Boxing work station special for parallel robot

Abstract

The invention provides a special boxing workstation for a parallel robot, which comprises an incoming material belt line used for conveying materials to a boxing workstation, and the boxing workstation is arranged on the upper side of the incoming material belt line and used for carrying out position identification and material identification on the materials; the boxing parallel robot is arranged on the upper side of the incoming material belt line and used for grabbing the materials and placing the materials in the material carton; the sorting parallel robot is arranged at the tail end of the boxing workstation and used for grabbing and placing the materials; the material arranging belt line is used for conveying the material cartons to the position below the material arranging parallel robot; the carton feeding line is used for storing and distributing the material cartons; the clamping carton feeding line is arranged at the tail end of the carton feeding line and used for opening the material cartons and conveying the material cartons to a boxing position; the production line further comprises a transition roller line, a box sealing machine, a stacking roller line and a stacking robot, and the effects that the product circulation time between procedures is shortened, the working efficiency is improved, and the occupied area of a process route is reduced are achieved.

Description

Technical Field

[0001] The invention relates to a special case packing workstation for parallel robots. Background Art

[0002] With the rapid development of industrial automation, automated case packing and palletizing systems are increasingly being used in production lines. In modern industrial production, case packing and palletizing are a crucial component of product packaging, and their degree of automation directly impacts production efficiency and product quality. While a variety of automated case packing and palletizing equipment are currently available on the market, certain technical bottlenecks remain when it comes to packing and palletizing large quantities of light-loaded products.

[0003] In the automatic cartoning and palletizing logistics line, there are palletizing mechanisms, conveying tracks, carton detection photoelectric mechanisms, carton sealing machines, carton packing mechanisms, collection mechanisms, carton opening machines, carton detection mechanisms and carton opening mechanisms. The cartons are pushed out of the conveyor line by pushing plates to complete the entire row of cartons.

[0004] However, existing technologies still have the following problems in the packing and stacking of large quantities of light-loaded products: in existing packing and stacking systems, the layout and collaborative working mode of robots are often not reasonable, resulting in low space utilization; at the same time, there is a lack of effective material identification and material sorting mechanisms, which makes it easy for materials to pile up or misplace during the packing process; in addition, the existing system is not well designed in the conveying, opening and positioning of material cartons, which affects the smoothness and efficiency of the entire packing process.

[0005] Therefore, a parallel robot-specific packing workstation with fewer process steps and a small footprint is needed. Summary of the Invention

[0006] The purpose of the present invention is to address the deficiencies of the above-mentioned prior art and provide a parallel robot dedicated boxing workstation to shorten the product flow time between processes, improve work efficiency, and reduce the area occupied by the process route. This purpose of the present invention is achieved as follows:

[0007] The present invention proposes a dedicated boxing workstation for parallel robots, comprising: an incoming material belt line, used to transport materials to the boxing workstation, the boxing workstation being arranged above the incoming material belt line and used to identify the position and material of the materials; a boxing parallel robot, arranged above the incoming material belt line, used to grab materials and place them in material cartons; a material sorting parallel robot, arranged at the end of the boxing workstation, used to grab and place materials; a material sorting belt line, used to transport material cartons to the bottom of the material sorting parallel robot;

[0008] The incoming carton line is used to store and divert material cartons; the clamping carton feeding line is set at the end of the incoming carton line, used to open the material cartons and convey them to the packing position; the transition roller line is used to buffer the conveying speed of the material cartons; the carton sealing machine is used to seal the material cartons filled with materials; the stacking roller line is used to position the material cartons after sealing; the stacking robot is used to stack the positioned material cartons.

[0009] Furthermore, the incoming material belt line and the material sorting belt line both include a belt body and a belt angle auxiliary arm. The belt angle auxiliary arm is rotatably mounted on one end of the belt body. Two auxiliary rollers are rotatably mounted on the belt angle auxiliary arm. Several transmission rings are provided on the auxiliary rollers. The transmission rings are used to drive the auxiliary rollers to rotate. A spring reset handle is installed at one end of the belt angle auxiliary arm, and the spring reset handle is used to fix the belt angle auxiliary arm.

[0010] Furthermore, the packing workstation includes a camera, a height adjustment rod and a light shielding plate, the height adjustment rod is installed on the incoming material belt line, the camera is installed on the height adjustment rod, the light shielding plate is provided on the lower side of the camera, and the light shielding plate is installed on the height adjustment rod.

[0011] Furthermore, the incoming material belt line and the sorting material belt line both include a tensioning shaft and a driving wheel tensioning shaft for adjusting the tensioning force of the belt.

[0012] Furthermore, the box incoming line includes a photoelectric sensor, a lifting cylinder and a box baffle plate. The lifting cylinder is arranged on one side of the photoelectric sensor. After the photoelectric sensor detects the material box, the lifting cylinder is used to drive the box baffle plate to block the material box; the box incoming line also includes a side lifting cylinder and a box top plate. The side lifting cylinder is arranged on the other side of the photoelectric sensor. The side lifting cylinder is used to drive the box top plate to block the material box.

[0013] Furthermore, the clamping box feeding line includes a clamping belt group arranged on the left and right sides and a box supporting mechanism arranged on the upper side. The clamping belt group is used to drive the material box to move, and the box supporting mechanism is used to open the box pages of the material box.

[0014] Compared with the existing technology, the beneficial effects of the present invention are: the present invention optimizes the process route of the parallel robot, and changes the process route in which the parallel robots were previously placed separately into a comprehensive integrated parallel robot workstation form, thereby shortening the product flow time between each process and reducing the area occupied by the process route. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional structural diagram of a parallel robot dedicated box packing workstation;

[0016] Figure 2 It is a side structural diagram of a parallel robot dedicated box packing workstation;

[0017] Figure 3 This is a side structural diagram of the incoming material belt line of a parallel robot dedicated packing workstation;

[0018] Figure 4 This is a three-dimensional structural diagram of the belt angle auxiliary arm of the incoming belt of a parallel robot dedicated packing workstation;

[0019] Figure 5 It is a three-dimensional structural diagram of the box-incoming line of a parallel robot dedicated box-packing workstation;

[0020] Figure 6 It is a three-dimensional structural diagram of the clamping and box feeding line of a parallel robot dedicated box packing workstation;

[0021] Figure 7 It is a three-dimensional structural diagram of a packing workstation dedicated to a parallel robot;

[0022] In the figure: 1. Incoming material conveyor line, 2. Belt body, 3. Belt angle auxiliary arm, 4. Auxiliary roller, 5. Transmission ring, 6. Spring return handle, 7. Tensioning shaft, 8. Active wheel tensioning shaft, 9. Packing workstation, 10. Camera, 11. Height adjustment lever, 12. Sunshade, 13. Packing parallel robot, 14. Material sorting parallel robot, 15. Material sorting conveyor line, 16. Incoming box line, 17. Photoelectric sensor, 18. Lifting cylinder, 19. Box baffle, 20. Side lifting cylinder, 21. Box lift plate, 22. Clamping box feeding line, 23. Clamping belt group, 24. Box supporting mechanism, 25. Transition roller line, 26. Carton sealing machine, 27. Palletizing roller line, 28. Palletizing robot. DETAILED DESCRIPTION

[0023] In order to deepen the understanding of the present invention, the present invention will be further described in detail below with reference to the embodiments and drawings. The embodiments are only used to explain the present invention and do not constitute a limitation on the scope of protection of the present invention.

[0024] Example 1

[0025] Please see Figure 1-7 The present invention proposes a parallel robot dedicated packing workstation 9, including an incoming material belt line 1, a packing workstation 9, a packing parallel robot 13, a material sorting parallel robot 14, a material sorting belt line 15, an incoming box line 16, a clamping box feeding line 22, a transition roller line 25, a carton sealing machine 26, a stacking roller line 27 and a stacking robot 28.

[0026] It can be understood that the incoming material belt line 1 is used to transport materials to the packing workstation 9. The incoming material belt line 1 includes a belt body 2 and a belt angle auxiliary arm 3. The belt angle auxiliary arm 3 is rotatably installed at one end of the belt body 2. Two auxiliary rollers 4 are rotatably installed on the belt angle auxiliary arm 3. The auxiliary rollers 4 are provided with a number of transmission rings 5. The transmission rings 5 ​​are used to drive the auxiliary rollers 4 to rotate. A spring reset handle 6 is installed at one end of the belt angle auxiliary arm 3. The spring reset handle 6 is used to fix the belt angle auxiliary arm 3. The incoming material belt line 1 also includes a tensioning shaft 7 and a driving wheel tensioning shaft 8 for adjusting the tensioning force of the belt. By adjusting the tensioning shaft 7 and the driving wheel tensioning shaft 8, the belt can maintain appropriate tension to ensure the stability and reliability of material transportation.

[0027] It can be understood that the packing workstation 9 is arranged on the upper side of the incoming material belt line 1, and is used for position identification and material identification of the material. The packing workstation 9 includes a camera 10, a height adjustment rod 11 and a light shield 12. The height adjustment rod 11 is installed on the incoming material belt line 1, the camera 10 is installed on the height adjustment rod 11, the light shield 12 is arranged on the lower side of the camera 10, and the light shield 12 is installed on the height adjustment rod 11. The camera 10 can be adjusted to a suitable height through the height adjustment rod 11 to accurately capture the image information of the material. The setting of the light shield 12 can avoid the interference of ambient light on the photographic effect and improve the accuracy of identification. The image data collected by the camera 10 will be transmitted to the control system. The control system uses an image processing algorithm to identify the position and type of the material and provide accurate coordinate information for subsequent grabbing operations.

[0028] It can be understood that the packing parallel robot 13 is arranged on the upper side of the incoming material belt line 1, and is used to grab materials and place them in material cartons. The packing parallel robot 13 adopts a high-precision parallel structure, has the characteristics of high speed and high precision, and can quickly and accurately complete the grabbing and placing operations of materials. The end effector of the packing parallel robot 13 is designed according to the shape and characteristics of different materials. It can be a vacuum suction cup, a mechanical gripper or a combination thereof to meet the grabbing requirements of different materials. The packing parallel robot 13 calculates the grabbing path and placement position based on the material position and type information provided by the packing workstation 9 to achieve accurate packing of materials.

[0029] It can be understood that the material sorting parallel robot 14 is set at the end of the packing workstation 9 to grab and place materials. The material sorting parallel robot 14 is similar to the packing parallel robot 13 and also adopts a parallel structure, but its main function is to sort and adjust the materials that have been placed in the carton to ensure that the materials are neatly arranged in the carton and improve the compactness and stability of the packing. The end effector of the material sorting parallel robot 14 is designed to gently contact the material to avoid damage to the material. At the same time, it has sufficient flexibility to adapt to materials of different shapes and sizes.

[0030] It can be understood that the material sorting belt line 15 is used to transport the material cartons to the bottom of the material sorting parallel robot 14. The structure of the material sorting belt line 15 is similar to that of the incoming material belt line 1, and also includes a belt body 2 and a belt angle auxiliary arm 3. The belt angle auxiliary arm 3 is rotatably installed at one end of the belt body 2. Two auxiliary rollers 4 are rotatably installed on the belt angle auxiliary arm 3. The auxiliary rollers 4 are provided with several transmission rings 5. The transmission rings 5 ​​are used to drive the auxiliary rollers 4 to rotate. A spring reset handle 6 is installed at one end of the belt angle auxiliary arm 3. The spring reset handle 6 is used to fix the belt angle auxiliary arm 3. The material sorting belt line 15 also includes a tensioning shaft 7 and an active wheel tensioning shaft 8 for adjusting the tensioning force of the belt. The running speed of the material sorting belt line 15 can be adjusted according to the working rhythm of the material sorting parallel robot 14 to ensure that the material carton can accurately stay in the material sorting position.

[0031] It can be understood that the incoming box line 16 is used to store and divert material cartons. The incoming box line 16 includes a photoelectric sensor 17, a lifting cylinder 18 and a box baffle 19. The lifting cylinder 18 is arranged on one side of the photoelectric sensor 17. After the photoelectric sensor 17 detects the material box, the lifting cylinder 18 is used to drive the box baffle 19 to block the material box. The incoming box line 16 also includes a side lifting cylinder 20 and a top box plate 21. The side lifting cylinder 20 is arranged on the other side of the photoelectric sensor 17. The side lifting cylinder 20 is used to drive the top box plate 21 to block the material box. Through the cooperation of the photoelectric sensor 17, the lifting cylinder 18, the box baffle 19, the side lifting cylinder 20 and the top box plate 21, the incoming box line 16 can realize orderly storage and diversion of material cartons, and avoid collision or accumulation of material cartons during transportation.

[0032] It can be understood that the clamping box feeding line 22 is arranged at the end of the box incoming line 16, and is used to open the material carton and transport it to the packing position. The clamping box feeding line 22 includes a clamping belt group 23 arranged on the left and right sides and a box supporting mechanism 24 arranged on the upper side. The clamping belt group 23 is used to drive the material box to move, and the box supporting mechanism 24 is used to open the box pages of the material box. The clamping belt group 23 drives the material carton to move by friction, and at the same time laterally positions the material carton. The box supporting mechanism 24 adopts pneumatic or mechanical methods. The box supporting mechanism 24 is an existing general technical solution, which can accurately open the box pages of the material carton and prepare for subsequent packing operations. The running speed of the clamping box feeding line 22 matches the working rhythm of the packing parallel robot 13 to ensure that the material carton can reach the packing position in time.

[0033] It can be understood that the transition roller line 25 is used to buffer the conveying speed of the material cartons. The transition roller line 25 is composed of multiple rollers. The spacing and diameter between the rollers are designed according to the size of the material cartons to ensure that the material cartons can pass smoothly. The driving mode of the transition roller line 25 can be motor-driven or gravity-driven. The appropriate driving mode is selected according to actual needs. The main function of the transition roller line 25 is to adjust the conveying speed of the material cartons to avoid shaking or tilting of the material cartons during high-speed transportation, which affects the subsequent carton sealing operation.

[0034] It can be understood that the carton sealing machine 26 is used to seal material cartons filled with materials. The carton sealing machine 26 includes a folding mechanism and a tape mechanism. The folding mechanism is used to fold the box pages of the material carton, and the tape mechanism is used to stick tape on the folded box pages to achieve sealing of the material carton. The working speed of the carton sealing machine 26 can be adjusted according to production needs to ensure a balance between sealing quality and production efficiency. The carton sealing machine 26 is also equipped with a detection device for detecting whether the sealing is complete. If the sealing is found to be poor, an alarm will be issued or the defective products will be automatically transported to the repair area.

[0035] It can be understood that the stacking roller line 27 is used to position the material cartons after sealing. The structure of the stacking roller line 27 is similar to that of the transition roller line 25, but its main function is to transport the sealed material cartons to the stacking position and perform precise positioning. The stacking roller line 27 is equipped with a positioning device to ensure the accuracy of the material cartons in the stacking position and provide protection for subsequent stacking operations. The running speed of the stacking roller line 27 matches the working rhythm of the stacking robot 28 to ensure that the material cartons can reach the stacking position in time.

[0036] It can be understood that the palletizing robot 28 is used to stack the positioned material cartons. The palletizing robot 28 adopts a multi-joint structure, has a large working space and flexible movement ability, and can stack the material cartons according to the preset palletizing plan. The end effector of the palletizing robot 28 is designed to be able to firmly grasp the material cartons to avoid sliding or falling during the palletizing process. The control system of the palletizing robot 28 can automatically adjust the grasping force and stacking method according to the different material carton sizes and weights to ensure the stability and efficiency of palletizing.

[0037] In actual application, the working process of the entire parallel robot dedicated packing workstation 9 is as follows: the material is transported to the packing workstation 9 through the incoming material belt line 1, and the packing workstation 9 performs position identification and material identification on the material; the packing parallel robot 13 grabs the material according to the identification result and places it in the material carton; the material sorting parallel robot 14 organizes and adjusts the material placed in the carton; the material carton is transported to the bottom of the material sorting parallel robot 14 through the material sorting belt line 15; the incoming box line 16 stores and diverts the material cartons; the clamping box line 22 opens the material carton and transports it to the packing position; the transition roller line 25 buffers the material carton conveying speed; the carton sealing machine 26 seals the material carton filled with material; the stacking roller line 27 positions the sealed material carton; the stacking robot 28 stacks the positioned material cartons.

[0038] Through the coordinated work of the above-mentioned parts, the parallel robot dedicated packing workstation 9 can realize automatic identification, grabbing, packing, sorting, sealing and palletizing of materials, greatly improving production efficiency and product quality, and reducing labor costs and labor intensity.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A parallel robot dedicated packing workstation, characterized in that: include: The incoming material conveyor belt is used to transport materials to the packing workstation, which is located above the incoming material conveyor belt and is used to identify the location and material of the materials. The packing parallel robot is located above the incoming material conveyor belt and is used to grab materials and place them in material cartons. The material sorting parallel robot is located at the end of the packing workstation and is used to grab and place materials. The material sorting conveyor belt is used to transport material cartons to the bottom of the material sorting parallel robot. The incoming carton line is used to store and divert material cartons; the clamping carton feeding line is set at the end of the incoming carton line, used to open the material cartons and convey them to the packing position; the transition roller line is used to buffer the conveying speed of the material cartons; the carton sealing machine is used to seal the material cartons filled with materials; the stacking roller line is used to position the material cartons after sealing; the stacking robot is used to stack the positioned material cartons.

2. A parallel robot dedicated packing workstation according to claim 1, characterized in that: The incoming material belt line and the material sorting belt line both include a belt body and a belt angle auxiliary arm. The belt angle auxiliary arm is rotatably mounted on one end of the belt body. Two auxiliary rollers are rotatably mounted on the belt angle auxiliary arm. Several transmission rings are provided on the auxiliary rollers. The transmission rings are used to drive the auxiliary rollers to rotate. A spring reset handle is installed at one end of the belt angle auxiliary arm, and the spring reset handle is used to fix the belt angle auxiliary arm.

3. A parallel robot dedicated packing workstation according to claim 1, characterized in that: The packing workstation includes a camera, a height adjustment rod and a light shielding plate. The height adjustment rod is installed on the incoming material belt line, the camera is installed on the height adjustment rod, the light shielding plate is provided on the lower side of the camera, and the light shielding plate is installed on the height adjustment rod.

4. A parallel robot dedicated packing workstation according to claim 1, characterized in that: The incoming material belt line and the sorting material belt line both include a tensioning shaft and a driving wheel tensioning shaft, which are used to adjust the tensioning force of the belt.

5. The parallel robot dedicated packing workstation according to claim 1, characterized in that: The incoming box line includes a photoelectric sensor, a lifting cylinder and a box baffle. The lifting cylinder is arranged on one side of the photoelectric sensor. After the photoelectric sensor detects the material box, the lifting cylinder is used to drive the box baffle to block the material box; the incoming box line also includes a side lifting cylinder and a box top plate. The side lifting cylinder is arranged on the other side of the photoelectric sensor. The side lifting cylinder is used to drive the box top plate to block the material box.

6. A parallel robot dedicated packing workstation according to claim 1, characterized in that: The clamping box feeding line includes a clamping belt group arranged on the left and right sides and a box supporting mechanism arranged on the upper side. The clamping belt group is used to drive the material box to move, and the box supporting mechanism is used to open the box pages of the material box.

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