Intelligent grabbing and stacking equipment for aluminum foil boxes

Abstract

The intelligent aluminum foil box grabbing and stacking equipment comprises a rack, and the rack is provided with a grabbing device used for grabbing and stacking aluminum foil boxes into a stack dividing device; the conveying device comprises a conveying belt, an encoder is installed on the conveying belt, and the encoder is used for monitoring the conveying speed, distance and position of the conveying belt; the monitoring data is transmitted to the grabbing device in real time; the intelligent recognition device is used for recognizing and calculating the position and the angle of the aluminum foil box and transmitting calculated data to the grabbing device; the stacking device is used for dividing the aluminum foil boxes into equal-quantity product stacks and pushing the product stacks out of the equipment; the PLC control system is used for controlling the conveying device, the intelligent recognition device, the stacking device and the grabbing device to work cooperatively. According to the equipment, the conveying device, the intelligent recognition device, the stacking device and the grabbing device are controlled through the PLC control system, so that an efficient automatic production line is formed in the whole aluminum foil box grabbing, stacking and stacking processes; manual carrying links are reduced, and the production efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of aluminum foil box production, and in particular to an intelligent grabbing and stacking device for aluminum foil boxes. Background Art

[0002] In the production process of aluminum foil boxes, after the product has completed the molding process, it needs to be efficiently and accurately grabbed, stacked and palletized for subsequent packaging and transportation.

[0003] The traditional method of grabbing and stacking aluminum foil boxes often relies on a lot of manual labor, which is not only inefficient and has high labor costs, but also it is difficult for manual operation to ensure accurate identification and grabbing of the position and angle of the aluminum foil boxes, resulting in uneven stacking of products, affecting subsequent packaging processes, and may even cause product damage; and some existing automated equipment has difficulty in accurately obtaining the position and angle information of the aluminum foil boxes when processing irregularly placed products such as aluminum foil boxes, and is unable to efficiently grab and stack aluminum foil boxes at any position and angle; therefore, it is of great practical significance to develop a device that can quickly and accurately intelligently grab, stack and depalletize aluminum foil boxes at any position and angle. Summary of the invention

[0004] The main purpose of the present invention is to provide an intelligent grabbing and stacking device for aluminum foil boxes to solve the above-mentioned technical problems.

[0005] To achieve the above object, the present invention provides the following technical solution: an intelligent grabbing and stacking device for aluminum foil boxes, characterized in that it comprises a frame, on which:

[0006] A grabbing device, used for grabbing and stacking the aluminum foil boxes into the palletizing device;

[0007] The conveying device comprises a conveying belt, on which an encoder is installed, and the encoder is used to monitor the conveying speed, distance and position of the conveying belt; and transmit the monitoring data to the grasping device in real time;

[0008] An intelligent recognition device, used to recognize and calculate the position and angle of the aluminum foil box, and transmit the calculated data to the gripping device;

[0009] A palletizing device is used to divide the aluminum foil boxes into equal number of product pallets and push them out of the equipment;

[0010] PLC control system is used to control the coordinated work of the conveying device, intelligent identification device, stacking device and grabbing device.

[0011] On the basis of the above scheme and as a preferred scheme of the above scheme: the grasping device includes a tripod installed on the top of the frame, the bottom triangular array of the tripod is provided with three groups of grasping units, and the output ends of the three groups of grasping units are provided with grasping components; the grasping unit includes a driving motor, the output end of the driving motor is provided with a rotating drum, the rotating drum is provided with a first connecting arm, one end of the first connecting arm is provided with a mounting block, both sides of the bottom of the mounting block are provided with a first ball joint, the first ball joint is installed with a second connecting arm, the end of the second connecting arm is provided with a second ball joint, and the second ball joint is hinged to the grasping component.

[0012] On the basis of the above scheme and as a preferred scheme of the above scheme: the grabbing assembly includes a support plate, a grabbing cylinder is provided on the support plate, a grabbing head is provided at the output end of the grabbing cylinder, a negative pressure chamber is provided in the grabbing head, and a plurality of air holes are provided on the inner wall of the grabbing head.

[0013] On the basis of the above scheme and as a preferred scheme of the above scheme: the stacking device includes two groups of guide rails installed on one side of the frame, one group of guide rails is provided with a stacking cylinder, the output end of the stacking cylinder is provided with a slide plate, the slide plate is slidably connected to the guide rail, one end of the slide plate is provided with a cross frame, the top of the cross frame is provided with two groups of support frames, the support frames are used to support the aluminum foil boxes transferred from the grasping device; the top of the guide rail is provided with a rectangular frame, the middle position of the rectangular frame is provided with a stacking port, and guide plates are provided on both sides of the stacking port.

[0014] On the basis of the above scheme and as a preferred scheme of the above scheme: a mounting frame is provided on the rear side of the guide rail, a push cylinder is provided on the mounting frame, a push plate is provided at the output end of the push cylinder, and the push plate faces the two groups of support frames.

[0015] On the basis of the above scheme and as a preferred scheme of the above scheme: the intelligent recognition device includes an industrial camera and a light source system installed above the inlet end of the conveyor belt. The industrial camera is used to collect photos of the aluminum foil boxes on the conveyor belt and calculate the position and angle of the aluminum foil box products through the PLC control system.

[0016] The beneficial effects of the present invention are as follows: the equipment uses a PLC control system to control the coordinated work of a conveying device, an intelligent identification device, a stacking device and a grasping device, so that the entire aluminum foil box grasping, stacking and stacking process forms a tightly connected and efficiently operated automated production line; it reduces the manual handling links, improves production efficiency, and also reduces the risk of damage to the aluminum foil box during manual handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 is a front perspective view of the present invention;

[0019] Figure 3 is an axonometric view of the present invention;

[0020] Figure 4 It is a rear perspective view of the present invention. DETAILED DESCRIPTION

[0021] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments. However, the specific implementation methods and embodiments described below are for illustrative purposes only and are not intended to limit the present invention.

[0022] See attached figure Figures 1 to 4 In this embodiment, an aluminum foil box intelligent grabbing and stacking device includes a frame, and the frame is provided with:

[0023] A grabbing device, used for grabbing and stacking the aluminum foil boxes into the palletizing device;

[0024] The conveying device includes a conveyor belt 2, on which an encoder is installed, and the encoder is used to monitor the conveying speed, distance and position of the conveyor belt; and transmit the monitoring data to the grasping device in real time; during the high-speed conveying of the aluminum foil box, the grasping device can adjust its posture according to the data provided by the encoder when the aluminum foil box reaches the optimal grasping position, so as to achieve fast and accurate grasping and reduce the grasping time;

[0025] An intelligent recognition device, used to recognize and calculate the position and angle of the aluminum foil box, and transmit the calculated data to the gripping device;

[0026] A palletizing device is used to divide the aluminum foil boxes into equal number of product pallets and push them out of the equipment;

[0027] The PLC control system 10 is used to control the conveying device, the intelligent identification device, the stacking device and the grasping device to work in coordination.

[0028] Specifically, the grasping device includes a tripod 3 installed on the top of the frame, and the bottom triangular array of the tripod 3 is provided with three groups of grasping units, and the output ends of the three groups of grasping units are provided with grasping components; the grasping unit includes a driving motor 4, and the output end of the driving motor 4 is provided with a rotating drum 40, and the rotating drum 40 is provided with a first connecting arm 41, and one end of the first connecting arm 41 is provided with a mounting block 42, and both sides of the bottom of the mounting block 42 are provided with a first ball joint 420, and a second connecting arm 43 is installed on the first ball joint 420, and the end of the second connecting arm 43 is provided with a second ball joint 44, and the second ball joint 44 is hinged to the grasping component.

[0029] Specifically, the grabbing assembly includes a support plate 5, a grabbing cylinder 50 is provided on the support plate 5, a grabbing head 51 is provided at the output end of the grabbing cylinder 50, a negative pressure cavity is provided in the grabbing head 51, and a plurality of air holes are provided on the inner wall of the grabbing head 51. When the grabbing cylinder 50 pushes the grabbing head 51 to approach the aluminum foil box, the negative pressure cavity generates negative pressure through the air holes, and the aluminum foil box is firmly adsorbed on the grabbing head, ensuring that the aluminum foil box will not fall during the grabbing and carrying process.

[0030] Specifically, the stacking device includes two groups of guide rails 6 installed on one side of the frame 1, one group of guide rails 6 is provided with a stacking cylinder 60, the output end of the stacking cylinder 60 is provided with a slide plate 61, the slide plate 61 is slidably connected to the guide rail 6, one end of the slide plate 61 is provided with a cross frame 62, the top of the cross frame 62 is provided with two groups of support frames 63, the support frames 63 are used to support the aluminum foil boxes transferred from the grasping device; a rectangular frame 7 is provided on the top of the guide rail 6, a stacking port 70 is provided in the middle position of the rectangular frame 7, and guide plates 71 are provided on both sides of the stacking port 70.

[0031] Specifically, a mounting frame 8 is provided at the rear side of the guide rail 6 , a push cylinder 80 is provided on the mounting frame 8 , and a push plate is provided at the output end of the push cylinder 80 , and the push plate faces the two groups of support frames 63 .

[0032] The operator can set the number of aluminum foil boxes per stack through the PLC control system 10. The stacking device will automatically stack the aluminum foil boxes transferred from the gripping device. When the set number is reached, the stacking operation of one stack is automatically completed. When the stacking of one stack of aluminum foil boxes is completed, the push cylinder 80 pushes the push plate to push the aluminum foil box stack out of the support frame 63 and directly hand it over to the subsequent packaging equipment for packaging.

[0033] Specifically, the intelligent recognition device includes an industrial camera 90 and a light source system 9 installed above the inlet end of the conveyor belt 2. The industrial camera 90 is used to collect photos of the aluminum foil box on the conveyor belt 2, and calculate the position and angle of the aluminum foil box product through the PLC control system 10. The light source system 9 can adjust the brightness, color, and irradiation angle of the light source according to different ambient light conditions and the characteristics of the aluminum foil box product to ensure that the industrial camera can collect clear and high-quality photos; for aluminum foil boxes with strong surface reflection, the light source angle and color can be adjusted to reduce reflection interference and improve image clarity, thereby ensuring the accuracy of recognition.

[0034] In this embodiment, the aluminum foil box conveying steps are as follows: placing the aluminum foil box on the adjustable speed conveyor belt 2, and driving the active roller of the conveyor belt 2 to operate by a motor to move the aluminum foil box on the conveyor belt 2; using a speed controller to accurately adjust the speed of the drive motor, so that the speed of the conveyor belt 2 can be adjusted to adapt to different production rhythms; at the same time, a high-precision incremental encoder installed on the conveyor belt 2 accurately calculates the conveying speed, distance and position information of the conveyor belt 2, and transmits these data to the grabbing device in real time.

[0035] Aluminum foil box position and angle recognition steps: The industrial camera 90 collects photos of the aluminum foil boxes on the conveyor belt 2 under the illumination of multiple LED light source modules distributed in a ring around its lens; the light source system 9 adjusts the light source brightness through an independent dimming controller according to different ambient light conditions and the characteristics of the aluminum foil box product, and switches the light source color to different modes such as cold light, warm light or natural light to improve the quality of photo collection; then the photos are analyzed to calculate the position and angle information of the aluminum foil box on the conveyor belt, and the calculated data is transmitted to the gripping device in real time.

[0036] Robot grasping and stacking steps: The grasping device receives the position speed information from the adjustable speed conveyor belt 2 and the product position angle information from the intelligent recognition system; quickly and accurately calculates the optimal motion trajectory of the grasping component based on the received information; grasps the aluminum foil boxes at different positions and angles, and puts the grasped aluminum foil boxes into the stacking system.

[0037] Aluminum foil box discharging steps: the palletizing system palletizes the aluminum foil boxes grabbed by the grabbing device according to the value set by the human-machine interface of the PLC control system 10; when the number of aluminum foil boxes on each palletizing support frame 63 reaches the set value, the support frame 63 descends to a certain height and continues to receive aluminum foil boxes; after the pallets are sorted, the push plate structure driven by the push cylinder 80 pushes the aluminum foil boxes out of the equipment and hands them over to the subsequent packaging equipment.

[0038] The above embodiments are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent grabbing and stacking device for aluminum foil boxes, characterized in that: The invention comprises a frame, on which is provided: A grabbing device, used for grabbing and stacking the aluminum foil boxes into the palletizing device; The conveying device comprises a conveying belt, on which an encoder is installed, and the encoder is used to monitor the conveying speed, distance and position of the conveying belt; and transmit the monitoring data to the grasping device in real time; An intelligent recognition device, used to recognize and calculate the position and angle of the aluminum foil box, and transmit the calculated data to the gripping device; A palletizing device is used to divide the aluminum foil boxes into equal number of product pallets and push them out of the equipment; The PLC control system is used to control the coordinated operation of the conveying device, intelligent identification device, stacking device and grasping device.

2. The intelligent grabbing and stacking device for aluminum foil boxes according to claim 1 is characterized in that: The grasping device includes a tripod installed on the top of the frame, the bottom triangular array of the tripod is provided with three groups of grasping units, and the output ends of the three groups of grasping units are provided with grasping components; the grasping unit includes a driving motor, the output end of the driving motor is provided with a rotating drum, the rotating drum is provided with a first connecting arm, one end of the first connecting arm is provided with a mounting block, both sides of the bottom of the mounting block are provided with a first ball joint, the first ball joint is installed with a second connecting arm, the end of the second connecting arm is provided with a second ball joint, and the second ball joint is hinged to the grasping component.

3. The intelligent grabbing and stacking device for aluminum foil boxes according to claim 2 is characterized in that: The grabbing assembly comprises a support plate, a grabbing cylinder is arranged on the support plate, a grabbing head is arranged at the output end of the grabbing cylinder, a negative pressure cavity is arranged in the grabbing head, and a plurality of air holes are arranged on the inner wall of the grabbing head.

4. The intelligent grabbing and stacking device for aluminum foil boxes according to claim 1 is characterized in that: The stacking device includes two groups of guide rails installed on one side of the frame, one group of guide rails is provided with a stacking cylinder, the output end of the stacking cylinder is provided with a slide plate, the slide plate is slidably connected to the guide rail, one end of the slide plate is provided with a cross frame, the top of the cross frame is provided with two groups of support frames, the support frames are used to support the aluminum foil boxes transferred from the grasping device; the top of the guide rail is provided with a rectangular frame, the middle position of the rectangular frame is provided with a stacking port, and guide plates are provided on both sides of the stacking port.

5. The intelligent grabbing and stacking device for aluminum foil boxes according to claim 4 is characterized in that: A mounting frame is provided at the rear side of the guide rail, a push cylinder is provided on the mounting frame, a push plate is provided at the output end of the push cylinder, and the push plate faces the two groups of support frames.

6. The intelligent grabbing and stacking device for aluminum foil boxes according to claim 1 is characterized in that: The intelligent recognition device includes an industrial camera and a light source system installed above the inlet end of the conveyor belt. The industrial camera is used to collect photos of the aluminum foil boxes on the conveyor belt and calculate the position and angle of the aluminum foil box products through a PLC control system.

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