged, and the production process is normally carried out; if the current robot clamp is inconsistent with the clamp required by the downloaded product formula, the computer system sends out a clamp replacement and marshalling area conveying line mechanism adjustment instruction, the robot replaces the clamp, the marshalling area conveying line mechanism carries out structural adjustment, then products corresponding to the downloaded product formula parameters are produced, and the robot controls the clamp to grasp the products to carry out a stacking procedure.
According to the stacking control method for automatically switching the stacking boxes and the stacking bottles, if the current robot clamp is inconsistent with the clamp required by the downloaded product formula, the current robot clamp is the stacking box clamp, and when the downloaded formula is for producing bottled products, the stacking control method comprises the following steps:
a1: the computer sends out a clamp replacing instruction, the robot runs to a safe position and then reaches the upper part of the code box clamp, runs to a clamp positioning base of the code box clamp at a low speed to align the code box clamp with the positioning hole, and is separated from the code box clamp after being placed in place;
b1: the robot runs above the positioning base of the bottle stacking clamp, descends at a low speed, is in butt joint with the bottle stacking clamp, is locked after the butt joint is successful, is lifted to a safe height at a low speed, and runs to a safe position;
c1: the sensor detects the positions of the bottle protection plates, and if the two bottle protection plates are detected to stay on the side edges of the transmission belt, the linear motion mechanism drives the bottle protection plates to move, so that the two bottle protection plates form a channel for bottled products to pass through on the transmission belt; if the bottle protection plate is detected to be positioned in the middle of the transmission belt, the linear motion mechanism does not work, and the bottle protection plate is kept motionless;
d1: and starting to produce bottled products, stacking enough bottled products on a to-be-driven belt, and controlling the stacking bottle clamp to grasp the bottled products by a robot to stack.
According to the stacking control method for automatically switching the stacking boxes and the stacking bottles, if the current robot clamp is inconsistent with the clamp required by the downloaded product formula, the current robot clamp is the stacking bottle clamp, and the downloaded formula is produced in the process of producing the carton products, the stacking control method comprises the following steps:
a2: the computer sends out a clamp replacing instruction, the robot runs to a safe position and then reaches the upper part of the bottle stacking clamp, runs to a clamp positioning base of the bottle stacking clamp at a low speed to align the bottle stacking clamp with the positioning hole, and is separated from the bottle stacking clamp after being placed in place;
b2: the robot runs above the fixture positioning base of the stacking fixture, descends at a low speed, is in butt joint with the stacking fixture, is locked after the butt joint is successful, and is lifted to a safe height at a low speed to run to a safe position;
c2: the sensor detects the positions of the bottle protection plates, and if the two bottle protection plates are detected to stay on the side edges of the transmission belt, the linear motion mechanism does not work, and the bottle protection plates are kept motionless; if the bottle protection plate is detected to be positioned in the middle of the transmission belt, the linear motion mechanism drives the bottle protection plate to move in opposite directions, and finally, the bottle protection plate is tightly attached to the side edge of the guardrail;
d2: and (3) starting to produce the carton products, stacking enough carton products on a transmission belt, controlling the stacking clamp to move above the carton products of the transmission belt by a robot, then pushing the carton products to one side of a groove between the hooking boxes by a certain distance by a clamping plate of the stacking clamp, and controlling the stacking clamp to continuously descend to grab the carton products for stacking by the robot.
Claims (4)
1. A stacking control method of a conveying line system for automatically switching a stacking box and a stacking bottle comprises a computer control system, a robot (1), a clamp unit and a marshalling area conveying line mechanism, wherein the robot (1) and the marshalling area conveying line mechanism are respectively and electrically connected with the computer system; the clamp unit comprises a stacking box clamp (2), a stacking bottle clamp (3) and a clamp positioning base (4), and the robot (1) can be connected with the stacking box clamp (2) or the stacking bottle clamp (3) under the control of a computer system; the method is characterized in that: the marshalling area conveying line mechanism comprises a driving belt (6) arranged on a conveying line support (5), a baffle (12) is arranged at the tail end of the driving belt, two bottle protection plates (7) with adjustable intervals are arranged on the conveying line support (5) on one side of the driving belt (6) in parallel, the bottle protection plates (7) can be pushed to move by a linear motion mechanism, a box hooking groove (8) is formed in the conveying line support (5) on the other side of the driving belt (6), a sensor (9) is further arranged on the conveying line support (5), and the linear motion mechanism and the sensor (9) are electrically connected with a computer system; when the production work is carried out, if the current robot clamp is inconsistent with the clamp required by the downloaded product formula, the current robot clamp is a box stacking clamp, and when the downloaded formula is for producing bottled products, the method comprises the steps of A1-D1; when the current robot clamp is a bottle stacking clamp and the downloading formula is used for producing a carton product, the method comprises the following steps of A2-D2:
a1: the computer sends out a clamp replacing instruction, the robot runs to a safe position and then reaches the upper part of the code box clamp, runs to a clamp positioning base of the code box clamp at a low speed to align the code box clamp with the positioning hole, and is separated from the code box clamp after being placed in place;
b1: the robot runs above the positioning base of the bottle stacking clamp, descends at a low speed, is in butt joint with the bottle stacking clamp, is locked after the butt joint is successful, is lifted to a safe height at a low speed, and runs to a safe position;
c1: the sensor detects the positions of the bottle protection plates, and if the two bottle protection plates are detected to stay on the side edges of the transmission belt, the linear motion mechanism drives the bottle protection plates to move, so that the two bottle protection plates form a channel for bottled products to pass through on the transmission belt; if the bottle protection plate is detected to be positioned in the middle of the transmission belt, the linear motion mechanism does not work, and the bottle protection plate is kept motionless;
d1: starting to produce bottled products, and controlling a robot to control a bottle stacking clamp to grasp the bottled products for stacking when enough bottled products are stacked on a transmission belt;
a2: the computer sends out a clamp replacing instruction, the robot runs to a safe position and then reaches the upper part of the bottle stacking clamp, runs to a clamp positioning base of the bottle stacking clamp at a low speed to align the bottle stacking clamp with the positioning hole, and is separated from the bottle stacking clamp after being placed in place;
b2: the robot runs above the fixture positioning base of the stacking fixture, descends at a low speed, is in butt joint with the stacking fixture, is locked after the butt joint is successful, and is lifted to a safe height at a low speed to run to a safe position;
c2: the sensor detects the positions of the bottle protection plates, and if the two bottle protection plates are detected to stay on the side edges of the transmission belt, the linear motion mechanism does not work, and the bottle protection plates are kept motionless; if the bottle protection plate is detected to be positioned in the middle of the transmission belt, the linear motion mechanism drives the bottle protection plate to move in opposite directions, and finally, the bottle protection plate is tightly attached to the side edge of the guardrail;
d2: and (3) starting to produce the carton products, stacking enough carton products on a transmission belt, controlling the stacking clamp to move above the carton products of the transmission belt by a robot, then pushing the carton products to one side of a groove between the hooking boxes by a certain distance by a clamping plate of the stacking clamp, and controlling the stacking clamp to continuously descend to grab the carton products for stacking by the robot.
2. A palletizing control method as in claim 1, wherein: the width of the driving belt (6) is larger than the maximum width of the carton products.
3. A palletizing control method as in claim 1, wherein: one side of the conveying line support (5) provided with the bottle protection plate (7) is also provided with a guardrail (10) with an adjustable position, and the guardrail (10) is positioned at the outer side of the bottle protection plate (7).
4. A palletizing control method as in claim 1, wherein: the fixture positioning base (4) is provided with a positioning hole (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710683841.0A CN107381077B (en) | 2017-08-11 | 2017-08-11 | Conveying line system for automatically switching stacking boxes and stacking bottles and stacking control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710683841.0A CN107381077B (en) | 2017-08-11 | 2017-08-11 | Conveying line system for automatically switching stacking boxes and stacking bottles and stacking control method |
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| Publication Number | Publication Date |
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| CN107381077A CN107381077A (en) | 2017-11-24 |
| CN107381077B true CN107381077B (en) | 2023-07-21 |
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| CN201710683841.0A Active CN107381077B (en) | 2017-08-11 | 2017-08-11 | Conveying line system for automatically switching stacking boxes and stacking bottles and stacking control method |
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| CN107381077A (en) | 2017-11-24 |
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