CN108423626B

CN108423626B - Robot filling system

Info

Publication number: CN108423626B
Application number: CN201810464358.8A
Authority: CN
Inventors: 赵景峰; 叶鸿真
Original assignee: Beijing Yunji Weilai Intelligent Technology Co ltd
Current assignee: Beijing Yunji Weilai Intelligent Technology Co ltd
Priority date: 2018-05-15
Filing date: 2018-05-15
Publication date: 2024-05-03
Anticipated expiration: 2038-05-15
Also published as: CN108423626A

Abstract

The invention provides a robot filling system, comprising: the robot is a multi-joint robot fixedly installed on the ground or a base; the multi-head filling device is provided with a plurality of filling valves with adjustable intervals for filling; the quick-change device comprises a quick-change main disc and a quick-change tool disc, wherein the quick-change main disc is fixedly arranged at the end part of the robot, the quick-change tool disc is fixedly arranged on the multi-head filler, and the quick-change main disc and the quick-change tool disc can be mutually attracted and separated; the bottle conveying line is provided with a conveying belt for conveying the filling containers. The filling system can realize the filling of bottles with different sizes and different bottle types, and the filling effect and the adaptability are obviously improved compared with the traditional filling system.

Description

Robot filling system

Technical Field

The invention relates to the technical field of industrial filling production, in particular to a robot filling system.

Background

At present, in the field of liquid filling, the linear filling and the rotary filling are generally divided, and the linear filling is generally a stationary fixed filling, that is, after bottles reach a filling position through a conveyor belt, the conveying is temporarily stopped, at this moment, a filling device starts to start, a filling valve moves downwards, is inserted into the bottles for filling, after the filling is finished, the filling valve is lifted, at this moment, the conveyor belt is restarted, and the filled bottles are conveyed to the next procedure.

Although the filling production line can meet the existing filling demands, the filling device has certain limitation on the filled bottle types, can only meet the filling of a few bottle types, cannot adapt to products of different liquids, cannot meet the requirements of bottles of various sizes when filling products of the same liquid, and can only meet the requirements when only changing different clamps if the bottle types on the production line are changed, and the filling device is time-consuming and labor-consuming. In addition, since the filling device can only realize static filling at a fixed position, when the filling is finished, the liquid in the bottle can shake and tilt outwards or splash at the moment of continuous movement of the bottle, and some special liquids are not allowed to occur.

Therefore, how to improve the filling effect and the adaptability of the filling system is a technical problem that needs to be solved by those skilled in the art.

Disclosure of Invention

In order to solve the technical problems, the invention provides a robot filling system which can realize the filling of bottles of different sizes and different bottle types, and the filling effect and the adaptability are obviously improved compared with the traditional filling system.

The invention is realized by the following technical scheme, a robot filling system, comprising:

the robot is a multi-joint robot fixedly installed on the ground or a base;

The multi-head filling device is provided with a plurality of filling valves with adjustable intervals for filling;

The quick-change device comprises a quick-change main disc and a quick-change tool disc, wherein the quick-change main disc is fixedly arranged at the end part of the robot, the quick-change tool disc is fixedly arranged on the multi-head filler, and the quick-change main disc and the quick-change tool disc can be mutually attracted and separated;

The bottle conveying line is provided with a conveying belt for conveying the filling containers.

Based on the technical scheme, the invention also discloses the following further technical scheme.

Further, a spacing adjusting device is arranged on the multi-head filling device, a plurality of filling valves are sequentially arranged and mounted on the spacing adjusting device, and the spacing of the filling valves can be changed by adjusting the spacing adjusting device.

Further, the robot filling system further comprises a filler storage rack, wherein the filler storage rack is arranged on the periphery of the robot and used for placing one or more multi-head fillers, and the robot can pick and place the multi-head fillers from the filler storage rack.

Further, the number of the filler storage racks is two, and the two filler storage racks are arranged on the same side or two opposite sides of the periphery of the robot.

Further, a valve storage shield is further arranged on the filler storage rack, the valve storage shield is of a box type structure, a long strip-shaped slit or a plurality of holes which are spaced mutually are formed in the top of the valve storage shield, and after the multi-head filler is placed on the filler storage rack, valve port ends of a plurality of filling valves penetrate through the slit or the holes and extend into the valve storage shield.

Further, the multiple-head filling devices are multiple, the multiple-head filling devices can be stored on the filling device storage rack at the same time, the robot is selectively connected with any multiple-head filling device through the quick-change device, and different multiple-head filling devices are used for filling different liquids.

Further, the quick-change main disc and the quick-change tool disc are in pneumatic or electromagnetic attraction.

Further, the bottle conveying line is arranged at the periphery of the robot, the bottle conveying line further comprises a conveying table and a bottle blocking mechanism, the conveying belt is arranged on the conveying table, and the bottle blocking mechanism is arranged at the side part of the conveying table and used for blocking, positioning and grouping a plurality of filling containers.

Further, the bottle conveying lines are arranged in parallel, and the bottle conveying lines are arranged on the same side or opposite sides of the robot.

Further, the robot comprises a first mechanical arm, a second mechanical arm, a mechanical arm and a control module;

the first mechanical arm is connected with the second mechanical arm and the second mechanical arm is connected with the mechanical arm through the joints, and the mechanical arm is positioned at the end part of the robot and is fixedly connected with the quick-change main disc;

The control module is electrically connected with the robot and is used for controlling the first mechanical arm, the second mechanical arm and the mechanical arm to finish actions including rotation, grabbing and filling, and the control module can be used for setting two filling modes of static filling and follow filling, and the two filling modes can be switched randomly.

The robot filling system provided by the invention has the beneficial effects that:

1. the automatic distance-changing clamp is combined by the robot to adjust the distance between the filling valves, the height of the filling valves and the conveying line and the relative position of the whole set of filling device and the conveying line, so that the filling of different bottle types, different sizes of the bottle types and different products is realized, the mechanical cost and the manual maintenance cost are saved, the utilization rate of the production field is greatly improved, and the product adaptability is wide.

2. Through setting up a plurality of bull filling ware, can be applicable to the liquid filling of multiple difference for a production line can satisfy the demand of different types of liquid filling.

3. Through control module, can set up different filling modes, not only can static filling but also can set up to follow and remove the filling mode, when the filling, the bottle need not stop in the middle of to cooperate the filling, and realize the filling by the bottle in the cooperation is carried in the manipulator removal, and because the manipulator of robot can move in all directions, thereby can cooperate the bottle of each position to fill, not only can improve production efficiency greatly, solved the technical problem that the liquid that starts suddenly after static filling in traditional mode and splashes outward.

4. Through control robot, can realize the change of automatic completion filling device, labour saving and time saving practices thrift the cost of labor, improves production efficiency greatly.

Drawings

Fig. 1 is a schematic perspective view of a specific embodiment of a robotic filling system according to the present invention;

FIG. 2 is an enlarged schematic view of the structure shown at A in FIG. 1;

FIG. 3 is a schematic view of the multi-headed filler in the filler storage rack;

fig. 4-6 are schematic illustrations of different ones of the multi-headed fillers as they are used to fill different ones of the containers;

fig. 7 is a schematic view of the structure of the robot when canning containers on another bottle line.

Wherein, the part number in the figure is expressed as:

1. The bottle filling machine comprises a base, 2, a robot, 3, a multi-head filling machine, 4, a quick-change device, 5, a bottle conveying line, 6, a filling machine storage rack, 21, a first mechanical arm, 22, a second mechanical arm, 23, a mechanical arm, 31, a filling valve, 41, a quick-change main disc, 42, a quick-change tool disc, 51, a conveying belt, 52, a conveying table, 53, a bottle blocking mechanism, 61, a valve storage shield, 100 and a filling container.

Detailed Description

The following describes specific embodiments of the present invention in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.

Referring to fig. 1 to 7, fig. 1 is a schematic perspective view of a specific embodiment of a robotic filling system according to the present invention; FIG. 2 is an enlarged schematic view of the structure shown at A in FIG. 1; FIG. 3 is a schematic view of the multi-headed filler in the filler storage rack; fig. 4-6 are schematic illustrations of different ones of the multi-headed fillers as they are used to fill different ones of the containers; fig. 7 is a schematic view of the structure of the robot when canning containers on another bottle line.

In a specific embodiment of a robotic filling system provided by the invention, the robotic filling system comprises: a robot 2, wherein the robot 2 is a multi-joint robot 2 fixedly installed on the ground or a base 1; in the embodiment shown in fig. 1, the robot 2 is mounted on the base 1, and the robot 2 includes a first mechanical arm 21, a second mechanical arm 22, a mechanical arm 23, and a control module; the first mechanical arm 21 and the second mechanical arm 22 and the mechanical arm 23 are connected through the joints, and the movement of the robot 2 such as rotation, grabbing and the like can be controlled through the control module. The control module is electrically connected with the robot 2 and is used for controlling the first mechanical arm 21, the second mechanical arm 22 and the mechanical arm 23 to finish actions including rotation, grabbing and filling; because the robot 2 can realize flexible movement through control, the accurate filling can be realized by using the robot 2 for filling operation, and the degree of automation is greatly improved.

The filling system further comprises a multi-head filler 3, wherein a plurality of filling valves 31 with adjustable intervals for filling are arranged on the multi-head filler 3; in a preferred embodiment, the multi-head filler 3 is provided with a distance automatic adjusting device, a plurality of filling valves 31 are sequentially arranged and installed on the distance adjusting device, and the distance of the filling valves 31 can be changed by adjusting the distance adjusting device through a motor or a cylinder. As shown in fig. 4-6, the adjusting device may be provided with a plurality of sliding blocks, each sliding block is provided with a filling valve 31, and the distance between the sliding blocks is adjusted by a transmission mechanism such as a screw nut, so that the purpose of adjusting the distance between the filling valves 31 can be achieved. When filling the vials, the spacing adjustment device is adjusted so that the filling valves 31 are close to each other and the spacing is reduced; when the large bottles are filled, the interval adjusting device is adjusted, so that the filling valves 31 are mutually dispersed, the interval is increased, and the filling of the bottles with different sizes is completed.

The filling system further comprises a quick-change device 4, the quick-change device 4 comprises a quick-change main disc 41 and a quick-change tool disc 42, the quick-change main disc 41 is fixedly arranged at the end part of the robot 2 and can be arranged on the manipulator 23, the quick-change tool disc 42 is fixedly arranged on the multi-head filling device 3 and can be arranged at the top of the filling device and also can be arranged at the side part, preferably the top, so that the action of the manipulator 23 is adapted to, and the control is easier. In order to achieve the purpose of quick change, the quick change master 41 and the quick change tool disc 42 can be mutually attracted and separated; the quick-change main disc 41 and the quick-change tool disc 42 are in pneumatic or electromagnetic attraction.

The multiple-head filling devices 3 are multiple, the multiple-head filling devices 3 can be stored on the filling device storage rack 6 at the same time, the robot 2 is selectively connected with any of the multiple-head filling devices 3 through the quick change device 4, and different multiple-head filling devices 3 are used for filling different liquids.

When the pneumatic suction mode is adopted, the quick-change tool disc 42 and the quick-change main disc 41 are fixedly connected together under the action of the pneumatic device, so that the purpose that the manipulator 23 "grabs" the multi-head filler 3 can be realized, when the multi-head filler 3 needs to be replaced, the robot 2 rotates the robot arm to the filler storage rack 6, the air pressure is relieved, and then the quick-change main disc 41 is separated from the quick-change tool disc 42.

When electromagnetic suction is adopted, the quick-change main disc 41 and the quick-change tool disc 42 can be attracted by magnetic force generated after power is on, and the purpose of the manipulator 23 for 'grabbing' the multi-head filler 3 is achieved in a separated mode by eliminating the magnetic force after power is off.

Both quick-change modes can realize automatic operation through a control module, and can realize automatic control after a program is set according to requirements, and of course, accessories such as pipelines and sensors are required to be arranged if necessary, and the automatic control can be realized according to the prior art without specific description.

The filling system further comprises a bottle conveying line 5, and a conveying belt 51 is arranged on the bottle conveying line 5 and used for conveying the filling containers 100. The container 100 may be any of a variety of beverage bottles, cans or cup-type containers. The bottle conveying line 5 can be arranged at a position and in a rotary straight line or an arc shape according to production requirements. The invention is not limited thereto, and it is understood that the mode of the bottle conveying line 5 is within the scope of the invention based on the technical scheme of the invention.

In a preferred embodiment, in order to better achieve "grabbing" of the robot 2, and to accurately and quickly replace the multi-headed filler 3, the robotic filling system further comprises a filler storage rack 6, wherein the filler storage rack 6 is arranged at the periphery of the robot 2 and is used for placing the multi-headed filler 3, and the robot 2 can take and place the multi-headed filler 3 from the filler storage rack 6.

The filler storage racks 6 can be arranged only beside the robot 2, or can be arranged two according to the requirement, and each filler storage rack 6 can be provided with one storage position or a plurality of storage positions. Two of the filler holders 6 are arranged on two opposite sides of the periphery of the robot 2. Thus, more multi-head filling devices 3 can be prevented, and the production efficiency is improved; and due to the relative installation, when the grabbing program of the robot 2 is set, the operation and the positioning are easy to realize, so that the error is reduced, and the filling precision is improved.

In a preferred embodiment of the above-mentioned filler storage rack 6, the filler storage rack 6 may further be provided with a valve storage cover 61 for covering the valve port end of the filling valve 31 on the multi-head filler 3, so as to protect the filling valve 31, and prevent external dust and the like from polluting the liquid in the valve, and also prevent the liquid in the filling valve 31 from dropping on the ground at will.

Specifically, the valve storage cover 61 may be a box structure, and an elongated slit (as shown in fig. 1) or a plurality of holes (as shown in fig. 3 and 6) spaced from each other are formed at the top of the valve storage cover 61, and after the multi-head filler 3 is placed on the filler storage rack 6, the valve port ends of the plurality of filling valves 31 may extend into the valve storage cover 61 through the slit or the holes.

In this filling system, in order to improve production efficiency, bottle conveying line 5 can be many, as shown in fig. 1, shows 2 bottle conveying lines 5, and arrange in the periphery of robot 2 is same one side, also can arrange 2 or many bottle conveying lines 5 at its contralateral side, and the side by side arrangement can, so that robot 2 carries out the filling and furthest's utilization space. It can be appreciated that the bottle conveying line 5 can be arranged arbitrarily according to different requirements so as to improve the production efficiency to the maximum extent.

In order to realize that different types of products can be filled on the same production line, because the shapes of the bottles of different products are often different in size, various in shape and possibly elliptical or other abnormal shapes, the bottles can be mutually extruded and twisted or the feeding speed is uneven when stacked and arranged, the bottle opening spacing of each bottle is inconsistent, so that the positions of the bottle openings of all the bottles are changed, and the opening of the filling valve 31 can not be aligned with the bottle opening. In order to solve the above problem, in a preferred embodiment, the bottle conveying line 5 further includes a conveying table 52 and a bottle blocking mechanism 53, the conveying belt 51 is mounted on the conveying table 52, and the bottle blocking mechanism 53 is mounted on a side portion of the conveying table 52, for aligning the plurality of the filling containers 100. The bottle blocking mechanism 53 may include a blocking plate that is driven by a cylinder to push the bottles on the conveyor 51 in a straight line to align the bottles, thereby preventing the ports of the filling valve 31 from being misaligned with the bottle mouth during filling.

When the bottles reach the designated positions, the bottles are blocked, positioned or grouped by the electric control bottle blocking mechanism 53, the robot 2 descends to enable the whole multi-head filler 3 to descend, the filling valve 31 is driven to descend to the bottle mouth to fill the bottles, after filling is completed, the electric control bottle blocking mechanism 53 is retracted, the bottles continue to be conveyed forwards, liquid in the bottles can be outwards inclined or oscillated due to a forward acceleration at the moment of conveying the bottles forwards again, the problem is not obvious if filling is not full, or the problem is not allowed for some special liquids such as corrosive liquids, and the two filling modes can be set to be switched randomly through the control module. When the following mode filling is adopted, the action of the mechanical arm is preset according to the speed of the conveying belt 51, so that the bottles can be synchronously filled along with the advancing of the bottles. In the following filling, in order to ensure that the bottle spacing on the conveyor belt 51 is a predetermined value and remains unchanged, the bottles may be positioned, fixed-distance and non-stop conveyed by a positioning mechanism such as a screw, or the bottles may be placed in a pre-fabricated tooling pallet in advance and non-stop conveyed and filled.

When the bottle is transported to a certain position, the mechanical arm moves to the upper part of the bottle with the filling device, and simultaneously moves along with the bottle to fill along with the bottle, the filling is completed, the mechanical arm retracts, and the following filling of the bottle is continued.

In summary, the robot filling system provided by the invention is a flexible filling system, the distance between the filling valves 31 is adjusted by adopting the interval adjusting device, so that the filling of bottles of different sizes and different bottle types can be realized, the traditional filling device cannot realize the adjustment of the distance between the filling valves 31, the bottles of different sizes can be met only by replacing the clamp, the clamp is quite troublesome to replace, and one robot can only adapt to one type of product, the robot 2 flexible filling system can quickly realize the automatic replacement of different filling clamps without consuming manpower due to the fact that the quick replacing device 4 is arranged, thereby greatly improving the working efficiency, saving the cost, and in addition, the traditional filling device can only realize static filling at a fixed position.

The above describes in detail a robotic filling system provided by the present invention. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.

Claims

1. A robotic filling system, comprising:

the robot is a multi-joint robot fixedly installed on the ground or a base;

the bottle conveying line is provided with a conveying belt for conveying the filling containers;

The robot filling system further comprises a filler storage rack, wherein the filler storage rack is arranged at the periphery of the robot and used for placing one or more sets of multi-head fillers, and the robot can pick and place the multi-head fillers from the filler storage rack;

the multi-head filling device is characterized in that a spacing adjusting device is arranged on the multi-head filling device, a plurality of filling valves are sequentially arranged on the spacing adjusting device, and the spacing of the filling valves can be changed by adjusting the spacing adjusting device.

2. The robotic filling system according to claim 1, wherein the number of filler storage racks is two, the two filler storage racks being arranged on the same side or two opposite sides of the robot periphery.

3. The robotic filling system of claim 1, wherein the filler storage rack is further provided with a valve storage shield, wherein the valve storage shield is of a box-type structure, wherein an elongated slot or a plurality of mutually spaced holes are formed in the top of the valve storage shield, and wherein after the multi-headed filler is placed on the filler storage rack, valve port ends of the plurality of filling valves extend into the valve storage shield through the slots or holes.

4. The robotic filling system according to claim 1, wherein a plurality of multi-headed fillers are provided, the plurality of multi-headed fillers being storable on the filler storage rack simultaneously, the robot being selectively connectable to any one of the multi-headed fillers by the quick change device, different ones of the multi-headed fillers being operable to fill different liquids.

5. The robotic filling system of claim 1, wherein the quick-change master and the quick-change tool tray are pneumatically or electromagnetically actuated.

6. The robotic filling system of claim 1, wherein the bottle line is disposed at a periphery of the robot, the bottle line further comprising a conveyor table on which the conveyor belt is mounted and a bottle blocking mechanism mounted to a side of the conveyor table for blocking a plurality of the filling containers from positioning grouping.

7. The robotic filling system according to claim 6, wherein the bottle conveying lines are a plurality of and arranged side-by-side, the plurality of bottle conveying lines being arranged on the same side or opposite sides of the robot.

8. The robotic filling system according to any one of claims 1-7, wherein the robot comprises a first robotic arm, a second robotic arm, a robotic arm, and a control module;

The control module is electrically connected with the robot and used for controlling the first mechanical arm, the second mechanical arm and the mechanical arm to finish actions including rotation, grabbing and filling;

The control module can be provided with two filling modes of static filling and follow filling, and the two filling modes can be switched randomly.