A palletizing and strapping carton sheet feeding production line and its working method

Abstract

The present invention discloses a palletizing and strapping carton piece feeding production line and its working method, belonging to the field of carton feeding for case openers or case packers. It includes an AGV feeding trolley, a carton positioning, lifting and palletizing equipment, a double-row carton reversing and transferring equipment, a six-axis transfer robotic arm, a rope cutting equipment, and a carton buffer equipment arranged in sequence along the production line. Among them, the AGV feeding trolley is used to transfer the pallet with stacked and strapped cartons to the carton positioning, lifting and palletizing equipment; the carton positioning, lifting and palletizing equipment is used to identify the position coordinates, orientation, and front and back of the strapped cartons; the double-row carton reversing and transferring equipment is used to transfer the forward-placed and backward-placed strapped cartons respectively; the six-axis transfer robotic arm is used to alternately clamp and transfer the forward-placed and backward-placed strapped cartons transferred to the output end of the double-row carton reversing and transferring equipment, and align the strapped cartons to be cut by the rope cutting equipment and place them in the carton buffer equipment for buffering. The present invention adopts the above-mentioned palletizing and strapping carton piece feeding production line and its working method, and connects the carton palletizing process and the strapping carton rope cutting process in series through the double-row carton reversing and transferring equipment and the six-axis transfer robotic arm to form a unified production line, improving the production efficiency.

Description

Technical Field

[0001] The present invention relates to the field of carton feeding for case openers or case packers, and particularly relates to a palletizing and strapping carton piece feeding production line and its working method. Background Art

[0002] After the cartons are manufactured, multiple stacked cartons need to be strapped, and the strapped cartons are palletized and stored on pallets. When in use, a forklift is used to transfer them to the product packaging production line, and then manual unstacking and rope cutting are carried out, and then they are placed on the conveyor belt. There are defects such as low work efficiency, labor consumption, the need for specialized workers for unstacking work, and increased production costs.

[0003] To solve the above problems, the following carton feeding equipment has been further developed in the prior art:

[0004] CN202211052916.2 discloses an automated multi-functional unstacking machine, which includes: a main frame, a pushing unstacking device, a material conveying device, a differential separation device, and an empty pallet collecting device. The pushing unstacking device, the material conveying device, and the differential separation device are arranged in sequence, the empty pallet collecting device is arranged on the side of the pushing unstacking device, the pushing unstacking device is connected to the main frame, and the pushing unstacking device, the material conveying device, the differential separation device, and the empty pallet collecting device are respectively electrically connected to a controller.

[0005] CN202010172471.6 discloses an automatic case loading machine for carton case opening and its use method, which includes a robot case feeding assembly, a stacked case assembly arranged near the robot case feeding assembly, and a case sucking and feeding assembly connected to the stacked case assembly through a conveyor belt; the robot case feeding assembly is used to send a bundle of cardboard to the stacked case assembly, the stacked case assembly is used to cut and recycle the strapping tape of the bundle of cardboard, the conveyor belt is used to convey the cardboard with the cut strapping tape from the stacked case assembly to the case sucking and feeding assembly, and the case sucking and feeding assembly is used to sequentially send the cardboard conveyed by the conveyor belt to the next process.

[0006] It can be seen that the existing carton feeding equipment has the following defects:

[0007] 1. It only has the unstacking function or the rope cutting function, lacks transfer equipment, and cannot form a unified production line;

[0008] 2. It does not have a buffering function and cannot adapt to the subsequent packaging production line;

[0009] 3. The existing unstacking device and rope cutting device have relatively complex structures, increasing the production and processing costs;

[0010] 4. There is no setting for the structure to adjust the position coordinates of the carton, and manual adjustment of the carton position coordinates is required to facilitate subsequent packing, which wastes manpower. Summary of the Invention

[0011] To solve the above problems, the present invention provides a palletizing and strapping carton piece feeding production line and its working method. By using a double-row carton reversing and transferring device and a six-axis transferring robotic arm, the carton unstacking process and the strapping carton rope cutting process are connected in series to form a unified production line, improving production efficiency.

[0012] To achieve the above object, the present invention provides a palletizing and strapping carton piece feeding production line, including an AGV feeding trolley, a carton positioning, lifting and unstacking device, a double-row carton reversing and transferring device, a six-axis transferring robotic arm, a rope cutting device, and a carton buffer device arranged in sequence along the production line;

[0013] Among them, the AGV feeding trolley is used to transfer the pallet stacked with strapped cartons to the carton positioning, lifting and unstacking device;

[0014] The carton positioning, lifting and unstacking device is used to identify the position coordinates, orientation, and front and back of the strapped carton, and according to the position coordinate information of the strapped carton, use the rotating three-axis mechanism to drive the vacuum chuck to adsorb the center position of the strapped carton, and according to the orientation information, control the rotating three-axis mechanism to adjust the orientation of the strapped carton until the set orientation, and then according to the front and back of the strapped carton, alternately place the strapped carton at the input end of the double-row carton reversing and transferring device;

[0015] The double-row carton reversing and transferring device is used to separately transfer the forward-placed strapped cartons and the backward-placed strapped cartons;

[0016] The six-axis transferring robotic arm is used to alternately clamp the forward-placed strapped cartons and the backward-placed strapped cartons transferred to the output end of the double-row carton reversing and transferring device, and align the strapped cartons to the rope cutting device for cutting and then place them in the carton buffer device for buffering.

[0017] Preferably, the carton positioning, lifting and unstacking device includes a lifting bracket, a rotating three-axis mechanism arranged on the lifting bracket, a vacuum chuck arranged at the output end of the rotating three-axis mechanism, and a mobile positioning and recognition mechanism arranged above the rotating three-axis mechanism;

[0018] One side of the lifting bracket is aligned with the input end of the double-row carton reversing and transferring device, and the other side is provided with an entrance for the AGV feeding trolley. A placement cavity for placing the strapped cartons is left inside the lifting bracket and below the rotating three-axis mechanism and the mobile positioning and recognition mechanism.

[0019] Preferably, the rotary three-axis mechanism includes an XYZ three-axis motion platform and a horizontal electric turntable fixed to the output end at the bottom of the XYZ three-axis motion platform. A vacuum suction cup is fixed to the bottom end of the horizontal electric turntable;

[0020] The mobile positioning and recognition mechanism includes an erection bracket erected above the lifting bracket, a horizontal transverse linear module fixed to the top end of the erection bracket, and a CCD camera fixed to the output end of the horizontal transverse linear module. The lens of the CCD camera faces the direction of the strapped carton for taking images of the strapped carton;

[0021] The CCD camera communicates with the input end of the host computer. The output end of the host computer communicates with the XYZ three-axis motion platform, the horizontal electric turntable, and the AGV feeding cart respectively. It is used to analyze the position coordinates, orientation, and front and back of the strapped carton based on the images of the strapped carton collected by the CCD camera by the host computer, and control the movement of the rotary three-axis mechanism according to the position coordinates of the strapped carton, so that the rotary three-axis mechanism drives the vacuum suction cup to move to the central position coordinates of the strapped carton, adsorb the strapped carton, and then control the rotation of the horizontal electric turntable according to the orientation of the strapped carton to drive the strapped carton to reach the set orientation.

[0022] Preferably, the double-row carton commutation and transfer equipment includes a transfer bracket, and an upper-layer transfer conveyor and a lower-layer transfer conveyor are sequentially arranged on the transfer bracket from top to bottom. Among them, a forward-strapped carton and a reverse-strapped carton are placed on the upper-layer transfer conveyor and the lower-layer transfer conveyor respectively;

[0023] The input ends of the upper-layer transfer conveyor and the lower-layer transfer conveyor are aligned with the output end of the rotary three-axis mechanism, and the output ends of the upper-layer transfer conveyor and the lower-layer transfer conveyor are aligned with the six-axis transfer robotic arm.

[0024] Preferably, the six-axis transfer robotic arm includes a six-axis robotic arm and a fixture fixed to the output end of the six-axis robotic arm. The fixture includes a mounting plate fixed to the output end of the six-axis robotic arm, and a top clamping frame and a bottom clamping frame symmetrically and vertically slidably arranged on the mounting plate. The top clamping frame and the bottom clamping frame are respectively connected to the two output ends of a double-headed air cylinder fixed to the mounting plate;

[0025] Both the top clamping frame and the bottom clamping frame include an intermediate connecting rod whose intermediate position coordinates are connected to the output end of the double-headed air cylinder, and two clamping rods fixed to both ends of the intermediate connecting rod.

[0026] Preferably, the strapping rope on the strapped carton is a nylon rope;

[0027] The rope cutting device is an electric heating rope cutting structure. The rope cutting device includes a column and an insulating cross tube fixed to the top end of the column. An electric heating wire is fixed to one side of the insulating cross tube facing the six-axis transfer robotic arm, and the electric heating wire is electrically connected to the power supply;

[0028] On one side of the insulating horizontal pipe facing the electric heating wire, there is an air outlet, which is connected to the fan through a flexible hose and is used to blow off the melted nylon rope.

[0029] Preferably, the cardboard box is a gift box with a handle installed on one side;

[0030] The cardboard box buffer device includes a support platform, a double-row conveyor belt arranged at the top of the support platform, and a cardboard box side clamping, sorting and anti-tipping mechanism arranged at the input end of the double-row conveyor belt. The double-row conveyor belt includes a left conveyor belt and a right conveyor belt symmetrically arranged on both sides of the support platform and running synchronously;

[0031] The cardboard box side clamping, sorting and anti-tipping mechanism includes an anti-tipping cylinder arranged on the support platform between the left conveyor belt and the right conveyor belt, and an L-shaped anti-tipping plate fixedly connected to the piston rod of the anti-tipping cylinder. The L-shaped anti-tipping plate and the anti-tipping cylinder are arranged in sequence along the conveying direction of the double-row conveyor belt;

[0032] The top heights of the L-shaped anti-tipping plate and the anti-tipping cylinder are both lower than the top height of the double-row conveyor belt.

[0033] The working method of the palletizing and bundling cardboard box sheet feeding production line includes the following steps:

[0034] S1. Use the AGV feeding trolley to transfer the pallet with the bundled cardboard boxes into the lifting bracket of the cardboard box positioning, lifting and unstacking equipment;

[0035] S2. The horizontal transverse linear module operates, drives the CCD camera to move, and stops operating after moving a set distance. At this time, the CCD camera is directly above the horizontal plane center position coordinate of the lifting bracket. The horizontal transverse linear module stops operating, and the CCD camera takes an image of the bundled cardboard box below it and uploads the taken image of the bundled cardboard box to the upper computer;

[0036] S3. The upper computer determines the position coordinates, orientation and front-back of the bundled cardboard box according to the image of the bundled cardboard box;

[0037] S4. According to the position coordinates of the bundled cardboard box, control the rotary three-axis mechanism to drive the vacuum suction cup to move to the position of the bundled cardboard box and adsorb the bundled cardboard box;

[0038] S5. According to the orientation information of the bundled cardboard box, control the horizontal electric turntable to rotate, and then drive the bundled cardboard box until the set orientation;

[0039] S6. According to the front-back information of the bundled cardboard box, control the rotary three-axis mechanism to alternately place the bundled cardboard box at the input end of the upper transfer conveyor belt or the lower transfer conveyor belt, and use the upper transfer conveyor belt or the lower transfer conveyor belt to move the bundled cardboard box to the output end, which is the clamping position of the corresponding six-axis robotic arm at this time;

[0040] S7. The six-axis robotic arm drives the fixture to approach the bundled cartons at the output end of the double-row carton commutation and transfer equipment until alignment is achieved. The double-headed cylinder operates, driving the top clamping frame and the bottom clamping frame to move relative to each other to clamp the bundled cartons. Then, the six-axis robotic arm drives the bundled cartons to approach the rope cutting equipment until the bundled cartons are aligned with the heating wire of the rope cutting equipment;

[0041] S8. Use the heating wire to melt the nylon rope outside the bundled cartons, and blow the melted nylon rope off under the action of the blower;

[0042] S9. The six-axis robotic arm drives the cartons with the melted nylon rope to move to the carton buffer equipment, vertically places the cartons on the L-shaped anti-tipping plate, and keeps the handle side of the gift box carton facing up. The piston rod of the anti-tipping cylinder contracts a set distance, driving the L-shaped anti-tipping plate to move towards the cartons to clamp the bottom of the cartons and prevent the cartons from tipping over.

[0043] Preferably, in step S3, use RobotPilot to determine the position coordinates, orientation, and front and back of the bundled cartons;

[0044] In step S4, use RobotPilot to control the rotary three-axis mechanism to drive the vacuum suction cup to move to the position of the bundled cartons according to the position coordinates of the bundled cartons and adsorb the bundled cartons;

[0045] In step S5, use RobotPilot to control the horizontal electric turntable to rotate according to the orientation information of the bundled cartons, thereby driving the bundled cartons until the set orientation is reached;

[0046] In step S6, use RobotPilot to control the rotary three-axis mechanism to alternately place the bundled cartons at the input end of the upper transfer conveyor or the lower transfer conveyor according to the front and back information of the bundled cartons.

[0047] The present invention has the following beneficial effects:

[0048] 1. By connecting the carton unstacking process and the rope cutting process of the bundled cartons through the double-row carton commutation and transfer equipment and the six-axis transfer robotic arm to form a unified production line, the production efficiency is improved;

[0049] 2. By setting up the double-row carton commutation and transfer equipment, it is convenient to process the cartons placed forward and backward respectively, and the alternate loading and unloading method is adopted to improve the loading efficiency to adapt to the speed of subsequent packaging operations;

[0050] 3. By setting up the CCD camera and the upper computer, the image of the bundled cartons can be collected, and the position coordinates, orientation, and front and back layout of the bundled cartons can be determined according to the collected image, which is convenient for determining the vacuum adsorption position in the subsequent process;

[0051] 4. Simple structure and low manufacturing cost.

[0052] The technical solutions of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 FIG. is a schematic diagram of the overall structure of a palletizing and strapping carton sheet feeding production line of the present invention.

[0054] Figure 2 FIG. is a schematic diagram of the structure of a double-row carton commutation and transfer device of a palletizing and strapping carton sheet feeding production line of the present invention;

[0055] Figure 3 FIG. is a schematic diagram of the structure of a six-axis transfer robotic arm of a palletizing and strapping carton sheet feeding production line of the present invention;

[0056] Figure 4 FIG. is a schematic diagram of the structure of a rope cutting device of a palletizing and strapping carton sheet feeding production line of the present invention;

[0057] Figure 5 FIG. is a schematic diagram of the structure of a carton buffer device of a palletizing and strapping carton sheet feeding production line of the present invention.

[0058] Wherein: 1. Carton positioning, lifting and depalletizing device; 11. XYZ three-axis motion platform; 12. Horizontal transverse linear module; 13. CCD camera; 14. Horizontal electric turntable; 15. Lifting bracket; 16. Erection bracket; 2. Strapped carton; 3. Pallet; 4. Double-row carton commutation and transfer device; 41. Upper layer transfer conveyor belt; 42. Lower layer transfer conveyor belt; 43. Transfer bracket; 5. Rope cutting device; 51. Column; 52. Electric heating wire; 53. Insulating cross tube; 54. Air outlet; 6. Six-axis transfer robotic arm; 61. Six-axis robotic arm; 62. Fixture; 621. Double-headed cylinder; 622. Bottom clamping bracket; 623. Top clamping bracket; 7. Carton buffer device; 71. Support table; 72. Double-row conveyor belt; 73. Anti-tipping cylinder; 74. L-shaped anti-tipping plate. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0059] In order to make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present invention, and are not used to limit the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the scope of protection of this application. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions throughout.

[0060] It should be noted that the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or server that comprises a series of steps or units need not be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0061] Similar reference numerals and letters denote similar items in the following figures. Therefore, once an item is defined in one figure, it is not necessary to further define and explain it in subsequent figures.

[0062] In the description of the present invention, it should be noted that the orientation or positional coordinate relationship indicated by the terms "upper", "lower", "inner", "outer", etc. is based on the orientation or positional coordinate relationship shown in the figures, or the orientation or positional coordinate relationship in which the inventive product is customarily placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0063] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "arrange", "install", "connect" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0064] Such as Figures 1-5As shown in the figure, a palletizing and strapping carton sheet feeding production line includes an AGV feeding trolley, a carton positioning, lifting and depalletizing device 1, a double-row carton reversing and transferring device 4, a six-axis transfer robotic arm 6, a rope cutting device 5, and a carton buffer device 7 arranged in sequence along the production line. Among them, the AGV feeding trolley is used to transfer the pallet 3 stacked with strapped cartons 2 to the carton positioning, lifting and depalletizing device 1. The carton positioning, lifting and depalletizing device 1 is used to identify the position coordinates, orientation, and front and back of the strapped carton 2, and according to the position coordinate information of the strapped carton 2, use the rotating three-axis mechanism to drive the vacuum suction cup to adsorb the center position of the strapped carton 2, and according to the orientation information, control the rotating three-axis mechanism to adjust the orientation of the strapped carton 2 until the set orientation, and then according to the front and back of the strapped carton 2, alternately place the strapped carton 2 at the input end of the double-row carton reversing and transferring device 4. The double-row carton reversing and transferring device 4 is used to transfer the strapped cartons 2 placed forward and the strapped cartons 2 placed backward respectively. The six-axis transfer robotic arm 6 is used to alternately clamp the strapped cartons 2 placed forward and the strapped cartons 2 placed backward transferred to the output end of the double-row carton reversing and transferring device 4, and align the strapped cartons 2 with the rope cutting device 5 for cutting and then place them in the carton buffer device 7 for buffering.

[0065] Specifically, the carton positioning, lifting and depalletizing device 1 includes a lifting bracket 15, a rotating three-axis mechanism arranged on the lifting bracket 15, a vacuum suction cup arranged at the output end of the rotating three-axis mechanism, and a mobile positioning and recognition mechanism arranged above the rotating three-axis mechanism. One side of the lifting bracket 15 is aligned with the input end of the double-row carton reversing and transferring device 4, and the other side is provided with an entrance for the AGV feeding trolley. A placement cavity for placing the strapped carton 2 is left inside the lifting bracket 15 and below the rotating three-axis mechanism and the mobile positioning and recognition mechanism.

[0066] Among them, the rotary three-axis mechanism includes an XYZ three-axis motion platform 11 and a horizontal electric turntable 14 fixed to the output end at the bottom of the XYZ three-axis motion platform 11. A vacuum suction cup is fixed to the bottom end of the horizontal electric turntable 14. The mobile positioning and recognition mechanism includes an erection bracket 16 erected above the lifting bracket 15, a horizontal transverse linear module 12 fixed to the top end of the erection bracket 16, and a CCD camera 13 fixed to the output end of the horizontal transverse linear module 12. The lens of the CCD camera 13 faces the direction of the bundled carton 2 and is used to capture the image of the bundled carton 2. The CCD camera 13 communicates with the input end of the host computer. The output end of the host computer communicates with the XYZ three-axis motion platform 11, the horizontal electric turntable 14, and the AGV feeding trolley respectively, and is used to analyze the position coordinates, orientation, and front and back of the bundled carton 2 based on the image of the bundled carton 2 collected by the CCD camera 13 by the host computer, and control the movement of the rotary three-axis mechanism according to the position coordinates of the bundled carton 2, so that the rotary three-axis mechanism drives the vacuum suction cup to move to the central position coordinates of the bundled carton 2, adsorb the bundled carton 2, and then control the rotation of the horizontal electric turntable 14 according to the orientation of the bundled carton 2 to drive the bundled carton 2 to reach the set orientation.

[0067] In this embodiment, by arranging the CCD camera 13 on the horizontal transverse linear module 12, under the condition of the height limit of the factory building, the position of the CCD camera 13 can be changed by the horizontal transverse linear module 12 to avoid the movement of the XYZ three-axis motion platform 11.

[0068] The double-row carton commutation and transfer device 4 includes a transfer bracket 43 and an upper transfer conveyor belt 41 and a lower transfer conveyor belt 42 sequentially arranged on the transfer bracket 43 from top to bottom. Among them, a forward bundled carton 2 and a reverse bundled carton 2 are respectively placed on the upper transfer conveyor belt 41 and the lower transfer conveyor belt 42. The input ends of the upper transfer conveyor belt 41 and the lower transfer conveyor belt 42 are aligned with the output end of the rotary three-axis mechanism, and the output ends of the upper transfer conveyor belt 41 and the lower transfer conveyor belt 42 are aligned with the six-axis transfer robotic arm 6.

[0069] In this embodiment, to avoid the upper transfer conveyor belt 41 affecting the movement of the lower transfer conveyor belt 42, the lower transfer conveyor belt 42 is extended a set distance in the direction of the rotary three-axis mechanism.

[0070] The six-axis transfer robotic arm 6 includes a six-axis robotic arm 61 and a fixture 62 fixed to the output end of the six-axis robotic arm 61. The fixture 62 includes a mounting plate fixed to the output end of the six-axis robotic arm 61, and a top clamping bracket 623 and a bottom clamping bracket 622 that are symmetrically and vertically slidably arranged on the mounting plate. The top clamping bracket 623 and the bottom clamping bracket 622 are respectively connected to two output ends of a double-headed cylinder 621 fixed to the mounting plate; both the top clamping bracket 623 and the bottom clamping bracket 622 include an intermediate connecting rod with the intermediate position coordinates connected to the output end of the double-headed cylinder 621 and two clamping rods fixed to both ends of the intermediate connecting rod.

[0071] The bundling rope on the bundling carton 2 is a nylon rope; the rope cutting device 5 is an electric heating rope cutting structure. The rope cutting device 5 includes a column 51 and an insulating cross tube 53 fixed to the top end of the column 51. An electric heating wire 52 is fixed to one side of the insulating cross tube 53 facing the six-axis transfer robotic arm, and the electric heating wire 52 is electrically connected to a power source; an air outlet 54 is opened on one side of the insulating cross tube 53 facing the electric heating wire 52, and the air outlet 54 is connected to a blower through a hose for blowing the melted nylon rope off.

[0072] Since it is difficult to cut the nylon rope with a cutter, in this embodiment, a heating wire is used to melt the nylon rope.

[0073] The carton is a gift box carton with a handle installed on one side; the carton buffer device 7 includes a support platform 71, a double-row conveyor belt 72 arranged at the top end of the support platform 71, and a carton side clamping, sorting and anti-tipping mechanism arranged at the input end of the double-row conveyor belt 72. The double-row conveyor belt 72 includes a left conveyor belt and a right conveyor belt that are symmetrically arranged on both sides of the support platform 71 and operate synchronously; the carton side clamping, sorting and anti-tipping mechanism includes an anti-tipping cylinder 73 arranged on the support platform 71 between the left conveyor belt and the right conveyor belt and an L-shaped anti-tipping plate 74 fixedly connected to the piston rod of the anti-tipping cylinder 73. The L-shaped anti-tipping plate 74 and the anti-tipping cylinder 73 are arranged in sequence along the conveying direction of the double-row conveyor belt 72; the top heights of both the L-shaped anti-tipping plate 74 and the anti-tipping cylinder 73 are lower than the top height of the double-row conveyor belt 72.

[0074] Since the thickness of the side of the carton with the handle is higher than the thickness of its symmetrical side, when the handle side is facing up (the handle side is above its symmetrical side), the carton is prone to tipping. To solve this problem, in this embodiment, an L-shaped anti-tipping plate 74 is provided in cooperation with the anti-tipping cylinder 73. When loading the carton onto the double-row conveyor belt 72, the anti-tipping cylinder 73 is opened, and its piston rod contracts, driving the L-shaped anti-tipping plate 74 to move towards the carton, clamping the bottom of the carton to prevent the carton from tipping.

[0075] The working method of the palletizing and bundling carton 2 piece feeding production line includes the following steps:

[0076] S1. Use an AGV material delivery cart to transfer the pallet 3 with the bundled carton 2 inside the lifting bracket 15 of the carton positioning, lifting and depalletizing equipment 1;

[0077] S2. The horizontal linear module 12 operates, driving the CCD camera 13 to move and stopping after moving a set distance. At this time, the CCD camera 13 is directly above the center position coordinates of the horizontal plane of the lifting bracket 15. The horizontal linear module 12 stops operating, and the CCD camera 13 takes an image of the bundled carton 2 below it and uploads the captured image of the bundled carton 2 to the host computer;

[0078] S3. The host computer determines the position coordinates, orientation, and front and back of the bundled carton 2 based on the image of the bundled carton 2;

[0079] In step S3, use RobotPilot to determine the position coordinates, orientation, and front and back of the bundled carton;

[0080] S4. According to the position coordinates of the bundled carton 2, control the rotating three-axis mechanism to drive the vacuum suction cup to move to the position of the bundled carton 2 and adsorb the bundled carton 2;

[0081] In step S4, use RobotPilot to control the rotating three-axis mechanism to drive the vacuum suction cup to move to the position of the bundled carton according to the position coordinates of the bundled carton and adsorb the bundled carton;

[0082] S5. According to the orientation information of the bundled carton 2, control the horizontal electric turntable 14 to rotate, thereby driving the bundled carton 2 until the set orientation;

[0083] In step S5, use RobotPilot to control the horizontal electric turntable to rotate according to the orientation information of the bundled carton, thereby driving the bundled carton until the set orientation;

[0084] S6. According to the front and back information of the bundled carton 2, control the rotating three-axis mechanism to alternately place the bundled carton 2 at the input end of the upper transfer conveyor 41 or the lower transfer conveyor 42, and use the upper transfer conveyor 41 or the lower transfer conveyor 42 to move the bundled carton 2 to the output end, which is the clamping position of the corresponding six-axis robotic arm 61 at this time;

[0085] In step S6, use RobotPilot to control the rotating three-axis mechanism to alternately place the bundled carton at the input end of the upper transfer conveyor or the lower transfer conveyor according to the front and back information of the bundled carton.

[0086] In step S6, multiple photoelectric sensors disposed at the input ends of the upper-level transfer conveyor 41 or the lower-level transfer conveyor 42 along the conveying direction of the strapped carton 2 are also used to detect the front-back direction of the strapped carton. When the strapped carton is placed forward (with the handle side facing forward), the lifting cylinder located at the input end of the upper-level transfer conveyor 41 or the lower-level transfer conveyor 42 drives the rotating motor to rise. The rotating motor drives the strapped carton to rise via the turntable until the strapped carton is separated from the conveyor belt. The rotating motor drives the strapped carton to rotate 180° via the turntable, so that the handle side faces backward, and the lifting cylinder resets, thereby unifying the orientation of the strapped cartons. It should be noted that the above structure is not within the protection scope of this application, so the structural principle thereof will not be elaborated herein.

[0087] S7. The six-axis robotic arm 61 drives the fixture 62 to approach the strapped carton 2 at the output end of the double-row carton commutation and transfer device 4 until alignment is achieved. The double-headed cylinder 621 operates, driving the top clamping frame 623 and the bottom clamping frame 622 to move relative to each other to clamp the strapped carton 2. Then, the six-axis robotic arm 61 drives the strapped carton 2 to approach the rope cutting device 5 until the strapped carton 2 is aligned with the electric heating wire 52 of the rope cutting device 5.

[0088] In this embodiment, when the six-axis robotic arm 61 clamps the strapped carton 2 placed forward, the end of the six-axis robotic arm 61 does not move. When the six-axis robotic arm 61 clamps the carton in the reverse direction, the end of the six-axis robotic arm 61 rotates 180°, so that the front side of the carton faces upward, to unify the front and back sides of the cartons, facilitating subsequent carton loading operations.

[0089] S8. The electric heating wire 52 is used to melt the nylon rope outside the strapped carton 2, and the melted nylon rope is blown off under the action of the blower.

[0090] S9. The six-axis robotic arm 61 drives the carton with the melted nylon rope to move to the carton buffer device 7, places the carton vertically on the L-shaped anti-tipping plate 74, and keeps the handle side of the gift box carton facing upward. The piston rod of the anti-tipping cylinder 73 contracts by a set distance, driving the L-shaped anti-tipping plate 74 to move toward the carton to clamp the bottom of the carton and prevent the carton from tipping over.

[0091] Therefore, the palletizing and strapping carton piece feeding production line and its working method adopting the above structure in the present invention connect the carton unstacking process and the rope cutting process of the strapped cartons through the double-row carton commutation and transfer device and the six-axis transfer robotic arm to form a unified production line, improving the production efficiency.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions of the present invention or make equivalent replacements, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A production line for stacking and bundling cartons, characterized by: It includes AGV feeding trolleys, carton positioning, lifting and destacking equipment, double-row carton reversing transfer equipment, six-axis transfer robot arms, rope cutting equipment and carton buffering equipment arranged in sequence along the production line; Among them, the AGV feeding trolley is used to transfer the pallets with bundled cartons to the carton positioning, lifting and depalletizing equipment; The carton positioning, lifting and depalletizing equipment comprises a lifting bracket, a rotating three-axis mechanism arranged on the lifting bracket, a vacuum suction cup arranged at the output end of the rotating three-axis mechanism, and a mobile positioning and identification mechanism mounted above the rotating three-axis mechanism; The carton positioning, lifting and depalletizing equipment is used to identify the position coordinates, orientation and front and back of the bundled cartons, and according to the position coordinate information of the bundled cartons, use the rotating three-axis mechanism to drive the vacuum suction cup to absorb the center position of the bundled cartons, and according to the orientation information, control the rotating three-axis mechanism to adjust the orientation of the bundled cartons until the set orientation is reached, and then according to the front and back of the bundled cartons, alternately place the bundled cartons at the input end of the double-row carton reversing transfer equipment; Double-row carton reversing transfer equipment is used to transfer the forward-placed bundled cartons and the reverse-placed bundled cartons separately; The six-axis transfer robot arm is used to alternately clamp the forward-placed bundled cartons and the reverse-placed bundled cartons transferred to the output end of the double-row carton reversing transfer device, and align the bundled cartons with the rope cutting device for cutting and place them in the carton buffer device cache; The strapping rope used to bundle cartons is nylon rope; The rope cutting device is an electric heating rope cutting structure, which includes a column and an insulating cross tube fixed to the top of the column. An electric heating wire is fixed on the side of the insulating cross tube facing the six-axis transfer robot arm, and the electric heating wire is electrically connected to the power supply; An air outlet is provided on the side of the insulating horizontal tube facing the electric heating wire, and the air outlet is connected to the fan through a hose to blow off the fused nylon rope; The carton is a gift box with a handle installed on one side; The carton buffering device includes a support platform, a double-row conveyor belt arranged on the top of the support platform, and a carton side clamping and sorting anti-dumping mechanism arranged at the input end of the double-row conveyor belt. The double-row conveyor belt includes a left conveyor belt and a right conveyor belt which are symmetrically arranged on both sides of the support platform and run synchronously. The carton side clamping and sorting anti-dumping mechanism includes an anti-dumping cylinder arranged on a support platform between the left conveyor belt and the right conveyor belt, and an L-shaped anti-dumping plate fixedly connected to the piston rod of the anti-dumping cylinder. The L-shaped anti-dumping plate and the anti-dumping cylinder are arranged in sequence along the conveying direction of the double-row conveyor belt; The top heights of the L-shaped anti-dumping plate and the anti-dumping cylinder are both lower than the top height of the double-row conveyor belt.

2. A stacking and bundling carton piece loading production line according to claim 1, characterized in that: One side of the lifting bracket is aligned with the input end of the double-row carton reversing transfer equipment, and the other side is provided with an entrance for the AGV feeding trolley. A placement cavity for placing bundled cartons is reserved inside the lifting bracket and below the rotating three-axis mechanism and the mobile positioning and identification mechanism.

3. A stacking and bundling carton piece loading production line according to claim 2, characterized in that: The rotating three-axis mechanism includes an XYZ three-axis motion platform and a horizontal electric turntable fixed to the output end of the bottom of the XYZ three-axis motion platform, and a vacuum suction cup is fixed to the bottom end of the horizontal electric turntable; The mobile positioning and identification mechanism includes a mounting bracket mounted above the lifting bracket, a horizontal transverse linear module fixed to the top of the mounting bracket, and a CCD camera fixed to the output end of the horizontal transverse linear module. The lens of the CCD camera faces the direction of the bundled carton and is used to capture the image of the bundled carton. The CCD camera communicates with the input end of the host computer, and the output end of the host computer communicates with the XYZ three-axis motion platform, the horizontal electric turntable and the AGV feeding trolley respectively, so as to analyze the position coordinates, orientation and front and back of the bundled carton based on the bundled carton image collected by the host computer based on the CCD camera, and control the movement of the rotating three-axis mechanism according to the position coordinates of the bundled carton, so that the rotating three-axis mechanism drives the vacuum suction cup to move to the center position coordinates of the bundled carton to absorb the bundled carton, and then controls the rotation of the horizontal electric turntable according to the orientation of the bundled carton to drive the bundled carton to reach the set orientation.

4. The stacking and bundling carton piece loading production line according to claim 3 is characterized by: The double-row carton reversing transfer equipment comprises a transfer bracket and an upper transfer conveyor belt and a lower transfer conveyor belt which are sequentially arranged on the transfer bracket, wherein forward-bundling cartons and reverse-bundling cartons are placed on the upper transfer conveyor belt and the lower transfer conveyor belt respectively; The input ends of the upper transfer conveyor belt and the lower transfer conveyor belt are aligned with the output ends of the rotating three-axis mechanism, and the output ends of the upper transfer conveyor belt and the lower transfer conveyor belt are aligned with the six-axis transfer mechanical arm.

5. The stacking and bundling carton piece loading production line according to claim 4 is characterized by: The six-axis transfer robot arm includes a six-axis robot arm and a fixture fixed to the output end of the six-axis robot arm, the fixture includes a mounting plate fixed to the output end of the six-axis robot arm and a top clamping frame and a bottom clamping frame symmetrically and vertically slidably arranged on the mounting plate, and the top clamping frame and the bottom clamping frame are respectively connected to two output ends of a double-headed cylinder fixed to the mounting plate; The top clamping frame and the bottom clamping frame both include an intermediate connecting rod whose intermediate position coordinates are connected to the output end of the double-headed cylinder and two clamping rods fixed at both ends of the intermediate connecting rod.

6. A method for loading and unloading a stacking and bundling carton production line according to claim 5, characterized in that: The following steps are involved: S1. Use the AGV feeding trolley to transfer the pallet with bundled cartons to the lifting bracket of the carton positioning, lifting and depalletizing equipment; S2, the horizontal and transverse linear module moves, driving the CCD camera to move, and stops moving after moving a set distance. At this time, the CCD camera is located directly above the horizontal plane center position coordinates of the lifting bracket, the horizontal and transverse linear module stops moving, and the CCD camera takes an image of the bundled carton located below it, and uploads the taken image of the bundled carton to the host computer; S3, the host computer determines the position coordinates, orientation, and front and back of the bundled carton according to the bundled carton image; S4, according to the position coordinates of the bundled carton, control the rotating three-axis mechanism to drive the vacuum suction cup to move to the bundled carton position to absorb the bundled carton; S5. According to the orientation information of the bundled cartons, the horizontal electric turntable is controlled to rotate, thereby driving the bundled cartons until the orientation is set; S6. According to the front and back information of the bundled cartons, the rotating three-axis mechanism is controlled to alternately place the bundled cartons on the input end of the upper transfer conveyor belt or the lower transfer conveyor belt, and the bundled cartons are moved to the output end by means of the upper transfer conveyor belt or the lower transfer conveyor belt, which corresponds to the clamping position of the six-axis robot arm; S7, the six-axis robot arm drives the clamp to approach the bundled carton at the output end of the double-row carton reversing transfer device until they are aligned, and the double-head cylinder moves to drive the top clamping frame and the bottom clamping frame to move relative to each other to clamp the bundled carton, and then the six-axis robot arm drives the bundled carton to approach the rope cutting device until the bundled carton is aligned with the electric heating wire of the rope cutting device; S8, using electric heating wire to melt the nylon rope on the outside of the carton, and blowing the melted nylon rope off under the action of the fan; S9. The six-axis robotic arm drives the carton with the fused nylon rope to move to the carton buffer device, places the carton vertically on the L-shaped anti-dumping board, and keeps the handle side of the gift box facing upward. The piston rod of the anti-dumping cylinder contracts the set distance, driving the L-shaped anti-dumping board to move toward the carton, clamping the bottom of the carton to prevent the carton from tipping over.

7. The working method of the stacking and bundling carton piece loading production line according to claim 6 is characterized by: In step S3, the position coordinates, orientation, and front and back of the bundled cartons are determined using RobotPilot; In step S4, the RobotPilot is used to control the rotating three-axis mechanism to drive the vacuum suction cup to move to the position of the strapping carton according to the position coordinates of the strapping carton, and to absorb the strapping carton; In step S5, the RobotPilot is used to control the rotation of the horizontal electric turntable according to the orientation information of the bundled cartons, thereby driving the bundled cartons until the orientation is set; In step S6, the RobotPilot is used to control the rotating three-axis mechanism according to the front and back information of the bundled cartons to alternately place the bundled cartons on the input end of the upper transfer conveyor belt or the lower transfer conveyor belt.

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