CN106628323A - Automatic spherical fruit boxing machine based on parallel manipulator and operation method of automatic spherical fruit boxing machine - Google Patents
Automatic spherical fruit boxing machine based on parallel manipulator and operation method of automatic spherical fruit boxing machine Download PDFInfo
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- CN106628323A CN106628323A CN201610918759.7A CN201610918759A CN106628323A CN 106628323 A CN106628323 A CN 106628323A CN 201610918759 A CN201610918759 A CN 201610918759A CN 106628323 A CN106628323 A CN 106628323A
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- fruit
- chest
- parallel manipulator
- platform
- control
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B25/00—Packaging other articles presenting special problems
- B65B25/02—Packaging agricultural or horticultural products
- B65B25/04—Packaging fruit or vegetables
- B65B25/046—Packaging fruit or vegetables in crates or boxes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/52—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using roller-ways or endless conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Agronomy & Crop Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an automatic spherical fruit boxing machine based on a parallel manipulator and an operation method of the automatic spherical fruit boxing machine. The automatic spherical fruit boxing machine comprises a box conveying platform, fruit supply devices and the parallel manipulator. The fruit supply devices are arranged on the two sides of the parallel manipulator, the number of the fruit supply devices can be one to four as required, and the fruit supply devices are used for supplying fruits of different types. The box conveying platform is used for bearing boxes and assisting in pushing the boxes forwards and backwards. The parallel manipulator is installed on the box conveying platform. Fruits in mess can be separated through the fruit supply devices and conveyed to respective grabbing platforms of the fruit supply devices one by one, and the parallel manipulator grabs the fruits from the grabbing platforms of the fruit supply devices and puts the fruits to the positions, planned by a program, in the boxes. The automatic spherical fruit boxing machine based on the parallel manipulator and the operation method of the automatic spherical fruit boxing machine can automatically put different types of spherical fruits and fruits with different quantities into one box, so that the personalized purchase requirements of customers are met, and logistics transportation is facilitated.
Description
Technical field
The present invention relates to a kind of vanning machinery, especially a kind of simultaneously to carry out the machine that various spherical fruits are quantitatively cased
Tool and method of operating.
Background technology
With the surprising development of ecommerce, net purchase buys fruit because of its many advantages such as convenient, fast, economical, modish, into
For a kind of trend, but because client's purchasing demand is all different, result in needs which kind of fruit, this kind of fruit in a packing case
Many small numbers are needed, all cannot be unified, if by the way of traditional-handwork vanning, the workload of on-line shop personnel will increase severely.No
Only buying the on-line shop of fruit can run into the problems referred to above, in other industries, how can also run into the work of different article mix packings
Similar work is completed time saving and energy savingly, is the problem for needing to solve.
The content of the invention
Present invention is primarily targeted at providing a kind of spherical fruit automatic boxing machinery based on parallel manipulator, it is intended to
Vanning quantitative to various fruits mixing is realized, customer personalized purchasing demand is met.
In order to solve above-mentioned technical problem, the present invention proposes technical scheme below：Spherical fruit based on parallel manipulator
Automatic boxing machinery, it includes chest delivery platform, and the two sides of the chest delivery platform are provided with multiple fruit supply dresses
Put, chest is placed with the chest delivery platform, the top of the chest delivery platform is provided with parallel connection by door shaped stent
Manipulator, the parallel manipulator is engaged the mix packing for realizing various spherical fruits, the chest with fruit feedway
Delivery platform, fruit feedway and parallel manipulator are connected with system hardware part simultaneously.
The chest delivery platform includes framework, and two cylinders are provided with the framework, is provided with the cylinder defeated
Band is sent, safe edge hurdle is installed on the framework of the conveyer belt both sides, door shaped stent, the door shaped stent are also equipped with framework
Vertical bar on be fixed with support for installing CCD barcode scanners.
The fruit feedway includes feedway support, and side plate, the confession are fixed with the feedway support
To power transmission shaft is provided between appliance stand, the power transmission shaft is provided with sprocket wheel by DC motor Driver on the power transmission shaft,
The sprocket wheel constitutes sprocket wheel chain drive and coordinates with double strand chain, and X-type cone cylinder is provided between the double strand chain, described double
The end of chain is provided with crawl platform.
The parallel manipulator is made up of parallel mechanical arm and gripper；
The parallel mechanical arm includes silent flatform, arm steering wheel, master arm, oscillating bearing, slave arm and moving platform, described quiet flat
Platform is arranged on the framework on chest delivery platform, and the end of the silent flatform is provided with arm steering wheel, on the arm steering wheel
Master arm is hinged with, the end of the master arm is hinged with slave arm by oscillating bearing, and the end of the slave arm is provided with
Moving platform.
The gripper includes wrist steering wheel, and the wrist steering wheel is installed on the bottom of moving platform, and the moving platform passes through
Bolt is fixedly linked with lower shoe, and claw is hinged with the lower shoe, and the side wall of the claw is cut with scissors by connecting rod with slide body
Connect, the slide body is nested inside with linear bearing, the linear bearing is engaged with slide bar, the wrist steering wheel passes through steering wheel
Fork and rocking bar drive linear bearing and slide body to slide on the slide bar being connected with lower shoe, and thus drive claw to clamp or
Open.
The system hardware part includes monolithic micro-control making sheet, CCD barcode scanners, pressure sensor, wireless
Number biography, Motor drive plate and Switching Power Supply；Monolithic micro-control making sheet for electric-control system intelligent kernel, the CCD bar codes
Scanner is used to obtain and is affixed on express delivery on the outside of chest only number, and the pressure sensor is used to feed back the folder that claw captures fruit
Power, the wireless data sending is exchanged for entering row information with host computer, and the Motor drive plate is used to controlling and driving direct current generator,
The Switching Power Supply is used for the voltage stabilizing of 220V alternating currents into the direct current of 24V and 5V, and for each hardware of electric-control system power supply is provided.
The software section includes order management software, and its interface is divided into three parts, wraps fast viewing area, control zone and typing
Area；The typing area, for sequence information typing and being stored in database, the control zone is used to start or stop fruit
The operation of automatic boxing machinery, the viewing area is used to show fruit automatic boxing machinery working condition and parameter；Host computer is ordered
Menu manager software is received after the express delivery odd numbers information of slave computer monolithic micro-control making sheet transmission, is searched in database and is matched,
Afterwards express delivery odd numbers correspondence control parameter is sent into slave computer, slave computer can automatically control vanning machinery and complete water according to parameter
The work of fruit mix packing.
Using the method for operating of any one spherical fruit automatic boxing machinery, it is comprised the following steps：
S1：First by the express delivery single card of information of filling in chest outer surface, and chest is positioned over into the defeated of chest placement platform
Band one end, hand push chest is sent to move forward；
S2：When the express delivery list on chest is through barcode scanner, scanner can automatically obtain order number, and order number is adopted
Collect monolithic micro-control making sheet, odd numbers is uploaded host computer by control panel, and order management software passes through query processing, order odd numbers pair
Control parameter is answered to return to slave computer monolithic micro-control making sheet.
S3：Monolithic micro-control making sheet is received after control parameter, will control corresponding fruit feedway running, and fruit is transported
To on crawl platform, then parallel manipulator captures fruit on the crawl platform of specified fruit fruit supplying device, loads in chest
Portion is by the good position of routine plan.
S4：Fruit is pressed after order requirements vanning, and hand push chest is continued to move along, in the other end of conveyer belt, chest
Take out.
The method have the advantages that：
1st, the above-mentioned spherical fruit automatic boxing machinery based on parallel manipulator, it is by chest delivery platform, fruit supply dress
Put, parallel manipulator three parts composition；Fruit feedway is arranged in parallel manipulator both sides, can arrangement apparatus on demand
1 to 4, supply different types of fruit；Chest delivery platform carries chest and aids in being pushed before and after chest, chest delivery platform
Top parallel manipulator is installed；Fruit feedway can separate mixed and disorderly fruit, and its crawl is delivered to one by one
Platform, parallel manipulator captures fruit from the crawl platform of each fruit feedway, loads cabinet interior good by routine plan
Position at.
2nd, above-mentioned chest placement platform includes being installed on the conveyer belt of aluminum section bar frame, for supporting and driving and conveying belt
Two cylinders, are installed on the safe edge hurdle of conveyer belt both sides, and for installing the support of CCD barcode scanners.
3rd, above-mentioned fruit feedway includes side plate and aluminum section bar frame, and they constitute housing construction, above-mentioned fruit supply
Device also includes multiple X-type cone cylinders, double strand chain and crawl platform, and X-type cone cylinder is arranged at a certain distance on double strand chain, double
By motor through power transmission shaft, chain wheel drive operation, fruit support X-type cone cylinder is up conveyed and reaches crawl row chain bar by bottom of device
Platform.
4th, above-mentioned parallel manipulator is made up of parallel mechanical arm and gripper.Parallel mechanical arm by silent flatform, arm steering wheel,
Master arm, oscillating bearing, slave arm and moving platform composition, silent flatform is installed on aluminum section bar frame, and three arm steering wheels are each
Corresponding angle is rotated, will be by by master arm, oscillating bearing, the linkage that slave arm is formed, driving moving platform so as to
The different operating position in the range of certain space.Gripper includes wrist steering wheel, steering wheel fork, rocking bar, slide body, linear axis
Hold, slide bar, connecting rod, lower shoe and claw, the wrist steering wheel has three, and they are installed on moving platform, and moving platform passes through bolt
It is connected with lower shoe, claw one end is hinged with lower shoe, and the other end is hinged further through connecting rod with slide body, and linear bearing is embedded in
Be engaged in slide body and with slide bar, wrist steering wheel by steering wheel fork and rocking bar drive linear bearing and slide body with go to the bottom
Slide on the connected slide bar of plate, and thus drive claw to clamp or open.
5th, the system hardware part of the fruit automatic boxing machinery includes monolithic micro-control making sheet, CCD bar code scannings
Instrument, pressure sensor, wireless data sending, Motor drive plate, Switching Power Supply.The making sheet of monolithic micro-control is the intelligent kernel of electric-control system,
CCD barcode scanners are used to obtain and are affixed on express delivery on the outside of chest only number, and pressure sensor is used to feed back claw crawl water
The grip force of fruit, wireless data sending is exchanged for entering row information with host computer, and Motor drive plate is used to controlling and driving fruit supply dress
The direct current generator operating put, Switching Power Supply is used for the direct current the voltage stabilizing of 220V alternating currents into 24V and 5V, is that electric-control system is each
Hardware provides power supply.System software part is order management software, and its interface is divided into three parts, wraps fast viewing area, control
Area, typing area.After client places an order, Jing typings area is sequence information typing and is stored in database, and order management software receives
After the express delivery odd numbers information sent to the making sheet of slave computer monolithic micro-control, matching is searched in database, afterwards by express delivery odd numbers pair
Control parameter is answered to be sent to slave computer, slave computer can automatically control vanning machinery and complete the work of fruit mix packing according to parameter.
6th, the present invention can realize the automatic boxing work for variety classes spherical fruit and different configuration amount fruit, this
Not only meet the personalized purchasing demand of customer, and be also convenient for logistics transportation.The present invention can save manpower and financial resources, application
To on other automatic production lines, it may have stronger application value.
Description of the drawings
With reference to the accompanying drawings and examples the invention will be further described.
Fig. 1 is the overall structure figure of the present invention.
Fig. 2 is the chest delivery platform structure chart of the present invention.
Fig. 3 is the fruit feedway structure chart of the present invention.
Fig. 4 is the parallel mechanical arm structure chart of the parallel manipulator of the present invention.
Fig. 5 is the gripper structure chart of the parallel manipulator of the present invention.
Fig. 6 is the man-machine interface of order management software.
In figure：Chest delivery platform 10, fruit feedway 20, chest 30, parallel manipulator 40；
Conveyer belt 101, cylinder 102, framework 103, safe edge hurdle 104, support 105；
Direct current generator 201, feedway support 202, side plate 203, X-type cone cylinder 204, double strand chain 205, sprocket wheel 206, power transmission shaft
207th, fruit 208, crawl platform 209；
Silent flatform 401, arm steering wheel 402, master arm 403, oscillating bearing 404, slave arm 405, moving platform 406, wrist steering wheel
407th, lower shoe 408, claw 409, connecting rod 410, rocking bar 411, steering wheel fork 412, slide body 413, slide bar 414, linear bearing
415。
Specific embodiment
Embodiments of the present invention are described further below in conjunction with the accompanying drawings.
Such as Fig. 1-6, the spherical fruit automatic boxing machinery based on parallel manipulator, it includes chest delivery platform 10, institute
The two sides for stating chest delivery platform 10 are provided with multiple fruit feedways 20, and on the chest delivery platform 10 case is placed with
Son 30, the top of the chest delivery platform 10 is provided with parallel manipulator 40, the parallel manipulator 40 by door shaped stent
The mix packing for realizing various spherical fruits, chest delivery platform 10, the fruit supply are engaged with fruit feedway 20
Device 20 and parallel manipulator 40 are connected with system hardware part simultaneously.
Further, the chest delivery platform 10 includes framework 103, and two cylinders are provided with the framework 103
102, conveyer belt 101 is installed on the cylinder 102, safe edge hurdle 104 is installed on the framework 103 of the both sides of the conveyer belt 101,
Door shaped stent is also equipped with framework 103, is fixed with the vertical bar of the door shaped stent for installing CCD bar code scannings
The support 105 of instrument.
Further, the fruit feedway 20 includes feedway support 202, on the feedway support 202
Side plate 203 is fixed with, power transmission shaft 207 is installed between the feedway support 202, the power transmission shaft 207 passes through direct current
Machine 201 drives, and sprocket wheel 206 is provided with the power transmission shaft 207, and the sprocket wheel 206 constitutes sprocket wheel chain and passes with double strand chain 205
It is dynamic to coordinate, X-type cone cylinder 204 is installed between the double strand chain 205, the end of the double strand chain 205 is provided with crawl and puts down
Platform 209.
Further, the parallel manipulator 40 is made up of parallel mechanical arm and gripper；
Further, the parallel mechanical arm include silent flatform 401, arm steering wheel 402, master arm 403, oscillating bearing 404, from
Swing arm 405 and moving platform 406, the silent flatform 401 is arranged on the framework 103 on chest delivery platform 10, the silent flatform
401 end is provided with arm steering wheel 402, and master arm 403, the end of the master arm 403 are hinged with the arm steering wheel 402
End is hinged with slave arm 405 by oscillating bearing 404, and the end of the slave arm 405 is provided with moving platform 406.
Further, the gripper includes wrist steering wheel 407, and the wrist steering wheel 407 is installed on the bottom of moving platform 406
Portion, the moving platform 406 is fixedly linked by bolt with lower shoe 408, and claw 409 is hinged with the lower shoe 408, described
The side wall of claw 409 is hinged by connecting rod 410 with slide body 413, and the slide body 413 is nested inside with linear bearing 415, institute
State linear bearing 415 to be engaged with slide bar 414, the wrist steering wheel 407 drives straight line by steering wheel fork 412 and rocking bar 411
Bearing 415 and slide body 413 slide on the slide bar 414 being connected with lower shoe 408, and thus drive claw 409 to clamp or open
Open.
Further, the system hardware part includes that monolithic micro-control making sheet, CCD barcode scanners, pressure are passed
Sensor, wireless data sending, Motor drive plate and Switching Power Supply；Monolithic micro-control making sheet is the intelligent kernel of electric-control system, described
CCD barcode scanners are used to obtaining the express delivery for being affixed on the outside of chest 30 only number, and the pressure sensor is used to feed back claw
The grip force of 409 crawl fruit, the wireless data sending is exchanged for entering row information with host computer, and the Motor drive plate is used to control
With driving direct current generator 201, the Switching Power Supply is used for the direct current the voltage stabilizing of 220V alternating currents into 24V and 5V, is automatically controlled system
Each hardware of uniting provides power supply.
Further, the software section includes order management software, and its interface is divided into three parts, wraps fast viewing area, control
Area processed and typing area；The typing area, for sequence information typing and being stored in database, the control zone is used to start
Or stopping the mechanical operation of fruit automatic boxing, the viewing area is used to show fruit automatic boxing machinery working condition and ginseng
Number；Host computer order management software is received after the express delivery odd numbers information of slave computer monolithic micro-control making sheet transmission, in database
Search and match, afterwards express delivery odd numbers correspondence control parameter is sent into slave computer, slave computer can automatically control dress according to parameter
Punch-out equipment tool completes the work of fruit mix packing.
Specific work process of the present invention is：
1st, first by the express delivery single card of information of filling in chest outer surface, and chest is positioned over into the defeated of chest placement platform 10
Send band 101 one end, hand push chest is moved forward；
2nd, when the express delivery list on chest is through barcode scanner, scanner can automatically obtain order number, and order number is adopted
Collect monolithic micro-control making sheet, odd numbers is uploaded host computer by control panel, and order management software passes through query processing, order odd numbers pair
Control parameter is answered to return to slave computer monolithic micro-control making sheet.
3rd, monolithic micro-control making sheet is received after control parameter, will be controlled corresponding fruit feedway 20 and is operated, and fruit is transported
It is sent on crawl platform 209, then parallel manipulator 40 captures water on the crawl platform 209 of specified fruit fruit supplying device 20
Really, cabinet interior is loaded by the good position of routine plan.
4th, fruit is pressed after order requirements vanning, and hand push chest is continued to move along, in the other end of conveyer belt 101, case
Son takes out.
By above-mentioned description, those skilled in the art completely can be in the model without departing from this invention technological thought
In enclosing, various change and modification are carried out all within protection scope of the present invention.The unaccomplished matter of the present invention, belongs to ability
The common knowledge of field technique personnel.
Claims (8)
1. spherical fruit automatic boxing based on parallel manipulator is mechanical, it is characterised in that：It includes chest delivery platform（10）,
The chest delivery platform（10）Two sides be provided with multiple fruit feedways（20）, the chest delivery platform（10）On
It is placed with chest（30）, the chest delivery platform（10）Top parallel manipulator is provided with by door shaped stent（40）, institute
State parallel manipulator（40）With fruit feedway（20）The mix packing for realizing various spherical fruits is engaged, the chest is defeated
Send platform（10）, fruit feedway（20）And parallel manipulator（40）It is connected with system hardware part simultaneously, the electricity
Control hardware is engaged with software section and carries out fruit vanning.
2. the spherical fruit automatic boxing based on parallel manipulator according to claim 1 is mechanical, it is characterised in that：It is described
Chest delivery platform（10）Including framework（103）, the framework（103）On two cylinders are installed（102）, the cylinder
（102）On conveyer belt is installed（101）, the conveyer belt（101）The framework of both sides（103）On safe edge hurdle is installed（104）,
Framework（103）On be also equipped with door shaped stent, be fixed with the vertical bar of the door shaped stent for installing CCD bar code scannings
The support of instrument（105）.
3. the spherical fruit automatic boxing based on parallel manipulator according to claim 1 is mechanical, it is characterised in that：It is described
Fruit feedway（20）Including feedway support（202）, the feedway support（202）On be fixed with side plate（203）,
The feedway support（202）Between power transmission shaft is installed（207）, the power transmission shaft（207）By direct current generator（201）Drive
It is dynamic, the power transmission shaft（207）On sprocket wheel is installed（206）, the sprocket wheel（206）With double strand chain（205）Constitute sprocket wheel chain
Transmission coordinates, the double strand chain（205）Between X-type cone cylinder is installed（204）, the double strand chain（205）End arrange
There is crawl platform（209）.
4. the spherical fruit automatic boxing based on parallel manipulator according to claim 1 is mechanical, it is characterised in that：It is described
Parallel manipulator（40）It is made up of parallel mechanical arm and gripper；
The parallel mechanical arm includes silent flatform（401）, arm steering wheel（402）, master arm（403）, oscillating bearing（404）, from
Swing arm（405）And moving platform（406）, the silent flatform（401）Installed in chest delivery platform（10）On framework（103）On,
The silent flatform（401）End arm steering wheel is installed（402）, the arm steering wheel（402）On be hinged with master arm
（403）, the master arm（403）End pass through oscillating bearing（404）It is hinged with slave arm（405）, the slave arm（405）
End moving platform is installed（406）.
5. the spherical fruit automatic boxing based on parallel manipulator according to claim 4 is mechanical, it is characterised in that：It is described
Gripper includes wrist steering wheel（407）, the wrist steering wheel（407）It is installed on moving platform（406）Bottom, the moving platform
（406）By bolt and lower shoe（408）It is fixedly linked, the lower shoe（408）On be hinged with claw（409）, the claw
（409）Side wall pass through connecting rod（410）With slide body（413）It is hinged, the slide body（413）It is nested inside with linear bearing
（415）, the linear bearing（415）With slide bar（414）It is engaged, the wrist steering wheel（407）By steering wheel fork（412）With
Rocking bar（411）Drive linear bearing（415）And slide body（413）With lower shoe（408）Connected slide bar（414）Upper slip,
And thus drive claw（409）Clamp or open.
6. the spherical fruit automatic boxing based on parallel manipulator according to claim 1 is mechanical, it is characterised in that：It is described
System hardware part includes monolithic micro-control making sheet, CCD barcode scanners, pressure sensor, wireless data sending, Motor drive
Plate and Switching Power Supply；Monolithic micro-control making sheet is the intelligent kernel of electric-control system, and the CCD barcode scanners are used to obtain
It is affixed on chest（30）Only number, the pressure sensor is used to feed back claw for the express delivery in outside（409）The grip force of crawl fruit, institute
State wireless data sending and exchange for entering row information with host computer, the Motor drive plate is used to controlling and driving direct current generator（201）,
The Switching Power Supply is used for the voltage stabilizing of 220V alternating currents into the direct current of 24V and 5V, and for each hardware of electric-control system power supply is provided.
7. the spherical fruit automatic boxing based on parallel manipulator according to claim 1 is mechanical, it is characterised in that：It is described
Software section includes order management software, and its interface is divided into three parts, wraps fast viewing area, control zone and typing area；The typing
Area, for sequence information typing and being stored in database, the control zone is used to start or stop fruit automatic boxing machine
The operation of tool, the viewing area is used to show fruit automatic boxing machinery working condition and parameter；Host computer order management software
After receiving the express delivery odd numbers information of slave computer monolithic micro-control making sheet transmission, search in database and match, afterwards by express delivery
Odd numbers correspondence control parameter is sent to slave computer, and slave computer can automatically control vanning machinery and complete fruit mix packing according to parameter
Work.
8. using the method for operating of claim 1-7 any one spherical fruit automatic boxing machinery, it is characterised in that it includes
Following steps：
S1：First by the express delivery single card of information of filling in chest outer surface, and chest is positioned over into chest placement platform（10）
Conveyer belt（101）One end, hand push chest is moved forward；
S2：When the express delivery list on chest is through barcode scanner, scanner can automatically obtain order number, and order number is adopted
Collect monolithic micro-control making sheet, odd numbers is uploaded host computer by control panel, and order management software passes through query processing, order odd numbers pair
Control parameter is answered to return to slave computer monolithic micro-control making sheet；
S3：Monolithic micro-control making sheet is received after control parameter, will control corresponding fruit feedway（20）Running, fruit is transported
To crawl platform（209）On, then parallel manipulator（40）To specified fruit fruit supplying device（20）Crawl platform（209）On grab
Water intaking fruit, loads cabinet interior by the good position of routine plan；
S4：Fruit is pressed after order requirements vanning, and hand push chest is continued to move along, in conveyer belt（101）The other end, chest
Take out.
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| CN201610918759.7A CN106628323A (en) | 2016-10-21 | 2016-10-21 | Automatic spherical fruit boxing machine based on parallel manipulator and operation method of automatic spherical fruit boxing machine |
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| CN201610918759.7A CN106628323A (en) | 2016-10-21 | 2016-10-21 | Automatic spherical fruit boxing machine based on parallel manipulator and operation method of automatic spherical fruit boxing machine |
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| CN113100630A (en) * | 2020-01-13 | 2021-07-13 | 落地科技有限公司 | Beverage brewing device with active and passive actuation parallel mechanical arms |
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| CN112266315B (en) * | 2020-11-06 | 2021-12-21 | 雅化集团绵阳实业有限公司 | Automatic detonator packaging equipment and detonator production system |
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