CN105151393A - Automatic packing production line based on improved delta robot - Google Patents
Automatic packing production line based on improved delta robot Download PDFInfo
- Publication number
- CN105151393A CN105151393A CN201510468653.7A CN201510468653A CN105151393A CN 105151393 A CN105151393 A CN 105151393A CN 201510468653 A CN201510468653 A CN 201510468653A CN 105151393 A CN105151393 A CN 105151393A
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- China
- Prior art keywords
- robot
- control system
- degree
- delta robot
- base
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
- B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
Abstract
The invention provides an automatic packing production line based on an improved delta robot, relates to the technical field of automated food production lines and further discloses an automatic food packing system. The automatic food packing system is composed of an electric base sliding table (10), a pair of bases (11), a robot gantry rack (12), the six-degree-of-freedom delta robot (13), a rotary pneumatic picking claw (14), a robot visual control system (20), an image comparison recognition system (21), a production line control system (22), qualified product packaging boxes (15) and unqualified production collection boxes (16). The sliding rails of the electric base sliding table (10) are parallel to the two sides of a conveying belt (4) and fixedly arranged on the ground. The automatic packing production line is reasonable in process layout, high in automation degree and high in efficiency and has very high market population value, manpower is saved greatly, the food specifications are highly unified.
Description
Technical field
The present invention relates to food automatic production line technical field, be specifically related to the automatic mounted box manufacturing line based on improved type delta robot.
Background technology
At present, the test package being similar to the manufacturing line of bread-type food products mainly takes traditional artificial congnition to carry out mounted box, mainly because, for the bread that oven cooking cycle is complete, unordered puts on the conveyor belt, to be undertaken identifying whether being qualified bread by intelligent apparatus, and accurately pick up and be placed in box, more difficult, manual type traditional like this carries out mounted box, not only waste a large amount of manpower and materials, and cannot ensure to work long hours down, the accuracy of artificial congnition.
Summary of the invention
The deficiency of object of the present invention mainly in order to solve the problem, and the automatic mounted box manufacturing line based on improved type delta robot is provided.
The present invention includes puddle mixer, fermentation machine, baking box and the load-transfer device for transporting bread, the inlet point of fermentation machine is communicated by pipeline and valve with the discharging opening of puddle mixer, the inlet point of baking box is positioned at the discharge outlet of fermentation machine, it also has the automatic clip loading system of food, the automatic clip loading system of food is by the electronic slide unit of base, a pair base, robot gantry stand, six degree of freedom delta robot, rotary pneumatic picks up pawl, robot vision control system, image comparison recognition system, production line control system, certified products packing box and off gauge disposable box, a pair slide rail of the electronic slide unit of base is parallel to load-transfer device both sides respectively, and fixed installation on the ground, a pair base is arranged on the slide block on the electronic slide unit of base a pair slide rail respectively, the connecting panel for docking base is respectively equipped with bottom the column on the both sides of robot gantry stand, the top of robot gantry stand is provided with the substrate for installing six degree of freedom delta robot, the below of substrate is provided with three servomotor mounting bases, connecting panel for docking base is mounted by means of bolts on base, three servomotors of six degree of freedom delta robot are fixedly mounted on robot gantry stand respectively for installing the substrate of six degree of freedom delta robot, and the reverse extending line of the power arm that six degree of freedom delta robot is connected with three servomotors meets at the center of the substrate for installing six degree of freedom delta robot after installation, rotary pneumatic is picked up pawl and is arranged on six degree of freedom delta robot, robot vision control system is made up of high-definition camera head group and robot control system, high-definition camera group is fixedly mounted on load-transfer device both sides respectively by support, image comparison recognition system and high-definition camera head group are connected by communication, robot control system is connected by communication with high-definition camera head group and image comparison recognition system respectively, robot control system controls the action of six degree of freedom delta robot, production line control system respectively with puddle mixer, fermentation machine, baking box, load-transfer device, the electronic slide unit of base, robot vision control system and image comparison recognition system are connected by communication, certified products packing box and off gauge disposable box are placed in load-transfer device both sides desired location respectively by support.
Image comparison recognition system obtains image to high-definition camera head group and storage standard image sets contrasts, make qualified nonconformity to judge, robot control system is connected by communication with high-definition camera head group and image comparison recognition system respectively, and bread location information on the load-transfer device detected according to high-definition camera head group and image comparison recognition system are made respective action to the whether qualified judgement signal control six degree of freedom delta robot that this position bread is made and to be captured by corresponding bread and put into corresponding certified products packing box or off gauge disposable box.
Production line control system controls the startup of the electronic slide unit of puddle mixer, fermentation machine, baking box, load-transfer device and base, stopping and work speed respectively.
Advantage of the present invention is: popularization of the present invention can provide a kind of automatic mounted box manufacturing line being applicable to bread-type food products manufacturing line, and process layout is reasonable, and degree of automation is high, greatly save manpower, production line efficiency is high, codex alimentarius high unity, has good market popularization value.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is control principle schematic diagram of the present invention.
Detailed description of the invention
As Fig. 1, shown in 2, the present invention includes puddle mixer 1, fermentation machine 2, baking box 3 and the load-transfer device 4 for transporting bread, the inlet point of fermentation machine 2 is communicated by pipeline and valve with the discharging opening of puddle mixer 1, the dough that baking box 3 ferments for toasting fermentation machine 2, it also has the automatic clip loading system of food, the automatic clip loading system of food is by the electronic slide unit 10 of base, a pair base 11, robot gantry stand 12, six degree of freedom delta robot 13, rotary pneumatic picks up pawl 14, robot vision control system 20, image comparison recognition system 21, production line control system 22, certified products packing box 15 and off gauge disposable box 16, a pair slide rail of the electronic slide unit 10 of base is parallel to load-transfer device 4 both sides respectively, and fixed installation on the ground, a pair base 11 is arranged on the slide block on the electronic slide unit 10 of base a pair slide rail respectively, the connecting panel for docking base is respectively equipped with bottom the column on the both sides of robot gantry stand 12, the top of robot gantry stand 12 is provided with the substrate 12-2 for installing six degree of freedom delta robot, the below of substrate 12-2 is provided with three servomotor mounting base 12-2-1, connecting panel for docking base is mounted by means of bolts on base 11, three servomotors of six degree of freedom delta robot 13 are fixedly mounted on robot gantry stand 12 respectively for installing the substrate 12-2 of six degree of freedom delta robot, and the reverse extending line of the power arm that six degree of freedom delta robot 13 is connected with three servomotors meets at the center of the substrate 12-2 for installing six degree of freedom delta robot after installation, rotary pneumatic is picked up pawl 14 and is arranged on six degree of freedom delta robot 13, robot vision control system 20 is made up of high-definition camera head group and robot control system, high-definition camera group is fixedly mounted on load-transfer device 4 both sides respectively by support, image comparison recognition system 21 and high-definition camera head group are connected by communication, robot control system is connected by communication with high-definition camera head group and image comparison recognition system 21 respectively, robot control system controls the action of six degree of freedom delta robot 13, production line control system 22 respectively with puddle mixer 1, fermentation machine 2, baking box 3, load-transfer device 4, the electronic slide unit 10 of base, robot vision control system 20 and image comparison recognition system 21 are connected by communication, certified products packing box 15 and off gauge disposable box 16 are placed in load-transfer device 4 both sides desired location respectively by support.
Image comparison recognition system 21 pairs of high-definition camera head groups obtain image and storage standard image sets contrasts, make qualified nonconformity to judge, robot control system is connected by communication with high-definition camera head group and image comparison recognition system 21 respectively, and bread location information on the load-transfer device 4 detected according to high-definition camera head group and image comparison recognition system 21 are made respective action to the whether qualified judgement signal control six degree of freedom delta robot 13 that this position bread is made and to be captured by corresponding bread and put into corresponding certified products packing box 15 or off gauge disposable box 16.
Production line control system 22 controls the startup of the electronic slide unit 10 of puddle mixer 1, fermentation machine 2, baking box 3, load-transfer device 4 and base, stopping and work speed respectively.
Mode of operation and principle: bread raw materials joins in puddle mixer 1 and stirs, join fermentation machine 2 li after stirring completes to ferment, half-blank after having fermented toasts in baking box 3, the load-transfer device 4 that what the finished product bread toasted was unordered be placed in for transporting bread, and outwards carry, when a collection of bread baking is complete go out from tape transport after, enter into robot work region, image comparison recognition system 21 pairs of high-definition camera head groups obtain image and storage standard image sets contrasts, make qualified nonconformity to judge, robot control system is connected by communication with high-definition camera head group and image comparison recognition system 21 respectively, and the whether qualified judgement signal control six degree of freedom delta robot 13 that bread location information on the load-transfer device 4 detected according to high-definition camera head group and image comparison recognition system 21 are made this position bread, if qualified, robot control system controls the pneumatic pawl 14 of picking up of six degree of freedom delta robot 13 action driven rotary formula and puts in certified products packing box 15 by the crawl of this bread, bread is grabbed in off gauge disposable box 16 by no person, the electronic slide unit 10 of base and six degree of freedom delta robot 13 with the use of, greatly can expand the operating range of six degree of freedom delta robot 13, reduce the layout quantity that robot is right, reduce equipment investment.
Claims (3)
1. based on the automatic mounted box manufacturing line of improved type delta robot, comprise puddle mixer (1), fermentation machine (2), baking box (3) and the load-transfer device (4) for transporting bread, the inlet point of fermentation machine (2) is communicated by pipeline and valve with the discharging opening of puddle mixer (1), the inlet point of baking box (3) is positioned at the discharge outlet of fermentation machine (2), it is characterized in that it also has the automatic clip loading system of food, the automatic clip loading system of food is by the electronic slide unit of base (10), a pair base (11), robot gantry stand (12), six degree of freedom delta robot (13), rotary pneumatic picks up pawl (14), robot vision control system (20), image comparison recognition system (21), production line control system (22), certified products packing box (15) and off gauge disposable box (16), a pair slide rail of the electronic slide unit of base (10) is parallel to load-transfer device (4) both sides respectively, and fixed installation on the ground, a pair base (11) is arranged on the slide block on the electronic slide unit (10) of base a pair slide rail respectively, the connecting panel for docking base is respectively equipped with bottom the column on the both sides of robot gantry stand (12), the top of robot gantry stand (12) is provided with the substrate (12-2) for installing six degree of freedom delta robot, the below of substrate (12-2) is provided with three servomotor mounting bases (12-2-1), connecting panel for docking base is mounted by means of bolts on base (11), three servomotors of six degree of freedom delta robot (13) are fixedly mounted on robot gantry stand (12) respectively for installing the substrate (12-2) of six degree of freedom delta robot, and the reverse extending line of the power arm that six degree of freedom delta robot (13) is connected with three servomotors meets at the center of the substrate (12-2) for installing six degree of freedom delta robot after installation, rotary pneumatic is picked up pawl (14) and is arranged on six degree of freedom delta robot (13), robot vision control system (20) is made up of high-definition camera head group and robot control system, high-definition camera group is fixedly mounted on load-transfer device (4) both sides respectively by support, image comparison recognition system (21) and high-definition camera head group are connected by communication, robot control system is connected by communication with high-definition camera head group and image comparison recognition system (21) respectively, robot control system controls the action of six degree of freedom delta robot (13), production line control system (22) respectively with puddle mixer (1), fermentation machine (2), baking box (3), load-transfer device (4), the electronic slide unit of base (10), robot vision control system (20) and image comparison recognition system (21) are connected by communication, certified products packing box (15) and off gauge disposable box (16) are placed in load-transfer device (4) both sides desired location respectively by support.
2. the automatic mounted box manufacturing line based on improved type delta robot according to claim 1, it is characterized in that image comparison recognition system (21) obtains image to high-definition camera head group and storage standard image sets contrasts, make qualified nonconformity to judge, robot control system is connected by communication with high-definition camera head group and image comparison recognition system (21) respectively, and bread location information on the load-transfer device (4) detected according to high-definition camera head group and image comparison recognition system (21) are made respective action to whether qualified judgement signal control six degree of freedom delta robot (13) that this position bread is made and to be captured by corresponding bread and put into corresponding certified products packing box (15) or off gauge disposable box (16).
3. the automatic mounted box manufacturing line based on improved type delta robot according to claim 1, is characterized in that production line control system (22) controls the startup of puddle mixer (1), fermentation machine (2), baking box (3), load-transfer device (4) and the electronic slide unit of base (10), stopping and work speed respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510468653.7A CN105151393A (en) | 2015-08-04 | 2015-08-04 | Automatic packing production line based on improved delta robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510468653.7A CN105151393A (en) | 2015-08-04 | 2015-08-04 | Automatic packing production line based on improved delta robot |
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| Publication Number | Publication Date |
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| CN105151393A true CN105151393A (en) | 2015-12-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510468653.7A Pending CN105151393A (en) | 2015-08-04 | 2015-08-04 | Automatic packing production line based on improved delta robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109592127A (en) * | 2018-12-07 | 2019-04-09 | 上海发那科机器人有限公司 | A method of cup is packed using industrial robot |
| CN110369315A (en) * | 2019-06-28 | 2019-10-25 | 广东鑫能机器人科技有限公司 | A kind of jewelry machining production line |
Citations (5)
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| EP2551222A1 (en) * | 2011-07-29 | 2013-01-30 | Vendée Concept | Installation for handling products, especially slices of food |
| CN202922583U (en) * | 2012-12-13 | 2013-05-08 | 大连理工计算机控制工程有限公司 | A high-speed parallel robot pickup device with vision |
| CN103101643A (en) * | 2013-01-15 | 2013-05-15 | 东莞市凯昶德电子科技股份有限公司 | Charged coupled device (CCD) automated detecting device for connector |
| EP2669202A1 (en) * | 2012-05-31 | 2013-12-04 | Multivac Sepp Haggenmüller GmbH & Co. KG | Method for picker line and packaging plant |
| CN104265854A (en) * | 2014-08-09 | 2015-01-07 | 哈尔滨博强机器人技术有限公司 | Six-degree-of-freedom Delta robot transmission mechanism |
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2015
- 2015-08-04 CN CN201510468653.7A patent/CN105151393A/en active Pending
Patent Citations (5)
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|---|---|---|---|---|
| EP2551222A1 (en) * | 2011-07-29 | 2013-01-30 | Vendée Concept | Installation for handling products, especially slices of food |
| EP2669202A1 (en) * | 2012-05-31 | 2013-12-04 | Multivac Sepp Haggenmüller GmbH & Co. KG | Method for picker line and packaging plant |
| CN202922583U (en) * | 2012-12-13 | 2013-05-08 | 大连理工计算机控制工程有限公司 | A high-speed parallel robot pickup device with vision |
| CN103101643A (en) * | 2013-01-15 | 2013-05-15 | 东莞市凯昶德电子科技股份有限公司 | Charged coupled device (CCD) automated detecting device for connector |
| CN104265854A (en) * | 2014-08-09 | 2015-01-07 | 哈尔滨博强机器人技术有限公司 | Six-degree-of-freedom Delta robot transmission mechanism |
Non-Patent Citations (1)
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| 李明: "运动食品机器视觉的识别与定位技术的研究", 《中国优秀硕士论文全文数据库农业科技Ⅰ辑》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109592127A (en) * | 2018-12-07 | 2019-04-09 | 上海发那科机器人有限公司 | A method of cup is packed using industrial robot |
| CN110369315A (en) * | 2019-06-28 | 2019-10-25 | 广东鑫能机器人科技有限公司 | A kind of jewelry machining production line |
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Application publication date: 20151216 |