CN202686788U - Packing system - Google Patents

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

Packing system

technical field

The utility model relates to the field of packing systems, in particular to a robot packing system.

Background technique

Due to its many advantages such as high precision and high flexibility, the robot packing system is widely used in industrial production lines. The robot packing system generally includes the main components such as the item conveying line, the packing case conveying line, and the grabbing robot. The item conveying line transports the items to be boxed, the packing box conveying line transports the packing boxes, and the grabbing robot is responsible for grabbing the items to be packed from the item conveying line and placing them in the packing boxes on the packing box conveying line, so as to Implement item packing.

In a traditional robotic case packing system, the item conveyor line usually conveys the items to be cased at a very fast speed. To match it, the grabbing robot also needs to have a very fast grabbing speed, which places very high demands on the robot. In addition, because the grabbing speed of the grabbing robot cannot be well kept in dynamic consistency with the movement of the item conveying line, resulting in dropped and missing packages. At the same time, since the grabbing action of the grabbing robot often cannot be dynamically consistent with the movement of the item conveying line, the item conveying line often needs to be stopped to provide the robot with a time to grab the item. In addition, since each item to be packed is transmitted on the item conveying line at uneven intervals in the prior art, it is inevitable that some grippers are not effective when the robot is set to grab the items to be packed in batches each time. Accurately grab the items to be packed. This has caused many problems such as low efficiency and weak stability of the packing system.

Utility model content

The purpose of the embodiments of the present invention is to solve one or more of the above-mentioned problems existing in the boxing system of the prior art.

According to one aspect of the present invention, a boxing system is proposed, which may include: an article feeding conveying line; an adjustable speed conveying line configured to receive articles to be boxed from the article feeding conveying line; Packing box conveyor line; grabbing robot, configured to grab items to be packed from the adjustable speed conveyor line and place them in the packing box on the packing box conveyor line; item sensing device, configured to sense and store items to be packed Information related to the entry of items from an infeed conveyor line into an adjustable speed conveyor line. According to an embodiment of the present invention, the movement of the adjustable-speed conveying line is adjustable based on the information sensed above.

According to the utility model, the movement of the speed-adjustable conveying line can be adjusted according to the relevant information that the articles enter the speed-adjustable conveying line from the incoming material conveying line, so that the movement of the adjustable-speed conveying line can be based on the incoming goods to be loaded. The status of box items has become adjustable.

In an optional embodiment of the present invention, the adjustable-speed conveying line can be driven by a stepping motor or a servo motor, and the article feeding conveying line can be a continuous conveying line.

In an optional embodiment of the present invention, whenever it is determined based on the information detected by the item sensing device that an item to be packed has been sent into the adjustable-speed conveying line, the adjustable-speed conveying line is controlled to move along its conveying direction Sets the size step. According to this embodiment of the utility model, the items to be boxed that enter the adjustable-speed conveying line can be evenly conveyed on the adjustable-speed conveying line according to the set interval, so that the grabbing robot can batch from The adjustable speed conveyor grabs a set quantity of items to be boxed and places them in boxes on the box conveyor line.

In an optional embodiment of the present invention, several partitions may be arranged on the adjustable-speed conveying line in a direction perpendicular to its conveying direction, wherein the intervals between the partitions correspond to the above-mentioned set step distance. In this way, the partitions can position the articles on the speed-adjustable conveying line to prevent the articles from being crowded on the speed-adjustable conveying line.

In an optional embodiment of the present invention, the movement of the adjustable-speed conveying line can be controlled by a PLC or an industrial computer, wherein the PLC or industrial computer is coupled with the object sensing device and is configured to be based on the sensed information To adjust the movement of the adjustable speed conveyor line.

In an alternative embodiment of the present invention, the movement of the adjustable-speed conveying line may be directly controlled by a robot controller, wherein the robot controller is coupled to the item sensing device and configured to adjust the adjustable speed conveyor line based on the sensed information. The movement of the high-speed conveyor line.

In an optional embodiment of the present invention, the robot controller can also be configured to determine based on the sensed information that the items to be packed on the adjustable-speed conveying line have been transported to the grabbing position of the grabbing robot, Then control the grabbing robot to grab a set number of items to be packed and place them in the packing box on the packing box conveying line.

In an optional embodiment of the present invention, the robot can be configured to carry multiple grippers, so that each grabbing action simultaneously grabs multiple items to be packed. Optionally, the robot can be configured to carry multiple grippers, and each gripper grabs the items to be packed in sequence, and then places the grabbed items in the packing box

In an alternative embodiment of the present invention, the robot controller may be configured to dynamically align the robot's grasp with the movement of the adjustable speed conveyor line based on the sensed information.

In an optional embodiment of the present utility model, the sensed information may include one or more of the following information: whether an article enters the adjustable-speed conveying line from the article feeding conveying line; Enter the quantity and speed of the adjustable speed conveyor line.

In an optional embodiment of the present invention, the speed of the item feeding conveyor line can be adjusted based on the sensed information.

In an optional embodiment of the present invention, there may be one or more adjustable-speed conveying lines, packing case conveying lines and robots.

In an optional embodiment of the present invention, the object sensing device can be arranged on the end of the object conveying line close to the speed-adjustable conveying line.

In an optional embodiment of the present invention, the object sensing device can be arranged above or beside the speed-adjustable conveying line.

In an optional embodiment of the present invention, the adjustable-speed conveying line can be arranged parallel to or perpendicular to the packaging box conveying line, and the article feeding conveying line can be arranged perpendicularly or parallel to the adjustable-speed conveying line.

In an optional embodiment of the present invention, the object sensing device may be a photoelectric sensor or an image sensor.

In an alternative embodiment of the present invention, the robot may be a delta robot or a SCARA robot.

In an optional embodiment of the present invention, the delta robot may be one of three-axis, four-axis and six-axis robots.

In an optional embodiment of the present invention, the gripper of the grabbing robot may be a vacuum suction cup.

Description of drawings

The above and other objects, features and advantages of embodiments of the present invention will become apparent by reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of the invention are shown by way of illustration and not limitation, wherein the same reference numerals indicate the same or similar elements.

FIG. 1 shows a schematic illustration of a boxing system 100 according to an embodiment of the present invention.

Fig. 2 shows a schematic illustration of a case packing system 200 in which a PLC or an industrial computer is used to control an adjustable-speed conveying line according to another embodiment of the present invention.

Fig. 3 shows a schematic illustration of a case packing system 300 in which a robot controller is used to control an adjustable-speed conveying line according to another embodiment of the present invention.

Detailed ways

According to the embodiment of the present utility model, an adjustable-speed conveying line such as an adjustable-speed stepping conveying line is set downstream of the incoming material conveying line, and at the same time, an object sensing device is installed to detect that the object enters the adjustable Relevant information on the high-speed conveyor line, and further adjust the movement of the adjustable-speed conveyor line according to the sensed information.

In addition, according to the embodiment of the present invention, the robot controller can directly control the grasping timing of the grasping robot according to the above sensing information from the object sensing device. This overcomes the problem in the prior art that sensors for detecting items passing through the working area of the robot need to be provided on the item conveying line.

Further, according to the embodiment of the present invention, the movement of the adjustable-speed conveying line can be directly controlled by the robot controller, which can improve the response time of the box packing system, thereby improving the box packing efficiency.

Hereinafter, with reference to the accompanying drawings, a specific description of alternative embodiments of the present invention is given. The drawings show, by way of example, specific embodiments enabling the invention to be implemented. The illustrated embodiments are not intended to be exhaustive of all implementations according to the invention. It can be understood that those skilled in the art can completely recombine each feature and each embodiment of the utility model described below to form other embodiments, or make structural or logical modifications to the following exemplary embodiments, all of which are Within the scope of the present utility model. Therefore, the following specific embodiments are only exemplary rather than restrictive.

Fig. 1 shows a schematic diagram of a packing system according to an embodiment of the present invention. As shown in FIG. 1 , the box packing system 100 may include an item feeding conveying line 101 , an adjustable speed conveying line 102 , a packing box conveying line 103 , a grabbing robot 104 and an item sensing device 105 . The item infeed conveyor line 101 may be used to transport items 106 to be boxed. Adjustable speed conveyor line 102 may be used to receive items to be boxed 106 from item infeed conveyor line 101 . The item sensing device 105 can be used to sense information related to the items 106 to be packed entering the adjustable-speed conveyor line 102 from the item feeding conveyor line 101 .

As shown in FIG. 1 , according to an embodiment of the present invention, an item feeding conveyor line 101 receives items 106 to be boxed from the production line, and the item feeding conveyor line 101 may be any type of transmission line known in the art. For example, item infeed conveyor line 101 may be a continuously moving conveyor line.

According to an embodiment of the present invention, the items to be boxed 106 may be various types of items suitable for robot boxing, such as packaged items or unpacked items (eg, items that do not need to be packaged). As non-limiting examples, items 106 may include, but are not limited to, various items such as ice cream, milk packs, chocolate, and the like.

In an embodiment of the present invention, the speed-adjustable conveying line 102 is used to receive the articles 106 to be boxed from the article feeding conveying line 101 . The speed-adjustable conveying line 102 may be a stepping conveying line, for example, the speed-adjustable conveying line 102 may be driven by a stepping motor or a servo motor.

In the embodiment of the present utility model, the item sensing device 105 is used for sensing information related to the items 106 to be packed entering the adjustable-speed conveyor line 102 from the item feeding conveyor line 101 . The object sensing device 105 may include a sensor, such as a photoelectric sensor or an image sensor, but the present invention is not limited thereto, and it may include other types of sensors such as a touch sensor, a pressure sensor, and the like. As shown in FIG. 1 , the item sensing device 105 is preferably disposed on the item feeding conveying line 101 at one end close to the speed-adjustable conveying line 102 . Optionally, the object sensing device 105 can also be arranged above or beside the adjustable-speed conveying line 102 (not shown). Those skilled in the art should understand that, in fact, the item sensing device 105 can be installed at other locations, as long as it can sense the information related to the item 106 entering the adjustable-speed conveyor line 102 from the item feeding conveyor line 101 .

According to an embodiment of the present invention, the movement of the adjustable-speed conveying line 102 is adjustable based on the information sensed by the object sensing device 105 . In a preferred embodiment, whenever it is determined based on the information detected by the item sensing device 105 that an item 106 to be packed has been sent into the adjustable-speed conveying line 102, the adjustable-speed conveying line 102 is controlled to move along its conveying direction. Set the size of the step. In this way, as shown in Figure 1, according to the preferred embodiment of the present utility model, the articles 106 to be packed that enter the adjustable-speed conveying line 102 can be evenly conveyed on the adjustable-speed conveying line according to the set interval, thus making The grabbing robot 104 can grab a set number of items 106 to be packed from the adjustable-speed transmission line 102 in batches each time and place them into the packing boxes on the packing box conveying line 103 . This overcomes the defect in the prior art that the robot does not effectively grab the items in a certain grab due to the non-uniform transmission of the items on the item conveying line in the batch grabbing of the robot, thereby improving the grabbing efficiency.

Those skilled in the art should understand that the step length may be, for example, the step length of a step-by-step conveying line or be predefined according to the size of the item.

In addition, in another preferred embodiment, the moving speed of the adjustable-speed conveying line 102 can be dynamically adjusted according to the frequency of articles entering the adjustable-speed conveying line 102 sensed by the sensing device 105 .

In addition, in an optional embodiment of the present invention, dividers are arranged on the adjustable-speed conveying line 102 in a direction perpendicular to its conveying direction, wherein the interval of each divider corresponds to the step distance of the above-mentioned set size .

As shown in FIG. 1 , according to an embodiment of the present invention, a grabbing robot 104 grabs an item 106 to be packed from an adjustable-speed conveyor line 102 and places it in a box on the box conveyor line 103 . The grabbing robot 104 may be a delta robot, such as a three-axis, four-axis or six-axis delta robot. In addition, the grasping robot 104 may also use a Selective Compliance Assembly Robot Arm (SCARA). More generally, the grabbing robot 104 of the embodiment of the present utility model can also adopt any type of robot commonly used for box packing in the field.

In addition, the installation position of the grabbing robot 104 can be set above the speed-adjustable conveying line 102 and the box conveying line 103, for example, in the case of a delta robot, the grabbing robot 104 can be set on the adjustable-speed conveying line 102 and directly above the crate conveying line 103. However, those skilled in the art should understand that the setting position of the grab robot 104 is not limited thereto, for example, it can be set on the side of the conveying line 102 or 103 or other positions, as long as it can grasp from the adjustable speed conveying line 102 Get the item to be packed and place it in the packing case on the packing case conveying line 103.

In a preferred embodiment of the present invention, as shown in FIG. 1 , the speed-adjustable conveying line 102 can be arranged in parallel with the packaging box conveying line 103 (as shown in FIG. 1 ), and the conveying method can be in the same direction or in reverse. Optionally, the adjustable-speed conveying line 102 may be arranged in phase or perpendicular to the case conveying line 103 (not shown). It should be understood that the adjustable-speed conveying line 102 and the packing case conveying line 103 can be arranged in other ways, as long as the picking robot can pick up items from the adjustable-speed conveying line 102 and place them on the packing case conveying line 103 in the packing box.

Likewise, the article feeding conveying line 101 and the adjustable-speed conveying line 102 may be arranged perpendicular to each other (as shown in FIG. 1 ) or arranged in parallel (not shown). It should be understood that, in the embodiment of the present invention, the article feeding conveying line 101 and the speed-adjustable conveying line 102 may also adopt other arrangements.

In Fig. 1 only a combination of an adjustable speed conveying line 102, a packaging case conveying line 103 and a robot 104 is shown, but the present invention is not limited thereto. For example, the present invention at least also includes (but not limited to) the following combinations and arrangements:

A speed-adjustable conveying line 102, a packing case conveying line 103, and two robots 104 are arranged in series;

Arrangement of one speed-adjustable conveying line 102, two packing case conveying lines 103, one robot 104 or two robots 104 arranged in series;

Arrangement of two speed-adjustable conveying lines 102, two packing case conveying lines 103, and one robot 104;

Two adjustable-speed conveying lines 102, two packing case conveying lines 103, and two robots 104 are arranged in series or crosswise;

Arrangement of two speed-adjustable conveying lines 102, one packing case conveying line 103, and one robot 104;

Arrangement of multiple speed-adjustable conveying lines 102, multiple packing box conveying lines 103, and multiple robots 104.

In addition, returning to the arrangement and combination shown in FIG. 1 , it also has a variety of flexible deformation modes. For example, adjustable speed conveyor line 102 , although shown as being on the right side of robot 104 in FIG. 1 , could be entirely on the left side of robot 104 . Moreover, although the speed-adjustable conveying line 102 is shown as conveying direction to the left, it can completely convey to the right according to actual needs. Similarly, the conveying direction of the packaging box conveying line 103 can also be set to the left or right as required .

In yet another preferred embodiment of the present utility model, the speed of the article feeding conveying line 101 can also be adjusted based on the information sensed above. For example, when there are too many articles entering the speed-adjustable conveying line 102 too fast, the speed of the article feeding conveying line 101 can be dynamically adjusted, such as but not limited to controlling its start-stop.

In addition, according to the embodiment of the present utility model, the above sensing information of the object sensing device 105 is also transmitted to the robot controller. The robot controller can directly control the grabbing timing of the grabbing robot according to the above sensing information from the object sensing device 105 . This overcomes the problem in the prior art that sensors for detecting items passing through the working area of the robot need to be provided on the item conveying line.

In order to better understand the utility model, a specific example of the working process of the packing system 100 according to the embodiment of the utility model will be described in detail below with reference to FIG. 1 . It should be noted that the following examples are described for illustrative purposes only, and are not intended to limit the present utility model.

As shown in FIG. 1 , the items 106 to be boxed are sent from the high-speed moving item feeding conveyor line 101 to the adjustable-speed conveyor line 102 and pass through the item induction device 105 at the same time.

After the item sensing device 105 detects the item, it notifies the controller (not shown in FIG. 1 ) for controlling the adjustable-speed conveying line 102 of the detected relevant information by, for example, sending a pulse. Among them, in the present utility model, the detection of the article by the article sensing device 105 includes but not limited to whether there is an article entering the adjustable speed conveying line 102 from the article feeding conveying line 101, whether the article entering the adjustable speed conveying line 101 from the article feeding conveying line information such as the number and speed of the high-speed conveyor line 102, or whether the specified direction is consistent. There is a certain time interval between the previous item and the next item. The item sensing device 105 will also send a detection signal to the controller after sensing the next item, and so on, each of the items 106 is detected by the sensing device 105 .

Based on the detected information (such as but not limited to the time interval between the front and rear signals), the controller sends a control signal to control the motor (such as a servo motor or a stepping motor) of the adjustable speed conveyor line 102, so that the The adjustable-speed conveying line 102 driven by the motor can be adjusted according to the condition that the items to be packed enter the adjustable-speed conveying line 102, so that the conveying step of the adjustable-speed conveying line 102 conforms to the condition that the items to be packed 106 enter the adjustable-speed conveying line. Line 102 beats. For example, whenever it is determined based on the information detected by the item sensing device 105 that an item 106 to be packed has been sent into the adjustable-speed conveying line 102, the adjustable-speed conveying line 102 is controlled to move a set step along its conveying direction . In this way, as shown in FIG. 1 , the items 106 to be packed entering the adjustable-speed conveying line 102 can be evenly conveyed on the adjustable-speed conveying line according to the set interval.

In addition, the information sensed by the object sensing device 105 is also sent to the robot controller, and the robot controller can directly control the grasping timing of the grasping robot according to the above sensing information from the object sensing device 105 . For example, when the item 106 enters the speed-adjustable conveying line 102 and is transported to the grabbing position of the robot 104 , the robot controller sends a signal to control the running speed and tempo of the robot 104 to be consistent with the tempo of the speed-adjustable conveying line 102 . At this time, the speed-adjustable conveying line 102 can keep synchronous with the robot when accelerating/decelerating. Once a batch of items reaches the grabbing position of the robot 104, the robot 104 will use its gripper 107 to grab the batch of items and put them into a packing box or container to complete the boxing action.

In an optional embodiment of the present invention, the robot 104 may be configured to carry multiple grippers, so that each grabbing action simultaneously grabs multiple items to be packed. Optionally, the robot may be configured to carry a plurality of grippers, and each gripper grabs the items to be packed in sequence, and then places the grabbed items in the packing box. According to the embodiment of the present utility model, the gripper 107 of the robot 104 can be a vacuum suction cup, in addition, it can also be other types of grippers, such as other grippers such as splint grippers and finger pull-out grippers. Common gripper for case packing systems.

Fig. 2 shows a schematic illustration of a case packing system 200 in which a PLC or an industrial computer is used to control an adjustable-speed conveying line according to another embodiment of the present invention. As shown in Figure 2, in packing system 200, robot 104 and robot controller 201 constitute a control system, and adjustable speed conveying line 102, servomotor or stepper motor 203, article induction device 105 (such as sensor) and A programmable controller PLC or industrial computer 202 constitutes another control system, wherein the PLC or industrial computer is coupled to the item sensing device 105 and is configured to adjust the movement of the adjustable speed conveyor line 102 based on the sensed information. Other parts of the implementation shown in FIG. 2 are the same as those of the implementation shown in FIG. 1 , and a detailed description thereof is omitted here.

FIG. 3 shows an improved case packing system 300 to the case packing system 200 shown in FIG. As shown in Figure 3, the robot controller 201' is coupled to the item sensing device 105 and is configured to adjust the motion of the adjustable speed conveyor line 102 based on the sensed information.

In a preferred embodiment of the present invention, the robot controller is configured to dynamically align the grasping of the robot 104 with the motion of the adjustable speed conveyor line 102 based on the sensed information.

In an optional embodiment of the present utility model, the robot controller 201' is further configured to determine, based on the sensed information, the grasping position on the adjustable-speed conveying line 102 where the item to be packed has been transported to the grasping robot 104, Then the grabbing robot 104 is controlled to grab a set quantity of items to be packed, and place them in the packing boxes on the packing box conveying line.

In a further optional embodiment of the present utility model, the robot 104 is configured to grab a plurality of items to be packed each time.

Other parts of the embodiment shown in FIG. 3 are the same as those of the embodiment shown in FIG. 1 , and a detailed description thereof is omitted here.

Compared with the packing system 200 shown in FIG. 2, the packing system 300 shown in FIG. 3 does not need a PLC or an industrial computer, but the robot controller 201' directly controls the speed-adjustable conveying line 102. Its control flow is as follows:

1. For example, when an item enters the adjustable-speed conveying line from the incoming item conveying line, the item sensing device 105 will detect the incoming item and send a sensing signal to the robot controller 201'.

2. The robot controller 201' controls the adjustable-speed conveying line 102 to move a step according to the received induction signal, and the specific control steps are the same as the corresponding control of the specific example of the working process of the packing system 100 described above with reference to FIG. 1 The steps are the same, and the step size can be predefined according to the item size.

3. The robot controller 201' counts the number of items in the adjustable speed conveyor line 102. When it is determined that the items in the adjustable-speed conveying line 102 in the working area of the robot 104 are enough for the gripper of the robot once, the robot controller 201' will control the gripper 107 of the robot to pick up the items in the adjustable-speed conveying line 102. The movement of the robot 104 is controlled according to the motion of the adjustable speed conveyor line 102 .

It can be seen from the above control flow combined with Fig. 3 that the incoming material conveying line 101, the speed-adjustable conveying line 102 and the robot 104 are all controlled by a controller, that is, the robot controller 201', which maximizes the real-time optimization of the cycle time. time and at the same time ensure safety. If any problems or errors occur during the coordinated movement, the robot controller 201' can still coordinate all actions and stop any action as needed.

Specifically, the packing system 300 using the robot controller 201' to control the adjustable-speed conveying line 102 and the item sensing device 105 includes at least the following innovations:

1. One PLC controller or industrial computer in the control system is reduced, thereby reducing the components of the control link, reducing the cost, and at the same time reducing the failure of the system and reducing the maintenance cost, thus improving the stability of the system;

2. Adopt the method that the object sensing device 105 is directly controlled by the robot controller 201', which reduces the phenomenon of missing and missing packages due to the rapid acceleration/deceleration of the conveying line, and reduces the phenomenon of downtime;

3. Since the robot controller 201' directly controls the speed-adjustable conveying line 102, the grasping action of the robot 104 is synchronized with the stepping sequence of the speed-adjustable conveying line 102, so that the grasping position of the robot 104 is more accurate. This reduces the phenomenon of dropped packages grabbed by the robot, achieves faster packing speed, and improves the efficiency of the system.

While the invention has been described with reference to several specific embodiments, it is to be understood that the invention is not limited to the specific embodiments disclosed. The present invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. The scope of the appended claims is to be accorded the broadest interpretation thereby encompassing all such modifications and equivalent structures and functions.

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.

Images