WO2024016476A1 - 一种裸瓶预编组成垛装置、成垛方法及包装设备 - Google Patents

一种裸瓶预编组成垛装置、成垛方法及包装设备 Download PDF

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Publication number
WO2024016476A1
WO2024016476A1 PCT/CN2022/122064 CN2022122064W WO2024016476A1 WO 2024016476 A1 WO2024016476 A1 WO 2024016476A1 CN 2022122064 W CN2022122064 W CN 2022122064W WO 2024016476 A1 WO2024016476 A1 WO 2024016476A1
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WIPO (PCT)
Prior art keywords
bottle
grouping
conveying mechanism
bare
conveying
Prior art date
Application number
PCT/CN2022/122064
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English (en)
French (fr)
Inventor
邓检宝
邓凌
雷丰顺
麦华天
Original Assignee
广州达意隆包装机械股份有限公司
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Publication of WO2024016476A1 publication Critical patent/WO2024016476A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B21/00—Packaging or unpacking of bottles
    • B65B21/02—Packaging or unpacking of bottles in or from preformed containers, e.g. crates
    • B65B21/04—Arranging, assembling, feeding, or orientating the bottles prior to introduction into, or after removal from, containers
    • 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
    • B65B21/00—Packaging or unpacking of bottles
    • B65B21/02—Packaging or unpacking of bottles in or from preformed containers, e.g. crates
    • B65B21/04—Arranging, assembling, feeding, or orientating the bottles prior to introduction into, or after removal from, containers
    • B65B21/06—Forming groups of bottles
    • 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
    • B65B21/00—Packaging or unpacking of bottles
    • B65B21/02—Packaging or unpacking of bottles in or from preformed containers, e.g. crates
    • B65B21/08—Introducing or removing single bottles, or groups of bottles, e.g. for progressive filling or emptying of containers
    • B65B21/12—Introducing or removing single bottles, or groups of bottles, e.g. for progressive filling or emptying of containers using grippers engaging bottles, e.g. bottle necks
    • 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

Definitions

  • This application relates to the technical field of packaging equipment, for example, to a bare bottle pre-grouping and palletizing device, a palletizing method and packaging equipment.
  • the bare bottle pre-assembled palletizing devices use manual palletizing, which results in high labor costs and low palletizing efficiency.
  • the pre-organized palletizing device for bare bottles that uses mechanized palletizing its clamping jaws can only grab one bottle at a time. Multiple clamping jaws are arranged side by side to capture multiple bottles at a time.
  • the bare bottles in the related art are pre-organized into a palletizing device. The number of bare bottles palletized at each time is small, and the palletizing efficiency is low, which cannot meet the needs of high-speed production lines.
  • the first purpose of this application is to provide a bare bottle pre-grouping and palletizing device with high bare bottle palletizing efficiency.
  • the second purpose of this application is to provide a bare bottle pre-grouping and palletizing method. Based on the above-mentioned bare bottle pre-grouping and palletizing device, the naked bottles can be quickly palletized and the palletizing efficiency can be improved.
  • the third object of the present application is to provide a packaging equipment that can achieve high bare bottle stacking efficiency by applying the above-mentioned bare bottle pre-organizing palletizing device.
  • a bare bottle pre-organized palletizing device including:
  • the bottle feeding transport mechanism is set to transport multiple rows of naked bottles
  • a grouping conveying mechanism is located downstream of the bottle feeding conveying mechanism
  • a stacking conveying mechanism is located at the outlet end of the grouping conveying mechanism and has the same conveying direction as the grouping conveying mechanism, and the conveying speed of the stacking conveying mechanism is smaller than the conveying speed of the grouping conveying mechanism;
  • the pre-grouping mechanism includes a mechanical arm and a pre-grouping clamp.
  • the pre-grouping clamp is configured to clamp multiple rows of the multiple rows of bare bottles.
  • the mechanical arm is configured to drive the pre-grouping clamp to move and rotate within a spatial range. At least one of them is used to place the bare bottles clamped by the pre-grouping clamp on the grouping conveyor mechanism in the stacking direction.
  • a bare bottle pre-packing and palletizing method is provided, based on the bare bottle pre-packing and palletizing device as described above.
  • the bare bottle pre-packing and stacking method includes:
  • the conveying speed of the grouping conveying mechanism is greater than the conveying speed of the stacking conveying mechanism. Under the effect of the difference in conveying speed between the grouping conveying mechanism and the stacking conveying mechanism, multiple groups, rows and columns of bare bottles can be stacked to the stacking conveying mechanism.
  • a packaging equipment including the bare bottle pre-grouping and palletizing device as described above.
  • Figure 1 is a schematic structural diagram of an example of a bare bottle pre-grouping and palletizing device provided by an embodiment of the present application
  • Figure 2 is a schematic flow chart of the bare bottle stacking process of the bare bottle pre-grouping and palletizing device in Figure 1;
  • Figure 3 is a schematic structural diagram of another example of the bare bottle pre-grouping and palletizing device provided by the embodiment of the present application;
  • Figure 4 is a schematic flow chart of the bare bottle stacking process of the bare bottle pre-grouping and palletizing device in Figure 3;
  • Figure 5 is a schematic structural diagram of the bottle feeding mechanism provided by the embodiment of the present application.
  • Figure 6 is a schematic structural diagram of the pre-grouping clamp provided by the embodiment of the present application.
  • Figure 7 is a schematic structural diagram of a clamping mechanism provided by an embodiment of the present invention.
  • Bottle feeding and conveying mechanism 101. Conveyor belt; 1011. Accumulation conveying part; 1012. Flat chain conveying part; 102. Guardrail; 103. Guide plate; 104. Cross brace;
  • Bottle cutting mechanism
  • Figure 1 shows a schematic structural diagram of an example of the bare bottle pre-grouping and palletizing device provided by this application.
  • Figure 2 shows a schematic flow chart of the stacking of bare bottles in Figure 1.
  • Figure 1 is a top view of the bare bottle pre-grouping and palletizing device.
  • the bare bottle pre-grouping and palletizing device includes a bottle input conveying mechanism 100, a grouping conveying mechanism 200, a palletizing conveying mechanism 300 and a pre-grouping mechanism.
  • the bottle input conveying mechanism 100 is configured to transport multiple rows of bare bottles 800;
  • the pre-grouping mechanism includes a robotic arm 400 and a pre-marshalling clamp 500.
  • the pre-marshalling clamp 500 is configured to clamp multiple rows of the multiple rows of bare bottles 800.
  • the robotic arm 400 It is configured to drive the pre-grouping clamp 500 to move and/or rotate within a spatial range, so that the bare bottles 800 clamped by the pre-grouping clamp 500 are placed on the grouping and conveying mechanism 200 in the stacking direction.
  • the inlet end of the grouping conveying mechanism 200 is connected to the outlet end of the bottle feeding mechanism 100 and is in the same conveying direction as the bottle feeding mechanism 100 .
  • the stacking conveying mechanism 300 is located at the outlet end of the grouping conveying mechanism 200 and is connected to the outlet end of the grouping conveying mechanism 200 .
  • the conveying direction is the same, and the conveying speed of the stacking conveying mechanism 300 is lower than the conveying speed of the grouping conveying mechanism 200 , so that multiple groups, rows, and columns of bare bottles 800 on the grouping conveying mechanism 200 can be stacked on the stacking conveying mechanism 300 .
  • the number of rows of bare bottles 800 clamped by the pre-grouping clamp 500 is greater than the number of columns of bare bottles 800.
  • the row direction of the bare bottles 800 is Perpendicular to the conveying direction of the bottle-in conveying mechanism 100
  • the column direction of the bare bottles 800 is parallel to the conveying direction of the bottle-in conveying mechanism.
  • the robot arm 400 can be used to drive the pre-grouping clamp 500 to rotate 90° on the grouping and conveying mechanism 200, so that the arrangement direction of the bare bottles 800 in the multiple rows and columns can be adjusted, and the stacking conveyor can be Under the action of the conveying speed difference between the mechanism 300 and the grouping conveying mechanism 200, multiple groups, rows and columns of bare bottles 800 can be stacked on the stacking conveying mechanism 300.
  • the bare bottle pre-forming and palletizing method includes:
  • Figure 3 shows a schematic structural diagram of another example of the bare bottle pre-grouping and palletizing device provided by this application.
  • Figure 3 is a top view of another example of the bare bottle pre-grouping and palletizing device.
  • the naked bottle pre-grouping and palletizing device is looked down from the air.
  • Figure 4 shows a schematic flow chart of the stacking of bare bottles in Figure 3.
  • this bare bottle pre-grouping and palletizing device includes a bottle input conveying mechanism 100, a grouping conveying mechanism 200, a palletizing conveying mechanism 300 and a pre-grouping mechanism.
  • a grabbing and conveying mechanism 700 is also included.
  • the inlet end of the grabbing and conveying mechanism 700 is connected to the outlet end of the bottle feeding and conveying mechanism 100 and is in the same conveying direction as the bottle feeding and conveying mechanism 100 .
  • the inlet end of the grouping and conveying mechanism 200 is connected to the side of the grabbing and conveying mechanism 700 .
  • the pre-grouping clamp 500 (not shown in the figure) is arranged on the grabbing and conveying mechanism 700. The open end of the pre-grouping clamp 500 faces the bottle-in conveying mechanism 100 to clamp multiple rows of bare bottles 800 conveyed by the bottle-entering conveying mechanism 100.
  • the grouping and conveying mechanism 200 is disposed on the side of the grabbing and conveying mechanism 700, and the conveying directions of the two are perpendicular, there is no need for the robot arm 400 to rotate the pre-grouping clamp 500 to adjust the direction of the multiple rows and columns of bare bottles 800, and can directly
  • the robot arm 400 is used to drive the pre-grouping clamp 500 to move to the grouping conveying mechanism 200. Under the action of the conveying speed difference between the stacking conveying mechanism 300 and the grouping conveying mechanism 200, multiple groups, rows and columns of bare bottles 800 can be stacked on On the stacking conveying mechanism 300.
  • the bare bottle pre-forming and palletizing method includes:
  • the pre-grouping clamp 500 is installed on the grabbing and conveying mechanism 700, and the pre-grouping clamp 500 is used to clamp multiple rows and columns of bare bottles 800.
  • the robotic arm 400 can be an ABB or KUKA robot, or other translation mechanism.
  • the robotic arm 400 is located on the base.
  • the base is installed above the bottle input conveying mechanism 100, or can also be located on the side of the bottle input conveying mechanism 100.
  • the robotic arm 400 is connected to the pre-grouping clamp 500, and the pre-grouping clamp The opening of 500 faces the outlet end of the bottle feeding mechanism 100.
  • the base is located on one side of the grabbing and conveying mechanism 700, the robotic arm 400 is connected to the pre-grouping clamp 500, and the opening of the pre-grouping clamp 500 faces the outlet end of the bottle input conveying mechanism 100 .
  • FIG. 5 shows a schematic structural diagram of the bottle feeding mechanism 100 provided by this application.
  • the bottle conveying mechanism 100 includes a conveyor belt 101 and a guide assembly.
  • the guide assembly is configured to divide the conveyor belt 101 into a plurality of bottle feeding channels to realize the conveying of multiple rows of bare bottles 800 .
  • the conveyor belt 101 includes an accumulation conveying part 1011 and a flat chain conveying part 1012 arranged sequentially along the conveying direction.
  • the conveying length L1 of the flat chain conveying part 1012 is equal to the length L2 of the bare bottles 800 clamped by the pre-grouping clamp 500 .
  • the accumulation conveying part 1011 mainly arranges the bottles closely together to buffer more bottles and reduce the forward pressure.
  • the flat chain conveyor 1012 mainly plans and stores the number of pre-grouped clamps that need to be grabbed.
  • the conveying length L1 of the flat chain conveyor 1012 is the length L2 of the multiple rows of bare bottles 800 that need to be grabbed.
  • the accumulation conveying part 1011 and the flat chain conveying part 1012 are two different conveyor belt-shaped components, which together form the conveyor belt 101.
  • the guide assembly includes guardrails 102, guide plates 103 and cross braces 104. Both guardrails 102 and guide plates 103 extend along the conveying direction of the conveyor belt 101.
  • the two guardrails 102 are respectively fixed on both sides of the conveyor belt 101.
  • the cross braces 104 is fixed across the side panels on both sides of the conveyor belt 101, and several guide plates 103 are fixed on the cross braces 104 at parallel intervals and suspended above the conveyor belt 101 to form three bottle feeding channels to facilitate three
  • the channels convey bottles at the same time to improve the efficiency of bottle conveying and arrangement.
  • the side panels on both sides of the conveyor belt 101 refer to the parts outside the guardrail 102 .
  • a plurality of cross braces 104 are fixed to the side panels on both sides of the conveyor belt 101 at intervals along the direction of the guardrail 102, and the guide plate 103 is suspended and locked on the cross braces 104 through handles.
  • the upper part of the conveyor belt 101 can also be divided into multiple bottle feeding channels in other ways, and the number of bottle feeding channels can be designed according to the number of columns that the pre-grouping clamp 500 can clamp.
  • Figure 5 shows a schematic structural diagram of the bottle feeding mechanism 100 provided by this application.
  • the naked bottle pre-grouping and stacking device also includes a bottle cutting mechanism 600.
  • the bottle cutting mechanism 600 includes a bottle cutting drive and a The bottle cutting member, the bottle cutting driving member is located at the bottom of the outlet end of the bottle entering conveying mechanism 100, and the bottle cutting driving member is configured to drive the bottle cutting member to move up and down, so that the bottle cutting member has a bottle cutting member that blocks the outlet end of the bottle entering conveying mechanism 100. position and return to the avoidance position below the outlet end of the bottle feeding mechanism 100.
  • the bottle-cutting members have a columnar structure, and multiple bottle-cutting members are arranged at intervals along the conveying direction perpendicular to the conveyor belt 101 to the outlet end of the conveyor belt 101. As long as the distance between the bottle-cutting members is ensured to be smaller than the width of the bare bottle 800, that is Can.
  • the bottle-cutting drive part can use a cylinder, an electric cylinder or a linear motor, etc.
  • a first sensor and a second sensor are also included.
  • the first sensor is arranged on the conveyor belt 101, and the first sensor is arranged to detect that the flat chain conveying part 1012 of the conveyor belt 101 is full of bottles, so that the bottle cutting mechanism 600 can operate and release the bottles, and the flat chain conveying part 1012 can be arranged on the bottle.
  • the bare bottles 800 are all transported to the pre-grouping fixture 500 connected thereto.
  • the number of rows of bare bottles 800 on the flat chain conveyor 1012 is the same as the number of rows of bare bottles 800 that can be clamped by the pre-grouping clamp 500 .
  • the second sensor is arranged on the pre-marshalling clamp 500, and the second sensor is configured to detect whether the pre-marshalling clamp 500 is full. If the pre-marshalling clamp 500 is full, the bottle cutting mechanism 600 starts to cut bottles.
  • the first sensor may be a photoelectric sensor, and the second sensor may also be a photoelectric sensor.
  • the first sensor can also be other types of sensors, as long as it can detect that the flat chain conveyor 1012 is full of bottles, and no examples will be given here.
  • the second sensor can also be other types of sensors, as long as it can detect the full bottles of the pre-grouping clamp 500, no examples will be given here.
  • the above-mentioned bare bottle pre-grouping and palletizing device can grab 800 bare bottles in multiple rows and columns at the same time for pre-grouping and stacking, which greatly reduces the number of pre-groupings, reduces the time for bare bottles to be stacked, and greatly improves the pre-grouping and forming process.
  • multiple rows are directly connected to the bottle conveying mechanism 100 at the same time.
  • the counting is accurate and the control is simple.
  • the mechanical arm 400 is used to rotate or translate the pre-grouping clamp 500, and the operation is simple.
  • each clamping claw grabs a bottle is more reliable and stable, and there is no need to grab the bottle and lift it up, which greatly reduces the errors of dropping the bottle, missing the grasp, or failing to grasp the bottle due to misalignment of the clamping claws. rate and failure rate.
  • FIG. 6 shows a schematic structural diagram of the pre-grouping clamp 500 provided by this application.
  • the pre-grouping clamp 500 includes a mounting base 1 , an alignment mechanism 3 and a clamping mechanism 2 .
  • the mounting base 1 includes a mounting plate 11 , a first connecting piece 12 and a second connecting piece 13 .
  • the first connecting piece 12 is configured to connect to the arrangement mechanism 3
  • the second connecting piece 13 is configured to be fixedly connected to the robotic arm 400 .
  • the first connecting member 12 may be a connecting column
  • the second connecting member 13 may be a connecting flange.
  • the first ends of the plurality of first connectors 12 are fixed on the mounting plate 11 , and the second ends thereof are fixedly connected to the arrangement mechanism 3 .
  • the arrangement mechanism 3 includes a limiting plate 31 and a partition 32. At least two partitions 32 are fixed on the limiting plate 31 in parallel and spaced apart. A bottle clamping space is formed between two adjacent partitions 32. The open end of the bottle clamping space faces Enter the outlet end of the bottle conveying mechanism 100.
  • the partitions 32 are fixed on the first connectors 12 , and each partition 32 is fixedly connected to the installation plate 11 through a plurality of first connectors 12 .
  • the clamping mechanism 2 includes a driving assembly and a clamping plate 25.
  • the driving assembly is located on the mounting plate 11.
  • the driving assembly is configured to drive the clamping plate 25 to rotate.
  • the clamping plate 25 has a bottle clamping position located in the bottle clamping space and a clamping plate 25 located in the bottle clamping space. The position to be clamped outside the bottle space.
  • the driving assembly includes a clamping driving member 21, a mounting arm 22 and a crank arm 23.
  • the clamping driving member 21 is located on the mounting plate 11, and the first end of the mounting arm 22 is fixed on the mounting plate 11. Its second end is pivotally connected to the bent part of the crank arm 23 through the rotating shaft 24; the first arm 231 of the crank arm 23 is pivotally connected to the output shaft of the clamping driver 21, and its second arm 232 is fixed to the clamping plate 25 Connection;
  • the clamping driver 21 is configured to drive the crank arm 23 to rotate around the center of the rotating shaft 24, so that the clamping plate 25 can rotate into the bottle clamping space to cooperate with the limit plate 31 and the partition 32 to clamp the bare bottle 800, or to make the clamp
  • the tightening plate 25 rotates to a position parallel to the bottle clamping space so that the bare bottle 800 can enter the bottle clamping space from the opening of the bottle clamping space.
  • the robot arm 400 since the robot arm 400 only needs to rotate the pre-grouping clamp 500 on the conveyor belt 101 of the grouping conveyor mechanism 200, or to translate the conveyor belt 101 of the grabbing conveyor mechanism 700 to the conveyor belt 101 of the grouping conveyor mechanism 200, there is no need to The pre-grouping clamp 500 is hoisted. Therefore, the clamping plate 25 can only be used for clamping and positioning, and there is no need to provide a large clamping force to prevent the naked bottles 800 from falling.
  • Figure 7 shows a schematic structural diagram of the clamping mechanism 2 provided by this application.
  • the clamping plate 25 is provided with an escape groove 251 .
  • the clamping plate 25 is provided with an escape groove 251 for accommodating the partitions 32 .
  • the number of partitions 32 is four, and the four partitions 32 form three bottle clamping spaces.
  • the mounting arm 22 and the rotating shaft 24 are rotationally connected through the bearing seat 242 of the mounting arm 22 , and the crank arm 23 and the rotating shaft 24 are fixedly connected.
  • This embodiment also provides packaging equipment, including the bare bottle pre-grouping and palletizing device as described above.
  • the packaging equipment can pre-group multiple bare bottles 800 to form a layer stack, thereby quickly improving the efficiency of the bare bottle 800 pre-grouping.
  • the traditional solution which uses each clamping claw to grab a bottle, it is more reliable and stable, and there is no need to grab the bottle and lift it up, which greatly reduces the errors of dropped bottles, insufficient grasping, or misaligned clamping claws that cannot grasp the bottle. rate and failure rate.
  • This packaging equipment can grab 800 bare bottles in multiple rows and columns at the same time for pre-grouping and palletizing, which greatly reduces the number of pre-groupings, reduces the time for bare bottles to be stacked, and greatly improves the efficiency of pre-grouping and palletizing.
  • the conveying direction of the bottle input conveying mechanism 100 is the same as the conveying direction of the group conveying mechanism 200 .
  • the pre-grouping and stacking process is as follows: initially, the pre-grouping clamp 500 is directly connected to the outlet end of the bottle conveying mechanism 100, the clamping driver 21 shrinks, and the clamping plate 25 is in a horizontal state to facilitate the entry of bare bottles 800.
  • the bottle cutting mechanism 600 at the outlet end of the flat chain conveying part 1012 operates to release the bottles, and the three rows of bare bottles 800 on the flat chain conveying part 1012 move towards the pre-arranged bottle that is docked with it.
  • the grouping fixture 500 transports bottles in the three clamping spaces.
  • the accumulation and conveying part 1011 of the bottle conveying mechanism 100 stops the bottle feeding action.
  • the clamping driver 21 drives the clamping plate 25 to extend. It comes out and rotates around the rotating shaft 24 to a nearly vertical state and stops.
  • the bottle cutting mechanism 600 resets to cut bottles, and the accumulation conveying part 1011 starts to continue conveying bottles to the flat chain conveying part 1012.
  • the pre-grouping clamp 500 lifts eight rows and three rows of bare bottles and performs a 90° rotation on the conveyor belt 101 of the pre-grouping conveyor mechanism 200.
  • the robot arm 400 lifts vertically to drive the pre-grouping
  • the clamp 500 slowly separates upward from the bare bottle 800 until the clamp is a certain distance above the top of the bare bottle.
  • the clamping driver 21 shrinks and drives the clamping plate 25 to rotate around the rotating shaft 24 and reset to a nearly horizontal position.
  • the mechanical arm 400 drives the preset
  • the grouping clamp 500 then quickly moves to the outlet end of the bottle input conveying mechanism 100 for docking.
  • the flat chain conveying part 1012 of the bottle input conveying mechanism 100 has already detected the full bottle conveyance and is in place, and then the second naked bottle 800 is captured.
  • This principle is used to cycle and grab three turns in succession to form an 800-layer pallet arrangement format of nine rows and eight columns of bare bottles on the palletizing conveying mechanism 300, which greatly improves the efficiency of pre-organized palletizing.
  • the bare bottle pre-grouping and palletizing device provided by this application can realize the stacking of multiple groups, rows and columns of bare bottles, with high palletizing efficiency and can meet the needs of high-speed production lines.
  • the method of pre-organizing and palletizing bare bottles is based on the above-mentioned pre-organizing and palletizing device of bare bottles, which can quickly palletize bare bottles and improve the palletizing efficiency.
  • the packaging equipment provided by this application uses the above-mentioned bare bottle pre-grouping and palletizing device to achieve high bare bottle palletizing efficiency.

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Abstract

本申请涉及裸瓶预编组成垛装置、成垛方法及包装设备。裸瓶预编组成垛装置包括入瓶输送机构、编组输送机构、成垛输送机构和预编组机构，入瓶输送机构设置为传输多列裸瓶；编组输送机构设于入瓶输送机构的下游；成垛输送机构设于编组输送机构的出口端且与编组输送机构的输送方向相同；预编组机构包括机械臂和预编组夹具。

Description

一种裸瓶预编组成垛装置、成垛方法及包装设备
本申请要求在2022年7月19日提交中国专利局、申请号为2022108489044的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及包装设备技术领域，例如涉及一种裸瓶预编组成垛装置、成垛方法及包装设备。
背景技术
目前，相关技术中的裸瓶预编组成垛装置中，大多采用人工码垛，人工成本高，码垛效率低。针对采用机械化码垛的裸瓶预编组成垛装置，其夹爪每次仅能抓取一个瓶子，通过将多个夹爪并排设置以实现每次抓取多个瓶子。相关技术中的裸瓶预编组成垛装置，每次码垛的裸瓶数量较少，且码垛效率低，不能满足高速生产线的需求。
因此，亟待需要一种裸瓶预编组成垛装置以解决上述问题。
发明内容
本申请的第一个目的在于提供一种裸瓶预编组成垛装置，裸瓶成垛效率高。
本申请的第二个目的在于提供一种裸瓶预编组成垛方法，基于上述裸瓶预编组成垛装置，能够快速码垛裸瓶，提高码垛效率。
本申请的第三个目的在于提供一种包装设备，通过应用上述裸瓶预编组成垛装置，裸瓶成垛效率高。
第一方面，提供了一种裸瓶预编组成垛装置，包括：
入瓶输送机构，设置为传输多列裸瓶；
编组输送机构，设于所述入瓶输送机构的下游；
成垛输送机构，设于所述编组输送机构的出口端且与所述编组输送机构的输送方向相同，所述成垛输送机构的输送速度小于所述编组输送机构的输送速度；
预编组机构，包括机械臂和预编组夹具，所述预编组夹具设置为夹取多排所述多列裸瓶，所述机械臂设置为驱动所述预编组夹具在空间范围内进行移动和转动中的至少之一，以将所述预编组夹具夹取的裸瓶按码垛方向放置于所述编组输送机构上。
第二方面，提供了一种裸瓶预编组成垛方法，基于如上所述的裸瓶预编组成垛装置，所述裸瓶预编组成垛方法包括：
利用入瓶输送机构输送多列裸瓶；
利用预编组夹具夹取多排所述多列裸瓶；
利用机械臂将所述预编组夹具夹取的多排多列裸瓶按码垛方向置于编组输送机构上；
所述编组输送机构的输送速度大于所述成垛输送机构的输送速度，在所述编组输送机构和所述成垛输送机构输送速度之差的作用下，多组多排多列裸瓶能够堆积至所述成垛输送机构上。
第三方面，提供了一种包装设备，包括如上所述的裸瓶预编组成垛装置。
附图说明
图1为本申请实施例提供的裸瓶预编组成垛装置一个示例的结构示意图；
图2为图1中裸瓶预编组成垛装置裸瓶成垛的流程示意图；
图3为本申请实施例提供的裸瓶预编组成垛装置另一个示例的结构示意图；
图4为图3中裸瓶预编组成垛装置裸瓶成垛的流程示意图；
图5为本申请实施例提供的入瓶输送机构的结构示意图；
图6为本申请实施例提供的预编组夹具的结构示意图；
图7为本发明实施例提供的夹紧机构的结构示意图。
附图标记：
100、入瓶输送机构；101、输送带；1011、堆积输送部；1012、平板链输送部；102、护栏；103、导向板；104、横撑；
200、编组输送机构；
300、成垛输送机构；
400、机械臂；
500、预编组夹具；
600、截瓶机构；
700、抓取输送机构；
800、裸瓶；
1、安装座；11、安装板；12、第一连接件；13、第二连接件；
2、夹紧机构；21、夹紧驱动件；22、安装臂；23、曲臂；231、第一支臂；232、第二支臂；24、转轴；242、轴承座；25、夹紧板；251、避让槽；
3、排列机构；31、限位板；32、隔板。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。
在本申请的描述中，需要说明的是，术语“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，或者是该申请产品使用时惯常摆放的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定 的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”、“第三”等仅用于区分描述，而不能理解为指示或暗示相对重要性。在本申请的描述中，除非另有说明，“多个”的含义是两个或两个以上。
在本申请的描述中，还需要说明的是，除非另有明确的规定和限定，术语“设置”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接。对于本领域的普通技术人员而言，可以根据情况理解上述术语在本申请中的含义。
图1示出了本申请提供的裸瓶预编组成垛装置一个示例的结构示意图。图2示出了图1中裸瓶成垛的流程示意图。图1为裸瓶预编组成垛装置的俯视图。如图1-图2所示，该裸瓶预编组成垛装置包括入瓶输送机构100、编组输送机构200、成垛输送机构300和预编组机构。其中，入瓶输送机构100设置为传输多列裸瓶800；预编组机构包括机械臂400和预编组夹具500，预编组夹具500设置为夹取多排所述多列裸瓶800，机械臂400设置为驱动预编组夹具500在空间范围内移动和/或转动，以将预编组夹具500夹取的裸瓶800按码垛方向放置于编组输送机构200上。编组输送机构200的入口端连接于入瓶输送机构100的出口端并与入瓶输送机构100的输送方向相同，成垛输送机构300设于编组输送机构200的出口端且与编组输送机构200的输送方向相同，成垛输送机构300的输送速度小于编组输送机构200的输送速度，从而能够将编组输送机构200上的多组多排多列裸瓶800堆积至成垛输送机构300上。示例性地，由于入瓶输送机构100的输送宽度有限，预编组夹具500夹取裸瓶800的排数要多于裸瓶800的列数，其中，在图1中，裸瓶800的排方向垂直于入瓶输送机构100的输送方向，裸瓶800的列方向平行于入瓶输送机构的输送方向。为了将多排多列裸瓶800进行堆积，可利用机械臂400驱动预编组夹具500在编组输送机构200上转动90°，从而可调整多排多列裸瓶800的排列方向，在成垛输送机构300和编组输送机构200的输送速差的作用下，多组多排多列裸瓶 800能够堆积在成垛输送机构300上。
基于图1所示的裸瓶预编组成垛装置，裸瓶预编组成垛方法包括：
S11、利用入瓶输送机构100输送多列裸瓶800。
S12、利用预编组夹具500夹取多排多列裸瓶800。
S13、利用机械臂400将预编组夹具500夹取的多排多列裸瓶800按码垛方向置于编组输送机构200上；示例性地，利用机械臂400将预编组夹具500转动90°，使多排多列裸瓶800按码垛方向置于编组输送机构200上。
S14、在编组输送机构200和成垛输送机构300的输送速度之差的作用下，多组多排多列裸瓶800能够堆积至成垛输送机构300上。
图3示出了本申请提供的裸瓶预编组成垛装置另一个示例的结构示意图。图3为裸瓶预编组成垛装置另一个示例的俯视图，从空中向下俯视裸瓶预编组成垛装置。图4示出了图3中裸瓶成垛的流程示意图。如图3-图4所示，该裸瓶预编组成垛装置相比上述裸瓶预编组成垛装置除了包括入瓶输送机构100、编组输送机构200、成垛输送机构300和预编组机构之外，还包括抓取输送机构700。其中，抓取输送机构700的入口端连接于入瓶输送机构100的出口端并与入瓶输送机构100的输送方向相同，编组输送机构200的入口端连接于抓取输送机构700的侧部。预编组夹具500(图中未示出)设于抓取输送机构700上，预编组夹具500的开口端朝向入瓶输送机构100，以夹取入瓶输送机构100输送的多列裸瓶800。此外，由于编组输送机构200设于抓取输送机构700的侧部，两者的输送方向垂直，因此，无需机械臂400转动预编组夹具500以调整多排多列裸瓶800的方向，可直接利用机械臂400驱动预编组夹具500平移至编组输送机构200上即可，在成垛输送机构300和编组输送机构200的输送速差的作用下，多组多排多列裸瓶800能够堆积在成垛输送机构300上。
基于图3所示的裸瓶预编组成垛装置，裸瓶预编组成垛方法包括：
S21、利用入瓶输送机构100输送多列裸瓶800。
S22、预编组夹具500设于抓取输送机构700上，利用预编组夹具500夹取 多排多列裸瓶800。
S23、利用机械臂400将预编组夹具500夹取的多排多列裸瓶800按码垛方向置于编组输送机构200上；示例性地，利用机械臂400平移预编组夹具500带动多排多列裸瓶800按码垛方向置于编组输送机构200上。
S24、在编组输送机构200和成垛输送机构300的输送速度之差的作用下，多组多排多列裸瓶800能够堆积至成垛输送机构300上。
示例性地，机械臂400可以为ABB和KUKA机器人，也可以为其他的平移机构。机械臂400设于底座上。针对图1中的裸瓶预编组成垛装置，底座架设于入瓶输送机构100的上方，也可以设于入瓶输送机构100的侧部，机械臂400与预编组夹具500连接，预编组夹具500的开口朝向入瓶输送机构100的出口端。针对图3中的裸瓶预编组成垛装置，底座设于抓取输送机构700的一侧，机械臂400与预编组夹具500连接，预编组夹具500的开口朝向入瓶输送机构100的出口端。
图5示出了本申请提供的入瓶输送机构100的结构示意图。如图5所示，入瓶输送机构100包括输送带101和导向组件，导向组件设置为将输送带101分隔为多个送瓶通道，以实现输送多列裸瓶800。输送带101包括沿输送方向依次设置的堆积输送部1011和平板链输送部1012，平板链输送部1012的输送长度L1等于预编组夹具500夹取的裸瓶800的长度L2。堆积输送部1011主要使瓶子紧挨着排列，缓存更多的瓶子，减轻向前的压力。平板链输送部1012主要规划存储预编组夹具需要抓取的数量，平板链输送部1012的输送长度L1即为存储需要抓取多排裸瓶800的长度L2。堆积输送部1011和平板链输送部1012是两块不同的输送带状部件，共同组成了输送带101。图5中，导向组件包括护栏102、导向板103和横撑104，护栏102和导向板103均沿输送带101的输送方向延伸，两个护栏102分别固定于输送带101的两侧，横撑104横跨固定于所述输送带101的两侧旁板上，若干导向板103平行间隔固定于横撑104上并悬置于输送带101上方，以形成三个送瓶通道，以便于三个通道同时输送瓶 子，以提高瓶子的输送与编排效率。如图5所示，输送带101的两侧旁板是指护栏102外侧的部分。示例性地，多个横撑104沿护栏102方向间隔固定于输送带101两侧旁板上，导向板103通过把手悬吊锁紧在横撑104上。当然，在其他实施例中，还可以通过其他方式将输送带101上方分隔为多个送瓶通道，送瓶通道数量可根据预编组夹具500能够夹取的列数进行设计。
图5示出了本申请提供的入瓶输送机构100的结构示意图。如图5所示，为了保证预编组夹具500能够抓取预设排数的多列裸瓶800，裸瓶预编组成垛装置还包括截瓶机构600，截瓶机构600包括截瓶驱动件和截瓶件，截瓶驱动件设于入瓶输送机构100的出口端的底部，截瓶驱动件设置为驱动截瓶件升降移动，以使截瓶件具有阻挡入瓶输送机构100的出口端的截瓶位置和退回入瓶输送机构100的出口端下方的避让位置。图5中，截瓶件为柱状结构，多个截瓶件沿垂直于输送带101输送方向间隔排列至输送带101的出口端，只要保证截瓶件之间的间距小于裸瓶800的宽度即可。截瓶驱动件可以采用气缸、电缸或直线电机等。
为了实现裸瓶预编组成垛装置的自动化作业，还包括第一传感器和第二传感器。其中，第一传感器设于输送带101上，第一传感器设置为检测输送带101的平板链输送部1012满瓶到位，以便于截瓶机构600动作放瓶，将平板链输送部1012上排列的裸瓶800全部输送到与其对接的预编组夹具500中。平板链输送部1012上的裸瓶800排数与预编组夹具500能够夹取的裸瓶800排数相同。第二传感器设于预编组夹具500上，第二传感器设置为检测预编组夹具500是否满载，若预编组夹具500满载，则截瓶机构600开始动作截瓶。示例性地，第一传感器可以为光电传感器，第二传感器也可以为光电传感器。当然，在其他实施例中，第一传感器还可以是其他类型的传感器，只要能够起到检测平板链输送部1012满瓶即可，在此不再一一举例说明。第二传感器还可以是其他类型的传感器，只要能够起到检测预编组夹具500满瓶即可，在此不再一一举例说明。
上述裸瓶预编组成垛装置能够以多排多列裸瓶800同时抓取进行预编组成垛，大大减小了预编组次数，减少裸瓶成垛的时间，极大的提高了预编组成垛的效率，同时以多排直接对接入瓶输送机构100，入瓶输送机构100能够输送多少列裸瓶800，就有多少列裸瓶800进入预编组夹具500里，计数准确，控制简单，利用机械臂400转动或平移预编组夹具500，操作简单。相比相关技术中每个夹爪对应抓取一个瓶子的方式更加可靠与稳定，且不需要抓取瓶子提起来，大大减少了掉瓶、少抓或夹爪对不准瓶子抓不起的错误率与故障率。
图6示出了本申请提供的预编组夹具500的结构示意图。如图6所示，该预编组夹具500包括安装座1、排列机构3和夹紧机构2。安装座1包括安装板11、第一连接件12和第二连接件13，第一连接件12设置为连接排列机构3，第二连接件13设置为与机械臂400固定连接。第一连接件12可以为连接柱，第二连接件13可以为连接法兰。多个第一连接件12的第一端固定于安装板11上，其第二端与排列机构3固定连接。排列机构3包括限位板31和隔板32，至少两个隔板32平行间隔固定于限位板31上，相邻两个隔板32之间形成夹瓶空间，夹瓶空间的开口端朝向入瓶输送机构100的出口端。示例性地，隔板32固定于第一连接件12上，且每个隔板32均通过多个第一连接件12与安装板11固定连接。夹紧机构2包括驱动组件和夹紧板25，驱动组件设于安装板11上，驱动组件设置为驱动夹紧板25转动，夹紧板25具有位于夹瓶空间内的夹瓶位置和位于夹瓶空间外的待夹位置。
图6和图7中，驱动组件包括夹紧驱动件21、安装臂22和曲臂23，夹紧驱动件21设于安装板11上，安装臂22的第一端固定于安装板11上，其第二端通过转轴24与曲臂23的弯曲部位枢接；曲臂23的第一支臂231与夹紧驱动件21的输出轴枢接，其第二支臂232与夹紧板25固定连接；夹紧驱动件21设置为驱动曲臂23绕转轴24中心转动，以使夹紧板25能够转动至夹瓶空间内配合限位板31和隔板32夹紧裸瓶800，或使夹紧板25转动至与夹瓶空间平行的位置以便于裸瓶800能够从夹瓶空间的开口进入夹瓶空间。由于机械臂400只 需要使预编组夹具500在编组输送机构200的输送带101上进行转动，或在抓取输送机构700的输送带101平移至编组输送机构200的输送带101上，而无需将预编组夹具500吊起操作，因此，夹紧板25可仅起到夹紧定位即可，无需提供较大的夹紧力防止裸瓶800掉落。
图7示出了本申请提供的夹紧机构2的结构示意图。如图7所示，夹紧板25上设有避让槽251。示例性地，当隔板32的数量大于三个时，夹紧板25上设有容置隔板32的避让槽251。图7中，隔板32的数量为四个，四个隔板32形成三个夹瓶空间。安装臂22与转轴24之间通过安装臂22的轴承座242转动连接，曲臂23与转轴24之间固定连接。
本实施例还提供了一种包装设备，包括如上所述的裸瓶预编组成垛装置。该包装设备通过应用上述裸瓶800预编组装置，能够把多个裸瓶800进行预编组形成层垛，以快速提高裸瓶800预编组的效率。相比传统方案采用每个夹爪对应抓取一个瓶子的方式更加可靠与稳定，且不需要抓取瓶子提起来，大大减少了掉瓶、少抓或夹爪对不准瓶子抓不起的错误率与故障率。该包装设备能够以多排多列裸瓶800同时抓取进行预编组成垛，大大减小了预编组次数，减少裸瓶成垛的时间，极大的提高了预编组成垛的效率。
接下来以裸瓶800呈八排三列抓取一次，形成九排八列的裸瓶800成组排列成垛为例，入瓶输送机构100的输送方向与编组输送机构200的输送方向相同。其预编组成垛过程如下：初始时，预编组夹具500直接对接入瓶输送机构100的出口端，夹紧驱动件21收缩，夹紧板25处于水平状态，方便裸瓶800进入。当入瓶输送机构100的第一传感器检测到满瓶到位时，平板链输送部1012的出口端的截瓶机构600动作放瓶，平板链输送部1012上的三列裸瓶800向与其对接的预编组夹具500三个夹瓶空间内输送，同时入瓶输送机构100的堆积输送部1011停止输瓶动作，当预编组夹具500感应最后一瓶到位后，夹紧驱动件21驱动夹紧板25伸出并绕转轴24旋转到近乎垂直状态时停止，在此同时截瓶机构600复位截瓶，堆积输送部1011启动继续向平板链输送部1012输送瓶 子。接着，预编组夹具500在机械臂400的作用下，托起八排三列裸瓶在预编组输送机构200的输送带101上进行90°旋转转向，之后，机械臂400垂直提升，带动预编组夹具500慢慢向上脱离裸瓶800，直到夹具高于裸瓶顶部一段距离后为止，夹紧驱动件21收缩驱动夹紧板25绕转轴24旋转复位到以近乎水平位置为止，机械臂400带动预编组夹具500再快速移动到入瓶输送机构100的出口端进行对接，此时入瓶输送机构100的平板链输送部1012早已满瓶输送检测到位，再进行第二次的裸瓶800抓取。以此原理循环，连续抓取三次转向，在成垛输送机构300上形成九排八列的裸瓶800层垛排列格式，大大提高了预编组成垛的效率。
本申请提供的裸瓶预编组成垛装置，可实现多组多排多列裸瓶成垛，成垛效率高，能够满足高速生产线需求。
本申请提供的裸瓶预编组成垛方法，基于上述裸瓶预编组成垛装置，能够快速码垛裸瓶，提高码垛效率。
本申请提供的包装设备，通过应用上述裸瓶预编组成垛装置，裸瓶成垛效率高。

Claims (10)

  1. 一种裸瓶预编组成垛装置，包括：
    入瓶输送机构(100)，设置为传输多列裸瓶(800)；
    编组输送机构(200)，设于所述入瓶输送机构(100)的下游；
    成垛输送机构(300)，设于所述编组输送机构(200)的出口端且与所述编组输送机构(200)的输送方向相同，所述成垛输送机构(300)的输送速度小于所述编组输送机构(200)的输送速度；
    预编组机构，包括机械臂(400)和预编组夹具(500)，所述预编组夹具(500)设置为夹取多排所述多列裸瓶(800)，所述机械臂(400)设置为驱动所述预编组夹具(500)在空间范围内进行移动和转动中的至少之一，以将所述预编组夹具(500)夹取的裸瓶(800)按码垛方向放置于所述编组输送机构(200)上。
  2. 根据权利要求1所述的裸瓶预编组成垛装置，其中，所述入瓶输送机构(100)包括输送带(101)和导向组件，所述导向组件设置为将所述输送带(101)分隔为多个送瓶通道。
  3. 根据权利要求2所述的裸瓶预编组成垛装置，其中，所述导向组件包括护栏两个(102)、多个导向板(103)和横撑(104)，所述两个护栏(102)和所述多个导向板(103)均沿所述输送带(101)的输送方向延伸，两个所述护栏(102)分别固定于所述输送带(101)的两侧，所述横撑(104)横跨固定于所述输送带(101)的两侧旁板上，所述多个导向板(103)平行间隔固定于所述横撑(104)上并悬置于所述输送带(101)上方，以形成多个所述送瓶通道。
  4. 根据权利要求2所述的裸瓶预编组成垛装置，其中，所述输送带(101)包括沿输送方向依次设置的堆积输送部(1011)和平板链输送部(1012)，所述平板链输送部(1012)的输送长度(L1)等于所述预编组夹具(500)夹取的裸瓶(800)的长度(L2)。
  5. 根据权利要求1所述的裸瓶预编组成垛装置，其中，所述裸瓶预编组成垛装置还包括截瓶机构(600)，所述截瓶机构(600)包括截瓶驱动件和截瓶件，所述截瓶驱动件设于所述入瓶输送机构(100)的出口端的底部，所述截瓶驱动 件设置为驱动所述截瓶件升降移动，以使所述截瓶件具有阻挡所述入瓶输送机构(100)的出口端的截瓶位置和退回所述入瓶输送机构(100)的出口端下方的避让位置。
  6. 根据权利要求1所述的裸瓶预编组成垛装置，其中，所述预编组夹具(500)包括：
    安装座(1)，所述安装座(1)包括安装板(11)，所述安装板(11)与所述机械臂(400)固定连接；
    排列机构(3)，固定于所述安装板(11)上，所述排列机构(3)包括限位板(31)和隔板(32)，至少两个所述隔板(32)平行间隔固定于所述限位板(31)上，相邻两个所述隔板(32)之间形成夹瓶空间，所述夹瓶空间的开口端朝向所述入瓶输送机构(100)的出口端；
    夹紧机构(2)，包括驱动组件和夹紧板(25)，所述驱动组件设于所述安装板(11)上，所述驱动组件设置为驱动所述夹紧板(25)转动，所述夹紧板(25)具有位于所述夹瓶空间内的夹瓶位置和位于所述夹瓶空间外的待夹位置。
  7. 根据权利要求1-6任一项所述的裸瓶预编组成垛装置，其中，所述编组输送机构(200)的入口端连接于所述入瓶输送机构(100)的出口端并与所述入瓶输送机构(100)的输送方向相同，所述机械臂(400)设置为驱动所述预编组夹具(500)在所述编组输送机构(200)上转动90°。
  8. 根据权利要求1-6任一项所述的裸瓶预编组成垛装置，所述裸瓶预编组成垛装置还包括抓取输送机构(700)，所述抓取输送机构(700)的入口端连接于所述入瓶输送机构(100)的出口端并与所述入瓶输送机构(100)的输送方向相同，所述编组输送机构(200)的入口端连接于所述抓取输送机构(700)的侧部，所述机械臂(400)设置为驱动所述预编组夹具(500)平移至所述编组输送机构(200)上。
  9. 一种裸瓶预编组成垛方法，其中，基于如权利要求1-8任一项所述的裸瓶预编组成垛装置，所述裸瓶预编组成垛方法包括：
    利用入瓶输送机构(100)输送多列裸瓶(800)；
    利用预编组夹具(500)夹取多排所述多列裸瓶(800)；
    利用机械臂(400)将所述预编组夹具(500)夹取的多排多列裸瓶(800)按码垛方向置于编组输送机构(200)上；
    所述编组输送机构(200)的输送速度大于所述成垛输送机构(300)的输送速度，在所述编组输送机构(200)和所述成垛输送机构(300)输送速度之差的作用下，多组多排多列裸瓶(800)能够堆积至所述成垛输送机构(300)上。
  10. 一种包装设备，包括如权利要求1-8任一项所述的裸瓶预编组成垛装置。
PCT/CN2022/122064 2022-07-19 2022-09-28 一种裸瓶预编组成垛装置、成垛方法及包装设备 WO2024016476A1 (zh)

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