A fan outer packaging box system and control method thereof

Abstract

The present invention relates to the field of fan production equipment, and specifically to a fan outer packaging box system and a control method thereof. The system comprises a robot module and a material rack with a positioning structure, an inclined positioning platform, a secondary positioning platform, and a conveyor line with left and right centering modules arranged around the robot module. The present invention uses a robot to perform boxing, which not only improves work efficiency and saves labor costs. In addition, because the robot has high positioning accuracy, it avoids the damage of the carton during manual operation, thereby ensuring the utilization rate of the carton and the aesthetic appearance of the fan.

Description

Technical Field

[0001] The invention relates to the field of fan production equipment, and in particular to a fan outer packaging box system and a control method thereof. Background Art

[0002] A fan is a machine that relies on input mechanical energy to increase gas pressure and discharge gas. It is widely used in ventilation, dust removal and cooling in factories, mines, tunnels, ships and buildings. Fans need to be packaged before leaving the factory. Currently, the packaging of fans is done manually. With the continuous increase in production demand, manual packaging is increasingly unable to meet production needs. The existing packaging method has the following shortcomings:

[0003] (1) Manual boxing work is inefficient and labor costs are high;

[0004] (2) Manual box packing may damage the packaging paper, affect the overall appearance, and reduce work efficiency;

[0005] (3) During the process of putting boxes on, workers move back and forth and move equipment, which poses a safety risk.

[0006] Therefore, in order to solve the above technical problems, the present invention discloses a fan outer packaging box system and a control method thereof. Summary of the invention

[0007] In order to solve the deficiencies in the prior art, the present invention provides a fan outer packaging box system and a control method thereof.

[0008] The technical solution of the present invention is:

[0009] The present invention provides a fan outer packaging box system, comprising a robot module and a material rack with a positioning structure, an inclined positioning platform, a secondary positioning platform, and a conveyor line with left and right centering modules arranged around the robot module.

[0010] Furthermore, the robot module includes a robot and a paper shell jig.

[0011] Furthermore, the paper shell jig includes a main frame, a main suction cup frame, a connecting frame, a transverse cylinder, left and right blocking frames, a plurality of upper and lower cylinders, a plurality of main suction cups, a plurality of side suction cups, a plurality of pressure sensors, a plurality of proximity switches, and a vacuum generator.

[0012] Furthermore, the proximity switch includes a base, a detection rod, a spring, a probe, and a detection block.

[0013] Furthermore, the tilt positioning platform includes a tilt bracket, a tilt plate, and a "7"-shaped baffle plate arranged at the edge of the tilt plate, and the corner of the baffle plate is arranged at the lowest point of the tilt plate.

[0014] Furthermore, the inclination angle of the inclined plate is 45° to 60°.

[0015] Furthermore, the left and right centering modules each include a "T"-shaped centering bracket, a centering cylinder, and a push plate.

[0016] Furthermore, it also includes a control system, which includes a PLC controller, a liquid crystal LCD, and a number of control buttons.

[0017] A control method for a fan outer packaging box system comprises the following steps:

[0018] S1. Parameter setting, the user inputs the paper shell size into the control system;

[0019] S2. Place the cardboard, the worker places a stack of cardboard on the rack and positions it through the positioning structure;

[0020] S3. Grab the paper shell. The robot grabs the paper shell from the rack through the main suction cup;

[0021] S4. Initial positioning: the robot places the paper case on the tilting positioning platform and releases it. The paper case automatically slides to the lowest point of the tilting plate under the action of gravity and is blocked by the baffle.

[0022] S5. Precise grasping: the robot calculates the precise position of the paper shell by using the tilt positioning table size information and paper shell size information stored in the control system, and grasps the paper shell again through the main suction cup;

[0023] S6. The retaining frame opens, the robot moves the carton to the top of the secondary positioning table, the horizontal cylinder extends, and the right retaining frame moves outward. When the distance between the left and right retaining frames is slightly larger than the length of the carton after shaping, the horizontal cylinder stops, and the upper and lower cylinders extend at the same time, so that the left and right retaining frames embrace the carton;

[0024] S7. Secondary positioning, slowly lower the carton, and shape the carton into a cube through the blocking effect of the secondary positioning table. The lateral cylinder contracts, and the side suction cups on the left and right retaining frames suck the side walls of the carton to fix the shape of the carton;

[0025] S8. The fan box is centered. The fan box is transported to the designated position by the conveyor line. Then the push plates of the left and right centering modules are extended to the same distance at the same time. After the fan box is fixed at the designated position, the push plates are retracted.

[0026] S9. Putting the box on, the robot puts the paper shell on the fan box, and the fan box is transported to the next process;

[0027] S10. Repeat S3 to S9, and when the paperboard is insufficient, proceed to S2.

[0028] Furthermore, the control method for grabbing paper shells comprises the following steps:

[0029] S1. Determine the initial grasping position, turn on the vacuum generator, and the robot probes downward from the initial position at intervals of 3 mm until both the pressure sensor and the proximity switch send signals, determine the initial grasping position and record it;

[0030] S2. Grasping and handling: when the pressure sensor detects that the pressure drops to the set value and lasts for a period of time, it can be determined that the main suction cup has grasped the paper shell, and then the subsequent box-covering action is carried out;

[0031] S3. Grab again, calculate the downward distance according to the initial grasping position, proceed to S2, and repeat this step continuously.

[0032] The beneficial effects achieved by the present invention are:

[0033] The present invention uses a robot to cover the boxes, which not only improves work efficiency and saves labor costs, but also avoids carton damage during manual operation due to the high positioning accuracy of the robot, thereby ensuring the utilization rate of the carton and the aesthetic appearance of the fan.

[0034] Moreover, the present invention can be integrated into an assembly production line in conjunction with other processes, which not only improves the overall production efficiency, but also increases the utilization rate of the production site, making overall management easier.

[0035] In addition, the present invention can avoid accident risks and improve the safety factor of production by working under a fixed path.

[0036] The present invention also provides a new working mode for the same type of working conditions, filling the gap in the industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0038] Figure 2 It is a schematic diagram of the structure of a paper shell fixture.

[0039] Figure 3 This is a bottom view of the main suction cup frame.

[0040] Figure 4 It is a schematic diagram of the proximity switch structure.

[0041] Figure 5 It is a top view of the conveyor line.

[0042] Figure 6 This is a control method diagram of the fan outer packaging box system.

[0043] In the figure, 100, robot; 200, main frame; 210, main suction cup frame; 211, main suction cup; 220, proximity switch; 221, base; 222, detection rod; 223, spring; 224, probe; 225, detection block; 230, connecting frame; 240, horizontal cylinder; 250, left baffle frame; 260, right baffle frame; 261, upper and lower cylinders; 262, side suction cup; 300, material rack; 301, column; 400, tilting bracket; 401, tilting plate; 402, baffle; 500, secondary positioning table; 600, conveyor line; 610, centering bracket; 611, centering cylinder; 612, push plate; 700, paper shell; 710, fan box. DETAILED DESCRIPTION

[0044] To facilitate those skilled in the art to understand the present invention, specific implementations of the present invention are described below with reference to the accompanying drawings.

[0045] like Figures 1 to 6 As shown, the present invention provides a fan outer packaging box system, including a robot module and a material rack 300 with a positioning structure arranged around the robot module, an inclined positioning platform, a secondary positioning platform 500, and a conveyor line 600 with left and right centering modules.

[0046] The robot module includes a robot 100 and a paper shell jig detachably connected to the robot. In the initial state, the paper shell jig is located above the material rack 300. The model of the robot is: ABB6700. The paper shell jig includes a main frame 200, a main suction cup frame 210, a plurality of main suction cups 211, a plurality of proximity switches 220, a connecting frame 230, a transverse cylinder 240, a left and right blocking frame 260, a plurality of guide rods, a plurality of upper and lower cylinders 261, a plurality of side suction cups 262, a plurality of pressure sensors, and a vacuum generator. A plurality of guide holes are provided at both ends of the main frame 200. The main suction cup frame 210 is vertically arranged on the main frame 200. The main suction cup 211 and the proximity switch 220 are arranged at the bottom of the main suction cup frame 210.

[0047] The connecting frame 230 is movably arranged on the main frame body 200 through a guide rod, and the guide rod plays a supporting and guiding role. A guide hole is arranged on the connecting frame 230. The transverse cylinder 240 is arranged on the main frame body 200, and the end of the piston rod of the transverse cylinder 240 is connected to the connecting frame 230, and the connecting frame 230 can move left and right under the action of the transverse cylinder 240. The left blocking frame 250 is movably connected to the main frame body 200 through a guide rod, and the right blocking frame 260 is movably connected to the connecting frame 230 through a guide rod. The inner bottom of the left and right blocking frames 260 is provided with a side suction cup 262. The upper and lower cylinders 261 are arranged on the left and right blocking frames 260, and the ends of the piston rods of the upper and lower cylinders 261 are connected to the main frame body 200 or the connecting frame 230, and the left and right blocking frames 260 can move up and down under the action of the upper and lower cylinders 261. The pressure sensor is arranged in the main suction cup 211 and the side suction cup 262 to detect the change of air pressure. The main suction cup 211 and the side suction cup 262 are connected to the vacuum generator.

[0048] Further, the proximity switch 220 includes a base 221 with a cylindrical groove arranged at the bottom of the main suction cup frame 210, a detection rod 222 movably arranged in the groove, a spring 223 arranged between the base 221 and the detection rod 222, a probe 224 arranged at the bottom of the detection rod 222, and a detection block 225 arranged at the bottom of the groove. The base 221 and the detection rod 222 are both made of insulating materials, and the probe 224 and the detection block 225 are both made of metal. The outer surface of the spring 223 is coated with insulating paint, and the elastic force of the spring 223 is relatively small. The probe 224 and the detection block 225 are respectively connected to the control system. In the initial state, the probe 224 is separated from the detection block 225. When the detection rod 222 touches the paper shell 700, the spring 223 is forced to shrink, and the probe 224 contacts the detection block 225 to form a passage, so that the control system can detect the paper shell 700.

[0049] The material rack 300 is fixed on the floor of the factory, and the positioning structure includes first and second columns 301, which are vertically arranged on two adjacent sides of the material rack 300. After placing the paper shell 700 on the material rack 300, the worker pushes the paper shell 700 toward the first and second columns 301, so that the two adjacent sides of the paper shell 700 are in contact with the first and second columns 301, respectively, to complete the preliminary positioning of the paper shell 700.

[0050] The tilt positioning platform includes a tilt bracket 400, a tilt plate 401 arranged on the tilt bracket 400, and a "7"-shaped baffle 402 arranged on the edge of the tilt plate 401. The tilt angle of the tilt plate 401 is 45° to 60°, and the folding angle of the baffle 402 is set at the lowest point of the tilt plate 401.

[0051] Furthermore, the left and right centering modules each include a "T"-shaped centering bracket 610, a centering cylinder 611 disposed on the centering bracket 610, and a push plate 612. The push plate 612 is movably disposed on the centering bracket 610 through a guide rod. The push plate 612 is connected to the piston rod of the centering cylinder 611, and the push plate 612 can move back and forth under the action of the centering cylinder 611.

[0052] Furthermore, the present invention also includes an air pressure station, which includes a high-pressure gas cylinder and a plurality of solenoid valves. The high-pressure gas cylinder is connected to the horizontal cylinder 240, the upper and lower cylinders 261, and the centering cylinder 611 through the solenoid valves to provide power for the cylinders.

[0053] The present invention also includes a control system, which includes a PLC controller, a liquid crystal LCD, and several control buttons. The PLC controller is connected to the liquid crystal LCD, the control buttons, the robot 100, the pressure sensor, the vacuum generator, and the solenoid valve. After the arrangement of the present invention is completed, the user should input the arrangement information of the present invention through the control button, that is, the position and size of the material rack 300, the tilt positioning table, the secondary positioning table 500, and the conveyor line 600, so that the control system can control the robot 100 to carry the paper shell 700. Among them, the model of the PLC controller is: Siemens PLC1200; the model of the liquid crystal LCD is: JLX19264G-933-P; the model of the pressure sensor is: EVT-2000; the model of the solenoid valve is: ZQDF-1.

[0054] A control method for a fan outer packaging box system comprises the following steps:

[0055] S1. Parameter setting, the user inputs the size of the paper shell 700 into the control system;

[0056] S2. Place the carton 700, the worker places a stack of carton 700 on the rack 300 and positions it through the positioning structure;

[0057] S3 grabs the carton 700, the robot 100 grabs the carton 700 from the rack 300 through the main suction cup 211;

[0058] S4. For the initial positioning, the robot places the paper shell 700 on the inclined positioning platform and releases it. The paper shell 700 automatically slides to the lowest point of the inclined plate 401 under the action of gravity and is blocked by the baffle 402. At this time, one corner of the paper shell 700 is located at the folded corner of the baffle 402, and the two sides of this corner are in contact with the two sides of the baffle 402.

[0059] S5. Precise grasping, the robot calculates the precise position of the paper shell 700 by using the tilt positioning stage size information and the paper shell 700 size information stored in the control system, and grasps the paper shell 700 again through the main suction cup 211;

[0060] S6. The retaining frame is opened, and the robot moves the paper shell 700 to the top of the secondary positioning table 500. The paper shell 700 is unfolded downward under the action of gravity, the horizontal cylinder 240 is extended, and the right retaining frame 260 moves outward. When the distance between the left and right retaining frames 260 is slightly larger than the length of the paper shell 700 after shaping, the horizontal cylinder 240 stops, and the upper and lower cylinders 261 are extended at the same time, so that the left and right retaining frames 260 are embracing the paper shell 700;

[0061] S7. Secondary positioning, slowly landing the carton 700, the carton 700 is shaped into a cube by the blocking effect of the secondary positioning table 500, the lateral cylinder 240 contracts, and the side suction cups 262 on the left and right baffles 260 suck the side walls of the carton 700 to fix the shape of the carton 700;

[0062] S8. The fan housing 710 is centered. The fan housing 710 is transported to the designated position by the conveyor line 600. Then the push plates 612 of the left and right centering modules are extended at the same distance at the same time. After the fan housing 710 is centered at the designated position, the push plates 612 are retracted.

[0063] S9. The robot puts the paper shell 700 on the fan box 710, and the fan box 710 is transported to the next process;

[0064] S10. Repeat S3 to S9. When the paper shell 700 is insufficient, proceed to S2.

[0065] Furthermore, the control method for grabbing the paper shell 700 includes the following steps:

[0066] S1. Determine the initial grasping position, turn on the vacuum generator, and the robot 100 probes downward from the initial position at intervals of 3 mm (i.e., pauses every 3 mm of descent) until the pressure sensor detects a significant change in the air pressure in the suction cup and the proximity switch 220 sends a signal, and then the initial grasping position can be determined and recorded;

[0067] S2. Grasping and handling, when the pressure sensor detects that the pressure drops to the set value and lasts for a period of time, it can be determined that the main suction cup 211 has grasped the paper shell 700, and then the subsequent box set action is performed;

[0068] S3. Grab again, calculate the downward distance according to the initial grasping position, proceed to S2, and repeat this step continuously.

[0069] The above-described embodiments of the present invention do not constitute a limitation on the protection scope of the present invention. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A fan outer packaging box system, characterized by: It includes a robot module and a material rack with a positioning structure, an inclined positioning platform, a secondary positioning platform, and a conveyor line with left and right centering modules arranged around the robot module; the robot module includes a robot and a paper shell jig; The paper shell jig comprises a main frame, a main suction cup frame, a connecting frame, a transverse cylinder, left and right baffle frames, a plurality of upper and lower cylinders, a plurality of main suction cups, a plurality of side suction cups, a plurality of pressure sensors, a plurality of proximity switches, and a vacuum generator; the connecting frame is movably arranged on the main frame through a guide rod, and a guide hole is arranged on the connecting frame. The transverse cylinder is arranged on the main frame, and the end of the piston rod of the transverse cylinder is connected to the connecting frame, and the connecting frame can move left and right under the action of the transverse cylinder, and the left baffle frame is movably connected to the main frame through a guide rod, and the right baffle frame is movably connected to the connecting frame through a guide rod, and side suction cups are arranged on the inner bottom of the left and right baffle frames, and the upper and lower cylinders are arranged on the left and right baffle frames, and the ends of the piston rods of the upper and lower cylinders are connected to the main frame or the connecting frame, and the left and right baffle frames can move up and down under the action of the upper and lower cylinders, and the pressure sensors are arranged in the main suction cup and the side suction cup to detect air pressure changes, and the main suction cup and the side suction cup are connected to the vacuum generator; The tilt positioning platform comprises a tilt bracket, a tilt plate, and a "7"-shaped baffle plate arranged at the edge of the tilt plate, wherein the corner of the baffle plate is arranged at the lowest point of the tilt plate; The left and right centering modules each include a "T"-shaped centering bracket, a centering cylinder, and a push plate. The push plate is movably arranged on the centering bracket through a guide rod. The push plate is connected to the piston rod of the centering cylinder. The push plate can move back and forth under the action of the centering cylinder. It also includes a control system, which includes a PLC controller, a liquid crystal LCD, and a number of control buttons; The control method of the fan outer packaging box system comprises the following steps: S1. Parameter setting, the user inputs the paper shell size into the control system; S2. Place the cardboard, the worker places a stack of cardboard on the rack and positions it through the positioning structure; S3. Grab the paper shell. The robot grabs the paper shell from the rack through the main suction cup; S4. Initial positioning: the robot places the paper case on the tilting positioning platform and releases it. The paper case automatically slides to the lowest point of the tilting plate under the action of gravity and is blocked by the baffle. S5. Precise grasping: the robot calculates the precise position of the paper shell by using the tilt positioning table size information and paper shell size information stored in the control system, and grasps the paper shell again through the main suction cup; S6. The retaining frame opens, the robot moves the carton to the top of the secondary positioning table, the horizontal cylinder extends, and the right retaining frame moves outward. When the distance between the left and right retaining frames is slightly larger than the length of the carton after shaping, the horizontal cylinder stops, and the upper and lower cylinders extend at the same time, so that the left and right retaining frames embrace the carton; S7. Secondary positioning, slowly lower the carton, and shape the carton into a cube through the blocking effect of the secondary positioning table. The lateral cylinder contracts, and the side suction cups on the left and right retaining frames suck the side walls of the carton to fix the shape of the carton; S8. The fan box is centered. The fan box is transported to the designated position by the conveyor line. Then the push plates of the left and right centering modules are extended to the same distance at the same time. After the fan box is fixed at the designated position, the push plates are retracted. S9. Putting the box on, the robot puts the paper shell on the fan box, and the fan box is transported to the next process; S10. Repeat S3 to S9. When the paper shell is insufficient, proceed to S2.

2. The fan outer packaging box system according to claim 1, characterized in that: The proximity switch comprises a base, a detection rod, a spring, a probe and a detection block.

3. The fan outer packaging box system according to claim 1, characterized in that: The inclination angle of the inclined plate is 45°~60°.

4. According to the fan outer packaging box system of claim 1, the specific method of grabbing the paper shell comprises the following steps: S1. Determine the initial grasping position, turn on the vacuum generator, and the robot probes downward from the initial position at intervals of 3 mm until both the pressure sensor and the proximity switch send signals, determine the initial grasping position and record it; S2. Grasping and handling: when the pressure sensor detects that the pressure drops to the set value and lasts for a period of time, it can be determined that the main suction cup has grasped the paper shell, and then the subsequent box-covering action is carried out; S3. Grab again, calculate the downward distance according to the initial grasping position, proceed to S2, and repeat this step continuously.

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