KR20170110550A - Bottle gripper of bottle packaging system - Google Patents

Abstract

A bottle gripper of an engineer packaging system is disclosed. The bottle gripper connected to the articulated robot arm of the engineer packaging system is connected to the bottle gripper body and the bottle gripper body and is controlled to move. The four side hands are formed into four chambers. A pick-up unit provided with a vacuum pad for picking up gypsum; and an air injector for spraying air toward a position where the gypsum is gripped by the side hand, wherein the pickle pick-up unit is a vacuum pad After the lancet is adsorbed, the lancet is controlled to move up and down, and the air injector is controlled to inject air toward the lancet to separate the lancet attached to the lancet.

Description

{Bottle gripper of bottle packaging system}

The present invention relates to a bottle gripper connected to a articulated robot arm of an engineer packaging system.

Polyethylene terephthalate bottles, which are widely used for beverage containers, are produced continuously in a molding machine, packed in a certain unit, and transported to the customer. The PET bottles formed in the production line are transferred to the workway by the air conveyor and arranged in a certain quantity in the front, back, left and right sides. PET bottles arranged in a single layer are picked up with the grippers of the robot at a time, And wrapped in a lap and loaded on the vehicle.

In order to stack PET bottles arranged in the front and back, left and right sides, in order to stabilize the position of the PET bottles stacked, there is inserted a relatively thin layer of kanji between the stacked PET bottles, do.

Traditionally, PET bottles arranged in front of and behind the left and right in the laminated packaging magazine have been gripped by the grippers of the robot and lifted up and stacked in the lamination line. However, since the PET bottle is light in weight and flexible, the pressure of the gripper gripping the PET bottle The PET bottles are deformed by the light pressure so that a large number of PET bottles are pinched and lifted. When the PET bottles in the middle part are lifted downward or downward due to their own weight, Can not be maintained, the stacking operation of PET bottles could not be performed smoothly. In addition, since the robot hand for handling the kanji inserted between the robot hand holding the PET bottles and the stacked PET bottles is different in structure, it is necessary to provide the robot hand for gripping the PET bottle and the robot hand for the kanji respectively, there was.

An object of the present invention is to provide a bottle gripper connected to a articulated robot arm of an engineer packaging system for packing a plurality of engine bottles in one piece by aligning and laminating formed engine bottles in an engineer production line used as a beverage container.

According to an aspect of the present invention, there is provided a bottle gripper connected to an articulated robot arm of an engineer packaging system for gripping and arranging a plurality of aligned bottles in a pallet.

The bottle gripper connected to the articulated robot arm of the engineer packaging system according to the embodiment of the present invention includes a bottle gripper body, four side hands formed by four chambers, the movement being controlled by being connected to the bottle gripper body, A pick-up unit connected to the bottle gripper body so as to face downwardly and having a vacuum pad for picking up ganoderma, and an air injector attached to the side hand for spraying air toward a position where the ganizers are gripped And the air injector is controlled to inject air toward the gripped gripper so as to separate the gripper attached to the gripper gripper, .

Wherein the bottle gripper comprises at least two oppositely disposed, spaced apart, at least two, and at least two oppositely disposed, And a gripping unit for gripping a neck portion of a plurality of the bottles located in the region.

The fixed gripper unit grips the neck portion of the two bottles of bottles located in at least one region of k + m and k-m rows (where m is one or more natural numbers) based on k columns serving as the centers of the bottles.

The fixed gripper unit includes a pair of fixed grippers formed in a line shape and a fixed gripper body for supporting and driving the fixed grippers.

The four side hands are arranged in four chambers to form a rectangular shape.

The side hand is formed in a bar shape, and connection portions connecting the side hands to each other are formed at both ends.

The connection portion is formed by arranging a plurality of poles in parallel and spaced apart from each other at a predetermined interval, and the pawls are pierced into the space between the pawls so that the connection portions of the respective side hands are connected to each other.

The four side hands are controlled to move in the direction opposite to the center or the center of the square by the length corresponding to the length of the pole.

Wherein the stacking robot grasps the solder bins while grasping the solder bins so that the solder bins are stacked between the layers of the solder busses, laminates the solder bins on a pallet, and when the solder bins are stacked by a predetermined number of layers, top board.

The pallet and the top board are held by the four side hands.

When the fixed grip unit is used, the grip is separately gripped and laminated after the set of dispensers is stacked.

The bottle gripper connected to the articulated robot arm of the engineer packaging system according to the embodiment of the present invention can align and laminate molded bottles in an engineer production line used as a beverage container.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 shows a layout of an engineer packaging system according to an embodiment of the present invention; Fig.
2 is a front view of a multiple lane air conveyor according to an embodiment of the present invention;
3 is a side view of a multiple lane air conveyor in accordance with an embodiment of the present invention.
4 is a bottom view of an alignment robot according to an embodiment of the present invention.
5 is a side view of an alignment robot according to an embodiment of the present invention;
6 is a front view of an alignment robot according to an embodiment of the present invention;
7 is a diagram illustrating a grip line of an alignment robot according to an embodiment of the present invention.
8 is a side view of a stacking robot according to an embodiment of the present invention.
Figure 9 is a front view of a bottle gripper according to an embodiment of the present invention;
10 is a plan view of a bottle gripper according to an embodiment of the present invention.
11 shows a side hand of a bottle gripper;
12 shows a simple pick up unit of a bottle gripper;
13 is a view showing an air injector of a bottle gripper.
Figs. 14 and 15 show a fixed grip unit of a bottle gripper. Fig.
16 is a view showing an example of a bottled bottle gripped by a bottle gripper;
17 to 31 are views showing the operation of the engineer packaging system according to the embodiment of the present invention.

As used herein, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. In this specification, the terms "comprising ", or" comprising "and the like should not be construed as necessarily including the various elements or steps described in the specification, Or may be further comprised of additional components or steps. Also, the terms "part," " module, "and the like described in the specification mean units for processing at least one function or operation, which may be implemented in hardware or software or a combination of hardware and software .

Hereinafter, various embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a view showing a layout of an engineer packaging system according to an embodiment of the present invention.

1, an engineer packaging system according to an embodiment of the present invention includes a supply line 10, a multiple lane air conveyor 20, an aligning robot 30, an engineer conveying conveyor 40, And is configured to include a stacking robot 50, a banding machine 60, a pallet magazine 1, a top board magazine 2, a separator magazine 3 and a pallet transporting conveyor 4 .

The supply line 10 may include at least one branching unit (not shown) for branching one line to a plurality of lines, in a configuration for supplying a plurality of shaped bottles in a parallel manner through a plurality of lines. For example, an engineer may be a PET bottle.

In other words, the bottles injected into one line are branched into a plurality of lines via the branch portion, so that the bottles can be supplied to the multiple rain air conveyor 20 simultaneously with a plurality of rows. For example, the supply line 10 can simultaneously supply four rows of engineers through four lines, as shown in FIG. Hereinafter, for the convenience of understanding and explanation of the invention, it is assumed that the supply line 10 supplies the bottles of four rows in parallel. The number of the bottles per row is preset and the number of bottles is counted by the counter 11 provided between the supply line 10 and the multiple rain air conveyor 20 so that the number of bottles to be supplied per row can be controlled have.

The multiple lane air conveyor 20 has transfer lines twice as many as the number of lines of the supply line 10 to align the bottles supplied from the supply line 10 in two rows.

That is, the multiple lane air conveyor 20 can be supplied with four rows of supply bottles from the supply line 10 twice and arranged in eight rows. The width of the eight transfer lines arranged in the multiple lane air conveyor 20 corresponds to the width of the supply line 10 arranged in four lines. Thus, the multi-lane air conveyor 20 can be arranged in eight rows by supplying the four bottles of bottles twice, by moving the even-numbered rows or the odd-numbered rows alternately in line with the supply line 10. [

Thereafter, when the transfer line of the multiple lane air conveyor 20 coincides with the grip line of the alignment robot 30, the multiple lane air conveyor 20 can supply the bottles arranged in eight rows to the alignment robot 30 have.

The alignment robot 30 grasps aligned bottles supplied from the multiple lane air conveyor 20 and places them on the bottles conveying conveyor 40. [ At this time, the aligning robot 30 can gradually lower the descending speed after the aligned bottles are approaching the dispenser conveyor 40 as much as possible.

The dispenser conveyor 40 moves the aligned dispensers down by the aligning robot 30 to the working position of the stacking robot 50. The opening / closing of the partition can be controlled so that the dispenser conveyor 40 has a partition in the middle and the dispensers having a predetermined number of rows move to the working position of the stacking robot 50.

The bottle gripper 52 of the stacking robot 50 grasps and arranges a plurality of aligned bottles of bottles conveyed to the working position through the bottles conveying conveyor 40 in a pallet. At this time, the stacking robot 50 can grip the bottles of the plurality of rows and transfer the pallets to the pallet while holding the pellets so that the pellets are stacked between the pellets. Then, when the bottles are accumulated by a predetermined number of layers, the top board is stacked on the bottles.

The banding machine (60) bands the stacked bottles that have moved through the pallet transport conveyor (4).

Hereinafter, each configuration of the engine package system according to the embodiment of the present invention will be described in detail with reference to FIG. 2 to FIG.

FIG. 2 is a front view of a multiple lane air conveyor according to an embodiment of the present invention, and FIG. 3 is a side view of a multiple lane air conveyor according to an embodiment of the present invention.

2 and 3, the multiple lane air conveyor 20 comprises a conveyance line moving module 22 having a multiple lane air conveyor body 21 and eight conveyance lines 23. As shown in FIG. Here, the transferring line moving module 22 can move in the vertical direction with respect to the transferring line 23.

That is, the conveying line moving module 22 moves the conveying line 23 of the odd-numbered columns or the even-numbered columns among the eight conveying lines 23 and the four lines of the supplying line 10 from the supply line 10 The heat engineer 500 can be supplied, and the heat engineer 500 can be arranged in a total of eight rows of the engineer 500 by repeating the operation for the odd column and the even column twice. At this time, the transfer line movement module 22 can move in the vertical direction with respect to the transfer line 23 to align the odd-numbered or even-numbered columns among the eight transfer lines 23 to the four lines of the supply line 10 . For example, after four rows of the bottles 500 are supplied with the odd rows of the eight transfer lines 23 aligned with the four lines of the supply line 10, the even rows of the eight transfer lines 23 The transfer line movement module 22 can move in the vertical direction with respect to the transfer line 23 so as to be aligned with the four lines of the supply line 10. [

Each of the eight conveyance lines 23 is formed in the form of a rail having a latching portion for catching the neck of the bottle 500 so as to slide by pneumatic pressure in the state where the neck of the bottle 500 is caught. For example, the PET bottle has a catch formed along the rim of the neck at a portion adjacent to the portion inserted into the stopper.

The multiple lane air conveyor body 21 supports the conveying line moving module 22 and has a configuration for moving the conveying line moving module 22.

For example, the multi-lane air conveyor body 21 may include a rail formed in a direction perpendicular to the conveying line 23, a driving device including a motor for moving a configuration connecting the rail and the conveying line moving module 22, Can be mounted.

When the transfer line 23 of the multiple lane air conveyor 20 is aligned with the grip line 32 of the alignment robot 30, the bottles arranged in eight rows can be supplied to the alignment robot 30 by pneumatic pressure. For this purpose, the multiple lane air conveyor body 21 may include a construction for supplying air having a pressure equal to or higher than a certain level to the conveying line 23. [

FIG. 4 is a bottom view of the alignment robot according to the embodiment of the present invention, FIG. 5 is a side view of the alignment robot according to the embodiment of the present invention, FIG. 6 is a front view of the alignment robot according to the embodiment of the present invention, 7 is a view showing a grip line of the alignment robot according to the embodiment of the present invention.

4 to 6, the aligning robot 30 includes a rectangular frame 31, eight grip lines 32 supported by the frame 31, and a frame 31 connected to the frame 31. [ And a multi-joint robot arm 33 for moving the robot arm 33.

The aligning robot 30 is arranged so that the eight grip lines 32 coincide with the eight conveying lines 23 of the multiple lane air conveyor 20 so that the set of the bottles 500 arranged in eight rows is aligned with the eight conveying lines 23 of the multiple lane air conveyor 20. [ The movement can be controlled to be supplied from the transfer line 23.

7, the grip line 32 presses the top of the bottles 500 gripped by the grips 37 and the tongue 37 in the form of a line holding the neck of the bottles 500, And a pushing portion 35 for fixing the pushing portion 35 so as not to move.

For example, the aligning robot 30 aligns eight grip lines 32 with the eight conveying lines 23 of the multiple rain air conveyor 20, and arranges the set of the bottles 500 arranged in eight rows on a multiple lane air conveyor The robot 100 is supplied from the transfer line 23 of the robot 20 and grips the robot 500 with the robot 37. The operator then presses the upper end of the gripped robot 500 to fix the robot 500, The bottles are descended to the bottles conveying conveyor 40, and the bottles 500 arranged in eight rows are placed on the bottles conveying conveyor 40. At this time, the aligning robot 30 adjusts the descending speed in a state in which aligned bottles are approaching the dispenser conveyor 40 as much as possible in order to prevent the aligned bottles from falling when the bottles are placed on the dispenser conveyor 40 Down.

9 is a front view of a bottle gripper of a laminated robot according to an embodiment of the present invention, and Fig. 10 is a front view of a laminated robot according to an embodiment of the present invention. Fig. 8 is a side view of the laminated robot according to the embodiment of the present invention, 11 is a side hand view of the bottle gripper, FIG. 12 is a view showing a pick-up unit of the bottle gripper, and FIG. 13 is a view showing the bottle gripper of the bottle gripper FIGS. 14 and 15 are views showing a fixed gripper unit of a bottle gripper, and FIG. 16 is a view showing an example of a gripper set gripped by a bottle gripper.

Referring to FIG. 8, the laminated robot 50 includes a polygonal robot arm 51 and a bottle gripper 52 connected to the polygonal robot arm 51 and controlled to move.

9 and 10, the bottle gripper 52 according to the present embodiment includes a bottle gripper body 53 having a quadrangular shape, four bottle gripper bodies 53 connected to the bottle gripper body 53, A gripper pick-up unit 55 connected to the bottle gripper body 53 in a downward direction and a gripper gripping a neck portion of a plurality of the bottles 500 located in the central region of the set of the bottles 500, Unit 56 as shown in FIG.

The four side hands 54 are formed in a bar shape as shown in FIG. 11, and a connecting portion 57 for connecting the side hands 54 to each other may be formed at both ends. The connecting portion 57 may be formed by arranging a plurality of poles in parallel spaced apart from each other by a predetermined distance and the connection between the connecting portions 57 of each side hand 54 is made by penetrating the pole into the space between the pawls .

That is, the four side hands 54 can be arranged in four chambers to form a rectangular shape, and can be controlled to move in the direction opposite to the center or the center of the rectangle corresponding to the length of the pole.

As shown in Fig. 12, the kanji pick-up unit 55 can be configured to include a vacuum pad 58 for adsorbing kanji. That is, the separator pick-up unit 55 can grip the separator using the vacuum pad 58 and can be controlled to move up and down to grip the separator.

13, the air injector 59 is attached to the side hand 54 and can inject air toward a position where the diaper is gripped.

The intermittent pick-up unit 55 and the air injector 59 are provided for separating the intermittent paper to be gripped and the intermittent paper to be gripped when gripping one intermittent paper located at the uppermost position among the intermittent paper stacked in the intermittent magazine 3 Can be used.

That is, after the lancet pick-up unit 55 is attracted by the vacuum pad 58, the lancet pick-up unit 55 is moved to an upper portion of a certain height, and is controlled to move up and down several times at short intervals, have. At the same time, the air injector 59 is controlled to inject high-pressure air toward the gripped gripper, and can assist in separating the gripper attached to the gripper gripped by the gripper.

The fixed gripper unit 56 includes a pair of fixed grippers 72 formed in a line shape and a fixed gripper body 71 for supporting and driving the fixed gripper 72 as shown in Figs. 14 and 15 Lt; / RTI >

For example, the set of the sick veterans 500 held by the four side hands 54 can be aligned as shown in Fig. As the size of the bottles 500 is smaller, the number of the bottles 500 constituting the bottles 500 is increased. At least one of the bottles 500 of the bottles 500 may be released while the set of the bottles 500 having the increased number is gripped by the four side hands 54 and moved. To prevent this, the fixed gripper unit 56 grips the neck portion of at least a portion of the bottles 500 of the set of engineers 500.

Preferably, the fixed gripper units 56 may be disposed at least two opposite to each other with respect to the center of the set of dispensers.

More preferably, the fixed gripper unit 56 includes two rows of engineer's necks positioned in at least one region of k + m and km columns (where m is a natural number of 1 or more) It is possible to grasp the part.

Fig. 15 shows a state in which the fixed gripper unit 56 arranged in opposition to the five bottles of the six rows and sixteen rows grips the central region of the eleventh row.

17 to 31 are views showing the operation of the engineer packaging system according to the embodiment of the present invention. Hereinafter, with reference to FIG. 17 to FIG. 31, a description will be made of a method of operating the engineered packaging system according to the embodiment of the present invention.

17, in a state where eight rows of the bottles 500 are located in the multiple lane air conveyor 20, the aligning robot 30 moves to move the eight grip lines 32 to the multiple lane air conveyor 20, Of the transfer line 23 of FIG.

Then, as shown in FIG. 18, the bottles 500 of eight rows located in the multiple lane air conveyor 20 are moved to the eight grip lines 32 of the alignment robot 30.

Then, as shown in Fig. 19, the aligning robot 30 descends to the engraved conveying conveyor 40. Fig. At this time, the set of the bottles 500 gripped by the pressing portions 35 of the aligning robot 30 can be fixed.

Then, as shown in FIG. 20, the aligning robot 30 lowers the descending speed immediately before the set of the bottles 500 is lowered to the bottles conveying conveyor 40, and then lowers the descending speed as shown in FIG. At this time, as shown in FIGS. 20 and 21, the bottles 500 are supplied alternately to the odd numbered rows and the even numbered columns of the eight conveyance lines 23 of the multiple lane air conveyor 20.

Then, as shown in Fig. 22, the aligning robot 30 which has lowered the set of the bottles 500 to the enginer conveying conveyor 40 ascends toward the multiple lane air conveyor 30.

23, the lamination robot 50 grasps the kanji using the kanji pick-up unit 55 in the kanji magazine 3. Then, as shown in Fig. At this time, as shown in FIG. 29, the separator pick-up unit 55 moves up and down in order to separate the separator adhered to the separated separator, and high-pressure air is injected toward the separator through the air injector 59.

The assemblage of the bottles 500 moves toward the working position of the stacking robot 50 by the dispenser conveyor 40. At this time, the partition 45 can be controlled to be in the open state.

24, the bottle gripper 52 of the lamination robot 50 is moved to the working position by using the four side hands 54 in a state in which the gripper is gripped by the separable pick-up unit 55 And grips the assembled engineer 500 set. At this time, the partition 45 can be closed.

26, the laminating robot 50 moves to a place where the bottles 500 are stacked while gripping a set of kanji and the bottles 500, and stacks the kanji and the bottles 500 together.

27 and 28, when the layers of the set of the bottles 500 are piled up by a predetermined number of layers, the stacking robot 50 grasps the top board in the top board magazine 2, Lt; / RTI > The pallet and the top board are gripped by the four side hands 54.

30 and 31, the fixed gripper unit 56 is moved downward toward the set of engineers 500 to prevent at least one engineer 500 located in the central region of the set of engineers 500 from escaping And then grips the neck portion of the bottles 500 of the two rows located in the central region of the bottles 500. When the fixed grip unit 56 is used, the gripper is separately gripped and stacked after the set of the container 500 is stacked.

It will be apparent to those skilled in the art that various modifications, additions and substitutions are possible, without departing from the spirit and scope of the invention as defined by the appended claims. Should be regarded as belonging to the following claims.

10: Supply line
20: multiple lane air conveyor
30: Sorting robot
40: Engineer conveying conveyor
50: Laminated robot
60: Bending machine
1: pallet magazine
2: Top board magazine
3: Kanji Magazine
4: Pallet conveying conveyor

Claims (11)

A bottle gripper connected to an articulated robot arm of an engineer packaging system for gripping a plurality of aligned bottles and stacking them on a pallet,
Bottle gripper body;
Four side hands connected to the bottle gripper body and controlled in movement and formed in four chambers;
A glandular pick-up unit connected to the bottle gripper body so as to face downward and having a vacuum pad for sucking gangrene; And
And an air injector attached to the side hand and injecting air toward a position where the diaper is gripped,
And the air injector is controlled to inject air toward the gripped gripper so that the gripper attached to the gripper gripper is separated from the gripper, Bottle gripper of an engineer packing system.
The method according to claim 1,
Wherein at least two of the plurality of engineers are disposed opposite to each other with respect to the center of the engineer set so as to prevent the engineer set from being detached from the engineer set while the engineerer set is gripped by the four side hands, The bottle gripper of claim 1, further comprising a fixed grip unit for gripping the neck.
3. The method of claim 2,
Wherein the fixed gripper unit grips a neck portion of at least one or more bottles of k + m and km columns (where m is a natural number of 1 or more) with respect to the k column serving as the center of the bottles of bottles. Bottle gripper.
3. The method of claim 2,
Wherein the fixed gripper unit comprises a pair of fixed grippers formed in a line shape and a fixed gripper body for supporting and driving the fixed grippers.
The method according to claim 1,
Wherein the four side hands are arranged in four chambers to form a rectangular shape.
6. The method of claim 5,
Wherein the side hand is formed in a bar shape, and a connecting portion for connecting the side hands to each other is formed at both ends of the bottle hand gripping bottle.
The method according to claim 6,
Wherein the connecting portion is formed by arranging a plurality of poles in parallel and spaced apart from each other at a predetermined interval and the pawls are pierced into the space between the pawls so that the connecting portions of the side hands are connected to each other Bottle gripper.
8. The method of claim 7,
Wherein the four side hands are controlled to move in a direction opposite to the center or the center of the square by a length corresponding to the length of the pole.
3. The method of claim 2,
Wherein the stacking robot grasps the solder bins while grasping the solder bins so that the solder bins are stacked between the layers of the solder busses, laminates the solder bins on a pallet, and when the solder bins are stacked by a predetermined number of layers, wherein the top board is laminated on the bottom of the bottle gripper.
10. The method of claim 9,
Wherein the pallet and the top board are gripped by the four side hands.
10. The method of claim 9,
Wherein when the fixed grip unit is used, the gripper is separately gripped and laminated after the dispenser set is stacked.

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