CN113401670A

CN113401670A - Automatic stacking system for offline used for grabbing bottle bodies

Info

Publication number: CN113401670A
Application number: CN202110590523.6A
Authority: CN
Inventors: 向元明; 陆琪宏
Original assignee: Wanyuan Yuanwei Automation Equipment Co ltd
Current assignee: Wanyuan Yuanwei Automation Equipment Co ltd
Priority date: 2021-05-28
Filing date: 2021-05-28
Publication date: 2021-09-17

Abstract

The invention discloses an automatic off-line stacking system for grabbing bottle bodies, which comprises a mechanical arm, a stacking moving frame, a partition plate adsorption device, a bottle body grabbing device, an image acquisition device and a controller, wherein the mechanical arm is connected with the stacking moving frame; the two image acquisition devices are respectively arranged on two sides of the stacking moving frame and are used for acquiring the graphs of the bottle bodies to be stacked and the partition plates; the controller receives the image transmitted by the image acquisition device and outputs control signals to the mechanical arm, the partition plate adsorption device and the bottle body grabbing device; the image conversion module is used for converting R, G, B values of each pixel of the acquired image into equal values; the noise processing module is used for reducing noise and interference components in the image; the characteristic extraction module is used for detecting the edges of the bottle body to be clamped and the partition plate and extracting the edges. Can reach the purpose of snatching bottle and pile automatically through this device, degree of automation is high, has improved the production efficiency of enterprise, has reduced the manual operation volume.

Description

Automatic stacking system for offline used for grabbing bottle bodies

Technical Field

The invention relates to the technical field of mechanical automation, in particular to an automatic off-line stacking system for grabbing bottle bodies.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments. Stacking is the process of placing articles neatly and regularly into a stack. At present, in the enterprise production, for example, the stacking of glass bottles is not completely automated, and manual stacking treatment is still required.

Disclosure of Invention

The invention provides an automatic off-line stacking system for grabbing bottle bodies, and aims to improve the automation degree of bottle body stacking, improve the efficiency and reduce the labor.

In view of the above problems of the prior art, according to one aspect of the present disclosure, the following technical solutions are adopted in the present invention:

an automatic stacking system of rolls-off line for grasping bottles comprising:

a robot arm;

the stacking moving frame is fixedly connected with the mechanical arm and moves along with the mechanical arm;

the partition board adsorption device is arranged on the stacking moving frame and used for adsorbing the partition boards, moving the partition boards through the mechanical arm and then placing the partition boards on the stacked bottle bodies so as to isolate the bottle bodies on each layer;

the bottle body grabbing device is arranged on the stacking moving frame and used for grabbing bottle bodies from a production line, moving the bottle bodies through the mechanical arm and placing the bottle bodies at a stacking position;

the two image acquisition devices are respectively arranged on two sides of the stacking moving frame and are used for acquiring the graphs of the bottle bodies to be stacked and the partition plates and transmitting the acquired images to the controller;

the controller, the controller is received the image of image acquisition device transmission, and to robotic arm, baffle adsorption equipment and bottle grabbing device output control signal, include in the controller:

an image conversion module for converting the R, G, B value of each pixel of the captured image to be equal, bit 0 or 255;

the noise processing module is used for reducing noise and interference components in the image;

and the characteristic extraction module is used for detecting and extracting the edges of the bottle body to be clamped and the partition plate, smoothing the image by using a function, calculating a gradient amplitude and an angle image, and detecting and connecting the edges of the object.

In order to better realize the invention, the further technical scheme is as follows:

further, the partition board adsorption device is a vacuum adsorption device.

Further, the vacuum adsorption device is a vacuum adsorption tray.

Further, 6 bottle grabbing devices are arranged on the stacking moving frame.

Further, the bottle body grasping apparatus includes:

a drive mechanism;

the fixed frame is fixedly connected with the stacking moving frame;

the bottle body clamping mechanism is connected with the fixing frame in a rotating mode, the bottle body clamping mechanism is connected with a telescopic rod of the driving mechanism, and the telescopic rod pushes the bottle body clamping mechanism to open or clamp the bottle body.

Further, the driving mechanism is a cylinder or a hydraulic cylinder.

Further, the bottle body clamping mechanism comprises:

the bottle body clamping pieces are arranged oppositely and used for clamping the bottle body;

the two rotary connecting pieces are respectively fixedly connected with the bottle body clamping piece, and the two rotary connecting pieces are respectively and rotatably connected with the fixing frames on the two sides;

one end of the push rod is connected with a telescopic rod of the driving mechanism;

the pushing connecting piece is connected with the other end of the push rod;

the two ends of the connecting rod are respectively connected with the rotating connecting piece and the pushing connecting piece, and one of the rotating connecting piece is connected with the pushing connecting piece at least through two connecting rods.

Furthermore, a V-shaped groove block for clamping the bottle body is arranged on the bottle body clamping piece.

Furthermore, the bottle grabbing device comprises two second bottle clamping pieces, two tooth-shaped moving pieces, a fixing piece and a power mechanism, one end of each second bottle clamping piece is used for clamping a bottle, the other end of each second bottle clamping piece is provided with a tooth-shaped portion which is rotatably connected with the fixing piece, two sides of one end of each tooth-shaped moving piece are respectively provided with teeth and meshed with the two tooth-shaped portions, and the other end of each tooth-shaped moving piece is connected with the power mechanism.

Compared with the prior art, the invention has the following beneficial effects:

the automatic off-line stacking system for grabbing the bottle bodies can automatically stack the bottle bodies, automatically place the partition plates after stacking a layer, automatically stack the bottle bodies beside a set stack after stacking the bottle bodies, and prompt the stacked stack to be pulled away by the alarm lamp.

Drawings

For a clearer explanation of the embodiments or technical solutions in the prior art of the present application, the drawings used in the description of the embodiments or prior art will be briefly described below, it is obvious that the drawings in the following description are only references to some embodiments in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic view of the exterior configuration of an automated stacking system for grasping bottles according to an embodiment of the present invention.

Fig. 2 is a schematic structural view of a stacking moving rack according to an embodiment of the invention.

Fig. 3 is a schematic structural view of a bottle gripping device according to an embodiment of the present invention.

Fig. 4 is a schematic structural view of a bottle body grasping apparatus according to another embodiment of the present invention.

Fig. 5 is a block diagram of a system for automated stacking of carriers for grasping vials according to another embodiment of the present invention.

Wherein, the names corresponding to the reference numbers in the drawings are:

1-a mechanical arm, 2-a stacking moving frame, 3-a partition adsorption device, 4-a bottle grabbing device, 5-a driving mechanism, 6-a fixed frame, 7-a bottle clamping mechanism, 8-a telescopic rod, 9-a bottle clamping piece, 10-a rotating connecting piece, 11-a push rod, 12-a pushing connecting piece, 13-a connecting rod, 14-a V-shaped groove block, 15-a second bottle clamping piece, 16-a tooth-shaped moving piece, 17-a fixed piece, 18-a tooth-shaped part and 19-an image acquisition device.

Detailed Description

The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited thereto.

As shown in fig. 1 to 5, an automatic off-line stacking system for gripping bottles comprises a robot arm 1, a stacking moving frame 2, a partition adsorption device 3, a bottle gripping device 4, an image acquisition device (19) and a controller; fig. 1 is only a simple schematic diagram of a mechanical arm 1, the mechanical arm 1 can be in various shapes known to those skilled in the art, the stacking moving frame 2 is fixedly connected with the mechanical arm 1, and then the mechanical arm 1 moves, and the mechanical arm 1 drives the stacking moving frame 2 to grab the bottle body and adsorb the partition plate through moving. The partition adsorption device 3 is arranged on the stacking moving frame 2 and used for adsorbing partitions, moving the partitions through the mechanical arm 1 and then placing the partitions on the stacked bottles to isolate the bottles in each layer; the bottle body gripping device 4 is arranged on the stacking moving frame 2 and used for gripping bottle bodies from a production line and placing the bottle bodies at a stacking position after the bottle bodies are moved by the mechanical arm 1. The two image acquisition devices 19 are respectively arranged on two sides of the stacking moving frame 2 and are used for acquiring the graphs of the bottles to be stacked and the partition plates and transmitting the acquired images to the controller; that is, after two image capturing devices 19 perform plane image capturing, the three-dimensional image is converted into a three-dimensional image. The controller receives the image transmitted by the image acquisition device 19 and outputs control signals to the mechanical arm 1, the partition plate adsorption device 3 and the bottle body grabbing device 4, and the controller comprises an image conversion module, a noise processing module and a feature extraction module; the image conversion module is used for converting R, G, B values of each pixel of the acquired image into equal values, wherein the bits are 0 or 255; the noise processing module is used for reducing noise and interference components in the image; the characteristic extraction module is used for detecting and extracting the edges of the bottle body to be clamped and the partition plate, smoothing the image by using a function, calculating a gradient amplitude and an angle image, and detecting and connecting the edges of the object. Therefore, the positioning and grabbing are accurately carried out, the system operation amount can be reduced by the image processing mode, the grabbing is accurate, and the efficiency is higher. The automatic pile system of inserting winding for snatching bottle of this embodiment, through robotic arm 1's removal, bottle grabbing device 4 can once snatch a plurality of bottles from the production line, then moves to pile department, and after filling up the one deck bottle, rethread robotic arm 1 adsorbs the baffle and places on the one deck bottle, places another deck bottle on this baffle again, repeats above-mentioned step to the realization snatchs the automatic function of pile of bottle. The bottle that this embodiment relates to can glass bottle, plastic bottle etc. and its baffle can be hardboard, plastic slab etc. can select for use different baffles according to the difference of pile material.

As shown in fig. 2, the partition board adsorption device 3 of the above embodiment may preferably be a vacuum adsorption device, and more specifically, a vacuum adsorption disk may be used. When needing the baffle promptly at the pile in-process, robotic arm 1 drive pile removes frame 2 and moves to the baffle top to make vacuum adsorption dish and the baffle that treats the absorption keep in contact, then adsorb the baffle through vacuum suction, on the bottle of rethread robotic arm 1 with the baffle removal to the pile, release vacuum suction, thereby place the baffle on the pile layer.

As shown in fig. 3, generally speaking, 6 bottle body gripping devices 4 are provided on the stacking moving frame 2, and this preferred mode takes 6 bottle body gripping devices at a time as a preferred scheme in consideration of the gripping and moving force and the stacking condition.

For one embodiment of the bottle gripping device 4, as shown in fig. 3, it may comprise:

and a driving mechanism 5 serving as a power component for providing clamping power for the bottle body clamping mechanism 7 below.

And the fixed frame 6 is fixedly connected with the stacking moving frame 2 so as to ensure that the whole bottle body grabbing device 4 is kept stable, and the fixed part of the driving mechanism 5 can also be fixedly connected with the stacking moving frame 2.

The bottle body clamping mechanism 7 is rotatably connected with the fixing frame 6, the bottle body clamping mechanism 7 is connected with the telescopic rod 8 of the driving mechanism 5, and the telescopic rod 8 pushes the bottle body clamping mechanism 7 to open or clamp the bottle body.

The driving mechanism 5 of the above embodiment is a cylinder, a hydraulic cylinder, or the like, but is not limited thereto, and other power devices may be employed.

In another embodiment, the bottle gripping device 4 shown in fig. 4 is an alternative to the bottle gripping device 4 of the above embodiment, and the specific structure thereof includes two second bottle holders 15, two toothed moving members 16, a fixing member 17 and a power mechanism, wherein one end of each of the two second bottle holders 15 is used for holding a bottle, the other end of each of the two second bottle holders 15 is provided with a toothed portion 18 rotatably connected to the fixing member 17, two sides of one end of each of the toothed moving members 16 are respectively provided with teeth and engaged with the two toothed portions 18, and the other end of each of the toothed moving members 16 is connected to the power mechanism.

The bottle body clamping mechanism 7 of an embodiment has a specific structure comprising a bottle body clamping part 9, a rotating connecting part 10, a push rod 11, a pushing connecting part 12 and a connecting rod 13; the two bottle body clamping pieces 9 are oppositely arranged and used for clamping the bottle body; the number of the rotary connecting pieces 10 is two, and each rotary connecting piece is fixedly connected with one bottle body clamping piece 9, and the two rotary connecting pieces 10 are respectively and rotatably connected with the fixing frames 6 at two sides; one end of the push rod 11 is connected with the telescopic rod 8 of the driving mechanism 5; the pushing connecting piece 12 is connected with the other end of the push rod 11; the two ends of the connecting rods 13 are respectively connected with the rotating connecting piece 10 and the pushing connecting piece 12, and one rotating connecting piece 10 is at least connected with the pushing connecting piece 12 through two connecting rods 13.

For stable holding of the bottle body, a V-groove block 14 for holding the bottle body may be provided on the bottle body holding member 9.

In summary, for example, a chain conveyer is used to separate a row of bottles at required intervals, and a large number of bottles are blocked on the conveyer, and then the bottles are stacked by the automatic off-line stacking system for grabbing bottles, a layer of automatic placing partition plates are stacked, a set stack is stacked, a next stack is stacked, and after a stack is stacked, the bottles can be pulled away by the alarm lamp, so that the purpose of automatically grabbing bottles and stacking is achieved.

The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

Reference throughout this specification to "one embodiment," "another embodiment," "an embodiment," etc., means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment described generally in this application. The appearances of the same phrase in various places in the specification are not necessarily all referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with any embodiment, it is submitted that it is within the scope of the invention to effect such feature, structure, or characteristic in connection with other embodiments.

Although the invention has been described herein with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the spirit and scope of the principles of this disclosure. More specifically, various variations and modifications are possible in the component parts and/or arrangements of the subject combination arrangement within the scope of the disclosure and claims of this application. In addition to variations and modifications in the component parts and/or arrangements, other uses will also be apparent to those skilled in the art.

Claims

1. The utility model provides an automatic pile system of inserting winding for snatching bottle which characterized in that includes:

a robot arm (1);

the stacking moving frame (2) is fixedly connected with the mechanical arm (1) and moves along with the mechanical arm (1);

the partition board adsorption device (3) is arranged on the stacking moving frame (2) and used for adsorbing the partition boards, moving the partition boards through the mechanical arm (1) and then placing the partition boards on the stacked bottle bodies so as to isolate the bottle bodies on each layer;

the bottle body grabbing device (4) is arranged on the stacking moving frame (2) and used for grabbing bottle bodies from a production line, moving the bottle bodies through the mechanical arm (1) and then placing the bottle bodies at a stacking position;

the two image acquisition devices (19) are respectively arranged on two sides of the stacking moving frame (2) and are used for acquiring the graphs of the bottles to be stacked and the partition plates and transmitting the acquired images to the controller;

the controller receives the image transmitted by the image acquisition device (19) and outputs control signals to the mechanical arm (1), the partition plate adsorption device (3) and the bottle body grabbing device (4), and the controller comprises:

2. The automated off-line stacking system for grasping bottles according to claim 1 wherein said barrier suction device (3) is a vacuum suction device.

3. The automated downline stacking system for gripping vials of claim 2, wherein the vacuum suction device is a vacuum suction tray.

4. The automated offline stacking system for gripping bottles of claim 1, wherein the number of bottle gripping devices (4) arranged on the stacking moving rack (2) is 6.

5. An automated off-line stacking system for grasping bottles according to claim 1 wherein said bottle grasping means (4) comprises:

a drive mechanism (5);

the fixing frame (6), the said fixing frame (6) is fixedly connected with said pile moves the shelf (2);

the bottle body clamping mechanism (7) is connected with the fixing frame (6) in a rotating mode, the bottle body clamping mechanism (7) is connected with an expansion link (8) of the driving mechanism (5), and the expansion link (8) pushes the bottle body clamping mechanism (7) to open or clamp the bottle body.

6. The automated downline stacking system for gripping vials according to claim 5, wherein the actuating mechanism (5) is a pneumatic or hydraulic cylinder.

7. An automated off-line stacking system for grasping bottles according to claim 6 wherein said bottle gripping mechanism (7) comprises:

the bottle body clamping pieces (9) are arranged oppositely and used for clamping the bottle body;

the number of the rotary connecting pieces (10) is two, the rotary connecting pieces (10) are respectively fixedly connected with one bottle body clamping piece (9), and the two rotary connecting pieces (10) are respectively rotatably connected with the fixing frames (6) on the two sides;

one end of the push rod (11) is connected with a telescopic rod (8) of the driving mechanism (5);

the pushing connecting piece (12), the pushing connecting piece (12) is connected with the other end of the push rod (11);

the connecting rod (13), connecting rod (13) both ends respectively with rotate connecting piece (10) with promote connecting piece (12) and be connected, and one rotate connecting piece (10) at least through two connecting rods (13) with promote connecting piece (12) and connect.

8. An automated off-line stacking system for grasping bottles according to claim 7 wherein the bottle gripper (9) is provided with a V-groove block (14) for gripping bottles.

9. The offline automatic stacking system for grabbing bottles according to claim 1, wherein the bottle grabbing device (4) comprises two second bottle holders (15), two toothed moving members (16), a fixing member (17) and a power mechanism, one end of each second bottle holder (15) is used for clamping a bottle, the other end of each second bottle holder (15) is provided with a toothed portion (18) which is rotatably connected with the fixing member (17), two sides of one end of each toothed moving member (16) are respectively provided with teeth and meshed with the two toothed portions (18), and the other end of each toothed moving member (16) is connected with the power mechanism.