CN202686788U - Packing system - Google Patents

Packing system Download PDF

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Publication number
CN202686788U
CN202686788U CN 201220259250 CN201220259250U CN202686788U CN 202686788 U CN202686788 U CN 202686788U CN 201220259250 CN201220259250 CN 201220259250 CN 201220259250 U CN201220259250 U CN 201220259250U CN 202686788 U CN202686788 U CN 202686788U
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China
Prior art keywords
article
travel line
adjustable speed
robot
packaging
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CN 201220259250
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Chinese (zh)
Inventor
王建疆
黄连福
洪文华
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ABB Technology AG
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ABB T&D Technology AG
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Priority to CN 201220259250 priority Critical patent/CN202686788U/en
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Abstract

The utility model relates to a packing system. The packing system comprises an article feeding conveying line, an adjustable speed conveying line, a packing case conveying line, a gripping robot and an article sensing device, wherein the adjustable speed conveying line is used for receiving articles to be packed from the article feeding conveying line, the gripping robot is used for gripping articles to be packed from the adjustable speed conveying line and placing articles to be packed in packing cases on the packing case conveying line, and the article sensing device is used for sensing relative information that articles to be packed enter the adjustable speed conveying line from the article feeding conveying line. The movement of the adjustable speed conveying line can be adjusted based on the sensed information.

Description

Packaging system
Technical field
The utility model relates to the packaging system field, relates in particular to the robot packaging system.
Background technology
The robot packaging system is widely used in the industrial production line owing to many advantages such as its high precision and high flexibilities.The robot packaging system generally comprises the major parts such as article delivery line, packing box transmission line, crawl robot.The article delivery line is carried article to be cased, packing box transmission line bull ladle vanning, and the crawl robot then is responsible for grasping article to be cased and it being positioned in the packing chest on the packing box transmission line, to realize the article vanning from the article delivery line.
In traditional robot packaging system, the article delivery line transmits article to be cased with very fast speed usually.For being complementary with it, the crawl robot also correspondingly needs to have very fast grasp speed, and this requirement to robot is very high.In addition, because crawl robot grasp speed can't finely keep dynamic conformability with the motion article delivery line, substitute and the bottom pour ladle phenomenon thereby produce.Meanwhile, because crawl robot grasping movement often can't keep dynamically consistent with the motion of article delivery line, the article delivery line often need to stop also thinking that robot provides the time of crawl article.In addition, because each article to be cased transmit at the article delivery line with inhomogeneous interval in the prior art, be set to grasp in batch in the situation of article to be cased at robot like this, the handgrip that has does not unavoidably grasp article to be cased effectively at every turn.This has all caused the problems such as the low efficiency of packaging system and stability is weak.
The utility model content
The purpose of embodiment of the present utility model is to solve in the problems referred to above that exist in the prior art packaging system one or more.
According to an aspect of the present utility model, a kind of packaging system is proposed, this packaging system can comprise: article charging travel line; The adjustable speed travel line is configured to receive the article to be cased from article charging travel line; The packing box transmission line; The crawl robot is configured to grasp article to be cased and be positioned in the packing chest on the packing box transmission line from the adjustable speed travel line; The article induction installation is configured to respond to article to be cased and enters the relevant information of adjustable speed travel line from article charging travel line.According to embodiment of the present utility model, the motion of adjustable speed travel line is adjustable based on the information of above-mentioned induction.
According to the utility model, can enter the motion that relevant information on the adjustable speed travel line is adjusted the adjustable speed travel line from article supplied materials travel line according to article, thus can be so that the motion of adjustable speed travel line becomes adjustable based on the situation of the article to be cased that enter.
In an optional embodiment of the present utility model, the adjustable speed travel line can adopt stepper motor or driven by servomotor, and article charging travel line can be continuous travel line.
In an optional embodiment of the present utility model, whenever the information that detects based on the article induction installation is determined article to be cased and sent into the adjustable speed travel line, the adjustable speed travel line is controlled as the step pitch of setting size along its transmission direction campaign.According to this embodiment of the present utility model, can be so that the article to be cased that enter the adjustable speed travel line be according to transmitting at the adjustable speed transmission line evenly and at intervals of setting, thus so that the crawl robot at every turn can be in batches set the article to be cased of quantity and be placed into the packing chest on the packing box transmission line from the crawl of adjustable speed transmission line.
In an optional embodiment of the present utility model, on direction vertical with its transmission direction on the adjustable speed travel line, some dividing plates can be set, its median septum interval each other is corresponding with the step pitch of above-mentioned setting size.Like this, described dividing plate can position the article of adjustable speed travel line, and it is crowded to prevent that article from occuring at the adjustable speed travel line.
In an optional embodiment of the present utility model, the motion of adjustable speed travel line can be by PLC or industrial computer control, wherein said PLC or industrial computer and article induction installation are coupled, and are configured to adjust based on the information of described induction the motion of adjustable speed travel line.
In an optional embodiment of the present utility model, the motion of adjustable speed travel line can directly be controlled by robot controller, wherein robot controller and article induction installation are coupled, and are configured to adjust based on the information of responding to the motion of adjustable speed travel line.
In an optional embodiment of the present utility model, robot controller can also be configured to determine that based on the information of described induction the article to be cased on the adjustable speed travel line have been transferred to the crawl position of crawl robot, then the article to be cased of quantity are set in the crawl of control crawl robot, and place it in the packing chest on the packing box transmission line.
In an optional embodiment of the present utility model, robot can be set up and carry a plurality of handgrips, and each grasping movement grasps a plurality of article to be cased simultaneously thus.Alternatively, robot can be set up and carry a plurality of handgrips, and each handgrip grasps article to be cased successively, and then the article with crawl are positioned in the packing chest
In an optional embodiment of the present utility model, robot controller can be configured to based on the information of responding to the crawl of robot and the motion of adjustable speed travel line dynamically are consistent.
Whether in an optional embodiment of the present utility model, the information of responding to can comprise the one or more of following information: have article to enter the adjustable speed travel line from article charging travel line; And article enter quantity and the speed of adjustable speed travel line from article charging travel line.
In an optional embodiment of the present utility model, the speed of article charging travel line can be adjusted based on the information of induction.
In an optional embodiment of the present utility model, the quantity of adjustable speed travel line, packing box transmission line and robot can be for one or more.
In an optional embodiment of the present utility model, the article induction installation can be located at an end of close adjustable speed travel line on the article delivery line.
In an optional embodiment of the present utility model, the article induction installation can be located at adjustable speed travel line top or position, side.
In an optional embodiment of the present utility model, the adjustable speed travel line can be parallel to each other with the packing box transmission line or be arranged vertically, and article charging travel line can with the mutual perpendicular or parallel layout of adjustable speed travel line.
In an optional embodiment of the present utility model, the article induction installation can be electro-optical pickoff or imageing sensor.
In an optional embodiment of the present utility model, robot can be Delta type robot or SCARA robot.
In an optional embodiment of the present utility model, what the Delta type robot can be in three axles, four axles and the six-joint robot is a kind of.
In an optional embodiment of the present utility model, the handgrip of crawl robot can be vacuum cup.
Description of drawings
By reading with reference to the accompanying drawings detailed description hereinafter, above-mentioned and other purposes of the utility model embodiment, feature and advantage will become obvious.In the accompanying drawings, show some embodiments of the present utility model in exemplary and nonrestrictive mode, wherein identical reference number represents same or analogous element.
Fig. 1 shows the indicative icon according to the packaging system 100 of an embodiment of the utility model.
Fig. 2 show according to another embodiment of the utility model, wherein adopt the indicative icon of the packaging system 200 of PLC or industrial computer control adjustable speed travel line.
Fig. 3 show according to another embodiment of the utility model, wherein adopt the indicative icon of the packaging system 300 of robot controller control adjustable speed travel line.
The specific embodiment
According to embodiment of the present utility model, be provided with for example adjustable speed travel line of adjustable speed stepping travel line in article supplied materials travel line downstream, come test item to enter relevant information on the adjustable speed travel line from article supplied materials travel line by the article induction installation is set simultaneously, and further can adjust according to the information of responding to the motion of adjustable speed travel line.
In addition, according to embodiment of the present utility model, robot controller can be directly according to the crawl opportunity of controlling the crawl robot from the above-mentioned induction information of article induction installation.This has overcome in the prior art need to arrange test item by the problem of the sensor of robot work region at the article delivery line.
Further, according to embodiment of the present utility model, can directly control by robot controller the motion of adjustable speed travel line, this can improve the response time of packaging system, thereby has improved boxing efficiency.
Below with reference to accompanying drawing, the specific descriptions of optional embodiment of the present utility model have been provided.Accompanying drawing shows by way of example can realize specific embodiment of the present utility model.The embodiment of example is not intended to limit according to all embodiments of the present utility model.Be appreciated that, the embodiment that those skilled in the art can reconfigure to form other to each feature and each embodiment of the following description of the utility model fully, perhaps following illustrative embodiments is carried out the modification of structural or logicality, these are all in scope of the present utility model.Therefore, the following specific embodiment only is exemplary, and also nonrestrictive.
Fig. 1 shows the indicative icon according to the packaging system of an embodiment of the utility model.As shown in Figure 1, packaging system 100 can comprise article charging travel line 101, adjustable speed travel line 102, packing box transmission line 103, crawl robot 104 and article induction installation 105.Article charging travel line 101 can be used for transmitting article 106 to be cased.Adjustable speed travel line 102 can be used for receiving the article to be cased 106 from article charging travel line 101.Article induction installation 105 can be used for induction and article 106 to be cased and enter the relevant information of adjustable speed travel line 102 from article charging travel line 101.
As shown in Figure 1, according to embodiment of the present utility model, article charging travel line 101 receives from the article to be cased 106 on the manufacturing line, and article charging travel line 101 can be the transmission line of any type known in the art.For example, article charging travel line 101 can be the transmission line of continuous movement.
According to embodiment of the present utility model, article 106 to be cased can be to be suitable for robot various types of article of casing, such as connection with wrapping of piece or unpackaged article (for example do not need pack article).As the example of indefiniteness, article 106 can be such as including but not limited to ice cream, milk bag, chocolate etc. various article.
In embodiment of the present utility model, adjustable speed travel line 102 is used for receiving the article to be cased 106 from article charging travel line 101.Adjustable speed travel line 102 can adopt the step wise travel line, and for example, adjustable speed travel line 102 can adopt stepping motor to drive, or adopts driven by servomotor.
In according to the utility model embodiment, article induction installation 105 is used for induction and article 106 to be cased and enters the relevant information of adjustable speed travel line 102 from article charging travel line 101.Article induction installation 105 can comprise sensor, for example electro-optical pickoff or imageing sensor, but the utility model is not limited to this, and it can comprise the sensor of other type such as touch sensor, pressure sensor etc. fully.As shown in Figure 1, article induction installation 105 preferably is arranged on an end of close adjustable speed travel line 102 on the article charging travel line 101.Alternatively, article induction installation 105 can also be located at top or position, the side (not shown) of adjustable speed travel line 102.It will be appreciated by those skilled in the art that in fact article induction installation 105 can be arranged on other position fully, enter the relevant information of adjustable speed travel line 102 as long as can respond to article 106 to be cased from article charging travel line 101.
According to embodiment of the present utility model, the information that the motion of adjustable speed travel line 102 is responded to based on article induction installation 105 is adjustable.In a preferred implementation, whenever the information that detects based on article induction installation 105 is determined article 106 to be cased and sent into adjustable speed travel line 102, adjustable speed travel line 102 is controlled as the step pitch of setting size along its transmission direction campaign.Like this, as shown in Figure 1, according to preferred implementation of the present utility model, can be so that the article to be cased 106 that enter adjustable speed travel line 102 be according to transmitting at the adjustable speed transmission line evenly and at intervals of setting, thus so that crawl robot 104 at every turn can be in batches from the adjustable speed transmission line 102 crawls set the article to be cased 106 of quantity and be placed into the packing chest on the packing box transmission line 103.This overcome the prior art robot grasp in batch in since article anisotropically in article delivery line transmission and so that certain crawl of robot does not have effectively to grasp the defective of article, thereby improved crawl efficient.
It will be understood by those skilled in the art that described step pitch can be the step-length of for example step wise travel line or big or small predefined according to article.
In addition, in another preferred implementation, the kinematic velocity of adjustable speed travel line 102 is adjusted on the frequency dynamic ground that can enter according to the article that induction installation 105 is responded to adjustable speed travel line 102.
In addition, in an optional embodiment of the present utility model, direction vertical with its transmission direction on adjustable speed travel line 102 is provided with dividing plate, and wherein the interval of each dividing plate is corresponding with the step pitch of above-mentioned setting size.
As shown in Figure 1, according to an embodiment of the present utility model, crawl robot 104 grasps article 106 to be cased and is positioned in the packing chest on the packing box transmission line 103 from adjustable speed travel line 102.Crawl robot 104 can adopt the Delta type robot, for example the Delta type robot of three axles, four axles or six axles.In addition, crawl robot 104 also can adopt and select compliant type mechanical arm (Selective Compliance Assembly Robot Arm, SCARA).More generally, the crawl robot 104 of the utility model embodiment can also adopt the robot of any type that this area is usually used in casing.
In addition, the setting position of crawl robot 104 can be arranged on the top of adjustable speed travel line 102 and packing box transmission line 103, for example in the situation of Delta type robot, crawl robot 104 can be arranged on adjustable speed travel line 102 and packing box transmission line 103 directly over.But those skilled in the art are to be understood that, the setting position of crawl robot 104 is not limited to this, for example it can be arranged on sidepiece or other position of travel line 102 or 103 fully, as long as can grasp article to be cased and place it in the packing chest on the packing box transmission line 103 from adjustable speed travel line 102.
In preferred implementation of the present utility model, as shown in Figure 1, adjustable speed travel line 102 can with packing box transmission line 103 layout (as shown in Figure 1) that is parallel to each other, mode of movement can be in the same way or is reverse.Alternatively, adjustable speed travel line 102 can or be arranged vertically (not shown) with packing box transmission line 103 phases.Be to be understood that, adjustable speed travel line 102 can adopt other arrangements with packing box transmission line 103, if can so that the crawl robot can be from the adjustable speed travel line 102 picks up article and place it in the packing chest on the packing box transmission line 103.
Similarly, article charging travel line 101 can with adjustable speed travel line 102 mutual vertical (as shown in Figure 1) or the (not shown) that are arranged in parallel.Should be appreciated that in embodiment of the present utility model article charging travel line 101 and adjustable speed travel line 102 also can adopt other arrangements.
In Fig. 1, only show the combination situations of an adjustable speed travel line 102, a packing box transmission line 103 and a robot 104, but the utility model is not limited to this.For example, the utility model at least also includes, but is not limited to following combination and arrangement mode:
, adjustable speed travel line 102, a packing box transmission line 103, two robot 104 series arrangement;
Article one, adjustable speed travel line 102, two packing box transmission lines 103, a robot 104 arranges or two robot 104 series arrangement;
Article two, adjustable speed travel line 102, two packing box transmission lines 103, a robot 104 arranges;
Article two, adjustable speed travel line 102, two packing box transmission lines 103, two robot 104 series arrangement or cross arrangement;
Article two, adjustable speed travel line 102, a packing box transmission line 103, a robot 104 arranges;
Arranging of many adjustable speed travel lines 102, many packing box transmission lines 103, many robots 104.
In addition, return and consider the combination of arranging shown in Figure 1, it also has multiple flexibly mode of texturing.For example, although adjustable speed travel line 102 is shown in Figure 1 for the right side that is positioned at robot 104, it can be positioned at the left side of robot 104 fully.And although adjustable speed travel line 102 is depicted as throughput direction left, it can be carried to the right fully according to the actual requirements, and similarly, the throughput direction of packing box transmission line 103 also can be made as to the left or to the right as required.
In another preferred implementation of the present utility model, the speed of article charging travel line 101 can also be adjusted based on the above-mentioned information of responding to.For example, too much when too fast at the article that enter adjustable speed travel line 102, can dynamically adjust the speed of article charging travel line 101, such as but not limited to its rise-stop etc. of control.
In addition, according to embodiment of the present utility model, the above-mentioned induction information of article induction installation 105 also is sent in the robot controller.Robot controller can be directly according to the crawl opportunity of controlling the crawl robot from the above-mentioned induction information of article induction installation 105.This has overcome in the prior art need to arrange test item by the problem of the sensor of robot work region at the article delivery line.
For understanding better the utility model, the below is still with reference to the concrete example of Fig. 1 detailed description according to the working process of the packaging system 100 of the utility model embodiment.It should be noted that following example only presented for purpose of illustration the property purpose be described, and be not used in restriction the utility model.
As shown in Figure 1, article 106 to be cased are sent into adjustable speed travel line 102 from the article charging travel line 101 of high-speed motion, pass through simultaneously article induction installation 105.
After article induction installation 105 detects article, detected relevant information notice is used for the controller (Fig. 1 is not shown) of control adjustable speed travel line 102 by the mode of for example sending out pulse.Wherein, in the utility model, whether consistent whether the detection of 105 pairs of article of article induction installation include but not limited to such as there being article to enter adjustable speed travel line 102, article enter adjustable speed travel line 102 from article charging travel line 101 quantity and speed or the prescribed direction information from article charging travel line 101.Previous article and rear article have certain time interval.Article induction installation 105 also can send detection signal to controller behind article after sensing, the rest may be inferred, and each in the article 106 detects by induction installation 105.
Controller is based on the information that detects (such as but not limited to the time gap between the signal of front and back), send according to this control signal of the motor (for example servomotor or stepper motor) of control adjustable speed travel line 102, thereby so that can be adjusted according to the situation that article to be cased enter adjustable speed travel line 102 by motor-driven adjustable speed travel line 102, so that the conveying step pitch of adjustable speed travel line 102 meets the beat that article 106 to be cased enter adjustable speed travel line 102.For example, whenever the information that detects based on article induction installation 105 is determined article 106 to be cased and sent into adjustable speed travel line 102, adjustable speed travel line 102 is controlled as the step pitch of setting size along its transmission direction campaign.Like this, as shown in Figure 1, can be so that enter article to be cased 106 the transmitting at the adjustable speed transmission line evenly and at intervals according to setting of adjustable speed travel line 102.
In addition, the information that article induction installation 105 is responded to also is transported in the robot controller, and robot controller can be directly according to the crawl opportunity of controlling the crawl robot from the above-mentioned induction information of article induction installation 105.For example, when article 106 entered adjustable speed travel line 102 and are transported to the crawl position of robot 104, it is consistent with the beat of adjustable speed travel line 102 with beat that robot controller sends signal control machine people 104 running velocity.Adjustable speed travel line 102 is adding/can keep synchronously with robot when subtracting acceleration/accel at this moment.In case one batch article reach the crawl position of robot 104, robot 104 will use the article of its handgrip 107 these batches of crawl to put in packing chest or the container, finishes the vanning action.
In an optional embodiment of the present utility model, robot 104 can be set up and carry a plurality of handgrips, and each grasping movement grasps a plurality of article to be cased simultaneously thus.Alternatively, robot can be set up and carry a plurality of handgrips, and each handgrip grasps article to be cased successively, and then the article with crawl are positioned in the packing chest.According to embodiment of the present utility model, the handgrip 107 of robot 104 can be vacuum cup, and in addition, it can also be the handgrip of other type, the handgrip commonly used of other packaging system such as clamping plate type handgrip, finger drawing and pulling type handgrip.
Fig. 2 show according to another embodiment of the utility model, wherein adopt the indicative icon of the packaging system 200 of PLC or industrial computer control adjustable speed travel line.As shown in Figure 2, in packaging system 200, robot 104 consists of a control system with robot controller 201, and adjustable speed travel line 102, servomotor or stepping motor 203, article induction installation 105 (for example sensor) and Programmable Logic Controller PLC or industrial computer 202 consist of another control system, wherein PLC or industrial computer and article induction installation 105 are coupled, and are configured to adjust based on the information of responding to the motion of adjustable speed travel line 102.Other parts of embodiment shown in Figure 2 are identical with embodiment shown in Figure 1, omit detailed description at this.
Fig. 3 shows an improved packaging system 300 to the packaging system 200 shown in Fig. 2, wherein adopts robot controller 201 ' to control the motion of adjustable speed travel line 102.As shown in Figure 3, robot controller 201 ' is coupled with article induction installation 105, and is configured to adjust based on the information of responding to the motion of adjustable speed travel line 102.
In preferred implementation of the present utility model, robot controller is configured to based on the information of responding to the crawl of robot 104 and the motion of adjustable speed travel line 102 dynamically are consistent.
In optional embodiment of the present utility model, robot controller 201 ' further is configured to determine that based on the information of responding to article to be cased have been transferred to the crawl position of grasping robot 104 on the adjustable speed travel line 102, then the article to be cased of quantity are set in 104 crawls of control crawl robot, and place it in the packing chest on the packing box transmission line.
In further optional embodiment of the present utility model, robot 104 is set to grasp a plurality of article to be cased at every turn.
Other parts of embodiment shown in Figure 3 are identical with embodiment shown in Figure 1, omit detailed description at this.
Packaging system 300 shown in Figure 3 is compared with packaging system 200 shown in Figure 2, no longer needs PLC or industrial computer, but directly controls adjustable speed travel line 102 by robot controller 201 '.Its control flow is as follows:
1. enter the adjustable speed travel line and when coming, article induction installation 105 can detect the article of this arrival, and sends induced signal to robot controller 201 ' from article supplied materials travel line when article for example.
2. robot controller 201 ' moves a step-length according to the actuated signal control adjustable speed travel line 102 that receives, concrete control step is identical with reference to the corresponding control step of the concrete example of the working process of the described packaging system 100 of Fig. 1 with preamble, and step-length can be according to article size predefine.
3. robot controller 201 ' calculates the number of articles in adjustable speed travel line 102.When determining a gripping of the enough robot grippers of article in the adjustable speed travel line 102 of robot 104 work areas, robot controller 201 ' picks up article in the adjustable speed travel line 102 with the handgrip 107 of control.The movement of robot 104 is controlled according to the motion of adjustable speed travel line 102.
Can find out from above-mentioned control flow and in conjunction with Fig. 3, article supplied materials travel line 101, adjustable speed travel line 102 and robot 104 are by a controller, be robot controller 201 ' control, so substantially real-time optimization period and guaranteed simultaneously safety.If any problem or mistake occur during the coordinated movement of various economic factors, robot controller 201 ' still can be coordinated as required all actions and stop any action.
Particularly, the packaging system 300 that adopts robot controller 201 ' to control adjustable speed travel line 102 and article induction installation 105 comprises following innovation at least:
1. reduce PLC controller or industrial computer in the control system, thereby reduced the components and parts of controlling unit, reduced cost, the fault of system is reduced, reduced maintenance cost, therefore improved Systems balanth;
2. adopt article induction installation 105 directly by the mode of robot controller 201 ' control, reduced because the bottom pour ladle of travel line feeding when very fast adding/deceleration/decel and lack the phenomenon of bag has reduced the phenomenon of shutting down;
3. because robot controller 201 ' is directly controlled adjustable speed travel line 102, so that the step order of the grasping movement of robot 104 and 102 steppings of adjustable speed travel line guarantees synchronously, thereby the crawl position of robot 104 is more accurate, reduced thus the phenomenon of substitute of robot crawl, reach the speed of casing faster, improved the efficient of system.
Although described the utility model with reference to some specific embodiment, should be appreciated that the utility model is not limited to the disclosed specific embodiment.The utility model is intended to contain interior included various modifications and the equivalent arrangements of spirit and scope of claims.The scope of claims meets the most wide in range explanation, thereby comprises all such modifications and equivalent structure and function.

Claims (20)

1. packaging system is characterized in that comprising:
Article charging travel line;
The adjustable speed travel line is configured to receive the article to be cased from described article charging travel line;
The packing box transmission line;
The crawl robot is configured to grasp article to be cased and be positioned in the packing chest on the described packing box transmission line from described adjustable speed travel line; And
The article induction installation is configured to respond to article to be cased and enters the relevant information of described adjustable speed travel line from described article charging travel line,
The motion of wherein said adjustable speed travel line is adjustable based on the information of described induction.
2. packaging system according to claim 1 is characterized in that, described adjustable speed travel line adopts stepper motor or driven by servomotor, and described article charging travel line is continuous travel line.
3. packaging system according to claim 1 and 2, it is characterized in that, described adjustable speed travel line is set to determine article to be cased and sent into described adjustable speed travel line whenever the information that detects based on described article induction installation, sets the step pitch of size along its transmission direction campaign.
4. packaging system according to claim 3 is characterized in that, is provided with dividing plate on the direction vertical with its transmission direction on the described adjustable speed travel line, and wherein the interval of each dividing plate is corresponding with the described step pitch of setting size.
5. packaging system according to claim 1 and 2, it is characterized in that, the motion of described adjustable speed travel line is by PLC or industrial computer control, wherein said PLC or industrial computer and described article induction installation are coupled, and are configured to adjust based on the information of described induction the motion of described adjustable speed travel line.
6. packaging system according to claim 1 and 2, it is characterized in that, the motion of described adjustable speed travel line is directly controlled by robot controller, wherein said robot controller and described article induction installation are coupled, and are configured to adjust based on the information of described induction the motion of described adjustable speed travel line.
7. packaging system according to claim 5, it is characterized in that, described robot controller further is configured to determine that based on the information of described induction the article to be cased on the described adjustable speed travel line have been transferred to the crawl position of described crawl robot, then control the crawl of described crawl robot and set the article to be cased of quantity, and place it in the packing chest on the packing box transmission line.
8. packaging system according to claim 6 is characterized in that, described crawl robot is set up and carries a plurality of handgrips, and each grasping movement grasps a plurality of article to be cased simultaneously thus.
9. packaging system according to claim 6 is characterized in that, described crawl robot is set up and carries a plurality of handgrips, and each handgrip grasps successively behind the article of casing the article that grasp are positioned in the packing chest.
10. packaging system according to claim 6 is characterized in that, described robot controller is configured to based on the information of described induction the crawl of described robot and the motion of described adjustable speed travel line dynamically are consistent.
11. packaging system according to claim 1 and 2 is characterized in that, the information of described induction comprises the one or more of following information:
Whether there are article to enter the adjustable speed travel line from article charging travel line; And
Article enter quantity and the speed of adjustable speed travel line from article charging travel line.
12. packaging system according to claim 1 and 2 is characterized in that, the speed of described article charging travel line is adjustable based on the information of described induction.
13. packaging system according to claim 1 and 2 is characterized in that, the quantity of described adjustable speed travel line, described packing box transmission line and described robot is one or more.
14. packaging system according to claim 1 and 2 is characterized in that, described article induction installation is located at an end of close described adjustable speed travel line on the described article delivery line.
15. packaging system according to claim 1 and 2 is characterized in that, described article induction installation is located at described adjustable speed travel line top or position, side.
16. packaging system according to claim 1 and 2 is characterized in that, described adjustable speed travel line and described packing box transmission line are parallel to each other or are arranged vertically, and described article charging travel line and the mutual perpendicular or parallel layout of described adjustable speed travel line.
17. packaging system according to claim 1 and 2 is characterized in that, described article induction installation is electro-optical pickoff or imageing sensor.
18. packaging system according to claim 1 and 2 is characterized in that, described robot is Delta type robot or SCARA robot.
19. packaging system according to claim 18 is characterized in that, a kind of in artificial three axles of described Delta type machine, four axles and the six-joint robot.
20. packaging system according to claim 1 and 2 is characterized in that, the handgrip of described crawl robot is vacuum cup.
CN 201220259250 2012-05-28 2012-05-28 Packing system Active CN202686788U (en)

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CN103359316A (en) * 2013-08-01 2013-10-23 广州达意隆包装机械股份有限公司 Intelligent box filler and box-filling method thereof
CN103419951A (en) * 2013-07-17 2013-12-04 杭州娃哈哈科技有限公司 Combined box filling machine of battery assembly line
CN104097796A (en) * 2014-07-03 2014-10-15 上海发那科机器人有限公司 Automated assembly line structure of structural stamping parts
CN105905560A (en) * 2016-05-27 2016-08-31 江苏德罗智能科技有限公司 Full-automatic control system for dynamic grabbing and storing and control method of full-automatic control system
CN106394992A (en) * 2016-09-14 2017-02-15 四川长虹电器股份有限公司 Automatic packing control system based on assembly line
CN107323753A (en) * 2017-05-24 2017-11-07 歌尔股份有限公司 Method and apparatus for automatic accomodation SMT products
CN107932501A (en) * 2017-10-31 2018-04-20 江苏新美星包装机械股份有限公司 Stacking machine arranges the control method of case manipulator
CN108163262A (en) * 2017-12-20 2018-06-15 辰星(天津)自动化设备有限公司 A kind of food crawl manipulator
CN109789940A (en) * 2016-09-28 2019-05-21 偌鸿慕·葛赫布瓦 Robotic packing method
TWI704968B (en) * 2018-07-26 2020-09-21 大陸商蘇州滙富弘自動化科技有限公司 Stamping device, transferring device, automatic stamping equipment and method for transferring workpiece

Cited By (18)

* Cited by examiner, † Cited by third party
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CN103144803A (en) * 2013-02-05 2013-06-12 广州达意隆包装机械股份有限公司 Boxing servo control system and method
CN103144803B (en) * 2013-02-05 2015-09-23 广州达意隆包装机械股份有限公司 Vanning servo control unit and method
CN103419951A (en) * 2013-07-17 2013-12-04 杭州娃哈哈科技有限公司 Combined box filling machine of battery assembly line
CN103419951B (en) * 2013-07-17 2015-04-08 杭州娃哈哈科技有限公司 Combined box filling machine of battery assembly line
CN103359316A (en) * 2013-08-01 2013-10-23 广州达意隆包装机械股份有限公司 Intelligent box filler and box-filling method thereof
CN103359316B (en) * 2013-08-01 2016-03-02 广州达意隆包装机械股份有限公司 A kind of intelligent packing machine and packing method thereof
CN104097796A (en) * 2014-07-03 2014-10-15 上海发那科机器人有限公司 Automated assembly line structure of structural stamping parts
CN104097796B (en) * 2014-07-03 2017-04-05 上海发那科机器人有限公司 A kind of automatic assembly line structure of punching structure part
CN105905560A (en) * 2016-05-27 2016-08-31 江苏德罗智能科技有限公司 Full-automatic control system for dynamic grabbing and storing and control method of full-automatic control system
CN105905560B (en) * 2016-05-27 2018-05-11 江苏德罗智能科技有限公司 A kind of full-automatic control system and its control method of dynamic crawl storage
CN106394992A (en) * 2016-09-14 2017-02-15 四川长虹电器股份有限公司 Automatic packing control system based on assembly line
CN106394992B (en) * 2016-09-14 2019-07-19 四川长虹电器股份有限公司 Automatic boxing control system based on assembly line
CN109789940B (en) * 2016-09-28 2020-12-29 偌鸿慕·葛赫布瓦 Automatic manipulator boxing method
CN109789940A (en) * 2016-09-28 2019-05-21 偌鸿慕·葛赫布瓦 Robotic packing method
CN107323753A (en) * 2017-05-24 2017-11-07 歌尔股份有限公司 Method and apparatus for automatic accomodation SMT products
CN107932501A (en) * 2017-10-31 2018-04-20 江苏新美星包装机械股份有限公司 Stacking machine arranges the control method of case manipulator
CN108163262A (en) * 2017-12-20 2018-06-15 辰星(天津)自动化设备有限公司 A kind of food crawl manipulator
TWI704968B (en) * 2018-07-26 2020-09-21 大陸商蘇州滙富弘自動化科技有限公司 Stamping device, transferring device, automatic stamping equipment and method for transferring workpiece

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