CN108688873A - A kind of tank body boxing apparatus and automatic boxing method - Google Patents
A kind of tank body boxing apparatus and automatic boxing method Download PDFInfo
- Publication number
- CN108688873A CN108688873A CN201810724405.8A CN201810724405A CN108688873A CN 108688873 A CN108688873 A CN 108688873A CN 201810724405 A CN201810724405 A CN 201810724405A CN 108688873 A CN108688873 A CN 108688873A
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- China
- Prior art keywords
- tank body
- cylinder
- limit
- conveyer belt
- limited post
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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
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/44—Arranging and feeding articles in groups by endless belts or chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
- B65B35/38—Arranging and feeding articles in groups by grippers by suction-operated 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
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
- B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of 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
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/20—Applications of counting devices for controlling the feed of articles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Container Filling Or Packaging Operations (AREA)
Abstract
The present invention relates to a kind of tank body boxing apparatus and automatic boxing methods.Tank body boxing apparatus of the present invention, including:Conveying mechanism, limitation transfer device, position-limit mechanism, conveying robot and controller;The conveying mechanism includes conveyer belt and the postive stop baffle in the conveyer belt both sides is arranged;The limitation transfer device includes the first cylinder, the second cylinder, third cylinder, the 4th cylinder, the first block, the second block and position-limited rack;The position-limit mechanism includes support plate, multiple limited posts, lifting assembly and synchronous rotary mechanism;The conveying robot includes a multi-joint manipulator and a graping chaw;The graping chaw is connected to the top of the multi-joint manipulator.The tank body boxing apparatus of the present invention can be accurately finished quantitative conveying, and whole process automatically completes.
Description
Technical field
The present invention relates to transport and processing methods, more particularly to a kind of tank body boxing apparatus and automatic boxing method.
Background technology
Automotive lacquer tank is a kind of tubular tank body, in the packaging and vanning technique of spray paint can, it is necessary to every time
In the tank body to carton for capturing fixed quantity.Existing crawl structure is connected to by conveyer belt, and sensor is arranged on a moving belt
Quantity for incuding tank body, when reading the tank body of specified quantity, controller will control conveyer belt stop motion, then
It captures structure and carries tank body.Although existing spray paint can boxing apparatus realizes automated production, but this device is conveying
When, it needs repeatedly to stop the conveyer belt start-stop in movement;And during conveying, surveyed simply by the induction of sensor
Number, quantity statistics are often inaccurate, the inaccuracy for tank body quantity of casing in transmit process on earth.Repeatedly starting and stopping conveyer belt, to passing
The motor of band is sent to be affected, and existing device tank body packing number is not accurate enough so that vanning qualification rate is not high.Also
Tank body mode of movement be to be pushed in carton in Integer push rod by first limiting the quantity to count, this mode often influences positioning accurate
Degree.
Invention content
Based on this, the object of the present invention is to provide a kind of tank body boxing apparatus and automatic boxing methods, have automatic
Limitation completes the advantages of tank body vanning.
A kind of tank body boxing apparatus, including conveying mechanism, limitation transfer device, position-limit mechanism, conveying robot and control
Device processed;
The conveying mechanism includes counter, conveyer belt and is arranged postive stop baffle in the conveyer belt both sides;The meter
Number device is arranged on the conveyer belt and for counting the tank body quantity conveyed from conveyer belt, the counter and the control
Device is electrically connected;
The limitation transfer device includes the first cylinder, the second cylinder, third cylinder, the 4th cylinder, the first block, second
Block and position-limited rack, first cylinder are arranged in the side of the upstream of the conveyer belt, and first block is connected to institute
On the piston rod for stating the first cylinder, and advance as initiating terminal blocking tank body;Second cylinder is arranged in the conveyer belt
The side in downstream, second block are connected on the piston rod of second cylinder, and as destination terminal stop tank body before
Into;The third cylinder is connected to the conveying downstream of the conveyer belt and close to described secondly cylinder, the 4th cylinder are fixed
On the third cylinder, the position-limited rack is formed with the limiting slot of a receiving tank body and is fixed on the 4th cylinder;Institute
Third cylinder is stated to push the 4th cylinder transverse movement and then push the limiting slot transverse movement;
The position-limit mechanism includes that support plate, multiple limited posts, lifting assembly, synchronous rotary mechanism and two are infrared fixed
Position probe, the support plate are fixed in the stroke range by the conveyer belt and positioned at the position-limited rack, multiple limits
Column runs through the support plate, and the lifting assembly connect with the limited post and the limited post is driven to lift, and the synchronization turns
Motivation structure connect with the limited post and multiple limited posts is pushed to rotate synchronously;Multiple limited posts are in multiple row parallel
Arrangement, the rectangular tank body in the limited post besieged city one of arbitrary neighborhood four limit space;The infrared positioning probe is arranged in institute
It states in support plate, and the probing light of two infrared positioning probes transmittings is parallel and positioned at the outer of the two row limited posts
Side, the infrared positioning probe are used for the placement position of detection sensor tank body;
The conveying robot includes a multi-joint manipulator and a graping chaw;The graping chaw is connected to described more
The top of joint Manipulator;
The conveyer belt, first cylinder, second cylinder, the third cylinder, the 4th cylinder, the liter
Come down to a lower group part, the synchronous rotary mechanism, the multi-joint manipulator and the graping chaw is electrically connected with the controller,
And controller controls their movement.
Further, further include a buffer gear, which is arranged the stroke range by the conveying robot
It is interior;
The buffer gear includes that holder, limit elevating mechanism and limit orifice plate, the limit elevating mechanism are connected to
On the holder and drive the lifting for limiting orifice plate.Tank body is piled up by permutation on buffer gear, is then piled up and is completed one
Entirety is carried out after layer again to land into carton, is thus more conducive to the neat of vanning.During buffering landing, tank body is located always
In vertical state, limit orifice plate has preferable limit conveying effect under the action of limiting elevating mechanism to tank body.
Further, the limit elevating mechanism includes multiple lifting cylinders and down fixing rack, the lifting cylinder
Vertical to fix on the bracket, the down fixing rack is connected on the lifting cylinder, and the limit orifice plate is fixed on institute
It states on down fixing rack, and pushes the down fixing rack to lift by the lifting cylinder, and then drive the limit orifice plate liter
Drop;The lifting cylinder is electrically connected with the controller.
Further, the graping chaw includes a paw support element, folding gripper assembly and multiple vacuum cups, institute
It states paw support element to be connected on the multi-joint manipulator, the logical of multiple receiving tank bodies is provided on the paw support element
Hole, the folding gripper assembly include that an actuator and at least one set of clip-on clamping plate, the actuator drive described in two
The folding of the folding of clamping plate, two clip-on clamping plates folds up the tank body on the through-hole, and the vacuum cup is solid
It is scheduled on the paw support element and sucks the tank body on through-hole;The vacuum cup is connect with a vacuum system;The folding
Gripper assembly and the vacuum cup are electrically connected with the controller.Not only permutation captures tank body to graping chaw, but also is grabbing
It takes when tank body by clamping and adsorbing two ways cooperation crawl so that more firm when capturing tank body.
Further, including two conveying mechanisms and two limitation transfer devices, two limits transfers
Mechanism is symmetrical arranged, and each limit transfer device is connect with a conveying mechanism.
Further, the position-limit mechanism includes limited post described at least three rows, and often the capable limited post is seven;
In the limited post described in three rows, middle row is fixed in the support plate.
Further, the limiting slot of the position-limited rack can accommodate six tank bodies.Six tank bodies one arrange, and such structure is set
Set is to coordinate the size of carton.
Further, the through-hole there are six being opened up on the paw support element.
Using a kind of automatic boxing method of tank body boxing apparatus described above, include the following steps:
S1, the one tank body boxing apparatus of setting, multiple tank bodies are placed one by one and are conveyed successively on the conveyor belt, when first
A tank body reaches at counter, and counter starts counting up;
S2, often from counter by six tank bodies, controller controls the first cylinder and the first block is pushed to stretch out, will be follow-up
Tank body blocking, then controller control the second cylinder and withdraw, six tank bodies being located in position-limited rack continue to convey it is a bit of away from
From;
S3, controller control third cylinder push the 4th cylinder and position-limited rack movement, and tank body are pushed to support plate
On;
S4, position judgment is completed on the supporting plate, until tank body is placed at normal place;
S5, limited post drive tank body rotation, and until jet pipe is attached on limited post, limited post stops operating;
Tank body is captured and is placed on buffer gear by S6, conveying robot, every time crawl 12, and is captured twice;
S7, tank body enter after landing on buffer gear in carton.
Further, in step s 4, the position judgment is specially:
If tank body is located at the position between two infrared positioning probes, two infrared positioning probes are all not received by return
Light or the return object distance that detects be more than L, then tank body is placed on normal place;
If tank body blocks the light of one of them infrared positioning probe, return that any infrared positioning probe receives
Object distance is less than L, then tank body placement location needs to adjust;The limitation transfer device of controller control at this time pushes tank body and adjusts
The position of tank body, until tank body is at normal place;
Wherein, L is the sum of the diameter of six tank bodies.
The advantageous effect of the present invention compared to the prior art:
Compared with the existing technology, tank body boxing apparatus of the invention can be accurately finished quantitative conveying, and whole process is certainly
Dynamicization is completed.The device of the invention first carries out the quantity of tank body accurately to limit judgement, ensure that defeated every time compared with the prior art
Quantity is to determine when tank sending body;And when stacking tank body, tank body quantity is to determine, to ensure that tank body
The quantity for carrying out carton is also accurate.Also tank body is rotated before vanning, during this rotation, ensure that
The position of jet pipe is located at limited post, this position put convenient for tank body vanning when jet pipe will not be by carton or other tanks
Body top to and be detached from, be attached on tank body always to jet pipe.
In order to better understand and implement, the invention will now be described in detail with reference to the accompanying drawings.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the tank body boxing apparatus of the present invention;
Fig. 2 is the vertical view of the tank body boxing apparatus of the present invention;
Fig. 3 is the schematic diagram that tank body is accurately placed in tank body restriction space;
Fig. 4 is the schematic diagram that tank body dislocation is placed in tank body restriction space.
Specific implementation mode
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", " hard straight ", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as pair
The limitation of the present invention.In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more.
Such as Fig. 1 and Fig. 2, a kind of tank body boxing apparatus of the invention, including conveying mechanism 10, limitation transfer device 20, limit
Position mechanism 30, conveying robot 40, buffer gear 50 and controller.
The conveying mechanism 10 includes counter (not shown), conveyer belt 11 and is arranged limit in 11 both sides of the conveyer belt
Position baffle 12;The counter is arranged on the conveyer belt 11 and for counting the tank body quantity conveyed from conveyer belt 11,
The counter is electrically connected with the controller.In the present embodiment, counter is arranged in the limitation transfer device
Near initiating terminal, after often counting the passing through of six tank bodies, by the signal transduction to controller.
The limitation transfer device 20 includes the first cylinder 21, the second cylinder 22, third cylinder 23, the 4th cylinder 24, the
One block 25, the second block 26 and position-limited rack 27, first cylinder 21 are arranged in the side of the upstream of the conveyer belt 11,
First block 25 is connected on the piston rod of first cylinder 21, and is advanced as initiating terminal blocking tank body;Described
Two cylinders 22 are arranged in the side in the downstream of the conveyer belt 11, and second block 26 is connected to the work of second cylinder 22
On stopper rod, and as the advance of destination terminal blocking tank body.The third cylinder 23 is connected to the conveying downstream of the conveyer belt 11
And close to described secondly cylinder, the 4th cylinder 24 are fixed on the third cylinder 23, the position-limited rack 27 is formed with one
It accommodates the limiting slot of tank body and is fixed on the 4th cylinder 24;The third cylinder 23 pushes the 4th cylinder 24 laterally
It moves and then pushes the limiting slot transverse movement.Under feed status, the withdrawal of the first block 25 is passed through with putting tank body, the second block
26 stretch out to stop that tank body, tank body advance under the drive of conveyer belt 11, pass through at the first block 25 one by one, then most previous
The tank body of conveying can abut to the second block 26, and the second block 26 is slightly protruded compared with the limiting slot of position-limited rack 27.When counter or
Encoder reads six tank bodies when being transported in the limiting slot of position-limited rack 27, and the first cylinder 21 pushes the first block 25 to stretch out,
Subsequent tank body is stopped.Then the second block 26 is withdrawn, at this time the traffic direction of the bearing surface of the second block 26 to limiting slot
End also have a distance, six tank bodies continuation are slightly advanced a distance under the conveying of conveyer belt 11.Later, third gas
Cylinder 23 pushes the 4th cylinder 24 to promotion at position-limit mechanism 30, and six tank bodies of permutation are shifted onto on position-limit mechanism 30.Second gear
Block 26 is protruded compared with limiting slot, that is, is being conveyed close to the tank body of the first block 25 for the 6th last tank body in this way
When, six tank bodies will not be limited baffle 12 and block all in the stroke space of limiting slot, in order to better
Convey tank body.
The position-limit mechanism 30 includes support plate 31, multiple limited posts 32, lifting assembly (not shown), synchronous rotary mechanism
(not shown) and two infrared positioning probes, the support plate 31 are fixed on 11 side of the conveyer belt and are located at the position-limited rack
In 27 stroke range, multiple limited posts 32 run through the support plate 31, and the lifting assembly connects with the limited post 32
It connects and the limited post 32 is driven to lift, the synchronous rotary mechanism connect with the limited post 32 and pushes multiple limits
Column 32 rotates synchronously.Multiple limited posts 32 in multiple row parallel arrangement, four besieged cities of the limited posts 32 one of arbitrary neighborhood
Rectangular tank body limits space.Jet pipe is posted on cylindrical tank body, jet pipe is a common clinker tubule.Since jet pipe is
It is pasted onto on the outer wall of tank body by paster, if there is hard object top is to one end of jet pipe, or is expressed to jet pipe, just having can
Jet pipe can be caused to fall off from tank body.And in the present invention, tank body is transported to the fire on position-limit mechanism 30, first in support plate 31
Place, then limited post 32 rises under the driving of lifting assembly, and four limited posts 32 limit the position of a tank body, then this
The tank body that four limited posts 32 are formed limits space and surrounds tank body, and preferably, four limited posts 32 resist the side wall of tank body.
Synchronous rotary mechanism drives limited post 32 to rotate later, and the rotation of limited post 32 drives tank body rotation, when the jet pipe rotation on tank body
To when being connected on any limited post 32, this resistance is more than the power of driving tank body rotation, so tank body can stop operating.It is logical
Often, abutting column drives the angle of tank body rotation to be not more than 180 °, and the angle of unimpeded tank body rotation is less than 90 °.In this way, complete
When at the carrying and stacking of the tank body of rotation in carton, jet pipe would not push up carton or other tank bodies.
Two infrared positioning probes are arranged in the support plate, and two infrared positioning probes transmittings
Probing light is parallel and positioned at the outside of the two row limited posts, and the infrared positioning probe is put for detection sensor tank body
Position.
Such as Fig. 3, the position-limit mechanism 30 further includes two infrared positioning probes, the respectively first infrared positioning probe
33 and the second infrared positioning probe 34, the probing light of two infrared positioning probes transmittings be mutually parallel, standard puts position
When setting, six tank bodies are put on the supporting plate in straight line.The probing light and six of first infrared positioning probe 33 transmitting
A tank body is tangent, and the probing light of the second infrared positioning probe 34 transmitting is also tangent with six tank bodies.Two infrared positioning
Probe is respectively provided at the limited post of the leftmost side in the example shown.Such as Fig. 4, tank body at this time is not pushed to limited post accurately and is formed
Tank body limit in space, probing light will be blocked, and probing light cannot be all the way through six tank bodies and after resuming at this time
It is defeated, a signal will be returned to infrared positioning probe, and conduct to controller.It is assumed that the sum of diameter of six tank bodies is L, then
The distance of any return received in first infrared positioning probe 33 and the second infrared positioning probe 34 is less than L, illustrates to visit
It is not tangent with tank body to survey light, further illustrates tank body and does not put normal place, to illustrate to need to tank body
Placement position needs to adjust.When needing to adjust tank body position, third cylinder pushes the 4th cylinder moving, the 4th cylinder to drive limit
Position frame movement pushes tank body to normal place shown in Fig. 3 by the side lever of position-limited rack.At this point, any infrared positioning probe connects
The return signal received is all higher than L, illustrates tank body to be respectively positioned at normal place and puts.
In two row limited posts as shown in Figure 3, wherein one is classified as not liftable but rotary, another row can both rise
Drop can also rotate.When tank body placement position positions, non-rotatable row limited post is used for the positioning of tank body, and can
The limited post of one row of rotation is completed to be accurately positioned.If tank body, under Fig. 4 states, one row limited post of liftable rises, Jiu Huiding
To tank body, or even the inclined tank body in top so that can not accurately complete the positioning and rotation of tank body.Therefore, when tank body is in shown in Fig. 3
Under state, the limited post that liftable one arranges just rises under the driving of lifting assembly, by tank body accurate limit.
The conveying robot 40 includes a multi-joint manipulator 41 and a graping chaw 42;The graping chaw 42 connects
On the top of the multi-joint manipulator 41.
The graping chaw 42 includes a paw support element (not shown), folding gripper assembly (not shown) and multiple true
Suction disk (not shown), the paw support element are connected on the multi-joint manipulator 41, are opened on the paw support element
It includes an actuator (not shown) and at least one set of clip-on folder to have multiple through-holes for accommodating tank body, the folding gripper assembly
Plate (not shown), the actuator drive the folding of two clamping plates, and the folding of two clip-on clamping plates will be described logical
Tank body on hole is folded up, and the vacuum cup is fixed on the paw support element and sucks the tank body on through-hole.It is described
Vacuum cup is connect with a vacuum system;The folding gripper assembly and the vacuum cup are electrically connected with the controller.
The buffer gear 50 is arranged in the stroke range on 40 side of the conveying robot;The buffer gear 50 includes branch
Frame 51, limit elevating mechanism and limit orifice plate 52, the limit elevating mechanism are connected on the holder 51 and described in driving
Limit the lifting of orifice plate 52.The buffer gear 50 further includes a pre-determined bit plate 55, which is arranged in the holder
51 top, and the tank body for being captured to conveying robot 40 is pre-positioned.The buffer gear 50 further includes multiple leads
To column 56, which is fixed on the holder 51, and the down fixing rack 54 runs through the guide post 56, and is being oriented to
The vertical direction of the restriction of column 56 moves.24 through-holes are offered on the pre-determined bit plate 55, these through-holes are to tank body
Position be defined.It is additionally provided with open-and-close mechanism, which includes the plate of two guide rails and two pieces of opposite foldings, guide rail
It is fixed on limit orifice plate 52 or on limit elevating mechanism.This two boards is connected on one guide rail, and controller control is led
The movement of rail, to realize that the opposite of two boards is opened and closed.It is pre-positioned on plate 55 when two row tank bodies are placed on, and through limit
The through-hole of orifice plate 52 is supported by the plate of open-and-close mechanism, and the tank body of lower two row is then waited for be placed on the plate of open-and-close mechanism.When
24 tank bodies, which are placed, to be completed, and open-and-close mechanism opening enables tank body to be fallen in carton from about 50 buffer gear.
The limit elevating mechanism includes multiple lifting cylinders 53 and down fixing rack 54, and the lifting cylinder 53 is vertical
It is fixed on the holder 51, the down fixing rack 54 is connected on the lifting cylinder 53, and the limit orifice plate 52 is fixed
The down fixing rack 54 is pushed to lift on the down fixing rack 54, and by the lifting cylinder 53, and then described in drive
Orifice plate 52 is limited to lift;The lifting cylinder 53 is electrically connected with the controller.
The conveyer belt 11, first cylinder 21, second cylinder 22, the third cylinder 23, the 4th gas
Cylinder 24, the lifting assembly, the synchronous rotary mechanism, the multi-joint manipulator 41 and the graping chaw 42 are and institute
Controller electrical connection is stated, and controller controls their movement.
Preferably, including two conveying mechanisms 10 and two limitation transfer devices 20, two limits turn
Telephone-moving structure is symmetrical arranged, and each limit transfer device is connect with a conveying mechanism 10.
Preferably, the position-limit mechanism 30 includes limited post 32 described at least three rows, and often the capable limited post 32 is
Seven;In the limited post 32 described in three rows, middle row is fixed in the support plate 31.In the present embodiment, the limit
Mechanism 30 includes three row limited posts 32, often seven limited posts 32 of row.Middle row is not lifted with lifting assembly, but can be with
The rotation of synchronous rotary mechanism.Middle row limited post 32 plays the role of positioning and stops tank body, and the limited post on both sides
32 drop to support plate when tank body is conveyed into support plate 31 31 times, in tank body is placed into support plate 31 and is connected to
Between a line limited post 32 on, the limited post 32 on both sides, which just rises, to be come and together limits tank body with middle row limited post 32.
The limiting slot of the position-limited rack 27 can accommodate six tank bodies;It is opened up on the paw support element there are six described in
Through-hole.
A kind of automatic boxing method using tank body boxing apparatus described above of the present invention, includes the following steps:
S1, the one tank body boxing apparatus of setting, multiple tank bodies are placed one by one and are conveyed successively on the conveyor belt, when first
A tank body reaches at counter, and counter starts counting up;
S2, often from counter by six tank bodies, controller controls the first cylinder and the first block is pushed to stretch out, will be follow-up
Tank body blocking, then controller control the second cylinder and withdraw, six tank bodies being located in position-limited rack continue to convey it is a bit of away from
From;
S3, controller control third cylinder push the 4th cylinder and position-limited rack movement, and tank body are pushed to support plate
On;
S4, position judgment is completed on the supporting plate, until tank body is placed at normal place;
S5, limited post drive tank body rotation, and until jet pipe is attached on limited post, limited post stops operating;
Tank body is captured and is placed on buffer gear by S6, conveying robot, every time crawl 12, and is captured twice;
S7, tank body enter after landing on buffer gear in carton.
Further, in step s 4, the position judgment is specially:
If tank body is located at the position between two infrared positioning probes, two infrared positioning probes are all not received by return
Light or the return object distance that detects be more than L, then tank body is placed on normal place;
If tank body blocks the light of one of them infrared positioning probe, return that any infrared positioning probe receives
Object distance is less than L, then tank body placement location needs to adjust;The limitation transfer device of controller control at this time pushes tank body and adjusts
The position of tank body, until tank body is at normal place;
Wherein, L is the sum of the diameter of six tank bodies.
The operation principle of the present invention:
Tank body conveys one by one on conveyer belt 11, and advances under the restriction of postive stop baffle 12.When first tank body reaches
At first block, counter starts technology and is conducted to controller, at six tank bodies are by the first block, controller control
First cylinder 21 pushes the first block to stop that subsequent tank body moves on.Second cylinder 22 by the second block withdraw, tank body after
Continuous advance a small distance.Then third cylinder 23 pushes the tank body of the 4th cylinder 24 transport permutation in support plate 31, in place
Afterwards, the 4th cylinder 24 pushes position-limited rack 27 to rise, and leaves tank body, then third cylinder 23 withdraw and by the 4th cylinder 24 together with
Position-limited rack 27 is withdrawn.Tank body is limited and is stopped by the limited post 32 close to 31 middle part of support plate, and according to above-mentioned localization method
Tank body is put at normal place, then lifting assembly will be close to the row limited post 32 at 31 edge of support plate and raise, this row
Limited post 32 and before blocking tank body limited post 32 tank body is limited together.Later, synchronous rotary mechanism driving is all
Limited post 32 rotate synchronously an angle so that jet pipe is connected on limited post 32, is stopped operating.In the present invention, two it is defeated
Mechanism 10 and two transfer devices 20 of limiting the quantity is sent to work at the same time, only the traffic direction of Liang Ge mechanisms is symmetrical, which adds
The processing capacity of the present apparatus.Multi-joint manipulator 41 drives graping chaw 42, graping chaw 42 to have two row altogether 12 tank bodies
It captures and is sucked, then transfer is transported on buffer gear 50.When having piled up 24 tank bodies on buffer gear 50, lifting
Cylinder 53 drives down fixing rack 54 to decline, and declines together with open-and-close mechanism, until down fixing rack 54 is close or abuts to
The carton of lower section and stop declining.Then the two boards of open-and-close mechanism are opposite opens, and tank body freely falling body carries out in carton, completes
Vanning.Then all parts return to initial position, repeat the vanning that next layer of 24 tank bodies are completed in above-mentioned action, so
It moves in circles.
The tank body boxing apparatus high degree of automation of the present invention, and quantity precise control, the effect of stacking is good, vanning
Yields is high.On the one hand the efficiency for improving this technique of casing, on the other hand also ensures the integrality in binning process
And accuracy rate.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.
Claims (10)
1. a kind of tank body boxing apparatus, it is characterised in that:Including conveying mechanism, limitation transfer device, position-limit mechanism, handling machinery
Hand and controller;
The conveying mechanism includes counter, conveyer belt and is arranged postive stop baffle in the conveyer belt both sides;The counter
It is arranged on the conveyer belt and for counting the tank body quantity conveyed from conveyer belt, the counter and controller electricity
Connection;
The limitation transfer device includes the first cylinder, the second cylinder, third cylinder, the 4th cylinder, the first block, the second block
And position-limited rack, first cylinder are arranged in the side of the upstream of the conveyer belt, first block is connected to described
On the piston rod of one cylinder, and advance as initiating terminal blocking tank body;Second cylinder is arranged in the downstream of the conveyer belt
Side, second block is connected on the piston rod of second cylinder, and stops the advance of tank body as destination terminal;Institute
It states third cylinder and is connected to the conveying downstream of the conveyer belt and close to described secondly cylinder, the 4th cylinder are fixed on described
On third cylinder, the position-limited rack is formed with the limiting slot of a receiving tank body and is fixed on the 4th cylinder;The third
Cylinder pushes the 4th cylinder transverse movement and then pushes the limiting slot transverse movement;
The position-limit mechanism includes that support plate, multiple limited posts, lifting assembly, synchronous rotary mechanism and two infrared positioning are visited
Head, the support plate are fixed in the stroke range by the conveyer belt and positioned at the position-limited rack, and multiple limited posts pass through
The support plate is worn, the lifting assembly connect with the limited post and the limited post is driven to lift, the synchronous rotation machine
Structure connect with the limited post and multiple limited posts is pushed to rotate synchronously;Multiple limited posts in multiple row parallel
Cloth, the rectangular tank body in the limited post besieged city one of arbitrary neighborhood four limit space;The infrared positioning probe is arranged described
In support plate, and the probing light of two infrared positioning probes transmittings is parallel and positioned at the outsides of the two row limited posts,
The infrared positioning probe is used for the placement position of detection sensor tank body;
The conveying robot includes a multi-joint manipulator and a graping chaw;The graping chaw is connected to the multi-joint
The top of manipulator;
The conveyer belt, first cylinder, second cylinder, the third cylinder, the 4th cylinder, the lifting group
Part, the synchronous rotary mechanism, the multi-joint manipulator and the graping chaw are electrically connected with the controller, and
Controller controls their movement.
2. a kind of tank body boxing apparatus according to claim 1, it is characterised in that:Further include a buffer gear, the buffering
Mechanism is arranged in the stroke range by the conveying robot;
The buffer gear includes that holder, limit elevating mechanism and limit orifice plate, the limit elevating mechanism are connected to described
On holder and drive the lifting for limiting orifice plate.
3. a kind of tank body boxing apparatus according to claim 2, it is characterised in that:The limit elevating mechanism includes multiple
Lifting cylinder and down fixing rack, the lifting cylinder are vertically fixed on the bracket, and the down fixing rack is connected to
On the lifting cylinder, the limit orifice plate is fixed on the down fixing rack, and pushes the liter by the lifting cylinder
Fixed frame lifting is dropped, and then drives the limit orifice plate lifting;The lifting cylinder is electrically connected with the controller.
4. a kind of tank body boxing apparatus according to claim 3, it is characterised in that:The graping chaw includes a paw branch
Support member, folding gripper assembly and multiple vacuum cups, the paw support element is connected on the multi-joint manipulator, in institute
It states and is provided with multiple through-holes for accommodating tank body on paw support element, the folding gripper assembly includes an actuator and at least one set
Clip-on clamping plate, the actuator drive the folding of two clamping plates, and the folding of two clip-on clamping plates will be described logical
Tank body on hole is folded up, and the vacuum cup is fixed on the paw support element and sucks the tank body on through-hole;It is described
Vacuum cup is connect with a vacuum system;The folding gripper assembly and the vacuum cup are electrically connected with the controller.
5. a kind of tank body boxing apparatus according to claim 4, it is characterised in that:Including two conveying mechanisms and two
A limitation transfer device, two limit transfer devices are symmetrical arranged, and each limit transfer device and an institute
State conveying mechanism connection.
6. a kind of tank body boxing apparatus according to claim 5, it is characterised in that:The position-limit mechanism includes at least three rows
The limited post, and often the capable limited post is seven;In the limited post described in three rows, middle row is fixed on the support
On plate.
7. a kind of tank body boxing apparatus according to claim 6, it is characterised in that:The limiting slot of the position-limited rack can hold
Receive six tank bodies.
8. a kind of tank body boxing apparatus according to claim 6, it is characterised in that:It is offered on the paw support element
Six through-holes.
9. using a kind of automatic boxing method of the tank body boxing apparatus described in claim 6, it is characterised in that:Including walking as follows
Suddenly,
S1, the one tank body boxing apparatus of setting, multiple tank bodies are placed one by one and are conveyed successively on the conveyor belt, when first tank
Body reaches at counter, and counter starts counting up;
S2, often pass through six tank bodies, controller control the first cylinder promotion the first block stretching, by subsequent tank from counter
Body stops that then controller controls the second cylinder and withdraws, and six tank bodies being located in position-limited rack continue to convey a small distance;
S3, controller control third cylinder push the 4th cylinder and position-limited rack movement, and tank body are pushed in support plate;
S4, position judgment is completed on the supporting plate, until tank body is placed at normal place;
S5, limited post drive tank body rotation, and until jet pipe is attached on limited post, limited post stops operating;
Tank body is captured and is placed on buffer gear by S6, conveying robot, every time crawl 12, and is captured twice;
S7, tank body enter after landing on buffer gear in carton.
10. a kind of automatic boxing method according to claim 9, which is characterized in that in step s 4, the position judgment
Specially:
If tank body is located at the position between two infrared positioning probes, two infrared positioning probes are all not received by the light of return
Line or the return object distance detected are more than L, then tank body is placed on normal place;
If tank body blocks the light of one of them infrared positioning probe, the object for the return that any infrared positioning probe receives
Distance is less than L, then tank body placement location needs to adjust;The limitation transfer device of controller control at this time pushes tank body and adjusts tank body
Position, until tank body is at normal place;
Wherein, L is the sum of the diameter of six tank bodies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810724405.8A CN108688873B (en) | 2018-07-04 | 2018-07-04 | Tank boxing device and automatic boxing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810724405.8A CN108688873B (en) | 2018-07-04 | 2018-07-04 | Tank boxing device and automatic boxing method |
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| Publication Number | Publication Date |
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| CN108688873A true CN108688873A (en) | 2018-10-23 |
| CN108688873B CN108688873B (en) | 2020-01-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810724405.8A Active CN108688873B (en) | 2018-07-04 | 2018-07-04 | Tank boxing device and automatic boxing method |
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| CN (1) | CN108688873B (en) |
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Also Published As
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| CN108688873B (en) | 2020-01-17 |
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