Full-automatic packaging production line based on multi-station cooperation and control method thereof

Abstract

The invention relates to a full-automatic packaging production line based on multi-station cooperation and a control method, and provides an innovative solution for solving the problems that a traditional packaging line is poor in direction adaptability, servo steering precision is attenuated, visual positioning is prone to being interfered and the like. The production line comprises a boxing system and a stacking system, and the stacking system automatically sorts transverse / longitudinal box bodies to a first stacking unit and a second stacking unit which are vertically arranged through a recognition unit. The steering assembly adopts a cam connecting rod mechanism to replace a servo motor, rigid rotation is forcibly achieved through guide groove limiting, angle accumulation deviation is eliminated, and long-term stability is improved. The clamping unit integrates a scanning camera and an anti-interference algorithm, corrects scanning curve distortion caused by light reflection through coordinate transformation, and reduces a box body gap. The multi-direction box body automatic sorting, high-precision stacking and flexible production are achieved, and the multi-direction box body automatic sorting and high-precision stacking device is suitable for dense packaging scenes in the industries of hardware, electronics and the like.

Description

Technical Field

[0001] The present invention relates to a technology for supplying, feeding, arranging or orienting packaging objects, and in particular to a fully automatic packaging production line based on multi-station collaboration and a control method thereof. Background Art

[0002] In the field of industrial automated packaging, traditional packaging production lines mostly use a single stacking unit to stack boxes. Chinese patent application CN108128507A proposes an intelligent packaging line for finished PCB products and its packaging process. In this patent, CCD is used to automatically identify the character cycle of PCB boards and sort the boards to avoid manual omissions and mispicking; robots are then used to quickly count and stack them.

[0003] In existing technologies, steering mechanisms often rely on servo motors to control the rotation angle. This makes it difficult to efficiently handle boxes placed in different orientations in the palletizing area, requiring manual adjustments or the installation of complex steering equipment. This leads to redundant and inefficient production line layouts. Furthermore, servo motors are affected by load fluctuations and long-term wear, resulting in a gradual decrease in steering accuracy. Even slight angular deviations can easily cause stacking layers to tilt or even collapse after repeated stacking, resulting in insufficient stability. Summary of the Invention

[0004] In order to solve the defects of the above-mentioned prior art, the present invention proposes a fully automatic packaging production line based on multi-station collaboration and a control method thereof.

[0005] The technical solution of the present invention is achieved as follows:

[0006] A fully automatic packaging production line based on multi-station collaboration, characterized by including a boxing system and a palletizing system.

[0007] The palletizing system includes an identification unit, a first palletizing unit and a second palletizing unit. The first palletizing unit and the second palletizing unit are vertically installed. The identification unit is used to send boxes into the first palletizing unit or the second palletizing unit.

[0008] Among them, a clamping unit is provided at the end of the first stacking unit, and the clamping unit includes a steering assembly, a telescopic hydraulic rod and a clamping claw assembly. The telescopic hydraulic rod is installed on the steering assembly, and the telescopic hydraulic rod is driven to rotate by the steering assembly. The clamping claw assembly is installed on the telescopic hydraulic rod. The steering assembly is installed on the slide rail, and the steering assembly and the components installed thereon are controlled by the driving motor to move on the slide rail.

[0009] Preferably, the steering assembly includes a housing, and a rotating shaft opening is provided on the upper portion of the housing. The rotating shaft opening is used to connect a rotating shaft, and the rotating shaft drives the telescopic hydraulic rod to rotate 90 degrees.

[0010] Preferably, a cam mechanism is further provided inside the housing, a transverse guide rail is provided on one side of the cam mechanism, a transverse slider is slidably connected to the transverse guide rail, a longitudinal guide groove is provided on the transverse slider, a deflection block is attached to the longitudinal guide groove, a sleeve shaft is provided at one end of the deflection block, and a roller is provided at the other end.

[0011] Among them, the sleeve shaft is coaxial with the rotating shaft and is fixedly connected, the roller cooperates with the longitudinal guide groove and the guide groove respectively, and the guide groove consists of a first straight groove, a second straight groove and an oblique groove. The oblique groove is used to connect the first straight groove and the second straight groove, and the extension lines of the first straight groove and the second straight groove intersect vertically.

[0012] Preferably, the cam mechanism has a supporting plate, a driving motor is provided below the supporting plate, an output shaft of the driving motor passes through the supporting plate and is connected to the cam, the cam has an elliptical cam groove, and a first connecting rod is connected in the cam groove.

[0013] The first connecting rod is composed of a rod body, a rotating end and a matching end. The rod body is rotatably connected to the bearing plate via the rotating end, and the matching end is located in the cam groove.

[0014] Preferably, one end of a second connecting rod is further provided in the middle of the rod body of the first connecting rod, and the other end of the second connecting rod is connected to the deflection block.

[0015] Preferably, the identification unit includes an identification camera and a steering top plate, the upper top surface of the steering top plate is provided with a cross plate, and the steering top plate can rotate along the center of the cross plate, wherein the steering top plate is provided with a plurality of independently driven sticks.

[0016] Preferably, the first palletizing unit includes a box pressing component, a baler and an edge sealing component, and the box pressing component includes a first pressing strip and a second pressing strip, and the top of the box is flattened by the first pressing strip and the second pressing strip.

[0017] Preferably, the box pressing component further includes centering bars on both sides, which are used to keep the box in the middle of the conveyor belt at all times, wherein an adjusting screw is provided between the centering bars on both sides.

[0018] A control method based on a multi-station collaborative fully automatic packaging production line, characterized in that the specific steps include the following:

[0019] Step 100: Scan the side of the box with a scanning camera to obtain the first scanning curve;

[0020] Step 200: Scan the bottom edge of the box with a scanning camera to obtain the second scanning curve;

[0021] Step 300: Correct the first scanning curve and the second scanning curve respectively to obtain a first corrected curve and a second corrected curve;

[0022] step400: By moving the telescopic hydraulic rod and the slide rail, the first correction curve and the second correction curve are respectively aligned with the support arm of the stacking area to achieve precise positioning.

[0023] In the fully automatic packaging production line control method of the present invention, the scanning curve correction step in step 300 includes:

[0024] Step 310: Obtain N target points G on the first scanning curve, and set the intersection of the first scanning curve and the first reference edge as the target point G1;

[0025] step320: Establish a coordinate system with the target point G1 as the origin, the target point set ;

[0026] Step 330: Based on the coordinate coefficients of the N target points G, determine whether the two target points G are in an upward or downward trend, and calculate the angle θ between the two target points G;

[0027] Step 340: Correct the N target points G. The correction point of target point G2 is J2. The coordinates of the correction point J2 are (P1, Y1).

[0028] step350: Correct point set , K is the number of correction points, K=N-1, P is the correction coordinate, P=Xcosθ+Ysinθ.

[0029] The implementation of the fully automatic packaging production line based on multi-station collaboration and the control method thereof of the present invention has the following beneficial effects:

[0030] 1. The vertically arranged first and second palletizing units, combined with the cross-plate rotation mechanism of the steering top plate, realize automatic identification and diversion of horizontal / vertical boxes, eliminating manual intervention.

[0031] 2. The steering assembly uses a cam-link mechanism instead of a servo motor, and mechanical limiters are used to force 90° rigid rotation, avoiding cumulative errors caused by load fluctuations or component aging. The stacking angle deviation is stably controlled, and there is no accuracy degradation in long-term use.

[0032] 3. The scanning camera is combined with an adaptive correction algorithm to analyze the scanning curve trend, eliminate image distortion caused by reflections, and improve stacking density. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic structural diagram of the fully automatic packaging production line of the present invention;

[0034] Figure 2 This is a schematic structural diagram of the fully automatic packaging production line of the present invention;

[0035] Figure 3 This is a partial structural diagram of the fully automatic packaging production line of the present invention;

[0036] Figure 4 This is a partial structural diagram of the fully automatic packaging production line of the present invention;

[0037] Figure 5 This is a partial structural diagram of the fully automatic packaging production line of the present invention;

[0038] Figure 6 This is a partial structural diagram of the fully automatic packaging production line of the present invention;

[0039] Figure 7 It is a structural schematic diagram of the clamping unit of the present invention;

[0040] Figure 8 This is a schematic diagram of the working of the clamping unit of the present invention;

[0041] Figure 9 This is a flowchart of the control method for the fully automatic packaging production line of the present invention;

[0042] Figure 10 This is a working schematic diagram of the scanning camera of the present invention;

[0043] Figure 11 A schematic diagram of a curve for edge correction of a scanning camera according to the present invention;

[0044] Figure 12 Another schematic diagram of a curve showing edge correction of a scanning camera according to the present invention;

[0045] Figure 13 Another schematic diagram of a curve for edge correction of a scanning camera according to the present invention;

[0046] Figure 14 It is a structural schematic diagram of the steering assembly of the present invention;

[0047] Figure 15 This is a schematic structural diagram of the steering assembly of the present invention from another angle.

[0048] The reference numerals are as follows: packing system 100, palletizing system 200, identification unit 21, identification camera 211, steering top plate 212, stick 213, first palletizing unit 22, box pressing component 221, first pressure strip 221A, second pressure strip 221B, centering strip 221C, adjusting screw 221D, baler 222, edge sealing component 223, second palletizing unit 23, clamping unit 30, steering assembly 31, housing 311, shaft opening 312, shaft 312A, carrying plate 313, drive The motor 314, the cam 315, the cam groove 315A, the first connecting rod 316, the rod body 316A, the rotating end 316B, the mating end 316C, the second connecting rod 317, the transverse guide rail 318, the transverse slider 319, the longitudinal groove 3110, the deflection block 3111, the sleeve 3112, the roller 3113, the guide groove 3114, the first straight groove 3114A, the second straight groove 3114B, the inclined groove 3114C, the telescopic hydraulic rod 32, the clamping jaw assembly 33, the slide rail 34, the stacking area 40, and the scanning camera 50. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0050] Reference Figures 1 to 6 As shown, this embodiment proposes a fully automated packaging production line based on multi-station collaboration, including a boxing system 100 and a palletizing system 200. After hardware accessories or other products are boxed, the boxing system 100 delivers them to the palletizing system 200. The palletizing system 200 includes an identification unit 21, a first palletizing unit 22, and a second palletizing unit 23. The first and second palletizing units 22, 23 are vertically mounted. The identification unit 21 is used to identify whether the boxes are placed horizontally or vertically. Boxes placed horizontally are delivered to the first palletizing unit 22, while boxes placed vertically are delivered to the second palletizing unit 23.

[0051] Specifically, refer to Figures 3 and 4 As shown, the identification unit 21 includes an identification camera 211 and a steering top plate 212. A cross plate is provided on the top surface of the steering top plate 212, and the steering top plate 212 can rotate along the center of the cross plate. A plurality of independently driven sticks 213 are provided on the steering top plate 212. The identification camera 211 is used to scan the placement of the box. The box is placed horizontally through Figure 4 The boxes are placed longitudinally, and the turning top plate 212 is rotated 90° and then sent to the second palletizing unit 23 by the stick 213.

[0052] Preferably, for products of various types and specifications, unique QR code labels are affixed to the boxes, and key product data (such as specifications, process requirements, customer codes, etc.) are pre-stored in the labels as the underlying carrier for full-process data tracking.

[0053] When a box reaches the identification unit 21, the identification camera 211 automatically triggers a scan to extract product identity information. This scanned data is synchronized in real time to the enterprise management system (ERP / MES), automatically recording metrics such as the number of good products and process duration, and generating a real-time production capacity dashboard. QR codes are linked to raw material batches, process parameters, and operators, supporting quality traceability. Production scheduling can be dynamically adjusted based on this classified data, reducing equipment idle time.

[0054] In this embodiment, the results of the first palletizing unit 22 and the second palletizing unit 23 are completely consistent, and only the specific results of the first palletizing unit 22 are described in detail here. Figures 2 to 6 As shown, the first palletizing unit 22 includes a box-pressing component 221, a strapping machine 222, and an edge-sealing component 223. The box-pressing component 221 includes a first pressing bar 221A and a second pressing bar 221B, which flatten the top of the box. The box-pressing component 221 also includes centering bars 221C on both sides, which help keep the box in the center of the conveyor belt.

[0055] Furthermore, an adjusting screw 221D is provided between the two centering bars 221C, and the distance between the two centering bars 221C is controlled by the adjusting screw 221D.

[0056] In this embodiment, the box is packaged as a whole after passing through the box pressing component 221 and then through the packing machine 222 and the edge sealing component 223. Figures 7 and 8 As shown, a gripping unit 30 is provided at the end of the first palletizing unit 22. The gripping unit 30 comprises a steering assembly 31, a telescopic hydraulic rod 32, and a gripping jaw assembly 33. The telescopic hydraulic rod 32 is mounted on the steering assembly 31, which drives the telescopic hydraulic rod 32 for rotation. The gripping jaw assembly 33 is mounted on the telescopic hydraulic rod 32. The steering assembly 31 is mounted on a slide rail 34, and the steering assembly 31 and its mounted components are controlled by a drive motor to move along the slide rail 34.

[0057] Specifically, the boxes that have passed through the first or second palletizing unit 22, 23 are precisely placed on the palletizing area 40 by the gripping unit 30. The first or second palletizing unit 22, 23 grips the box and rotates it 90°, aligning one side of the box with the support arm of the palletizing area 40. The distances along the X and Y axes are then adjusted using the telescopic hydraulic rod 32 and slide rails 34.

[0058] In this embodiment, the conventional steering assembly 31 is controlled by a servo motor. Although the steering angle can be controlled, due to the weight differences of the items in the boxes, there will be a small angle deviation during the stacking process. Over time, the boxes in the stacking area 40 may collapse. Therefore, in this embodiment, the steering assembly 31 can only drive the telescopic hydraulic rod 32 and the clamping claw assembly 33 to rotate 90 degrees.

[0059] Specifically, refer to Figures 14 and 15 As shown, the steering assembly 31 includes a housing 311 , and a rotating shaft opening 312 is provided above the housing 311 . The rotating shaft opening 312 is used to connect a rotating shaft 312A, and the telescopic hydraulic rod 32 is driven to rotate 90° through the rotating shaft 312A.

[0060] A supporting plate 313 is also disposed within the housing 311. A drive motor 314 is disposed below the supporting plate 313. The output shaft of the drive motor 314 extends through the supporting plate 313 and is connected to a cam 315. The cam 315 has an elliptical cam groove 315A, into which a first connecting rod 316 is engaged. The first connecting rod 316 comprises a rod body 316A, a rotating end 316B, and a mating end 316C. The rod body 316A is rotatably connected to the supporting plate 313 via the rotating end 316B, and the mating end 316C is located within the cam groove 315A. When the mating end 316C moves along the trajectory of the cam groove 315A, the first connecting rod 316 rotates clockwise about the rotating end 316B.

[0061] A transverse guide rail 318 is provided on one side of the cam 315, onto which a transverse slider 319 is slidably connected. A longitudinal guide groove 3110 is provided on the transverse slider 319. A deflection block 3111 is affixed to the longitudinal guide groove 3110. A sleeve 3112 is provided at one end of the deflection block 3111, and a roller 3113 is provided at the other end. The sleeve 3112 is coaxial with and fixedly connected to the rotating shaft 312A. The roller 3113 cooperates with the longitudinal guide groove 3110 and the guide groove 3114, respectively. The guide groove 3114 consists of a first straight groove 3114A, a second straight groove 3114B, and an oblique groove 3114C. The oblique groove 3114C connects the first straight groove 3114A and the second straight groove 3114B, with the extensions of the first straight groove 3114A and the second straight groove 3114B intersecting perpendicularly. As the transverse slider 319 moves toward the cam 315, the roller 3113 slides along the inner track of the guide slot 3114, forcing the deflection block 3111 to rotate 90° counterclockwise about the sleeve shaft 3112. The sleeve shaft 3112 and the rotating shaft opening 312 are coaxial and sleeve 3112 is engaged with the rotating shaft located at the rotating shaft opening 312. When the sleeve shaft 3112 rotates 90° counterclockwise, it also rotates the rotating shaft located at the rotating shaft opening 312 90° counterclockwise.

[0062] Furthermore, one end of a second connecting rod 317 is provided in the middle of the rod body 316A of the first connecting rod 316 , and the other end of the second connecting rod 317 is connected to the deflection block 3111 .

[0063] In this embodiment, the drive motor 314 rotates the cam 315, causing the first connecting rod 316 to rotate clockwise around the rotating end 316B. The first connecting rod 316, via the second connecting rod 317, drives the transverse slider 319 toward the cam 315, forcing the roller 3113 to slide along the inner track of the guide groove 3114, causing the deflection block 3111 to rotate 90° counterclockwise around the sleeve shaft 3112. Conventional steering assembly 31 is typically controlled by a servo motor via a PLC program. The servo motor converts the received electrical signal into an angular displacement or angular velocity output on the motor shaft, thereby driving the rotating shaft to rotate 90°. The stator has two excitation windings and a control winding, each offset by 90° electrical angle. These windings are connected to a constant AC voltage, and precise control is achieved by varying the AC voltage or phase applied to the excitation winding. Over time, the servo motor's sensitivity and control accuracy decrease, increasing errors during operation. The steering assembly 31 of this embodiment uses a cam-link mechanism to drive the roller 3113 to slide along the inner track of the guide groove 3114, forcing the deflection block 3111 to rotate 90 degrees counterclockwise around the sleeve shaft 3112. This can maintain high accuracy even after long-term use, improving stacking precision.

[0064] Further, reduce the gap between boxes in the stacking area, refer to Figures 10 to 15 As shown, scanning cameras 50 are provided on the two arms of the gripper assembly 33. This embodiment also proposes a control method for a multi-station collaborative fully automatic packaging production line, the specific steps of which include the following:

[0065] Step 100: Scan the side of the box with the scanning camera 50 to obtain a first scanning curve;

[0066] Step 200: Scan the bottom edge of the box with the scanning camera 50 to obtain a second scanning curve;

[0067] Step 300: Under the illumination of workshop production lights, reflections are easily generated, causing the scanning curve recognized by the scanning camera 50 to be distorted, concave, or curved. The first scanning curve and the second scanning curve are corrected to obtain a first corrected curve and a second corrected curve respectively.

[0068] Step 400: Move the telescopic hydraulic rod 32 and the slide rail 34 to overlap the first correction curve and the second correction curve with the armrest of the stacking area 40 to achieve precise positioning.

[0069] Specifically, if Figures 10 to 13 As shown, the scanning curve correction steps in step 300 include:

[0070] Step 310: Obtain N target points G on the first scanning curve, and set the intersection of the first scanning curve and the first reference edge as the target point G1;

[0071] step320: Establish a coordinate system with the target point G1 as the origin, the target point set ;

[0072] Step 330: Based on the coordinate coefficients of the N target points G, determine whether the two target points G are in an upward or downward trend, and calculate the angle θ between the two target points G;

[0073] Step 340: Correct the N target points G. The correction point of target point G2 is J2. The coordinates of the correction point J2 are (P1, Y1).

[0074] step350: Correct point set , K is the number of correction points, K=N-1, P is the correction coordinate, P=Xcosθ+Ysinθ.

[0075] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A fully automatic packaging production line based on multi-station collaboration, characterized in that: It includes a packing system (100) and a palletizing system (200), The palletizing system (200) comprises an identification unit (21), a first palletizing unit (22) and a second palletizing unit (23), wherein the first palletizing unit (22) and the second palletizing unit (23) are vertically installed, and the identification unit (21) is used to send boxes into the first palletizing unit (22) or the second palletizing unit (23). A clamping unit (30) is provided at the end of the first stacking unit (22), and the clamping unit (30) includes a steering assembly (31), a telescopic hydraulic rod (32), and a clamping claw assembly (33). The telescopic hydraulic rod (32) is mounted on the steering assembly (31), and the telescopic hydraulic rod (32) is driven to rotate by the steering assembly (31). The clamping claw assembly (33) is mounted on the telescopic hydraulic rod (32). The steering assembly (31) is mounted on a slide rail (34), and the steering assembly (31) and the components mounted thereon are controlled by a driving motor to move on the slide rail (34).

2. The fully automatic packaging production line according to claim 1, characterized in that: The steering assembly (31) comprises a housing (311), and a rotating shaft opening (312) is provided above the housing (311). The rotating shaft opening (312) is used to connect a rotating shaft (312A), and the rotating shaft (312A) drives the telescopic hydraulic rod (32) to rotate 90 degrees.

3. The fully automatic packaging production line according to claim 2, characterized in that: A cam mechanism is further provided inside the housing (311), and a transverse guide rail (318) is provided on one side of the cam mechanism. A transverse slider (319) is slidably connected to the transverse guide rail (318), and a longitudinal guide groove (3110) is provided on the transverse slider (319). A deflection block (3111) is attached to the longitudinal guide groove (3110), and a sleeve shaft (3112) is provided at one end of the deflection block (3111), and a roller (3113) is provided at the other end. The sleeve shaft (3112) is coaxial with the rotating shaft (312A) and fixedly connected. The roller (3113) cooperates with the longitudinal guide groove (3110) and the guide groove (3114), respectively. The guide groove (3114) consists of a first straight groove (3114A), a second straight groove (3114B) and an oblique groove (3114C). The oblique groove (3114C) is used to connect the first straight groove (3114A) and the second straight groove (3114B). The extension lines of the first straight groove (3114A) and the second straight groove (3114B) intersect vertically.

4. The fully automatic packaging production line according to claim 3, characterized in that: The cam mechanism has a supporting plate (313), a driving motor (314) is provided below the supporting plate (313), an output shaft of the driving motor (314) passes through the supporting plate (313) and is connected to a cam (315), the cam (315) has an elliptical cam groove (315A), and a first connecting rod (316) is connected in the cam groove (315A). The first connecting rod (316) is composed of a rod body (316A), a rotating end (316B) and a matching end (316C); the rod body (316A) is rotatably connected to the supporting plate (313) via the rotating end (316B), and the matching end (316C) is located in the cam groove (315A).

5. The fully automatic packaging production line according to claim 4, characterized in that: One end of a second connecting rod (317) is also provided in the middle of the rod body (316A) of the first connecting rod (316), and the other end of the second connecting rod (317) is connected to the deflection block (3111).

6. The fully automatic packaging production line according to claim 1, characterized in that: The recognition unit (21) comprises a recognition camera (211) and a steering top plate (212), wherein a cross plate is provided on the upper top surface of the steering top plate (212), and the steering top plate (212) is capable of rotating along the center of the cross plate, wherein a plurality of independently driven sticks (213) are provided on the steering top plate (212).

7. The fully automatic packaging production line according to claim 1, characterized in that: The first palletizing unit (22) comprises a box pressing component (221), a baler (222) and an edge sealing component (223); the box pressing component (221) comprises a first pressing strip (221A) and a second pressing strip (221B); the top of the box is flattened by the first pressing strip (221A) and the second pressing strip (221B).

8. The fully automatic packaging production line according to claim 7, characterized in that: The box pressing component (221) further includes centering strips (221C) on both sides, which are used to keep the box in the middle of the conveyor belt at all times, wherein an adjusting screw (221D) is provided between the centering strips (221C) on both sides.

9. A control method based on a multi-station collaborative fully automatic packaging production line, comprising the fully automatic packaging production line according to claim 1, characterized in that: The specific steps include the following: Step 100: Scan the side of the box with a scanning camera to obtain the first scanning curve; Step 200: Scan the bottom edge of the box with a scanning camera to obtain the second scanning curve; Step 300: Correct the first scanning curve and the second scanning curve respectively to obtain a first corrected curve and a second corrected curve; step400: By moving the telescopic hydraulic rod and the slide rail, the first correction curve and the second correction curve are respectively aligned with the support arm of the stacking area to achieve precise positioning.

10. The fully automatic packaging production line control method according to claim 9, characterized in that: The scanning curve correction step in step 300 includes: Step 310: Obtain N target points G on the first scanning curve, and set the intersection of the first scanning curve and the first reference edge as the target point G1; step320: Establish a coordinate system with the target point G1 as the origin, the target point set ; Step 330: Based on the coordinate coefficients of the N target points G, determine whether the two target points G are in an upward or downward trend, and calculate the angle θ between the two target points G; Step 340: Correct the N target points G. The correction point of target point G2 is J2. The coordinates of the correction point J2 are (P1, Y1). step350: Correct point set , K is the number of correction points, K=N-1, P is the correction coordinate, P=Xcosθ+Ysinθ.

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