CN105151815A - Tray-free robot stacking system - Google Patents
Tray-free robot stacking system Download PDFInfo
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- CN105151815A CN105151815A CN201510541407.XA CN201510541407A CN105151815A CN 105151815 A CN105151815 A CN 105151815A CN 201510541407 A CN201510541407 A CN 201510541407A CN 105151815 A CN105151815 A CN 105151815A
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Abstract
The invention relates to a tray-free robot stacking system which comprises a stacking robot, a stack conveying machine, a material bag conveying machine and a controller. The stack conveying machine, the material bag conveying machine and the controller are arranged around the stacking robot; the stacking robot, the stack conveying machine and the material bag conveying machine are respectively and electrically connected with the controller; and the stack conveying machine is a belt conveyer, and a lifting bag fixing device is arranged on a conveying work face of a conveying belt of the stack conveying machine. Bagged products conveyed from a production line can be directly stacked on a lifting bag on the stack conveying machine and conveyed to the lifted position, so that tray-free stacking operation of the robot stacking system is achieved. Thus, the tray using cost is avoided, the length of a stack conveying line is greatly shortened, the configuration of the stacking system is simplified, and stacking procedures are reduced. In addition, the equipment manufacturing cost is reduced, the operating cost is reduced, the equipment occupancy is also reduced, the production automation is higher, and the producing efficiency is obviously improved.
Description
Technical field
The invention belongs to bagged product robot Palletizer field, particularly relate to a kind of pallet-free robot palletizing system.
Background technology
In the production of the industries such as modern chemical industry, food, feed, fertilizer, robot palletizing system has been applied to the automatic stacking operation of bagged product more and more.Existing robot palletizing system is when carrying out palletizing operation, and a kind of mode is placed on empty pallet by bagged product direct code, is then with pallet carrying to deposit; Another kind of mode is elder generation's Pig on empty pallet upper berth before piling, then bagged product is piled up on the Pig on empty pallet, only with Pig, bagged product handling is walked after piling completes, the empty pallet that the empty pallet stayed then carries back palletizing system by equipment such as artificial or fork trucks parks station, or be circulated back to piling by pallet automatic cycle regenerative apparatus and wait for station, iterative cycles uses.
The palletizing operation of above robot palletizing system can must carry out and complete by pallet, when palletizing operation, except needing to be equipped with except the pallet of some, after completing piling, also need by artificial or fork truck pallet carrying to be returned to tear open in the pallet storehouse of dish machine, not only waste time and energy, but also need to increase the haulage equipments such as fork truck; Or by pallet automatic cycle regenerative apparatus, pallet circulation is gone back, need to increase pallet automatic recycling device, both added the manufacturing cost of equipment, and turn increased the installation floor area of equipment; Also or within the scope of the swinging radius directly being entered into robot palletizer arm by operator carry, great potential safety hazard will be there is like this, and very easily cause industrial accident.
For bagged product robot piling field, from satisfied safety in production demand and the social demand realizing higher degree of automation, lower device fabrication cost and use cost, need proposition a kind of without the need to using the robot palletizing system of pallet to carry out palletizing operation, the deployment cost of pallet and the landed cost of pallet can either be exempted like this, the corollary equipment such as dish machine of tearing open or pallet automatic cycle regenerative apparatus of automatic stacking equipment can be removed again, thus significantly can reduce the floor area of the manufacturing cost of equipment, operating cost and minimizing equipment.But not yet find that there is like this without the need to using the robot palletizing system of pallet at present.
Summary of the invention
The object of the invention is to, the corollary equipment or the human resources that overcome the existence of existing bagged product robot palletizing system are many, floor area is large, the shortcomings such as operating cost is high, a kind of pallet-free robot automatic stacking system is provided, it is made to pass through Pig anchor fitting is installed on the load-transfer device of stacking conveyer, can pile up neatly the Pig of the bagged product that manufacturing line is carried directly on stacking conveyer is stacked into and is delivered to handling position, achieve the pallet-free palletizing operation of robot palletizing system, both the use cost of pallet had been eliminated, greatly reduce again the length of piling travel line, simplify the configuration of palletizing system, decrease piling operation, at reduction device fabrication cost, the floor area of equipment is decreased while operating cost, improve production automation degree and capacity rating.
The object of the invention to solve the technical problems realizes by the following technical solutions.According to a kind of pallet-free robot palletizing system that the present invention proposes, comprise robot palletizer, stacking conveyer, pocket conveyer and controller, described stacking conveyer, described pocket conveyer and described controller are installed around described robot palletizer, and described robot palletizer, described stacking conveyer and described pocket conveyer are electrically connected with described controller respectively; Described stacking conveyer is belt conveyer, and the transportation work face of the load-transfer device of described stacking conveyer is provided with Pig anchor fitting.
The object of the invention to solve the technical problems also can be applied to the following technical measures to achieve further.
Aforesaid pallet-free robot palletizing system, wherein said stacking conveyer also comprises frame, reducing motor, driven roller, modified roller and carrying roller, wherein said reducing motor, described driven roller, described modified roller and described carrying roller are installed in described frame, described reducing motor is connected with described driven roller mechanical drive, described load-transfer device is wound between described driven roller and described modified roller, described carrying roller be supported on described load-transfer device with below, described reducing motor is electrically connected with described controller.
Aforesaid pallet-free robot palletizing system, wherein on described driven roller and described modified roller and/or described carrying roller, sprocket wheel is installed, the chain be in transmission connection with the described sprocket engagement of described driven roller and described modified roller and/or described carrying roller is installed inside described load-transfer device.
Aforesaid pallet-free robot palletizing system, wherein on described driving chain roller and described turnabout roller and/or described carrying roller, be separately installed with two the above sprocket wheels, inside described load-transfer device, correspondence is provided with two the above chains.
Aforesaid pallet-free robot palletizing system, wherein on the transportation work face of described load-transfer device, equidistant being provided with organizes described Pig anchor fitting more, often organize described Pig anchor fitting to comprise four Pigs and tie up button, four described Pigs tie up the both sides symmetrical installation two respectively in the transportation work face being buckled in described load-transfer device, and four described Pigs are tied up the distance between button and arranged according to the size of Pig size.
Aforesaid pallet-free robot palletizing system, wherein equidistantly on described load-transfer device is provided with Pig anchor fitting described in five groups.
Aforesaid pallet-free robot palletizing system, wherein in the frame of described pocket conveyer and described stacking conveyer end, be provided with sensor, described sensor is electrically connected with described controller.
Aforesaid pallet-free robot palletizing system, wherein said load-transfer device be annular plug into rubber tape or plate combination connecting band.
Aforesaid pallet-free robot palletizing system, is wherein provided with on the side going out buttress end of described stacking conveyer and hangs Pig service platform.
Aforesaid pallet-free robot palletizing system, wherein in the outside of the swinging radius of described robot palletizer arm, the outside of described pocket conveyer and described stacking conveyer is provided with guard rail.
The present invention compared with prior art has obvious advantage and beneficial effect.By technique scheme, pallet-free robot palletizing system of the present invention at least has following advantages and beneficial effect: the pallet-free palletizing operation that present invention achieves robot palletizing system, can under the prerequisite ensureing operator safety operation, both the use cost of pallet had been exempted, reduce again the dish machine of tearing open of automatic stacking equipment or the outfit of pallet automatic cycle regenerative apparatus, greatly reduce the length of piling travel line, simplify the configuration of palletizing system, decrease piling operation, effectively reduce the manufacturing cost of equipment thus, operating cost, decrease the floor area of equipment, improve production automation degree and capacity rating.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to technological means of the present invention can be better understood, and can be implemented according to the content of specification sheets, and can become apparent to allow above and other object of the present invention, feature and advantage, below especially exemplified by preferred embodiment, and coordinate accompanying drawing, be described in detail as follows.
Accompanying drawing explanation
Fig. 1 is the structural representation of pallet-free robot palletizing system of the present invention preferred embodiment.
Fig. 2 is the schematic front view of the embodiment of stacking conveyer of the present invention.
Fig. 3 is the schematic top plan view of the embodiment of stacking conveyer of the present invention.
Fig. 4 is that schematic diagram is looked on a left side for the embodiment of stacking conveyer of the present invention.
Fig. 5 is the enlarged diagram of the local A of Fig. 2.
Fig. 6 is the enlarged diagram of the local B of Fig. 4.
1: robot palletizer 2: stacking conveyer
21: frame 22: reducing motor
23: driven roller 231: drive sprocket
232: driving roller 233: drive mandrel
24: modified roller 25: carrying roller
251: mandrel 252: sprocket wheel
253: cylinder roller 26: load-transfer device
27: Pig anchor fitting 271: Pig ties up button
28: chain 29: buttress heap is to level sensor
3: pocket conveyer 4: controller
5: hang Pig service platform 6: guard rail
Detailed description of the invention
For further setting forth the present invention for the technological means reaching predetermined goal of the invention and take and effect, below in conjunction with accompanying drawing and preferred embodiment, to its detailed description of the invention of pallet-free robot palletizing system proposed according to the present invention, structure, feature and effect thereof, be described in detail as follows.
Refer to shown in Fig. 1, pallet-free robot automatic stacking system of the present invention forms primarily of robot palletizer 1, stacking conveyer 2, pocket conveyer 3 and controller 4, wherein stacking conveyer 2, pocket conveyer 3 and controller 4 are installed around robot palletizer 1, robot palletizer 1, stacking conveyer 2 and pocket conveyer 3 are electrically connected with controller 4 respectively, and controlled device 4 controls.Wherein, pocket conveyer 3 of the present invention is the roller conveyor that roller drives roller chain.Stacking conveyer 2 of the present invention is belt conveyer, and the transportation work face of the load-transfer device 26 of stacking conveyer 2 is provided with Pig anchor fitting 27.
Refer to shown in Fig. 2 and Fig. 3, stacking conveyer 2 of the present invention forms primarily of frame 21, reducing motor 22, driven roller 23, modified roller 24, carrying roller 25, load-transfer device 26 and Pig anchor fitting 27, wherein reducing motor 22, driven roller 23, modified roller 24 and carrying roller 25 are installed in frame 21, reducing motor 22 is connected with driven roller 23 mechanical drive, load-transfer device 26 is wound between driven roller 23 and changed course cylinder 24, carrying roller 25 is supported in the below of band on load-transfer device 26, reducing motor 22 is electrically connected with controller 4, and controlled device 4 controls.
Refer to shown in Fig. 4 and Fig. 6, reducing motor 22 of the present invention and driven roller 23 are that Chain conveyer is connected, driven roller 23 is also provided with two drive sprockets 231, two drive sprockets 231 are installed on the driving mandrel 233 of driven roller 23, and be installed between the driving roller 232 driven on mandrel 233, wherein the outside pitch line length of drive sprocket 231 is lower than the roller face of driving roller 232.Equally, modified roller 24 is also provided with and similar sprocket wheel on driven roller 23 and cylinder roller, the difference structurally of modified roller 24 and drive wheel 23 is only the sprocket wheel that modified roller 24 is connected with motor.Equally, carrying roller 25 is also provided with and similar sprocket wheel 252 on driven roller 23 and cylinder roller 253, as shown in Fig. 4 and Fig. 6, the diameter of carrying roller 25 is less than the diameter of driven roller 23 and modified roller 24, sprocket wheel 252 is installed on the mandrel 251 of carrying roller 25, and between cylinder roller 253 on the mandrel 251 being installed on carrying roller 25 equally, and the outside pitch line length of sprocket wheel 252 is lower than the roller face of cylinder roller 253.Load-transfer device 26 of the present invention to be plugged into rubber tape for annular, and the sprocket engagement that correspondence is provided with two chains, 28, two chains 28 corresponding with on driven roller 23, modified roller 24 and carrying roller 25 respectively inside load-transfer device 26 is in transmission connection.When sprocket engagement on chain 28 with driven roller 23, modified roller 24 and carrying roller 25, load-transfer device 26 just contacts with the roller face on carrying roller 25 with driven roller 23, modified roller 24, can ensure that stacking conveyer 2 is in operational process by such structure, there is not horizontal sliding in load-transfer device 26.In addition, according to the difference that load-carrying requires, load-transfer device 26 of the present invention also can use plate to combine connecting band and plug into load-transfer device to replace rubber.
In other embodiments of the invention, only can install sprocket wheel on the driven roller 23 and modified roller 24 of stacking conveyer 2, and on carrying roller 25, not install sprocket wheel, now chain 28 is that the sprocket engagement corresponding with on driven roller 23 and modified roller 24 is in transmission connection; Also only can install sprocket wheel on the carrying roller 25 of stacking conveyer 2, and on driven roller 23 and modified roller 24, not install sprocket wheel, now chain 28 is that the sprocket engagement corresponding with on carrying roller 25 is in transmission connection.Certainly, the quantity of driven roller 23 of the present invention, modified roller 24 and carrying roller 25 upper sprocket wheel is not limited in two, can be three, four, five according to actual needs ..., the quantity of corresponding chain 28 is also not limited only to two, can be three, four, five ...
Shown in Fig. 1, the present invention is equidistant on the transportation work face of load-transfer device 26 is provided with many group Pig anchor fittings 27, often organize Pig anchor fitting 27 to comprise four Pigs and tie up button 271, four Pigs tie up the both sides respectively symmetrical installation two of button 271 in the transportation work face of load-transfer device 26, and four Pig distances of tying up between button 271 arrange according to the size of Pig size.In the present embodiment, Pig is tied up button 271 for VELCRO and is tied up button, the transportation work face of load-transfer device 26 five groups have been installed according to the total length of load-transfer device 26 is equidistant, can ensure when robot palletizer 1 carries out palletizing operation like this, the upper surface of load-transfer device 26 must have three groups of Pigs to tie up button 271, thus when robot palletizer 1 carries out piling, operating personal can carry out the work that Pig loads and handling buttress is piled simultaneously.
Whether refer to shown in Fig. 5, the frame 21 of stacking conveyer 2 of the present invention is also provided with buttress heap to level sensor 29, buttress heap is electrically connected to level sensor 29 with controller 4, put in place for detecting buttress heap.When detecting that the conveying of buttress heap puts in place, controller 4 controls stacking conveyer 2 and shuts down, and control 1 starts new palletizing operation simultaneously.Equally, the frame of pocket conveyer 3 of the present invention is also provided with sensor.
Refer to shown in Fig. 1, be provided with hang Pig service platform 5 on the buttress end side that goes out of stacking conveyer 2 of the present invention, in the outside of the swinging radius of robot palletizer 1 arm, the outside of stacking conveyer 2 and pocket conveyer 3 is provided with guard rail 6.The buttress heap good due to code has certain height, and Pig will be hung up the handling appliances such as drop hanger by operating personal to be needed to stand in a higher position and operate, and the setting of hanging Pig service platform 5 then can provide convenient for the work of operating personal.The setting of guard rail 6 is in order to the personnel of keeping the scene intact, and causes industrial accident in the work area avoiding field staff to be strayed into robot palletizer 1.
Below in conjunction with accompanying drawing, the principle of work of pallet-free robot palletizing system of the present invention preferred embodiment and main working process are described:
Refer to shown in Fig. 1, stacking conveyer 2 is carried from left to right, stacking conveyer 2 is separated into three districts by guard rail 6: the front end of the stacking conveyer 2 outside left side guard rail 6 is Pig loading area, the centre of the stacking conveyer 2 between two guard rails 6 is piling district, and the end of the stacking conveyer 2 outside right side guard rail 6 is Duo Dui handling district.In system operation, the interval of forbidding all personnel to enter guard rail 6 to surround, namely in piling district, to ensure production safety.Before system starts, the corner of Pig folds in Pig loading area and uses the Pig on load-transfer device 26 to tie up button 271 tighten by operating personal.Then, controller 4 controls stacking conveyer 2 and operates, the Pig tied up is transported to piling district, when Pig arrives the piling station in piling district, controller 4 controls robot palletizer 1 and starts, start to carry out piling, the bagged product on pocket conveyer 3 is piled up on the Pig on stacking conveyer 3.While robot palletizer 1 piling, new Pig is bonded on stacking conveyer 2 in Pig loading area by operating personal.After robot palletizer 1 completes the piling of whole heap under the control of the control program of controller 4, the reducing motor 22 that controller 4 controls stacking conveyer 2 operates, and drives load-transfer device 26 that buttress heap is transported to the end of stacking conveyer 2.When the buttress in stacking conveyer 2 frame 21 pile level sensor 29 detect buttress heap put in place time, the Pig that operating personal newly loads also has been transported to the piling station in piling district, now, controller 4 controls reducing motor 22 and shuts down, and control robot palletizer 1 carries out palletizing operation simultaneously.After robot palletizer 1 starts palletizing operation, operating personal just can carry out the loading operation of new Pig in Pig loading area, and carries out buttress heap lifting job on extension Pig service platform 5.So carry out cycle operation, achieve the robot palletizing operation of pallet-free.
The above, it is only preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, although the present invention discloses as above with preferred embodiment, but and be not used to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, make a little change when the technology contents of above-mentioned announcement can be utilized or be modified to the Equivalent embodiments of equivalent variations, in every case be do not depart from technical solution of the present invention content, according to any simple modification that technical spirit of the present invention is done above embodiment, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.
Claims (10)
1. a pallet-free robot palletizing system, comprise robot palletizer, stacking conveyer, pocket conveyer and controller, it is characterized in that: described stacking conveyer, described pocket conveyer and described controller are installed around described robot palletizer, described robot palletizer, described stacking conveyer and described pocket conveyer are electrically connected with described controller respectively; Described stacking conveyer is belt conveyer, and the transportation work face of the load-transfer device of described stacking conveyer is provided with Pig anchor fitting.
2. pallet-free robot palletizing system according to claim 1, it is characterized in that: described stacking conveyer also comprises frame, reducing motor, driven roller, modified roller and carrying roller, wherein said reducing motor, described driven roller, described modified roller and described carrying roller are installed in described frame, described reducing motor is connected with described driven roller mechanical drive, described load-transfer device is wound between described driven roller and described modified roller, described carrying roller be supported on described load-transfer device with below, described reducing motor is electrically connected with described controller.
3. pallet-free robot palletizing system according to claim 2, it is characterized in that: on described driven roller and described modified roller and/or described carrying roller, sprocket wheel is installed, the chain be in transmission connection with the described sprocket engagement of described driven roller and described modified roller and/or described carrying roller is installed inside described load-transfer device.
4. pallet-free robot palletizing system according to claim 3, it is characterized in that: on described driving chain roller and described turnabout roller and/or described carrying roller, be separately installed with two the above sprocket wheels, inside described load-transfer device, correspondence is provided with two the above chains.
5. pallet-free robot palletizing system according to claim 1, it is characterized in that: on the transportation work face of described load-transfer device, equidistant being provided with organizes described Pig anchor fitting more, often organize described Pig anchor fitting to comprise four Pigs and tie up button, four described Pigs tie up the both sides symmetrical installation two respectively in the transportation work face being buckled in described load-transfer device, and four described Pigs are tied up the distance between button and arranged according to the size of Pig size.
6. pallet-free robot palletizing system according to claim 5, is characterized in that: equidistantly on described load-transfer device be provided with Pig anchor fitting described in five groups.
7. pallet-free robot palletizing system according to claim 1, is characterized in that: in the frame of described pocket conveyer and described stacking conveyer end, be provided with sensor, described sensor is electrically connected with described controller.
8. pallet-free robot palletizing system according to claim 1, is characterized in that: described load-transfer device be annular plug into rubber tape or plate combination connecting band.
9. pallet-free robot palletizing system according to claim 1, is characterized in that: be provided with on the side going out buttress end of described stacking conveyer and hang Pig service platform.
10. pallet-free robot palletizing system according to claim 1, is characterized in that: in the outside of the swinging radius of described robot palletizer arm, the outside of described pocket conveyer and described stacking conveyer is provided with guard rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510541407.XA CN105151815A (en) | 2015-08-28 | 2015-08-28 | Tray-free robot stacking system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510541407.XA CN105151815A (en) | 2015-08-28 | 2015-08-28 | Tray-free robot stacking system |
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| CN105151815A true CN105151815A (en) | 2015-12-16 |
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| CN201510541407.XA Pending CN105151815A (en) | 2015-08-28 | 2015-08-28 | Tray-free robot stacking system |
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Cited By (4)
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| CN105619880A (en) * | 2016-03-17 | 2016-06-01 | 江苏万乐复合材料有限公司 | Paper-plastic compound bag production line with stacking robot |
| CN105692193A (en) * | 2016-03-31 | 2016-06-22 | 淄博鸿创机器人科技有限公司 | Intelligent finished product assembly line for aluminum alloy bars |
| CN108438881A (en) * | 2018-04-27 | 2018-08-24 | 广东溢达纺织有限公司 | Row's flower barrel-clamping device |
| CN109019050A (en) * | 2018-08-03 | 2018-12-18 | 泸州品创科技有限公司 | A kind of fresh curved billet automation code-disc system of white wine yeast |
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| CN109019050B (en) * | 2018-08-03 | 2024-06-04 | 泸州品创科技有限公司 | Automatic code disc system for fresh yeast blank of Daqu liquor |
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Application publication date: 20151216 |