WO2022141135A1 - 一种双机器人协作码垛集成设备、系统及方法 - Google Patents

一种双机器人协作码垛集成设备、系统及方法 Download PDF

Info

Publication number
WO2022141135A1
WO2022141135A1 PCT/CN2020/141144 CN2020141144W WO2022141135A1 WO 2022141135 A1 WO2022141135 A1 WO 2022141135A1 CN 2020141144 W CN2020141144 W CN 2020141144W WO 2022141135 A1 WO2022141135 A1 WO 2022141135A1
Authority
WO
WIPO (PCT)
Prior art keywords
pallet
conveying
robot
frame
line
Prior art date
Application number
PCT/CN2020/141144
Other languages
English (en)
French (fr)
Inventor
杨正辉
胡嘉祺
王亮亮
Original Assignee
科达制造股份有限公司
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 科达制造股份有限公司 filed Critical 科达制造股份有限公司
Publication of WO2022141135A1 publication Critical patent/WO2022141135A1/zh

Links

Images

Classifications

    • 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
    • B65B23/00—Packaging fragile or shock-sensitive articles other than bottles; Unpacking eggs
    • B65B23/20—Packaging plate glass, tiles, or shingles
    • 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
    • B65B13/00—Bundling articles
    • B65B13/18—Details of, or auxiliary devices used in, bundling machines or bundling tools
    • 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
    • B65B27/00—Bundling particular articles presenting special problems using string, wire, or narrow tape or band; Baling fibrous material, e.g. peat, not otherwise provided for
    • B65B27/02—Bundling bricks or other building blocks
    • 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
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/16—Feeding, e.g. conveying, single articles by grippers
    • 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
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/24—Feeding, e.g. conveying, single articles by endless belts or chains
    • 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
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/50—Stacking one article, or group of articles, upon another before packaging
    • 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
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/56—Orientating, i.e. changing the attitude of, articles, e.g. of non-uniform cross-section
    • 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
    • B65B59/00—Arrangements to enable machines to handle articles of different sizes, to produce packages of different sizes, to vary the contents of packages, to handle different types of packaging material, or to give access for cleaning or maintenance purposes
    • B65B59/001—Arrangements to enable adjustments related to the product to be packaged

Definitions

  • the invention relates to the technical field of automatic packaging of ceramic tiles, in particular to a dual-robot collaborative palletizing integrated device, system and method.
  • the present invention provides a dual-robot collaborative palletizing integrated device, which includes multiple supporting and tilting devices, stacking robots, multiple horizontal bundling mills, multiple chain conveyor lines, pallet pick-and-place robots,
  • the first pallet conveying part, pallet warehouse, second pallet conveying part and confluence conveying line have the advantages of compact structure, efficient stacking of various specifications, automatic pallet picking and confluence conveying.
  • a dual-robot collaborative palletizing integrated device includes multiple supporting and tilting devices, a stacking robot, multiple horizontal baling mills, multiple chain conveyor lines, a pallet pick-and-place robot, a first pallet conveying component, and a pallet warehouse.
  • the second pallet conveying part and the confluence conveying line, the plurality of supporting and tilting devices are respectively butted with a plurality of chain-type conveying lines, and the packaging robot is arranged between two adjacent supporting and tilting devices.
  • a plurality of horizontal strapping mills are respectively arranged at the connection between the supporting tilting device and the chain conveying line, and the pallet picking and placing robot is arranged between the plurality of chain conveying lines to grab the pallet and place it on the chain conveying line.
  • the bag-stacking robot grabs and places the bricks on the pallet to form brick stacks, and the horizontal baling mill is used to bundle the brick stacks above the supporting tilting device after the stacking is completed.
  • the first pallet conveying part, the pallet storage part and the second pallet conveying part are connected in turn, the confluence conveying line is arranged between the chain conveying line and the second pallet conveying part, the chain conveying One end of the line close to the second pallet conveying part is butted with the bus conveying line.
  • a plurality of supporting and tilting devices are respectively connected to a plurality of chain conveyor lines
  • a bag-coding robot is arranged between two adjacent supporting and tilting devices
  • a plurality of horizontal bundling mills are respectively arranged between the supporting tilting device and the chain conveyor.
  • the pallet pick-and-place robot is set between multiple chain conveyor lines to grab the pallet and place it on the chain conveyor line
  • the palletizing robot grabs the bricks and places them on the pallet.
  • Bricks are formed into stacks, and the horizontal bundling rolling machine is used to bundle the brick stacks above the supporting tilting device after the stacking is completed.
  • one end of the chain conveying line close to the second pallet conveying part is butted with the confluence conveying line, and each part is closely connected, and the structure is compact, and the pallets pass through the first pallet.
  • the pallet conveying parts are stored in the pallet storage, the pallets enter the second pallet conveying part after leaving the pallet storage, and the pallet pick-and-place robot grabs the pallets on the second pallet conveying part and places them on the chain conveying line. After being conveyed by the chain conveyor line, the pallet reaches the supporting tilting device, and the packaging robot will package the tile package according to certain specifications.
  • the supporting tilting device leaves, passes through the chain conveyor line, and realizes the docking of logistics and warehousing through the converging conveyor line, so as to achieve the goals of efficiently completing various specifications of palletizing, automatic picking and delivery of pallets, and intelligent logistics warehousing and transportation.
  • the supporting and tilting device includes a snapping component, a jacking component, a guiding and conveying component, a plurality of driving components and a supporting frame.
  • the snapping component, the jacking component, the guiding and conveying component, and a plurality of driving components are all arranged on the support base, the guide conveying assembly is located in the upper middle of the support base, the jacking assembly is located below the guide conveying assembly, the snapping component is located on the peripheral side of the guide conveying component, the snapping The assembly, the jacking assembly and the guide conveying assembly are all connected to and controlled by the drive assembly.
  • the snapping assembly, the jacking assembly, the guiding and conveying assembly, and a plurality of driving assemblies are all arranged on the supporting frame, the guiding and conveying assembly is located in the upper middle of the supporting frame, and the jacking assembly is located below the guiding and conveying assembly,
  • the snapping component is located on the peripheral side of the guide and conveying component.
  • the snapping component, the jacking component and the guide and conveying component are all connected with the driving component and are controlled by the driving component, so that the supporting and tilting device has the functions of ordering brick bales, carrying brick stacks and transferring brick stacks. ability.
  • the snapping assembly includes two buttressing frames, three centering plates, and an adjustment assembly for adjusting the positions of the buttressing frames and the centering plates
  • the guide conveying assembly is away from the side of the chain conveyor line and The left and right sides of the movement direction are provided with centering plates
  • the stacking frame is located on the side of the centering plate away from the guide conveying assembly
  • the stacking frame is located at the side of the guide conveying assembly away from the chain conveyor line and the guide conveying The side of the assembly away from the bagging robot.
  • the centering plate is provided on the side of the guide conveying assembly away from the chain conveyor line and on the left and right sides of the moving direction.
  • the side of the component away from the chain conveyor line and the side of the guide conveying component away from the stacking robot, both the buttress frame and the centering plate are equipped with adjustment components.
  • the ability to adjust the size of the corresponding size improves the safety of the supporting tilting device in the process of stacking the tiles, which is conducive to reducing the occurrence of the dumping of the tiles due to unstable stacking.
  • the bag-coding robot includes a bag-coding robot base, a first industrial robot, and a brick-packing fixture, the first industrial robot is a six-axis industrial robot, and the brick-packing fixture is installed at the end of the arm of the first industrial robot.
  • the bag-coding robot includes a bag-coding robot base, the first industrial robot, and a brick-packing fixture.
  • the first industrial robot is a six-axis industrial robot.
  • the cooperation of the brick package fixture enables the palletizing robot to efficiently and safely place the brick package on the supporting tilting device, and stack it into a certain specification of brick stacks.
  • the pallet pick-and-place robot comprises a pallet pick-and-place robot base, a second industrial robot and a pallet fixture, the second industrial robot is a four-axis industrial robot, and the pallet fixture is arranged on the arm of the second industrial robot end.
  • the pallet pick-and-place robot includes a pallet pick-and-place robot base, a second industrial robot, and a pallet fixture.
  • the second industrial robot is a four-axis industrial robot, and the pallet fixture is set at the end of the second industrial robot arm. The cooperation of industrial robots and pallet fixtures enables pallet pick-and-place robots to easily pick and place pallets.
  • the horizontal strapping mill includes a strap frame, a strap bin, a strapping motor and a body frame, the strap frame is slidably connected to the body frame along the direction of gravity, the strap frame is located above the supporting tilting device, and the The belt bin is arranged at the bottom of the main body frame close to the chain conveyor line, and the strapping motor is fixedly connected to the belt frame.
  • the horizontal strapping mill includes a strap frame, a strap bin, a strapping motor and a main body frame.
  • the strap frame is slidably connected to the body frame along the direction of gravity, the strap frame is located above the supporting tilting device, and the strap bin is arranged on the body frame.
  • the bottom is close to the chain conveyor line, and the bundling motor is fixedly connected to the belt frame.
  • the chain conveyor line includes a conveyor frame, a plurality of chain conveyor motors, a plurality of chains, a plurality of alignment parts, a plurality of transmission parts and a plurality of guide parts, and the chain conveyor motors are fixedly connected to the conveyor
  • the plurality of guide parts are arranged in the middle of the conveyor frame
  • the chain is detachably connected to the conveyor frame through the guide parts
  • the chain is connected to the chain conveyor motor through the transmission part
  • the alignment part is fixed Connected to the conveyor frame, the aligning member is disposed opposite to the outside of the chain.
  • the chain conveyor line includes a conveyor frame, a plurality of chain conveyor motors, a plurality of chains, a plurality of alignment parts, a plurality of transmission parts and a plurality of guide parts, and the chain conveyor motors are fixedly connected to the side of the conveyor frame.
  • a plurality of guide parts are arranged in the middle of the conveyor frame
  • the chain is detachably connected to the conveyor frame through the guide parts
  • the chain is connected to the chain conveyor motor through the transmission part
  • the alignment part is fixedly connected to the conveyor frame
  • the alignment part is relatively arranged on the conveyor frame.
  • the first pallet conveying component includes a first pallet conveying frame, a first pallet stopper, a first pallet conveying line and a first pallet conveying motor, and the first pallet conveying line is provided with On the first pallet conveying frame, the first pallet conveying motor is connected with the first pallet conveying line and provides power for the first pallet conveying line, and the first pallet stopper is fixedly connected to the first pallet conveying line.
  • the first pallet conveying component includes a first pallet conveying frame, a first pallet stopper, a first pallet conveying line and a first pallet conveying motor, and the first pallet conveying line is arranged on the first pallet conveying line.
  • the first pallet conveying motor is connected with the first pallet conveying line and provides power for the first pallet conveying line
  • the first pallet stopper is fixedly connected to the first pallet conveying frame
  • the first pallet conveying frame is A pallet stopper is located on one side of the first pallet conveying line, through the cooperation among the first pallet conveying frame, the first pallet stopper, the first pallet conveying line and the first pallet conveying motor, Stacked pallets can be transported to pallet stock for storage.
  • the pallet store includes a pallet store rack, a pallet jacking part, a pallet store conveying line, a pallet clamping part and a pallet store conveying motor, and the pallet store conveying line is arranged on the pallet On the storage rack, the pallet storage conveying motor is connected to the pallet storage conveying line and provides power for the pallet storage conveying line, the pallet clamping part fixes the pallet storage rack, and the pallet clamping part Relatively arranged on both sides of the pallet storage conveying line, the pallet jacking parts fix the pallet storage rack, and the pallet jacking parts are arranged in the lower position of the pallet storage conveying line on the pallet storage rack, so
  • the pallet jacking component can achieve multiple jacking stroke distances through the secondary stroke cylinder.
  • the pallet warehouse includes a pallet warehouse rack, a pallet clamping part, a pallet warehouse conveying line, a pallet lifting part and a pallet warehouse conveying motor, and the pallet warehouse conveying line is arranged on the pallet warehouse conveyor.
  • the conveying motor of the pallet storage is connected with the conveying line of the pallet storage and provides power for the conveying line of the pallet storage.
  • the pallet jacking parts are fixedly connected to the rack of the pallet warehouse, and the pallet jacking parts are arranged at the lower part of the conveying line of the pallet storehouse on the pallet library rack, and the pallet jacking parts can be stacked against each other.
  • the pallet is clamped, the pallet lifting part starts to descend, and the first single pallet attached to the stacked pallet stack simultaneously descends to the conveying part of the pallet warehouse, and is conveyed to the second pallet conveying part, which is convenient for stacking.
  • the board pick-and-place robot picks up, and this cycle is repeated until the pallet stack that enters the pallet warehouse is cut.
  • the second pallet conveying component includes a second pallet conveying frame, a second pallet conveying line and a second pallet conveying motor, and the second pallet conveying line is arranged on the second pallet conveying On the rack, the second pallet conveying motor is connected to the second pallet conveying line and provides power for the second pallet conveying line.
  • the second pallet conveying part includes a second pallet conveying frame, a second pallet conveying line and a second pallet conveying motor, and the second pallet conveying line is arranged on the second pallet conveying frame,
  • the second pallet conveying motor is connected to the second pallet conveying line and provides power for the second pallet conveying line, so that the pallets flowing out of the pallet warehouse arrive at the pallet pick-and-place robot after being conveyed by the second pallet conveying part
  • the grab position is convenient for the pallet pick and place robot to transfer the pallet to the chain conveyor.
  • the invention also discloses a dual-robot cooperative palletizing integrated system, which includes a plurality of the above-mentioned palletizing integrated devices, and the confluence conveying lines between two adjacent dual-robot cooperative palletizing integrated devices are connected to form a confluence conveying system.
  • a confluence conveying line one side of the system confluence conveying line is provided with the first pallet conveying part, pallet library and second pallet conveying part of the dual-robot collaborative palletizing integrated equipment, and the other side of the system confluence conveying line is provided with the double The supporting tilting device of the robot collaborative palletizing integrated equipment, the palletizing robot, the horizontal baling mill, the chain conveyor line, and the pallet pick-and-place robot.
  • the confluence conveying line between two adjacent palletizing integrated equipment is connected to form a system converging conveying line.
  • One side of the system converging conveying line is provided with a dual-robot collaborative palletizing integration.
  • the first pallet conveying part, pallet warehouse and second pallet conveying part of the equipment, the other side of the system converging conveying line is provided with the supporting and tilting device of the double-robot collaborative palletizing integrated equipment, the palletizing robot, the horizontal bundling mill,
  • the chain conveyor line and the pallet pick-and-place robot have greatly improved the work efficiency of the integrated palletizing equipment.
  • the invention also discloses a palletizing method using the above-mentioned dual-robot collaborative palletizing integrated equipment, comprising the following steps:
  • the pallet jacking part lifts the stacked pallet stack up to make it leave the pallet storage conveying line, and then the pallet clamping part lifts the pallet stack from the pallet jacking part After the position of the second single pallet in the direction is clamped, the pallet at the bottom of the pallet stack begins to descend with the pallet jacking part, and the pallet attached to the pallet jacking part descends to the pallet.
  • the cutting of a single pallet is completed, and the single pallet divided by the pallet warehouse is transported to the waiting position of the second pallet conveying part through the conveyor line of the pallet warehouse.
  • the pallet stack of the board library The pallet stack of the board library;
  • the pick-and-place robot grabs a single pallet from the second pallet conveying component and transfers it to the chain conveyor line, and then aligns it and then enters the support tilting device through the chain conveyor line to support the pallet.
  • the tilting device starts to position the pallet, and the jacking assembly retracts to keep the pallet at the inclined angle, and extends upward from the pallet racks on both sides of the inclined direction to keep the pallet on both sides of the pallet) in the pallet state, waiting for the pallet.
  • the package robot performs the brick package stacking of tiles;
  • the stacking robot stacks the brick bales on the inclined pallet according to the predetermined specifications into brick stacks. After the stacking of the tiles is completed, the horizontal bundling mill begins to descend, and the horizontal bundling and rolling mill descends to the brick stack. At the upper end position, the jacking assembly is lifted to keep the brick stack in a horizontal position, and the horizontal strapping and rolling machine starts to bind and roll the first strip. After the strapping and rolling is completed, the position of the abutment frame is changed by adjusting the assembly, so that the abutment frame is flush with the ground. , the horizontal bundler rolls down to the middle position of the brick stack for bundling. After the bundler is completed, the horizontal bundler rolls down to the lower end of the brick stack for bundling. After the bundler is completed, the horizontal bundler starts to rise above the safe height of the working area of the stacking robot. Brick stacks are bundled;
  • the pallet jacking component is driven by an air cylinder, and the pallet jacking component has two jacking heights, and one jacking height is a position equal to the lower end surface of the pallet clamping component 1.
  • the other lifting height position is the position below the pallet clamping part which is one pallet height from the lower end face of the pallet clamping part.
  • the first pallet cutting process the pallet jacking part is raised to the second position, the pallet clamping part clamps the pallet stack, and the pallet jacking part is lowered and returned to the position while the first pallet is moved. It is also brought down to the conveyor line of the pallet warehouse to complete the cutting of the first pallet;
  • the middle pallet cutting process the pallet jacking part rises to position one, the pallet clamping part releases the pallet stack, the pallet jacking part descends to position two, the pallet holding part clamps the pallet stack, When the pallet jacking part is lowered and returned to its position, the lowermost pallet in the pallet stack is also lowered to the pallet storage conveying line at the same time, so that the middle pallet cutting process is cycled to complete the middle pallet cutting. ;
  • the last pallet cutting process the pallet jacking part is raised to the position one, the pallet clamping part releases the pallet stack, and the pallet jacking part is lowered and returned to the position while the last pallet is also brought Descend to the pallet storage conveyor line to complete the last pallet cutting.
  • the bag-coding robot is arranged between two adjacent supporting and tilting devices, and a plurality of horizontal bundling and rolling mills are respectively arranged on the supporting tilting device and the chain conveyor.
  • the pallet pick-and-place robot is set between multiple chain conveyor lines to grab the pallet and place it on the chain conveyor line, and the palletizing robot grabs the bricks and places them on the pallet.
  • Bricks are formed into stacks, and the horizontal bundling rolling machine is used to bundle the brick stacks above the supporting tilting device after the stacking is completed.
  • one end of the chain conveying line close to the second pallet conveying part is butted with the confluence conveying line, and each part is closely connected, and the structure is compact, and the pallets pass through the first pallet.
  • the pallet conveying parts are stored in the pallet storage, the pallets enter the second pallet conveying part after leaving the pallet storage, and the pallet pick-and-place robot grabs the pallets on the second pallet conveying part and places them on the chain conveying line.
  • the pallet After being conveyed by the chain conveyor line, the pallet reaches the supporting tilting device, and the packaging robot will package the tile package according to certain specifications.
  • the supporting tilting device leaves, passes through the chain conveyor line, and connects to the logistics warehousing through the confluence conveyor line, so as to achieve the goals of efficiently completing various specifications of palletizing, automatic pallet retrieval and intelligent logistics transportation;
  • the supporting tilting device By setting up a supporting tilting device including a snapping component, a jacking component, a guiding conveying component, a plurality of driving components and a supporting frame, the supporting tilting device has the functions of ordering brick packs, carrying brick stacks and transferring brick stacks.
  • the aligning component includes two buttresses, three centering plates, and an adjustment component for adjusting the positions of the buttresses and the centering plate, so that the supporting tilting device can be adjusted according to the size of the tiles that need to be packaged. size capability;
  • a bag code robot including a code bag robot base, a first industrial robot and a brick bag fixture
  • the first industrial robot is a six-axis industrial robot
  • the brick bag clamp is installed at the end of the first industrial robot arm, and the six axis
  • the cooperation of the industrial robot and the brick bag fixture enables the bag stacking robot to efficiently and safely stack the brick bags on the supporting tilting device, and stack them into a certain specification of brick stacks;
  • a horizontal strapping mill including a belt frame, a belt bin, a strapping motor and a main body frame
  • the belt frame is slidably connected to the main body frame along the direction of gravity
  • the belt frame is located above the supporting tilting device
  • the belt bin is arranged on the main body
  • the bottom of the rack is close to the chain conveyor line
  • the bundling motor is fixedly connected to the belt frame.
  • a chain conveyor line including a conveyor frame, multiple conveyor motors, multiple chains, multiple alignment parts, multiple transmission parts, and multiple guide parts
  • the conveyor motor is fixedly connected to the side of the conveyor frame, many
  • Each guide member is arranged in the middle of the conveyor frame
  • the chain is detachably connected to the conveyor frame through the guide member
  • the chain is connected to the conveyor motor through the transmission member
  • the alignment member is fixedly connected to the conveyor frame
  • the alignment member is relatively arranged on the outside of the chain, so that On the premise of ensuring that the conveying function is not affected, the chain conveyor also has the function of adjusting the position of the transported items, thereby improving the safety and stability of the transport process;
  • a pallet picking and placing robot including a pallet picking and placing robot base, a second industrial robot and a pallet fixture, wherein the second industrial robot is a four-axis industrial robot, and the pallet fixture is arranged at the end of the second industrial robot arm away from the stack.
  • the pallet pick-and-place robot can easily pick and place the pallet;
  • first pallet conveying parts that cooperate with each other including the first pallet conveying frame, the pallet clamping part, the first pallet conveying line and the first pallet conveying motor, including the pallet storage frame , pallet jacking parts, pallet library conveyor line, pallet jacking parts and pallet library conveying motor of pallet library, and also including second pallet conveying frame, second pallet conveying line and second pallet
  • the second pallet conveying part of the board conveying motor makes the stacked pallets enter the pallet storage through the first pallet conveying part, and then pass through the pallet storage, and leave the pallet storage and flow in at a frequency of one piece at a time.
  • the second pallet conveying part is then conveyed by the second pallet conveying part to reach a position that is convenient for the pallet pick and place robot to grab, and finally the pallet is transferred to the chain conveyor line by the pallet pick and place robot.
  • Fig. 1 is the overall schematic diagram of the first embodiment of the present invention
  • Fig. 2 is the structural representation of supporting tilting device in the present invention
  • Fig. 3 is the structural representation of the code bag robot in the present invention.
  • Fig. 4 is the structural representation of the horizontal bundle rolling mill in the present invention.
  • Fig. 5 is the structural representation of the chain conveyor line in the present invention.
  • Fig. 6 is the structural representation of the pallet pick-and-place robot in the present invention.
  • Fig. 7 is the structural representation of the first pallet conveying member in the present invention.
  • Fig. 8 is the structural representation of pallet library in the present invention.
  • Fig. 9 is the structural representation of the second pallet conveying member in the present invention.
  • Fig. 10 is the structural representation of the confluence conveying line in the present invention.
  • Fig. 11 is the working state schematic diagram of the second embodiment of the present invention.
  • Figure 12 is a schematic diagram of the structure of the third embodiment of the present invention.
  • Fig. 13 is a schematic diagram showing the lifting height of the pallet lifting component in the second embodiment of the present invention.
  • Supporting and tilting device 11. Alignment components; 111, buttresses; 112, centering plate; 113, adjusting components; 1131, centering block; 114, limit plate; Guide conveying assembly; 14. Drive assembly; 15. Supporting machine base; 2. Packing robot; 21. Packing robot base; 22. First industrial robot; 23. Brick-packing fixture; 3.
  • Horizontal rolling mill 31 , belt frame; 32, belt bin; 33, strapping motor; 34, body frame; 4, chain conveyor line; 41, conveyor frame; 42, chain conveyor motor; 43, chain; 44, alignment parts; 45 46, the guide part; 5, the pallet pick and place robot; 51, the pallet pick and place robot base; 52, the second industrial robot; 53, the pallet fixture; 6, the first pallet conveying part; 61, the first a pallet conveying frame; 62, the first pallet stopper; 63, the first pallet conveying line; 64, the first pallet conveying motor; 7, the pallet warehouse; 71, the pallet warehouse rack; 72, Pallet jacking part; 73, pallet storage conveyor line; 74, pallet clamping part; 75, pallet storage conveying motor; 8, second pallet conveying part; 81, second pallet conveying frame; 82 , the second pallet conveying line; 83, the second pallet conveying motor; 9, the confluence conveying line; 91, the reversing device; 92, the conveying device; 9R, the first pallet convey
  • this embodiment discloses a dual-robot collaborative palletizing integrated device, including multiple supporting and tilting devices 1 , a bag stacking robot 2 , multiple horizontal baling mills 3 , multiple chain conveyor lines 4 , and pallet pick-up and drop-off devices.
  • the number of lines 4 is two and they are symmetrically arranged along the same straight line.
  • the supporting and tilting devices 1 are respectively docked with the chain conveyor line 4.
  • the bag-coding robot 2 is arranged between the two supporting and tilting devices 1.
  • the horizontal bundler 3 is used for bundling the brick stack 102 directly above the supporting tilting device 1 after the stacking is completed, and the first pallet conveying component 6.
  • the pallet library part 7 and the second pallet conveying part 8 are connected in turn, the pallet picking and placing robot 5 is arranged between the two chain conveyor lines 4, and the two chain conveyor lines 4 are connected to the first through the pallet picking and placing robot 5.
  • Two pallet conveying components 8, the confluence conveying line 9 is connected to one end of the chain conveying line 4 close to the pallet picking and placing robot 5.
  • the supporting tilting device 1 includes a snapping assembly 11 , a jacking assembly 12 , a guide conveying assembly 13 , two driving assemblies 14 , and a supporting frame 15 , the snapping assembly 11 , the jacking assembly 12 , the guide conveying assembly 13, and the two drive assemblies 14 are all arranged on the support base 15, the guide conveying assembly 13 is located in the upper middle of the support base 15, the jacking assembly 12 is located below the guide conveying assembly 13, and the snapping assembly 11 is located at the guide conveying assembly.
  • the snapping component 11 , the jacking component 12 and the guiding and conveying component 13 are all connected to and controlled by the driving component 14 .
  • the snapping assembly 11 includes a buttress frame 111, a centering plate 112, an adjustment assembly 113 for adjusting the positions of the buttress frame 111 and the centering plate 112, and a limit plate 114.
  • the adjustment assembly 113 also includes a centering block 1131, which is guided and conveyed.
  • a centering plate 112 is provided on the side of the assembly 13 away from the chain conveyor line 4 and on the left and right sides of the moving direction.
  • the vertical section of the limit plate 114 is L-shaped, and the limit plate 114 is located at the guide conveying assembly 13 close to the chain
  • the guide conveyor assembly 13 is specifically a chain conveyor belt
  • the limit plate 114 is arranged between the two chains of the guide conveyor assembly 13
  • the centering block 1131 is located away from the centering plate of the packaging robot 2 . 112 outside.
  • the pallet When working, the pallet is first transported through the guide conveying assembly 13 and the driving assembly 14, and then the pallet is adjusted to a position that is convenient for stacking through the snapping assembly 11 and the jacking assembly 12 (the lowest four corners of the pallet and the two pallets). The included angles of the racks 111 are at the same place), and after the stacking is completed, the pallets with stacked bricks are transported away through the guide conveying assembly 13 and the driving assembly 14.
  • the bag-coding robot 2 includes a bag-coding robot base 21 , a first industrial robot 22 and a brick-packing fixture 23 .
  • the first industrial robot 22 is a six-axis industrial robot, and the brick-packing fixture 23 is detachably connected to the industrial robot. The end of the robot arm. When working, the six-axis industrial robot uses the brick-pack fixture 23 to stack the bricks on the pallet placed on the supporting tilting device 1 .
  • the horizontal strapping mill 3 includes a strap frame 31 , a strap bin 32 , a strapping motor 33 and a body frame 34 , the strap frame 31 is slidably connected to the body frame 34 along the direction of gravity, and the strap bin 32 is arranged at the bottom of the body frame 34 At a position close to the chain conveyor line 4 , the strapping motor 33 is fixedly connected to the belt frame 31 .
  • the belt frame 31 slides from the parking position to the bundling position, and the strapping motor 33 drives the strapping belt stored in the belt bin 32 to bundle the stacked brick bales. After the bundling is completed, the belt frame 31 returns to the parking position.
  • the horizontal strapping mill 3 is a horizontal strapping mill of model HS-001.
  • the chain conveyor line 4 includes a conveyor frame 41, a chain conveyor motor 42, a chain 43, an alignment part 44, a transmission part 45 and a guide part 46, and the chain conveyor motor 42 is fixedly connected to the side of the conveyor frame 41,
  • the guide member 46 is arranged in the middle of the conveyor frame 41
  • the chain 43 is detachably connected to the conveyor frame 41 through the guide member 46
  • the chain 43 is connected to the chain conveyor motor 42 through the transmission member 45
  • the alignment member 44 is fixedly connected to the conveyor frame 41
  • the aligning member 44 is relatively arranged on the outside of the chain 43 .
  • the chain conveying motor 42 drives the chain 43 to move under the guidance of the guide part 46 through the transmission part 45, and drives the items stored above the chain 43 to move; stability.
  • the pallet pick and place robot 5 includes a pallet pick and place robot base 51, a second industrial robot 52 and a pallet fixture 53, the second industrial robot 52 is a four-axis industrial robot, and the pallet fixture 53 is arranged on the first 2. The end of the arm of the industrial robot 52. During operation, the four-axis industrial robot grabs and places the pallet from the second pallet conveying part 8 onto the chain conveying line 4 by means of the pallet gripper 53 .
  • the first pallet conveying member 6 includes a first pallet conveying frame 61, a first pallet stopper 62, a first pallet conveying line 63 and a first pallet conveying motor 64, the first pallet conveying The line 63 is arranged on the first pallet conveying frame 61, the first pallet conveying motor 64 is connected with the first pallet conveying line 63 and provides power for the first pallet conveying line 63, and the first pallet stopper 62 is fixed Connected to the first pallet conveying frame 61 , the first pallet blocking frame 62 is located on one side of the first pallet conveying line 63 .
  • the staff places the stacked pallets on the first pallet conveying line 63 by means of a forklift, and the first pallet conveying motor 64 drives the first pallet conveying line 63 to send the stacked pallets into the pallet warehouse 7,
  • the pallet library 7 quickly cuts the stacked pallets into single pallets through the cutting mode.
  • the pallet library 7 includes a pallet library rack 71, a pallet jacking component 72, a pallet library conveying line 73, a pallet clamping component 74 and a pallet library conveying motor 75.
  • the pallet library The conveying line 73 is arranged on the pallet storage rack 71
  • the pallet storage conveying motor 75 is connected with the pallet storage conveying line 73 and provides power for the pallet storage conveying line 73
  • the pallet jacking part 72 is fixedly connected to the pallet storage.
  • the rack 71, the pallet jacking member 72 is relatively arranged below the middle of the pallet storage conveying line 73
  • the pallet clamping member 74 is fixedly connected to the pallet storage rack 71
  • the pallet clamping member 74 is arranged on the pallet storage machine.
  • the positions on both sides of the rack 71, the stacked pallets are divided into single pallets under the cutting of the pallet clamping part 74 and the pallet lifting part 72, and leave the pallet warehouse 7, and the pallet warehouse conveying motor 75 drives the stack.
  • the board magazine conveying line 73 transfers the pallets to the position of the second pallet conveying part 8 .
  • the second pallet conveying member 8 includes a second pallet conveying frame 81, a second pallet conveying line 82 and a second pallet conveying motor 83, and the second pallet conveying line 82 is provided in the first pallet conveying frame 81.
  • the second pallet conveying motor 83 is connected to the second pallet conveying line 82 and provides power for the second pallet conveying line 82 .
  • the second pallet conveying motor 83 drives the second pallet conveying line 82 to convey the pallets from the pallet warehouse 7 to a position that is convenient for the pallet picking and placing robot 5 to grasp.
  • the confluence conveying line 9 includes a reversing device 91 and a conveying device 92, the movement direction of the confluence conveying line 9 and the moving direction of the chain conveying line 4 are perpendicular to each other, and the reversing device 91 and the chain conveying line 4 are perpendicular to each other.
  • One end of the pallet pick-and-place robot 5 is docked.
  • the stacked and bundled bricks are transported to the reversing device 91 via the chain conveyor line 4, and then transported to the warehouse by the conveying device 92 after the reversing.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • this embodiment is an embodiment of the palletizing method applying Embodiment 1, which includes the following processes:
  • the pallet stack 104 stacked by a single pallet 103 is placed on the first pallet conveying part 6 by a forklift, and the pallet stack 104 enters the pallet warehouse 7 through the first pallet conveying part 6, and starts Divide.
  • the first pallet conveying part 6 is equipped with a pallet stack movement reminder device for prompting the pallet stack to enter the pallet warehouse through the first pallet conveying part;
  • the pallet lifting part 72 lifts the stacked pallet stack 104 upward to make it leave the pallet storage conveying line 73, and then the pallet clamping part 74 lifts the pallet stack 104 from the pallet
  • the pallet at the bottom of the pallet stack 104 starts to descend with the pallet jacking member 72 and is attached to the top of the pallet.
  • the pallet of the lifting part 72 is lowered to the pallet storage conveying line 73 to complete the segmentation of a single pallet, and the single pallet 103 cut by the pallet storage 7 is transported to the second pallet conveying through the pallet storage conveying line 73.
  • the pallet stack 104 is cut through the cooperation of the pallet lifting part 72 and the pallet clamping part 74 .
  • the pallet jacking member 72 is driven by an air cylinder, and there are two jacking heights of the pallet jacking member 72.
  • one jacking height position is equal to the lower end surface of the clamp of the pallet jacking member 72
  • the position one is P1
  • the other lifting height position is the position two P2, which is a height of one pallet 103 below the clamp of the pallet jacking part 72 away from the lower end face of the clamp.
  • the pallet lifting part 72 is equipped with a residual detection device, which is used to remind the first pallet conveying part 6 when only the last pallet 103 held by the pallet holding part 74 of the pallet magazine 7 is left.
  • the pallet stack 104 formed by stacking the single pallets 103 is transported to the pallet warehouse 7, and the specific cutting process includes the following steps:
  • the first pallet cutting process the pallet jacking part 72 rises to the second position P2, the pallet clamping part 74 clamps the pallet stack 104, and the pallet jacking part 72 moves the The first pallet 103 is also brought down to the pallet storage conveying line 73 to complete the cutting of the first pallet;
  • the middle pallet cutting process the pallet jacking part 72 rises to the position one P1, the pallet holding part 74 releases the pallet stack, the pallet jacking part 72 descends to the second position P2, the pallet holding part 74 The pallet stack 104 is clamped, and the pallet lifter 72 is lowered and returned to its position, and at the same time, the bottom pallet 103 in the pallet stack 104 is also brought down to the pallet storage conveying line 73, and the middle pallet is circulated in this way.
  • the slicing process completes the slicing of the middle pallet;
  • the last pallet slicing process the pallet jacking part 72 rises to position one P1
  • the pallet clamping part 74 releases the pallet stack
  • the pallet jacking part 72 is lowered back to position while the last piece of the pallet is lifted
  • the board 103 is also brought down to the pallet storage conveying line 73 to complete the cutting of the last pallet 103 .
  • the specific positioning process is as follows: first, the position of the pallet 103 close to the chain conveyor line 4 is determined by the limit plate 114 through its own L-shaped structure, and then a pass in the buttress frame 111 away from the chain conveyor line 4 passes through The centering plate 112 at the same position determines the position of the pallet 103 on the side away from the chain conveyor line 4, and cooperates with the limit plate 114 to lock the pallet 103 in the moving direction of the chain conveyor line 4, and then through the centering In the board 112, the pallet 103 is determined by abutting at a position close to the package coding robot 2, and finally the centering block 1131 is used to determine the pallet 103 at a position away from the package coding robot 2 by abutting.
  • the lifting assembly 12 is retracted so that the pallet 103 maintains the inclined angle, and is extended upward from the pallet racks 111 on both sides of the inclined direction to keep the pallet 103 in the pallet state on both sides of the edge, waiting for the palletizing robot 2 to carry out the tiles.
  • Brick packs are placed in 101 yards;
  • the stacking robot 2 stacks the brick bales 101 on the inclined pallet 103 into a brick stack 102 according to predetermined specifications.
  • the horizontal strapping mill 3 descends to the first strip (the upper end position of the brick stack), the jacking assembly 12 is lifted to keep the brick stack 102 in a horizontal position, and the horizontal strapping mill 3 starts to bundle and roll the first strip.
  • the adjustment assembly 113 changes the position of the buttress frame 111 so that the abutment frame 111 is flush with the ground, and the horizontal baler 3 descends to the second strip (the middle position of the brick stack) for bundling.
  • the horizontal baler 3 descends Go to the third belt (the lower end of the brick stack) for bundling.
  • the horizontal bundling and rolling machine 3 starts to rise to the upper end (above the safe height of the robot working area), and the brick stack 102 is bundled;
  • the bundled brick stack 102 enters the chain conveyor line 4 through the guide conveying component 13 of the supporting tilting device 1, and then is transported by the chain conveyor line 4, and sent to the warehouse through the confluence conveyor line 9;
  • this embodiment discloses a dual-robot collaborative palletizing integrated system, including five dual-robot collaborative palletizing integrated devices disclosed in the first embodiment, two adjacent dual-robot collaborative palletizing integrated devices.
  • the confluence conveying line 9 is docked to form a system converging conveying line.
  • One side of the system converging conveying line is provided with the first pallet conveying part, the pallet library and the second pallet conveying part 9R of the double-robot collaborative palletizing integrated equipment.
  • the system converging conveying line On the other side, the supporting and tilting device of the dual-robot collaborative palletizing integrated equipment, the bag-stacking robot, the horizontal bundling mill, the chain conveyor line, and the pallet pick-and-place robot 9L are installed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

一种双机器人协作码垛集成设备，包括承托倾斜装置（1）、码包机器人（2）、水平捆轧机（3）、链式输送线（4）、栈板取放机器人（5）、第一栈板输送部件（6）、栈板库部件（7）以及第二栈板输送部件（8），承托倾斜装置（1）与链式输送线（4）相连，码包机器人（2）设于相邻两个承托倾斜装置（1）之间，水平捆轧机（3）设于承托倾斜装置（1）与链式输送线（4）的连接处，水平捆轧机（3）用于码垛结束后在承托倾斜装置（1）上方对砖垛进行捆扎，该技术方案结构紧凑、能够高效完成多种规格码垛、自动取送栈板及物流输送，可以单线或多线组成整厂物流输送仓储系统。

Description

一种双机器人协作码垛集成设备、系统及方法 技术领域
本发明涉及瓷砖自动包装技术领域，具体涉及一种双机器人协作码垛集成设备、系统及方法。
背景技术
目前，工业领域都向着智能化、自动化方向发展，作为传统劳动密集型行业的陶瓷企业具有劳动强度大，工作环境恶劣等问题。在如今中国的人口红利逐渐消失，招工难度大的大背景下，陶瓷企业的人工成本急剧攀升。瓷砖的包装需要消耗大量的劳动力，作为瓷砖包装领域最后一道工序，码包及转运效率直接影响着整个包装的效率，影响着工人的劳动强度和工作时间。虽然近些年来码包机已经也取得了不少进步，但是还普遍存在着码包速度慢，码包形式或规格较单一，部份工序复杂无法实现自动化码包而采用人机混合作业，带来人员安全事故的风险，码包机结构复杂，占地大等不足之处，且无法实现码包，物流仓储一体化的智能集成系统。
针对整个陶瓷行业存在的多种问题，研制出一种结构紧凑、能够高效完成多种规格码垛、自动取送栈板及物流输送的智能码垛集成系统设备十分有必要。
发明内容
为了解决上述技术难题，本发明提供了一种双机器人协作码垛集成设备，包括多个承托倾斜装置、码包机器人、多个水平捆轧机、多条链式输送线、栈板取放机器人、第一栈板输送部件、栈板库、第二栈板输送部件以及汇流输送线等，具有结构紧凑、能够高效完成多种规格码垛、自动取送栈板及汇流输送的优点。
为实现上述发明目的，本发明采取的技术方案如下：
一种双机器人协作码垛集成设备，包括多个承托倾斜装置、码包机器人、多个水平捆轧机、多条链式输送线、栈板取放机器人、第一栈板输送部件、栈板库、第二栈板输送部件以及汇流输送线，所述多个承托倾斜装置分别与多条链式输送线对接，所述码包机器人设置于相邻两个承托倾斜装置之间，所述多个水平捆轧机分别设置于承托倾斜装置与链式输送线的连接处，所述栈板取放机器人设置于多条链式输送线之间用于抓取栈板后放置在所述链式输送线上，所述码包机器人将砖包抓取放置在所述栈板上码成砖垛，所述水平捆轧机用于码垛结束后在所述承托倾斜装置上方对砖垛进行捆扎，所述第一栈板输送部件、 栈板库部件以及第二栈板输送部件依次连接，所述汇流输送线设置于链式输送线与第二栈板输送部件之间，所述链式输送线靠近第二栈板输送部件的一端与汇流输送线对接。
通过这样设置，多个承托倾斜装置分别与多条链式输送线对接，码包机器人设置于相邻两个承托倾斜装置之间，多个水平捆轧机分别设置于承托倾斜装置与链式输送线的连接处，栈板取放机器人设置于多条链式输送线之间用于抓取栈板后放置在链式输送线上，码包机器人将砖包抓取放置在栈板上码成砖垛，水平捆轧机用于码垛结束后在承托倾斜装置上方对砖垛进行捆扎，第一栈板输送部件、栈板库部件以及第二栈板输送部件依次连接，汇流输送线设置于链式输送线与第二栈板输送部件之间，链式输送线靠近第二栈板输送部件的一端与汇流输送线对接，各个部件之间联系密切，结构紧凑，栈板垛通过第一栈板输送部件存入栈板库，栈板出栈板库之后进入第二栈板输送部件，栈板取放机器人抓取第二栈板输送部件上的栈板然后放置到链式输送线上，经过链式输送线的输送，栈板到达承托倾斜装置，码包机器人将瓷砖包按照一定的规格进行码包，完成后水平捆轧机将码好的瓷砖包捆扎好，捆扎好的瓷砖包从承托倾斜装置离开，经过链式输送线，通过汇流输送线实现物流仓储对接从而实现高效完成多种规格码垛、自动取送栈板及智能物流仓储输送的目标。
作为优选，所述承托倾斜装置包括拍齐组件、顶升组件、导向输送组件、多个驱动组件以及承托机座，所述拍齐组件、顶升组件、导向输送组件、以及多个驱动组件均设置于承托机座上，所述导向输送组件位于承托机座上方中部，所述顶升组件位于导向输送组件下方，所述拍齐组件位于导向输送组件周侧，所述拍齐组件、顶升组件以及导向输送组件均与驱动组件相连且受驱动组件控制。
通过这样设置，拍齐组件、顶升组件、导向输送组件、以及多个驱动组件均设置于承托机座上，导向输送组件位于承托机座上方中部，顶升组件位于导向输送组件下方，拍齐组件位于导向输送组件周侧，拍齐组件、顶升组件以及导向输送组件均与驱动组件相连且受驱动组件控制，使得承托倾斜装置具备规整砖包、承载砖垛以及转运砖垛的能力。
作为优选，所述拍齐组件包括两个扶垛架、三块对中板以及用于调整扶垛架与对中板位置的调节组件，所述导向输送组件远离链式输送线的一侧以及运动方向的左右两侧均设有对中板，所述扶垛架位于对中板远离导向输送组件的一侧，所述扶垛架位于导向输送组件远离链式输送线的一侧以及导向输送组件远离码包机器人的一侧。
通过这样设置，导向输送组件远离链式输送线的一侧以及运动方向的左右两侧均设有对中板，扶垛架位于对中板远离导向输送组件的一侧，扶垛架位于导向输送组件远离链式输送线的一侧以及导向输送组件远离码包机器人的一侧，扶垛架与对中板均配套设置有调节组件，一方面使得承托倾斜装置具备根据需要码包的瓷砖的大小调节相应尺寸的能力，另一方面提升了承托倾斜装置在瓷砖码包过程中安全性，有利于减少因码放不稳而导致砖 包倾倒的情况发生。
作为优选，所述码包机器人包括码包机器人机座、第一工业机器人以及砖包夹具，所述第一工业机器人为六轴工业机器人，所述砖包夹具安装于第一工业机器人手臂末端。
通过这样设置，码包机器人包括码包机器人机座、第一工业机器人以及砖包夹具，第一工业机器人为六轴工业机器人，砖包夹具安装于第一工业机器人手臂末端，通过六轴工业机器人以及砖包夹具的配合使得码包机器人可以高效安全地将砖包码放在承托倾斜装置上，并码放成一定规格的砖垛。
作为优选，所述栈板取放机器人包括栈板取放机器人机座、第二工业机器人以及栈板夹具，所述第二工业机器人为四轴工业机器人，所述栈板夹具设置于第二工业机器人手臂末端。
通过这样设置，栈板取放机器人包括栈板取放机器人机座、第二工业机器人以及栈板夹具，第二工业机器人为四轴工业机器人，栈板夹具设置于第二工业机器人手臂末端，通过四轴工业机器人以及栈板夹具的配合使得栈板取放机器人可以方便地取放栈板。
作为优选，所述水平捆轧机包括带框、带仓、捆扎电机以及本体机架，所述带框沿重力方向滑动连接于本体机架，所述带框位于承托倾斜装置的上方，所述带仓设置于本体机架底部靠近链式输送线的位置，所述捆扎电机固定连接于带框。
通过这样设置，水平捆轧机包括带框、带仓、捆扎电机以及本体机架，带框沿重力方向滑动连接于本体机架，带框位于承托倾斜装置的上方，带仓设置于本体机架底部靠近链式输送线的位置，捆扎电机固定连接于带框，在码包机器人将砖包码成砖垛之后，带框沿着本体机架滑动到捆扎位置，水平捆轧机借助带仓储存的捆扎带将砖垛捆扎好，完成对砖垛的固定。
作为优选，所述链式输送线包括输送机架、多个链式输送电机、多根链条、多个对齐部件、多个传动部件以及多个导向部件，所述链式输送电机固定连接于输送机架侧面，所述多个导向部件均设置于输送机架中部，所述链条通过导向部件可拆卸连接于输送机架，所述链条通过传动部件与链式输送电机相连，所述对齐部件固定连接于输送机架，所述对齐部件相对设置于链条外侧。
通过这样设置，链式输送线包括输送机架、多个链式输送电机、多根链条、多个对齐部件、多个传动部件以及多个导向部件，链式输送电机固定连接于输送机架侧面，多个导向部件均设置于输送机架中部，链条通过导向部件可拆卸连接于输送机架，链条通过传动部件与链式输送电机相连，对齐部件固定连接于输送机架，对齐部件相对设置于链条外侧，使得链式输送线在保证输送功能不受影响的前提下，还具有调整所运输物品位置的作用，从而提高运输过程的安全性和稳定性。
作为优选，所述第一栈板输送部件包括第一栈板输送机架、第一栈板挡架、第一栈板 输送线以及第一栈板输送电机，所述第一栈板输送线设置于第一栈板输送机架上，所述第一栈板输送电机与第一栈板输送线相连且为第一栈板输送线提供动力，所述第一栈板挡架固定连接于第一栈板输送机架，所述第一栈板挡架位于第一栈板输送线一侧。
通过这样设置，第一栈板输送部件包括第一栈板输送机架、第一栈板挡架、第一栈板输送线以及第一栈板输送电机，第一栈板输送线设置于第一栈板输送机架上，第一栈板输送电机与第一栈板输送线相连且为第一栈板输送线提供动力，第一栈板挡架固定连接于第一栈板输送机架，第一栈板挡架位于第一栈板输送线一侧，通过第一栈板输送机架、第一栈板挡架、第一栈板输送线以及第一栈板输送电机之间的协作配合，可将成垛的栈板运送到栈板库存放。
作为优选，所述栈板库包括栈板库机架、栈板顶升部件、栈板库输送线、栈板夹持部件以及栈板库输送电机，所述栈板库输送线设置于栈板库机架上，所述栈板库输送电机与栈板库输送线相连且为栈板库输送线提供动力，所述栈板夹持部件固定栈板库机架，所述栈板夹持部件相对设置于栈板库输送线两侧，所述栈板顶升部件固定栈板库机架，所述栈板顶升部件设置于栈板库机架上栈板库输送线中下方位置，所述栈板顶升部件通过二级行程气缸，可以达到完成多个顶升行程距离。
通过这样设置，栈板库包括栈板库机架、栈板夹持部件、栈板库输送线、栈板顶升部件以及栈板库输送电机，栈板库输送线设置于栈板库输送机座上，栈板库输送电机与栈板库输送线相连且为栈板库输送线提供动力，栈板夹持部件固定连接于栈板库机架，栈板夹持部件相对设置于栈板库输送线两侧，栈板顶升部件固定连接于栈板库机架，栈板顶升部件设置于栈板库机架上栈板库输送线中下方位置，栈板顶升部件可以对成垛的栈板进行夹持，栈板顶升部件开始下降，同时附着堆叠栈板垛的第一个单个栈板同时下降到栈板库的输送部件上，输送到第二栈板输送部件，便于栈板取放机器人夹取，如此动作循环直到切完进入栈板库的栈板垛。
作为优选，所述第二栈板输送部件包括第二栈板输送机架、第二栈板输送线以及第二栈板输送电机，所述第二栈板输送线设置于第二栈板输送机架上，所述第二栈板输送电机与第二栈板输送线相连且为第二栈板输送线提供动力。
通过这样设置，第二栈板输送部件包括第二栈板输送机架、第二栈板输送线以及第二栈板输送电机，第二栈板输送线设置于第二栈板输送机架上，第二栈板输送电机与第二栈板输送线相连且为第二栈板输送线提供动力，使得流出栈板库的栈板在通过第二栈板输送部件的输送之后抵达便于栈板取放机器人抓取的位置，方便栈板取放机器人将栈板转移到链式输送线。
本发明同时公开了一种双机器人协作码垛集成系统，包括多个上述的码垛集成设备，相邻两个所述的双机器人协作码垛集成设备之间的汇流输送线对接形成系统汇流输送线， 系统汇流输送线的一侧设置所述双机器人协作码垛集成设备的第一栈板输送部件、栈板库以及第二栈板输送部件，系统汇流输送线的另一侧设置所述双机器人协作码垛集成设备的承托倾斜装置、码包机器人、水平捆轧机、链式输送线以及栈板取放机器人。
通过这样设置，将多个码垛集成设备集成在一起，相邻两个码垛集成设备之间的汇流输送线对接形成系统汇流输送线，系统汇流输送线的一侧设置双机器人协作码垛集成设备的第一栈板输送部件、栈板库以及第二栈板输送部件，系统汇流输送线的另一侧设置双机器人协作码垛集成设备的承托倾斜装置、码包机器人、水平捆轧机、链式输送线以及栈板取放机器人，使得码垛集成设备的工作效率得到大幅度提升。
本发明还公开一种应用上述双机器人协作码垛集成设备的码垛方法，包括以下步骤：
S1、准备栈板：单块栈板堆叠成的栈板垛经叉车放到第一栈板输送部件并输送进入栈板库；
S2、切分单个栈板：栈板顶升部件将堆叠的栈板垛向上顶升使其离开栈板库输送线，然后栈板夹持部件将栈板垛中从栈板顶升部件顶升方向上的第二个单个栈板的位置夹持后，栈板垛中位于最底层的栈板随所述栈板顶升部件开始下降，附着在栈板顶升部件的栈板下降到栈板库输送线上，完成单个栈板的切分，栈板库切分的单块栈板经栈板库输送线输送到第二栈板输送部件的待取位置，如此动作循环直到切完进入栈板库的栈板垛；
S3、输送栈板：取放机器人将单块栈板从第二栈板输送部件抓取并移送到链式输送线，拍齐对中后再经由链式输送线进入承托倾斜装置，承托倾斜装置开始对栈板进位定位，顶升组件缩回使栈板保持倾斜角度，并由倾斜方向的两侧扶垛架向上伸出，保持在栈板)两侧边缘处于扶垛状态，等待码包机器人进行瓷砖的砖包码放；
S4、砖包的码放以及捆扎：码包机器人按预定规格将砖包在倾斜状态栈板上码放成砖垛，在瓷砖砖垛码放完成后，水平捆轧机开始下降，水平捆轧机下降到砖垛上端位置，顶升组件顶升，使砖垛保持水平位置，水平捆轧机开始捆轧第一条带，捆轧完成后，通过调节组件改变扶垛架的位置，使得扶垛架与地面平齐，水平捆轧机下降到砖垛中间位置进行捆扎，捆轧完成后，水平捆轧机下降到砖垛下端位置进行捆扎，捆轧完成后，水平捆轧机开始上升至码包机器人工作区域安全高度上方，砖垛捆扎完成；
S5、砖垛运输：捆扎好的砖垛通过承托倾斜装置的导向输送组件进入链式输送线，再经过链式输送线的输送，通过汇流输送线送入仓库；
S6、重复过程S1到S5，循环作业。
作为优选，所述步骤S2中栈板顶升部件由气缸驱动，所述栈板顶升部件的顶升高度有两个，一个顶升的高度位置是与栈板夹持部件下端面持平的位置一，另外一个顶升的高度位置是栈板夹持部件下方距离栈板夹持部件下端面一个栈板高度的位置二，具体切分过程包括以下步骤：
S21、第一块栈板切分过程：栈板顶升部件上升到位置二，栈板夹持部件夹持栈板垛，栈板顶升部件下降回位的同时将所述第一块栈板也带着下降到栈板库输送线上，完成第一块栈板的切分；
S22、中间栈板切分过程：栈板顶升部件上升到位置一，栈板夹持部件释放栈板垛，栈板顶升部件下降到位置二，栈板夹持部件夹持栈板垛，栈板顶升部件下降回位的同时将此时栈板垛中最底下的栈板也带着下降到栈板库输送线上，如此循环中间栈板切分过程，完成中间栈板的切分；
S23、最后一块栈板切分过程：栈板顶升部件上升到位置一，栈板夹持部件释放栈板垛，栈板顶升部件下降回位的同时将所述最后一块栈板也带着下降到栈板库输送线上，完成最后一块栈板切分。
相对于现有技术，本发明取得了有益的技术效果：
1、通过将多个承托倾斜装置分别与多条链式输送线对接，码包机器人设置于相邻两个承托倾斜装置之间，多个水平捆轧机分别设置于承托倾斜装置与链式输送线的连接处，栈板取放机器人设置于多条链式输送线之间用于抓取栈板后放置在链式输送线上，码包机器人将砖包抓取放置在栈板上码成砖垛，水平捆轧机用于码垛结束后在承托倾斜装置上方对砖垛进行捆扎，第一栈板输送部件、栈板库部件以及第二栈板输送部件依次连接，汇流输送线设置于链式输送线与第二栈板输送部件之间，链式输送线靠近第二栈板输送部件的一端与汇流输送线对接，各个部件之间联系密切，结构紧凑，栈板垛通过第一栈板输送部件存入栈板库，栈板出栈板库之后进入第二栈板输送部件，栈板取放机器人抓取第二栈板输送部件上的栈板然后放置到链式输送线上，经过链式输送线的输送，栈板到达承托倾斜装置，码包机器人将瓷砖包按照一定的规格进行码包，完成后水平捆轧机将码好的瓷砖包捆扎好，捆扎好的瓷砖包从承托倾斜装置离开，经过链式输送线，通过汇流输送线对接物流仓储从而实现高效完成多种规格码垛、自动取送栈板及智能物流输送的目标；
2、通过设置包括拍齐组件、顶升组件、导向输送组件、多个驱动组件以及承托机座的承托倾斜装置，使得承托倾斜装置具备规整砖包、承载砖垛以及转运砖垛的能力，其中拍齐组件包括两个扶垛架、三块对中板以及用于调整扶垛架与对中板位置的调节组件，使得承托倾斜装置具备根据需要码包的瓷砖的大小调节相应尺寸的能力；
3、通过设置包括码包机器人机座、第一工业机器人以及砖包夹具的码包机器人，其中第一工业机器人为六轴工业机器人，砖包夹具安装于第一工业机器人手臂末端，通过六轴工业机器人以及砖包夹具的配合使得码包机器人可以高效安全地将砖包码放在承托倾斜装置上，并码放成一定规格的砖垛；
4、通过设置包括带框、带仓、捆扎电机以及本体机架的水平捆轧机，其中带框沿重力方向滑动连接于本体机架，带框位于承托倾斜装置的上方，带仓设置于本体机架底部靠近 链式输送线的位置，捆扎电机固定连接于带框，在码包机器人将砖包码成砖垛之后，带框沿着本体机架滑动到捆扎位置，水平捆轧机借助带仓储存的捆扎带将砖垛捆扎好，完成对砖垛的固定；
5、通过设置包括输送机架、多个输送电机、多根链条、多个对齐部件、多个传动部件以及多个导向部件的链式输送线，其中输送电机固定连接于输送机架侧面，多个导向部件均设置于输送机架中部，链条通过导向部件可拆卸连接于输送机架，链条通过传动部件与输送电机相连，对齐部件固定连接于输送机架，对齐部件相对设置于链条外侧，使得链式输送线在保证输送功能不受影响的前提下，还具有调整所运输物品位置的作用，从而提高运输过程的安全性和稳定性；
6、通过设置包括栈板取放机器人机座、第二工业机器人以及栈板夹具的栈板取放机器人，其中第二工业机器人为四轴工业机器人，栈板夹具设置于第二工业机器人手臂末端远离栈板取放机器人机座的一端，通过四轴工业机器人以及栈板夹具的配合使得栈板取放机器人可以方便地取放栈板；
7、通过设置互相配合的，包括第一栈板输送机架、栈板夹持部件、第一栈板输送线以及第一栈板输送电机的第一栈板输送部件，包括栈板库机架、栈板顶升部件、栈板库输送线、栈板顶升部件以及栈板库输送电机的栈板库，还有包括第二栈板输送机架、第二栈板输送线以及第二栈板输送电机的第二栈板输送部件，使得成垛的栈板经过第一栈板输送部件进入栈板库存放，然后经过栈板库的切分，以每次一块的频次离开栈板库流入第二栈板输送部件，接着通过第二栈板输送部件的输送之后抵达便于栈板取放机器人抓取的位置，最后通过栈板取放机器人将栈板转移到链式输送线。
附图说明
图1是本发明实施例一的整体示意图；
图2是本发明中承托倾斜装置的结构示意图；
图3是本发明中码包机器人的结构示意图；
图4是本发明中水平捆轧机的结构示意图；
图5是本发明中链式输送线的结构示意图；
图6是本发明中栈板取放机器人的结构示意图；
图7是本发明中第一栈板输送部件的结构示意图；
图8是本发明中栈板库的结构示意图；
图9是本发明中第二栈板输送部件的结构示意图；
图10是本发明中汇流输送线的结构示意图；
图11是本发明中实施例二的工作状态示意图；
图12是本发明中实施例三的结构示意简图；
图13是本发明中实施例二中栈板顶升部件的顶升高度示意简图。
其中，各附图标记所指代的技术特征如下：
1、承托倾斜装置；11、拍齐组件；111、扶垛架；112、对中板；113、调节组件；1131、对中块；114、限位板；12、顶升组件；13、导向输送组件；14、驱动组件；15、承托机座；2、码包机器人；21、码包机器人机座；22、第一工业机器人；23、砖包夹具；3、水平捆轧机；31、带框；32、带仓；33、捆扎电机；34、本体机架；4、链式输送线；41、输送机架；42、链式输送电机；43、链条；44、对齐部件；45、传动部件；46、导向部件；5、栈板取放机器人；51、栈板取放机器人机座；52、第二工业机器人；53、栈板夹具；6、第一栈板输送部件；61、第一栈板输送机架；62、第一栈板挡架；63、第一栈板输送线；64、第一栈板输送电机；7、栈板库；71、栈板库机架；72、栈板顶升部件；73、栈板库输送线；74、栈板夹持部件；75、栈板库输送电机；8、第二栈板输送部件；81、第二栈板输送机架；82、第二栈板输送线；83、第二栈板输送电机；9、汇流输送线；91、换向装置；92、运送装置；9R、第一栈板输送部件，栈板库以及第二栈板输送部件；9L、承托倾斜装置，码包机器人，水平捆轧机，链式输送线以及栈板取放机器人；101、砖包；102、砖垛；103、栈板；104、栈板垛；P1、位置一；P2、位置二。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合实施例对本发明进行进一步详细说明，但本发明要求保护的范围并不局限于下述具体实施例。
实施例一
参考图1，本实施例公开了一种双机器人协作码垛集成设备，包括多个承托倾斜装置1、码包机器人2、多个水平捆轧机3、多条链式输送线4、栈板取放机器人5、第一栈板输送部件6、栈板库7、第二栈板输送部件8以及汇流输送线9，在本实施例中，承托倾斜装置1、水平捆轧机3以及链式输送线4的数量都为二且均沿同一直线对称设置，承托倾斜装置1分别与链式输送线4对接，码包机器人2设置于两个承托倾斜装置1之间，两个水平捆轧机3分别设置于承托倾斜装置1与链式输送线4的连接处，水平捆轧机3用于码垛结束后直接在承托倾斜装置1上方对砖垛102进行捆扎，第一栈板输送部件6、栈板库部件7以及第二栈板输送部件8依次连接，栈板取放机器人5设置于两条链式输送线4之间，两条链式输送线4通过栈板取放机器人5连通第二栈板输送部件8，汇流输送线9与链式输送线4靠近栈板取放机器人5的一端对接。
参考图2，承托倾斜装置1包括拍齐组件11、顶升组件12、导向输送组件13、两个驱动组件14以及承托机座15，拍齐组件11、顶升组件12、导向输送组件13、以及两个驱动 组件14均设置于承托机座15上，导向输送组件13位于承托机座15上方中部，顶升组件12位于导向输送组件13下方，拍齐组件11位于导向输送组件13周侧，拍齐组件11、顶升组件12以及导向输送组件13均与驱动组件14相连且受驱动组件14控制。拍齐组件11包括扶垛架111、对中板112、用于调整扶垛架111与对中板112位置的调节组件113以及限位板114，调节组件113还包括对中块1131，导向输送组件13远离链式输送线4的一侧以及运动方向的左右两侧均设有对中板112，扶垛架111位于对中板112远离导向输送组件13的一侧，扶垛架111位于导向输送组件13远离链式输送线4的一侧以及导向输送组件13远离码包机器人2的一侧，限位板114的竖直截面呈L形，限位板114位于导向输送组件13靠近链式输送线4的一侧，导向输送组件13具体为链式传送带，限位板114设置于导向输送组件13的两根链条之间，对中块1131位于远离码包机器人2的那块对中板112的外侧。工作时，首先通过导向输送组件13以及驱动组件14将栈板运入，然后通过拍齐组件11与顶升组件12调整栈板到便于码包的位置(栈板四角最低处与两个扶垛架111的夹角在同一处)，码包结束后再通过导向输送组件13以及驱动组件14将码放有码好砖垛的栈板运离。
参考图1与图3，码包机器人2包括码包机器人机座21、第一工业机器人22以及砖包夹具23，第一工业机器人22为六轴工业机器人，砖包夹具23可拆卸连接于工业机器人手臂末端。工作时，六轴工业机器人借助砖包夹具23将砖包码放到放置于承托倾斜装置1上的栈板。
参考图4，水平捆轧机3包括带框31、带仓32、捆扎电机33以及本体机架34，带框31沿重力方向滑动连接于本体机架34，带仓32设置于本体机架34底部靠近链式输送线4的位置，捆扎电机33固定连接于带框31。工作时，带框31从停放位置滑动到捆扎位置，捆扎电机33驱动带仓32内存储的捆扎带对码垛好的砖包进行捆扎，完成捆扎后带框31返回停放位置，在本实施例中，水平捆轧机3是型号为HS-001的水平式捆轧机。
参考图5，链式输送线4包括输送机架41、链式输送电机42、链条43、对齐部件44、传动部件45以及导向部件46，链式输送电机42固定连接于输送机架41侧面，导向部件46设置于输送机架41中部，链条43通过导向部件46可拆卸连接于输送机架41，链条43通过传动部件45与链式输送电机42相连，对齐部件44固定连接于输送机架41，对齐部件44相对设置于链条43外侧。工作时，链式输送电机42通过传动部件45驱动链条43在导向部件46的引导下运动，带动链条43上方存放的物品运动，对齐部件44将链条43上方存放的物品对齐，保证物品输送过程的稳定性。
参考图1与图6，栈板取放机器人5包括栈板取放机器人机座51、第二工业机器人52以及栈板夹具53，第二工业机器人52为四轴工业机器人，栈板夹具53设置于第二工业机器人52手臂末端。工作时，四轴工业机器人借助栈板夹具53将栈板从第二栈板输送部件8抓取并放置到链式输送线4上。
参考图7，第一栈板输送部件6包括第一栈板输送机架61、第一栈板挡架62、第一栈板输送线63以及第一栈板输送电机64，第一栈板输送线63设置于第一栈板输送机架61上，第一栈板输送电机64与第一栈板输送线63相连且为第一栈板输送线63提供动力，第一栈板挡架62固定连接于第一栈板输送机架61，第一栈板挡架62位于第一栈板输送线63一侧。工作时，工作人员借助叉车将成垛的栈板放置到第一栈板输送线63上，第一栈板输送电机64驱动第一栈板输送线63将成垛的栈板送入栈板库7，栈板库7通过切分模式快速将叠垛栈板切分为单块栈板。
参考图1与图8，栈板库7包括栈板库机架71、栈板顶升部件72、栈板库输送线73、栈板夹持部件74以及栈板库输送电机75，栈板库输送线73设置于栈板库机架71上，栈板库输送电机75与栈板库输送线73相连且为栈板库输送线73提供动力，栈板顶升部件72固定连接于栈板库机架71，栈板顶升部件72相对设置于栈板库输送线73中间下方，栈板夹持部件74固定连接于栈板库机架71，栈板夹持部件74设置于栈板库机架71两侧的位置，成垛的栈板在栈板夹持部件74和栈板顶升部件72的切分下，分成单个栈板，离开栈板库7，栈板库输送电机75驱动栈板库输送线73将栈板转运到第二栈板输送部件8位置。
参考图1与图9，第二栈板输送部件8包括第二栈板输送机架81、第二栈板输送线82以及第二栈板输送电机83，第二栈板输送线82设置于第二栈板输送机架81上，第二栈板输送电机83与第二栈板输送线82相连且为第二栈板输送线82提供动力。工作时，第二栈板输送电机83驱动第二栈板输送线82将来自栈板库7的栈板输送到便于栈板取放机器人5抓取的位置。
参考图1与图10，汇流输送线9包括换向装置91与运送装置92，汇流输送线9的运动方向与链式输送线4的运动方向互相垂直，换向装置91与链式输送线4靠近栈板取放机器人5的一端对接。工作时，码垛并捆扎好的砖包经由链式输送线4运送到换向装置91处，经过换向后由运送装置92运至仓库。
实施例二：
参照图11，本实施例为应用实施例一的码垛方法实施例，包括以下过程：
S1、准备栈板：单块栈板103堆叠成的栈板垛104经叉车放到第一栈板输送部件6，栈板垛104通过第一栈板输送部件6进入栈板库后7，开始进行切分。第一栈板输送部件6配备有一个栈板垛运动提醒装置，用于提示栈板垛通过第一栈板输送部件进入栈板库这一过程；
S2、切分单个栈板：栈板顶升部件72将堆叠的栈板垛104向上顶升使其离开栈板库输送线73，然后栈板夹持部件74将栈板垛104中从栈板顶升部件72顶升方向上的第二个单个栈板103的位置夹持后，栈板垛104中位于最底层的栈板随所述栈板顶升部件72开始下降，附着在栈板顶升部件72的栈板下降到栈板库输送线73上，完成单个栈板的切分，栈 板库7切分的单块栈板103经栈板库输送线73输送到第二栈板输送部件8的待取位置。该步骤中通过栈板顶升部件72和栈板夹持部件74配合工作，对栈板垛104进行切分。具体地，栈板顶升部件72由气缸驱动，栈板顶升部件72的顶升高度有两个，参照图13，一个顶升的高度位置是与栈板顶升部件72的夹具下端面持平的位置一P1，另外一个顶升的高度位置是栈板顶升部件72的夹具下方距离夹具下端面一个栈板103高度的位置二P2。栈板顶升部件72配备有一个余量检测装置，用于在栈板库7的栈板夹持部件74所夹持的栈板103只剩下最后一块时，提醒第一栈板输送部件6将单块栈板103堆叠成的栈板垛104输送到栈板库7，具体切分过程包括以下步骤：
S21、第一块栈板切分过程：栈板顶升部件72上升到位置二P2，栈板夹持部件74夹持栈板垛104，栈板顶升部件72下降回位的同时将所述第一块栈板103也带着下降到栈板库输送线73上，完成第一块栈板的切分；
S22、中间栈板切分过程：栈板顶升部件72上升到位置一P1，栈板夹持部件74释放栈板垛，栈板顶升部件72下降到位置二P2，栈板夹持部件74夹持栈板垛104，栈板顶升部件72下降回位的同时将此时栈板垛104中最底下的栈板103也带着下降到栈板库输送线73上，如此循环中间栈板切分过程，完成中间栈板的切分；
S23、最后一块栈板切分过程：栈板顶升部件72上升到位置一P1，栈板夹持部件74释放栈板垛，栈板顶升部件72下降回位的同时将所述最后一块栈板103也带着下降到栈板库输送线73上，完成最后一块栈板103切分。
S3、输送栈板：栈板库7切分的单块栈板103经栈板库输送线73输送到第二栈板输送部件8的待取位置后，栈板取放机器人5将单块栈板103从第二栈板输送部件8抓取并移送到链式输送线4，拍齐对中后再经由链式输送线4进入承托倾斜装置1，承托倾斜装置1开始对栈板103进位定位，具体定位过程为：首先限位板114将栈板103靠近链式输送线4一侧的位置通过自身的L形结构确定，然后扶垛架111中远离靠近链式输送线4的一个通过同位置的对中板112将栈板103远离链式输送线4一侧的位置确定，并与限位板114配合将栈板103在链式输送线4的运动方向上锁定，接着通过对中板112中靠近码包机器人2的那块将栈板103在靠近码包机器人2的位置通过抵接确定，最后通过对中块1131将栈板103在远离码包机器人2的位置通过抵接确定，并与限位板114配合将栈板103在垂直于链式输送线4的运动方向上锁定。顶升组件12缩回使栈板103保持倾斜角度，并由倾斜方向的两侧扶垛架111向上伸出，保持在栈板103两侧边缘处于扶垛状态，等待码包机器人2进行瓷砖的砖包101码放；
S4、砖包101的码放以及捆扎：码包机器人2按预定规格将砖包101在倾斜状态栈板103上码放成砖垛102，在瓷砖砖垛102码放完成后，水平捆轧机3开始下降，水平捆轧机3下降到第一条带(砖垛上端位置)，顶升组件12顶升，使砖垛102保持水平位置，水平捆 轧机3开始捆轧第一条带，捆轧完成后，通过调节组件113改变扶垛架111的位置，使得扶垛架111与地面平齐，水平捆轧机3下降到第二条带(砖垛中间位置)进行捆扎，捆轧完成后，水平捆轧机3下降到第三条带(砖垛下端位置)进行捆扎，捆轧完成后，水平捆轧机3开始上升至上端(机器人工作区域安全高度上方)，砖垛102捆扎完成；
S5、砖垛运输：捆扎好的砖垛102通过承托倾斜装置1的导向输送组件13进入链式输送线4，再经过链式输送线4的输送，通过汇流输送线9送入仓库；
S6、重复过程S1到S5，循环作业。
实施例三：
参照图12，本实施例公开了一种双机器人协作码垛集成系统，包括五个实施例一所公开的双机器人协作码垛集成设备，相邻两个的双机器人协作码垛集成设备中的汇流输送线9对接形成系统汇流输送线，系统汇流输送线的一侧设置双机器人协作码垛集成设备的第一栈板输送部件、栈板库以及第二栈板输送部件9R，系统汇流输送线的另一侧设置双机器人协作码垛集成设备的承托倾斜装置、码包机器人、水平捆轧机、链式输送线以及栈板取放机器人9L。
根据上述说明书的揭示和教导，本发明所属领域的技术人员还可以对上述实施方式进行变更和修改。因此，本发明并不局限于上面揭示和描述的具体实施方式，对发明的一些修改和变更也应当落入本发明的权利要求的保护范围内。此外，尽管本说明书中使用了一些特定的术语，但这些术语只是为了方便说明，并不对发明构成任何限制。

Claims (11)

  1. 一种双机器人协作码垛集成设备，其特征在于：包括多个承托倾斜装置(1)、码包机器人(2)、多个水平捆轧机(3)、多条链式输送线(4)、栈板取放机器人(5)、第一栈板输送部件(6)、栈板库(7)、第二栈板输送部件(8)以及汇流输送线(9)，所述多个承托倾斜装置(1)分别与多条链式输送线(4)对接，所述码包机器人(2)设置于相邻两个承托倾斜装置(1)之间，所述水平捆轧机(3)设置于承托倾斜装置(1)与链式输送线(4)的连接处，所述栈板取放机器人(5)设置于多条链式输送线(4)之间用于抓取栈板后放置在所述链式输送线(4)上，所述码包机器人(2)将砖包抓取放置在所述栈板上码成砖垛，所述水平捆轧机(3)用于码垛结束后在所述承托倾斜装置(1)上方对砖垛(102)进行捆扎，所述第一栈板输送部件(6)、栈板库部件(7)以及第二栈板输送部件(8)依次连接，所述汇流输送线(9)设置于链式输送线(4)与第二栈板输送部件(8)之间，所述链式输送线(4)靠近第二栈板输送部件(8)的一端与汇流输送线(9)对接。
  2. 根据权利要求1所述的一种双机器人协作码垛集成设备，其特征在于，所述承托倾斜装置(1)包括拍齐组件(11)、顶升组件(12)、导向输送组件(13)、多个驱动组件(14)以及承托机座(15)，所述拍齐组件(11)、顶升组件(12)、导向输送组件(13)、以及多个驱动组件(14)均设置于承托机座(15)上，所述导向输送组件(13)位于承托机座(15)上方中部，所述顶升组件(12)位于导向输送组件(13)下方，所述拍齐组件(11)位于导向输送组件(13)周侧，所述拍齐组件(11)、顶升组件(12)以及导向输送组件(13)均与驱动组件(14)相连且受驱动组件(14)控制。
  3. 根据权利要求2所述的一种双机器人协作码垛集成设备，其特征在于，所述拍齐组件(11)包括扶垛架(111)、对中板(112)以及用于调整扶垛架(111)与对中板(112)位置的调节组件(113)，所述导向输送组件(13)远离链式输送线(4)的一侧以及运动方向的左右两侧均设有对中板(112)，所述扶垛架(111)位于对中板(112)远离导向输送组件(13)的一侧，所述扶垛架(111)位于导向输送组件(13)远离链式输送线(4)的一侧以及导向输送组件(13)远离码包机器人(2)的一侧。
  4. 根据权利要求1所述的一种双机器人协作码垛集成设备，其特征在于，所述码包机器人(2)包括码包机器人机座(21)、第一工业机器人(22)以及砖包夹具(23)，所述第一工业机器人(22)为六轴工业机器人，所述砖包夹具(23)安装于第一工业机器人(22)手臂末端，所述栈板取放机器人(5)包括栈板取放机器人机座(51)、第二工业机器人(52)以及栈板夹具(53)，所述第二工业机器人(52)为四轴工业机器人，所述栈板夹具(53)安装于第二工业机器人(52)手臂末端。
  5. 根据权利要求1所述的一种双机器人协作码垛集成设备，其特征在于，所述水平捆轧机(3)包括带框(31)、带仓(32)、捆扎电机(33)以及本体机架(34)，所述带框(31)沿重力方向滑动连接于本体机架(34)，所述带框(31)位于承托倾斜装置(1)的上方，所述带仓(32)设置于本体机架(34)底部靠近链式输送线(4)的位置，所述捆扎电机(33)固定连接于带框(31)。
  6. 根据权利要求1所述的一种双机器人协作码垛集成设备，其特征在于，所述链式输送 线(4)包括输送机架(41)、多个链式输送电机(42)、多根链条(43)、多个对齐部件(44)、多个传动部件(45)以及多个导向部件(46)，所述链式输送电机(42)固定连接于输送机架(41)侧面，所述多个导向部件(46)均设置于输送机架(41)中部，所述链条(43)通过导向部件(46)可拆卸连接于输送机架(41)，所述链条(43)通过传动部件(45)与链式输送电机(42)相连，所述对齐部件(44)固定连接于输送机架(41)，所述对齐部件(44)相对设置于链条(43)外侧。
  7. 根据权利要求1所述的一种双机器人协作码垛集成设备，其特征在于，所述第一栈板输送部件(6)包括第一栈板输送机架(61)、第一栈板挡架(62)、第一栈板输送线(63)以及第一栈板输送电机(64)，所述第一栈板输送线(63)设置于第一栈板输送机架(61)上，所述第一栈板输送电机(64)与第一栈板输送线(63)相连且为第一栈板输送线(63)提供动力，所述第一栈板挡架(62)固定连接于第一栈板输送机架(61)，所述第一栈板挡架(62)位于第一栈板输送线(63)一侧。
  8. 根据权利要求1所述的一种双机器人协作码垛集成设备，其特征在于，所述栈板库(7)包括栈板库机架(71)、栈板顶升部件(72)、栈板库输送线(73)、栈板夹持部件(74)以及栈板库输送电机(75)，所述栈板库输送线(73)设置于栈板库机架(71)上，所述栈板库输送电机(75)与栈板库输送线(73)相连且为栈板库输送线(73)提供动力，所述栈板夹持部件(74)固定栈板库机架(71)，所述栈板夹持部件(74)相对设置于栈板库输送线(73)两侧，所述栈板顶升部件(72)固定栈板库机架(71)，所述栈板顶升部件(72)设置于栈板库机架(71)上，所述栈板顶升部件(72)位于栈板库输送线(73)中下方位置，所述第二栈板输送部件(8)包括第二栈板输送机架(81)、第二栈板输送线(82)以及第二栈板输送电机(83)，所述第二栈板输送线(82)设置于第二栈板输送机架(81)上，所述第二栈板输送电机(83)与第二栈板输送线(82)相连且为第二栈板输送线(82)提供动力。
  9. 一种双机器人协作码垛系统，其特征在于，包括多个权利要求1-8任一所述的双机器人协作码垛集成设备，相邻两个所述双机器人协作码垛集成设备中的汇流输送线(9)对接形成系统汇流输送线，所述系统汇流输送线的一侧设置所述双机器人协作码垛集成设备的第一栈板输送部件、栈板库以及第二栈板输送部件(9R)，所述系统汇流输送线的另一侧设置所述双机器人协作码垛集成设备的承托倾斜装置、码包机器人、水平捆轧机、链式输送线以及栈板取放机器人(9L)。
  10. 一种应用权利要求1-8任一所述的一种双机器人协作码垛集成设备的码垛方法，其特征在于，包括以下步骤：
    S1、准备栈板：单块栈板(103)堆叠成的栈板垛(104)经叉车放到第一栈板输送部件(6)并输送进入栈板库(7)；
    S2、切分单个栈板：栈板顶升部件(72)将堆叠的栈板垛(104)向上顶升使其离开栈板库输送线(73)，然后栈板夹持部件(74)将栈板垛(104)中从栈板顶升部件(72)顶升方向上的第 二个单个栈板(103)的位置夹持后，栈板垛(104)中位于最底层的栈板随所述栈板顶升部件(72)开始下降，附着在栈板顶升部件(72)的栈板下降到栈板库输送线(73)上，完成单个栈板的切分，栈板库(7)切分的单块栈板(103)经栈板库输送线(73)输送到第二栈板输送部件(8)的待取位置，如此动作循环直到切完进入栈板库(7)的栈板垛(104)；
    S3、输送栈板：取放机器人(5)将单块栈板(103)从第二栈板输送部件(8)抓取并移送到链式输送线(4)，拍齐对中后再经由链式输送线(4)进入承托倾斜装置(1)，承托倾斜装置(1)开始对栈板(103)进位定位，顶升组件(12)缩回使栈板(103)保持倾斜角度，并由倾斜方向的两侧扶垛架(111)向上伸出，保持在栈板(103)两侧边缘处于扶垛状态，等待码包机器人(2)进行瓷砖的砖包(101)码放；
    S4、砖包(101)的码放以及捆扎：码包机器人(2)按预定规格将砖包(101)在倾斜状态栈板(103)上码放成砖垛(102)，在瓷砖砖垛(102)码放完成后，水平捆轧机(3)开始下降，水平捆轧机(3)下降到砖垛(102)上端位置，顶升组件(12)顶升，使砖垛(102)保持水平位置，水平捆轧机(3)开始捆轧第一条带，捆轧完成后，通过调节组件(113)改变扶垛架(111)的位置，使得扶垛架(111)与地面平齐，水平捆轧机(3)下降到砖垛(102)中间位置进行捆扎，捆轧完成后，水平捆轧机(3)下降到砖垛下端位置进行捆扎，捆轧完成后，水平捆轧机(3)开始上升至码包机器人(2)工作区域安全高度上方，砖垛(102)捆扎完成；
    S5、砖垛运输：捆扎好的砖垛(102)通过承托倾斜装置(1)的导向输送组件(13)进入链式输送线(4)，再经过链式输送线(4)的输送，通过汇流输送线(9)送入仓库；
    S6、重复过程S1到S5，循环作业。
  11. 根据权利要求10所述的码垛方法，其特征在于，所述步骤S2中栈板顶升部件(72)由气缸驱动，所述栈板顶升部件(72)的顶升高度有两个，一个顶升的高度位置是与栈板夹持部件(74)下端面持平的位置一(P1)，另外一个顶升的高度位置是栈板夹持部件(74)下方距离栈板夹持部件(74)下端面一个栈板(103)高度的位置二(P2)，具体切分过程包括以下步骤：
    S21、第一块栈板切分过程：栈板顶升部件(72)上升到位置二(P2)，栈板夹持部件(74)夹持栈板垛(104)，栈板顶升部件(72)下降回位的同时将所述第一块栈板(103)也带着下降到栈板库输送线(73)上，完成第一块栈板(103)的切分；
    S22、中间栈板切分过程：栈板顶升部件(72)上升到位置一(P1)，栈板夹持部件(74)释放栈板垛，栈板顶升部件(72)下降到位置二(P2)，栈板夹持部件(74)夹持栈板垛(104)，栈板顶升部件(72)下降回位的同时将此时栈板垛(104)中最底下的栈板(103)也带着下降到栈板库输送线(73)上，如此循环中间栈板切分过程，完成中间栈板的切分；
    S23、最后一块栈板切分过程：栈板顶升部件(72)上升到位置一(P1)，栈板夹持部件(74)释放栈板垛，栈板顶升部件(72)下降回位的同时将所述最后一块栈板(103)也带着下降到栈板库输送线(73)上，完成最后一块栈板(103)切分。
PCT/CN2020/141144 2020-12-28 2020-12-30 一种双机器人协作码垛集成设备、系统及方法 WO2022141135A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011579975.6A CN112550808A (zh) 2020-12-28 2020-12-28 一种双机器人协作码垛集成设备、系统及方法
CN202011579975.6 2020-12-28

Publications (1)

Publication Number Publication Date
WO2022141135A1 true WO2022141135A1 (zh) 2022-07-07

Family

ID=75033934

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/141144 WO2022141135A1 (zh) 2020-12-28 2020-12-30 一种双机器人协作码垛集成设备、系统及方法

Country Status (2)

Country Link
CN (1) CN112550808A (zh)
WO (1) WO2022141135A1 (zh)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115180255A (zh) * 2022-08-16 2022-10-14 广州明珞装备股份有限公司 一种电池模组组装打包下线设备及其组装工艺
CN115465512A (zh) * 2022-08-11 2022-12-13 江苏群昌智能科技有限公司 一种包装桶自动码垛用的双通道输送线
CN116620854A (zh) * 2023-07-24 2023-08-22 烟台佳美包装有限公司 物料输送用码垛机

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115626333B (zh) * 2022-12-21 2023-03-28 四平宏大液压机械制造有限公司 一种玻璃打包线的全自动上料装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4882895A (en) * 1988-05-24 1989-11-28 Industrial Technology Research Institute Automated apparatus for transporting, lining-up and stowing cylindrical fragile bodies
EP1882632A2 (en) * 2006-07-26 2008-01-30 Tissue Logistics Solutions S.p.A Machine for producing groups of roll products.
CN107896478A (zh) * 2017-10-11 2018-04-10 广州煌牌自动设备有限公司 一种可模块化的多轴贴片机
CN110712800A (zh) * 2019-09-20 2020-01-21 南京坤航信息科技有限公司 一种双工位协作包装机器人流水线及其协作包装方法
CN111360814A (zh) * 2018-12-26 2020-07-03 沈阳新松机器人自动化股份有限公司 一种协作机器人控制系统及方法
CN112572873A (zh) * 2020-12-28 2021-03-30 科达制造股份有限公司 一种用于瓷砖码垛的机器人夹具及瓷砖码垛设备

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4882895A (en) * 1988-05-24 1989-11-28 Industrial Technology Research Institute Automated apparatus for transporting, lining-up and stowing cylindrical fragile bodies
EP1882632A2 (en) * 2006-07-26 2008-01-30 Tissue Logistics Solutions S.p.A Machine for producing groups of roll products.
CN107896478A (zh) * 2017-10-11 2018-04-10 广州煌牌自动设备有限公司 一种可模块化的多轴贴片机
CN111360814A (zh) * 2018-12-26 2020-07-03 沈阳新松机器人自动化股份有限公司 一种协作机器人控制系统及方法
CN110712800A (zh) * 2019-09-20 2020-01-21 南京坤航信息科技有限公司 一种双工位协作包装机器人流水线及其协作包装方法
CN112572873A (zh) * 2020-12-28 2021-03-30 科达制造股份有限公司 一种用于瓷砖码垛的机器人夹具及瓷砖码垛设备

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115465512A (zh) * 2022-08-11 2022-12-13 江苏群昌智能科技有限公司 一种包装桶自动码垛用的双通道输送线
CN115180255A (zh) * 2022-08-16 2022-10-14 广州明珞装备股份有限公司 一种电池模组组装打包下线设备及其组装工艺
CN116620854A (zh) * 2023-07-24 2023-08-22 烟台佳美包装有限公司 物料输送用码垛机
CN116620854B (zh) * 2023-07-24 2023-10-13 烟台佳美包装有限公司 物料输送用码垛机

Also Published As

Publication number Publication date
CN112550808A (zh) 2021-03-26

Similar Documents

Publication Publication Date Title
WO2022141135A1 (zh) 一种双机器人协作码垛集成设备、系统及方法
US5944479A (en) Stacking apparatus
JPH0611618B2 (ja) 物品のパレタイジング装置
EP1724219B1 (en) Apparatus and method for the palletisation of articles
CN106494668B (zh) 玻璃管码垛机
EP3885291A1 (en) Palletizing apparatus
CN206395026U (zh) 移动式集中码垛输送线
CN105480464A (zh) 一种码垛卸垛包装线
CN111115248A (zh) 龙骨码垛装置
CN113501333A (zh) 一种具有缓冲储存功能的蓄电池极板堆垛装置
US20060120850A1 (en) Workpiece handling system with geostationary ejection function
CN218950120U (zh) 仓储系统
CN216971305U (zh) 一种整层式全自动码垛机
CN215710100U (zh) 一种具有缓冲储存功能的蓄电池极板堆垛装置
CN214776825U (zh) 一种双机器人协作码垛集成设备以及系统
CN211002203U (zh) 一种自动化药盒运输打包设备
JPH09328227A (ja) 板状体段積み装置
CN114104754A (zh) 一种垛处理和输送系统及其堆垛、拆垛方法
CN112572873A (zh) 一种用于瓷砖码垛的机器人夹具及瓷砖码垛设备
CN206297785U (zh) 玻璃管码垛机
JP2003312809A (ja) 物品保管設備
CN218039335U (zh) 电芯堆叠生产线
CN219116644U (zh) 一种拆栈模块、栈板循环装置以及码垛系统
CN212557035U (zh) 能够自动放置托板的瓷砖包装线
CN216945168U (zh) 一种新型拾箱夹具

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20967483

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20967483

Country of ref document: EP

Kind code of ref document: A1