Automatic slip-on and slip-off system

Abstract

The present invention discloses an automatic slip-on and slip-off system, which includes a slip-on (slip-off) device (1), a slip carrier positioning device (2), a slip carrier correction device (3), and a control system (4). The slip-on (slip-off) device (1) is arranged at the middle position, and a special fixture (11) is provided on the slip-on (slip-off) device (1). The slip carrier correction device (3) is arranged directly in front of the slip-on (slip-off) device (1), and the slip carrier positioning device (2) is arranged directly behind the slip-on (slip-off) device (1) or on the left and right sides behind the slip-on (slip-off) device (1). The control system (4) supplies power to the slip-on (slip-off) device (1) and performs electrical control for sending corresponding action instructions. By using the automatic slip-on / slip-off operation mode to replace the manual slip-on / slip-off operation mode, the automation level of the incoming and outgoing finished cigarettes in the cigarette factory is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic loading / unloading skid devices, and specifically relates to an automatic skid loading and skid unloading system, which is particularly suitable for the skid loading operation of "empty pallets" or the skid unloading operation of "pallets with skids", can improve the automation level of the finished cigarette automatic storage logistics system, and ensure the reliable operation of the finished cigarette outbound work in the finished cigarette logistics system. Background Art

[0002] At present, the method of manual operation is adopted in China for the loading / unloading skid operation of pallets. There are several problems in this form:

[0003] (1) The degree of automation is low, the manual labor intensity is high, the efficiency is low, and the production operation cost is high.

[0004] (2) The manual loading / unloading skid operation is non-standard, which is very likely to affect subsequent pallet stacking, unstacking, conveying and warehousing storage.

[0005] (3) The production site operation environment of the manual loading / unloading skid operation is poor, and personal safety accidents are likely to occur.

[0006] (4) The manual loading / unloading skid operation is likely to damage the skids, which is not conducive to the repeated recycling of the skids and causes waste.

[0007] (5) The manual loading / unloading skid operation cannot meet the requirements of the automatic, information-based production and management of cigarette factories. Summary of the Invention

[0008] In order to solve the problems and deficiencies existing in the above-mentioned prior art, the present invention provides an automatic skid loading and skid unloading system, which replaces the manual loading / unloading skid operation mode through automatic loading / unloading skids.

[0009] Specifically, the following design structures and design schemes are adopted:

[0010] The automatic skid loading and skid unloading system includes a loading (unloading) skid device (1), a skid positioning device (2), a skid correction device (3) and a control system (4). The loading (unloading) skid device (1) is arranged at the middle position, and a special fixture (11) is provided on the loading (unloading) skid device (1); the skid correction device (3) is arranged on the loading (unloading) skid device (1), and the skid positioning device (2) is arranged directly behind the loading (unloading) skid device (1) or on the left and right sides behind the loading (unloading) skid device (1); the control system (4) supplies power to the loading (unloading) skid device (1) and sends corresponding action commands for electrical control.

[0011] Preferably, the adding (removing) skid device (1) uses an articulated robot (12) or a Cartesian robot (13), and both the articulated robot (12) and the Cartesian robot (13) are provided with ultra-high frequency electronic tag readers to identify the RFID chip (51) on the skid (5).

[0012] Preferably, the skid (5) is a quadrilateral with a flat surface. On two adjacent sides of the skid (5), first flanges (52) with the same width are provided, and the RFID chip (51) is arranged inside the center of the skid (5).

[0013] Preferably, the special fixture (11) can adopt vacuum adsorption or electromechanical clamping, and can also adopt pneumatic mechanical clamping.

[0014] Preferably, the skid positioning device (2) is composed of a first tray (21) located at the bottom and two adjacent and mutually perpendicular positioning plates (22).

[0015] Preferably, the skid correction device (3) is square-shaped. The skid correction device (3) forms an angle of 30° or 45° with the horizontal plane. On two adjacent sides below the skid correction device (3), a left guide bar (31) and a right guide bar (32) are respectively provided, and there is a gap between the left guide bar (31) and the right guide bar (32).

[0016] Preferably, a vertical support frame (33) is provided below the skid correction device (3). The skid correction device (3) is inclined backward, and a tray output station (6) is also provided directly below the skid correction device (3).

[0017] Preferably, a tray input station (7) is provided between the adding (removing) skid device (1) and the skid correction device (3).

[0018] Preferably, a skid supply (recovery) station (8) can be provided in front of the skid positioning device (2), and a chip failure rejection station (9) can also be provided on the side of the skid positioning device (2).

[0019] The working principle of the present invention is as follows:

[0020] The present invention includes a pallet adding / removing device (1), a pallet positioning device (2), a pallet correcting device (3) and a control system (4). The pallet positioning device (2) can load a number of pallets (5). The two adjacent non-folded edges of the pallet (5) are aligned with the two positioning plates (22) of the pallet positioning device (2) to position the pallet (5), standardize the placement posture of the pallet (5), and facilitate the correct grasping of the pallet (5) by the pallet adding / removing device (1). The pallet correcting device (3) corrects the position of the pallet (5) which is flat, has little deformation and allowsable strength. The pallet correcting device (3) forms an angle of 30° or 45° with the horizontal plane. The purpose is to place the pallet (5) on the pallet correcting device (3), and utilize the self-gravity of the pallet (5) to correct the posture of the pallet (5) under the guiding action of the left guide bar (31) and the right guide bar (32).

[0021] The pallet adding / removing device (1) adopts an articulated robot (12) or a rectangular coordinate manipulator (13), and both the articulated robot (12) and the rectangular coordinate manipulator (13) are provided with ultra-high frequency electronic tag readers to identify the RFID chip (51) on the pallet (5), and feed the identification information back to the control system (4). The control system (4) receives the identification information and realizes automatic pallet adding or removing according to the corresponding instructions.

[0022] The beneficial effects of the present invention compared with the prior art: The present invention uses automatic pallet adding or removing to replace manual pallet adding or removing, which can improve the automation level of the finished cigarette automatic storage logistics system, ensure the reliable operation of the finished cigarette warehousing work in the finished cigarette logistics system, and is flexible in integration, and can meet the operation requirements of different cigarette factories and different logistics systems for adding pallets to empty pallets. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is the overall structural schematic diagram of the present invention adopting an articulated robot;

[0024] Figure 2 is the usage state diagram of the present invention adopting an articulated robot to grasp a pallet;

[0025] Figure 3 is the usage state diagram of the present invention adopting an articulated robot to add a pallet;

[0026] Figure 4 is the front view of the present invention for correcting the posture of the pallet;

[0027] Figure 5 is the side view of the present invention for correcting the posture of the pallet;

[0028] Figure 6 is the overall structural schematic diagram of the present invention adopting a rectangular coordinate manipulator;

[0029] Figure 7This is the usage state diagram of the right-angle coordinate manipulator for grasping the sliding tray in the present invention;

[0030] Figure 8 This is the structural schematic diagram of the sliding tray in the present invention;

[0031] Figure 9 This is the structural schematic diagram of the sliding tray positioning device in the present invention;

[0032] Figure 10 This is the structural schematic diagram of the sliding tray correction device in the present invention;

[0033] Reference numerals in the drawings: 1 - adding (removing) sliding tray device; 11 - special fixture; 12 - articulated robot; 13 - right-angle coordinate manipulator; 2 - sliding tray positioning device; 21 - first tray; 22 - positioning plate; 3 - sliding tray correction device; 31 - left guide bar; 32 - right guide bar; 33 - vertical support frame; 4 - control system; 5 - sliding tray; 51 - RFID chip; 52 - first hem; 6 - tray output station; 7 - tray input station; 8 - sliding tray supply (recovery) station; 9 - chip failure rejection station; 10 - second tray. Detailed implementation manners

[0034] The following further describes the detailed implementation manners of the present invention in conjunction with the accompanying drawings and specific embodiments.

[0035] The detailed implementation manners are as follows:

[0036] Embodiment 1

[0037] As shown in the attached Figures 1-10 description, the automatic adding and removing sliding tray system includes an adding (removing) sliding tray device 1, a sliding tray positioning device 2, a sliding tray correction device 3, and a control system 4. The adding (removing) sliding tray device 1 is arranged at the middle position, and a special fixture 11 is provided on the adding (removing) sliding tray device 1; the sliding tray correction device 3 is arranged directly in front of the adding (removing) sliding tray device 1, and the sliding tray positioning device 2 is arranged directly behind the adding (removing) sliding tray device 1 or on the left and right sides behind the adding (removing) sliding tray device 1; the control system 4 supplies power to the adding (removing) sliding tray device 1 and sends corresponding action commands for electrical control.

[0038] Further, the adding (removing) sliding tray device 1 uses an articulated robot 12 or a right-angle coordinate manipulator 13, and both the articulated robot 12 and the right-angle coordinate manipulator 13 are provided with ultra-high frequency electronic tag readers to identify the RFID chip 51 on the sliding tray 5.

[0039] Further, the sliding tray 5 is a quadrilateral with a flat surface, and first hems 52 with the same width are provided on both adjacent sides of the sliding tray 5, and the RFID chip 51 is arranged inside the center of the sliding tray 5.

[0040] Further, the special fixture 11 can adopt vacuum adsorption or electro-mechanical clamping, and can also adopt pneumatic-mechanical clamping.

[0041] Further, the skid positioning device 2 is composed of a first tray 21 at the bottom and two adjacent and mutually perpendicular positioning plates 22. The skid 5 is positioned by aligning two adjacent non-folded edges of the skid 5 with the two positioning plates 22 of the skid positioning device 2, standardizing the placement posture of the skid 5, and facilitating the correct grasping of the skid 5 by the skid adding (removing) device 1.

[0042] Further, the skid correction device 3 is square-shaped, and the skid correction device 3 forms an angle of 30° or 45° with the horizontal plane to facilitate the downward sliding and posture correction of the skid 5 under its own weight, and also easily control the downward sliding action of the skid 5; on the adjacent two sides below the skid correction device 3, a left guide bar 31 and a right guide bar 32 are respectively provided, and there is a gap between the left guide bar 31 and the right guide bar 32 to protect the sharp corners of the skid 5 from being wrinkled.

[0043] Further, a vertical support frame 33 is provided below the skid correction device 3, the skid correction device 3 is inclined backward, and a tray output station 6 is also provided directly below the skid correction device 3.

[0044] Further, a tray input station 7 is provided between the skid adding (removing) device 1 and the skid correction device 3 to facilitate continuous operation of the system.

[0045] Further, a skid supply (recovery) station 8 can be provided in front of the skid positioning device 2, and a chip fault rejection station 9 can also be provided on the side of the skid positioning device 2.

[0046] Embodiment 2

[0047] For automatic skid adding, during operation, first stack the skids 5 on the skid positioning device 2, and position the skids 5 through the non-folded edges of the skids 5 and the positioning plates 22 on the skid positioning device 2 to standardize the stacking posture of the skids 5; then input the second tray 10 of the stacked skids 5 to the skid supply (recovery) station 8 for supply, the control system 4 is powered on, and the skid adding (removing) device 1 adopts an articulated robot 12 (as shown in the attached drawings of the specification) Figure 1 shown), at this time, the skid adding (removing) device 1 can rotate in multiple directions to grasp the skid 5, and the skid adding (removing) device 1 can also adopt a Cartesian robot 13 (as shown in the attached drawings of the specification) Figure 6 shown), slide back and forth horizontally or longitudinally, grasp the skid 5 through the special fixture 11, then read the RFID chip 51 on the skid 5 through the ultra-high frequency electronic tag reader. If the reading is normal, transmit the information to the control system 4. After receiving the information, the control system 4 makes corresponding action instructions, controls the skid adding (removing) device 1 to stack the skid 5 on the empty second tray 10 on the tray input station 7, and then outputs it through the tray output station 6 for subsequent operations.

[0048] Example 3

[0049] Automatic removal of the skid. During operation, the control system 4 supplies power, controls the skid adding (removing) device 1 to grab the skid 5, then reads the RFID chip 51 on the skid 5 through the ultra-high frequency electronic tag reader. If the reading is normal, the information is transmitted to the control system 4. After receiving the information, the control system 4 issues corresponding action instructions, controls the skid adding (removing) device 1 to stack the skid 5 onto the empty second pallet 10 on the pallet input station 7, and transports it to the pallet output station 6 for subsequent operations through the conveyor. If the reading fails, the skid adding (removing) device 1 rejects the skid 5 and stacks it onto the chip failure rejection station 9 for centralized manual processing.

[0050] Example 4

[0051] For skids 5 that are flat, have little deformation, and whose strength permits, the skid positioning device 2 can be cancelled. The skid correction device 3 corrects the position of the skid 5. The control system 4 controls the skid adding (removing) device 1 to grab the skid 5 on the skid supply (recovery) station 8, and then releases it at an angle of 30° or 45° onto the skid correction device 3. By utilizing the self-gravity of the skid 5 and under the guiding action of the left guide bar 31 and the right guide bar 32 of the skid correction device 3, the skid 5 corrects its attitude as required. Finally, the skid adding (removing) device 1 grabs the skid 5 with the corrected attitude again, stacks it onto the empty second pallet 10 on the pallet input station 7, and then outputs it through the pallet output station 6 for subsequent operations.

[0052] The protection scope of the present invention is not limited to the above embodiments. The above embodiments are only for helping to explain and illustrate the present invention, rather than limiting the protection scope of the present invention. As long as the design is the same as the design of the present invention or is an equivalent replacement, it falls within the protection scope required by the present invention.

Claims

1. An automatic pallet adding and removing system, comprising a pallet adding / removing device (1), a pallet positioning device (2), a pallet correcting device (3) and a control system (4), characterized in that: The loading / unloading skid device (1) is set at the middle position, and a special fixture (11) is provided on the loading / unloading skid device (1); the skid correction device (3) is set directly in front of the loading / unloading skid device (1), and the skid positioning device (2) is set directly behind the loading / unloading skid device (1) or on the left and right sides behind the loading / unloading skid device (1). A pallet input station (7) is provided between the loading / unloading skid device (1) and the skid correction device (3), a pallet output station (6) is provided directly below the skid correction device (3), a skid supply / recovery station (8) is provided in front of the skid positioning device (2), and a chip failure rejection station (9) is provided on the side of the skid positioning device (2); the control system (4) supplies power to the loading / unloading skid device (1) and sends corresponding action instructions for electrical control; the skid (5) is a quadrilateral with a flat surface, and first flanges (52) with the same width are provided on two adjacent sides of the skid (5); the skid positioning device (2) is composed of a first pallet (21) at the bottom and two adjacent and mutually perpendicular positioning plates (22). The skid (5) is positioned by aligning two adjacent non-flanged edges of the skid (5) with the two positioning plates (22) of the skid positioning device (2), and the placement posture of the skid (5) is standardized to facilitate the correct grasping of the skid (5) by the loading / unloading skid device (1); the loading / unloading skid device (1) uses an articulated robot (12) or a Cartesian robot (13).

2. The automatic slip pallet adding and removing system according to claim 1, characterized in that: Both the articulated robot (12) and the Cartesian robot (13) are provided with ultra-high frequency RFID readers to identify the RFID chip (51) on the skid (5).

3. The automatic pallet adding and removing system according to claim 2, wherein: The RFID chip (51) is set inside the center of the skid (5).

4. The automatic slip-on and slip-off system according to claim 1, wherein: The special fixture (11) uses vacuum adsorption, electro-mechanical clamping or pneumatic-mechanical clamping.

5. The automatic slip-on and slip-off system according to claim 1, characterized in that: The skid correction device (3) is square-shaped, and the skid correction device (3) forms an angle of 30° or 45° with the horizontal plane. A left guide bar (31) and a right guide bar (32) are respectively provided on two adjacent sides below the skid correction device (3), and there is a gap between the left guide bar (31) and the right guide bar (32).

6. The automatic slip pallet adding and removing system according to claim 5, characterized in that: A vertical support frame (33) is provided below the skid correction device (3), and the skid correction device (3) is inclined backward.

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