CN214002221U - Multi-manipulator boxing system - Google Patents

Abstract

The utility model discloses a multimanipulator vanning system relates to vanning equipment technical field. The utility model comprises a case unpacking machine, a case feeding conveying channel, a case discharging conveying channel, a plurality of manipulators, a plurality of feeding conveyer belts and a case sealing machine, wherein the case transporting channel, the manipulators and the feeding conveyer belts correspond to form a material boxing station; the input end of the box inlet conveying channel is connected with the box opening machine, and the output end of the box outlet conveying channel is connected with the box sealing machine to perform box sealing operation. The utility model discloses a multimachine hand vanning system, many manipulators can be synchronous simultaneously or the action of packing of asynchronous carrying on, can not cause influence and interference each other, and packing box on the packing box transportation channel can be exported to going out the case passageway after accomplishing the vanning, need not wait for other packing boxes for vanning efficiency can effectively be improved. Can simultaneously complete the boxing required by various specifications and greatly improve the boxing efficiency.

Description

Multi-manipulator boxing system

Technical Field

The utility model relates to a vanning equipment technical field, more specifically say and relate to a multimachine hand vanning system.

Background

At present, the manipulator is adopted for boxing, and the manipulator is the most common boxing means in the field of box packers. In order to improve the boxing effect, multiple manipulators are generally adopted for boxing. However, the conventional multi-manipulator boxing equipment is limited by the structure, so that the efficiency of boxing by the cooperative action of the multiple manipulators is limited by the structure.

For example, the national intellectual property office discloses an invention patent application with the publication number of CN105083624A and the name of full-automatic spider robot case packer in 2015, which comprises a frame type rack, hangers, spider hand robots, material pickers, a PLC (programmable logic controller), material conveying belts and box conveying belts, wherein the material conveying belts and the box conveying belts are arranged in the frame type rack in parallel, the tops of the frame type rack are provided with a plurality of hangers, the spider hand robots are hung on the hangers, the tail ends of the spider hand robots are provided with the material pickers, and motors of the spider hand robots, the material pickers, the material conveying belts and the box conveying belts are all connected with the PLC.

The multi-manipulator boxing of the prior art only has one feeding conveyer belt and one box conveyer belt, and when the manipulators perform boxing actions, the packing boxes are placed on the box conveyer belt, the multi-manipulator boxing of the prior art can perform boxing operations of a plurality of packing boxes simultaneously, but only one feeding conveyer belt and one box conveyer belt are adopted, actions of the plurality of manipulators are required to reach the height consistency, otherwise, actions of the plurality of manipulators are inconsistent, feeding can be performed again after the manipulator which completes one boxing action at last completes the action, and the rest manipulators which complete one boxing action can only wait for the manipulator which completes the slowest action to complete the action and can perform next boxing action after the feeding action is completed; the manipulator is provided with only one feeding conveying belt, so that materials which meet the requirement of boxing of a plurality of manipulators need to be conveyed by one-time feeding, the feeding stroke is long, and the waiting time of the manipulators is long; and because only one box body conveying belt of the packaging box is needed, all the packaging boxes which are subjected to boxing can be conveyed to the next station after the slowest mechanical arm finishes boxing, new packaging boxes are conveyed, the moving stroke is the length of a plurality of packaging boxes corresponding to the plurality of mechanical arms, and the box feeding waiting time is longer. Thus resulting in no further improvement in the packing efficiency.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defect and not enough that exist among the above-mentioned prior art, the utility model provides a multimachine hand vanning system, the utility model discloses an invention aim at solve the problem that vanning equipment vanning efficiency can't effectively improve among the prior art. The utility model relates to a multi-manipulator packing system consisting of a case unpacking machine, a case feeding conveying channel, a case discharging conveying channel, a plurality of manipulators, a plurality of feeding conveying belts and a case sealing machine, wherein the number of the feeding conveying belts corresponds to the number of the manipulators; the input end of the box inlet conveying channel is connected with the box unpacking machine, the box unpacking machine receives the packing boxes which are output by the box unpacking machine and are subjected to bottom sealing, the output end of the box outlet conveying channel is connected with the box sealing machine, and the packing boxes filled with materials are conveyed to the box sealing machine for box sealing operation. The utility model discloses a multimachine hand vanning system is provided with many packing boxes and transports the passageway to accomplish the vanning on the packing box transports the passageway, every packing box transports the passageway and corresponds a manipulator, correspond a feeding web, make many manipulators simultaneously synchronous or asynchronous vanning action, can not cause influence and interference each other, packing box on the packing box transport passageway accomplishes after the vanning and can export to going out the case passageway, need not wait for other packing boxes, make vanning efficiency can effectively improve. Can simultaneously complete the boxing required by various specifications and greatly improve the boxing efficiency.

In order to solve the problems existing in the prior art, the utility model discloses a realize through following technical scheme:

the multi-manipulator boxing system comprises a box unpacking machine, a box inlet conveying channel, a plurality of manipulators, a plurality of feeding conveying belts, a box outlet conveying channel and a box sealing machine, wherein the input end of the box inlet conveying channel is connected with the box unpacking machine and used for receiving a bottom-sealed packaging box output by the box unpacking machine; a plurality of packing box transfer channels are arranged between the box inlet conveying channel and the box outlet conveying channel, the packing box transfer channels, the manipulator and the feeding conveying belt correspondingly form a packing station, and a plurality of packing stations are formed between the box inlet conveying channel and the box outlet conveying channel; the output end of the box discharging conveying channel is connected with the box sealing machine, and the box discharging conveying channel outputs the packaging box filled with the materials to the box sealing machine for box sealing; the packing box is arranged and is corresponded with packing box transfer passage in advancing case transfer passage, arranges the packing box on advancing case transfer passage and transports to the packing box transfer passage in by transfer device.

The mounting frame is arranged above the box inlet conveying channel, the packing box transferring channel and the box outlet conveying channel, and the plurality of manipulators are mounted on the mounting frame in a hanging mode.

The box inlet conveying channel and the box outlet conveying channel are arranged in parallel, and the packing box transferring conveying channel is arranged perpendicularly to the box inlet conveying channel and the box outlet conveying channel.

The transfer device is for moving along packing box transfer passage direction and will advance the packing box side on the case transfer passage and push away the mechanism to the side on the packing box transfer passage, and the side pushes away the mechanism and is provided with the multiunit, side push away the mechanism and the packing box transfer passage one-to-one.

The side pushes away the mechanism including setting up side push cylinder and the push pedal in advancing case transfer passage one side, and the side pushes away the cylinder and is connected with the push pedal, drives the push pedal along packing box transfer passage direction reciprocating motion.

A roller conveyor or a belt conveyor is arranged at the bottom of the box feeding conveying channel; and a roller conveyor or a belt conveyor is arranged at the bottom of the box outlet conveying channel.

Advance case transfer passage and include that the multiunit advances case conveyor belt, the multiunit advances case conveyor belt along advancing case transfer passage interval arrangement, and carries out adjacent interval of advancing between the case conveyor belt and corresponds with packing box transfer passage, and side pushing mechanism sets up in advancing case transfer passage and packing box transfer passage bottom.

The side pushes away the mechanism and includes circulation chain and push rod, and the push rod is installed on circulation chain, and the push rod pushes away the packing box to packing box transfer passage by advancing case transfer passage side under circulation pivoted circulation chain's drive, pushes away to on the delivery passage of case again by packing box transfer passage side.

The transfer device is a rotary conveyor, and the conveying direction of the rotary conveyor is converted between the conveying direction of the box feeding conveying channel and the conveying direction of the packing box transfer conveying channel.

The rotary conveyor comprises a linear conveying table, a rotary driving mechanism and a supporting seat, wherein the rotary driving mechanism is located below the linear conveying table and drives the linear conveying table to rotate, and the supporting seat is located below the linear conveying table and is used for supporting the linear conveying table and the rotary driving mechanism.

And the linear conveying table is conveyed by adopting a conveying belt.

And the linear conveying table adopts a roller way to realize conveying action.

Go out the position department that corresponds packing box transfer passage in the case transfer passage and be provided with rotary conveyor equally, the direction of delivery of rotary conveyor who goes out in the case transfer passage changes between packing box transfer passage's direction of delivery and the case transfer passage direction of delivery.

The box feeding conveying channel is a box feeding conveying channel formed by arranging rotary conveyors; the box discharging conveying channel is formed by arranging rotary conveyors.

The feeding conveying channels are formed by arranging a plurality of feeding conveying belts up and down, the projections of the material output ends of at least two feeding conveying belts in the same feeding conveying channel on the horizontal plane are not overlapped, and the material output ends of the feeding conveying belts in the same feeding conveying channel extend to the conveying direction of the feeding conveying belts from top to bottom in sequence; the plurality of manipulators are arranged in parallel along the conveying direction of the feeding conveying channel.

The multi-manipulator boxing system comprises two feeding conveying channels, and a plurality of manipulators are arranged along two rows.

And the bottom of the packing box transfer passage is provided with a sliding roller.

The bottom of the packing box transfer channel is provided with a rotary conveyor.

The manipulator is a two-axis parallel manipulator.

The working principle of the utility model is as follows:

the case unpacking machine struts the case blank, and carry out the sticky tape to the one end opening of case blank and seal, then export to advancing in the case transfer passage, empty packing box is carried by the roller conveyor or the band conveyer that advance case transfer passage bottom, after case transfer passage has been filled to empty packing box, and the range of empty packing box in advancing case transfer passage is corresponding with packing box transfer passage, will advance the packing box on the case transfer passage by transfer device and carry to in the packing box transfer passage, empty packing box pauses in packing box transfer passage, the manipulator is packed into empty packing box with the material of carrying in the feeding transfer passage in, after the packing box was filled, export to in the case transfer passage.

In the utility model, the packing box transfer channel, the manipulator and the feeding conveyer belt correspondingly form a packing station, and a plurality of packing stations are formed between the box feeding conveying channel and the box discharging conveying channel; mutual interference does not occur between a plurality of boxing stations, and a boxing station corresponds to a feeding mechanical arm and a packing box transfer passage, and the material boxing of many specifications and types can be accomplished simultaneously by adopting the system, so that the boxing efficiency can be greatly improved, the occupied area of boxing equipment is reduced, and the space layout is more compact.

Compared with the prior art, the utility model discloses profitable technological effect who brings shows:

1. the utility model discloses a multimachine hand vanning system, be provided with many packing boxes and transport the passageway, many manipulators and many feeding web, the packing box accomplishes on the packing box transportation passageway and feeds, every packing box transportation passageway corresponds a manipulator and a feeding web, make many vanning stations can be synchronous simultaneously or not synchronous carry out the vanning action, can not cause influence and interference each other, can export to going out the case passageway after the packing box on the packing box transportation passageway is accomplished the vanning, need not wait for other packing boxes, make vanning efficiency can effectively improve.

2. The utility model discloses in, there is not the interference each other in the transport of the packing box in many packing box transfer passage, and the vanning action of manipulator does not take place to interfere each other yet, does not take place to interfere each other between many feeding conveyor, just can directly export to the passageway of producing the case after the vanning is accomplished to a vanning station. The problem of mutual waiting does not exist among a plurality of boxing stations. Realize the vanning in the time of multiple different specification materials, improve vanning efficiency. Simultaneously this vanning system also is the whole of all vanning, but a plurality of vanning stations adaptation case unpacking machine, a case sealer, avoid the condition of a case unpacking machine and a case sealer adaptation vanning station, cause equipment production can waste, be unfavorable for reducing packaging cost.

3. Among the prior art, can a case unpacking machine and a plurality of vanning stations of case sealer adaptation, but because it only has a feeding or a case entering, or advances the case and goes out the case on a passageway, make can produce interference each other between a plurality of vanning stations, need wait for, just can carry out the loading of next packing case after waiting for slowest vanning station to accomplish promptly, or just can export to the case sealer, this just makes the vanning station wait for each other, can't improve vanning efficiency, and the vanning of the multiple different specification materials of a feeding also can't the adaptation. If the prior art wants to realize the vanning of multiple different specification materials, then need set up many packing lines of being carried, material transport and manipulator by case unpacking machine, case sealer, packing box, will cause the case sealer efficiency of case unpacking machine unpacking efficiency and case sealer to obtain effectual embodiment, after it needs to wait for the follow-up procedure to accomplish, just can export new empty packing box. But a box unpacking machine of this application and a box sealing machine adaptation a plurality of vanning stations that do not have interference each other can effectively embody the unpacking efficiency of box unpacking machine and the case sealing efficiency of box sealing machine, and the best use of things is integrated many current vanning lines on the one hand, reduces equipment cost, and on the other hand also can reduce equipment occupation space cost.

4. The utility model discloses in, advance case transfer passage and go out case transfer passage parallel arrangement for the packing box advances the case, transports and goes out the case and form a U type or Z type and non-repeating movement track, in the transportation process of packing box, does not have the mutual interference problem between a plurality of packing boxes, does not produce the influence each other. And the U-shaped arrangement mode is adopted, so that the occupied space is smaller, and the layout of a packaging workshop is facilitated.

5. Advance case transfer passage and go out case transfer passage's power supply, can adopt roller conveyor and band conveyer, the structure is comparatively simple, side push mechanism adopts the structural style of side push cylinder and push pedal, the structure is comparatively simple, only need with the packing box from advancing case transfer passage's roller conveyor or band conveyer transition to the packing box transport transfer passage in can, the packing box can have follow-up propulsive packing box to extrude forward in packing box transport passage, also can be at roller conveyor or band conveyer's drive down to going out case transfer passage motion. Simple structure, whole platform cost is also lower.

6. The utility model discloses in, advance case transfer passage and can also advance case transfer passage that case conveyor belt interval arrangement was connected and is formed by the multiunit, the side pushes away the mechanism and can adopt and hold in the palm chain structural style, passes by double-phase adjacent case conveyor belt's interval, and the side pushes away the packing box and gets into packing box transfer passage.

7. The utility model discloses in, transfer device can adopt the rotary conveyor, makes things convenient for the overall arrangement on the one hand, and on the other hand also makes things convenient for control, and its theory of operation is: the power for conveying the packing boxes in the box feeding conveying channel can adopt a roller conveyor or a belt conveyor; the empty packing box is conveyed by a roller conveyor or a belt conveyor at the bottom of the box inlet conveying channel, and when the packing box enters the box inlet conveying channel, the conveying direction of the rotary conveyor is consistent with the conveying direction of the box inlet conveying channel; after the empty packing boxes are filled in the box inlet conveying channel, the arrangement of the empty packing boxes in the box inlet conveying channel corresponds to that of the packing box transfer channel, at the moment, the rotary conveyor drives the empty packing boxes on the rotary conveyor to rotate 90 degrees, so that the conveying direction of the rotary conveyor is consistent with that of the packing box transfer channel, and the empty packing boxes are conveyed into the packing box transfer channel; empty packing box pauses in packing box transfer passage, the manipulator is packed into empty packing box with the material of carrying in the feeding transfer passage in, after the packing box was filled with, the packing box is by the conveying mechanism output of packing box transfer passage bottom or extrude packing box transfer passage by the packing box of follow-up input, at this moment, it is rotatory to direction of delivery and packing box transfer passage direction of delivery unanimous direction to go out the rotary conveyor who corresponds packing box transfer passage position department in the case transfer passage, treat that rotary conveyor receives by packing box transfer passage output's the packing box of filling with the material after, rotary conveyor rotates 90, make rotary conveyor's direction of delivery and the direction of delivery who goes out case transfer passage unanimous, then export out case transfer passage with the packing box that goes out case transfer passage bottom together with the conveying mechanism that goes out case transfer passage bottom.

8. The utility model discloses in, advance case transfer passage and go out case transfer passage's power supply, can adopt roller conveyor or band conveyer, also can adopt rotary conveyor, the structure is comparatively simple relatively, rotary conveyor adopts roller conveyor or band transport all can, rotary conveyor's supporting seat is fixed, the straight line transport platform on it rotates, realize direction of delivery and change between the direction of delivery of case transfer passage's direction of delivery and packing box transportation transfer passage's direction of delivery to and direction of delivery change between packing box transportation transfer passage's direction of delivery and the direction of delivery of going out case transfer passage direction of delivery. The packaging box can be pushed forward by the packaging box which is pushed forward subsequently in the packaging box transferring and conveying channel, and can also move to the box discharging and conveying channel under the driving of a roller conveyor or a belt conveyor. Simple structure, whole platform cost is also lower. If the angle of the packing box needs to be rotated, a rotary conveyor can be used as a conveying mechanism in the packing box transferring and conveying channel.

9. For making the structure compacter, packing box transfer passage can set up to the space of only a packing box case position, and in this case position space, the manipulator loads the material in to the packing box.

10. In order to make the structure of the system more compact, a plurality of feeding conveyer belts are arranged up and down to form a feeding conveyer channel; the projections of the material output ends of at least two feeding conveyer belts in the same feeding conveyer channel on the horizontal plane are not overlapped, and the material output ends of a plurality of feeding conveyer belts in the same feeding conveyer channel extend to the conveying direction of the feeding conveyer belts from top to bottom in sequence; the manipulator can conveniently grab materials, and feeding conveying belts are not interfered with each other and not influenced with each other; the plurality of manipulators are arranged in parallel along the conveying direction of the feeding conveying channel, so that the arrangement is convenient.

Drawings

Fig. 1 is a schematic perspective view of the multi-manipulator boxing system of the present invention;

fig. 2 is a schematic view of the multi-manipulator boxing system of the present invention;

fig. 3 is a schematic side view of the multi-manipulator boxing system of the present invention;

fig. 4 is a schematic top view of the multi-manipulator boxing system of the present invention;

FIG. 5 is a diagram of the motion trajectory of the packing box of the multi-manipulator packing system according to an embodiment of the present invention;

fig. 6 is a movement track diagram of a packing box of another embodiment of the multi-manipulator packing system of the present invention;

fig. 7 is a diagram showing the movement locus of the packing box in the third embodiment of the multi-manipulator packing system of the present invention.

Reference numerals: 1. case entering conveying channel, 2, case discharging conveying channel, 3, manipulator, 4, packing case transferring channel, 5, rotary conveyor, 6, mounting rack, 7, roller conveyor, 8, sliding roller, 9, side pushing cylinder, 10, push plate, 11, case unpacking machine, 12, feeding conveying channel, 13, case sealing machine, 14, packing case, 15, feeding conveying belt.

Detailed Description

The technical solution of the present invention will be further elaborated with reference to the drawings attached to the description. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features related to the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Fig. 1-4 show a multi-manipulator boxing system of the present invention, which comprises a box unpacking machine 11, a box feeding conveying channel 1, a plurality of manipulators 3, a plurality of feeding conveyor belts 15, a box discharging conveying channel 2 and a box sealing machine 13, wherein the input end of the box feeding conveying channel 1 is connected to the box unpacking machine 11, and receives a bottom-sealed packing box 14 output by the box unpacking machine 11; a plurality of packing box transfer channels 4 are arranged between the box inlet conveying channel 1 and the box outlet conveying channel 2, the packing box transfer channels 4, the manipulator 3 and the feeding conveyer belt 15 correspondingly form a packing station, and a plurality of packing stations are formed between the box inlet conveying channel and the box outlet conveying channel 2; the output end of the box discharging conveying channel 2 is connected with the box sealing machine 13, and the box discharging conveying channel 2 outputs the packing box 14 filled with materials to the box sealing machine 13 for box sealing; the packing box 14 is arranged in the box feeding conveying passage 1 and corresponds to the packing box transferring passage 4, and the packing box 14 arranged on the box feeding conveying passage is transferred into the packing box transferring passage 4 by the transferring device.

The case unpacking machine 11 struts the case blanks, carries out adhesive tape sealing on one end opening of the case blanks, outputs the case blanks to the case feeding conveying channel 1, conveys the empty packaging cases 14 by the roller conveyor 7 or the belt conveyor at the bottom of the case feeding conveying channel 1, after the empty packaging cases 14 are filled in the case feeding conveying channel 1, the arrangement of the empty packaging cases 14 in the case feeding conveying channel 1 corresponds to the packaging case transfer channel 4, conveys the packaging cases entering the case feeding conveying channel 1 to the packaging case transfer channel 4 by the transfer device, pauses the packaging cases in the packaging case transfer channel 4, and outputs the materials conveyed in the feeding conveying channel 12 to the case discharging conveying channel 2 after the packaging cases are filled.

In the embodiment, the packaging box transfer channel 4, the manipulator 3 and the feeding conveyer belt 15 correspondingly form a packaging station, and a plurality of packaging stations are formed between the box inlet conveying channel and the box outlet conveying channel 2; mutual interference does not occur between a plurality of boxing stations, and a boxing station corresponds to a charging manipulator 3 and a packing box transfer passage 4 of a feeding, so that the system can be used for simultaneously completing material boxing of multiple specification types, the boxing efficiency can be greatly improved, the occupied area of boxing equipment is reduced, and the space layout is more compact.

As an embodiment of the present invention, referring to the attached drawing 1 of the specification, the multiple manipulator boxing system shown therein is provided with one box unpacking machine 11, four feeding conveyer belts 15, one box feeding conveying channel 1, one box discharging conveying channel 2, one box sealing machine 13 and four manipulators 3, the box feeding conveying channel 1 and the box discharging conveying channel 2 are provided with four packing box transfer channels 4, the mounting frame 6 is arranged above the box feeding conveying channel 1, the packing box transfer channels 4 and the box discharging conveying channel 2, and the multiple manipulators 3 are suspended on the mounting frame 6. The feeding conveyer belt 15, the manipulator 3 and the packing box transfer channel 4 are in one-to-one correspondence to form a packing station, and empty packing boxes are loaded on the packing station; the system coexists at four boxing stations; in order to ensure the layout compactness of the whole system, a packing box conveying mechanism from the box unpacking machine 11 to the box entering conveying channel 1 as shown in fig. 1 can be omitted, and similarly, a packing box conveying mechanism from the box exiting conveying channel 2 to the box sealing machine 13 can also be omitted; meanwhile, as can be seen from fig. 1, 2 and 3, the box inlet conveying channel 1 and the box outlet conveying channel 2 of the system have four box positions, and the packing box transfer channel 4 has only one box position, so that the occupied area of the whole system is smaller.

As can be seen from the attached figure 1, two feeding conveyor belts 15 are arranged up and down to form a feeding conveyor channel 12, so that a plurality of feeding conveyor belts 15 can be avoided from each other, more feeding conveyor belts 15 are arranged as much as possible, and the structural layout is more reasonable. Similarly, the arrangement of the feeding conveyor belt 15 of the packing system of the present invention is not limited to the arrangement shown in fig. 1.

As shown in fig. 1 and 4, a plurality of feeding conveyor belts 15 are arranged up and down to form a feeding conveyor channel 12, the projections of the material output ends of at least two feeding conveyor belts 15 in the same feeding conveyor channel 12 on the horizontal plane are not overlapped, and the material output ends of the plurality of feeding conveyor belts 15 in the same feeding conveyor channel 12 sequentially extend towards the conveying direction of the feeding conveyor belts 15 from top to bottom; the plurality of manipulators 3 are arranged in parallel in the conveying direction of the feed conveyance path 12. The multi-manipulator boxing system comprises two feeding conveying channels 12, and a plurality of manipulators 3 are arranged along two rows.

When the multi-manipulator boxing platform of the utility model is just put into use (namely, no packing box exists in the box inlet conveying channel 1, the box outlet conveying channel 2 and the packing box transfer channel 4), the packing box is unfolded by the box unpacking machine 11, the unfolded empty packing box is input into the box inlet conveying channel 1 by the packing box conveying mechanism and is arranged in the box inlet conveying channel 1, and the arrangement mode of the packing boxes in the box inlet conveying channel 1 corresponds to the four packing box transfer channels 4; the four groups of transfer devices act simultaneously or sequentially to push the packing boxes arranged on the box inlet conveying channel 1 into the four packing box transfer channels 4 one by one, and after the transfer devices are reset, the box inlet conveying channel 1 inputs the four packing boxes at one time and arranges the four packing boxes according to a set specification; the packing box that has got into packing box transfer conveyor's packing box carries out the vanning operation, and in the material packing box on the feeding conveyer belt 15 was packed into to the action of manipulator 3 promptly, treat the packing box and fill the back, the packing box that has filled is exported to case delivery channel 2, is exported to case sealer 13 by case output channel and seals.

As another embodiment of the present invention, referring to fig. 5 of the specification, the box-in conveying passage 1 and the box-out conveying passage 2 are arranged in parallel, and the box-transferring conveying passage is arranged vertically with the box-in conveying passage 1 and the box-out conveying passage 2. The transfer device is for moving along packing box transfer passage direction and will advance the packing box side on the case transfer passage 1 and push away the mechanism to the side on the packing box transfer passage 4, and the side pushes away the mechanism and is provided with the multiunit, side push away the mechanism and 4 one-to-one with the packing box transfer passage. The side pushes away the mechanism including setting up side push cylinder 9 and push pedal 10 advancing case conveying path 1 one side, and side push cylinder 9 is connected with push pedal 10, drives push pedal 10 along 4 direction reciprocating motion of packing box transfer passage. Advance case conveying passageway 1 and go out case conveying passageway 2's power supply, can adopt roller conveyor 7 and band conveyer, the structure is comparatively simple, the side pushes away the structural style that the mechanism adopted side to push away cylinder 9 and push pedal 10, the structure is comparatively simple, only need with the packing box from advancing case conveying passageway 1's roller conveyor 7 or band conveyer transition to the packing box transport conveying passageway in can, the packing box can have follow-up propulsive packing box to extrude forward in the packing box transports conveying passageway, also can be under roller conveyor 7 or band conveyer's drive to go out case conveying passageway 2 motion. Simple structure and low cost of the whole system.

As another embodiment of the present invention, the box feeding conveying channel 1 includes a plurality of groups of box feeding conveying belts, the groups of box feeding conveying belts are arranged along the box feeding conveying channel 1, and the adjacent interval between the box feeding conveying belts is corresponding to the packing box transferring channel 4, and the side pushing mechanism is arranged at the bottom of the box feeding conveying channel 1 and the packing box transferring channel 4. The side pushes away the mechanism and includes circulation chain and push rod, and the push rod is installed on circulation chain, and the push rod is under circulation pivoted circulation chain's drive, with the packing box by advancing case transfer passage 1 side and push away to packing box transfer passage 4, by the packing box transfer passage 4 side again on pushing away to out case transfer passage 2.

As another embodiment of the present invention, the transfer device is a rotary conveyor 5, and the conveying direction of the rotary conveyor 5 is switched between the conveying direction of the box conveying passage 1 and the conveying direction of the packing box transferring conveying passage. The rotary conveyor 5 comprises a linear conveying table, a rotary driving mechanism and a supporting seat, wherein the rotary driving mechanism is located below the linear conveying table and drives the linear conveying table to rotate, and the supporting seat is located below the linear conveying table and is used for supporting the linear conveying table and the rotary driving mechanism. And the linear conveying table is conveyed by adopting a conveying belt. Or the linear conveying table adopts a roller way to realize conveying action.

As shown in fig. 6, the bottom of the box-feeding conveying channel 11 is conveyed by four rotary conveyors 5, that is, four packing box positions correspond to four packing box transfer channels 4. Directly from the rotary conveyor 5 or diverted into the transfer channel 4 for the containers.

As another embodiment of the present invention, as shown in fig. 7, the bottom of the box-entering conveying channel 1 is composed of a plurality of groups of roller conveyors 7 or belt conveyors, and the rotary conveyor 5 is located between two adjacent groups of roller conveyors 7 or belt conveyors. The bottom of the box outlet conveying channel 2 is composed of a plurality of groups of roller conveyors 7 or belt conveyors, and the rotary conveyor 5 is positioned between the two adjacent groups of roller conveyors 7 or belt conveyors. Redundant packing boxes can wait on the roller conveyor 7, a waiting packing box is arranged on the roller conveyor 7, and after the packing boxes on the rotary conveyor 5 are input into the packing box transfer channel 4, the packing boxes on the roller conveyor 7 are conveyed to the rotary conveyor 5.

The packing box transfer passage 4 only has a packing box position, directly adopts the form of smooth roller 8, and the structure is simpler, also can ensure that the packing box exports smoothly to a case transfer passage 2. Or the bottom of the packing box transferring channel 4 is conveyed by a roller conveyor 7 or a belt conveyor, or conveyed by a rotary conveyor 5, and conveyed by the rotary conveyor 5, so that the placing position of the packing box can be modified, and the packing box transferring channel can meet the requirements of various packing specifications.

Furthermore, the manipulator 3 can be an industrial robot or a two-axis parallel manipulator 3, the two-axis parallel manipulator 3 is lower in cost, and the two-axis parallel manipulator 3 is installed in a hanging mode through the installation frame 6, so that the occupied space of the platform can be saved compared with the structure of the industrial robot.

Claims (12)

1. Many manipulators vanning system, its characterized in that: the automatic box opening and closing machine comprises a box opening machine (11), a box inlet conveying channel (1), a plurality of manipulators (3), a plurality of feeding conveying belts (15), a box outlet conveying channel (2) and a box sealing machine (13), wherein the input end of the box inlet conveying channel (1) is connected with the box opening machine (11) and is used for receiving bottom-sealed packing boxes output by the box opening machine (11); a plurality of packing box transfer channels (4) are arranged between the box inlet conveying channel (1) and the box outlet conveying channel (2), the packing box transfer channels (4), the mechanical arm (3) and the feeding conveying belt (15) correspondingly form a packing station, and a plurality of packing stations are formed between the box inlet conveying channel and the box outlet conveying channel (2); the output end of the box discharging conveying channel (2) is connected with the box sealing machine (13), and the box discharging conveying channel (2) outputs the packing box filled with the materials to the box sealing machine (13) for box sealing; the packing box is arranged and is corresponded with packing box transfer passage (4) in advancing case transfer passage (1), arranges the packing box on advancing case transfer passage and transports to packing box transfer passage (4) in by transfer device.

2. The multi-robot binning system of claim 1, wherein: the mounting frame (6) is arranged above the box inlet conveying channel (1), the packing box transfer channel (4) and the box outlet conveying channel (2), and the plurality of manipulators (3) are installed on the mounting frame (6) in a hanging mode.

3. The multi-robot binning system of claim 2, wherein: the box feeding conveying channel (1) and the box discharging conveying channel (2) are arranged in parallel, and the packing box transferring conveying channel is arranged perpendicularly to the box feeding conveying channel (1) and the box discharging conveying channel (2).

4. The multi-robot binning system of claim 3, wherein: the transfer device moves along the direction of the transfer channel of the packing box and pushes the packing box on the conveying channel (1) to the side pushing mechanism on the transfer channel (4) of the packing box, the side pushing mechanism is provided with a plurality of groups, and the side pushing mechanism corresponds to the transfer channel (4) of the packing box one by one.

5. The multi-robot binning system of claim 4, wherein: the side pushes away the mechanism including setting up side push cylinder (9) and push pedal (10) advancing case transfer passage (1) one side, and side push cylinder (9) are connected with push pedal (10), drive push pedal (10) along packing box transfer passage (4) direction reciprocating motion.

6. The multi-robot binning system of claim 1, 2, 3 or 5, wherein: a roller conveyor (7) or a belt conveyor is arranged at the bottom of the box feeding conveying channel (1); and a roller conveyor (7) or a belt conveyor is arranged at the bottom of the box outlet conveying channel (2).

7. The multi-robot binning system of claim 1, wherein: the transfer device is a rotary conveyor (5), and the conveying direction of the rotary conveyor (5) is converted between the conveying direction of the box feeding conveying channel (1) and the conveying direction of the packing box transfer conveying channel.

8. The multi-robot binning system of claim 1, wherein: go out the position department that corresponds packing box transfer passage (4) in case transfer passage (2) and be provided with rotary conveyor (5), the direction of delivery of rotary conveyor (5) in case transfer passage (2) changes between packing box transfer passage's direction of delivery and case transfer passage (2) direction of delivery.

9. The multi-robot binning system of claim 1, wherein: the box feeding conveying channel (1) is a box feeding conveying channel (1) formed by arranging rotary conveyors (5); the box outlet conveying channel (2) is formed by arranging rotary conveyors (5).

10. The multi-robot binning system of any of claims 7-9, wherein: the rotary conveyor (5) comprises a linear conveying table, a rotary driving mechanism and a supporting seat, wherein the rotary driving mechanism is located below the linear conveying table and drives the linear conveying table to rotate, and the supporting seat is located below the linear conveying table and is used for supporting the linear conveying table and the rotary driving mechanism.

11. The multi-robot binning system of claim 1, wherein: the feeding conveying belts (15) are arranged up and down to form a feeding conveying channel (12), the projections of the material output ends of at least two feeding conveying belts (15) in the same feeding conveying channel (12) on the horizontal plane are not overlapped, and the material output ends of the feeding conveying belts (15) in the same feeding conveying channel (12) sequentially extend towards the conveying direction of the feeding conveying belts (15) from top to bottom; the plurality of manipulators (3) are arranged in parallel along the conveying direction of the feeding conveying channel (12).

12. The multi-robot binning system of claim 11, wherein: the multi-manipulator boxing system comprises two feeding conveying channels (12), and a plurality of manipulators (3) are arranged along two rows.

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