CN206172564U - Pile up neatly system of robot - Google Patents

Pile up neatly system of robot Download PDF

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Publication number
CN206172564U
CN206172564U CN201620870316.0U CN201620870316U CN206172564U CN 206172564 U CN206172564 U CN 206172564U CN 201620870316 U CN201620870316 U CN 201620870316U CN 206172564 U CN206172564 U CN 206172564U
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China
Prior art keywords
robot
station
pallet
fixture
tray
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Active
Application number
CN201620870316.0U
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Chinese (zh)
Inventor
周富裕
胡佳庆
于世民
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Hubei Zhouheiya Food Industrial Park Co Ltd
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Hubei Zhouheiya Food Industrial Park Co Ltd
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Priority to CN201620870316.0U priority Critical patent/CN206172564U/en
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Abstract

The utility model discloses a pile up neatly system of robot relates to pile up neatly system field, and the device is including the conveyor who carries the turnover case, robot, conveyor set up in the working radius of robot, still are equipped with a pile up neatly station and a tray station in the working radius of robot, and the pile up neatly station distributes in tray station both sides, is equipped with the tray on the pile up neatly station, is equipped with the tray on the tray station, anchor clamps, anchor clamps link to each other with the robot for snatch turnover case and tray, induction system, induction system and the signal connection of robot. Anchor clamps include first anchor clamps and two anchor clamps, and first anchor clamps are used for snatching the turnover case, and the second anchor clamps are used for snatching tray, first anchor clamps and second anchor clamps fixed connection. The utility model provides a pile up neatly system of robot can replace hand stowage to greatly having improved production efficiency, having reduced the cost of labor, the porter only needs to have reduced the hand labor to the empty tray of a station supply.

Description

A kind of robot palletizing system
Technical field
The utility model is related to palletizing system field, and in particular to a kind of robot palletizing system.
Background technology
In current spiced and stewed food food service industry, the last station in production line is piling station, in piling station, one As be artificial in packaged Turnover Box stacking to pallet by workman, then carrying carried out by fork truck drag away, so by artificial code The mode of operation of pile very labor intensive, it is not only very tired to workman's body, and easily make a fault and break Turnover Box, and And the labour intensity of operating personnel is big, low production efficiency.If enterprise needs to improve yield, need substantial amounts of workman to ensure life Produce so that the artificial and management cost of enterprise increases, and in the case where current manual's cost increasingly goes up, causes the economy of enterprise Decline in benefits, therefore the demand in enterprise and market is not well positioned to meet.It is badly in need of a kind of reduction hand labor, and mistake now Rate low production model substitutes hand stowage pattern.
Utility model content
For defect present in prior art, the purpose of this utility model is to provide a kind of robot palletizing system, This palletizing system can substitute hand stowage, so as to drastically increase production efficiency, reduce cost of labor, and porter only needs The pallet empty to a station supply, reduces hand labor.
To achieve the above objectives, the utility model is adopted the technical scheme that:A kind of robot palletizing system, the machine People's palletizing system is used for stacking Turnover Box, including:
Convey the conveying device of Turnover Box;
Robot, the conveying device is arranged in the robot radius of clean-up, in the robot radius of clean-up also Piling station and a tray station are provided with, the piling station is distributed in the tray station both sides, is set in the piling station There is pallet, the tray station is provided with pallet;
Fixture, the fixture is connected with the robot, for capturing the Turnover Box and pallet;
Induction installation, the induction installation is connected with the robot signal.
On the basis of above-mentioned technical proposal, the fixture includes the first fixture and the second fixture, and first fixture is used In crawl Turnover Box, second fixture is used to capture pallet, and first fixture and the second fixture are fixedly connected.
On the basis of above-mentioned technical proposal, the conveying device includes two conveyer belts, every conveyer belt correspondence One piling station.
On the basis of above-mentioned technical proposal, the robot palletizing system includes fence, and the face of the fence three is around institute State robot and form workspace, the one side for being not provided with fence is provided with pallet passage, and the pallet passage is passed in and out for the pallet The robot palletizing system.
On the basis of above-mentioned technical proposal, the robot palletizing system includes an electrical control cubicles, and the electrical control cubicles are set In the outside of the fence enclosed space, the electrical control cubicles connect the robot and conveying device, for controlling the machine People and the action of conveying device.
On the basis of above-mentioned technical proposal, the induction installation includes first sensor, and the first sensor is set By pallet passage, for detecting whether there is foreign object to enter the robot palletizing system;
Second sensor, the second sensor is arranged at by the piling station, for detecting the piling station Whether pallet is had;
3rd sensor, the 3rd sensor is arranged at the output end side of the conveying device, described for detecting Whether output end has Turnover Box.
On the basis of above-mentioned technical proposal, first fixture is sucker.
Compared with prior art, the utility model has the advantage of:
Robot palletizing system in the utility model can substitute hand stowage, so as to drastically increase production efficiency, Cost of labor is reduced, the pallet that porter only need to be empty to a station supply reduces hand labor.The stacking system of robot System can capture body feed tank by setting tray station and a plurality of conveyer belt, and designing, and the robot folder of pallet can be captured again Tool, makes workman only carry empty pallet with toward tray station, reduces the path of the pallet for carrying empty, that is, improve robot Service efficiency, robot is yard body feed tank code pallet again, and hand labor intensity is reduced again.
Brief description of the drawings
Fig. 1 is the structural representation of robot palletizing system in the utility model embodiment.
In figure:1- conveyer belts, 2- Turnover Boxes, 3- robots, 4- piling stations, 5- tray stations, 6- fixtures, 61- first Fixture, the fixtures of 62- second, 7- fence, 8- pallet passages, 9- induction installations, 91- first sensors, 92- second sensors, 93- 3rd sensor, 10- electrical control cubicles, 11- pallets.
Specific embodiment
Embodiment of the present utility model is described in further detail below in conjunction with accompanying drawing.
Shown in Figure 1, the utility model embodiment provides a kind of robot palletizing system, and robot palletizing system is used for Stacking Turnover Box 2, including conveying device 1;Robot 3, conveying device 1 is arranged in the radius of clean-up of robot 3, the work of robot 3 Make to be additionally provided with the tray station 5 of piling station 4 and in radius, piling station 4 is symmetrically distributed in the both sides of tray station 5, stacking work Position 4 is provided with pallet 11, and Turnover Box 42 is placed on the pallet 11 in piling station 4, and tray station 5 is provided with the pallet 11 of sky; Fixture 6, fixture 6 is connected with robot 3, for capturing Turnover Box 2 and empty tray 11 respectively;Induction installation 9, induction installation 9 with Robot 3 is connected by signal.
Fixture 6 include for capture pallet 11 of the Turnover Box 2 to piling station 4 the first fixture 61 and for capture hold in the palm Pallet 11 on disk station 5 to piling station 4 the second fixture 62, the first fixture 61 and the integrated setting of the second fixture 62, One fixture 61 is the sucker that can draw Turnover Box 2.Operative employee is only needed the block pattern row pattern of specified quantity pallet 11 in tray station 5 On, the remaining quantity of pallet 11 is recorded by system and stored in tray station 5, facilitates robot 3 to determine that position captures.
Conveying device 1 includes two conveyer belts, and every conveyer belt one piling station 4 of correspondence, two lines product can differ Sample, also can alone start single line.This layout is improvement point, while improve space utilization rate, improves making for robot 3 With rate.
Induction installation 9 includes first sensor 91, and first sensor 91 is arranged at by pallet passage 8, for detecting whether There is foreign object to enter robot palletizing system, when first sensor 91 senses that personnel pass in and out, robot is automatically stopped, and prevents machinery Hurt sb.'s feelings, first sensor 91 is photoelectricity fence in the present embodiment, photoelectricity fence transmitting infrared ray stops infrared ray when there is foreign object Light time, system alarm has foreign object to invade.
Second sensor 92, two second sensors 92 are respectively arranged at by two piling stations 4, and piling station 4 is used for Whether there is pallet 11 in detection piling station 4;When the pallet 11 that second sensor 92 is sensed in piling station 4 is removed, it is System will automatically control the pallet 11 that machine people 3 captured in tray station 5 using the second fixture 62 and pile up in piling station 4.Such as This improves the service efficiency of robot, i.e. code chest code pallet again, and reduces manual labor.
3rd sensor 93, two 3rd sensors 93 are respectively arranged at fence inner side conveyer belt in two conveying devices 1 Output end side, whether have Turnover Box 2 for detection output.
Robot palletizing system includes fence 7, and the face of fence 7 three forms workspace, is not provided with fence 7 around robot 3 Pallet passage 8 is simultaneously provided with, pallet passage 8 passes in and out the robot palletizing system for pallet 11, and fence 7 constitutes protection network, Personnel are facilitated to pass in and out;Fence 7 is provided with the opening that Turnover Box 2 is conveyed for conveying device 1, and 7 points by fence of conveyer belt is inside and outside two Bar, and each independent start and stop.When the 3rd sensor 93 of the inner side of fence 7 conveying end of tape detects existing Turnover Box 2 in place, grid The conveyer belt stop motion of marge side, is now provided with baffle plate sensor between inside and outside two conveyer belts, when the detection of baffle plate sensor Pass through to Turnover Box 2, baffle plate is risen between inside and outside two conveyer belts, the Turnover Box 2 of barrier grid marge side enters fence inner side Conveyer belt, it is ensured that fence inner side conveyer belt only has a Turnover Box 2, facilitates robot to capture.
Robot palletizing system includes an electrical control cubicles 10, and electrical control cubicles 10 include guidance panel and handle, and electrical control cubicles 10 are set In the outside of the enclosed space of fence 7, electrical control cubicles 10 connection robot 3 and conveying device 1, for controlling robot 3 and conveying to fill Put 1 action.
When conveying end of tape has Turnover Box 2, either with or without pallet 11 in system detectio piling station 4, if do not detected To pallet, then robot is from the crawl pallet 11 of tray station 5 to piling station 4;If detecting pallet, system robot brain Device people 3 is picked up Turnover Box 2 using the first fixture 61, according to pallet 11 of the specified stacking mode pile in piling station 4 On;First fixture 61 can 360 degree rotation, it is ensured that the one of the labeling of Turnover Box 2 faces outwardly, and facilitates barcode scanning to be put in storage.When in piling station 4 Pallet 11 on the stacking of Turnover Box 42 it is full, the bright prompting operating personnel of system lamp enter fence 7 from stacking work by pallet passage 8 The fork of position 4 walks fully loaded pallet 11, and robot captures pallet 11 from tray station 5 and puts to piling station 4, starts new stacking. When pallet 11 is lacked in tray station 5, operating personnel carry some pallets 11 from outside system and enter fence by pallet passage 8 7 stackings are in tray station 5.
Robot palletizing system in the utility model can substitute hand stowage, so as to drastically increase production efficiency, Cost of labor is reduced, the pallet that porter only need to be empty to a station supply reduces hand labor.The stacking system of robot System can capture body feed tank by setting tray station and a plurality of conveyer belt, and designing, and the robot folder of pallet can be captured again Tool, makes workman only carry empty pallet with toward tray station, reduces the path of the pallet for carrying empty, that is, improve robot Service efficiency, robot be yard body feed tank again code pallet, hand labor intensity is reduced again.
The utility model is not only limited to above-mentioned preferred forms, and anyone can obtain under enlightenment of the present utility model Go out other various forms of products, however, make any change in its shape or structure, it is every with the utility model phase Same or close technical scheme, within its protection domain.

Claims (7)

1. a kind of robot palletizing system, the robot palletizing system is used for stacking Turnover Box (2), it is characterised in that including:
The conveying device (1) of conveying Turnover Box (2);
Robot (3), the conveying device (1) is arranged in the robot (3) radius of clean-up, robot (3) work Piling station (4) and a tray station (5) are additionally provided with radius, the piling station (4) is distributed in the tray station (5) two Side, the piling station (4) is provided with pallet (11), and the tray station (5) is provided with pallet (11);
Fixture (6), the fixture (6) is connected with the robot (3), for capturing the Turnover Box (2) and pallet (11);
Induction installation (9), the induction installation (9) is connected with the robot (3) signal.
2. robot palletizing system as claimed in claim 1, it is characterised in that:The fixture (6) includes the first fixture (61) With the second fixture (62), for capturing Turnover Box (2), second fixture (62) is for capturing pallet for first fixture (61) (11), first fixture (61) is fixedly connected with the second fixture (62).
3. robot palletizing system as claimed in claim 1, it is characterised in that:The conveying device (1) includes two conveyings Band, one piling station (4) of every conveyer belt correspondence.
4. robot palletizing system as claimed in claim 1, it is characterised in that:The robot palletizing system includes fence (7), the face of the fence (7) three around the robot (3) formed workspace, be not provided with fence (7) one side be provided with pallet lead to Road (8), the pallet passage (8) passes in and out the robot palletizing system for the pallet (11).
5. robot palletizing system as claimed in claim 4, it is characterised in that:The robot palletizing system includes that one is automatically controlled Cabinet (10), the electrical control cubicles (10) are arranged on the outside of the fence (7) enclosed space, and the electrical control cubicles (10) connect the machine Device people (3) and conveying device (1), the action for controlling the robot (3) and conveying device (1).
6. robot palletizing system as claimed in claim 4, it is characterised in that:The induction installation (9) includes the first sensing Device (91), the first sensor (91) is arranged at pallet passage (8) side, for detecting whether there is foreign object to enter the robot Palletizing system;
Second sensor (92), the second sensor (92) is arranged at the piling station (4) side, for detecting the stacking Whether pallet (11) is had on station (4);
3rd sensor (93), the 3rd sensor (93) is arranged at the output end side of the conveying device (1), for examining Survey whether the output end has Turnover Box (2).
7. robot palletizing system as claimed in claim 2, it is characterised in that:First fixture (61) is sucker.
CN201620870316.0U 2016-08-12 2016-08-12 Pile up neatly system of robot Active CN206172564U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620870316.0U CN206172564U (en) 2016-08-12 2016-08-12 Pile up neatly system of robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201620870316.0U CN206172564U (en) 2016-08-12 2016-08-12 Pile up neatly system of robot

Publications (1)

Publication Number Publication Date
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Application Number Title Priority Date Filing Date
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107145090A (en) * 2017-06-02 2017-09-08 成都福莫斯智能系统集成服务有限公司 The control method of intelligent robot stacking
CN107696030A (en) * 2017-08-31 2018-02-16 广州泰行智能科技有限公司 A kind of unit of Single Mechanical arm puts output control method and device
CN107720290A (en) * 2017-08-31 2018-02-23 广州泰行智能科技有限公司 The multiposition output control method and device of a kind of Single Mechanical arm
CN107717984A (en) * 2017-08-31 2018-02-23 广州泰行智能科技有限公司 A kind of paths planning method and device based on space coordinates
CN111331579A (en) * 2020-03-04 2020-06-26 广东伟创五洋智能设备有限公司 Automatic stacking robot and automatic stacking system
CN111459200A (en) * 2020-03-27 2020-07-28 中信重工机械股份有限公司 Bagged cement automatic loading robot servo control system
CN113071935A (en) * 2021-03-25 2021-07-06 楚天科技股份有限公司 Automatic stacking method

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107145090A (en) * 2017-06-02 2017-09-08 成都福莫斯智能系统集成服务有限公司 The control method of intelligent robot stacking
CN107696030A (en) * 2017-08-31 2018-02-16 广州泰行智能科技有限公司 A kind of unit of Single Mechanical arm puts output control method and device
CN107720290A (en) * 2017-08-31 2018-02-23 广州泰行智能科技有限公司 The multiposition output control method and device of a kind of Single Mechanical arm
CN107717984A (en) * 2017-08-31 2018-02-23 广州泰行智能科技有限公司 A kind of paths planning method and device based on space coordinates
CN111331579A (en) * 2020-03-04 2020-06-26 广东伟创五洋智能设备有限公司 Automatic stacking robot and automatic stacking system
CN111459200A (en) * 2020-03-27 2020-07-28 中信重工机械股份有限公司 Bagged cement automatic loading robot servo control system
CN113071935A (en) * 2021-03-25 2021-07-06 楚天科技股份有限公司 Automatic stacking method

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