CN105173749B - A kind of special-shaped cigarette palletizing apparatus and palletizing method - Google Patents
A kind of special-shaped cigarette palletizing apparatus and palletizing method Download PDFInfo
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- CN105173749B CN105173749B CN201510531642.9A CN201510531642A CN105173749B CN 105173749 B CN105173749 B CN 105173749B CN 201510531642 A CN201510531642 A CN 201510531642A CN 105173749 B CN105173749 B CN 105173749B
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Abstract
The invention discloses a kind of special-shaped cigarette palletizing apparatus and palletizing method.Including support（1）, support（1）Provided with detection conveyer（2）, detect conveyer（2）Top is provided with grabbing device, detects conveyer（2）Lower section is provided with pusher（3）, pusher（3）Side is provided with stackable unit（4）；Described detection conveyer（2）Including conveyer belt（5）, conveyer belt（5）It is provided with view field（6）, view field（6）Side is provided with region to be palletized（7）；Described view field（6）Place is provided with projection video camera（8）.The present invention has, the characteristics of reducing labor intensity, improve production efficiency and reduce cost of labor.
Description
Technical field
The present invention relates to a kind of palletizing apparatus and palletizing method in production of cigarettes field, particularly a kind of special-shaped cigarette stacking
Device and palletizing method.
Background technology
The operation that code folds packing and binding is carried out to the cigarette of an order in production of cigarettes field at present, mainly passes through people
Work is operated, and this operation is primarily present following shortcoming：1) using artificial operation, its labor intensity is big；2) using artificial behaviour
Make, because stacking workload is big, the problem of production efficiency is low will certainly be caused；3) using artificial operation, to reach that production will
Ask, it is ensured that production efficiency, operator will be increased, so as to add cost of labor.
The content of the invention
It is an object of the present invention to provide a kind of special-shaped cigarette palletizing apparatus and palletizing method.The present invention has, reduction work
The characteristics of intensity, raising production efficiency and reduction cost of labor.
Technical scheme：A kind of special-shaped cigarette palletizing apparatus, including support, support are provided with detection conveyer,
Detect and grabbing device is provided with above conveyer, detect and be provided with below conveyer by pusher, pusher provided with stacking
Unit；Described detection conveyer includes conveyer belt, and conveyer belt, which is provided with by view field, view field, is provided with area to be palletized
Domain；Provided with projection video camera at described view field.
In foregoing special-shaped cigarette palletizing apparatus, described grabbing device is spider manipulator；Described stackable unit includes
Fixed mount, the both sides of fixed mount, which are equipped with by guide plate, guide plate, is provided with packaging platform, and guide plate is provided with the lifting axis of guide, two
Stacking platform is provided between guide plate, the both sides of stacking platform are equipped with guide sleeve, and guide sleeve is connected with the lifting axis of guide；Described fixation
Driven sprocket is additionally provided with frame, driven sprocket is connected through chain with drive sprocket, drive sprocket connects through driving shaft and power set
Connect；The a line chain of described chain is connected with stacking platform.
In foregoing special-shaped cigarette palletizing apparatus, described pusher includes pushing pedestal, and the both sides for pushing pedestal are all provided with
Have and push cylinder is provided between guide holder, two guide holders, push cylinder is connected with pushing plate；Described guide holder is through pushing the axis of guide
It is connected with pushing plate.
Palletizing method used in foregoing special-shaped cigarette palletizing apparatus is：
A, special-shaped cigarette are transported on the conveyer belt of detection conveyer, in the view field by conveyer belt, projection
The projection video camera in region is acquired to the projected area of each special-shaped cigarette, and after collection, special-shaped cigarette is transported into region to be palletized；
B, grabbing device carry out crawl sequence according to the projected area of each special-shaped cigarette of collection, and the sequencing of crawl is,
By the order crawl that projected area is descending, the special-shaped cigarette code of crawl is stacked in stackable unit；
After the completion of c, code are folded, shift next station onto through pusher and carry out next station manipulation.
More preferably, in the palletizing method used in foregoing special-shaped cigarette palletizing apparatus, described step b is, spider manipulator
Crawl sequence is carried out according to the projected area of each special-shaped cigarette of collection, the sequencing of crawl is, descending by projected area
Order crawl, crawl special-shaped cigarette code be stacked on stacking platform, spider manipulator crawl same projection area special-shaped cigarette heap
One layer is placed on, when the crawl of same projection area is complete, power set start, and drive drive sprocket to rotate through driving shaft, actively
Sprocket wheel drives chain movement, and the side chain that be connected with stacking platform drives stacking platform to move down abnormity cigarette height along the lifting axis of guide
Distance, after the completion of moving down, spider manipulator continues to capture the abnormity that the relatively small special-shaped cigarette code of projected area is stacked in last layer
On cigarette, aforesaid operations are so circulated, are folded until completing code.
In palletizing method used in foregoing special-shaped cigarette palletizing apparatus, described step c is, after the completion of code is folded, stacking platform
The position concordant with packaging platform is dropped to, push cylinder starts, and promote pushing plate to push the folded special-shaped cigarette edge completed of code
The axis of guide is released onto packaging platform, carries out packaging operation.
Compared with prior art, the present invention is set by being set on support above detection conveyer, detection conveyer
Put to set below grabbing device, detection conveyer and stackable unit is set by pusher, pusher；In stacking, projection
Projected area of the projection video camera in region first to each special-shaped cigarette is acquired, and is grabbed afterwards by the descending order of projected area
Take, and be stacked on the stacking that special-shaped cigarette is completed in stackable unit；By said structure, hand stowage is effectively instead of, is dropped significantly
The low labor intensity of workman.The present invention is by the way that in stacking, after the completion of one layer of special-shaped cigarette is stacked, stacking platform can move down one
The distance of special-shaped cigarette height；The structure, effectively shortens the stroke that grabbing device vertically lifts, greatly optimizes grabbing device
The course of work, shortens the crawl time, so that stacking efficiency is substantially increased, meanwhile, in the present invention using spider manipulator
As grabbing device, the characteristics of spider manipulator has crawl efficiency high further improves the present invention's by the structure
Stacking efficiency.The use of the stacking efficiency of special-shaped cigarette during the present invention is about 4500/hour, and artificial stacking efficiency is：3 people are same
When stacking, per hour amount to about 2000, it can thus be concluded that, using the present invention, alternative at least six workman operates simultaneously so that
Effectively reduce cost of labor.The present invention, to confirm the sequencing of crawl, is made and thrown by the size of special-shaped cigarette projected area
The big first code of shadow area is stacked in lower floor, and such stacked in multi-layers is into similar triangle (under upper small greatly), so that the code stacked
Pile is more stable, it is not easy to topple over；The reliability of the present invention operationally and the continuity of work are improved by the setting so that
The operating efficiency of the present invention is further ensured.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the main structure diagram of the present invention；
Fig. 3 is the left view structural representation of stackable unit；
Fig. 4 is the structural representation for detecting conveyer
Fig. 5 is the structural representation at Fig. 1 A.
Mark in accompanying drawing for：1- supports, 2- detection conveyers, 3- pushers, 4- stackable units, 5- conveyer belts,
6- view fields, 7- regions to be palletized, 8- projection video cameras, 9- spider manipulators, 10- fixed mounts, 11- guide plates, 12- liftings
The axis of guide, 13- stacking platforms, 14- guide sleeves, 15- driven sprockets, 16- chains, 17- drive sprockets, 18- driving shafts, 19- power
Device, 20- packaging platforms, 21- pushes pedestal, and 22- guide holders, 23- push cylinders, 24- pushing plates, 25- pushes the axis of guide.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples, but be not intended as to the present invention limit according to
According to.
Embodiment 1.A kind of special-shaped cigarette palletizing apparatus, is constituted as Figure 1-5, including support 1, and support 1 is provided with detection
Conveyer 2, the top of detection conveyer 2 is provided with grabbing device, and the lower section of detection conveyer 2 is provided with pusher 3, pushes dress
Put 3 sides and be provided with stackable unit 4；Described detection conveyer 2 includes conveyer belt 5, and conveyer belt 5 is provided with view field 6, projection
The side of region 6 is provided with region 7 to be palletized；Provided with projection video camera 8 at described view field 6.
Palletizing method used in foregoing special-shaped cigarette palletizing apparatus is：
A, special-shaped cigarette are transported on the conveyer belt 5 of detection conveyer 2, in the view field 6 by conveyer belt 5,
The projected area of projection 8 pairs of each special-shaped cigarettes of video camera of view field 6 is acquired, and after collection, special-shaped cigarette is transported to and treats code
Pile region 7；
B, grabbing device carry out crawl sequence according to the projected area of each special-shaped cigarette of collection, and the sequencing of crawl is,
By the order crawl that projected area is descending, the special-shaped cigarette code of crawl is stacked in stackable unit 4；
After the completion of c, code are folded, shift next station onto through pusher 3 and carry out next station manipulation.
Embodiment 2.A kind of special-shaped cigarette palletizing apparatus, is constituted as Figure 1-5, including support 1, and support 1 is provided with detection
Conveyer 2, the top of detection conveyer 2 is provided with grabbing device, and the lower section of detection conveyer 2 is provided with pusher 3, pushes dress
Put 3 sides and be provided with stackable unit 4；Described detection conveyer 2 includes conveyer belt 5, and conveyer belt 5 is provided with view field 6, projection
The side of region 6 is provided with region 7 to be palletized；Provided with projection video camera 8 at described view field 6.
Foregoing grabbing device is spider manipulator 9；Described stackable unit 4 includes fixed mount 10, the two of fixed mount 10
Side is equipped with guide plate 11, and the side of guide plate 11 is provided with packaging platform 20, and guide plate 11 is provided with the lifting axis of guide 12, two guide plates 11
Between be provided with stacking platform 13, the both sides of stacking platform 13 are equipped with guide sleeve 14, and guide sleeve 14 is connected with lifting the axis of guide 12；Described
Driven sprocket 15 is additionally provided with fixed mount 10, driven sprocket 15 is connected through chain 16 with drive sprocket 17, and drive sprocket 17 is through master
Moving axis 18 is connected with power set 19；The a line chain of described chain 16 is connected with stacking platform 13, and another side chain passes through code
Bit-avoiding slot is provided with pile platform 13, stacking platform 13 and avoids the side chain (as shown in Figure 5).Guide sleeve 14 is set to be slided with the lifting axis of guide 12
Dynamic connection, makes stacking platform 13 more steady in lifting.
Foregoing pusher 3 includes pushing pedestal 21, and the both sides for pushing pedestal 21 are equipped with guide holder 22, two guide holders
Push cylinder 23 is provided between 22, push cylinder 23 is connected with pushing plate 24；Described guide holder 22 is through pushing the axis of guide 25 with pushing away
Plate 24 is sent to connect.
Palletizing method used in foregoing special-shaped cigarette palletizing apparatus is：
A, special-shaped cigarette are transported on the conveyer belt 5 of detection conveyer 2, in the view field 6 by conveyer belt 5,
The projected area of projection 8 pairs of each special-shaped cigarettes of video camera of view field 6 is acquired, and after collection, special-shaped cigarette is transported to and treats code
Pile region 7；
B, spider manipulator 9 carry out crawl sequence, the sequencing of crawl according to the projected area of each special-shaped cigarette of collection
To be captured by the descending order of projected area, the special-shaped cigarette code of crawl is stacked on stacking platform 13, and spider manipulator 9 is captured
The special-shaped cigarette of same projection area be deposited in one layer, when the crawl of same projection area is complete, power set 19 start, through master
Moving axis 18 drives drive sprocket 17 to rotate, and drive sprocket 17 drives chain 16 to move, the side chain band activity code being connected with stacking platform 13
Pile platform 13 moves down the distance of a special-shaped cigarette height along the lifting axis of guide 12, after the completion of moving down, and spider manipulator 9, which continues to capture, to be thrown
The relatively small special-shaped cigarette code of shadow area is stacked on the special-shaped cigarette of last layer, is so circulated aforesaid operations, is folded until completing code.
After the completion of c, code are folded, stacking platform 13 drops to the position concordant with packaging platform 20, and push cylinder 23 starts, and promotes
Pushing plate 24 releases the folded special-shaped cigarette completed of code on packaging platform 20 along the axis of guide 25 is pushed, and carries out packaging operation, afterwards
Stacking platform 13, which resets, waits next palletization operations.
Claims (5)
1. a kind of special-shaped cigarette palletizing apparatus, it is characterised in that：Including support（1）, support（1）Provided with detection conveyer（2）,
Detect conveyer（2）Top is provided with grabbing device, detects conveyer（2）Lower section is provided with pusher（3）, pusher
（3）Side is provided with stackable unit（4）；Described detection conveyer（2）Including conveyer belt（5）, conveyer belt（5）It is provided with projected area
Domain（6）, view field（6）Side is provided with region to be palletized（7）；Described view field（6）Place is provided with projection video camera（8）；Institute
The grabbing device stated is spider manipulator（9）；Described stackable unit（4）Including fixed mount（10）, fixed mount（10）Both sides
It is equipped with guide plate（11）, guide plate（11）Side is provided with packaging platform（20）, guide plate（11）Provided with the lifting axis of guide（12）, two
Guide plate（11）Between be provided with stacking platform（13）, stacking platform（13）Both sides be equipped with guide sleeve（14）, guide sleeve（14）With lifting
The axis of guide（12）Connection；Described fixed mount（10）On be additionally provided with driven sprocket（15）, driven sprocket（15）Through chain（16）With
Drive sprocket（17）Connection, drive sprocket（17）Through driving shaft（18）With power set（19）Connection；Described chain（16）'s
A line chain and stacking platform（13）Connection.
2. special-shaped cigarette palletizing apparatus according to claim 1, it is characterised in that：Described pusher（3）Including pushing
Pedestal（21）, push pedestal（21）Both sides be equipped with guide holder（22）, two guide holders（22）Between be provided with push cylinder（23）, push away
Supply gas cylinder（23）With pushing plate（24）Connection；Described guide holder（22）Through pushing the axis of guide（25）With pushing plate（24）Connection.
3. the palletizing method used in a kind of special-shaped cigarette palletizing apparatus as claimed in claim 1 or 2, it is characterised in that：By following
Step is carried out：
A, special-shaped cigarette are transported to detection conveyer（2）Conveyer belt（5）On, passing through conveyer belt（5）View field（6）
When, view field（6）Projection video camera（8）Projected area to each special-shaped cigarette is acquired, after collection, and special-shaped cigarette is conveyed
To region to be palletized（7）；
B, grabbing device carry out crawl sequence according to the projected area of each special-shaped cigarette of collection, and the sequencing of crawl is, by throwing
The descending order crawl of shadow area, the special-shaped cigarette code of crawl is stacked in stackable unit（4）On；
After the completion of c, code are folded, through pusher（3）Shift next station onto and carry out next station manipulation.
4. the palletizing method used in abnormity cigarette palletizing apparatus as claimed in claim 3, it is characterised in that：Described step b is,
Spider manipulator（9）Crawl sequence is carried out according to the projected area of each special-shaped cigarette of collection, the sequencing of crawl is, by projection
The descending order crawl of area, the special-shaped cigarette code of crawl is stacked in stacking platform（13）On, spider manipulator（9）What is captured is identical
The special-shaped cigarette of projected area is deposited in one layer, when the crawl of same projection area is complete, power set（19）Start, through driving shaft
（18）Drive drive sprocket（17）Rotate, drive sprocket（17）Drive chain（16）Motion, with stacking platform（13）The side chain of connection
Drive stacking platform（13）Along the lifting axis of guide（12）Move down the distance of a special-shaped cigarette height, after the completion of moving down, spider manipulator
（9）Continue the relatively small special-shaped cigarette code of crawl projected area to be stacked on the special-shaped cigarette of last layer, so circulate aforesaid operations, directly
Folded to code is completed.
5. the palletizing method used in abnormity cigarette palletizing apparatus as claimed in claim 4, it is characterised in that：Described step c is,
After the completion of code is folded, stacking platform（13）Drop to and packaging platform（20）Concordant position, push cylinder（23）Start, and promote push
Plate（24）The folded special-shaped cigarette edge completed of code is pushed into the axis of guide（25）Release packaging platform（20）On, carry out packaging operation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510531642.9A CN105173749B (en) | 2015-08-27 | 2015-08-27 | A kind of special-shaped cigarette palletizing apparatus and palletizing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510531642.9A CN105173749B (en) | 2015-08-27 | 2015-08-27 | A kind of special-shaped cigarette palletizing apparatus and palletizing method |
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| Publication Number | Publication Date |
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| CN105173749A CN105173749A (en) | 2015-12-23 |
| CN105173749B true CN105173749B (en) | 2017-09-26 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106406142B (en) * | 2016-10-10 | 2022-03-29 | 贵州慧联科技有限公司 | Cigarette carton stacking control method and system |
| CN106429430A (en) * | 2016-10-12 | 2017-02-22 | 颐中(青岛)烟草机械有限公司 | Special-shaped cigarette stacking device |
| CN108082944B (en) * | 2017-12-21 | 2019-11-19 | 深圳市鸿益达供应链科技有限公司 | Mobile palletizing system |
| CN108357717A (en) * | 2018-04-12 | 2018-08-03 | 泉州市科盛包装机械有限公司 | A kind of abnormity cigarette conveying and stacking device |
| CN108706339A (en) * | 2018-07-23 | 2018-10-26 | 贵州慧联科技有限公司 | A kind of irregular bar cigarette grabbing device and grasping means |
| CN109625999B (en) * | 2018-12-12 | 2020-12-04 | 合肥动联自动化科技有限公司 | Stacker crane grabbing mechanism capable of improving placement stability of heavy objects |
| CN114572698B (en) * | 2022-03-21 | 2024-01-23 | 上海道简机电科技有限公司 | Automatic stacking equipment for tobacco packages |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002087593A (en) * | 2000-09-13 | 2002-03-27 | Amada Co Ltd | Plate member stacking method and device |
| CN202030329U (en) * | 2011-03-16 | 2011-11-09 | 蚌埠市环球机电设备有限公司 | Tobacco box piling machine |
| DE102011050546A1 (en) * | 2011-05-20 | 2012-11-22 | Simon Möhringer Anlagenbau GmbH | Stacking device and method for at least largely automatic stacking of lumber |
| CN103057970B (en) * | 2013-01-30 | 2015-04-22 | 中科富创（北京）科技有限公司 | Stacking device and stacking method |
| CN104058260B (en) * | 2013-09-27 | 2016-07-20 | 沈阳工业大学 | The robot automatic stacking method that view-based access control model processes |
| CN203558547U (en) * | 2013-11-28 | 2014-04-23 | 湖北省烟草公司随州市公司 | Cigarette pushing mechanism on cigarette sorting line |
| CN205060964U (en) * | 2015-08-27 | 2016-03-02 | 贵州慧联科技有限公司 | Dysmorphism cigarette pile up neatly device |
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