WO2020042667A1 - Dispositif de déballage par robot et procédé de déballage - Google Patents

Dispositif de déballage par robot et procédé de déballage Download PDF

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Publication number
WO2020042667A1
WO2020042667A1 PCT/CN2019/086532 CN2019086532W WO2020042667A1 WO 2020042667 A1 WO2020042667 A1 WO 2020042667A1 CN 2019086532 W CN2019086532 W CN 2019086532W WO 2020042667 A1 WO2020042667 A1 WO 2020042667A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
unpacking
carton
cylinder
suction cup
Prior art date
Application number
PCT/CN2019/086532
Other languages
English (en)
Chinese (zh)
Inventor
李剑涛
靳方建
王珏
Original Assignee
南京埃斯顿智能系统工程有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 南京埃斯顿智能系统工程有限公司 filed Critical 南京埃斯顿智能系统工程有限公司
Publication of WO2020042667A1 publication Critical patent/WO2020042667A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/12—Feeding flexible bags or carton blanks in flat or collapsed state; Feeding flat bags connected to form a series or chain
    • B65B43/14—Feeding individual bags or carton blanks from piles or magazines
    • B65B43/16—Feeding individual bags or carton blanks from piles or magazines by grippers
    • B65B43/18—Feeding individual bags or carton blanks from piles or magazines by grippers by suction-operated grippers
    • B65B43/185—Feeding individual bags or carton blanks from piles or magazines by grippers by suction-operated grippers specially adapted for carton blanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/24—Breaking creases to facilitate setting-up cartons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/26—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
    • B65B43/30—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks by grippers engaging opposed walls, e.g. suction-operated
    • B65B43/305—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks by grippers engaging opposed walls, e.g. suction-operated specially adapted for boxes, cartons or carton blanks

Definitions

  • the present invention relates to the field of packaging technology, and in particular, to a box opening device and a box opening method.
  • Automatic carton opening machine is also called automatic carton forming machine. It is an assembly line equipment that automatically unpacks large quantities of paper boxes, automatically folds the lower cover, and automatically seals the bottom tape. All the machines are controlled by PLC + display screen. , Forming, folding bottom, back cover and other packaging processes.
  • the existing unpacking machine is a special unpacking device. In the process of use, due to the small scope of application of the carton and the manual participation in the operation process, it is difficult to meet the general and intelligent needs of customers at this stage.
  • the existing unpacking equipment has a vertical loading method.
  • the feeding cartons need to be placed on the feeding platform.
  • the loading process is relatively complicated.
  • the loading platform has a small applicable range and is not suitable for cartons with large size ranges. .
  • the folding mechanism cannot be applied to a carton with a wide range of width and size, and it cannot provide uninterrupted feeding. When the incoming carton is loaded, it needs to be shut down.
  • the present invention provides a robot unpacking equipment.
  • a robot unpacking device includes:
  • At least two feeding platforms are controlled by the cylinder to alternately extend and retract to achieve continuous feeding and feeding;
  • the unpacking manipulator sucks the carton flat on the feeding platform through a reversible vacuum suction cup, and can open the carton through the turning effect of the vacuum suction cup;
  • Robot the wrist of the robot is connected with the unpacking manipulator, and the unpacking manipulator is driven by the robot to complete the reclaiming and unloading actions;
  • the folding machine under the action of the robot driving the carton, cooperates with the expansion and contraction of the cylinder to push the metal rods at the two ends of the lifting beam to fold the small folds at the bottom of the carton; Creased pages.
  • the feeding platform includes a base, and two long linear guide rails are arranged in parallel on the base.
  • the linear guide rail is provided with a moving platform.
  • the moving platform slides back and forth along the linear guide rail driven by the air cylinder.
  • the positioning rod is composed of a semi-open structure, which can be used for the positioning of cartons with a large range of sizes.
  • the cylinder drives the feeding platform to move reliably and with high precision.
  • the box opening robot includes a fixed suction cup portion and a movable suction cup portion, the fixed suction cup portion and the movable suction cup portion are hinged through a hinge seat, and both the fixed suction cup portion and the movable suction cup portion are provided with a vacuum suction cup and a vacuum suction cup connected thereto.
  • the fixed suction cup portion and the moving suction cup portion can realize the parallel or 90-degree inversion of the vacuum suction cup through the expansion and contraction of the first cylinder.
  • the tail of the first cylinder is fixedly mounted on the fixed suction cup portion through a base, and a piston rod at the head thereof is connected to the movable suction cup portion; the cylinder extends to push the movable suction cup portion to turn inward around the hinge axis of the hinge seat, The fixed sucker part and the movable sucker part are at an angle of 90 degrees; the air cylinder retracts and pulls the mobile sucker part to turn outward around the hinge axis of the hinge seat, and the fixed sucker part and the movable sucker part are in the same plane.
  • the turning action of the moving suction cup can be accurately controlled, so that the fixed vacuum suction cup and the moving vacuum suction cup can be turned in parallel or 90 degrees, and the carton can be grasped and opened. Simple control and high reliability.
  • the fixed sucker portion includes a first metal plate, a flange connection seat is provided on the rear side of the first metal plate, and the box opening robot is connected to the robot wrist through the flange connection seat; the front side of the first metal plate is provided A first metal frame is provided.
  • the first metal frame is provided with a plurality of first vacuum chucks. The suction surfaces of all the first vacuum chucks are facing the front side and located on the same plane to form a fixed suction surface A.
  • the movable chuck portion includes a second metal plate, a third metal plate, a linear guide, and a second cylinder; the third metal plate is provided with a second metal frame, and a plurality of second vacuum chucks on the second metal frame, The suction surfaces of all the second vacuum chucks are facing the front side and are located in the same plane to form a movable suction surface B.
  • the third metal plate is slidably provided at the front end of the second metal plate through a linear guide.
  • One cylinder is connected, the tail of the second cylinder is fixedly installed on the second metal plate through the base, and the piston rod of the head is fixedly connected with the third metal plate; the telescoping of the second cylinder drives the third metal plate on the second metal plate Slide back and forth along the linear guide.
  • the second metal plate drives the vacuum chuck to slide along the first metal plate, and the position of the second vacuum chuck can be adjusted, which is suitable for the unpacking action of a carton with a large size change.
  • the folding machine comprises a fixed frame, two sliding frames installed in the fixed frame, two linear guide rails, two pulling cylinders, a lifting beam and a lifting cylinder; two linear guide rails are arranged in parallel to the fixed frame The bottom of the frame is parallel to the short side of the fixed frame.
  • the two sliding frames are slid on two linear guides respectively.
  • the tail of the cylinder is fixed and fixed on the fixed frame.
  • the piston rod on the head is connected to the two sliding frames.
  • the lifting beam is liftably arranged at the center of the fixed frame by a lifting cylinder and is located between two sliding frames, and the left and right sides of the top of the lifting beam
  • Two metal rods are spaced from each other at the end. When the lifting cylinder is extended, the metal rod is higher than the first horizontal support surface. When the lifting cylinder is retracted, the metal rod is low. The first horizontal support surface.
  • the sliding movement of the sliding frame and the lifting movement of the lifting beam can be accurately controlled, thereby realizing the folding of the carton-size folding. Simple control and high reliability.
  • an end of one of the metal rods near the other metal rod is inclined downward, and forms an included angle with the lifting beam of less than 90 degrees.
  • the oblique metal rod can improve the folding quality of the small folding of the carton.
  • two lifting cylinders are provided, which are arranged symmetrically. It can keep the beam horizontal when lifting and lowering, and has high creasing quality.
  • Step one the two feeding platforms are controlled by the cylinder to alternately extend and retract to continuously stack the unopened cardboard boxes horizontally on the feeding platform;
  • Step 2 The robot drives the box opening robot to grab a carton by the suction effect of a vacuum suction cup provided on the box opening robot;
  • Step three the robot drives the unpacking manipulator and the carton to move above the folder;
  • Step four The robot drives the box opening robot to open the carton in a "mouth" shape through the turning action of the vacuum sucker;
  • Step five Under the action of the robot driving the carton, the metal rods at both ends of the lifting beam are pushed by the telescopic movement of the air cylinder to fold the small folds at the bottom of the carton;
  • step 6 under the action of the robot driving the carton, the sliding frame is moved toward the center of the carton by cooperating with the expansion and contraction of the air cylinder to fold the bottom of the carton.
  • the robot unpacking device and the unpacking method of the present invention realize the horizontal storage of cartons by moving the platform, and the robot drives the manipulator to grasp, the loading process is simpler and more convenient; through the alternate work of the two loading platforms, It can realize continuous feeding and feeding, which greatly improves the efficiency of unpacking.
  • the robot unpacking device and the unpacking method of the present invention grasp and open the box body by a reversible vacuum suction cup provided on the manipulator, and perform folding of the carton size folding by a folding machine driven by the air cylinder, which is flexible.
  • FIG. 1 is a system schematic diagram of a robot unpacking device according to the first embodiment.
  • FIG. 2 is a schematic structural diagram of a loading platform of a robot unpacking device according to Embodiment 1.
  • FIG. 2 is a schematic structural diagram of a loading platform of a robot unpacking device according to Embodiment 1.
  • FIG. 3 is a schematic structural diagram (1) of an unpacking manipulator of a robot unpacking device according to Embodiment 1.
  • FIG. 3 is a schematic structural diagram (1) of an unpacking manipulator of a robot unpacking device according to Embodiment 1.
  • FIG. 4 is a structural schematic diagram (2) of an unpacking manipulator of a robot unpacking device according to Embodiment 1.
  • FIG. 4 is a structural schematic diagram (2) of an unpacking manipulator of a robot unpacking device according to Embodiment 1.
  • FIG. 5 is a schematic structural diagram of a folder of a robot unpacking device according to Embodiment 1.
  • FIG. 5 is a schematic structural diagram of a folder of a robot unpacking device according to Embodiment 1.
  • FIG. 6 is a schematic diagram of a state where the robot unpacks the cardboard box from the loading platform during the working process of the robot unpacking device according to Embodiment 1.
  • FIG. 6 is a schematic diagram of a state where the robot unpacks the cardboard box from the loading platform during the working process of the robot unpacking device according to Embodiment 1.
  • FIG. 7 is a schematic diagram of the robot unpacking device according to Embodiment 1 in a state where the robot places a carton on a folding machine and finishes unpacking.
  • the folder 40 is located in front of the robot 20 and the loading platform 10 is located behind the robot 20.
  • the forward and backward directions indicated in the loading platform 10, the unpacking robot 30, and the folder 40 are consistent with the unpacking equipment.
  • a robot unpacking device includes a loading platform 10, a robot 20, a unpacking manipulator 30 and a folder 40.
  • the loading platform 10 includes a base 11, a moving platform 12, a linear guide 13, and a cylinder 14.
  • the base 11 is a rectangular frame made of profiled steel.
  • Two left and right linear guide rails 13 are arranged in parallel on the left and right ends.
  • a cylinder 14 is arranged between the linear guide rails 13 and the cylinder 14 is mounted on the base 11 through fasteners.
  • the linear guide rail 13 is provided with a moving platform 12.
  • the piston rod of the air cylinder 14 is fixedly connected to the mobile platform 12.
  • the movement of the air cylinder 14 drives the mobile platform 12 to slide back and forth along the linear guide rail 13.
  • the mobile platform 12 is provided with a plurality of positioning rods 15 along its short side, and a plurality of positioning rods 16 along its long side.
  • the positioning rods 15 and 16 are slender metal round rods, and the positioning rods 15 and 16 form a semi-open structure. , Can be used for positioning of cartons with large size ranges.
  • the unopened carton 01 lies flat on the mobile platform 12.
  • the long side 012 of the carton abuts against the positioning rod 16 and the short side 011 abuts against the positioning rod 15.
  • the carton 01 is positioned.
  • two loading platforms 10 are provided, which are symmetrically arranged on the left and right sides of the rear of the robot 20.
  • the unpacking robot 30 includes a fixed suction cup portion 31 and a movable suction cup portion 32.
  • the fixed suction cup portion 31 and the movable suction cup portion 32 are hinged through a hinge base 33.
  • the fixed sucker portion 31 includes a first metal plate 311, a first metal frame 312, a first vacuum chuck 313, a first cylinder 314, and a first vacuum system 315.
  • a flange connection seat 316 is provided on the rear side of the first metal plate 311.
  • the unpacking robot 30 is connected to the wrist of the robot 20 through a flange connection base 316.
  • the front side of the first metal plate 311 is provided with a rectangular first metal frame 312.
  • the first metal frame 312 is provided with a plurality of first vacuum chucks 313.
  • the suction surfaces of all the first vacuum chucks are facing the front side and are on the same plane. Composes the fixed adsorption surface A.
  • a first vacuum system 315 is provided on the rear side of the first metal plate 311, and the first vacuum system 315 is connected to the first vacuum chuck 313 to provide a vacuum suction power for the first vacuum chuck.
  • the movable chuck portion 32 includes a second metal plate 321, a third metal plate 322, a linear guide 323, a second cylinder 324, a second metal frame 325, a second vacuum chuck 326, and a second vacuum system 327.
  • a front side surface of an end of the second metal plate 321 far from the first metal plate 311 is provided with two parallel sliding grooves, and the sliding grooves extend along a longitudinal direction of the second metal plate 321.
  • the rear side of the third metal plate 322 is provided with two parallel linear guide rails 323.
  • the linear guide rails 323 are adapted to the chute.
  • the third metal plate 322 is slidably disposed on the second metal plate 321 through the linear guide rails 323.
  • the third metal plate 322 is provided with a rectangular second metal frame 325, and the second metal frame 325 is provided with a plurality of second vacuum chucks 326.
  • the suction surfaces of all the second vacuum chucks face the front side and are located in the same plane.
  • a second vacuum system 327 is provided on the rear side of the second metal plate 321, and the second vacuum system 327 is connected to the second vacuum chuck 326 to provide a vacuum suction power for the second vacuum chuck.
  • a cylinder mounting seat 326 is provided in the middle of the two linear guide rails 323.
  • the tail of the second cylinder 324 is fixedly mounted on the rear side of the second metal plate 321.
  • the head extends to the third metal plate 322.
  • the protruding end of the piston rod and The cylinder mount 326 is connected.
  • the second air cylinder 324 drives the third metal plate 322 to expand and contract on the second metal plate 321, thereby adjusting the position of the adsorption surface B.
  • the front side of the first metal plate 311 is provided with a cylinder hinge base 3141, and the tail of the first cylinder 314 is mounted on the first metal plate 311 through the cylinder hinge base 3141, and its head extends to the second metal plate 321, and the second metal plate
  • a cylinder mounting seat 3211 is provided on a front side of an end of 321 near the first metal plate 311, and a piston rod 3141 of the first cylinder 314 and the cylinder mounting seat 3211 are rotatably connected through a hinge shaft.
  • the first cylinder 314 is retracted, the adsorption surface A and the adsorption surface B are in the same plane, the first cylinder 314 is extended, and the adsorption surface A and the adsorption surface B are at an angle of 90 degrees.
  • the folder 40 includes a rectangular fixing frame 41.
  • a short side of the top side of the fixing frame 41 is provided with a metal plate 411 turned outward, and the metal plate 411 is provided with a first horizontal support surface 4111.
  • the fixed frame 41 is provided with sliding frames 42 and 43, linear guides 44 and 45, pulling cylinders 46 and 47, lifting beams 48, and lifting cylinders 49.
  • the linear guides 44 and 45 are parallel to the short sides of the fixed frame 41 and are respectively provided at both ends of the bottom of the fixed frame 41.
  • the sliding frames 42 and 43 are rectangular frames arranged vertically. One end of the bottom is adapted to the linear guide rail 44 and the other end is adapted to the linear guide rail 45.
  • the sliding frames 42 and 43 are slidably disposed on the linear guide rails 44 and 45 and can follow the linear guide rails 44 and 45. Slide back and forth.
  • a cross beam 421 is provided at a top end of the sliding frame 42, and a second horizontal support surface 4211 is provided at a top end of the cross beam 421.
  • a beam 431 is provided at the top of the sliding frame 43, and a third horizontal support surface 4311 is provided at the top of the beam 431.
  • the first, second, and third horizontal support surfaces 4111, 4211, and 4311 are in the same plane.
  • the pulling cylinders 46 and 47 are provided between the linear guide 44 and the linear guide 45.
  • the cylinder base of the pulling cylinder 46 is fixed to the rear side of the bottom of the fixed frame 41.
  • the piston rod is fixedly connected to the pulling block 461.
  • the inner side of the pulling block 461 The piston rod of the air cylinder 46 is pulled against the outer surface of the sliding frame 43 to retract, and the pulling block 461 is driven to pull the sliding frame 43 toward the center of the fixed frame 41.
  • the cylinder base of the pulling cylinder 47 is fixed on the front side of the bottom of the fixed frame 41, and its piston rod is fixedly connected to the pulling block 471.
  • the inner side of the pulling block 471 abuts against the outer side of the sliding frame 42 and the piston rod of the pulling cylinder 47 is retracted. , The pulling block 471 is driven to pull the sliding frame 42 toward the center of the fixed frame 41.
  • the lifting beam 48 is parallel to the long side of the fixed frame 41, is located in the middle of the fixed frame 41, and is located between the sliding frames 42, 43.
  • a lifting cylinder 49 is provided below the lifting beam 48.
  • the lifting cylinder 49 There are two, symmetrically arranged.
  • the lifting cylinder 49 is vertically arranged, and its base is fixed on the fixed frame 41, and its piston rod is connected to the lifting beam 48.
  • the piston rod of the lifting cylinder 49 is extended to drive the lifting beam 48 to rise.
  • a first metal rod 50 and a second metal rod 51 are installed on the lifting beam 48.
  • the first metal rod 50 and the second metal rod 51 are spaced apart from each other at both ends of the lifting beam 48, and the first metal rod 50 is close to the second One end of the metal rod 51 is inclined downward, and forms an included angle with the lifting beam 48 of less than 90 degrees.
  • the lifting cylinder 49 When the lifting cylinder 49 is extended, the metal rods 50 and 51 are higher than the first horizontal support surface 4111.
  • the lifting cylinder 49 When the lifting cylinder 49 is retracted, the metal rods 50 and 51 are lower than the first horizontal support surface 4111.
  • Step 1 Referring to FIG. 6, the unopened carton 01 is stacked on the moving platform 12, the long side 012 of the carton abuts against the positioning bar 16, and the short line 011 abuts against the positioning bar 15, and the carton 01 is positioned.
  • the first cylinder 314 retracts, the movable suction cup portion 32 extends parallel to the fixed suction cup portion 31, the suction surface A composed of the first vacuum chuck 313 and the suction surface B composed of the second vacuum chuck 326 are on the same plane, and the robot 20 drives the unpacking
  • the robot hand 30 moves to the reclaiming position, the first vacuum system 315 and the second vacuum system 327 are activated, and an unopened cardboard box is adsorbed on the first vacuum chuck 313 and the second vacuum chuck 326 to complete the grasping of the unpacking robot 30
  • Step two referring to FIG. 7, the robot 20 grabs the carton 01 and places it above the folder 40;
  • Step three continue to refer to FIG. 7, the first cylinder 314 is extended, the movable suction cup portion 32 is retracted and the fixed suction cup portion 31 is at an angle of 90 degrees. At this time, the carton 01 absorbed by the vacuum suction cup is opened to form a “mouth”. Word structure
  • Step 4 Continue to refer to FIG. 7.
  • the lifting cylinder 49 on the folder 40 is extended, the metal rods 50 and 51 are raised, and the robot 20 attracts the carton 01 from the left to the right on the fixed frame 41 at an inclined angle.
  • the small fold 015 is pressed and folded, and the robot 20 attracts the carton 01 to move from right to left on the fixed frame 41.
  • the small fold 016 hits the metal rod 50, the small fold 016 Crease, complete the first crease;
  • Step 5 Continue to refer to FIG. 7. Through pneumatic control, pull the cylinders 46 and 47 to move the sliding frames 42, 43 to the center of the carton 01. After contacting the big folds 013 and 014 of the carton 01, push the big folds 013 and 014. Complete the second folding to the center of carton 01. After the second folding is completed, the first cylinder 314 retracts, the metal rods 50 and 51 descend from the carton 01, and the robot 20 and the unpacking manipulator 30 grab the carton and move downward, so that the large foldings 013 and 014 on the carton Contact with the first, second, and third horizontal support surfaces 4111, 4211, and 4311 to complete the third folding.
  • the carton 01 unpacking process is completed, and the robot 20 and the unpacking robot 30 push the carton 01 toward the metal plate 411 to perform the next process.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)

Abstract

L'invention concerne un dispositif de déballage par robot un procédé de déballage. Le dispositif comprend une plate-forme de chargement (10), un robot (20), un manipulateur de déballage (30) et une machine de pliage (40). La plate-forme de chargement (10) est utilisée pour le chargement et l'alimentation. Le robot (20) est relié au manipulateur de déballage (30) et entraîne le manipulateur de déballage (30) pour prendre des matériels, et ouvre un carton au-dessus de la machine de pliage au moyen de l'action de retournement d'une ventouse à vide. La machine de pliage (40) coopère avec le robot (20) pour presser et plier les grands et petits rabats du carton. Le procédé de déballage comprend une étape dans laquelle un robot (20) entraîne un manipulateur de déballage (30) pour saisir un carton et une étape dans laquelle le robot (20) entraîne le manipulateur (30) pour placer le carton au-dessus de la machine de pliage (40) et ouvre le carton, et comprend en outre une étape dans laquelle le robot (20) coopère avec la machine de pliage (40) pour presser et plier de grands et petits rabats au fond du carton. Le dispositif de déballage par robot possède la caractéristique d'une production flexible et il peut être appliqué au déballage de cartons de divers types et de diverses spécifications. Dans un processus de chargement du procédé de déballage, une prise et une alimentation de matériel en continu peuvent être réalisées, et l'efficacité de déballage est améliorée.
PCT/CN2019/086532 2018-08-30 2019-05-13 Dispositif de déballage par robot et procédé de déballage WO2020042667A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811000660.4 2018-08-30
CN201811000660.4A CN108945614B (zh) 2018-08-30 2018-08-30 一种机器人开箱设备及开箱方法

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Publication Number Publication Date
WO2020042667A1 true WO2020042667A1 (fr) 2020-03-05

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WO (1) WO2020042667A1 (fr)

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CN112590297B (zh) * 2020-12-10 2022-06-07 合肥派腾智能设备科技有限公司 一种高效率纸箱开箱机及其工作方法
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US11905057B2 (en) 2020-12-30 2024-02-20 Intertape Polymer Corp. Mailer machine for multiple, different mailer configurations and method of use
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