CN115771708A - Robot system and method suitable for automatic replenishment of vertical sorting machine - Google Patents

Robot system and method suitable for automatic replenishment of vertical sorting machine Download PDF

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Publication number
CN115771708A
CN115771708A CN202310101960.6A CN202310101960A CN115771708A CN 115771708 A CN115771708 A CN 115771708A CN 202310101960 A CN202310101960 A CN 202310101960A CN 115771708 A CN115771708 A CN 115771708A
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China
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box
unit
robot
vertical
supplementing
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CN202310101960.6A
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CN115771708B (en
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杨灏泉
徐勤坤
李亚平
夏飞
李文鹏
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Yunnan Roukong Technology Co ltd
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Yunnan Roukong Technology Co ltd
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Abstract

The invention discloses a robot system and a method thereof suitable for automatic replenishment of a vertical sorting machine, wherein the robot system comprises the following steps: the carton stacking and sorting machine comprises manual unpacking platform units, partition plate type carton stacking and caching frame units, carton conveyors, vertical distribution machines and carton conveyors, wherein the number of the carton conveyors is two, the two carton conveyors are arranged in parallel with the carton conveyors, the manual unpacking platform units are arranged on one side of the end part of the carton conveyors, and the vertical distribution machines are positioned between the two carton conveyors; the box conveyor is transversely provided with a partition plate type box stack caching frame unit in a crossing mode, a box stack box supplementing robot unit and a barrel box supplementing robot unit are respectively installed at the front and the rear of the partition plate type box stack caching frame unit, the box stack box supplementing robot unit drives the installation box stack box supplementing clamp unit, and the barrel box supplementing robot unit drives the installation barrel box supplementing clamp unit. The automatic box supplementing device uses the automatic equipment to replace most of manual box supplementing work, and reduces manual dependence on box supplementing of the vertical storage bin.

Description

Robot system and method suitable for automatic replenishment of vertical sorting machine
Technical Field
The invention relates to the technical field of vertical sorting and replenishment equipment, in particular to a robot system and a method suitable for automatic replenishment of a vertical sorting machine.
Background
In the industries requiring box packaging and transportation, such as tobacco, food, medicines and the like, a large number of boxes need to be applied, and the boxes are combined and packaged into pieces so as to facilitate logistics transportation and rapid sorting.
In the sorting line, after the box body of the finished piece is unpacked, the box body stack is replenished into the vertical storage bin according to different article standards, most of the industry is mainly manual operation in the current stage, manual replenishment is easy to make mistakes, and the efficiency is lower.
At present, no breakthrough exists in China for equipment capable of completing automatic box supplement of the vertical storage bin, and no practical application case of the technology is found.
Therefore, a robot system and a method thereof for automatic replenishment of a vertical sorter are proposed in order to solve the problems set forth above.
Disclosure of Invention
The invention aims to provide a robot system and a method thereof suitable for automatic replenishment of a vertical sorting machine, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a robotic system adapted for automatic restocking of vertical sorters, comprising: the carton blank stacking and separating device comprises manual unpacking platform units, partition plate type carton stack caching frame units, two carton conveyors, a vertical distributor and carton conveyors, wherein the two carton conveyors are arranged in parallel, the two carton conveyors are arranged in parallel with the carton conveyors, the manual unpacking platform units are arranged on one side of the end part of the carton conveyors, and the vertical distributor is positioned between the two carton conveyors;
the box conveyor is transversely provided with a partition plate type box stack caching frame unit in a crossing mode, a box stack box supplementing robot unit and a barrel box supplementing robot unit are respectively installed at the front and the rear of the partition plate type box stack caching frame unit, the box stack box supplementing robot unit drives the installation box stack box supplementing clamp unit, and the barrel box supplementing robot unit drives the installation barrel box supplementing clamp unit.
Preferably, the manual unpacking platform unit comprises adjustable support legs, an aluminum profile support, a stainless steel bedplate and a stainless steel guide plate, wherein the adjustable support legs are installed at the lower end of the aluminum profile support, the stainless steel bedplate is fixedly installed at the upper end of the aluminum profile support, and the stainless steel guide plate is fixedly installed on one side of the stainless steel bedplate.
Preferably, division plate type box buttress buffering frame unit contains adjustable fixed stabilizer blade, shaped steel support, stainless steel baffle and robot mounting bracket, adjustable fixed stabilizer blade fixed mounting is in shaped steel support lower extreme, is equipped with the stainless steel baffle of crossing anyhow in the shaped steel support, and the stainless steel baffle constitutes a plurality of check, and the side all is equipped with the robot mounting bracket around the shaped steel support upper end, installs box buttress respectively on the robot mounting bracket and mends box robot unit and barrel benefit box robot unit.
Preferably, the barrel supplementing robot unit comprises a robot fixing frame, a horizontal adjusting assembly, a horizontal guide rail cross beam, a horizontal driving motor, a transverse rack, a horizontal drag chain, a lifting driving motor and a lifting guide rail cross beam, wherein the horizontal guide rail cross beam is fixedly arranged on the robot mounting frame through the robot fixing frame, the horizontal adjusting assembly, the horizontal drag chain and the transverse rack are arranged on the horizontal guide rail cross beam, a transverse linear guide rail is fixedly arranged on the lower surface of the horizontal guide rail cross beam, a transverse linear slider is slidably arranged on the transverse linear guide rail, the lifting guide rail cross beam is fixedly arranged on the lower surface of the transverse linear slider, the lifting guide rail cross beam is slidably connected with the transverse linear guide rail through the transverse linear slider, the horizontal driving motor is fixedly arranged on one side of the upper end of the lifting guide rail cross beam, the horizontal driving motor is in driving connection with a gear, and the gear is meshed with the transverse rack;
vertical linear slide block, vertical rack and vertical linear guide are arranged on the lifting guide rail cross beam, the vertical linear guide is connected with the vertical linear slide block in a sliding mode, the lifting driving motor is connected with a gear in a driving mode, the gear is meshed with the vertical rack, the lifting driving motor is fixedly connected with a fixing support, the fixing support and the vertical linear slide block are fixedly connected through a plate, and a strip box supplementing clamp unit is fixedly arranged on the plate.
Preferably, the structure of the box stacking and supplementing robot unit is the same as that of the barrel box supplementing robot unit, and a fixing support and a vertical linear sliding block of the box stacking and supplementing robot unit fixedly mount the box stacking and supplementing clamp unit through plates.
Preferably, the box stacking and box supplementing clamp unit comprises a first clamp fixing frame, a box pushing driving motor assembly, a linear rack, a linear guide rail, a synchronous belt assembly, a box stacking push plate and a box stacking flat plate, wherein the first clamp fixing frame is fixedly arranged on one side of the box stacking flat plate, and is fixedly arranged with a vertical linear sliding block of the box stacking and box supplementing robot unit;
fixed being equipped with in anchor clamps mount one upper end pushes away case driving motor subassembly and linear rack, it contains servo motor drive gear and linear rack toothing to push away case driving motor subassembly, still install linear guide and hold-in range subassembly on the anchor clamps mount one, the two sides slip is equipped with the slider about the linear guide, slider and box buttress push pedal fixed connection below, go up the slider and push away case driving motor subassembly fixed mounting, hold-in range and the case driving motor subassembly fixed connection that pushes away of hold-in range subassembly, the hold-in range of hold-in range subassembly is simultaneously with box buttress push pedal fixed connection.
Preferably, the barrel supplementing clamp unit comprises a second clamp fixing frame, a barrel belt conveyor assembly, a box stack air cylinder assembly, a lifting roller assembly, a lifting servo motor assembly and a barrel supplementing air cylinder assembly, the second clamp fixing frame is fixedly connected with a vertical linear sliding block of the barrel supplementing robot unit,
a box stack cylinder assembly is arranged at the upper part of the second fixture fixing frame, a lifting roller assembly is arranged at the front end of the second fixture fixing frame, a strip box belt conveyor assembly is arranged below the lifting roller assembly, and a lifting servo motor assembly is arranged on one side frame of the second fixture fixing frame in a sliding manner;
the box stack air cylinder component is mainly formed by driving another group of push plates to move by a linear air cylinder;
the lifting roller assembly comprises rollers arranged at two ends, the rollers can be arranged in a lifting manner, and the lifting roller assembly is in driving connection with the lifting servo motor assembly;
and a propelling cylinder is arranged at the bottom of the strip box belt conveyor component and is fixedly connected with the clamp fixing frame II.
Preferably, the barrel supplementing air cylinder assembly comprises an air cylinder moving seat, a barrel push plate, a guide vertical plate and a moving track beam, the moving track beam and the guide vertical plate are fixedly arranged on the fixture fixing frame II, the air cylinder moving seat is arranged on the moving track beam, the air cylinder moving seat is fixedly provided with the barrel push plate, and one side of the barrel push plate is attached to the guide vertical plate.
The automatic replenishment robot system replenishment method for the vertical sorting machine comprises the following specific steps:
the first step, the finished product box storage box is conveyed to a station of a manual unpacking platform unit through a box conveyor, is manually carried, unpacked and checked by brand information, and arranges box strips into a specified box stack to be orderly stacked;
secondly, a host system distributes cache brands of the goods grids of the partition plate type box stack cache frame unit, and a brand box body can occupy a plurality of box positions of the partition plate type shelf;
thirdly, after the box stacks in the goods lattices are emptied, the upper system controls the box stack supplement robot unit to drive the box stack supplement clamp unit to move to a goods receiving port of the manual unpacking platform unit, the arranged box stacks are pushed into the box stack supplement clamp unit manually, the box stack supplement robot unit drives the box stack supplement clamp unit to move to the corresponding goods lattices, and the box stack supplement clamp unit supplements the whole box stacks into the corresponding goods lattices to finish box stack supplement;
fourthly, the upper system generates box supplementing task information according to the box caching condition in the box bin of the vertical distribution machine, the box supplementing robot unit drives the box supplementing clamp units to move to corresponding box stack caching grids after receiving the box supplementing task information, and the box supplementing clamp units pick up a specified number of boxes and supplement the boxes into the corresponding box bin of the vertical distribution machine to finish box supplementing;
and fifthly, the upper system controls the vertical dispensing machine to dispense the barrel to the barrel conveyor to be conveyed out.
Compared with the prior art, the invention has the beneficial effects that:
the box buttress mends box robot unit and drives box buttress mends box anchor clamps unit and remove to corresponding goods check, box buttress mends box anchor clamps unit and mends the goods shelves check that correspond with whole box buttress, upper system generates according to the barrel buffer memory condition in the vertical distribution machine box storehouse and mends box task information, the barrel is mended box robot unit and is received and mend box task information back, it mends box anchor clamps unit and removes to corresponding box buttress buffer memory goods check to drive the barrel, the barrel is mended box anchor clamps unit and is picked the barrel of appointed quantity, mend in the corresponding box storehouse of vertical distribution machine, the barrel is mended the box and is accomplished, replace most artifical mended box work with automation equipment, reduce the artifical reliance of vertical storehouse mended box.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a rear view of the present invention;
FIG. 3 is a schematic structural view of a manual unpacking platform unit according to the present invention;
FIG. 4 is a schematic structural diagram of a partition type box stack buffer unit according to the present invention;
FIG. 5 is a schematic structural diagram of a barrel filling robot unit according to the present invention;
FIG. 6 is a rear view of a portion of the structure of FIG. 5 in accordance with the present invention;
FIG. 7 is an enlarged view taken at A of FIG. 6 according to the present invention;
FIG. 8 is an enlarged view of the junction of the horizontal guide rail beam and the lifting guide rail beam of the present invention;
FIG. 9 is a schematic structural view of a cassette stacking and replenishing jig unit according to the present invention;
FIG. 10 is a schematic view of the structure of the push box driving motor assembly and the push plate according to the present invention;
FIG. 11 is a schematic view of the linear guide and timing belt assembly of the present invention;
FIG. 12 is a schematic view of a barrel replenishing jig unit according to the present invention;
FIG. 13 is a schematic view of the construction of the elevating roller assembly according to the present invention;
FIG. 14 is a schematic structural view of a box stacker cylinder assembly of the present invention;
fig. 15 is a schematic structural view of a barrel replenishing cylinder assembly according to the present invention.
In the figure: 1. manually unpacking the platform unit; 11. an adjustable support leg; 12. an aluminum section bracket; 13. a stainless steel platen; 14. a stainless steel guide plate; 2. a partition plate type box stack buffer storage frame unit; 21. adjustable fixed support legs; 22. a section steel support; 23. a stainless steel separator; 24. a robot mounting frame; 3. a box stacking and box supplementing robot unit; 4. a box pile supplementing clamp unit; 41. a first clamp fixing frame; 42. the push box drives the motor assembly; 43. a linear rack; 44. a linear guide rail; 441. a slider; 45. a timing belt assembly; 46. a box stack push plate; 47. stacking the flat plates; 5. a barrel supplementing robot unit for the barrel; 51. a robot mount; 52. a horizontal adjustment assembly; 53. a horizontal guide rail beam; 531. a transverse linear guide rail; 532. a transverse linear slider; 54. a horizontal driving motor; 55. a transverse rack; 56. a horizontal drag chain; 57. a lifting drive motor; 571. fixing a bracket; 58. a lifting guide rail beam; 581. a vertical linear slider; 582. a vertical rack; 583. a vertical linear guide rail; 6. a barrel supplementing clamp unit; 61. a second fixture fixing frame; 62. a barrel belt conveyor assembly; 63. a box stacking cylinder assembly; 65. a lifting roller assembly; 66. a lifting servo motor assembly; 67. a barrel is supplemented by a barrel cylinder assembly; 671. a cylinder moving seat; 672. a strip box push plate; 673. a guide vertical plate; 674. moving the track beam; 7. a barrel conveyor; 8. a vertical dispensing machine; 9. a box conveyor.
Description of the preferred embodiment
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-15, the present invention provides a technical solution: the robot system and method suitable for automatic replenishment of vertical sorting machine includes: the carton stacking and separating device comprises a manual unpacking platform unit 1, a partition plate type carton stacking and caching frame unit 2, two carton conveyors 7, a vertical distributor 8 and a carton conveyor 9, wherein the two carton conveyors 7 are arranged in parallel, the two carton conveyors 7 are arranged in parallel with the carton conveyor 9, the manual unpacking platform unit 1 is arranged on one side of the end part of the carton conveyor 9, and the vertical distributor 8 is positioned between the two carton conveyors 7;
a partition plate type box stack caching frame unit 2 spans on the box conveyor 9, a box stack box supplementing robot unit 3 and a barrel box supplementing robot unit 5 are respectively arranged in front of and behind the partition plate type box stack caching frame unit 2, the box stack box supplementing robot unit 3 drives and installs the box stack box supplementing clamp unit 4, and the barrel box supplementing robot unit 5 drives and installs the barrel box supplementing clamp unit 6;
the manual unpacking platform unit 1 comprises adjustable supporting legs 11, an aluminum section bracket 12, a stainless steel bedplate 13 and a stainless steel guide plate 14, wherein the adjustable supporting legs 11 are arranged at the lower end of the aluminum section bracket 12, the stainless steel bedplate 13 is fixedly arranged at the upper end of the aluminum section bracket 12, the stainless steel guide plate 14 is fixedly arranged at one side of the stainless steel bedplate 13, unpacking and stacking are manually completed on the stainless steel bedplate 13, and the stacking is pressed close to the stainless steel guide plate 14;
the partition type box pile caching frame unit 2 comprises adjustable fixing support legs 21, a section steel support 22, stainless steel partition plates 23 and a robot mounting frame 24, wherein the adjustable fixing support legs 21 are fixedly mounted at the lower end of the section steel support 22, the stainless steel partition plates 23 which are crossed transversely and vertically are arranged in the section steel support 22, the stainless steel partition plates 23 form a plurality of lattices, the robot mounting frames 24 are arranged on the front side and the rear side of the upper end of the section steel support 22, and the box pile box supplementing robot unit 3 and the strip box supplementing robot unit 5 are respectively mounted on the robot mounting frames 24;
the barrel supplementing robot unit 5 comprises a robot fixing frame 51, a horizontal adjusting component 52, a horizontal guide rail cross beam 53, a horizontal driving motor 54, a transverse rack 55, a horizontal drag chain 56, a lifting driving motor 57 and a lifting guide rail cross beam 58, wherein the horizontal guide rail cross beam 53 is fixedly arranged on the robot mounting frame 24 through the robot fixing frame 51, the horizontal adjusting component 52, the horizontal drag chain 56 and the transverse rack 55 are arranged on the horizontal guide rail cross beam 53, a transverse linear guide rail 531 is fixedly arranged on the lower surface of the horizontal guide rail cross beam 53, a transverse linear slider 532 is slidably arranged on the transverse linear guide rail 531, a lifting guide rail cross beam 58 is fixedly arranged on the lower surface of the transverse linear slider 532, the horizontal driving motor 54 is fixedly arranged on one side of the upper end of the lifting guide rail cross beam 58, the horizontal driving motor 54 is in driving connection with a gear, the gear is meshed with the transverse rack 55, when the horizontal driving motor 54 drives the gear to rotate, the horizontal driving motor 54 is driven by the gear meshed with the transverse rack 55 to drive the horizontal driving motor 54 to move, and further drive the lifting guide rail cross beam 58 to horizontally move along the horizontal guide rail cross beam 53;
a vertical linear slider 581, a vertical rack 582 and a vertical linear guide 583 are arranged on the lifting guide cross beam 58, the vertical linear guide 583 is slidably connected with the vertical linear slider 581, the lifting driving motor 57 is connected with a gear in a driving manner, the gear is meshed with the vertical rack 582, the lifting driving motor 57 is simultaneously and fixedly connected with a fixed support 571, the fixed support 571 is fixedly connected with the vertical linear slider 581 through a plate, the plate is fixedly provided with a barrel supplementing box clamp unit 6, and when the lifting driving motor 57 drives the gear to rotate, the fixed support 571 drives the barrel supplementing box clamp unit 6 to lift up and down along the lifting guide cross beam 58 under the action of the vertical rack 582 and the vertical linear slider 581;
the structure of the box stacking and box supplementing robot unit 3 is the same as that of the strip box supplementing robot unit 5, and a fixing bracket 571 and a vertical linear sliding block 581 of the box stacking and box supplementing robot unit 3 are fixedly provided with a box stacking and box supplementing clamp unit 4 through a plate;
the box stacking and box supplementing clamp unit 4 comprises a first clamp fixing frame 41, a box pushing driving motor assembly 42, a linear rack 43, a linear guide rail 44, a synchronous belt assembly 45, a box stacking push plate 46 and a box stacking flat plate 47, wherein the first clamp fixing frame 41 is fixedly arranged on one side of the box stacking flat plate 47, and the first clamp fixing frame 41 and a vertical linear sliding block 581 of the box stacking and box supplementing robot unit 3 are fixedly arranged;
a box pushing driving motor assembly 42 and a linear rack 43 are fixedly arranged at the upper end of the first clamp fixing frame 41, the box pushing driving motor assembly 42 comprises a servo motor driving gear meshed with the linear rack 43, a linear guide rail 44 and a synchronous belt assembly 45 are further mounted on the first clamp fixing frame 41, sliding blocks 441 are arranged on the upper surface and the lower surface of the linear guide rail 44 in a sliding mode, the lower sliding block 441 is fixedly connected with a box stack push plate 46, the upper sliding block 441 is fixedly mounted with the box pushing driving motor assembly 42, a synchronous belt of the synchronous belt assembly 45 is fixedly connected with the box pushing driving motor assembly 42, and a synchronous belt of the synchronous belt assembly 45 is fixedly connected with the box stack push plate 46;
when the box pushing driving motor assembly 42 drives the gear to rotate, under the action of the linear rack 43, the linear guide rail 44 and the sliding block 441, the box pushing driving motor assembly 42 moves along the linear guide rail 44 and drives the synchronous belt assembly 45 to move, the synchronous belt assembly 45 pulls the box stack push plate 46 to move, and the box stack push plate 46 moves along the linear guide rail 44 through the sliding block 441, so that the box stack on the box stack flat plate 47 is pushed out;
the barrel supplementing clamp unit 6 comprises a second clamp fixing frame 61, a barrel belt conveyor component 62, a box stack air cylinder component 63, a lifting roller component 65, a lifting servo motor component 66 and a barrel supplementing air cylinder component 67, wherein the second clamp fixing frame 61 is fixedly connected with a vertical linear slide block 581 of the barrel supplementing robot unit 5,
a box pile air cylinder assembly 63 is installed on the upper portion of the second clamp fixing frame 61, a lifting roller assembly 65 is installed at the front end of the second clamp fixing frame 61, a barrel belt conveyor assembly 62 is arranged below the lifting roller assembly 65, and a lifting servo motor assembly 66 is arranged on one side frame of the second clamp fixing frame 61 in a sliding mode;
the box stack air cylinder component 63 is mainly formed by driving the other group of push plates to move by a linear air cylinder;
the lifting roller assembly 65 comprises rollers arranged at two ends, the rollers can be arranged in a lifting manner, and the lifting roller assembly 65 is in driving connection with the lifting servo motor assembly 66;
a propulsion cylinder is arranged at the bottom of the strip box belt conveyor component 62 and is fixedly connected with the second fixture fixing frame 61, so that the strip box belt conveyor component 62 can enter and exit the second fixture fixing frame 61 by being pushed by the propulsion cylinder;
the barrel supplementing cylinder assembly 67 comprises a cylinder moving seat 671, a barrel push plate 672, a guide vertical plate 673 and a moving track beam 674, the moving track beam 674 and the guide vertical plate 673 are fixedly arranged on the fixture fixing frame two 61, the cylinder moving seat 671 is arranged on the moving track beam 674, the barrel push plate 672 is fixedly arranged on the cylinder moving seat 671, and one side of the barrel push plate 672 is attached to the guide vertical plate 673;
the upper system generates box supplementing task information according to the box caching condition in the vertical distribution machine 8, the box supplementing robot unit 5 moves to the middle of the goods grid of the corresponding partition type box stack caching frame unit 2 after receiving the box supplementing task information, the bottom pushing cylinder pushes the box belt conveyor component 62 to extend out, the lifting roller component 65 presses down a box, and the box belt conveyor component 62 and the lifting roller component 65 work to drive the box to move below the box stack air cylinder component 63; the barrel stack cylinder assembly 63 pushes the barrel stack to the box pushing position and is positioned, and the barrel filling cylinder assembly 67 pushes the barrel to the box bin of the vertical dispensing machine 8.
The replenishment method comprises the following steps: finished product box carries to manual unpacking platform unit 1 station through a box conveyer 9, by the manual handling, the unpacking, the brand information is checked, and arrange into the box buttress of regulation neatly to put things in good order to the barrel, baffled box buttress buffer memory frame unit 2 provides 12 buffer memory goods check, by the buffer memory brand of system distribution goods check, a brand box body can occupy the multiple box positions of baffled goods shelves, after the box buttress in the goods check is emptied, box buttress mends box robot unit 3 and drives box buttress mends box anchor clamps unit 4 and move to manual unpacking platform unit 1 and connect the goods mouth, push box buttress mends box anchor clamps unit 4 with the box buttress of arranging well by the manual work, box buttress mends box robot unit 3 and drives box buttress mends box anchor clamps unit 4 and move to corresponding goods check, box buttress mends box anchor clamps unit 4 and mend the whole box into corresponding goods shelves check, upper system generates the box task information according to the box caching condition in the box compartment of vertical distributor 8, box buttress mends box robot unit 5 receives and mends box information, box buttress mends box mobile box anchor clamps and mends the box anchor clamps unit and get the assigned box and mend, the box and mend the box and get the box of cassette 6 and assign the box and mend, the box of assigned box and mend.
Those not described in detail in this specification are within the skill of the art.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (9)

1. Robot system suitable for vertical sorting machine is automatic to be mended goods, includes: the carton stacking and separating device comprises a manual unpacking platform unit (1), a partition plate type carton stacking and caching frame unit (2), two carton conveyors (7), a vertical distributor (8) and a carton conveyor (9), wherein the two carton conveyors (7) are arranged in parallel, the two carton conveyors (7) and the carton conveyor (9) are arranged in parallel, the manual unpacking platform unit (1) is arranged on one side of the end part of the carton conveyor (9), and the vertical distributor (8) is positioned between the two carton conveyors (7);
the method is characterized in that: the partition plate type box stack caching frame unit (2) transversely spans on the box conveyor (9), a box stack supplementing box robot unit (3) and a barrel supplementing box robot unit (5) are respectively installed in the front and at the back of the partition plate type box stack caching frame unit (2), the box stack supplementing box robot unit (3) drives the installation box stack supplementing box clamp unit (4), and the barrel supplementing box robot unit (5) drives the installation barrel supplementing box clamp unit (6).
2. The robot system suitable for automatic replenishment of a vertical sorting machine according to claim 1, wherein the manual unpacking platform unit (1) comprises an adjustable supporting leg (11), an aluminum profile bracket (12), a stainless steel bedplate (13) and a stainless steel guide plate (14), the adjustable supporting leg (11) is installed at the lower end of the aluminum profile bracket (12), the stainless steel bedplate (13) is fixedly installed at the upper end of the aluminum profile bracket (12), and the stainless steel guide plate (14) is fixedly installed at one side of the stainless steel bedplate (13).
3. The robot system suitable for automatic replenishment of a vertical sorting machine according to claim 1, wherein the clapboard type box stack buffer storage frame unit (2) comprises an adjustable fixing support leg (21), a section steel support (22), a stainless steel clapboard (23) and a robot mounting frame (24), the adjustable fixing support leg (21) is fixedly mounted at the lower end of the section steel support (22), the stainless steel clapboard (23) which is crossed transversely and vertically is arranged in the section steel support (22), the stainless steel clapboard (23) forms a plurality of lattices, the robot mounting frame (24) is arranged at the front side and the rear side of the upper end of the section steel support (22), and the box stack replenishment robot unit (3) and the strip box replenishment robot unit (5) are respectively mounted on the robot mounting frame (24).
4. The robot system suitable for automatic replenishment of a vertical sorting machine according to claim 3, wherein the carton replenishing robot unit (5) comprises a robot fixing frame (51), a horizontal adjusting assembly (52), a horizontal guide rail cross beam (53), a horizontal driving motor (54), a transverse rack (55), a horizontal drag chain (56), a lifting driving motor (57) and a lifting guide rail cross beam (58), the horizontal guide rail cross beam (53) is fixedly mounted on the robot mounting frame (24) through the robot fixing frame (51), the horizontal adjusting assembly (52), the horizontal drag chain (56) and the transverse rack (55) are arranged on the horizontal guide rail cross beam (53), a transverse linear guide rail (531) is fixedly arranged on the lower surface of the horizontal guide rail cross beam (53), a transverse linear slider (532) is slidably mounted on the transverse linear guide rail (531), a lifting guide rail cross beam (58) is fixedly mounted on the lower surface of the transverse linear slider (532), the lifting guide rail cross beam (58) is slidably connected with the transverse linear guide rail (531) through the transverse linear slider (532), the horizontal driving motor (54) is fixedly mounted on one side of the upper end of the lifting guide rail cross beam (58), the horizontal driving motor (54) is engaged with the transverse rack (55);
be equipped with vertical linear slider (581) on lift guide crossbeam (58), vertical rack (582) and vertical linear guide (583), vertical linear guide (583) sliding connection has vertical linear slider (581), lift driving motor (57) drive is connected with the gear, the gear meshes with vertical rack (582), lift driving motor (57) while fixedly connected with fixed bolster (571), fixed bolster (571) and vertical linear slider (581) pass through panel fixed connection, panel fixed mounting has a barrel to mend box clamp unit (6).
5. The robot system for automatic restocking of vertical sorting machines according to claim 4, characterized in that the structure of the cassette stacking and restocking robot unit (3) is the same as that of the strip cassette restocking robot unit (5), and the fixed bracket (571) and the vertical linear slider (581) of the cassette stacking and restocking robot unit (3) are fixedly installed with the cassette stacking and restocking clamp unit (4) through the sheet material.
6. The robot system for automatic replenishment of vertical sorting machines according to claim 5, wherein the cassette stacker replenishment cassette clamp unit (4) comprises a first clamp holder (41), a box pushing driving motor assembly (42), a linear rack (43), a linear guide rail (44), a synchronous belt assembly (45), a cassette stacker push plate (46) and a cassette stacker plate (47), the first clamp holder (41) is fixedly installed at one side of the cassette stacker plate (47), and the first clamp holder (41) is fixedly installed with a vertical linear slider (581) of the cassette stacker replenishment robot unit (3);
fixed being equipped with in anchor clamps mount (41) upper end pushes away case driving motor subassembly (42) and linear rack (43), it contains servo motor drive gear and linear rack (43) meshing to push away case driving motor subassembly (42), still install linear guide rail (44) and hold-in range subassembly (45) on anchor clamps mount (41), linear guide rail (44) upper and lower two sides slide and are equipped with slider (441), slider (441) and box buttress push pedal (46) fixed connection below, above-mentioned slider (441) with push away case driving motor subassembly (42) fixed mounting, the hold-in range of hold-in range subassembly (45) with push away case driving motor subassembly (42) fixed connection, the hold-in range of hold-in range subassembly (45) is simultaneously with box buttress push pedal (46) fixed connection.
7. The robot system suitable for the automatic replenishment of the vertical sorting machine according to claim 6, wherein the barrel replenishment clamping unit (6) comprises a second clamping frame (61), a belt assembly (62), a box stacking cylinder assembly (63), a lifting roller assembly (65), a lifting servo motor assembly (66) and a barrel replenishment cylinder assembly (67), the second clamping frame (61) is fixedly connected with a vertical linear slide block (581) of the barrel replenishment robot unit (5),
a box stack air cylinder assembly (63) is installed on the upper portion of the second clamp fixing frame (61), a lifting roller assembly (65) is installed at the front end of the second clamp fixing frame (61), a strip box belt conveyor assembly (62) is arranged below the lifting roller assembly (65), and a lifting servo motor assembly (66) is arranged on one side frame of the second clamp fixing frame (61) in a sliding mode;
the box stack air cylinder component (63) is mainly formed by driving the other group of push plates to move by a linear air cylinder;
the lifting roller assembly (65) comprises rollers arranged at two ends, the rollers can be arranged in a lifting manner, and the lifting roller assembly (65) is in driving connection with the lifting servo motor assembly (66);
and a propelling cylinder is arranged at the bottom of the strip box belt conveyor component (62) and is fixedly connected with the second fixture fixing frame (61).
8. The robot system suitable for automatic replenishment of a vertical sorting machine according to claim 7, wherein the barrel replenishment air cylinder assembly (67) comprises an air cylinder moving seat (671), a barrel push plate (672), a guide vertical plate (673) and a moving track beam (674), the moving track beam (674) and the guide vertical plate (673) are fixedly arranged on the fixture fixing frame two (61), the moving track beam (674) is provided with an air cylinder moving seat (671), the air cylinder moving seat (671) is fixedly provided with the barrel push plate (672), and one side of the barrel push plate (672) is attached to the guide vertical plate (673).
9. The robot system replenishment method for automatic replenishment of a vertical sorting machine according to claim 1, wherein the specific method is as follows:
the first step, finished product box storage boxes are conveyed to a station of a manual unpacking platform unit (1) through a box conveyor (9), manually carried, unpacked and brand information checked, and box strips are arranged into specified box stacks to be orderly stacked;
secondly, a host system distributes cache brands of the goods grids of the partition plate type box stack cache frame unit (2), and a brand box body can occupy a plurality of box positions of a partition plate type shelf;
thirdly, after the box stacks in the goods grids are emptied, the upper system controls the box stack supplement robot unit (3) to drive the box stack supplement clamp unit (4) to move to a goods receiving port of the manual unpacking platform unit (1), the arranged box stacks are pushed into the box stack supplement clamp unit (4) manually, the box stack supplement robot unit (3) drives the box stack supplement clamp unit (4) to move to the corresponding goods grids, and the box stack supplement clamp unit (4) supplements the whole box stacks into the corresponding goods grids to finish box stack supplement;
fourthly, the upper system generates box supplementing task information according to box strip caching conditions in box bins of the vertical distribution machine (8), after the box supplementing task information is received by the box supplementing robot unit (5), the box supplementing clamp unit (6) is driven to move to corresponding box stack caching grids, the box supplementing clamp unit (6) picks a specified number of box strips, and the box strips are supplemented into corresponding box bins of the vertical distribution machine (8) to finish box supplementing;
and fifthly, the upper system controls the vertical dispensing machine (8) to dispense the barrel to the barrel conveyor (7) and convey the barrel out.
CN202310101960.6A 2023-02-13 2023-02-13 Robot system and method suitable for automatic replenishment of vertical sorting machine Active CN115771708B (en)

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Denomination of invention: Robot system and method suitable for automatic replenishment of vertical sorting machines

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