CN104105641B - For the Flexible assembling line of pallet packing - Google Patents

Abstract

A kind of Flexible assembling line for pallet packing (30,210,212,276) comprising: pallet distributor (32,62), it is for providing pallet (76,80,84,88,90), and loading depot (34,36,38,214,216,218,234,236,238,250), it is adjacent to described pallet distributor (32,62), for automatically placing food or non-food stuff article to described pallet (76,80,84,88,90).

Description

For the Flexible assembling line of pallet packing

The application relates to a kind of Flexible assembling line for pallet assembling, quality visual inspection and packaging. It also relates to useThe method of the described Flexible assembling line for pallet packing.

In Food service, food and tableware are conventionally placed on pallet and send to. In addition, every kind of food is placed in conventionallyBe placed in order in the independent container on pallet. For example, in airline, army or hospital food catering trade, when in a large numberWhile supplying multifarious food, packaging becomes complexity and labour intensive with the pallet of food and tableware. If food is necessaryBy round-the-clock without interruption, uniformity, flexibility and efficiency become the key factor of high-quality catering trade.

The object of the present invention is to provide a kind of new and the useful flexibility for pallet assembling, quality inspection and/or packagingAssembly line. The present invention also aims to provide a kind of method newly and the useful described Flexible assembling line of use. Pass throughIndependent claims provide essential feature of the present invention, and other favorable characteristics of the present invention are given by dependent claimsGo out. The application requires the priority of the Singapore patent application SG201200203-6 submitting on January 10th, 2012. ?Early the full content of application mode is by reference incorporated to herein.

According to a first aspect of the invention, Flexible assembling line comprises the pallet distributor for pallet is provided, and is adjacent toThe loading depot of pallet distributor. Loading depot has for automatically placing food or non-food stuff article to the setting tool on pallet.Pallet distributor is to provide a kind of device or the machine of pallet. For example, pallet distributor comprise can be kept for distributeGo-cart, trailer, shelf or the room of pallet or pallet heap. Pallet is known as flat, shallow case or container conventionally, conventionallyThere is the edge of slight projection, for carrying, keep or showing the article/containers such as food, glass, porcelain. Pallet and foodContainer difference, unlike food containers, pallet is not direct contact food conventionally. Setting tool can be taked various ways. ExampleAs, setting tool is fixture, its hole with reservation shape makes only to have food or the non-food stuff article of respective shapesCan fall on pallet by described hole. Loading depot can have setting tool not of the same race or fixture so that Flexible assembling line canTo process a large amount of different article. Due to loading depot can by the computer of appropriate software bag is installed or by one orMultiple PLC (programmable logic controller (PLC)) move automatically, and Flexible assembling line can continued operation. When labour intensive is providedWhen a large amount of round-the-clock food and beverage sevice of type, flexible assembly provides a kind of efficient and food and drink solution reliably, reducesThe mistake of manual pallet packaging. Therefore, flexible assembly can provide the pallet food of the freshness of improvement.

Flexible assembling line can also comprise that pallet is to car loading depot, and it is connected to loading depot for having removed from loading depotWhole pallet packing. Flexible assembling line is placed into various food or non-food stuff article on pallet according to preassigned pattern/structureProduction line, these preassigned pattern/structures are collectively referred to as pallet assembling or son assembling. Complete pallet component can be from flexible assemblyFlexible assembling line in line, is removed and is fitly deposited in go-cart so that can not stopped up by complete pallet component in its end.Pallet can effectively empty the end of Flexible assembling line and the go-cart of filling complete pallet component is provided to car loading depot. Push awayCar can be transported to warehouse for interim storage, or is transported on aircraft for food and drink is provided.

Flexible assembling line can also comprise conveyer, and its connecting trays distributor, loading depot, pallet are to car loading depot or itAny combination. Conveyer is the mechanical handing equipment that material is moved to another position from a position. ConveyerProvide quick and efficient various food (for example, one glass of Yoghourt) or non-food stuff article (for example, tableware bag)Transport. Conveyer can be belt conveyer, chain conveyor or both combinations. According to the meal that holds Flexible assembling lineThe construction condition at drink center, conveyer can be mounted on the ground or be arranged on ceiling.

Flexible assembling line can also comprise inspection and rejecting station, and it is for checking the quality of food and non-food stuff article. ContrastPredetermined quality standard checks pallet, food or non-food stuff article. For example, in order to be applicable to transporting food or non-food stuff article,Pallet must not have dirt, water stain and distortion. Being loaded onto before pallet, one glass of water of sealing must not have dirt or lets outLeak. Predetermined quality standard is preloaded onto inspection and rejects in station, whether quality meets standard for checking pallet packing. OneIn individual embodiment, contrast accept or reject the preset range of accepting weight, inspection and reject station measure pallet component orThe weight of sub-component.

Flexible assembling line can also comprise the one or more sorters for arranging food or non-food stuff article. Sometimes food,Product and non-food stuff article are that random aggregation is in container/basket. Sorter arranges these article so that loading depot with orderly fashionOr operator can choose article effectively. Sorter can be tilt tray sorter, crossed belt type sorter, carryingDevice formula sorter or their any combination.

Pallet sorter, loading depot, pallet are to car loading depot, conveyer, inspection and rejecting station or their any combinationCan comprise the industrial robot for choosing food or non-food stuff article. Industrial robot is can on three or more axleAutomatic control, the reprogrammable multifunctional operating device of programming. Industrial robot can be radial type robot,SCARA robot, Delta robot or cartesian coordinate robot (having another name called gantry robot or x-y-z robot).Industrial robot can reprogramming be used for assembling dissimilar pallet component, and in different distance contact station or biographySend machine. Therefore, Flexible assembling line becomes and can adjust, to meet different food and drink needs. For example, at in-flight catering center,Industrial robot can load software program and be used for providing 50 cover western-style food pallet components, and loads subsequently another software journeyOrder is used for providing vegetarian diet pallet component.

Pallet distributor, loading depot, pallet are to car loading depot, conveyer, inspection and rejecting station, industrial robot, machineTool arm or their any combination can have the camera of connection and computer to have machine vision ability, for identificationThe shape of various objects. Machine vision not only makes these machines can find object, can also guide the fortune of these machinesMoving so that these machines can be chosen food or non-food stuff article from the article of a pile/stand random scatter, and mobile selectedThe article of getting on pallet to form pallet component or sub-component. Especially, in the field of feature detection and feature extraction,Machine vision or computer vision are intended in discriminating digit image brightness of image and sharply change or more formally have a discontinuityPoint. The edge detecting forms the border of object, and the image that makes machine can identify camera shooting is for pallet bagRequired food and the non-food stuff article of dress. Because IMAQ, image processing and program execution can be by one or moreComputer carries out effectively, and package speed can be carried out and significantly improve to shape recognition rapidly.

Pallet distributor, loading depot, pallet to car loading depot, conveyer, inspection and rejecting station, industrial robot or itAny combination can there is the camera of connection and computer to obtain machine vision ability for scanning the table of various objectsFace structure. Therefore, one or more these machines can be noticed the table on the packing film of food or non-food stuff articleFacial cleft line, observes dirt or spot on any pallet, food or non-food stuff article. The quality standard of contrast prepackageCheck, these machines can prevent assembly defect pallet, food or non-expensive in the time that pallet component is provided and that lose timeFood item.

The method of machine vision image processing comprises that pixel counts (counting bright or dark pixel count), threshold value (will be with greyThe image of tone be converted to simple black and white or use based on gray value separate image), cut apart (divide digital picture become multipleSection becomes some things more meaningful and that more easily analyze to simplify and/or to change the sign of image), spot finds and processing(inspection connects the discrete spot image of pixel as image terrestrial reference) and pattern-recognition (comprise template matches, discovery,Coupling and/or counting AD HOC). Pattern-recognition can comprise the position of the object that can be rotated, partly by anotherIndividual object covers or varies in size. Described method also comprises color identification, bar code, data matrix and " two-dimensional bar "Read, optical character identification (automatically reading of the text of for example sequence number), measure: the measurement of dimension of object is (for example,Adopt pixel, inch or millimeter) and filtration (for example, form is filtered).

Two or more pallet distributors, loading depot, pallet are to car loading depot, conveyer, inspection and rejecting station, industryRobot or their any combination can be connected for Processing with Neural Network. Processing with Neural Network is weighted sum oneself instructionPractice multi-variable decision, it makes Flexible assembling line can different machines be adjusted package speed, when in the face of fault, be sentAlarm is to operator or send the request that needs various food or non-food stuff article. Therefore, Flexible assembling line becomes intelligenceChange and need less manual intervention. Use the labor cost of Flexible assembling line to reduce.

Pallet distributor, loading depot, pallet to car loading depot, conveyer, inspection and rejecting station, industrial robot or itAny combination can be connected to Flexible assembling line by Modularly so that it can be disconnected with the miscellaneous part of Flexible assembling lineOpen and do not affect miscellaneous part. Modular design or " modularized design " are a kind of methods, and it is thin by Flexible assembling lineBe divided into can independently creating then and use to drive the more fraction (module) of multiple functions in different Flexible assembling lines. BandHave the Flexible assembling line of modularized design to there is following properties:

I. function is divided into discrete extendible, reusable module, and these modules are by that separate, self-sustaining function elementForm;

II. the strict modular interface that uses good definition, comprises the OO description of functions of modules; And

III. easily change is transparent to realize technology, and possible in the situation that, utilizes the professional standard of key interface.

Loading depot can comprise the conveyer for food or non-food stuff article being packed into case, and for removing empty vanAnother conveyer. Conveyer is optionally connected to main conveyer, main conveyer connection machine station and Flexible assembling lineRobot. The conveyer of loading depot has facilitated supply and the finished-product material (empty pallet) of input material (for example, food)Remove so that loading depot can make full use of its operational capacity, and the delay not causing because of short supply.

Flexible assembling line can also comprise the manual load for manual load, unloading or inspection food or non-food stuff articleStand. Optional manual load station makes Flexible assembling line further adapt to the end effector processing of packaging to robotThe food that some are very frangible. Manual load station further allows the manual intervention sometimes needing.

Flexible assembling line can also comprise swivel mount, and it has removable charging pallet for transmitting food or non-food stuff thingProduct. It can be manual or electronic automatically boxing piler and disk conveyer that swivel mount can also be called as. Swivel mount energyEnough make operator load or reclaim food or non-food stuff article at the opposite side of swivel mount easily with them, and not dry mutuallyDisturb. For example, an operator can load the mere skeleton with tableware bag in a side, and another operator can be from revolvingThe opposite side of the pivoted frame butter bag of taking. Use the loading and unloading efficiency of swivel mount than the loading and unloading that use fixed shelfEfficiency is high a lot.

Flexible assembling line can also comprise touch screen displays, and its master computer that is connected to Flexible assembling line is soft for controllingProperty assembly line. Touch-screen provides operator may find maneuverable intuitive user interface. Touch-screen is also avoided usingOften mislay, be contaminated by food or hold flimsy extra keyboard and mouse through accidental impact.

Flexible assembling line can also comprise the automatic guide vehicle (AGV) for take packaged pallet component or empty pallet.Automatic guide vehicle can be programmed various assigned addresses take specific food products or non-food stuff article, makes flexible assembly passableChange to pack dissimilar pallet packing according to different handbooks. Be connected to flexible dress by programming with by automatic guide vehicleDistribution reduces mistake.

Flexible assembling line can also comprise automatic food distributor, and it comprises rotatable food hopper, steering gear and transmissionMachine. Rotatable product contents bucket is useful on one or more compartments of storage food. In use, rotatable foodHopper rotates and vibrates, and the different food products in compartment separately can be fallen in steering gear in an orderly manner. Transmission belowFacility have several shuntings for receiving different article. Steering gear is used for aiming at shunting by directed opening below it, makes to closeSuitable food is assigned to respectively the appointment shunting for packaging pallet assembly.

Industrial robot can have the end effector for rotating. End effector is in mechanical arm end, is establishedCount a kind of device with environmental interaction. End effector can comprise fixture or instrument (for example, vacuum cup).Fixture can be two fingers, three fingers or or even the five fingers. In the time choosing folded cup, between folded cup, can there is partial vacuum.Cup above industrial robot lifts, because the one or more cups below partial vacuum also can be lifted. RevolveTurn the cup making below and easily come off, thereby avoided two mistakes of choosing of pallet packing.

Industrial robot has the end effector for vibrating. In the time that end effector vibrates, cup below can be straightConnect from top cup and separate, this has been avoided the two problems of choosing of industrial robot again.

Industrial robot can have the end effector for heating. For example, end effector can be carried out at its endDevice cocycle hot-air, is heated rapidly the cup being selected. Due to the differential thermal expansion between two cups, topCup " sliding cup " below may separate from top cup itself.

Flexible assembling line can also comprise cleaning and the disinfection station for cleaning industrial end effector of robot. Clean and disappearPoison station comprises bucket, in bucket, comprises one or more washing fluids, for example water, compressed air, disinfecting gel, foam and liquidLiquid solution. Bucket can have entrance and exit so that washing fluid can circulate and be replaced to clean the end being immersedActuator.

Flexible assembling line can also comprise cleaning and being dried stands, and it is for cleaning the band of conveyer. Due to conveyer or transmissionBand contact pallet or the food containers of machine, conveyer or band may be made dirty by food granule. Clean and be dried station will clean/Clean, dry or their combination offers conveyer or band, thus prevent various food and non-food stuff article intersected with each otherPollute. For example, water sprays and blows conveyer or band with compressed air stream. Conveyer or band can be further by infrared orUV-irradiation is with kill bacteria. Conveyer or band can also use brush wiping, and dust dish/groove be arranged on below forCollect food debris.

Flexible assembling line can comprise one or more control of insect drawers. Described drawer is to be for example attached to or to be close to transmitThe container of an installation of the machine of machine/in standing. Drawer is arranged on below food or non-food stuff article passage, keeps away like thisHaving exempted from the insect protected medicine in drawer surprisingly drops to and on passage, causes food pollution. Control of insect drawer is of value to and prevents flexibilityThe invasion of assembly line.

The application also provides a kind of in-flight catering center with one or more Flexible assembling lines. In-flight catering center willPackaged pallet component set meal offers many course line/flights on airport and serves the meals. Because Flexible assembling line can be very flexibleAnd continued operation efficiently, the operating efficiency on in-flight catering center and airport will significantly improve.

According to a second aspect of the invention, the invention provides the method for a kind of use for the Flexible assembling line of pallet packing.Described method comprises that receiving empty pallet or part assembles/fill the first step of pallet, the of food or non-food stuff article are providedTwo steps and by food or non-food stuff article automatic loading to the third step on pallet. Because loading is by one or manyIndividual machine operation, operating efficiency, precision and the reliability of Flexible assembling line becomes than the hand assembled of pallet packing is high and obtainsMany.

Described method can also comprise by machine vision (MV) automatic gauging pallet, food or non-food stuff article and dressThe step of the pallet carrying. The machine vision order of operation comprises by using one or more cameras, camera lens and illumination to obtainImage, it provides subsequent treatment needed difference. Then, machine vision software bag adopts various Digital Image ProcessingTechnology is extracted required information, and for example, according to extracted information make decision (, pass through/failure). Can useTwo dimensional image, 3-D view or both solve machine vision applications together. Machine vision by feedback offer flexible assembly withObtain high accuracy, high efficiency and the high-quality of pallet packing. Flexible assembling line substitute or supplementary feedback can by fixture,The weight measurement of fixture, the hole with reservation shape, position switch and pallet component provides.

Described method can also comprise transmit load or the pallet that completes to the step for transporting in go-cart. That complete orDisallowable pallet component by rapid accumulation in go-cart to be transported on interim thesaurus or aircraft. Transport action makes flexibilityAssembly line avoids stopping up in operation, and this is in demand in the catering centers that food is provided in a large number.

According to a third aspect of the invention we, the application provides the side of a kind of installation for the Flexible assembling line of pallet packingMethod. Described method comprises the step that is provided for the pallet distributor that pallet is provided, and gives and be adjacent to pallet distributorLoading depot provides setting tool (for example, mechanical arm or industrial robot) and for automatically placing food or non-food stuff thingProduct are to the next step on pallet. In catering centers, multiple Flexible assembling lines can be mounted and interconnect, for carryingFor food a large amount of and numerous in variety.

According to a forth aspect of the invention, the application provides a kind of side of the Flexible assembling line that is configured for pallet packingMethod. Described method comprises the step of loading for the software kit of the image processing of machine vision. Described software kit can be usedControl operation, the machine vision of Flexible assembling line or the packaging menu of pallet component at different stations.

Accompanying drawing shows embodiment and for explaining the principle of disclosed embodiment. But, should be understood that,All objects for illustrating only of these figure, instead of limited range to relevant invention.

Fig. 1 shows the first Flexible assembling line for pallet packing;

Fig. 2 shows a process chart that uses the first Flexible assembling line;

Fig. 3 shows the second Flexible assembling line for pallet packing;

Fig. 4 shows a perspective view of the second Flexible assembling line;

Fig. 5 shows the 3rd Flexible assembling line for pallet packing;

Fig. 6 shows another view of the 3rd Flexible assembling line;

Fig. 7 shows a non-food stuff vision robot module;

Fig. 8 shows another non-food stuff vision robot module;

Fig. 9 shows a food vision robot module;

Figure 10 shows another food vision robot module;

Figure 11 shows the automatic disc conveyer of for Flexible assembling line; And

Figure 12 shows a part for the first Flexible assembling line.

Figure 13 shows an automatically boxing piler and disk conveyer;

Figure 14 shows a process chart that uses automatically boxing piler and disk conveyer;

Figure 15 shows a mechanical arm choosing two folded cups;

Figure 16 shows the mechanical arm reversing to break away from an attached cup;

Figure 17 shows vibration to break away from the mechanical arm of an attached cup;

Figure 18 shows heating to remove the mechanical arm of an attached cup.

Exemplarily, the application's non-limiting embodiment is described now with reference to above-mentioned accompanying drawing.

Fig. 1 and Fig. 2 relate to an embodiment of the invention. Especially, Fig. 1 shows for one of pallet packingIndividual Flexible assembling line 30, or be called as the first Flexible assembling line 30 for pallet packing. Flexible assembling line 30 comprisesSeveral station 31-44, it is connected in turn by conveyer 46. Described station comprises pallet distributor 32, the first loadingStand 34, the second loading depot 36, the 3rd loading depot 38, manual load station 40, inspection and reject station 42 and pallet fills to carCarry station 44. But, inspection and reject station 42 and pallet is provided to car loading depot 44, at conveyer 46On opposite side. Master computer 48 is connected to all these station 32-44 to control whole Flexible assembling line 30. Master computer48 have two touch-screen displays 50,52, and the first display 50 and second display 52 are positioned at conveyer 46Two ends. Loading depot 34,36,38 is also referred to as robot module, and they can be added or remove according to workload.In other words, loading depot 34,36,38 is similar to the unit of plug and play system, and it can be by selective installation/companyConnect or remove/disconnect for packing different pallet components with Different Package speed.

The first tank type reactor stack machine 54 is set to be adjacent to the first station 34 close conveyer 46. Especially, firstTank type reactor stack machine 54 is arranged on the opposite side of conveyer 46 with respect to the first loading depot 34. The second tank type reactor stack machine56 are set to be adjacent to the second loading depot 36 and also near conveyer 46. Vibratory bowl sorter 58 is set to contiguousIn the 3rd loading depot 38, near conveyer 46. In other words, the first tank type reactor stack machine 54, the second tank type reactor stack machine 56With the 3rd tank type reactor stack machine 58 be continuously arranged along conveyer 46, conveyer 46 has one and is longilineally with 60.

Fig. 1 also shows and the interactional object of Flexible assembling line 30. For example, the trailer 62 of filling pallet is stoppedAt pallet distributor 32 at front end 64 places with 60. Trailer 62 has been designed internal slots for flatly receiving pallet.Once trailer 62 is parked in pallet distributor 32 near front end 34, fork mechanism (not shown) can be step by step verticallyLift/transposition trailer 62, removes pallet subsequently gradually. Trailer 62 is filled the clean pallet of preparing to receive food and tableware.The go-cart 68 of 66, two of the rear ends with 60 rest against pallet to car loading depot 44 for receiving the pallet component installing.The first operator 70 and the second operator 72 are also depicted in Fig. 1. The first operator stands near master computer 48With the position of front end 64, and the second operator stands in the position near manual load station 40.

Flexible assembling line 30 is designed to assemble polytype food and utensil to pallet. Install/complete pallet groupPart comprises the following food with container and non-food stuff article:

A. pallet

I. half pallet

Ii. little pallet

Iii. the long side panel of plastics

B. cup

I. plastic tea cup

Ii. drinking glass

Iii. with the sweets bowl of fruit

Iv. pre-install water

V. pre-install Yoghourt

C. tableware bag

I. pepper bag

Ii. salt bag

Iii. sugar bag

D. flavouring

I. butter bag

Ii. jam bag

Iii. milk sheet

Iv. capsicum bag

E. bake and bank up with earth food

I. pack bread

Ii. biscuit

Iii. crispbread

Iv. muffin

According to Fig. 1, pallet distributor 32 is robots, and it has at its end with suction cup (end effector)Arm 74. Pallet distributor 32 is fixed to front end 64, so that arm 74 can be chosen empty pallet from trailer 6276 and be put into and be with on 60. Arm 74 has the six axle operation frees degree, makes arm 74 can get at differing heights and distanceFrom empty pallet 76. Arm 74 also has intelligent vision guidance system (not shown) near suction cup place, for transmittingEmpty pallet 76 checked empty pallet 76 before being with on 60. If intelligent vision guidance system detects ash on pallet 76Dirt, stain or defect, pallet distributor 32 takes empty pallet 76 to ash can (not shown). Arm 74 can also toolHave as the fixture of its end effector or with the combination of the fixture of suction cup.

The first loading depot 34 has the one or four axle robot 78, and for taking, non-food stuff article arrive clean empty pallet 80On. Clean empty pallet 80 is transported to the first loading depot by pallet distributor 32 and conveyer 46 from trailer 6234. After machine vision inspection, the first tank type reactor stack machine 54 of neatly being stacked from these non-food stuff article, pick up matterMeasure standard compliant non-food stuff article. The first loading depot 34 also has intelligent vision guidance system (not shown), for inspectionThe pallet of testing into and the non-food stuff article that loaded. If found the non-conformity of quality standardization article as dirty teacup,The one or four axle robot 78 is by described crawl non-conformity of quality standardization article and transport described non-conformity of quality standardization article and arriveIn ash can (not shown). The one or four axle robot 78 can optionally be replaced by five axles or six-shaft industrial robot.

The second loading depot 36 has the two or four axle to six-joint robot 82, and it is designed to take from the first loading depot 34Other non-food stuff article are to pallet 84. Other non-food stuff article are stored in the second tank type reactor stack machine 56. The second dressCarry station 36 and be equipped with intelligent vision guidance system (not shown), it is for checking other non-food stuff article. The second loading depot36 take non-conformity of quality standardization article to ash can (not shown). Similarly, the two or four axle robot 82 can selectProperty ground is replaced by five axles or six-joint robot.

By contrast, the 3rd loading depot 38 has the three or four axle robot 86, and it is mounted for sorting from vibratory bowlIn machine 58, choose food and it is placed into pallet 88 from the second loading depot 36. The intelligent vision of the 3rd loading depot 38The pallet completing 90 of guidance system (not shown) inspection the 3rd loading depot 38, and the three or four axle robot 86 will useStandard compliant article replace non-compliant article. The 3rd robot 86 can be optionally by five axles or six axle machinesPeople replaces.

Manual load station 40, for operator provides seat (not shown), is difficult to place for loading robot 78,82,86The breakables of reason. Especially, manual load station 40 provides next-door neighbour with 60 seat so that load. In use,Operator is placed into breakables on the pallet 90 of swivel mount 91 of the 3rd loading depot 38. For example, operator can selectGet soft rice and wrap and place it in half pallet. Swivel mount 91 is set to be close to operator's seat and takes to facilitate.

Inspection and rejecting station 42 have several cameras, and camera is set to towards the pallet of coming in from manual load station 40.42 pairs of pallet components that complete of inspection and rejecting station carry out last visual inspection. Next-door neighbour checks and rejects the automatic of station 42Reject station 43 by from 60 pallet components of taking away disqualified upon inspection.

By contrast, pallet has industrial robot (not shown) to car loading depot 44, and it has for having takenThe arm (not shown) of pallet component. The pallet component that industrial robot can capture is also inserted into go-cart 68Suitable groove in, go-cart 68 rest in next-door neighbour 66 places, rear end. The pallet component of having filled completely in go-cart 68 quiltAfter removing, empty go-cart will be provided.

In function, pallet distributor 32 can automatically be transferred to empty pallet conveyer 46 from trailer 62. DryClean empty pallet 76 is loaded onto in trailer 62. Once the empty pallet 76 on trailer 62 runs out, and another is just providedThe trailer 62 of individual filled with dried headroom pallet is to replace trailer air. While changing trailer 62, Flexible assembling line 30 can not interruptGround operation.

Vibratory bowl/conveyer sorter 58 can laterally divide based food, is laterally perpendicular to longitudinal 92 the side with 60To, longitudinal 92 is also the technological process direction 92 of the first Flexible assembling line 30. 58 shakes of vibratory bowl sorter are selectedFood (for example, butter bag), so that selected food is organized out and automatically organize with consistent direction, for takingAnd placement.

Whether each of three loading depots 34,36,38 all can be accepted or reject by item inspecting. Three loading depots 34,36, the possible stain of 38 vision element (for example, camera and the computer that is connected camera) item inspecting, crack,Fragment, impurity and other unacceptable defects. The quality standard of rejecting and accept be stored in three loading depots 34,36,In 38 for guaranteeing high accuracy and the uniformity of pallet packing. Non-compliant article by corresponding robot 78,82,86 are sent to ash can (not shown). Three loading depots 34,36,38 have sweeping (fly-by) checking function,So that the article of choosing in placement to before on pallet 84,88,90, also check the bottom surface of the article that three loading depots choose.By the vision element of describing, described sweeping checking function is set below.

Inspection and reject station 42 pallet components that not only screened according to preassigned (quality standard), when needs clearWhile washing, inspection and reject station 42 also discharge compression and filter after pure air to the pallet component completing.

Master computer 48 is connected to vision station and robot 32,34,36,38,42,43,44, for regulating workMeasure and coordinate these machine/work stations 32,34,36,38,42,43,44. Master computer 48 also can pass through PLC(programmable logic controller) or PC (PC) regulate the speed of conveyer 46. Inspection and rejecting station and dressCarry station 34,36,38 images that obtain together defect for further analysis. Image and statistics that packaging is produced are protectedDeposit at least 30 days for check. Statistics also further provides (for example,, by safety by master computer 48 onlineIn-house network or internet), for the production of performance KPI (KPI Key Performance Indicator) management, text/tabular report and figureShape represents and maintenance plan. Master computer 48 can also send production statistical information and KPI counts to main frame at a distance/central authoritiesCalculation machine (not shown), for record, analysis, monitoring and report. Master computer 48 is equipped with modem, forThe telecommunication of for example getting rid of for fault. If there are abnormal conditions in Flexible assembling line 30, alarm signal will be sent out.Two displays 50,52 that are all connected to master computer 48 have user-friendly interface, for new production menu more andHolding tray surface figure (pallet layout).

Flexible assembling line 30 has the function of the high-quality food hygiene that keeps pallet packing. For example, each loading depot34,36,38 by HEPA (HEPA) the air purifier envelope with electrostatic detection and antistatic ion blowerClose, for minimizing the intrusion of impurity particle of for example dust and air. Be with 60 to be sealed by translucent cover (not shown), useIn avoiding falling into foreign particles. In the time being with 60 to move, be with 60 also by the continuous wiping of brush. Flexible assembling line 30 eachPart has cleaning procedure timetable, for time-based maintenance and cleaning. Warm and the dark compartment tool of Flexible assembling line 30Being useful on instruction may have the label/mark clearly of the pocket of insect, periodic cleaning and routine inspection. Flexible assembling line 30Most of machine elements on 60 are adopted to non lubricant oil design features. When lubricated be essential and lubricated higher thanDuring with 60 height, food stage lubricating oil is used. The area that soaks of Flexible assembling line 30 is to make with S/S316 material, and other areas are the S/S304 that meet or have food stage. Flexible assembling line 30 has online count of bacteria function,Be used for monitoring its hygienic quality.

Flexible assembling line 30 has guarantees safe many functions in the time using Flexible assembling line 30. For example, mechanical armClose with the protected cover of movable part or cap seal. Need the machine movement region that operator accesses to be mounted latch door, safety connectionLocking device and safe light curtain. Sensor is installed near movable part forbids motion or the key place contacting with detecting, withIf just sensor detects dangerous method, corresponding machine parts will be stopped. Safety and alarm tag are attached to softOn property assembly line 30 for reminding machine operator. For electrical safety, Flexible assembling line 30 is by safety ground and itsElectric wire is connected to breaker.

In use, according in the preparatory stage of the method 100 of pallet packing, operator 70,72 is aobvious by firstShow that device 50 inputs 102 flight number in master computer 48, it makes master computer 48 retrieve 104 corresponding meal menus, foodThe kind of tableware and quantity, tableware require and other relevant informations. Master computer 48 further upload 106 holding tray surface figure,The weight of concrete shape, size, sanitary standard and food and non-food stuff article is to robot 78,82,86. In aviationThe in-flight catering center of company, when operator's 70,72 input flight number of mandate, required production quantity, pallet packingBetween and other related datas. The operator 70,72 who authorizes has the user who allows him/her that these manufacturing parameters are set and identifiesCode and password. The subscriber authorisation of different stage provides by master computer 48, for maintenance, production control and other objects.For example, the operator 70,72 of mandate can upload, revise and delete the menu of pallet packing according to flight number. Same therewithTime, when input is when production ordering, fill empty pallet trailer 62, fill non-food stuff article tank type reactor stack machine 54,56,Vibratory bowl sorter 58 and the empty go-cart 68 of filling selected food are moved 108 to Flexible assembling line 30.

Choose empty pallet 76 from trailer 62 before, pallet distributor 32 is checked 110 empty pallets 76 and is compared 112The image of empty pallet 76 and storage data (quality standard). Storage data comprise sanitary standard and the standard null holder of pallet 76The 3D template image (for example, color, size etc.) of dish. If the empty pallet 76 of scanning/inspection meets quality standard,Pallet distributor 32 use its suction cups with capture 114 empty pallets 76 mobile empty pallet 76 above camera for checking itBottom surface. Therefore,, if pallet 76 meets all acceptance/quality standards, pallet distributor 32 is by order and guide pallet to divideThe mechanical arm of orchestration is placed 116 empty pallets 76 to the front end 64 with 60 with the direction of being scheduled to. If empty pallet 76Do not meet one or more Acceptable criterions, empty pallet 76 will be knocked down ash can and be checked for Manual counter. That rejects is formerThe image of cause and disallowable empty pallet 76 will be recorded with for further study.

Clean empty pallet 80 is along being with 60 to advance 120 from front end 64 to the first loading depot 34. Once detect 124 to enteringClean empty pallet 80, the first loading depots 34 that come identify the position, speed of 122 clean empty pallets 80 (by being arranged onEncoder on pallet 46) and direction. The vision system of the first robot 78 catches 126 and stores in advance and be deposited in theThe rectangular disk of one tank type reactor stack machine 54 inside. If rectangular disk connects by visual inspection (vertical pivot 360 around tableware is spent)Be subject to standard, the first robot 78 will choose and move bottom surface the examining for bottom to vision camera of described rectangular disk aboveTest. If rectangular disk has also been passed through Acceptable criterion, the first robot 78 will place 128 rectangular disk according to holding tray surface figure and arriveOn clean empty pallet 80. If failure, the first robot 78 arrives rejection of commodities to reject station (not shown). The first dressCarry station 34 and comprise Pre-testing buffered station (not shown). In the backfilling process of downtime that reduces Flexible assembling line 30,Described buffered station provides backup. Buffered station memory disc is to replace disallowable dish. Repeat to reject and may postpone pallet componentPackaging. When the first robot 78 available free/when the standby time, buffered station is by backfill.

The standard compliant pallet 84 of quality is advanced further 120 to second loading depots 36. The second loading depot 36 determines 136Pallet 84 is near advanced positions, speed and the direction of its entrance. The two or four axle robot 82 stretch 138 its arms and fromIn the second tank type reactor stack machine 56, capture 140 tableware bags 141. Tableware bag 141 is lifted by the two or four axle robot 82 subsequently142 to pallet 84. The second loading depot 36 (, robot load module) obtains 144 around the pallet 88 loadingImage, and relatively 132 they and prepackage standards for quality examination. Around the vertical pivot 360 of the pallet 88 loadingDegree obtains image. If meet all correlated quality standards, the pallet 88 of loading will be allowed to advance 120 being with on 60.If the pallet 88 loading does not meet prepackage standard, tableware bag 141 is by by another meal in the second tank type reactor stack machine 56Tool bag 141 replaces 148. The second robot 82 can be also five axle robot or six-joint robots.

The 3rd loading depot 38 is at its entrance perception 150 pallets 88. The 3rd loading depot 38 further checks 152 pallets 88Position, speed and direction. The three or four axle robot 86 stretches 154 its arms to vibratory bowl sorter 58 and captures 156Fruit bowl (not shown). Then fruit bowl is placed 160 on pallet 88. Be similar to the first and second loading depots 34,162 images with pallet 90 top views of fruit bowl are taken by 36, the three loading depots 38. The phase of the 3rd loading depot 38Machine is taken the image of 162 pallet 90 epispheres around pallet 90 vertical pivots. Process image by contrast prepackage standard. AsFruit meets all standards, and pallet 90 is allowed to leave 166 from the 3rd loading depot 38. But, if fruit bowl is discontentedThe one or more prepackage standards of foot, fruit bowl will be taken away 168 from pallet 88. For example,, if fruit bowl breaks and toolHave sharp edge, fruit bowl will be replaced 170 by another. The type of the tableware loading in loading depot 34,36,38 andOrder changes according to dietetic requirement.

Several operators 70,72 are sitting in 40 sides, manual load station of next-door neighbour the 3rd loading depot 38. Operator 70,72Choose 172 soft breakables from manual load station 40 and their are placed to 174 to the specific bit the pallet 90 of coming inPut. Soft breakables comprise capsicum bag, packaging bread, Yoghourt bag etc. In the time placing 174 these article, operatorAlso carefully check 176 whether have any breakage, overflow or contaminated food or non-food stuff article. Do not meet quality standardArticle taken away 178 and done over again from being with 60. Operator 70,72 regularly checks that 180 second displays 52 are for regulatingThe speed of pallet packing and state. If necessary, operator 70,72 can intervene the life of 182 Flexible assembling lines 30Produce to keep in repair immediately or periodic maintenance. Second display 52 offers that 50 1 kinds of the first displays substitute so as operator 70,72 can interact in two positions and master computer 48.

Described (finally) inspection and rejecting station 42 and automatic rejection station 43 have for analyzing a pallet component completingMachine vision function. The pallet component completing comprises food and the non-food stuff article for a meal is provided. For example, completePallet component have as the meal tray 76 of its substrate, the rectangle bag of filling rice, fruit bowl, sealing of maintenanceTeacup, tableware bag, one bowl of salad, muffin and the crispbread bag etc. of packaging of equipment for prepn. of yoghurt. In when operation, detect andReject that station 42 obtains the serial-gram of 184 pallet components that complete and comparison 186 serial-grams and as inspection of quality markThe prestrain image of the accurate pallet component completing.

Rejecting station 43 does not meet the pallet component completing of prestrain standard and piles up 190 disallowable holders detaining 188Dish assembly is in collecting receptacle (not shown). By contrast, if because meet all prestrain standards, inspection and rejectingThe 42 pairs of pallet components that complete of standing please oneself, and automatic rejection station 43 will not take any action the pallet component completing.

Pallet receives 192 pallet components that complete to car loading depot 44 in the rear end 66 with 60. Pallet is to car loading depotThe 44th, be similar to industrial robot or the mechanical tray propeller of pallet distributor 32. In operation, automatic palletApproach 194 with 60 and hold on to 196 pallet components that complete to car loading depot 44. Pallet is identified to car loading depot 44198 are adjacent to the suitable groove in the go-cart 68 of rear end 66, and the pallet completing is inserted in described groove completely. HolderDish is inserted into the pallet component completing subsequently in go-cart 68 in next available slot to car loading depot 44. If go-cart68 pallet components of almost having filled, pallet transmits alarm signal to master computer 48 to car loading depot 44. Host computerMachine 48 will show that on display 50,52 204 for asking the message of empty go-cart 68. According to request, empty go-cart 68Be provided for pallet to car loading depot 44. Pallet will paste in the go-cart of the pallet component having filled to car loading depot 44A label 206 is for identification in the future. Label comprises one or more bar codes, response (QR) code, radio frequency are known fastNot (FRID) code and text, understands for people and machine. Alternatively, pallet can be a machinery to car loading depot 44Pallet propeller.

Fig. 3 shows the second Flexible assembling line for pallet packing 210. The second Flexible assembling line 210 has and is similar toThe parts of the first Flexible assembling line 30 or operating procedure. Like or method step are labeled as same or similar accompanying drawing markNote. The description of like or step, is suitably being incorporated to herein in situation by reference.

The second Flexible assembling line 210 provides more particularly bright to modularized design concept. Especially, the second flexible assemblyLine 210 comprises pallet distributor 32, the first loading depot 34, the second loading depot 36, the 3rd loading depot 38, manual loadStand 40, swivel mount 91, inspection and reject station 42, automatic rejection station 43 and pallet to car loading depot 44, their most edgesConveyer 46 arranges point-blank. These stations by modularized design so that they can be independently operated and further be connected toOperation together. For example, the first loading depot 34, the second loading depot 36 and the 3rd loading depot 38 have machine vision functionIndustrial robot, they can install or remove in the situation that being independent of each other.

Fig. 4 shows a perspective view of the second Flexible assembling line 210. The second Flexible assembling line 210 can be by comprisingBe modified for four shuntings of automatically choosing non-food stuff article with the industrial robot of machine vision. The second Flexible assembling line210 also can be by comprising that three shuntings of automatically choosing food for the industrial robot with robot vision are modified,It is as two module operations. The second Flexible assembling line 210 can be by comprising three shuntings and for operator 70,72Ten shelfs with swivel mount 91 of choosing by hand are further modified, and it is as a module operation.

Fig. 5 shows the 3rd Flexible assembling line 212 for pallet packing. The 3rd Flexible assembling line 212 has and is similar toParts and the operating procedure of other Flexible assembling lines 30,210. Like or method step are labeled as same or similarReference numeral. The description of like or step, is suitably being incorporated to herein in situation by reference.

Each in the first loading depot 34, the second loading depot 36 and the 3rd loading depot 38 is respectively integrated four axle machinesDevice people 78,82,84. The first loading depot 34 and the second loading depot 36 all distinguish their tank type reactor stack machine 54 integrated,56, and the 3rd loading depot 38 integrated vibratory bowl sorter 58. All the first loading depots 34, the second loading depot 36 andThree loading depots 38 are arranged in a side of conveyer 46 successively, and the 4th loading depot 214 of the 3rd Flexible assembling line 212,The 5th loading depot 216 and the 6th loading depot 218 are arranged on the opposite side of conveyer 46, respectively with the first loading depot34, the second loading depot 36 is relative with the 3rd loading depot 38. The 4th loading depot 214 and the 5th loading depot 216 have similarIn parts and the function of the first loading depot 34 and the second loading depot 36. The 6th loading depot 218 has and is similar to the 3rd loadingStand 38 parts and function.

Fig. 6 shows the perspective view of the 3rd Flexible assembling line 212. The 3rd Flexible assembling line 212 can by comprise forAutomatically eight shuntings of choosing non-food stuff article with the industrial robot of machine vision are modified, and it is as four module operations.The 3rd Flexible assembling line 212 also can be chosen six of food automatically by comprising for the industrial robot with machine visionShunting is modified, and it is as two module operations. The 3rd Flexible assembling line 212 can by comprise three shuntings and for behaviourManual ten shelfs with swivel mount 91 chosen of author 70,72 are further modified, and it is as a module operation.

Fig. 7 shows a non-food stuff article vision robot module 234, and it is also referred to as the first loading depot 34 or the secondLoading depot 36. A plan view/top view and a side view of non-food stuff vision robot module 34,36 are provided.Non-food stuff vision robot module 34,36 comprises the rejecting conveyer 220 for taking the defective tableware of visual inspection away. Figure7 also show first case 222 and second case 224, and they are mounted with non-food stuff article (for example, cup) and are placedTo a side of four axle robots 78,82. Four axle robots 78,82 are installed on floor. Empty go-cart 222,226The 3rd case 226 and the 4th case 228 are empty, and they are positioned at the opposite side of four axle robots 78,82. Four axle machinesPeople 78,82 takes non-food stuff article away from first case 222 and second case 224, and the case 226,228 exhausting is transmittedMachine 230 is taken away. By contrast, be transported to four axles by another conveyer 232 first case 222 and second case 224Robot 78,82.

Fig. 8 shows another non-food stuff vision robot module 236, and it is also referred to as the first loading depot 34 or the first dressCarry station 34. Four axle robots 78,82 before contrast, these four axle robots 78,82 are mounted on ceiling.

Fig. 9 shows a food vision robot module 238, and it is similar to the 3rd loading depot 38. Food visual machinePeople's module 238 comprises for example, conveyer 240 for victual 242 (, cheese), and for removing up-to-standard foodAnother conveyer 244 of product 246. The three or four axle robot 86 is mounted on ceiling. Do not examine by visionThe disallowable food 246 of testing is transported to ash can 248 for manual examination (check).

Figure 10 shows another food vision robot module 250, and it comprises automatic food distributor 252. Automatically foodProduct distributor 252 comprises the rotatable food hopper 254, steering gear 256 and the conveyer that are vertically arranged in order258. Rotatable food hopper 254 is for example divided into compartment, for holding various food (, cheese, Yoghourt). MakeWith in, rotatable food hopper 254 shakes to distribute food in steering gear 256 below. Steering gear 256 hasThe opening of reservation shape, it allows corresponding food to fall on conveyer 258 below for the three or four axle robot 86Processing.

Figure 11 shows the automatic disc of for Flexible assembling line 30,210,212,214,216,218Conveyer 91. Automatic disc conveyer 91 comprises the top sprocket gear 260 and the end sprocket gear that connect by chain 264262, it forms roller chain, drive chain or driving-chain 266. Automatic disc conveyer 91 has horizontal positioned and passes throughThe charging pallet 268 that chain 264 carries. Operator's 70 loading of pieces in automatic disc conveyer 91 1 sides 270 arriveOn applicable charging pallet 268, and from charging pallet 268, unload food another operator 72 of opposite side 272.

Figure 12 shows a part for the first Flexible assembling line 30. The first Flexible assembling line 30 comprises for filling from flexibilityDistribution 30 transmits object or transmits the automatic guide vehicle (AGV) 274 of object to Flexible assembling line 30. For example, AGV274Transmission is filled the go-cart of pallet component to the warehouse of flight center, and mobile empty go-cart is to Flexible assembling line 30. AGVCan be further transport food or non-food stuff article to Flexible assembling line 30 according to projected route, this has just been avoided operator70,72 remove mobile these article. For transmitting continuously conventional article, AGV274 is more reliable and have a cost benefit.

Figure 13 shows automatically boxing piler and disk conveyer 278, and they are for a simplification of pallet packingThe part of Flexible assembling line 276. Flexible assembling line 276 comprises automatically boxing piler and disk conveyer 278. AutomaticallyTank type reactor stack machine and disk conveyer 278 are connected to the first loading depot 34 so that automatically boxing piler and disk conveyerCase 280 on 278 coordinates the one or four axle robot 78 automatic rotaries to transfer for choosing required non-food stuff article.

Figure 14 shows a process chart 282 that uses automatically boxing piler and disk conveyer 278, and it comprisesSeveral method steps. In first step 284, whether quality (for example, meets standard to the empty pallet that operator checks intoHealth). Second step 286, the end face that robot load module (the first loading depot) 34 checks the pallet of coming in is for enteringOne step inspection. As third step 288, surperficial visual inspection can be by 360 degree omni-directional visual inspection replacements or at itHeel is checked with 360 degree omni-directional visuals, and this causes a more complete inspection. Non-food is loaded in robot load module 34After product article, the pallet component that part completes is sent to manual load station 40. Operator 70 is by further loading of piecesThe pallet component of the pallet component completing to described part to provide. In the 4th step 290, the pallet group completingWhether part is met quality standard by further manual examination (check).

Figure 15 shows the mechanical arm 292 of choosing two folded cups 294,296. Mechanical arm 292 is to be similar to firstFour axle robots of four the 78 and the 24 axle robots 82 of axle robot. Figure 15 has described typical case's failure of choosing, whereinMention two folded cups 294,296 as the suction cup 298 of its end effector and leave the 3rd glass 300. Due to two cups 294,Parital vacuum between 296, second/end cup 296 adheres to first/top cup 294.

Mechanical arm 292 is robots of enabling machine vision, and it is similar to pallet distributor 32, inspection and rejects station42, automatic rejection station 43, pallet are to car loading depot 44, the one or four the 78, the 24 axle robot 82 of axle robot,Three or four axle robots 86, the 4th loading depot 214, the 5th loading depot 216 and the 6th loading depot 218. Mechanical arm 292Enable 2D and 3D machine vision, checked that cleaning quality (does not have water stain and dirty so that its machine vision (MV) providesDirt), food, non-food stuff article and the surface integrity of pallet and the integrality of outline of these article (for example, do not lackMouthful) the automatic gauging based on image and analysis. Mechanical arm 292 can be by camera (not shown) at suitable lightAccording under obtain the image of object (for example, cup 294,298,300). Mechanical arm 292 has been mounted software kit, soThe various digital image processing techniques of rear employing are extracted information needed, and information based on extracted (for example, is maked decisionPass through/failure). For example, mechanical arm 292 adopts mode identification technology, and it adds in advance based on cup 294,296,300Back(ing) board causes discovery, coupling and/or counting AD HOC. Part covered by another object or vary in size obtain figurePosition, the angle and direction of the object (for example, pallet) of picture can be rotated. In addition, mechanical arm 292 has limitEdge detectability, its inspection is scanned/obtains size and the integrality of outline of object (for example, cup). Broken, jagged,Therefore distortion or the food or the non-food stuff article that flatten can be detected to avoid operating loss before packaging.

Process that technology that camera obtains image comprises that pixel counts, image are cut apart, pattern-recognition (for example, template matches,Find, coupling and/or counting AD HOC), measure (, the measurement of dimension of object), rim detection, neutral net placeReason (, weighted sum self training multi-variable decision).

Especially, mechanical arm 292 by automated optical inspection (AOI) offer its choose object (for example, pallet 84,88,90, cup 294,296,300). When object is during by several light illuminating, AOI is the table of scanning object intuitivelyFace. This can monitor all perimeters of choosing object, even those are covered by other elements in one directionRegion also can be monitored. The common deficiency of food and non-food stuff article comprise cut, breach, water stain, food debris,Distortion, leak of liquid, dirt adhere to and variable color.

Station/robot 32,42,43,44,78,82,86,214,216,218 of enabling machine vision is connected toSo that they can carry out Processing with Neural Network, they can be weighted and self training multi-variable decision together.

Figure 16 shows the mechanical arm 292 reversing to break away from an attached cup 296. Especially, when lifting first glass 294Time, suction cup 298 rotates and swings. Therefore broken away from first glass 294 for second glass 296.

Figure 17 shows vibration to break away from the mechanical arm 292 of an attached cup 296. Suction cup 298 catch first glass 294 withJust their all vertically, flatly or vertically also flatly vibrations. Therefore fall below the 3rd glass 300 for second glass 296On.

Figure 18 shows heating to remove the mechanical arm 292 of an attached cup 296. Suction cup 298 has heat is sent toEmbedded heating element (not shown) on the cup 294 being selected. Due to the thermal expansion of first glass 294, first glass 294Easily remove from second glass 296. According to Figure 15 to Figure 18, cup 294,296,300 opening towards top orEnd effector 298. If these cups 294,296,300 down, mechanical arm 292 can similarly be chosen and shakeMoving these cups.

Be similar to other industrial robots or machine station 32,34,36,38,62,74,78,82,86,214,216,218, other end effectors of 234,236,238,250, end effector 298 is can in pallet packing operationWashing or can repeatedly clean. In practice, cleaning and disinfection station (not shown) are set to be close to arbitrary these worksIndustry robot or machine station 32,34,36,38,62,74,78,82,86,214,216,218,234,236,238,250. For example, cleaning and disinfection station comprise the water tank with entrance and exit. Clean water is injected in water tank,And dirty/with cross water from water tank, discharge. In packaging operation, end effector 298 is periodically immersed in water tank alsoDry up, make mechanical arm 292 in whole continuous packaging operation, keep clean. The washing of end effector can be madeRinsing/spray end effector 298 with disinfectant supplements or replaces. The cleaning of end effector can be irradiated by employing purpleOuter light is further strengthened to end effector 298.

When packaging pallet assembly, the conveyer 46,232,242 of Flexible assembling line 30,210,212,276 can be byContinuous or periodic cleaning. For example, sprayed by water below with 60, received by drain pan below and rinse with 60 waterCollection. Conveyer 46,232,242 or be with 60 can further be exposed under infrared light, ultraviolet light or brush, so thatIn whole pallet packing operation, keep conveyer 46,232,242 or the clean and health with 60. Cleaning device (exampleAs, shower nozzle, disinfectant nozzle/pump, bulb and brush) can be installed to separately or jointly Flexible assembling line 30,210,212, arbitrary machine station of 276.

Be right in whole explanation, some similar parts or operating procedure are labeled as similar or identical Reference numeral. Similar portionThe description of part or step, is suitably being incorporated to herein in situation by reference.

In application, unless otherwise specified, term " comprises ", " comprising " and its grammatical variants, is intended to represent open to the outside worldOr the meaning of " comprising ", so that comprising described element, they also allow to comprise the additional element of clearly not describing.

As used herein, the concentration of component in the preparation in context, term " about " typically refers to the +/-5 of described value%, more typically described value +/-4%, more typically described value +/-3%, more typically described value +/-2%,The even more typically +/-1% of described value and the even more typically +/-0.5% of described value.

In the whole disclosure, some embodiment can scope of application form disclose. The description of range format onlyBe for convenience and simplicity, should be interpreted as the hard limit to the scope of the present disclosure. Therefore, the description of scope shouldWhen being considered to specifically disclose the single numerical value in all possible subrange and described scope. For example, an exampleRange describe as from 1 to 6 should be considered to concrete disclosed subrange, for example from 1 to 3, from 1 to 4, from1 to 5, from 2 to 4, from 2 to 6, from 3 to 6 etc., and for example 1,2,3,4,5 and 6 within the scope of thisIndividual digit. The no matter width of scope, this is all suitable for.

Obviously, after having read above-mentioned disclosure, to those skilled in the art, in the essence that does not deviate from the applicationIn the situation of god and scope, the adaptability of various other amendments and application will be apparent, and be intended that so allModifications and changes within the scope of the appended claims.

Reference numeral

30 Flexible assembling lines

32 pallet distributors

34 first loading depots

36 second loading depots

38 the 3rd loading depots

40 manual load stations

42 inspections and rejecting station

43 automatic rejection stations

44 pallets are to car loading depot

46 conveyers

48 master computers

50 first displays

52 second displays

54 first tank type reactor stack machines

56 second tank type reactor stack machines

58 vibratory bowl sorters

60 bands

62 trailers

64 front ends

66 rear ends

68 go-carts

70 first operators

72 second operators

74 arms

76 empty pallets

78 the 1 axle robots

80 clean empty pallets

82 the 24 axle robots

84 pallets

86 the 34 axle robots

88 pallets

90 pallets

91 swivel mounts

92 is longitudinal

100 methods

102 inputs

104 retrievals

106 upload

108 move

110 inspections

112 relatively

114 capture

116 place

118 knock down

119 allow

120 advance

122 identifications

124 detect

126 catch

128 place

130 scannings

132 relatively

134 replace

136 determine

138 stretch

140 capture

141 tableware tray bags

142 lift

144 obtain

146 move

148 replace

150 perception

152 check

154 stretch

156 capture

158 commutations

160 place

162 take

164 process

166 leave

168 take away

170 replace

172 choose

174 place

176 carefully check

178 take away

180 check

182 intervene

184 obtain

186 relatively

188 detain

190 pile up

192 receive

194 approach

196 catch

198 identifications

200 insert

202 transmit

204 show

206 labels

210 second Flexible assembling lines

212 the 3rd Flexible assembling lines

214 the 4th loading depots

216 the 5th loading depots

218 the 6th loading depots

220 reject conveyer

222 first casees

224 second casees

226 the 3rd casees

228 the 4th casees

230 conveyers

232 conveyers

234 non-food stuff article vision robot modules

236 non-food stuff article vision robot modules

238 food vision robot modules

240 conveyers

242 food

244 conveyers 244

246 food off quality

248 ash cans

250 food vision robot modules

252 automatic food distributors

254 rotatable food hoppers

256 steering gears

258 conveyers

260 top sprocket gears

262 end sprocket gears

264 chains

266 roller chains

268 charging pallets

270 1 sides

272 opposite sides

274 automatic guide vehicles

276 Flexible assembling lines

278 automatically boxing pilers and disk conveyer

280 casees

282 methods

284 first steps

286 second steps

288 third steps

290 the 4th steps

292 mechanical arms

294 first glasss

296 second glasss

298 suction cups

300 the 3rd glasss

Claims (33)

1. the Flexible assembling line for pallet packing (30,210,212,276), comprising:

Pallet distributor (32,62), it is for pallet (76,80,84,88,90) is provided, and

Loading depot (34,36,38,214,216,218,234,236,238,250), it is adjacent to described palletDistributor (32,62), for automatically place food or non-food stuff article to described pallet (76,80,84,88,90) on;

Wherein, described pallet distributor (32,62), described loading depot (34,36,38,214,216,218,234,236,238,250) or their any combination, include for choosing food or non-food stuff article (242)Industrial robot (32,78,82,86,292), and

Described industrial robot (32,78,82,86,292) comprises two chooses wrong end for what avoid pallet packingEnd actuator.

2. Flexible assembling line as claimed in claim 1 (30,210,212,276), also comprises that pallet is to car loading depot(44,68), described pallet is connected to described loading depot (34,36,38,218,234,236,238) to car loading depot,For the pallet packing having removed from described loading depot (34,36,38,218,234,236,238).

3. Flexible assembling line as claimed in claim 1 or 2 (30,210,212,276), also comprises conveyer (46),Described conveyer connect described pallet distributor (32,62), described loading depot (34,36,38,218,234,236,238), described pallet is to car loading depot (44,68) or their any combination.

4. Flexible assembling line as claimed in claim 1 (30,210,212,276), also comprise inspection and reject station (42,43), it is for checking the quality of food and non-food stuff article (242).

5. Flexible assembling line as claimed in claim 1 (30,210,212,276), also comprises at least one sorter(54,56,58), it is for arranging described food or non-food stuff article.

6. Flexible assembling line as claimed in claim 1 (30,210,212,276), wherein said pallet distributor (32,62), described loading depot (34,36,38,214,216,218,234,236,238), described pallet load to carStand (44,68) or their any combination comprises the industrial machine for choosing described food or non-food stuff article (242)People (32,78,82,86,292).

7. Flexible assembling line as claimed in claim 1 (30,210,212,276), wherein said pallet distributor (32,62), described loading depot (34,36,38,214,216,218,234,236,238), described pallet load to carStand (44,68), described industrial robot (32,78,82,86,292) or their any combination have for knowingThe not machine vision of various body forms.

8. Flexible assembling line as claimed in claim 1 (30,210,212,276), wherein said pallet distributor (32,62), described loading depot (34,36,38,214,216,218,234,236,238), described pallet load to carStand (44,68), described industrial robot (32,78,82,86,292) or their any combination have for respectivelyPlant the machine vision of object surface structure.

9. Flexible assembling line as claimed in claim 1 (30,210,212,214,216,218), wherein said holderDish distributor (32,62), described loading depot (34,36,38,214,216,218,234,236,238), instituteState pallet to car loading depot (44,68), described industrial robot (32,78,82,86,292) or theirs is anyIn combination at least two are connected and for Processing with Neural Network.

10. Flexible assembling line as claimed in claim 1 (30,210,212,276), wherein said pallet distributor(32,62), described loading depot (34,36,38,214,216,218,234,236,238), described pallet arriveCar loading depot (44,68), described industrial robot (32,78,82,86,292) or their any combination are by mouldBe connected to blocking described Flexible assembling line (30,210,212,214,216,218) so as its can with described flexibilityThe miscellaneous part of assembly line (30,210,212,214,216,218) disconnects and does not affect miscellaneous part.

11. Flexible assembling lines as claimed in claim 1 (30,210,212,276), also comprise conveyer (46)With inspection and rejecting station (42,43), wherein, described conveyer connects described pallet distributor (32,62), described dressCarry station (34,36,38,218,234,236,238), described pallet to car loading depot (44,68) or they timesWhat combination, described inspection and rejecting station (42,43) are for checking the quality of food and non-food stuff article (242).

12. Flexible assembling lines as claimed in claim 11 (30,210,212,276), wherein said pallet distributor(32,62), described loading depot (34,36,38,214,216,218,234,236,238), described pallet arriveCar loading depot (44,68), described conveyer (46), described inspection and reject station (42,43) or their any groupClose the industrial robot (32,78,82,86,292) comprising for choosing described food or non-food stuff article (242).

13. Flexible assembling lines as claimed in claim 11 (30,210,212,276), wherein said pallet distributor(32,62), described loading depot (34,36,38,214,216,218,234,236,238), described pallet arriveCar loading depot (44,68), described conveyer (46), described inspection and rejecting station (42,43), described industrial robot(32,78,82,86,292) or their any combination have the machine vision for identifying various body forms.

14. Flexible assembling lines as claimed in claim 11 (30,210,212,276), wherein said pallet distributor(32,62), described loading depot (34,36,38,214,216,218,234,236,238), described pallet arriveCar loading depot (44,68), described conveyer (46), described inspection and rejecting station (42,43), described industrial robot(32,78,82,86,292) or their any combination have the machine vision for various object surface structures.

15. Flexible assembling lines as claimed in claim 11 (30,210,212,214,216,218), wherein saidPallet distributor (32,62), described loading depot (34,36,38,214,216,218,234,236,238),Described pallet to car loading depot (44,68), described conveyer (46), described inspection and reject station (42,43), described inIn industrial robot (32,78,82,86,292) or their any combination at least two are connected and for nerveNetwork processes.

16. Flexible assembling lines as claimed in claim 11 (30,210,212,276), wherein said pallet distributor(32,62), described loading depot (34,36,38,214,216,218,234,236,238), described pallet arriveCar loading depot (44,68), described conveyer (46), described inspection and rejecting station (42,43), described industrial robot(32,78,82,86,292) or their any combination by Modularly be connected to described Flexible assembling line (30,210,212,214,216,218) so as its can with described Flexible assembling line (30,210,212,214,216,218)Miscellaneous part disconnect and do not affect miscellaneous part.

17. Flexible assembling lines as claimed in claim 1 (30,210,212,276), wherein said loading depot (34,36,38,214,216,218,234,236,238) comprise for food or non-food stuff article (242) are supplied toThe conveyer (232) of case (222,224), and for removing another conveyer (230) of empty van (226,228).

18. Flexible assembling lines as claimed in claim 1 (30,210,212,276), also comprise manual load station (40),It is for manual load, unloading or check food or non-food stuff article (242).

19. Flexible assembling lines as claimed in claim 1 (30,210,212,276), also comprise swivel mount, its toolBe useful on the movably charging pallet (268) that transmits food or non-food stuff article (242).

20. Flexible assembling lines as claimed in claim 1 (30,210,212,276), also comprise for touching of controllingPanel type display (50,52), it is connected to described Flexible assembling line (30,210,212,214,216,218)Master computer (48).

21. Flexible assembling lines as claimed in claim 1 (30,210,212,276), also comprise for the packaging of takingGood pallet component or the automatic guide vehicle (274) of empty pallet (76,84,88,90).

22. Flexible assembling lines as claimed in claim 1 (30,210,212,276), also comprise that automatic food distributesDevice (252), described automatic food distributor comprises rotatable food hopper (254), steering gear (256) and conveyer(46,258), described rotatable food hopper (254) has at least one compartment for storing food (242).

23. Flexible assembling lines as claimed in claim 1 (30,210,212,276), wherein said industrial robot(32,78,82,86,292) have the end effector (298) for rotating.

24. Flexible assembling lines as claimed in claim 1 (30,210,212,276), wherein said industrial robot(32,78,82,86,292) have the end effector (298) for shaking.

25. Flexible assembling lines as claimed in claim 1 (30,210,212,276), wherein said industrial robot(32,78,82,86,292) have the end effector (298) for heating.

26. Flexible assembling lines as claimed in claim 1 (30,210,212,276), also comprise and cleaning and disinfection station,It is for cleaning the end effector (298) of described industrial robot (32,78,82,86,292).

27. Flexible assembling lines as claimed in claim 3 (30,210,212,276), also comprise and cleaning and dry station,It is for cleaning the band (60) of described conveyer (46,220,230,232,240,258).

28. 1 kinds of catering centers, its have one or more Flexible assembling line as claimed in claim 1 (30,210,212、276)。

29. 1 kinds use the method (100) of the Flexible assembling line for pallet packing as claimed in claim 1, comprising:

Receive pallet (76,80,84,88,90),

Avoid two mistakes of choosing of pallet packing,

Food or non-food stuff article (242) are provided, and

Described in automatic loading, food or non-food stuff article (242) are to described pallet (76,80,84,88,90).

30. methods as claimed in claim 29 (100), also comprise:

Check described pallet (76,80,84,88,90), described food or non-food stuff article (242) by machine visionWith the pallet (84,88,90) loading.

31. methods (100) as described in claim 29 or 30, also comprise:

Transmit the pallet (84,88,90) loading to the go-cart for transporting (68).

32. 1 kinds the flexible assembly for pallet packing (30,210,212,276) as claimed in claim 1 is installedThe method (100) of line, described method comprises:

Be provided for providing the pallet distributor (32,62) of pallet (76,80,84,88,90), and

By loading depot (34,36,38,214,216,218,234,236,238,250) be arranged to be adjacent to forAutomatically place food or non-food stuff article to the pallet distributor on described pallet (76,80,84,88,90) (32,62) (with setting tool).

33. 1 kinds of configuration flexible assemblies for pallet packing (30,210,212,276) as claimed in claim 1The method (100) of line, comprising:

Load the software kit for the processing of machine vision image.