CN108557158B - Full-automatic enamelled wire packaging integrated system and method thereof - Google Patents
Full-automatic enamelled wire packaging integrated system and method thereof Download PDFInfo
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- CN108557158B CN108557158B CN201810259739.2A CN201810259739A CN108557158B CN 108557158 B CN108557158 B CN 108557158B CN 201810259739 A CN201810259739 A CN 201810259739A CN 108557158 B CN108557158 B CN 108557158B
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- 238000004806 packaging method and process Methods 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 10
- 239000000463 material Substances 0.000 claims abstract description 150
- 230000007246 mechanism Effects 0.000 claims abstract description 51
- 238000004804 winding Methods 0.000 claims abstract description 24
- 238000012546 transfer Methods 0.000 claims description 31
- 238000003860 storage Methods 0.000 claims description 25
- 238000007599 discharging Methods 0.000 claims description 20
- 238000012856 packing Methods 0.000 claims description 12
- 230000006835 compression Effects 0.000 claims description 10
- 238000007906 compression Methods 0.000 claims description 10
- 210000003298 dental enamel Anatomy 0.000 claims description 3
- 210000000078 claw Anatomy 0.000 claims description 2
- 230000032258 transport Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 4
- 230000007704 transition Effects 0.000 description 4
- 238000012858 packaging process Methods 0.000 description 3
- 238000005303 weighing Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000007723 transport mechanism Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
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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
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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
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
- B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
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Abstract
The invention relates to a full-automatic enameled wire packaging integrated system and a method thereof, wherein the system comprises a truss manipulator, an automatic empty pallet stacking mechanism, a rejecting structure, a conveying structure, an empty pallet moving trolley, a six-axis stacking robot, a stacking moving trolley, a film winding machine and an output structure which are sequentially connected, wherein the truss manipulator clamps materials and conveys the materials to the rejecting structure, the rejecting structure rejects non-satisfactory materials and conveys the satisfactory materials to the conveying structure, the empty pallet automatic stacking mechanism stacks and conveys the empty pallet to the conveying structure, the conveying structure materials and the empty pallet after stacking are arranged to a designated position, the empty pallet moving trolley moves the empty pallet to a stacking position, the six-axis stacking robot clamps the materials to the stacking position, the materials are placed on the empty pallet, the film winding machine winds the materials, and the output structure outputs the materials after film winding. The invention realizes the full-automatic packaging of the cylindrical material, and has high efficiency and low cost.
Description
Technical Field
The invention relates to an enameled wire packing device, in particular to a full-automatic enameled wire packing integrated system and a method thereof.
Background
Enameled wire is a main variety of winding wire, which is formed by two parts of conductor and insulating layer, and bare wire is annealed and softened, painted for many times and baked. However, it is not easy to produce a product which meets both standard requirements and customer requirements, and is affected by factors such as raw material quality, process parameters, production equipment, environment and the like, so that the quality characteristics of various enamelled wires are different, but the enamelled wires have four properties of mechanical property, chemical property, electrical property and thermal property.
In the production process of the enameled wire, the enameled wire can be sold in a factory after being packaged, but most factories still adopt a manual packaging mode at present, so that the efficiency is low and the cost is high.
Therefore, a new enamelled wire packaging system is necessary to be designed, and the full-automatic packaging of cylindrical materials is realized, so that the efficiency is high and the cost is low.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a full-automatic enameled wire packaging integrated system and a method thereof.
In order to achieve the above purpose, the present invention adopts the following technical scheme: the full-automatic enameled wire packaging integrated system comprises a truss manipulator, an empty pallet automatic stacking mechanism, a rejecting structure, a conveying structure, an empty pallet moving trolley, a six-axis stacking robot, a stacking moving trolley, a film winding machine and an output structure which are sequentially connected, wherein the truss manipulator clamps materials and conveys the materials to the rejecting structure, the rejecting structure rejects the materials which do not meet the requirements, the materials which do not meet the requirements are conveyed to the conveying structure, the empty pallet automatic stacking mechanism stacks the empty pallets and conveys the empty pallets to the conveying structure, the empty pallets after stacking are moved to a specified position by the conveying structure materials and the empty pallets moving trolley, the six-axis stacking robot clamps the materials to the stacking position, the materials are placed on the empty pallets, the film winding machine winds the materials, and the output structure outputs the materials after the film winding treatment.
The further technical scheme is as follows: the system also comprises a boxing device, wherein the boxing device is positioned on the right side of the automatic empty pallet stacking mechanism and is used for boxing the materials meeting the requirements.
The further technical scheme is as follows: the truss manipulator comprises a first frame, a material moving arm, a rotating device arranged on the material moving arm, a material taking clamping jaw and a driving device; the driving device drives the material moving arm to move transversely, longitudinally and vertically; the material taking clamping claw is fixed at the rotating end of the rotating device; the rotating device drives the material taking clamping jaw to rotate along a vertical shaft.
The further technical scheme is as follows: the automatic empty pallet stacking mechanism comprises a conveying device, a storage bin, a material ejection assembly and a backstop assembly, wherein the material ejection assembly is arranged in the storage bin; the storage bin is provided with a discharging cavity and a storage cavity positioned at the upper end of the discharging cavity; the retaining component is positioned between the discharging cavity and the discharging cavity; the conveying device is provided with a discharge end positioned in the discharge cavity; the conveying device transfers the empty pallet to the discharging cavity; after the ejection assembly ejects the empty pallet at the discharge end to the storage cavity, the stop assembly limits the empty pallet in the storage cavity.
The further technical scheme is as follows: the conveying device comprises a first conveying line and a second conveying line; the first transportation line comprises a first transportation assembly and a first transit assembly positioned at the tail end of the first transportation assembly; the second transportation line is arranged on one side of the first transfer assembly, and the second transportation line is provided with the discharge end.
The further technical scheme is as follows: the first transfer assembly comprises a first lifting mechanism and a first conveying mechanism; the first conveying mechanism is arranged at the lifting end of the first lifting mechanism; the first conveying mechanism is provided with a first material transferring station and a second material transferring station; the second conveying line is arranged at the outer side of the second material transferring station; the first lifting mechanism drives the first conveying mechanism so that the first conveying mechanism is communicated with or separated from the second conveying line.
The further technical scheme is as follows: the boxing equipment comprises a boxing manipulator and a first conveying device, wherein the first conveying device is used for conveying cartons; the boxing manipulator comprises a second frame, a first bearing piece, a fifth driving assembly and a sixth driving assembly, wherein the first bearing piece is connected to the second frame in a sliding manner, the first material moving arm is connected to the first bearing piece in a sliding manner, and the material taking clamping jaw is fixed on the first material moving arm; the second frame is provided with a feeding station and a discharging station; the fifth driving assembly drives the first bearing piece to reciprocate between the feeding station and the discharging station; the first conveying device is provided with a boxing station; the sixth driving assembly drives the first material moving arm to reciprocate between the blanking station and the boxing station.
The further technical scheme is as follows: the material taking clamping jaw comprises a body; a first driving component fixed on the body; the clamping assembly is positioned at the lower end of the body and comprises a left positioning piece and a right positioning piece which are connected with the body in a sliding manner; the positioning plate is positioned at the lower end of the body and is provided with a mounting groove for passing through the left positioning piece and the right positioning piece; the first guide assembly comprises a guide structure and a compression spring, wherein the guide structure and the compression spring are arranged between the body and the positioning plate; wherein, the lower end of the left locating piece is provided with a left locating part; the right positioning piece is provided with a right positioning part; the driving end of the third driving assembly drives the left positioning piece and the right positioning piece to slide outwards respectively; the two ends of the compression spring respectively press the body and the positioning plate.
The further technical scheme is as follows: the material taking clamping jaw further comprises a left sliding seat and a right sliding seat which are fixed on the body, and a guide rod is arranged between the left sliding seat and the right sliding seat; the left locating piece and the right locating piece are respectively connected with the guide rod in a sliding mode.
The invention also provides a full-automatic enameled wire packaging method, which comprises the following steps:
The truss mechanical arm clamps the materials, the materials are conveyed to the eliminating structure, the materials which do not meet the requirements are eliminated by the eliminating structure, the materials which meet the requirements are conveyed to the conveying structure, the empty pallet automatic stacking mechanism stacks and conveys the empty pallets to the conveying structure, the conveying structure stacks the materials and the empty pallets after stacking to the designated position, the empty pallet moving trolley moves the empty pallets to the stacking position, the six-axis stacking robot clamps the materials to the stacking position, the materials are placed on the empty pallets, the film winding machine winds the materials, and the output structure outputs the materials after the film winding treatment.
Compared with the prior art, the invention has the beneficial effects that: according to the full-automatic enameled wire packaging integrated system, through the transportation of materials, the stacking and the transportation of empty pallets, the superposition and the placement of the materials and the pallets, the transfer of the empty pallets and the film winding treatment of the materials are performed fully automatically in a mode of matching each structure, and a rejecting structure is inserted into the whole integrated system, particularly, a weighing machine and a rejecting conveying line are adopted, when the weight does not meet the set weight, the materials are pushed onto the rejecting conveying line, the conveying line outputs, the materials meeting the requirements can be continuously transported before being transported for film winding treatment, and can also be packaged and output by boxing equipment.
The invention is further described below with reference to the drawings and specific embodiments.
Drawings
Fig. 1 is a top view of a fully automatic enamel wire packing integrated system according to an embodiment of the present invention;
fig. 2 is a schematic perspective view of a truss manipulator according to an embodiment of the present invention;
FIG. 3 is an enlarged partial schematic view at A of FIG. 2;
fig. 4 is a schematic three-dimensional structure of a truss manipulator according to a second embodiment of the present invention;
FIG. 5 is an enlarged partial schematic view at B of FIG. 4;
FIG. 6 is a side view of a truss manipulator provided in accordance with an embodiment of the invention;
FIG. 7 is an enlarged partial schematic view at C of FIG. 6;
FIG. 8 is a schematic perspective view of an automatic empty pallet stacking mechanism according to an embodiment of the present invention;
FIG. 9 is a partially enlarged schematic view at D of FIG. 8;
FIG. 10 is an enlarged partial schematic view at E of FIG. 8;
FIG. 11 is a schematic perspective view of a boxing apparatus in accordance with the present invention;
fig. 12 is a schematic diagram showing a second perspective structure of the boxing apparatus provided in the embodiment of the present invention;
fig. 13 is a schematic perspective view of a first material transferring arm according to an embodiment of the present invention;
Fig. 14 is a schematic perspective view of a material taking jaw according to an embodiment of the present invention;
fig. 15 is a side view of an opened condition of a take-off jaw according to an embodiment of the present invention.
Detailed Description
In order to more fully understand the technical content of the present invention, the following technical solutions of the present invention will be further described and illustrated with reference to specific embodiments, but are not limited thereto.
As shown in the specific embodiments of fig. 1 to 15, the full-automatic enamelled wire packaging integrated system provided by the embodiment can be applied to the packaging process of any cylindrical material, and realizes full-automatic packaging of the cylindrical material, and has high efficiency and low cost.
As shown in fig. 1, the embodiment provides a full-automatic enameled wire packaging integrated system, which comprises a truss manipulator 1, an empty pallet automatic stacking mechanism 2, a rejecting structure 3, a conveying structure 5, an empty pallet moving trolley 6, a six-axis stacking robot 7, a stacking moving trolley 8, a film winding machine 9 and an output structure 10 which are sequentially connected, wherein the truss manipulator 1 clamps materials and conveys the materials to the rejecting structure 3, the rejecting structure 3 rejects materials which do not meet requirements and conveys the materials to the conveying structure 5, the empty pallet automatic stacking mechanism 2 stacks and conveys the empty pallet 25 to the conveying structure 5, the conveying structure 5 conveys the materials and the empty pallet 25 after stacking to a specified position, the empty pallet moving trolley 6 moves the empty pallet 25 to a stacking position, the six-axis stacking robot 7 clamps the materials to the stacking position, the materials are placed on the empty pallet, the film winding machine 9 winds the materials, and the output structure 10 outputs the materials after film winding.
Still further, the system further comprises a boxing device 4, wherein the boxing device 4 is positioned on the right side of the automatic empty pallet stacking mechanism 2, and is used for boxing the materials meeting the requirements.
As shown in fig. 2 and 3, the truss manipulator 1 includes: the device comprises a first frame 11, a material moving arm 12, a rotating device 13 arranged on the material moving arm 12, a material taking clamping jaw 14 and a driving device 15, wherein the driving device 15 drives the material moving arm 12 to move transversely, longitudinally and vertically. The material taking jaw 14 is fixed to a rotating end of the rotating device 13, and the rotating device 13 drives the material taking jaw 14 to rotate along a vertical axis. The combination of the driving device 15 and the rotating device 13 can realize four-axis linkage.
Preferably, the driving device 15 includes a mounting member 151 slidably coupled to the first frame 11, a second driving assembly 152 for driving the mounting member 151 to move laterally, a carrier member 153 slidably coupled to the mounting member 151, a third driving assembly 154 for driving the carrier member 153 to move longitudinally, and a fourth driving assembly 155. The material moving arm 12 is slidably connected to the carrier 153, and the fourth driving assembly 155 drives the material moving arm 12 to move vertically. Specifically, the first frame 11 is a frame structure, the mounting member 151 is a cross beam slidably connected to the first frame 11, and the first frame 11 and the mounting member 151 form a truss structure.
Preferably, the first frame 11 is provided with a second guide assembly 111, and a second rack 112. The second driving assembly 152 includes a second driving motor 1521 fixed to the mounting member 151, and a second gear shaft 1522 drivingly connected to the second driving motor 1521. The mounting member 151 is slidably coupled to the second guide assembly 111, and the second gear shaft 1522 is in meshed communication with the second rack 112. In this embodiment, the output end of the second driving motor 1521 is drivingly connected to a gearbox, and the second gear shaft 1522 is drivingly connected to the gearbox. In this embodiment, the second guiding component 111 is a sliding rail, and 2 sliding rails are disposed on the first rack.
Preferably, the rotating device 13 comprises a mounting bracket 131 fixed on the material moving arm 12, a rotating motor 132 fixed on the mounting bracket 131, and a rotating end arranged on the rotating motor 132, wherein the material taking clamping jaw 14 is fixedly connected with the rotating end through a connecting column.
Preferably, the truss manipulator 1 further comprises a visual positioning device 16 fixed to the mounting frame 131.
As shown in fig. 3, 4, 5, 6, and 7, the mounting member 151 is provided with a third guide assembly 1511, and a third rack 1512. The third driving assembly 154 includes a third driving motor 1541 fixed to the carrier 153, and a third gear shaft 1513 drivingly connected to the third driving motor 1541. The carrier 153 is slidably connected to the third guide assembly 1511, and the third gear shaft 1513 is meshed with the third rack 1512.
Preferably, the transfer arm 12 is provided with a fourth guide assembly 121, and a fourth rack 122. The fourth driving assembly 155 includes a fourth driving motor 1551 fixed to the carrier 153, and a fourth gear shaft 1552 drivingly connected to the fourth driving motor 1551. The carrier 153 is provided with a sliding groove slidably connected to the fourth guide assembly 121, and the fourth gear shaft 1552 is engaged with the fourth rack gear 122. In this embodiment, the third guiding component and the fourth guiding component are sliding rails.
As shown in fig. 7 and 8, the material taking jaw 14 includes a body 141, a first driving assembly 142 fixed to the body 141, a gripping assembly 143 at a lower end of the body 141, a positioning plate 144 at a lower end of the body 141, and a first guide assembly 145. The clamping assembly 143 includes a left positioning member 1431 and a right positioning member 1432 slidably connected to the body 141, a left positioning portion is disposed at a lower end of the left positioning member 1431, a right positioning portion is disposed at the right positioning member 1432, and the positioning plate 144 is provided with a mounting groove 1441 for passing through the left positioning member 1431 and the right positioning member 1432. The first guide assembly 145 includes a guide structure 1451 and a compression spring 1452 disposed between the body 141 and the positioning plate 144, the driving end of the first driving assembly 142 drives the left positioning member 1431 and the right positioning member 1432 to slide outwards, and two ends of the compression spring 1452 respectively press the body 141 and the positioning plate 144.
Preferably, the material taking jaw 14 further includes a left sliding seat 146 and a right sliding seat 147 fixed on the body 141, a guide rod 148 disposed between the left sliding seat 146 and the right sliding seat 147, a left return spring pressing between the left sliding seat 146 and the left positioning member 1431, and a right return spring pressing between the right sliding seat 147 and the right positioning member 1432. The left positioning member 1431 and the right positioning member 1432 are slidably connected to the guide rod 148, respectively, and the left return spring pushes the left positioning member 1431 so that the left positioning member 1431 approaches the right positioning member 1432, and the right return spring pushes the right positioning member 1432 so that the right positioning member 1432 approaches the left positioning member 1431.
Preferably, the first driving assembly 142 is a linear motor or a linear cylinder, and a left wedge surface 1421 and a right wedge surface 1422 are respectively arranged on the left side and the right side of the bottom of the driving end. The right side of left locating piece 1431 is equipped with left wedge 1431A with left wedge 1421 complex, and the left side of right locating piece 1432 is equipped with right wedge 1432A with right wedge 1422 complex, and when the drive end moved downwards, the drive end pushed left locating piece 1431 and right locating piece 1432 respectively moved to the outside. In other embodiments, the drive assembly is a linear motor.
Preferably, the left positioning portion is provided with a left half-cone 1431B and a left positioning structure 1431C provided at an upper end of the left half-cone 1431B. The right positioning portion is provided with a right half-cone 1432B and a right positioning structure 1432C disposed at the upper end of the right half-cone 1432B. The left and right positioning structures 1431C, 1432C are semi-annular positioning slots. When the left positioning piece 1431 and the right positioning piece 1432 are jointed, the left half conical table 1431B and the right half conical table 1432B form a conical table, and the left positioning structure 1431C and the right positioning structure 1432C form annular grooves. In particular use, the cable drum 41 is provided with a positioning portion extending into the hole, and when the material is moved, the positioning grooves of the left positioning piece 1431 and the right positioning piece 1432 form a clamping relationship with the positioning portion, so as to ensure the positioning stability of the clamping assembly 143.
When the device works, the driving device 15 drives the material moving arm 12 to move to a designated place, if necessary, the rotating device 13 also rotates to a required position, the specific position can be transmitted to an operator through the visual positioning device 16, after the position is determined, the fourth driving component 155 drives the material moving arm 12 to move downwards, the first guiding component 145 stretches into a hole of the winding drum 41, the positioning plate 144 presses the end face of the winding drum 41 under the action of the compression spring 1452 to form end face positioning, the driving end of the first driving component 142 drives the left positioning piece 1431 and the right positioning piece 1432 to slide outwards respectively, at this time, the left positioning part and the right positioning part form short axis positioning on the inner hole of the winding drum 41, and the material taking clamping jaw 14 can form a stable positioning structure on the premise of combining the end face positioning of the positioning plate 144. The positioning and clamping are very stable and firm, and can bear heavier materials.
The truss manipulator 1 adopts a driving device to transversely, longitudinally and vertically drive the material moving arm 12 and combines the rotating device 13 on the material moving arm 12 to carry out rotary driving so as to realize four-axis linkage, the rotating end of the rotating device 13 is fixedly provided with the material taking clamping jaw 14, the left positioning part and the right positioning part form shaft hole positioning for the inner hole, the material moving device can adapt to reels 41 with different size apertures, and the positioning plate 144 forms end surface positioning for the end surfaces of the reels 41 under the jacking action of the compression spring 1452, at the moment, the material taking clamping jaw 14 forms short shaft and end surface positioning for the reels 41, and the positioning and clamping are very stable and firm and can bear heavier materials.
As shown in fig. 8, the automatic empty pallet stacking mechanism 2 includes: the conveying device 21, the storage bin 22, a material ejection assembly 23 and a stop assembly 24 which are arranged in the storage bin 22. The bin 22 is provided with a discharge cavity 221, a storage cavity 222 positioned at the upper end of the discharge cavity 221, and a stop assembly 24 positioned between the discharge cavity 221 and the discharge cavity 221. The conveyer 21 is provided with the discharge end that is located the discharge chamber 221, and during operation, conveyer 21 transfer empty pallet 25 to discharge chamber 221, and empty pallet 25 to the storage chamber 222 of liftout subassembly 23 jacking discharge end stacks, and after the stack was accomplished, liftout subassembly 23 descends, and stop subassembly 24 restriction empty pallet 25 is in storage chamber 222.
Preferably, the transportation means 21 comprises a first transportation line 211, and a second transportation line 212. The first transport line 211 includes a first transport assembly 2111 and a first staging assembly 2112 located at an end of the first transport assembly 2111. The second transporting line 212 is disposed at one side of the first transferring assembly 2112, and the second transporting line 212 is provided with a discharging end. The first transport assembly 2111 and the second transport line 212 are roller transport mechanisms.
Preferably, the first transfer assembly 2112 includes a first lifting mechanism 2112A, a first conveying mechanism, and the first conveying mechanism is disposed at a lifting end of the first lifting mechanism 2112A. The first conveyor is provided with a first transfer station 2112B and a second transfer station. The second transporting line 212 is disposed outside the second transferring station, and the first lifting mechanism 2112A drives the first conveying mechanism, so that the first conveying mechanism is communicated with or separated from the second transporting line 212.
Preferably, the first transfer assembly 2112 further includes a lifting stop mechanism 2112C, the stop mechanism 2112C being disposed outboard of the first transfer station 2112B. Specifically, when the empty pallet 25 needs to enter the bin 22 for stacking, the first lifting mechanism 2112A is lifted up, so that the first conveying mechanism is communicated with the second conveying line 212, the movable end of the stop mechanism 2112C limits the first material transferring station 2112B, and the first conveying mechanism drives the empty pallet 25 to be transferred to the second conveying line 212 through the second material transferring station; when it is desired to directly use the empty pallet 25, the first lift mechanism 2112A is lowered to disengage the first conveyor mechanism from the second conveyor line 212, the dam mechanism 2112C is lowered, and the empty pallet 25 is discharged from the first transfer station 2112B.
Preferably, the transportation device 21 further comprises a third transportation line 213, and a transition transportation line 214. The third transportation line 213 is provided with a third transportation assembly 2131, a third transfer assembly 2132 located at an end of the third transportation assembly 2131, and a transition transportation line 214 is provided between the first transfer assembly 2112 and the third transfer assembly 2132. The third transport assembly 2131, the transition transport line 214, are roller transport mechanisms. The third transportation line 213 has the same structure as the first transportation line 211, and the working conditions of the third transportation line 213 and the first transportation line 211 are the same, the third transfer assembly 2132 is provided with a third transfer station, the first transfer assembly 2112 is also provided with a feeding station, and when the empty pallet 25 is transferred from the third transfer station, the empty pallet 25 of the third transfer station is transferred to the feeding station of the first transfer assembly 2112 through the transition transportation line 214.
Preferably, the bin 22 is a rectangular frame structure provided with a plurality of upright posts arranged vertically, and a plurality of rollers are arranged on the upright posts. The backstop assembly 24 includes a rotatable lever rotatably coupled to the magazine 22, a carrier secured to the rotatable lever and a ratchet, a pawl rotatably coupled to the magazine 22, the pawl bearing against a tooth slot of the ratchet and defining a unidirectional rotational limit for the ratchet. The carrier is close to one side of ejection of compact chamber 221 and is equipped with wedge inclined plane, and when ejection of compact subassembly 23 with empty pallet 25 jack-up to storage chamber 222, the dwang rotates to make empty pallet 25 pass through and stack, after the stack is accomplished, ejection of compact subassembly 23 moves down, and empty pallet 25 of stack compresses tightly the carrier under the effect of dead weight, because pawl is to the unidirectional rotation restriction of ratchet, the dwang is not reverse rotation, and empty pallet 25 of storage chamber 222 is limited by the carrier. The bin 22 is open at both the upper and side and can be transported to a warehouse by forklift operation after stacking is completed.
The automatic empty pallet stacking mechanism 2 adopts the conveying device to convey the empty pallet 25 to the storage bin 22, the ejection assembly 23 in the storage bin 22 lifts the empty pallet 25 from the discharge cavity 221 to the storage cavity 222 for stacking, and the stop assembly 24 is arranged between the discharge cavity 221 and the storage cavity 222, so that the empty pallet 15 cannot be retracted from the storage cavity 222 to the discharge cavity 221 after being ejected into the storage cavity 222. The automatic degree of collection and stacking of the empty pallets 25 is high, labor intensity is reduced, and the mess of placing the empty pallets in a workshop is improved.
As shown in fig. 11, 12 and 13, the boxing apparatus 4 is configured to pack the plastic wrap 42 around the outer periphery of the cable drum 41 and then pack the plastic wrap together into the carton 43. The boxing apparatus 4 comprises a boxing robot 44 for transporting a first transporting means 45 of the cartons 43. The boxing robot 44 comprises a second frame 441, a first carrier 442 slidably connected to the second frame 441, a fifth driving assembly 443 and a sixth driving assembly 444, a first transfer arm 445 slidably connected to the first carrier 442, and a take-out jaw 14 fixed to the first transfer arm 445. The second frame 441 is provided with a loading station 4411 and a discharging station 4412, the fifth driving assembly 443 drives the first carrier 442 to reciprocate between the loading station 4411 and the discharging station 4412, the first transporting device 45 is provided with a boxing station 4521, and the sixth driving assembly 444 drives the first transferring arm 445 to reciprocate between the discharging station 4412 and the boxing station 4521. In this embodiment, the boxing station 4521 is disposed below the blanking station 4412, and the cable drum 41 is moved by another transporting device such as a robot or a manual handling arm below the loading station.
Preferably, the boxing apparatus 4 further comprises a bagging frame 46 for mounting the packaging bag 42, the bagging frame 46 is fixed on the second frame 441, a plurality of clamping structures are arranged between the blanking station 4412 and the boxing station 4521, the packaging bag 42 is manually clamped on the bagging frame 46 and forms a bag opening state, the first material moving arm 445 moves downwards from the blanking station 4412, products are filled into the packaging bag 42, the first material moving arm 445 moves downwards continuously, the products and the packaging bag 42 are moved to the boxing station 4521 of the first conveying device 45 together, and the first conveying device 45 moves the paper boxes 43 to the boxing station 4521 in advance, so that the packaging process is completed. In this embodiment, the clamping structure is a positioning post.
Preferably, the boxing apparatus 4 further comprises a protection assembly 47, the protection assembly 47 comprising a protection body 4461 slidably connected to the second frame 441, an organ cover provided on the protection body 4461, and a third driving assembly. The third drive assembly drives the guard body 4461 adjacent to the bag holder 46 such that the organ cover moves over the bag holder 46.
Preferably, the second frame 441 is provided with a guide rail 4413 for slidably connecting the first carrier 442, and the fifth driving assembly 443 includes a driving motor, a pulley drivingly connected to the driving motor, and the first carrier 442 is fixedly connected to the pulley.
Preferably, the first carrier 442 is provided with a chute, the first moving arm 445 is provided with a sliding rail slidably connected to the chute, and the sixth driving assembly 444 includes a motor and a drag chain transmission unit.
Preferably, the first transporting device 45 includes a third transporting line 451, a second transporting line 452, and the third transporting line 451, and the second transporting line 452 is a roller transporting line. The end of third transportation line 451 is equipped with discharge gate 4511, is equipped with stock guide 4512 between third transportation line 451, the second transportation line 452, and the downside of discharge gate 4511 is located to stock guide 4512, and carton 43 transported by third transportation line 451 freely falls to second transportation line 452 after reaching discharge gate 4511.
Preferably, the first conveyor 45 is provided with a positioning assembly 453 at the boxing station 4521, the positioning assembly 453 comprising a positioning motor 4531 and a positioning member 4532. The positioning member 4532 is fixed to the driving end of the positioning motor 4531, and is provided with a first positioning portion in the transverse direction and a second positioning portion in the longitudinal direction. In this embodiment, the boxing station 4521 is disposed on the second transporting line 452, and when the second transporting line 452 transports the cartons 43 to the boxing station 4521, the positioning motor 4531 drives the positioning member 4532 to move forward, so that the first positioning portion and the second positioning portion respectively position two sides of the cartons 43 to ensure that the straight line is in the boxing station 4521.
The first material moving arm 445 is disposed on the first carrier 442, the fifth driving assembly 443 drives the carrier to reciprocate between the feeding station 4411 and the discharging station 4412, so as to finish the product clamping action, the sixth driving assembly 444 drives the first material moving arm 445 to reciprocate between the discharging station 4412 and the boxing station 4521, and the boxing station 4521 is disposed on the first transporting device 45 for transporting the cartons, so as to finish the boxing action, and the whole packaging process has high automation degree and high efficiency.
The output structure 10 and the conveying structure 5 are conveyor lines.
In addition, be equipped with on the right side of above-mentioned vanning equipment 4 and sweep a yard structure, should sweep a yard structure and be located conveying structure 5, and sweep a yard to the material, form and sweep a yard information, combine weighing information, form new information, print by the printer to form the label, paste the mark operation to the material, the user of being convenient for inquires this material information.
The above-mentioned full-automatic enameled wire packing integrated system, through the transportation from the material, the stack and the transportation of empty pallet, the stack and the putting of material and pallet, the transfer of empty pallet and the processing of wrapping film of material, adopt each structure complex mode, full-automatic go on, and still interlude rejection structure 3 in whole integrated system, specifically adopt weighing machine and rejection transfer chain, when weight does not satisfy the settlement weight, then pass the material to the rejection transfer chain on, there is the transfer chain output, the material that accords with the requirement can continue to go up the preceding transportation, carry out wrapping film processing, also can be by vanning equipment 4 packing output, the steam generator is strong in practicality, realize full-automatic packing tube-shape material, high efficiency and low cost.
In addition, the invention also provides a full-automatic enameled wire packaging method, which comprises the following steps:
The truss mechanical arm 1 clamps materials and conveys the materials to the rejecting structure 3, the rejecting structure 3 rejects the materials which do not meet the requirements, the materials which meet the requirements are moved to the conveying structure 5, the empty pallet automatic stacking mechanism 2 stacks and conveys the empty pallets 25 to the conveying structure 5, the conveying structure 5 stacks the materials and the empty pallets which are stacked to a designated position, the empty pallets 25 moving trolley 6 moves the empty pallets to a stacking position, the six-axis stacking robot 7 clamps the materials to the stacking position, the materials are placed on the empty pallets 25, the film winding machine 9 winds the materials, and the output structure 10 outputs the materials after the film winding.
The foregoing examples are provided to further illustrate the technical contents of the present invention for the convenience of the reader, but are not intended to limit the embodiments of the present invention thereto, and any technical extension or re-creation according to the present invention is protected by the present invention. The protection scope of the invention is subject to the claims.
Claims (8)
1. The full-automatic enameled wire packaging integrated system is characterized by comprising a truss manipulator, an empty pallet automatic stacking mechanism, a rejecting structure, a conveying structure, an empty pallet moving trolley, a six-axis stacking robot, a stacking moving trolley, a film winding machine and an output structure which are sequentially connected, wherein the truss manipulator clamps materials and conveys the materials to the rejecting structure, the rejecting structure rejects the materials which do not meet requirements and conveys the materials to the conveying structure, the empty pallet automatic stacking mechanism stacks and conveys the empty pallets to the conveying structure, the conveying structure conveys the materials and the empty pallets after stacking to a specified position, the empty pallet moving trolley moves the empty pallets to a stacking position, the six-axis stacking robot clamps the materials to the stacking position, the materials are placed on the empty pallets, the film winding machine winds the materials, and the output structure outputs the materials after film winding;
The truss manipulator comprises a first frame, a material moving arm, a rotating device arranged on the material moving arm, a material taking clamping jaw and a driving device; the driving device drives the material moving arm to move transversely, longitudinally and vertically; the material taking clamping claw is fixed at the rotating end of the rotating device; the rotary device drives the material taking clamping jaw to rotate along a vertical shaft;
The material taking clamping jaw comprises a body; a first driving component fixed on the body; the clamping assembly is positioned at the lower end of the body and comprises a left positioning piece and a right positioning piece which are connected with the body in a sliding manner; the positioning plate is positioned at the lower end of the body and is provided with a mounting groove for passing through the left positioning piece and the right positioning piece; the first guide assembly comprises a guide structure and a compression spring, wherein the guide structure and the compression spring are arranged between the body and the positioning plate; wherein, the lower end of the left locating piece is provided with a left locating part; the right positioning piece is provided with a right positioning part; the driving end of the first driving assembly drives the left positioning piece and the right positioning piece to slide outwards respectively; the two ends of the compression spring respectively press the body and the positioning plate;
The left positioning part is provided with a left semi-conical table and a left positioning structure arranged at the upper end of the left semi-conical table; the right positioning part is provided with a right semi-conical table and a right positioning structure arranged at the upper end of the right semi-conical table; the left positioning structure and the right positioning structure are semi-annular positioning grooves; when the left positioning piece is attached to the right positioning piece, the left half conical table and the right half conical table form a conical table, and the left positioning structure and the right positioning structure form an annular groove; when the cable reel is particularly used, the cable reel is provided with the locating part extending into the hole, and when the cable reel is moved, the locating grooves of the left locating piece and the right locating piece form clamping connection with the locating part.
2. The fully automatic wire packing integrated system of claim 1, further comprising a boxing apparatus located on the right side of the empty pallet automatic stacking mechanism for boxing satisfactory materials.
3. The fully automatic enamel wire packing integrated system according to claim 1, wherein the empty pallet automatic stacking mechanism comprises a conveying device, a storage bin, a material ejection assembly and a backstop assembly, wherein the material ejection assembly and the backstop assembly are arranged in the storage bin; the storage bin is provided with a discharging cavity and a storage cavity positioned at the upper end of the discharging cavity; the retaining component is positioned between the discharging cavity and the discharging cavity; the conveying device is provided with a discharge end positioned in the discharge cavity; the conveying device transfers the empty pallet to the discharging cavity; after the ejection assembly ejects the empty pallet at the discharge end to the storage cavity, the stop assembly limits the empty pallet in the storage cavity.
4. The fully automated wire packing integrated system of claim 3, wherein the transport device comprises a first transport line and a second transport line; the first transportation line comprises a first transportation assembly and a first transit assembly positioned at the tail end of the first transportation assembly; the second transportation line is arranged on one side of the first transfer assembly, and the second transportation line is provided with the discharge end.
5. The fully automated wire packing integrated system of claim 4, wherein the first transfer assembly comprises a first jacking mechanism, a first transfer mechanism; the first conveying mechanism is arranged at the lifting end of the first lifting mechanism; the first conveying mechanism is provided with a first material transferring station and a second material transferring station; the second conveying line is arranged at the outer side of the second material transferring station; the first lifting mechanism drives the first conveying mechanism so that the first conveying mechanism is communicated with or separated from the second conveying line.
6. The fully automatic wire packing integrated system of claim 2, wherein the boxing apparatus comprises a boxing robot for transporting the cartons; the boxing manipulator comprises a second frame, a first bearing piece, a fifth driving assembly and a sixth driving assembly, wherein the first bearing piece is connected to the second frame in a sliding manner, the first material moving arm is connected to the first bearing piece in a sliding manner, and the material taking clamping jaw is fixed on the first material moving arm; the second frame is provided with a feeding station and a discharging station; the fifth driving assembly drives the first bearing piece to reciprocate between the feeding station and the discharging station; the first conveying device is provided with a boxing station; the sixth driving assembly drives the first material moving arm to reciprocate between the blanking station and the boxing station.
7. The fully automatic enamel wire packing integrated system according to claim 1, wherein the material taking clamping jaw further comprises a left sliding seat and a right sliding seat which are fixed on the body, and a guide rod is arranged between the left sliding seat and the right sliding seat; the left locating piece and the right locating piece are respectively connected with the guide rod in a sliding mode.
8. A method of packaging the fully automatic wire-wound integrated system of any one of claims 1 to 7, the method comprising:
The truss mechanical arm clamps the materials and conveys the materials to the rejecting structure, the rejecting structure rejects the materials which do not meet the requirements, the materials which meet the requirements are moved to the conveying structure, the empty pallet automatic stacking mechanism stacks and conveys the empty pallets to the conveying structure, the conveying structure conveys the materials and the empty pallets after stacking to the designated position, the empty pallet moving trolley moves the empty pallets to the stacking position, the six-axis stacking robot clamps the materials to the stacking position, the materials are placed on the empty pallets, the film winding machine winds the materials, and the output structure outputs the materials after the film winding treatment.
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| CN109625995A (en) * | 2018-12-25 | 2019-04-16 | 歌尔股份有限公司 | The feeding device and charging method of sheet material |
| CN110254843B (en) * | 2019-06-17 | 2024-03-08 | 江苏新美星包装机械股份有限公司 | Film bag stacking integrated device |
| CN110844591B (en) * | 2019-11-29 | 2021-01-12 | 安徽机电职业技术学院 | Automatic enameled wire conveying line based on visual detection system |
| CN111776270B (en) * | 2020-06-17 | 2021-11-26 | 昆明理工大学 | Automatic container loader for production line articles |
| CN114056660A (en) * | 2020-08-07 | 2022-02-18 | 四川卡库机器人科技有限公司 | Flaky material stacking device |
| CN114212289A (en) * | 2021-11-16 | 2022-03-22 | 浙江新捷智能科技有限公司 | Full-automatic intelligent online continuous packaging line for coils |
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