CN113928656B - Marine transport packaging method for integrated house - Google Patents
Marine transport packaging method for integrated house Download PDFInfo
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- CN113928656B CN113928656B CN202111231976.6A CN202111231976A CN113928656B CN 113928656 B CN113928656 B CN 113928656B CN 202111231976 A CN202111231976 A CN 202111231976A CN 113928656 B CN113928656 B CN 113928656B
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- manipulator
- packing
- command set
- control command
- positioning
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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
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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
- B65B17/00—Other machines, apparatus, or methods for packaging articles or materials
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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
- B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Container Filling Or Packaging Operations (AREA)
Abstract
The invention relates to a marine packaging method for an integrated house, which comprises the following steps: the bottom assembly of the packing box house is placed in the packing station by the operation manipulator, and the foundation the bottom assembly is fixed a position by a plurality of positions of the bottom assembly on the packing station of location manipulator, acquires the location result in proper order, the foundation the location result, input to controlling means and match corresponding predetermined stroke model in controlling means, the foundation the stroke model is controlled the stroke motion and the action execution of operation manipulator and packing manipulator by controlling means, has accomplished the operation and the packing action of work piece, will simultaneously the stroke model sends to detection manipulator control end, and the detection manipulator foundation the stroke model and with transport any synchronous motion in manipulator and the packing manipulator to accomplish the detection of transporting manipulator and the execution of packing manipulator action.
Description
Technical Field
The invention relates to the technical field of galvanized top plates, in particular to a marine packaging method for an integrated house.
Background
Traditional packing case loads the export through the shipping case, often because of its is bulky, and the accessory is many and need occupy a plurality of shipping cases to the shipping cost is high, and loading efficiency is low, and the transport is difficult. And the outlet of the traditional packing case mainly uses workers to hoist the top assembly and the bottom assembly, and the rest small accessories are mainly transported, so that the case loading efficiency is low, the working strength of the workers is high, and the working environment is poor.
Disclosure of Invention
The invention aims to provide a marine packaging method for integrated houses, which solves the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
the marine packaging method for the integrated house comprises the following steps:
the bottom assembly of the packing box house is placed at a packing station by an operation manipulator,
positioning a plurality of positions of the bottom assembly on the packaging station by a positioning manipulator according to the bottom assembly, sequentially obtaining positioning results,
inputting the positioning result into a control device and matching a corresponding preset stroke model in the control device,
according to the stroke model, the control device controls the stroke motion and the action execution of the operation manipulator and the packing manipulator to finish the operation and the packing action of the workpiece,
and simultaneously, the stroke model is sent to a control end of the detection manipulator, and the detection manipulator moves synchronously with any one of the transfer manipulator and the packing manipulator according to the stroke model so as to complete the detection of the motion execution of the transfer manipulator and the packing manipulator.
Further, the positioning the workpiece at the plurality of positions on the bottom assembly on the packing station by the positioning manipulator according to the bottom assembly comprises:
and at least positioning the central position and the corner position of the bottom assembly for multiple times, and sequentially obtaining a plurality of positioning results.
Further, according to the stroke model, the control device controls the stroke motion and the action execution of the operation manipulator and the packing manipulator, and the operation and the packing action of the finished workpiece specifically comprise:
according to the travel model, acquiring a first packing list and a first control command set corresponding to the first packing list, and acquiring a second packing list and a third control command set corresponding to the second packing list;
the control device controls the operation mechanical arm according to the first control command set, packaging upright columns are respectively arranged at the four corners of the bottom assembly through the upright column storage area, then the control device controls the operation mechanical arm according to the first control command set, baffles are sequentially conveyed to the bottom assembly through the baffle storage area, and the baffles are arranged among the packaging upright columns to form a box;
the control device controls the operation manipulator to sequentially place the external wall panel, the door and the window workpiece in a set area in the box from the workpiece storage area according to the second control command set, controls the packaging manipulator to sequentially complete positioning and fixing according to the third control command set, controls the operation manipulator to place the top assembly on the four packaging upright columns according to the second control command set, and controls the packaging manipulator to sequentially complete positioning and fixing according to the third control command set.
Further, the detection manipulator comprises a detection camera, and the detection manipulator is used for sequentially acquiring the actions of the operation manipulator and the packaging manipulator through the detection camera according to the first control command set, the second control command set and the third control command set.
Further, the detection camera moves along with the detection manipulator, and the detection manipulator and any one of the operation manipulator and the packing manipulator have the same movement stroke.
Compared with the prior art, the invention has the beneficial effects that:
the top assembly and the bottom assembly of the packing box house are connected through the packing upright posts, the baffles are attached to the periphery of the packing box house, the space capable of storing the parts of the packing box house is formed, the external wall panels, the doors, the windows and the like required by the packing box house are fixedly placed, and other accessories are located in the vacant space. Then the packing upright posts are fixed into an integral packing piece through high-strength bolts.
The full-automatic packing box house is mechanically operated in the whole process, the detection is carried out under the automatic control of the operation stroke, the operation is quick, efficient and accurate, the volume of the parts of the packing box house can be compressed to the maximum extent, and the number of cabinets to be packed is saved; the packing pieces are packed intensively, all parts of the packing box house are fully covered, such as bolts and the like, and the parts are prevented from being neglected to be packed.
Drawings
Figure 1 is a layout view of the marine packaging unit of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific embodiments.
Before the present invention is described, a device for marine packaging is constructed.
Referring to fig. 1, fig. 1 is provided with a closed loop rail 3, a packing station 5 is arranged in the closed loop rail 3, a column storage area 1, a baffle storage area 2 and a workpiece storage area 8 are arranged outside the closed loop rail 3, and a manipulator station is further arranged on the closed loop rail 3. When the closed-loop rail is used, the positions of the upright column storage area, the baffle storage area and the workpiece storage area are not limited, the upright column storage area, the baffle storage area and the workpiece storage area can be adjusted at will, the workpiece can be conveniently obtained by a carrying manipulator as long as the upright column storage area, the baffle storage area and the workpiece storage area are distributed outside the closed-loop rail, the station of the manipulator is not limited, and the upright column storage area, the baffle storage area and the workpiece storage area can enter the closed-loop rail and are connected with the closed-loop rail.
After the marine packaging device is constructed, the corresponding workpieces are placed in the upright post storage area, the baffle storage area and the workpiece storage area, the positioning manipulator, the transferring manipulator and the packaging manipulator are sequentially parked at the manipulator stations, driving devices are arranged on the positioning manipulator, the transferring manipulator and the packaging manipulator, the driving devices can drive the positioning manipulator, the transferring manipulator and the packaging manipulator to move along a closed-loop track, the positioning manipulator, the transferring manipulator and the packaging manipulator can rotate at any angle of 360 degrees, the transferring manipulator can adopt a soft cable type power-assisted manipulator, the positioning manipulator can adopt a Mitsubishi FX2N-20GM three-axis manipulator which adopts FX2N-48 as a main control unit, the packaging manipulator adopts a FAMATEC manipulator, the detection manipulator adopts a traditional manipulator and a detection camera, and the MT can be purchased from the market, and therefore will not be described in detail.
The positioning manipulator has the main functions that when the bottom assembly is placed at the packing station by the carrying manipulator, the positioning manipulator sequentially obtains the coordinates of the side position, the corner position and the center position of the bottom assembly along the bottom assembly, the obtained coordinates are input into the stroke model, the corresponding specification of the current bottom assembly can be known, and the operation formation of various manipulators set according to the specification can also be determined. These are all preset inside the control device.
After the completion of the above, packaging is performed by the following method.
The marine packaging method for the integrated house comprises the following steps:
the bottom assembly of the packing box house is placed at a packing station by an operation manipulator,
positioning a plurality of positions of the bottom assembly on the packaging station by a positioning manipulator according to the bottom assembly, sequentially obtaining positioning results,
inputting the positioning result into a control device and matching a corresponding preset stroke model in the control device,
according to the stroke model, the control device controls the stroke motion and the action execution of the operation manipulator and the packing manipulator to finish the operation and the packing action of the workpiece,
and simultaneously, the stroke model is sent to a control end of the detection manipulator, and the detection manipulator moves synchronously with any one of the transfer manipulator and the packing manipulator according to the stroke model so as to complete the detection of the motion execution of the transfer manipulator and the packing manipulator.
According to the bottom assembly is carried out the work piece location of a plurality of positions by the location manipulator to the bottom assembly on the packing station and includes:
and at least positioning the central position and the corner position of the bottom assembly for multiple times, and sequentially obtaining a plurality of positioning results. The purpose of obtaining a plurality of positioning results is to accurately obtain a position so as to avoid errors.
In the above, according to the stroke model, the control device controls the stroke motions and actions of the operation manipulator and the packing manipulator to be executed, and the operation and packing actions of the completed workpiece specifically include:
according to the travel model, acquiring a first packing list and a first control command set corresponding to the first packing list, and acquiring a second packing list and a third control command set corresponding to the second packing list;
the control device controls the operation mechanical arm according to the first control command set to respectively install the packing upright columns at four corners of the bottom assembly through the upright column storage area, then the control device controls the operation mechanical arm according to the first control command set to sequentially convey the baffles to the bottom assembly through the baffle storage area and install the baffles among the packing upright columns to form a box;
the control device controls the operation manipulator to sequentially place the external wall panel, the door and the window workpiece in the set area in the box from the workpiece storage area according to the second control command set, controls the packing manipulator to sequentially complete positioning and fixing according to the third control command set, controls the operation manipulator to place the top assembly on the four packing upright columns according to the second control command set, and controls the packing manipulator to sequentially complete positioning and fixing according to the third control command set.
According to the invention, the top assembly and the bottom assembly of the packing box house are connected through the packing upright posts, the baffles are attached to the periphery of the packing box house to form a space capable of storing parts of the packing box house, external wall panels, doors, windows and the like required by the packing box house are fixedly placed, and other accessories are placed in the vacant space. Then the packing upright posts are fixed into an integral packing piece through high-strength bolts.
The detection manipulator comprises a detection camera and is used for sequentially acquiring the actions of the operation manipulator and the packaging manipulator through the detection camera according to the first control command set, the second control command set and the third control command set.
The detection camera moves along with the detection manipulator, and the detection manipulator has the same movement stroke as any one of the operation manipulator and the packing manipulator.
The full-automatic packing box house is mechanically operated in the whole process, the detection is carried out under the automatic control of the operation stroke, the operation is quick, efficient and accurate, the volume of the parts of the packing box house can be compressed to the maximum extent, and the number of cabinets to be packed is saved; the packing pieces are packed intensively, all parts of the packing box house are fully covered, such as bolts and the like, and the parts are prevented from being neglected to be packed.
The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present invention. The foregoing is only a preferred embodiment of the present invention, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present invention, and the technical features described above may be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments.
Claims (4)
1. The marine packaging method for the integrated house is characterized by comprising the following steps:
the bottom assembly of the packing box house is placed at a packing station by an operation manipulator,
positioning a plurality of positions of the bottom assembly on the packaging station by the positioning manipulator according to the bottom assembly, sequentially obtaining positioning results,
inputting the positioning result into a control device and matching a corresponding preset stroke model in the control device,
according to the stroke model, the control device controls the stroke motion and the action execution of the operation manipulator and the packing manipulator to finish the operation and the packing action of the workpiece,
meanwhile, the stroke model is sent to a control end of a detection manipulator, and the detection manipulator moves synchronously with any one of the transferring manipulator and the packing manipulator according to the stroke model so as to complete detection of action execution of the transferring manipulator and the packing manipulator;
according to the stroke model, the control device controls the stroke motion and action execution of the operation mechanical arm and the packing mechanical arm, and the operation and packing action of the finished workpiece specifically comprises the following steps:
according to the travel model, acquiring a first packing list and a first control command set corresponding to the first packing list, and acquiring a second packing list and a third control command set corresponding to the second packing list;
the control device controls the operation mechanical arm according to the first control command set to respectively install the packing upright columns at four corners of the bottom assembly through the upright column storage area, then the control device controls the operation mechanical arm according to the first control command set to sequentially convey the baffles to the bottom assembly through the baffle storage area and install the baffles among the packing upright columns to form a box;
the control device controls the operation manipulator to sequentially place the external wall panel, the door and the window workpiece in a set area in the box from the workpiece storage area according to the second control command set, controls the packaging manipulator to sequentially complete positioning and fixing according to the third control command set, controls the operation manipulator to place the top assembly on the four packaging upright columns according to the second control command set, and controls the packaging manipulator to sequentially complete positioning and fixing according to the third control command set.
2. The method of marine packaging of integrated homes of claim 1, wherein the multi-position positioning of the work pieces of the base assembly on the packing station by the positioning robot in accordance with the base assembly comprises:
and at least positioning the central position and the corner position of the bottom assembly for multiple times, and sequentially obtaining a plurality of positioning results.
3. The marine packaging method of an integrated home according to claim 1, wherein the inspection robot comprises an inspection camera, and the inspection robot is configured to sequentially acquire the actions of the operation robot and the packing robot through the inspection camera according to the first control command set, the second control command set, and the third control command set.
4. The method for marine packaging of an integrated home according to claim 3, wherein the inspection camera moves with an inspection robot having the same movement stroke as any one of the operation robot and the packing robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111231976.6A CN113928656B (en) | 2021-10-22 | 2021-10-22 | Marine transport packaging method for integrated house |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111231976.6A CN113928656B (en) | 2021-10-22 | 2021-10-22 | Marine transport packaging method for integrated house |
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| Publication Number | Publication Date |
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| CN113928656A CN113928656A (en) | 2022-01-14 |
| CN113928656B true CN113928656B (en) | 2022-07-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111231976.6A Active CN113928656B (en) | 2021-10-22 | 2021-10-22 | Marine transport packaging method for integrated house |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926233B (en) * | 2015-12-29 | 2019-04-16 | 楚天科技股份有限公司 | A kind of planing method of planar manipulator motion path |
| CN108528812B (en) * | 2018-03-30 | 2020-04-14 | 薛寓怀 | Intelligent integrated packaging system and working method thereof |
| US11046518B2 (en) * | 2019-01-14 | 2021-06-29 | Mujin, Inc. | Controller and control method for robot system |
| CN214085057U (en) * | 2020-11-11 | 2021-08-31 | 江苏国望高科纤维有限公司 | Automatic boxing system for silk rolls |
| CN113044592B (en) * | 2021-03-12 | 2023-06-02 | 淮南师范学院 | Intelligent loading and unloading system and method for wharf |
| CN113477558A (en) * | 2021-06-27 | 2021-10-08 | 重庆德凯实业股份有限公司 | Device for producing and classifying and packaging copper-clad plates |
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