CN209321380U - A kind of soft touching gripping-type article packaging facilities - Google Patents

Abstract

The utility model provides a kind of soft touching gripping-type article packaging facilities, it is characterised in that: includes: unconventional and uninhibited device, is used for packaging support box feeding one by one；Packaging support box transmission device, for packaging support box to be transmitted；Article transfer machine, for article to be transmitted；Article transfer machine is equipped with image acquisition region and capture area；Visual component obtains Item Information for acquiring images of items and obtains item tracking location information initial position；Grabbing device is grabbed for being positioned according to tracking and positioning information to article and carrying out soft touching to article.The equipment can realize that automation is unconventional and uninhibited and article dress is held in the palm, human resources can be saved and reduce labor intensity of workers, production efficiency is improved, it is more easily-deformable or pack compared with breakables to be not only suitable for quality, is also applied for the soft touching gripping-type article packaging facilities of other articles packaging.

Description

A kind of soft touching gripping-type article packaging facilities

Technical field

The utility model relates to article packing technique fields, pack more specifically to a kind of soft touching gripping-type article Equipment.

Background technique

In processing and packaging industry, conventionally employed manual type is carried out；But manual operation needs number of workers numerous, Labor intensity of workers is big, is unfavorable for saving human resources and improves production efficiency；Industry higher for hygienic requirements, such as eat Conduct industry, food readily access human body, and human body bacterium meeting contaminated food products keeps food bacterial number exceeded, food is caused to be not achieved Healthy requirement, while labor intensive will increase the difficulty of environment cleanliness holding again, and production environment is made to cause dirt to food Dye.With the development of automatic producing technology, artificial life is replaced using automated production equipment in Food Packaging technology field Production becomes development trend.

In packaging industry, it is packaged again after article is usually packed into packaging support box；Packaging support box can both promote object Product pack aesthetic feeling, and can form protection article to reduce damage caused by when article is squeezed and collides, while may be used also Make package shape regularization, is neatly arranged together convenient for article.

But existing equipment shows unsatisfactory in the process that article is packed into packaging support box.Existing equipment is pressed from both sides using hard Tool clamps article, is easy that article is caused to scratch or be crushed；Influence article quality, or even cause product unqualified without It can factory, increase material loss and production cost；Especially for moon cake, crisp short cakes with sesame, cake etc. it is soft more easily-deformable or hold The article of easy fragmentation, the grasp mode of existing equipment can not achieve the packaging of such article.

Unconventional and uninhibited device in existing equipment for packaging support box feeding is also significantly improved space: firstly, existing unconventional and uninhibited Device subsequent packaging support box when taking out front end packaging support box is easy to move, and multiple packaging support box overlappings is caused to take Out；Secondly, existing unconventional and uninhibited device feeding end is using vertically stacking mode storage package tray, packaging support box by gravity to The pressure and base that lower movement, the gravity of lower section packaging support box receiving top packaging support box, therefore lower section packaging support box are subject to Folded packaging support box quantity is related: if stacking, packaging support box quantity is excessive, may cause the pressure mistake that lower section packaging support box is subject to Packaging support box is tightly pressed together greatly, front and back packaging support box gap becomes smaller, and increases packaging support box separating difficulty；If stacking packaging Tray quantity is very few, then it is too small to may cause the pressure that is subject to of lower section packaging support box, wraps in sucking disc mechanism draw package tray Dress tray, which is not moved up by pressure appropriate, causes sucking disc mechanism to inhale support failure；In addition, existing unconventional and uninhibited device feeding End is using mode storage package tray is vertically stacked, and entrance general height in packaging support box storage space is higher, and worker needs to climb To add packaging support box to storage space, is not easy to operate, increases the labor intensity of worker.

Utility model content

To overcome shortcoming and deficiency of the prior art, the purpose of this utility model is to provide one kind, and automation can be achieved Unconventional and uninhibited and article dress support can save human resources and reduce labor intensity of workers, improve production efficiency, be not only suitable for quality and be easier to Deformation or the soft touching gripping-type article packaging facilities that other articles packagings are packed, be also applied for compared with breakables.

In order to achieve the above object, the utility model is achieved by following technical proposals: a kind of soft touching gripping-type object Product packaging facilities, it is characterised in that: include:

Unconventional and uninhibited device, for by packaging support box feeding one by one；

Packaging support box transmission device, for packaging support box to be transmitted；

Article transfer machine, for article to be transmitted；Article transfer machine is equipped with image acquisition region and catching block Domain；

Visual component obtains Item Information for acquiring images of items and obtains item tracking location information initial bit It sets；

Grabbing device is grabbed for being positioned according to tracking and positioning information to article and carrying out soft touching to article；

The article transfer machine is located at the side of packaging support box transmission device；Unconventional and uninhibited device is located at packaging support box transmission dress The top set；The visual component is located at the top of image acquisition region in article transfer machine；The grabbing device is located at object The top of capture area in product transmission device；The visual component is connect with grabbing device signal.

The working principle of the utility model device is: by packaging support box, feeding to packaging support box transmits dress to unconventional and uninhibited device one by one It sets, article is sent to capture area by image acquisition region by article transfer machine；Pass through image acquisition region process in article In, visual component acquisition images of items obtains Item Information and obtains item tracking location information initial position；It is transmitted in article Grabbing device to carry out positioning to article and carries out soft touching crawl to article according to tracking and positioning information when to capture area.

The utility model device can realize that automation is unconventional and uninhibited and article dress is held in the palm, and realize article automatic packaging；People can be saved Power resource and reduction labor intensity of workers, improve production efficiency；It can prevent grabbing device from scraping article using soft touching crawl article Hurt and crushes；It is not only suitable for the more easily-deformable or more frangible article packaging of quality, is also applied for other article packagings.

Preferably, the unconventional and uninhibited device includes upper holder structure, positioning mechanism and send support mechanism；The upper holder structure is equipped with extremely The few one pop-up space for storing and transferring for packaging support box；The positioning mechanism includes inserting supporting plate and mobile drive module One；Each slotting supporting plate is located at pop-up space close to the position of outlet；Each slotting supporting plate connects with mobile drive module one respectively It connects, to realize that insert supporting plate moves along packaging support box edge, so that slotting supporting plate be made to be inserted between former and later two packaging support box edges Gap or exit the gap between former and later two packaging support box edges；It is described that support mechanism is sent to be located at the outer of pop-up space outlet Side, and it is located at the top of packaging support box transmission device.

The working principle of the unconventional and uninhibited device is: will stack packaging support box and is stored in pop-up space, and will stack packaging support box Movement makes front end packaging support box be moved to pop-up space outlet as initial position；It is mobile to be inserted into front end packet to insert supporting plate Dress tray two sides are positioned along with gap of second packaging support box two sides between with realizing；In the positioning action for inserting supporting plate Lower use send support mechanism to remove front end packaging support box to transmit；Supporting plate is inserted later to remove to release positioning；Circulation is held Row above-mentioned operation carries out the transmission of next packaging support box.In the unconventional and uninhibited device, inserting supporting plate both can be to second packaging support box It moves forward to be formed and stop, second packaging support box will not follow front end packaging support box when being removed front end packaging support box It moves forward, it is ensured that each packaging support box is individually removed and transmitted；Slotting supporting plate can move backward shape to front end packaging support box At blocking, it will not be moved backward when being removed front end packaging support box and cause to be removed.

Preferably, the upper holder structure is equipped at least one pop-up space for storing and transferring for packaging support box, is Refer to: the upper holder structure is equipped at least one pop-up space for being laterally extended to realize that packaging support box laterally stacks setting；Pop-up Transmission module is provided in space to realize that packaging support box moves forward transmission；Pop-up space outlet is equipped with gear supporting plate, to realize The positioning of the mobile transmission of packaging support box.

Packaging support box carries out transmission movement by transmission module, and carries out front end positioning using gear supporting plate, can be by packaging support Box is smoothly moved to initial position；The pressure that front end packaging support box is subject to is unrelated with packaging support box quantity is stacked, and avoids stacking The pressure that front end packaging support box is subject to when packaging support box quantity is excessive is excessive and being tightly pressed together causes to be difficult to separate；Using transverse direction Mode stacks packaging support box, worker do not need to climb can feeding packaging support box, labor intensity of workers can be reduced.

Preferably, the gear supporting plate is connected with mobile drive module two, to realize that gear supporting plate is mobile to make to keep off on supporting plate It holds in the palm space outlet or removes pop-up space outlet；

The value range of the distance between the slotting supporting plate and gear supporting plate L are as follows: L >=packaging support box edge thickness, and L≤ Gap between the thickness at packaging support box edge+former and later two packaging support box edges；

It is described that send support mechanism include taking support module, mobile drive module three and rotation for draw or clamp packaging support box Drive module；It is described that support module is taken to connect with mobile drive module three, take support module mobile to drive packaging support box to move to realize It is dynamic；Mobile drive module three is connect with rotate driving module, to realize that mobile drive module three rotates, to drive packaging support box Rotation.

Gear supporting plate can be moved to packaging support box front end when packaging support box moves to initial position with by front end packaging support box It is located in initial position, avoids the occurrence of situations such as packaging support box skids off initial position；And support mechanism can sent to position front end It is removed after packaging support box to release positioning of the gear supporting plate to front end packaging support box, convenient for sending support mechanism by front end packaging support box It removes, avoids the blocking due to gear supporting plate and packaging support box is caused to deform or shift.

Preferably, the grabbing device include mobile robot, the finger mounted frame that is connect with mobile robot, at least two A software finger being arranged on finger mounted frame and the barostat being connect with software finger, barostat and vision group The connection of part signal；

The crawl range that mobile robot can be moved finger mounted frame to drive software finger to be moved to article, gas Pressure adjuster makes software digital flexion grab article the inflation of software finger interior；Software finger allodynia is soft, can avoid object Product are scratched or are crushed.Barostat can obtain visual component and detect resulting type of goods and item sizes, and according to article Type and item sizes adjust the air pressure for being filled with software finger interior, and the grasping force that software finger can be made to provide adapts to article kind It is different with offer to the differently curved degree of software finger can to meet different type of goods and different item sizes for class and item sizes The requirement of grasping force not only can securely grasp article and article is avoided to fall from software finger, but also grasping force can be prevented excessive And cause article folder bad.

Preferably, each software finger passes through finger mounted head respectively and is arranged on finger mounted frame, and is pacified by finger Dress head is connect with barostat.

The finger mounted head is using the setting of one of the following two kinds scheme:

One, each finger mounted head is respectively slidably arranged on finger mounted frame, and finger mounted head and finger are pacified Fastening structure is equipped between shelving；

Two, each finger mounted head passes through sliding drive module setting on finger mounted frame respectively；Slide drive module It is connect with visual component signal.

Grabbing device can adjust software finger position；Wherein, second scheme can pass through sliding before packaging facilities operation Drive module adjusts software finger position；The type of goods that can also be obtained in packaging facilities operational process according to visual component With item sizes real-time online adjust automatically software finger position is to adjust the distance between software finger and article, to make There are suitable contacts area between article after software digital flexion to generate enough frictional force, is conducive to reduce software hand The grasping force of finger, and it is excessive and cause to press from both sides bad to can avoid the pressure that is locally subject to of article.

Compared with prior art, the utility model have the following advantages that with the utility model has the advantages that

1, the utility model device can realize that automation is unconventional and uninhibited and article dress is held in the palm, and realize article automatic packaging；It can save Human resources and reduction labor intensity of workers, improve production efficiency；Grabbing device can be prevented article using soft touching crawl article It scratches and crushes；It is not only suitable for the more easily-deformable or more frangible article packaging of quality, is also applied for other article packagings；

2, the utility model device decline rest device can realize packaging support box feeding and transmission, it can be ensured that each packaging support box It individually removes and transmits, front end packaging support box, which moves backward and causes not can be carried out, when avoiding taking support takes support；It can avoid packaging Tray, which is tightly pressed together, to be caused to be difficult to separate；Packaging support box is stacked using landscape mode, worker does not need to climb can feeding packet Tray is filled, labor intensity of workers can be reduced；

3, grabbing device can be realized to article flexible crawl in the utility model device, both can securely be grasped article and be avoided Article is fallen from software finger, and can be prevented that grasping force is excessive and be caused article folder bad；Adjustable software finger and article The distance between to adjust the contact area between software finger and article, suitable grasping force can be provided for article to avoid object Product folder is bad.

Detailed description of the invention

Fig. 1 is one of structural schematic diagram of the utility model device；

Fig. 2 is the second structural representation of the utility model device；

Fig. 3 is the structural schematic diagram of the utility model device decline rest device；

Fig. 4 is to keep off supporting plate in the utility model device and send the structural schematic diagram of support mechanism；

Fig. 5 is the structural schematic diagram of positioning mechanism in the utility model device；

Fig. 6 is the scheme of installation of finger mounted frame and software finger in the utility model device；

Fig. 7 is the scheme of installation of mobile robot in the utility model device；

Wherein, 1 it is unconventional and uninhibited device, 11 be upper holder structure, 111 be pop-up space, 112 be transmission module, 12 is localization machine Structure, 121 for insert supporting plate, 122 be mobile drive module one, 123 be bracket, 13 for send support mechanism, 131 be rotate driving module, 132 be mobile drive module three, 133 be take support module, 14 be gear supporting plate, 141 be mobile drive module two, 15 be packaging support box Guide pad, 2 be visual component, 3 be grabbing device, 31 be software finger, 32 be finger mounted head, 33 be sliding drive module, 34 it is finger mounted frame, 35 be gas-tpe fitting, 36 be mobile robot, 361 be upper mounted plate, 362 be Middle shaft assembly, 363 is Rotate driving component, 364 be connecting rod, 365 be mobile holder assembly, 4 be article transfer machine, 5 be packaging support box transmission device, 6 It is article for output transfering device, 7.

Specific embodiment

The utility model is described in further detail with specific embodiment with reference to the accompanying drawing.

Embodiment one

The soft touching gripping-type article packaging facilities of the present embodiment, structure are as shown in Figures 1 to 7；Include:

Unconventional and uninhibited device 1, for by packaging support box feeding one by one；

Packaging support box transmission device 5, for packaging support box to be transmitted；

Article transfer machine 4, for article to be transmitted；Article transfer machine is equipped with image acquisition region and catching block Domain；

Visual component 2 obtains Item Information for acquiring images of items and obtains item tracking location information initial bit It sets；

Grabbing device 3 is grabbed for being positioned according to tracking and positioning information to article and carrying out soft touching to article；

Article transfer machine is located at the side of packaging support box transmission device；Unconventional and uninhibited device is located at packaging support box transmission device Top；Visual component is located at the top of image acquisition region in article transfer machine；Grabbing device is located in article transfer machine The top of capture area；Visual component is connect with grabbing device signal.

The working principle of the utility model device is: by packaging support box, feeding to packaging support box transmits dress to unconventional and uninhibited device one by one It sets, article is sent to capture area by image acquisition region by article transfer machine；Pass through image acquisition region process in article In, visual component acquisition images of items obtains Item Information and obtains item tracking location information initial position；It is transmitted in article Grabbing device to carry out positioning to article and carries out soft touching crawl to article according to tracking and positioning information when to capture area.This reality It can realize that automation is unconventional and uninhibited and article dress is held in the palm with novel device, realize article automatic packaging；Human resources and reduction can be saved Labor intensity of workers improves production efficiency；It can prevent grabbing device from article is scratched and being crushed using soft touching crawl article.

Specifically, unconventional and uninhibited device includes upper holder structure 11, positioning mechanism 12 and send support mechanism 13.

In the present embodiment, upper holder structure 11 set there are two for packaging support box store and transfer pop-up space 111；Positioning Mechanism 12 includes four slotting supporting plates 121 and mobile drive module 1；Insert the left and right sides edge of 121 packaging orientation tray of supporting plate. In practical application, it can be holder structure 11 and be equipped with N number of pop-up space 111 for storing and transferring for packaging support box.This implementation In example, the quantity N in pop-up space is 2, and the quantity M for inserting supporting plate is 4；In practical application, N is positive integer, such as 1,2,3,4 ...； Positioning mechanism 12 includes M slotting supporting plates 121 and mobile drive module 1, and wherein M is positive integer and M >=N+1；Positioned at middle part Slotting supporting plate can position two sides packaging support box simultaneously.

Positioning mechanism can also be arranged in the following way: inserting supporting plate while positioning the packaging support box in all pop-up spaces Upper side edge edge or lower side edge, the quantity for inserting supporting plate at least can be one；Preferably two, two slotting supporting plates are fixed respectively The upper side edge edge and lower side edge of the packaging support box in all pop-up spaces in position.

Pop-up space 111 is laterally extended, to realize that packaging support box laterally stacks setting；Biography is provided in pop-up space 111 Defeated module 112 is to realize that packaging support box moves forward transmission；The outlet of pop-up space 111 is equipped with gear supporting plate 14, to realize packaging support The positioning of the mobile transmission of box.Gear supporting plate 14 is connected with mobile drive module 2 141, to realize that gear supporting plate 14 is mobile to make gear hold in the palm The outlet of 14 pop-up space 111 of plate removes the outlet of pop-up space 111.

Each slotting supporting plate 121 is located at pop-up space 111 close to the position of outlet；Each slotting supporting plate 121 respectively and move Dynamic drive module 1 connects, to realize that insert supporting plate 121 moves along packaging support box edge, thus before being inserted into slotting supporting plate 121 The gap between former and later two packaging support box edges is exited in gap between latter two packaging support box edge；Send support mechanism 13 In the outside that pop-up space 111 exports.

Insert the value range of the distance between supporting plate 121 and gear supporting plate 14 L are as follows: L >=packaging support box edge thickness, and L Gap between the thickness at≤packaging support box edge+former and later two packaging support box edges.

In the present embodiment, sending support mechanism 13 includes that sucked type takes support module 133, mobile drive module 3 132 and rotation to drive Dynamic model block 131；It takes support module 133 to connect with mobile drive module 3 132, takes support module 133 mobile to drive packaging to realize Tray is mobile；Mobile drive module 3 132 is connect with rotate driving module 131, to realize that mobile drive module 3 132 rotates, To drive packaging support box to rotate.

Pop-up space is equipped with packaging support box guide pad 15 close to the position of outlet, and mobile to packaging support box there is guiding to make With.

Existing module, such as cylinder can be used in mobile drive module one, mobile drive module two and mobile drive module three； Existing module, such as rotating electric machine can be used in rotate driving module；Existing module, such as synchronous pulley can be used in transmission module.

The working principle of the unconventional and uninhibited device of the utility model is: will stack packaging support box and is stored in pop-up space 111, packaging support Box is open towards pop-up space outlet, and transmission module 112, which will stack packaging support box movement, is moved to front end packaging support box It asks the outlet of space 111 to be used as initial position, and is positioned by gear supporting plate 14；Mobile drive module 1, which drives, inserts supporting plate 121 It is mobile to be determined with being inserted into front end packaging support box two sides along with gap of second packaging support box two sides between with realizing Position；Using under the positioning action for inserting supporting plate 121 send support mechanism 13 to remove front end packaging support box to transmit；Move back Dynamic drive module 1 drives slotting supporting plate 121 to remove to release positioning；Circulation executes above-mentioned operation and carries out next packaging support box Transmission.

In the present embodiment, send support mechanism 13 to remove front end packaging support box and refer to: sucked type takes support module 133 that can draw Sucked type is taken support module 133 is mobile packaging support box is driven to be moved out by packaging support box inside bottom, mobile drive module 3 132 Dynamic, then rotate driving module rotation rotates packaging support box, moves drive module 3 132 later and packaging support box movement is driven to make Packaging support box falls in unconventional and uninhibited position, and sucked type takes support module 133 to release and draws.In practical application, support mechanism is sent to can be used other Structure.It takes support module that can also take support module using clamping type, carries out taking support by clamping packaging support box two sides.

In the unconventional and uninhibited device of the utility model, insert supporting plate 121 both can move forward to form blocking to second packaging support box, Second packaging support box will not follow front end packaging support box to move forward when being removed front end packaging support box, it is ensured that each Packaging support box is individually removed and is transmitted；Front end packaging support box can be moved backward to form blocking by inserting supporting plate 121, make front end Packaging support box will not move backward when being removed and cause to be removed.

Packaging support box carries out transmission movement by transmission module 112, and carries out front end positioning using gear supporting plate 14, can will wrap Dress tray is smoothly moved to initial position；The pressure that front end packaging support box is subject to is unrelated with packaging support box quantity is stacked, and avoids Stack packaging support box quantity it is excessive when the pressure that is subject to of front end packaging support box it is excessive and being tightly pressed together causes to be difficult to separate；Using Landscape mode stacks packaging support box, worker do not need to climb can feeding packaging support box, labor intensity of workers can be reduced.

Gear supporting plate 14 can be moved to packaging support box front end when packaging support box moves to initial position, by front end packaging support Box is located in initial position, avoids the occurrence of situations such as packaging support box skids off initial position；And the positioning of support mechanism 13 can sent most Removed after the packaging support box of front end, to release positioning of the gear supporting plate 14 to front end packaging support box, convenient for send support mechanism 13 will most before End packaging support box is removed, and avoids the blocking due to gear supporting plate 14 and packaging support box is caused to deform or shift.In the present embodiment, gear support Plate is removable；In practical application, gear supporting plate can also be fixed at pop-up space outlet；Gear supporting plate is blocked in packaging support box side Along upper, packaging support box can be by centainly deforming come across the blocking position of gear supporting plate.

Grabbing device 3 is set including mobile robot 36, the finger mounted frame 34, at least two connecting with mobile robot 36 The barostat setting the software finger 31 on finger mounted frame 34 and being connect with software finger 31, barostat and vision The connection of 2 signal of component.

Article is sent to capture area from image acquisition region by article transfer machine；When article passes through visual component 2 Images of items is acquired, type of goods and item sizes are obtained by analysis processing；Article transfer machine is connect with controller signals Article mobile message to be transferred in controller to obtain item tracking location information；Grabbing device 3 is according to tracking and positioning Information positions article.

Mobile robot can be moved finger mounted frame 34 to drive software finger 31 to be moved to object in grabbing device 3 The crawl range of product, barostat make the bending crawl article of software finger 31 to 31 inner inflatable of software finger；Software finger Soft-touch can avoid that article is scratched or crushed.The visual component 2 that barostat can obtain detect resulting type of goods and Item sizes, and the air pressure being filled with inside software finger 31 is adjusted according to type of goods and item sizes, software finger can be made 31 grasping forces provided adapt to type of goods and item sizes, can meet different type of goods and different item sizes to software hand Refer to the requirement of 31 differently curved degree grasping force different with offer, both can securely grasp article and avoid article from software finger It falls, and can prevent that grasping force is excessive and cause article folder bad.

Software finger is four in the present embodiment；Software finger more than two in practical application.It is regarded in the present embodiment Feel that existing algorithm can be used to obtain type of goods and item sizes in component acquisition images of items；Barostat can be used existing Technology.Driving atmospheric pressure value is set according to type of goods and item sizes this can be implemented so that using lookup table mode in database In obtain type of goods and the corresponding driving atmospheric pressure value of item sizes and set；It can also be using other existing algorithms come real It is existing.In the present embodiment, to article progress tracking and positioning has been surveyed, be conducive to simplify device structure, drop using tracking and positioning mode Low equipment cost and raising equipment operating efficiency；The prior art can be used in article transfer machine and packaging support box transmission device；Object Product transmission device can have encoder, realize that item tracking is positioned by encoder.It can also be used in practical application other Mode positions article.

Each finger mounted head 32 is arranged on finger mounted frame 34 by sliding drive module 33 respectively；Sliding driving mould Block 33 is connect with visual component signal, and sliding drive module 33 is driven according to type of goods and item sizes to realize.This is grabbed It takes device that can adjust software finger position by sliding drive module before packaging facilities is run, can also be run in packaging facilities In the process according to type of goods and item sizes real-time online 31 position of adjust automatically software finger to adjust software finger 31 The distance between article, so that there are suitable contacts area between article to generate enough after being bent software finger 31 Frictional force, be conducive to the grasping force for reducing software finger 31, and it is excessive and cause to press from both sides to can avoid the pressure that is locally subject to of article It is bad.

Mobile robot 36 includes upper mounted plate 361 and mobile holder assembly 365, and is arranged below upper mounted plate 361 Middle shaft assembly 362 and three groups of rotate driving components 363；Middle shaft assembly 362 is connect with mobile holder assembly 365；Three groups of rotations are driven Dynamic component 363 is connect by connecting rod 364 with mobile holder assembly 365 respectively；Finger mounted frame 34 is connect with mobile holder assembly 365. The mobile robot 36 of the setting can neatly move finger mounted frame 34, so as to move software finger 31 neatly to grab Article.The prior art, such as rotating electric machine component can be used in rotate driving component；The prior art can be used in Middle shaft assembly, such as Cylinder assembly.

The present embodiment equipment can also connect output transfering device 6, output transmission dress in the end of packaging support box transmission device The empty support that 6 rears are also provided with for blowing away empty package tray is set to blow away device and be used to be loaded into packet using packaging bag The packaging system etc. that the article of dress tray is packaged；Sky support blows away device and the prior art can be used in packaging system.

The packing method of the present embodiment equipment, including the pop-up process, article vision-based detection process and article successively executed Dress support process；

The pop-up process refers to: by packaging support box one by one on expect packaging support box transmission device；

Article vision-based detection process refers to: acquisition images of items obtains item tracking positioning letter to obtain Item Information The initial position of breath；

Article dress support process refers to: grabbing device positions article according to tracking and positioning information, and article is grabbed It takes and moves into packaging support box.

Utility model device can realize that automation is unconventional and uninhibited and article dress is held in the palm, and realize automatic packaging；Manpower money can be saved Source and reduction labor intensity of workers, improve production efficiency.

Further say, in pop-up process, by packaging support box one by one on expect packaging support box transmission device, refer to: will build The packaging support box stacked is mobile, and front end packaging support box is located in initial position using gear supporting plate；It is packed in front end It is inserted between the edge of tray and the edge of second packaging support box and inserts supporting plate to realize positioning；Before sending support mechanism positioning most Packaging support box is held, supporting plate will be kept off and removed to release positioning of the gear supporting plate to front end packaging support box, in the positioning action for inserting supporting plate Under send support mechanism to remove front end packaging support box；Before stacking packaging support box together and being moved to initial position, supporting plate is inserted It removes to release positioning.

Utility model device, insert supporting plate both can move forward to form blocking to second packaging support box, make front end Second packaging support box will not follow front end packaging support box to move forward when packaging support box is removed, it is ensured that each packaging support box Individually removes and transmit；Slotting supporting plate can also move backward front end packaging support box to form blocking and positioning, when avoiding taking support Front end packaging support box, which moves backward and causes not can be carried out, takes support.Gear supporting plate can be moved when packaging support box moves to initial position To packaging support box front end front end packaging support box is located in initial position, avoids the occurrence of packaging support box and skid off initial position etc. Situation；And it can be removed after sending support mechanism to position front end packaging support box to release gear supporting plate and determine front end packaging support box Position, convenient for sending support mechanism to remove front end packaging support box, avoid due to gear supporting plate blocking and cause packaging support box deform or Displacement.

In article vision-based detection process, acquire images of items to obtain Item Information, refer to: acquisition images of items is to identify Type of goods and detection item sizes；

In article dress support process, article is grabbed and is moved into packaging support box, refers to: being set according to type of goods and item sizes Surely atmospheric pressure value is driven, barostat inflates to drive software digital flexion to be grabbed software finger interior according to driving atmospheric pressure value Article is taken, and is moved the item into packaging support box.

In utility model device, barostat drives software clinodactyly to object to the inflation of software finger interior Product provide grasping force, and software finger interior air pressure is adjusted according to type of goods and item sizes, and software finger can be made to provide Grasping force is adapted to type of goods and item sizes, and it is curved to software finger difference can to meet different type of goods and different item sizes The requirement of Qu Chengdu grasping force different with offer not only can securely grasp article and article is avoided to fall from software finger, but also can To prevent, grasping force is excessive and causes article folder bad.

In article dress support process, article is grabbed using software finger and is moved into packaging support box, is referred to: according to type of goods Driving atmospheric pressure value is set with item sizes, and adjusts software finger position according to type of goods and item sizes；Air pressure adjustment Device inflates to drive software digital flexion to grab article software finger interior according to driving atmospheric pressure value, and moves the item into packet It fills in tray.

Utility model device adjusts software finger position according to type of goods and item sizes, can adjust software finger The distance between article, so that there are suitable contacts area between article after making software digital flexion is enough to generate Frictional force is conducive to the grasping force for reducing software finger, and it is excessive and cause to press from both sides bad to can avoid the pressure that is locally subject to of article.

Embodiment two

The soft touching gripping-type article packaging facilities of the present embodiment and the difference of embodiment one are: in the present embodiment, each hand Refer to that mounting head is respectively slidably arranged on finger mounted frame, and is equipped with fastening knot between finger mounted head and finger mounted frame Structure.Worker can adjust software finger position before packaging facilities operation.

Remaining structure of the present embodiment is the same as example 1.

In the packing device of the present embodiment equipment, there is no software finger position is adjusted according to type of goods and item sizes It sets；After obtaining type of goods and item sizes, driving atmospheric pressure value is set according to type of goods and item sizes；Air pressure adjustment Device inflates to drive software digital flexion to grab article, to make software finger software finger interior according to driving atmospheric pressure value The grasping force adaptation type of goods and item sizes of offer.

Above-described embodiment is the preferable embodiment of the utility model, but the embodiments of the present invention is not by above-mentioned The limitation of embodiment, it is made under other any spiritual essence and principles without departing from the utility model to change, modify, replacing In generation, simplifies combination, should be equivalent substitute mode, is included within the protection scope of the utility model.

Claims (6)

1. a kind of soft touching gripping-type article packaging facilities, it is characterised in that: include:

Unconventional and uninhibited device, for by packaging support box feeding one by one；

Packaging support box transmission device, for packaging support box to be transmitted；

Article transfer machine, for article to be transmitted；Article transfer machine is equipped with image acquisition region and capture area；

Visual component obtains Item Information for acquiring images of items and obtains item tracking location information initial position；

Grabbing device is grabbed for being positioned according to tracking and positioning information to article and carrying out soft touching to article；

The article transfer machine is located at the side of packaging support box transmission device；Unconventional and uninhibited device is located at packaging support box transmission device Top；The visual component is located at the top of image acquisition region in article transfer machine；The grabbing device is located at article biography Send the top of capture area in device；The visual component is connect with grabbing device signal.

2. soft touching gripping-type article packaging facilities according to claim 1, it is characterised in that: the unconventional and uninhibited device includes upper Holder structure, positioning mechanism and send support mechanism；The upper holder structure is equipped with what at least one stored and transferred for packaging support box Hold in the palm space；The positioning mechanism includes inserting supporting plate and mobile drive module one；It is close that each slotting supporting plate is located at pop-up space The position of outlet；Each slotting supporting plate is connected with mobile drive module one respectively, to realize that insert supporting plate moves along packaging support box edge, To make insert supporting plate be inserted into the gap between former and later two packaging support box edges or exit former and later two packaging support box edges it Between gap；The outside for sending support mechanism to be located at pop-up space outlet, and it is located at the top of packaging support box transmission device.

3. soft touching gripping-type article packaging facilities according to claim 2, it is characterised in that: the upper holder structure is equipped with At least one pop-up space for storing and transferring for packaging support box refers to: the upper holder structure is equipped at least one transverse direction and prolongs The pop-up space stretched is to realize that packaging support box laterally stacks setting；Transmission module is provided in pop-up space to realize packaging support box Move forward transmission；Pop-up space outlet is equipped with gear supporting plate, to realize the positioning of the mobile transmission of packaging support box.

4. soft touching gripping-type article packaging facilities according to claim 3, it is characterised in that: the gear supporting plate is connected with shifting Dynamic drive module two, to realize that gear supporting plate is mobile to make to keep off supporting plate pop-up space outlet or remove pop-up space outlet；

The value range of the distance between the slotting supporting plate and gear supporting plate L are as follows: L >=packaging support box edge thickness, and L≤packaging Gap between the thickness at tray edge+former and later two packaging support box edges；

It is described that send support mechanism include taking support module, mobile drive module three and rotate driving for draw or clamp packaging support box Module；It is described that support module is taken to connect with mobile drive module three, take support module mobile to drive packaging support box mobile to realize；It moves Dynamic drive module three is connect with rotate driving module, to realize that mobile drive module three rotates, so that packaging support box be driven to rotate.

5. soft touching gripping-type article packaging facilities according to claim 1, it is characterised in that: the grabbing device includes moving Mobile robot, the finger mounted frame being connect with mobile robot, at least two be arranged in software finger on finger mounted frame and The barostat connecting with software finger, barostat are connect with visual component signal.

6. soft touching gripping-type article packaging facilities according to claim 5, it is characterised in that: each software finger leads to respectively It crosses finger mounting head to be arranged on finger mounted frame, and is connect by finger mounted head with barostat；

The finger mounted head is using the setting of one of the following two kinds scheme:

One, each finger mounted head is respectively slidably arranged on finger mounted frame, and finger mounted head and finger mounted frame Between be equipped with fastening structure；

Two, each finger mounted head passes through sliding drive module setting on finger mounted frame respectively；Slide drive module and view Feel component signals connection.