CN201254398Y - Manipulator palletizing system - Google Patents
Manipulator palletizing system Download PDFInfo
- Publication number
- CN201254398Y CN201254398Y CNU2008201500993U CN200820150099U CN201254398Y CN 201254398 Y CN201254398 Y CN 201254398Y CN U2008201500993 U CNU2008201500993 U CN U2008201500993U CN 200820150099 U CN200820150099 U CN 200820150099U CN 201254398 Y CN201254398 Y CN 201254398Y
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Abstract
The utility model relates to a mechanical hand palletizing system which comprises a conveying system, a main excluding station scanner, a sorting system, a plurality of sorting zones, a palletizing station, a palletizing mechanical hand and a salver conveying machine, wherein the conveying system is used for receiving and conveying goods; the main excluding station scanner scans bar codes of the goods conveyed by the conveying system, and the goods the bar codes of which can not be read successfully by the main excluding station scanner are pushed to a main excluding station; the sorting system is connected with the conveying system, and is used for sorting the goods to sorting channels according to default final channels of the goods; each sorting zone at least comprises one sorting channel, and the head end of each sorting channel is connected with the sorting system to input alignments composed by the goods; a plurality of salvers used for carrying goods is placed on the palletizing station; the palletizing mechanical hand is arranged between the tail end of the sorting channel and the palletizing station to sort and palletize the alignments of the goods in the sorting channel to the salvers of the palletizing station; and the salver conveying machine is connected with the palletizing station, and is used for conveying the salvers to storehouses to be stored.
Description
Technical field
The utility model relates to a kind of logistics system, relates in particular to a kind of conveying of product and manipulator stacking system of warehouse-in of being used for.
Background technology
Along with the deep development of automatic technology, logistics system now just develops towards high efficiency, automation, intelligentized direction.With flow processs such as the vanning of product, warehouse-in storages is example, there's no one who doesn't or isn't comes conveying products with pipelining at present, to raise the efficiency.Yet present system lacks the effective record to the product of being carried; And, have dissimilar products in conveying, for example during the different brands product, existing system does not have the ability of resolution.Moreover, because assembly system has different loading and unloading capacitys with delivery system, warehouse-in system etc., how to make that to keep balance between them also be to need the problem that solves.
The utility model content
Technical problem to be solved in the utility model provides a kind of manipulator stacking system based on online bar code recognition and management.
The utility model is to solve the problems of the technologies described above the technical scheme that adopts to provide a kind of manipulator stacking system, comprising: delivery system, and also articles conveyed in order to receive; The bar code of the article that the main station scanner of rejecting, scanning are carried through delivery system is not wherein rejected the article that the station scanner successfully reads bar code and is pushed to main rejecting station by main; Sorting system connects this delivery system, in order to the default final passage according to article goods sorting is gone into sorting path; A plurality of off-sorting stations, each off-sorting station comprises a sorting path at least, each sorting path head end connects this sorting system, to import the formation that these article are formed; Stacking station is placed a plurality of pallets in order to bearing article on it; Palletizing mechanical arm is located between sorting path tail end and the stacking station, with the article queue in the sorting path is chosen get and piling to the pallet of stacking station; And conveyor pallet, connect this stacking station, in order to pallet is delivered to warehouse storage.
In above-mentioned manipulator stacking system, also comprise less important rejecting station scanner, the bar code and the final channel command of the article that scanning is carried through delivery system, the article that wherein successfully do not read bar code by less important rejecting station scanner or final passage is not set are pushed to less important rejecting station.
In above-mentioned manipulator stacking system, also comprise the mould turnover device, be located on each sorting path and place so that single cigarette erect.
In above-mentioned manipulator stacking system, this default final passage comprises main thoroughfare and alternative passage, and wherein if the main thoroughfare of article is full, then sorting system sorts it in alternative passage.
In above-mentioned manipulator stacking system, also comprise final rejecting station, the full article of wherein alternative passage are transported to final rejecting station.
In above-mentioned manipulator stacking system, the pallet that this palletizing mechanical arm is based on stacking station reaches specified quantity and starts piling.
In above-mentioned manipulator stacking system, also comprise the blank panel delivery system, it comprises: the empty pallet delivery stations provides empty pallet; The dolly that shuttles back and forth is chosen and is got empty pallet and be transported to pallet acception station; Pallet acception station connects this conveyor pallet, carries empty pallet to this stacking station by conveyor pallet.
In above-mentioned manipulator stacking system, also comprise pallet rejecting station, connect this conveyor pallet, receive the pallet that does not detect by profile.
Therefore, the utility model can make system can carry out online bar-code identification, realizes multi-brand letter sorting flexibly and balancing dynamic load, remedies the deficiency of existing system.Wherein the balancing dynamic load function that has of system can be distributed passage according to the productive capacity of packaging system, and transport efficiency is provided.
Description of drawings
For above-mentioned purpose of the present utility model, feature and advantage can be become apparent, below in conjunction with accompanying drawing the specific embodiment of the present utility model is elaborated, wherein:
Fig. 1 is the plane figure according to the manipulator stacking system of an embodiment of the utility model.
The specific embodiment
In the following embodiments, will describe as object conveyor, yet the utility model also can be used for carrying other article with bar code when being not limited to this with the part cigarette.
With reference to shown in Figure 1, the functional areas of manipulator stacking system 100 can be divided into part cigarette conveyer E1 102, main station C1 104, less important rejecting station F1 106, sorting system E2 108, off-sorting station A1～A3 110, palletizing mechanical arm R1～R3 112, stacking station D1～D6 114, conveyor pallet T1 116, access station, reservoir area B1～B7 118, piler S1～S6 120, the overhead storehouse W1 122 of rejecting.System 100 is controlled by a unshowned control system and coordinates.
The basic conveying flow process of this manipulator stacking system 100 is, the part cigarette piling that manipulator R1～R3112 will choose is sent to overhead storehouse W1 by conveyor pallet T1 116 with the pallet of filling then and stores on by the dolly that shuttles back and forth (Shuttle Car) 124 empty pallets of sending here.
The working process of each functional areas is described respectively below.
1, part cigarette conveyer (Case Conveyor System) E1
Part cigarette conveyer E1 102 at first is transported to sorting system E2 108 with the part cigarette from part cigarette packaging system (figure does not show).Wherein, part cigarette packaging system, part cigarette conveyer E1 102 and sorting system E2 108 all can be two-layer.In part cigarette conveyer E1 102,2 different returning are set reject the station, be respectively main station C1 104 and the less important rejecting station F1 106 of rejecting, so that the part cigarette is chosen based on bar code.
2, main station (Primary Rejection Area) C1 that rejects
The part cigarette can be by the main station scanner SC1 105 that rejects by in part cigarette conveyer E1 102 course of conveying.Main bar code of rejecting station scanner SC1 meeting scanned copy cigarette.The bar code that successfully reads can by in the input system so that manage.If scanner SC1 does not successfully read bar code, the part cigarette will be pushed to main rejecting station C1.The part cigarette of rejecting will be by manually removing, and check reason.After final the correction, the part cigarette can be sent system back to by part cigarette conveyer E1 again before main rejecting station C1.
By the part cigarette of scanner SC1, continue to be fed forward to less important rejecting scanner SC2 107 places by part cigarette conveyer E1.
3, less important rejecting station (Secondary Rejection Area) F1
By the part cigarette of main rejecting station scanner SC1, continue the less important rejecting of warp let-off station scanner SC2 107 by part cigarette conveyer E1.Whether scanner SC2 scanning bar code once more still can be read, and the instruction whether effectively final passage be set is received.Scanner SC2 can read and write down these bar codes and final channel command.If bar code can't read or final passage is not provided with as yet, then the part cigarette will be pushed to less important rejecting station F1 106 places.Wherein, final passage is meant the transfer passage of selecting of systemic presupposition in sorting system, the arbitrary passage among off-sorting station A1～A3 110 for example, and this will be described later.
By scanner SC2 scanning part cigarette out of question, E1 continues to be fed forward to sorting system E2 108 by part cigarette conveyer.
By the scanning at main rejecting station and less important rejecting station, can carry out online bar code recognition, different brands is selected different passages, realizes the multi-brand letter sorting.
4, sorting system (Sortation System) E2 and off-sorting station (Sortation Area) A1～A3
Part cigarette conveyer E1 102 imports the part cigarette that successfully reads on off-sorting station A1～A3 110 through sorting system E2 108.Each can have many sorting paths among off-sorting station A1～A3, and this can realize by hierarchy.Main (and alternative) sorting path of distributing will be imported the letter sorting transmission and line up.Each part cigarette will obtain following the tracks of on sorting path, arrive predefined main channel up to it.If perhaps the main channel is fully loaded, then arrive the alternative passage that sets in advance.
Every passage is respectively equipped with mould turnover device 111.Every channels designs provides accumulation for the part cigarette that waits manipulator stacking.In case be sorted to passage, the part cigarette will be erect single cigarette by mould turnover device 111 and place, and get ready for offering manipulator R1～R3 112 pilings.The part cigarette that enters each passage will be recorded in during concrete channel transfer is lined up in the control system, allow when former piece cigarette quantity and each part cigarette numbering for known to the follow-up handing-over function.
If for some reason, default main thoroughfare and the secondary channel that arrives of part cigarette all is fully loaded with, cause the part cigarette can't enter passage among off-sorting station A1～A3, then the part cigarette will continue transported to final rejecting station passage E3109, this place's display lamp will light, and send the signal prompting to the operator and return rejecting part cigarette.The part cigarette is by manually removing.
5, palletizing mechanical arm (Palletizing Robot System) R1-R3 and stacking station (PalletizingStation) D1-D6
After the part cigarette arrives the sorting path end of off-sorting station A1～A3, just need choose and get also that piling carries out piling to the empty pallet of each stacking station D1～D6114 by manipulator R1～R3112.A plurality of palletizing mechanical arms are arranged in a plurality of stacking station work, each manipulator can be responsible for bilevel a plurality of stacking station.
Each manipulator R1～R3 112 is by knowing the piling form of every passage with the communication of part cigarette travel line control system.Part cigarette conveyer E1 102 knows by same configuration whether the pallet of stacking station D1～D6 puts in place equally.In case pallet arrives stacking station and after the quantity of part cigarette on the sorting path reached the buffering quantity of default, then part cigarette conveyer E1 102 started corresponding manipulator selection.After the selection sequence starts, thus last of every passage stop/releaser waits the interface signal that manipulator sends and activates.Stop/function of releaser is to be used for the each part cigarette that grasps of manipulator and other the also not crawled part cigarettes on the sorting path are separated.Manipulator R1～R3 112 will manage piling in optimized mode, and start stop/releaser discharges part cigarette of the required correct number of each selection sequence.
The loaded pallets that piling is finished is transported to access station, reservoir area B1～B7118 by conveyor pallet T1 116.Put in storage as required by the piler S1～S6 120 among the overhead storehouse W1 122.
6, pallet is rejected station (Pallet Reject Station) H1 and hand inspection station (Manual InspectionStation) H2
Detect and to be sent to pallet when rejecting station H1117 when pallet can't pass profile on conveyor pallet T1 116, by importing conveyor pallet T1 by the dolly that shuttles back and forth (Shutter Car) 124 again through the G1-G3 of pallet acception station 126 again after the manual sorting.
In addition, overhead storehouse W1 domestic demand wants the pallet of manual detection to be transported to hand inspection station H2 119 through reservoir area access station B1～B7 and conveyor pallet T1 by piler S1～S6.
7, empty pallet delivery system (Empty Pallet Conveyor System)
Manually empty pallet is transported to empty pallet delivery stations K1 128 by fork truck, waits the dolly 124 that shuttles back and forth.Shuttle back and forth dolly 124 with empty pallet choose get after, be transported to the G1～G3 of each pallet acception station 126 of demand.By conveyor pallet T1 116, empty pallet is delivered to the stacking station D1～D6 114 that needs then, carries out piling on it so that the part cigarette is loaded into by manipulator.
Therefore, the utility model can make system can carry out online bar-code identification, realizes multi-brand letter sorting flexibly and balancing dynamic load, remedies the deficiency of existing system.Wherein the balancing dynamic load function that has of system can be distributed passage according to the productive capacity of packaging system, improves transport efficiency.
Though the utility model discloses as above with preferred embodiment; right its is not in order to limit the utility model; any those skilled in the art; in not breaking away from spirit and scope of the present utility model; when doing a little modification and perfect, therefore protection domain of the present utility model is worked as with being as the criterion that claims were defined.
Claims (8)
1. manipulator stacking system is characterized in that comprising:
Delivery system, also articles conveyed in order to receive;
The bar code of the article that the main station scanner of rejecting, scanning are carried through delivery system is not wherein rejected the article that the station scanner successfully reads bar code and is pushed to main rejecting station by main;
Sorting system connects this delivery system, in order to the default final passage according to article goods sorting is gone into sorting path;
A plurality of off-sorting stations, each off-sorting station comprises a sorting path at least, each sorting path head end connects this sorting system, to import the formation that these article are formed;
Stacking station is placed a plurality of pallets in order to bearing article on it;
Palletizing mechanical arm is located between sorting path tail end and the stacking station, with the article queue in the sorting path is chosen get and piling to the pallet of stacking station; And
Conveyor pallet connects this stacking station, in order to pallet is delivered to warehouse storage.
2. manipulator stacking system as claimed in claim 1, it is characterized in that, also comprise less important rejecting station scanner, the bar code and the final channel command of the article that scanning is carried through delivery system, the article that wherein successfully do not read bar code by less important rejecting station scanner or final passage is not set are pushed to less important rejecting station.
3. manipulator stacking system as claimed in claim 1 is characterized in that, also comprises the mould turnover device, is located on each sorting path to place so that single cigarette erect.
4. manipulator stacking system as claimed in claim 1 is characterized in that, this default final passage comprises main thoroughfare and alternative passage, and wherein if the main thoroughfare of article is full, then sorting system sorts it in alternative passage.
5. manipulator stacking system as claimed in claim 4 is characterized in that, also comprises final rejecting station, and the full article of wherein alternative passage are transported to final rejecting station.
6. manipulator stacking system as claimed in claim 1 is characterized in that, the pallet that this palletizing mechanical arm is based on stacking station reaches specified quantity and starts piling.
7. manipulator stacking system as claimed in claim 1 is characterized in that, also comprises the blank panel delivery system, and it comprises:
The empty pallet delivery stations provides empty pallet;
The dolly that shuttles back and forth is chosen and is got empty pallet and be transported to pallet acception station;
Pallet acception station connects this conveyor pallet, carries empty pallet to this stacking station by conveyor pallet.
8. manipulator stacking system as claimed in claim 1 is characterized in that, also comprises pallet rejecting station, connects this conveyor pallet, receives the pallet that does not detect by profile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201500993U CN201254398Y (en) | 2008-06-27 | 2008-06-27 | Manipulator palletizing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201500993U CN201254398Y (en) | 2008-06-27 | 2008-06-27 | Manipulator palletizing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201254398Y true CN201254398Y (en) | 2009-06-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008201500993U Expired - Lifetime CN201254398Y (en) | 2008-06-27 | 2008-06-27 | Manipulator palletizing system |
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| CN (1) | CN201254398Y (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101863385A (en) * | 2010-06-04 | 2010-10-20 | 红云红河烟草(集团)有限责任公司 | Automatic unstacking-stacking process for warehouse-transfer tobacco |
| CN103144934A (en) * | 2013-03-01 | 2013-06-12 | 青岛诺力达工业装备有限公司 | Automatic stacking system with single main line and multiple output tray libraries |
| CN103318653A (en) * | 2013-05-23 | 2013-09-25 | 北京达特集成技术有限责任公司 | Industrial and commercial cooperation cigarette packaging, storage and transportation logistics system and method |
| CN103318588A (en) * | 2012-03-22 | 2013-09-25 | 贵阳普天物流技术有限公司 | Storage method of cigarette case warehouse and used cigarette case warehouse entering device |
| CN103523438A (en) * | 2013-10-25 | 2014-01-22 | 厦门烟草工业有限责任公司 | Double-path shuttle goods shelf type tobacco flake formula logistics automation system and handling method |
| CN104444179A (en) * | 2014-10-08 | 2015-03-25 | 云南昆船设计研究院 | Method for achieving automatic feeding and discharging of bulk tobacco packages |
| CN104444185A (en) * | 2014-11-10 | 2015-03-25 | 镇江威速自动化系统技术有限公司 | Halved belt sorting machine |
| CN105858033A (en) * | 2016-05-23 | 2016-08-17 | 龙岩烟草工业有限责任公司 | Material warehousing system and method |
| CN106185280A (en) * | 2016-08-30 | 2016-12-07 | 吴中区横泾嘉运模具厂 | Every magnetic lever bracket dish feed mechanism |
| CN106697701A (en) * | 2017-03-13 | 2017-05-24 | 上海龙腾科技股份有限公司 | Transmission control system |
| CN106743012A (en) * | 2016-12-23 | 2017-05-31 | 浙江中烟工业有限责任公司 | A kind of wrong cigarette bag returns storehouse method automatically |
| CN107030015A (en) * | 2015-07-30 | 2017-08-11 | 广州炊事班电子科技有限公司 | One kind scanning sorting system |
| CN108328288A (en) * | 2018-02-13 | 2018-07-27 | 威海新北洋正棋机器人股份有限公司 | A kind of method and complement code sorting device of complement code sorting |
| CN109607022A (en) * | 2019-01-07 | 2019-04-12 | 昆山圣炬智能系统技术有限公司 | A kind of chemicals empty barrel storage system |
| CN109747887A (en) * | 2018-12-05 | 2019-05-14 | 北京极智嘉科技有限公司 | Storage article automatic packaging system, manipulator, packaging method and device |
-
2008
- 2008-06-27 CN CNU2008201500993U patent/CN201254398Y/en not_active Expired - Lifetime
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101863385A (en) * | 2010-06-04 | 2010-10-20 | 红云红河烟草(集团)有限责任公司 | Automatic unstacking-stacking process for warehouse-transfer tobacco |
| CN103318588A (en) * | 2012-03-22 | 2013-09-25 | 贵阳普天物流技术有限公司 | Storage method of cigarette case warehouse and used cigarette case warehouse entering device |
| CN103144934A (en) * | 2013-03-01 | 2013-06-12 | 青岛诺力达工业装备有限公司 | Automatic stacking system with single main line and multiple output tray libraries |
| CN103144934B (en) * | 2013-03-01 | 2015-05-13 | 青岛诺力达工业装备有限公司 | Automatic stacking system with single main line and multiple output tray libraries |
| CN103318653A (en) * | 2013-05-23 | 2013-09-25 | 北京达特集成技术有限责任公司 | Industrial and commercial cooperation cigarette packaging, storage and transportation logistics system and method |
| CN103318653B (en) * | 2013-05-23 | 2015-08-19 | 北京达特集成技术有限责任公司 | A kind of cigarette package accumulating material-flow method of business synergic |
| CN103523438A (en) * | 2013-10-25 | 2014-01-22 | 厦门烟草工业有限责任公司 | Double-path shuttle goods shelf type tobacco flake formula logistics automation system and handling method |
| CN104444179A (en) * | 2014-10-08 | 2015-03-25 | 云南昆船设计研究院 | Method for achieving automatic feeding and discharging of bulk tobacco packages |
| CN104444185A (en) * | 2014-11-10 | 2015-03-25 | 镇江威速自动化系统技术有限公司 | Halved belt sorting machine |
| CN107030015A (en) * | 2015-07-30 | 2017-08-11 | 广州炊事班电子科技有限公司 | One kind scanning sorting system |
| CN105858033A (en) * | 2016-05-23 | 2016-08-17 | 龙岩烟草工业有限责任公司 | Material warehousing system and method |
| CN105858033B (en) * | 2016-05-23 | 2018-06-08 | 龙岩烟草工业有限责任公司 | Materiel warehouse-in system and method |
| CN106185280A (en) * | 2016-08-30 | 2016-12-07 | 吴中区横泾嘉运模具厂 | Every magnetic lever bracket dish feed mechanism |
| CN106185280B (en) * | 2016-08-30 | 2018-07-17 | 朱洋 | Every magnetic lever bracket disk feed mechanism |
| CN106743012A (en) * | 2016-12-23 | 2017-05-31 | 浙江中烟工业有限责任公司 | A kind of wrong cigarette bag returns storehouse method automatically |
| CN106743012B (en) * | 2016-12-23 | 2019-01-01 | 浙江中烟工业有限责任公司 | It is a kind of mistake cigarette packet return library method automatically |
| CN106697701A (en) * | 2017-03-13 | 2017-05-24 | 上海龙腾科技股份有限公司 | Transmission control system |
| CN108328288A (en) * | 2018-02-13 | 2018-07-27 | 威海新北洋正棋机器人股份有限公司 | A kind of method and complement code sorting device of complement code sorting |
| CN109747887A (en) * | 2018-12-05 | 2019-05-14 | 北京极智嘉科技有限公司 | Storage article automatic packaging system, manipulator, packaging method and device |
| CN109607022A (en) * | 2019-01-07 | 2019-04-12 | 昆山圣炬智能系统技术有限公司 | A kind of chemicals empty barrel storage system |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20090610 |