Method and apparatus for bagged product boxing

Abstract

The application discloses a bagged product boxing method and a bagged product boxing device. The method is selectively docked with a second conveyor or a third conveyor through a first conveyor, so that different weights of bagged products can be distinguished and boxed, and when there are multiple bagged products on the second conveyor and the third conveyor, the bagged products are moved into a first buffer table and a second buffer table at one time, and further when the first buffer table and the second buffer table have the required number of bagged products per layer of the box, the bagged products are moved again at one time, so that the number of boxing operations is effectively reduced, the prior art mode of boxing one bagged product at one time is changed, the efficiency is effectively improved, and meanwhile, the arrangement of one layer of bagged products is regular and the number of the bagged products meets the requirements.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of polysilicon processing, in particular to a bagged product boxing method and a bagged product boxing device. BACKGROUND

[0002] In the process of polysilicon processing, broken polysilicon particles are packed into a packaging bag and sealed to obtain a bagged product, and then a predetermined number of bagged products are packed into a box. However, during boxing, bagged products of different weights are mixed together and transported, and during boxing, bagged products of the same weight specification need to be packed into a box.

[0003] In the prior art, a mechanical hand with a weighing function is used to grasp a bagged product each time, and then the bagged product is packed into a box according to the weight.

[0004] Although this method can achieve the separation of bagged products during boxing, each bagged product needs to be operated by a mechanical hand, resulting in low boxing efficiency, and the box stores multiple layers of bagged products, and each layer needs to store a fixed number of bagged products, which can easily cause the bagged products to be irregularly placed, resulting in the problem that a fixed number of bagged products cannot be placed in a layer. SUMMARY

[0005] The purpose of the present application is to solve the above-mentioned problems in the prior art and provide a bagged product boxing method and a bagged product boxing device.

[0006] The purpose of the present application is achieved by the following technical solutions:

[0007] The bagged product boxing method comprises the following steps:

[0008] S1, determining whether a bagged product enters the first conveyor;

[0009] S2, if not, performing S1;

[0010] S3, if yes, obtaining the weight of the bagged product, and causing the first conveyor to move and be in butt joint with one of the second conveyor or the third conveyor according to the obtained weight of the bagged product;

[0011] S4, determining whether the bagged product can be transported to the second conveyor or the third conveyor in butt joint with the first conveyor;

[0012] S5, if not, waiting and performing S4;

[0013] S6, if yes, controlling the first conveyor to output the bagged product, and after determining that the bagged product is output from the first conveyor, issuing an instruction to supply the bagged product to the first conveyor and performing S7.

[0014] S7, the second conveyor or the third conveyor transports the bagged products entering thereon to a predetermined position thereon;

[0015] S8, it is determined whether the number of the bagged products on the second conveyor or the third conveyor reaches a first target value;

[0016] S9, if not, an instruction is sent to supply the bagged products to the second conveyor or the third conveyor;

[0017] S10, if yes, it is determined whether the polysilicon on the second conveyor or the third conveyor can be moved to the first buffer station or the second buffer station corresponding thereto respectively;

[0018] S20, if not, waiting for the moving and continuously determining whether the polysilicon on the second conveyor or the third conveyor can be moved to the first buffer station or the second buffer station corresponding thereto respectively;

[0019] S30, if yes, all the bagged products on the second conveyor or the third conveyor are moved to a predetermined position of the first buffer station or the second buffer station by the first mechanical arm at one time; and after it is determined that the first mechanical arm moves all the bagged products to the outside of the second conveyor or the third conveyor, an instruction is sent to move the bagged products to the second conveyor or the third conveyor;

[0020] S40, it is determined whether the number of the bagged products on the first buffer station or the second buffer station reaches a second target value;

[0021] S50, if not, an instruction is sent to move the bagged products to the first buffer station or the second buffer station;

[0022] S60, if yes, all the bagged products on the first buffer station or the second buffer station are grabbed and loaded into a box by the second mechanical arm at one time, and after it is determined that the bagged products on the first buffer station or the second buffer station are moved out, an instruction is sent to move the bagged products thereon.

[0023] Preferably, in the S2, the weight of the bagged products is obtained by scanning the bar code on the bagged products; or the weight of the bagged products is weighed by the first weighing sensor of the first conveyor.

[0024] Preferably, the second conveyor and the third conveyor are weighing conveyors, and in the S8, it is determined whether the number of the bagged products reaches the first target value according to the weight weighed by the second conveyor and the third conveyor.

[0025] Preferably, when it is determined that the weight of the bagged products on the second conveyor and the third conveyor does not meet the requirement, an alarm is sent and the machine is stopped.

[0026] Preferably, after the first manipulator grabs the bagged products on the second conveyor or the third conveyor and lifts them, it is determined whether the first manipulator will take all the bagged products away according to the weight determined by the second conveyor or the third conveyor, if yes, the bagged products are placed in the first buffer station or the second buffer station, if not, the bagged products are placed in the first buffer station or the second buffer station and an alarm is sent and the machine is stopped after the bagged products are in the first buffer station or the second buffer station.

[0027] Preferably, it is determined whether the bagged products on the first buffer station and the second buffer station reach a second target value according to the number of times the first manipulator moves the bagged products to the first buffer station and the second buffer station.

[0028] Preferably, when it is determined that the number of bagged products on the first buffer station or the second buffer station reaches a second target value, the first arrangement mechanism and the second arrangement mechanism on the first buffer station or the second buffer station are controlled to arrange all the bagged products to be close to each other.

[0029] Preferably, in the S60, when the second manipulator grabs a plurality of bagged products, it is determined whether the weight of the bagged products meets the requirement by the weighing assembly on the second manipulator, if yes, the bagged products are loaded into the box; otherwise, the bagged products are placed in the box and an alarm is sent and the machine is stopped.

[0030] Preferably, after the S60, the second manipulator is controlled to adsorb a separation film and place it on the bagged products in the box.

[0031] The bagged product packaging equipment comprises a first conveyor, a second conveyor, a third conveyor, a first manipulator, a second manipulator, a first buffer station and a second buffer station, the first conveyor is translatable and can be connected to any of the second conveyor and the third conveyor; the first manipulator comprises a row of first clamps and a transfer driving mechanism for driving the row of first clamps to lift and reciprocally translate along a direction perpendicular to the conveying direction of the first conveyor, the first buffer station is distributed on a side of the second conveyor away from the first conveyor, the second buffer station is located on a side of the second conveyor away from the first conveyor, the second manipulator comprises a plurality of rows and columns of second clamps, and the second clamps are connected to a transfer driving device for driving them to lift and translate,

[0032] The advantages of the technical scheme of the present application mainly include:

[0033] The present application can realize the different weight bagged product's distinguishing packing by the first conveyor alternatively docking with the second conveyor or the third conveyor, and when there are multiple bagged products on the second conveyor and the third conveyor, they are moved into the first buffer table and the second buffer table for buffering at one time, and further when the first buffer table and the second buffer table have the required number of bagged products per layer of the box, the one-time transfer is carried out again, effectively reducing the number of packing operations, changing the existing technology of one bagged product packing, effectively improving the efficiency, and at the same time, the regular arrangement of one layer of bagged products and the required number of bagged products can be ensured.

[0034] The present application makes the first conveyor a weighing conveyor, which can directly determine the weight of the bagged product located thereon, thereby eliminating the need for pre-weighing, code spraying and other operations, and can eliminate the high camera required for subsequent code scanning, which is more conducive to cost control.

[0035] The present application makes the second conveyor and the third conveyor weighing conveyors, which can effectively determine whether the bagged products entering thereon are mislaid, thereby ensuring accurate distinction, and can also determine the number of bagged products entering thereon according to the weight, which can eliminate the detection photoelectric at multiple positions, and further can determine whether the bagged products on the second conveyor and the third conveyor are taken away at one time according to the weight, which can increase the investigation of abnormal situations.

[0036] The present application arranges the polysilicon through the arrangement mechanism when the number of bagged products on the first buffer table and the second buffer table reaches the second target value, thereby effectively ensuring that each second gripper of the second robot can correspond to a bagged product position, thereby ensuring that all bagged products are grasped at one time to realize one-time packing.

[0037] The present application further provides a weighing assembly at the second robot, which can effectively determine whether all bagged products on the first buffer table and the second buffer table are grasped at one time, and can alarm and handle the abnormality in time when the grasping is abnormal.

[0038] The present application adopts a special transfer driving device structure, which has better supportability and can provide sufficient support for the second robot, thereby ensuring stable one-time grasping of dozens of bagged products. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 is a perspective view of the bagged product packing equipment of the present application, in which the table plate of the second buffer table is hidden;

[0040] Figure 2 is a perspective view of the first conveyor in the present application;

[0041] Figure 3 is a top view of the bagged product boxing equipment of the present application, with the deck of the second buffer station hidden;

[0042] Figure 4 is Figure 1 is an enlarged view of area A in

[0043] Figure 5 is a perspective view of the first mechanical arm of the present application;

[0044] Figure 6 is a perspective view of the first gripper of the present application;

[0045] Figure 7 is a schematic view of the second buffer station of the present application, with the deck hidden;

[0046] Figure 8 is a perspective view of the second gripper on the second mechanical arm of the present application;

[0047] Figure 9 is a first perspective view of the second mechanical arm of the present application;

[0048] Figure 10 is a second perspective view of the second mechanical arm of the present application;

[0049] Figure 11 is a process schematic of the method of the present application. DETAILED DESCRIPTION

[0050] The objects, advantages and features of the present application will be illustrated and explained by the following non-limiting description of preferred embodiments. These embodiments are only typical examples of the application, and any technical solution formed by equivalent substitution or equivalent transformation falls within the scope of the present application.

[0051] In the description of the schemes, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inner", "outer" and the like refer to the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplification of description, and cannot be understood as instructions or implications that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as instructions or implications of relative importance.

[0052] The bagged product boxing method disclosed by the present application will be described below in conjunction with the drawings, such as Figure 1As shown, the bagged product boxing method is based on a bagged product boxing device, which comprises a first conveyor 100, a second conveyor 200, a third conveyor 300, a first manipulator 400, a second manipulator 500, a first buffer station 600 and a second buffer station 700. The first conveyor 100 is translatable and can be docked with any of the second conveyor 200 and the third conveyor 300 side by side and adjacent to each other. The first manipulator 400 comprises a row of first clamping jaws 410 and a transfer driving mechanism 420 driving the row of first clamping jaws 410 to lift and reciprocally translate along a direction perpendicular to the conveying direction of the first conveyor 100. The first buffer station 600 is distributed on a side of the first conveyor 100 deviated from the second conveyor 200, and the second buffer station 700 is located on a side of the second conveyor 200 deviated from the first conveyor 100. The second manipulator 500 comprises a plurality of rows and columns of second clamping jaws 510 connected to a transfer driving device 520 driving them to lift and translate.

[0053] Specifically, the first conveyor 100 can be a belt conveyor arranged on a base 800, and of course can also be other feasible conveying devices. Since different weights of bagged products need to be boxed into different boxes, it is necessary to determine which of the second conveyor 200 and the third conveyor 300 is docked with the first conveyor 100 according to the weight of each bagged product. When determining each bagged product, a two-dimensional code or a bar code can be attached or printed on the side of each bagged product, and a code reader is arranged at the input end of the first conveyor 100 to read the code, so that the weight matched with the bagged product in the bar code or two-dimensional code can be effectively obtained. In this way, a detection photoelectric sensor needs to be arranged at the input end of the first conveyor 100 to determine whether a bagged product enters the first conveyor 100. Meanwhile, in order to ensure that the weight information is obtained, two image acquisition devices are needed to acquire images of the two opposite sides of the bagged product.

[0054] In a more preferred way, the first conveyor 100 can have a weighing function, i.e., it is a weighing conveyor. At this time, the detection photoelectric sensor and the two image acquisition devices at the input end of the first conveyor 100 can be omitted, and whether a bagged product enters the first conveyor 100 can be determined by whether there is weight data on the first conveyor 100, and the weight of each bagged product can be accurately weighed.

[0055] As shown in FIG. 1, the bagged product boxing device comprises a base 800, a first conveyor 100, a second conveyor 200, a third conveyor 300, a first manipulator 400, a second manipulator 500, a first buffer station 600 and a second buffer station 700. Figure 2As shown, the first conveyor 100 comprises a base 110, a weighing sensor 120 is arranged on the base 110, a belt conveying assembly 130 is arranged on the weighing sensor 120, the belt conveying assembly 130 comprises a horizontal plate 131 fixed on the weighing sensor 120, the extending direction of the horizontal plate 131 is perpendicular to the length direction of the weighing sensor 120, the weighing sensor is connected to the middle position of the length direction of the horizontal plate, the horizontal plate 131 is connected to the middle position of the bottom of two first side plates 132, the length direction of the two first side plates 132 is parallel to the length direction of the weighing sensor 120. The two ends of the first side plate 132 are provided with rollers 133, the rollers are sleeved with belts 134, one of the rollers is connected with a first motor 135 driving the self-rotation of the roller, the first motor is fixed below the first side plate 132 and located at the inner side of the first side plate 132, it is connected with one of the rollers through a known synchronous belt transmission mechanism 136 or chain transmission mechanism and drives the self-rotation of the roller.

[0056] As shown in the accompanying drawings, Figure 3 In order to facilitate the butt joint of the first conveyor 100 and the second conveyor 200 or the third conveyor 300, the first conveyor 100 is connected with a translation mechanism 900 driving the reciprocating movement of the first conveyor 100, the moving direction of the first conveyor 100 is perpendicular to the conveying direction of the first conveyor 100, the translation mechanism 900 comprises a servo module 910, the first conveyor 100 is arranged on the moving part of the servo module 910, at the same time, the first conveyor 100 is arranged on the guide rails 920 on both sides of the servo module 910 through the sliding of the sliding blocks.

[0057] The second conveyor 200 and the third conveyor 300 have the same structure, they can also be known conveying devices, preferably belt conveyors, they are arranged side by side downstream of the first conveyor 100. At the same time, the length of the second conveyor 200 and the third conveyor 300 is greater than the length of the first conveyor 100, the specific length of the second conveyor 200 and the third conveyor 300 can be selected according to the needs, preferably, the length of the second conveyor 200 and the third conveyor 300 meets that at least three bagged products can be stored side by side on the second conveyor 200 and the third conveyor 300.

[0058] As shown in the accompanying drawings, Figure 4As shown, in order to effectively enable multiple bagged products to be transported simultaneously on the second conveyor 200 and the third conveyor 300, U-shaped barriers 230 are respectively provided on the top of the second conveyor 200 and the third conveyor 300. The opening of the U-shaped barrier 230 faces the input end of the second conveyor 200 and the third conveyor 300. After the bagged products enter the second conveyor 200 and the third conveyor 300, they will enter the U-shaped barrier 230 through the opening end of the U-shaped barrier 230. When the bagged products are transported to the output end of the second conveyor 200 and the third conveyor 300, they will be blocked by the U-shaped barrier 230 and cannot continue to be transported.

[0059] Detection sensors can also be installed at the input ends of the second conveyor 200 and the third conveyor 300 to determine whether bagged products have entered them. Simultaneously, multiple detection sensors are installed on the second conveyor 200 and the third conveyor 300 to detect the presence of bagged products at different positions. When multiple detection sensors detect bagged products, it can be determined that the bagged products on the second conveyor 200 and the third conveyor 300 meet the first target value. More preferably, the second conveyor 200 and the third conveyor 300 can also be weighing conveyors. In this case, the quantity of bagged products entering them can be determined based on the weight measured by the second conveyor 200 and the third conveyor 300, and simultaneously, the weight of each bagged product entering them can be used to determine whether it meets the requirements.

[0060] As attached Figure 1 As shown, the base 800 has frames located on both sides of the first conveyor 100, and the first robot arm 400 is mounted on the frames.

[0061] As attached Figure 5 As shown, the first robotic arm 400 includes a row of first grippers 410 arranged along the conveying direction of the first conveyor 100. The number of first grippers 410 in a row can be designed as needed, preferably three. The first grippers 410 can be known pneumatic grippers. More preferably, as shown in the attached diagram... Figure 6As shown, the first gripper 410 comprises a base plate 411, a first cylinder 412 is arranged above the base plate 411, the cylinder shaft of the first cylinder 412 penetrates through the base plate 411 and is connected with a driving block 413, the driving block 413 is pivotally connected with the upper ends of two first transmission rods 414 which are symmetrically arranged on both sides of the driving block 413, the other ends of the first transmission rods 414 are pivotally connected with one end of a second transmission rod 415, the middle part of the second transmission rod 415 is pivotally connected with a support plate 416 arranged at the bottom of the base plate 411, the inner side of the lower end of the second transmission rod 415 is connected with a clamping plate 417, the clamping surface 418 of the clamping plate 417 is toothed, the tooth grooves of the teeth extend along the length direction of the clamping plate, and the teeth of the clamping surfaces 418 of the two clamping plates 417 are engaged with each other when the two clamping plates 417 are closed.

[0062] As shown in the accompanying drawings, Figure 5 The base plates 411 of the three first grippers 410 are connected with a transfer driving mechanism 420, the transfer driving mechanism 420 comprises a carrier plate 421 connected with the base plates 411, a group of guide shafts 422 are arranged on the carrier plate 421, the guide shafts 422 are arranged on a support frame 423 and can reciprocate along the height direction, a lifting cylinder 424 is arranged on the support frame 423, the cylinder shaft of the lifting cylinder 424 penetrates through the main plate 425 of the support frame 423 and is connected with an adapter frame 426 arranged at the middle position of the top of the carrier plate 421.

[0063] As shown in the accompanying drawings, Figure 5 The support frame 423 is slidably arranged on a first sliding rail 427 arranged on the connecting frame arranged on the top of the frame, the extending direction of the first sliding rail 427 is perpendicular to the conveying direction of the first conveyor 100, and the two ends of the first sliding rail extend to the outside of the first buffer station 600 and the second buffer station 700. Since the part of the main plate 425 extending to the outside of the frame needs to bear a large load, in order to improve the support, a reinforcing piece 428 is arranged at the bottom of the main plate 425, and the reinforcing piece 428 is slidably arranged on a second sliding rail 429 arranged on the side of the connecting frame through a sliding block.

[0064] The driving mechanism for driving the support frame 423 to slide along the first sliding rail 427 and the second sliding rail 429 can be a servo module, preferably, the driving mechanism comprises a driving motor 430, the driving motor 430 is connected with and drives a gear 431 to rotate, the gear 431 is engaged with a rack 432 arranged on the top of the connecting frame, and the extending direction of the rack 432 is parallel to the first sliding rail 427 and extends to the two ends of the first sliding rail 427.

[0065] The first buffer station 600 and the second buffer station 700 have the same structure, and hereinafter the first buffer station 600 will be taken as an example for description, as shown in the accompanying drawings, Figure 7As shown, it comprises a platform 001 arranged on the base 800, the platform 001 is provided with a first baffle 002 and a second baffle 003, the first baffle 002 is located on one side of the platform 001 close to the second conveyor 200 and the third conveyor 300, and the second baffle 003 is located on the side of the platform 001 away from the frame. Further, in order to ensure that the plurality of bagged products on the platform 001 can be in the correct position for grabbing at one time, the platform 001 is also provided with a first pressing plate 004 and a second pressing plate 005, the first pressing plate 004 corresponds in position to the first baffle 002, and they are located on opposite sides of the platform 001, the first pressing plate 004 is connected to drive the first driving device 006 to move towards or away from the first baffle 002. The second pressing plate 005 corresponds in position to the second baffle 003, and they are located on opposite sides of the platform 001, the second pressing plate 005 is connected to drive the second driving device 007 to move towards or away from the second baffle 003. The first pressing plate and the second pressing plate are respectively connected to the first driving device 006 and the second driving device 007 through the sliding frame 008, the first driving device 006 and the second driving device 007 can be air cylinders, hydraulic cylinders, linear motors, etc., the sliding frame 008 is slidingly arranged on the support slide rail 009 at the bottom of the platform 001. At the same time, the platform 001 is provided with a notch for the sliding of the sliding frame 008. The first pressing plate, the sliding frame 008 and the first driving device constitute the first arranging mechanism, and the first pressing plate 004 moves the bagged products on the platform 001 towards the first baffle 002. At the same time, the second pressing plate, the sliding frame and the second driving device constitute the second arranging mechanism, and the second pressing plate 005 moves the bagged products on the platform 001 towards the second baffle 003.

[0066] As shown in the accompanying drawings, Figure 8 The number of the second clamping jaw 510 of the second mechanical arm 500 can be designed as needed, specifically, the second clamping jaw 510 is three rows and five columns, that is, there are 15 second clamping jaws, and the specific structure of the second clamping jaw 510 is the same as that of the first clamping jaw 410, which will not be repeated here. The second clamping jaw 510 is arranged on the mounting frame 590, and the opposite sides of the mounting frame 590 are further provided with a limiting plate 530, the limiting plate 530 is connected to drive the second cylinder 540 to lift, and the second cylinder 540 is connected to drive the third cylinder 550 to move away from or close to the mounting frame 590. More preferably, in order to more effectively limit the bagged products grabbed, the limiting plate 530 is a bent plate, that is, it comprises a vertical plate and an inclined plate bent inward below the vertical plate.

[0067] After the multiple bagged products are placed in the box, the isolation film needs to be placed on the bagged products in the box first and then the next batch of bagged products is put in, so, as shown in the accompanying Figure 8 The bottom of the mounting rack 590 is provided with multiple driving cylinders 560 between the second clamping jaws 510, the driving cylinders 560 are connected with suction cups 570 below the extension shafts, when the extension shafts of the driving cylinders 560 are retracted, the suction cups 570 are above the limiting plates 530 of the second clamping jaws 510, when the extension shafts of the driving cylinders 560 are extended, the suction cups 570 are driven to move below the second clamping jaws 510, so that the adsorption of the isolation film can be carried out.

[0068] As shown in the accompanying Figure 9 The mounting rack 590 is connected with the transfer driving device 520 through the weighing assembly 580. The specific structure of the weighing assembly 580 is known technology, which is not described here. After the second clamping jaws 510 grab the bagged products and extract them from the table plate 001, the weighing assembly 580 can weigh the bagged products grabbed by the second manipulator 500.

[0069] The transfer driving device 520 can adopt a known feasible structure. Since the number of the second clamping jaws 510 is large and multiple bagged products need to be grabbed, and the weight of each bagged product is large, the transfer driving device 520 needs to have sufficient support to ensure stable transfer. Therefore, in the embodiment, as shown in the accompanying Figure 9 , the accompanying Figure 10As shown, the transfer driving device 520 comprises a connecting disc 521 connected with the weighing assembly 580, the connecting disc 521 is rotatably arranged on a first swing arm 522, the first swing arm 522 is provided with a first rotary motor 523 for driving the connecting disc 521 to rotate, a fork arm 524 of the first swing arm 522 is pivotally connected to a front end of a second swing arm 525, meanwhile, a driving arm 526 of the first swing arm 522 is pivotally connected to one end of a first connecting rod 527, the other end of the first connecting rod 527 is pivotally connected to one end of an adapter arm 528, the middle and lower part of the adapter arm 528 is pivotally connected to an upper end of a main arm 529, the other end of the adapter arm 528 is pivotally connected to one end of a second connecting rod 5210, the other end of the second connecting rod 5210 is pivotally connected to a first mounting disc 5212 on a base disc 5211, the lower end of the main arm 529 is rotatably arranged on a second mounting disc 5213 on the base disc 5211, the second mounting disc 5213 is arranged in a gap and opposite to the first mounting disc 5212, the outer side of the second mounting disc 5213 is provided with a second rotary motor 5214 for driving the main arm 529 to rotate, meanwhile, a synchronous shaft 5220 is pivotally connected to the second mounting disc and the main arm 529. The rear end of the second swing arm 525 is pivotally connected to a third connecting rod 5215, the lower end of the third connecting rod 5215 is pivotally connected to a third swing arm 5216, the third swing arm 5216 is pivotally connected to the inner side of the first mounting disc 5212, and the connecting point of the third swing arm 5216 and the first mounting disc 5212 is located below the connecting point of the first mounting disc 5212 and the second connecting rod 5210, the outer side of the first mounting disc 5212 is provided with a third rotary motor 5217 for driving the third swing arm 5216 to rotate, and the connecting point of the third swing arm 5216 and the first mounting disc 5212 is located in front of the connecting point of the third swing arm 5216 and the third connecting rod 5215. The base disc 5211 is rotatably arranged on a base 5218, and the base disc 5211 is provided with a fourth rotary motor 5219 for driving it to rotate relative to the base 5218.

[0070] The bagged product boxing device further comprises a control device connected with the first conveyor 100, the second conveyor 200, the third conveyor 300, the first mechanical arm 400, the second mechanical arm 500, the first buffer table 600, the second buffer table 700, the translation mechanism 900 and the like, and is controlled by the control device.

[0071] When the bagged product boxing device is used to box bagged products, as shown in the accompanying drawings, Figure 11 the steps include:

[0072] S1, the control device determines whether there is a bagged product into the first conveyor 100; in specific implementation, it can be determined according to the detection of the photoelectric sensor whether there is a bagged product on the first conveyor 100. Or according to the measured weight of the weighing sensor 120 of the first conveyor 100 to determine whether there is a bagged product into the first conveyor 100.

[0073] S2, if not, execute S1, that is, if it is determined that there is no bagged product on the first conveyor 100, continue to detect whether there is a bagged product into the first conveyor 100.

[0074] S3, if yes, that is, it is determined that there is a bagged product on the first conveyor 100, the weight of the bagged product is obtained, and the first conveyor 100 is moved to be docked with one of the second conveyor 200 or the third conveyor 300 according to the obtained weight of the bagged product; in specific implementation, the weight of the bagged product can be obtained by scanning the code, or the weight of the bagged product can be directly measured by the weighing sensor 120 of the first conveyor 100, and in order to ensure that the weight is as accurate as possible, the bagged product is stopped and weighed after moving to the middle position of the first conveyor 100. Hereinafter, the bagged product on the first conveyor 100 is taken as an example to be conveyed to the second conveyor 200, and if it is determined to be transferred to the second conveyor 200 according to the weight, the servo module 910 connected with the first conveyor 100 is started to move the first conveyor 100 to be docked with the second conveyor 200.

[0075] S4, determine whether the bagged product can be conveyed to the second conveyor 200 or the third conveyor 300 docked with the first conveyor 100; whether the bagged product can be transferred to the second conveyor 200 is determined according to the number of bagged products on the second conveyor 200.

[0076] S5, if not, wait and execute S4; that is, if the number of bagged products already on the second conveyor 200 has reached the first target value (3 bags), the bagged product cannot be continuously transferred to the second conveyor 200, at this time, the bagged product can only be continuously conveyed to the second conveyor 200 after the bagged product on the second conveyor 200 is removed.

[0077] S6, if yes, that is, the number of bagged products on the second conveyor 200 does not reach the first target value (3 bags), the first conveyor 100 is controlled to start outputting the bagged product to the second conveyor 200, and after determining that the bagged product is output from the first conveyor 100, an instruction that the bagged product can be supplied to the first conveyor 100 is issued and S7 is executed, at this time, the bagged product can be continuously put into the first conveyor 100.

[0078] S7, the second conveyor 200 or the third conveyor 300 transports the bagged products on it to a predetermined position; in particular, the number of bagged products on the second conveyor 200 can be determined according to the weight measured by the second conveyor 200, and the conveying time of the second conveyor 200 can be determined, for example, when it is determined that only one bagged product is input to the second conveyor 200, the second conveyor 200 is conveyed for a first time, and it is ensured that the bagged product can be conveyed to the end of the second conveyor 200 away from the first conveyor 100, when it is determined that the second bagged product enters the second conveyor 200, the second conveyor 200 can be conveyed for a second time, and the second time is less than the first time; and the third time length of the second conveyor 200 conveying the third bagged product can be further less than the second time.

[0079] S8, determine whether the number of bagged products on the second conveyor 200 or the third conveyor 300 reaches a first target value; in particular, whether the number of bagged products reaches the first target value can be determined according to the weight measured by the second conveyor 200 and the third conveyor 300. For example, if each bagged product is 5 kg, when the weight measured by the second conveyor 200 is about 5 kg, it can be determined that one bagged product enters the second conveyor 200; when the measured weight is about 10 kg, it can be determined that two bagged products enter the second conveyor 200, and so on, the number of bagged products entering the second conveyor 200 can be determined, and whether the first target value is reached can be determined.

[0080] When it is determined that the weight of the bagged products measured by the second conveyor 200 and the third conveyor 300 does not meet the requirements, an alarm is issued and the machine is stopped, at this time, there may be a case of misloading, for example, it is determined that the weight of one bagged product is 5 kg, the second conveyor 200 receives a 5 kg bagged product, and the third conveyor 300 receives an 8 kg bagged product, if the 5 kg bagged product is transported to the third conveyor 300, the weight measured by the third conveyor 300 does not meet the requirements, so an alarm is needed to check and troubleshoot by manual.

[0081] S9, if not, an instruction to supply bagged products to the second conveyor 200 or the third conveyor 300 is issued.

[0082] S10, if yes, i.e. if the three pieces of polysilicon on the second conveyor 200 or the third conveyor 300 have reached the third target value, it is required to move them to the first buffer table 600 or the second buffer table 700 by the first mechanical arm 400; however, at this time, it is required to determine whether the three pieces of polysilicon on the second conveyor 200 or the third conveyor 300 can be moved to the first buffer table 600 or the second buffer table 700 corresponding to them respectively.

[0083] S20, if no, i.e. if the number of the bagged products on the first buffer table 600 or the second buffer table 700 has reached the second target value (15 pieces), at this time, it is not possible to continue to transfer the three pieces of bagged products on the second conveyor 200 or the third conveyor 300 to the first buffer table 600 or the second buffer table 700, and it is required to wait for the moving and continuously determine whether the bagged products on the second conveyor 200 or the third conveyor 300 can be moved to the first buffer table 600 or the second buffer table 700 corresponding to them respectively.

[0084] S30, if yes, i.e. if it is determined that the three pieces of bagged products on the second conveyor 200 or the third conveyor 300 can be transferred to the first buffer table 600 or the second buffer table 700, at this time, it is required to move all the bagged products on the second conveyor 200 or the third conveyor 300 to the predetermined position of the first buffer table 600 or the second buffer table 700 by the first mechanical arm 400 at one time; and after it is determined that the first mechanical arm 400 has moved all the bagged products to the outside of the second conveyor 200 or the third conveyor 300, an instruction of moving the bagged products to the second conveyor 200 or the third conveyor 300 is issued.

[0085] Specifically, if there are three pieces of bagged products on the second conveyor 200, the moving driving mechanism 420 drives the three first clamps 410 to move to the upper side of the second conveyor 200, and makes the three first clamps 410 correspond to the three pieces of bagged products respectively, then the moving driving mechanism 420 drives the three first clamps 410 to move downward to the position where the clamping plates 417 of the first clamps 410 are located on both sides of the plastic packaging part of each bagged product, then the first cylinders 412 of the three first clamps 410 drive the clamping plates 417 to close and clamp the three pieces of bagged products, then the moving driving mechanism 420 drives the three first clamps 410 to move upward to the position above the first buffer table 600, and then the first clamps 410 move downward and place the three pieces of bagged products on the first buffer table 600.

[0086] After the first mechanical arm 400 picks up the bagged products on the second conveyor 200 or the third conveyor 300 and lifts up, whether the first mechanical arm 400 will take away all the bagged products is determined according to the weight of the second conveyor 200 or the third conveyor 300, if yes, the bagged products picked up are placed in the first buffer table 600 or the second buffer table 700, if not, the bagged products picked up are placed in the first buffer table 600 or the second buffer table 700 and an alarm is sent and the machine is stopped after the bagged products are in the first buffer table 600 or the second buffer table 700. For example, if the first mechanical arm 400 picks up three bagged products on the second conveyor 200, at this time, the second conveyor 200 should not obtain the corresponding weight when the bagged products are obtained, if the second conveyor 200 weighs the bagged products, it means that the first mechanical arm 400 does not pick up all the three bagged products, which is abnormal and needs to be checked and processed manually. And when it is determined that not all are picked up, the transfer is still continued, which can effectively alleviate the intensity when the manual processing is processed and improve the efficiency.

[0087] S40, whether the number of bagged products on the first buffer table 600 or the second buffer table 700 reaches the second target value is determined; that is, after 3 bagged polysilicon are transferred to the first buffer table 600 and the second buffer table 700 each time, it is necessary to determine whether the number of bagged products on the first buffer table 600 and the second buffer table 700 reaches the number of boxing. When determining, whether the number of bagged products on the first buffer table 600 and the second buffer table 700 reaches the second target value can be determined according to the number of times of transferring bagged products to the first buffer table 600 and the second buffer table 700 by the first mechanical arm 400. For example, after 5 times of transferring 3 bagged products to the first buffer table 600 and the second buffer table 700 each time, it can be determined that the second target value is reached.

[0088] S50, if not, that is, the number of bagged products on the first buffer table 600 or the second buffer table 700 is insufficient, the bagged products can continue to be transferred to the first buffer table 600 and the second buffer table 700, and the instruction of transferring the bagged products to the first buffer table 600 or the second buffer table 700 is sent;

[0089] S60, if yes, that is, when it is determined that the number of bagged products on the first buffer table 600 or the second buffer table 700 reaches the second target value, at this time, the first arrangement mechanism and the second arrangement mechanism on the first buffer table 600 or the second buffer table 700 are controlled to arrange all the bagged products to the position close to each other when it is determined that the second mechanical arm can be transferred.

[0090] Then, all the bagged products on the first buffer table 600 or the second buffer table 700 are grabbed by the second robot 500 at one time and put into a box, and after it is determined that the bagged products on the first buffer table or the second buffer table are removed, an instruction that the bagged products can be moved thereon is sent.

[0091] Specifically, the second gripper 510 is driven by the moving driving device 520 to move to the position of 15 bagged products and grab 15 bagged products, then the second gripper 510 is lifted by the moving driving device 520, and at the same time, the weight of the grabbed bagged products is determined by the weighing assembly 580 on the second robot 500. If the weight meets the requirement, the second gripper 510 is driven by the moving driving device 520 to rotate to the position directly above a box, and then the second gripper 510 is driven to move downward to put the bagged products into the box. Otherwise, the bagged products grabbed by the second robot 500 are also put into the box and an alarm is sent to stop the machine, then the bagged products not removed from the first buffer table or the second buffer table are removed by a worker and put into the box, a signal of restarting the machine is sent by the worker, and the machine is restarted to continue working.

[0092] Further, after the S60 and after it is determined that the bagged products have been effectively put into the box, a separating film is adsorbed by the second robot 500 at a film supply mechanism (not shown in the figure) beside the second robot 500 and placed on the bagged products in the box. Then, the second robot returns to the initial state and waits for the next packaging.

[0093] The present application has various embodiments, and all the technical solutions formed by equivalent transformation or equivalent conversion fall within the protection scope of the present application.

Claims

1. A method for packing bagged products, characterized in that: The bagged product packing equipment includes a first conveyor, a second conveyor, a third conveyor, a first robotic arm, a second robotic arm, a first buffer platform, and a second buffer platform. The first conveyor is translatable and can dock with either the second or third conveyor. The first robotic arm includes a row of first grippers and a transfer drive mechanism that drives the row of first grippers to rise and fall and to reciprocate and translate along a direction perpendicular to the first conveyor. The first buffer platform is located on the side of the first conveyor that is away from the second conveyor, and the second buffer platform is located on the side of the second conveyor that is away from the first conveyor. The second robotic arm includes multiple rows and columns of second grippers, and the second grippers are connected to a transfer drive device that drives them to rise and fall and to translate. The method for packing bagged products includes the following steps. S1, Determine if any bagged products have entered the first conveyor; S2, if not, execute S1; S3, if so, obtain the weight of the bagged product, and move the first conveyor to dock with one of the second or third conveyors according to the obtained weight of the bagged product. S4, determine whether bagged products can be conveyed to the second or third conveyor that is connected to the first conveyor; S5, if not, then wait and execute S4; S6, if yes, then control the first conveyor to output the bagged product, and after confirming that the bagged product is output from the first conveyor, issue an instruction to supply bagged products to the first conveyor and execute S7; S7, the second or third conveyor transports the bagged product thereon to a predetermined position thereon; S8, determine whether the quantity of bagged products on the second or third conveyor has reached the first target value; S9, if not, issue an instruction to supply bagged products to the second or third conveyor; S10, If yes, determine whether the bagged products on the second or third conveyor can be moved to the first or second buffer platform corresponding to them respectively; S20, if not, wait for the transfer and continue to determine whether the bagged products on the second or third conveyor can be moved to the first or second buffer platform corresponding to them respectively; S30, if so, the first robotic arm moves all the bagged products on the second or third conveyor to the predetermined position of the first or second buffer platform in one go; and after determining that the first robotic arm has moved all the bagged products to the outside of the second or third conveyor, an instruction is issued to transfer the bagged products to the second or third conveyor. S40, determine whether the number of bagged products on the first or second buffer station has reached the second target value; S50, if not, issue an instruction to transfer the bagged product to the first or second buffer station; S60, if so, the second robotic arm grabs all the bagged products on the first or second buffer platform at once and puts them into the box, and after determining that the bagged products on the first or second buffer platform have been removed, issues an instruction to transfer bagged products onto it. The second and third conveyors are weighing conveyors. In step S8, the quantity of the bagged products is determined to have reached the first target value based on the weights measured by the second and third conveyors. An alarm is triggered and the machines are stopped when the weight of the bagged products entering the second and third conveyors is determined to be non-compliant.

2. The method for packing bagged products according to claim 1, characterized in that: In S3, The weight of the bagged product is obtained by scanning the barcode on the bagged product; Alternatively, the weight of the bagged product can be determined by the first weighing sensor of the first conveyor.

3. The method for packing bagged products according to claim 1, characterized in that: After the first robotic arm grabs and lifts the bagged products from the second or third conveyor, it determines whether the first robotic arm has grabbed all the bagged products based on the weight measured by the second or third conveyor. If yes, the grabbed bagged products are placed in the first or second buffer platform. If no, the grabbed bagged products are placed in the first or second buffer platform, an alarm is triggered, and the machine stops after the bagged products are in the first or second buffer platform.

4. The method for packing bagged products according to claim 1, characterized in that: The number of times the first robotic arm transfers bagged products to the first and second buffer platforms determines whether the bagged products on the first and second buffer platforms have reached the second target value.

5. The method for packing bagged products according to claim 1, characterized in that: When the number of bagged products on the first or second buffer platform reaches the second target value, the first and second sorting mechanisms on the first or second buffer platform are controlled to sort all the bagged products into a position where they are close to each other.

6. The method for packing bagged products according to claim 1, characterized in that: In step S60, when the second robotic arm picks up all the bagged products, the weighing component on the second robotic arm determines whether the weight of the picked-up bagged products meets the requirements. If so, the bagged products are put into the box; otherwise, the bagged products are placed into the box and an alarm is triggered to stop the machine.

7. The method for packing bagged products according to claim 1, characterized in that: After S60, the second robotic arm is controlled to adsorb a separator film and place it on the bagged product inside the box.

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