CN204369132U - A kind of multi-function robot palletizing system - Google Patents
A kind of multi-function robot palletizing system Download PDFInfo
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- CN204369132U CN204369132U CN201420734192.4U CN201420734192U CN204369132U CN 204369132 U CN204369132 U CN 204369132U CN 201420734192 U CN201420734192 U CN 201420734192U CN 204369132 U CN204369132 U CN 204369132U
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Abstract
The utility model relates to a kind of multi-function robot palletizing system, comprises the first manufacturing line, the second manufacturing line and the 3rd manufacturing line; First manufacturing line and the second manufacturing line carry out zygonema by zygonema feedway; First manufacturing line and the second manufacturing line comprise the automated sewing envelope curve be connected successively, narrow belt conveyor line, under push over device, wide belt conveyor line, cross-line ladder, on push over device, pallet arrangement, turn to roller, bend, climbing belt, reinspection machine, reject slideway, upper pressuring flat device, lower oscillatory system and treat grabbing device; 3rd manufacturing line comprise the artificial seam envelope curve connected successively, wide belt conveyor line, on push over device, pallet arrangement, turn to roller, bend, climbing belt, reinspection machine, reject slideway, rejecting machine, upper pressuring flat device, lower oscillatory system and treat grabbing device.Can solve palletized products kind more single, only have a kind of piling mode inside same set of system, equipment occupation space is large, to problems such as either inside space requirement are higher.
Description
Technical field
The utility model belongs to load transfer device technical field, relates to a kind of full automaticity load transfer device, particularly relates to a kind of multi-function robot palletizing system.
Background technology
At present, robot palletizer and delivery system thereof have been applied in the industry such as logistics, storage widely, it is simple to operate, work efficiency is high, save the features such as hydro-power energy source is subject to liking of vast enterprise, but still there is many problems in existing robot palletizing system, as more single in palletized products kind, only have a kind of piling mode inside same set of system, equipment occupation space is large, more high to either inside space requirement.For this reason, a kind of robot palletizing system that can solve above-mentioned technical matters existing in prior art is needed, to meet the needs of actual conditions.
Utility model content
The utility model provides a kind of multi-function robot palletizing system, its palletized products kind that can solve existing for above-mentioned prior art is more single, a kind of piling mode is only had inside same set of system, equipment occupation space is large, to the problem such as either inside space requirement is higher, meet the needs of actual conditions.
For achieving the above object, the utility model provides a kind of multi-function robot palletizing system, comprises the first manufacturing line, the second manufacturing line and the 3rd manufacturing line; First manufacturing line and the second manufacturing line carry out zygonema by zygonema feedway; First manufacturing line and the second manufacturing line comprise the automated sewing envelope curve be connected successively, narrow belt conveyor line, under push over device, wide belt conveyor line, cross-line ladder, on push over device, pallet arrangement, turn to roller, bend, climbing belt, reinspection machine, reject slideway, upper pressuring flat device, lower oscillatory system and treat grabbing device; 3rd manufacturing line comprise the artificial seam envelope curve connected successively, wide belt conveyor line, on push over device, pallet arrangement, turn to roller, bend, climbing belt, reinspection machine, reject slideway, rejecting machine, upper pressuring flat device, lower oscillatory system and treat grabbing device; After first manufacturing line and the second manufacturing line zygonema, left side feedway is set by climbing belt; 3rd manufacturing line passes through to push over device vertically and arranges right side feedway with climbing belt; Left side feedway with right side feedway by reinspection machine, reject slideway, treat that grabbing device is connected; Robot base strides across treats that grabbing device is arranged, for being fixedly equipped with two robot palletizer of grabbing manipulator; Treat that the outer end of grabbing device is connected with wide belt conveyor line, and wide belt conveyor line is connected with hand stowage position.
In above scheme preferably, automatic pallet device comprises the pallet, pallet dispenser, chain line, jacking translation device, piling chain line and the fork truck that connect successively; Piling chain line is vertical with treating grabbing device to be arranged and from waiting that capturing bottom passes, and is convenient to robot palletizer by from treating that the material that grabbing device captures is placed on the pallet in piling chain line.
Can also preferably, the first manufacturing line, the second manufacturing line are identical with the height of the 3rd manufacturing line.Can also preferably, the height of the first manufacturing line, the second manufacturing line and the 3rd manufacturing line is 0.36m; Namely the height of automated sewing envelope curve and artificial seam envelope curve is 1m.
Can also preferably, the height of left side feedway and right side feedway is calibrated altitude 1m.
Can also preferably, the end of piling travel line is provided with fork truck.
Can also preferably, robot palletizer is fixed on cross-line robot base.
Can also preferably, robot base is set to across single line base or across two-wire base according to travel line quantity.
Can also preferably, handgrip employing can capture the two of two bag materials simultaneously and grab manipulator.
Can also preferably, in pallet dispenser, the maximum storage of pallet is ten.
Compared with prior art, the utility model has the following advantages:
Multi-function robot palletizing system of the present utility model, its palletized products kind that can solve existing for above-mentioned prior art is more single, only have a kind of piling mode inside same set of system, equipment occupation space is large, to problems such as either inside space requirement are higher; Can be applied to Different Package type products integrate seam bag, conveying, ladle-to-ladle, detect, weigh, screen, shaping, piling, the automation piling function that product is complete after blanking can be realized, off gauge screening can also be realized simultaneously, pallet automatic transport, inhomogeneity product classify piling simultaneously, change the several functions such as buttress shape at any time according to program; It maximizedly can utilize existing either inside space, various required function is realized by compact design, the piling advantage functions such as energy-conservation, efficient, stable can be realized, and in conjunction with space, place, the piling mode that layout is suitable, makes full use of space resources and can effectively enhance productivity, alleviate artificial burden, productive costs can be reduced widely again, can extensively promote, the needs of actual conditions can be met.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, the utility model is described in further detail:
Fig. 1 is the two-dimensional structure schematic diagram of multi-function robot palletizing system of the present utility model;
Fig. 2 is that the three-dimensional structure of multi-function robot palletizing system of the present utility model is always schemed;
Fig. 3 is the first half structural representation of multi-function robot palletizing system of the present utility model;
Fig. 4 is the latter half structural representation of multi-function robot palletizing system of the present utility model;
Fig. 5 is multi-function robot palletizing system flow scheme of the present utility model.
As in Fig. 1, 1 is automated sewing envelope curve, 2 for manually to stitch envelope curve, 3 is narrow belt conveyor line, 4 be under push over device, 5 is wide belt conveyor line, 6 is cross-line ladder, 7 on push over device, 8 is pallet arrangement, 9 is pallet arrangement, 10 is bend, 11 is climbing belt, 12 is travel line electrical control cubicles, 13 is reinspection machine, 14 for rejecting slideway, 15 is rejecting machine, 16 is robot electrical control cubicles, 17 is upper pressuring flat device, 18 is lower oscillatory system, 19 for treating grabbing device, 20 is robot base, 21 is robot palletizer, 211 grab manipulator for two, 22 is pallet, 23 is pallet dispenser, 24 is chain line, 25 is jacking translation device, 26 is piling chain line, 27 for completely to pile up neatly pallet, 28 is fork truck, 29 is guardrail and electrooptical device, 30 is hand stowage position.
Detailed description of the invention
In order to understand the utility model better, below in conjunction with specific embodiment, the utility model is explained in detail.But, obviously can carry out different modification and remodeling to the utility model and not exceed the wider spirit and scope of the utility model of appended claims.Therefore, following examples have exemplary and hard-core implication.
Embodiment 1:
A kind of multi-function robot palletizing system, comprises the first manufacturing line, the second manufacturing line and the 3rd manufacturing line; First manufacturing line and the second manufacturing line carry out zygonema by zygonema feedway; First manufacturing line and the second manufacturing line comprise be connected successively automated sewing envelope curve 1, narrow belt conveyor line 3, under push over device 4, wide belt conveyor line 5, cross-line ladder 6, on push over device 7, pallet arrangement 8, turn to roller 9, bend 10, climbing belt 11, reinspection machine 13, reject slideway 14, upper pressuring flat device 17, lower oscillatory system 18 and treat grabbing device 19; 3rd manufacturing line comprise connect successively artificial seam envelope curve 2, wide belt conveyor line 5, on push over device 7, pallet arrangement 8, turn to roller 9, bend 10, climbing belt 11, reinspection machine 13, reject slideway 14, rejecting machine 15, upper pressuring flat device 17, lower oscillatory system 18 and treat grabbing device 19; After first manufacturing line and the second manufacturing line zygonema, left side feedway is set by climbing belt 11; 3rd manufacturing line passes through to push over device 7 vertically and arranges right side feedway with climbing belt 11; Left side feedway and right side feedway are by reinspection machine 13, rejecting slideway 14, apparatus for leveling and treat that grabbing device 19 is connected; Robot base 20 strides across treats that grabbing device 19 is arranged, for being fixedly equipped with two robot palletizer 21 of grabbing manipulator 211; Treat that the outer end of grabbing device 19 is connected with wide belt conveyor line 5, and wide belt conveyor line 5 is connected with hand stowage position 30.
Embodiment 2:
A kind of multi-function robot palletizing system, similar to embodiment 1, difference is, automatic pallet device comprises the pallet 22, pallet dispenser 23, chain line 24, jacking translation device 25, piling chain line 26 and the fork truck 28 that connect successively; Piling chain line 26 is vertical with treating grabbing device 19 to be arranged and from treating to pass bottom crawl 19, is convenient to robot palletizer 21 by from treating that the material that grabbing device 19 captures is placed on the pallet 22 in piling chain line 26.; The height of the first manufacturing line, the second manufacturing line and the 3rd manufacturing line is 0.36m; Namely the height of automated sewing envelope curve 1 and artificial seam envelope curve 2 is 0.36m; The height of left side feedway and right side feedway is 1m; When full buttress pallet 27 is transported to piling travel line 26 end, full buttress pallet 27 got by fork truck 28 fork that comes; Robot palletizer 21 is fixed on robot base 20; Handgrip 211 grab manipulator for two, once can capture two bag materials simultaneously; In pallet dispenser 23, the maximum storage of pallet 22 is ten.
Multi-function robot palletizing system of the present utility model, automatic sack sewing machine and artificial bagging sack closer can be comprised, narrow belt conveyor line 3, wide belt conveyor line 5, the ladle-to-ladle device of machinery, pneumatic ladle-to-ladle device, zygonema feedway, bend 10 feedway, climbing belt 11 feedway, reinspection machine 13, reject slideway 14 device, pocket apparatus for shaping, treat grabbing device 19, automatic pallet device, guardrail, electrooptical device, robot palletizer 21 and handgrip etc., according to space, workshop and existing installation layout, short travel line is first set, by the first manufacturing line and the second manufacturing line after material bag is pushed over conveying, carry out zygonema, entered bend 10 to turn to, again via climbing belt 11 feedway Engage of standard height travel line, reinspection machine 13 check errorless after, by rejecting slideway 14 device, apparatus for leveling enters waits that capturing position 19 waits for robot palletizer 21 piling, 3rd manufacturing line is equally first carried through short belt line, via artificial bagging seam bag 2, enters climbing belt 11 travel line after material bag is pushed over conveying, and after bend 10, reinspection machine 13, rejecting machine 15, apparatus for leveling, what enter opposite side treats crawl position, and the conveying of pallet, placement, to send after full buttress and be still running automatically, by pallet dispenser 23, empty pallet 22 is delivered in chain line one by one, under the control of chain conveying line 24 and jacking translation machine 25, empty pallet 22 enters the piling position on robot palletizer 21 left and right sides piling travel line 26 successively, after full buttress, completely pile up neatly pallet 27 and be sent to piling chain line 26 travel line end, pitched by fork truck 28.
The dispenser 23 of automatic tray library part once can store at most ten empty pallets, when electrooptical device detects empty pallet 22 quantity not sufficient in dispenser 23, sends signal, and manual operation fork truck 28 fork is got empty pallet 22 and supplemented and put into pallet dispenser 23; The conveying of empty pallet 22 has been assisted by narrow chain line 24, after putting in place, promoted by jacking translation machine 25, send in piling chain line 26, stop after conveying puts in place, wait for robot palletizer 21 piling, deliver to system end after full buttress and transported by fork truck 28, this process, except needing manual operation fork truck 28 to supplement empty pallet 22 and fork is got except full buttress pallet 27, is fully automatic integral running.
First manufacturing line and the zygonema of the second manufacturing line can complete following two kinds of transporting patterns: (1) is if the first manufacturing line is identical with the material of the feed opening of the second manufacturing line, and require to produce simultaneously, can according to blanking and automated sewing envelope curve 1 beat, regulate the delivery speed of zygonema place travel line, reach material bag and do not interfere with each other after two lines are merged, and the even object that doubles of conveying and delivery speed and piling efficiency; (2) if the first manufacturing line is different with the material of the feed opening of the second manufacturing line, and asynchronously produce, only need regulate conveying and piling speed according to blanking and automated sewing envelope curve 1 beat, and when changing manufacturing line, transport piling material tray, prevent different material code from entering same pallet.
Handgrip adopts two grabs manipulator, can capture two bags of materials simultaneously, and according to material variety and weight, by the setting of electric control system, can perform the piling mode of five flowers or six flowers (i.e. every layer of five bags of material or every layer of six bags of material).
Multi-function robot palletizing system of the present utility model, based on the first manufacturing line, the second manufacturing line and the 3rd manufacturing line (many articles of similar manufacturing lines can be extended to) three articles of manufacturing lines, by the first manufacturing line and the second manufacturing line zygonema, two before on 3rd manufacturing line, material is transported to robot palletizer 21 respectively by load transfer device two treats in crawl 19, then by robot palletizer 21 respectively by its piling to the piling mode in respective trays, its main component devices is: automated sewing envelope curve 1, artificial seam envelope curve 2, narrow belt conveyor line 3, under push over device 4, wide belt conveyor line 5, cross-line ladder 6, on push over device 7, supporting plate 8, turn to roller 9, bend 10, climbing belt 11, travel line electrical control cubicles 12, reinspection machine 13, reject slideway 14, rejecting machine 15, robot electrical control cubicles 16, upper pressuring flat device 17, lower vibrating transportation line 18, treat grabbing device 19, robot base 20, robot palletizer 21, twoly grab manipulator 211, pallet 22, pallet dispenser 23, chain line 24, jacking translation machine 25, piling chain line 26, completely pile up neatly pallet 27, fork truck 28, guardrail and photoelectricity 29, hand stowage position 30, first manufacturing line and the second manufacturing line enter left side load transfer device by zygonema, and be finally admitted to that left side is two treats that grabbing device 19 position etc. is to be palletized, simultaneously by treating that grabbing device 19 outer end picks out a wide belt conveyor line 5, use as artificial emergent piling travel line, 3rd manufacturing line passes through to push over device 7 vertically and enters right side travel line with load transfer device such as climbing belt 11 grade, thus arrive that right side is two treats that grabbing device 19 position etc. is to be palletized, and treating that being provided with wide belt conveyor line 5 outside grabbing device 19 uses for artificial emergent piling 30.
First manufacturing line and the main constituent elements of the second manufacturing line are: automated sewing envelope curve 1, narrow belt conveyor line 3, under push over device 4, wide belt conveyor line 5, cross-line ladder 6, on push over device 7, pallet arrangement 8, turn to roller 9, bend 10, climbing belt 11, reinspection machine 13, reject slideway 14, upper pressuring flat device 17, lower oscillatory system 18 and treat grabbing device 19, first manufacturing line is identical to the height of the 3rd manufacturing line, be 0.36m, first manufacturing line and the second manufacturing line are all by two the material bag that Packing Sound sent by the high automated sewing envelope curve 1 of 0.36m respectively, narrow belt conveyor line 3 is connect after first manufacturing line automatic sack sewing machine 1, be placed in narrow belt conveyor line 3 afterbody vertical under push over device 4 material on first manufacturing line can be pushed over send into right side wide belt conveyor line 5 on, and material enters wide belt dressing 5 after automatic sack sewing machine 1 on the second manufacturing line, and by machinery push over combination unit on push over device 7, supporting plate 8 and two turn to roller 9 to enter in the wide belt conveyor line 5 of zygonema, after zygonema, material turns to respectively by bend 10 and climbs on belt 11 Engage of standard height (1m) travel line, in the detection (wherein reinspection scale in this place can be gold inspection scale or heavily examines scale) through reinspection machine 13, if product nonconformity, by signal apprizing system, when organizing the wide belt conveyor line 5 of device under process, pushing over device 7 level from above pushes in rejecting slideway 14, screen out off-grade, if product is qualified, this device can be passed through smoothly, via upper pressuring flat device 17, the leveling of lower oscillatory system 18 delivers into treats that robot palletizer 21 piling waited for by grabbing device 19, if because robot palletizer 21 catastrophic failure needs artificial emergent piling, then material is not waiting that capturing position stops, and directly enters hand stowage station by wide belt conveyor line 5.First manufacturing line and the second manufacturing line are zygonema, can when producing same material co-production, only need regulate zygonema place load-transfer device speed, conveying uniform before and after zygonema is not steadily interfered, the production efficiency of whole line can be improved simultaneously, improve production capacity; If the first manufacturing line and the second manufacturing line produce different material, then need independent production, and remove stacking pallet when thread-changing, prevent different material to be mixed into same pallet.
3rd line primarily of artificial seam envelope curve 2, wide belt conveyor line 5, on push over device 7, pallet arrangement 8, turn to roller 9, climbing belt 11, reinspection machine 13, rejecting machine 15, reject slideway 14, bend 10, upper pressuring flat device 17, lower oscillatory system 18 and treat grabbing device 19, is positioned on the artificial seam envelope curve 2 of the 3rd manufacturing line feed opening, by human assistance bagging, the material bag of seam bag delivers in wide belt conveyor line 5 through narrow belt conveyor line 3, pushes over device 7 upper, push plate device 8 and single turn to the combined action of roller 9 under, material bag is pushed over and is entered climbing belt 11 device through load-transfer device in the same way, by in 0.36m line body Engage of standard height (1m) line body under the conveying of climbing belt 11, the same detection by reinspection machine 13, off-grade is rejected to send into via rejecting machine 15 and is rejected slideway 14, acceptable product enter bend 10 smoothly, by the leveling of upper pressuring flat device 17 and lower oscillatory system 18 after turning to, enter right side and treat that grabbing device 19 waits for that robot palletizer 21 captures, treating that grabbing device 19 end is equipped with wide belt conveyor line 5 and uses in order to artificial emergent piling equally.
The primary clustering of automatic pallet is: pallet 22, pallet dispenser 23, chain line 24, jacking translation mechanism 25, piling chain line 26, fork truck 28, pitching the amount of taking fully pallet 22 by manual operation fork truck 28 delivers in pallet dispenser 23, and by pallet dispenser 23, empty pallet 22 is delivered on chain line 24, when pallet 22 arrives correct position, this pallet 22 jack-up can be delivered in piling chain line 26 by jacking translation mechanism 25, under the conveying of piling chain line 26, pallet 22 arrives predeterminated position, for robot 21 piling, when after the full buttress of pallet 22, completely pile up neatly pallet 27 and delivered to its end by piling travel line 26, wait for that manual operation fork truck 28 fork is got to shift out.Multi-function robot palletizing system of the present utility model, the quantity of its manufacturing line can increase and decrease according to actual needs, and groundwork is identical, and robot base 20 can be placed according to actual needs across single line or across two-wire base simultaneously.
Multi-function robot palletizing system of the present utility model; travel line line height before its climbing belt 11 is 0.36m; can need to regulate according to plant site in actual production; the placement of cross-line ladder 6; to ensure that workman can safety travel line; and do not affect the normal work of travel line, protect the personal safety of workman simultaneously.
Multi-function robot palletizing system of the present utility model, the predeterminable two kinds of different piling modes of its control system, the i.e. five flower piling modes of five bags every layer and the six flower piling modes of six bags every layer, according to the difference of on-the-spot material variety and weight, select suitable piling mode at any time.
Claims (10)
1. a multi-function robot palletizing system, comprises the first manufacturing line, the second manufacturing line and the 3rd manufacturing line, it is characterized in that: the first manufacturing line and the second manufacturing line carry out zygonema by zygonema feedway, first manufacturing line and the second manufacturing line comprise the automated sewing envelope curve (1) be connected successively, narrow belt conveyor line (3), under push over device (4), wide belt conveyor line (5), cross-line ladder (6), on push over device (7), pallet arrangement (8), turn to roller (9), bend (10), climbing belt (11), reinspection machine (13), reject slideway (14), upper pressuring flat device (17), lower oscillatory system (18) and treat grabbing device (19), 3rd manufacturing line comprise connect successively artificial seam envelope curve (2), wide belt conveyor line (5), on push over device (7), pallet arrangement (8), turn to roller (9), bend (10), climbing belt (11), recheck machine (13), reject slideway (14), rejecting machine (15), upper pressuring flat device (17), lower oscillatory system (18) and treat grabbing device (19), after first manufacturing line and the second manufacturing line zygonema, left side feedway is set by climbing belt (11), 3rd manufacturing line by push on vertical device (7) and climbing belt (11) arrange on the right side of feedway, left side feedway and right side feedway are by reinspection machine (13), rejecting slideway (14), apparatus for leveling and treat that grabbing device (19) is connected, robot base (20) strides across treats that grabbing device (19) is arranged, for being fixedly equipped with two robot palletizer (21) of grabbing manipulator (211), treat that the outer end of grabbing device (19) is connected with wide belt conveyor line (5), and wide belt conveyor line (5) is connected with hand stowage position (30).
2. multi-function robot palletizing system as claimed in claim 1, is characterized in that: automatic pallet device comprises the pallet (22), pallet dispenser (23), chain line (24), jacking translation device (25), piling chain line (26) and the fork truck (28) that connect successively; Piling chain line (26) is vertical with treating grabbing device (19) to be arranged and from waiting that capturing (19) bottom passes, and is convenient to robot palletizer (21) by from treating that the material that grabbing device (19) captures is placed on the pallet (22) in piling chain line (26).
3. multi-function robot palletizing system as claimed in claim 2, is characterized in that: the first manufacturing line, the second manufacturing line are identical with the height of the 3rd manufacturing line.
4. multi-function robot palletizing system as claimed in claim 3, is characterized in that: the height of the first manufacturing line, the second manufacturing line and the 3rd manufacturing line is 0.36m; Namely automated sewing envelope curve (1) and the height that manually stitches envelope curve (2) are 0.36m.
5. multi-function robot palletizing system as claimed in claim 4, is characterized in that: the height of left side feedway and right side feedway is 1m.
6. the multi-function robot palletizing system according to any one of claim 1-5, is characterized in that: the end of piling travel line (26) is provided with fork truck (28).
7. the multi-function robot palletizing system according to any one of claim 1-5, is characterized in that: robot palletizer (21) is fixed on cross-line robot base (20).
8. multi-function robot palletizing system as claimed in claim 7, is characterized in that: robot base (20) is set to across single line base or across two-wire base according to travel line quantity.
9. the multi-function robot palletizing system according to any one of claim 1-5, is characterized in that: handgrip (211) employing can capture the two of two bag materials simultaneously and grab manipulator (211).
10. the multi-function robot palletizing system according to any one of claim 1-5, is characterized in that: in pallet dispenser (23), the maximum storage of pallet (22) is ten.
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Address after: 266000 north side of Xinyue road and east side of Huoju Road, high tech Industrial Development Zone, Chengyang District, Qingdao City, Shandong Province Patentee after: Qingdao Baojia Intelligent Equipment Co.,Ltd. Address before: 266000 north side of Xinyue road and east side of Huoju Road, high tech Industrial Development Zone, Chengyang District, Qingdao City, Shandong Province Patentee before: QINGDAO BAOJIA AUTOMATION EQUIPMENT Co.,Ltd. |