小型多功能切菜机设计（含三维图SW及13张CAD图纸）
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附 录译文 小吃抓取机器的设计Cleveland： 2001年10月; James F Manji;补充：包装设计起始页: S14-S22 ISSN: 00249114主题词: 制造业 包装 工业 自动化 机器人 食品 包装 制药 业 医疗设备分级代码: 8600:不在别处分类的制造工业 8650:电力的和电子学工业 8610:食品处理工业 8640:化学工业 9190:美国地理名字：美国 美国概要: 食品的种类、医疗品、医疗设备、家庭产品和现在通过机器人设备进行包装的家用物品。和能在包装过程中达到卫生设备的保证要求的机器人一起工作的方法的理由。从人体工程学问题比如重复的移动/压力问题看，当操作能成为伤害操作员的原因时，机器人也正变得能够发出呼叫。在有众多的操作选项的产品生产的方法中，制造商逐渐地看到了作为避免混乱的机器人装配的优点。全部文本: Penton媒介公司版权所有2001年10月眉注 机器人学眉注 食品和药品制造商对于机器人协助组织产品生产方面正打一场大赌博。 Amere三年了。那就是要不了多久，Pepperidge农场，一个众所周知的sinfully饼干、小吃和其它食品的制造商，期望它会替代获得奖金的机器人生产线来支付它本身。ABB公司的敏捷弯曲抓取机器人试图从速率为150/min的传送机抓取饼干，并且轻轻地将它们放置在五块饼干高的纸杯子里。Adept技术公司的视觉系统协助完成了此任务。机器人工业和自动图象联盟认为这样的结果很好，以致在最近它获得了由用户认可的食品制造商的奖励。很容易明白的是，为什么Pepperidge农场，Campbell Soup公司的一个子公司，在自动操作技术领域投入了这么大的投资。这家公司相信，工人有足够的时间安装这些脆弱的纸杯子并且足够快，但手工操作的方法质量是难以保证的。迹象表明，越来越多的公司正应用机器人来处理类似的问题。“他们在饼干包装中使用机器人的经验在那些有前瞻性的公司在几个月后将应用机器人学的做法是典型的”， RIA的主席Kevin Ostby在奖励大会上预测说。某几种食品、药品、医疗设备、家用产品、和家庭物品现在正运用机器人设备进行包装。和机器人一起工作的理由须包括在包装过程中达到卫生设备的保证要求，根据Rick Tallian,一位机器人制造商ABB公司负责包装为制造业和消费者工业系统的管理者，这家公司位于新柏林的威斯街。Fanuc生产的机器人M-410i机器人能抓起随意大小的盒子，并且将他们放置在托板上，完成得迅速而稳定。随机顺序的用托板装运的动作定位了分布和顺序执行中心,在这其中产品被分别抓取并用手工装运到托板上。新颖的个人计算机软件称随机顺序托板装载工具能决定一种高密度和高稳定性的有效率的托板模式。Lynx是一台从包装设备Waukegan.III公司的销售商买来的具有高速度的机器，它能包装糖果,冰淇淋,和烤制的食品(小吃的外包装)并且放入盘子和硬纸盒。这个可看到的托架控制着机器的长度，它包含那个抓取和散开产品来适应托板结束操纵。 “从人体工程学问题比如重复移动/压力的问题看，当操作成为伤害人工操作者的因素时,机器人也正变得能够发出呼叫。” Tallian想当然的解释到,机器人将被安排到合适的位置，在那里用不能弯曲的工具或固定的自动机器不能很好的工作。有时机器人能更好宽容在产品大小上的变化，能处置精致的产品，这些产品如果遭受传统的推拉及整理手段很容易破碎。生产线数目众多的变化是使机器人的运用成为候选,因为那些是和在包装中的变化一起的。并且当许多厂商由于对未来产品的配置很难预测，他们期望应用机器人来改变这种状况。Tallian说，这在生活消费品的生产上是相当正确的，在那里产品销售推动着产品和包装。 混合管理的制造商们逐渐地看到机器人装配的方法在有众多操作的产品生产中是一条避免混乱的路子，“如果在汽车的发动机上有两个略微不同的部分,用错误的部分将导致整条汽车的装配线关闭”，GSMA系统公司的主席Maakk W. Senti解释说，这家公司位于棕榈湾。“在制药工业,一个装备视觉系统的机器人包装系统能防止严重的错误，这错误将导致规定处方药品的错误剂量。” 位于俄亥俄州西部卡罗顿的Motoman公司的机器人系统的经理Adds Jack Justice说， “对于特定设计的方案，制造可靠的，能被快速替换的工业机器人，意味着失败之间时间 (平均实效间隔时间)超过了50,000小时。处理特殊物理约束的能力则是另外的一个因素。”一个多坐标的机器人能把产品插入到容器，即使当包装位于地板的角上。并且在制造中处置产品的相同机器人具有相同的控制，也能将它放入包装中，并且用托板把它装运到码头,”Justice说。 最近在机器人技术的进步已简化了包装和硬纸盒程序的应用过程。例如，Fanuc的机器人专家N.A.已开发出了为托板装运的特定应用程序的软件。Fanuc的装运和组装工程师Matt Job在Farmington Hill, Mich.上解释说：“机器视觉上的主要进步使我们能集成机器人和包装系统而没有整理或产品对齐的设备，除去这些外围设备能让我们节省整个系统的成本 。” 计算机运算能力逐步增长使得其有能力为机器人的控制负责.ABB公司的Rick Tallinn说，“低成本的计算能力已导致更好的为机器人和视觉指导的视觉系统。我们的IRB340柔性抓取机器人就是其中的一个例子。它的挑选放置的操作达到300次/分。我们还正开发不同的为机器人导航和检查的集成的视觉系统解决方案。” Fanuc机器人和S-430iWS-430iL在危险的环境使得机器在高温环境中的操作要有选择，在那里材料例如谷粒灰尘或树脂等都是潜在的危险。碎木板厂商和化肥包装商被看成是其最大受益人 。 更先进的电子技术也使得一个控制器能同时控制三个机器人，这种装置在一个并联机器人单元中简化了避免碰撞的操作。”机器人的模拟软件让用户把过程模块化，优化配置，并且核对循环次数以减少这些应用程序中的危险”，机器人制造商Adept技术公司的副总裁Joe Campbell解释说。 从糖果条到5加仑的滚筒，机器人包装系统的优势是劳动力的节约。单凭经验是机器人代替一人为每50容器包装，取决于它们的重量、大小和包装的质量。这是根据William H .Goodman, Waukegan Goodman包装设备公司的主席，所说的。 Goodman解释说，”我们已发现这机器人的高级装载方法是运输集装箱包装的替代，我们也看到了它的加载或卸载包装到箱子、盘、硬纸盒等等集成的解决方法。” 一个例子是,Goodman指出了这种情况，即这公司假设从5加仑液体小袋到20袋/分的容器在和二人替换/转换。在另一个厂房，机器人组装站立着正以100袋/分钟的速度代替三个人轮班工作。另一台Goodman的包装机正以500袋/分钟的速度包装糖果来代替5个人的工作。 这公司每年制造大约75套集成的系统并且有超过750个包装系统在运转中的。它专攻机器人的包装机器，在那里一个典型的任务是竖立或形成装运容器、包装、然后密封。 Goodman包装设备公司, Waukegan的通用包装方法是收获产品，如果需要通过三轴旋转它使其在照片上可见。从这种机器的引入已经有超过50台的包装机器已经安装。大多数的应用和食品有关，许多在糖果工业中运用，用它为不同产品和包装模式提供快转换.Goodman的人说这种机器加上了显示器的应用已经相当地成功。 初期成本的减少并不仅仅是为安装Goodman公司的设备的动机。包装机器人是提高空间利用率的有效方法，它能利用同样的空间上生产出更多的产品。“一个消费者仅仅能使适应四人的区域能够组装400包/分”，Goodman解释说。“包装机器人能代替这些人做同样的工作并能达到600包/分”。其他卖主明白机器人的包装系统安装是为了快速回应市场条件。”由于产品生产周期的缩短，自动操作必须能很快的调换，”Adept技术的Campbell说。”可编程的包装机器人是很明显的一大优势。另外，大多数的自动装配线处置多种产品或产品配置。增加的目录、注册的商标和定点销售包装，所有这些有助于需要柔性机器人生产线。” 最后，机器人包装系统在当实行的速度是重要的被开始广泛的运用。“已经被适当地指定的，精确地计算过的，并且很好地脱机测试过的系统时常能运行在一周或更少，”Goodman说。“具有传送机带和其他设备系统的集成程度能计算启动时间。一旦他们在运行，当很好保养时，机器能工作24/7的98%的时间或更好。仍然，我不得不提醒消费者每隔一段时间会偶尔出现故障，这时就需要维护。”没有人知道我已见过建立机器人系统的积算器的这种故障，他们重复地看到许多相同的错误由公司明确规定的自动包装操作机产生。其中的最大问题是：给系统积算器一个程序或部分流程图那还不是完成了。当生产流程方面的处理作为象原始部落的知识一样存在而没被整理时，这种情况时常发生。在应用这些谬论前，结果是许多车轮的滑转等这样的问题。(另外的情况是那些ISO 9000的公司却没有这样的困难。)尽管它可能有一个明显的错误，一些厂商根本就不能给积算器系统一个说明书。这些公司也倾向于有不现实的安装时间的期待，并且为自动化操作的要求作预算。 这种以剥夺人权来避免这些困难做法，比如说积算器，正要被到停止包含到设计的程序中去重要的是找到一种积算器，它能被类似即将出现的那种一样的应用。例如，一些积算器，有专用在各种各样的硬纸盒生产线的专门技术。作者笔记特约编辑詹姆士F. Manji在版权所有者许可下转载.。 未经许可禁止进一步的转载或发布。英文原文 Design of snack Grabing-MachineCleveland; Oct 2001; James F Manji; Supplement:Packaging DesignStart Page:S14-S22ISSN:00249114Subject Terms:ManufacturingPackaging industryAutomationRobotsTrendsFood packagingPharmaceutical industryMedical equipmentClassification Codes:8600: Manufacturing industries not elsewhere classified8650: Electrical & electronics industries8610: Food processing industry8640: Chemical industry9190: United StatesGeographic Names:United StatesUSAbstract:A variety of foods, pharmaceuticals, medical devices, home products, and household goods now tumble into packages via robotic devices. Reasons for going with the robotic approach include a requirement for a guaranteed level of sanitation during packaging. Robots are also getting the call when the operation can cause injury to a human operator from ergonomic issues such as repetitive motion/stress issues. Manufacturers increasingly view robotic assembly as a way to avoid mix-ups in products produced with numerous options.Full Text:Copyright Penton Media, Inc. Oct 2001HeadnoteROBOTICS HeadnoteFood and drug makers are putting big bets on robots to help organize production. Amere three years. Thats how long Pepperidge Farm, the well-known maker of sinfully good cookies, snacks, and other foods, expects it will take for an award-winning robotic line to pay for itself. Nimble FlexPicker robots from ABB Inc. snatch cookies from a conveyor at the rate of 150/min and gently place them five high into paper cups. Vision systems from Adept Technology aid in the task. The Robotic Industries and Automated Imaging Association thought so highly of the results that it recently honored the food maker with a User Recognition Award. Its easy to see why the Pepperidge Farm unit of Campbell Soup Co. made a sizable investment in automation technology. The company confides that workers had a tough time loading the flimsy paper cups fast enough, and quality was wanting with manual methods. Indications are that more and more firms are using robots to address similar problems. Their experience using robots in cookie packaging is typical of the kinds of things that forward-looking companies will be using robotics for in the months ahead, predicted RIA President Kevin Ostby at the Award ceremony. A variety of foods, pharmaceuticals, medical devices, home products, and household goods now tumble into packages via robotic devices. Reasons for going with the robotic approach include a requirement for a guaranteed level of sanitation during packaging, according to Rick Tallian, a packaging systems manager for Manufacturing and Consumer Industries at robot maker ABB Inc., New Berlin, Wis. The Fanuc Robotics M-410i robot can pick up random box sizes and place them on pallets to build an efficient and stable load. The random-order palletizing application targets distribution and order fulfillment centers, where products are individually picked and manually palletized. Innovative PC software called Random Order PalletTool can determine an efficient pallet pattern with high density and high stability. The Lynx is a high-speed machine from Goodman Packaging Equipment Co., Waukegan, Ill., which packs candy, ice cream, and baked goods (overwrapped snacks) into trays and cartons. The carriage visible running the length of the machine contains end effectors that pickup and spread out product to fit into trays. Robots are also getting the call when the operation can cause injury to a human operator from ergonomic issues such as repetitive motion/stress issues, explains Tallian Of course, robots are still going into niches where hard tooled or fixed automation doesnt work well. Robotics can sometimes better tolerate variations in product size and can handle delicate products that may crumble if subjected to traditional pushing, guiding, and collating techniques. Product lines having numerous variations continue to be candidates for a robotic approach, as are those with variations in their packaging. And many manufacturers use robotics when they expect future product configurations to change in ways that could be hard to predict. This is particularly true in consumer goods, says Tallian, where product marketing drives the product and the packaging. Managing mix-ups Manufacturers increasingly view robotic assembly as a way to avoid mix-ups in products produced with numerous options. If there are two slightly different parts for a cars engine, using the wrong one could cause an entire automotive assembly line to shut down, explains Mark W. Senti, president of GSMA Systems Inc., Palm Bay, Fla. In the pharmaceutical industry, a robotic-packaging system equipped with vision can prevent serious blunders that might otherwise lead to the wrong dosage of prescription drugs. Adds Jack Justice, robotic systems manager at Motoman Inc., West Carrollton, Ohio, Mean time between failures (MTBF) exceeding 50,000 hr make industrial robots reliable, efficient alternatives to custom-designed solutions. The ability to handle oddball physical constraints is another plus. A multiaxis robot can insert product into containers even when the packaging sits at an angle to the floor. And the same robot controls that handle product during manufacturing can also place it into packages and palletize it at the shipping docks, says Justice. Recent advances in robotic technology have simplified the process of implementing packaging and cartoning applications. Fanuc Robotics N.A., for example, has developed software designed specifically to program palletizing applications. Major advances in machine vision let us integrate robots with packaging systems without collating or product aligning devices, explains Matt Job, palletizing and packing engineer for Fanuc in Farmington Hills, Mich. Eliminating these peripheral devices lets us cut the cost of the overall systems. Steady increases in computer power are responsible for more able robotic controls. Says ABBs Rick Tallinn, Low-cost computing power has led to better servocontrol for robotics and vision guidance. An example is in our IRB340 FlexPicker robot. It hits 300 cycles/min for pick-and-place operations. We are also developing various solutions with integrated vision for robot guidance and inspection. A hazardous environment option on the Fanuc Robotics S-430iW and S-430iL lets the machine operate in elevated temperatures where materials such as grain dust or resins pose potential dangers. Particleboard manufacturers and fertilizer packagers are expected to be among the biggest beneficiaries. Better electronics are also letting one controller handle up to three robots, a configuration that simplifies collision avoidance in a multiple-robot cell. Robotic simulation software lets users model the process, optimize the layout, and verify cycle times to reduce risk in these applications, explains Joe Campbell, a vice president for robot maker Adept Technology Inc., San Jose. From candy bars to 5-gallon drums One advantage of a robotic-packaging system is labor savings. A rule of thumb is that a robot replaces one person for about every 50 containers packed, depending on the weight, size, and package qualities. This according to William H. Goodman, president of Goodman Packaging Equipment Co., Waukegan, Ill. Weve found this to be the case in top-load robotic placement of packages into shipping containers, explains Goodman. We also see it in integrated solutions to load or unload packages into cases, trays, cartons, totes, and so forth. As an example, Goodman points to one case where the firms equipment plops 5-gallon liquid pouches into containers at 20 bags/min and replaces two people/shift. At another plant, a robot packing stand-up pouches into cases at 100 pouches/min replaces three people/shift. And a different Goodman machine packing candy bars into trays at 500/min replaces five people. The company makes about 75 integrated systems annually and has over 750 packaging systems in operation. It specializes in roboticpackaging machinery where a typical task is to erect or form the shipping container, pack, and then seal it. The Universal case packer from Goodman Packaging Equipment Co., Waukegan, Ill., brings in product and rotates it as needed via the three spindles visible in the photo. Over 50 Universal packers have been installed since the machines introduction. Most applications have been food related, with many in the candy industry to provide fast changeover for different product and pack patterns. Goodman says the machine has been particularly successful with display-box applications. Head-count reductions arent the only motivation for installing Goodmans equipment. Robotic packers can be a space-efficient way of getting more production from the same amount of floor space. One customer could only fit four people into an area that was capable of packing 400 packages/min, explains Goodman. The robotic packer replaced these people in the same footprint and packed up to 600 packages/min. Other vendors see robotic-packaging systems installed for the sake of quick response to market conditions. As product life cycles shrink, automation must be redeployed quickly, says Adept Technologys Campbell. The programmable nature of roboticpackaging automation is a clear advantage. In addition, most and automated assembly lines handle multiple products or product configurations. Promotional contents, private labeling, and point-of-sale packaging all contribute to a need for flexible robotic lines. Finally, robotic-packaging systems are going in when speed of implementation is important. Systems that have been properly specified, accurately engi
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