CN206327612U - A kind of steamed stuffed bun packing linear system system based on robot - Google Patents
A kind of steamed stuffed bun packing linear system system based on robot Download PDFInfo
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- CN206327612U CN206327612U CN201621363093.5U CN201621363093U CN206327612U CN 206327612 U CN206327612 U CN 206327612U CN 201621363093 U CN201621363093 U CN 201621363093U CN 206327612 U CN206327612 U CN 206327612U
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Abstract
The utility model discloses a kind of steamed stuffed bun packing linear system system based on robot, raw bag extruder is extruded unleavened dough according to required life bag size specification by raw bag extrusion head, raw bag conveyer is conveyed forward the life bag step-by-step movement of extrusion by conveyer belt, the position of bag is given birth to by vision subsystem spotting scaming again, when raw bag is fallen into sorting area, control sorting machine people, which goes to capture raw bag, to be put into material stock pallet, often put a row, material stock pallet is just clamped cylinder and sends into distance forward then next line is put, when system detectio material stock pallet has been occupied, then point out rewinding, robot swings in supplied materials in second empty material stock pallet, because always there are two material stock pallets at each moment in the working space of robot, the situation that sorting is waited or interrupted will not occur in this convergence process.The utility model sort efficiency is high, and flexibility degree is also higher, the labour for coordinating the auto-feed transmission line of bottom tray to make efficiency that release workman is greatly improved.
Description
Technical field
The utility model is related to Embedded computer system technical field, and in particular to a kind of steamed stuffed bun based on robot point
Wiring system.
Background technology
The life bag extrusion molding stage in current millet cake manufacturing enterprise in steamed stuffed bun production line generally carries out giving birth to bag using workman
Sorting is arranged, and needs workman not rest working at high speed continuously using workman's sorting, and can not avoid human factor to food
The influence that safety, health, packing quality are brought, although there is currently relevant automatic equipment and go to carry out steamed stuffed bun using special equipment
Sorting work, but this mode very flexible can not just adapt to new rule when the shape specification for running into steamed stuffed bun is adjusted
The sort operation of the steamed stuffed bun of lattice, and sorting speed is slower, it is impossible to adapt to the production needs of the steamed stuffed bun extrusion line of high speed.
Prior art has the disadvantage that：
1) sort operation, is carried out in the form of special plane, flexibility is very poor, it is impossible to the change of the specification of product
And do quick response transform；
2), the speed of sorting is relatively low, and the discharging speed of raw envelope curve is sorted automatically in 100/minute for existing at present
Changing equipment is more restricted.
Utility model content
In view of this, the utility model is directed to the life bag extrusion molding rank in steamed stuffed bun production line in current millet cake manufacturing enterprise
What section occurred generally give birth to the technique that bag sorting arranges using workman carries out automatic improving, proposes a kind of based on robot
Steamed stuffed bun packing linear system system, human factor is avoided while workman is freed from the production line for continuously not resting working at high speed
The influence brought to the safety of food, health, packing quality.
The utility model is solved the above problems by following technological means：
A kind of steamed stuffed bun packing linear system system based on robot, including：
Raw bag extruder, for being squeezed unleavened dough according to required life bag size specification by raw bag extrusion head
Go out；
Raw bag conveyer, for being conveyed the life bag step-by-step movement of extrusion forward by conveyer belt；
Vision subsystem, for monitoring the supplied materials on conveyer belt, Dang Shengbao is entered in the working space of sorting manipulator
When, supplied materials signal is sent to control subsystem；
Control subsystem, the raw bag of crawl is followed for driving robot to go when receiving supplied materials signal；
Robot, goes to follow the raw bag of crawl for the flexible servo paw by sorting manipulator end；
Material stock pallet, the raw bag that robot follows crawl is deposited for array；
Clamping cylinder, for laterally-clamped fixed material stock pallet；
Cylinder controller, is moved for often putting control clamping cylinder during a line Sheng Bao with material stock pallet along transmission direction
Dynamic step distance, when material stock pallet is filled, control clamping cylinder unclamps, and returns to initial zero position, clamps next material stock support
Disk；
Conveyor pallet, for the material stock filled pallet to be delivered into recovery station；
Sensor, for scanning the material stock pallet reclaimed on station, when material stock pallet is entered on recovery station, will sweep
Signal is retouched to occur to prompting device；
Prompting device, for pointing out workman's rewinding when receiving scanning signal.
Further, the control subsystem, including dual core processor, dual core processor respectively with network communication module,
Data memory module, monitoring module, network communication servo-driver, pulse generating module, the connection of DAC D/A converter modules；Net
Network communication module is connected with host computer；Pulse generating module is connected with pulse command servo-driver；DAC D/A converter modules with
Analog quantity instruction servo-driver connection；Network communication servo-driver is connected with servomotor；Servomotor also respectively with arteries and veins
Punching instruction servo-driver, analog quantity instruction servo-driver, robot, encoder connection；
The dual core processor includes first processor, second processing device；Enter between first processor and second processing device
Row data communication；
The first processor is used for the motion planning, trajectory planning and peripheral control for being responsible for robot；
The second processing device is used for dynamics and kinematics operation and the closed-loop control for being responsible for robot；
The host computer is used for the control mode that user operates selection control subsystem, and control mode includes network communication control
Mode processed, pulse command control mode, analog quantity instruction control mode；
The network communication module is used to realize host computer and the high efficiency communication of control subsystem child node；
The data memory module is used to store various data；
The monitoring module is used for temperature, voltage and the electric current for detecting control subsystem；
The network communication servo-driver is used to drive servomotor according to the network signal of reception；
The pulse generating module is used to send corresponding pulse command according to the pulse generation of reception instruction；
The pulse command driver is used to drive servomotor according to the pulse command of reception；
The DAC D/A converter modules are used for the digital command transformation analog quantity instruction of reception；
The analog quantity instruction servo-driver is used for the analog quantity order-driven servomotor according to reception；
The servomotor is used to drive robot to make corresponding mechanical action；
The operational factor Real-time Feedback that the encoder is used to gather on servomotor realizes that closed loop is transported to dual core processor
Calculate.
Further, the first processor is arm processor, and second processing device is DSP Processor.
Further, the network communication module realizes the efficient of host computer and control subsystem child node by Ethernet
Communication, the network communication servo-driver drives servomotor according to the ethernet signal of reception.
Further, the robot control subsystem also includes the serial port module being connected with dual core processor, the string
Mouth mold block is used to realize that control subsystem is connected with external equipment using the expansion interface of serial communication mode.
Further, the robot control subsystem also includes the display module being connected with dual core processor, described aobvious
Show module be used for show reflect control subsystem status data.
Further, the robot control subsystem also includes the extension I/O module being connected with dual core processor, described
Extension I/O module is used for control subsystem and carries out data analysis with external equipment or exchange.
Compared with prior art, the beneficial effects of the utility model are as follows：
1), the utility model is performed using DELTA robots as sorting, and sort efficiency is high, and flexibility degree is also higher,
The labour for coordinating the auto-feed transmission line of bottom tray to make efficiency that release workman is greatly improved；
2), flexibility degree is high, can be quick to adjust on end effector according to the raw specification wrapped captured
The folding size for sorting paw adapts to sorting mission requirements；
3), the utility model is using ARM as peripheral control and detection, and DSP completes system dynamics computing, made full use of
Respective advantage, has simplified control subsystem, cost performance is increased substantially；
4), the utility model can realize that high-speed data is exchanged and networking using EhtherNet；
5), the utility model possesses EtherNet and Pulse analog control mode is for selection, and control mode compares certainly
By flexible, the servo-driver and servomotor of multiple control modes are suitable for.
Brief description of the drawings
, below will be to needed for embodiment description in order to illustrate more clearly of the technical scheme in the utility model embodiment
The accompanying drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some realities of the present utility model
Example is applied, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the structural representation of steamed stuffed bun packing linear system system of the utility model based on robot；
Fig. 2 is the mechanical construction drawing of steamed stuffed bun packing linear system system of the utility model based on robot；
Fig. 3 is Fig. 2 top view；
Fig. 4 is the structural representation of the utility model control subsystem；
Fig. 5 is the workflow diagram of steamed stuffed bun packing linear system system of the utility model based on robot.
Embodiment
To enable above-mentioned purpose of the present utility model, feature and advantage more obvious understandable, below in conjunction with accompanying drawing and
The technical solution of the utility model is described in detail specific embodiment.It is pointed out that described embodiment is only
Only it is a part of embodiment of the utility model, rather than whole embodiments, based on the embodiment in the utility model, this area
The every other embodiment that those of ordinary skill is obtained under the premise of creative work is not made, belongs to the utility model
The scope of protection.
Embodiment
As Figure 1-3, the utility model provides a kind of steamed stuffed bun packing linear system system based on robot, including：
Bag extruder 2 is given birth to, for by giving birth to bag extrusion head by unleavened dough according to required life bag size specification
Extrusion；
Raw bag conveyer 1, for being conveyed the life bag step-by-step movement of extrusion forward by conveyer belt；
Vision subsystem, for monitoring the supplied materials on conveyer belt, Dang Shengbao is entered in the working space of sorting manipulator
When, supplied materials signal is sent to control subsystem；
Control subsystem, the raw bag of crawl is followed for driving robot to go when receiving supplied materials signal；
Robot, goes to follow the raw bag of crawl for the flexible servo paw 5 by the end of rapid sorting manipulator 4；Paw 5
Requirement is put according to setting, raw bag array is swung in material stock pallet 9；
Material stock pallet 9, deposits the raw bag that robot follows crawl, material stock pallet 9 is the charge of a rectangle for array
Container；
Clamping cylinder 10, for laterally-clamped fixed material stock pallet 9；
Cylinder controller, controlled during a line Sheng Bao clamping cylinder 10 with material stock pallet 9 along transmission side for often putting
To mobile step distance L, when material stock pallet 9 is filled, control clamping cylinder 10 unclamps, and returns to initial zero position, clamps next
Individual material stock pallet 9；Motor on the mobile dependence cylinder controller of clamping cylinder 10 drives Timing Belt 8, and step-by-step movement is moved forward,
Clamping cylinder 10 is fixedly clamped with Timing Belt 8 by briquetting.
Conveyor pallet 6, for the material stock filled pallet defeated 9 to be delivered into recovery station；
Sensor,, will when material stock pallet 9 is entered on recovery station for scanning the material stock pallet 9 reclaimed on station
Scanning signal occurs to prompting device；
Prompting device, for pointing out workman's rewinding when receiving scanning signal.
As shown in figure 4, the control subsystem include dual core processor, dual core processor respectively with network communication module,
Data memory module, monitoring module, network communication servo-driver, pulse generating module, the connection of DAC D/A converter modules；Net
Network communication module is connected with host computer；Pulse generating module is connected with pulse command servo-driver；DAC D/A converter modules with
Analog quantity instruction servo-driver connection；Network communication servo-driver is connected with servomotor；Servomotor also respectively with arteries and veins
Punching instruction servo-driver, analog quantity instruction servo-driver, robot, encoder connection；
The dual core processor uses F28M36P63C2, and dual core processor includes first processor, second processing device；The
Data communication is carried out by IPC between one processor and second processing device；First processor is arm processor, second processing device
For DSP Processor, arm processor is used for the motion planning, trajectory planning and peripheral control for being responsible for robot, and DSP Processor is used
In the dynamics and kinematics operation and closed-loop control of being responsible for robot.
The host computer is used for the control mode that user operates selection control subsystem, and control mode includes network communication control
Mode processed, pulse command control mode, analog quantity instruction control mode, facilitate the real-time switching control mode of user, control mode
Compare flexibly, the servo-driver and servomotor of multiple control modes can be used, versatility is stronger.
The network communication servo-driver is used to drive servomotor according to the network signal of reception；The pulse generation
Module is used to send corresponding pulse command according to the pulse generation of reception instruction；The pulse command driver is used for basis and connect
The pulse command driving servomotor of receipts；The DAC D/A converter modules are used to refer to the digital command transformation analog quantity of reception
Order；Circuit uses the generation of DAC8871 chips realization ± 10V analog quantity voltages；The analog quantity instruction servo-driver is used for
According to the analog quantity order-driven servomotor of reception；The servo for being applicable to multiple control modes is selected to drive according to control mode
Dynamic device and servomotor, when using network communication mode, network communication circuit unit is effective, when using pulse command controlling party
During formula, effectively, when using Analog control mode, DAC-circuit enables effective pulse generating circuit unit.
The servomotor is used to drive robot to make corresponding mechanical action.
The network communication module is used to realize host computer and the high efficiency communication of control subsystem child node, uses
EtherNET bus modes, realize host computer with robot control subsystem child node high efficiency communication or control subsystem with watching
The communication of dress system, EtherNet PORT COMs circuit is realized using LAN8710 and H1102 net mouth transformers.
The monitoring module is used for temperature, voltage and the electric current for detecting control subsystem.
The data memory module is used to store various data, includes the various parameters of monitoring module detection.
The operational factor Real-time Feedback that the encoder is used to gather on servomotor realizes that closed loop is transported to dual core processor
Calculate.Operational factor on servomotor is fed back to control subsystem by the orthogonal encoder on robot servo motors in real time
System, realizes closed loop computing.
The utility model use ARM+DSP control strategies, substitution traditional approach in industrial computer PC+ motion control cards+
Servo-driver+Serve Motor Control mode, ARM is responsible for the motion planning and trajectory planning of robot, and DSP Processor is then born
The dynamics and kinematics operation of robot are blamed, the powerful operational capabilities of DSP and ARM peripheral control energy is taken full advantage of
Power.Such function distribution can effectively reduce the expense of main control chip, and more resources are used for into control subsystem security
Be accurately controlled, cost performance can be increased substantially.
The utility model possesses EtherNet and Pulse analog control mode is available for user to select, and is suitable for various control
The servo-driver and servomotor of mode, facilitate the real-time method for handover control of user, and versatility is stronger.
The workflow of control subsystem is as follows：
User is first by the control mode of upper computer selecting control subsystem, and network communication control may be selected in control mode
Mode, pulse command control mode, analog quantity instruction control mode, network communication module realize host computer and control subsystem
The high efficiency communication of node, dual core processor F28M36P63C2 is included at arm processor, DSP Processor, arm processor and DSP
Data communication can be carried out by IPC between reason device, arm processor is used to being responsible for the motion planning of robot, trajectory planning and outer
System is contained, DSP Processor is used for dynamics and kinematics operation and the closed-loop control for being responsible for robot, when selection network communication control
During mode processed, effectively, dual core processor sends the signal to network to network communication circuit unit by EtherNET bus modes
Servo-driver is communicated, network communication servo-driver drives servomotor band mobile robot to make according to the network signal of reception
Corresponding mechanical action；When selecting pulse command control mode, effectively, dual core processor sends arteries and veins to pulse generating circuit unit
Punching occurs instruction and arrives pulse generating module, and pulse generating module sends corresponding pulse according to the pulse generation of reception instruction and referred to
Order, it is dynamic that pulse command servo-driver drives servomotor band mobile robot to make corresponding machinery according to the pulse command of reception
Make；When selecting analog quantity instruction control mode, DAC-circuit is enabled effectively, and dual core processor sends digital command to DAC digital-to-analogues
Modular converter, DAC D/A converter modules instruct the digital command transformation analog quantity of reception, analog quantity instruction servo-driver root
Corresponding mechanical action is made according to the analog quantity order-driven servomotor band mobile robot of reception, monitoring module, which is used to detect, to be controlled
Temperature, voltage and the electric current of subsystem, data memory module are used to store various data, including monitoring module detection is each
Parameter is planted, the operational factor Real-time Feedback that encoder is used to gather on servomotor realizes closed loop computing to dual core processor.
The control subsystem also includes the serial port module being connected with dual core processor, and the serial port module is used for using string
The expansion interface of row communication mode realizes that control subsystem is connected with external equipment.
The control subsystem also includes the display module being connected with dual core processor, and the display module is used to show anti-
Reflect the status data of control subsystem.
The control subsystem also includes the extension I/O module being connected with dual core processor, and the extension I/O module is used to control
Subsystem carries out data analysis with external equipment or exchanged.
As shown in figure 5, the workflow of the steamed stuffed bun packing linear system system based on robot is as follows：
First pass through whether the raw bag output line of sensor detection starts, then the position wrapped is given birth to by vision subsystem spotting scaming
Put, Dang Shengbao is fallen into sorting area, control sorting machine people, which goes to capture raw bag, to be put into material stock pallet, is often put a row, is deposited
Material torr disk is just clamped cylinder and sends into one forward then next line is put apart from L, when system detectio material stock pallet has been put
It is full, then rewinding is pointed out, robot swings in supplied materials in second empty material stock pallet.Because always there are two material stock supports at each moment
In the working space of robot the situation that sorting is waited or interrupted will not occur in this convergence process for disk.
Compared with prior art, the beneficial effects of the utility model are as follows：
1), the utility model is performed using DELTA robots as sorting, and sort efficiency is high, and flexibility degree is also higher,
The labour for coordinating the auto-feed transmission line of bottom tray to make efficiency that release workman is greatly improved；
2), flexibility degree is high, can be quick to adjust on end effector according to the raw specification wrapped captured
The folding size for sorting paw adapts to sorting mission requirements；
3), the utility model is using ARM as peripheral control and detection, and DSP completes system dynamics computing, made full use of
Respective advantage, has simplified control subsystem, cost performance is increased substantially；
4), the utility model can realize that high-speed data is exchanged and networking using EhtherNet；
5), the utility model possesses EtherNet and Pulse analog control mode is for selection, and control mode compares certainly
By flexible, the servo-driver and servomotor of multiple control modes are suitable for.
Embodiment described above only expresses several embodiments of the present utility model, and it describes more specific and detailed,
But therefore it can not be interpreted as the limitation to the utility model the scope of the claims.It should be pointed out that for the common of this area
For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to
In protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (7)
1. a kind of steamed stuffed bun packing linear system system based on robot, it is characterised in that including：
Raw bag extruder, for being extruded unleavened dough according to required life bag size specification by raw bag extrusion head；
Raw bag conveyer, for being conveyed the life bag step-by-step movement of extrusion forward by conveyer belt；
Vision subsystem,, will when Dang Shengbao is entered in the working space of sorting manipulator for monitoring the supplied materials on conveyer belt
Supplied materials signal is sent to control subsystem；
Control subsystem, the raw bag of crawl is followed for driving robot to go when receiving supplied materials signal；
Robot, goes to follow the raw bag of crawl for the flexible servo paw by sorting manipulator end；
Material stock pallet, the raw bag that robot follows crawl is deposited for array；
Clamping cylinder, for laterally-clamped fixed material stock pallet；
Cylinder controller, step is moved for often putting control clamping cylinder during a line Sheng Bao with material stock pallet along transmission direction
Enter distance, when material stock pallet is filled, control clamping cylinder unclamps, and returns to initial zero position, clamps next material stock pallet；
Conveyor pallet, for the material stock filled pallet to be delivered into recovery station；
Sensor, for scanning the material stock pallet reclaimed on station, when material stock pallet is entered on recovery station, scanning is believed
Number occur to prompting device；
Prompting device, for pointing out workman's rewinding when receiving scanning signal.
2. the steamed stuffed bun packing linear system system according to claim 1 based on robot, it is characterised in that the control subsystem
System, including dual core processor, dual core processor respectively with network communication module, data memory module, monitoring module, network communication
Servo-driver, pulse generating module, the connection of DAC D/A converter modules；Network communication module is connected with host computer；Pulse generation
Module is connected with pulse command servo-driver；DAC D/A converter modules are connected with analog quantity instruction servo-driver；Network leads to
News servo-driver is connected with servomotor；Servomotor also instructs servo with pulse command servo-driver, analog quantity respectively
Driver, robot, encoder connection；
The dual core processor includes first processor, second processing device；Enter line number between first processor and second processing device
According to communication；
The first processor is used for the motion planning, trajectory planning and peripheral control for being responsible for robot；
The second processing device is used for dynamics and kinematics operation and the closed-loop control for being responsible for robot；
The host computer is used for the control mode that user operates selection control subsystem, and control mode includes network communication controlling party
Formula, pulse command control mode, analog quantity instruction control mode；
The network communication module is used to realize host computer and the high efficiency communication of control subsystem child node；
The data memory module is used to store various data；
The monitoring module is used for temperature, voltage and the electric current for detecting control subsystem；
The network communication servo-driver is used to drive servomotor according to the network signal of reception；
The pulse generating module is used to send corresponding pulse command according to the pulse generation of reception instruction；
The pulse command driver is used to drive servomotor according to the pulse command of reception；
The DAC D/A converter modules are used for the digital command transformation analog quantity instruction of reception；
The analog quantity instruction servo-driver is used for the analog quantity order-driven servomotor according to reception；
The servomotor is used to drive robot to make corresponding mechanical action；
The operational factor Real-time Feedback that the encoder is used to gather on servomotor realizes closed loop computing to dual core processor.
3. the steamed stuffed bun packing linear system system according to claim 2 based on robot, it is characterised in that the first processor
For arm processor, second processing device is DSP Processor.
4. the steamed stuffed bun packing linear system system according to claim 2 based on robot, it is characterised in that the network communication mould
Block realizes the high efficiency communication of host computer and control subsystem child node by Ethernet, the network communication servo-driver according to
The ethernet signal driving servomotor of reception.
5. the steamed stuffed bun packing linear system system according to claim 2 based on robot, it is characterised in that the robot control
Subsystem also includes the serial port module being connected with dual core processor, and the serial port module is used for the extension using serial communication mode
Interface realizes that control subsystem is connected with external equipment.
6. the steamed stuffed bun packing linear system system according to claim 2 based on robot, it is characterised in that the robot control
Subsystem also includes the display module being connected with dual core processor, and the display module is used for the shape for showing reflection control subsystem
State data.
7. the steamed stuffed bun packing linear system system according to claim 2 based on robot, it is characterised in that the robot control
Subsystem also includes the extension I/O module being connected with dual core processor, and the extension I/O module is set for control subsystem with outside
It is standby to carry out data analysis or exchange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621363093.5U CN206327612U (en) | 2016-12-13 | 2016-12-13 | A kind of steamed stuffed bun packing linear system system based on robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621363093.5U CN206327612U (en) | 2016-12-13 | 2016-12-13 | A kind of steamed stuffed bun packing linear system system based on robot |
Publications (1)
| Publication Number | Publication Date |
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| CN206327612U true CN206327612U (en) | 2017-07-14 |
Family
ID=59289851
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621363093.5U Withdrawn - After Issue CN206327612U (en) | 2016-12-13 | 2016-12-13 | A kind of steamed stuffed bun packing linear system system based on robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106516228A (en) * | 2016-12-13 | 2017-03-22 | 广州中国科学院先进技术研究所 | Steamed stuffed bun split charging line system based on robot |
| CN110074155A (en) * | 2019-05-23 | 2019-08-02 | 深圳爱她他智能餐饮技术有限公司 | A kind of automatic noodle machine device people and noodles methods |
-
2016
- 2016-12-13 CN CN201621363093.5U patent/CN206327612U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106516228A (en) * | 2016-12-13 | 2017-03-22 | 广州中国科学院先进技术研究所 | Steamed stuffed bun split charging line system based on robot |
| CN106516228B (en) * | 2016-12-13 | 2019-09-10 | 广州中国科学院先进技术研究所 | A kind of steamed stuffed bun packing linear system system based on robot |
| CN110074155A (en) * | 2019-05-23 | 2019-08-02 | 深圳爱她他智能餐饮技术有限公司 | A kind of automatic noodle machine device people and noodles methods |
| CN110074155B (en) * | 2019-05-23 | 2024-02-02 | 深圳爱她他智能餐饮技术有限公司 | Automatic noodle making robot and noodle making method |
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