CN113879582A

CN113879582A - Sprayer boxing workstation with infusion tube and sprayer boxing method

Info

Publication number: CN113879582A
Application number: CN202111238255.8A
Authority: CN
Inventors: 梁世春
Original assignee: Quanxing Intelligent Control System Engineering Shanghai Co ltd
Current assignee: Quanxing Intelligent Control System Engineering Shanghai Co ltd
Priority date: 2021-10-25
Filing date: 2021-10-25
Publication date: 2022-01-04
Anticipated expiration: 2041-10-25
Also published as: CN113879582B

Abstract

The invention provides a sprayer boxing workstation with a liquid conveying pipe and a sprayer boxing method. The first mechanism of snatching of first universal manipulator places two transfer place the platform after rotatory with a row of shower nozzles that shower nozzle conveying mechanism carried, snatchs all shower nozzles on the mechanism will transfer the place the platform and all snatch and transfer to in the packing box by two sets of seconds of second universal manipulator afterwards. The invention can grab two groups of nozzles distributed in an array at one time, and the liquid conveying pipes of the two groups of nozzles distributed in the array are inclined oppositely, thereby reducing the occupied volume and filling more nozzles in one packing box.

Description

Sprayer boxing workstation with infusion tube and sprayer boxing method

Technical Field

The invention relates to a nozzle boxing workstation, in particular to a nozzle boxing workstation with an infusion tube.

Background

Fig. 1 shows a currently available spray head 10, which is typically configured and generally requires the assembly of a fluid line 11 during packaging, and which is currently largely labor-dependent, costly and inefficient to package. How to improve the efficiency of boxing and how to pack as many nozzles as possible in one package is a problem to be solved.

Disclosure of Invention

The invention provides a sprayer boxing workstation with a liquid conveying pipe, which comprises a sprayer conveying mechanism, a first universal manipulator, a transfer mechanism and a second universal manipulator, wherein the transfer mechanism is provided with two transfer placing platforms, and each transfer placing platform is provided with a plurality of sprayer transfer fixing mechanisms distributed in an array manner;

the first universal manipulator is provided with a first grabbing mechanism, the first grabbing mechanism grabs a row of nozzles conveyed by the feeding track and rotates to incline the infusion tube, and then the inclined nozzles are sequentially placed in the nozzle transfer fixing mechanisms of the two transfer placing platforms;

the universal manipulator of second is equipped with telescopic machanism and two sets of seconds and snatchs the mechanism, and this two sets of seconds snatchs the mechanism and install at telescopic machanism's both ends, by two sets of seconds snatch the mechanism and will two the shower nozzle of packing in transit place the platform is last to be grabbed firmly and the transfer line of two sets of shower nozzles inclines in opposite directions, by telescopic machanism drives two sets of seconds snatch the mechanism and do the interval of relative movement in order to shorten two sets of shower nozzles, afterwards by the universal manipulator of second places two sets of shower nozzles in the packing box.

Further, shower nozzle conveying mechanism includes feeding mechanism and pay-off track, the pay-off track is equipped with one row of guide rails that are parallel to each other, feeding mechanism sends the vertical ascending shower nozzle of a row of transfer line respectively to the guide rail and carry to the orbital other end of pay-off.

Further, the first universal manipulator comprises a first universal mechanical arm, and the first grabbing mechanism is mounted at the tail end of the first universal mechanical arm;

the first grabbing mechanism comprises a row of first copying suckers matched with the appearance profile of the spray head, the first copying suckers are installed on the first rotating mechanism, and the first rotating mechanism drives the row of first copying suckers to rotate simultaneously so as to enable the liquid conveying pipe of the spray head to incline upwards.

Furthermore, the nozzle transfer fixing mechanism of each transfer placing platform consists of a matrix type first transfer copying sucking disc and a row of second transfer copying sucking discs positioned on one side of the first transfer copying sucking disc;

first transfer copying sucking disc fixed mounting is on transfer place the platform's support lifting guide is installed to support one side, and slidable mounting has second rotary mechanism on the lifting guide, the second transfer copying sucking disc is installed on the second rotary mechanism, second rotary mechanism drives the upset of one row of second transfer copying sucking disc makes the transfer line slope of the shower nozzle on one row of second transfer copying sucking disc is downward.

Furthermore, the second universal manipulator comprises a second universal mechanical arm, the telescopic mechanisms are installed at the tail end of the second universal mechanical arm, each telescopic mechanism comprises two sliding blocks which slide in opposite directions, the two groups of second grabbing mechanisms are mutually symmetrical and are respectively and fixedly installed at the bottoms of the sliding blocks, the two groups of second grabbing mechanisms are respectively provided with a matrix type second copying sucker, a third copying sucker is arranged on one side of the second copying sucker, and the third copying suckers are respectively arranged on the sides, far away from each other, of the two groups of second grabbing mechanisms;

the infusion tube of which the second copying sucker grabs the nozzle inclines upwards towards the second grabbing mechanism on the other side, and the infusion tube of which the third copying sucker grabs the nozzle inclines downwards towards the second grabbing mechanism on the other side.

A spray head boxing method based on the boxing workstation comprises the following steps:

the spray head conveying mechanism continuously conveys the spray head of the upward infusion tube;

the first universal manipulator grabs a row of spray heads and rotates to enable the infusion tube to incline, and then the inclined spray heads are sequentially placed on the spray head transfer fixing mechanisms of the two transfer placing platforms until the transfer placing platforms are full of the spray heads;

two groups of second grabbing mechanisms of the second universal manipulator grab the sprayers on the two transfer placing platforms respectively, infusion tubes of the two groups of sprayers grabbed by the two groups of second grabbing mechanisms incline oppositely, and then the two groups of second grabbing mechanisms move oppositely to shorten the distance between the two groups of sprayers;

two groups of nozzles are placed in the packing box by the second universal manipulator;

repeating the steps, and placing two groups of spray heads in the package each time until the package box is full.

Furthermore, the first universal manipulator rotates the spray head to the position that the infusion tube inclines upwards and then places the infusion tube on the transfer platform.

Furthermore, after any transfer platform is filled with the nozzles, the heights of the nozzles in the row at the side edges are increased and the transfer platform rotates to enable the transfer tube to incline downwards;

the second grabbing mechanism firstly grabs the current shower nozzle inclined upwards of the infusion tube on the transfer placing platform, then the second universal manipulator moves upwards and grabs the remaining row of shower nozzles inclined downwards of the infusion tube, the second grabbing mechanism which grabs the shower nozzle is full, and the row of shower nozzles inclined downwards of the infusion tube are located on one side of the current second grabbing mechanism which is far away from the other second grabbing mechanism.

Furthermore, if one of the second grabbing mechanisms grabs the fully-arranged spray heads, and after the other second grabbing mechanism grabs the upwardly inclined spray heads of the infusion tube, the second universal manipulator relatively moves the two groups of second grabbing mechanisms in the upward moving process to shorten the distance, and then the other second grabbing mechanism grabs the rest row of spray heads.

Furthermore, the second universal manipulator puts two groups of spray heads in a stacking mode at a time until the packing box is full of the spray heads.

The invention has the advantages that:

1) the automatic boxing operation can be carried out on the spray head with the infusion tube, the whole process does not need manual interference, the labor cost is saved, the boxing efficiency is improved, and higher manager income is brought;

2) two groups of nozzles distributed in an array can be grabbed at one time, and the liquid conveying pipes of the two groups of nozzles distributed in the array are inclined oppositely, so that the occupied volume is reduced, and more nozzles are filled in one packing box;

3) grabbing device and transfer place the platform and all adopt the profile modeling sucking disc to adsorb the shower nozzle, avoid the shower nozzle to drop in the transfer process.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a perspective view of a currently available spray head with an infusion tube;

FIG. 2 is a general view of a head boxing workstation for a transfusion tube provided by the invention;

FIG. 3 is a schematic view of a first universal robot and a first grasping mechanism thereof according to the present invention;

FIG. 4 is a schematic view of a transfer mechanism including two transfer platforms;

FIG. 5 is a schematic view of a single transfer platform in an unloaded condition;

FIG. 6 is a schematic view of a single second transfer copy suction cup with lift and rotation of the transfer platform;

FIG. 7 is a schematic view of two transfer platforms filled with nozzles (with the infusion tube tilted up);

FIG. 8 is a side view of the second transfer contour suction cup ascending and rotating to tilt the fluid lines of the row of nozzles downward;

FIG. 9 is a schematic view of two sets of second gripper mechanisms on a second gimbaled manipulator;

FIG. 10 is a side view of the second gripper mechanism;

FIG. 11 is a side view of the second grasping mechanism ready to grasp an upwardly angled spray head of an infusion tube;

FIG. 12 is a schematic view of the upward-angled jet of the infusion tube of FIG. 8 being transferred away;

fig. 13 is a schematic diagram of the distribution of two groups of nozzles in the packing box.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

In the following description, for the purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.

Referring to fig. 2, the invention provides a sprayer boxing workstation with a liquid conveying pipe, which comprises a sprayer conveying mechanism 100, a first universal manipulator 200, a transfer mechanism 300 and a second universal manipulator 400.

With continued reference to fig. 2, the nozzle conveying mechanism 100 includes a feeding mechanism 101 and a feeding track 102, the feeding track 102 is provided with a row of mutually parallel guide rails, and the feeding mechanism 101 respectively conveys a row of nozzles vertically upward from the infusion tube to the guide rails and conveys the nozzles to the other end of the feeding track 102.

Referring to fig. 3, the first universal robot 200 includes a first universal robot arm 220, a first grabbing mechanism 210 is installed at the end of the first universal robot arm 220, the first grabbing mechanism 210 grabs a row of nozzles conveyed by the feeding rail 102 and rotates to incline the liquid conveying pipe, and then the inclined nozzles are sequentially placed in the nozzle transfer fixing mechanisms 320 of the two transfer platforms 310. The first grabbing mechanism 210 includes a row of first profiling sucking discs 211 matched with the outline of the nozzle, the first profiling sucking discs 211 are mounted on the first rotating mechanism 212, and the first rotating mechanism 212 drives the row of first profiling sucking discs 211 to rotate at the same time so as to tilt the infusion tube of the nozzle upwards.

Referring to fig. 4-8, the transfer mechanism 300 has two transfer platforms 310, and each transfer platform 310 has a plurality of nozzle transfer fixing mechanisms 320 distributed in an array. The nozzle transfer fixing mechanism 320 of each transfer platform 310 is composed of a first transfer copying suction cup 321 distributed in a matrix form and a row of second transfer copying suction cups 322 located at one side of the first transfer copying suction cup 321 (as shown in fig. 5); the first transfer copying suction cup 321 is fixedly installed on the bracket 311 of the transfer platform 310, the lifting guide rail 312 is installed on one side of the bracket 311, the second rotating mechanism 313 is installed on the lifting guide rail 312 in a sliding manner, and the second transfer copying suction cup 322 is installed on the second rotating mechanism 313. The second rotating mechanism 313 drives the row of second transfer copying suction cups 322 to turn over, so that the liquid conveying tubes of the nozzles on the row of second transfer copying suction cups 322 are inclined downwards (as shown in fig. 8).

Referring to fig. 9 to 11, the second universal robot 400 is provided with a telescopic mechanism 420 and two sets of second grasping mechanisms 410, and the telescopic mechanism 420 is installed at the end of the second universal robot arm 440 through a turntable 430. The retractable mechanism 420 includes two sliding blocks 421 capable of sliding in opposite directions, and the two sets of second grabbing mechanisms 410 are symmetrical to each other and respectively fixedly mounted at the bottoms of the sliding blocks 421. Two sets of second gripping mechanisms 410 are respectively mounted on the slide 421.

Two sets of second snatch the mechanism 410 and all be equipped with the second copying sucking disc 411 of matrix, and be equipped with third copying sucking disc 412 in one side of second copying sucking disc 411, and one side that two sets of second snatch the mechanism 410 and keep away from each other is located respectively to third copying sucking disc 412. The second scanning suction cup 411 is tilted upward from the fluid pipe of the head gripped by the first transfer scanning suction cup 321 to the other second gripping mechanism 410, and the third scanning suction cup 412 is tilted downward from the fluid pipe of the head gripped by the second transfer scanning suction cup 322 to the other second gripping mechanism 410. As shown in fig. 9 and 10, the second and third

contour suction cups

411 and 412 are designed to be oriented in opposite directions, so as to realize the nozzles which grasp simultaneously and incline the infusion tube in opposite directions.

The first profiling suction cup 21 of the first universal manipulator 200, the second profiling suction cup 411 and the third profiling suction cup 412 of the transfer platform 310, and the second profiling suction cup 411 and the third profiling suction cup 412 of the second universal manipulator 400 are all groove-shaped suction cups matched with the outer contour of the nozzle, air holes are arranged in the suction cups, and the nozzle can be grabbed in an evacuation mode.

In addition, the invention also provides a nozzle boxing method based on the boxing workstation, which comprises the following steps:

the spray head conveying mechanism 100 feeds:

first, the head feed mechanism 100 continuously feeds the head of the liquid transport tube facing upward. As shown in fig. 2, the feeding mechanism 101 continuously feeds the nozzles of the row of liquid conveying tubes which are vertically upward to the feeding track 102, and the nozzles are clamped by the guide rail of the feeding track 102 and conveyed to the other end of the feeding track 102.

The first universal manipulator 200 transports the spray heads:

after a row of first copying suction cups 211 of the first universal manipulator 200 grab a row of nozzles conveyed by the nozzle conveying mechanism 100, the first rotating mechanism 212 drives the first copying suction cups 211 to turn over, so that the liquid conveying pipes of the nozzles 10 incline upwards, and then the nozzles are placed and discharged one by one onto the nozzle transfer fixing mechanisms 320 of the two transfer placing platforms 310 until the nozzles are placed on the first transfer copying suction cups 321 and the second transfer copying suction cups 322 of the transfer placing platforms 310. The two transfer platforms 310 are shown in fig. 7 with the nozzles fully loaded.

The second universal robot 400 transfers the nozzles:

when any one of the transfer platforms 310 is filled with the nozzles, the second transfer copying suction cups 322 in the side row move upward and rotate to incline the infusion tube of the nozzle downward, and the state is shown in fig. 8. Then, a group of second grabbing mechanisms 410 unloaded on the second universal manipulator 400 grab for the first time, that is, the second copying suction cups 411 grab the nozzles inclined upward from the infusion tube at the bottom of the transfer platform 310. After the first capture, the single transfer platform 310 is shown in fig. 12.

The second gimbaled robot 400 then moves upward and performs a second grasping operation, i.e., grasping the remaining row of jets in fig. 12 with the third contoured chuck 412. After the grabbing is completed, the second grabbing mechanism 410 completes the grabbing and fixing operation of two kinds of spray heads in different states in two times. On the second grasping mechanism 410 which grasps the fully-grasped spray head, a row of spray heads of the infusion tube which is inclined downward is located on the side of the current second grasping mechanism 410 which is far away from the other second grasping mechanism 410.

If one of the second grabbing mechanisms 410 is full of all the sprayers, and after the other second grabbing mechanism 410 grabs the sprayer inclined upwards of the infusion tube, the second universal manipulator 400 automatically controls the two sliding blocks 421 to relatively move the two groups of second grabbing mechanisms 410 to shorten the distance between the two groups of second grabbing mechanisms 41 in the process of moving upwards to grab the rest row of sprayers, and then the other second grabbing mechanism 410 grabs the rest row of sprayers. The invention utilizes the upward movement time of the second universal manipulator 400 as the action time of the relative movement of the two groups of second grabbing mechanisms 41, thereby reducing the idle stroke and improving the production efficiency.

Boxing:

after the two sets of second grabbing mechanisms 410 of the second universal manipulator 400 grab the nozzles, the second universal manipulator 400 moves in multiple axes to place the two sets of grabbed nozzles in the packing box 500. Two sets of shower nozzles of one deck of packing box 500 distribute as shown in fig. 13, and the transfer line tilt in opposite directions of two sets of shower nozzles can satisfy the multilayer and pile up to the transfer line downward sloping of both sides can play following effect: 1. the bottom support is provided for the spray head with the inclined upper part by using the infusion tube, so that the collapse of the spray head losing the gripping force of the second universal manipulator in the packing box is avoided; 2. when stacking up the multilayer shower nozzle from top to bottom, because the transfer line in the middle of two sets of shower nozzles inclines in opposite directions, possess certain redundant space in fact in transfer line cross region, these spaces can be alternated to the transfer line downward sloping of upper avris shower nozzle, and then further improve the shower nozzle quantity of incasement.

Repeating the steps, placing two groups of nozzles by the second universal manipulator 400 in a stacking mode at a time until the packing box 500 is full, and then transferring the packing box 500 by the transfer trolley to transport the empty packing box 500 for the next round of packing operation.

The above description is of the preferred embodiment of the invention. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; those skilled in the art can make many possible variations and modifications to the disclosed embodiments, or modify equivalent embodiments to equivalent variations, without departing from the spirit of the invention, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.

Claims

1. A spray head boxing workstation with an infusion tube is characterized by comprising a spray head conveying mechanism (100), a first universal manipulator (200), a transfer mechanism (300) and a second universal manipulator (400), wherein the transfer mechanism (300) is provided with two transfer placing platforms (310), and each transfer placing platform (310) is provided with a plurality of spray head transfer fixing mechanisms (320) distributed in an array manner;

the first universal manipulator (200) is provided with a first grabbing mechanism (210), the first grabbing mechanism (210) grabs a row of nozzles conveyed by the feeding track (102) and rotates to incline the infusion tube, and then the inclined nozzles are sequentially placed in the nozzle transfer fixing mechanisms (320) of the two transfer placing platforms (310);

the second universal manipulator (400) is equipped with telescopic machanism (420) and two sets of seconds and snatchs mechanism (410), and this two sets of seconds snatchs mechanism (410) and installs the both ends at telescopic machanism (420), by two sets of seconds snatch mechanism (410) with two the transfer line of firm and two sets of shower nozzles is grabbed to the shower nozzle of putting in transit place the platform (310) filled up inclines in opposite directions, by telescopic machanism (420) drive two sets of seconds snatch mechanism (410) and do the interval of relative movement in order to shorten two sets of shower nozzles, afterwards by second universal manipulator (400) place two sets of shower nozzles in packing box (500).

2. A boxing workstation according to claim 1, wherein the nozzle conveying mechanism (100) comprises a feeding mechanism (101) and a feeding track (102), the feeding track (102) is provided with a row of mutually parallel guide rails, and the feeding mechanism (101) respectively feeds a row of nozzles with liquid conveying pipes vertically upward to the guide rails and conveys the nozzles to the other end of the feeding track (102).

3. The boxing workstation of claim 2, wherein the first universal robot (200) comprises a first universal robot arm (220), and the first gripping mechanism (210) is mounted at the end of the first universal robot arm (220);

first snatch mechanism (210) include one row with shower nozzle profile phase-match's first profile modeling sucking disc (211), first profile modeling sucking disc (211) are installed on first rotary mechanism (212), by first rotary mechanism (212) drive one row first profile modeling sucking disc (211) are rotatory so that the transfer line tilt up of shower nozzle simultaneously.

4. The boxing workstation of claim 3, wherein the nozzle transfer fixing mechanism (320) of each transfer platform (310) is composed of a first transfer copying suction cup (321) in a matrix form and a row of second transfer copying suction cups (322) positioned at one side of the first transfer copying suction cup (321);

first transfer profile modeling sucking disc (321) fixed mounting is on support (311) of transfer place platform (310) lift guide (312) are installed to support (311) one side, and slidable mounting has second rotary mechanism (313) on lift guide (312), second transfer profile modeling sucking disc (322) are installed on second rotary mechanism (313), and second rotary mechanism (313) drive one row of second transfer profile modeling sucking disc (322) upset makes the transfer line slope of the shower nozzle on one row of second transfer profile modeling sucking disc (322) is downward.

5. The boxing workstation according to claim 4, wherein the second universal manipulator (400) comprises a second universal manipulator (440), the telescopic mechanism (420) is installed at the end of the second universal manipulator (440), the telescopic mechanism (420) comprises two sliding blocks (421) which slide in opposite directions, the two groups of second grabbing mechanisms (410) are symmetrical to each other and are respectively and fixedly installed at the bottom of the sliding blocks (421), the two groups of second grabbing mechanisms (410) are respectively provided with a second profiling suction cup (411) in a matrix form, a third profiling suction cup (412) is arranged on one side of the second profiling suction cup (411), and the third profiling suction cups (412) are respectively arranged on one side of the two groups of second grabbing mechanisms (410) which are far away from each other;

the infusion tube which is used for gripping the nozzle by the second profiling sucking disc (411) inclines upwards towards the second gripping mechanism (410) on the other side, and the infusion tube which is used for gripping the nozzle by the third profiling sucking disc (412) inclines downwards towards the second gripping mechanism (410) on the other side.

6. A method for boxing spray heads based on a boxing workstation as claimed in any one of claims 1 to 5, comprising the following steps:

the spray head conveying mechanism (100) continuously conveys the spray head of the upward infusion tube;

the first universal manipulator (200) grabs a row of spray heads and rotates to enable the infusion tube to incline, and then the inclined spray heads are sequentially placed on the spray head transfer fixing mechanisms (320) of the two transfer placing platforms (310) until the transfer placing platforms (310) are full of the spray heads;

two groups of second grabbing mechanisms (410) of the second universal manipulator (400) grab the nozzles on the two transfer placing platforms (310) respectively, infusion tubes of the two groups of nozzles grabbed by the two groups of second grabbing mechanisms (410) incline oppositely, and then the two groups of second grabbing mechanisms (410) move relatively to shorten the distance between the two groups of nozzles;

two groups of nozzles are placed in the packing box (500) by the second universal manipulator (400);

the steps are repeated, and two groups of spray heads are placed in the package each time until the packing box (500) is full.

7. The method for boxing of spray heads according to claim 6, wherein the first universal manipulator (200) rotates the spray heads until the infusion tube is inclined upwards and then places the spray heads on the transfer platform (310).

8. The method for boxing of spray heads according to claim 7, wherein after any one of the transfer platforms (310) is filled with the spray heads, the height of the spray heads in the row at the side is raised and the transfer platform is rotated to incline the infusion tube downwards;

the second grabbing mechanism (410) first grabs the current upward-inclined spray heads of the infusion tubes on the transfer platform (310), then the second universal manipulator (400) moves upwards and grabs the remaining row of spray heads inclined downwards of the infusion tubes, and when the spray heads are grabbed fully, the second grabbing mechanism (410) is provided with the row of spray heads inclined downwards of the infusion tubes, and the row of spray heads inclined downwards of the infusion tubes are located on one side, far away from the other side, of the second grabbing mechanism (410) of the current second grabbing mechanism (410).

9. The method for boxing the spray heads according to claim 8, wherein if one of the second grabbing mechanisms (410) is full of the spray heads, the other second grabbing mechanism (410) moves two groups of the second grabbing mechanisms (410) relatively to each other to shorten the distance during the upward movement of the second universal manipulator (400) after grabbing the spray heads inclined upwards from the infusion tube, and then grabs the rest row of the spray heads.

10. The method of claim 6, wherein the second gimbaled robot (400) places two sets of nozzles in a stack at a time until the package (500) is full, the single-layer nozzles in the package (500) being arranged as shown in fig. 13.