CN205574422U - Automatic dispensing system of material package - Google Patents
Automatic dispensing system of material package Download PDFInfo
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- CN205574422U CN205574422U CN201620105025.2U CN201620105025U CN205574422U CN 205574422 U CN205574422 U CN 205574422U CN 201620105025 U CN201620105025 U CN 201620105025U CN 205574422 U CN205574422 U CN 205574422U
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Abstract
The utility model discloses an automatic dispensing system of material package, include: the feed cylinder transfer chain, first material package transfer chain and second material package transfer chain, a vibration material disk and the 2nd vibration material disk for the package is expected with exporting one by one to the storage, a feeder ware people and second feeder ware people for snatch in material package and input to the feed cylinder, system control cabinet and robot control cabinet, the communication is continuous respectively with each part for control the running state of each part. Its technical scheme can automize and accomplish the work that the material package dropped into, has improved the process automation level, and simple structure has just alleviateed workman's burden to effectively reduce the risk of the easy bale broken of the mechanical transmission complicacy of traditional mechanism, effective realization is thrown the material more and is leaked the product quality of the effect that timely discovery was rejected when throwing the material, the on -line of improving production greatly production.
Description
Technical field
This utility model relates to automatic charging technical field, particularly relates to a kind of material bag and automatically throws in system
System.
Background technology
In the processing of food service industry, in order to extend the shelf-life of food typically require placement be dried
Agent material bag and deoxidizer material bag are to reduce the moisture in food storage device and oxygen, thus extend food
Shelf-life, general in prior art use artificial throw in and two ways that special plane is thrown in is deposited to food
Desiccant material bag and deoxidizer material bag is thrown in storage device.
Artificial input is used to expect that bag merits and demerits efficiency is low, labor intensity is excessive and misplaced problem easily occurs；
Although if using special plane to throw in can accelerate work efficiency, the operation principle that special plane feeds intake is by material bag chi
Very little match, then, material winding is become coiled strip, be delivered to the cutting machine of front end finally by pipeline
Place, is thrown in batch can after being cut by cutting machine, but, this method size to the material bag that feeds intake
Require more strict, furthermore, it is desirable to cut by cutting machine, easily cause the bale broken of material bag, if
Material bag bale broken not only can waste desiccant or deoxidizer, and desiccant or deoxidizer more can be made to be sprinkled in batch can,
And desiccant and deoxidizer are unedible, thus the waste of food in causing batch can.
Utility model content
The problems referred to above existed for prior art, this utility model aims to provide a kind of material bag and automatically throws
Place system, can accurately render to material bag in charging basket, and, can prevent from expecting bag bale broken.
Concrete technical scheme is as follows:
A kind of material wraps automatic jettison system, including:
Barrel pipeline, in order to carry barrel；
First material bag pipeline and the second material bag pipeline, be divided into the both sides of barrel pipeline, in order to
Carry 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 and
The surface of the second material bag pipeline, in order to store and the most defeated spout bag；
First feeds intake robot, across being arranged at the first material bag pipeline and top of barrel pipeline,
In order to capture the material bag on the first material bag pipeline, and put into barrel；
Second feeds intake robot, across being arranged at the second material bag pipeline and top of barrel pipeline,
In order to capture the material bag on the second material bag pipeline, and put into 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.
The valve rod provided at this utility model is automatically loaded in device, also has the feature that, barrel
Pipeline be provided above barrel clamping device, wherein, barrel clamping device include helical axis and with
The driving motor that helical axis transmission is connected, the circumferential side wall of helical axis offers cross section vertically is
The helicla flute of arc, and in transport process, the side of barrel is positioned at helicla flute, in order to by barrel
On pipeline, the barrel of conveying is equally separated from.
The valve rod provided at this utility model is automatically loaded in device, also has the feature that, spiral
Being provided with the first encoder on axle, the first encoder is connected by communication with robot control cabinet, and by the
One encoder constantly transmits the pulse to robot control cabinet, and first feeds intake robot and the second batch charger
Device people follows the tracks of barrel position on barrel pipeline.
The valve rod provided at this utility model is automatically loaded in device, also has the feature that, first
Material bag pipeline is provided with the second encoder, and the second encoder is along with the motion of the first material bag pipeline
Synchronous axial system, and, the second encoder is connected by communication with robot control cabinet, by the second encoder
Constantly transmitting the pulse to robot control cabinet, first feeds intake on robotic tracking's the first material bag pipeline
Material bag position；
Second material bag pipeline is provided with the 3rd encoder, and the 3rd encoder carries along with the second material bag
The synchronized movement of line rotates, and, the 3rd encoder is connected by communication with robot control cabinet, by the
Three encoders constantly transmit the pulse to robot control cabinet, and second feeds intake robotic tracking's the second material bag
The position of the material bag on pipeline.
The valve rod provided at this utility model is automatically loaded in device, also has the feature that, first
It is also respectively provided with a vision camera, vision camera and machine on material bag pipeline and the second material bag pipeline
Device people's switch board is connected by communication, and wraps in the first material bag pipeline and the conveying of the second material bag in order to shoot material
Attitude on line；
First feeds intake robot according to position and the attitude crawl discharging expecting to wrap in the first material bag pipeline
Bag, second feeds intake robot according to position and the attitude crawl spout bag expecting to wrap in the second material bag pipeline.
The valve rod provided at this utility model is automatically loaded in device, also has the feature that, barrel
Pipeline is provided with a vision-based detection mechanism on the terminal position of helical axis, vision-based detection mechanism be
System switch board is connected by communication, and in order to detect two kinds of different material bag quantity in barrel, and is detecting leakage
When feeding intake or feed intake more, transmission picks bag signal in system control cabinet；
The side of barrel pipeline is additionally provided with a cylinder lift out mechanism, and system control cabinet is according to picking bag
Signal controls cylinder lift out mechanism and runs, and barrel release barrel leakage being fed intake or feeding intake more is defeated
Outside line sending.
The valve rod provided at this utility model is automatically loaded in device, also has the feature that, vision
Testing agency includes a color camera, can differentiate material bag and the number of pixels thereof of multiple different colours, and
When finding without the corresponding material bag color pigments required, it is determined that feed intake for leakage, transmit to system control cabinet
Pick bag signal；When the material bag color pigments finding that correspondence requires is more than preset number, then it is judged to many
Feed intake, pick bag signal to system control cabinet transmission.
The valve rod provided at this utility model is automatically loaded in device, also has the feature that, material bag
Automatically jettison system also includes that the first material bag reclaims pipeline and the second material bag reclaims pipeline, the first material
Bag reclaims pipeline and is just being extended to the charging aperture of the first vibrations charging tray by the end of the first material bag pipeline
Top；Second material bag reclaims pipeline and is extended to the second vibrations charging tray by the end of the second material bag pipeline
The surface of charging aperture.
The valve rod provided at this utility model is automatically loaded in device, also has the feature that, along material
Cylinder pipeline conveying direction on, barrel pipeline be sequentially arranged above second feed intake robot,
First feeds intake robot, vision-based detection mechanism and cylinder lift out mechanism.
The valve rod provided at this utility model is automatically loaded in device, also has the feature that, barrel
The side of pipeline is additionally provided with one and keeps in platform, and temporary platform is right against cylinder lift out mechanism, in order to deposit
Put cylinder lift out mechanism and release the barrel of barrel pipeline.
Having the beneficial effects that of technique scheme:
(1) material wraps automatic jettison system and can automatically complete the work that material bag puts into, and improves operation
Automatization level, simple in construction and alleviate workman burden；
(2) setting of helical axis, vision camera and encoder, effectively realizes straight line on pipeline
Follow the tracks of barrel and the effect of material bag, beneficially robot capture material bag the most reliably and put in barrel,
And effectively reduce the risk of the complicated easily bale broken of traditional mechanism mechanical transfer；
(3) setting of vision-based detection mechanism gentle cylinder ejecting mechanism, enabling effectively realize feeding intake more
The effect finding in time and rejecting when feeding intake with leakage, is greatly improved on production line the product quality produced.
Accompanying drawing explanation
Fig. 1 is the structure chart that the material provided in embodiment of the present utility model wraps automatic jettison system；
Fig. 2 is the first batch charger in the automatic jettison system of material bag provided in embodiment of the present utility model
The structure chart of device people；
Fig. 3 is the second batch charger in the automatic jettison system of material bag provided in embodiment of the present utility model
The structure chart of device people；
Fig. 4 is helical axis and material in the automatic jettison system of material bag provided in embodiment of the present utility model
The mounting structure figure of cylinder pipeline.
In figure, 101, barrel pipeline；102, the first material bag pipeline；103, the second material bag conveying
Line；104, the first vibrations charging tray；1041, the first material bag reclaims pipeline；105, the second vibrations material
Dish；1051, the second material bag reclaims pipeline；106, first feed intake robot；1061 and 1071,
Vision camera；107, second feed intake robot；108, system control cabinet；109, robot control cabinet；
200, motor is driven；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, it will describe embodiment of the present utility model with reference to the accompanying drawings.In embodiments, phase
Syntectonic part uses identical reference and omits description.
Fig. 1 is the structure chart that the material provided in embodiment of the present utility model wraps automatic jettison system.As
Shown in Fig. 1, the automatic jettison system of material bag that the present embodiment provides includes: barrel pipeline 101, the
One material bag pipeline the 102, second material bag pipeline 103, first shakes charging tray 104, second and shakes material
Dish 105, first feed intake robot 106, second feed intake robot 107, system control cabinet 108, with
And robot control cabinet 109.
Wherein, barrel pipeline 101 is in order to carry barrel 300；First material bag pipeline 102 and
Two material bag pipelines 103 are divided into the both sides of barrel pipeline 101, in order to carry two kinds of different material
Bag；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 bag
Line sending 102 and the surface of the second material bag pipeline 103, in order to store and the most defeated spout bag；The
One feeds intake robot 106 across being arranged at the upper of the first material bag pipeline 102 and barrel pipeline 101
Side, in order to capture the material bag on the first material bag pipeline 102, and puts into barrel 300；Second
The robot 107 that feeds intake across being arranged at the second material bag pipeline 103 and top of barrel pipeline 101,
In order to capture the material bag on the second material bag pipeline 103, and put into barrel 300；System controls
Cabinet 108 and barrel pipeline the 101, first material bag pipeline the 102, second material bag pipeline 103, the
One vibrations charging tray 104 and the second vibrations charging tray 105 are connected by communication respectively, each in order to be uniformly controlled
The run action of parts；Robot control cabinet 109 and first feeds intake robot 106 and the second batch charger
Device people 107 is connected by communication respectively, in order to control the run action of robot.Additionally, robot controls
Cabinet 109 also can be connected by communication with system control cabinet 108, runs in order to unified and control but it also may
It is the system of two independent operatings, should not be limited to this.
In technique scheme, the described automatic jettison system of material bag in use, such as, is applied to food
In product processing operation, two kinds of different material bags are respectively desiccant and deoxidizer, first, to
Put into deoxidizer material bag in one vibrations charging tray 104, in the second vibrations charging tray 105, put into desiccant material
Bag, then, by system control cabinet 108 control barrel pipeline the 101, first material bag pipeline 102,
Second material bag pipeline 103, first shakes charging tray 104 and the second vibrations charging tray 105 starts, its
Secondary, control first robot 106 and second that feeds intake by robot control cabinet 109 and feed intake robot 107
Starting, the first vibrations charging tray 104 starts the deoxidizer material bag in the first vibrations charging tray 104 by first
The discharging opening of vibrations charging tray 104 is expelled to the first material bag pipeline 102, makes deoxidizer material wrap in first
Carrying on material bag pipeline 102, the second vibrations charging tray 105 starts in the second vibrations charging tray 105
Desiccant material bag is expelled to the second material bag pipeline 103 by the discharging opening of the second vibrations charging tray 105, with
Time, barrel 300 carries on barrel pipeline 101, feeds intake machine when barrel 300 is delivered to first
People 106 and second feed intake robot 107 working range in time, robot respectively capture material bag conveying
Desiccant bag on line and deoxidizer bag are also thrown in feeding cylinder 300, thus realize automatization and feed intake life
The effect produced.
In a preferred embodiment, the most as shown in figs. 1 and 4, and Fig. 4 is this reality
Helical axis and the installation of barrel pipeline in automatic jettison system is wrapped with the material provided in novel embodiment
Structure chart, barrel pipeline 101 be provided above barrel clamping device, wherein, barrel clamping machine
Structure includes helical axis 201 and the driving motor 200 being connected with helical axis 201 transmission, helical axis 201
Circumferential side wall on offer the helicla flute 2011 that cross section is arc vertically, and in transport process
In, the side of barrel 300 is positioned at helicla flute 2011, in order to by conveying on barrel pipeline 101
Barrel 300 is equally separated from.
As in further preferred embodiment, helical axis 201 is provided with the first encoder (figure
Not shown in), the first encoder is connected by communication with robot control cabinet 109, and by the first coding
Device constantly transmits the pulse to robot control cabinet 109, and first robot 106 and second that feeds intake feeds intake
Robot 107 follows the tracks of the barrel 300 position on barrel pipeline 101.
As in further preferred embodiment, the first material bag pipeline 102 is provided with the second coding
Device (not shown), and the second encoder turns along with the synchronized movement of the first material bag pipeline 102
Dynamic, and, the second encoder is connected by communication with robot control cabinet 109, by the second encoder not
The pulse of robot control cabinet 109 is transported in stealpass, and first feeds intake, and to follow the tracks of the first material bag defeated in robot 106
The position of the material bag in line sending 102；Second material bag pipeline 103 is provided with the 3rd encoder (in figure
Not shown), and the 3rd encoder is along with the synchronized movement rotation of the second material bag pipeline 103, and,
3rd encoder is connected by communication with robot control cabinet 109, is constantly transmitted to machine by the 3rd encoder
The pulse of device people's switch board 109, second robot 107 that feeds intake follows the tracks of on the second material bag pipeline 103
Material bag position.
In a preferred embodiment, the most as shown in Figure 1, Figure 2. and shown in Fig. 3, and figure
2 and Fig. 3 is the first throwing in the automatic jettison system of material bag provided in embodiment of the present utility model respectively
Material robot and second feeds intake the structure chart of robot.First material bag pipeline 102 and the second material bag are defeated
A vision camera 1061 and 1071, vision camera 1061,1071 it is also respectively provided with in line sending 103
It is connected by communication with robot control cabinet 109, and wraps in the first material bag pipeline 102 He in order to shoot material
Attitude on second material bag pipeline 103；First robot 106 that feeds intake can wrap in the first material according to material
The position of bag pipeline 102 and attitude capture spout bag, and second feeds intake robot 107 can be according to material bag
Spout bag is captured in the position of the second material bag pipeline 103 and attitude.By vision camera and encoder
Setting, it is possible to effectively realizing the effect of line tracking on pipeline, beneficially robot is the most reliably
Capture material bag and put in barrel, and effectively reducing the risk of the complicated easily bale broken of traditional mechanism mechanical transfer.
As in further preferred embodiment, the most as shown in fig. 1, barrel pipeline 101
One vision-based detection mechanism 204, vision-based detection mechanism 204 are installed on the terminal position of helical axis 201
It is 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 detect leakage feed intake or feed intake more time transmission pick bag signal in system control cabinet 108.
The side of barrel pipeline 101 is additionally provided with a cylinder lift out mechanism 202, and system control cabinet
108 run according to picking bag signal control cylinder lift out mechanism 202, and leakage are fed intake or feed intake more
Barrel 300 release outside barrel pipeline 101.
As in further preferred embodiment, vision-based detection mechanism 204 includes a color camera,
Material bag and the number of pixels thereof of multiple different colours can be differentiated, and when finding without the corresponding material Bao Yan required
During color pigment, it is determined that feed intake for leakage, pick bag signal to system control cabinet 108 transmission；When finding correspondence
When the material bag color pigments required is more than preset number, then it is judged to feed intake, to system control cabinet 108 more
Bag signal is picked in transmission.
In a preferred embodiment, the most as shown in fig. 1, material wraps automatic jettison system also
Reclaiming pipeline 1041 including the first material bag and the second material bag reclaims pipeline 1051, the first material bag returns
Receive pipeline 1041 and extended to entering of the first vibrations charging tray 104 by the end of the first material bag pipeline 102
The surface of material mouth；Second material bag reclaims pipeline 1051 and is prolonged by the end of the second material bag pipeline 103
Extend the surface of the charging aperture of the second vibrations charging tray 105.
Reclaim pipeline 1041 by the first material bag not fed intake by first on the first material bag pipeline 102
The deoxidizer material bag that robot 106 captures is delivered in the first vibrations charging tray 104, again by second
Material bag reclaims pipeline 1051 and will not fed intake robot 107 by second on second material bag pipeline 103
The desiccant material bag captured is delivered in the second vibrations charging tray 105 again.
As in further preferred embodiment, along the conveying direction of barrel pipeline 101, material
Cylinder pipeline 101 be sequentially arranged above second feed intake robot 107, first feed intake robot 106,
Vision-based detection mechanism 204 and cylinder lift out mechanism 202.
As in further preferred embodiment, it is temporary that the side of barrel pipeline 101 is additionally provided with one
Deposit platform 203, and temporary platform 203 is right against cylinder lift out mechanism 202, in order to deposit cylinder lift out mechanism
202 barrels 300 releasing barrel pipeline 101.
In a preferred embodiment, the most as shown in FIG., the first vibrations charging tray 104 and the
Arranging a passage 205 between two vibrations charging trays 105, passage 205 is near the first vibrations charging tray
One end of 104 arranges dog-house 2051, to first vibrations charging tray 104 in put into deoxidizer material bag and
When putting into desiccant material bag in the second vibrations charging tray 105, can be by the first vibrations charging tray 104
Deoxidizer material bag is directly put into, then, by desiccant by the charging aperture of the first vibrations charging tray 104 in side
Material bag is put in passage 205 by dog-house 2051, is fallen by desiccant material bag by passage 205
Enter in the second vibrations charging tray 105, it is not necessary to the side running to the second vibrations charging tray 105 can will be dried
Agent material bag is put into the second vibrations charging tray 105, conveniently puts into dry in the second vibrations charging tray 105
Agent material bag.
It is worthy of note, in the present embodiment, the first encoder, the second encoder and the 3rd
Encoder is incremental encoder, each parts and system control cabinet 108, robot control cabinet 109
The mode being connected by communication for be electrically connected or wireless signal be connected, and be in fig. 1 clear performance material bag oneself
The architectural feature of dynamic jettison system, omits the circuit being electrically connected, but this should not be it is taken as that it be mutual the most not
There is the reason of annexation, and cylinder lift out mechanism 202 can be that cylinder connects the structure of push pedal in fact
Existing.
Hereinafter, illustrate with a kind of specific embodiment, it should be pointed out that following embodiment party
Structure described in formula, technique, selection are only in order to illustrate the feasibility of embodiment, and unrestrictedly
The intention of this utility model protection domain.
The automatic jettison system of material bag that the present embodiment provides in use, first, shakes charging tray first
Side deoxidizer material bag is put into the first vibrating tray, and by dog-house, deoxidizer material bag is put
Enter in passage, and by passage, deoxidizer material bag is put into the second vibrations charging tray；
Then, barrel pipeline, the first material bag pipeline, the second material bag are controlled by system control cabinet
Pipeline, the first vibrations charging tray and the second vibrations charging tray start, by robot control cabinet control
First feed intake robot and second feed intake robot start, first vibrations charging tray start by first vibrations material
Deoxidizer 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 off
Oxygen agent material wraps in and carries on the first material bag pipeline, and the second vibrations charging tray starts in the second vibrations charging tray
Desiccant material bag by second vibrations charging tray discharging opening be expelled to the second material bag pipeline；
Meanwhile, barrel closely is separated into equal or unequal arrangement by helical axis, and
Pushing forward together with barrel pipeline, in barrel and material bag course of conveying, robot is by coding
Device track and localization barrel and the position at two kinds of material bag places, and determine material bag according to vision camera shooting
Attitude, expect bag be transported in the movable scope of robot time, robot according to material bag position and
Attitude, synchronized tracking pipeline is also accurately installed corresponding attitude crawl spout bag, is completed the accurate of material bag
Grasping movement, and throw in feeding cylinder；
Additionally, the deoxidizer material bag not fed intake robot crawl by first is reclaimed pipeline again by first
Be delivered in the first vibrations charging tray, and not by second feed intake robot capture desiccant material bag by second
Reclaim pipeline to be again delivered in the second vibrating tray；
When barrel is at vision-based detection mechanism, vision-based detection mechanism is according to material bag number of colors and picture
The deoxidizer material bag in barrel and desiccant material bag whether conformance with standard is surveyed in prime number visual inspection, if do not met
Standard then controls cylinder lift out mechanism and starts, and is ejected by non-compliant barrel and deposits to temporary platform；
So repeat, it is achieved the production process of material bag is thrown in by automatization.
It is worthy of note, this utility model feeding mode by industrial robot, the most stable,
The maximal rate of single machine people can reach bag/minute, the superposition that can realize robot feeds intake, accurately
Rate can reach 99.9%, and in actual application, the dimensions of material bag is variable, it is only necessary to logical
The switching of the change and robot program of crossing visual templates can complete the switching that product feeds intake, it is adaptable to
In multi-item production.
In technique scheme, material wraps automatic jettison system can automatically complete the work that material bag puts into
Make, improve process automation level, simple in construction and alleviate workman's burden；Helical axis, vision
Camera and the setting of encoder, effectively realize line tracking barrel and the effect of material bag on pipeline,
It is beneficial to robot capture material bag the most reliably and put in barrel, and effectively reduces traditional mechanism machinery
The risk of the complicated easily bale broken of transmission；The setting of vision-based detection mechanism gentle cylinder ejecting mechanism, enabling
Effectively realize feeding intake more and leaking the effect finding in time when feeding intake and rejecting, be greatly improved on production line raw
The product quality produced.
The foregoing is only preferred embodiment of the present utility model, be only to say for this utility model
Bright property, and nonrestrictive.Those skilled in the art understands, in this utility model claim institute
It can be carried out many changes, amendment, even equivalence in the spirit and scope limited, but fall within
In protection domain of the present utility model.
Claims (10)
1. a material wraps automatic jettison system, it is characterised in that including:
Barrel pipeline, in order to carry barrel；
First material bag pipeline and the second material bag pipeline, be divided into the both sides of described barrel pipeline, in order to carry two kinds of different material bags；
First vibrations charging tray and the second vibrations charging tray, both discharging openings lay respectively at described first material bag pipeline and the surface of described second material bag pipeline, in order to store and the most defeated spout bag；
First feeds intake robot, across being arranged at described first material bag pipeline and the top of described barrel pipeline, in order to capture the material bag on described first material bag pipeline, and puts into described barrel；
Second feeds intake robot, across being arranged at described second material bag pipeline and the top of described barrel pipeline, in order to capture the material bag on described second material bag pipeline, and puts into described barrel；
System control cabinet, is connected by communication respectively 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；
Robot control cabinet, is connected by communication respectively with described first robot that feeds intake of robot and described second that feeds intake.
2. material as claimed in claim 1 wraps automatic jettison system, it is characterized in that, described barrel pipeline be provided above barrel clamping device, wherein, described barrel clamping device includes helical axis and the driving motor being connected with described helical axis transmission, and the circumferential side wall of described helical axis offers helicla flute that cross section is arc vertically, and in transport process, the side of described barrel is positioned at described helicla flute, in order to be equally separated from by the described barrel of conveying on described barrel pipeline.
3. material as claimed in claim 2 wraps automatic jettison system, it is characterised in that
First encoder is installed on described helical axis, described first encoder is connected by communication with described robot control cabinet, and constantly transmitting the pulse to described robot control cabinet by described first encoder, described first robot and second that feeds intake feeds intake the position on described barrel pipeline of the barrel described in robotic tracking.
4. material as claimed in claim 3 wraps automatic jettison system, it is characterised in that
Described first material bag pipeline is provided with the second encoder, and described second encoder rotates along with the synchronized movement of described first material bag pipeline, and, second encoder is connected by communication with described robot control cabinet, the pulse to described robot control cabinet, the position of the described first material bag fed intake on the first material bag pipeline described in robotic tracking is constantly transmitted by described second encoder；
Described second material bag pipeline is provided with the 3rd encoder, and described 3rd encoder rotates along with the synchronized movement of described second material bag pipeline, and, 3rd encoder is connected by communication with described robot control cabinet, the pulse to described robot control cabinet, the position of the described second material bag fed intake on the second material bag pipeline described in robotic tracking is constantly transmitted by described 3rd encoder.
5. material as claimed in claim 4 wraps automatic jettison system, it is characterised in that
Being also respectively provided with a vision camera on described first material bag pipeline and the second material bag pipeline, described vision camera is connected by communication with described robot control cabinet, wraps in the attitude on described first material bag pipeline and the second material bag pipeline in order to shoot material；
Described first robot that feeds intake wraps in the position of the first material bag pipeline according to material and attitude captures spout bag, and described second robot that feeds intake wraps in the position of the second material bag pipeline according to material and attitude captures spout bag.
6. material as claimed in claim 3 wraps automatic jettison system, it is characterised in that
Described barrel pipeline is provided with a vision-based detection mechanism on the terminal position of described helical axis, described vision-based detection mechanism is connected by communication with described system control cabinet, in order to detect two kinds of different material bag quantity in described barrel, and detect leakage feed intake or feed intake more time transmission pick bag signal in described system control cabinet；
The side of described barrel pipeline is additionally provided with a cylinder lift out mechanism, and described system control cabinet according to described in pick bag signal and control described cylinder lift out mechanism and run, and described barrel leakage being fed intake or feeding intake more is released outside described barrel pipeline.
7. material as claimed in claim 6 wraps automatic jettison system, it is characterized in that, described vision-based detection mechanism includes a color camera, material bag and the number of pixels thereof of multiple different colours can be differentiated, and when finding without the corresponding material bag color pigments required, it is judged to that leakage feeds intake, picks bag signal to described in the transmission of described system control cabinet；When the material bag color pigments finding that correspondence requires is more than preset number, then it is judged to feed intake more, picks bag signal to described in the transmission of described system control cabinet.
8. the automatic jettison system of material bag as described in claim 2 or 4, it is characterized in that, the described automatic jettison system of material bag also includes that the first material bag reclaims pipeline and the second material bag reclaims pipeline, and described first material bag reclaims the surface that pipeline is extended to the charging aperture of described first vibrations charging tray by the end of described first material bag pipeline；Described second material bag reclaims the surface that pipeline is extended to the charging aperture of described second vibrations charging tray by the end of described second material bag pipeline.
9. material as claimed in claim 6 wraps automatic jettison system, it is characterized in that, along the conveying direction of described barrel pipeline, described barrel pipeline be sequentially arranged above described second feed intake robot, first feed intake robot, vision-based detection mechanism and cylinder ejector device.
10. material as claimed in claim 9 wraps automatic jettison system, it is characterized in that, the side of described barrel pipeline is additionally provided with one and keeps in platform, and described temporary platform is right against described cylinder lift out mechanism, releases the barrel of described barrel pipeline in order to deposit described cylinder lift out mechanism.
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| CN201620105025.2U CN205574422U (en) | 2016-02-01 | 2016-02-01 | Automatic dispensing system of material package |
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| CN201620105025.2U CN205574422U (en) | 2016-02-01 | 2016-02-01 | Automatic dispensing system of material package |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105600043A (en) * | 2016-02-01 | 2016-05-25 | 上海发那科机器人有限公司 | Automatic feeding system for material bags |
| CN108328025A (en) * | 2018-03-28 | 2018-07-27 | 山东大业股份有限公司 | The drier humidity card of I-beam wheel launches sticker and method |
| CN111194900A (en) * | 2020-03-09 | 2020-05-26 | 上海冠生园蜂制品有限公司 | Efficient crystallized honey feeding and melting system |
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2016
- 2016-02-01 CN CN201620105025.2U patent/CN205574422U/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105600043A (en) * | 2016-02-01 | 2016-05-25 | 上海发那科机器人有限公司 | Automatic feeding system for material bags |
| CN108328025A (en) * | 2018-03-28 | 2018-07-27 | 山东大业股份有限公司 | The drier humidity card of I-beam wheel launches sticker and method |
| CN108328025B (en) * | 2018-03-28 | 2023-07-04 | 山东大业股份有限公司 | Drying agent humidity card throwing and pasting device and method for spool |
| CN111194900A (en) * | 2020-03-09 | 2020-05-26 | 上海冠生园蜂制品有限公司 | Efficient crystallized honey feeding and melting system |
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