CN214002233U

CN214002233U - Multi-manipulator boxing platform

Info

Publication number: CN214002233U
Application number: CN202023039414.5U
Authority: CN
Inventors: 黄松; 孙秀旦
Original assignee: Shanghai Soontrue Machinery Equipment Co Ltd
Current assignee: Shanghai Soontrue Machinery Equipment Co Ltd
Priority date: 2020-12-16
Filing date: 2020-12-16
Publication date: 2021-08-20
Anticipated expiration: 2030-12-16

Abstract

The utility model discloses a multimachine hand vanning platform relates to vanning equipment technical field. The utility model discloses an advance case transfer passage, a case transfer passage and many manipulators, advance case transfer passage and go out to be provided with a plurality of packing box transfer passage between the case transfer passage, the packing box is carried by advancing case transfer passage, writes through the side propulsion and carries to packing box transfer passage, this packing box transfer passage quantity corresponds with the manipulator, and the packing box accomplishes the vanning on packing box transfer passage to carry out case transfer passage on, by a case transfer passage output. The utility model discloses a multimachine hand vanning platform, 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.

Description

Multi-manipulator boxing platform

Technical Field

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

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 conveyor belt and one box conveyor belt, and when the manipulators perform boxing actions, the packing boxes are placed on the box conveyor belts, the multi-manipulator boxing of the prior art can perform boxing operations of a plurality of packing boxes simultaneously, but only one feeding conveyor belt and one box conveyor belt are adopted, so that the actions of the plurality of manipulators are required to reach the height consistency, otherwise, the actions of the plurality of manipulators are inconsistent, the feeding can be performed again after the manipulator which finishes the boxing action at last finishes the action, and the rest manipulators which finish the boxing action can only wait for the manipulator which finishes the slowest action to finish the action and can perform the next boxing action after the feeding action is finished; 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 that exists among the above-mentioned prior art and not enough, the utility model provides a multimachine hand vanning platform, 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 adopts a case inlet conveying channel, a case outlet conveying channel and a plurality of manipulators, a plurality of packing case transfer channels are arranged between the case inlet conveying channel and the case outlet conveying channel, packing cases are conveyed by the case inlet conveying channel and conveyed to the packing case transfer channels through side pushing and writing, the number of the packing case transfer channels is consistent with that of the manipulators and is in one-to-one correspondence, and the packing case transfer channels are arranged below the manipulators; the packing box accomplishes the vanning on packing box transfer passage to on carrying out case transfer passage, export by a case transfer passage output. The utility model discloses a multimachine hand vanning platform is provided with many packing boxes and transports the passageway to accomplish the vanning on packing box transport passageway, every packing box transport passageway corresponds a manipulator, make many manipulators can be synchronous simultaneously or asynchronously 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 a packing box transport passageway is accomplished the vanning, need not wait for other packing boxes, make vanning efficiency can effectively improve.

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

a multi-manipulator packing platform comprises a box inlet conveying channel, a box outlet conveying channel and at least two manipulators, wherein a plurality of packing box transferring channels are arranged between the box inlet conveying channel and the box outlet conveying channel, and are positioned below the manipulators and correspond to the manipulators; the multi-manipulator packing platform further comprises a side pushing mechanism which moves along the direction of the packing box transfer channel and pushes packing boxes on the box feeding conveying channel to the packing box transfer channel in a side pushing mode, wherein the side pushing mechanism is provided with a plurality of groups, and the side pushing mechanism corresponds to the packing box transfer channel one to one.

Still include the mounting bracket, it all sets up in the mounting bracket below to advance case transfer passage, a plurality of packing box transfer passage and go out case transfer passage, the manipulator hangs and installs on the mounting bracket.

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.

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.

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

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.

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 manipulator is a two-axis parallel manipulator.

The working principle of the utility model is as follows:

the power for conveying the packing boxes in the box feeding conveying channel can adopt a roller conveyor or a belt conveyor; empty packing box is carried by the roller conveyor or band conveyer of advancing case transfer passage bottom, after empty packing box has filled into case transfer passage, and the range of empty packing box in advancing case transfer passage is corresponding with packing box transfer passage, push away the empty packing box from advancing case transfer passage side to packing box transfer passage on by side pushing mechanism, 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 is filled with, export to a case transfer passage in.

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

1. the utility model discloses a multimachine hand vanning platform is provided with many packing boxes and transports the passageway to accomplish the vanning on packing box transport passageway, every packing box transport passageway corresponds a manipulator, make many manipulators can be synchronous simultaneously or asynchronously 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 a packing box transport 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, just can directly export to the passageway of producing case after accomplishing the vanning in the packing box transfer passage. The problem of mutual waiting does not exist among the multiple manipulators. Combine the utility model discloses a manipulator vanning platform can many feeding transfer passage of adaptation, just can form many mutual noninterference's vanning baling line at a vanning platform, vanning when realizing multiple specification material. The boxing efficiency is improved.

3. The utility model discloses in, the manipulator can be industrial robot, also can be two parallel manipulators, and it is lower to adopt two parallel manipulators cost, and adopts the mounting bracket to hang two parallel manipulators of installation, compares with industrial robot's structure, can save platform occupation of land space.

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. The utility model discloses in, 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 pushing mechanism adopts the structural style of side thrust 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 the packing box transports transfer passage, also can be to going out case transfer passage motion under roller conveyor or band conveyer's drive. 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. 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.

8. Under the limitation of the structure of the utility model, the whole motion control is easy to realize.

Drawings

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

fig. 2 is a schematic view of the multi-manipulator packing platform of the present invention;

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

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

FIG. 5 is a diagram showing the movement locus of the packing box on the multi-manipulator packing platform of the present invention;

FIG. 6 is a schematic view of the three-dimensional structure of the multi-manipulator packing platform of the present invention in a use state;

reference numerals: 1. case conveying channel enters, 2, case delivery conveying channel goes out, 3, manipulator, 4, packing box transfer passage, 5, side push mechanism, 6, mounting bracket, 7, roller conveyor, 8, smooth roller, 9, side push cylinder, 10, push pedal, 11, case unpacking machine, 12, feeding conveying channel, 13, case sealer, 14, packing box, 15, feeding conveyer 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 packing platform of the present invention, which comprises a box-in conveying channel 1, a box-out conveying channel 2 and at least two manipulators 3, wherein a plurality of packing box transfer channels 4 are arranged between the box-in conveying channel 1 and the box-out conveying channel 2, and the packing box transfer channels 4 are located below the manipulators and correspond to the manipulators; multimanipulator vanning platform still includes along packing box transfer passage direction motion and will advance the packing box side on the case transfer passage 1 and push away the side push mechanism 5 to on the packing box transfer passage 4, and side push mechanism 5 is provided with the multiunit, and

side push mechanism

5 and 4 one-to-one of packing box transfer passage.

As shown in fig. 1, the multi-manipulator packing platform shown therein is provided with four manipulators 3, four corresponding packing box transfer channels 4 and four corresponding groups of side pushing mechanisms 5 (not shown in the figure); as shown in fig. 2, at least four packing box positions can be accommodated in the box-feeding conveying passage 1, and the arrangement of the packing boxes in the box-feeding conveying passage 1 corresponds to the arrangement of the four packing box transfer passages 4. When the multi-manipulator packing platform of the utility model is just put into use (namely no packing box 14 is arranged in the box inlet conveying channel 1, the box outlet conveying channel 2 and the packing box transfer channel 4), the packing box 14 enters the multi-manipulator packing platform from the box inlet conveying channel 1 and is arranged in the box inlet conveying channel 1, and the arrangement mode of the packing box in the box inlet conveying channel 1 corresponds to the four packing box transfer channels 4; the four groups of side pushing mechanisms 5 act simultaneously or sequentially to push the packing boxes arranged on the box feeding conveying channel 1 into the four packing box transfer channels 4 one by one, and after the side pushing mechanisms 5 are reset, the box feeding conveying channel 1 inputs the four packing boxes at one time and arranges the four packing boxes according to set specifications; get into the packing box and transport transfer passage's packing box, carry out the vanning operation, 3 actions of manipulator are packed the packing box into with the material in the feed transfer passage 12 promptly, treat the packing box and fill the back, and the packing box of having filled exports to a case transfer passage 2, by a case delivery channel output the utility model discloses a many manipulators vanning platform.

As shown in fig. 6, as an embodiment of the present invention, the source of the box feeding conveying channel 1 is connected to the box unpacking machine 11, the box blank opened by the box unpacking machine 11 is conveyed, the output end of the box discharging conveying channel 2 is connected to the box packing machine 13, the box packing operation is performed on the filled packing box, and the whole box packing system is a latest stroke.

Furthermore, as shown in fig. 6, two feeding conveying channels 12 are provided, each feeding conveying channel is provided with an upper feeding conveying belt 15 and a lower feeding conveying belt 15, and the discharging ends of the upper feeding conveying belt 15 and the lower feeding conveying belt 15 correspond to different manipulators, so that a plurality of packing lines without mutual interference can be formed on one packing platform, and the materials of various specifications can be packed simultaneously.

Furthermore, as shown in fig. 1, the automatic packaging machine further comprises a mounting frame 6, the box inlet conveying channel 1, the plurality of packaging box transferring channels 4 and the box outlet conveying channel 2 are all arranged below the mounting frame 6, and the manipulator is mounted on the mounting frame 6 in a hanging manner. The mounting mode that the mounting frame 6 is used for suspending the manipulator can save the occupied space of the platform.

Further, as shown in fig. 3, in order to make the structure more compact, the packing box transferring passage 4 may be provided with a space having only one packing box position in which the robot arm fills the packing box with the material. And the bottom of the packing box transferring channel 4 is provided with a sliding roller 8. Because compact structure, packing box transfer passage 4 only has a packing box case position, directly adopts the form of smooth roller 8, and the structure is simpler, also can ensure that the packing box exports to a case transfer passage 2 smoothly.

As shown in fig. 4 and 5, the box-in conveying passage 1 and the box-out conveying passage 2 are arranged in parallel, and the packing box transferring conveying passage is arranged perpendicular to the box-in conveying passage 1 and the box-out conveying passage 2. The packaging box is enabled to enter the box and be transferred to the box outlet to form a U-shaped or Z-shaped and non-repeated movement track, the problem of mutual interference does not exist among a plurality of packaging boxes in the conveying process of the packaging boxes, and the mutual influence is avoided. And the U-shaped arrangement mode is adopted, so that the occupied space is smaller, and the layout of a packaging workshop is facilitated.

As shown in fig. 1, a roller conveyor 7 is arranged at the bottom of the box-entering conveying channel 1, or a belt conveyor (not shown in the figure) is adopted; and a roller conveyor 7 or a belt conveyor is arranged at the bottom of the box outlet conveying channel 2. The side-push mechanism 5 comprises a side-push cylinder 9 and a push plate 10 which are arranged on one side of the box feeding conveying channel 1, the side-push cylinder 9 is connected with the push plate 10, and the push plate 10 is driven to reciprocate along the direction of the packing box transfer channel 4. 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, side push mechanism 5 adopts the structural style of side push 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 packing box transport conveying passageway, also can be under roller conveyor 7 or band conveyer's drive to go out case conveying passageway 2 motion. Simple structure, whole platform cost is also lower.

Furthermore, advance case transfer passage 1 and include the multiunit and advance case conveyor belt, the multiunit advances case conveyor belt along advancing 1 interval arrangement of case transfer passage, and carries out adjacent interval of advancing between the case conveyor belt and correspond with packing box transfer passage 4, and side pushing mechanism 5 sets up in advancing

case transfer passage

1 and 4 bottoms of packing box transfer passage. The side pushing mechanism 5 comprises a circulating chain and a push rod, the push rod is installed on the circulating chain, the push rod pushes the packing box to the packing box transfer passage 4 from the side of the box feeding conveying passage 1 under the driving of the circulating rotating circulating chain, and then the packing box is pushed to the side of the box discharging conveying passage 2 from the side of the packing box transfer passage 4.

Furthermore, the manipulator can be an industrial robot or a two-axis parallel manipulator, the cost of the two-axis parallel manipulator is lower, and the two-axis parallel manipulator 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

1. The utility model provides a multi-manipulator vanning platform which characterized in that: the automatic packaging machine comprises a box inlet conveying channel (1), a box outlet conveying channel (2) and at least two manipulators (3), wherein a plurality of packaging box transferring channels (4) are arranged between the box inlet conveying channel (1) and the box outlet conveying channel (2), and the packaging box transferring channels (4) are positioned below the manipulators (3) and correspond to the manipulators (3); multimanipulator vanning platform still includes along packing box transfer passage direction motion and with packing box side push away side push mechanism (5) to on packing box transfer passage (4) on advancing case transfer passage (1), and side push mechanism (5) are provided with the multiunit, and side push mechanism (5) and packing box transfer passage (4) one-to-one.

2. A multi-robot binning platform according to claim 1, wherein: still include mounting bracket (6), it all sets up in mounting bracket (6) below to advance case transfer passage (1), a plurality of packing box transfer passage (4) and go out case transfer passage (2), manipulator (3) are hung and are installed on mounting bracket (6).

3. A multi-robot binning platform according to claim 1 or 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. A multi-robot binning platform according to claim 1 or 2, 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).

5. A multi-robot binning platform according to claim 1 or 2, wherein: and the bottom of the packing box transfer passage (4) is provided with a sliding roller (8).

6. A multi-robot binning platform according to claim 4, wherein: side push mechanism (5) are 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.

7. A multi-robot binning platform according to claim 1 or 2, wherein: advance case transfer passage (1) including the multiunit advance case conveyor belt, the multiunit advances case conveyor belt along advancing case transfer passage (1) interval arrangement, and carries out adjacent interval and packing box transfer passage (4) between advancing case conveyor belt and correspond, and side thrust mechanism (5) set up advancing case transfer passage (1) and packing box transfer passage (4) bottom.

8. A multi-robot binning platform according to claim 7, wherein: side pushes away mechanism (5) including 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 push to packing box transfer passage (4), by packing box transfer passage (4) side push again to go out on case transfer passage (2).

9. A multi-robot binning platform according to claim 1, wherein: the manipulator (3) is a two-axis parallel manipulator.