CN102730244A - Milk bag casing system - Google Patents
Milk bag casing system Download PDFInfo
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- CN102730244A CN102730244A CN2011100921987A CN201110092198A CN102730244A CN 102730244 A CN102730244 A CN 102730244A CN 2011100921987 A CN2011100921987 A CN 2011100921987A CN 201110092198 A CN201110092198 A CN 201110092198A CN 102730244 A CN102730244 A CN 102730244A
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- milk
- packing
- milk bag
- packing chest
- box transmission
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Abstract
The invention discloses a milk bag casing system which comprises a milk bag conveying line, a packing case conveying line, grabbing robots, a milk bag position sensing device, a packing case position sensing device and a controller, wherein the milk bag conveying line and the packing case conveying line can respectively drive milk bags and packing cases to move; based on the application direction, the milk bag conveying line and the packing case conveying line respectively passes through the position just below at least one grabbing robot; the milk bag position sensing device and the packing case position sensing device are respectively arranged on the milk bag conveying line and the packing case conveying line, and can respectively sense the positions of each milk bag and each packing case and transmit sensing signals to the controllers; and the controller can control the grabbing robots to grab milk bags (in a preset number) and arrange the milk bags in each packing case. The milk bag casing system disclosed by the invention is rapid in casing speed and neat in casing, causes no neglected loading and milk bag damage phenomenon, saves a lot of workers, and reduces the labor intensity of workers.
Description
Technical field
The present invention relates to a kind of packaging system, outstanding reference and a kind of milk packing chest system.
Background technology
At present in the liquid milk production process of Tetra Pak form; Packaged milk bag flows through from conveyor line; The vanning personnel manually put into packing chest with packs of milk bags, and the Manual Speed is slow, and packaging efficiency is low; Labor strength is big, in milk bag put procedure, often having phenomenons such as the milk bag is damaged, misaligned and neglected loading to take place.
Summary of the invention
In order to overcome above-mentioned defective, the present invention provides a kind of milk packing chest system, this milk packing chest system vanning fast, neat.
The present invention for the technical scheme that solves its technical matters and adopt is: a kind of milk packing chest system; Comprise milk bag travel line, packing box transmission line, extracting robot, milk package location induction installation, packing chest position induction device and controller; Milk bag travel line and packing box transmission line can drive the white and packing chest motion of milk respectively; To use direction to be benchmark; Milk bag travel line and packing box transmission line grasp position under robot through at least one respectively, and milk package location induction installation and packing chest position induction device are located on milk bag travel line and the packing box transmission line respectively and can be responded to each milk bag respectively and each packing chest position and induced signal is transferred to controller, and controller can be controlled the milk bag arrangement that the extracting robot gripping sets quantity and be positioned in each packing chest; During use; Packing chest flows through from grasping the robot below respectively with milk bag, and milk package location induction installation and packing chest position induction device send location information of each milk bag and packing chest to controller, controller control grasp milk bag extracting that robot will set quantity also as required arrangement to put into cooresponding packing inside; Thereby accomplish the vanning action of milk bag; Its vanning speed is fast, and milk bag 11 packing numbers are accurate, puts neat.
As further improvement of the present invention, said milk package location induction installation and packing chest position induction device are sensor.
As further improvement of the present invention, said milk package location induction installation and packing chest position induction device are camera.
As further improvement of the present invention, said extracting machine is artificially selected the compliance arm (Selective Compliance Assembly RobotArm, be called for short SCARA) that puts together machines.
As further improvement of the present invention, said extracting robot (3) is Delta robot (Delta), and this kind robot gripping speed is fast, and accurate positioning is easy to use.
As further improvement of the present invention, a kind of in artificial tripod type of said Delta machine and the four pin types.
As further improvement of the present invention; Said milk bag travel line and packing box transmission line can drive milk structure white and the packing chest motion respectively: the bag travel line of suckling comprises that milk bag carriage, milk wrap conveying roller, the milk bag carries motor and milk to wrap load-transfer device; At least two milk bag conveying roller arrangement in parallels and can rotate and being located at two ends, milk bag carriage top; Ringwise milk bag load-transfer device is sheathed on the milk bag conveying roller outside; The milk bag carries motor can drive the rotation of a milk bag conveying roller; The packing box transmission line comprises packing box transmission frame, packing box transmission roller, packing box transmission motor and packing box transmission band; At least two packing box transmission roller arrangement in parallels and can rotating are located at two ends, packing box transmission frame top, and ringwise packing box transmission band is sheathed on the packing box transmission roller outside, and the packing box transmission motor can drive a packing box transmission roller rotation.
As a further improvement on the present invention; Also be provided with milk packet encoder and packing case encoder; The milk packet encoder links to each other with the packing case motor with milk bag motor respectively with the packing case encoder; Milk packet encoder and packing case encoder transmit milk bag motor respectively and packing case rotating speed of motor signal is given controller, and controller control milk bag motor and packing case motor rotate, when milk bag motor and the rotation of packing case motor; Encoder transmits milk bag motor by the mode that reads pulse and the packing case motor speed is given controller, suckle bag motor and packing case rotating speed of motor is played proofread and correct and the effect of monitoring in real time.
As a further improvement on the present invention, said milk bag pipeline and packing box transmission line through position under the extracting robot is the parastate arrangement, the convenient robot grasping movement that grasps.
As a further improvement on the present invention, the quantity of said extracting robot is two, and it is high to grasp efficient.
The invention has the beneficial effects as follows: the present invention grasps the full automaticity vanning of robot realization to the milk bag through using, and its vanning speed is fast, and vanning neatly the phenomenon of neglected loading and damage milk bag can not occur, has also saved a large amount of workmans, has reduced working strength of workers.
Description of drawings
Fig. 1 is a block diagram of the present invention;
Fig. 2 is a birds-eye view of the present invention.
The specific embodiment
Embodiment: a kind of milk packing chest system; Comprise milk bag travel line 1, packing box transmission line 2, extracting robot 3, milk package location induction installation, packing chest position induction device and controller; Milk bag travel line 1 can drive white and packing chest 21 motions of milk respectively with packing box transmission line 2; To use direction to be benchmark; Milk bag travel line 1 and packing box transmission line 2 grasp position under robot 3 through at least one respectively, and milk package location induction installation and packing chest position induction device are located on milk bag travel line 1 and the packing box transmission line 2 respectively and can be responded to each milk bag 11 respectively and be transferred to controller with each packing chest 21 position and with induced signal, and controller can be controlled and grasp robot 3 and grasp milk bag 11 arrangements of setting quantity and be positioned in each packing chest 21; During use; Packing chest 21 flows through from grasping robot 3 belows respectively with milk bag 11, and milk package location induction installation and packing chest position induction device send location information of each milk bag 11 and packing chest 21 to controller, and controller control is grasped robot 3 and will be set the milk bag 11 of quantity and grasp also arrangement as required to put into cooresponding packing inside; Thereby accomplish the vanning action of milk bag 11; Its vanning speed is fast, and milk bag 11 packing numbers are accurate, puts neat.
Said milk package location induction installation and packing chest position induction device are sensor.
Said milk package location induction installation and packing chest position induction device are camera.
Said extracting robot 3 is for selecting the compliance arm that puts together machines, (Selective Compliance Assembly Robot Arm is called for short SCARA).
Said extracting robot 3 is Delta robot (Delta), and this kind robot gripping speed is fast, and accurate positioning is easy to use.
A kind of in artificial tripod type of said Delta machine and the four pin types.
Said milk bag travel line 1 can drive milk structures white and packing chest 21 motions respectively with packing box transmission line 2: the bag travel line 1 of suckling comprises that milk bag carriage 12, milk wrap conveying roller 13, the milk bag carries motor and milk to wrap load-transfer device 14; At least two milk bag conveying roller 13 arrangement in parallels and can rotate and being located at milk bag two ends, carriage 12 top; Ringwise milk bag load-transfer device 14 is sheathed on milk bag conveying roller 13 outsides; The milk bag carries motor can drive 13 rotations of a milk bag conveying roller; Packing box transmission line 2 comprises packing box transmission frame 22, packing box transmission roller 23, packing box transmission motor and packing box transmission band 24; At least two packing box transmission roller 23 arrangement in parallels and can rotate and be located at two ends, packing box transmission frame 22 top; Ringwise packing box transmission band 24 is sheathed on packing box transmission roller 23 outsides, and the packing box transmission motor can drive 23 rotations of a packing box transmission roller.
Also be provided with milk packet encoder and packing chest coder; The milk packet encoder links to each other with the packing chest motor with milk bag motor respectively with the packing chest coder; Milk packet encoder and packing chest coder transmit milk bag motor respectively and packing chest rotating speed of motor signal is given controller; Controller control milk bag motor and packing chest motor rotate; When milk wrapped motor and the rotation of packing chest motor, coder transmits milk bag motor through the mode that reads pulse and the packing chest motor speed is given controller, suckle bag motor and packing chest rotating speed of motor is played proofread and correct and the effect of monitoring in real time.
Said milk bag travel line 1 through position under the extracting robot 3 is parastate with packing box transmission line 2 arranges convenient robot 3 grasping movement that grasp.
The quantity of said extracting robot 3 is two, and it is high to grasp efficient.
Claims (10)
1. milk packing chest system; It is characterized in that: comprise milk bag travel line (1), packing box transmission line (2), extracting robot (3), milk package location induction installation, packing chest position induction device and controller; Milk bag travel line (1) and packing box transmission line (2) can drive white and packing chest (21) motion of milk respectively; To use direction to be benchmark; Milk bag travel line (1) and packing box transmission line (2) are respectively through position under at least one extracting robot (3); Milk package location induction installation and packing chest position induction device are located at milk bag travel line (1) respectively and are gone up with packing box transmission line (2) and can respond to each milk bag (11) respectively and be transferred to controller with each packing chest (21) position and with induced signal, and controller can be controlled milk bag (11) arrangement of grasping robot (3) extracting setting quantity and be positioned in each packing chest (21).
2. milk packing chest as claimed in claim 1 system, it is characterized in that: said milk package location induction installation and packing chest position induction device are sensor.
3. milk packing chest as claimed in claim 1 system, it is characterized in that: said milk package location induction installation and packing chest position induction device are camera.
4. milk packing chest as claimed in claim 1 system is characterized in that: said extracting robot (3) is for selecting the compliance arm that puts together machines.
5. milk packing chest as claimed in claim 1 system, it is characterized in that: said extracting robot (3) is the Delta robot.
6. milk packing chest as claimed in claim 1 system is characterized in that: a kind of in artificial tripod type of said Delta machine and the four pin types.
7. milk packing chest as claimed in claim 1 system; It is characterized in that: said milk bag travel line (1) and packing box transmission line (2) can drive milk structure white and packing chest (21) motion respectively and be: the bag travel line (1) of suckling comprises that milk bag carriage (12), milk wrap conveying roller (13), the milk bag carries motor and milk to wrap load-transfer device (14); At least two milk bag conveying roller (13) arrangement in parallels and can rotate and being located at two ends, milk bag carriage (12) top; Ringwise milk bag load-transfer device (14) is sheathed on milk bag conveying roller (13) outside; The milk bag carries motor can drive a milk bag conveying roller (13) rotation; Packing box transmission line (2) comprises packing box transmission frame (22), packing box transmission roller (23), packing box transmission motor and packing box transmission band (24); At least two packing box transmission roller (23) arrangement in parallels and can rotating are located at two ends, packing box transmission frame (22) top; Ringwise packing box transmission band (24) is sheathed on packing box transmission roller (23) outside, and the packing box transmission motor can drive a packing box transmission roller (23) rotation.
8. milk packing chest as claimed in claim 7 system; It is characterized in that: also be provided with milk packet encoder and packing chest coder; The milk packet encoder links to each other with the packing chest motor with milk bag motor respectively with the packing chest coder; Milk packet encoder and packing chest coder transmit milk bag motor respectively and packing chest rotating speed of motor signal is given controller, and controller control milk bag motor and packing chest motor rotate.
9. milk packing chest as claimed in claim 1 system is characterized in that: said the milk bag travel line (1) of position is the parastate arrangement with packing box transmission line (2) under the robot (3) through grasping.
10. milk packing chest as claimed in claim 1 system, it is characterized in that: the quantity of said extracting robot (3) is two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100921987A CN102730244A (en) | 2011-04-13 | 2011-04-13 | Milk bag casing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100921987A CN102730244A (en) | 2011-04-13 | 2011-04-13 | Milk bag casing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102730244A true CN102730244A (en) | 2012-10-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011100921987A Pending CN102730244A (en) | 2011-04-13 | 2011-04-13 | Milk bag casing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102730244A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106394990A (en) * | 2016-09-07 | 2017-02-15 | 淮南市农康电子商务有限公司 | Eco-friendly integrated selling method of prepackaged food |
| CN108190108A (en) * | 2018-01-09 | 2018-06-22 | 广东聚胶粘合剂有限公司 | A kind of hot melt adhesive boxing system and its automatic boxing technique |
| CN109202913A (en) * | 2018-11-15 | 2019-01-15 | 华南智能机器人创新研究院 | A kind of Delta robot feeding mounted box operative goals selection method and system |
| CN113232926A (en) * | 2021-05-20 | 2021-08-10 | 张美洁 | Medical medicine gathers together packing plant |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106394990A (en) * | 2016-09-07 | 2017-02-15 | 淮南市农康电子商务有限公司 | Eco-friendly integrated selling method of prepackaged food |
| CN108190108A (en) * | 2018-01-09 | 2018-06-22 | 广东聚胶粘合剂有限公司 | A kind of hot melt adhesive boxing system and its automatic boxing technique |
| CN109202913A (en) * | 2018-11-15 | 2019-01-15 | 华南智能机器人创新研究院 | A kind of Delta robot feeding mounted box operative goals selection method and system |
| CN109202913B (en) * | 2018-11-15 | 2021-05-18 | 华南智能机器人创新研究院 | Delta robot material taking and packing operation target selection method and system |
| CN113232926A (en) * | 2021-05-20 | 2021-08-10 | 张美洁 | Medical medicine gathers together packing plant |
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Application publication date: 20121017 |