CN209127101U - Deoxidizer package feeding system based on parallel robot - Google Patents
Deoxidizer package feeding system based on parallel robot Download PDFInfo
- Publication number
- CN209127101U CN209127101U CN201821619940.9U CN201821619940U CN209127101U CN 209127101 U CN209127101 U CN 209127101U CN 201821619940 U CN201821619940 U CN 201821619940U CN 209127101 U CN209127101 U CN 209127101U
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- China
- Prior art keywords
- deoxidier
- parallel robot
- packet
- conveyer belt
- storage box
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- Expired - Fee Related
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- 230000007246 mechanism Effects 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 4
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 238000007789 sealing Methods 0.000 claims description 2
- 238000001179 sorption measurement Methods 0.000 abstract 2
- 238000000034 method Methods 0.000 description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000012827 research and development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model provides a deoxidizer throws a packet system based on parallel robot, which comprises a conveyor belt, and a support, and install the parallel robot on the support, the other deoxidizer storage box of placing of support, still be equipped with first vision camera and second vision camera on the support, wherein first camera sets up in deoxidizer storage box top, second vision camera sets up in the terminal top of conveyer belt, the parallel robot is provided with adsorption apparatus and humidity transducer, the parallel robot receives the data of first vision camera, use the adsorption apparatus to trail to absorb and place the deoxidizer package in the deoxidizer storage box, then put in on the food box of conveyer belt transportation, the food box of conveyer belt transportation is monitored by the second vision camera. The utility model discloses adaptability is better, and area is less, need not to research and develop automatic chartered plane of throwing and just can realize quick automatic deoxidier package of throwing specially.
Description
Technical field
The utility model relates to a kind of deoxidier packets to launch field, and in particular to a kind of package delivering system based on parallel robot
System.
Background technique
When industrial circle produces and processes food, it is ensured that the long term guarantee quality of food, food expert and correlation engineering technology people
Member is general to launch deoxidier packet into the packaging box for hold food.Launch the guarantor that deoxidier packet is comparative maturity in recent years
Matter preservation method, deoxidier packet put-on method traditional at present have following manner:
1. deoxidier packet is picked up using manpower, deoxidier is launched into the packaging box for hold food using artificial, but
It is that efficiency is very low, human cost is high, and it is possible that leaks the case where throwing deoxidier packet and throw deoxidier packet space-time air humidity
It spends and is difficult to discover so that the problem of health is difficult to guarantee greatly.
2. using dedicated parcel delivery machine, it is directed to the package delivering special plane of the producing line by developing, quick package delivering function is realized, due to being
The special equipment developed for the producing line takes up a large area so adaptability is poor, and the research and development of early period are with high costs, general
And difficulty is larger.
Summary of the invention
The goal of the invention of the utility model be in view of the deficiencies of the prior art, provide it is a kind of it is high-efficient, adaptability is good, land occupation
Area is small, the low deoxidier package delivering system based on parallel robot of input cost.
Deoxidier package delivering system based on parallel robot, including master controller, conveyor belt control device, motion control
Device, by motor-driven conveyer belt, the bracket near conveyer belt and rack-mount parallel robot, put by bracket
It is equipped with deoxidier storage box, deoxidier packet is stored in deoxidier storage box, master controller is electrically connected conveyer belt control
Device and motion controller, motion controller are electrically connected parallel robot, and conveyor belt control device is electrically connected the motor of conveyer belt；
The First look camera for positioning deoxidier packet, First look photograph mechatronics are additionally provided on the bracket
Master controller, the first camera are arranged in above deoxidier storage box to shoot the deoxidier packet in deoxidier storage box；
The second vision camera thrown for detecting the leakage of deoxidier packet, the second vision camera electricity are additionally provided on the bracket
Connect conveyor belt control device, the second vision camera be arranged in conveying end of tape above to shoot conveying end of tape image to
Conveyor belt control device；
The parallel robot is provided with adsorbing mechanism for adsorbing/launching deoxidier packet and for detecting current environment
The humidity sensor of humidity, adsorbing mechanism are electrically connected motion controller, and humidity sensor is electrically connected master controller.
The adsorbing mechanism includes vacuum generator and sucker, and vacuum generator is by sealing pipeline connecting sucker, and first
Vision camera shooting sends master controller to the deoxidier packet picture of visual recognition label, and master controller analyzes
The coordinate data of each deoxidier packet with visual recognition label, conveyor belt control device send the motion state data of conveyer belt
To master controller.Master controller issues instructions to motion controller, and it is constantly reciprocal that motion controller controls parallel robot
The deoxidier packet for being placed on deoxidier storage box is drawn in tracking, is then launched on the food box of conveyer belt transport, the second vision
The case where food box taken a picture on machine monitoring conveyer belt throws deoxidier packet with the presence or absence of leakage.The humidity sensor and conveyer belt
Controller electrical connection, control conveyer belt stops when conveyor belt control device receives humidity sensor instruction.
The beneficial effects of the utility model are: parallel robot increases adsorbing mechanism, deoxidier can be quickly drawn
Then packet is launched in the food box that conveyer belt transports, improve work efficiency；Utilize parallel robot collocation First look
Camera carries out deoxidier packet positioning, can be without increasing the additional mechanical positioning mechanism for producing line, flexibility height；It utilizes
Second vision camera come detect whether there is a situation where leakage throw deoxidier packet, avoid leakage throw.It is provided on parallel robot wet
Sensor is spent, can be with the humidity condition of real-time detection air, in air, prompting staff overly moist excludes air humidity mistake in time
Big situation avoids deoxidier packet from absorbing water, so that parallel robot has launched the deoxidier packet after water suction.The utility model can be with
The needs for adapting to different producing lines are adapted to special parcel delivery machine without being directed to specific producing line research and development, reduce early investment cost.
Detailed description of the invention
Fig. 1 is the system diagram of deoxidier package delivering system.
Fig. 2 is the system block diagram of deoxidier package delivering system.
Description of symbols
1- conveyer belt, 2- deoxidier storage box, 3- First look camera, 4-Delta robot, 5- adsorbing mechanism, 6-
Food box after dispensing, the food box that 7- is not launched, 8- pedestal, 9- humidity sensor, 10- sucker, 11- bracket, 12- second are regarded
Feel camera, 14- motion controller, 15- conveyor belt control device, 16- master controller, 17- deoxidier packet.
Specific embodiment
The utility model is further described with the following Examples.
As shown in Figure 1, the utility model is a kind of deoxidier package delivering system based on parallel robot, including center control
Device 16, conveyor belt control device 15, motion controller 14, by motor-driven conveyer belt 1, the bracket 14 near conveyer belt 1
With installation parallel robot on the support 14, deoxidier storage box 2 is placed with by bracket, is stored in deoxidier storage box 2
Deoxidier packet 17, master controller 16 are electrically connected conveyor belt control device 15 and motion controller 14,14 electricity of motion controller
Parallel robot is connected, conveyor belt control device 15 is electrically connected the motor of conveyer belt 1；
The First look camera 3 for positioning deoxidier packet 17,3 electricity of First look camera are additionally provided on the bracket
Master controller 16 is connected, 2 top of deoxidier storage box is arranged in shoot in deoxidier storage box 2 in the first camera 3
Deoxidier packet 17；
The parallel robot is specially Delta robot 4, is the translation parallel-connection structure an of Three Degree Of Freedom, Delta
Robot 4 is the prior art, specific structure referenced patent 201510902073.X.Delta robot 4 itself drives with motor
Dynamic, three of them support arm can control pedestal 8 and carry out lateral, longitudinal and oblique multiple freedom degree direction movements.Pedestal 8 is towards conveying
That end with 1 is fixed with adsorbing mechanism 5, and adsorbing mechanism 5 includes vacuum generator and sucker 10, and vacuum generator passes through seal pipe
Road connecting sucker 10, vacuum generator by motion controller control, and then control sucker 10 pumping or lose heart so that Delta
Robot 4 can be switched fast 17 sucking action of deoxidier packet with movement is thrown into.
It is disposed with visual recognition label on deoxidier packet 17, includes the position of deoxidier packet 17 on visual recognition label
Relationship, visual recognition label obtain convenient for the identification of First look camera 3.First look camera 3 is erected on bracket 11,
Photo cover covers entire deoxidier storage box 2, and First look camera 3 will not generate vision dead zone, deoxidier storage box
2 are located at by conveyer belt, reduce Delta robot 4 and need mobile distance.
The deoxidier packet 17 that First look camera 3 is shot sends master controller to the picture of visual recognition label
16, master controller 16 analyzes the position coordinates of each deoxidier packet 17 with visual recognition label, then issues instructions to
Motion controller 14 uses after so that the pedestal 8 of the control of motion controller 14 Delta robot 4 is moved to corresponding position coordinates
Adsorbing mechanism 5 draws deoxidier packet 17.For controlling the conveyor belt control device 15 of 1 conveying speed of conveyer belt in real time by conveying speed
Data be uploaded to master controller 16, after 16 calculation process data of master controller, send instructions to motion controller 14, make
It is at the appropriate speed launched the deoxidier packet 17 of absorption in the food box 7 that do not launch on conveyer belt 1.
The conveyer belt 1 from left to right conveys food box as shown in Figure 1, and the food box 7 for not launching deoxidier packet 17 passes through
Before being transported to next production procedure after the throwing deoxidier packet 17 of Delta robot 4 in 1 middle section of conveyer belt, it is located at bracket 11
It is upper, persistently shoot the picture in food box 6 to master controller 16 close to the second vision camera 12 of 1 right end of conveyer belt, in
Heart controller 16 gives a warning according to whether there is deoxidier packet 17 in image analysis food box 6 if controlling buzzer without if
Sound avoids the leakage of deoxidier packet 17 from putting to remind staff to choose the food box that deoxidier packet 17 is put in leakage.
Humidity sensor 9 is equipped on the pedestal 8 of Delta robot 4, humidity sensor 9 and conveyor belt control device connect
It connects, when conveyor belt control device detects that the humidity of air is excessively big, conveyer belt will be controlled and stop transporting food box, and control bee
Ring device gives a warning sound, and staff is reminded to exclude the excessive situation of air humidity in time, and deoxidier packet 17 is avoided to absorb water, with
Delta robot 4 is caused to launch the deoxidier packet 17 after water suction.
The utility model can according to the coordinate position of the visual recognition tag location deoxidier packet 17 on deoxidier packet 17,
The speed that conveyor belt control device control food box conveys on the conveyor belt.Master controller 16 is according to the data tracking of coordinate position
Deoxidier packet 17 can be drawn, and the speed for conveying food box of conveyer belt 1 is controlled according to conveyor belt control device 15, be thrown
Put deoxidier packet 17.The utility model is not necessarily to increase the mechanical structure of additional positioning, and has good adaptability, can be with
It is used in different producing lines, without being directed to the robot of specific producing line research and development adaptation.Flexibility with higher, package delivering speed
The characteristics of degree is fast, and work efficiency is high.
Claims (7)
1. the deoxidier package delivering system based on parallel robot, which is characterized in that
Including master controller, conveyor belt control device, motion controller, by motor-driven conveyer belt, be set to conveyer belt near
Bracket and rack-mount parallel robot, deoxidier storage box, storage in deoxidier storage box are placed with by bracket
There is deoxidier packet, master controller is electrically connected conveyor belt control device and motion controller, and motion controller electrical connection is in parallel
Robot, conveyor belt control device are electrically connected the motor of conveyer belt；First for positioning deoxidier packet is additionally provided on the bracket
Vision camera, First look take a picture mechatronics master controller, the first camera be arranged above deoxidier storage box from
And shoot the deoxidier packet in deoxidier storage box；
The second vision camera thrown for detecting the leakage of deoxidier packet, the electrical connection of the second vision camera are additionally provided on the bracket
Conveyor belt control device, the second vision camera are arranged in above conveying end of tape to shoot the image of conveying end of tape to conveying
Tape controller；
The parallel robot is provided with adsorbing mechanism for adsorbing/launching deoxidier packet and for detecting current environment humidity
Humidity sensor, adsorbing mechanism be electrically connected motion controller, humidity sensor be electrically connected master controller.
2. the deoxidier package delivering system according to claim 1 based on parallel robot, which is characterized in that the deoxidier
The visual recognition label that the outer layer of packet has convenient for identification.
3. the deoxidier package delivering system according to claim 1 based on parallel robot, which is characterized in that the absorption
Mechanism includes vacuum generator and sucker, and the air entry of vacuum generator passes through sealing pipeline connecting sucker, vacuum generator electricity
Connect motion controller.
4. the deoxidier package delivering system according to claim 1 based on parallel robot, which is characterized in that the parallel machine
The Delta type parallel robot of the artificial Three Degree Of Freedom of device.
5. the deoxidier package delivering system according to claim 4 based on parallel robot, which is characterized in that the humidity passes
Sensor is arranged near sucker.
6. the deoxidier package delivering system according to claim 1 based on parallel robot, which is characterized in that further include alarm
Device, warning device are electrically connected master controller and/or conveyor belt control device.
7. the deoxidier package delivering system according to claim 6 based on parallel robot, which is characterized in that warning device is
Buzzer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821619940.9U CN209127101U (en) | 2018-09-30 | 2018-09-30 | Deoxidizer package feeding system based on parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821619940.9U CN209127101U (en) | 2018-09-30 | 2018-09-30 | Deoxidizer package feeding system based on parallel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209127101U true CN209127101U (en) | 2019-07-19 |
Family
ID=67231095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821619940.9U Expired - Fee Related CN209127101U (en) | 2018-09-30 | 2018-09-30 | Deoxidizer package feeding system based on parallel robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209127101U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110789798A (en) * | 2019-10-30 | 2020-02-14 | 湖南大用智能科技有限公司 | Product packaging line |
| CN111674653A (en) * | 2020-08-13 | 2020-09-18 | 昆山科亚迪自动化设备有限公司 | Device and method for detecting and replenishing cartridges |
-
2018
- 2018-09-30 CN CN201821619940.9U patent/CN209127101U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110789798A (en) * | 2019-10-30 | 2020-02-14 | 湖南大用智能科技有限公司 | Product packaging line |
| CN110789798B (en) * | 2019-10-30 | 2021-08-20 | 湖南大用智能科技有限公司 | Product packaging line |
| CN111674653A (en) * | 2020-08-13 | 2020-09-18 | 昆山科亚迪自动化设备有限公司 | Device and method for detecting and replenishing cartridges |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190719 |