CN117228034A

CN117228034A - Bagged product boxing method and bagged product boxing equipment

Info

Publication number: CN117228034A
Application number: CN202311233570.0A
Authority: CN
Inventors: 顾小祥; 陈建宝; 彭帆
Original assignee: Suzhou Honbest Clean Technology Co ltd
Current assignee: Suzhou Honbest Clean Technology Co ltd
Priority date: 2023-09-22
Filing date: 2023-09-22
Publication date: 2023-12-15

Abstract

The invention discloses a bagged product boxing method and bagged product boxing equipment, wherein the method can be selectively butted with a second conveyor or a third conveyor through a first conveyor, so that different bagged products with different weights can be distinguished and boxed, when a plurality of bagged products are arranged on the second conveyor and the third conveyor, the bagged products are moved to a first cache table and a second cache table for caching at one time, and further, when the first cache table and the second cache table are provided with bagged products with the required number of each layer of box body, the bagged products are transferred at one time, so that the times of boxing operation are effectively reduced, the way that one bagged product is boxed at one time in the prior art is changed, the efficiency is effectively improved, and meanwhile, the regular arrangement of one layer of bagged products in each boxing can be ensured, and the number meets the requirements.

Description

Bagged product boxing method and bagged product boxing equipment

Technical Field

The invention relates to the field of polysilicon processing, in particular to a packaged product boxing method and packaged product boxing equipment.

Background

In the polysilicon processing process, broken polysilicon granules are put into a packaging bag and sealed to obtain packaged products, and then a predetermined number of packaged products are put into a box body. When the box is packed, the bagged products with different weights are mixed and conveyed, and when the box is packed, the bagged products with the same weight specification are required to be packed into one box body.

In the prior art, after a bagged product is grabbed by a manipulator with a weighing function each time, the bagged product is loaded into a box body with corresponding weight according to the weighed weight.

Although the mode can realize the separate packing of the bagged products, each bagged product needs to be operated once by a mechanical arm, so that the packing efficiency is lower, multiple layers of bagged products can be stored in the box body, each layer of bagged products needs to be placed in a fixed quantity, the bagged products can be placed in one time easily, and the bagged products can not be placed in a regular way, so that the problem that the bagged products in the fixed quantity can not be placed in one layer is solved.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides a packaged product boxing method and packaged product boxing equipment.

The aim of the invention is achieved by the following technical scheme:

the boxing method of the bagged products comprises the following steps:

s1, determining whether a bagged product enters a first conveyor;

s2, if not, executing S1;

s3, if so, acquiring the weight of the bagged product, and enabling the first conveyor to move to be in butt joint with one of the second conveyor or the third conveyor according to the acquired weight of the bagged product;

s4, determining whether the bagged products can be conveyed to a second conveyor or a third conveyor which is in butt joint with the first conveyor;

s5, if not, waiting and executing S4;

s6, if yes, controlling the first conveyor to output the bagged products, and after determining that the bagged products are output from the first conveyor, sending out an instruction capable of supplying the bagged products to the first conveyor and executing S7;

s7, conveying the bagged products entering the second conveyor or the third conveyor to a preset position on the second conveyor or the third conveyor;

s8, determining whether the number of bagged products on the second conveyor or the third conveyor reaches a first target value;

s9, if not, sending a command for supplying the bagged products to the second conveyor or the third conveyor;

s10, if so, determining whether the polysilicon on the second conveyor or the third conveyor can be moved to a first cache table or a second cache table corresponding to the second conveyor or the third conveyor respectively;

s20, if not, waiting for transfer and continuously determining whether the polysilicon on the second conveyor or the third conveyor can be moved to the first buffer table or the second buffer table corresponding to the second conveyor or the third conveyor respectively;

s30, if so, moving all bagged products on the second conveyor or the third conveyor to a preset position of a first cache table or a second cache table at one time through a first manipulator; after determining that the first manipulator moves all the bagged products to the outer side of the second conveyor or the third conveyor, sending a command for transferring the bagged products to the second conveyor or the third conveyor;

s40, determining whether the number of the bagged products on the first cache table or the second cache table reaches a second target value;

s50, if not, sending an instruction for transferring the bagged products to the first cache table or the second cache table;

s60, if so, all the bagged products on the first cache table or the second cache table are grabbed at one time by the second manipulator and are put into the box body, and after the bagged products on the first cache table or the second cache table are determined to be moved out, an instruction for transferring the bagged products to the first cache table or the second cache table is sent out.

Preferably, in the step S2, the weight of the bagged product is obtained by scanning a bar code on the bagged product; or weighing the bagged products through a first weighing sensor of the first conveyor.

Preferably, the second conveyor and the third conveyor are weighing conveyors, and in S8, it may be determined whether the number of bagged products reaches the first target value according to the weights weighed by the second conveyor and the third conveyor.

Preferably, an alarm is raised and stopped when it is determined that the weight of the bagged product that the second and third conveyors weigh onto is unsatisfactory.

Preferably, after the first manipulator grabs and lifts the bagged products on the second conveyor or the third conveyor, determining whether all the bagged products are grabbed by the first manipulator according to the weight weighed by the second conveyor or the third conveyor, if yes, placing the grabbed bagged products in the first cache table or the second cache table, if not, placing the grabbed bagged products in the first cache table or the second cache table, giving an alarm, and stopping the machine after the bagged products are located in the first cache table or the second cache table.

Preferably, whether the bagged products on the first cache table and the second cache table reach the second target value is determined according to the times of transferring the bagged products to the first cache table and the second cache table by the first manipulator.

Preferably, when the number of the bagged products on the first cache table or the second cache table is determined to reach the second target value, the first sorting mechanism and the second sorting mechanism on the first cache table or the second cache table are controlled to sort all the bagged products to a position close to each other.

Preferably, in the step S60, when the second manipulator grabs a plurality of bagged products, a weighing assembly on the second manipulator determines whether the weight of the grabbed bagged products meets the requirement, and if yes, the bagged products are loaded into the box body; and otherwise, placing the bagged products into a box body, and alarming and stopping.

Preferably, after the step S60, the second manipulator is controlled to adsorb a separation film and place the separation film on the bagged product in the box.

The bagged product boxing equipment comprises a first conveyor, a second conveyor, a third conveyor, a first manipulator, a second manipulator, a first cache table and a second cache table, wherein the first conveyor can translate and is in butt joint with any one of the second conveyor and the third conveyor; the first manipulator comprises a row of first clamping jaws and a transfer driving mechanism for driving the first clamping jaws to lift and move in a reciprocating manner along the conveying direction perpendicular to the first conveyor, the first buffer table is distributed on one side of the first conveyor deviating from the second conveyor, the second buffer table is positioned on one side of the second conveyor deviating from the first conveyor, the second manipulator comprises a plurality of rows and columns of second clamping jaws, the second clamping jaws are connected with a transfer driving device for driving the second clamping jaws to lift and move in a reciprocating manner,

the technical scheme of the invention has the advantages that:

according to the invention, the first conveyor is selectively in butt joint with the second conveyor or the third conveyor, so that different packaged products with different weights can be distinguished and packaged, when a plurality of packaged products are arranged on the second conveyor and the third conveyor, the packaged products are moved to the first cache table and the second cache table for caching at one time, and further, when the first cache table and the second cache table are provided with packaged products with the required number of each layer of the box body, the packaged products are transferred at one time, so that the times of packaging operation are effectively reduced, the way that one packaged product is packaged at one time in the prior art is changed, the efficiency is effectively improved, and meanwhile, the orderly arrangement of one layer of packaged products in each packaging process can be ensured, and the number meets the requirements.

The invention makes the first conveyor be a weighing conveyor, and can directly determine the weight of the bagged products positioned on the first conveyor, so that operations such as weighing, code spraying and the like do not need to be performed in advance, and a high camera required by subsequent code scanning can be omitted, thereby being more beneficial to controlling the cost.

The invention makes the second conveyor and the third conveyor be weighing conveyors, can effectively determine whether the bagged products entering the second conveyor and the third conveyor have the wrong situation, thereby ensuring accurate distinction, can also determine the quantity of the bagged products entering the second conveyor and the third conveyor according to the weighed weight, can omit detection photoelectricity at a plurality of positions, can further determine whether the bagged products on the second conveyor and the third conveyor are once grasped according to the weighed weight of the second conveyor and the third conveyor, and can increase the investigation of abnormal situations.

When the number of the bagged products on the first cache table and the second cache table reaches a second target value, the polysilicon is sorted through the sorting mechanism, so that each second clamping jaw of the second manipulator can be effectively ensured to correspond to one bagged product position, and all the bagged products are ensured to be grabbed at one time, and further one-time boxing is realized.

The weighing assembly is further arranged at the second manipulator, so that whether all bagged products on the first cache table and the second cache table are effectively grasped at one time can be effectively determined, and when the bagged products are grasped abnormally, the weighing assembly can give an alarm in time and treat the abnormality.

The invention adopts the special structure of the transfer driving device, has better support, and can provide enough support without a second mechanical hand, thereby ensuring that more than ten bagged products can be stably grasped at one time.

Drawings

FIG. 1 is a perspective view of a packaged product boxing apparatus in accordance with the present invention, with the platen of the second cache table hidden;

FIG. 2 is a perspective view of a first conveyor of the present invention;

FIG. 3 is a top view of the bagged product boxing apparatus of the present invention with the platen of the second cache table hidden;

FIG. 4 is an enlarged view of area A of FIG. 1;

FIG. 5 is a perspective view of a first manipulator of the present invention;

FIG. 6 is a perspective view of a first jaw of the present invention;

FIG. 7 is a schematic illustration of a second cache table decoying platen of the present invention;

FIG. 8 is a perspective view of a second jaw on a second manipulator of the present invention;

FIG. 9 is a first perspective view of a second manipulator of the present invention;

FIG. 10 is a second perspective view of a second manipulator of the present invention;

fig. 11 is a process schematic of the method of the present invention.

Detailed Description

The objects, advantages and features of the present invention are illustrated and explained by the following non-limiting description of preferred embodiments. These embodiments are only typical examples of the technical scheme of the invention, and all technical schemes formed by adopting equivalent substitution or equivalent transformation fall within the scope of the invention.

In the description of the embodiments, it should be noted that the terms "center," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "inner," "outer," and the like are merely for convenience of description and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not denote that the apparatus or element must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as instructions or implying relative importance.

The method for boxing the bagged products disclosed in the present invention will be described with reference to the accompanying drawings, as shown in fig. 1, the method for boxing the bagged products is based on a bagged product boxing apparatus, and comprises a first conveyor 100, a second conveyor 200, a third conveyor 300, a first manipulator 400, a second manipulator 500, a first buffer table 600 and a second buffer table 700, wherein the first conveyor 100 can translate and interface with any one of the second conveyor 200 and the third conveyor 300 which are arranged side by side and adjacent to each other; the first manipulator 400 includes a row of first clamping jaws 410 and a transfer driving mechanism 420 for driving a row of first clamping jaws 410 to lift and reciprocally translate along a conveying direction perpendicular to the first conveyor 100, the first buffer table 600 is distributed on one side of the first conveyor 100 deviated from the second conveyor 200, the second buffer table 700 is located on one side of the second conveyor 200 deviated from the first conveyor 100, the second manipulator 500 includes a plurality of rows and columns of second clamping jaws 510, and the second clamping jaws 510 are connected with a transfer driving device 520 for driving them to lift and translate.

In particular, the first conveyor 100 may be a belt conveyor provided on the base 800, but may be other possible conveying apparatuses, and since different weights of bagged products need to be packed into different boxes during packing, it is necessary to determine which of the second conveyor 200 and the third conveyor 300 the first conveyor 100 is butted with according to the weight of each bagged product. When each bagged product is determined, a two-dimensional code and a bar code can be attached or printed on the side surface of each bagged product, and a code reader is arranged at the input end of the first conveyor 100 to read the code, so that the weight matched with the bagged product in the bar code or the two-dimensional code can be effectively obtained. In this manner, a detecting photosensor needs to be disposed at the input end of the first conveyor 100 to determine whether a bagged product enters the first conveyor 100, and in order to ensure that weight information is acquired, two image capturing devices are required to perform image capturing on opposite sides of the bagged product.

In a more preferable manner, the first conveyor 100 may have a weighing function, that is, it is a weighing conveyor, at this time, it may be unnecessary to provide a detection photosensor and two image acquisition devices at the input end of the first conveyor 100, whether or not a bagged product is entered thereon may be determined by whether or not the first conveyor 100 has weight data, and the weight of each bagged product may be accurately weighed.

As shown in fig. 2, the first conveyor 100 includes a base 110, a load cell 120 is disposed on the base 110, a belt conveying assembly 130 is disposed on the load cell 120, the belt conveying assembly 130 includes a transverse plate 131 fixed on the load cell 120, an extending direction of the transverse plate 131 is perpendicular to a length direction of the load cell 120 and the load cell is connected to a middle position of the transverse plate in the length direction, the transverse plate 131 is connected to middle positions of bottoms of two first side plates 132, and length directions of the two first side plates 132 are parallel to the length direction of the load cell 120. The rollers 133 are disposed at two ends of the first side plate 132, a belt 134 is sleeved on the rollers, one of the rollers is connected with a first motor 135 for driving the rollers to rotate, the first motor is fixed below the first side plate 132 and located at the inner side of the first side plate 132, and the first motor is connected with one of the rollers through a known synchronous belt transmission mechanism 136 or a chain transmission mechanism and drives the rollers to rotate.

As shown in fig. 3, in order to conveniently realize the butt joint between the first conveyor 100 and the second conveyor 200 or the third conveyor 300, the first conveyor 100 is connected with a translation mechanism 900 that drives the first conveyor 100 to reciprocate, the moving direction of the first conveyor 100 is perpendicular to the conveying direction of the first conveyor, the translation mechanism 900 includes a servo module 910, the moving member of the servo module 910 is provided with the first conveyor 100, and meanwhile, the first conveyor 100 is slidably disposed on the guide rails 920 on two sides of the servo module 910 through a sliding block.

The second conveyor 200 and the third conveyor 300 are of the same construction and may likewise be known as viable conveyor devices, preferably belt conveyors, which are arranged side by side downstream of the first conveyor 100. Meanwhile, the lengths of the second conveyor 200 and the third conveyor 300 are longer than the length of the first conveyor 100, and their specific lengths may be selected according to need, preferably, the lengths of the second conveyor 200 and the third conveyor 300 are such that at least three bagged products can be stored side by side thereon.

As shown in fig. 4, in order to effectively enable multiple bagged products to be conveyed on the second conveyor 200 and the third conveyor 300 simultaneously, a U-shaped enclosure 230 is further arranged at the top of the second conveyor 200 and the third conveyor 300, the openings of the U-shaped enclosures 230 face the input ends of the second conveyor 200 and the third conveyor 300, and the bagged products enter the U-shaped enclosures 230 from the open ends of the U-shaped enclosures 230 after entering the second conveyor 200 and the third conveyor 300, and are blocked by the U-shaped enclosures 230 from being conveyed continuously when conveyed to the output ends of the second conveyor 200 and the third conveyor 300.

Detection sensors may also be provided at the input ends of the second conveyor 200 and the third conveyor 300 to determine whether a bagged product is entered thereon. Meanwhile, a plurality of detection sensors for detecting whether there are bagged products at different positions thereon are provided on the second conveyor 200 and the third conveyor 300. When the plurality of detection sensors each detect a packaged product, then it may be determined that the packaged products on the second conveyor 200 and the third conveyor 300 meet the first target value. Preferably, the second conveyor 200 and the third conveyor 300 may also be weighing conveyors. At this time, the number of the pouch products introduced thereinto may be determined according to the measured weights of the second conveyor 200 and the third conveyor 300, and whether the weight of the pouch products introduced thereto at a time meets the requirement may be determined according to the measured weights.

As shown in fig. 1, the base 800 has frames on both sides of the first conveyor 100, and the first robot 400 is disposed on the frames.

As shown in fig. 5, the first manipulator 400 includes a row of first clamping jaws 410 arranged along the conveying direction of the first conveyor 100, and the number of the first clamping jaws 410 in a row may be designed according to needs, and is preferably 3. The first jaw 410 may be a known pneumatic jaw. More preferably, as shown in fig. 6, the first clamping jaw 410 includes a base plate 411, a first air cylinder 412 is disposed above the base plate 411, an air cylinder shaft of the first air cylinder 412 passes through the base plate 411 and is connected with a driving block 413, the driving block 413 is pivotally connected with upper ends of two first transmission rods 414 symmetrically distributed on two sides of the base plate 411, another end of the first transmission rod 414 is pivotally connected with one end of a second transmission rod 415, a middle turning position of the second transmission rod 415 is pivotally connected with a support plate 416 at the bottom of the base plate 411, an inner side of a lower end of the second transmission rod 415 is connected with a clamping plate 417, a clamping surface 418 of the clamping plate 417 is toothed, tooth grooves of the teeth extend along a length direction of the clamping plate, and teeth of the clamping surfaces 418 are meshed with each other when the two clamping plates 417 are closed.

As shown in fig. 5, the base plates 411 of the three first clamping jaws 410 are connected with the transfer driving mechanism 420, the transfer driving mechanism 420 includes a carrier plate 421 connected with the base plates 411, a set of guide shafts 422 are disposed on the carrier plate 421, the guide shafts 422 are disposed on a support 423 in a reciprocating manner along the height direction, a lifting cylinder 424 is disposed on the support 423, and a cylinder shaft of the lifting cylinder 424 passes through a main plate 425 of the support 423 and is connected with a transfer frame 426 at a middle position at the top of the carrier plate 421.

As shown in fig. 5, the support 423 is slidably disposed on a first sliding rail 427 on the connection frame at the top of the frame, the extending direction of the first sliding rail 427 is perpendicular to the conveying direction of the first conveyor 100, and two ends of the first sliding rail extend to the outer sides of the first buffer stage 600 and the second buffer stage 700. Since the portion of the main plate 425 protruding to the outside of the frame needs to bear a large load, in order to improve the support thereof, a reinforcing member 428 is provided at the bottom of the main plate 425, and the reinforcing member 428 is slidably provided on a second slide rail 429 at the side of the connection frame by a slider.

The driving mechanism for driving the support 423 to slide along the first sliding rail 427 and the second sliding rail 429 may be a servo module, preferably, the driving mechanism includes a driving motor 430, the driving motor 430 is connected to and drives a gear 431 to rotate, the gear 431 is meshed with a rack 432 on the top of the connecting frame, and an extending direction of the rack 432 is parallel to the first sliding rail 427 and extends to two ends of the first sliding rail 427.

The first buffer stage 600 and the second buffer stage 700 have the same structure, and the first buffer stage 600 is illustrated as an example, as shown in fig. 7, and includes a platen 001 disposed on the base stage 800, a first baffle 002 and a second baffle 003 are disposed on the platen 001, the first baffle 002 is disposed on a side of the platen 001 close to the second conveyor 200 and the third conveyor 300, and the second baffle 003 is disposed on a side of the platen 001 far from the frame. Further, in order to ensure that a plurality of bagged products on the platen 001 can be in accurate positions for grabbing at one time, a first pressing plate 004 and a second pressing plate 005 are further arranged on the platen 001, the first pressing plate 004 corresponds to the first baffle 002 in position, and are positioned on two opposite sides of the platen 001, and the first pressing plate 004 is connected with a first driving device 006 for driving the first pressing plate 004 to move towards or away from the first baffle 002. The second pressing plates 005 are located corresponding to the second baffle 003, and are located on two opposite sides of the platen 001, and the second pressing plates 005 are connected to a second driving device 007 for driving the second pressing plates 005 to move toward or away from the second baffle 003. The first pressing plate and the second pressing plate are respectively connected with the first driving device 006 and the second driving device 007 through a sliding frame 008, the first driving device 006 and the second driving device 007 can be an air cylinder, a hydraulic cylinder, a linear motor and the like, and the sliding frame 008 is slidably arranged on a supporting sliding rail 009 at the bottom of the platen 001. Meanwhile, a notch for sliding the sliding frame 008 is provided on the platen 001. The first platen 004 moves the bagged product on the platen 001 toward the first barrier 002, and the first platen 008 and the first driving device constitute the first sorting mechanism. Meanwhile, the second pressing plate, the sliding frame and the second driving device form the second sorting mechanism, and the second pressing plate 005 moves the bagged product located on the platen 001 to the second baffle 003.

As shown in fig. 8, the number of the second clamping jaws 510 of the second manipulator 500 may be designed according to needs, specifically, the second clamping jaws 510 are three rows and five columns, that is, the number of the second clamping jaws is 15, and the specific structure of the second clamping jaws 510 is the same as that of the first clamping jaws 410, which is not described herein. The second clamping jaw 510 is arranged on the mounting frame 590, limiting plates 530 are further arranged on two opposite sides of the mounting frame 590, the limiting plates 530 are connected with a second air cylinder 540 for driving the second clamping jaw to lift, and the second air cylinder 540 is connected with a third air cylinder 550 for driving the second clamping jaw to move away from the mounting frame 590 and close to the mounting frame 590. Preferably, in order to more effectively limit the gripped bagged product, the limiting plate 530 is a bent plate, that is, it includes a vertical plate and a sloping plate positioned below the vertical plate and bent inwards.

After a plurality of bagged products are placed in the box, the isolation film is required to be placed on the bagged products in the box and then the next batch of bagged products is required to be placed, therefore, as shown in fig. 8, a plurality of driving air cylinders 560 are arranged at the bottom of the mounting frame 590 and located between the second clamping jaws 510, suction cups 570 are connected below telescopic shafts of the driving air cylinders 560, when the telescopic shafts of the driving air cylinders 560 retract, the suction cups 570 are located above the limiting plates 530 of the second clamping jaws 510, and when the telescopic shafts of the driving air cylinders 560 extend, the suction cups 570 are driven to move below the second clamping jaws 510, so that the isolation film can be absorbed.

As shown in fig. 9, the mounting frame 590 is connected to the transfer driving device 520 through a weighing unit 580. The specific structure of the weighing unit 580 is known in the art, and will not be described in detail herein, the weighing unit 580 may weigh the bagged products grasped by the second manipulator 500 after the second jaw 510 grasps the bagged products and withdraws them from the platen 001.

The transfer drive device 520 may have a known structure. Since the second clamping jaw 510 has a large number and needs to grasp a plurality of bagged products, and the weight of each bagged product is large, the transfer driving device 520 needs to have sufficient support to ensure stable transfer. Therefore, in this embodiment, as shown in fig. 9 and 10, the transfer driving device 520 includes a connection disc 521 connected to the weighing unit 580, the connection disc 521 is rotatably disposed on the first swing arm 522, a first rotating motor 523 for driving the connection disc 521 to rotate is disposed on the first swing arm 522, the fork arm 524 of the first swing arm 522 is pivotally connected to the front end of the second swing arm 525, meanwhile, the driving arm 526 of the first swing arm 522 is pivotally connected to one end of the first link 527, the other end of the first link 527 is pivotally connected to one end of an adapting arm 528, the middle lower portion of the adapting arm 528 is pivotally connected to the upper end of a main arm 529, the other end of the adapting arm 528 is pivotally connected to one end of the second link 5210, the other end of the second link 5210 is pivotally connected to a first mounting plate 5212 on the chassis 5211, the lower end of the main arm 5210 is rotatably disposed on a second mounting plate 5213 on the chassis 5211, the second mounting plate 5213 is pivotally connected to the first motor 5212, the second mounting plate 5213 is rotatably disposed opposite to the first mounting plate 5212, and the second mounting plate 5213 is pivotally connected to the second mounting plate 5214, and the second mounting plate 5214 is pivotally connected to the second mounting plate 5214. The rear end of the second swing arm 525 is pivoted to a third connecting rod 5215, the lower end of the third connecting rod 5215 is pivoted to a third swing arm 5216, the third swing arm 5216 is pivoted to the inner side of the first mounting plate 5212, the connection point of the third swing arm 5216 and the first mounting plate 5212 is located below the connection point of the first mounting plate 5212 and the second connecting rod 5210, a third rotating motor 5217 for driving the third swing arm 5216 to rotate is arranged on the outer side of the first mounting plate 5212, and the connection point of the third swing arm and the first mounting plate is located in front of the connection point of the third swing arm and the third connecting rod. The chassis 5211 is rotatably provided on the base 5218, and the chassis 5211 is provided with a fourth rotary motor 5219 for driving the chassis 5211 to rotate relative to the base 5218.

The bagged product boxing device further comprises a control device which is connected with the first conveyor 100, the second conveyor 200, the third conveyor 300, the first manipulator 400, the second manipulator 500, the first buffer table 600, the second buffer table 700, the translation mechanism 900 and the like, and the control device controls the work.

When the bagged product boxing device is used for boxing the bagged product, as shown in fig. 11, the method comprises the following steps:

s1, a control device determines whether a bagged product enters a first conveyor 100; in particular, the determination of whether there are any bagged products on the first conveyor 100 may be based on detecting the photo sensor. Or whether or not a bagged product enters the first conveyor 100 is determined based on the measured weight of the load cell 120 of the first conveyor 100.

S2, if not, S1 is executed, namely if no bagged product is determined on the first conveyor 100, whether the bagged product enters the first conveyor 100 is continuously detected.

S3, if the first conveyor 100 is determined to have the bagged product, acquiring the weight of the bagged product, and enabling the first conveyor 100 to move to be in butt joint with one of the second conveyor 200 or the third conveyor 300 according to the acquired weight of the bagged product; in particular, the weight of the packaged product may be obtained by scanning the code, or the weight of the packaged product may be measured directly by the load cell 120 of the first conveyor 100, and in order to ensure that the accurate weight is obtained as much as possible, the packaged product is stopped and weighed after being moved to the intermediate position of the first conveyor 100. In the following, the case where the bagged product on the first conveyor 100 is to be transferred to the second conveyor 200 is described as an example, and when it is determined that the bagged product is to be transferred to the second conveyor 200 according to the weight, the servo module 910 connected to the first conveyor 100 is activated to move the first conveyor 100 to a state of being docked with the second conveyor 200.

S4, determining whether the bagged products can be conveyed to the second conveyor 200 or the third conveyor 300 which are in butt joint with the first conveyor 100; whether the bagged product can be transferred onto the second conveyor 200 is determined in particular according to the number of bagged products on the second conveyor 200.

S5, if not, waiting and executing S4; that is, if the number of the existing bagged products on the second conveyor 200 has reached the first target value (3 bags), it is impossible to continue transferring the bagged products onto the second conveyor 200, and at this time, the bagged products are continuously transferred onto the second conveyor 200 only after waiting for the bagged products on the second conveyor 200 to be removed.

And S6, if the number of the bagged products on the second conveyor 200 does not reach the first target value (3 bags), controlling the first conveyor 100 to start outputting the bagged products to the second conveyor 200, and after determining that the bagged products are output to the first conveyor 100, sending out an instruction for supplying the bagged products to the first conveyor 100 and executing S7, wherein the bagged products can be continuously put into the first conveyor 100.

S7, the second conveyor 200 or the third conveyor 300 conveys the bagged products entered thereon to a predetermined position thereon; specifically, the number of bagged products entering the second conveyor 200 may be determined according to the measured weight of the second conveyor 200 and the conveying time of the second conveyor 200 may be determined, for example, when it is determined that only one bagged product is input to the second conveyor 200, the second conveyor 200 is enabled to convey a first time and the bagged product is enabled to convey to the end of the second conveyor 200 away from the first conveyor 100, and when it is determined that the second bagged product enters the second conveyor 200, the second conveyor 200 is enabled to convey a second time, which is less than the first time; and, the third length of time that the second conveyor 200 conveys the third piece of bagged product may be further less than the second time.

S8, determining whether the number of bagged products on the second conveyor 200 or the third conveyor 300 reaches a first target value; specifically, it may be determined whether the number of the bagged products reaches the first target value according to the weights of the second conveyor 200 and the third conveyor 300. For example, when each packaged product is 5 kg, and the weight of the second conveyor 200 is about 5 kg, it may be determined that one packaged product enters the second conveyor 200; when the weighed weight is about 10 kg, it can be determined that two bagged products enter the second conveyor 200, and so on, the number of bagged products entering the second conveyor 200 can be determined, and further, whether the first target value is reached can be determined.

When it is determined that the weights of the bagged products fed onto the second conveyor 200 and the third conveyor 300 are not satisfactory, an alarm is given and the machine is stopped, and there may be a case where a transfer error occurs, for example, it is determined that the weight of one bagged product is 5 kg, the second conveyor 200 receives 5 kg of bagged products, and the third conveyor 300 receives 8 kg of bagged products, if the 5 kg of bagged products are fed onto the third conveyor 300, the weight measured by the third conveyor 300 is not satisfactory at this time, and thus an alarm is required and a check is made manually and a malfunction is eliminated.

If not, a command is issued to supply the bagged products to the second conveyor 200 or the third conveyor 300.

S10, if the number of polysilicon on the second conveyor 200 or the third conveyor 300 is 3, the polysilicon is required to be transferred to the first buffer table 600 or the second buffer table 700 by the first manipulator 400; however, at this time, it is necessary to determine whether the polycrystalline silicon on the second conveyor 200 or the third conveyor 300 can be moved to the first buffer stage 600 or the second buffer stage 700 corresponding thereto, respectively.

If not, that is, if the number of bagged products on the first buffer table 600 or the second buffer table 700 has reached the second target value (15 bags), at this time, three bagged products on the second conveyor 200 or the third conveyor 300 cannot be continuously transferred to the first buffer table 600 or the second buffer table 700, and the transfer is waited for and continuously determined whether the bagged products on the second conveyor 200 or the third conveyor 300 can be transferred to the first buffer table 600 or the second buffer table 700 corresponding to the two bagged products.

S30, if so, determining that three bagged products on the second conveyor 200 or the third conveyor 300 can be transferred to the first buffer table 600 or the second buffer table 700, and at this time, moving all the bagged products on the second conveyor 200 or the third conveyor 300 to a preset position of the first buffer table 600 or the second buffer table 700 at one time by the first manipulator 400; and issues a command to transfer the bagged products to the second conveyor 200 or the third conveyor 300 after determining that the first robot 400 moves all the bagged products to the outside of the second conveyor 200 or the third conveyor 300.

Specifically, if there are three bagged products on the second conveyor 200, the transfer driving mechanism 420 drives the three first clamping jaws 410 to move directly above the second conveyor 200, and the three first clamping jaws 410 are in one-to-one correspondence with the three bagged products, then, the transfer driving mechanism 420 drives the three first clamping jaws 410 to move down to the clamping plates 417 of each of the first clamping jaws 410 to be located at two sides of the plastic package portion of one bagged product, then, the first cylinders 412 of the three first clamping jaws 410 drive the clamping plates 417 to be closed to clamp the three bagged products, then, the transfer driving mechanism 420 drives the three first clamping jaws 410 to be lifted and translated above the first buffer table 600, and then, the first clamping jaws 410 are moved down and the three clamped bagged products are placed on the first buffer table 600.

After the first manipulator 400 grabs and lifts the bagged products on the second conveyor 200 or the third conveyor 300, determining whether the first manipulator 400 grabs all the bagged products according to the weight weighed by the second conveyor 200 or the third conveyor 300, if yes, placing the grabbed bagged products in the first cache table 600 or the second cache table 700, if not, placing the grabbed bagged products in the first cache table 600 or the second cache table 700, giving an alarm, and stopping after the bagged products are located in the first cache table 600 or the second cache table 700. For example, if the first manipulator 400 grabs all three bagged products on the second conveyor 200, at this time, the second conveyor 200 should not acquire the corresponding weight when having the bagged products, for example, the second conveyor 200 weighs the bagged products, which means that the first manipulator 400 does not grab all three bagged products, there is an abnormality, and it needs to be manually checked and handled. And when the fact that all grabbing is not carried out is confirmed, the transfer is still continued, the strength during manual processing can be effectively relieved, and the efficiency is improved.

S40, determining whether the number of bagged products on the first cache table 600 or the second cache table 700 reaches a second target value; that is, after transferring 3 bags of polysilicon to the first and second buffer stages 600 and 700 each time, it is necessary to determine whether the number of packaged products on the first and second buffer stages 600 and 700 reaches the number of boxing. Specifically, it may be determined whether the packaged products on the first and second cache stages 600 and 700 reach the second target value according to the number of times the first robot 400 transfers the packaged products to the first and second cache stages 600 and 700. For example, each time 3 bagged products are transferred to the first and second cache stations 600 and 700, it may be determined that the second target value is reached after 5 transfers.

S50, if not, namely the bagged products on the first cache table 600 or the second cache table 700 are insufficient, the bagged products can be continuously transferred to the first cache table 600 and the second cache table 700, and then an instruction for transferring the bagged products to the first cache table 600 or the second cache table 700 is sent;

and S60, if so, determining that the number of the bagged products on the first cache table 600 or the second cache table 700 reaches a second target value, and at this time, controlling a first sorting mechanism and a second sorting mechanism on the first cache table 600 or the second cache table 700 to sort all the bagged products to a position close to each other when the second manipulator is determined to be capable of transferring.

Then, all the bagged products on the first buffer table 600 or the second buffer table 700 are grabbed at one time by the second manipulator 500 and put into the box, and after the bagged products on the first buffer table or the second buffer table are determined to be removed, an instruction for transferring the bagged products to the first buffer table or the second buffer table is sent.

Specifically, the second clamping jaw 510 is driven to move to 15 bagged products by the transfer driving device 520 and grasp 15 bagged products, then the transfer driving device 520 drives the second clamping jaw 510 to lift, and meanwhile, the weighing assembly 580 on the second manipulator 500 determines whether the weight of the grasped bagged products meets the requirement, if yes, the transfer driving device 520 is controlled to drive the second clamping jaw 510 to rotate to the position right above a box body, and then the second clamping jaw 510 is driven to move downwards to load the bagged products into the box body. And otherwise, the bagged products which are picked up by the second manipulator 500 are put into a box body and stopped in an alarming way, then the bagged products which are not taken from the first cache table or the second cache table are taken away manually and put into the box body, a reset signal is sent manually, and the equipment continues to work after reset.

Further, after the step S60 and when it is determined that a layer of 15 bagged products is effectively loaded in the box, the second manipulator 500 is controlled to adsorb a separation film at a film feeding mechanism (not shown) beside the second manipulator 500 and place the separation film on the bagged products in the box. Then, the second manipulator returns to the initial state and waits for the next boxing.

The invention has various embodiments, and all technical schemes formed by equivalent transformation or equivalent transformation fall within the protection scope of the invention.

Claims

1. The method for boxing the bagged products is characterized by comprising the following steps of:

s1, determining whether a bagged product enters a first conveyor;

s2, if not, executing S1;

s5, if not, waiting and executing S4;

2. The method of boxing bagged products in accordance with claim 1, wherein: in the step S2 of the above-mentioned method,

acquiring the weight of the bagged product by scanning a bar code on the bagged product;

or weighing the bagged products through a first weighing sensor of the first conveyor.

3. The method of boxing bagged products in accordance with claim 1, wherein: the second conveyor and the third conveyor are weighing conveyors, and in S8, it may be determined whether the number of bagged products reaches a first target value according to the weights weighed by the second conveyor and the third conveyor.

4. A packaged product boxing method in accordance with claim 3, wherein: and when the weight of the bagged products which are weighed by the second conveyor and the third conveyor and enter the second conveyor is determined to be unsatisfactory, an alarm is sent out and the machine is stopped.

5. The method of boxing bagged products in accordance with claim 4, wherein: after the first manipulator grabs and lifts the bagged products on the second conveyor or the third conveyor, determining whether the first manipulator grabs all the bagged products according to the weight weighed by the second conveyor or the third conveyor, if yes, placing the grabbed bagged products in the first cache table or the second cache table, if not, placing the grabbed bagged products in the first cache table or the second cache table, sending an alarm, and stopping after the bagged products are located in the first cache table or the second cache table.

6. The method of boxing bagged products in accordance with claim 1, wherein: and determining whether the bagged products on the first cache table and the second cache table reach a second target value according to the times of transferring the bagged products to the first cache table and the second cache table by the first manipulator.

7. The method of boxing bagged products in accordance with claim 1, wherein: and when the number of the bagged products on the first cache table or the second cache table reaches a second target value, controlling a first sorting mechanism and a second sorting mechanism on the first cache table or the second cache table to sort all the bagged products to a position close to each other.

8. The method of boxing bagged products in accordance with claim 1, wherein: in the step S60, when the second manipulator grabs a plurality of bagged products, determining whether the weight of the grabbed bagged products meets the requirement or not through a weighing assembly on the second manipulator, and if yes, loading the bagged products into the box body; and otherwise, placing the bagged products into a box body, and alarming and stopping.

9. The method of boxing bagged products in accordance with claim 1, wherein: after S60, the second manipulator is controlled to adsorb a separation film and put on the bagged product in the box.

10. Packaged product vanning equipment, its characterized in that: the device comprises a first conveyor, a second conveyor, a third conveyor, a first manipulator, a second manipulator, a first buffer table and a second buffer table, wherein the first conveyor can translate and is in butt joint with any one of the second conveyor and the third conveyor; the first manipulator comprises a row of first clamping jaws and a transfer driving mechanism for driving the first clamping jaws to lift and move in a reciprocating translation mode along the conveying direction perpendicular to the first conveyor, the first buffer tables are distributed on one side, deviating from the second conveyor, of the first conveyor, the second buffer tables are located on one side, deviating from the first conveyor, of the second conveyor, the second manipulator comprises a plurality of rows and columns of second clamping jaws, and the second clamping jaws are connected with a transfer driving device for driving the second clamping jaws to lift and move in a reciprocating mode.