CN118723190A - A palletizing and bundling carton piece loading production line and its working method - Google Patents

Abstract

The invention discloses a production line for loading and discharging stacked and bundled cartons and a working method thereof, and belongs to the field of carton loading for carton unpackers or carton packers, comprising an AGV feeding trolley, a carton positioning, lifting and depalletizing device, a double-row carton reversing and transferring device, a six-axis transfer mechanical arm, a rope cutting device and a carton buffering device which are sequentially arranged along the production line; wherein the AGV feeding trolley is used to transfer a pallet with stacked and bundled cartons to the carton positioning, lifting and depalletizing device; the carton positioning, lifting and depalletizing device is used to identify the position coordinates, orientation and front and back of the bundled cartons; the double-row carton reversing and transferring device is used to transfer the forward-placed bundled cartons and the reverse-placed bundled cartons respectively; the six-axis transfer mechanical arm is used to alternately clamp the forward-placed bundled cartons and the reverse-placed bundled cartons which are transferred to the output end of the double-row carton reversing and transferring device, and place the bundled cartons in the carton buffering device after being aligned with the rope cutting device for cutting, and then cached. The present invention adopts the above-mentioned stacking and bundling carton piece loading production line and its working method, and connects the carton destacking process and the bundling carton rope cutting process in series through double-row carton reversing transfer equipment and a six-axis transfer robot arm to form a unified production line, thereby improving production efficiency.

Description

A palletizing and bundling carton piece loading production line and its working method

Technical Field

The invention relates to the field of carton feeding for a carton opener or a carton packer, and in particular to a stacking and bundling carton piece-by-piece feeding production line and a working method thereof.

Background Art

After the cartons are manufactured, they need to be bundled and stacked on pallets for storage. When in use, they are transported to the product packaging production line by a forklift, and then manually destackered and roped before being placed on a conveyor belt. This has the disadvantages of low work efficiency, labor consumption, the need for specialized workers to destacker, and increased production costs.

In order to solve the above problems, the prior art has further developed the following carton loading equipment:

CN202211052916.2 discloses an automated multifunctional depalletizing machine, which comprises: a main frame, a pushing depalletizing device, a material conveying device, a differential separation device, and an empty tray collecting device. The pushing depalletizing device, the material conveying device, and the differential separation device are arranged in sequence, and the empty tray collecting device is arranged on the side of the pushing depalletizing device. The pushing depalletizing device is connected to the main frame, and the pushing depalletizing device, the material conveying device, the differential separation device, and the empty tray collecting device are electrically connected to a controller respectively.

CN202010172471.6 discloses an automatic carton loading machine for unpacking cartons and a method of using the same, which comprises a robot carton feeding assembly, a box stacking assembly arranged near the robot carton feeding assembly, and a box suction feeding assembly connected to the box stacking assembly through a conveyor belt; the robot carton feeding assembly is used to deliver bundles of cardboard to the box stacking assembly, the box stacking assembly is used to cut and recycle the strapping straps of bundles of cardboard, the conveyor belt is used to transport the cardboard with the strapping straps cut from the box stacking assembly to the box suction feeding assembly, and the box suction feeding assembly is used to sequentially deliver the cardboard conveyed by the conveyor belt to the next process.

It can be seen that the existing carton feeding equipment has the following defects:

1. It only has the function of destacking or cutting ropes, lacks transfer equipment, and cannot form a unified production line;

2. It does not have a cache function and cannot adapt to subsequent packaging production lines;

3. The existing destacking device and rope cutting device have relatively complex structures, which increases the production and processing costs;

4. There is a lack of carton position coordinate adjustment structure, and the carton position coordinates need to be adjusted manually to facilitate subsequent packing, wasting manpower.

Summary of the invention

In order to solve the above problems, the present invention provides a stacking and bundling carton piece loading production line and a working method thereof, which connects the carton destacking process and the bundling carton rope cutting process in series through double-row carton reversing transfer equipment and a six-axis transfer robot arm to form a unified production line, thereby improving production efficiency.

To achieve the above-mentioned purpose, the present invention provides a stacking and bundling carton piece loading production line, comprising an AGV feeding trolley, a carton positioning, lifting and destacking device, a double-row carton reversing transfer device, a six-axis transfer mechanical arm, a rope cutting device and a carton buffer device arranged in sequence along the production line;

Among them, the AGV feeding trolley is used to transfer the pallets with bundled cartons to the carton positioning, lifting and depalletizing equipment;

The carton positioning, lifting and depalletizing equipment is used to identify the position coordinates, orientation and front and back of the bundled cartons, and according to the position coordinate information of the bundled cartons, use the rotating three-axis mechanism to drive the vacuum suction cup to absorb the center position of the bundled cartons, and according to the orientation information, control the rotating three-axis mechanism to adjust the orientation of the bundled cartons until the set orientation is reached, and then according to the front and back of the bundled cartons, alternately place the bundled cartons at the input end of the double-row carton reversing transfer equipment;

Double-row carton reversing transfer equipment is used to transfer the forward-placed bundled cartons and the reverse-placed bundled cartons separately;

The six-axis transfer robot arm is used to alternately clamp the forward-placed bundled cartons and the reverse-placed bundled cartons that are transferred to the output end of the double-row carton reversing transfer equipment, and align the bundled cartons with the rope cutting device for cutting and then place them in the carton buffer device cache.

Preferably, the carton positioning, lifting and depalletizing equipment comprises a lifting bracket, a rotating three-axis mechanism arranged on the lifting bracket, a vacuum suction cup arranged at the output end of the rotating three-axis mechanism, and a mobile positioning and identification mechanism mounted above the rotating three-axis mechanism;

One side of the lifting bracket is aligned with the input end of the double-row carton reversing transfer equipment, and the other side is provided with an entrance for the AGV feeding trolley. A placement cavity for placing bundled cartons is reserved inside the lifting bracket and below the rotating three-axis mechanism and the mobile positioning and identification mechanism.

Preferably, the rotary three-axis mechanism comprises an XYZ three-axis motion platform and a horizontal electric turntable fixed to the output end of the bottom of the XYZ three-axis motion platform, and a vacuum suction cup is fixed to the bottom end of the horizontal electric turntable;

The mobile positioning and identification mechanism includes a mounting bracket mounted above the lifting bracket, a horizontal transverse linear module fixed to the top of the mounting bracket, and a CCD camera fixed to the output end of the horizontal transverse linear module. The lens of the CCD camera faces the direction of the bundled carton and is used to capture the image of the bundled carton.

The CCD camera communicates with the input end of the host computer, and the output end of the host computer communicates with the XYZ three-axis motion platform, the horizontal electric turntable and the AGV feeding trolley respectively, so as to analyze the position coordinates, orientation and front and back of the bundled carton based on the bundled carton image collected by the host computer based on the CCD camera, and control the movement of the rotating three-axis mechanism according to the position coordinates of the bundled carton, so that the rotating three-axis mechanism drives the vacuum suction cup to move to the center position coordinates of the bundled carton to absorb the bundled carton, and then controls the rotation of the horizontal electric turntable according to the orientation of the bundled carton to drive the bundled carton to reach the set orientation.

Preferably, the double-row carton reversing transfer equipment comprises a transfer support and an upper transfer conveyor belt and a lower transfer conveyor belt which are sequentially arranged on the transfer support, wherein the upper transfer conveyor belt and the lower transfer conveyor belt are respectively placed with forward-bundling cartons and reverse-bundling cartons;

The input ends of the upper transfer conveyor belt and the lower transfer conveyor belt are aligned with the output ends of the three-axis mechanism, and the output ends of the upper transfer conveyor belt and the lower transfer conveyor belt are aligned with the six-axis transfer robotic arm.

Preferably, the six-axis transfer robot arm comprises a six-axis robot arm and a fixture fixed to the output end of the six-axis robot arm, the fixture comprises a mounting plate fixed to the output end of the six-axis robot arm and a top clamping frame and a bottom clamping frame symmetrically and vertically slidably arranged on the mounting plate, and the top clamping frame and the bottom clamping frame are respectively connected to two output ends of a double-headed cylinder fixed to the mounting plate;

The top clamping frame and the bottom clamping frame both include an intermediate connecting rod whose intermediate position coordinates are connected to the output end of the double-headed cylinder and two clamping rods fixed at both ends of the intermediate connecting rod.

Preferably, the strapping rope used to strap the cartons is a nylon rope;

The rope cutting device is an electric heating rope cutting structure, which includes a column and an insulating cross tube fixed to the top of the column. An electric heating wire is fixed on the side of the insulating cross tube facing the six-axis robot arm, and the electric heating wire is electrically connected to a power supply;

An air outlet is provided on one side of the insulating horizontal tube facing the electric heating wire, and the air outlet is connected with the fan through a hose to blow off the fused nylon rope.

Preferably, the carton is a gift box with a handle installed on one side;

The carton buffering device includes a support platform, a double-row conveyor belt arranged on the top of the support platform, and a carton side clamping and sorting anti-dumping mechanism arranged at the input end of the double-row conveyor belt. The double-row conveyor belt includes a left conveyor belt and a right conveyor belt which are symmetrically arranged on both sides of the support platform and run synchronously.

The carton side clamping and sorting anti-dumping mechanism includes an anti-dumping cylinder arranged on a support platform between the left conveyor belt and the right conveyor belt, and an L-shaped anti-dumping plate fixedly connected to the piston rod of the anti-dumping cylinder. The L-shaped anti-dumping plate and the anti-dumping cylinder are arranged in sequence along the conveying direction of the double-row conveyor belt;

The top heights of the L-shaped anti-dumping plate and the anti-dumping cylinder are both lower than the top height of the double-row conveyor belt. The working method of the stacking and bundling carton piece feeding production line comprises the following steps:

S1. Use the AGV feeding trolley to transfer the pallet with bundled cartons to the lifting bracket of the carton positioning, lifting and depalletizing equipment;

S2, the horizontal and transverse linear module moves, driving the CCD camera to move, and stops moving after moving a set distance. At this time, the CCD camera is located directly above the horizontal plane center position coordinates of the lifting bracket, the horizontal and transverse linear module stops moving, and the CCD camera takes an image of the bundled carton located below it, and uploads the taken image of the bundled carton to the host computer;

S3, the host computer determines the position coordinates, orientation, and front and back of the bundled carton according to the bundled carton image;

S4. According to the position coordinates of the bundled carton, the three-axis mechanism is controlled to drive the vacuum suction cup to move to the bundled carton position to absorb the bundled carton;

S5. According to the orientation information of the bundled cartons, the horizontal electric turntable is controlled to rotate, thereby driving the bundled cartons until the orientation is set;

S6. According to the front and back information of the bundled cartons, the rotating three-axis mechanism is controlled to alternately place the bundled cartons on the input end of the upper transfer conveyor belt or the lower transfer conveyor belt, and the bundled cartons are moved to the output end by means of the upper transfer conveyor belt or the lower transfer conveyor belt, which corresponds to the clamping position of the six-axis robot arm;

S7, the six-axis robot arm drives the clamp to approach the bundled carton at the output end of the double-row carton reversing transfer device until they are aligned, the double-head cylinder moves, driving the top clamping frame and the bottom clamping frame to move relative to each other, clamping the bundled carton, and then the six-axis robot arm drives the bundled carton to approach the rope cutting device until the bundled carton is aligned with the heating wire of the rope cutting device;

S8, using the heating wire to melt the nylon rope on the outside of the carton, and blowing the melted nylon rope off under the action of the fan;

S9. The six-axis robot arm drives the carton with the fused nylon rope to move to the carton buffer device, places the carton vertically on the L-shaped anti-dumping board, and keeps the handle side of the gift box facing upward. The piston rod of the anti-dumping cylinder contracts the set distance, driving the L-shaped anti-dumping board to move toward the carton, clamping the bottom of the carton to prevent the carton from tipping over.

Preferably, in step S3, the position coordinates, orientation, and front and back of the bundled cartons are determined using RobotPilot;

In step S4, the RobotPilot is used to control the three-axis mechanism to drive the vacuum suction cup to move to the position of the strapping carton according to the position coordinates of the strapping carton, and to absorb the strapping carton;

In step S5, the RobotPilot is used to control the rotation of the horizontal electric turntable according to the orientation information of the bundled cartons, thereby driving the bundled cartons until the set orientation is reached;

In step S6, the RobotPilot is used to control the rotating three-axis mechanism according to the front and back information of the bundled cartons to alternately place the bundled cartons on the input end of the upper transfer conveyor belt or the lower transfer conveyor belt.

The present invention has the following beneficial effects:

1. The double-row carton reversing transfer equipment and the six-axis transfer robot arm connect the carton destacking process and the carton bundling rope cutting process in series to form a unified production line, thereby improving production efficiency;

2. By setting up double-row carton reversing transfer equipment, it is convenient to process the forward-placed cartons and the reverse-placed cartons separately, and adopt an alternating loading and unloading method to improve the loading efficiency to adapt to the subsequent packaging operation speed;

3. By setting up a CCD camera and a host computer, the image of the bundled cartons can be collected, and the position coordinates, orientation, and front and back layout of the bundled cartons can be determined based on the collected images, which is convenient for the subsequent determination of the vacuum adsorption position;

4. Simple structure and low manufacturing cost.

The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the overall structure of a stacking and bundling carton piece loading production line according to the present invention.

FIG2 is a schematic structural diagram of a double-row carton reversing transfer device for a stacking and bundling carton piece loading production line according to the present invention;

FIG3 is a schematic diagram of the structure of a six-axis transfer robot arm of a stacking and bundling carton piece loading production line of the present invention;

FIG4 is a schematic diagram of the structure of a rope cutting device for a stacking and bundling carton piece feeding production line according to the present invention;

FIG. 5 is a schematic diagram of the structure of a carton buffer device of a palletizing and bundling carton piece loading production line according to the present invention.

Among them: 1. Carton positioning, lifting and depalletizing equipment; 11. XYZ three-axis motion platform; 12. Horizontal horizontal linear module; 13. CCD camera; 14. Horizontal electric turntable; 15. Lifting bracket; 16. Erection bracket; 2. Carton bundling; 3. Pallet; 4. Double-row carton reversing transfer equipment; 41. Upper transfer conveyor belt; 42. Lower transfer conveyor belt; 43. Transfer bracket; 5. Rope cutting equipment; 51. Column; 52. Electric heating wire; 53. Insulated horizontal pipe; 54. Air outlet; 6. Six-axis transfer robot arm; 61. Six-axis robot arm; 62. Clamp; 621. Double-head cylinder; 622. Bottom clamping frame; 623. Top clamping frame; 7. Carton caching equipment; 71. Support table; 72. Double-row conveyor belt; 73. Anti-dumping cylinder; 74. L-shaped anti-dumping plate.

DETAILED DESCRIPTION

In order to make the purpose, technical scheme and advantages disclosed in the embodiments of the present invention clearer, the embodiments of the present invention are further described in detail in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present invention and are not intended to limit the embodiments of the present invention. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions.

It should be noted that the terms "include", "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or devices.

Like reference numerals and letters denote similar items in the following drawings, and thus, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate orientation or position coordinate relationships based on the orientation or position coordinate relationships shown in the accompanying drawings, or are the orientation or position coordinate relationships where the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

As shown in Figures 1 to 5, a stacking and bundling carton piece loading production line includes an AGV feeding trolley, a carton positioning, lifting and depalletizing device 1, a double-row carton reversing transfer device 4, a six-axis transfer robot arm 6, a rope cutting device 5 and a carton buffer device 7 arranged in sequence along the production line; wherein the AGV feeding trolley is used to transfer a pallet 3 with stacked bundling cartons 2 to the carton positioning, lifting and depalletizing device 1; the carton positioning, lifting and depalletizing device 1 is used to identify the position coordinates, orientation and front and back of the bundling carton 2, and according to the position coordinate information of the bundling carton 2, use a rotating three-axis mechanism to drive a vacuum suction cup to adsorb the center of the bundling carton 2 The position of the bundled cartons 2 is determined, and according to the orientation information, the rotating three-axis mechanism is controlled to adjust the orientation of the bundled cartons 2 until the set orientation is reached. Then, according to the front and back of the bundled cartons 2, the bundled cartons 2 are alternately placed at the input end of the double-row carton reversing transfer device 4; the double-row carton reversing transfer device 4 is used to separately transfer the forward-placed bundled cartons 2 and the reverse-placed bundled cartons 2; the six-axis transfer robot arm 6 is used to alternately clamp the forward-placed bundled cartons 2 and the reverse-placed bundled cartons 2 that are transferred to the output end of the double-row carton reversing transfer device 4, and align the bundled cartons 2 with the rope cutting device 5 for cutting and then place them in the carton buffer device 7 for buffering.

Specifically, the carton positioning, lifting and depalletizing equipment 1 includes a lifting bracket 15, a rotating three-axis mechanism arranged on the lifting bracket 15, a vacuum suction cup arranged at the output end of the rotating three-axis mechanism, and a mobile positioning and identification mechanism mounted above the rotating three-axis mechanism; one side of the lifting bracket 15 is aligned with the input end of the double-row carton reversing transfer equipment 4, and the other side is provided with an entrance for the AGV feeding trolley, and a placement cavity for placing the bundled carton 2 is reserved inside the lifting bracket 15 and below the rotating three-axis mechanism and the mobile positioning and identification mechanism.

The rotating three-axis mechanism includes an XYZ three-axis motion platform 11 and a horizontal electric turntable 14 fixed to the output end of the bottom of the XYZ three-axis motion platform 11, and a vacuum suction cup is fixed to the bottom of the horizontal electric turntable 14; the mobile positioning and identification mechanism includes a mounting bracket 16 mounted above the lifting bracket 15, a horizontal horizontal linear module 12 fixed to the top of the mounting bracket 16, and a CCD camera 13 fixed to the output end of the horizontal horizontal linear module 12, the lens of the CCD camera 13 faces the direction of the strapping carton 2, and is used to capture the image of the strapping carton 2; the CCD camera 13 and the upper computer The input ends communicate with each other, and the output end of the host computer communicates with the XYZ three-axis motion platform 11, the horizontal electric turntable 14 and the AGV feeding trolley respectively, so as to analyze the position coordinates, orientation and front and back of the strapping carton 2 by using the image of the strapping carton 2 collected by the host computer based on the CCD camera 13, and control the movement of the rotating three-axis mechanism according to the position coordinates of the strapping carton 2, so that the rotating three-axis mechanism drives the vacuum suction cup to move to the center position coordinates of the strapping carton 2, adsorbs the strapping carton 2, and then controls the rotation of the horizontal electric turntable 14 according to the orientation of the strapping carton 2, so as to drive the strapping carton 2 to reach the set orientation.

In this embodiment, by disposing the CCD camera 13 on the horizontal linear module 12 , the position of the CCD camera 13 can be changed through the horizontal linear module 12 under the condition of height limit of the factory to avoid the movement of the XYZ three-axis motion platform 11 .

The double-row carton reversing transfer equipment 4 includes a transfer bracket 43 and an upper transfer conveyor belt 41 and a lower transfer conveyor belt 42 which are successively arranged on the transfer bracket 43, wherein the forward strapping cartons 2 and the reverse strapping cartons 2 are placed on the upper transfer conveyor belt 41 and the lower transfer conveyor belt 42 respectively; the input ends of the upper transfer conveyor belt 41 and the lower transfer conveyor belt 42 are aligned with the output ends of the three-axis mechanism, and the output ends of the upper transfer conveyor belt 41 and the lower transfer conveyor belt 42 are aligned with the six-axis transfer robot arm 6.

In this embodiment, in order to prevent the upper transfer conveyor belt 41 from affecting the movement of the lower transfer conveyor belt 42, the lower transfer conveyor belt 42 is extended in the direction of the three-axis mechanism by a set distance.

The six-axis transfer robot 6 includes a six-axis robot 61 and a clamp 62 fixed to the output end of the six-axis robot 61, the clamp 62 includes a mounting plate fixed to the output end of the six-axis robot 61 and a top clamping frame 623 and a bottom clamping frame 622 symmetrically and vertically slidably arranged on the mounting plate, the top clamping frame 623 and the bottom clamping frame 622 are respectively connected to the two output ends of the double-headed cylinder 621 fixed on the mounting plate; the top clamping frame 623 and the bottom clamping frame 622 both include an intermediate connecting rod whose intermediate position coordinates are connected to the output end of the double-headed cylinder 621 and two clamping rods fixed at both ends of the intermediate connecting rod.

The bundling rope on the bundling carton 2 is a nylon rope; the rope cutting device 5 is an electric heating rope cutting structure, which includes a column 51 and an insulating cross tube 53 fixed to the top of the column 51, and an electric heating wire 52 is fixed on the side of the insulating cross tube 53 facing the six-axis robot arm 61, and the electric heating wire 52 is electrically connected to the power supply; an air outlet 54 is opened on the side of the insulating cross tube 53 facing the electric heating wire 52, and the air outlet 54 is connected to the fan through a hose, so as to blow off the fused nylon rope.

Since the nylon rope is difficult to be cut by a cutting knife, the present embodiment adopts a heating wire to melt the nylon rope.

The carton is a gift box with a handle installed on one side; the carton caching device 7 includes a support platform 71, a double-row conveyor belt 72 arranged on the top of the support platform 71, and a carton side clamping and sorting anti-dumping mechanism arranged at the input end of the double-row conveyor belt 72, the double-row conveyor belt 72 includes a left conveyor belt and a right conveyor belt symmetrically arranged on both sides of the support platform 71 and running synchronously; the carton side clamping and sorting anti-dumping mechanism includes an anti-dumping cylinder 73 arranged on the support platform 71 between the left conveyor belt and the right conveyor belt, and an L-shaped anti-dumping plate 74 fixedly connected to the piston rod of the anti-dumping cylinder 73, the L-shaped anti-dumping plate 74 and the anti-dumping cylinder 73 are arranged in sequence along the conveying direction of the double-row conveyor belt 72; the top heights of the L-shaped anti-dumping plate 74 and the anti-dumping cylinder 73 are both lower than the top height of the double-row conveyor belt 72.

Since the thickness of the handle side of the carton is higher than that of its symmetrical side, the carton is prone to tipping over when the handle side is facing upward (the handle side is located above its symmetrical side). To solve this problem, the present embodiment provides an L-shaped anti-tip plate 74 to cooperate with the anti-tip cylinder 73. When the carton is loaded onto the double-row conveyor belt 72, the anti-tip cylinder 73 is opened, and its piston rod contracts, driving the L-shaped anti-tip plate 74 to move toward the direction of the carton, clamping the bottom of the carton to prevent the carton from tipping over.

The working method of the two-piece loading production line for stacking and bundling cartons comprises the following steps:

S1, using an AGV feeding trolley to transfer the pallet 3 with the bundled cartons 2 to the inside of the lifting bracket 15 of the carton positioning, lifting and depalletizing device 1;

S2, the horizontal and transverse linear module 12 moves, drives the CCD camera 13 to move, and stops moving after moving a set distance. At this time, the CCD camera 13 is located directly above the horizontal plane center position coordinate of the lifting bracket 15, the horizontal and transverse linear module 12 stops moving, and the CCD camera 13 takes an image of the bundled carton 2 located below it, and uploads the taken image of the bundled carton 2 to the host computer;

S3, the host computer determines the position coordinates, orientation, and front and back of the bundled carton 2 according to the image of the bundled carton 2;

In step S3, the position coordinates, orientation, and front and back of the bundled cartons are determined using RobotPilot;

In step S4, the RobotPilot is used to control the three-axis mechanism to drive the vacuum suction cup to move to the position of the strapping carton according to the position coordinates of the strapping carton, and to absorb the strapping carton;

In step S5, the RobotPilot is used to control the rotation of the horizontal electric turntable according to the orientation information of the bundled cartons, thereby driving the bundled cartons until the set orientation is reached;

In step S6, the RobotPilot is used to control the rotating three-axis mechanism according to the front and back information of the bundled cartons to alternately place the bundled cartons on the input end of the upper transfer conveyor belt or the lower transfer conveyor belt.

S4, according to the position coordinates of the bundled carton 2, control the three-axis mechanism to drive the vacuum suction cup to move to the position of the bundled carton 2, and absorb the bundled carton 2;

S5, according to the orientation information of the bundled carton 2, controlling the horizontal electric turntable 14 to rotate, thereby driving the bundled carton 2 until the set orientation is reached;

S6. According to the front and back information of the bundled carton 2, the rotating three-axis mechanism is controlled to alternately place the bundled carton 2 on the input end of the upper transfer conveyor belt 41 or the lower transfer conveyor belt 42, and the bundled carton 2 is moved to the output end by means of the upper transfer conveyor belt 41 or the lower transfer conveyor belt 42, which corresponds to the clamping position of the six-axis robot arm 61;

In step S6, a plurality of photoelectric sensors arranged on the input end of the upper transfer conveyor belt 41 or the lower transfer conveyor belt 42 along the conveying direction of the strapping sheet 2 are also used to detect the front and rear directions of the strapping cartons. When the strapping carton is placed forward (with the handle side facing forward), the lifting cylinder located at the input end of the upper transfer conveyor belt 41 or the lower transfer conveyor belt 42 drives the rotating motor to rise, and the rotating motor drives the strapping carton to rise via the turntable until the strapping carton leaves the conveyor belt. The rotating motor drives the strapping carton to rotate 180° via the turntable, so that the handle side faces backward, and the lifting cylinder is reset, thereby unifying the direction of the strapping carton. It should be noted that the above structure is not within the scope of protection of the present application, so its structural principle will not be described in detail here.

S7, the six-axis robot arm 61 drives the clamp 62 to approach the bundled carton 2 at the output end of the double-row carton reversing transfer device 4 until they are aligned, and the double-headed cylinder 621 moves to drive the top clamping frame 623 and the bottom clamping frame 622 to move relative to each other to clamp the bundled carton 2, and then the six-axis robot arm 61 drives the bundled carton 2 to approach the rope cutting device 5 until the bundled carton 2 is aligned with the heating wire of the rope cutting device 5;

In this embodiment, when the six-axis robot arm 61 clamps the bundled carton 2 placed in the forward direction, the end of the six-axis robot arm 61 does not move. When the six-axis robot arm 61 clamps the reverse direction, the end of the six-axis robot arm 61 rotates 180° so that the front side of the carton faces upward, so as to unify the front and back sides of the carton and facilitate subsequent packing operations.

S8, using the heating wire to melt the nylon rope on the outside of the carton 2, and blowing the melted nylon rope off under the action of the fan;

S9, the six-axis robot arm 61 drives the carton with the fused nylon rope to move to the carton buffer device 7, places the carton vertically on the L-shaped anti-dumping plate 74, and keeps the handle side of the gift box facing up, the piston rod of the anti-dumping cylinder 73 contracts the set distance, drives the L-shaped anti-dumping plate 74 to move toward the direction of the carton, clamps the bottom of the carton, and prevents the carton from tipping over.

Therefore, the present invention adopts the above-mentioned structure of the stacking and bundling carton piece loading production line and its working method, and connects the carton destacking process and the bundling carton rope cutting process in series through double-row carton reversing transfer equipment and a six-axis transfer robot arm to form a unified production line, thereby improving production efficiency.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims (9)

1. The utility model provides a carton burst material loading production line is tied up to pile up neatly which characterized in that: the automatic stacking machine comprises an AGV feeding trolley, carton positioning, lifting and unstacking equipment, double-row carton reversing and transferring equipment, a six-axis transferring mechanical arm, rope cutting equipment and carton buffering equipment which are sequentially arranged along a production line;

the AGV feeding trolley is used for transferring the trays stacked with the bundled cartons to the carton positioning, lifting and unstacking equipment;

The carton positioning, lifting and unstacking equipment is used for identifying position coordinates, orientation and front and back of the bundled cartons, driving a vacuum chuck to adsorb the central position of the bundled cartons by using a rotary triaxial mechanism according to the position coordinate information of the bundled cartons, controlling the rotary triaxial mechanism to adjust the orientation of the bundled cartons according to the orientation information until the orientation is set, and then alternately placing the bundled cartons at the input end of the double-row carton reversing and transferring equipment according to the front and back of the bundled cartons;

The double-row carton reversing and transferring equipment is used for respectively transferring the bundling cartons placed in the forward direction and the bundling cartons placed in the reverse direction;

six transfer mechanical arms are used for alternately clamping and transferring the forward-placed binding cartons and the reverse-placed binding cartons at the output end of the double-row carton reversing transfer equipment, and arranging the binding cartons in the carton buffer equipment for buffer storage after aligning and cutting the binding cartons with the rope cutting equipment.

2. A palletized and strapping carton segment loading line as in claim 1, wherein: the carton positioning, lifting and unstacking device comprises a lifting bracket, a rotary triaxial mechanism arranged on the lifting bracket, a vacuum chuck arranged at the output end of the rotary triaxial mechanism and a mobile positioning and identifying mechanism arranged above the rotary triaxial mechanism;

One side of the lifting support is aligned with the input end of the double-row carton reversing transfer device, the other side of the lifting support is provided with an inlet of the AGV feeding trolley, and a placing cavity for placing the bundling carton is reserved inside the lifting support and below the rotary triaxial mechanism and the movable positioning identification mechanism.

3. A palletized and strapping carton segment loading line as in claim 2, wherein: the rotary three-axis mechanism comprises an XYZ three-axis motion platform and a horizontal electric turntable fixed at the bottom output end of the XYZ three-axis motion platform, and a vacuum chuck is fixed at the bottom end of the horizontal electric turntable;

The movable positioning and identifying mechanism comprises an erection support, a horizontal transverse linear module and a CCD (charge coupled device) camera, wherein the erection support is erected above the lifting support, the horizontal transverse linear module is fixed at the top end of the erection support, the CCD camera is fixed at the output end of the horizontal transverse linear module, and a lens of the CCD camera faces the direction of the bundling paper box and is used for shooting the image of the bundling paper box;

The CCD camera is communicated with the input end of the upper computer, the output end of the upper computer is communicated with the XYZ three-axis motion platform, the horizontal electric turntable and the AGV feeding trolley respectively, the upper computer is used for analyzing and bundling position coordinates, orientation and positive and negative of the cartons based on bundling carton images acquired by the CCD camera, and the rotary three-axis mechanism is controlled to move according to the bundling position coordinates of the cartons, so that the rotary three-axis mechanism drives the vacuum chuck to move to the central position coordinates of the bundling cartons, the bundling cartons are adsorbed, and then the horizontal electric turntable is controlled to rotate according to the orientation of the bundling cartons, so that the bundling cartons are driven to reach the set orientation.

4. A palletized and strapping carton slice feeding line as in claim 3 wherein: the double-row carton reversing and transferring device comprises a transferring bracket, an upper transferring conveyer belt and a lower transferring conveyer belt which are sequentially arranged on the transferring bracket from top to bottom, wherein the upper transferring conveyer belt and the lower transferring conveyer belt are respectively provided with a forward bundling carton and a reverse bundling carton;

The input ends of the upper layer transfer conveyer belt and the lower layer transfer conveyer belt are aligned with the output ends of the triaxial mechanism, and the output ends of the upper layer transfer conveyer belt and the lower layer transfer conveyer belt are aligned with the six-axis transfer mechanical arm.

5. A palletized and strapping carton segment loading line as in claim 4 wherein: the six-axis transfer mechanical arm comprises a six-axis mechanical arm and a clamp fixed at the output end of the six-axis mechanical arm, the clamp comprises a mounting plate fixed at the output end of the six-axis mechanical arm, and a top clamping frame and a bottom clamping frame which are symmetrically and vertically arranged on the mounting plate in a sliding manner, and the top clamping frame and the bottom clamping frame are respectively connected with two output ends of a double-head cylinder fixed on the mounting plate;

the top clamping frame and the bottom clamping frame both comprise a middle connecting rod with middle position coordinates connected with the output end of the double-head cylinder and two clamping rods fixed at two ends of the middle connecting rod.

6. A palletized and strapping carton segment loading line as in claim 5 wherein: the bundling rope on the bundling paper box is a nylon rope;

the rope cutting equipment is of an electric heating rope cutting structure and comprises a stand column and an insulating transverse tube fixed at the top end of the stand column, wherein an electric heating wire is fixed on one side of the insulating transverse tube, facing the six-axis mechanical arm, and the electric heating wire is electrically connected with a power supply;

An air outlet is formed in one side of the insulating transverse tube, which faces the electric heating wire, and is communicated with the fan through a hose and used for blowing off the fused nylon rope.

7. A palletized and strapping carton segment loading line as in claim 6 wherein: the carton is a gift box with a handle at one side;

the carton buffer storage equipment comprises a supporting table, double-row conveying belts arranged at the top end of the supporting table, and a carton side clamping, arranging and anti-toppling mechanism arranged at the input end of the double-row conveying belts, wherein the double-row conveying belts comprise left-side conveying belts and right-side conveying belts which are symmetrically arranged at two sides of the supporting table and synchronously run;

The carton side clamping arrangement anti-toppling mechanism comprises an anti-toppling cylinder arranged on a supporting table between a left side conveying belt and a right side conveying belt and an L-shaped anti-toppling plate fixedly connected with a piston rod of the anti-toppling cylinder, and the L-shaped anti-toppling plate and the anti-toppling cylinder are sequentially arranged along the conveying direction of the double-row conveying belt;

the top heights of the L-shaped anti-toppling plate and the anti-toppling cylinder are lower than the top height of the double-row conveying belt.

8. A method of operating a palletized and banded carton slice feed line as claimed in claim 7 wherein: the method comprises the following steps:

S1, transferring a tray with a bundling paper box to the inside of a lifting bracket of paper box positioning lifting unstacking equipment by using an AGV feeding trolley;

S2, the horizontal transverse linear module acts to drive the CCD camera to move and stop acting after moving for a set distance, at the moment, the CCD camera is positioned right above the horizontal plane center position coordinate of the lifting support, the horizontal transverse linear module stops acting, the CCD camera shoots images of the strapping cartons positioned below the CCD camera, and the shot strapping carton images are uploaded to the upper computer;

S3, the upper computer determines the position coordinates, the orientation and the front and back of the binding paper boxes according to the binding paper box images;

S4, controlling the triaxial mechanism to drive the vacuum chuck to move to the position for bundling the cartons according to the position coordinates for bundling the cartons, and adsorbing the bundled cartons;

S5, controlling the horizontal electric turntable to rotate according to orientation information of the bundling paper boxes, and driving the bundling paper boxes until the orientation is set;

S6, controlling a rotary triaxial mechanism to alternately place the bundled cartons at the input end of an upper layer transfer conveyor belt or a lower layer transfer conveyor belt according to the positive and negative information of the bundled cartons, and moving the bundled cartons to the output end by means of the upper layer transfer conveyor belt or the lower layer transfer conveyor belt, wherein the clamping positions correspond to the six mechanical arms;

s7, the six-axis mechanical arm drives the clamp to approach the bundling paper box at the output end of the double-row paper box reversing transfer equipment until the bundling paper box is aligned, the double-head cylinder acts to drive the top clamping frame and the bottom clamping frame to act relatively to clamp the bundling paper box, and then the six-axis mechanical arm drives the bundling paper box to approach the rope cutting equipment until the bundling paper box is aligned with the heating wire of the rope cutting equipment;

S8, fusing nylon ropes outside the bundling paper box by using the heating wires, and blowing off the fused nylon ropes under the action of a fan;

S9, the six-axis mechanical arm drives the paper box of the fusing nylon rope to move to paper box buffer equipment, the paper box is vertically placed on the L-shaped anti-toppling plate, the lifting handle side of the gift box is kept upwards, the piston rod of the anti-toppling cylinder contracts and sets a distance, the L-shaped anti-toppling plate is driven to move towards the direction of the paper box, the bottom of the paper box is clamped, and the paper box is prevented from toppling.

9. A method of operating a palletized and banded carton slice loading line as claimed in claim 8, the method is characterized in that: in step S3, determining the position coordinates, the orientation and the positive and negative directions of the strapping cartons by utilizing RobotPilot;

In step S4, utilizing RobotPilot to control a triaxial mechanism to drive a vacuum chuck to move to the position of the bundled cartons according to the position coordinates of the bundled cartons, and adsorbing the bundled cartons;

in step S5, utilizing RobotPilot to control the horizontal electric turntable to rotate according to the orientation information of the bundling paper box, and further driving the bundling paper box until the orientation is set;

In step S6, the rotational triaxial mechanism is controlled to alternately place the bundled cartons at the input end of the upper layer transfer conveyor or the lower layer transfer conveyor according to the forward and reverse information of the bundled cartons by RobotPilot.