CN207433977U - Robot vanning integrated system - Google Patents
Robot vanning integrated system Download PDFInfo
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- CN207433977U CN207433977U CN201721291054.3U CN201721291054U CN207433977U CN 207433977 U CN207433977 U CN 207433977U CN 201721291054 U CN201721291054 U CN 201721291054U CN 207433977 U CN207433977 U CN 207433977U
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- 230000007246 mechanism Effects 0.000 claims abstract description 142
- 238000007789 sealing Methods 0.000 claims abstract description 48
- 238000005303 weighing Methods 0.000 claims abstract description 35
- 238000001514 detection method Methods 0.000 claims description 22
- 238000007493 shaping process Methods 0.000 claims description 16
- 230000000694 effects Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 2
- 238000004806 packaging method and process Methods 0.000 abstract description 12
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 4
- 239000000047 product Substances 0.000 description 95
- 238000002372 labelling Methods 0.000 description 12
- 239000000463 material Substances 0.000 description 7
- 230000008859 change Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012856 packing Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000012163 sequencing technique Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000012769 bulk production Methods 0.000 description 1
- 239000006227 byproduct Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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Abstract
The utility model discloses robot vanning integrated systems.Robot vanning integrated system includes control system；Unpack mechanism, is electrically connected with control system；Babinet conveying mechanism, input terminal and the output terminal of unpacking mechanism are mutually close or are connected；Product feed mechanism, permutation component and anti-down component including product conveyor and on product conveyor；Boxing table, the output terminal close to product feed mechanism are set；Robot is electrically connected with control system, the fixture including being used to capture product and the mechanical arm for mobile product；Weighing mechanism is set close to boxing table；Label-sticking mechanism is set close to Weighing mechanism；Joint sealing mechanism has a joint sealing code reader being electrically connected with control system；Road pipeline afterwards, for the carton after the completion of joint sealing to be delivered to stacking area.Robot vanning integrated system described in the utility model, automatically controls the processes such as packaging, joint sealing, the stacking for carrying out product, the system fully automatic operation so that pack more efficient progress.
Description
Technical field
The utility model is related to packing technique fields, and in particular to robot vanning integrated system.
Background technology
At present, in the 3C industries of Dongguan, based on the rear road of 3C Product packaging is generally packed with manpower, inefficiency, automatically
Change degree is not high.In face of the flexible production of 3C Product line, with the production line of bulk production, the product of production can constantly become
Change, when product size changes, corresponding product packaging changes therewith, and packing method, stacking mode also change correspondingly, changeable
Product problem is packaging field one insoluble problem in road after 3C industries.
Had been developed that at present in rear some enterprises of road packaging field packed automatically, the system of stacking, but at present
System for the problem that 3C Product packed when, 3C Product in transmission process can there are it is out of order, be inverted, it is necessary to manually into
The whole sequence of row；And current packaging system the degree of automation is not high, and packaging efficiency is relatively low.
Utility model content
Based on this, a kind of robot vanning integrated system of the utility model offer, product auto-sequencing in transmission process,
And it will not overturn；Automatically control the processes such as packaging, joint sealing, the stacking for carrying out product, the system fully automatic operation so that bag
Fill more efficient progress.
In order to realize the purpose of this utility model, the utility model uses following technical scheme：
A kind of robot vanning integrated system, including：
Control system；
Unpack mechanism, and the unpacking mechanism is used to be molded carton；The unpacking mechanism is electrically connected with the control system；
Babinet conveying mechanism, the output terminal of the input terminal of the babinet conveying mechanism and the unpacking mechanism is mutually close or phase
Connection, the babinet conveying mechanism is for the carton after conveying shaping；
Product feed mechanism, the product feed mechanism include product conveyor and on the product conveyors
Permutation component and anti-down component；
Boxing table, the boxing table are set close to the output terminal of the product feed mechanism；
Robot, the robot are electrically connected with the control system；The robot includes the folder for capturing product
Tool and the mechanical arm for mobile product；
Weighing mechanism, the Weighing mechanism are set close to the boxing table, for weighing to the carton for installing product；
Label-sticking mechanism, the label-sticking mechanism are set close to the Weighing mechanism, for being pasted to the carton for installing product
Mark；
Joint sealing mechanism, for encapsulating the carton, the joint sealing mechanism has a joint sealing code reader, institute for the joint sealing mechanism
Joint sealing code reader is stated to be electrically connected with the control system；
Road pipeline afterwards, it is described after road pipeline set close to the joint sealing mechanism, for will be described in after the completion of joint sealing
Carton is delivered to stacking area.
Above-mentioned robot vanning integrated system, be integrated with automatic Picking carton, case, weigh, labelling, joint sealing, stacking
Etc. functions, realize assembly line integration packed；Product feed mechanism therein is configured with permutation component and the component that fell, and makes
Obtaining product can be with auto-sequencing and contraposition during transport so that the same face is respectively positioned on during product packaging, and will not be inverted, machine
Device people can directly pick up product and be packed, and improve the efficiency of packaging；The system is by control system fully automatic operation, automatically
Change degree is higher, and reduces artificial participation, saves cost.
In wherein some embodiments, the output terminal of the unpacking mechanism is equipped with sliding block, and the side of the sliding block is in circular arc
Shape is set, and the sliding block is connected with the babinet conveying mechanism, the carton is sent to the babinet conveying mechanism.
In wherein some embodiments, the unpacking mechanism includes sucker, lateral surface compressing actuator and bottom surface top pressure and drives
Moving part, the sucker are used to hold the first side of the carton, and the lateral surface compressing actuator is used for paper described in activity top pressure
The second side of the adjacent first side of case, the bottom surface top pressure actuator is for carton described in activity top pressure adjacent described the
3rd side of one side, second side.
In wherein some embodiments, the permutation component includes being arranged on the first permutation plate above the product conveyor
With the second permutation plate, there is permutation guide groove between the first permutation plate and the second permutation plate.
In wherein some embodiments, the product feed mechanism is equipped with corresponding with the permutation component close to output terminal
Pushing component, the pushing component is pusher cylinder, and the pusher cylinder has solenoid valve, the solenoid valve and the control
System is electrically connected.It is to be packaged that product can be pushed into output terminal etc. by pushing component, and when quantity reaches requirement, control system control pushes away
Expect that component fixes product, to keep the product quantity of packaging.
In wherein some embodiments, the anti-down component is arranged on the product feed mechanism close to output terminal, described anti-
Component includes the striker plate of an electric cylinders and the connection electric cylinders, and the striker plate corresponds to the output of the product feed mechanism
End.
In wherein some embodiments, the product feed mechanism is equipped with product code reader, the product close to output terminal
Code reader is electrically connected with the control system, for scanning the information of product and transmitting information to the control system.
In wherein some embodiments, the product feed mechanism corresponds to permutation component and is equipped with amount sensor, described
Amount sensor is electrically connected with the control system.
In wherein some embodiments, the shaping carton lay down location of the unpacking mechanism is equipped with shaping carton detection sensing
Device, the shaping carton detection sensor are electrically connected with the control system；Vanning detection sensor is equipped at the boxing table,
The vanning detection sensor is electrically connected with the control system.
In wherein some embodiments, the stacking position of the Weighing mechanism is equipped with weighing-up wave sensor, described to weigh
Signal transducer is electrically connected with the control system；At the joint sealing mechanism be equipped with joint sealing sensor, the joint sealing sensor with
The control system electrical connection.
Description of the drawings
Fig. 1 is the structure diagram of robot vanning integrated system described in one preferred embodiment of the utility model；
Fig. 2 is the top view of robot vanning integrated system described in Fig. 1；
Fig. 3 is the structure diagram of the product feed mechanism of robot vanning integrated system described in Fig. 1；
Fig. 4 is the structure diagram of the unpacking mechanism of robot vanning integrated system described in Fig. 1；
Fig. 5 is the module map of the control system of robot vanning integrated system described in Fig. 1；
Fig. 6 is one of AL1 line traffic control flow charts of robot vanning integrated system described in Fig. 1；
Fig. 7 is two of the AL1 line traffic control flow charts of robot vanning integrated system described in Fig. 1；
Fig. 8 is one of the AL2 lines of robot vanning integrated system and AL3 line traffic control flow charts described in Fig. 1；
Fig. 9 is the AL2 lines and the two of AL3 line traffic control flow charts of robot vanning integrated system described in Fig. 1；
Figure 10 is the ROBOT control flow charts of robot vanning integrated system described in Fig. 1.
Specific embodiment
For the ease of understanding the utility model, the utility model is more fully retouched below with reference to relevant drawings
It states.The preferred embodiment of the utility model is given in attached drawing.But the utility model can in many different forms come in fact
It is existing, however it is not limited to embodiment described herein.On the contrary, the purpose for providing these embodiments is the public affairs made to the utility model
Open the understanding more thorough and comprehensive of content.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with belonging to the technology of the utility model
The normally understood meaning of technical staff in domain is identical.It is simply in the term used in the description of the utility model herein
The purpose of description specific embodiment, it is not intended that in limitation the utility model.
Embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In attached drawing
Give presently preferred embodiments of the present invention.But the present invention can realize in many different forms, however it is not limited to this paper institutes
The embodiment of description.On the contrary, the purpose for providing these embodiments is to make the understanding to the disclosure more thorough
Comprehensively.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The normally understood meaning of technical staff is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.
Embodiment
Fig. 1 to Figure 10 is refer to, is a kind of robot vanning integrated system 100 of the utility model, for more to 3C etc.
The automatic business processings such as kind product is cased, joint sealing, stacking improve the efficiency of packaging.AL1 is product feed mechanism 40 in figure
Transport portion, that is, product conveyor 41, AL2 are labeling conveyer belt 71, and AL2 is rear road pipeline 103, and ROBOT is robot 60.
Fig. 1 to Fig. 4 is refer to, robot vanning integrated system 100 includes controlling the control of other electronic units
System, for be molded carton 101 unpacking mechanism 20, for convey be molded after carton 101 babinet conveying mechanism 30, be used for
The product feed mechanism 40 of conveying products 102, the boxing table 50 for vanning, the machine for capturing carton 101 and product 102
People 60, the Weighing mechanism 70 for weighing to the carton for installing product 102, the label-sticking mechanism for being labelled to carton
80th, for the joint sealing mechanism 90 that seals the carton for installing product and defeated for carton to be delivered to 104 Chu Hou roads of stacking area
Line sending 103, as a result, the system can automate product 102 is packed, joint sealing, the operations such as weigh, label.
Fig. 5 is refer to, wherein, control system includes supplied materials system 11, system 12 of unpacking, vanning palletizing system 13 and envelope
Case system 14, unpacking system 12 therein are individual subprogram.After each system reset of control system, system formally starts.
Wherein, the mechanism 20 that unpacks is electrically connected with control system, and automatic running is controlled by control system.Specifically, case unpacker
Structure 20 includes sucker 21, lateral surface compressing actuator 22 and bottom surface top pressure actuator 23, and sucker 21 is used to hold the of carton 101
One side, lateral surface compressing actuator 22 are used for the second side of 101 adjacent first side of movable top platen case, the driving of bottom surface top pressure
Part 23 is for 101 adjacent first side of movable top platen case, the 3rd side of second side.101 original state of carton is flattening
State, when carton 101 is placed at unpacking mechanism 10, control system control sucker 21 open, hold the first side of carton 101
Then face drives carton 101 to move, when reaching lateral surface compressing actuator 22 and bottom surface 23 position of top pressure actuator, side
It compresses actuator 22 to open and run, pushes down the second side of carton 101, while bottom surface top pressure actuator 23 is opened and run,
The 3rd side of carton 101 is pushed down, so the carton of flattening can be both molded, reserves the mouth of a vanning.
In the present embodiment, lateral surface compressing actuator 22 and bottom surface top pressure actuator 23 include a driving cylinder and with this
Push rod or the push plate of cylinder connection are driven, when control system controls the solenoid valve of driving cylinder to open, cylinder moving is driven, pushes away
Bar or push plate are pushed into second side and the 3rd side of carton 101, can thus be molded carton 101.
Fig. 1 to Fig. 4 is refer to, also there is shaping carton to place position 24 for the mechanism 20 that unpacks, and be placed in the shaping carton
Position 24 is equipped with shaping carton detection sensor, and shaping carton detection sensor is electrically connected with control system.
It refer to Fig. 5 to Figure 10, the control shaping carton detection sensor detection forming paper of unpacking system 12 of control system
Case places the signal Box-flag of position 24, if it is 0 that shaping carton, which places 24 signal Box-flag of position, controls the mechanism 20 that unpacks will
Carton 101 is molded, and is sent to shaping carton and placed position 24, then exports the signal for being molded carton 101 to unpacking system respectively
12 and vanning palletizing system 13；If it is 1 to be molded carton lay down location signal Box-flag, 50 position signal of boxing table is detected,
If 50 position signal of boxing table is 0, control robot 60 that carton 101 is moved to boxing table 50.
Refer to Fig. 1 to Fig. 4, wherein in an embodiment, the output terminal of the mechanism 20 that unpacks is equipped with sliding block, the sliding block be into
Type carton places position 24, and the side of sliding block is set in arc-shaped, and sliding block is connected with babinet conveying mechanism 30, and sliding block is used to be positioned to
The carton of type, and carton 101 is sent to babinet conveying mechanism 30.
The input terminal of babinet conveying mechanism 30 and the output terminal of unpacking mechanism 20 are mutually close or are connected, and so unpack mechanism
Shaping carton 101 on 20 can flow directly into babinet conveying mechanism 30, be delivered to front and case.
In a wherein embodiment, babinet conveying mechanism 30 is roller conveyor structure, if by dry drum and power transmission
Mechanism forms.In other examples, babinet conveying mechanism 30 can also be the conveying mechanisms such as feed belt.
Robot 60 has mechanical arm and fixture, and for capturing product 102 or carton 101, mechanical arm is used to move fixture
The product of crawl.60 built-in electronic program of robot, and communicated with control system, receive the operational order of control system.
Permutation component 42 of the product feed mechanism 40 including product conveyor 41 and on product conveyor 41 is with preventing
Component 43, permutation component 42 facilitate subsequent process for being ranked up to product.Anti-down component 43 can prevent product
102 occur inversion etc. during conveying.In a wherein embodiment, product conveyor 41 is feed belt.Permutation component 42
The first permutation plate 421 and the second permutation plate 422 including being arranged on the top of product conveyor 41, the first permutation plate 421 and second whole
Permutation guide groove 423 is formed between strake 422.Product 102 moves ahead with product conveyor 41, is arranged one by one to permutation guide groove
In 423, transport to the output terminal of product feed mechanism 40, taken out for robot 60.Anti-down component 43 is arranged on product feed mechanism
40 close to output terminal, and anti-down component 43 includes an electric cylinders 431 and connects the striker plate 432 of the electric cylinders 431, and electric cylinders 431 are located at
The side of product conveyor 41, the output terminal of 432 corresponding product feed mechanism 40 of striker plate, blocks forward product 102.
The product feed mechanism 40 further includes pushing component 45, and pushing component 45 is close to the output terminal of product feed mechanism 40
It sets, is used to product 102 being pushed into output terminal.Optionally, permutation component 42 offers opening, pusher close to output end position
Component 45 corresponds to the opening and sets.When the product 102 in the permutation component 42 of the output terminal of product feed mechanism 40 is pre- enough
If quantity, and pushing component 45 fixes last product 102 so that the product 102 on product conveyor 41 cannot move ahead again.
In a wherein embodiment, which is pusher cylinder, which has solenoid valve, solenoid valve and control system
Electrical connection.It is to be packaged that product can be pushed into output terminal etc. by pushing component 45, when quantity reaches requirement, control system control pusher
Component 45 fixes product, to keep product quantity to be packaged.
Product feed mechanism 40 is additionally provided with product code reader 46,46 device of product barcode scanning and control system close to output end position
Electrical connection, for scanning the information of product and transmitting information to control system.Optionally, product code reader 46 and supplied materials system
11 electrical connections, the product information swept to is transferred to supplied materials system 11 by product code reader 46, and the information collected is passed through string
Mouth communication feeds back to mes systems.
Fig. 5 to Figure 10 is refer to, specifically, supplied materials system 11 controls pushing component 45 that product is pushed into permutation component 42,
And detect whether the product 102 in permutation component 42 reaches default quantity, if reaching, barcode scanning, barcode scanning are carried out to product 102
Success, barcode scanning signal SC put 1, then pushing component 45 are controlled to stop, variable WA1-flag puts 1；If being not achieved, pusher is controlled
Component 45 continues pusher；If barcode scanning is unsuccessful, system display error.After the completion of pusher, the pusher signal PB1 of pushing component 45
1 is put, pusher is completed, and waits vanning, after the completion of vanning, 45 return of pushing component, PB1 is set to 0.
Product feed mechanism 40 is additionally provided with amount sensor, amount sensor and control system electricity corresponding to permutation component 42
Connection.Specifically, amount sensor is electrically connected with supplied materials system 11, and supplied materials system 11 detects permutation component by amount sensor
Whether the product 102 in 42 reaches default quantity, if reaching, pushing component 45 is controlled to stop, variable WA1-flag puts 1；
If being not achieved, pushing component 45 is controlled to continue pusher.
Fig. 1 to Fig. 4 is refer to, boxing table 50 is set close to the output terminal of product feed mechanism 40, facilitates robot 60 will
Product crawl on product feed mechanism 40 is moved in the carton 101 on boxing table 50.Vanning detection is equipped at boxing table 50
Sensor, vanning detection sensor are electrically connected with control system.
Fig. 5 to Figure 10 is refer to, specifically, vanning detection sensor is electrically connected with vanning palletizing system 13, stacking of casing
System 13 detects the signal Box-feed1 of boxing table 50 position, and 50 position signal Box-feed1 of boxing table is if 0, then receiver
When device people feedback signal Robot feedback1, Robot feedback1 are 1, the 431 signal PB3 of electric cylinders for the component 43 that fell is put
0,50 position signal Box-feed1 of boxing table is set to 0；Start robot 60 and carton 101 is transferred to boxing table 50；If boxing table 50
For position signal if 1, then whether the product 102 detected in permutation component 42 reaches default quantity, if WA1-flag is 1,
Start robot 60 to case, specifically capture the product 102 on product feed mechanism 40, and pile up to carton 101, directly
Until the product 102 of default quantity is installed.
Weighing mechanism 70 is used to weigh to the carton 101 for installing product 102, and is set close to boxing table 50, convenient
The carton 101 for installing product is transferred at Weighing mechanism 70 by robot 60.
Label-sticking mechanism 80 is set close to Weighing mechanism 70, for being labelled to the carton 101 for installing product 102, so as to
Subsequently it is identified.Specifically Weighing mechanism 70 receives the signal of control system, so as to which trigger switch carries out labeling operation.Specifically
Control flow is：Vanning palletizing system 13 detects that weighing results for PASS signals, then trigger label-sticking mechanism 80 and labelled；If
Vanning palletizing system 13 detects box2-flag signals if 0, then the signal that system continues from 50 position of detection boxing table is opened
Begin, until certain point signal is 1.
Fig. 1 to Fig. 4 is refer to, wherein in an embodiment, Weighing mechanism 70 is arranged on a labeling conveyer belt with label-sticking mechanism 80
On 71, carton is weighed as labeling conveyer belt 71 is transported at Weighing mechanism 70, is then transported to again at label-sticking mechanism 80
It is labelled.In other examples, Weighing mechanism 70 can also be separately provided with label-sticking mechanism 80, be captured by robot 60
Carry out corresponding operating.Weighing mechanism 70 and label-sticking mechanism 80 are the prior art, and details are not described herein.
Joint sealing mechanism 90 has a joint sealing code reader, and joint sealing code reader is electrically connected with control system, for the paper sealed
Case carries out barcode scanning and stores.Joint sealing sensor is additionally provided at joint sealing mechanism 90, joint sealing sensor is electrically connected with control system, is used for
It whether detects at joint sealing mechanism 90 with the presence of carton.
Fig. 5 to Figure 10 is refer to, vanning palletizing system 13 starts robot and promote according to the feedback signal of label-sticking mechanism 80
Carton 101 to joint sealing mechanism 90 carries out joint sealing, then detects the signal of joint sealing mechanism 90, if the signal of joint sealing mechanism is 1, controls
Robot 60 processed carries out palletizing operation, and simultaneity factor count internal calculates whether stacking quantity reaches default quantity；It will when reaching
After asking, vanning palletizing system 13 suspends；If the signal of joint sealing mechanism 90 is 0, system continues above-mentioned signal detection, until a certain
Point signal puts 1；After joint sealing system 14 detects carton signal, start joint sealing operation, while trigger joint sealing code reader and carry out barcode scanning,
And the information collected is fed back into mes systems 15 by serial communication；Carton reaches set point, and joint sealing system 14 detects paper
Carton Song Zhihou roads pipeline 103, carton are reached stacking area 104 by case signal, robot 60 or intermediate member, generate stacking letter
Number, robot 60 is waited to act.
Road pipeline 103 is set close to joint sealing mechanism 90 afterwards.In a wherein embodiment, the output terminal of joint sealing mechanism 90 is equipped with
One slide unit 105, slide unit 105 can be by carton Song Zhihou roads pipelines 103.Robot 60 is by the carton 101 on rear road pipeline 103
Simultaneously stacking is captured to stacking area 104.
Specifically control process is:Vanning palletizing system 13 detects the signal CartonA at place of weighing, if CartonA is 0 (nothing
Signal), then start robot program, i.e. signal Box2-flag puts 1；If CartonA is 1 (having signal), robot dress is detected
Case feedback signal Robot feedback2, Robot feedback2 are 0, then continue to detect；Robot feedback2 are 1, then
Closing machine people program, that is, Box2-flag is set to 0, and starts the labeling conveyer belt between Weighing mechanism 70 and label-sticking mechanism 80, i.e.,
AL2-flag puts 1, then detects the signal CartonA at place of weighing again, when CartonA is 1, starts labeling and barcode scanning, weigher
Structure 70 receives signal, so as to which trigger switch carries out weighing operation.Weighing mechanism 70 has stacking position, which, which has installed, weighs
Signal transducer, weighing-up wave sensor are electrically connected with the vanning palletizing system 13 of control system, can send box2-flag letters
Number give control system vanning palletizing system 13.
Whether the product 102 that vanning palletizing system 13 is detected in permutation component 42 reaches default quantity, if WA1-flag
For 0, then 70 stacking position box2-flag signals of Weighing mechanism are detected, box2-flag signals then trigger Weighing mechanism 70 if 1
It weighs to carton, when weighing results are NG signals, carton is transferred to abnormal area by startup robot.Exception feelings therein
Condition is typically packing number not default enough quantity or empty van etc..Whether detection labeling, barcode scanning succeed after labeling barcode scanning, if
It is unsuccessful, continue to detect, if success, the labeling between Weighing mechanism 70 and label-sticking mechanism 80 conveys tape starting, and the labeling is defeated
When sending the end of tape to detect signal, the labeling conveyer belt is closed, road pipeline 103 after then starting, i.e. AL3-flag puts 1；So
The signal CartonB in stacking area is detected afterwards, CartonB continues to detect when being 0, road pipeline 103 after being closed when CartonB is 1,
I.e. AL3-flag is set to 0.
Above-mentioned vanning palletizing system 13 also detects stacking area 104, and whether whole plate stacking is completed, i.e. Palletizing
BoardBox signals, when Palletizing boardBox signals are 0, pause in next step, wait and resetting；
When Palletizing boardBox signals are 1, trigger the 20 signal sealing Box of mechanism that unpack and unpack, then trigger
Carton is transferred to point of safes by carton transfer signal Move safe point, then detection vanning signal Box1-flag, vanning
When signal Box1-flag is 0, whether detection Box2-flag signals are 1, Box2-flag signals when being 1, and product 102 is carried out
Stacking, stacking area 104 is detected after stacking success, and whether whole plate stacking is completed, i.e. Palletizing boardBox signals,
When Palletizing boardBox signals are 0, pause in next step, wait and resetting；Palletizing boardBox believe
Number be 1 when, triggering carton transfer signal Move safe point carton is transferred to Weighing mechanism 70, then robot case
Feedback signal Robot feedback3 put 1, time 1s；When the signal Box1-flag that cases is 1, letter is completed in triggering vanning action
Number Package, then robot vanning feedback signal Robot feedback1 put 1, time 1s；Vanning completion time is detected again
Whether number Package time are 2 times, if 2 times, are then pushed into Weighing mechanism 70 and weigh, and whether detection weighing results
Pass, it is underproof to be removed to unqualified region, triggering carton transfer signal Move safe point；Qualified triggering carton
Transfer signal Move safe point, then robot vanning feedback signal Robot feedback2 put 1, time 1s.
Above-mentioned control system include supplied materials system 11, unpack system 12, vanning palletizing system 13, joint sealing system 14 and
Mes systems 15, wherein each system can there are identical detections to operate.Control system combination each position signal is presetted with system
Each system priority with control in next step act.The system of low priority is subject to the system system of high priority between each system
About, while single low priority system adds up to a certain extent, and priority rises, until after solving accumulation amount, low priority recovers
Normally.
Embodiment described above only expresses the several embodiments of the utility model, and description is more specific and detailed,
But it should not be interpreted as limiting the scope of the present invention.It should be pointed out that for the common of this field
For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to
In the scope of protection of the utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (10)
- The integrated system 1. a kind of robot cases, which is characterized in that including：Control system；Unpack mechanism, and the unpacking mechanism is used to be molded carton；The unpacking mechanism is electrically connected with the control system；Babinet conveying mechanism, the input terminal of the babinet conveying mechanism and the output terminal of the unpacking mechanism are mutually close or are connected It connects, the babinet conveying mechanism is for the carton after conveying shaping；Product feed mechanism, the product feed mechanism include product conveyor and the permutation on the product conveyor Component and anti-down component；Boxing table, the boxing table are set close to the output terminal of the product feed mechanism；Robot, the robot are electrically connected with the control system；The robot include for capture the fixture of product with And the mechanical arm for mobile product；Weighing mechanism, the Weighing mechanism are set close to the boxing table, for weighing to the carton for installing product；Label-sticking mechanism, the label-sticking mechanism are set close to the Weighing mechanism, for being labelled to the carton for installing product；Joint sealing mechanism, for encapsulating the carton, the joint sealing mechanism has a joint sealing code reader, the envelope for the joint sealing mechanism Case code reader is electrically connected with the control system；Road pipeline afterwards, it is described after road pipeline set close to the joint sealing mechanism, for by the carton after the completion of joint sealing It is delivered to stacking area.
- The integrated system 2. robot according to claim 1 cases, it is characterised in that：The output terminal of the unpacking mechanism is set There is sliding block, the side of the sliding block is set in arc-shaped, and the sliding block is connected with the babinet conveying mechanism, the carton is sent To the babinet conveying mechanism.
- The integrated system 3. robot according to claim 1 or 2 cases, it is characterised in that：The unpacking mechanism includes inhaling Disk, lateral surface compressing actuator and bottom surface top pressure actuator, the sucker are used to hold the first side of the carton, the side The tight actuator of face pressure is used for the second side of the adjacent first side of carton described in activity top pressure, the bottom surface top pressure actuator For the 3rd side of the adjacent first side of carton described in activity top pressure, second side.
- The integrated system 4. robot according to claim 1 cases, it is characterised in that：The permutation component includes being arranged on institute The the first permutation plate and the second permutation plate above product conveyor are stated, is had between the first permutation plate and the second permutation plate whole Row guide groove.
- The integrated system 5. robot according to claim 4 cases, it is characterised in that：The product feed mechanism is close to defeated Outlet be equipped with the corresponding pushing component of permutation component, the pushing component is pusher cylinder, pusher cylinder tool There is solenoid valve, the solenoid valve is electrically connected with the control system.
- The integrated system 6. robot according to claim 1 cases, it is characterised in that：The anti-down component is arranged on the production For product feed mechanism close to output terminal, the anti-down component includes the striker plate of an electric cylinders and the connection electric cylinders, the backgauge Plate corresponds to the output terminal of the product feed mechanism.
- The integrated system 7. robot according to claim 1 cases, it is characterised in that：The product feed mechanism is close to defeated Outlet is equipped with product code reader, and the product code reader is electrically connected with the control system, for scanning the information of product and inciting somebody to action Information is transmitted to the control system.
- The integrated system 8. robot according to claim 1 cases, it is characterised in that：The product feed mechanism corresponds to Permutation component is equipped with amount sensor, and the amount sensor is electrically connected with the control system.
- The integrated system 9. robot according to claim 1 cases, it is characterised in that：The shaping carton of the unpacking mechanism Lay down location is equipped with shaping carton detection sensor, and the shaping carton detection sensor is electrically connected with the control system；It is described Vanning detection sensor is equipped at boxing table, the vanning detection sensor is electrically connected with the control system.
- The integrated system 10. robot according to claim 1 cases, it is characterised in that：The stacking position of the Weighing mechanism Weighing-up wave sensor is installed, the weighing-up wave sensor is electrically connected with the control system；It is set at the joint sealing mechanism There is joint sealing sensor, the joint sealing sensor is electrically connected with the control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721291054.3U CN207433977U (en) | 2017-09-30 | 2017-09-30 | Robot vanning integrated system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721291054.3U CN207433977U (en) | 2017-09-30 | 2017-09-30 | Robot vanning integrated system |
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| Publication Number | Publication Date |
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| CN207433977U true CN207433977U (en) | 2018-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721291054.3U Expired - Fee Related CN207433977U (en) | 2017-09-30 | 2017-09-30 | Robot vanning integrated system |
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| Country | Link |
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| CN (1) | CN207433977U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109649760A (en) * | 2019-01-11 | 2019-04-19 | 安徽鸿森智能装备股份有限公司 | A kind of LED board detection baling line |
| CN111483628A (en) * | 2019-01-25 | 2020-08-04 | 北京东华原医疗设备有限责任公司 | Medicine decocting system based on automatic transportation system and control method thereof |
| CN111846482A (en) * | 2020-07-17 | 2020-10-30 | 艾斯迪(天津)汽车零部件有限公司 | Die casting packing plant |
| CN113636128A (en) * | 2021-08-18 | 2021-11-12 | 巨石集团有限公司 | Automatic boxing system and operation method thereof |
| CN114308719A (en) * | 2021-11-24 | 2022-04-12 | 国网河北省电力有限公司营销服务中心 | Automatic sorting system for disassembled electric energy meters |
| CN114906405A (en) * | 2021-11-05 | 2022-08-16 | 深圳市纬华机械有限公司 | Packaging apparatus and box sealing method |
| CN117302701A (en) * | 2023-11-29 | 2023-12-29 | 广东毕要科技有限公司 | Well packing box robot system |
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2017
- 2017-09-30 CN CN201721291054.3U patent/CN207433977U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109649760A (en) * | 2019-01-11 | 2019-04-19 | 安徽鸿森智能装备股份有限公司 | A kind of LED board detection baling line |
| CN111483628A (en) * | 2019-01-25 | 2020-08-04 | 北京东华原医疗设备有限责任公司 | Medicine decocting system based on automatic transportation system and control method thereof |
| CN111483628B (en) * | 2019-01-25 | 2023-08-25 | 北京东华原医疗设备有限责任公司 | Drug decocting system based on automatic transportation system and control method thereof |
| CN111846482A (en) * | 2020-07-17 | 2020-10-30 | 艾斯迪(天津)汽车零部件有限公司 | Die casting packing plant |
| CN113636128A (en) * | 2021-08-18 | 2021-11-12 | 巨石集团有限公司 | Automatic boxing system and operation method thereof |
| CN114906405A (en) * | 2021-11-05 | 2022-08-16 | 深圳市纬华机械有限公司 | Packaging apparatus and box sealing method |
| CN114906405B (en) * | 2021-11-05 | 2024-07-02 | 深圳市纬华机械有限公司 | Packaging apparatus and case sealing method |
| CN114308719A (en) * | 2021-11-24 | 2022-04-12 | 国网河北省电力有限公司营销服务中心 | Automatic sorting system for disassembled electric energy meters |
| CN117302701A (en) * | 2023-11-29 | 2023-12-29 | 广东毕要科技有限公司 | Well packing box robot system |
| CN117302701B (en) * | 2023-11-29 | 2024-03-22 | 广东毕要科技有限公司 | Well packing box robot system |
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