CN110481909A - A kind of robot packaging palletizing system and application method - Google Patents
A kind of robot packaging palletizing system and application method Download PDFInfo
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- CN110481909A CN110481909A CN201910724786.4A CN201910724786A CN110481909A CN 110481909 A CN110481909 A CN 110481909A CN 201910724786 A CN201910724786 A CN 201910724786A CN 110481909 A CN110481909 A CN 110481909A
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- weighing
- packaging bag
- hoistable platform
- gear
- robot
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- 238000004806 packaging method and process Methods 0.000 title claims abstract description 116
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000005303 weighing Methods 0.000 claims abstract description 99
- 230000005540 biological transmission Effects 0.000 claims abstract description 70
- 238000005086 pumping Methods 0.000 claims abstract description 48
- 239000000463 material Substances 0.000 claims abstract description 42
- 238000012856 packing Methods 0.000 claims abstract description 25
- 230000000712 assembly Effects 0.000 claims description 13
- 238000000429 assembly Methods 0.000 claims description 13
- 230000001105 regulatory effect Effects 0.000 claims description 12
- 238000013016 damping Methods 0.000 claims description 11
- 230000006835 compression Effects 0.000 claims description 10
- 238000007906 compression Methods 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 3
- 230000032258 transport Effects 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 2
- 230000035939 shock Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 238000004804 winding Methods 0.000 claims 1
- 238000009825 accumulation Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
- B65B57/12—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of wrapping materials, containers, or packages
-
- 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
- B65B63/00—Auxiliary devices, not otherwise provided for, for operating on articles or materials to be packaged
- B65B63/02—Auxiliary devices, not otherwise provided for, for operating on articles or materials to be packaged for compressing or compacting articles or materials prior to wrapping or insertion in containers or receptacles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0238—Bags
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
- Auxiliary Devices For And Details Of Packaging Control (AREA)
Abstract
The invention discloses a kind of robot packaging palletizing system and application methods, including packing machine, cargo jack, weighing conveying device, robot palletizer and jam-packed machine；Weighing conveying device is located on the right side of cargo jack, and on the right side of weighing conveying device, jam-packed machine is arranged on rear side of robot palletizer for robot palletizer setting, and downside is equipped with transmission device；Cargo jack includes braced frame, briquetting component and vibration conveying device, and braced frame is erected in vibration conveying device, and the transmission component in briquetting component drives pushing component to carry out rotation briquetting；Jam-packed machine includes lifting device, pumping board device and pushing device；Hoistable platform in lifting device is slided up and down by lifting assembly to be arranged on lifting frame, and driving assembly controls support plate and moves left and right relatively on hoistable platform.Robot packs palletizing system and application method, compact layout, not only realizes and manages material and compacting to packaging bag, avoids accumulation of the material in packaging bag, and more compact, weighs more accurate.
Description
Technical field
The present invention relates to packaging stacking fields, and in particular to a kind of robot packaging palletizing system and application method.
Background technique
Industrial robot palletizer system is applied to every field, and robot palletizer system can be by robot by object
Material is carried, is shifted, being packed, such as: plastic box, packaging bag, the stacking of packing case, bottle class, present client is for stacking
The increasingly diversification of robot demand.
In existing quantitative package palletizing system, the occasion high to stacking shape requirement uses mechanical high-low position stacking
Equipment carries out stacking to packaged material, and high-low position Palletizer occupied space is big, online weighing is not accurate, robot
The stacking shape of stacking can not meet demanding occasion again, and in addition such Palletizer easily causes packet during transportation
The bale broken of dress, and to reduce crawl fault rate, robot palletizer often uses mechanical gripper, when manipulator grabs stacking,
Packaged storeroom is commonly present certain interval, will affect subsequent entire package in this way, and occupied space when stacking is more.
Summary of the invention
The present invention provides a kind of robot packaging palletizing system, and compact layout is not only realized and manages material and compacting to packaging bag,
Accumulation of the material in packaging bag is avoided, gas is facilitated to be discharged, and is more compact when realization stacking, occupied space is few, weighing
It is more accurate.
To achieve the above object, a kind of this robot packaging palletizing system includes packing machine, cargo jack, weighing conveying dress
It sets, robot palletizer and jam-packed machine；
The left side of cargo jack is arranged in the packing machine, and weighing conveying device is located on the right side of cargo jack, and robot palletizer is set
It sets on the right side of weighing conveying device, jam-packed machine is arranged on rear side of robot palletizer, and downside is equipped with transmission device；
The left of transmission device is equipped with empty tray conveyor；
The cargo jack includes braced frame, briquetting component and vibration conveying device, and vibration conveying device is located at packing machine
Output, braced frame be erected at vibration conveying device on, briquetting component includes transmission component and connect with transmission component
Pushing component, transmission component drive push component carry out rotation briquetting；
The jam-packed machine includes lifting device, pumping board device and pushing device；The lifting device include lifting frame and
The hoistable platform being arranged on lifting frame is slided up and down by lifting assembly, pumping board device is a pair, and is symmetrical set
On hoistable platform, every group of pumping board device includes driving assembly and support plate, and driving assembly control support plate passes through slide assemblies
It is opposite on hoistable platform to move left and right,
The pushing device is multiple, and surrounds the top that support plate is arranged in.
Further, the transmission component of the cargo jack includes transmission shaft, master gear, first from gear and second from tooth
Wheel, the pushings component include pressure plate, reason material roller cylinder and compacting roller, and pressure plate is a pair of, left and right settings and adjacent
One end is rotatably installed on transmission shaft, and transmission shaft rotation is erected in braced frame, the reason material roller cylinder and compacting roller or so
Correspondence is rotatably installed on a pair of of pressure plate, and master gear is arranged on transmission shaft, and first is arranged on resonable roller tube from gear, the
For the setting of two gears on compacting roller, first engages connection from gear from gear and second with master gear respectively；
The vibration conveying device is equipped with the backing drum of multiple rotational installations, and backing drum uses square structure；
Further, the briquetting component of the cargo jack further includes regulating device, and the regulating device is a pair, and or so
It is arranged between a pair of of pressure plate and braced frame, every group of regulating device includes compressor arm, compressed spring and compression axis；The pressure
Screw thread is connect with fixed support base on the support frame in the middle part of tight bar, lower part slides up and down on fixed frame, the fixed frame
It is rotatablely connected with the compression axis that is mounted on pressure plate, the compressed spring is sleeved on compressor arm lower part, in one end and compressor arm
Portion's contact, the other end are contacted with fixed frame.
Further, the driving component includes pumping board driver, pumping board gear and rack gear；The pumping board driver setting
On hoistable platform, output end be fixedly connected with pumping board gear, described rack gear or so is arranged on the supporting plate, and is nibbled with pumping board gear
Close connection.
Further, weigh assembly is equipped between the slide assemblies and hoistable platform, the weigh assembly includes weighing
Plate and weighing sensor, slide assemblies slide on weighing plate, and weighing sensor, weighing are equipped between weighing plate and hoistable platform
Sensor is connect with controller, and controller controls the packaging of packing machine.
Further, the lifting assembly includes lifting frame, lift actuator and transmission component, the lift actuator
Setting is multiple groups in lifting frame upper end, the active axis connection of output end and left and right arrangement, the transmission component, and every group includes master
Driving wheel, driven wheel and transmission belt, driving wheel are fixedly mounted on driving shaft, and driven wheel rotation is erected at lifting frame lower end, are passed
One end is connect dynamic band with hoistable platform upper end, the other end is wound around driving wheel, driven wheel is connect behind outside with hoistable platform lower end.
Further, the weighing conveying device includes weighing conveying assembly, weighing device and weighing chassis, the weighing
Device is mounted between weighing conveying assembly and weighing chassis, and is connect with controller, and controller controls stacking machine device human action,
Weighing conveying assembly is for conveying packaging bag.
Further, the transmission belt and hoistable platform junction are equipped with damping device, and the rack gear is using change gap rack gear.
Further, the push plate device includes push plate, push-tight frame and push-tight driver, and the push-tight frame fixation is set
It sets on hoistable platform, push-tight driver is fixed on push-tight frame, and extension end is fixedly connected with push plate, and multiple push plates are mutual
Inwardly and positioned at the top of pumping board it is arranged.
A kind of robot packaging palletizing system application method, which is characterized in that specifically includes the following steps:
(1) material is sent in the vibration conveying device of cargo jack after packing machine carries out being packaged into packaging bag, is adjusted
Device pushes angle adjustment to reason material roller cylinder and compacting roller, and transmission component rotation drives reason material roller cylinder and compacting roller rotation,
Material and compacting are managed to packaging bag；
(2) packaging bag is transferred to again in weighing conveying device, and the weighing device in conveying device of weighing is online to packaging bag
Weighing, when individual packaging bag meets setting weight, robot palletizer grabs the packaging bag for meeting weight to hoistable platform
A pair of of closure support plate on stacking；When individual packaging bag does not meet setting weight, robot palletizer will not meet weight
Packaging bag is grabbed to bypass；
(3) pallet is placed on empty tray conveyor, empty tray conveyor reaches pallet on transmission device, conveyor belt
Stopping when dynamic pallet is run to the lower section of hoistable platform, when original state, hoistable platform is located at certain altitude, on hoistable platform
Push plate retracts；
When packaging bag is placed on by robot palletizer stacking is at one layer in a pair of of support plate when, the weighing group of support plate lower end
Part weighs to one layer of packaging bag, weighing weight and setting total weight comparison, when not meeting setting total weight, controller adjustment package
The weight of installation packing materials, makes one layer packaging bag meet setting total weight；
When meeting setting total weight, multiple push-tight drivers drive push plate to be clamped fixation to packaging bag respectively, rise
Part of coming down to a lower group drives hoistable platform to move down in lifting frame again, when hoistable platform is moved to above empty pallet or on pallet
When one layer of packaging bag, for damping device to hoistable platform bumper and absorbing shock, the driving assembly on hoistable platform controls a pair of of support plate phase
It mutually opens, push-tight driver drives push plate retracts, and one layer of packaging bag is placed on pallet, and then hoistable platform rises, driving
Component controls a pair of of support plate and is mutually closed, and robot palletizer continues to grab packaging bag to a pair of of support plate, circuits sequentially；
(4) when the packaging bag on pallet reaches setting height or weight, transmission device movement transports loaded pallets,
The lower section that empty pallet is transported to hoistable platform from empty tray conveyor stops, and circuits sequentially.
Compared with prior art, a kind of this robot packaging palletizing system and application method have the advantage that
(1) power is transferred to master gear, first from gear by transmission shaft in transmission component by present invention setting cargo jack
With second from gear, drives reason material roller cylinder and be compacted the rotation of roller, realize to the reason material of packaging bag and compacting, realize packaging bag
Interior material is evenly arranged, and avoids bale broken phenomenon, and the backing drum of square carries out vibration top in fact to packaging bag, avoids in packaging bag
Material bulk deposition；In addition regulating device is set, rotation compressor arm drives under corresponding reason material roller cylinder and compacting roller elasticity
Pressure reaches angle adjustment purpose, prevents leakproofness packaging bag since gas can not be discharged, lead to bale broken phenomenon.
(2) present invention setting weighing conveying device carries out online weighing to the packaging bag passed through by weighing device, and leads to
It crosses controller control robot palletizer to be grabbed, realizes whether automatic identification is qualified, so that packaging bag weight is accurate, and sets
Weigh assembly is set, weighing sensor is equipped between weighing plate and hoistable platform, is weighed to multiple packaging bags for being laid to one layer,
Total weight is adjusted, realizes that the whole weighing of packaging is more accurate.
(3) present invention setting jam-packed machine drives hoistable platform to move up and down on lifting frame by lifting assembly, multiple
Pushing device carries out push-tight clamping to the packaging bag of stacking, the driving assembly of pumping board device drive a pair of of support plate mutually open or
Closure, therefore not only realize that packaging bag to stacking carries out push-tight, prevent from packing between it there are gap it is more compact, and
Realize the automatic stacking to multi-layer packaging bag on pallet, more efficiently.
(4) transmission belt in lifting assembly of the present invention and hoistable platform junction are equipped with damping device, and rack gear is using change gap
Rack gear, therefore effectively carry out damping, buffering to hoistable platform, avoids the unstable of in moving process hoistable platform, and when pair
When multiple packaging bags are weighed, become in gap rack gear and be slightly disengaged from less than standard tooth form part with pumping board gear, so that weighing passes
Sensor is more accurate to packaging bag weighing, and pumping board gear and the engaging stress become between gap rack gear is avoided to generate weighing sensor
Error.
(5) application method of the invention is by handling packaging bag briquetting, vibration, so that material is distributed more in packaging bag
Uniformly, the phenomenon that avoiding bale broken, by weighing conveying device to packaging bag online weighing, controlling robot palletizer automatic distinguishing is
No qualification stacks the automatic push-tight of packaging bag, discharging by jam-packed machine, avoids gap between packaging bag, it is more compact, precisely with
Efficiently.
Detailed description of the invention
Fig. 1 is whole main view of the invention；
Fig. 2 is overall top view of the invention；
Fig. 3 is cargo jack main view of the invention；
Fig. 4 is cargo jack schematic diagram of the invention；
Fig. 5 is cargo jack top view of the invention；
Fig. 6 is the main view of weighing conveying device of the invention；
Fig. 7 is A-A direction schematic diagram of the invention；
Fig. 8 is B-B direction schematic diagram of the invention；
Fig. 9 is pumping board device top view of the invention；
Figure 10 is driving assembly schematic diagram of the invention；
Figure 11 is weigh assembly schematic diagram of the invention；
Figure 12 is slide assemblies schematic diagram of the invention；
Figure 13 is push plate device schematic diagram of the invention；
In figure: 1, packing machine, 2, cargo jack, 21, briquetting device, 22, vibration conveying device, 23, braced frame, 231, pressure
Tight bar, 232, compressed spring, 233, compression axis, 234, fixed frame, 241, transmission shaft, 242, master gear, 243, first from gear,
244, second from gear, 245, reason material roller cylinder, 246, compacting roller, 25, pressure plate, 3, weighing conveying device, 31, weighing conveying
Component, 32, weighing device, 33, weighing chassis, 4, robot palletizer, 5, jam-packed machine, 51, hoistable platform, 52, pumping board device,
521, pumping board driver, 522, rack gear, 523, pumping board gear, 524, support plate, 53, lifting device, 531, lifting frame, 532,
Lift actuator, 533, transmission belt, 534, driven wheel, 535, damping device, 536, driving shaft, 537, driving wheel, 538, lifting
Idler wheel, 54, pushing device, 541, push plate, 542, push-tight frame, 543, push-tight driver, 544, baffle, 55, slide assemblies,
551, support wheel, 552, sliding slot, 56, weigh assembly, 561, weighing sensor, 6, empty tray conveyor, 7, transmission device, 8, support
Disk.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 6, Fig. 7, Fig. 8, Fig. 9, a kind of this robot packaging palletizing system includes packing machine
1, cargo jack 2, weighing conveying device 3, robot palletizer 4 and jam-packed machine 5；
The left side of cargo jack 2 is arranged in the packing machine 1, and weighing conveying device 3 is located at 2 right side of cargo jack, stacking machine
The setting of people 4 is on 3 right side of weighing conveying device, and the setting of jam-packed machine 5 is in 4 rear side of robot palletizer, and downside is equipped with transmission device
7；
The left of transmission device 7 is equipped with empty tray conveyor 6；
The cargo jack 2 includes braced frame 23, briquetting component and vibration conveying device 22, and vibration conveying device 22 is located at
The output of packing machine 1, braced frame 23 be erected at vibration conveying device 22 on, briquetting component include transmission component and with
The pushing component of transmission component connection, transmission component drive pushing component to carry out rotation briquetting；
The jam-packed machine 5 includes lifting device 53, pumping board device 52 and pushing device 54；The lifting device 53 includes rising
It drops frame 531 and slides up and down the hoistable platform 51 being arranged on lifting frame 531 by lifting assembly, pumping board device 52 is one
It is right, and be symmetrical set on hoistable platform 51, every group of pumping board device 52 includes driving assembly and support plate 524, driving group
Part control support plate 524 is moved left and right by the way that slide assemblies 55 are opposite on hoistable platform 51,
The pushing device 54 is multiple, and surrounds the top that support plate 524 is arranged in；
As shown in Figures 3 to 5, further, the transmission component includes transmission shaft 241, master gear 242, first from tooth
For wheel 243 and second from gear 244, the pushing component includes pressure plate 25, reason material roller cylinder 245 and compacting roller 246, pressure plate
25 be a pair, left and right settings and adjacent one end is rotatably installed on transmission shaft 241, and the rotation of transmission shaft 241 is erected at support
On frame 23, the reason material roller cylinder 245 and the compacting correspondence of roller 246 or so are rotatably installed on a pair of of pressure plate 25, master gear
242 are arranged on transmission shaft 241, and first is arranged on resonable roller tube 245 from gear 243, and second gear setting is in compacting roller
On 246, first engages connection with master gear 242 respectively from gear 244 from gear 243 and second；
Backing drum in the vibration conveying device 22 uses square structure；
When carrying out briquetting to packaging bag, power (such as motor) is transferred to transmission shaft 241, and will by transmission shaft 241
Power reaches master gear 242, first from gear 243 and second from gear 244, realizes reason material roller cylinder 245 and compacting roller 246
Rotate in same direction, packaging bag from vibration conveying device 22 pass through, vibration conveying device 22 can use square roller, pass through direction
The rotation of roller forms difference in height, and the effect real to the packaging bag formation vibration top passed through avoids the material in packaging bag a large amount of
Accumulation, while certain shaping is carried out to packaging bag；When packaging bag passes through reason material roller cylinder 245, reason material roller cylinder 245 tentatively will packet
The rough distribution of material in pack, it is ensured that enter be compacted roller when, packaging bag do not have because of in packaging bag gas or
Obvious bulge phenomenon caused by material prevents that bale broken phenomenon can be generated after entering compacting roller 246；When packaging bag enters compression roll
Cylinder 246, compacting roller 246 are flattened packaging bag by roll surface, realize that gas is evenly distributed or is discharged in packaging bag, facilitates weighing
Conveying device 3 carries out weighing and robot palletizer 4 grabs；
As shown in figure 4, further, the briquetting component further includes regulating device, and the regulating device is a pair, and left
Right to be arranged between a pair of of pressure plate 25 and braced frame 23, every group of regulating device includes compressor arm 231,232 and of compressed spring
Compression axis 233；The 231 middle part screw thread of compressor arm is connect with the support base being fixed in braced frame 23, lower part slides up and down
On fixed frame 234, the fixed frame 234 is rotatablely connected with the compression axis 233 being mounted on pressure plate 25, the compressed spring
232 are sleeved on 231 lower part of compressor arm, contact in the middle part of one end and compressor arm 231, the other end is contacted with fixed frame 234；
When carrying out pushing angle adjustment to reason material roller cylinder 245 and compacting roller 246, corresponding compressor arm 231 is rotated, is pressed
Tight bar 231 moves up and down, and makes that compressed spring 232 is driven to push, on the fixed frame 234 that compressed spring 232 acts on elastic force, Gu
Determining frame 234 drives the compression axis 233 on pressure plate 25 to realize the rotation of pressure plate 25, therefore drives corresponding reason material roller cylinder 245
Angle adjustment is pushed with compacting roller 246, prevents leakproofness packaging bag since gas can not be discharged, leads to bale broken phenomenon.
As shown in Figure 10, further, the driving component includes pumping board driver 521, pumping board gear 523 and rack gear
522；The pumping board driver 521 is arranged on hoistable platform 51, output end is fixedly connected with pumping board gear 523, the rack gear 522
Left and right is arranged in support plate 524, and engages connection with pumping board gear 523；
When multiple pushing devices 54 carry out push-tight to packaging bag, start a pair of of 521 common action of pumping board driver, pumping board
Driver 521 can be engaged by pumping board gear 523 with rack gear 522 with motor, and rack gear 522 drives support plate 524 mobile, be realized
The moving left and right on hoistable platform 51 relatively using slide assemblies 55 of support plate 524, i.e., first mutually opened, convenient to packet
Pack is placed on 5 downside transmission device 7 of jam-packed machine, and after the completion of packaging bag is placed, support plate 524 is mutually closed again, so that stacking
Robot 4 continues to be placed on packaging bag between a pair of of support plate 524.
As shown in figure 8, further, the lifting assembly includes lifting frame 531, lift actuator 532 and transmission group
Part, the setting of lift actuator 532 is in 531 upper end of lifting frame, and output end is connect with the driving shaft 536 of left and right arrangement, institute
Stating transmission component is multiple groups, and every group includes driving wheel 537, driven wheel 534 and transmission belt 533, and driving wheel 537 is fixedly mounted on master
On moving axis 536, the rotation of driven wheel 534 is erected at 531 lower end of lifting frame, and 533 one end of transmission belt and 51 upper end of hoistable platform connect
It connects, the other end is wound around driving wheel 537, driven wheel is connect behind 534 outside with 51 lower end of hoistable platform；
When lifting frame 531 is gone up and down, start lift actuator 532, lift actuator 532 can be with servo electricity
Machine drives driving shaft 536 to rotate, and the rotation of driving wheel 537 on driving shaft 536 drives transmission belt 533 to rotate, so that hoistable platform
51 are moved up and down on lifting frame 531 by going up and down idler wheel 538, and are controlled lift actuator 532 and can be connected with controller
It connects, and stroke sensing device is set, the movement of lift actuator 532 is controlled by controller, is more automated, easy of rise is flat
Platform 51 according to the actual situation up and down automatic lifting.
As shown in Fig. 9, Figure 11, further, weigh assembly 56 is equipped between slide assemblies 55 and hoistable platform 51, it is described
Weigh assembly 56 includes weighing plate and weighing sensor 561, and slide assemblies 55 slide on weighing plate, weighing plate and hoistable platform
Weighing sensor 561 is equipped between 51, weighing sensor 561 is connect with controller, and controller controls the packaging of packing machine 1；
When multiple packaging bag stackings are in a pair of of support plate 524, by weighing sensor 561 to the total of one layer of packaging bag
Weight is weighed, and when total weight does not meet setting total weight, controller adjusts the packed weight of packing machine 1, makes one layer
Packaging bag integrally meets setting total weight；
As shown in fig. 6, further, the weighing conveying device 3 includes weighing conveying assembly 31, weighing device 32 and claims
Weight chassis 33, the weighing device 32 is mounted between weighing conveying assembly 31 and weighing chassis 33, and is connect with controller, is controlled
Device control robot palletizer 4 processed acts, and weighing conveying assembly 31 is for conveying packaging bag；
Material is packed by packing machine 1, the weighing section that can be arranged on the controller in advance, when packaging bag is passed through
When conveying device 3 of weighing, online weighing is carried out by weighing device 32, then positions rejected product when exceeding set interval, is controlled
Device processed control robot palletizer 4 acts, and unqualified packaging bag crawl is placed to bypassing, without stacking, and qualified packaging
Band is placed on pumping board device 52 by robot palletizer 4.
As shown in figure 8, further, the transmission belt 533 is equipped with damping device 535, institute with 51 junction of hoistable platform
Rack gear 522 is stated using change gap rack gear；
Damping device 535 can pass through damping device when the mobile stopping of about 51 hoistable platform for elastic buffer
535 effectively carry out damping, buffering to hoistable platform 51, avoid the unstable of in moving process hoistable platform 51；In addition become gap tooth
Item is formed by standard tooth form and less than standard tooth form part, and pumping board gear 523 and change gap rack gear engaged transmission make a pair of of support plate
524 mutually open or close, when support plate 524 slide assemblies 55 effect under be moved on weighing sensor 561, this time-varying gap
It is less than standard tooth form part in rack gear to be slightly disengaged from pumping board gear 523, so that weighing sensor 561 is to support plate 524
Upper packaging bag weighing is more accurate, and the engaging stress for avoiding pumping board gear 523 and becoming between gap rack gear generates weighing sensor 561
Error, after the completion of weighing, become gap rack gear Plays parts of tooth normally engaged with pumping board gear 523 so that support plate 524
It moves left and right more stable.
As shown in figure 12, further, the slide assemblies 55 include the sliding slot 552 that left and right is arranged on hoistable platform 51
With the multiple support wheels 551 being rotatably installed in support plate 524, multiple rollings of support wheel 551 are mounted on sliding slot 552；
As shown in figure 13, further, 541 device of push plate includes push plate 541, push-tight frame 542 and push-tight driving
Device 543, the push-tight frame 542 are fixed on hoistable platform 51, and push-tight driver 543 is fixed at push-tight frame
On 542, extension end is fixedly connected with push plate 541, and multiple push plates 541 mutually inwardly and positioned at the top of pumping board are arranged；
When multiple packaging bags are placed in a pair of of support plate 524, start 541 driver of push plate, drive multiple push plates 541
Multiple packaging bags are clamped, prevent between it that there are gaps；Multiple 541 devices of push plate, which surround, to be arranged in support plate 524
Packaging bag on, and carry out linkage setting, connect with controller, realize that integrating action, preferred pushing device 54 are three, and
Rear end, left end, right end are arranged on hoistable platform 51, and 51 front end of hoistable platform is equipped with baffle 544, and multiple pushing devices 54 are right
At multiple packaging bag push-tights to baffle 544, is not only facilitated by baffle 544 and the push-tight of packaging bag is fixed, but also facilitate stacking
Packaging bag is placed on a pair of of support in the class by robot 4.
After a kind of this robot packaging palletizing system is in use, material packed by packing machine 1, it is sent to cargo jack
In 2 vibration conveying device 22, compressor arm 231 on device for regulating rotary, compressor arm 231 drives compressed spring 232, so that pressure
For contracting spring 232 to 233 pressure of compression axis, the rotation of pressure plate 25 drives reason material roller cylinder 245 and the compacting rotation of roller 246 to push and adjust
Whole, and by rotating drive shaft 241, transmission shaft 241 is by power by master gear 242, first from gear 243 and second from tooth
Wheel 244 is transferred on reason material roller cylinder 245 and compacting roller 246, is rotate in same direction it and is carried out reason material and compacting to packaging bag；
Entered from cargo jack 2 by packaging bag in weighing conveying device 3, the weighing device 32 in conveying device 3 of weighing into
Row weighing, if packaging bag meets setting weight, robot palletizer 4 grabs the packaging bag for meeting weight to jam-packed machine 5
Stacking in a pair of of support plate 524, the packaging bag for not meeting weight is grabbed to bypass；
Pallet 8 is placed on empty tray conveyor 6, empty tray conveyor 6 reaches pallet 8 on transmission device 7, transmission device
Stop when 7 drive pallet 8 operations to 5 lower section of jam-packed machine, the lifting device 53 in jam-packed machine 5 is located at certain altitude, pumping board device
52 a pair of of support plate 524 is mutually closed, as initial position, when placing one layer of packaging bag in a pair of of support plate 524, sliding
Weigh assembly 56 between component 55 and hoistable platform 51 weighs to multiple packaging bags, weighing weight and setting total weight pair
Than when not meeting setting total weight, controller adjusts the packed weight of packing machine 1, meets one layer packaging bag integrally and sets
Determine total weight；
When meeting setting total weight, jam-packed machine 5 is acted, and the drive of push-tight driver 543 in multiple pushing devices 54 pushes away
Plate 541 is clamped fixation to packaging bag, prevents between it there are gap, then lifting device 53 acts, i.e. lifting device 53
In lift actuator 532 drive transmission belt 533 rotate so that the hoistable platform 51 connecting with transmission belt 533 is in lifting frame
It is moved up and down on 531, when hoistable platform 51 is moved to 8 top of pallet, pumping board device 52 is acted, i.e. 521 band of pumping board driver
Dynamic pumping board gear 523 is opened out against with 522 engaged transmission of rack gear, a pair of of support plate 524, and push-tight driver 543 is withdrawn, will
One layer of packaging bag is placed on pallet 8；Then 532 reverse starting of lift actuator drives hoistable platform 51 to move up, pumping board
521 reverse starting of driver drives the opposed, inwardly directed closure of a pair of of support plate 524, returns to initial position；
When one layer of packaging bag of stacking in a pair of of support plate 524,541 device of push plate carries out push-tight clamping, pumping board device 52
A pair of of support plate 524 is mutually opened, lifting device 53 drives hoistable platform 51 to move up and down, one layer of packaging bag that push-tight clamps
It is contacted with one layer of packaging bag on pallet 8,53 stop motion of lifting device, pushing device 54, lifting device 53 and pumping board device
52 are back to initial position, therefore circuit sequentially efficient stacking；
When the packaging bag on pallet 8 reaches setting height or weight, the movement of transmission device 7 transports loaded pallets 8,
The pallet 8 of this space-time is transported to 5 lower section of jam-packed machine from empty tray conveyor 6.
Claims (10)
1. palletizing system is packed by a kind of robot, which is characterized in that including packing machine (1), cargo jack (2), weighing conveying device
(3), robot palletizer (4) and jam-packed machine (5)；
Packing machine (1) setting is in the left side of cargo jack (2), and weighing conveying device (3) is located on the right side of cargo jack (2), stacking
Robot (4) setting is on the right side of weighing conveying device (3), and jam-packed machine (5) setting is on rear side of robot palletizer (4), and downside
Equipped with transmission device (7)；
The left of transmission device (7) is equipped with empty tray conveyor (6)；
The cargo jack (2) includes braced frame (23), briquetting component and vibration conveying device (22), is shaken conveying device (22)
Output positioned at packing machine (1), braced frame (23) are erected in vibration conveying device (22), and briquetting component includes transmission
Component and the pushing component connecting with transmission component, transmission component drive pushing component to carry out rotation briquetting；
The jam-packed machine (5) includes lifting device (53), pumping board device (52) and pushing device (54)；The lifting device (53)
The hoistable platform (51) being arranged on lifting frame (531) is slided up and down including lifting frame (531) and by lifting assembly, is taken out
Panel assembly (52) is a pair, and is symmetrical set on hoistable platform (51), and every group of pumping board device (52) includes driving assembly
With support plate (524), it is opposite or so on hoistable platform (51) by slide assemblies (55) that driving assembly controls support plate (524)
It is mobile,
The pushing device (54) is multiple, and surrounds setting in the top of support plate (524).
2. palletizing system is packed by a kind of robot according to claim 1, which is characterized in that the biography of the cargo jack (2)
Dynamic component includes transmission shaft (241), master gear (242), first from gear (243) and second from gear (244), the pushing group
Part includes pressure plate (25), reason material roller cylinder (245) and compacting roller (246), and pressure plate (25) is a pair, left and right settings and phase
Adjacent one end is rotatably installed on transmission shaft (241), and transmission shaft (241) rotation is erected on braced frame (23), the reason material
Roller (245) is corresponding with compacting roller (246) left and right to be rotatably installed on a pair of of pressure plate (25), and master gear (242) setting exists
On transmission shaft (241), first is arranged on resonable roller tube (245) from gear (243), and second gear setting is in compacting roller
(246) on, first engages connection with master gear (242) respectively from gear (244) from gear (243) and second；
Vibration conveying device (22) is equipped with the backing drum of multiple rotational installations, and backing drum uses square structure.
3. palletizing system is packed by a kind of robot according to claim 2, which is characterized in that the pressure of the cargo jack (2)
Pack assembly further includes regulating device, and the regulating device is a pair, and left and right settings is in a pair of of pressure plate (25) and braced frame
(23) between, every group of regulating device includes compressor arm (231), compressed spring (232) and compression axis (233)；The compressor arm
(231) screw thread is connect with the support base being fixed on braced frame (23), lower part slides up and down on fixed frame (234) at middle part,
The fixed frame (234) is rotatablely connected with the compression axis (233) being mounted on pressure plate (25), compressed spring (232) set
Mounted in compressor arm (231) lower part, contacted in the middle part of one end and compressor arm (231), the other end is contacted with fixed frame (234).
4. palletizing system is packed by a kind of robot according to claim 1, which is characterized in that the driving component includes taking out
Sheet drive (521), pumping board gear (523) and rack gear (522)；The pumping board driver (521) is arranged in hoistable platform (51)
Upper, output end is fixedly connected pumping board gear (523), and rack gear (522) left and right is arranged on support plate (524), and and pumping board
Gear (523) engagement connection.
5. a kind of robot packaging palletizing system stated according to claim 1, which is characterized in that the slide assemblies (55) and liter
It drops and is equipped with weigh assembly (56) between platform (51), the weigh assembly (56) includes weighing plate and weighing sensor (561), is slided
Dynamic component (55) are slided on weighing plate, are equipped with weighing sensor (561) between weighing plate and hoistable platform (51), weighing and sensing
Device (561) is connect with controller, and controller controls the packaging of packing machine (1).
6. palletizing system is packed by a kind of robot according to claim 4, which is characterized in that the lifting assembly includes rising
Frame (531), lift actuator (532) and transmission component drop, and the lift actuator (532) is arranged in lifting frame (531)
Upper end, output end are connect with the driving shaft (536) of left and right arrangement, and the transmission component is multiple groups, and every group includes driving wheel
(537), driven wheel (534) and transmission belt (533), driving wheel (537) are fixedly mounted on driving shaft (536), driven wheel (534)
Rotation is erected at lifting frame (531) lower end, and transmission belt (533) one end connect with hoistable platform (51) upper end, other end winding
It is connect behind driving wheel (537), driven wheel (534) outside with hoistable platform (51) lower end.
7. palletizing system is packed by a kind of robot according to claim 5, which is characterized in that the weighing conveying device
It (3) include that weighing conveying assembly (31), weighing device (32) and weighing chassis (33), the weighing device (32) are mounted on weighing
It between conveying assembly (31) and weighing chassis (33), and is connect with controller, controller controls robot palletizer (4) movement, claims
Weight conveying assembly (31) is for conveying packaging bag.
8. palletizing system is packed by a kind of robot according to claim 6, which is characterized in that the transmission belt (533) with
Hoistable platform (51) junction is equipped with damping device (535), and the rack gear (522) is using change gap rack gear.
9. palletizing system is packed by a kind of robot according to claim 1, which is characterized in that push plate (541) device
Including push plate (541), push-tight frame (542) and push-tight driver (543), the push-tight frame (542) is fixed at lifting
On platform (51), push-tight driver (543) is fixed on push-tight frame (542), and extension end is fixedly connected with push plate (541),
Multiple push plates (541) mutually inwardly and positioned at the top of pumping board are arranged.
10. palletizing system application method is packed by a kind of robot, which is characterized in that specifically includes the following steps:
(1) material is sent to the vibration conveying device (22) of cargo jack (2) after packing machine (1) carries out being packaged into packaging bag
On, regulating device pushes angle adjustment to reason material roller cylinder (245) and compacting roller (246), and transmission component rotation drives reason material roller
Cylinder (245) and compacting roller (246) rotation, manage material and compacting to packaging bag；
(2) packaging bag is transferred to again in weighing conveying device (3), and the weighing device (32) in weighing conveying device (3) is to packaging
Bag online weighing, when individual packaging bag meets setting weight, robot palletizer (4) grabs the packaging bag for meeting weight to liter
Stacking on a pair of of closure support plate (524) on platform (51) is dropped；When individual packaging bag does not meet setting weight, stacking machine
People (4) grabs the packaging bag for not meeting weight to bypass；
(3) pallet (8) is placed on empty tray conveyor (6), pallet (8) is reached transmission device (7) by empty tray conveyor (6)
On, transmission device (7) stops when driving pallet (8) operation to the lower section of hoistable platform (51), when original state, hoistable platform
(51) push plate (541) on certain altitude, hoistable platform (51) retracts；
When packaging bag is placed on by robot palletizer (4) stacking is at one layer on a pair of of support plate (524) when, under support plate (524)
The weigh assembly (56) at end weighs to one layer of packaging bag, weighing weight and setting total weight comparison, when not meeting setting total weight
When, controller adjusts the weight of packing machine (1) packing materials, and one layer packaging bag is made to meet setting total weight；
When meeting setting total weight, it is solid that multiple push-tight drivers (543) drive push plate (541) to be clamped packaging bag respectively
Fixed, lifting assembly drives hoistable platform (51) to move down in lifting frame (531) again, when hoistable platform (51) is moved to empty support
When one layer of packaging bag above disk (8) or on pallet (8), damping device (535) is to hoistable platform (51) bumper and absorbing shock, lifting
Driving assembly on platform (51) controls a pair of of support plate (524) and mutually opens, and push-tight driver (543) drives push plate (541)
It retracts, one layer of packaging bag is placed on pallet (8), then hoistable platform (51) rises, and driving assembly controls a pair of of support plate
(524) it is mutually closed, robot palletizer (4) continues to grab packaging bag on a pair of of support plate (524), circuits sequentially；
(4) when the packaging bag on pallet (8) reaches setting height or weight, transmission device (7) is acted loaded pallets (8)
It transports, the lower section that empty pallet (8) is transported to hoistable platform (51) from empty tray conveyor (6) stops, and circuits sequentially.
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| CN201910724786.4A CN110481909B (en) | 2019-08-07 | 2019-08-07 | Robot packaging and stacking system and using method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910724786.4A CN110481909B (en) | 2019-08-07 | 2019-08-07 | Robot packaging and stacking system and using method |
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| CN112051813A (en) * | 2020-08-25 | 2020-12-08 | 芜湖志光机械有限公司 | Automatic transportation system and method for automobile accessory loading |
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| Publication number | Publication date |
|---|---|
| CN110481909B (en) | 2024-05-14 |
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