CN110386279A - A kind of control method of ball top automated packaging equipment - Google Patents
A kind of control method of ball top automated packaging equipment Download PDFInfo
- Publication number
- CN110386279A CN110386279A CN201810366933.0A CN201810366933A CN110386279A CN 110386279 A CN110386279 A CN 110386279A CN 201810366933 A CN201810366933 A CN 201810366933A CN 110386279 A CN110386279 A CN 110386279A
- Authority
- CN
- China
- Prior art keywords
- ball top
- control
- manipulator
- mechanical arm
- load wagon
- Prior art date
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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
- B65B11/00—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material
- B65B11/02—Wrapping articles or quantities of material, without changing their position during the wrapping operation, e.g. in moulds with hinged folders
-
- 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
- B65B51/00—Devices for, or methods of, sealing or securing package folds or closures; Devices for gathering or twisting wrappers, or necks of bags
- B65B51/10—Applying or generating heat or pressure or combinations thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
- B65H67/04—Arrangements for removing completed take-up packages and or replacing by cores, formers, or empty receptacles at winding or depositing stations; Transferring material between adjacent full and empty take-up elements
- B65H67/0405—Arrangements for removing completed take-up packages or for loading an empty core
- B65H67/0411—Arrangements for removing completed take-up packages or for loading an empty core for removing completed take-up packages
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- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01G—PRELIMINARY TREATMENT OF FIBRES, e.g. FOR SPINNING
- D01G27/00—Lap- or sliver-winding devices, e.g. for products of cotton scutchers, jute cards, or worsted gill boxes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/31—Textiles threads or artificial strands of filaments
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Textile Engineering (AREA)
- Manipulator (AREA)
- Basic Packing Technique (AREA)
Abstract
The present invention discloses a kind of control method of ball top automated packaging equipment, automated packaging equipment includes control device, load wagon, wind the gill box of ball top and the manipulator for grabbing molding ball top on gill box, the control method includes: the balling-up signal of control device detection gill box, and when detecting the balling-up signal, control manipulator is moved at gill box, obtain molding ball top, and it is deposited into load wagon, the control method of ball top automated packaging equipment in the present invention realizes ball top production, the automation of loading, reduce labor intensity of workers, improve production efficiency.
Description
Technical field
The present invention relates to field of textiles, especially a kind of control method of ball top automated packaging equipment.
Background technique
The prior art carries out in ball top production mainly by the molding ball top that worker's physical strength produces ball top production equipment
Hand-filling and loading, labor intensity of workers is big, but working efficiency is general, improves production cost, and with textile technology
Development, this to be eliminated mainly by manually-operated production method, new intelligent production equipment, production method meet the tendency of and
It is raw.
In view of this, the present invention is specifically proposed.
Summary of the invention
The technical problem to be solved in the present invention is that overcoming the deficiencies of the prior art and provide a kind of ball top automated packaging equipment
Control method, realize ball top production, load automation, reduce labor intensity of workers, improve production efficiency.
In order to solve the above technical problems, the basic conception of the technical solution adopted by the present invention is:
A kind of control method of ball top automated packaging equipment, automated packaging equipment include control device, load wagon, winding hair
The gill box of ball and manipulator for grabbing molding ball top on gill box, the control method include: control device inspection
The balling-up signal of stylus comb, and when detecting the balling-up signal, control manipulator is moved at gill box, obtain at
The ball top of type, and be deposited into load wagon.
In the above scheme, gill box can wind molding ball top, and manipulator can obtain the ball top automatically and be loaded in
In load wagon, so that the automation for realizing ball top production, loading, reduces labor intensity of workers, improves production efficiency.
Preferably, the gill box includes feel trim actuator, and the control device is in robot movement to the needle
After comb, controls the feel trim actuator and unload molding ball top, control manipulator obtains unloaded ball top；
In the above scheme, unloading structure is used for after ball top molding, by unloading the ball top on gill box, so that machine
Tool hand can get the ball top.
Preferably, manipulator is scalable is provided with mechanical arm, and the gill box includes winding device, and manipulator is close
After the gill box, control device control mechanical arm stretches out manipulator and extends to the winding device, described with acquisition
Ball top.
In the above scheme, it is provided with winding device on gill box, which winds ball top, scalable on manipulator
Setting mechanical arm, which is extend out on the winding device by manipulator ontology, obtains to be unloaded by feel trim actuator and roll up
Molding ball top on winding apparatus.
Preferably, the winding device includes wireline reel, and one end of the extended manipulator of mechanical arm is provided with
The grafting axis parallel with wireline reel, after the control device control grafting axis is docked with the wireline reel of winding device,
Feel trim actuator is controlled to grafting axis side ejection ball top, by ball top by the wireline reel push-in grafting axis.
In the above scheme, for hair bulb winding on the wireline reel, middle part forms cavity, fills in grafting axis and winding
After the wireline reel docking set, ball top is pushed on the grafting axis, grafting axis by feel trim actuator to grafting axis side ejection ball top
It is plugged in the cavity, unloads ball top so as to complete feel trim actuator, mechanical arm obtains the process of ball top.
Preferably, the automated packaging equipment includes drive system and at least two gill boxes, and control device detects each needle
The balling-up signal of comb, control drive system driving manipulator are moved on the gill box for sending balling-up signal, obtain its molding
Ball top, and carry ball top move to load wagon storage.
In the above scheme when automated packaging equipment includes more gill boxes, control device control manipulator is respectively moved to
Its molding ball top is obtained on each gill box, and is loaded.Preferably, each gill box according to put in order successively wind ball top into
Journey interval T time, in this way, then automated packaging equipment control manipulator successively moves and obtains molding ball top on each gill box, from
And the working time has been saved, it improves work efficiency.
Preferably, the automated packaging equipment includes two gill boxes, and the drive system and manipulator are arranged two
Between gill box, drive system driving manipulator moves between two gill boxes；
Preferably, the load wagon is arranged in two gill box sides, and the drive system includes arranging along two gill boxes
The driving dress that the rail portion of cloth direction extension, the bracket being mounted in rail portion and driving arm are moved along rail portion extending direction
It sets, the bracket is equipped with the guide rod perpendicular with rail portion, and the manipulator top is slidably mounted on described
On guide rod, after detecting the balling-up signal of certain gill box, drive system driving arm is moved to correspondence along the rail portion
At gill box, guide rod of the manipulator on bracket is moved at the top of gill box, stretches out mechanical arm to obtain molding ball top；
After manipulator gets ball top, drive system driving arm moves to the corresponding position of load wagon, manipulator edge
Guide rod on bracket move at the top of load wagon, ball top is stored on load wagon.
In the above scheme, if the installation direction of gill box is X-axis, each gill box is arranged along the y axis, with the X-axis and Y
The perpendicular direction of plane is Z axis where axis, then rail portion is extended along the Y axis, and the guide rod on bracket is extended along the x axis, machine
Tool arm is along Z axis stretching motion, then in actually control, drive system, which drives, executes three motion processes: the first motion process is
Bracket is moved to along the y axis on the first coordinate of ball top position, and the second motion process moves in the X-axis direction for manipulator
To the second coordinate of ball top position, third motion process is the third that mechanical arm moves to ball top position along Z axis
On coordinate.It should be noted that three above-mentioned motion processes can be carried out simultaneously or successively be carried out, it is not limited here,
When above three motion process carries out simultaneously, be conducive to improve working efficiency.
Wherein, which can be to be provided with power part along the movement of guide rod on manipulator, and power part drives
Manipulator is moved along guide rod, which can consider a part for belonging to above-mentioned drive system or the driving
System includes first driving device and driving manipulator for driving arm movement along movable second driving device of guide rod.
Preferably, it is additionally provided on the manipulator and twines film device, after mechanical arm gets ball top, the control
The mechanical arm that device control carries ball top bounces back to the working region for twining film device, and control twines film device for film coated described
Ball top on.
Preferably, the workspace for twining film device includes that the first heat seal position and the second heat seal position, the control device are first controlled
Mechanical arm processed carries ball top and bounces back to end closure heat seal on the first heat seal position progress ball top, and then control mechanical arm continues to bounce back and take
Band ball top moves to the second heat seal position and carries out the heat seal of ball top lower port；
Preferably, control device control twines film device for process of the film coated on the ball top in robot movement
It is completed before to load wagon.
Preferably, control device controls at the top of robot movement to load wagon, and control mechanical arm is stretched out the ball top of carrying
It is stored in load wagon on corresponding position；
Preferably, each ball top is successively stored in load wagon by control device according to preset arranging rule, works as load wagon
When the ball top quantity of interior storage reaches setting value, control next load wagon of replacement.
In the above scheme, load wagon limited volume, load wagon are set to that the ball top of setting quantity, and each hair can be accommodated
Ball with the rule of setting and is sequentially stored in load wagon, and ball top is stored in correspondence according to the rule of the setting by control device
Load wagon in.
Preferably, the grafting axis on mechanical arm is rotatable setting, when storing ball top, described in control device control
Grafting axis rotates to be upright position by the horizontal position for fixing ball top, and control mechanical arm protrudes into load wagon, and ball top is stored in phase
The storage position answered；
Preferably, during ball top is stored in load wagon, further include the process for having unloading ball top: being arranged on manipulator
There is telescopic rod, after mechanical arm carries ball top to storage position, the control device control telescopic rod elongation is against ball top
Top, then controls mechanical arm retraction, and ball top is detached from mechanical arm under the action of telescopic rod.
In the above scheme, because the grafting axis on mechanical arm is to be plugged on ball top, ball top can be difficult to be detached from slotting
Spindle, so being also provided with telescopic rod in the present invention, which stretches after mechanical arm carries ball top to setting storage position
The long top for being against ball top, then controls mechanical arm retraction, and ball top is detached from the grafting axis of mechanical arm under telescopic rod drag effect.
After adopting the above technical scheme, compared with the prior art, the invention has the following beneficial effects:
1, ball top automated packaging equipment of the invention includes control device, load wagon, the gill box for winding ball top and is used for
The manipulator of molding ball top on gill box is grabbed, control method includes: the balling-up signal of control device detection gill box, and
When detecting the balling-up signal, control manipulator is moved at gill box, obtains molding ball top, and be deposited into dress
In carrier vehicle, the automation that the control method of the ball top automated packaging equipment in the present invention realizes ball top production, loads is reduced
Labor intensity of workers improves production efficiency.
2, in the present invention, the winding device on gill box includes wireline reel, and the one of the extended manipulator of mechanical arm
End is provided with the grafting axis parallel with wireline reel, the wireline reel of the control device control grafting axis and winding device
After docking, control feel trim actuator is pushed on the grafting axis to grafting axis side ejection ball top, by ball top by wireline reel, ball top
On the wireline reel, middle part forms cavity, after grafting axis is docked with the wireline reel of winding device, feel trim actuator
To grafting axis side ejection ball top, by the ball top push-in grafting axis, grafting axis is plugged in the cavity, thus complete
Ball top is unloaded at feel trim actuator, mechanical arm obtains the process of ball top.
3, in the present invention, automated packaging equipment includes drive system and at least two gill boxes, and control device detects each needle
The balling-up signal of comb, control drive system driving manipulator are moved on the gill box for sending balling-up signal, obtain its molding
Ball top, and carry ball top move to load wagon storage.When automated packaging equipment includes more gill boxes, control device control
Manipulator is respectively moved to obtain its molding ball top on each gill box, and loads.Preferably, each gill box is according to putting in order
The process interval T time of ball top is successively wound, in this way, then automated packaging equipment control manipulator is successively moved and obtained on each gill box
Molding ball top is taken, to save the working time, is improved work efficiency.
A specific embodiment of the invention is described in further detail with reference to the accompanying drawing.
Detailed description of the invention
The a part of attached drawing as the application, for providing further understanding of the invention, of the invention is schematic
Examples and descriptions thereof are used to explain the present invention, but does not constitute an undue limitation on the present invention.Obviously, the accompanying drawings in the following description
Only some embodiments to those skilled in the art without creative efforts, can be with
Other accompanying drawings can also be obtained according to these attached drawings.In the accompanying drawings:
Fig. 1 is the schematic top plan view of automated packaging equipment of the invention；
Fig. 2 is that mechanical arm with the wireline reel of winding device docks schematic diagram；
Fig. 3 is that mechanical arm loads ball top schematic diagram.
In figure: 1, ball top；2, load wagon；3, manipulator；31, mechanical arm；311, grafting axis；4, gill box；41, it winds
Axis；5, telescopic rod；6, rail portion；7, bracket, 8, guide rod.
It should be noted that these attached drawings and verbal description are not intended to the design model limiting the invention in any way
It encloses, but illustrates idea of the invention by referring to specific embodiments for those skilled in the art.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in embodiment is clearly and completely described, the following examples are intended to illustrate the invention, but
It is not intended to limit the scope of the invention.
In the description of the present invention, it should be noted that the orientation or position of the instructions such as term " on ", "lower", "inner", "outside"
Setting relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, rather than
The device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot
It is interpreted as limitation of the present invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " connects
Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, it can also be indirectly connected through an intermediary.For this field
For those of ordinary skill, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
As shown in figure 1 to 3, the present invention provides a kind of control method of 1 automated packaging equipment of ball top to ginseng, which sets
Standby includes control device, load wagon 2, the gill box 4 for winding ball top 1 and the machinery for grabbing molding ball top on gill box 4
Hand 3, the control method includes: the balling-up signal of control device detection gill box 4, and is detecting the balling-up signal
When, control manipulator 3 is moved at gill box 4, obtains molding ball top 1, and be deposited into load wagon 2.
In the above scheme, gill box 4 can wind molding ball top 1, and manipulator 3 can obtain the ball top 1 automatically and fill
It is loaded in load wagon 2, so that the automation for realizing the production of ball top 1, loading, reduces labor intensity of workers, improve production
Efficiency.
Preferably, the gill box 4 includes feel trim actuator, and the control device moves to described in manipulator 3
After gill box 4, controls the feel trim actuator and unload molding ball top 1, control manipulator 3 obtains unloaded ball top 1；
In the above scheme, unloading structure is used for after the molding of ball top 1, by unloading the ball top 1 on gill box 4, to make
The ball top 1 can be got by obtaining manipulator 3.
Preferably, manipulator 3 is scalable is provided with mechanical arm 31, and the gill box 4 includes winding device, manipulator
3 after the gill box 4, and control device control mechanical arm 31 stretches out manipulator 3 and extends to the winding device, to obtain
Take the ball top 1.
In the above scheme, it is provided with winding device on gill box 4, which winds ball top 1, can on manipulator 3
Flexible setting mechanical arm 31, the mechanical arm 31 are extend out on the winding device by 3 ontology of manipulator, are obtained by unloader
Structure unloads molding ball top 1 on winding device.
Preferably, the winding device includes wireline reel 41, and one end of the extended manipulator 3 of the mechanical arm 31 is set
It is equipped with the grafting axis 311 parallel with wireline reel 41, the volume of the control device control grafting axis 311 and winding device
After the docking of axis 41, control feel trim actuator is pushed into 311 side ejection ball top 1 of grafting axis, by ball top 1 by wireline reel 41 described
On grafting axis 311.
In the above scheme, for ball top 1 on the wireline reel 41, middle part forms cavity, grafting axis 311 with
After the wireline reel 41 of winding device docks, feel trim actuator is pushed into described insert to 311 side ejection ball top 1 of grafting axis, by ball top 1
In spindle 311, grafting axis 311 is plugged in the cavity, unloads ball top 1 so as to complete feel trim actuator, mechanical arm 31 obtains
Take the process of ball top 1.
Preferably, the automated packaging equipment includes drive system and at least two gill boxes 4, and control device detects each needle
The balling-up signal of comb 4, control drive system driving manipulator 3 be moved to send balling-up signal gill box 4 on, obtain its at
The ball top 1 of type, and carry ball top 1 and move to the storage of load wagon 2.
In the above scheme, when automated packaging equipment includes more gill boxes 4, control device control manipulator 3 moves respectively
It moves to obtaining its molding ball top 1 on each gill box 4, and loads.Preferably, each gill box 4 is successively wound according to putting in order
The process interval T time of ball top 1, in this way, then automated packaging equipment control manipulator 3 successively move on each gill box 4 obtain at
The ball top 1 of type is loaded, to save the working time, is improved work efficiency, and the manipulator 3 is primary only by a gill box
A ball top 1 is obtained on 4 to be loaded, and after loading, is moved on the adjacent another gill box 4 of the gill box 4 and is obtained correspondence
Ball top 1 carry out device, such circulate operation, therefore the T time described by control, can effectively arrange manipulator 3 to work,
To save the time, such as control manipulator 3 obtain a ball top 1 and time for being loaded and adjacent gill box 4 winding ball top 1 into
When journey interval time T-phase is same or close, then manipulator 3 can be constantly in work, the more time be withouted waiting for, to mention
High working efficiency.
Preferably, the automated packaging equipment includes two gill boxes 4, and the drive system and the setting of manipulator 3 exist
Between two gill boxes 4, drive system driving manipulator 3 moves between two gill boxes 4；
Preferably, the load wagon 2 is arranged in two gill boxes, 4 side, and the drive system includes along two gill boxes
The rail portion 6 of arragement direction extension, the bracket 7 being mounted in rail portion 6 and driving arm 7 are moved along 6 extending direction of rail portion
Driving device, the bracket 7 is equipped with the guide rod 8 perpendicular with rail portion 6, and 3 top of manipulator is slidable
It is mounted on the guide rod 8, after detecting the balling-up signal of certain gill box, drive system driving arm 7 is led along described
Rail portion 6 is moved at corresponding gill box 4, and guide rod 8 of the manipulator 3 on bracket 7 moves at the top of gill box, stretches out mechanical arm 31
To obtain molding ball top 1；
After manipulator 3 gets ball top 1, drive system driving arm 7 moves to the corresponding position of load wagon 2, mechanical
Hand 3 moves to 2 top of load wagon along the guide rod 8 on bracket 7, and ball top 1 is stored on load wagon 2.
In the above scheme, if the installation direction of gill box 4 is X-axis, each gill box 4 is arranged along the y axis, with the X-axis
It is Z axis with the perpendicular direction of plane where Y-axis, then rail portion is extended along the Y axis, and the guide rod 8 on bracket 7 extends along the x axis to be set
It sets, mechanical arm 31 is along Z axis stretching motion, then in actually control, drive system driving executes three motion processes: the first movement
Process is that bracket 7 is moved to along the y axis on the first coordinate of 1 position of ball top, and the second motion process is manipulator 3 along X
Axis direction moves on the second coordinate of 1 position of ball top, and third motion process moves to ball top 1 along Z axis for mechanical arm 31
On the third coordinate of position.It should be noted that three above-mentioned motion processes can carry out simultaneously and also successively into
Row when above three motion process carries out simultaneously, is conducive to improve working efficiency it is not limited here.
Wherein, which can be to be provided with power part along the movement of guide rod 8 on manipulator 3, and power part drives
Dynamic manipulator 3 is moved along guide rod 8, which can consider a part for belonging to above-mentioned drive system or described
Drive system includes that the first driving device moved for driving arm 7 and driving manipulator 3 drive along guide rod 8 movable second
Device.
Preferably, it is additionally provided on the manipulator 3 and twines film device, it is described after mechanical arm 31 gets ball top 1
The mechanical arm 31 that control device control carries ball top 1 bounces back to the working region for twining film device, and control twines film device for film packet
It overlays on the ball top 1.
Preferably, the workspace for twining film device includes that the first heat seal position and the second heat seal position, the control device are first controlled
Mechanical arm processed carries ball top 1 and bounces back to end closure heat seal on the first heat seal position progress ball top 1, then controls mechanical arm 31 and continues back
Contracting carries ball top 1 and moves to the progress 1 lower port heat seal of ball top of the second heat seal position；
Preferably, control device control twines film device and transports process of the film coated on the ball top 1 in manipulator 3
It is completed before moving to load wagon 2.In this way, not influencing job schedule then, improve work efficiency.
Preferably, control device control manipulator 3 moves to 2 top of load wagon, and control mechanical arm 31 is stretched out carrying
Ball top 1 is stored in load wagon 2 on corresponding position；
Preferably, each ball top 1 is successively stored in load wagon 2 by control device according to preset arranging rule, works as loading
When 1 quantity of ball top stored in vehicle 2 reaches setting value, control next load wagon 2 of replacement.
In the above scheme, 2 limited volume of load wagon, load wagon 2 are set to that the ball top 1 of setting quantity can be accommodated, and
Each ball top 1 with the rule of setting and is sequentially stored in load wagon 2, and control device deposits ball top 1 according to the rule of the setting
It is placed in corresponding load wagon 2.Preferably, load wagon 2 is specific load wagon 2, which is arranged to fill
N layers of ball top 1 are carried, every layer can load M ball top 1, then during loading ball top 1, control device is according to being loaded in the loading
Each ball top 1 is placed at corresponding position by the order of the ball top 1 in vehicle 2, when loading the ball top 1 of same layer, control device
Judge whether the ball top 1 of this layer reaches setting value M, if so, upper one layer of ball top 1 is loaded, in the ball top 1 for having loaded current layer
When, control device judges whether the number of plies N for reaching setting, if so, another load wagon 2 is replaced in control, otherwise controls current
Continue to load ball top 1 for one layer on load wagon 2.
Preferably, the grafting axis 311 on mechanical arm 31 is rotatable setting, when storing ball top 1, control device control
The grafting axis 311 rotates to be upright position by the horizontal position of fixed ball top 1, and control mechanical arm 31 protrudes into load wagon 2,
Ball top 1 is stored in corresponding storage position；
It preferably, further include the process for having unloading ball top 1: on manipulator 3 during ball top 1 is stored in load wagon 2
It is provided with telescopic rod 5, after mechanical arm 31 carries ball top 1 to storage position, the control device control elongation of telescopic rod 5 is supported
At the top of ball top 1, then controls mechanical arm 31 and bounce back, ball top 1 is detached from mechanical arm 31 under the action of telescopic rod 5.
In the above scheme, because the grafting axis 311 on mechanical arm 31 is to be plugged on ball top 1, ball top 1 can be difficult to
It is detached from grafting axis 311, so being also provided with telescopic rod 5 in the present invention, which carries ball top 1 to setting in mechanical arm 31
Behind storage position, elongation is against the top of ball top 1, then controls mechanical arm 31 and bounces back, ball top 1 is under 5 drag effect of telescopic rod
It is detached from the grafting axis 311 of mechanical arm 31.
The above is only presently preferred embodiments of the present invention, is not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this patent
Member without departing from the scope of the present invention, when the technology contents using above-mentioned prompt are modified or are modified to
The equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, it is right according to the technical essence of the invention
Any simple modification, equivalent change and modification made by above embodiments, in the range of still falling within the present invention program.
Claims (10)
1. a kind of control method of ball top automated packaging equipment, which is characterized in that automated packaging equipment includes control device, loads
Vehicle, the gill box for winding ball top and the manipulator for grabbing molding ball top on gill box, the control method include: control
The balling-up signal of device detection gill box processed, and when detecting the balling-up signal, control manipulator is moved to gill box
Place, obtains molding ball top, and be deposited into load wagon.
2. a kind of control method of ball top automated packaging equipment according to claim 1, which is characterized in that the grilling
Machine includes feel trim actuator, and the control device controls the feel trim actuator after robot movement to the gill box
Molding ball top is unloaded, control manipulator obtains unloaded ball top.
3. a kind of control method of ball top automated packaging equipment according to claim 1 or 2, which is characterized in that manipulator
Scalable to be provided with mechanical arm, the gill box includes winding device, and manipulator is after the gill box, control dress
It sets control mechanical arm stretching manipulator and extends to the winding device, to obtain the ball top.
4. a kind of control method of ball top automated packaging equipment according to claim 3, which is characterized in that the winding
Device includes wireline reel, and one end of the extended manipulator of mechanical arm is provided with the grafting axis parallel with wireline reel, described
The control device control grafting axis dock with the wireline reel of winding device after, control feel trim actuator and pushed away to grafting axis side
Ruff ball, by ball top by the wireline reel push-in grafting axis.
5. a kind of control method of ball top automated packaging equipment according to claim 1 to 4, which is characterized in that automatic
Packaging facilities further includes drive system and at least two gill boxes, and control device detects the balling-up signal of each gill box, and control is driven
Dynamic system drive manipulator is moved on the gill box for sending balling-up signal, obtains its molding ball top, and carries ball top movement
It is stored to load wagon.
6. a kind of control method of ball top automated packaging equipment according to claim 5, which is characterized in that the automatic packet
Standby installing includes two gill boxes, and the drive system and manipulator are arranged between two gill boxes, drive system driving machine
Tool hand moves between two gill boxes；
Preferably, the load wagon is arranged in two gill box sides, and the drive system includes along two gill box arrangement sides
The driving device moved to the rail portion of extension, the bracket that is mounted in rail portion and driving arm along rail portion extending direction,
The bracket is equipped with the guide rod perpendicular with rail portion, and the manipulator top is slidably mounted on the guide rod
On, after detecting the balling-up signal of certain gill box, drive system driving arm is moved to corresponding grilling along the rail portion
At machine, guide rod of the manipulator on bracket is moved at the top of gill box, stretches out mechanical arm to obtain molding ball top；
After manipulator gets ball top, drive system driving arm moves to the corresponding position of load wagon, and manipulator is along branch
Guide rod on frame moves at the top of load wagon, and ball top is stored on load wagon.
7. the control method of -6 any a kind of ball top automated packaging equipments according to claim 1, which is characterized in that described
Manipulator on be additionally provided with and twine film device, after mechanical arm gets ball top, the control device control carries ball top
Mechanical arm bounces back to the working region for twining film device, and control twines film device for film coated on the ball top.
8. a kind of control method of ball top automated packaging equipment according to claim 7, which is characterized in that twine film device
Workspace includes the first heat seal position and the second heat seal position, and the control device first controls mechanical arm carrying ball top and bounces back to first
Heat seal position carry out ball top on end closure heat seal, then control mechanical arm continue retraction carry ball top move to the second heat seal position progress
Ball top lower port heat seal；
Preferably, control device control twines film device and extremely fills process of the film coated on the ball top in robot movement
It is completed before carrier vehicle.
9. the control method of -8 any a kind of ball top automated packaging equipments according to claim 1, which is characterized in that control
Device controls at the top of robot movement to load wagon, and control mechanical arm stretches out corresponding position in the ball top deposit load wagon by carrying
It sets；
Preferably, each ball top is successively stored in load wagon by control device according to preset arranging rule, when load wagon memory
When the ball top quantity put reaches setting value, control next load wagon of replacement.
10. the control method of -9 any a kind of ball top automated packaging equipments according to claim 1, which is characterized in that machine
Grafting axis on tool arm is rotatable setting, and when storing ball top, the control device control grafting axis is by fixing ball top
Horizontal position rotate to be upright position, control mechanical arm protrudes into load wagon, and ball top is stored in corresponding storage position；
Preferably, during ball top is stored in load wagon, further include the process for having unloading ball top: being provided with and stretch on manipulator
Contracting bar, after mechanical arm carries ball top to storage position, the control device control telescopic rod elongation is against the top of ball top,
Then control mechanical arm retraction, ball top are detached from mechanical arm under the action of telescopic rod.
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| CN201810366933.0A CN110386279B (en) | 2018-04-23 | 2018-04-23 | Control method of automatic blank ball packaging equipment |
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| CN201810366933.0A CN110386279B (en) | 2018-04-23 | 2018-04-23 | Control method of automatic blank ball packaging equipment |
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| CN110386279A true CN110386279A (en) | 2019-10-29 |
| CN110386279B CN110386279B (en) | 2021-06-04 |
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| CN205801723U (en) * | 2016-06-22 | 2016-12-14 | 广东溢达纺织有限公司 | cheese automatic packaging system |
| CN205972094U (en) * | 2016-06-06 | 2017-02-22 | 广州赫伽力智能科技有限公司 | Automatic packaging production line of section of thick bamboo yarn based on multiple packaging mode |
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| CN101250778A (en) * | 2007-02-23 | 2008-08-27 | 里特机械公司 | Device for transferring a cotton wool coil to a transport vehicle |
| CN102431849A (en) * | 2011-10-10 | 2012-05-02 | 北京机械工业自动化研究所 | Spooling transport vehicle and automatic spindle conveying system and method |
| CN105775638A (en) * | 2016-05-03 | 2016-07-20 | 桐乡华锐自控技术装备有限公司 | Yarn reel transportation device and control method thereof |
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| CN110386279B (en) | 2021-06-04 |
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