CN203667100U - Improved fully-automatic unstacking and unpacking system - Google Patents
Improved fully-automatic unstacking and unpacking system Download PDFInfo
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- CN203667100U CN203667100U CN201420013714.1U CN201420013714U CN203667100U CN 203667100 U CN203667100 U CN 203667100U CN 201420013714 U CN201420013714 U CN 201420013714U CN 203667100 U CN203667100 U CN 203667100U
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Abstract
The utility model relates to an improved fully-automatic unstacking and unpacking system which comprises a robot unstacking system, a packaging bag conveying system, a bag feeding machine, an unpacking and screening discharge system and a waste bag automatic packaging system, wherein the robot unstacking system is connected with the packaging bag conveying system, the other side of the robot unstacking system is connected with the bag feeding machine, the other end of the bag feeding machine is connected with the unpacking and screening discharge system, the unpacking and screening discharge system is connected with the waste bag automatic packaging system, the robot unstacking system comprises a robot, a visual identification system and a vacuum sucker, the visual identification system is installed at the front end of a mechanical arm of the robot and is composed of an industrial camera and a control system, and the vacuum sucker is installed at the top end of the mechanical arm and is connected with a vacuum pump. The system has the advantages of being high in working efficiency, high in automation degree and capable of saving labor. Due to the fact that the whole operation process is conducted in a closed container, pollution to the environment is light, and the difficulty in unpacking poisonous, harmful and corrosive materials is overcome.
Description
[technical field]
The utility model relates to that solid material is unpacked, discharge system technical field, specifically a kind of improved automatic de-stacking Unpacking.
[background technology]
At present, on market, the de-stacking of solids package material is unpacked by artificial de-stacking, automatically or S. A. is unpacked, discharging completes.Under this situation, because operating personal is many, labour intensity is large, be not suitable for completely poisonous, being harmfully unfavorable for the environment of health and material cleanliness being required under high environment.
As often there being some materials to there is microtoxicity or corrosive property in the industries such as petrochemical complex, in food and pharmaceutical industry, the cleanliness of material is required very highly, therefore, in this case, requirement should reduce a staff and the touch opportunity of material as far as possible.
[utility model content]
The purpose of this utility model is exactly will solve above-mentioned deficiency and a kind of improved automatic de-stacking Unpacking is provided, there is the advantages such as work efficiency is high, degree of automation is high, saving labour power, because whole operating process is carried out in leakproof tank, therefore environmental pollution is little, has solved the difficult problem of unpacking poisonous, the material that is harmful to, is corrosive.
Design for achieving the above object a kind of improved automatic de-stacking Unpacking, comprise robot de-stacking system, packaging bag delivery system, upper bag machine, unpack and sieve discharge system and a useless bag automatic packaging system, described robot de-stacking system is connected with packaging bag delivery system, the opposite side of described robot de-stacking system connects the feeding end of upper bag machine, the discharge end of described upper bag machine is connected with the input end of the screening discharge system of unpacking, the useless bag mouth of the described screening discharge system of unpacking connects useless bag automatic packaging system, described robot de-stacking system comprises robot, robot base, the visual recognition line vacuum cup of unifying, described robot is arranged on robot base, the mechanical arm front end of described robot is equipped with visual identifying system by frame, described visual identifying system is by industrial camera and composition of the control system, the top of described mechanical arm is provided with vacuum cup, described vacuum cup is arranged on visual identifying system below, described vacuum cup is connected with vacuum pump, described vacuum pump line connection control system.
The described screening discharge system of unpacking comprises broken bag mechanism, screening mechanism, shedding mechanism and useless bag output mechanism, the input end of described broken bag mechanism connects the discharge end of upper bag machine, the mouth of described broken bag mechanism is connected with the input end of screening mechanism, the material mouth of described screening mechanism connects shedding mechanism, the useless bag mouth of described screening mechanism connects useless bag output mechanism, and described useless bag output mechanism is connected with useless bag automatic packaging system.
Described broken bag mechanism comprises main shaft, broken bag motor, cutting knife and casing, described main shaft is connected with the mouth of broken bag motor, on described main shaft, cutting knife is installed, described casing inlet point is connected with the discharge end of upper bag machine, and described casing discharging opening is connected with the input end of screening mechanism.
Described screening mechanism comprises support, casing two, screening bucket, transmission device and screening motor, and described screening bucket connects screening motor by transmission device, and described screening bucket is arranged in casing two.
Described shedding mechanism comprises discharger, and the feeding mouth of described discharger is connected with the material mouth of screening mechanism.
Described packaging bag delivery system comprises tears film conveyer, real buttress conveyer, empty buttress conveyer and free roller conveyor open, the described film conveyer, real buttress conveyer, empty buttress conveyer, free roller conveyor torn open connects successively, and described robot de-stacking system is arranged on real buttress conveyer place.
Described useless bag automatic packaging system comprises useless bag automatic packing machine, and described useless bag automatic packing machine connects the useless bag output mechanism of the screening discharge system of unpacking by flange.
In the described screening discharge system of unpacking, be provided with material level autoalarm, described material level autoalarm line connection control system.
Compared with the existing technology, tool has the following advantages the utility model:
(1) the utility model is applicable to powder, pellet and fitfull sheet material, and packaging bag material is woven bag, craft paper or plastic sheeting, is applicable to remove weight and is less than or equal to the packaging bag of 50 kilograms;
(2) all in leakproof tank, carry out because complete packaging bag enters Unpacking all operations afterwards, therefore farthest reduced the pollution of material to environment;
(3) by be provided with material level autoalarm in Unpacking, thereby while breaking down, annunciator can give the alarm, interlock system progressively stops de-stacking, packaging bag conveyer, bag-crusher, sieving machine, useless bag compress and the each mechanism of blanking automatically and in an orderly manner, and this automatic alarm interlock system has ensured that security of system moves reliably;
(4) in whole operating process; operating personal does not directly contact with material; thereby when material is poisonous, when being harmful to, being corrosive; native system can have been protected the healthy of operating personal well; and in food and pharmacy etc. require industry that the cleanliness of material is high, reduce again the contaminated chance of material.
To sum up, the utlity model has the advantages such as work efficiency is high, degree of automation is high, saving labour power, because whole operating process is carried out in leakproof tank, therefore environmental pollution is little; Especially solve the difficult problem of unpacking poisonous, the material that is harmful to, is corrosive, and provide safe and reliable operating unit for the Unmanned operation of food, pharmaceutical industry.
[brief description of the drawings]
Fig. 1 is structural representation of the present utility model;
In figure: 1, upper bag machine 2, robot 3, robot base 4, visual identifying system 5, vacuum cup 6, broken bag mechanism 7, cutting knife 8, screening mechanism 9, discharger 10, a useless bag output mechanism 11, a useless bag automatic packing machine 12, tear film conveyer 13, real buttress conveyer 14, empty buttress conveyer 15, free roller conveyor 16, buttress dish open.
[detailed description of the invention]
Below in conjunction with accompanying drawing, the utility model is done to following further illustrating:
As shown in drawings, the utility model comprises: robot de-stacking system, packaging bag delivery system, upper bag machine 1, unpack and sieve discharge system and a useless bag automatic packaging system, robot de-stacking system is connected with packaging bag delivery system, the opposite side of robot de-stacking system connects the feeding end of upper bag machine, the discharge end of upper bag machine is connected with the input end of the screening discharge system of unpacking, unpack and sieve the useless bag of a useless bag mouth connection automatic packaging system for discharge system, robot de-stacking system comprises robot 2, robot base 3, visual identifying system 4 and vacuum cup 5, robot is arranged on robot base, the mechanical arm front end of robot is equipped with visual identifying system by frame, visual identifying system is by industrial camera and composition of the control system, the top of mechanical arm is provided with vacuum cup, vacuum cup is arranged on visual identifying system below, vacuum cup is connected with vacuum pump, vacuum pump line connection control system.
In the utility model, the screening discharge system of unpacking comprises broken bag mechanism 6, screening mechanism 8, shedding mechanism and useless bag output mechanism 10, the input end of broken bag mechanism connects the discharge end of upper bag machine, the mouth of broken bag mechanism is connected with the input end of screening mechanism, the material mouth of screening mechanism connects shedding mechanism, the useless bag mouth of screening mechanism connects useless bag output mechanism, and useless bag output mechanism is connected with useless bag automatic packaging system; Wherein, broken bag mechanism comprises main shaft, broken bag motor, cutting knife 7 and casing, and described main shaft is connected with the mouth of broken bag motor, on described main shaft, cutting knife is installed, described casing inlet point is connected with the discharge end of upper bag machine, and described casing discharging opening is connected with the input end of screening mechanism; Screening mechanism comprises support, casing two, screening bucket, transmission device and screening motor, and described screening bucket connects screening motor by transmission device, and described screening bucket is arranged in casing two; Shedding mechanism comprises discharger 9, and the feeding mouth of discharger is connected with the material mouth of screening mechanism.The concrete structure of this screening discharge system of unpacking is as another granted patent " full automatic unpacking unloader " of our company, the patent No. 200910048447, Granted publication CN101508358B.
In the utility model, packaging bag delivery system comprises tears film conveyer 12, real buttress conveyer 13, empty buttress conveyer 14 and free roller conveyor 15 open, tear film conveyer, real buttress conveyer, empty buttress conveyer, free roller conveyor open and connect successively, robot de-stacking system is arranged on real buttress conveyer place; Useless bag automatic packaging system comprises useless bag automatic packing machine 11, and useless bag automatic packing machine connects the useless bag output mechanism of the screening discharge system of unpacking by flange; Unpack to sieve in discharge system and be provided with material level autoalarm, material level autoalarm line connection control system.
The utility model relates to and is unfavorable under health environment or food, pharmaceutical industry requirement reduce human body and contact the unpacking of solid material under operating mode, discharge system technical field with material poisonous, harmful, specifically one realize de-stacking, unpack, packing material and feed separation, discharging, the automatic unwatched fully-automatic intelligent de-stacking of packing function of useless bag, bag recovery system of unpacking, give up.
In order to solve existing issue, the full automatic working system that the utility model provides a kind of and has intelligent de-stacking, unpacked, discharging, useless bag packing are reclaimed, native system has reduced the chance of staff's contact packing bag and material substantially, its substitutes artificial de-stacking, upper bag, unpacks and a useless bag packing job, reduced workman labour intensity, improved production efficiency, ensured the cleanliness of workman's healthy and material.Native system is mainly made up of robot de-stacking system, packaging bag delivery system, the part such as screening discharge system, useless bag automatic packaging system of unpacking.
Introducing robot de-stacking system is the key Design theory of native system.Coiling 16 limit robot bases at buttress is fixed on basis, ground, the front end of robot arm is equipped with a high definition visual identifying system by frame, this system is by an industrial camera and composition of the control system, this system is obtained the azimuth information of packaging bag on buttress dish by taking pictures, according to this information mechanical arm adjustment action draw package bag as prescribed direction, packaging bag is put on conveyer; A vacuum cup is installed by mechanical connection in the top of mechanical arm, and the suction of vacuum cup is from vacuum pump, after the instruction that the controlled system of sucker is sent, holds packaging bag detected pressures voluntarily, packaging bag is picked up again and be put on upper bag machine after pressure is suitable.And the other end of upper bag machine is connected with the screening discharge system of unpacking, the screening discharge system of unpacking is made up of broken bag mechanism, screening mechanism, shedding mechanism and useless bag output mechanism.
The useless bag automatic packing machine of applying in the utility model is connected with the useless bag output mechanism of automatic bale breaker by flange, with useless bag after feed separation in useless bag compress automatic Compression, automatically tie up, automatically release, the whole process of useless bag packing is closed-loop operation, and therefore the upper residual material of useless bag can not drop in equipment outside yet.
Algorithm of the present utility model is:
(1) first, fork truck obtains the real buttress dish of carrying material from raw material storage area, fork truck is come work area real buttress dish is placed on and is torn open on film conveyer, removes buttress dish be wound around film outward by operating personal, start and tear film conveyer open and buttress dish is moved on on real buttress dish conveyer, real buttress dish is waited for de-stacking here;
(2) visual identifying system that is arranged on robot arm front end is taken pictures, is compared packaging bag, determine to meet and move after bag condition, by sensor, signal is passed to robot, robot automatically picks up packaging bag and transfers on upper bag machine according to the instruction of program, and the screening discharge system entrance of unpacking is delivered in packaging bag by the upper bag machine of operation continuously;
(3) first packaging bag enters bag-crusher after coming the screening discharge system of unpacking, sharp cutter blade is cut packaging bag, the packaging bag of material and chopping afterwards falls into screening mechanism, here material separates with useless bag, the material sifting out enters discharger, and useless bag enters useless bag compress by useless bag conveyer;
(4) material in discharger enters upstream device;
(5) the useless bag that enters useless bag compress by compress automatic Compression, automatically tie up, automatically release.
The utility model is not subject to the restriction of above-mentioned embodiment; other any do not deviate from change, the modification done under Spirit Essence of the present utility model and principle, substitutes, combination, simplify; all should be equivalent substitute mode, within being included in protection domain of the present utility model.
Claims (8)
1. an improved automatic de-stacking Unpacking, it is characterized in that: comprise robot de-stacking system, packaging bag delivery system, upper bag machine, unpack and sieve discharge system and a useless bag automatic packaging system, described robot de-stacking system is connected with packaging bag delivery system, the opposite side of described robot de-stacking system connects the feeding end of upper bag machine, the discharge end of described upper bag machine is connected with the input end of the screening discharge system of unpacking, the useless bag mouth of the described screening discharge system of unpacking connects useless bag automatic packaging system, described robot de-stacking system comprises robot, robot base, the visual recognition line vacuum cup of unifying, described robot is arranged on robot base, the mechanical arm front end of described robot is equipped with visual identifying system by frame, described visual identifying system is by industrial camera and composition of the control system, the top of described mechanical arm is provided with vacuum cup, described vacuum cup is arranged on visual identifying system below, described vacuum cup is connected with vacuum pump, described vacuum pump line connection control system.
2. improved automatic de-stacking Unpacking as claimed in claim 1, it is characterized in that: described in the screening discharge system of unpacking comprise broken bag mechanism, screening mechanism, shedding mechanism and a useless bag output mechanism, the input end of described broken bag mechanism connects the discharge end of upper bag machine, the mouth of described broken bag mechanism is connected with the input end of screening mechanism, the material mouth of described screening mechanism connects shedding mechanism, the useless bag mouth of described screening mechanism connects useless bag output mechanism, and described useless bag output mechanism is connected with useless bag automatic packaging system.
3. improved automatic de-stacking Unpacking as claimed in claim 2, it is characterized in that: described broken bag mechanism comprises main shaft, broken bag motor, cutting knife and casing, described main shaft is connected with the mouth of broken bag motor, on described main shaft, cutting knife is installed, described casing inlet point is connected with the discharge end of upper bag machine, and described casing discharging opening is connected with the input end of screening mechanism.
4. improved automatic de-stacking Unpacking as claimed in claim 2 or claim 3, it is characterized in that: described screening mechanism comprises support, casing two, screening bucket, transmission device and screening motor, described screening bucket connects screening motor by transmission device, and described screening bucket is arranged in casing two.
5. improved automatic de-stacking Unpacking as claimed in claim 4, is characterized in that: described shedding mechanism comprises discharger, and the feeding mouth of described discharger is connected with the material mouth of screening mechanism.
6. improved automatic de-stacking Unpacking as claimed in claim 5, it is characterized in that: described packaging bag delivery system comprises tears film conveyer, real buttress conveyer, empty buttress conveyer and free roller conveyor open, the described film conveyer, real buttress conveyer, empty buttress conveyer, free roller conveyor torn open connects successively, and described robot de-stacking system is arranged on real buttress conveyer place.
7. improved automatic de-stacking Unpacking as claimed in claim 6, is characterized in that: described useless bag automatic packaging system comprises useless bag automatic packing machine, and described useless bag automatic packing machine connects the useless bag output mechanism of the screening discharge system of unpacking by flange.
8. improved automatic de-stacking Unpacking as claimed in claim 7, is characterized in that: described in the screening of unpacking be provided with material level autoalarm, described material level autoalarm line connection control system in discharge system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420013714.1U CN203667100U (en) | 2014-01-09 | 2014-01-09 | Improved fully-automatic unstacking and unpacking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420013714.1U CN203667100U (en) | 2014-01-09 | 2014-01-09 | Improved fully-automatic unstacking and unpacking system |
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| Publication Number | Publication Date |
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| CN203667100U true CN203667100U (en) | 2014-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420013714.1U Expired - Fee Related CN203667100U (en) | 2014-01-09 | 2014-01-09 | Improved fully-automatic unstacking and unpacking system |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103708066A (en) * | 2014-01-09 | 2014-04-09 | 汉瑞普泽粉粒体技术（上海）有限公司 | Full-automatic intelligent unstacking and unpacking system |
| CN104443606A (en) * | 2014-12-10 | 2015-03-25 | 秦皇岛燕大源达机电科技股份有限公司 | Automatic bag removing machine of outer bags of large packaging bags |
| CN105668197A (en) * | 2016-01-25 | 2016-06-15 | 汉瑞普泽粉粒体技术（上海）有限公司 | Full-automatic unstacking and unpacking system |
| CN105881517A (en) * | 2016-06-03 | 2016-08-24 | 杨凌嘉德宝自动化科技有限公司 | Walking stacking robot system |
| ES2592580A1 (en) * | 2015-05-29 | 2016-11-30 | Abr Ingenieros, S.L. | Automatic line for transportation and grouping of ice cubes and grouping procedure (Machine-translation by Google Translate, not legally binding) |
| CN106628919A (en) * | 2016-10-10 | 2017-05-10 | 金锋馥（滁州）输送机械有限公司 | Automatic conveying and destacking system of packaging bags |
| CN107380583A (en) * | 2017-07-31 | 2017-11-24 | 浩科机器人（苏州）有限公司 | A kind of method of work of efficient, intelligent unpacking equipment |
| CN107380582A (en) * | 2017-07-31 | 2017-11-24 | 浩科机器人（苏州）有限公司 | A kind of intelligent unpacking equipment |
| CN107416538A (en) * | 2017-09-12 | 2017-12-01 | 山东利和饲料科技有限公司 | A kind of feed conveying system |
| CN108438948A (en) * | 2018-03-30 | 2018-08-24 | 湖北三宁化工股份有限公司 | A kind of bagged material automatic loading device |
| CN108891701A (en) * | 2016-11-22 | 2018-11-27 | 中国计量大学 | Automatic charging method of unpacking |
-
2014
- 2014-01-09 CN CN201420013714.1U patent/CN203667100U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103708066A (en) * | 2014-01-09 | 2014-04-09 | 汉瑞普泽粉粒体技术（上海）有限公司 | Full-automatic intelligent unstacking and unpacking system |
| CN104443606A (en) * | 2014-12-10 | 2015-03-25 | 秦皇岛燕大源达机电科技股份有限公司 | Automatic bag removing machine of outer bags of large packaging bags |
| CN104443606B (en) * | 2014-12-10 | 2016-08-03 | 秦皇岛燕大源达机电科技股份有限公司 | Big packaging outer bag takes off bag machine automatically |
| ES2592580A1 (en) * | 2015-05-29 | 2016-11-30 | Abr Ingenieros, S.L. | Automatic line for transportation and grouping of ice cubes and grouping procedure (Machine-translation by Google Translate, not legally binding) |
| CN105668197B (en) * | 2016-01-25 | 2017-11-21 | 汉瑞普泽粉粒体技术（上海）有限公司 | A kind of full-automatic de-stacking Unpacking |
| CN105668197A (en) * | 2016-01-25 | 2016-06-15 | 汉瑞普泽粉粒体技术（上海）有限公司 | Full-automatic unstacking and unpacking system |
| CN105881517A (en) * | 2016-06-03 | 2016-08-24 | 杨凌嘉德宝自动化科技有限公司 | Walking stacking robot system |
| CN106628919A (en) * | 2016-10-10 | 2017-05-10 | 金锋馥（滁州）输送机械有限公司 | Automatic conveying and destacking system of packaging bags |
| CN108891701A (en) * | 2016-11-22 | 2018-11-27 | 中国计量大学 | Automatic charging method of unpacking |
| CN108891701B (en) * | 2016-11-22 | 2020-09-29 | 中国计量大学 | Automatic unpacking and feeding method |
| CN107380583A (en) * | 2017-07-31 | 2017-11-24 | 浩科机器人（苏州）有限公司 | A kind of method of work of efficient, intelligent unpacking equipment |
| CN107380582A (en) * | 2017-07-31 | 2017-11-24 | 浩科机器人（苏州）有限公司 | A kind of intelligent unpacking equipment |
| CN107416538A (en) * | 2017-09-12 | 2017-12-01 | 山东利和饲料科技有限公司 | A kind of feed conveying system |
| CN108438948A (en) * | 2018-03-30 | 2018-08-24 | 湖北三宁化工股份有限公司 | A kind of bagged material automatic loading device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140625 Termination date: 20170109 |