Carton robot stacking workstation

Abstract

The utility model discloses a carton robot stacking workstation, which belongs to the technical field of stacking devices and comprises a first tray conveying table, a second tray conveying table, a stacking robot, a first roller line, a second roller line, a pushing device, an industrial vision device, a safety fence and a control unit. The first tray conveying table and the second tray conveying table are arranged side by side; the stacking robot is arranged between the first tray conveying table and the second tray conveying table; the first roller line is arranged right in front of the stacking robot; the pushing device is mounted on the first roller line; the second roller line is connected with the side edge of the first roller line, and the connecting position is located below the pushing device; the industrial vision device is mounted on the pushing device; the safety fence is arranged around the first tray conveying table and the second tray conveying table; the control unit is arranged on the outer side of the safety fence and used for achieving safe and efficient operation of the stacking system. The work station is high in stacking efficiency, high in compatibility and good in safety, and the workload of workers is greatly reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of palletizing devices, in particular to a carton robot palletizing workstation. Background Art

[0002] Household gas meters need to be boxed, packaged, stacked, and wrapped before delivery. Usually, the stacking work is done manually, which is very labor-intensive. Even though a small number of manufacturers have used robots or truss manipulators to stack gas meter boxes, due to the deformation of the carton itself or the deformation of the carton during manual packing, robots or truss manipulators are prone to collision during stacking, which is not conducive to safe production and leads to low stacking efficiency. Utility Model Content

[0003] The purpose of the utility model is to solve the problems mentioned in the above background technology and provide a carton robot palletizing workstation to realize automatic, efficient and safe palletizing of products packaged in cartons.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a carton robot palletizing workstation, comprising a first pallet conveyor platform, a second pallet conveyor platform, a palletizing robot, a first roller line, a second roller line, a pushing device, an industrial vision device, a safety fence, and a control unit; the first pallet conveyor platform and the second pallet conveyor platform are arranged side by side; the palletizing robot is arranged between the first pallet conveyor platform and the second pallet conveyor platform; the first roller line is arranged directly in front of the palletizing robot; the pushing device is installed on the first roller line; the second roller line is connected to the side of the first roller line, and the connection position is located below the pushing device; the industrial vision device is installed on the pushing device; the safety fence is arranged around the first pallet conveyor platform and the second pallet conveyor platform; the control unit is arranged outside the safety fence.

[0005] Furthermore, the first pallet conveyor platform and the second pallet conveyor platform each include a base, a slide rail, a slider, a servo motor, a work surface, a positioning block, an electrical limit switch, a mechanical limit block, and a transmission mechanism; two slide rails are arranged in parallel on the base; the lower end of the work surface is connected to the two slide rails respectively through sliders; the servo motor is fixedly connected to the work surface; the servo motor drives the slider to slide along the slide rail through the transmission mechanism; a plurality of positioning blocks are provided on the work surface for limiting and fixing the stacking pallets; the electrical limit switches are arranged at both ends of the base; the mechanical limit blocks are arranged at both ends of the base and are on the same straight line as the slide rail; the transmission mechanism includes a gear and a rack, the gear is installed on the servo motor, and the rack is installed on the base.

[0006] Furthermore, the palletizing robot includes a robot base, a robot body, a robot gripper, a robot control cabinet, and a vacuum generator with negative pressure detection; the robot body is installed on the robot base; the robot control cabinet is arranged next to the control unit; the vacuum generator with negative pressure detection is installed on the robot base; the robot gripper is installed on the robot body, the robot gripper includes a mounting plate and a vacuum suction cup, the mounting plate is installed on the end of the robot body through an adapter flange; the vacuum suction cup is installed on the mounting plate.

[0007] Furthermore, the first roller line includes a roller line body, a driving motor, a detection sensor, a limit plate, a positioning mechanism, and a stopper; the driving motor is installed below the roller line body; the detection sensor is distributed and installed above the roller line body; the limit plate is installed at the front end of the roller line body; the positioning mechanism is installed on the roller line body, and the positioning mechanism includes a cylinder and a positioning push plate; the cylinder is installed on the roller line body; the positioning push plate is installed on the cylinder; and the stopper is installed on the roller line body.

[0008] Furthermore, the second roller line includes a second roller line body, a second roller line drive motor, a second roller line detection sensor, and a second roller line limit plate; the second roller line drive motor is installed below the second roller line body; the second roller line detection sensor is distributed and installed above the second roller line body; the second roller line limit plate is installed at the front end of the second roller line body.

[0009] Furthermore, the pushing device includes a mounting bracket, a rodless cylinder, and a push plate; the mounting bracket is mounted on the roller line body; the rodless cylinder is mounted on the mounting bracket; and the push plate is mounted on the rodless cylinder.

[0010] Furthermore, an industrial vision device is installed on the pushing device, including an industrial camera and a vision control industrial computer; the industrial camera is connected to the vision control industrial computer through a dedicated cable.

[0011] Furthermore, the control unit includes a control cabinet, a touch screen, an operation button, an audible and visual alarm, and an emergency stop button; the touch screen, the operation button, the audible and visual alarm, and the emergency stop button are all installed on the control cabinet.

[0012] Compared with the prior art, the beneficial effects of the utility model are: 1) the industrial machine vision technology is adopted to realize the deformation detection of the cartons to be stacked, and the deformed cartons are transported to the manual processing station, avoiding the collision accident during robot stacking, thereby ensuring the safety of robot stacking; 2) the vacuum generator + suction cup combined robot gripper is adopted, which is compatible with the automatic stacking of cartons of various specifications and sizes; 3) a variety of detection sensors are adopted, and the comprehensive alarm function is complete.

[0013] In order to more clearly illustrate the functional characteristics and structural parameters of the utility model, further description is given below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0015] Figure 1 It is a three-dimensional structural schematic diagram of a carton robot palletizing workstation in an embodiment of the utility model;

[0016] Figure 2 It is a schematic top view of a carton robot palletizing workstation in an embodiment of the utility model;

[0017] Figure 3 It is a schematic diagram of the three-dimensional structure of the first tray conveying platform in the embodiment of the utility model;

[0018] Figure 4 Schematic diagram of the three-dimensional structure of the palletizing robot in the embodiment of the utility model;

[0019] Figure 5 It is a schematic diagram of the three-dimensional structure of the first roller line in the embodiment of the utility model;

[0020] Figure 6 It is a schematic diagram of the three-dimensional structure of the second roller line in the embodiment of the utility model;

[0021] Figure 7 It is a three-dimensional structural schematic diagram of the material pushing device in the embodiment of the utility model;

[0022] Figure 8 It is a schematic diagram of the three-dimensional structure of the control unit in the embodiment of the utility model.

[0023] The reference numerals in the figure are: first pallet conveyor 1, second pallet conveyor 2, palletizing robot 3, first roller line 4, second roller line 5, pusher 6, industrial vision device 7, safety fence 8, control unit 9, base 101, slide rail 102, slider 103, servo motor 104, work surface 105, positioning block 106, electrical limit switch 107, mechanical limit block 108, transmission mechanism 109, robot base 301, robot body 302, robot gripper 303, robot control cabinet 304, vacuum generator with negative pressure detection 305, mounting plate 306, Vacuum suction cup 307, roller line body 401, drive motor 402, detection sensor 403, limit plate 404, positioning mechanism 405, stopper 406, cylinder 407, positioning push plate 408, second roller line body 501, second roller line drive motor 502, second roller line detection sensor 503, second roller line limit plate 504, mounting bracket 601, rodless cylinder 602, push plate 603, industrial camera 701, visual control industrial computer 702, control cabinet 901, touch screen 902, operation button 903, sound and light alarm 904, emergency stop button 905. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments; based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0025] like Figure 1 , Figure 2 As shown, a carton robot palletizing workstation includes a first pallet conveying platform 1, a second pallet conveying platform 2, a palletizing robot 3, a first roller line 4, a second roller line 5, a pushing device 6, an industrial vision device 7, a safety fence 8, and a control unit 9; the first pallet conveying platform 1 and the second pallet conveying platform 2 are arranged side by side; the palletizing robot 3 is arranged between the first pallet conveying platform 1 and the second pallet conveying platform 2; the first roller line 4 is arranged directly in front of the palletizing robot 3; the pushing device 6 is installed on the first roller line 4; the second roller line 5 is connected to the side of the first roller line 4, and the connection position is located below the pushing device 6; the industrial vision device 7 is installed on the pushing device 6; the safety fence 8 is arranged around the first pallet conveying platform 1 and the second pallet conveying platform 2; the control unit 9 is arranged outside the safety fence 8.

[0026] Specifically, the first roller line 4 is used to convey cartons; the industrial vision device 7 is used to determine whether the cartons on the first roller line 4 are deformed, and transmit the determination result to the control unit 9; if palletizing is possible, the control unit 9 controls the first roller line 4 to convey the cartons to the palletizing lower material position for positioning, and the palletizing robot 3 palletizes the cartons on the pallet of the first pallet conveyor platform 1 or the second pallet conveyor platform 2; if palletizing is not possible, the control unit 9 controls the pushing device 6 to push the carton onto the second roller line 5, and the second roller line 5 conveys the carton to the manual processing station; the control unit 9 is used to realize the safe and efficient operation of the palletizing system. The industrial vision device 7 includes an industrial camera 701 and a vision control industrial computer 702; the industrial camera is used to take pictures of the upper surface of the carton, collect contour information of the upper surface of the carton, and transmit it to the vision control industrial computer 702; the vision control industrial computer 702 performs fitting and calculation based on the collected contour information of the upper surface of the carton to obtain the angle value between any two adjacent edges on the upper surface of the carton; if the angle value meets the set value, it is determined that the stacking operation can be performed, and if the angle value does not meet the set value, it is determined that the stacking operation cannot be performed.

[0027] like Figure 3 As shown, the first pallet conveyor platform 1 and the second pallet conveyor platform 2 both include a base 101, a slide rail 102, a slider 103, a servo motor 104, a work surface 105, a positioning block 106, an electrical limit switch 107, a mechanical limit block 108, and a transmission mechanism 109; two slide rails 102 are arranged in parallel on the base 101; the lower end of the work surface 105 is connected to the two slide rails 102 respectively through the slider 103; the servo motor 104 is fixedly connected to the work surface 105; the servo motor 104 drives the slider 103 to slide along the slide rail 102 through the transmission mechanism 109; a plurality of positioning blocks 106 are provided on the work surface 105 for limiting and fixing the stacking pallets; the electrical limit switches 107 are arranged at both ends of the base 101; the mechanical limit blocks 108 are arranged at both ends of the base 101, and are on the same straight line as the slide rail 102; the transmission mechanism 109 includes a gear and a rack, the gear is installed on the servo motor 104, and the rack is installed on the base 101.

[0028] like Figure 4 As shown, the palletizing robot 3 includes a robot base 301, a robot body 302, a robot gripper 303, a robot control cabinet 304, and a vacuum generator 305 with negative pressure detection; the robot body 302 is installed on the robot base 301; the robot control cabinet 304 is arranged next to the control unit 9; the vacuum generator 305 with negative pressure detection is installed on the robot base 301; the robot gripper 303 is installed on the robot body 302, and the robot gripper 303 includes a mounting plate 306 and a vacuum suction cup 307, and the mounting plate 306 is installed at the end of the robot body 302 through an adapter flange; the vacuum suction cup 307 is installed on the mounting plate 306.

[0029] like Figure 5 As shown, the first roller line 4 includes a roller line body 401, a drive motor 402, a detection sensor 403, a limit plate 404, a positioning mechanism 405, and a stopper 406; the drive motor 402 is installed below the roller line body 401; the detection sensor 403 is distributed and installed above the roller line body 401; the limit plate 404 is installed at the front end of the roller line body 401; the positioning mechanism 405 is installed on the roller line body 401, and the positioning mechanism 405 includes a cylinder 407 and a positioning push plate 408; the cylinder 407 is installed on the roller line body 401; the positioning push plate 408 is installed on the cylinder 407; the stopper 406 is installed on the roller line body 401.

[0030] like Figure 6 As shown, the second roller line 5 includes a second roller line body 501, a second roller line drive motor 502, a second roller line detection sensor 503, and a second roller line limit plate 504; the second roller line drive motor 502 is installed below the second roller line body 501; the second roller line detection sensor 503 is distributed and installed above the second roller line body 501; the second roller line limit plate 504 is installed at the front end of the second roller line body 501.

[0031] like Figure 7 As shown, the pusher device 6 includes a mounting bracket 601, a rodless cylinder 602, and a push plate 603; the mounting bracket 601 is mounted on the roller line body 401; the rodless cylinder 602 is mounted on the mounting bracket 601; and the push plate 603 is mounted on the rodless cylinder 602. The industrial vision device 7 is mounted on the pusher device 6, including an industrial camera 701 and a vision control industrial computer 702; the industrial camera 701 is connected to the vision control industrial computer 702 through a dedicated cable.

[0032] like Figure 8 As shown, the control unit 9 includes a control cabinet 901 , a touch screen 902 , an operation button 903 , an audible and visual alarm 904 , and an emergency stop button 905 ; the touch screen 902 , the operation button 903 , the audible and visual alarm 904 , and the emergency stop button 905 are all installed on the control cabinet 901 .

[0033] All components used in the utility model are devices in the prior art. This application only claims to protect the shape, structure or the new technical solution suitable for practical use proposed in combination with the product, and does not claim protection for the above-mentioned device itself and other objects such as its computer program.

[0034] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0035] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A carton robot palletizing workstation, characterized in that: The invention comprises a first pallet conveyor platform (1), a second pallet conveyor platform (2), a palletizing robot (3), a first roller line (4), a second roller line (5), a material pushing device (6), an industrial vision device (7), a safety fence (8), and a control unit (9); the first pallet conveyor platform (1) and the second pallet conveyor platform (2) are arranged side by side; the palletizing robot (3) is arranged between the first pallet conveyor platform (1) and the second pallet conveyor platform (2); the first roller line (4) is arranged directly in front of the palletizing robot (3); the material pushing device (6) is installed on the first roller line (4); the second roller line (5) is connected to the side of the first roller line (4), and the connection position is located below the material pushing device (6); the industrial vision device (7) is installed on the material pushing device (6); the safety fence (8) is arranged around the first pallet conveyor platform (1) and the second pallet conveyor platform (2); and the control unit (9) is arranged outside the safety fence (8).

2. A carton robot palletizing workstation according to claim 1, characterized in that: The first pallet conveying platform (1) and the second pallet conveying platform (2) both comprise a base (101), a slide rail (102), a slider (103), a servo motor (104), a work surface (105), a positioning block (106), an electrical limit switch (107), a mechanical limit block (108), and a transmission mechanism (109); two slide rails (102) are arranged in parallel on the base (101); the lower end of the work surface (105) is respectively connected to the two slide rails (102) through the slider (103); the servo motor (104) is fixedly connected to the work surface (105); the servo motor (104) is The machine (104) drives the slider (103) to slide along the slide rail (102) through the transmission mechanism (109); a plurality of positioning blocks (106) are provided on the work surface (105) for limiting and fixing the stacking pallet; the electrical limit switch (107) is arranged at both ends of the base (101); the mechanical limit blocks (108) are arranged at both ends of the base (101) and are on the same straight line as the slide rail (102); the transmission mechanism (109) comprises a gear and a rack, the gear is mounted on the servo motor (104), and the rack is mounted on the base (101).

3. The carton robot palletizing workstation according to claim 1, characterized in that: The palletizing robot (3) comprises a robot base (301), a robot body (302), a robot gripper (303), a robot control cabinet (304), and a vacuum generator (305) with negative pressure detection. The robot body (302) is mounted on the robot base (301). The robot control cabinet (304) is arranged beside the control unit (9). The vacuum generator (305) with negative pressure detection is mounted on the robot base (301). The robot gripper (303) is mounted on the robot body (302). The robot gripper (303) comprises a mounting plate (306) and a vacuum suction cup (307). The mounting plate (306) is mounted on the end of the robot body (302) through an adapter flange. The vacuum suction cup (307) is mounted on the mounting plate (306).

4. The carton robot palletizing workstation according to claim 1, characterized in that: The first roller line (4) comprises a roller line body (401), a driving motor (402), a detection sensor (403), a limit plate (404), a positioning mechanism (405), and a stopper (406); the driving motor (402) is installed below the roller line body (401); the detection sensor (403) is distributed and installed above the roller line body (401); the limit plate (404) is installed at the front end of the roller line body (401); the positioning mechanism (405) is installed on the roller line body (401), and the positioning mechanism (405) comprises a cylinder (407) and a positioning push plate (408); the cylinder (407) is installed on the roller line body (401); the positioning push plate (408) is installed on the cylinder (407); and the stopper (406) is installed on the roller line body (401).

5. The carton robot palletizing workstation according to claim 1, characterized in that: The second roller line (5) comprises a second roller line body (501), a second roller line drive motor (502), a second roller line detection sensor (503), and a second roller line limit plate (504); the second roller line drive motor (502) is installed below the second roller line body (501); the second roller line detection sensor (503) is installed above the second roller line body (501); and the second roller line limit plate (504) is installed at the front end of the second roller line body (501).

6. The carton robot palletizing workstation according to claim 4, characterized in that: The pushing device (6) comprises a mounting bracket (601), a rodless cylinder (602), and a push plate (603); the mounting bracket (601) is mounted on the roller line body (401); the rodless cylinder (602) is mounted on the mounting bracket (601); and the push plate (603) is mounted on the rodless cylinder (602).

7. The carton robot palletizing workstation according to claim 1, characterized in that: The industrial vision device (7) is installed on the pushing device (6), and comprises an industrial camera (701) and a vision control industrial computer (702); the industrial camera (701) is connected to the vision control industrial computer (702) via a dedicated cable.

8. The carton robot palletizing workstation according to claim 1, characterized in that: The control unit (9) comprises a control cabinet (901), a touch screen (902), an operation button (903), an audible and visual alarm (904), and an emergency stop button (905); the touch screen (902), the operation button (903), the audible and visual alarm (904), and the emergency stop button (905) are all installed on the control cabinet (901).

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