CN108163554B - Working process capable of realizing automatic unloading of tobacco packages - Google Patents
Working process capable of realizing automatic unloading of tobacco packages Download PDFInfo
- Publication number
- CN108163554B CN108163554B CN201810089479.9A CN201810089479A CN108163554B CN 108163554 B CN108163554 B CN 108163554B CN 201810089479 A CN201810089479 A CN 201810089479A CN 108163554 B CN108163554 B CN 108163554B
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- Prior art keywords
- tobacco
- conveyor belt
- package
- robot
- tobacco package
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- 241000208125 Nicotiana Species 0.000 title claims abstract description 128
- 235000002637 Nicotiana tabacum Nutrition 0.000 title claims abstract description 128
- 238000000034 method Methods 0.000 title claims abstract description 16
- 235000019504 cigarettes Nutrition 0.000 claims abstract description 38
- 230000007423 decrease Effects 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 241000282376 Panthera tigris Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- 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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Manipulator (AREA)
Abstract
The automatic unloading process for the tobacco bale comprises the following steps of 1) shifting a tobacco bale grabbing robot and photographing the tobacco bale; 2) The controller judges whether the photographed cigarette packet is pressed with corners or not; 3) If the tobacco package in the step 2) is the uppermost one, the tobacco package grabbing robot acts to grab the tobacco package and shifts to place the tobacco package on a conveyor belt for conveying; if the cigarette packet in the step 2) is not the uppermost packet, judging whether manual participation is needed or not; 4) Repeating steps 1) to 3) if no human participation is required; if the manual participation is needed, the manual participation moves the tobacco package to a grabbing position of the tobacco package grabbing robot and grabs the tobacco package, and the tobacco package is shifted to be placed on a conveying belt and conveyed; 5) And stacking the tobacco packages by the stacking robot until the tobacco packages are completely unloaded. The automatic completion of the tobacco package loading to the truck from unloading to stacking is realized, the unloading efficiency is improved, and the manual treading of the tobacco package in the unloading process is avoided, so that the quality of tobacco in the tobacco package is ensured.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a working process capable of realizing automatic unloading of tobacco packages.
Background
The transportation, transfer and unloading of tobacco packages in the tobacco industry are several important links in the tobacco production process. At present, a truck for loading a large number of tobacco packages needs to be manually unloaded, the tobacco packages on the truck are manually carried and placed on a transfer trolley beside the truck, and then the truck is manually piled up, so that the labor intensity of workers is high and the working efficiency is low.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention provides a working process capable of realizing automatic unloading of the tobacco bale.
The technical scheme adopted for solving the technical problems is as follows: the working process capable of realizing automatic unloading of the tobacco bale comprises the following steps of:
1) The tobacco bale grabbing robot arranged on the portal frame is shifted to the position above the tobacco bale loading vehicle, and photographs the tobacco bale on the loading vehicle;
2) The photo is transmitted to the controller, the controller judges whether the photographed cigarette packet is pressed with the corner, if the cigarette packet is pressed with the corner, the cigarette packet grabbing robot continues to shift, and if the cigarette packet is not pressed with the corner, the controller judges whether the cigarette packet is the uppermost packet;
3) If the tobacco package in the step 2) is the uppermost one, the tobacco package grabbing robot acts to grab the tobacco package and shifts to place the tobacco package on a conveyor belt for conveying; if the cigarette packet in the step 2) is not the uppermost packet, judging whether manual participation is needed or not;
4) Repeating steps 1) to 3) if no human participation is required; if the manual participation is needed, the manual participation moves the tobacco package to a grabbing position of the tobacco package grabbing robot and grabs the tobacco package, and the tobacco package is shifted to be placed on a conveying belt and conveyed;
5) Judging whether the height of the portal frame needs to be adjusted, if so, adjusting the height of the portal frame, then, following the conveyor belt and the stacking robot, and taking the tobacco packages off the conveyor belt by the stacking robot to stack; if the portal frame does not need to be adjusted in height, the stacking robot directly takes the tobacco packages off the conveyor belt for stacking;
6) And step 1) to step 5) until the tobacco bale is completely unloaded.
Further, two gantry frames are arranged on two sides of the cigarette package carrying vehicle, and a cigarette package grabbing robot is arranged on each of the two gantry frames.
Further, the conveyor belt in the step 3) comprises a first flat conveying conveyor belt, a slope conveyor belt and a second flat conveying conveyor belt, the right end of the first flat conveying conveyor belt is hinged with the left upper end of the slope conveyor belt, the right lower end of the slope conveyor belt is hinged with the left end of the second flat conveying conveyor belt, the second flat conveying conveyor belt can move left and right on the ground, the cigarette packet grabbing robot cigarette packet is placed on the first flat conveying conveyor belt and then moves onto the second flat conveying conveyor belt through the slope conveyor belt, and the stacking robot is fixedly arranged on the second flat conveying conveyor belt.
Further, a cigarette packet spacing limiting plate is arranged on the slope conveyor belt.
In summary, the technical scheme of the invention has the following beneficial effects:
The automatic completion of the tobacco bale loading of the truck from unloading to stacking is realized, the unloading efficiency is greatly improved, and the labor intensity of workers is reduced. In addition, because mechanical equipment is adopted for unloading, the manual trampling of the tobacco package in the unloading process is avoided, and the quality of tobacco in the tobacco package is also ensured to a certain extent.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the truck of FIG. 1 with the truck removed;
FIG. 3 is a top view of FIG. 2;
FIG. 4 is a right side view of FIG. 2;
Fig. 5 is a flow chart of the unloading production.
In the figure:
1 portal frame, 2 first flat conveyer belt, 3 slope conveyer belt, 4 second flat conveyer belt, 5 cigarette package snatch robot, 6 pile up neatly robots, 7 cigarette package, 8 crossbeam, 9 vertical beams, 10 cigarette package interval limiting plate, 11 freight train.
Detailed Description
The following detailed description of the invention is merely illustrative of the invention and is not intended to limit the scope of the invention in any way, as defined in the appended claims.
As shown in fig. 1 to 5, the invention comprises a portal frame 1, a conveyor belt, a tobacco bale grabbing robot 5 for grabbing tobacco bales from a vehicle and placing the tobacco bales on the conveyor belt, a palletizing robot 6 for grabbing and palletizing the tobacco bales on the conveyor belt, and a controller.
The portal frame comprises two frames which are symmetrical in front and back, and the height of the portal frame is adjustable. The position between the two portal frames is used for pouring the truck 11, and before unloading, the truck is poured between the two portal frames for preparation. Two tobacco bale grabbing robots 5 are arranged on the two portal frames, photographing equipment is arranged on the tobacco bale grabbing robots, and the tobacco bale grabbing robots can move left and right along the portal frame 1. The tongs of the tobacco bale grabbing robot are telescopic tiger claw type tongs, and can grab tobacco bales in a telescopic mode. The photographing device photographs the tobacco packages on the truck, information is transmitted to the controller for analysis, and if the detected tobacco packages are the leftmost uppermost tobacco packages 7, the controller sends out control signals, and the tobacco packages grabbing robot acts to grab the tobacco packages 7. If the tobacco bale is detected to be not the leftmost uppermost layer, the controller sends a control signal, the tobacco bale grabbing robot continues to move leftwards to carry out photographing analysis, and if the tobacco bale is detected to be not pressed into the leftmost tobacco bale instead of being the upper layer tobacco bale, problems can occur during tobacco packaging, and manual adjustment is needed.
The portal frame comprises a cross beam 8 and a vertical beam 9, and the tobacco bale grabbing robot is matched with the cross beam to slide through a sliding rail to realize left and right movement of the tobacco bale grabbing robot in a boxcar.
The right side of the portal frame is provided with a conveying belt which is adjustable in the left-right length direction and the up-down height direction. The conveyor belt comprises a first flat conveying conveyor belt 2, a slope conveyor belt 3 and a second flat conveying conveyor belt 4, wherein the right end of the first flat conveying conveyor belt is hinged with the left upper end of the slope conveyor belt, the right lower end of the slope conveyor belt is hinged with the left end of the second flat conveying conveyor belt, and the second flat conveying conveyor belt can move left and right on the ground. And a tobacco packet spacing limiting plate is arranged on the slope conveyor belt. In the unloading process, the left side of the first flat conveying conveyor belt is positioned at the right side of the portal frame and corresponds to the position action of the tobacco bale grabbing robot. The tobacco bale grabbing robot places the grabbed tobacco bale on the first flat conveying belt. Tobacco bale gets into the slope conveyer belt through first flat conveyer belt, guarantees through the speed of each conveyer belt that each tobacco bale can be placed at interval the tobacco bale interval limiting plate 10 position on the slope conveyer belt, and each tobacco bale is separated by tobacco bale interval limiting plate, places the tobacco bale and extrudees together on the slope conveyer belt, and first inconvenient pile up neatly machine people pile up neatly snatchs, and the second extrusion piled cigarette holds and easily causes the conveyer belt unable normal conveying.
Along with the continuous progress of unloading process, the gantry frame is high to descend constantly, and the corresponding position of the conveyer belt that the controller control articulated together descends this moment, and the position descends can be realized through the second flat conveyer belt motionless, and first flat conveyer belt and slope conveyer belt incline to the left decline removal, also can be realized through second flat conveyer belt right-hand movement first flat conveyer belt and slope conveyer belt downward sloping, like the conveyer belt broken line position in fig. 1. Two palletizing robots 6 at the right end of the conveyor belt synchronously follow the action of the conveyor belt. The specific operation is shown in fig. 5.
The portal frame, the conveyor belt, the tobacco bale grabbing robot and the palletizing robot are controlled to be linked through the controller.
As shown in fig. 5, the invention includes the steps of:
1) The tobacco bale grabbing robot arranged on the portal frame is shifted to the position above the tobacco bale loading vehicle, and photographs the tobacco bale on the loading vehicle;
2) The photo is transmitted to the controller, the controller judges whether the photographed cigarette packet is pressed with the corner, if the cigarette packet is pressed with the corner, the cigarette packet grabbing robot continues to shift, and if the cigarette packet is not pressed with the corner, the controller judges whether the cigarette packet is the uppermost packet;
3) If the tobacco package in the step 2) is the uppermost one, the tobacco package grabbing robot acts to grab the tobacco package and shifts to place the tobacco package on a conveyor belt for conveying; if the cigarette packet in the step 2) is not the uppermost packet, judging whether manual participation is needed or not;
4) Repeating steps 1) to 3) if no human participation is required; if the manual participation is needed, the manual participation moves the tobacco package to a grabbing position of the tobacco package grabbing robot and grabs the tobacco package, and the tobacco package is shifted to be placed on a conveying belt and conveyed;
5) Judging whether the height of the portal frame needs to be adjusted, if so, adjusting the height of the portal frame, then, following the conveyor belt and the stacking robot, and taking the tobacco packages off the conveyor belt by the stacking robot to stack; if the portal frame does not need to be adjusted in height, the stacking robot directly takes the tobacco packages off the conveyor belt for stacking;
6) And step 1) to step 5) until the tobacco bale is completely unloaded.
Two gantry frames are arranged on two sides of the cigarette package carrying vehicle, and a cigarette package grabbing robot is arranged on each of the two gantry frames.
The conveyor belt in the step 3) comprises a first flat conveying conveyor belt, a slope conveyor belt and a second flat conveying conveyor belt, wherein the right end of the first flat conveying conveyor belt is hinged with the left upper end of the slope conveyor belt, the right lower end of the slope conveyor belt is hinged with the left end of the second flat conveying conveyor belt, the second flat conveying conveyor belt can move left and right on the ground, the cigarette packet grabbing robot cigarette packet is placed on the first flat conveying conveyor belt and then moves onto the second flat conveying conveyor belt through the slope conveyor belt, and the palletizing robot is fixedly arranged on the second flat conveying conveyor belt.
And a cigarette packet spacing limiting plate is arranged on the slope conveyor belt to prevent cigarette packets from accumulating on the slope conveyor belt.
In the unloading process, the left side of the first flat conveying conveyor belt is positioned at the right side of the portal frame and corresponds to the position action of the tobacco bale grabbing robot. The tobacco bale grabbing robot places the grabbed tobacco bale on the first flat conveying belt. Tobacco bale gets into the slope conveyer belt through first flat conveyer belt, guarantees through the speed of each conveyer belt that each tobacco bale can be placed at interval the tobacco bale interval limiting plate position on the slope conveyer belt, and each tobacco bale is separated by tobacco bale interval limiting plate, places the tobacco bale and extrudees together on the slope conveyer belt, and first inconvenient pile up neatly machine people pile up neatly snatchs, and the second extrusion piled cigarette holds and easily causes the conveyer belt unable normal conveying.
Along with the continuous progress of unloading process, the longmen frame height descends constantly, and the conveyer belt relevant position that the controller control articulated together descends this moment, and the position descends can be through the second flat conveyer belt motionless, and first flat conveyer belt and slope conveyer belt incline decline to the left and remove and realize, also can realize through second flat conveyer belt move first flat conveyer belt and slope conveyer belt downward sloping to the right, and two palletizing robots and the action synchronous follow-up of conveyer belt right-hand member.
The portal frame, the conveyor belt, the tobacco bale grabbing robot and the palletizing robot are controlled to be linked through the controller.
The invention realizes the automatic completion of the tobacco bale loading of the truck from unloading to stacking, greatly improves the unloading efficiency and reduces the labor intensity of workers. In addition, because mechanical equipment is adopted for unloading, the manual trampling of the tobacco package in the unloading process is avoided, and the quality of tobacco in the tobacco package is also ensured to a certain extent.
The above examples are merely illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements of the present invention should be extended to the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (3)
1. The working process capable of realizing automatic unloading of the tobacco bale is characterized by comprising the following steps of:
1) The tobacco bale grabbing robot arranged on the portal frame is shifted to the position above the tobacco bale loading vehicle, and photographs the tobacco bale on the loading vehicle;
2) The photo is transmitted to the controller, the controller judges whether the photographed cigarette packet is pressed with the corner, if the cigarette packet is pressed with the corner, the cigarette packet grabbing robot continues to shift, and if the cigarette packet is not pressed with the corner, the controller judges whether the cigarette packet is the uppermost packet;
3) If the tobacco package in the step 2) is the uppermost one, the tobacco package grabbing robot acts to grab the tobacco package and shifts to place the tobacco package on a conveyor belt for conveying; the conveyor belt at least comprises a slope conveyor belt, and a tobacco packet spacing limiting plate is arranged on the slope conveyor belt; if the cigarette packet in the step 2) is not the uppermost packet, judging whether manual participation is needed or not;
4) Repeating steps 1) to 3) if no human participation is required; if the manual participation is needed, the manual participation moves the tobacco package to a grabbing position of the tobacco package grabbing robot and the tobacco package grabbing robot grabs the tobacco package, and the tobacco package grabbing robot shifts to place the tobacco package on a conveying belt and conveys the tobacco package;
5) Judging whether the height of the portal frame needs to be adjusted, if so, adjusting the height of the portal frame, then, following the conveyor belt and the stacking robot, and taking the tobacco packages off the conveyor belt by the stacking robot to stack; if the portal frame does not need to be adjusted in height, the stacking robot directly takes the tobacco packages off the conveyor belt for stacking;
6) And step 1) to step 5) until the tobacco bale is completely unloaded.
2. The working process capable of realizing automatic unloading of the tobacco packages according to claim 1, wherein two gantry frames are arranged on two sides of the tobacco package carrying vehicle, and a tobacco package grabbing robot is arranged on each of the two gantry frames.
3. The process of claim 1, wherein the conveyor belt in step 3) further comprises a first flat conveyor belt and a second flat conveyor belt, the right end of the first flat conveyor belt is hinged to the upper left end of the ramp conveyor belt, the lower right end of the ramp conveyor belt is hinged to the left end of the second flat conveyor belt, the second flat conveyor belt is movable left and right on the ground, the cigarette packet gripping robot cigarette packet is placed on the first flat conveyor belt and then moves onto the second flat conveyor belt via the ramp conveyor belt, and the palletizing robot is fixedly arranged on the second flat conveyor belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810089479.9A CN108163554B (en) | 2018-01-30 | 2018-01-30 | Working process capable of realizing automatic unloading of tobacco packages |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810089479.9A CN108163554B (en) | 2018-01-30 | 2018-01-30 | Working process capable of realizing automatic unloading of tobacco packages |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108163554A CN108163554A (en) | 2018-06-15 |
| CN108163554B true CN108163554B (en) | 2024-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810089479.9A Active CN108163554B (en) | 2018-01-30 | 2018-01-30 | Working process capable of realizing automatic unloading of tobacco packages |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103143506A (en) * | 2013-02-25 | 2013-06-12 | 北京紫东科技有限公司 | Automatic unloading and online detecting method for crude tobacco bales |
| CN104528061A (en) * | 2014-12-31 | 2015-04-22 | 中国电子科技集团公司第四十一研究所 | Carton cigarette packet missing detection device based on machine vision technology |
| CN104828581A (en) * | 2015-05-08 | 2015-08-12 | 成都信融智能设备有限公司 | Running multi-functional crude tobacco packet vehicle unloading equipment and method |
| CN106395430A (en) * | 2016-11-24 | 2017-02-15 | 南京景曜智能科技有限公司 | 3D stereoscopic vision auxiliary car loading and unloading system |
-
2018
- 2018-01-30 CN CN201810089479.9A patent/CN108163554B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103143506A (en) * | 2013-02-25 | 2013-06-12 | 北京紫东科技有限公司 | Automatic unloading and online detecting method for crude tobacco bales |
| CN104528061A (en) * | 2014-12-31 | 2015-04-22 | 中国电子科技集团公司第四十一研究所 | Carton cigarette packet missing detection device based on machine vision technology |
| CN104828581A (en) * | 2015-05-08 | 2015-08-12 | 成都信融智能设备有限公司 | Running multi-functional crude tobacco packet vehicle unloading equipment and method |
| CN106395430A (en) * | 2016-11-24 | 2017-02-15 | 南京景曜智能科技有限公司 | 3D stereoscopic vision auxiliary car loading and unloading system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108163554A (en) | 2018-06-15 |
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Country or region after: China Address after: 101 Puyi Jinan Robot Industrial Park, No. 3588 Aerospace Avenue, High tech Zone, Jinan City, Shandong Province, 250000 Applicant after: Jinan Yifei Intelligent Technology Co.,Ltd. Address before: 250000 No. 2350 Pioneer Road, Jinan High-tech Zone, Shandong Province Applicant before: Robotphoenix LLC Country or region before: China |
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