Robot feeding device

Abstract

The utility model discloses a robot feeding device which is characterized in that the robot feeding device comprises a drawer type stock bin, the drawer type stock bin is provided with multiple layers of drawers used for storing paper boxes needed by a boxing machine, and each layer of drawer can be pulled out in two directions; the feeding robot module is used for grabbing paper boxes in the drawers and transferring the paper boxes to the vertical stock bin, the feeding robot module comprises a feeding robot, a paper box grabbing clamp and a camera, the lower end of the feeding robot is fixed to the robot base, and the upper end of the feeding robot is connected with the paper box grabbing clamp and the camera; the paper box grabbing clamp is used for grabbing a pile of paper boxes in a drawer, and the camera is used for obtaining an image in the drawer; the vertical stock bin is arranged above the boxing machine conveying belt, the vertical stock bin is provided with a vertical discharging channel, the top end of the discharging channel is a discharging port, and the bottom end of the discharging channel is a discharging port. The feeding device can meet the feeding requirement for high-speed work of the boxing machine, it is guaranteed that the feeding position is accurate, products are placed in order, and unnecessary shutdown is reduced.

Description

Technical Field

[0001] The utility model belongs to the field of packaging equipment, in particular to a robot loading device used in conjunction with a cartoning machine. Background Art

[0002] With technological advancements, cartoning machines are becoming increasingly faster, necessitating the use of supporting equipment capable of meeting the demands of high-speed operation. For example, in the loading process, the current hopper capacity is relatively small, and at high speeds, most can only support 7-8 minutes of normal production. This necessitates frequent loading. Manual loading also requires precise control of the loading position. Any deviation from the loading position or misaligned placement of cartons can cause the cartoning machine to shut down, impacting normal operation and production efficiency. Utility Model Content

[0003] The utility model provides a robot loading device, which can meet the loading requirements of a cartoning machine working at high speed, ensure accurate loading positions and neat placement of products, and reduce unnecessary downtime.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: a robot loading device, characterized in that it includes a drawer-type material bin with multiple layers of drawers for storing cartons required by a cartoning machine, and each layer of drawers can be pulled out in both directions;

[0005] A loading robot module is used to grab cartons in the drawer and transfer them to the vertical silo. The loading robot module includes a loading robot, a carton grabbing fixture, and a camera. The lower end of the loading robot is fixed to the robot base, and the upper end is connected to the carton grabbing fixture and the camera. The carton grabbing fixture is used to grab a stack of cartons in the drawer, and the camera is used to capture images of the drawer.

[0006] The vertical silo is arranged above the conveyor belt of the cartoning machine. The vertical silo is provided with a vertical unloading channel. The top end of the unloading channel is the discharge port and the bottom end is the discharge port.

[0007] Furthermore, one side of the vertical silo is open, and the width of the opening allows the carton grabbing fixture to place the grabbed stack of cartons into the vertical silo.

[0008] Furthermore, blocking bars are respectively provided on both sides of the opening.

[0009] Furthermore, the discharge port at the bottom end of the vertical silo is in a downwardly curved arc shape.

[0010] Furthermore, a detection port is provided on the side panel of the vertical silo, and a sensor for detecting the paper box is provided outside the detection port.

[0011] Furthermore, the paper box grabbing clamp includes two relatively arranged plywood and a sponge suction cup located between the two plywood. The sponge suction cup includes a suction cup base and a sponge located on the suction cup base. The sponge is connected to the air channel on the suction cup base. The suction cup base is also connected to a vacuum pipe joint for connecting to an external vacuum pumping device.

[0012] Furthermore, the two splints are a fixed splint and a movable splint, which are respectively arranged at both ends of the fixed plate, wherein the movable splint is connected to the piston rod of a splint driving cylinder, and the splint driving cylinder is fixed on the fixed plate.

[0013] Furthermore, a robot connecting flange is provided on the fixing plate for connecting to the loading robot.

[0014] Furthermore, an electromagnet is provided on the outer side of the fixing splint.

[0015] Furthermore, a guide rod cylinder is further provided on the fixed plate, and the guide rod cylinder is connected to the suction cup base of the sponge suction cup to control the movement of the sponge suction cup.

[0016] The beneficial effects achieved by this utility model are as follows: The drawer-type silo increases silo capacity, while the dividers within the drawer ensure the placement of cartons. Due to the large-capacity silo and robotic loading, the intervals between refills are increased, from constant replenishment by humans to refills every 42 or 56 minutes. Furthermore, the robot replaces humans, taking on the previously most labor-intensive task (constant refilling of cartons), thereby reducing human workload.

[0017] The drawer-type material bin of the utility model is pulled at both ends, so that the replenishment and loading of the drawer are distributed at both ends without interfering with each other, thereby improving the operation efficiency.

[0018] The paper box grabbing clamp of the utility model is provided with a sponge suction cup, which can effectively absorb the paper box by utilizing the micro-pores formed by the sponge, thereby preventing the paper box from sliding and falling during the grabbing and transferring process.

[0019] The vertical silo of the utility model can form a cache for cartons. The cartons grabbed by the loading robot are placed in the vertical silo, which can further improve the loading speed of the robot to meet the loading requirements of the cartoning machine at high speed. At the same time, through the setting of the vertical silo, the position of the cartons entering the conveyor belt can be guaranteed to be accurate, which is convenient for subsequent cartoning operations and avoids the cartoning machine shutdown caused by incorrect carton position. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0021] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0022] Figure 2 It is a structural diagram of the vertical silo in the utility model;

[0023] Figure 3 It is a side view of the vertical silo in the utility model;

[0024] Figure 4 This is a schematic diagram of the coordination relationship between the vertical silo and the carton grabbing fixture in the present utility model;

[0025] Figure 5 This is a structural diagram of the loading robot module in the utility model;

[0026] Figure 6 This is a schematic diagram of the structure of the loading robot in the utility model;

[0027] Figure 7 This is a structural diagram of the paper box grabbing fixture in the utility model;

[0028] Figure: 1. Carton grabbing fixture, 2. Drawer-type silo, 201. Silo frame, 202. Drawer, 3. Robot electrical cabinet assembly, 4. Vacuum pump, 5. Robot base, 6. Wire trough platform, 7. Loading robot, 8. Vertical silo, 9. Carton, 10. Unloading channel, 11. Baffle, 12. Detection hole, 13. Sensor, 14. Discharge port, 15. Camera;

[0029] 101. Fixed plate, 102. Fixed splint, 103. Movable splint, 104. Suction cup base, 105. Sponge, 106. Robot connecting flange, 107. Splint drive cylinder, 108. Electromagnet, 109. Guide rod cylinder, 110. Vacuum pipe joint;

[0030] 100. Operator. DETAILED DESCRIPTION

[0031] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0032] Example 1

[0033] like Figure 1As shown, a robot loading device includes a drawer-type silo 2, a loading robot module and a vertical silo 8. The drawer-type silo 2 is fixed on the ground and is used to store the cartons 9 required for loading. The loading robot module is fixed on the ground and is located on one side of the drawer-type silo 2. It is used to take out the cartons 9 in the drawer-type silo 2 and shift them to the vertical silo 8. The vertical silo 8 is set on the horizontal conveyor belt of the cartoning machine (not shown in the figure) and is used to receive the cartons 9 sent by the loading robot module and send the cartons 9 to the horizontal conveyor belt of the cartoning machine below.

[0034] Further, such as Figure 1 As shown, the drawer-type silo 2 includes a silo frame 201 and multiple layers of drawers 202 arranged up and down, each layer of drawers 202 is slidably arranged on the silo frame 201 by a slide, and the drawers 202 are bidirectionally slidable, that is, the drawers 202 can be pulled out at both ends in the pulling direction of the drawer 202, so that one end can be set as a feeding area and the other end can be set as a loading area. In the feeding area, the operator 100 or the robot loads the prepared paper box 9 into the drawer 202, and in the loading area, the loading robot module opens the drawer 202 and clamps the required paper box 9 therefrom. In this way, the feeding and loading of the drawer 202 are distributed at both ends without interfering with each other, which can improve operating efficiency. A plurality of partitions are provided in the drawer 202 to ensure the placement of the paper box 9.

[0035] like Figure 2 、 3 As shown in Figure 4, the vertical silo 8 includes a vertical feeding channel 10. The top of the feeding channel 10 is a discharge port, and the bottom is a discharge port 14. The discharge port 14 is an arc-shaped channel to prevent the cartons 9 from falling directly vertically onto the conveyor belt. One side of the vertical silo 8 is open so that the carton grabbing fixture 1 can go deep into the vertical silo 8 to feed the carton. Baffles 11 are provided on both sides of the opening to prevent the carton 9 from falling out of the opening on one side during the falling process. A detection port 12 is provided at the lower position of the side panel of the vertical silo 8, and a sensor 13, such as a photoelectric sensor, is provided outside the detection port 12 to detect the cartons 9 in the internal feeding channel 10 so as to promptly detect whether it is necessary to feed the vertical silo 8.

[0036] like Figure 5 、 6As shown, the loading robot module includes a robot base 5, a loading robot 7, a carton grabbing fixture 1, and a camera 15. The robot base 5 is fixed to the ground. The loading robot 7 is a multi-degree-of-freedom robotic arm with its lower end fixed to the robot base 5. The end of the loading robot 7 is equipped with the carton grabbing fixture 1 and the camera 15. The camera 15 is used to determine whether there are enough cartons 9 in the drawer 202 and whether the cartons 9 are placed correctly. When the cartons 9 in the drawer 202 meet the current loading requirements, the carton grabbing fixture 1 grabs the carton 9, and the loading robot 7 transfers the grabbed carton 9 to the top of the vertical silo 8. After adjusting the posture of the carton grabbing fixture 1, the carton 9 is placed in the vertical silo 8. A robot electrical cabinet assembly 3 for controlling the movement of the loading robot 7 is also provided on one side of the drawer-type silo 2.

[0037] like Figure 7 As shown, the carton grabbing fixture 1 includes a fixed plate 101, a fixed splint 102, a movable splint 103 and a sponge suction cup. The fixed splint 102 and the movable splint 103 are respectively arranged at opposite ends of the fixed plate 101, and the fixed plate 101 is provided with a splint driving cylinder 107, the piston rod of the splint driving cylinder 107 is fixedly connected to the movable splint 103; the sponge suction cup is located between the fixed splint 102 and the movable splint 103, and the sponge suction cup includes a suction cup base 104 and a sponge 105 located on the suction cup base 104, and the sponge 105 is located on the side of the suction cup base 104 away from the fixed plate 101, and the sponge 105 is connected to the air channel on the suction cup base 104. The suction cup base 104 is also connected to a vacuum pipe joint 110 for connecting to an external vacuum device. The vacuum device is a vacuum pump 4 arranged on one side of the drawer-type silo 2. The fixing plate 101 is provided with a robot connection flange 106 for connecting to the end of the loading robot 7. Since the carton grabbing fixture 1 needs to grab a stack of cartons when grabbing cartons 9, the cartons 9 in the middle are prone to sliding or even falling during the transfer process, so the sponge 105 is used to absorb them to avoid this situation.

[0038] The fixed plate 101 is further provided with two guide rod cylinders 109, the movable ends of the guide rod cylinders 109 being fixedly connected to the suction cup bases 104 of the sponge suction cups. As the movable ends of the guide rod cylinders 109 extend, the sponge suction cups move linearly as a whole, with their movement direction being perpendicular to the movement direction of the movable clamping plate 103. After the sponge suction cups move toward the paper box 9 clamped by the movable clamping plate 103 and the fixed clamping plate 102, they can be adsorbed on the top of the paper box 9. The provision of the guide rod cylinders 109 can control the movement of the sponge suction cups to accommodate paper boxes 9 of different sizes.

[0039] An electromagnet 108 is also provided on the outside of the fixed clamping plate 102. When powered, the electromagnet 108 can be magnetically attracted to the end surface of the drawer 202 to pull out the drawer 202. Compared with providing a handle on the drawer 202 and then having the loading robot 7 pull out the drawer 202 using the handle, this pulling and pulling method does not require precise positioning control and is simpler to control, thereby improving loading efficiency.

[0040] In such Figure 1 As shown, a wire trough platform 6 is provided on the ground on one side of the drawer-type silo 2 , and various wires and pipelines in the device are arranged in the wire trough platform 6 .

[0041] It should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention. The terms used in the description of this application are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to this application.

Claims

1. A robot loading device, characterized in that: It includes a drawer-type silo with multiple layers of drawers for storing cartons required by the cartoning machine. Each layer of drawers can be pulled out in both directions. A loading robot module is used to grab cartons in the drawer and transfer them to the vertical silo. The loading robot module includes a loading robot, a carton grabbing fixture, and a camera. The lower end of the loading robot is fixed to the robot base, and the upper end is connected to the carton grabbing fixture and the camera. The carton grabbing fixture is used to grab a stack of cartons in the drawer, and the camera is used to capture images of the drawer. The vertical silo is arranged above the conveyor belt of the cartoning machine. The vertical silo is provided with a vertical unloading channel. The top end of the unloading channel is the discharge port and the bottom end is the discharge port.

2. The robot loading device according to claim 1, characterized in that: One side of the vertical silo is open, and the width of the opening allows the carton grabbing fixture to place a stack of cartons grabbed into the vertical silo.

3. The robot loading device according to claim 2, characterized in that: Baffles are respectively arranged on both sides of the opening.

4. The robot loading device according to claim 1, characterized in that: The discharge port at the bottom end of the vertical silo is in the shape of an arc that bends downward.

5. The robot loading device according to claim 1, characterized in that: The side plate of the vertical silo is provided with a detection port, and a sensor for detecting the paper box is provided outside the detection port.

6. The robot loading device according to claim 1, characterized in that: The paper box grabbing clamp includes two oppositely arranged plywood and a sponge suction cup located between the two plywood. The sponge suction cup includes a suction cup base and a sponge located on the suction cup base. The sponge is connected to the air channel on the suction cup base. The suction cup base is also connected to a vacuum pipe joint for connecting to an external vacuum pumping device.

7. The robot loading device according to claim 6, characterized in that: The two splints are a fixed splint and a movable splint, which are respectively arranged at both ends of the fixed plate, wherein the movable splint is connected to the piston rod of a splint driving cylinder, and the splint driving cylinder is fixed on the fixed plate.

8. The robot loading device according to claim 7, characterized in that: The fixing plate is provided with a robot connecting flange for connecting with the loading robot.

9. The robot loading device according to claim 7, characterized in that: An electromagnet is also provided on the outer side of the fixing splint.

10. The robot loading device according to claim 7, characterized in that: The fixing plate is also provided with a guide rod cylinder, which is connected to the suction cup base of the sponge suction cup to control the movement of the sponge suction cup.

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