CN206108411U - Carton hacking machine - Google Patents
Carton hacking machine Download PDFInfo
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- CN206108411U CN206108411U CN201621038888.9U CN201621038888U CN206108411U CN 206108411 U CN206108411 U CN 206108411U CN 201621038888 U CN201621038888 U CN 201621038888U CN 206108411 U CN206108411 U CN 206108411U
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- carton
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- piling
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Abstract
The utility model relates to a robotechnology field, in particular to carton hacking machine and working method. This carton hacking machine is including linking up stretching strap, cardboard adjusting device, manipulator and pile up neatly frame, linking stretching strap, cardboard adjusting device, manipulator are connected respectively on the pile up neatly frame, the pile up neatly frame is equipped with an one side and opens the trilateral cardboard station that blocks, the pile up neatly frame is including three adjusting the bezel, three adjusting the bezel connect gradually on cardboard adjusting device, cardboard adjusting device drives adjusting the bezel and removes to the centre from the both sides and the rear of cardboard station. The utility model provides a carton hacking machine. The utility model discloses an operating efficiency has also been improved simultaneously to accurate location during the pile up neatly.
Description
Technical field
This utility model is related to robotics, more particularly to a kind of carton stacking machine.
Background technology
The carrying piling mode that China's palletizing operation is adopted at present has：One is a dead lift；Two is mechanical type stacking machine；Three
It is robot palletizer.A dead lift has that high labor intensive, efficiency be low and poor stability；And mechanical type stacking machine is tied
The restriction of the factors such as structure, has the shortcomings of floor space is big, operation sequence change is troublesome, power consumption is big.And robot palletizer
The goods of variously-shaped packaging is all suitable for, and as dependable performance, maintenance are simple, is applied more and more widely.
Current robot palletizer is to carry out automatic stacking by piling algorithm, but due to still needing to the goods after piling
Manually move, so this will result in the existence time deviation in palletization, the general solution of this kind of situation is by code
Pile operation, restarts palletizing operation, during stacking machine cannot transport goods again after goods is transported after reserving piling room
Continue operation, cause temporal waste, reduce working performance.Piling station needs to put clamp in advance, transports later,
But the position of clamp does not position, after causing piling, there is deviation the position of goods with the position of clamp, it is impossible to realize accurate
Positioning.
Utility model content
This utility model provides a kind of carton stacking machine, it is intended to improve the working performance of stacking machine and asking for accurate piling
Topic.
This utility model provides a kind of carton stacking machine to be included being connected drawstring, clamp adjusting means, mechanical hand and piling frame
Frame, the linking drawstring, clamp adjusting means, mechanical hand are connected on piling framework, and the piling framework is provided with one
The clamp station that three face of recording quantity stops, the piling framework include three pieces of controllable registers, three pieces of controllable registers according to
Secondary to be connected in clamp adjusting means, the clamp adjusting means drives controllable register from the both sides and rear direction of clamp station
Between move.
Used as further improvement of the utility model, the piling framework is provided with for platform, the linking drawstring connection is laid flat
At the standby middle part for being laid flat platform, the linking drawstring is provided with for station, the linking drawstring both sides are grabbed with the standby junction for being laid flat platform
The standby platform that is laid flat is provided with for station is put.
Used as further improvement of the utility model, the piling framework is provided with robot track in frame roof, described
Mechanical hand is slidably connected with robot track.
Used as further improvement of the utility model, the mechanical hand includes mechanical transverse arm, mechanical trailing arm, mechanical chuck,
The mechanical transverse arm is connected with the horizontal vertical sliding motion of robot track, and the mechanical trailing arm is connected with the longitudinally perpendicular slip of mechanical transverse arm
Connect, the mechanical chuck is connected to the bottom of mechanical trailing arm, the mechanical chuck includes chuck cylinder and intermediate plate, the chuck gas
Cylinder two ends connect the bottom of mechanical trailing arm and intermediate plate, chuck air cylinder driven intermediate plate rotation and opening and closing respectively.
Used as further improvement of the utility model, carton stacking machine also includes carton height detector and alarm, institute
State carton height detector to be connected on the piling framework in clamp region, the alarm is connected with piling framework.
The beneficial effects of the utility model are：The clamp for placing carton is first centered about before piling by this utility model,
The piling position of alignment stacking machine mechanical hand, prevents carton piling deviation and inclines, realize precise positioning.Standby putting is additionally arranged also
Station as relief area, when the complete goods of piling is transported, mechanical hand still sustainable work, after empty calorie plate is reapposed, machine
Tool handss by the goods piling of buffering, improve the efficiency of operation nearby.
Description of the drawings
Fig. 1 is a kind of first structure figure of carton stacking machine of this utility model；
Fig. 2 is a kind of second structure chart of carton stacking machine of this utility model.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to this utility model.
Embodiment one：
As depicted in figs. 1 and 2, a kind of carton stacking machine of the present utility model include be connected drawstring 1, clamp adjusting means 2,
Mechanical hand 3 and piling framework 4, linking drawstring 1, clamp adjusting means 2, mechanical hand 3 are connected on piling framework 4, piling
Framework 4 is provided with the clamp station 41 that three face of recording quantity stops at, and piling framework includes three pieces of controllable registers 42, three pieces of tune
Section baffle plate 42 is connected in turn in clamp adjusting means 2, and clamp adjusting means 2 drives controllable register from the both sides of clamp station 41
Move with the middle of rear direction.Three pieces of controllable registers 42 can be moved simultaneously and be positioned, and settle at one go clamp is placed in the middle.
Wherein, piling framework 4 is provided with for platform 43 is laid flat, and is connected drawstring 1 and is connected to the standby middle part for being laid flat platform 43, is connected drawstring
1 is provided with for station 44 is grabbed with the standby junction for being laid flat platform 43, and the standby platform 43 that is laid flat in 1 both sides of linking drawstring is provided with for station 45 is put.It is standby
The position that station 44 is 3 preferential gripping of mechanical hand is grabbed, the carton being connected on drawstring 1 is that step pitch is sent into, the section of cooperative mechanical handss 3
Play, can guarantee that the standby cardboard for grabbing station 44 is rapidly removed, when the standby carton grabbed on station 44 has little time to be put into clamp station
When 41, buffering can be played a part of for station 45 is put, the cardboard that cannot be removed in time is put into standby putting on station 45.
Carton stacking machine includes carton height detector and alarm, and carton height detector is connected to clamp station 41
On piling framework 4, alarm is connected with piling framework 4.The height of 41 piling carton of height sensor real-time monitoring clamp station,
When height meets or exceeds the setting of system, by alarm automatic alarm.
Embodiment two：
As depicted in figs. 1 and 2, the piling framework 4 of carton stacking machine is provided with robot track 46, mechanical hand in frame roof
3 are slidably connected with robot track 46.Mechanical hand 3 includes mechanical transverse arm 31, mechanical trailing arm 32, mechanical chuck 33, mechanical transverse arm
31 are connected with 46 horizontal vertical sliding motion of robot track, and transverse arm 31 is longitudinally perpendicular is slidably connected with machinery for mechanical trailing arm 32, machinery
Chuck 33 is connected to the bottom of mechanical trailing arm 32, and mechanical chuck 33 includes chuck cylinder and intermediate plate, and chuck cylinder two ends connect respectively
Pick tool trailing arm 32 bottom and intermediate plate, chuck air cylinder driven intermediate plate rotation and opening and closing.Mechanical hand 3 can do tetra- axle of X, Y, Z, R fortune
It is dynamic, i.e., three stereo directionals and a sense of rotation, movement of the mechanical hand 3 by X, Y, Z axis direction, by carton accurately from standby
Grab and on station 44, move to clamp station 41, then by the axial rotations of R, clamp work is placed in each packed carton
During position 41, rotate a certain angle, make each layer of carton mutually stagger, facilitate follow-up taking.The mechanical chuck of mechanical hand 3
33 width that can be gripped with adjust automatically, meanwhile, mechanical chuck 33 can also be replaced by adaptation different shape goods as needed
Chuck.
Embodiment three：
A kind of method of work of carton stacking machine of the present utility model is comprised the following steps：
S1：Input needs the size of piling carton, system to automatically generate piling planar graph and the piling number of plies；
Before operation starts, after the length size being input into after carton packing, start key is pressed, system will automatically generate code
Pile planar graph and the piling number of plies.Carton piling full-size is 1800mm（It is long） X 1800mm（It is wide） X 1700mm（It is high）.
S2：Clamp is put into clamp station 41, clamp adjusting apparatus 2 promote clamp to make which placed in the middle；
The controllable register 42 in three faces of the promotion of clamp adjusting apparatus 2 of carton stacking machine will be clamp adjust automatically placed in the middle.Clamp
Station 41 can accommodate clamp full-size for 1800mm（It is long） X 1800mm（It is wide）.
S3：Packed carton is put linking drawstring 1 to be transported to for station 44 is grabbed, is connected drawstring 1 by packed paper
Case is sent into by step pitch；
S4：Mechanical hand 3 captures the standby carton grabbed on station 44, is moved to clamp station 41, by carton successively piling in card
On plate；
S5：To after the height of input, clamp is transported carton piling by automatic alarm, and repeat step S2.
Example IV：
Further, the method for work of carton stacking machine is comprised the following steps：
S1：Input needs the size of piling carton, system to automatically generate piling planar graph and the piling number of plies；
S21：Clamp is put into from the front of clamp station 41, and clamp adjusting apparatus promote connected baffle plate from clamp work
The both sides and three, rear direction of position 41 are simultaneously mobile, and clamp is squeezed in the intermediate stations of clamp station 41；
S3：Packed carton is put linking drawstring 1 to be transported to for station 44 is grabbed；
S41：When detect carton that clamp station 41 is not put on clamp, or clamp piling to specified altitude assignment
When, cardboard is put into clamp station 41 by stopping；
S42：Whether the carton on detection linking drawstring is full, if less than continuing to grab the transmission carton of station 44 toward standby；Such as
Fruit is full, then the carton that standby will be grabbed on station 44 capture successively to be placed on and standby grab the standby of station 44 or so and put on station 45；
S43：Whether standby station 44, the standby carton put on station 45 of grabbing of detection be full, as continued to place less than if；As all
Expire, then automatic alarm, mechanical hand 3 quits work；
When clamp is not put into or piling is good, and be connected the carton receive on drawstring 1 completely when, mechanical hand 3 can be captured
Linking 1 upper paper box of drawstring is put into that left and right is standby to put station 45, puts station 45 and linking drawstring 1 is all full if standby, and system can be reported to the police.
S44：Clamp is put on clamp station 41 when detecting again, or clamp upper paper box does not pile specified altitude assignment
When, mechanical hand 3 restarts, and the carton on crawl linking drawstring 1 is placed on clamp；After clamp is put into, mechanical hand 3 will be excellent
First carton piling is taken from linking drawstring 1, after linking drawstring 1 takes, then take the standby carton piling for putting station 45.
S45：Without carton on drawstring to be connected 1, the standby carton put on station 45 in crawl left and right two is placed on clamp；
S46：The restarting linking transmission carton of drawstring 1；
S47：The standby carton grabbed on station 44 of mechanical hand crawl, rotates acute angle or right angle successively, carton is moved to
Clamp station 41, and stagger piling successively on clamp；
Manually clamp is put in carton stacking machine designated area with hand fork lifter, pulls out hand fork lifter, system will be automatic
In running order, one has carton to pull up a horse automatic stacking, and in palletization, system interface has piling plan-position to show and the number of plies
Show.
S5：To after the height of input, clamp is transported carton piling by automatic alarm, and repeat step S2.
This carton stacking machine automatic alarm has Three models：
1）Clamp piling is good, completes prompting；
2）Standby area and the linking drawstring 1 put piles carton, is fully loaded with prompting；
3）Equipment breaks down, fault cues.
Above content is with reference to specific preferred implementation further detailed description of the utility model, it is impossible to
Identification is of the present utility model to be embodied as being confined to these explanations.For the ordinary skill of this utility model art
For personnel, without departing from the concept of the premise utility, some simple deduction or replace can also be made, should be all regarded
To belong to protection domain of the present utility model.
Claims (5)
1. a kind of carton stacking machine, it is characterised in that including linking drawstring（1）, clamp adjusting means（2）, mechanical hand（3）And code
Pile framework（4）, the linking drawstring（1）, clamp adjusting means（2）, mechanical hand（3）It is connected to piling framework（4）On, institute
State piling framework（4）It is provided with the clamp station that three face of recording quantity stops at（41）, the piling framework includes three pieces of tune
Section baffle plate（42）, three pieces of controllable registers（42）It is connected to clamp adjusting means in turn（2）On, the clamp adjusting means
（2）Drive controllable register（42）From clamp station（41）Both sides and rear direction in the middle of move.
2. carton stacking machine according to claim 1, it is characterised in that the piling framework（4）It is provided with for platform is laid flat
（43）, the linking drawstring（1）It is connected to for platform is laid flat（43）Middle part, the linking drawstring（1）Platform is laid flat with standby（43）'s
Junction is provided with for station is grabbed（44）, the linking drawstring（1）Both sides are standby to be laid flat platform（43）It is provided with for station is put（45）.
3. carton stacking machine according to claim 1, it is characterised in that the piling framework（4）It is provided with frame roof
Robot track（46）, the mechanical hand（3）With robot track（46）It is slidably connected.
4. carton stacking machine according to claim 3, it is characterised in that the mechanical hand（3）Including mechanical transverse arm（31）、
Mechanical trailing arm（32）, mechanical chuck（33）, the mechanical transverse arm（31）With robot track（46）Laterally vertical sliding motion connection, institute
State mechanical trailing arm（32）With mechanical transverse arm（31）It is longitudinally perpendicular to be slidably connected, the mechanical chuck（33）It is connected to mechanical trailing arm
（32）Bottom, the mechanical chuck（33）Including chuck cylinder and intermediate plate, it is vertical that the chuck cylinder two ends connect machinery respectively
Arm（32）Bottom and intermediate plate, chuck air cylinder driven intermediate plate rotation and opening and closing.
5. carton stacking machine according to claim 1, it is characterised in that also including carton height detector and alarm,
The carton height detector is connected to clamp station（41）Piling framework（4）On, the alarm and piling framework（4）Even
Connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621038888.9U CN206108411U (en) | 2016-09-06 | 2016-09-06 | Carton hacking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621038888.9U CN206108411U (en) | 2016-09-06 | 2016-09-06 | Carton hacking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206108411U true CN206108411U (en) | 2017-04-19 |
Family
ID=58519605
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621038888.9U Active CN206108411U (en) | 2016-09-06 | 2016-09-06 | Carton hacking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206108411U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018820A (en) * | 2018-08-24 | 2018-12-18 | 浙江汇隆新材料股份有限公司 | The scratch resistant mechanism of the carton tape of packing & palletizing line |
-
2016
- 2016-09-06 CN CN201621038888.9U patent/CN206108411U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018820A (en) * | 2018-08-24 | 2018-12-18 | 浙江汇隆新材料股份有限公司 | The scratch resistant mechanism of the carton tape of packing & palletizing line |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 518000 First Floor D of Building C, Junxing Industrial Zone B, Oyster Road, Fuyong Street, Baoan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Power Flying Intelligent Equipment Co., Ltd. Address before: 518000 First Floor D of Building C, Junxing Industrial Zone B, Oyster Road, Fuyong Street, Baoan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN POWERFLY AUTOMATION EQUIPMENT CO., LTD. |
|
| CP01 | Change in the name or title of a patent holder |