CN105600043A - Automatic feeding system for material bags - Google Patents

Automatic feeding system for material bags Download PDF

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Publication number
CN105600043A
CN105600043A CN201610072390.2A CN201610072390A CN105600043A CN 105600043 A CN105600043 A CN 105600043A CN 201610072390 A CN201610072390 A CN 201610072390A CN 105600043 A CN105600043 A CN 105600043A
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CN
China
Prior art keywords
material bag
pipeline
barrel
robot
control cabinet
Prior art date
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.)
Pending
Application number
CN201610072390.2A
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Chinese (zh)
Inventor
周兵
童梁
莫桂亮
简鹏
李广伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Fanuc Robotics Co Ltd
Original Assignee
Shanghai Fanuc Robotics Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shanghai Fanuc Robotics Co Ltd filed Critical Shanghai Fanuc Robotics Co Ltd
Priority to CN201610072390.2A priority Critical patent/CN105600043A/en
Publication of CN105600043A publication Critical patent/CN105600043A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B61/00Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
    • B65B61/20Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for adding cards, coupons or other inserts to package contents

Abstract

The invention discloses an automatic feeding system for material bags. The automatic feeding system comprises a charging barrel conveying line, a first material bag conveying line, a second material bag conveying line, a first vibrating tray, a second vibrating tray, a first feeding robot, a second feeding robot, a system control cabinet and a robot control cabinet, wherein the first vibrating tray and the second vibrating tray are used for storing the material bags and outputting the material bags one by one; the first feeding robot and the second feeding robot are used for grabbing the material bags and feeding the material bags into a charging barrel; and the system control cabinet and the robot control cabinet are in communication connection with the various components respectively and are used for controlling the operating states of the components. According to the technical scheme, the work of feeding the material bags can be automatically finished, and the automatic level of the procedure is improved; the structure is simple; the burden of workers is relieved; the risk of bag breakage caused by mechanical conveying of a traditional mechanism is effectively lowered; the effects of timely discovery and elimination during over-feeding or feeding leaking are effectively achieved; and the quality of a product produced on a production line is greatly improved.

Description

A kind of material bag automatic switching place system
Technical field
The present invention relates to automatic charging technical field, relate in particular to a kind of material bag automatic switching place system.
Background technology
In the processing of food service industry, conventionally need to place dry in order to extend the shelf-life of foodAgent material bag and deoxidier material bag are to reduce moisture and the oxygen in food storage device, thus prolongation foodShelf-life, generally in prior art adopt artificial throw in and two kinds of modes of special plane input are deposited to foodIn storage device, throw in drier material bag and deoxidier material bag.
Adopt manually to throw in and expect that bag merits and demerits efficiency is low, labour intensity is excessive and the easy problem that occurs that mistake is put;Although can accelerate operating efficiency if adopt special plane to throw in, the operation principle that special plane feeds intake is by material bag chiVery little matching, then, will expect that winding becomes coiled strip, finally be delivered to the cutting machine of front end by pipelinePlace, throws in to batch can after cutting by cutting machine, still, and the size of this method to the material bag that feeds intakeRequire comparatively strict, and, need to cut by cutting machine, easily cause the bale broken of material bag, ifMaterial bag bale broken not only can be wasted drier or deoxidier, more can make drier or deoxidier be sprinkled in batch can,And drier and deoxidier are unedible, thereby cause the waste of food in batch can.
Summary of the invention
The problems referred to above that exist for prior art, the present invention aims to provide a kind of material bag and automatically throws in systemSystem, can accurately render to material bag in charging basket, and, can prevent material bag bale broken.
Concrete technical scheme is as follows:
A kind of material bag automatic switching place system, comprising:
Barrel pipeline, in order to carry barrel;
The first material bag pipeline and the second material bag pipeline, be divided into the both sides of barrel pipeline, in order toCarry two kinds of different material bags;
First vibrations charging tray and second vibrations charging tray, its discharging opening lay respectively at the first material bag pipeline andDirectly over the second material bag pipeline, expect bag in order to storage with exporting one by one;
First robot that feeds intake, across the top that is arranged at the first material bag pipeline and barrel pipeline,In order to capture the material bag on the first material bag pipeline, and be fed in barrel;
Second robot that feeds intake, across the top that is arranged at the second material bag pipeline and barrel pipeline,In order to capture the material bag on the second material bag pipeline, and be fed in barrel;
System control cabinet, with barrel pipeline, the first material bag pipeline, the second material bag pipeline,One vibrations charging tray and the second vibrations charging tray are connected by communication respectively;
Robot control cabinet, is connected by communication respectively with first robot that feeds intake of robot and second that feeds intake.
In the automatic charging apparatus of valve rod provided by the invention, also there is such feature, barrel is carriedThe top of line is provided with barrel clamping device, and wherein, barrel clamping device comprises helical axis and and spiralThe drive motors that through-drive is connected, on the circumferential side wall of helical axis, offering vertically cross section is arcHelicla flute, and in transport process, a side of barrel is positioned at helicla flute, in order to barrel is carriedThe barrel of carrying on line equidistantly separates.
In the automatic charging apparatus of valve rod provided by the invention, also there is such feature, on helical axisThe first encoder is installed, and the first encoder and robot control cabinet are connected by communication, and compile by firstCode device constantly transfers to the pulse of robot control cabinet, first robot that feeds intake of robot and second that feeds intakeFollow the tracks of the position of barrel on barrel pipeline.
In the automatic charging apparatus of valve rod provided by the invention, also there is such feature, the first material bagPipeline is provided with the second encoder, and the second encoder is along with the synchronized movement of the first material bag pipelineRotate, and the second encoder and robot control cabinet are connected by communication, continuous by the second encoderTransfer to the pulse of robot control cabinet, the first material feeding intake on robotic tracking's the first material bag pipelineThe position of bag;
The second material bag pipeline is provided with the 3rd encoder, and the 3rd encoder is along with the second material bag is carriedThe synchronized movement of line is rotated, and the 3rd encoder and robot control cabinet are connected by communication, by theThree encoders constantly transfer to the pulse of robot control cabinet, second robotic tracking's the second material bag that feeds intakeThe position of the material bag on pipeline.
In the automatic charging apparatus of valve rod provided by the invention, also there is such feature, the first material bagOn pipeline and the second material bag pipeline, be also respectively arranged with a vision camera, vision camera and robotSwitch board is connected by communication, and wraps on the first material bag pipeline and the second material bag pipeline in order to take materialAttitude;
First feeds intake, and robot wraps in the position of the first material bag pipeline according to material and attitude captures dischargingBag, second feeds intake, and robot wraps in the position of the second material bag pipeline according to material and attitude captures discharging bag.
In the automatic charging apparatus of valve rod provided by the invention, also there is such feature, barrel is carriedLine is provided with a vision-based detection mechanism on the terminal position of helical axis, vision-based detection mechanism and system controlCabinet processed is connected by communication, and in order to detect two kinds of different material bag quantity in barrel, and feeds intake detecting LouOr the time transmission of feeding intake is picked bag signal to system control cabinet more;
One side of barrel pipeline is also provided with a cylinder lift out mechanism, and system control cabinet is according to picking bagThe operation of signal controlling control cylinder ejecting mechanism, and the barrel that leakage is fed intake or fed intake more release barrel is defeatedOutside line sending.
In the automatic charging apparatus of valve rod provided by the invention, also there is such feature, vision-based detectionMechanism comprises a color camera, can differentiate material bag and the number of pixels thereof of multiple different colours, and when sending outDuring now without the corresponding material bag color pigments requiring, be judged to be Lou to feed intake, pick bag to system control cabinet transmissionSignal; In the time finding the corresponding material bag color pigments requiring more than preset number, be judged to be to feed intake more,Pick bag signal to system control cabinet transmission.
In the automatic charging apparatus of valve rod provided by the invention, also there is such feature, material bag is automaticallyJettison system also comprises that the first material bag reclaims pipeline and the second material bag reclaims pipeline, and the first material bag returnsReceive pipeline and extended to just the going up of charging aperture of the first vibrations charging tray by the end of the first material bag pipelineSide; The second material bag reclaims pipeline and extends to the second vibrations charging tray by the end of the second material bag pipelineDirectly over charging aperture.
In the automatic charging apparatus of valve rod provided by the invention, also there is such feature, defeated along barrelOn the throughput direction of line sending, the top of barrel pipeline is disposed with second robot, first that feeds intakeRobot, vision-based detection mechanism and cylinder lift out mechanism feed intake.
In the automatic charging apparatus of valve rod provided by the invention, also there is such feature, barrel is carriedOne side of line is also provided with a temporary platform, and temporary platform is right against cylinder lift out mechanism, in order to deposit gasCylinder ejecting mechanism is released the barrel of barrel pipeline.
The beneficial effect of technique scheme is:
(1) material bag automatic switching place system can automation complete the work that material bag drops into, and has improved operationAutomatization level, simple in structure and alleviated workman's burden;
(2) setting of helical axis, vision camera and encoder, effectively realizes straight line on pipelineFollow the tracks of the effect of barrel and material bag, be beneficial to robot and capture reliably at a high speed material bag and drop in barrel,And effectively reduce the complicated easily risk of bale broken of traditional mechanism mechanical transfer;
(3) setting of the gentle cylinder ejecting mechanism of vision-based detection mechanism, makes it possible to effectively realize and feeding intake moreThe effect of in time finding and rejecting while feeding intake with leakage, improves the product quality of producing on production line greatly.
Brief description of the drawings
Fig. 1 is the structure chart of the material bag automatic switching place system that provides in embodiments of the invention;
Fig. 2 is first robot that feeds intake in the material bag automatic switching place system providing in embodiments of the inventionStructure chart;
Fig. 3 is second robot that feeds intake in the material bag automatic switching place system providing in embodiments of the inventionStructure chart;
Fig. 4 be in the material bag automatic switching place system providing in embodiments of the invention helical axis and barrel defeatedThe mounting structure figure of line sending.
In figure, 101, barrel pipeline; 102, the first material bag pipeline; 103, the second material bag is carriedLine; 104, the first vibrations charging tray; 1041, the first material bag reclaims pipeline; 105, the second vibrations materialDish; 1051, the second material bag reclaims pipeline; 106, first robot that feeds intake; 1061 and 1071,Vision camera; 107, second robot that feeds intake; 108, system control cabinet; 109, robot control cabinet;200, drive motors; 201, helical axis; 2011, helicla flute; 202, cylinder lift out mechanism; 203,Temporary platform; 204, vision-based detection mechanism; 205, passage; 2051, dog-house; 300, barrel.
Detailed description of the invention
Below, will describe embodiments of the present invention with reference to the accompanying drawings. In embodiment, phase isomorphismThe part of making is used identical Reference numeral and omits and describe.
Fig. 1 is the structure chart of the material bag automatic switching place system that provides in embodiments of the invention. As Fig. 1Shown in, the material bag automatic switching place system that the present embodiment provides comprises: barrel pipeline 101, the first materialBag pipeline 102, the second material bag pipeline 103, the first vibrations charging tray 104, the second vibrations charging tray 105,The first feed intake robot 106, second feed intake robot 107, system control cabinet 108 and robotSwitch board 109.
Wherein, barrel pipeline 101 is in order to carry barrel 300; The first material bag pipeline 102 andTwo material bag pipelines 103 are divided into the both sides of barrel pipeline 101, in order to carry two kinds of different materialBag; It is defeated that the discharging opening of the first vibrations charging tray 104 and the second vibrations charging tray 105 lays respectively at the first material bagDirectly over line sending 102 and the second material bag pipeline 103, expect bag in order to storage with exporting one by one; TheOne feeds intake robot 106 across being arranged at the upper of the first material bag pipeline 102 and barrel pipeline 101Side, in order to capture the material bag on the first material bag pipeline 102, and is fed in barrel 300; SecondFeed intake robot 107 across the top that is arranged at the second material bag pipeline 103 and barrel pipeline 101,In order to capture the material bag on the second material bag pipeline 103, and be fed in barrel 300; System controlCabinet 108 and barrel pipeline 101, the first material bag pipeline 102, the second material bag pipeline 103, theOne vibrations charging tray 104 and the second vibrations charging tray 105 are connected by communication respectively, control respectively in order to unifiedThe run action of parts; Robot control cabinet 109 and first feed intake robot 106 and the second batch chargerDevice people 107 is connected by communication respectively, in order to the run action of control. In addition robot control,Cabinet 109 also can be connected by communication with system control cabinet 108, in order to unified operation and control, but also canBe the system of two independent operatings, should not be limited to this.
In technique scheme, described material bag automatic switching place system in use, for example, is applied to foodIn product processing operation, two kinds of different material bags are respectively drier and deoxidier, first, and toIn one vibrations charging tray 104, put into deoxidier material bag, in the second vibrations charging tray 105, put into drier materialBag, then, by system control cabinet 108 control barrel pipeline 101, the first material bag pipeline 102,The second material bag pipeline 103, the first vibrations charging tray 104 and the second vibrations charging tray 105 start, itsInferior, control first robot 107 that feeds intake of robot 106 and second that feeds intake by robot control cabinet 109Start, the first vibrations charging tray 104 starts the deoxidier material bag in the first vibrations charging tray 104 by firstThe discharging opening of vibrations charging tray 104 is expelled to the first material bag pipeline 102, makes deoxidier material wrap in firstOn material bag pipeline 102, carry, the second vibrations charging tray 105 starts in the second vibrations charging tray 105Drier material bag is expelled to the second material bag pipeline 103 by the discharging opening of the second vibrations charging tray 105, withTime, barrel 300 is carried on barrel pipeline 101, when barrel 300 is delivered to first machine that feeds intakeWhen people 106 and second feeds intake in the working range of robot 107, robot captures respectively material bag and carriesDrier bag on line and deoxidier bag are also thrown in feeding cylinder 300, thereby realize the automation life that feeds intakeThe effect of producing.
One preferred embodiment in, specifically as shown in figs. 1 and 4, and Fig. 4 is thisThe mounting structure of helical axis and barrel pipeline in the material bag automatic switching place system providing in bright embodimentFigure, the top of barrel pipeline 101 is provided with barrel clamping device, wherein, barrel clamping device bagDraw together helical axis 201 and the drive motors 200 being connected with helical axis 201 transmissions, the circle of helical axis 201On all sidewalls, offer vertically the helicla flute 2011 that cross section is arc, and in transport process, materialA cylinder side of 300 is positioned at helicla flute 2011, in order to by the barrel of carrying on barrel pipeline 101300 equidistantly separate.
In further preferred embodiment, the first encoder (figure is installed on helical axis 201In not shown), the first encoder and robot control cabinet 109 are connected by communication, and by first codingDevice constantly transfers to the pulse of robot control cabinet 109, and first robot 106 and second that feeds intake feeds intakeRobot 107 follows the tracks of the position of barrel 300 on barrel pipeline 101.
In further preferred embodiment, the first material bag pipeline 102 is provided with the second codingDevice (not shown), and the second encoder is along with the synchronized movement of the first material bag pipeline 102 turnsMoving, and the second encoder and robot control cabinet 109 are connected by communication, by the second encoder notThe pulse of robot control cabinet 109 is transported in dig, and first feeds intake, and to follow the tracks of the first material bag defeated in robot 106The position of the material bag in line sending 102; The second material bag pipeline 103 is provided with the 3rd encoder (in figureNot shown), and the 3rd encoder is along with the synchronized movement of the second material bag pipeline 103 is rotated, and,The 3rd encoder and robot control cabinet 109 are connected by communication, and constantly transfer to machine by the 3rd encoderThe pulse of device people switch board 109, second robot 107 that feeds intake follows the tracks of on the second material bag pipeline 103The position of material bag.
One preferred embodiment in, specifically as shown in Figure 1, Figure 2. and shown in Fig. 3, and figure2 and Fig. 3 be respectively the first batch charger in the material bag automatic switching place system providing in embodiments of the inventionThe feed intake structure chart of robot of device people and second. The first material bag pipeline 102 and the second material bag pipelineOn 103, be also respectively arranged with a vision camera 1061 and 1071, vision camera 1061,1071 and machineDevice people switch board 109 is connected by communication, and wraps in the first material bag pipeline 102 and second in order to take materialAttitude on material bag pipeline 103; First feeds intake, and can to wrap in the first material bag according to material defeated in robot 106The position of line sending 102 and attitude capture discharging bag, and second robot 107 that feeds intake can wrap in the according to materialThe position of two material bag pipelines 103 and attitude capture discharging bag. By establishing of vision camera and encoderPut, can effectively realize the effect of line tracking on pipeline, be beneficial to robot and capture reliably at a high speedIn material bag and input barrel, and effectively reduce the complicated easily risk of bale broken of traditional mechanism mechanical transfer.
In further preferred embodiment, specifically as shown in fig. 1, barrel pipeline 101One vision-based detection mechanism 204 is installed on the terminal position of helical axis 201, vision-based detection mechanism 204Be connected by communication with system control cabinet 108, in order to detect the interior two kinds of different material bag quantity of barrel 300,And pick bag signal to system control cabinet 108 detecting the time transmission of Lou feeding intake or feed intake more.
One side of barrel pipeline 101 is also provided with a cylinder lift out mechanism 202, and system control cabinet108 move according to picking bag signal controlling control cylinder ejecting mechanism 202, and leakage is fed intake or fed intake moreBarrel 300 release outside barrel pipeline 101.
In further preferred embodiment, vision-based detection mechanism 204 comprises a color camera,Can differentiate material bag and the number of pixels thereof of multiple different colours, and as the material Bao Yan that finds to require without correspondingWhen look pigment, be judged to be Lou to feed intake, pick bag signal to system control cabinet 108 transmission; Corresponding when findingThe material bag color pigments requiring during more than preset number, is judged to be to feed intake, to system control cabinet 108 moreBag signal is picked in transmission.
One preferred embodiment in, specifically as shown in fig. 1, material bag automatic switching place system is alsoComprise that the first material bag reclaims pipeline 1041 and the second material bag recovery pipeline 1051, the first material bags returnReceive pipeline 1041 and extend to entering of the first vibrations charging tray 104 by the end of the first material bag pipeline 102Directly over material mouth; The second material bag reclaims pipeline 1051 and is prolonged by the end of the second material bag pipeline 103Extend the second vibrations charging tray 105 charging aperture directly over.
Reclaiming pipeline 1041 by the first material bag will not fed intake by first on the first material bag pipeline 102The deoxidier material bag that robot 106 captures is delivered in the first vibrations charging tray 104, by second againMaterial bag reclaim pipeline 1051 by the second material bag pipeline 103 not by second robot 107 that feeds intakeThe drier material bag capturing is delivered in the second vibrations charging tray 105 again.
In further preferred embodiment, along on the throughput direction of barrel pipeline 101, materialCylinder pipeline 101 top be disposed with second feed intake robot 107, first feed intake robot 106,Vision-based detection mechanism 204 and cylinder lift out mechanism 202.
In further preferred embodiment, it is one temporary that a side of barrel pipeline 101 is also provided withDeposit platform 203, and temporary platform 203 is right against cylinder lift out mechanism 202, in order to deposit cylinder lift out mechanism202 release the barrel 300 of barrel pipeline 101.
One preferred embodiment in, specifically as shown in FIG., the first vibrations charging tray 104 and theBetween two vibrations charging trays 105, a passage 205 is set, passage 205 is in shaking charging tray near firstOne end of 104 arranges dog-house 2051, in the first vibrations charging tray 104, put into deoxidier material bag andWhen putting into drier material bag in the second vibrations charging tray 105, can be by the first vibrations charging tray 104One side is directly put into deoxidier material bag by the charging aperture of the first vibrations charging tray 104, then, and by drierMaterial bag is put in passage 205 by dog-house 2051, by passage 205, drier material bag is fallenEnter in the second vibrations charging tray 105, can be by dry without a side that runs to the second vibrations charging tray 105Agent material bag is put into the second vibrations charging tray 105, convenient dry to putting in the second vibrations charging tray 105Agent material bag.
It is worthy of note, in the present embodiment, the first encoder, the second encoder and the 3rdEncoder is incremental encoder, each parts and system control cabinet 108, robot control cabinet 109The mode being connected by communication for be electrically connected or wireless signal be connected, and in accompanying drawing 1, be clear performance material bag oneselfThe architectural feature of moving jettison system, omit the circuit being electrically connected, but therefore this should not think that it is not each otherHave the reason of annexation, and cylinder lift out mechanism 202 can be the structure reality that cylinder connects push pedalExisting.
Below, describe with a kind of concrete embodiment, it is pointed out that following enforcement sideStructure described in formula, technique, selection be only in order to the feasibility of embodiment to be described, and unrestrictedThe intention of protection domain of the present invention.
The material bag automatic switching place system that the present embodiment provides in use, first, at the first vibrations charging trayA side deoxidier material bag is put into the first vibrating tray, and by dog-house, deoxidier material bag is putEnter in passage, and by passage, deoxidier material bag is put into the second vibrations charging tray;
Then, by system control cabinet control barrel pipeline, the first material bag pipeline, the second material bagPipeline, the first vibrations charging tray and the second vibrations charging tray start, by robot control cabinet controlFirst feed intake robot and second feed intake robot start, first vibrations charging tray starts the first vibrations materialDeoxidier material bag in dish is expelled to the first material bag pipeline by the discharging opening of the first vibrations charging tray, makes to take offOxygen agent material wraps on the first material bag pipeline and carries, and the second vibrations charging tray starts in the second vibrations charging trayDrier material bag be expelled to the second material bag pipeline by the discharging opening of the second vibrations charging tray;
Meanwhile, adjacent barrel is together separated into equidistantly by helical axis or unequal-interval is arranged, andPush forward together with barrel pipeline, in barrel and material bag course of conveying, robot is by codingThe position at device track and localization barrel and two kinds material bag places, and take and determine material bag according to vision cameraAttitude, in the time that material bag is transported in the movable scope of robot, robot according to the position of material bag andAttitude, synchronously follows the tracks of pipeline and the corresponding attitude of accurate installation captures discharging bag, completes the accurate of material bagGrasping movement, and throw in feeding cylinder;
In addition, not by first feed intake robot capture deoxidier material bag by the first recovery pipeline againBe delivered in the first vibrations charging tray, and not by second feed intake robot capture drier material bag by secondReclaiming pipeline is delivered in the second vibrating tray again;
In the time that barrel is located through vision-based detection mechanism, vision-based detection mechanism is according to material bag number of colors and pictureWhether deoxidier material bag and drier material bag that prime number visual inspection is surveyed in barrel meet standard, if do not metStandard control cylinder ejecting mechanism starts, and non-compliant barrel is ejected to temporary platform place and deposited;So repeat, realize automation and throw in the production process that material wraps.
It is worthy of note, the present invention is by the feeding mode of industrial robot, stable at a high speed, separate unitThe maximal rate of robot can reach bag/minute, the stack that can realize robot feeds intake, accuracy rate canTo reach 99.9%, in actual application, the dimensions of material bag is variable, only need to be by lookingFeel that the change of template and robot program's switching can complete the switching that product feeds intake, and are applicable in manyVariety production.
In technique scheme, material bag automatic switching place system can automation complete the work that material bag drops intoDo, improved process automation level, simple in structure and alleviated workman's burden; Helical axis, visionThe setting of camera and encoder, effectively realizes line tracking barrel and the effect of expecting bag on pipeline,Be beneficial to robot and capture reliably at a high speed material bag and drop in barrel, and effectively reduce traditional mechanism machineryThe complicated easily risk of bale broken of transmission; The setting of the gentle cylinder ejecting mechanism of vision-based detection mechanism, makes it possible toEffectively realize and feed intake more and leak the effect of finding and rejecting in time while feeding intake, greatly improve on production line rawThe product quality of producing.
The foregoing is only preferred embodiment of the present invention, is only illustrative for the purpose of the present invention,And it is nonrestrictive. Those skilled in the art understand, the spirit limiting in the claims in the present invention andIn scope, can carry out many changes to it, amendment, even equivalence, but all will fall into protection of the present inventionIn scope.

Claims (10)

1. a material bag automatic switching place system, is characterized in that, comprising:
Barrel pipeline, in order to carry barrel;
The first material bag pipeline and the second material bag pipeline, be divided into the both sides of described barrel pipeline, usesTo carry two kinds of different material bags;
The first vibrations charging tray and the second vibrations charging tray, it is defeated that both discharging openings lay respectively at described the first material bagDirectly over line sending and described the second material bag pipeline, expect bag in order to storage with exporting one by one;
First robot that feeds intake, across being arranged at described the first material bag pipeline and described barrel pipelineTop, in order to capture the material bag on described the first material bag pipeline, and is fed in described barrel;
Second robot that feeds intake, across being arranged at described the second material bag pipeline and described barrel pipelineTop, in order to capture the material bag on described the second material bag pipeline, and is fed in described barrel;
System control cabinet, with described barrel pipeline, the first material bag pipeline, the second material bag pipeline,The first vibrations charging tray and the second vibrations charging tray are connected by communication respectively;
Robot control cabinet, with described first robot and the described second respectively communication of robot that feeds intake that feeds intakeBe connected.
2. material bag automatic switching place system as claimed in claim 1, is characterized in that, described barrel is defeatedThe top of line sending is provided with barrel clamping device, wherein, described barrel clamping device comprise helical axis and withThe connected drive motors of described helical axis transmission, offers horizontal stroke vertically on the circumferential side wall of described helical axisCross section is the helicla flute of arc, and in transport process, a side of described barrel is positioned at described helicla flute,In order to the described barrel of carrying on described barrel pipeline is equidistantly separated.
3. material bag automatic switching place system as claimed in claim 2, is characterized in that,
The first encoder is installed, described the first encoder and described robot control cabinet on described helical axisBe connected by communication, and constantly transfer to the pulse of described robot control cabinet, institute by described the first encoderState first robot and second position of barrel on described barrel pipeline described in robotic tracking that feed intake that feed intakePut.
4. material bag automatic switching place system as claimed in claim 3, is characterized in that,
Described the first material bag pipeline is provided with the second encoder, and described the second encoder is along with describedThe synchronized movement of one material bag pipeline is rotated, and, the second encoder and described robot control cabinet communicationBe connected, constantly transfer to the pulse of described robot control cabinet by described the second encoder, described firstThe position of the material bag on the first material bag pipeline described in robotic tracking feeds intake;
Described the second material bag pipeline is provided with the 3rd encoder, and described the 3rd encoder is along with describedThe synchronized movement of two material bag pipelines is rotated, and, the 3rd encoder and described robot control cabinet communicationBe connected, constantly transfer to the pulse of described robot control cabinet by described the 3rd encoder, described secondThe position of the material bag on the second material bag pipeline described in robotic tracking feeds intake.
5. material bag automatic switching place system as claimed in claim 4, is characterized in that,
On described the first material bag pipeline and the second material bag pipeline, be also respectively arranged with a vision camera, instituteState vision camera and described robot control cabinet is connected by communication, in order to take material, to wrap in described the first material bag defeatedAttitude on line sending and the second material bag pipeline;
Described first feeds intake, and robot wraps in the position of the first material bag pipeline according to material and attitude captures dischargingBag, described second feeds intake, and robot wraps in the position of the second material bag pipeline according to material and attitude captures dischargingBag.
6. the material bag automatic switching place system as described in claim 1 or 5, is characterized in that,
Described barrel pipeline is provided with a vision-based detection mechanism, institute on the terminal position of described helical axisState vision-based detection mechanism and described system control cabinet is connected by communication, in order to detect two kinds of differences in described barrelMaterial bag quantity, and pick bag signal to described system control cabinet detecting the time transmission of Lou feeding intake or feed intake moreIn;
One side of described barrel pipeline is also provided with a cylinder lift out mechanism, and described system control cabinet rootPick cylinder lift out mechanism operation described in bag signal controlling according to described, and the described material that leakage is fed intake or fed intake moreCylinder is released outside described barrel pipeline.
7. material bag automatic switching place system as claimed in claim 6, is characterized in that described vision-based detectionMechanism comprises a color camera, can differentiate material bag and the number of pixels thereof of multiple different colours, and when findingDuring without the corresponding material bag color pigments requiring, be judged to be Lou to feed intake, described in described system control cabinet transmissionPick bag signal; In the time finding the corresponding material bag color pigments requiring more than preset number, be judged to be throw moreMaterial picks bag signal described in described system control cabinet transmission.
8. the material bag automatic switching place system as described in claim 2 or 4, is characterized in that described material bagAutomatic switching place system also comprises that the first material bag reclaims pipeline and the second material bag reclaims pipeline, described firstMaterial bag reclaims pipeline and extends to entering of described the first vibrations charging tray by the end of described the first material bag pipelineDirectly over material mouth; Described the second material bag reclaims pipeline and is extended by the end of described the second material bag pipelineDirectly over the charging aperture of extremely described the second vibrations charging tray.
9. material bag automatic switching place system as claimed in claim 6, is characterized in that, defeated along described barrelOn the throughput direction of line sending, the top of described barrel pipeline be disposed with described second feed intake robot,The first feed intake robot, vision-based detection mechanism and cylinder ejector device.
10. material bag automatic switching place system as claimed in claim 9, is characterized in that, described barrel is defeatedOne side of line sending is also provided with a temporary platform, and described temporary platform is right against described cylinder lift out mechanism, useRelease the barrel of described barrel pipeline to deposit described cylinder lift out mechanism.
CN201610072390.2A 2016-02-01 2016-02-01 Automatic feeding system for material bags Pending CN105600043A (en)

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CN106628359A (en) * 2016-11-16 2017-05-10 上海大学 Instant noodle packaging production line control system
CN107719804A (en) * 2017-10-31 2018-02-23 苏州江锦自动化科技有限公司 The automatic cast fork machine in barreled face
CN108620342A (en) * 2018-04-27 2018-10-09 上海发那科机器人有限公司 A kind of batch can detection rejecting mechanism of automatic charging
CN115043047A (en) * 2022-06-22 2022-09-13 广东粤固建材科技有限公司 Automatic change water proof coating production line

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Application publication date: 20160525