CN201553314U - Robot automatic box loading machine - Google Patents

Robot automatic box loading machine Download PDF

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Publication number
CN201553314U
CN201553314U CN2009202537468U CN200920253746U CN201553314U CN 201553314 U CN201553314 U CN 201553314U CN 2009202537468 U CN2009202537468 U CN 2009202537468U CN 200920253746 U CN200920253746 U CN 200920253746U CN 201553314 U CN201553314 U CN 201553314U
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CN
China
Prior art keywords
conveyer
carton
robot
loading machine
swivel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
CN2009202537468U
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Chinese (zh)
Inventor
唐启娴
邹建康
扬勇
沙应杰
郭跃
徐智勇
杨剑锋
毕昆义
郑森
王洪忠
李仲阳
冯义雁
游葵
陈刚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Oriental Machine Manufacturing (kunming) Co Ltd
Original Assignee
Oriental Machine Manufacturing (kunming) Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Oriental Machine Manufacturing (kunming) Co Ltd filed Critical Oriental Machine Manufacturing (kunming) Co Ltd
Priority to CN2009202537468U priority Critical patent/CN201553314U/en
Application granted granted Critical
Publication of CN201553314U publication Critical patent/CN201553314U/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Abstract

The utility model provides a robot automatic box loading machine which comprises a carton conveyor and a box packaging machine, and further comprises a carton lifting conveyor located between the carton conveyor and the box packaging machine, and a robot which is located between the carton lifting conveyor and the box packaging machine. Automatic box loading can be completely realized, the defects in the prior art of big labor intensity, low working efficiency and the like due to manual box loading can be solved fundamentally, the robot automatic box loading machine has compact structure, reasonable layout, automatic and rapid box loading, and does not occupy more production space, suitable robot automatic box loading machine types can be selected according to different box packaging machine layout in the prior art, the applicable range is wide, the installation is convenient, investment is saved, and the robot automatic box loading machine can provide guarantee of full automatic operation of tobacco packing.

Description

A kind of robot automatic carton loading machine
Technical field
The utility model relates to a kind of robot automatic carton loading machine, and particularly a kind of robot automatic carton loading machine that is used on the case packer belongs to production of cigarettes design of plant and manufacturing technology field.
Background technology
In production of cigarettes especially cigarette package production operation, in the case of the cigarette of packing slivering need being packed into, and before vanning, carton to be placed on the carton storehouse of case packer earlier.Prior art is to stand up or lie on the carton storehouse of case packer by the carton on the pallet of manually the AGV dolly being sent here, and not only labour intensity is big, inefficiency, and be difficult to realize the full-automatic operation of cigarette package.Therefore, development and development machines people automatic box feeding machine have become the important step that realizes full-automatic cigarette package production process.
Summary of the invention
For reducing labor strength, enhance productivity, promote full-automatic cigarette package production, the utility model provides a kind of robot automatic carton loading machine.
The utility model is finished by following technical proposal: a kind of robot automatic carton loading machine, comprise carton conveyer and case packer, and it is characterized in that also comprising:
The carton lift and conveyer---between carton conveyer and case packer, pedestal by the bottom, the conveyer at top, and lifter and the actuator be located at therebetween constitute, its input end and carton conveyer mouth join, with when finishing the carton horizontal feed, finish the vertical lift of carton and carry;
Robot---between carton lift and conveyer and case packer, pedestal by the bottom, be located at the swivel on the pedestal, the rotating suction disc of being located at the swivel end constitutes, rotation and swing by swivel and sucker, carton on the carton lift and conveyer is drawn, is moved in the carton storehouse of case packer and deposit, be packaged into bar cigarette carton to provide to case packer;
Image identification system---be positioned at carton lift and conveyer top, be installed on the sucker disk seat of fixed support or robot swivel upper end, and electrically connect by ethernet and automatic box feeding control system, be transported to the placement location of the carton that the robot on the carton lift and conveyer will grasp with automatic identification, crooked and carton specification brand, and by the controller in the image identification system, the data of the image identification system photograph being gathered predefined carton tram in next signal and data and the controller compare, draw the correctness of the crooked deviant and the carton specification brand of cartons position, pass through Ethernet interface, import the automatic box feeding control system into, the PLC controller of automatic box feeding control system sends the crooked of cartons position to robot controller, the instruction of deviant and carton specification brand correctness, robot controller is according to instruction that image identification system sent, control robot is grasping, finish in the process of placement carton and move and rotation, thereby carton correctly is placed on the carton storehouse of case packer; For the carton of carton specification brand mistake, image identification system notice robot does not grasp the concurrent visual alarm of speaking;
Control system---comprise the PLC controller and the touch-screen display of automatic box feeding control system, the PLC controller and the robot controller of the case packer that electrically connects by PROFIBUS-DP bus and this controller, the controller of the image identification system that electrically connects by ethernet and this controller, be installed in that the motor switch, the Photoelectric Detection that electrically connect with this controller on carton conveyer, the carton lift and conveyer opened the light, sensor, to provide failure-free control signal and data, make each actuating unit reach required action request to each actuating unit; Simultaneously by the complete Chinese display equipment running condition of telltale, fault, carton quantity statistics.
Described control system is reserved the profinet bus interface, can with the Central Control Room communication.
The lifter of described carton lift and conveyer comprises the upper and lower guide rail that is separately positioned on bottom pedestal and the top conveyer, the cross link that on pedestal and the top conveyer and middle part is hinged by hinge bottom being installed in respectively, and the other end of cross link is arranged on bottom pedestal and the cooresponding upper and lower guide rail of top conveyer, wherein a connecting rod links to each other with actuator, so that under driver drives, two cross link, one end that is hinged is moved along guide rail, thereby make conveyer do vertical uplift or descending motion.
Described actuator is driving chain and drive motor, perhaps is driving oil cylinder.
Described conveyer is a belt conveyor, or conveyer chain, or conveying roller, and the driving reducing motor that is attached thereto.
Described robot swivel comprises four~six rotary joints and is located at swivel arm between the two diaxon rotary joints, so that one of them or several swivel arm are rotated around axle rotary joint cooresponding with it, with finish vertical direction on the swivel stretch or crooked.
Described swivel lower end links to each other with the pedestal of bottom by bearing rotating disk or gear turntable, and bearing rotating disk or gear turntable link to each other with drive motor, so that the driven in rotation body is finished 360 ° rotation on horizontal surface.
Described swivel upper end links to each other with sucker disk seat by the bearing rotating disk, the bearing rotating disk links to each other with drive motor, be interval with the sucker that is communicated with source of the gas on the sucker disk seat,, draw or put down carton by sucker again so that on horizontal surface, finish 360 ° rotation by the motor-driven sucker disk seat.
Described carton conveyer comprises frame, be located at upper and lower layer conveyer and feed drive reducing motor on the frame, wherein conveyer is load-transfer device or conveyer chain or conveying roller, so that send into the pallet of being with carton by the upper strata conveyer, sends empty pallet by lower floor's conveyer again.
The utlity model has following advantage and effect: adopt such scheme, can be completely achieved automatic box feeding, it is big fundamentally to solve the labour intensity that brings with artificial top box in the prior art, deficiencies such as inefficiency, and the utility model compact conformation, rationally distributed, automatic box feeding accurately, fast, do not take more production space, can select suitable robot automatic carton loading machine type according to case packer layouts different in the prior art, applicable area is wider, easy for installation, reduced investment can realize full-automatic operation for cigarette package and provide safeguard.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is the plan structure scheme drawing of Fig. 1;
Fig. 3 is the left TV structure scheme drawing of Fig. 1;
Fig. 4 is a carton conveyor construction scheme drawing of the present utility model;
Fig. 5 is a carton lift and conveyer structural representation of the present utility model;
Fig. 6 is robot architecture's scheme drawing of the present utility model.
Fig. 7 is another structural representation of the present utility model;
Fig. 8 is the plan structure scheme drawing of Fig. 7;
Fig. 9 is the left TV structure scheme drawing of Fig. 7;
Figure 10 is an another structural representation of the present utility model;
Figure 11 is the plan structure scheme drawing of Figure 10;
Figure 12 is the left TV structure scheme drawing of Figure 10;
Figure 13 is the control block diagram of image identification system of the present utility model and control system.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described further, is not limited thereto but hold within the utility model.
Fig. 1~Fig. 6, Figure 13 constitute embodiment 1 of the present utility model:
The robot automatic carton loading machine that the utility model provides comprises carton conveyer (1) and case packer (3), also comprises simultaneously:
Carton lift and conveyer (2)---be positioned between carton conveyer (1) and the case packer (3), and its input end and carton conveyer (1) mouth join,, finish the vertical lift of carton and carry with when finishing the carton horizontal feed; Carton lift and conveyer (2) is by the pedestal (223) of bottom, the conveyer at top (21), and lifter and the actuator be located at therebetween constitute, wherein, lifter comprise be separately positioned on bottom pedestal (223) and the top conveyer (21) on, lower guideway (221), (224), and two cross link (222) that are hinged by hinge (226) in the middle part of it, one end of two connecting rods (222) is separately fixed on bottom pedestal (223) and the top conveyer (21), the other end by pulley be slidingly arranged in bottom pedestal (223) and top conveyer (21) cooresponding on, lower guideway (221), (224) on, wherein a connecting rod is provided with sprocket wheel (227), and link to each other with drive motor by chain 225, so that under drive motor drives, make two cross link (222) one ends that are hinged along guide rail (221), (224) move, thereby make conveyer (21) do vertical uplift or descending motion, conveyer (21) is conventional conveying roller, as Fig. 1, Fig. 2, Fig. 5;
Robot (4)---be positioned between carton lift and conveyer (2) and the case packer (3), the artificial commercial product of this machine, its pedestal (41) by the bottom, be located at the swivel (42) on the pedestal (41), the rotating suction disc (43) of being located at swivel (42) end constitutes, wherein, swivel (42) comprises four rotary joints (424) and is located at swivel arm (422) between the two diaxon rotary joints (424), so that one of them or several swivel arm (422) are rotated around axle rotary joint cooresponding with it (424), go up stretching of vertical direction or crooked to finish swivel (42); Swivel (42) lower end links to each other with the pedestal (41) of bottom by bearing rotating disk (421), and bearing rotating disk (421) links to each other with drive motor, so that driven in rotation body (42) is finished 360 ° rotation on horizontal surface; Swivel (42) upper end links to each other with sucker disk seat (431) by bearing rotating disk (423), bearing rotating disk (423) links to each other with drive motor, so that on horizontal surface, finish 360 ° rotation by motor-driven sucker disk seat (431), be interval with the sucker (432) that is communicated with source of the gas on the sucker disk seat (431), to draw or to put down carton by sucker (432); Rotation and swing by the horizontally rotating of this robot (4), vertical stretching or bending, swing and sucker, carton on the carton lift and conveyer (2) is drawn, is moved in the carton storehouse (31) of case packer (3) and deposit, be packaged into bar cigarette carton to provide, as Fig. 1, Fig. 2, Fig. 3, Fig. 6 to case packer (3);
Image identification system (6)---be positioned at carton lift and conveyer (2) top, specifically be mounted on the fixed support (5), it is commercial product, so that automatically identification is transported to the placement location of the carton that the robot (4) on the carton lift and conveyer (2) will grasp, crooked and carton specification brand, PLC controller system by image identification system (6), image identification system (6) photograph is gathered the interior predefined carton tram of controller of next signal and data and image identification system (6), the data of carton specification brand compare, draw the crooked of cartons position, the data of deviant and carton specification brand correctness, and with the PROFIBUS-DP interface of these data by the PLC controller of image identification system (6), import the PROFIBUS-DP of automatic box feeding system bus into, send the correctness instruction of the crooked deviant and the carton specification brand of cartons position to the PLC controller of robot (4), the PLC controller of robot (4) is according to image identification system (6) instruction of sending, control robot (4) is grasping, place to finish in the carton process and move and rotation, carton can correctly be placed in the carton storehouse (31) of case packer (3); When carton specification brand mistake, image identification system (6) then notifies robot (4) not grasp wrong carton, and the concurrent visual alarm of speaking is as Fig. 1, Fig. 2, Fig. 3, Figure 13;
Control system---comprise the conventional PLC controller and the conventional touch-screen display (72) of the automatic box feeding control system that is installed in the electrical control cubicles (71), the PLC controller and the commercial robot PLC controller of the case packer that electrically connects by PROFIBUS-DP bus and described controller, the controller of the image identification system that electrically connects by ethernet and described controller, be installed in carton conveyer (1), the motor switch that electrically connects with described controller on the carton lift and conveyer (2), Photoelectric Detection is opened the light, sensor, to provide failure-free control signal and data, make each actuating unit reach required action request to each actuating unit; Simultaneously by the complete Chinese display equipment running condition of telltale (72), fault, carton quantity statistics, described control system is reserved with Central Control Room, in the profinet bus interface of AGV dolly communication, as Fig. 1, Fig. 2, Fig. 3, Figure 13.
Described carton conveyer (1) is conventional conveying roller, comprise frame (10), be located at upper strata conveying roller (11), lower floor's conveying roller (12) and feed drive reducing motor (13) on the frame (10), as Fig. 1, Fig. 4, so that send into the pallet of being with carton by upper strata conveyer (11), send empty pallet by lower floor's conveyer (12) again.
Fig. 7~Fig. 9, Figure 13 constitute embodiment 2 of the present utility model:
Another robot automatic carton loading machine that the utility model provides, comprise carton conveyer (1), the carton lift and conveyer (2) that is attached thereto, case packer (3), and be positioned at robot (4) between carton lift and conveyer (2) and the case packer (3), by Fig. 7~Fig. 9 as can be known, except that layout and embodiment 1 were different, all the other all structures were all identical with embodiment 1.
Figure 10~Figure 12, Figure 13 constitute embodiment 3 of the present utility model:
The another robot automatic carton loading machine that the utility model provides, comprise carton conveyer (1), the carton lift and conveyer (2) that is attached thereto, case packer (3), and be positioned at robot (4) between carton lift and conveyer (2) and the case packer (3), by Figure 10~Figure 12 as can be known, except that layout and embodiment 1 were different, all the other all structures were all identical with embodiment 1.

Claims (9)

1. a robot automatic carton loading machine comprises carton conveyer and case packer, it is characterized in that also comprising:
The carton lift and conveyer---between carton conveyer and case packer, by the pedestal of bottom, the conveyer at top, and lifter and the actuator be located at therebetween constitute, its input end and carton conveyer mouth join;
Robot---between carton lift and conveyer and case packer, by the pedestal of bottom, be located at the swivel on the pedestal, the rotating suction disc of being located at the swivel end constitutes;
Image identification system---be positioned at carton lift and conveyer top, be installed on the sucker disk seat of fixed support or robot swivel upper end, and electrically connect by ethernet and automatic box feeding control system;
Control system---comprise the PLC controller and the touch-screen display of automatic box feeding control system, the PLC controller and the robot controller of the case packer that electrically connects by PROFIBUS-DP bus and this controller, the controller of the image identification system that electrically connects by ethernet and this controller is installed in that the motor switch, the Photoelectric Detection that electrically connect with this controller on carton conveyer, the carton lift and conveyer opened the light, sensor.
2. robot automatic carton loading machine as claimed in claim 1, the lifter that it is characterized in that described carton lift and conveyer comprises the upper and lower guide rail that is separately positioned on bottom pedestal and the top conveyer, the cross link that on pedestal and the top conveyer and middle part is hinged by hinge bottom being installed in respectively, and the other end of cross link is arranged on bottom pedestal and the cooresponding upper and lower guide rail of top conveyer, and wherein a connecting rod links to each other with actuator.
3. robot automatic carton loading machine as claimed in claim 2 is characterized in that described actuator is driving chain and drive motor, perhaps is driving oil cylinder.
4. robot automatic carton loading machine as claimed in claim 2 is characterized in that described conveyer is a belt conveyor, or conveyer chain, or conveying roller, and the driving reducing motor that is attached thereto.
5. robot automatic carton loading machine as claimed in claim 1 is characterized in that described robot swivel comprises 4~6 rotary joints and is located at swivel arm between the two diaxon rotary joints.
7. robot automatic carton loading machine as claimed in claim 5 is characterized in that described swivel lower end links to each other with the pedestal of bottom by bearing rotating disk or gear turntable, and bearing rotating disk or gear turntable link to each other with drive motor.
8. robot automatic carton loading machine as claimed in claim 5 is characterized in that described swivel upper end links to each other with sucker disk seat by the bearing rotating disk, and the bearing rotating disk links to each other with drive motor, is interval with the sucker that is communicated with source of the gas on the sucker disk seat.
9. robot automatic carton loading machine as claimed in claim 1 is characterized in that described carton conveyer comprises frame, is located at upper and lower layer conveyer and feed drive reducing motor on the frame, and wherein conveyer is load-transfer device or conveyer chain or conveying roller.
CN2009202537468U 2009-11-20 2009-11-20 Robot automatic box loading machine Expired - Lifetime CN201553314U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2009202537468U CN201553314U (en) 2009-11-20 2009-11-20 Robot automatic box loading machine

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Application Number Priority Date Filing Date Title
CN2009202537468U CN201553314U (en) 2009-11-20 2009-11-20 Robot automatic box loading machine

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102490934A (en) * 2011-11-30 2012-06-13 颐中(青岛)烟草机械有限公司 Automatic box blank feeding device
CN106005610A (en) * 2016-06-22 2016-10-12 青岛科技大学 Box selection device capable of measuring width of goods automatically
CN106604881A (en) * 2014-08-27 2017-04-26 因特利格兰特总部有限责任公司 Robotic carton unloader
CN108045934A (en) * 2017-12-14 2018-05-18 广西庚源香料有限责任公司 A kind of gripping conveying device during the processing for component of machine
WO2020228193A1 (en) * 2019-05-16 2020-11-19 山东大学 Hydraulically driven rotary separation-type lifting/lowering conveyor and application thereof

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102490934A (en) * 2011-11-30 2012-06-13 颐中(青岛)烟草机械有限公司 Automatic box blank feeding device
CN102490934B (en) * 2011-11-30 2015-01-21 颐中(青岛)烟草机械有限公司 Automatic box blank feeding device
CN106604881A (en) * 2014-08-27 2017-04-26 因特利格兰特总部有限责任公司 Robotic carton unloader
CN106604881B (en) * 2014-08-27 2019-06-04 因特利格兰特总部有限责任公司 Robot carton unloader
CN106005610A (en) * 2016-06-22 2016-10-12 青岛科技大学 Box selection device capable of measuring width of goods automatically
CN106005610B (en) * 2016-06-22 2018-07-03 青岛科技大学 Automatic measurement cargo width selects case apparatus
CN108045934A (en) * 2017-12-14 2018-05-18 广西庚源香料有限责任公司 A kind of gripping conveying device during the processing for component of machine
WO2020228193A1 (en) * 2019-05-16 2020-11-19 山东大学 Hydraulically driven rotary separation-type lifting/lowering conveyor and application thereof

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Granted publication date: 20100818