WO2022252393A1 - 一种基于视觉统计的物流打包系统及方法 - Google Patents

一种基于视觉统计的物流打包系统及方法 Download PDF

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Publication number
WO2022252393A1
WO2022252393A1 PCT/CN2021/111698 CN2021111698W WO2022252393A1 WO 2022252393 A1 WO2022252393 A1 WO 2022252393A1 CN 2021111698 W CN2021111698 W CN 2021111698W WO 2022252393 A1 WO2022252393 A1 WO 2022252393A1
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WO
WIPO (PCT)
Prior art keywords
packaging
rotary table
platform
clamping mechanism
logistics
Prior art date
Application number
PCT/CN2021/111698
Other languages
English (en)
French (fr)
Inventor
方静
谢广飞
田亮
Original Assignee
南京轩世琪源软件科技有限公司
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Publication of WO2022252393A1 publication Critical patent/WO2022252393A1/zh

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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
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/20—Applications of counting devices for controlling the feed of articles
    • 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
    • B65B11/00—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material
    • B65B11/04—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material the articles being rotated
    • 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
    • B65B35/20—Feeding, e.g. conveying, single articles by reciprocating or oscillatory pushers
    • 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
    • B65B41/00—Supplying or feeding container-forming sheets or wrapping material
    • B65B41/12—Feeding webs from rolls
    • B65B41/16—Feeding webs from rolls by rollers
    • 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
    • B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
    • B65B61/04—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for severing webs, or for separating joined packages
    • B65B61/06—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for severing webs, or for separating joined packages by cutting

Definitions

  • the invention relates to a logistics packaging system and method based on visual statistics, belonging to the technical field of logistics.
  • the present invention provides a logistics packaging system and method based on visual statistics.
  • the present invention adopts the following technical scheme to realize: a kind of logistics packaging system based on visual statistics, comprising:
  • the first rotating table is used to drive multiple mechanisms installed on its surface to rotate to predetermined positions;
  • the first transmission mechanism is arranged beside the first rotary table and extends a predetermined distance along its radial direction, and is used to transmit objects away from the first rotary table to a predetermined position close to the first rotary table;
  • a plurality of clamping mechanisms are evenly distributed along the center of the first rotary table, and when each clamping mechanism rotates to a predetermined position, its working end corresponds to the position of the end of the first transmission mechanism, so that the The clamping mechanism clamps the objects transported by the first conveying mechanism;
  • the packaging mechanism is located next to the first rotary table and the working surface of the packaging mechanism corresponds to the side of the object on the clamping mechanism.
  • the first rotary table drives the clamping mechanism to
  • the packaging mechanism moves to make the object fit in an interference fit with the working surface of the packaging mechanism, so as to obtain the adhesive force required for the packaging work;
  • the pushing mechanism is arranged at a predetermined distance along the radial extension of the first rotary table; the object clamped by the clamping mechanism is placed on the pushing mechanism, and the pushing mechanism rotates to the direction of the packing box and Objects are pushed in.
  • the first transmission mechanism transfers the objects on the logistics line
  • the clamping mechanism clamps the objects on the first transmission mechanism
  • the packaging table wraps the cloth around the objects
  • the clamping mechanism rotates to the direction of the pushing mechanism
  • the clamping mechanism puts the object on the push mechanism.
  • the rotation direction of the push mechanism is facing the packing box, and the height is adjusted to push the object into the packing box.
  • the clamping mechanism includes:
  • a plurality of positioning seats are evenly distributed and installed along the center of the first rotary table
  • the horizontal slide rail is installed on the positioning seat, the sliding seat of the horizontal sliding rail slides horizontally and the first mounting plate is installed on the sliding seat;
  • the longitudinal slide rail is installed on the outer end of the first mounting plate; two sliding plates sliding up and down are installed on the longitudinal slide rail;
  • a two-way cylinder is installed on the first mounting plate and the two telescopic ends of the two-way cylinder are respectively connected to one end of the two sliding plates, and the telescoping direction of the two-way cylinder is parallel to the installation direction of the longitudinal slide rail ;
  • Two controlled rotating parts are installed on the outer sides of the two sliding plates and the two controlled rotating parts are used to clamp the objects from the first transmission mechanism, and the ends of the two electrically controlled rotating parts are installed with round plate.
  • the clamping mechanism can control the elongation and contraction of the sliding seat of the transverse slide rail to clamp the object from the first conveying mechanism, and at the same time use the bidirectional cylinder and the electronically controlled rotating part to clamp the object.
  • the second mounting plate installed laterally on the first mounting plate is provided on the second mounting plate below and close to the two oppositely installed first air cylinders of the electric control rotating member , the two rollers respectively installed on the two first cylinders and the rollers are oppositely arranged, and the oppositely arranged rollers leave a space for assisting in supporting and stabilizing the two control rotating parts to clamp and rotate the object.
  • the two rollers hold the object and cooperate with the electric control rotating part to facilitate the rotation of the object on the clamping device.
  • the packaging mechanism includes:
  • the packaging mechanism platform is set beside the first rotary table and the height of the packaging mechanism platform is set corresponding to the height of the prices clamped by the clamping mechanism;
  • the coarse cloth roll is arranged on the packaging mechanism platform and the coarse cloth roll rotates relative to the packaging mechanism platform;
  • the double-sided film is arranged on the platform of the packaging mechanism and the double-sided film is rotated relative to the platform of the packaging mechanism.
  • the double-sided film is composed of a rubber surface and waste paper;
  • the tensioning mechanism is composed of two tensioning wheels arranged on the platform of the packaging mechanism. There is a gap between the two tensioners.
  • the coarse cloth roll and the double-sided film pass through the gap at the same time and the coarse cloth
  • the roll is bonded to the adhesive side of the double-sided film to finally form a hybrid cloth;
  • the waste paper roll is set on the platform of the packaging mechanism.
  • the waste paper roll rewinds the waste paper of the double-sided film after passing through the tensioning mechanism, and the waste paper roll and the tensioning wheel are combined with the double-sided film with an angle between;
  • the pulley is elastically arranged on the platform of the packaging mechanism and its linear motion surface corresponds to the side of the object clamped by the clamping mechanism.
  • the rough surface of the pulley is used to increase the friction between the linear motion surface and the coarse cloth surface of the mixed cloth Force, the direction of motion of the straight line of the belt of the pulley and the direction in which the coarse cloth passes through the gap of the tension pulley are provided with an angle, and the pulley drives the mixed cloth to slide through friction;
  • the blade is arranged on the packaging mechanism platform and is located between the pulley and the clamping mechanism; the blade is used for cutting the mixed cloth.
  • the packaging mechanism mixes the double-sided adhesive tape with the coarse cloth, the clamping mechanism rotates the object, protects the package around the object, and finally cuts it off with the help of a blade.
  • the pushing mechanism includes:
  • the second rotary table is arranged at a predetermined position on the radial extension of the first rotary table
  • the packaging box is arranged next to the rotation of the second rotary table, and the second rotary table rotates the object so that the object corresponds to the inlet end of the packaging box;
  • the lifting platform is arranged on the second rotating platform, and the first lift of the lifting platform corresponds to the position height of the object clamped by the clamping mechanism, and the lifting platform is carried out after the rotation of the second rotating platform.
  • the second lifting height corresponds to the height when the object is pushed into the packing box, and the lifting table is equipped with a third mounting plate for supporting and installing multiple mechanisms;
  • a second conveying mechanism arranged on the third mounting plate for conveying objects
  • the push rod is arranged at the middle position of the end of the second transmission mechanism for pushing the object, the push rod is installed on the second cylinder, and the second cylinder is installed on the lifting mechanism through the positioning plate, and the lifting mechanism Mounted on the third mounting plate.
  • the pushing mechanism and the clamping mechanism cooperate with each other, the pushing mechanism can lift and rotate the object, and the push rod pushes the object into the packing box.
  • the surface of the second transmission mechanism is provided with a smooth material, and the moving direction of the push rod is the same as the driving direction of the second transmission mechanism.
  • the push rod pushes the object into the packing box
  • a visual counter is installed between the second conveying mechanism and the lifting mechanism on the third mounting plate, and the visual counter records the number of times the push rod pushes , and send the specified number of signals to the computer, and when the specified number of times is reached, it will remind you to remove and replace the packing box.
  • the combined work of the visual counter and the computer is used to package the objects in batches.
  • Step 1 The first transmission mechanism docks with the logistics line and transfers the objects on the logistics line.
  • the first rotary table rotates the clamping mechanism to the direction of the first transmission mechanism, it pauses, and the sliding seat of the horizontal slide rail slides to make the two electronically controlled rotating parts approach
  • the center position of the object, running two-way cylinder, two electronically controlled rotating parts to clamp the object, the first cylinder stretches so that one end of the object is between the two rollers, shrinks the sliding seat of the horizontal slide rail, and the object moves out of the conveyor, the first rotary table continue to spin;
  • Step 2 After the first rotary table rotates away from the first transmission mechanism, the clamping mechanism extends the sliding seat of the horizontal slide rail to the specified length, so that the side of the object corresponds to the surface of the pulley, and the first rotary table rotates to the packaging mechanism, so that the object is pressed Put on the rubber surface of the mixed cloth, the clamping mechanism shrinks the sliding seat of the horizontal slide rail, controls the electronically controlled rotating part to start rotating, and rotates for a specified number of times, the clamping mechanism controls the object to leave the packaging mechanism completely, the first rotary table continues to rotate, and the mixed cloth cut through the blade;
  • Step 3 The first rotary table rotates to the direction of the push mechanism, and the transmission direction of the second transmission mechanism of the push mechanism is facing the clamping mechanism.
  • the clamping mechanism places the object on the stationary second transmission mechanism, and the second rotary table rotates to the positive direction.
  • the second transmission mechanism For the opening direction of the packaging box, adjust the lifting mechanism, the second transmission mechanism operates, and the push rod pushes the object to the direction of the packaging box at the same time, until the object enters the packaging box;
  • Step 4 The visual counter records the number of times the push rod is pushed, and sends a signal of the specified number of times to the computer. The number of items packed in the packing box reaches the specified value, and when the specified value is reached, the packing box is transported away and replaced.
  • the logistics packaging system and method based on visual statistics are effectively connected to the logistics line and can achieve batch packaging; at the same time, the packaging protection is provided on the side corners of the objects to prevent the objects from directly colliding with the packaging boxes during transportation and protect the integrity of the objects; in the final system
  • the pushing mechanism pushes the object into the packing box, and the visual counter records the value and transmits it to the computer to control the packing quantity.
  • Fig. 1 is a schematic diagram of the overall system structure of the present invention.
  • Fig. 2 is a structural schematic diagram of the clamping mechanism of the present invention.
  • Fig. 3 is a structural schematic diagram of the packaging mechanism of the present invention.
  • Fig. 4 is a structural schematic diagram of the pushing mechanism of the present invention.
  • Fig. 5 is a schematic diagram of the packing box of the present invention.
  • this embodiment provides a logistics packaging system based on visual statistics, including: an object 1, a first transmission mechanism 2, a first rotary table 3, a clamping mechanism 4, Packing mechanism 5, pushing mechanism 6, packing box 7.
  • the first transmission mechanism 2, the packaging mechanism 5 and the pushing mechanism 6 are fixed around the first rotary table 3, wherein the first transmission mechanism 2 is arranged beside the first rotary table 3 and extends a predetermined distance along its radial direction, for Objects far away from the first rotary table 3 are transported to a predetermined position close to the first rotary table 3, and can be evenly distributed and installed at 120°, wherein the first transmission mechanism 2, packaging mechanism 5 and push mechanism 6 are all corresponding to the clamping mechanism 4 Work, the packaging box 7 is positioned on one side of the push mechanism 6, the opening direction of the packaging box 7 is facing the push mechanism 6, and a plurality of clamping mechanisms 4 can be evenly distributed on the first rotary table 3, and the number is preferably 3.
  • the holding mechanisms 4 are evenly distributed along the center of the first rotating table 3, the first conveying mechanism 2 transports the object 1 on the logistics line, the holding mechanism 4 holds the object 1 on the first conveying mechanism 2, and the first rotating table 3 Rotate the clamping mechanism 4 to the packaging mechanism 5.
  • the packaging mechanism 5 wraps the cloth around the object 1
  • the first rotary table 3 rotates and rotates again to the direction of the pushing mechanism 6.
  • the clamping mechanism 4 places the object 1 on the pushing mechanism 6.
  • the pushing mechanism 6 rotates to face the packing box 7, and the object 1 is pushed into the packing box 7. After several times of such work, the corners of the object 1 can be protected and finally packaged quantitatively.
  • the positioning seat 41 is installed in the radial direction on the first turntable 3, and the transverse slide rail 42 is installed laterally on the positioning seat 41, that is, the slide seat of the transverse slide rail 42 slides laterally, and the slide seat of the transverse slide rail 42
  • the first mounting plate 43 is installed, and the first mounting plate 43 can slide horizontally.
  • the first mounting plate 43 is installed near the end of the first transmission mechanism 2 with a longitudinal slide rail 44 and a two-way cylinder 45.
  • the longitudinal slide rail 44 extends to the two-way cylinder 45.
  • the two ends are elongated to be parallel, and two sliding plates 441 are installed on the longitudinal slide rail 44, wherein one end of the same side of the two sliding plates 441 is respectively installed on the two telescopic ends of the two-way cylinder 45, and the other ends of the two sliding plates 441 are installed oppositely.
  • the electronically controlled rotating member 46, the ends of the two electrically controlled rotating members 46 are respectively equipped with circular plates, the area of the circular plate is greater than the area of the ends of the electrically controlled rotating member 46, in order to smoothly clamp the object 1 on the first transmission mechanism 2 , when the first rotary table 3 rotates to make the clamping mechanism 4 face the first transmission mechanism 2, the lateral sliding rail 42 makes the first mounting plate 43 enter the end of the first transmission mechanism 2 through the lateral sliding of the sliding seat, and finally makes the The two electronically controlled rotating parts 46 are close to the center of the object 1. At this time, the two telescopic ends of the two-way cylinder 45 shrink, and the two electrically controlled rotating parts clamp the object 1.
  • a second mounting plate 49 is installed horizontally on the first mounting plate 43, and a first air cylinder 48 is respectively installed on the upper and lower opposite sides of the second mounting plate 49 close to the object 1, and the telescopic end of the first air cylinder 48 is horizontally Move and install the roller 47, the two rollers 47 are opposite, that is, when the two electronically controlled rotating parts 46 clamp the object 1, according to actual needs, the first cylinder 48 is controlled to expand and contract, so that the object 1 is between the two rollers 47, so that Further stabilizing the stable clamping of the clamping mechanism 4 also further facilitates the rotation of the object 1 by the electronically controlled rotating member 46 .
  • the packaging mechanism platform 58 is provided with a coarse cloth roll 51 and a double-sided adhesive tape 52, and the coarse cloth and the double-sided adhesive tape pass through the gap between the two tensioning wheels 53 at the same time, wherein the rubber surface of the double-sided adhesive tape and the coarse cloth Squeeze through the gap to form a mixed cloth 57, that is, one side of the rubber surface and one side of the coarse cloth surface.
  • the waste paper left by the double-sided adhesive tape is rewound with a waste paper roll 56.
  • the waste paper roll 56 is provided with a power source, and the two tension pulleys 53 are respectively There is a certain angle with the waste paper roll 56, the coarse cloth roll 51 and the double-sided film 52, which can tension the coarse cloth and double-sided tape to avoid extrusion wrinkles.
  • the surface of the pulley 54 is roughened or rough materials are installed. The friction force between the coarse cloth surface of the mixed cloth 57 drives the mixed cloth 57 to slide. At this moment, after the first rotary table 3 rotates away from the first transmission mechanism 2, the horizontal slide rail 42 sliding seat on the clamping mechanism 4 is elongated, so that The side of the object 1 corresponds to the rubber surface of the mixing cloth 57 on the pulley 54.
  • the first rotary table 3 rotates to the packaging mechanism 5, so that the object 1 is pressed on the rubber surface of the mixing cloth 57, and the belt pulley 54 is elastically arranged on the packaging mechanism platform 58.
  • the clamping mechanism 4 controls the sliding seat of the transverse slide rail 42 to make the object 1 leave the pulley 54, controls the rotation of the electronically controlled rotating member 46, and rotates the specified number of turns.
  • the side of the object 1 wraps the mixed cloth 57, and the clamping mechanism 4 controls the object 1 completely Leaving the packaging mechanism 5, the first rotary table 3 rotates and continues to rotate, and the mixing cloth 57 is cut off by the blade 55 at this moment.
  • a second turntable 61 is installed next to the first turntable 3, a lifting platform 62 is installed on the second turntable 61, a third mounting plate 63 is installed on the lifting platform 62, and a second mounting plate 63 is installed on the third mounting plate 63.
  • the transmission mechanism 64 and the lifting mechanism 65 are installed on the lifting mechanism 65 and the second cylinder 66 is installed through the positioning plate 67.
  • the second cylinder 66 is equipped with a push rod 68.
  • the holding mechanism 4 controls the two-way cylinder 45 to release the two electronically controlled rotations Item 46, now the object 1 is placed on the second transmission mechanism 64, the second rotating table 61 rotates in the direction corresponding to the packaging box 7, and the lifting table 62 performs the second lifting so that the object 1 corresponds to the height to be placed in the packaging box 7, Adjust the lifting mechanism 65 so that the push rod 68 corresponds to the object 1 on the second conveying mechanism 64 , the second cylinder 66 works, and the push rod 68 pushes the object 1 into the predetermined position in the packing box 7 .
  • the surface of the second transmission mechanism 64 is provided with a smooth material, and the moving direction of the push rod 68 is the same as the transmission direction of the second transmission mechanism 64, which facilitates the wear of the contact surface between the object 1 and the second transmission mechanism 64 and reduces Due to the friction force, the push rod 68 easily pushes the object 1 into the predetermined position in the packing box 7 .
  • another layer of pulley layer structure can be provided on the outside of the second transmission mechanism 64, that is, the upper surface is smooth, and multiple sets of pulley blocks are arranged on the lower layer to form a sliding device that can enter the packing box 7. After the push rod 68 pushes the object 1 into the packing box 7 , the rolling pulley layer structure, after the object is placed in the packing box 7 completely, shrink the push rod 68.
  • a visual counter 69 is installed between the second transmission mechanism 64 and the lifting mechanism 65 on the third mounting plate 63, and the visual counter 69 records the number of times that the push rod 68 is pushed, and sends the specified number of times signal to the computer, because The packing quantity of the packing box 7 is the specified value, if it exceeds the specified value, it will be inconvenient for future transportation and handling. At this time, it is necessary to remind to remove and replace the packing box 7, and stop the operation of the entire system immediately.
  • the first conveying mechanism 2 transfers the object 1 on the logistics line
  • the clamping mechanism 4 clamps the object 1 on the first conveying mechanism 2
  • the first rotary table 3 rotates so that the clamping mechanism 4 faces the first conveying mechanism 2
  • the horizontal slide rail 42 slides laterally through the sliding seat so that the first mounting plate 43 enters the end of the first transmission mechanism 2
  • the two electronically controlled rotating parts 46 are close to the center of the object 1.
  • the two telescopic cylinders 45 The two electronically controlled rotating parts clamp the object 1.
  • the object 1 is in a stable state when clamping, and then the first cylinder 48 is controlled to expand and contract, so that the side of the object 1 Between the two rollers 47, the first turntable 3 continues to rotate until it reaches the packaging mechanism 5, so that the object 1 is pressed against the rubber surface of the mixing cloth 57, and the belt pulley 54 is elastically arranged on the packaging mechanism platform 58, and then the clamping mechanism 4 Control the sliding seat object 1 of the transverse slide rail 42 to leave the pulley 54, control the rotation of the electronically controlled rotating member 46, rotate the specified number of times, wrap the mixed cloth 57 on the side of the object 1, and the clamping mechanism 4 controls the object 1 to completely leave the packaging mechanism 5, the second A rotary table 3 rotates and continues to rotate.
  • the mixed cloth 57 is cut off by the blade 55.
  • the clamping mechanism 4 clamps the object 1 corresponding to the second transmission mechanism 64, and lifts The stage 62 lifts for the first time corresponding to the position height of the object 4 clamped by the clamping mechanism 4.
  • the clamping mechanism 4 controls the two-way cylinder 45 to release the two electronically controlled rotating parts 46.
  • the object 1 is placed on the second transmission mechanism 64
  • the second rotating platform 61 rotates in the direction corresponding to the packaging box 7
  • the lifting platform 62 performs the second lifting so that the object 1 corresponds to the height to be placed in the packaging box 7, and the lifting mechanism 65 is adjusted so that the push rod 68 corresponds to the second transmission mechanism 64
  • the object 1 on the top, the second cylinder 66 works, the push rod 68 pushes the object 1 into the predetermined position in the packing box 7, the visual counter 69 records the number of times that the push rod 68 pushes, and sends the signal of the specified number of times to the computer, and the computer makes a reminder , needs to be transported away and replaced packing box 7.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Basic Packing Technique (AREA)

Abstract

本发明涉及一种基于视觉统计的物流打包系统及方法，属于物流技术领域，该基于视觉统计的物流打包系统及方法，包括第一传送机构、夹持机构、包装机构和推送机构，其中第一传送机构转运物流线上的物件且与夹持机构相互配合，夹持机构夹持第一传送机构上传送的物件，夹持机构通过旋转物件同时与包装机构配合对物件四周进行包装，夹持机构夹持物件放置推送机构上，推送机构推送物件至包装箱中。该基于视觉统计的物流打包系统及方法，能够保护物件的边缘及棱角，防止运输时物件边角的损坏，最后利用视觉统计系统，对保护后的物件进行定量打包。

Description

一种基于视觉统计的物流打包系统及方法 技术领域
本发明涉及一种基于视觉统计的物流打包系统及方法，属于物流技术领域。
 背景技术
对于一些具有棱角或形状不规则的物件，常规包装进箱需要先对其棱角处进行先包装最后再批量装箱进行运输，防止运输途中，包装箱对物件的边缘的损坏，此类工作较为繁琐，但是对于这些特殊棱角的保护必不可免。
 技术问题
本发明为解决上述背景技术中存在的技术问题，提供一种基于视觉统计的物流打包系统及方法。
 技术解决方案
本发明采用以下技术方案来实现：一种基于视觉统计的物流打包系统，包括：
第一旋转台，用于带动安装在其表面的多个机构旋转至预定位置；
第一传送机构，设于所述第一旋转台旁且沿其径向延伸预定距离，用于将远离所述第一旋转台的物件传送到接近所述第一旋转台的预定位置；
多个夹持机构，沿所述第一旋转台中心均匀分布，每一所述夹持机构在旋转至预定位置时，其工作端与所述第一传送机构末端的位置对应，以使所述夹持机构夹取所述第一传送机构运输过来的物件；
包装机构，设于所述第一旋转台旁且所述包装机构的工作面与所述夹持机构上的物件的侧面对应，在工作时，所述第一旋转台带动所述夹持机构向所述包装机构运动，使物件与所述包装机构的工作面过盈配合，以获得包装工作需要的粘结力；
推送机构，设在沿所述第一旋转台旁的径向延伸的预定距离处；所述夹持机构夹持的物件放置在所述推送机构上，所述推送机构旋转至包装箱方向并将物件推送进去。
通过采用上述技术方案，第一传送机构转运物流线上的物件，夹持机构夹持第一传送机构上的物件，包装台对物件四周进行布料包装后，夹持机构旋转至推送机构方向处，夹持机构放置物件在推送机构上，此时推送机构旋转方向正对包装箱，调节高度，将物件推送至包装箱中，多次这样的工作，可以对物件进行保护并定量进行打包。
在进一步的实施例中，夹持机构包括：
多个定位座，沿第一旋转台中心均匀分布安装；
横向滑轨，安装在所述定位座上，所述横向滑轨的滑座横向滑动且滑座上安装第一安装板；
纵向滑轨，安装在所述第一安装板外侧端部；所述纵向滑轨上安装两个上下滑动的滑动板；
双向气缸，安装在所述第一安装板上且所述双向气缸的两个伸缩端分别连接两个所述滑动板的一端，所述双向气缸的伸缩方向与所述纵向滑轨的安装方向平行；
两个控旋转件，相对安装于两个所述滑动板外侧分且所述两个控旋转件用于夹持来自第一传送机构上的物件，两个所述电控旋转件端部安装圆板。
通过采用上述技术方案，夹持机构可控制横向滑轨的滑座伸长和收缩从第一传送机构上夹持物件，同时利用双向气缸和电控旋转件对物件夹紧。
在进一步的实施例中，横向安装于所述第一安装板上的第二安装板，设于所述第二安装板上下面且靠近所述电控旋转件的两个相对安装的第一气缸，分别安装在两个第一气缸上的两个滚轮且所述滚轮相对设置，相对设置的所述滚轮留有空隙用于辅助支撑和稳固两个所述控旋转件夹持并旋转物件。
通过采用上述技术方案，两个滚轮卡住物件，与电控旋转件配合，便于物件在夹持装置上旋转。
在进一步的实施例中，包装机构包括：
包装机构平台，设于所述第一旋转台旁且包装机构平台高度对应所述夹持机构夹持的物价的高度设置；
粗布卷，设于包装机构平台上且所述粗布卷相对包装机构平台旋转；
双面胶卷，设于包装机构平台上且所述双面胶卷相对包装机构平台旋转，所述双面胶卷由胶面和废纸组合；
张紧机构，由两个设于包装机构平台上的张紧轮组合工作，两个所述张紧之间设有缝隙，所述粗布卷、所述双面胶卷同时穿过缝隙且所述粗布卷与所述双面胶卷的胶面粘合最终形成混合布；
废纸卷，设于包装机构平台上，所述废纸卷收卷经过张紧机构后所述双面胶卷的废纸，且所述废纸卷、所述张紧轮合所述双面胶卷之间设有角度；
皮带轮，弹性设于包装机构平台上且其直线运动面与所述夹持机构夹持的物件的侧面对应，所述皮带轮表面粗糙设置用于增大其直线运动面与混合布的粗布面的摩擦力，所述皮带轮的皮带直线处的运动方向与粗布经过所述张紧轮缝隙的方向设有角度，所述皮带轮通过摩擦力带动混合布滑动；
刀片，设于包装机构平台上且位于所述皮带轮和所述夹持机构之间；所述刀片用于切断混合布。
通过采用上述技术方案，包装机构利用双面胶与粗布混合，夹持机构旋转物件，对物件周边进行保护包装，最终借助刀片切断。
在进一步的实施例中，推送机构包括：
第二旋转台，设于第一旋转台的径向延伸处的预定位置；
包装箱，设于所述第二旋转台旋转旁，且所述第二旋转台旋转物件使物件对应包装箱入口端；
升降台，设于所述第二旋转台上，所述升降台进行第一次升降对应所述夹持机构夹持的物件的位置高度，所述升降台在所述第二旋转台旋转后进行第二次升降高度对应物件被推进所述包装箱时的高度，所述升降台安装第三安装板用于支撑并安装多个机构；
第二传送机构，设于所述第三安装板上用于传送物件；
推杆，设于所述第二传送机构端部中间位置用于推动物件，所述推杆安装在第二气缸上，所述第二气缸上通过定位板安装在升降机构上，所述升降机构安装在第三安装板上。
通过采用上述技术方案，推送机构与夹持机构相互配合工作，推送机构可以对物件升降和旋转，推杆将物件推送至包装箱中。
在进一步的实施例中，所述第二传送机构表面设有光滑材料，所述推杆运动方向与第二传送机构传动方向相同。
通过采用上述技术方案，便于推杆在推动物件时减少摩擦力。
在进一步的实施例中，所述推杆推动物件进入包装箱中，在所述第三安装板上的第二传送机构和升降机构之间安装视觉计数器，所述视觉计数器记录推杆推动的次数，并将指定次数信号送至计算机，到达指定次数，提醒运走并更换包装箱。
通过采用上述技术方案，利用视觉计数器与计算机组合工作，对物件批量打包。
在进一步的实施例中，包括以下步骤：
步骤一、第一传送机构对接物流线，转运物流线上的物件，第一旋转台旋转夹持机构至第一传送机构方向时暂停，横向滑轨的滑座滑动使两个电控旋转件靠近物件中心位置，运行双向气缸，两个电控旋转件夹紧物件，第一气缸伸长使物件一端处于两个滚轮之间，收缩横向滑轨的滑座，物件移出传送装置，第一旋转台继续旋转；
步骤二、第一旋转台旋转离开第一传送机构后，夹持机构伸长横向滑轨的滑座至指定长度，使物件侧面对应皮带轮表面，第一旋转台旋转至包装机构处，使物件压上混合布的胶面，夹持机构收缩横向滑轨的滑座，控制电控旋转件开始旋转，旋转指定圈数，夹持机构控制物件完全离开包装机构，第一旋转台继续旋转，混合布经过刀片被切断；
步骤三、第一旋转台旋转至推送机构方向，推送机构的第二传送机构传动方向正对夹持机构，夹持机构将物件放置在静止的第二传送机构上，第二旋转台旋转至正对包装箱开口方向，调节升降机构，第二传送机构运行，推杆同时推动物件往包装箱方向，直至物件进入包装箱；
步骤四、视觉计数器记录推杆推动的次数，并将指定次数信号送至计算机，包装箱打包物件数量为指定数值，到达指定数值，运走并更换包装箱。
 有益效果
该基于视觉统计的物流打包系统及方法有效对接物流线，可以实现批量打包；同时对物件侧面边角处进行包装保护，防止物件在运输途中与包装箱直接碰撞，保护物件完整性；最终系统中推送机构推送物件进入包装箱，视觉计数器记录数值，并传至计算机，控制打包数量。
 附图说明
图1是本发明的整体系统结构示意图。
图2是本发明的夹持机构结构示意图。
图3是本发明的包装机构结构示意图。
图4是本发明的推送机构结构示意图。
图5是本发明的包装箱示意图。
附图标记：物件1、第一传送机构2、第一旋转台3、夹持机构4、定位座41、横向滑轨42、第一安装板43、纵向滑轨44、滑动板441、双向气缸45、电控旋转件46、滚轮47、第一气缸48、第二安装板49、包装机构5、粗布卷51、双面胶卷52、张紧轮53、皮带轮54、刀片55、废纸卷56、混合布57、包装机构平台58、推送机构6、第二旋转台61、升降台62、第三安装板63、第二传送机构64、升降机构65、第二气缸66、定位板67、推杆68、视觉计数器69、包装箱7。
 本发明的实施方式
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施；在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。
进一步的实施例中，如图1到5所示，本实施例提供一种基于视觉统计的物流打包系统，包括：物件1、第一传送机构2、第一旋转台3、夹持机构4、包装机构5、推送机构6、包装箱7。
第一传送机构2、包装机构5和推送机构6围绕第一旋转台3周围固定位置，其中第一传送机构2，设于第一旋转台3旁且沿其径向延伸预定距离，用于将远离第一旋转台3的物件传送到接近第一旋转台3的预定位置，可以呈120°均匀分布安装，其中第一传送机构2、包装机构5和推送机构6均与夹持机构4相互对应工作，包装箱7定位在推送机构6的一侧，包装箱7开口方向正对推送机构6，第一旋转台3上可以均匀分布设置多个夹持机构4，数量优先选用3个，该夹持机构4均沿着第一旋转台3的中心均匀分布，第一传送机构2转运物流线上的物件1，夹持机构4夹持第一传送机构2上的物件1，第一旋转台3旋转夹持机构4至包装机构5，包装机构5对物件1四周进行布料包装后，第一旋转台3旋转再次旋转至推送机构6方向处，夹持机构4放置物件1在推送机构6上，此时推送机构6旋转方向至正对包装箱7，将物件1推送至包装箱7中，多次这样的工作，可以对物件1的边角处进行保护并最终定量进行打包。
进一步的实施例中，定位座41安装在第一旋转台3上的径向上，横向滑轨42横向安装在定位座41上即横向滑轨42的滑座横向滑动，横向滑轨42的滑座安装第一安装板43，第一安装板43可以进行横向滑动，第一安装板43靠近第一传送机构2一端同时安装纵向滑轨44和双向气缸45，纵向滑轨44延长向和双向气缸45两端伸长向平行，在纵向滑轨44安装两个滑动板441，其中两个滑动板441同侧一端分别安装在双向气缸45的两个伸缩端，两个滑动板441另一端分别相对安装的电控旋转件46，两个电控旋转件46的端部分别安装圆板，圆板的面积大于电控旋转件46端部的面积，为顺利夹取第一传送机构2上的物件1，当第一旋转台3旋转到使夹持机构4正对第一传送机构2时，横向滑轨42通过滑座的横向滑动使第一安装板43进入第一传送机构2的末端，最终使两个电控旋转件46靠近物件1中心位置，此时，双向气缸45的两伸缩端收缩，两个电控旋转件夹紧物件1，因电控旋转件46的端部分别安装圆板，夹持时处于稳定状态，接着，横向滑轨42的滑座控制第一安装板43离开第一传送机构2的末端，第一旋转台3继续旋转。
进一步的实施例中，第一安装板43上横向安装第二安装板49，在第二安装板49靠近物件1的一端上下相对面各安装一个第一气缸48，第一气缸48的伸缩端横向运动且安装滚轮47，两个滚轮47相对，即在两个电控旋转件46夹紧物件1时，根据实际需求，控制第一气缸48伸缩，使得物件1处于两个滚轮47之间，这样进一步稳定夹持机构4夹持的平稳，也进一步便于电控旋转件46旋转物件1。
进一步的实施例中，包装机构平台58上设有粗布卷51和双面胶卷52，粗布和双面胶同时经过两个张紧轮53之间的缝隙，其中，双面胶的胶面与粗布经过缝隙挤压形成混合布57，即一面胶面一面粗布面，双面胶剩下的废纸用废纸卷56收卷，废纸卷56设有动力源，且两个张紧轮53分别与废纸卷56、粗布卷51和双面胶卷52设有一定角度，可以张紧粗布和双面胶，避免挤压褶皱，皮带轮54表面粗糙处理或者安装粗糙的材料，皮带轮54可以增大皮带与混合布57的粗布面之间的摩擦力带动混合布57滑动，此时第一旋转台3旋转离开第一传送机构2后，夹持机构4上的横向滑轨42滑座伸长，使物件1侧面对应皮带轮54上混合布57的胶面，此时第一旋转台3旋转至包装机构5处，使物件1压上混合布57的胶面，皮带轮54弹性设置在包装机构平台58上，接着夹持机构4控制横向滑轨42的滑座使物件1离开皮带轮54，控制电控旋转件46旋转，旋转指定圈数，物件1侧面包裹混合布57，夹持机构4控制物件1完全离开包装机构5，第一旋转台3旋继续旋转，此时混合布57经过刀片55切断。
进一步的实施例中，第一旋转台3旁安装第二旋转台61，第二旋转台61上安装升降台62，升降台62上安装第三安装板63，第三安装板63上安装第二传送机构64和升降机构65，升降机构65上安装通过定位板67安装第二气缸66，第二气缸66安装推杆68，当第一旋转台3旋转至推送机构6方向时，此时夹持机构4夹持物件1对应第二传送机构64，升降台62进行第一次升降对应夹持机构4夹持的物件4的位置高度，夹持机构4控制双向气缸45松开两个电控旋转件46，此时物件1置于第二传送机构64上，第二旋转台61旋转对应包装箱7的方向，升降台62进行第二次升降使得物件1对应包装箱7预定要放置的高度，调节升降机构65使得推杆68对应第二传送机构64上的物件1，第二气缸66工作，推杆68推动物件1进入包装箱7内的预定位置。
进一步的实施例中，第二传送机构64表面设置光滑材料，推杆68运动方向与第二传送机构64传动方向相同，这样便于对物件1与第二传送机构64的接触面的磨损，同时减少摩擦力，推杆68轻易推动物件1进入包装箱7内的预定位置。
进一步的，第二传送机构64外侧可以再设置一层滑轮层结构，即上表面光滑，下层设置多组滑轮组，形成可进入包装箱7的滑动装置，推杆68推动物件1进入包装箱7后，收卷滑轮层结构，待物件完全置于包装箱7后，在收缩推杆68。
进一步的实施例中，第三安装板63上的第二传送机构64和升降机构65之间安装视觉计数器69，视觉计数器69记录推杆68推动的次数，并将指定次数信号送至计算机，因包装箱7打包数量为指定数值，超过指定数值，不便于以后的运输和搬运，此时需要提醒运走并更换包装箱7，并即时停止整个系统的运行。
工作原理：第一传送机构2转运物流线上的物件1，夹持机构4夹持第一传送机构2上的物件1，第一旋转台3旋转使夹持机构4正对第一传送机构2时，横向滑轨42通过滑座横向滑动使第一安装板43进入第一传送机构2的末端，最终使两个电控旋转件46靠近物件1中心位置，此时，双向气缸45的两伸缩端收缩，两个电控旋转件夹紧物件1，因电控旋转件46的端部分别安装圆板，夹持时物件1处于稳定状态，接着控制第一气缸48伸缩，使得物件1侧边处于两个滚轮47之间，第一旋转台3继续旋转，旋转至包装机构5处，使物件1压上混合布57的胶面，皮带轮54弹性设置在包装机构平台58上，接着夹持机构4控制横向滑轨42的滑座物件1离开皮带轮54，控制电控旋转件46旋转，旋转指定圈数，物件1侧面包裹混合布57，夹持机构4控制物件1完全离开包装机构5，第一旋转台3旋继续旋转，此时混合布57经过刀片55切断，接着第一旋转台3旋转至推送机构6方向时，此时夹持机构4夹持物件1对应第二传送机构64，升降台62进行第一次升降对应夹持机构4夹持的物件4的位置高度，夹持机构4控制双向气缸45松开两个电控旋转件46，此时物件1置于第二传送机构64上，第二旋转台61旋转对应包装箱7的方向，升降台62进行第二次升降使得物件1对应包装箱7预定要放置的高度，调节升降机构65使得推杆68对应第二传送机构64上的物件1，第二气缸66工作，推杆68推动物件1进入包装箱7内的预定位置，视觉计数器69记录推杆68推动的次数，并将指定次数信号送至计算机，计算机做出提醒，需要运走并更换包装箱7。
以上结合附图详细描述了本发明的优选实施方式，但是，本发明并不限于上述实施方式中的具体细节，在本发明的技术构思范围内，可以对本发明的技术方案进行多种等同变换，这些等同变换均属于本发明的保护范围。

Claims (8)

  1. 一种基于视觉统计的物流打包系统，其特征在于，包括：
    第一旋转台，用于带动安装在其表面的多个机构旋转至预定位置；
    第一传送机构，设于所述第一旋转台旁且沿其径向延伸预定距离，用于将远离所述第一旋转台的物件传送到接近所述第一旋转台的预定位置；
    多个夹持机构，沿所述第一旋转台中心均匀分布，每一所述夹持机构在旋转至预定位置时，其工作端与所述第一传送机构末端的位置对应，以使所述夹持机构夹取所述第一传送机构运输过来的物件；
    包装机构，设于所述第一旋转台旁且所述包装机构的工作面与所述夹持机构上的物件的侧面对应，在工作时，所述第一旋转台带动所述夹持机构向所述包装机构运动，使物件与所述包装机构的工作面过盈配合，以获得包装工作需要的粘结力；
    推送机构，设在沿所述第一旋转台旁的径向延伸的预定距离处；所述夹持机构夹持的物件放置在所述推送机构上，所述推送机构旋转至包装箱方向并将物件推送进去。
  2. 根据权利要求1的基于视觉统计的物流打包系统，其特征在于，夹持机构包括：
    多个定位座，沿第一旋转台中心均匀分布安装；
    横向滑轨，安装在所述定位座上，所述横向滑轨的滑座横向滑动且滑座上安装第一安装板；
    纵向滑轨，安装在所述第一安装板外侧端部；所述纵向滑轨上安装两个上下滑动的滑动板；
    双向气缸，安装在所述第一安装板上且所述双向气缸的两个伸缩端分别连接两个所述滑动板的一端，所述双向气缸的伸缩方向与所述纵向滑轨的安装方向平行；
    两个控旋转件，相对安装于两个所述滑动板外侧分且所述两个控旋转件用于夹持来自第一传送机构上的物件，两个所述电控旋转件端部安装圆板。
  3. 根据权利要求2的基于视觉统计的物流打包系统，其特征在于，横向安装于所述第一安装板上的第二安装板，设于所述第二安装板上下面且靠近所述电控旋转件的两个相对安装的第一气缸，分别安装在两个第一气缸上的两个滚轮且所述滚轮相对设置，相对设置的所述滚轮留有空隙用于辅助支撑和稳固两个所述控旋转件夹持并旋转物件。
  4. 根据权利要求1的基于视觉统计的物流打包系统，其特征在于，包装机构包括：
    包装机构平台，设于所述第一旋转台旁且包装机构平台高度对应所述夹持机构夹持的物价的高度设置；
    粗布卷，设于包装机构平台上且所述粗布卷相对包装机构平台旋转；
    双面胶卷，设于包装机构平台上且所述双面胶卷相对包装机构平台旋转，所述双面胶卷由胶面和废纸组合；
    张紧机构，由两个设于包装机构平台上的张紧轮组合工作，两个所述张紧之间设有缝隙，所述粗布卷、所述双面胶卷同时穿过缝隙且所述粗布卷与所述双面胶卷的胶面粘合最终形成混合布；
    废纸卷，设于包装机构平台上，所述废纸卷收卷经过张紧机构后所述双面胶卷的废纸，且所述废纸卷、所述张紧轮合所述双面胶卷之间设有角度；
    皮带轮，弹性设于包装机构平台上且其直线运动面与所述夹持机构夹持的物件的侧面对应，所述皮带轮表面粗糙设置用于增大其直线运动面与混合布的粗布面的摩擦力，所述皮带轮的皮带直线处的运动方向与粗布经过所述张紧轮缝隙的方向设有角度，所述皮带轮通过摩擦力带动混合布滑动；
    刀片，设于包装机构平台上且位于所述皮带轮和所述夹持机构之间；所述刀片用于切断混合布。
  5. 根据权利要求1的基于视觉统计的物流打包系统，其特征在于，推送机构包括：
    第二旋转台，设于第一旋转台的径向延伸处的预定位置；
    包装箱，设于所述第二旋转台旋转旁，且所述第二旋转台旋转物件使物件对应包装箱入口端；
    升降台，设于所述第二旋转台上，所述升降台进行第一次升降对应所述夹持机构夹持的物件的位置高度，所述升降台在所述第二旋转台旋转后进行第二次升降高度对应物件被推进所述包装箱时的高度，所述升降台安装第三安装板用于支撑并安装多个机构；
    第二传送机构，设于所述第三安装板上用于传送物件；
    推杆，设于所述第二传送机构端部中间位置用于推动物件，所述推杆安装在第二气缸上，所述第二气缸上通过定位板安装在升降机构上，所述升降机构安装在第三安装板上。
  6. 根据权利要求5的基于视觉统计的物流打包系统，其特征在于，所述第二传送机构表面设有光滑材料，所述推杆运动方向与第二传送机构传动方向相同。
  7. 根据权利要求5的基于视觉统计的物流打包系统，其特征在于，所述推杆推动物件进入包装箱中，在所述第三安装板上的第二传送机构和升降机构之间安装视觉计数器，所述视觉计数器记录推杆推动的次数，并将指定次数信号送至计算机，到达指定次数，提醒运走并更换包装箱。
  8. 一种基于视觉统计的物流打包方法，其特征在于，
    步骤一、第一传送机构对接物流线，转运物流线上的物件，第一旋转台旋转夹持机构至第一传送机构方向时暂停，横向滑轨的滑座滑动使两个电控旋转件靠近物件中心位置，运行双向气缸，两个电控旋转件夹紧物件，第一气缸伸长使物件一端处于两个滚轮之间，收缩横向滑轨的滑座，物件移出传送装置，第一旋转台继续旋转；
    步骤二、第一旋转台旋转离开第一传送机构后，夹持机构伸长横向滑轨的滑座至指定长度，使物件侧面对应皮带轮表面，第一旋转台旋转至包装机构处，使物件压上混合布的胶面，夹持机构收缩横向滑轨的滑座，控制电控旋转件开始旋转，旋转指定圈数，夹持机构控制物件完全离开包装机构，第一旋转台继续旋转，混合布经过刀片被切断；
    步骤三、第一旋转台旋转至推送机构方向，推送机构的第二传送机构传动方向正对夹持机构，夹持机构将物件放置在静止的第二传送机构上，第二旋转台旋转至正对包装箱开口方向，调节升降机构，第二传送机构运行，推杆同时推动物件往包装箱方向，直至物件进入包装箱；
    步骤四、视觉计数器记录推杆推动的次数，并将指定次数信号送至计算机，包装箱打包物件数量为指定数值，到达指定数值，运走并更换包装箱。
PCT/CN2021/111698 2021-06-04 2021-08-10 一种基于视觉统计的物流打包系统及方法 WO2022252393A1 (zh)

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