Transportation system and production line

Abstract

The utility model provides a transportation system and a production line, the transportation system is used for transporting and stacking packaging boxes, and the transportation system comprises a conveying device configured to convey the packaging boxes in the conveying direction; the grabbing device comprises a fixing part and a driving part, the fixing part is in driving connection with the driving part, the driving part is configured to drive the fixing part to move among a first position, a second position and a third position, in the first position, the fixing part fixes the packaging box located on the conveying device, and in the third position, the fixing part releases the fixed packaging box to the stacking position; the second position is located on the side, away from the conveying device, of the first position. The detection device comprises a first detection part, and the first detection part is configured to detect whether the first distance between the fixing face of the fixing part located at the second position and the surface, opposite to the fixing face, of the packaging box is within the preset distance range or not; wherein the driving part is coupled with the detection device, and is configured to drive the holding part to move from the second position to the first position when the detection result of the first detection part is yes.

Description

Technical Field

[0001] The present disclosure relates to tobacco machinery, and more particularly to a transport system and a production line. Background Art

[0002] In today's industrial context, industrial transformation and upgrading with automation as the core is replacing the traditional manual sorting mode and becoming the key driving force for improving production efficiency. For example, using computers to accurately control the movement of stackers and shuttles to achieve automatic storage and retrieval of goods, this method reduces human intervention and greatly improves industrial space utilization and production efficiency. In addition, robots equipped with navigation and identification technology (such as QR codes and RFID) can achieve autonomous navigation to quickly and accurately locate and pick out designated goods in the warehouse. These robots have greatly improved the picking speed of warehouses and reduced labor costs.

[0003] In the tobacco industry, finished cigarette boxes are transported on the sorting line by conveyors, and are sorted by brand and stacked for storage by robots. The surfaces of different cigarette boxes have different hardness and hardness, which makes it impossible for the robot to accurately grasp the cigarette boxes. If the height of the cigarette box is too high, it is easy to cause the robot to overload, resulting in the surface of the cigarette box being crushed; if the height of the cigarette box is too low, it is easy to cause insufficient negative pressure provided by the robot, resulting in grasping failure and cigarette box falling. In addition, in actual tobacco production, even if the specifications of cigarette boxes of different brands are the same, there may be differences in the height of the cigarette boxes, which can easily cause differences in the grasping position and lead to cigarette box grasping failures.

[0004] In the related art, the above problem is solved by changing the gripping height position of the robot arm and the intensity of the negative pressure, but the effect is not good. Utility Model Content

[0005] The purpose of the present disclosure is to provide a transportation system and a production line, aiming to solve the problem that a grasping device is difficult to accurately grasp a packaging box due to the inconsistency between the actual size of the packaging box and the specifications of the packaging box.

[0006] The first aspect of the present disclosure provides a transport system for transporting and stacking packaging boxes, comprising: a conveying device, configured to transport the packaging boxes along a conveying direction; a gripping device, comprising a holding portion and a driving portion, the holding portion being drivingly connected to the driving portion, the driving portion being configured to drive the holding portion to move between a first position, a second position and a third position, wherein at the first position, the holding portion holds the packaging box located on the conveying device, and at the third position, the holding portion releases the held packaging box to a stacking position, the second position being located at a side of the first position away from the conveying device; and a detection device, comprising a first detection portion, the first detection portion being configured to detect whether a first distance between a holding surface of the holding portion located at the second position and a surface of the packaging box opposite to the holding surface is within a preset distance range;

[0007] The driving part is coupled to the detection device, and is configured to drive the holding part to move from the second position to the first position when the detection result of the first detection part is yes.

[0008] In the transportation system of some embodiments, the transportation system further comprises an alarm device, which is coupled to the detection device and is configured to send out an alarm signal when the detection result of the first detection unit is negative; and / or

[0009] The driving part is further configured to stop the machine immediately or to stop the machine after moving the holding part away from the conveying device when the detection result of the first detection part is negative; and / or

[0010] The conveying device is coupled to the detection device and is configured to shut down when the detection result of the first detection part is negative.

[0011] In the transportation system of some embodiments, the detection device also includes a second detection unit, which is configured to detect whether the transportation system is in a normal state after the detection result of the first detection unit is no, and the driving unit is configured to restart when the detection result of the second detection unit is yes.

[0012] In the transportation system of some embodiments, the detection device further includes a third detection unit, which is configured to detect whether the packaging box reaches a designated position of the conveying device, and the driving unit is configured to start when the detection result of the third detection unit is yes.

[0013] In the transportation system of some embodiments, the holding portion includes a containing space, the containing space is arranged on a side of the holding portion close to the conveying device, and the first detection portion is installed in the containing space.

[0014] In the transport system of some embodiments, the conveying device includes conveying rollers; and / or

[0015] The driving unit includes a multi-axis robot; and / or

[0016] The holding portion includes a suction cup.

[0017] In the transportation system of some embodiments, the first detection unit includes a laser rangefinder and / or a proximity switch, and the laser rangefinder and / or the proximity switch are installed on a side of the holding unit close to the conveying device.

[0018] In the transport system of some embodiments, the transport system includes a plurality of the conveying devices and one or more grasping devices.

[0019] In the transport system of some embodiments, the second position is determined according to the specifications of the packaging box.

[0020] In the transportation system of some embodiments, the detection device also includes a fourth detection unit, which is installed on a side of the gripping device along the conveying direction close to the entrance of the conveying device and / or installed on the holding unit, and is configured to identify an identifiable mark provided on the packaging box and including information of the preset distance range to obtain the preset distance range.

[0021] In the transportation system of some embodiments, the transportation system further includes a controller, which is signal-connected to the detection device and the driving unit and is configured to control the action of the driving unit according to the detection result of the detection device.

[0022] A second aspect of the present disclosure provides a production line, comprising: the transportation system described in the first aspect of the present disclosure; and a sorting device configured to sort the packaging boxes of the same specifications onto the same conveying device.

[0023] Based on the transportation system provided by the present disclosure, a gripping device is provided including a driving part and a holding part, and the driving part is provided to be coupled with a first detection part. When the first detection part detects that the first distance between the holding surface of the holding part located at the second position and the surface of the packaging box opposite to the holding surface is within a preset distance range, the driving part drives the holding part to move from the second position located at the first position on the side away from the conveying device to the first position. The setting of the second position is conducive to avoiding the problem that the holding part is difficult to smoothly grasp the packaging box due to the change in the size of the packaging box. Before the gripping device grasps the packaging box, a detection device is provided to detect the first distance between the holding surface of the holding part and the packaging box, which is conducive to avoiding the holding surface of the holding part being too close to the packaging box and being overloaded during grasping, so that the surface of the packaging box is crushed, and it is also conducive to avoiding the distance between the holding surface and the packaging box being too far to effectively grasp the packaging box.

[0024] The production line of the present disclosure includes the transportation system of the present disclosure, thereby having the advantages of the transportation system of the present disclosure.

[0025] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present application. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure. In the drawings:

[0027] Figure 1 is a schematic structural diagram of a transportation system according to an embodiment of the present disclosure, which shows that the holding portion is located at a first position;

[0028] Figure 2 for Figure 1 A schematic structural diagram of the transport system shown, which shows that the holding portion is located in the second position;

[0029] Figure 3 for Figure 1 A schematic structural diagram of a holding portion of a gripping device of a transport system shown, which shows a first detection portion installed on the holding portion;

[0030] Figure 4 It is a schematic structural diagram of a grabbing device of a transportation system according to an embodiment of the present disclosure.

[0031] Figures 1 to 4 In the figure, each reference numeral represents:

[0032] 10. Packing box;

[0033] 1. Conveying device, 11. Conveying roller, 12. Column, 2. Grasping device, 21. Holding part, 21a. Holding surface, 21A. Groove, 213. Pneumatic solenoid valve, 31. First detection part, 33. In-position photoelectric tube. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0035] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present disclosure. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0036] In the description of the present disclosure, it should be understood that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present disclosure.

[0037] In the description of the present disclosure, it needs to be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, upright, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present disclosure; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0038] The embodiment of the present disclosure provides a transport system for transporting and stacking packaging boxes 10, comprising: a transport device 1, a gripping device 2 and a detection device. The transport device 1 is configured to transport the packaging boxes 10 along a transport direction.

[0039] The gripping device 2 includes a holding portion 21 and a driving portion. Figure 1 and Figure 2 As shown, the holding portion 21 may include a suction cup 211. The driving portion may include a multi-axis robot or a driving cylinder. The holding portion 21 is drivingly connected to the driving portion. The driving portion is configured to drive the holding portion 21 to move between a first position, a second position, and a third position. In the first position, the holding portion 21 holds the packaging box 10 located on the conveying device 1. The second position is located on the side of the first position away from the conveying device 1. In the third position, the holding portion 21 releases the held packaging box 10 to the palletizing position.

[0040] The detection device includes a first detection portion 31. The first detection portion 31 is configured to detect whether a first distance between the holding surface 21a of the holding portion 21 located at the second position and a surface of the packaging box 10 opposite to the holding surface 21a is within a preset distance range.

[0041] like Figure 2 As shown, the second position of the holding portion 21 is located above the packaging box 10, and the first distance is the distance between the holding surface 21a and the top surface of the packaging box 10. The preset distance ranges corresponding to packaging boxes 10 of different specifications can be the same or different. For example, the preset distance range can be set according to the specifications of the packaging box 10.

[0042] The driving part is coupled to the detection device and is configured to drive the holding part 21 to move from the second position to the first position when the detection result of the first detection part 31 is yes. The first detection part can be set as a laser rangefinder or a proximity switch.

[0043] For example, Figure 1 and 2 As shown, when the packaging box 10 is transported to the designated position to be grasped on the conveying device 1, the first position and the second position are both located above the top surface of the packaging box 10, and the second position is located above the first position. When the detection result of the first detection unit 31 is yes, it indicates that the height of the second position where the holding portion 21 is located relative to the conveying surface of the conveying device 1 is greater than the height of the packaging box 10 plus the minimum value of the corresponding preset distance range, and is less than the height of the packaging box 10 plus the maximum value of the corresponding preset distance range.

[0044] The gripping device 2 includes a driving part and a holding part 21, and the driving part is coupled with the detection device. When the first detection part 31 detects that the first distance between the holding surface 21a of the holding part 21 located at the second position and the surface of the packaging box 10 opposite to the holding surface 21a is within a preset distance range, the driving part drives the holding part 21 to move from the second position to the first position. The setting of the second position is conducive to avoiding the problem that the holding part 21 is difficult to smoothly grasp the packaging box 10 due to the size change of the packaging box 10. Before the gripping device 2 grasps the packaging box 10, the first distance between the holding surface 21a of the holding part 21 and the packaging box 10 is detected, and according to the result of whether the first distance is within the preset distance range, it is determined whether the driving part drives the holding part 21 to continue to hold the packaging box 10, which is conducive to avoiding the holding surface 21a of the holding part 21 being too close to the packaging box 10 and overloaded during grasping, so that the surface of the packaging box 10 is damaged, and it is also conducive to avoiding the distance between the holding surface 21a and the packaging box 10 is too far to effectively grasp the packaging box 10.

[0045] In some embodiments, the transportation system further comprises an alarm device. For example, the alarm device may be an alarm horn, an alarm light, etc. The alarm device is coupled to the detection device and is configured to send an alarm signal when the detection result of the first detection unit 31 is negative.

[0046] In some embodiments, the driving unit is further configured to stop the machine immediately when the detection result of the first detection unit 31 is negative, or to stop the machine after moving the holding unit 21 away from the conveying device 1 .

[0047] In some embodiments, the transport device 1 is coupled to a detection device and is configured to shut down when the detection result of the first detection unit 31 is negative.

[0048] When the size of the packaging box 10 changes due to different specifications or quality problems, the holding portion 21 at the predetermined second position is difficult to effectively grasp the packaging box 10, or may damage the surface of the packaging box 10 during the grasping process. Providing an alarm device is conducive to timely reminder when the second position of the holding portion 21 is not suitable for grasping the packaging box 10, so that the operator can quickly adjust the position of the holding portion 21 or handle the packaging box 10, thereby improving the success rate of grasping and avoiding damage to the packaging box 10 when the grasping device 2 grasps the packaging box 10 or delaying the production progress due to the inability of the grasping device 2 to grasp the packaging box 10.

[0049] In some embodiments, the detection device further comprises a second detection unit. The second detection unit is configured to detect whether the transportation system is in a normal state after the detection result of the first detection unit is negative. The driving unit is configured to restart when the detection result of the second detection unit is positive.

[0050] For example, the second detection unit may include a photoelectric detector arranged in the gap between two conveying rollers 11 at the position to be grasped of the conveying device 1 or below the gap. When the detection result of the first detection unit is no, the photoelectric detector detects whether there is a packaging box 10 between the holding unit 21 and the photoelectric detector. If the packaging box 10 is not detected, it indicates that the packaging box 10 that is not suitable for grasping and is at the position to be grasped on the conveying device 1 has been removed, and the transportation system has returned to normal, thereby restarting the driving unit.

[0051] This arrangement is beneficial to improving the degree of automation of the transportation system and realizing automatic monitoring of the status of the transportation system. After the transportation system is processed from an abnormal state to a normal state, the drive unit is automatically turned on to continue grabbing the packaging box 10, which is beneficial to improving transportation efficiency and reducing manual intervention.

[0052] In some embodiments, the detection device further comprises a third detection unit. The third detection unit is configured to detect whether the packaging box 10 reaches a designated position of the conveying device 1. The driving unit is configured to start when the detection result of the third detection unit is yes.

[0053] For example, Figure 1 and Figure 2 As shown, the third detection unit may include one or more pairs of in-position photoelectric tubes 33. Each pair of in-position photoelectric tubes 33 may be installed on both sides of the conveying device 1 in a direction perpendicular to the conveying direction. Each pair of in-position photoelectric tubes 33 is arranged at intervals along the conveying direction to detect whether the packaging box 10 reaches a designated position on the conveying device 1. The designated position may be, for example, the entrance of the conveying device 1, or a position to be grasped suitable for the grasping device 2 to grasp the packaging box 10, or a position between the entrance and the position to be grasped, etc.

[0054] This arrangement is conducive to starting the driving part after the packaging box 10 reaches the designated position of the conveying device 1, so as to realize the automatic operation of the transportation system, thereby facilitating the improvement of production efficiency and reducing manual intervention.

[0055] In some embodiments, the holding portion 21 includes a receiving space. The receiving space is disposed on a side of the holding portion 21 close to the conveying device 1. The first detection portion 31 is installed in the receiving space.

[0056] For example, Figure 3 As shown, the accommodation space can be set as a groove 21A. When the holding portion 21 is in the first position and fits the packaging box 10, the groove 21A extends along the conveying direction of the conveying device, and the opening of the groove 21A faces the holding surface 21a. In an embodiment not shown in the figure, the accommodation space can also be set as a hole or the like.

[0057] This arrangement facilitates the first detection portion 31 to follow the holding portion 21 to accurately detect the first distance, and helps prevent the first detection portion 31 from obstructing the holding portion 21 from grasping the packaging box 10. In addition, installing the first detection portion 31 on the holding portion 21 facilitates compact structural layout and reduces the space occupied by the equipment.

[0058] like Figure 1 As shown, in some embodiments, the conveying device 1 includes a conveying roller 11. In an embodiment not shown, the conveying device may include a conveying belt or a conveying chain. The driving part may include a multi-axis robot (not shown). The holding part 21 includes a suction cup 211.

[0059] like Figure 1 and Figure 2 As shown, the conveying device 1 comprises a conveying roller 11, and the conveying roller 11 conveys the packaging box 10 along the conveying direction. The multi-axis robot is arranged on one side of the conveying device 1 perpendicular to the conveying direction, and the holding portion 21 is connected to the free end of the multi-axis robot.

[0060] In some embodiments, the driving portion may also include a plurality of driving cylinders, for example, a first driving cylinder and a second driving cylinder. The first driving cylinder and the second driving cylinder may be, for example, a pneumatic cylinder or a hydraulic cylinder. The first driving cylinder may be configured to drive the holding portion 21 to move in a direction that is angled with the conveying direction of the conveying device 1, so that the holding portion 21 is close to or away from the conveying device 1 in this direction. The second driving cylinder may be configured to drive the holding portion 21 to move in a vertical direction, so that the holding portion 21 can move from the second position to the first position or from the first position away from the conveying device 1.

[0061] In some embodiments, the holding portion 21 can hold the top surface of the packaging box 10 through the negative pressure of the suction cup 211 .

[0062] The conveying device 1 includes a conveying roller 11 or a conveying belt, and the grasping device 2 includes a multi-axis robot or a driving cylinder, so as to improve the motorization degree of the transportation system and accurately control the operation of each component of the transportation system, thereby improving the transportation efficiency and reducing manual operation errors. In addition, the holding portion 21 includes a suction cup 211, which is conducive to flexible grasping of the packaging box 10 to reduce damage to the surface of the packaging box 10.

[0063] In some embodiments, the first detection unit 31 includes a laser rangefinder and / or a proximity switch, and the laser rangefinder and / or the proximity switch is mounted on a side of the holding portion 21 close to the conveying device 1 .

[0064] The transport system may include a controller, and the drive unit is connected to the detection device by signal through the controller. The transport device 1 may also be connected to the detection device by signal through the controller.

[0065] The controller can be implemented as a general-purpose processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any appropriate combination thereof for performing the functions described in the present disclosure.

[0066] For example, Figure 3 and Figure 4As shown, the first detection unit 31 may include a laser rangefinder, and the controller is connected to the laser rangefinder and the drive unit signal, and is configured to determine whether the first distance is within a preset distance range according to the first distance detected by the laser rangefinder. When the result shows that the first distance is within the preset distance range, the controller controls the drive unit to drive the holding unit 21 to move from the second position to the first position, so that the holding unit holds the packaging box 10 at the first position.

[0067] For another example, the first detection portion 31 may also include a proximity switch. When the first distance is within a preset distance range, the proximity switch is turned off, so that the driving portion drives the holding portion 21 to move from the second position to the first position.

[0068] In some embodiments, the transport system includes a plurality of conveying devices 1 and one or more gripping devices 2 .

[0069] For example, a plurality of conveying devices 1 may be arranged at intervals in a direction perpendicular to the conveying direction. A single gripping device 2 may be provided and moved between the plurality of conveying devices 1. Alternatively, a plurality of gripping devices 2 may be provided and provided one-to-one or in groups corresponding to the plurality of conveying devices 1.

[0070] This arrangement is beneficial to improving the transportation efficiency of the transportation system, and is also beneficial to transporting packaging boxes 10 of the same specifications through the same conveying device 1, so as to improve the accuracy of grasping.

[0071] In some embodiments, the second position is determined according to the specifications of the packaging box 10 .

[0072] For example, different preset distance ranges may be set for packaging boxes 10 of different specifications, and the driving unit drives the holding unit 21 to move to the second position according to the preset distance range, that is, the second position of the holding unit 21 is different for packaging boxes 10 of different specifications.

[0073] Since the sizes of the packaging boxes 10 are different when the specifications are different, setting the second position according to the specifications of the packaging boxes 10 is beneficial to improving the accuracy of the grasping device 2 grasping the packaging boxes 10 of different specifications.

[0074] In some embodiments, the detection device further includes a fourth detection unit. The fourth detection unit is installed on a side of the gripping device 2 close to the entrance of the conveying device 1 along the conveying direction, or installed on the holding portion 21. The fourth detection unit is configured to identify an identifiable mark including information of a preset distance range provided on the packaging box 10 to obtain the preset distance range.

[0075] For example, the identifiable mark may be an RFID tag, or a QR code, etc. The fourth detection unit may be, for example, an RFID identifier, etc. After the fourth detection unit identifies the identifiable tag, information of a preset distance range corresponding to the specification of the packaging box 10 may be obtained.

[0076] The fourth detection unit is, for example, connected to the controller and the driving unit by signal, and is configured to send a signal including information of a preset distance range to the controller, and after receiving the signal, the controller controls the driving unit to drive the holding unit 21 to move to a second position within the preset distance range. This arrangement is conducive to improving the transportation efficiency of the transportation system and realizing automated production.

[0077] The fourth detection unit, for example, can be installed on a side of the gripping device 2 close to the entrance of the conveying device 1 along the conveying direction, so as to detect a preset distance range corresponding to each specification of the packaging box 10 before the packaging box 10 is transported to a position to be grasped suitable for the gripping device 2 to grasp, thereby facilitating the controller to control the driving unit to drive the holding unit 21 to move to the second position first, which is beneficial to shorten the grasping time and thus improve production efficiency.

[0078] Providing the fourth detection unit is helpful for quickly determining the second position of the holding unit 21, thereby helping to improve the operating efficiency of the transportation system.

[0079] In some embodiments, the controller is connected to the detection device and the drive unit signal, and is configured to control the action of the drive unit according to the detection result of the detection device.

[0080] Providing a controller is helpful in accurately judging whether the first distance is within a preset distance range, and controlling the driving part to respond quickly to drive the holding part to move from the second position to the first position, or controlling the driving part to move between the first position, the second position and the third position to hold the packaging box 10 and move the packaging box 10 to the stacking position, which is helpful to improve the reliability of grasping, improve the grasping efficiency of the grasping device 2 and the stability of the transportation system.

[0081] Another aspect of the present disclosure provides a production line, which includes the transportation system and the sorting device provided in the present disclosure. The sorting device is configured to sort packaging boxes 10 of the same specification onto the same conveying device 1 .

[0082] The arrangement of the production line is conducive to avoiding frequent adjustment of the second position of the holding portion 21, thereby improving the efficiency of transportation. In addition, the detection device is conducive to identifying operational errors of the sorting device. Specifically, since the specifications of the packaging boxes 10 on the same conveying device 1 are consistent, that is, the preset distance ranges are consistent, when there are packaging boxes 10 of different specifications to be grabbed, the result of the first distance detected by the detection device is not within the preset distance range, which indicates that the packaging box 10 is sorted incorrectly.

[0083] The following combination Figures 1 to 4 The transportation system and production line of the embodiment of the present disclosure are described in detail. Figure 1 and Figure 2 As shown, the transport system includes a conveying device 1, a gripping device 2, a detection device, an alarm device and a controller.

[0084] The conveying device 1 includes a conveying roller 11 and a column 12. The conveying roller 11 conveys the packaging box 10 along a conveying direction. The column 12 is arranged below the conveying roller 11 to support the conveying roller 11.

[0085] The gripping device 2 comprises a holding portion 21 and a driving portion. At least a portion of the driving portion extends in a direction perpendicular to the conveying device 1, and the holding portion 21 is connected to an end of the driving portion close to the conveying device 1.

[0086] like Figure 3 and Figure 4 As shown, the holding portion 21 includes a suction cup 211 and a pneumatic solenoid valve 213. The bottom surface of the suction cup 211 is configured as a holding surface 21a of the holding portion 21. The driving portion includes a multi-axis robot. The holding portion 21 is connected to the multi-axis robot, so that the suction cup 211 is driven to move by the action of the multi-axis robot. The pneumatic solenoid valve 213 is connected to the suction cup 211 to provide negative pressure to the suction cup 211.

[0087] The detection device includes a first detection unit 31, a second detection unit, a third detection unit and a fourth detection unit. Figure 4 As shown, the bottom surface of the suction cup 211 is provided with a groove 21A extending along the conveying direction of the conveying device 1 when the holding portion 21 is in the first position. When the holding portion 21 is in the first position and the second position, the groove 21A is located in the middle of the holding portion 21 in a direction perpendicular to the conveying direction. The groove 21A of the holding portion 21 forms a receiving space, and the first detection portion 31 is installed in the groove 21A. The first detection portion 31 includes two laser rangefinders arranged at intervals along the extending direction of the groove 21A. Providing two laser rangefinders is conducive to increasing the detection range, thereby increasing the reliability of the detection result.

[0088] When the detection result of the first detection unit 31 is yes, it indicates that the first distance is within the preset distance range, that is, it indicates that the holding unit 21 can smoothly grab the packaging box 10 after moving from the second position to the first position. The controller is connected to the first detection unit 31 and the driving unit signal, and after receiving the signal indicating that the detection result of the first detection unit 31 is yes, the driving unit drives the holding unit 21 to move from the second position to the first position.

[0089] The detection result of the first detection unit 31 is negative, indicating that the first distance is not within the preset distance range, that is, it is difficult for the holding unit 21 at the second position to smoothly grab the packaging box 10 at the position to be grabbed, and the transportation system is in an abnormal state. The alarm device is connected to the signal of the first detection unit 31, and alarms when receiving a signal indicating that the detection result of the first detection unit 31 is negative, so as to remind the operator to deal with the abnormal situation in time (for example, remove the packaging box 10 to be grabbed from the conveying device 1) so as to restore the transportation system to a normal state as soon as possible. When the detection result of the first detection unit 31 is negative, the drive unit and the conveying device 1 are shut down and wait for the problem to be eliminated.

[0090] The second detection unit is installed below the position to be grasped of the conveying roller 11 (not shown). The second detection unit is connected to the controller signal. After the detection result of the first detection unit 31 is no, the controller controls the second detection unit to start. If the second detection unit does not detect the packaging box 10, it indicates that the packaging box 10 that is not suitable for grasping has been taken away, and the transportation system is in a normal state. The driving unit restarts when the detection result of the second detection unit is yes (the transportation system is in a normal state).

[0091] The third detection unit is connected to the controller and the drive unit by signal. The third detection unit detects that the packaging box 10 has reached the specified position of the conveying device 1, such as the entrance, and sends a signal to the controller. After receiving the signal, the controller controls the drive unit to start. The third detection unit includes a plurality of pairs of in-position photoelectric tubes 33, and each pair of in-position photoelectric tubes 33 is installed on both sides of the conveying roller 11 along the conveying direction perpendicular to the conveying device 1. Each pair of in-position photoelectric tubes 33 is arranged at intervals along the conveying direction to monitor the position of the packaging box 10 on the conveying roller 11 in real time. This arrangement is conducive to detecting whether the packaging box 10 has reached the specified position of the conveying device 1, and timely discovering the situation that the conveying roller 11 has failed, or the packaging box 10 has not moved smoothly on the conveying roller 11.

[0092] The packaging box 10 is affixed with an identifiable label, and the identifiable label includes information of a preset distance range set corresponding to the specifications of the packaging box 10. The fourth detection unit is configured to identify the identifiable label set on the packaging box 10 before the packaging box 10 moves to the position to be grasped, so as to obtain information of the preset distance range. The controller is connected to the fourth detection unit and the driving unit by signal, and is configured to control the driving unit to drive the holding unit 21 to move to the second position according to the preset distance range detected by the fourth detection unit.

[0093] The following details the transport methods of the transport system:

[0094] The conveying rollers 11 of the conveying device 1 convey the packaging box 10 along a conveying direction.

[0095] The third detection unit detects the position of the packaging box 10 on the conveying roller 11 along the conveying direction. When detecting that the packaging box 10 reaches the entrance of the conveying device 1, the third detection unit sends a signal to the controller, and the controller receives the signal and controls the driving unit to start.

[0096] The conveying roller 11 conveys the packaging box 10 along the conveying direction, and the fourth detection unit identifies the identifiable mark attached to the packaging box 10 and transmits the obtained information of the preset distance range to the controller. The controller controls the driving unit to drive the holding unit 21 to move to the second position according to the preset distance range.

[0097] After the holding portion 21 moves to the second position and the packaging box 10 reaches the position to be grasped, the first detection portion 31 detects the first distance and transmits information of the first distance to the controller, and the controller determines whether the first distance is within a preset distance range.

[0098] When the controller determines that the first distance is within the preset distance range, the controller controls the driving unit to move from the second position to the first position, and controls the pneumatic solenoid valve 213 to open. The pneumatic solenoid valve 213 provides negative pressure to the suction cup 211, so that the suction cup 211 holds the packaging box 10. The controller then controls the driving unit to drive the holding unit 21 to move from the first position to the third position, so as to stack the packaging box 10 at the stacking position.

[0099] When the controller determines that the first distance is outside the preset distance range, the controller sends a signal to the alarm device, which sounds an alarm after receiving the signal, and the controller controls the driving unit and the conveying device 1 to stop, or controls the driving unit to move so that the holding unit 21 is away from the conveying device 1. At the same time, the controller sends a signal to the second detection unit, and the second detection unit starts. If the second detection unit does not detect the packaging box 10, it means that the packaging box 10 has been taken away from the conveying device 1 by the operator. At this time, the transportation system is in a normal state, and the controller controls the driving unit to restart.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present disclosure rather than to limit it. Although the present disclosure has been described in detail with reference to the preferred embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present disclosure can still be modified or some technical features can be replaced by equivalents, which should all be included in the scope of the technical solution for protection requested by the present disclosure.

Claims

1. A transport system for transporting and stacking packaging boxes (10), characterized in that: include: A conveying device (1) configured to convey the packaging box (10) along a conveying direction; A gripping device (2), comprising a holding portion (21) and a driving portion, wherein the holding portion (21) is drivingly connected to the driving portion, and the driving portion is configured to drive the holding portion (21) to move between a first position, a second position, and a third position, wherein in the first position, the holding portion (21) holds the packaging box (10) located on the conveying device (1), and in the third position, the holding portion (21) releases the held packaging box (10) to a stacking position, and the second position is located on a side of the first position away from the conveying device (1); and A detection device, comprising a first detection portion (31), wherein the first detection portion (31) is configured to detect whether a first distance between a holding surface (21a) of the holding portion (21) located at the second position and a surface of the packaging box (10) opposite to the holding surface (21a) is within a preset distance range; The driving part is coupled to the detection device and is configured to drive the holding part (21) to move from the second position to the first position when the detection result of the first detection part (31) is yes.

2. The transportation system according to claim 1, characterized in that The transportation system further comprises an alarm device, which is coupled to the detection device and is configured to send out an alarm signal when the detection result of the first detection part (31) is negative; and / or The driving part is further configured to immediately stop the machine when the detection result of the first detection part (31) is negative, or to stop the machine after moving the holding part (21) away from the conveying device (1); and / or The conveying device (1) is coupled to the detection device and is configured to shut down when the detection result of the first detection part (31) is negative.

3. The transportation system according to claim 2, characterized in that The detection device further includes a second detection unit, which is configured to detect whether the transportation system is in a normal state after the detection result of the first detection unit is no, and the driving unit is configured to restart when the detection result of the second detection unit is yes.

4. The transportation system according to claim 1, characterized in that The detection device further comprises a third detection unit, wherein the third detection unit is configured to detect whether the packaging box (10) has reached a designated position of the conveying device (1), and the driving unit is configured to start when the detection result of the third detection unit is yes.

5. The transportation system according to claim 1, characterized in that The holding portion (21) comprises a containing space, the containing space being arranged on a side of the holding portion (21) close to the conveying device (1), and the first detecting portion (31) being installed in the containing space.

6. The transportation system according to claim 1, characterized in that The conveying device (1) comprises a conveying roller (11); and / or The driving unit includes a multi-axis robot; and / or The holding portion (21) comprises a suction cup (211).

7. The transportation system according to claim 1, characterized in that The first detection part (31) comprises a laser rangefinder and / or a proximity switch, and the laser rangefinder and / or the proximity switch are mounted on a side of the holding part (21) close to the conveying device (1).

8. The transportation system according to claim 1, characterized in that It comprises a plurality of the conveying devices (1) and one or more grasping devices (2).

9. The transportation system according to claim 1, characterized in that The second position is determined according to the specifications of the packaging box (10).

10. The transport system according to claim 9, characterized in that The detection device also includes a fourth detection portion, which is installed on a side of the gripping device (2) along the conveying direction close to the entrance of the conveying device (1) and / or installed on the holding portion (21), and is configured to identify an identifiable mark provided on the packaging box (10) and including information of the preset distance range, so as to obtain the preset distance range.

11. The transport system according to any one of claims 1 to 10, characterized in that The transportation system further includes a controller, which is signal-connected to the detection device and the driving unit and is configured to control the action of the driving unit according to the detection result of the detection device.

12. A production line, characterized in that: include: The transport system according to any one of claims 1 to 11; and The sorting device is configured to sort the packaging boxes (10) of the same specifications onto the same conveying device (1).

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