CN213415567U - Loading and unloading operation robot system for packing carton flatbed - Google Patents
Loading and unloading operation robot system for packing carton flatbed Download PDFInfo
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- CN213415567U CN213415567U CN202021897923.9U CN202021897923U CN213415567U CN 213415567 U CN213415567 U CN 213415567U CN 202021897923 U CN202021897923 U CN 202021897923U CN 213415567 U CN213415567 U CN 213415567U
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Abstract
The utility model relates to an automatic handling system discloses a packing carton flatbed loading and unloading operation robot system, including carton conveyer belt (1), carton conveyer belt (1) is provided with parking stall (2) along one side of its direction of transfer, and overhead truss track (3) in the top of parking stall (2), is provided with multiaxis motion platform (4) on truss track (3), is provided with loading and unloading car robot (5) on multiaxis motion platform (4); carton conveyer belt (1) is provided with along its direction of transfer's opposite side and tears pile up neatly machine people (6) open, and one side that carton conveyer belt (1) were kept away from in pile up neatly machine people (6) is provided with pallet conveyer belt (7), the utility model discloses a packing carton flatbed loading and unloading operation robot system, loading and unloading car robot (5) and the application of tearing pile up neatly machine people (6) for the pile up neatly of packing carton (13) is more accurate high-efficient with the pile up neatly operation, has reduced the artificial loss simultaneously, and is more humanized.
Description
Technical Field
The utility model relates to an automatic handling system especially relates to packing carton flatbed loading and unloading operation robot system.
Background
At present, loading and unloading of cartons of flat cars mainly depend on manpower, waste time and labor, and have the phenomena of difficult recruitment, no subsequent personnel and the like. The existing automatic special equipment has the defects of large equipment volume, high cost, complex operation, difficult maintenance and the like, and brings inconvenience for enterprises to automatically load and unload the carton of the flat car, so certain improvement space exists.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to prior art's shortcoming provides a packing carton flatbed loading and unloading operation robot system, not only can accomplish packing carton flatbed loading and unloading operation automatically high-efficiently, and equipment takes up an area of for a short time, with low costs, simple operation moreover, and convenient maintenance more simultaneously.
In order to solve the technical problem, the utility model discloses a following technical scheme can solve:
a loading and unloading operation robot system for a packaging carton flat car comprises a carton conveying belt, wherein a parking space is arranged on one side of the carton conveying belt along the conveying direction of the carton conveying belt, a truss track is erected above the parking space, a multi-axis motion platform is arranged on the truss track, and a loading and unloading robot is arranged on the multi-axis motion platform; and a pallet disassembling robot is arranged on the other side of the carton conveying belt along the conveying direction of the carton conveying belt, and a pallet conveying belt is arranged on one side, away from the carton conveying belt, of the pallet disassembling robot.
Adopt above-mentioned scheme, the freight train that the parking stall can be for preparing the loading of coming to a stop provides the parking spot, transports the pallet conveyer belt through fork truck in will piling up the packing carton from the warehouse and carries out the material loading. After the pallet conveyer belt conveys the packing cartons to a specific position, the unstacking robot executes unstacking operation to grab the stacked packing cartons one by one onto the carton conveyer belt, and the carton conveyer belt conveys the packing cartons to the position of the parking space. And then the position of the loading and unloading robot is automatically adjusted by a multi-axis motion platform above the truss track, the loading and unloading robot executes loading operation, and the packaging cartons on the carton conveying belt are grabbed to specific positions of the freight car one by one, so that the loading operation is efficiently completed. When the unloading operation is executed, after the truck filled with the packing carton box enters the parking space, the system is operated reversely, so that the unloading operation is executed by the unloading robot. At the moment, the unstacking and stacking robot executes stacking operation, the carton conveying belt and the pallet conveying belt run in reverse directions, finally, the packaging cartons are transferred to the pallet conveying belt from the carriage of the truck to be stacked, the stacked packaging cartons are conveyed to the loading and unloading position of the forklift, and finally, the stacked packaging cartons are transferred to the specific position of the warehouse by the forklift, so that the whole unloading operation is completed. Due to the application of the loading and unloading robot and the unstacking and stacking robot, the unstacking and stacking operation of the packaging carton is more accurate and efficient, the manual loss is reduced, and the operation is more humanized.
Preferably, the inner side wall of the truss track is provided with a correlation sensor.
By adopting the scheme, the correlation sensor can be used for preliminarily positioning the boxcar entering the parking space so as to improve the accuracy of the loading and unloading robot in the process of loading and unloading goods.
Preferably, the loading and unloading robot is provided with a loading and unloading visual device.
By adopting the scheme, the loading and unloading vehicle vision device can accurately position the wagon carriage entering the parking space, so that the loading and unloading vehicle robot can adjust the position to match the carriage, and the accuracy of the loading and unloading vehicle robot in the process of loading and unloading goods is further improved.
Preferably, one side of the pallet conveyor belt is provided with an unstacking and stacking vision device.
By adopting the scheme, the unstacking and stacking visual device can perform visual positioning on the packaging carton on the pallet conveying belt, so that the unstacking and stacking robot can accurately grab the packaging carton on the pallet conveying belt, and the operation accuracy of the system is improved.
Preferably, the carton conveying belt is provided with a code reader at a position corresponding to the unstacking robot.
By adopting the scheme, the code reader can scan the outer packing paper boxes of the goods entering and exiting the warehouse on the paper box conveying belt to acquire corresponding goods information, so that the goods can be managed more orderly.
Preferably, a safety protection fence is arranged around the outer side of the unstacking and stacking robot.
By adopting the scheme, the safety protection fence can effectively prevent the robot palletizer from being close to by people in the working process, so that the safety accident is avoided, and the robot palletizer is more humanized.
The utility model discloses owing to adopted above technical scheme, have apparent technological effect: the parking space can provide a parking point for a truck ready for entering and loading, and stacked packing cartons are transported to a pallet conveyer belt for loading from a warehouse through a forklift. After the pallet conveyer belt conveys the packing cartons to a specific position, the unstacking robot executes unstacking operation to grab the stacked packing cartons one by one onto the carton conveyer belt, and the carton conveyer belt conveys the packing cartons to the position of the parking space. And then the position of the loading and unloading robot is automatically adjusted by a multi-axis motion platform above the truss track, the loading and unloading robot executes loading operation, and the packaging cartons on the carton conveying belt are grabbed to specific positions of the freight car one by one, so that the loading operation is efficiently completed. When the unloading operation is executed, after the truck filled with the packing carton box enters the parking space, the system is operated reversely, so that the unloading operation is executed by the unloading robot. At the moment, the unstacking and stacking robot executes stacking operation, the carton conveying belt and the pallet conveying belt run in reverse directions, finally, the packaging cartons are transferred to the pallet conveying belt from the carriage of the truck to be stacked, the stacked packaging cartons are conveyed to the loading and unloading position of the forklift, and finally, the stacked packaging cartons are transferred to the specific position of the warehouse by the forklift, so that the whole unloading operation is completed. Due to the application of the loading and unloading robot and the unstacking and stacking robot, the unstacking and stacking operation of the packaging carton is more accurate and efficient, the manual loss is reduced, and the operation is more humanized.
Drawings
FIG. 1 is a first schematic structural diagram of the present embodiment;
FIG. 2 is a second schematic structural diagram of the present embodiment;
fig. 3 is a flowchart of the system in this embodiment when performing the loading operation;
fig. 4 is a flowchart of the system in this embodiment when performing the unloading operation.
The names of the parts indicated by the numerical references in the above figures are as follows: 1. a carton conveyor belt; 2. parking space; 3. a truss track; 4. a multi-axis motion platform; 5. a loader robot; 6. disassembling the stacking robot; 7. a pallet conveyor belt; 8. a correlation sensor; 9. a loader vision device; 10. a visual palletizing device is disassembled; 11. a code reader; 12. a safety protection fence; 13. packaging a carton; 14. a forklift loading and unloading position.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in fig. 1 and fig. 2, the robot system for loading and unloading a packaged carton flat car disclosed in this embodiment includes a carton conveyor belt 1, a parking space 2 is disposed on one side of the carton conveyor belt 1 along its conveying direction, the parking space 2 is used for parking a truck for loading and unloading goods, and the length of the carton conveyor belt 1 is greater than that of the parking space 2, so that the packaged carton 13 conveyed by the carton conveyor belt 1 can cover the whole length of the carriage, thereby facilitating the loading and unloading operation. A truss track 3 is overhead above the parking space 2, and the truss track 3 is respectively arranged at two sides of the parking space 2 and arranged along the length direction of the parking space 2. The inside wall of truss track 3 is provided with correlation sensor 8, and correlation sensor 8 can carry out preliminary location to getting into the boxcar in the middle of parking stall 2 to promote the accuracy nature of goods handling in-process. Be provided with multiaxis motion platform 4 on the truss track 3, be provided with loading and unloading car robot 5 on multiaxis motion platform 4, install loading and unloading car vision device 9 on the loading and unloading car robot 5, loading and unloading car vision device 9's application can make the freight train location more nimble and accurate, and the concurrent operation is simpler, more accords with human operation custom. The carton conveyer belt 1 is provided with the pile up neatly machine people 6 along its direction of transfer's opposite side, and the outside of pile up neatly machine people 6 is enclosed and is equipped with safety protection rail 12, and it can avoid pile up neatly machine people 6 to be close to someone at the during operation to avoid the incident to take place. One side of the pallet removing robot 6, which is far away from the carton conveying belt 1, is provided with a pallet conveying belt 7, and one end of the pallet conveying belt 7 is a forklift loading and unloading position 14. The visual device 10 for unstacking and stacking is arranged on one side of the pallet conveying belt 7, and due to the application of the visual device 10 for unstacking and stacking, the unstacking and stacking robot 6 can complete operation according to actual conditions without being limited by a preset program, and can be more suitable for the actual production conditions of factories.
Furthermore, the carton conveyer belt 1 is provided with a code reader 11 at a position corresponding to the unstacking and stacking robot 6, and the code reader 11 can scan the packing cartons 13 passing in and out on the carton conveyer belt 1 and read the corresponding cargo information in the packing cartons 13, so that the in-and-out information of the cargos is more convenient to manage, and the efficiency and the accuracy of cargo loading and unloading are improved.
The specific working flow of the system is as follows:
when the system executes the loading operation, as shown in fig. 3, the steps are as follows:
step one, a no-load truck enters a station and stops to a parking space 2, and a carriage is initially positioned through a correlation sensor 8.
And step two, the truss track 3 is started to reach the end of the truck head, and the carriage is precisely positioned through the visual device 9 of the loading and unloading truck.
And step three, adjusting the position of the multi-axis motion platform 4 to match the carriage.
And step four, feeding by a forklift, conveying the longitudinally stacked packing cartons 13 from the warehouse to a forklift loading and unloading position 14 of the pallet conveyor belt 7, starting the pallet conveyor belt 7, and positioning the packing cartons 13 by means of the unstacking visual device 10.
Fifthly, the unstacking and stacking robot 6 grabs the packaging cartons 13 one by one and puts the packaging cartons onto the carton conveying belt 1, and meanwhile, the code readers 11 on the carton conveying belt 1 read the bar code information on the packaging cartons 13 so as to call the goods information, thereby facilitating the goods delivery management; if the code reading is abnormal, the packing carton 13 flows out from the carton conveying belt 1 for manual intervention.
And step six, the unstacked packing paper boxes 13 move upwards along with the paper box conveying belts 1 and then reach the grabbing position of the loading and unloading robot 5.
And seventhly, the loading and unloading robot 5 grabs the packing cartons 13 one by one from the carton conveyor belt 1 for loading, and in the process, the positions of the loading and unloading robot 5 can be adjusted in real time by the truss tracks 3 and the multi-axis motion platform 4, so that the loading operation can be smoothly carried out.
And step eight, resetting the equipment after loading is finished.
When the system performs an unloading operation, as shown in fig. 4, the steps are as follows:
firstly, a full truck enters a station and stops in the parking space 2, and the carriage is initially positioned through the correlation sensor 8.
And step two, starting the truss track 3 to reach the tail end of the vehicle, and finely positioning the carriage through a loading and unloading vehicle vision device 9.
And step three, adjusting the position of the multi-axis motion platform 4 to match the carriage.
And step four, the loading and unloading robot 5 starts unloading, the packaging cartons 13 are grabbed onto the carton conveying belt 1 one by one from the boxcar, and the packaging cartons 13 descend to the position of the unstacking robot 6 along with the carton conveying belt 1.
Fifthly, reading bar code information on a packaging carton 13 in sequence by a code reader 11 on the carton conveying belt 1 so as to call the goods information, thereby facilitating warehousing management of the goods; if the code reading is abnormal, the packing carton 13 flows out from the carton conveying belt 1 for manual intervention.
Sixthly, the packing cartons 13 reach the grabbing positions of the unstacking robot 6, and the unstacking robot 6 grabs the packing cartons 13 on the carton conveying belts 1 one by one and stacks the packing cartons on the pallets of the pallet conveying belts 7; when the packing carton 13 is full of pallets, the pallet conveyor 7 delivers the packing carton 13.
And step seven, forking the sent stacked packing cartons 13 by a forklift, and conveying the stacked packing cartons to a specified place of a warehouse.
And step eight, resetting the unloading completion equipment.
Claims (6)
1. The utility model provides a packing carton flatbed loading and unloading operation robot system which characterized in that: the automatic parking device comprises a carton conveying belt (1), wherein a parking space (2) is arranged on one side of the carton conveying belt (1) along the conveying direction of the carton conveying belt, a truss track (3) is erected above the parking space (2), a multi-axis motion platform (4) is arranged on the truss track (3), and a loading and unloading robot (5) is arranged on the multi-axis motion platform (4); a destacking and stacking robot (6) is arranged on the other side of the carton conveying belt (1) along the conveying direction of the carton conveying belt, and a pallet conveying belt (7) is arranged on one side, away from the carton conveying belt (1), of the destacking and stacking robot (6).
2. The packaging carton platform cart handling operation robot system of claim 1, wherein: and a correlation sensor (8) is arranged on the inner side wall of the truss track (3).
3. The packaging carton platform cart handling operation robot system of claim 1 or 2, wherein: the loading and unloading vehicle visual device (9) is arranged on the loading and unloading vehicle robot (5).
4. The packaging carton platform cart handling operation robot system of claim 1, wherein: one side of the pallet conveyer belt (7) is provided with a visual palletizing device (10).
5. The packaging carton platform cart handling operation robot system of claim 1, wherein: a code reader (11) is arranged on the carton conveying belt (1) and at the corresponding position of the unstacking robot (6).
6. The packaging carton platform cart handling operation robot system of claim 1, wherein: and a safety protection fence (12) is arranged around the outer side of the palletizing robot (6).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021897923.9U CN213415567U (en) | 2020-09-03 | 2020-09-03 | Loading and unloading operation robot system for packing carton flatbed |
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| CN202021897923.9U CN213415567U (en) | 2020-09-03 | 2020-09-03 | Loading and unloading operation robot system for packing carton flatbed |
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| CN213415567U true CN213415567U (en) | 2021-06-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113526122A (en) * | 2021-07-01 | 2021-10-22 | 山东富润邦智能装备有限公司 | High breast board area cuts off freight train powder bag intelligence loading and unloading car production line |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113526122A (en) * | 2021-07-01 | 2021-10-22 | 山东富润邦智能装备有限公司 | High breast board area cuts off freight train powder bag intelligence loading and unloading car production line |
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