CN106586576A - Automatic tray placing system for liquid bags - Google Patents
Automatic tray placing system for liquid bags Download PDFInfo
- Publication number
- CN106586576A CN106586576A CN201611215261.0A CN201611215261A CN106586576A CN 106586576 A CN106586576 A CN 106586576A CN 201611215261 A CN201611215261 A CN 201611215261A CN 106586576 A CN106586576 A CN 106586576A
- Authority
- CN
- China
- Prior art keywords
- liquid bag
- pallet
- robot
- balance system
- automatic balance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/32—Stacking of articles characterised by stacking during transit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0238—Bags
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses an automatic tray placing system for liquid bags. The automatic tray placing system comprises a liquid bag feeding production line, a grabbing robot and a tray conveying line. The tray conveying line is provided with a liquid bag tray. The automatic tray placing system further comprises a machine vision mechanism used for capturing liquid bag position information to the grabbing robot, and a liquid bag distributing box distributing and placing a liquid bag grabbed by the grabbing robot on the liquid bag tray. The liquid bag distributing box is located above the tray conveying line. The liquid bag automatic tray placing system is reasonable in design, the liquid bag can be stacked on the liquid bag tray fast and accurately through the robot combined with the liquid bag distributing box, so that the placing position uniformity of the liquid bag on the tray is good, the position precision is high, manual operation is not needed, the production efficiency is high, the labor cost is low, a jig can be replaced, feeding operation can be conducted on liquid bags of large, middle and small specifications, and the universality is good.
Description
Technical field
The present invention relates to pipelining field, more particularly, to a kind of automatic balance system of liquid bag.
Background technology
Existing transfusion bag balance system is made up of manual streamline and automatic assembly line mostly, and manual streamline is to pass through
Artificial manual to go by rule of thumb to pile up, on pallet, putting position concordance is bad, and deviation is larger, and work production efficiency is low, nothing
Method meets society now and efficiently requires to accurate, and the operating personnel for needing is more, and labour cost is big.
Traditional automatic bag feeding production line is to use parallel robot structure, suction nozzle to fix, it is impossible to which the liquid bag to being partial to carries out angle
Degree adjustment, the concordance of the putting position of liquid bag are bad, and putting position precision is relatively low, and the fixation of suction nozzle fixture is to various sizes of product
Product not have well adapt to ability, poor universality.
The content of the invention
Not enough for prior art, the technical problem to be solved is to provide a kind of automatic balance system of liquid bag,
To reach the good purpose of putting position concordance on pallet.
In order to solve above-mentioned technical problem, the technical solution adopted in the present invention is：
The automatic balance system of the liquid bag, including liquid bag feeding streamline and crawl robot and pallet transmission line, it is described
Pallet transmission line is provided with liquid bag pallet, also includes the machine vision mechanism for capturing liquid bag positional information to crawl robot
The liquid bag distributor box on liquid bag pallet is placed on by the crawl liquid bag distribution of crawl robot, the liquid bag distributor box is located at pallet
Above transmission line.
Used as preferred, the liquid bag feeding streamline includes connected liquid bag climbing streamline and liquid bag translation flowing water
Line.
It is as preferred, described to capture the artificial plane joint robot of machine.
Used as preferred, the pallet transmission line includes conveyer belt, and the conveyer belt is provided with for promoting liquid bag pallet
And the promotion tool of dismounting and change.
Used as preferred, the machine vision mechanism includes vision camera and vision light source and controller.
Used as preferred, the liquid bag distributor box is one group of casing being arranged side by side, and is provided with the liquid bag pallet side by side
One group of supporting plate tool, the gap between adjacent two supporting plates tool are corresponding with a casing.
Used as preferred, the end of the crawl robot is provided with sucker module, and the sucker module includes two spacing
Adjustable sucker.
Used as preferred, the crawl robot includes robot arm and fixing bracket body and is located on fixing bracket body
Mounting plate, the robot arm and machine vision mechanism are each provided on mounting plate.
Used as preferred, the crawl machine is artificial two sets, and two sets capture robots and are located at the two of pallet transmission line respectively
Side.
Used as preferred, the edge of the liquid bag pallet is provided with rib, and is provided between adjacent pallets tool for adjusting
The dividing plate of section liquid bag fore-and-aft clearance.
The present invention compared with prior art, with advantages below：
The automatic balance system design of the liquid bag rationally, to liquid bag can carry out quick standard with reference to liquid bag distributor box by robot
Really code-disc, makes liquid bag putting position concordance on pallet good, and positional precision is high, and without the need for manual work, production efficiency is high,
Labour cost is low, and tool is replaceable, can carry out feeding operation to the liquid bag of large, medium and small all size, and versatility is good.
Description of the drawings
Below the content and the labelling in figure expressed by each width accompanying drawing of this specification is briefly described：
Fig. 1 is present system structural representation.
Fig. 2 is present invention crawl robot structural representation.
Fig. 3 is liquid bag support holder structure schematic diagram of the present invention.
In figure：
1. capture robot, 101. fixing bracket bodies, 102. mounting plates, 103. protective covers, 104. robot's arms,
105. robot forearms,
2. machine vision mechanism, 201. vision cameras, 202. vision light sources,
3. liquid bag climbing streamline, 4. liquid bag translation streamline, 5. liquid bag distributor box, 6. liquid bag pallet, 7. supporting plate tool,
8. conveyer belt, 9. transmission chain.
Specific embodiment
Below against accompanying drawing, by the description to embodiment, further details of is made to the specific embodiment of the present invention
Explanation.
As shown in Figure 1 to Figure 3, the automatic balance system of the liquid bag, including liquid bag feeding streamline, crawl robot 1, pallet
Transmission line, for capture liquid bag positional information to crawl robot machine vision mechanism 2 and will crawl robot crawl liquid bag
Distribution is placed on the liquid bag distributor box 5 on liquid bag pallet, wherein, pallet transmission line is provided with liquid bag pallet 6, liquid bag distributor box 5
Positioned at the top of pallet transmission line.
Liquid bag feeding streamline is located at the top of pallet transmission line, traffic direction centrage and the support of liquid bag feeding streamline
The traffic direction centrage of disk transmission line is perpendicular.Liquid bag feeding streamline includes connected liquid bag climbing streamline 3 and liquid bag
Translation streamline 4.
Pallet transmission line includes conveyer belt 8 and transmission chain 9, and conveyer belt 8 is one, and transmission chain 9 is two, conveyer belt
It is arranged side by side with transmission chain, transmission chain is located at both sides, conveyer belt is located in the middle of two transmission chains, and liquid bag pallet 6 is located at biography
Send on band and transmission chain, conveyer belt is provided with for promoting the promotion tool of liquid bag pallet dismounting and change.Preferably, promote
Tool can be set on a moving belt by connecting plate and screw, and dismounting adjustment is easy.
The edge of liquid bag pallet 6 is provided with rib, and is provided between adjacent pallets tool for adjusting liquid bag fore-and-aft clearance
Dividing plate.Dividing plate can be selectivity installed part, choose whether to install according to actual feeding demand.
Liquid bag distributor box is one group of casing being arranged side by side, and is provided with one group of supporting plate tool 7 on liquid bag pallet side by side, adjacent two
Gap between supporting plate tool is corresponding with a casing.
Crawl robot 1 is plane joint robot.Crawl machine is artificial two sets, and two sets of crawl robots are located at support respectively
Work efficiency is improved in the both sides of disk transmission line, cooperative work.
Crawl robot 1 includes robot arm and fixing bracket body 101 and the mounting plate being located on fixing bracket body
102, the work drive motor of robot is arranged on mounting plate, and is provided with mounting plate for covering work drive motor
Protective cover 103, robot arm include robot's arm 104 and robot forearm 105.
Machine vision mechanism 2 is fixed on mounting plate 102.Machine vision mechanism 2 includes vision camera 201 and vision
Light source 202 and controller.
The end of crawl robot 1 is provided with sucker module, and sucker module includes the adjustable sucker of two spacing, applicable
The liquid bag of different size specification, and position adjustable positioning high precision.The liter for driving sucker to move up and down is provided with sucker module
Sending down the abnormal ascending QI cylinder.
During work, liquid bag sends the positional information of capture to crawl robot through machine vision station, vision camera,
Crawl robot crawl liquid bag is simultaneously put into liquid bag in liquid bag distributor box, and conveyer belt and transmission chain push liquid bag pallet and carry out
Motion, stops when distributor box bottom is moved to, and one bag of liquid bag of the bottommost in case is placed on liquid bag pallet by liquid bag distributor box
On.After one layer of liquid bag pallet is piled, it is further continued for the second layer and puts.
The present invention is exemplarily described above in conjunction with accompanying drawing, it is clear that the present invention is implemented
Restriction, if employ the improvement of various unsubstantialities that the design of the present invention and technical scheme are carried out, or it is not improved will
The design and technical scheme of the present invention directly applies to other occasions, within protection scope of the present invention.
Claims (10)
1. a kind of automatic balance system of liquid bag, including liquid bag feeding streamline and crawl robot and pallet transmission line, it is described
Pallet transmission line is provided with liquid bag pallet, it is characterised in that：Also include for capturing liquid bag positional information to crawl robot
Machine vision mechanism and the crawl liquid bag distribution of crawl robot is placed on into the liquid bag distributor box on liquid bag pallet, the liquid bag point
The top of pallet transmission line is located at case.
2. the automatic balance system of liquid bag as claimed in claim 1, it is characterised in that：The liquid bag feeding streamline includes connected
Liquid bag climbing streamline and liquid bag translation streamline.
3. the automatic balance system of liquid bag as claimed in claim 1, it is characterised in that：It is described to capture the artificial plane joint machine of machine
People.
4. the automatic balance system of liquid bag as claimed in claim 1, it is characterised in that：The pallet transmission line includes conveyer belt, institute
State conveyer belt to be provided with for promoting the promotion tool of liquid bag pallet dismounting and change.
5. the automatic balance system of liquid bag as claimed in claim 1, it is characterised in that：The machine vision mechanism includes vision camera
With vision light source and controller.
6. the automatic balance system of liquid bag as claimed in claim 1, it is characterised in that：The liquid bag distributor box is for being arranged side by side
Group casing, is provided with one group of supporting plate tool, the gap between adjacent two supporting plates tool and a casing phase side by side on the liquid bag pallet
Correspondence.
7. the automatic balance system of liquid bag as claimed in claim 1, it is characterised in that：The end of the crawl robot is provided with sucker
Module, the sucker module include the adjustable sucker of two spacing.
8. the automatic balance system of liquid bag as claimed in claim 1, it is characterised in that：The crawl robot includes robot arm
With fixing bracket body and the mounting plate being located on fixing bracket body, the robot arm and machine vision mechanism are each provided at peace
In dress fixed plate.
9. the automatic balance system of liquid bag as claimed in claim 1, it is characterised in that：The crawl machine is artificial two sets, and two sets are grabbed
Robot is taken respectively positioned at the both sides of pallet transmission line.
10. the automatic balance system of liquid bag as claimed in claim 6, it is characterised in that：The edge of the liquid bag pallet is provided with rib,
And be provided between adjacent pallets tool for adjusting the dividing plate of liquid bag fore-and-aft clearance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611215261.0A CN106586576A (en) | 2016-12-26 | 2016-12-26 | Automatic tray placing system for liquid bags |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611215261.0A CN106586576A (en) | 2016-12-26 | 2016-12-26 | Automatic tray placing system for liquid bags |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106586576A true CN106586576A (en) | 2017-04-26 |
Family
ID=58603722
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611215261.0A Pending CN106586576A (en) | 2016-12-26 | 2016-12-26 | Automatic tray placing system for liquid bags |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106586576A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107973120A (en) * | 2017-12-18 | 2018-05-01 | 广东美的智能机器人有限公司 | Loading system |
| CN108357009A (en) * | 2017-12-30 | 2018-08-03 | 芜湖慧盈自动化设备有限公司 | A kind of mixing automation feeding device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1017134A (en) * | 1996-07-04 | 1998-01-20 | Toyo Jidoki Co Ltd | Method and device for arranging packing bag |
| EP1288126A2 (en) * | 2001-07-23 | 2003-03-05 | Nutricia N.V. | Method and device for filling a holder tray with bags filled with a liquid-like substance |
| CN101130388A (en) * | 2007-09-22 | 2008-02-27 | 山东新华医疗器械股份有限公司 | Automatic disk loading system of soft bag |
| CN203698740U (en) * | 2014-02-20 | 2014-07-09 | 上海宗义自动化设备制造有限公司 | Full-automatic soft bag encasement machine |
| CN104528009A (en) * | 2014-11-06 | 2015-04-22 | 山东新华医疗器械股份有限公司 | Automatic disc containing system and method of large-infusion robot |
| CN105819208A (en) * | 2016-06-13 | 2016-08-03 | 无锡力优医药自动化技术有限公司 | Automatic infusion bag feeding production line |
| CN105905331A (en) * | 2016-05-13 | 2016-08-31 | 芜湖哈特机器人产业技术研究院有限公司 | Automatic flexible packaged article loading device and control method thereof |
-
2016
- 2016-12-26 CN CN201611215261.0A patent/CN106586576A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1017134A (en) * | 1996-07-04 | 1998-01-20 | Toyo Jidoki Co Ltd | Method and device for arranging packing bag |
| EP1288126A2 (en) * | 2001-07-23 | 2003-03-05 | Nutricia N.V. | Method and device for filling a holder tray with bags filled with a liquid-like substance |
| CN101130388A (en) * | 2007-09-22 | 2008-02-27 | 山东新华医疗器械股份有限公司 | Automatic disk loading system of soft bag |
| CN203698740U (en) * | 2014-02-20 | 2014-07-09 | 上海宗义自动化设备制造有限公司 | Full-automatic soft bag encasement machine |
| CN104528009A (en) * | 2014-11-06 | 2015-04-22 | 山东新华医疗器械股份有限公司 | Automatic disc containing system and method of large-infusion robot |
| CN105905331A (en) * | 2016-05-13 | 2016-08-31 | 芜湖哈特机器人产业技术研究院有限公司 | Automatic flexible packaged article loading device and control method thereof |
| CN105819208A (en) * | 2016-06-13 | 2016-08-03 | 无锡力优医药自动化技术有限公司 | Automatic infusion bag feeding production line |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107973120A (en) * | 2017-12-18 | 2018-05-01 | 广东美的智能机器人有限公司 | Loading system |
| CN108357009A (en) * | 2017-12-30 | 2018-08-03 | 芜湖慧盈自动化设备有限公司 | A kind of mixing automation feeding device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170426 |