CN115072293B - Automatic stacking equipment for paper box stacks in container - Google Patents
Automatic stacking equipment for paper box stacks in container Download PDFInfo
- Publication number
- CN115072293B CN115072293B CN202210666850.XA CN202210666850A CN115072293B CN 115072293 B CN115072293 B CN 115072293B CN 202210666850 A CN202210666850 A CN 202210666850A CN 115072293 B CN115072293 B CN 115072293B
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- carton
- cartons
- car body
- stacking
- container
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- 230000007246 mechanism Effects 0.000 claims abstract description 62
- 210000001503 joint Anatomy 0.000 claims abstract description 12
- 230000009471 action Effects 0.000 claims description 5
- 238000003860 storage Methods 0.000 claims description 4
- 125000004122 cyclic group Chemical group 0.000 claims description 2
- 238000000034 method Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract 1
- 235000013305 food Nutrition 0.000 description 3
- 235000013311 vegetables Nutrition 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 235000002595 Solanum tuberosum Nutrition 0.000 description 1
- 244000061456 Solanum tuberosum Species 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 235000014571 nuts Nutrition 0.000 description 1
- 235000012015 potatoes Nutrition 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000003307 slaughter Methods 0.000 description 1
- 235000015112 vegetable and seed oil Nutrition 0.000 description 1
- 239000008158 vegetable oil Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
- B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/32—Filling devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
Abstract
The invention discloses a device for automatically stacking paper box stacks in a container, which comprises a vehicle body; the carton conveying and positioning mechanism is arranged on the vehicle body; the robot, the robot sets up on the automobile body, and its one end demountable installation has the anchor clamps that are used for centre gripping carton. The carton conveying and positioning mechanism comprises a carton conveying mechanism in butt joint with an external conveyor and a carton positioning mechanism which is arranged on the carton conveying mechanism and keeps connected with the carton conveying mechanism, wherein the carton positioning mechanism is preferably two groups and is respectively arranged on two opposite sides of the carton conveying mechanism in a staggered mode. The invention replaces manual stacking of cartons in containers, improves stacking efficiency and reduces labor cost.
Description
Technical Field
The invention relates to the technical field of carton stacking equipment, in particular to equipment for automatically stacking carton stacks in a container.
Background
Food processing refers to cereal milling, feed processing, vegetable oil and sugar processing, slaughtering, meat processing, aquatic product processing, and processing activities of foods such as vegetables, fruits and nuts, and processing of potatoes, dehydrated vegetables and canned vegetables, which are directly carried out by taking agricultural, forestry, pasturing and fishery products as raw materials, and is one type of broad agricultural product processing industry.
In food production processing, after the product processing is accomplished, need pack and the vanning to the product, after the vanning is accomplished, the manual work is piled up the carton in order to follow-up loading, pile up neatly inefficiency, intensity of labour is big.
Disclosure of Invention
Therefore, in order to solve the defects, the invention provides equipment suitable for automatically stacking cartons in a container, replaces manual stacking of cartons in the container, improves stacking efficiency and reduces labor cost.
The invention is realized in such a way that a device for automatically stacking paper box stacks in a container is constructed, and comprises a vehicle body;
the carton conveying and positioning mechanism is arranged on the vehicle body;
the automatic carton clamping device comprises a carton box, and is characterized by further comprising a robot, wherein the robot is arranged on the carton box, and a clamp for clamping the carton box is detachably arranged at one end of the robot.
Further, the carton conveying and positioning mechanism comprises a carton conveying mechanism in butt joint with an external conveyor and a carton positioning mechanism which is arranged on the carton conveying mechanism and is kept connected with the carton conveying mechanism, the carton positioning mechanism is preferably two groups, and the carton positioning mechanism is respectively arranged on two opposite sides of the carton conveying mechanism in a staggered mode.
The aim at that this setting, the carton conveying mechanism butt joint on outside telescopic conveyor and the AGV, carton are carried to the carton conveying mechanism on the automobile body from outside conveyer on, and carton is carried carton positioning mechanism department earlier and is carried out the location and deposit, and a set of carton location is accomplished, and robotic arm moves one and snatchs the carton to location one, easy operation, convenient to use.
Further, the vehicle body is preferably a crawler-type AGV trolley.
The aim at that this setting, AGV dolly degree of automation is high, and it is automatic to charge, and is convenient, reduces area, and simultaneously, the dolly of crawler-type is adapted to more geographical environment.
Further, the vehicle body comprises anti-collision radars arranged on the front side and the rear side of the vehicle body.
The purpose of this setting is, if the automobile body meets the barrier when walking, can stop the warning light and can twinkle the suggestion, removes the barrier back automobile body and can continue the action, improves the security of automobile body removal in-process.
Further, the vehicle further comprises a supporting leg arranged at the front end of the vehicle body.
The purpose of this arrangement is that the two legs at the front end of the vehicle body extend out, assist the vehicle body in leveling and position the vehicle body.
Further, the electric control system is also included for controlling the actions and functions of all the electric elements.
The aim of this arrangement is to increase the degree of automation of the device.
Further, the system also comprises an upper computer control system which sends current instructions and data to each control and driving unit and collects and stores feedback data of each unit.
The purpose of this arrangement is to improve the control accuracy of the device.
Further, the laser radar navigation system is used for guiding the vehicle body to walk to a designated station for operation according to the instruction sent by the upper computer.
The automatic control system aims at guiding the AGV to walk to a designated station for operation according to the instructions sent by the upper computer according to the scene map, improving the automation degree and reducing the labor intensity.
Further, the container palletizing system further comprises a 3D vision system for guiding the robot to palletize containers and detecting standardization of palletizing.
The purpose of this setting is that 3D vision system guide robot is at container pile up neatly and detect the standardization of pile up neatly, prevents to appear damaging the mistake of product in the pile up neatly.
The invention relates to a device for automatically stacking paper box stacks in a container, which comprises the following steps that firstly, an upper computer selects an operation mode, and the upper computer sends instructions to all units; the car body moves to a designated container station from a parking place under the guidance of a laser radar navigation system, an anti-collision radar is arranged around the car body, if the car body encounters an obstacle during walking, an alarm lamp can be stopped to flash to prompt that the car body can continue to act after the obstacle is removed, the car body walks to a designated position of the container to stop, two support legs at the front end of the car body extend out of an auxiliary car body to adjust the level and position the car body, meanwhile, an external telescopic conveyor is in butt joint with a carton conveying mechanism on the car body, cartons are conveyed from the external conveyor to the carton conveying mechanism on the car body, the cartons are firstly conveyed to one group of carton positioning mechanisms for positioning and storage, one group of carton positioning is completed, and a mechanical arm of a robot moves to the carton positioning mechanism to grasp the cartons; meanwhile, the cartons are conveyed to the other group of carton positioning mechanisms to perform positioning and storage of the other group of cartons; the mechanical arm retracts the mechanical arm after the carton is stacked to the appointed position of the container under the guidance of the 3D vision system, and the mechanical arm rotates to move to the other group of carton positioning mechanisms to grasp the carton and stack to the appointed position; meanwhile, the 3D vision system also carries out alarm prompt when detecting whether the stacking of the carton stacks is regular or not, if the stacking of the carton stacks exceeds a set value, and simultaneously stops stacking; manually adjusting the stack type, and circularly operating until a row of cartons in the container are stacked; the vehicle body is retracted to an auxiliary supporting leg, the mechanical arm returns, and the external telescopic conveyor retracts for a distance; the car body is retracted by a distance of a row of paper boxes, then is stopped, two supporting legs at the front end of the car body extend out for positioning, and meanwhile, an external telescopic conveyor is in butt joint with a conveyor on the car body; repeating the actions of carrying the cartons for the first time, grabbing and stacking by a mechanical arm, guiding and detecting by 3D vision and the like until the cartons are completely filled according to the set quantity.
The invention has the following advantages: the invention drives the whole equipment to move through the car body, walks to the appointed position of the container to stop, meanwhile, the external telescopic conveyor is in butt joint with the carton conveying and positioning mechanism on the car body, the cartons are conveyed to the carton conveying and positioning mechanism on the car body from the external conveyor and are positioned and stored, the robot moves to the carton positioning position, the clamp grabs the cartons, the cartons are stacked to the appointed position of the container and then the mechanical arm is retracted, and the cyclic operation is performed until a row of cartons in the container are stacked, so that the invention replaces manual stacking of the cartons in the container, improves stacking efficiency and reduces labor cost.
Drawings
FIG. 1 is an isometric view of the present invention
FIG. 2 is a front view of the present invention;
FIG. 3 is a side view of the present invention;
fig. 4 is a top view of the present invention.
Wherein: 1. a vehicle body; 2. a support leg; 3. a 3D vision system; 4. a clamp; 5. a robot; 6. a laser navigation system; 7. an anti-collision radar; 8. a carton conveying mechanism; 9. and the carton positioning mechanism.
Detailed Description
The following detailed description of the present invention will provide clear and complete description of the technical solutions of embodiments of the present invention, with reference to fig. 1-4, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides an apparatus for automatically stacking stacks of cartons in a container by modification thereof, comprising a vehicle body 1;
the automatic carton conveying and positioning device also comprises a carton conveying and positioning mechanism, wherein the carton conveying and positioning mechanism is arranged on the vehicle body 1;
the carton box clamping device further comprises a robot 5, wherein the robot 5 is arranged on the vehicle body, and a clamp 4 for clamping the carton box is detachably arranged at one end of the robot 5.
The paper box conveying and positioning mechanism comprises a paper box conveying mechanism 8 in butt joint with an external conveyor and paper box positioning mechanisms 9 which are arranged on the paper box conveying mechanism 8 and keep connected with the paper box conveying mechanism 8, wherein the paper box positioning mechanisms 9 are preferably two groups, and are respectively arranged on two opposite sides of the paper box conveying mechanism 8 in a staggered mode.
Wherein, the car body 1 is preferably a crawler-type AGV car.
In the present embodiment, the crashproof radar 7 provided at the front side and the rear side of the vehicle body 1 is also included.
In the present embodiment, the leg 2 is further included that is provided at the front end of the vehicle body.
The purpose of this arrangement is that the two legs 2 at the front end of the vehicle body 1 extend, assist in leveling the vehicle body 1 and locate the vehicle body 1.
In this embodiment, an electrical control system is also included that controls the operation and function of all electrical components.
In this embodiment, the system further includes an upper computer control system for sending current commands and data to each control and driving unit and collecting and storing feedback data of each unit.
In this embodiment, the laser radar navigation system 6 is also included to guide the vehicle body to walk to a designated station for operation according to the instruction sent by the upper computer.
In this embodiment, a 3D vision system 3 is also included that directs the robot 5 to palletize containers and detect the normalization of palletization.
When the device is used, firstly, an operation mode is selected by the upper computer, and the upper computer sends instructions to each unit; the car body 1 moves to a designated container station from a parking place under the guidance of a laser radar navigation system 6, an anti-collision radar 7 is arranged around the car body 1, if the car body 1 encounters an obstacle during walking, an alarm lamp can be stopped to flash to prompt, the car body 1 can continue to act after the obstacle is removed, the car body 1 walks to the designated container position to stop, two supporting legs 2 at the front end of the car body 1 extend out of the auxiliary car body 1 to adjust the level and position the car body 1, meanwhile, an external telescopic conveyor is in butt joint with a carton conveying mechanism 8 on the car body 1, cartons are conveyed from the external conveyor to the carton conveying mechanism 8 on the car body 1, the cartons are firstly conveyed to one group of carton positioning mechanisms 9 for positioning and storage, a group of carton positioning is completed, and a mechanical arm of the robot 5 moves to the carton positioning mechanism 9 to grasp the cartons; meanwhile, the cartons are conveyed to the other group of carton positioning mechanisms 9 for positioning and storing the other group of cartons; the mechanical arm retracts the mechanical arm after the carton is stacked to the appointed position of the container under the guidance of the 3D vision system 3, and the mechanical arm rotates to move to the other group of carton positioning mechanisms 9 to grasp the carton and stack to the appointed position; meanwhile, the 3D vision system 3 also carries out alarm prompt when detecting whether the stacking of the carton stacks is regular or not, if the stacking of the carton stacks exceeds a set value, and simultaneously stops stacking; the stacking is manually adjusted, and the operation is circulated until a row of cartons in the container are stacked. The vehicle body 1 is retracted to an auxiliary supporting leg 2, the mechanical arm returns, and the external telescopic conveyor retracts for a certain distance; the car body 1 is stopped after retreating by a distance of a row of paper boxes, two supporting legs at the front end of the car body 1 extend out for positioning, and meanwhile, an external telescopic conveyor is in butt joint with a conveyor on the car body 1; repeating the actions of carrying the cartons for the first time, grabbing and stacking by a mechanical arm, guiding and detecting by 3D vision and the like until the cartons are completely filled according to the set quantity.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (2)
1. An apparatus for automatically stacking stacks of cartons within a container, characterized by; the apparatus comprises a vehicle body (1);
the equipment also comprises a carton conveying and positioning mechanism which is arranged on the vehicle body (1);
the automatic carton clamping device is characterized by further comprising a robot (5), wherein the robot (5) is arranged on the carton body, and one end of the robot is detachably provided with a clamp (4) for clamping the carton;
the carton conveying and positioning mechanism comprises a carton conveying mechanism (8) and a carton positioning mechanism (9), wherein the carton conveying mechanism (8) is in butt joint with an external conveyor, the carton positioning mechanism (9) is arranged on the carton conveying mechanism (8) and is kept connected with the carton conveying mechanism (8), the number of the carton positioning mechanisms (9) is two, and the two groups of the carton positioning mechanisms are respectively arranged on two opposite sides of the carton conveying mechanism (8) in a staggered manner;
the device also comprises anti-collision radars (7) arranged on the front side and the rear side of the vehicle body (1);
the device also comprises a supporting leg (2) arranged at the front end of the vehicle body;
the device also comprises an electrical control system which controls the actions and functions of all the electrical elements;
the device also comprises an upper computer control system which sends current instructions and data to each control and driving unit and collects and stores feedback data of each unit;
the device also comprises a laser radar navigation system (6) for guiding the vehicle body to walk to a designated station for operation according to the instruction sent by the upper computer;
the device also comprises a 3D vision system (3) for guiding the robot (5) to stack the containers and detecting the standardization of the stacking;
the device is used as follows, firstly, an operation mode is selected at an upper computer, and the upper computer sends instructions to each unit; the car body (1) moves towards a designated container station from a parking place under the guidance of a laser radar navigation system (6), an anti-collision radar (7) is arranged around the car body (1), if the car body (1) encounters an obstacle when walking, an alarm lamp can be stopped to flash to prompt, the car body (1) can continue to act after the obstacle is removed, the car body (1) walks to the designated container position to stop, two supporting legs (2) at the front end of the car body (1) extend out of the auxiliary car body (1) to adjust the level and position the car body (1), meanwhile, an external telescopic conveyor is in butt joint with a carton conveying mechanism (8) on the car body (1), cartons are conveyed from the external conveyor to the carton conveying mechanism (8) on the car body (1), the cartons are firstly conveyed to one group of carton positioning mechanisms (9) for positioning and storage, and a group of carton positioning is completed, and a mechanical arm of the robot (5) moves to the carton positioning mechanism (9) to grasp the cartons; meanwhile, the cartons are conveyed to the other group of carton positioning mechanisms (9) to be positioned and stored; the mechanical arm is guided by the 3D vision system (3) to place the cartons at the appointed position of the container, then the mechanical arm is retracted, and the mechanical arm is rotated to move to the other group of carton positioning mechanisms (9) to grasp the cartons and place the cartons at the appointed position; meanwhile, a 3D vision system (3) detects whether stacking of the cartons is regular, if the stacking of the cartons exceeds a set value, an alarm prompt is given, stacking is stopped, stacking is manually adjusted, and the cyclic operation is performed until a row of cartons in the container are stacked; the auxiliary supporting leg (2) is retracted by the vehicle body (1), the mechanical arm returns, and the external telescopic conveyor retracts for a certain distance; the car body (1) is retracted by a distance of a row of paper boxes, then is stopped, two supporting legs at the front end of the car body (1) extend out for positioning, and meanwhile, an external telescopic conveyor is in butt joint with a conveyor on the car body (1); repeating the first carton conveying process, grabbing and stacking by a mechanical arm, and guiding and detecting the cartons by 3D vision until the cartons are completely filled according to the set quantity.
2. An apparatus for automatically stacking stacks of cartons in a container as claimed in claim 1 and wherein; the vehicle body (1) is a crawler-type AGV trolley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210666850.XA CN115072293B (en) | 2022-06-14 | 2022-06-14 | Automatic stacking equipment for paper box stacks in container |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210666850.XA CN115072293B (en) | 2022-06-14 | 2022-06-14 | Automatic stacking equipment for paper box stacks in container |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115072293A CN115072293A (en) | 2022-09-20 |
| CN115072293B true CN115072293B (en) | 2023-12-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210666850.XA Active CN115072293B (en) | 2022-06-14 | 2022-06-14 | Automatic stacking equipment for paper box stacks in container |
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| Country | Link |
|---|---|
| CN (1) | CN115072293B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116969098B (en) * | 2023-07-31 | 2024-03-19 | 上海刊宝科技有限公司 | Container terminal dense storage rapid loading and unloading system and operation method |
| CN117048960A (en) * | 2023-10-11 | 2023-11-14 | 广东龙丰精密铜管有限公司 | Pipe packaging method, control device, intelligent pipe packaging device and medium |
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| CN109230635A (en) * | 2018-10-16 | 2019-01-18 | 广东美的智能机器人有限公司 | Carloader |
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| CN112047113A (en) * | 2020-08-26 | 2020-12-08 | 苏州中科全象智能科技有限公司 | 3D visual stacking system and method based on artificial intelligence technology |
| CN113104575A (en) * | 2021-04-13 | 2021-07-13 | 安徽凌坤智能科技有限公司 | Intelligent single cotton bale carrying robot |
| CN114572719A (en) * | 2022-03-17 | 2022-06-03 | 安徽元古纪智能科技有限公司 | Flexible automatic loading and unloading robot system and method |
-
2022
- 2022-06-14 CN CN202210666850.XA patent/CN115072293B/en active Active
Patent Citations (7)
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|---|---|---|---|---|
| US9102055B1 (en) * | 2013-03-15 | 2015-08-11 | Industrial Perception, Inc. | Detection and reconstruction of an environment to facilitate robotic interaction with the environment |
| CN105923409A (en) * | 2016-06-25 | 2016-09-07 | 佛山隆深机器人有限公司 | Full-automatic container loading and unloading system |
| CN109230635A (en) * | 2018-10-16 | 2019-01-18 | 广东美的智能机器人有限公司 | Carloader |
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| CN115072293A (en) | 2022-09-20 |
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