CN108284983A - Palletizing method in crispy rice packaging process - Google Patents
Palletizing method in crispy rice packaging process Download PDFInfo
- Publication number
- CN108284983A CN108284983A CN201711456354.7A CN201711456354A CN108284983A CN 108284983 A CN108284983 A CN 108284983A CN 201711456354 A CN201711456354 A CN 201711456354A CN 108284983 A CN108284983 A CN 108284983A
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- CN
- China
- Prior art keywords
- crispy rice
- palletizing
- packaging process
- feeding pipeline
- stacking
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- 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.)
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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
- B65B35/50—Stacking one article, or group of articles, upon another before packaging
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
Abstract
The invention discloses the palletizing methods in a kind of crispy rice packaging process, using palletizing system, and include step：S1, crispy rice is delivered to piling station by the first feeding pipeline of palletizing system；S2, stacking is carried out to crispy rice by the robot palletizing apparatus of palletizing system；S3, the crispy rice after stacking is moved on the second feeding pipeline by the shunting device of palletizing system.Palletizing method in crispy rice packaging process of the present invention, it is convenient that stacking is carried out to crispy rice by using palletizing system, stacking working efficiency when crispy rice packaging is improved, and then the packing work efficiency of crispy rice can be improved.
Description
Technical field
The invention belongs to crispy rice packing technique fields, specifically, the present invention relates to the codes in a kind of crispy rice packaging process
Stacking method.
Background technology
In the implementation of the present invention, the inventor finds that the existing technology has at least the following problems：Crispy rice is wrapped
When dress, traditional technology packs crispy rice using manual type, and working efficiency is low；And multi-disc crispy rice is being put into same packet
When in pack, bagging operations are cumbersome, and crispy rice is easily broken.
Invention content
The present invention is directed at least solve one of the technical problems existing in the prior art.For this purpose, the present invention provides a kind of pot
Palletizing method in bar packaging process, it is therefore an objective to improve stacking working efficiency when crispy rice packaging.
To achieve the goals above, the technical solution that the present invention takes is：Palletizing method in crispy rice packaging process uses
Palletizing system, and include step：
S1, crispy rice is delivered to piling station by the first feeding pipeline of palletizing system；
S2, stacking is carried out to crispy rice by the robot palletizing apparatus of palletizing system；
S3, the crispy rice after stacking is moved on the second feeding pipeline by the shunting device of palletizing system.
The robot palletizing apparatus includes robot palletizer and is set on robot palletizer and is located at institute for picking up
State the end effector of the crispy rice on the first feeding pipeline.
The end effector includes the end link block being connect with the robot palletizer, is connect with end link block
Tool fixing plate and the pick tool for being set on tool fixing plate and be used to pick up crispy rice.
The pick tool is sucker.
The pick tool is arranged multiple and pick tool and is sequentially arranged for the length direction along the tool fixing plate.
The robot palletizer include silent flatform, moving platform, the drive module being set on silent flatform and with driving mould
The movement branched chain that block is connected with moving platform, drive module setting three, each drive module respectively by a movement branched chain with
Moving platform connects, and the end effector is connect with moving platform.
The shunting device includes for placing the rebound of crispy rice and being movably arranged and be used to that rebound will to be located at
Stacking after crispy rice push to the pushing plate on the second feeding pipeline, pushing plate is located at the top of rebound.
The shunting device further includes connecting with the pushing plate and being moved in the horizontal direction for controlling pushing plate
Turn line cylinder, the rebound is horizontally disposed.
The line cylinder that turns is arranged two.
The first feeding pipeline and the second feeding pipeline are belt conveyor line.
Palletizing method in crispy rice packaging process of the present invention, it is convenient that stacking is carried out to crispy rice by using palletizing system, it carries
Stacking working efficiency when high crispy rice packaging, and then the packing work efficiency of crispy rice can be improved.
Description of the drawings
This specification includes the following drawings, and shown content is respectively：
Fig. 1 is the structural schematic diagram of crispy rice packaging production line；
Fig. 2 is the vertical view of crispy rice packaging production line；
Fig. 3 is the structural schematic diagram for the palletizing system that the present invention uses；
Fig. 4 is the structural schematic diagram of robot palletizing apparatus；
Fig. 5 is the structural schematic diagram of robot palletizer；
Fig. 6 is the structural schematic diagram of shunting device；
In figure label for：1, packing machine；2, the first feeding pipeline；3, the second feeding pipeline；4, robot stacking fills
It sets；401, silent flatform；402, moving platform；403, drive module；404, master arm；405, slave arm；406, end link block；
407, tool fixing plate；408, pick tool；409, rack；410, sealing plate；5, third feeding pipeline；6, shunting device；
601, rebound；602, pushing plate；603, turn line cylinder；7, crispy rice.
Specific implementation mode
Below against attached drawing, by the description of the embodiment, making to the specific implementation mode of the present invention further details of
Explanation, it is therefore an objective to those skilled in the art be helped to have more complete, accurate and deep reason to the design of the present invention, technical solution
Solution, and contribute to its implementation.
The present invention provides the palletizing methods in a kind of crispy rice packaging process to realize by using dedicated palletizing system
Stacking of the crispy rice in packaging process.As shown in Figure 1 to Figure 3, palletizing system includes for crispy rice to be delivered to piling station
First feeding pipeline 2 is set at piling station and for the robot palletizing apparatus 4, second to crispy rice progress stacking
Material pipeline 3 and for making the crispy rice after stacking be moved to the shunting device 6 on the second feeding pipeline 3.Palletizing system conduct
A part for crispy rice packaging production line, crispy rice packaging production line further include packing machine 1 and third feeding pipeline 5, third feeding
Pipeline 5 is between the second feeding pipeline 3 and packing machine 1 and for defeated by the crispy rice conveyed by the second feeding pipeline 3
It send to packing machine 1.
Specifically, the palletizing method in the crispy rice packaging process of the present invention includes following step：
S1, crispy rice is delivered to piling station by the first feeding pipeline of palletizing system；
S2, stacking is carried out to crispy rice by the robot palletizing apparatus of palletizing system；
S3, the crispy rice after stacking is moved on the second feeding pipeline by the shunting device of palletizing system.
As depicted in figs. 1 and 2, the crispy rice that need to be packed is laminated structure, the first feeding pipeline 2, the second feeding pipeline 3
It is sequentially arranged for the conveying direction along crispy rice with third feeding pipeline 5, packing machine 1 is finally fitted into packaging bag crispy rice, complete
At the entire packing work of crispy rice.The crispy rice of fresh baked is delivered at piling station by the first feeding pipeline 2, then by machine
Crispy rice is placed on shunting device 6 by people's palletizing apparatus 4, carries out the stacking of crispy rice, and crispy rice is stacked for a pile, so with default the piece number
Number pile crispy rice (being to be stacked to be formed by multi-disc crispy rice per pile crispy rice) is transferred to the second feeding pipeline 3 together by transfer device afterwards
On, then crispy rice is delivered on third feeding pipeline 5 by the second feeding pipeline 3, it then will by third feeding pipeline 5
Crispy rice is delivered at packing machine 1, is finally packed to crispy rice by packing machine 1, and packing machine 1 will be packed into one per pile crispy rice successively
In packaging bag.
Such as Fig. 1 to Fig. 3, the first feeding pipeline 2 is belt conveyor line, and the first feeding pipeline 2 is horizontally disposed.Second
Feeding pipeline 3 is also belt conveyor line, and the second feeding pipeline 3 is horizontally disposed, the length direction of the first feeding pipeline 2
It is perpendicular with the length direction of the second feeding pipeline 3.The crispy rice of predetermined quantity is arranged in n by the first feeding pipeline 2
The m crispy rice of each row is delivered at piling station namely crispy rice is first by row, often row successively with one layer of m crispy rice
For in the distribution of n*m matrix forms on the belt conveyor of feeding pipeline 2.At piling station, robot palletizing apparatus 4 once can be with
Positioned at the m crispy rice of same row, the m crispy rice of same row is the width in the belt conveyor with the first feeding pipeline 2 for pickup
It spends on the parallel same straight line in direction.
As shown in Figures 1 to 5, robot palletizing apparatus 4 including rack 409, robot palletizer and is set to stacking machine
People is upper and is used to pick up the end effector of the crispy rice on the first feeding pipeline 2.Rack 409 is fixed setting, stacking
Robot is set in rack 409, and robot palletizer is preferably parallel robot, and flexibility is high, can realize the movement of crispy rice
It puts as required.There is robot palletizer three-dimensional translating three degree of freedom, robot palletizer to include mainly silent flatform 401, move
Platform 402, the drive module 403 being set on silent flatform 401 and the movement being connect with drive module 403 and moving platform 402
Branch, drive module 403 are arranged three, and each drive module 403 is connect by a movement branched chain with moving platform 402 respectively.
Silent flatform 401 is fixedly installed in rack 409, and drive module 403 is used to provide the power for making movement branched chain operate, drive module
403 speed reducers being connect by servo motor and with servo motor form, and the servo motor of drive module 403 is fixedly installed on quiet
On platform 401, speed reducer is connect with movement branched chain, and three drive modules 403 are in silent flatform 401 on silent flatform 401
The heart is uniformly distributed in circumferential.Movement branched chain includes master arm 404 and slave arm 405, one end of master arm 404 and drive module
403 speed reducer connects, and the other end of master arm 404 is hinged with the upper end of slave arm 405, and the lower end of slave arm 405 is put down with dynamic
Platform 402 is hinged.When drive module 403 operates, master arm 404 can be driven to swing up and down, master arm 404 can when swinging up and down
It drives slave arm 405 to be moved along three-dimensional, and then moving platform 402 is driven to be translatable along three-dimensional.
As shown in Figure 4 and Figure 5, end effector includes the end link block 406 being connect with robot palletizer, connects with end
It connects the tool fixing plate 407 of the connection of block 406 and is set to the pick tool 408 on tool fixing plate 407 and for picking up crispy rice.
End link block 406 is fixedly connected with moving platform 402, and tool fixing plate 407 is fixedly connected with end link block 406, and tool is solid
Fixed board 407 is located at the lower section of moving platform 402.Multiple, all pick tools are arranged in pick tool 408 on tool fixing plate 407
408 is are sequentially arranged along the length direction of tool fixing plate 407, the quantity of pick tool 408 on the first feeding pipeline 2
The total m of crispy rice in same row is identical, the conveying skin of the length direction of tool fixing plate 407 and the first feeding pipeline 2
The width direction of band is parallel.Pick tool 408 is preferably sucker, and pick tool 408 is fixedly connected with tool fixing plate 407,
Pick tool 408 is simultaneously connect with the vacuum generator of peripheral hardware, and negative pressure is provided by vacuum generator, to adsorb crispy rice, realizes crispy rice
Pickup.Using sucker as pick tool 408, sucker is more stable, seldom occur in high speed operation product leakage inhale or
The case where getting rid of, reliability is high, and stability is good, and will not cause the damage of crispy rice, moreover it is possible to be suitable for different size of crispy rice
Pickup.
Robot palletizing apparatus 4 is after to crispy rice stacking, on shunting device 6, crispy rice with default the piece number stack for
One pile is placed with several pile crispy rices on shunting device 6 simultaneously, and total pile number of crispy rice is identical with the sum of pick tool 408, turn traditional thread binding
6 are set by several pile crispy rices while being transferred on the second feeding pipeline 3.As shown in Figure 3 and Figure 6, shunting device 6 includes for placing
The rebound 601 of crispy rice and be movably arranged and for by be located at rebound 601 on stacking after crispy rice push to second
Expect that the pushing plate 602 on pipeline 3, pushing plate 602 are located at the top of rebound 601.Rebound 601 is horizontally disposed, transition
The length direction of plate 601 is parallel with the length direction of tool fixing plate 407, the length direction of rebound 601 and on second
Expect that the conveying direction of pipeline 3 is parallel, rebound 601 is located at the one side edge of the belt conveyor of the second feeding pipeline 3
Gap is smaller between the top surface of the belt conveyor of top, rebound 601 and the second feeding pipeline 3, avoids influencing belt conveyor
Operating.The length direction of rebound 601 is parallel with the length direction of belt conveyor of the second feeding pipeline 3, pushing plate
602 are vertically arranged, and the moving direction of pushing plate 602 is the moving direction and rebound 601 of horizontal direction and pushing plate 602
Length direction is perpendicular, and the moving direction of pushing plate 602 is simultaneously equal with the width direction of belt conveyor of the second feeding pipeline 3
Row, pushing plate 602 can push to the number pile crispy rice on rebound 601 on the belt conveyor of second feeding pipeline 3 simultaneously,
Then these crispy rices are delivered on third feeding pipeline 5 by the second feeding pipeline 3.
As shown in Figure 3 and Figure 6, shunting device 6 further includes being connect with pushing plate 602 and for controlling pushing plate 602 along water
Square to carry out it is mobile turn line cylinder 603, rebound 601 is horizontally disposed.The moving direction of pushing plate 602 and the first feeding
The conveying direction of pipeline 2 is parallel, and it is to be fixedly installed and turn line cylinder 603 to be located at the second feeding pipeline 3 to turn line cylinder 603
Belt conveyor top, pushing plate 602 is fixedly connected with the piston rod for turning line cylinder 603.Turn line cylinder 603 and be arranged two,
Two turn line cylinder 603 one end on the length direction of pushing plate 602 are fixedly connected with pushing plate 602 respectively, pushing plate 602
Length direction it is parallel with the length direction of rebound 601, rebound 601 between two turn line cylinder 603, setting two
A line cylinder 603 that turns matches, and co- controlling pushing plate 602 does straight reciprocating motion in the horizontal direction so that pushing plate 602 is transported
Row is steady, and then guarantees smoothly by the number pile crispy rice on rebound 601 while to push on the second feeding pipeline 3,
It is neat to ensure that crispy rice stacks, reliability is high, and stability is good.
Preferably, packing machine 1 is pillow type packing machine.The structure of packing machine 1 is as known to one of skill in the art
As, details are not described herein.
The present invention is exemplarily described above in association with attached drawing.Obviously, present invention specific implementation is not by above-mentioned side
The limitation of formula.As long as using the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress；Or not
It is improved, the above-mentioned design of the present invention and technical solution are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (10)
1. the palletizing method in crispy rice packaging process, which is characterized in that use palletizing system, and include step：
S1, crispy rice is delivered to piling station by the first feeding pipeline of palletizing system；
S2, stacking is carried out to crispy rice by the robot palletizing apparatus of palletizing system；
S3, the crispy rice after stacking is moved on the second feeding pipeline by the shunting device of palletizing system.
2. the palletizing method in crispy rice packaging process according to claim 1, which is characterized in that the robot stacking dress
It sets including robot palletizer and is set on robot palletizer and for picking up the crispy rice on the first feeding pipeline
End effector.
3. the palletizing method in crispy rice packaging process according to claim 2, which is characterized in that the end effector packet
It includes the end link block being connect with the robot palletizer, the tool fixing plate being connect with end link block and is set to tool and consolidate
Pick tool on fixed board and for picking up crispy rice.
4. the palletizing method in crispy rice packaging process according to claim 3, which is characterized in that the pick tool is to inhale
Disk.
5. the palletizing method in crispy rice packaging process according to claim 3 or 4, which is characterized in that the pick tool
Multiple and pick tool is arranged to be sequentially arranged for the length direction along the tool fixing plate.
6. according to the palletizing method in any crispy rice packaging process of claim 2 to 5, which is characterized in that the stacking
Robot includes silent flatform, moving platform, the drive module being set on silent flatform and is connect with drive module and moving platform
Movement branched chain, drive module setting three, each drive module are connect by a movement branched chain with moving platform respectively, the end
End actuator is connect with moving platform.
7. the palletizing method in crispy rice packaging process according to any one of claims 1 to 6, which is characterized in that described to turn line
Device includes for placing the rebound of crispy rice and being movably arranged and be used to push away the crispy rice after the stacking being located on rebound
It send to the pushing plate on the second feeding pipeline, pushing plate is located at the top of rebound.
8. the palletizing method in crispy rice packaging process according to claim 7, which is characterized in that the shunting device also wraps
Include connect with the pushing plate and for control pushing plate carry out in the horizontal direction it is mobile turn line cylinder, the rebound is water
Flat setting.
9. the palletizing method in crispy rice packaging process according to claim 8, which is characterized in that described to turn the setting of line cylinder
Two.
10. the palletizing method in crispy rice packaging process according to any one of claims 1 to 9, which is characterized in that described first
Feeding pipeline and the second feeding pipeline are belt conveyor line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711456354.7A CN108284983A (en) | 2017-12-28 | 2017-12-28 | Palletizing method in crispy rice packaging process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711456354.7A CN108284983A (en) | 2017-12-28 | 2017-12-28 | Palletizing method in crispy rice packaging process |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108284983A true CN108284983A (en) | 2018-07-17 |
Family
ID=62832344
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711456354.7A Pending CN108284983A (en) | 2017-12-28 | 2017-12-28 | Palletizing method in crispy rice packaging process |
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| Country | Link |
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| CN (1) | CN108284983A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113371448A (en) * | 2021-05-10 | 2021-09-10 | 东阿阿胶股份有限公司 | Rubber block bidirectional synchronous rubber pushing and feeding system and method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1328331A (en) * | 1970-01-05 | 1973-08-30 | Sig Schweiz Industrieges | Apparatus for stacking flat articles |
| US5186599A (en) * | 1990-04-23 | 1993-02-16 | Sig Schweizerische Industrie-Gesellschaft | Method and apparatus for forming groups of flat items |
| CN206107677U (en) * | 2016-09-22 | 2017-04-19 | 普天物流技术有限公司 | Use automatic pile up neatly system of heterotypic cigarette of delta robot |
| CN106672635A (en) * | 2017-03-09 | 2017-05-17 | 山东洛杰斯特物流科技有限公司 | Stacking machine and stacking method |
-
2017
- 2017-12-28 CN CN201711456354.7A patent/CN108284983A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1328331A (en) * | 1970-01-05 | 1973-08-30 | Sig Schweiz Industrieges | Apparatus for stacking flat articles |
| US5186599A (en) * | 1990-04-23 | 1993-02-16 | Sig Schweizerische Industrie-Gesellschaft | Method and apparatus for forming groups of flat items |
| CN206107677U (en) * | 2016-09-22 | 2017-04-19 | 普天物流技术有限公司 | Use automatic pile up neatly system of heterotypic cigarette of delta robot |
| CN106672635A (en) * | 2017-03-09 | 2017-05-17 | 山东洛杰斯特物流科技有限公司 | Stacking machine and stacking method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113371448A (en) * | 2021-05-10 | 2021-09-10 | 东阿阿胶股份有限公司 | Rubber block bidirectional synchronous rubber pushing and feeding system and method |
| CN113371448B (en) * | 2021-05-10 | 2022-04-08 | 东阿阿胶股份有限公司 | Rubber block bidirectional synchronous rubber pushing and feeding system and method |
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Application publication date: 20180717 |