CN110203864B - IBC automatic cover closing system and its closing method - Google Patents

Abstract

The invention provides an IBC automatic cover closing system and a cover closing method thereof, wherein the system includes an X-axis linear module, a Y-axis linear module, a motion controller, an X-axis servo driver, a Y-axis servo driver, a PLC, a rotary Servo driver, visual positioning system, gripper actuator and bucket lid gripper, X-axis servo driver and Y-axis servo driver are used to drive the X-axis linear module and Y-axis linear module to move according to the control of the motion controller, and move the bucket The lid moves to the top of the barrel mouth; the visual positioning system is fixed on the Y-axis linear module to identify the position of the barrel mouth of the IBC barrel and transmit it to the PLC; the PLC is used to drive the X-axis linear module and the Y-axis The linear module moves the lid gripped by the lid gripper to the mouth of the IBC barrel; the gripper actuator is used to drive the lid gripper to screw the lid onto the mouth of the barrel. The invention can accurately locate the position of the mouth of the barrel, and avoid the occurrence of scratches and damages on the lid of the IBC barrel.

Description

IBC automatic cover closing system and its closing method

technical field

The invention relates to the technical field of automatic filling equipment, and more specifically, relates to an automatic lid closing system and a lid closing method for IBC barrels suitable for liquid packaging industries such as chemical and food industries.

Background technique

The ton-level sub-packaging containers of liquid materials used in the chemical industry in China are commonly called IBC (Intermediate BulkContainer) barrels. The IBC barrel lid closing device is mostly operated manually. Due to the position deviation of the IBC barrel, the positioning accuracy of the barrel lid is not high, and it cannot be ensured. The bung lid is always kept above the mouth of the IBC bucket. When the IBC bucket is closed, the bung lid may be scratched or damaged.

Contents of the invention

In view of the above problems, the object of the present invention is to provide an automatic lid closing system and lid closing method for IBC barrels, so as to solve the problem that the lid of the IBC barrel is scratched or damaged when the lid is closed due to the low positioning accuracy of the IBC barrel.

The IBC automatic cover closing system provided by the present invention includes an X-axis linear module, a Y-axis linear module, a motion controller, an X-axis servo driver, a Y-axis servo driver, a PLC, a rotary servo driver, a visual positioning system, and a gripper execution Mechanism and lid gripper, where the X-axis servo driver is used to drive the X-axis linear module to drive the Y-axis linear module to move along the X-axis according to the control of the motion controller, and the Y-axis servo driver is used to drive the Y-axis linear module to move along the X-axis according to the control of the motion controller. Drive the Y-axis linear module to move along the Y-axis; the visual positioning system is fixed on the Y-axis linear module to identify the mouth position of the IBC barrel and transmit it to the PLC; the PLC is used to drive the X-axis linear module and The Y-axis linear module moves the lid gripped by the lid gripper to the mouth position of the IBC barrel; the number of lid grippers is two, which are used to grab the lid through the gripper actuator and screw it to the Close the mouth of the barrel; the gripper actuator includes a mounting plate, a connecting plate, a rotating head, a rotary servo motor, a lid lifting cylinder and a gripping cylinder, and the rotating servo motor and the gripping cylinder are fixed on the mounting plate Above, the movable end of the lifting cylinder of the lid gripper is fixedly connected with the mounting plate, the fixed end of the lifting cylinder of the lid gripper is fixed on the Y-axis linear module, the connecting plate is fixedly connected with the movable end of the gripping cylinder, and the turning head It is located under the connection plate, and a spring is set between the connection plate and the rotor. The lid handle is triangular, the top corner of the lid handle is hinged with the rotor, and a bottom corner of the lid handle is connected to the rotor through a connecting rod. The disc is hinged, the motor shaft of the rotary servo motor is connected to a rotating shaft through a coupling, and the rotating shaft is fixedly connected with the rotor; the rotary servo driver is used to drive the rotary servo motor to rotate according to the control of the motion controller.

In addition, the preferred structure is that the X-axis linear module includes an X-axis servo motor, a driving gear sleeved on the shaft of the X-axis servo motor, a driven gear meshed with the driving gear, and tightly sleeved on the driving gear and the driven gear. The X-axis V-ribbed belt on the top, the X-axis connecting plate fixedly connected with the X-axis V-ribbed belt; the Y-axis linear module is fixed on the X-axis connecting plate, and the Y-axis linear module includes the Y-axis servo motor, which is set on the Y-axis The driving gear on the rotating shaft of the servo motor, the driven gear meshing with the driving gear, the Y-axis V-ribbed belt tightly sleeved on the driving gear and the driven gear, and the Y-axis connecting plate fixedly connected to the Y-axis V-ribbed belt; The visual positioning system and the mounting plate are respectively fixed on the Y-axis connecting plate.

In addition, the preferred structure is that the X-axis linear module and the Y-axis linear module are respectively linear slides, the visual positioning system and the mounting plate are respectively fixed on the sliders of the Y-axis linear module, and the Y-axis linear module is fixed on the On the slider of the X-axis linear module.

Furthermore, the preferred structure is that the gripper actuator also includes a switch bracket, on which a proximity switch for detection of the gripper rise, a magnetic switch for gripping the gripper and a proximity switch for the gripper opening are installed on the switch bracket, and a proximity switch for the gripper rise detection is installed. The switch is used to detect whether the gripper is raised, the magnetic switch is used to detect whether the gripper is tight, and the proximity switch is used to detect whether the gripper is opened.

The method for automatically closing the lid of the IBC barrel using the IBC automatic lid closing system provided by the present invention is characterized in that it comprises the following steps:

Step S1: Identify the position of the mouth of the IBC barrel through the visual positioning system, and transmit it to the PLC;

Step S2: The PLC sends instructions to the motion controller, and the motion controller drives the X-axis linear module and the Y-axis linear module through the X-axis servo driver and the Y-axis servo driver according to the instructions, and moves the lid gripper to the front of the barrel mouth. Above, make the bung lid grasped by the bung handle facing the bung mouth;

Step S3: The PLC drives the gripper actuator to tighten the lid to the barrel mouth; wherein, the process of the gripper actuator tightening the barrel lid to the barrel mouth includes:

Step S31: The lifting cylinder of the lid gripper drives the gripper to move into place;

Step S32: The rotating servo motor drives the rotor to rotate through the rotating shaft, and the rotor drives the lid handle to screw the lid onto the mouth of the bucket;

Step S33: Grasp the cylinder with the gripper to drive the connecting plate to move upwards, and the connecting rod in conjunction with the connecting plate rotates clockwise to open the lid handle;

Step S34: the bucket cover handle lifting cylinder drives the bucket cover handle to reset; and,

During the process that the rotating servo motor drives the rotor to rotate through the rotating shaft, and the rotor drives the lid gripper to screw the lid onto the mouth of the bucket,

Step S331: Rotate the servo motor to perform reverse rotation, and adaptively adjust the angle between the bucket lid and the bucket mouth through the bucket lid gripper, so that the bucket lid can be buckled on the bucket mouth.

Step S332: The rotary servo motor performs forward rotation, and the torque fed back by the rotary servo motor is judged as follows:

When the number of positive rotations is less than two, if the torque exceeds the preset torque, it is determined that the barrel mouth and lid have failed to close;

When the number of positive rotations is between two and five rotations, if the torque reaches the preset torque, it is determined that the barrel mouth is closed successfully;

When the number of positive rotations exceeds five, if the torque does not reach the preset torque, it is determined that the closure of the barrel mouth has failed.

Using the automatic lid closing system and lid closing method of the IBC barrel of the present invention, before closing the lid, first identify the mouth of the barrel through the visual positioning system to precisely locate the mouth of the barrel, and then drive the X-axis linear mold through the PLC. Combined with the Y-axis linear module, the lid is moved to the top of the barrel mouth, which can avoid scratches and damage to the IBC barrel.

Description of drawings

Other objects and results of the present invention will become clearer and easier to understand by referring to the following description in conjunction with the accompanying drawings, and with a more comprehensive understanding of the present invention. In the attached picture:

Fig. 1 is a schematic structural view of an automatic lid closing system of an IBC bucket according to an embodiment of the present invention;

Fig. 2 is a schematic structural diagram of a gripper actuator according to an embodiment of the present invention;

Fig. 3 is a partial enlarged view of place A in Fig. 2;

Fig. 4 is a schematic diagram of the logic control of the automatic lid closing system of the IBC bucket according to the embodiment of the present invention.

The reference signs include: X-axis linear module 1, Y-axis linear module 2, visual positioning system 3, gripper actuator 4, mounting plate 41, connection plate 42, rotary head 43, rotary servo motor 44, barrel Lid gripper lifting cylinder 45, gripper gripping cylinder 46, connecting rod 47, barrel lid gripper 5, motion controller 6, X-axis servo driver 7, Y-axis servo driver 8, rotary servo driver 9, PLC10, gripper lift Proximity switch 11 is detected, the magnetic switch 12 is grasped by the gripper, the proximity switch 13 and the switch bracket 14 are opened by the gripper.

Detailed ways

In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more embodiments. It may be evident, however, that these embodiments may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to facilitate describing one or more embodiments.

Fig. 1 shows the structure of an automatic lid closing system for an IBC barrel according to an embodiment of the present invention.

As shown in Figures 1-4, the IBC automatic lid closing system provided by the embodiment of the present invention includes: X-axis linear module 1, Y-axis linear module 2, visual positioning system 3, gripper actuator 4, lid gripper Hand 5, motion controller 6, X-axis servo driver 7, Y-axis servo driver 8, rotary servo driver 9 and PLC10; among them, the gripper actuator 4 is used to realize lifting, grasping or opening of the lid gripper 5, In order to control the lid gripper 5 to grab or loosen the lid after it is in place, the X-axis linear module 1 and the Y-axis linear module 2 are used to realize the gripper actuator 4 and the visual positioning system 3 along the X-axis and Y-axis respectively. The visual positioning system 3 is used to identify and locate the position of the mouth of the IBC barrel, and transmits it to the PLC10 (Programmable Logic Controller, programmable logic controller). The PLC10 issues instructions to the motion controller 6, and the motion controller 6 according to the Command drives the X-axis servo driver 7 and the Y-axis servo driver 8 to control the X-axis linear module 1 and the Y-axis linear module 2, and move the gripper actuator 4 directly above the mouth of the bucket.

The visual positioning system 3 includes a processor and a camera. The image of the barrel face is collected by the camera and fed back to the processor. The processor performs grayscale processing and binary processing on the photo, extracts the mouth of the barrel from the picture, and calculates the center of the barrel mouth according to the picture. According to the position in the picture, the position of the barrel mouth in the actual coordinate system is converted according to the position of the barrel mouth in the picture, so as to realize the precise positioning of the barrel mouth position.

X-axis linear module 1 and Y-axis linear module 2 can be driven by belts or ball screws. When X-axis linear module 1 and Y-axis linear module 2 are driven by belts, the X-axis linear module 1 Including the X-axis servo motor, the driving gear set on the shaft of the X-axis servo motor, the driven gear meshed with the driving gear, the X-axis V-belt tightly fitted on the driving gear and the driven gear, and the X-axis The X-axis connecting plate fixedly connected by the V-ribbed belt; the Y-axis linear module is fixed on the X-axis connecting plate. The Y-axis linear module includes the Y-axis servo motor, the driving gear set on the rotating shaft of the Y-axis servo motor, and the driving gear. The driven gear of the gear meshing transmission, the Y-axis V-belt tightly fitted on the driving gear and the driven gear, and the Y-axis connecting plate fixedly connected with the Y-axis V-belt; the visual positioning system and the mounting plate are respectively fixed on the Y-axis connection board.

When the X-axis linear module 1 and the Y-axis linear module 2 are driven by ball screws, the X-axis linear module 1 and the Y-axis linear module 2 are respectively linear slides, and the visual positioning system 3 is fixed on the Y-axis linear module. On the slider of the group, the Y-axis linear module is fixed on the slider of the X-axis linear module.

In order to maintain the stability of movement, there are two sets of X-axis linear module 1, and the two ends of Y-axis linear module 2 are respectively fixedly connected with the movable parts (connecting plates or sliders) of X-axis linear module 1.

The grip actuator 4 includes a mounting plate 41, a connecting plate 42, a rotating head 43, a rotary servo motor 44, a lid grip lifting cylinder 45, a grip grip cylinder 46 and a connecting rod 47. The rotary servo motor 44 passes through the rotary servo driver 9 Drive rotation, the rotary servo driver 9 is controlled by the motion controller 6 receiving the instruction of PLC10, the rotary servo motor 44 and the gripper grasping cylinder 46 are fixed on the mounting plate 41, and the movable end of the lid gripper lifting cylinder 45 is connected to the mounting plate 41 Fixed connection, the fixed end of the lid gripper lifting cylinder 45 is fixed on the connecting plate or slider of the Y-axis linear module, the connecting plate 42 is fixedly connected with the movable end of the gripping cylinder 46, and the rotating head 43 is located on the connecting plate 42 Below, a spring 48 is arranged between the connecting plate 42 and the rotating head 43, and the spring 48 plays a role of buffering. The corners are respectively hinged with the rotating head 43, and the bottom corners of the two bung grippers 5 are hinged with the connection plate 42 through the connecting rod 47. When the gripper grasps the cylinder 46 and ejects downward, the connecting rod 47 is driven to rotate counterclockwise. Drive the bung lid handle 5 to rotate clockwise to be in a state of grasping, hold the bung tightly, and when the grip grasps the cylinder 46 to retract upwards, drive the connecting rod 47 to rotate clockwise, and drive the bung lid handle 5 to rotate counterclockwise to be in an open state, Loosen the bung; the motor shaft of the rotary servo motor 44 is connected with a rotating shaft through a shaft coupling, and the rotating shaft is fixedly connected with the rotating head 43.

The working principle of the handle actuator 4 is as follows: firstly, the lid handle lift cylinder 45 drives the rotating servo motor 44 fixed on the mounting plate 41 and the handle grasping cylinder 46 to descend to a specified height as a whole, and then the rotating servo motor 44 drives The rotating head 43 rotates, and the rotating head 43 drives the two bung grippers 5 to rotate, thereby screwing the bung gripped by the two bung lid grippers 5 onto the mouth of the bung. Hand 5 unclamps bung, and at last, bung gripper lifting cylinder 45 drives rotary servo motor 44 and gripper grasps cylinder 46 and resets.

In order to control the stroke of the grip cylinder 46, a gripper rise detection proximity switch 11 is arranged on one side of the gripper grip cylinder 46, and the gripper rise detection proximity switch 11 is fixed on the switch bracket 14, and the switch bracket 14 is fixed on the On the Y-axis linear module 2, the gripper lift detection proximity switch 11 is used to detect the position of the gripper grip cylinder 46, and the gripper grip magnetic switch 12 and the gripper open proximity switch 13 are also fixed on the switch bracket 14. Grab hand grasps whether magnetic switch 12 detects bung gripper 5 and whether grasps bung, and gripper opens proximity switch 13 and is used for detecting whether bung gripper 5 unclamps bung.

The gripper rises and detects the proximity switch 11, the gripper grip magnetic switch 12, and the gripper opening proximity switch 13 respectively feed back the detected data to the PLC 10, and the PLC 10 controls the lid gripper lifting cylinder 45 and the gripper gripper by driving the solenoid valve. The action of the cylinder 46 forms a closed-loop control.

The above content has described in detail the structure of the IBC automatic lid closing system according to the embodiment of the invention provided by the present invention. Corresponding to the above system, the present invention also provides a method for automatically closing the lid of an IBC barrel using the IBC automatic lid closing system , including the following steps:

Step S1: Identify the mouth position of the IBC barrel through the visual positioning system, and transmit it to the PLC.

Step S2: The PLC sends instructions to the motion controller, and the motion controller drives the X-axis linear module and the Y-axis linear module through the X-axis servo driver and the Y-axis servo driver according to the instructions, and moves the lid gripper to the front of the barrel mouth. Above, the bucket lid that makes the bucket lid grab handle is facing the bucket mouth.

Step S3: The PLC drives the gripper actuator to tighten the lid to the mouth of the barrel.

Among them, the process of tightening the bucket cover to the bucket mouth by the gripper actuator includes:

Step S31: The lifting cylinder of the lid gripper drives the gripper to move into place.

Step S32: The rotating servo motor drives the rotor to rotate through the rotating shaft, and the rotor drives the lid handle to screw the lid onto the mouth of the bucket.

During the process that the rotating servo motor drives the rotor to rotate through the rotating shaft, and the rotor drives the lid gripper to screw the lid onto the mouth of the bucket, including:

Step S331: Rotate the servo motor to perform reverse rotation, and adaptively adjust the angle between the bucket lid and the bucket mouth through the bucket lid gripper, so that the bucket lid can be buckled on the bucket mouth.

Step S332: the rotary servo motor performs forward rotation, and the torque fed back by the rotary servo motor is judged as follows.

When the number of positive rotations is less than two, if the torque exceeds the preset torque, it is determined that the barrel opening and lid closing has failed; when the number of positive rotations is between two and five rotations, if the torque reaches the preset torque, It is determined that the barrel opening and lid closing is successful; when the number of positive rotations exceeds five, if the torque does not reach the preset torque, it is determined that the barrel opening and lid closing has failed.

Step S33: The gripper grasps the cylinder to drive the connecting plate to move upwards, and the connecting plate is linked to the connecting rod to rotate clockwise, so that the handle of the bucket lid is opened.

Step S34: The lifting cylinder of the lid gripper drives the lid gripper to reset.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone familiar with the technical field can easily think of changes or replacements within the technical scope disclosed in the present invention, and should cover all Within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (5)

1. A method for automatically closing the lid of an IBC barrel utilizing an IBC automatic lid closing system, characterized in that, comprising the steps: Step S1: Identify the position of the mouth of the IBC barrel through the visual positioning system, and transmit it to the PLC; Step S2: The PLC sends instructions to the motion controller, and the motion controller drives the X-axis linear module and the Y-axis linear module through the X-axis servo driver and the Y-axis servo driver according to the instructions, and grabs the lid Move the hand directly above the bung mouth, so that the bung lid grasped by the bung cover is facing the bung mouth; Step S3: The PLC drives the gripper actuator to tighten the bucket lid onto the bucket mouth; wherein, the process of the gripper actuator tightening the bucket lid to the bucket mouth includes: Step S31: the lifting cylinder of the lid gripper drives the gripper to move into place; Step S32: the rotating servo motor drives the rotor to rotate through the rotating shaft, and the rotor drives the lid handle to screw the lid onto the mouth of the bucket; Step S33: the gripper grasps the cylinder to drive the connecting plate to move upwards, and the connecting plate is linked with the connecting rod to rotate clockwise, so that the handle of the bucket lid is opened; Step S34: the lifting cylinder of the lid gripper drives the lid gripper to reset; On the way to the mouth of the barrel, Step S331: The rotating servo motor is reversed, and the angle between the bucket lid and the bucket mouth is adaptively adjusted through the bucket lid gripper, so that the bucket lid is fastened to the bucket mouth; Step S332: The rotary servo motor executes forward rotation, and the torque fed back by the rotary servo motor is judged as follows: When the number of positive rotations is less than two, if the torque exceeds the preset torque, it is determined that the bung mouth has failed to close the lid; when the number of forward rotations is between two and five, if the torque reaches the preset If the torque is set, it is determined that the mouth of the bung is successfully closed; When the number of positive rotations exceeds five, if the torque does not reach the preset torque, it is determined that the closure of the barrel mouth fails. 2. A method for automatically closing the lid of an IBC barrel utilizing an IBC automatic lid closing system according to claim 1, wherein the IBC automatic lid closing system includes an X-axis linear module and a Y-axis linear module. group, a motion controller, an X-axis servo driver, and a Y-axis servo driver. The X-axis servo driver is used to drive the X-axis linear module to drive the Y-axis linear module along the X axis according to the control of the motion controller. Axis movement, the Y-axis servo driver is used to drive the Y-axis linear module to move along the Y-axis according to the control of the motion controller; it is characterized in that it also includes PLC, rotary servo driver, visual positioning system, gripper Executing mechanism and lid gripper; wherein, the visual positioning system is fixed on the Y-axis linear module for identifying the position of the mouth of the IBC barrel and transmitting it to the PLC; the PLC is used for Drive the X-axis linear module and the Y-axis linear module to move the lid gripped by the lid handle to the mouth position of the IBC bucket; the number of the lid grippers is two , used to grab the bung lid through the gripper actuator, and screw it onto the bung mouth to close the bung mouth; the gripper actuator includes a mounting plate, a connecting plate, a rotating head, and a rotary servo motor 1. The lifting cylinder of the bucket lid gripper and the gripping cylinder, the rotary servo motor and the gripping cylinder are fixed on the installation plate, and the movable end of the lid gripper lifting cylinder is fixed on the installation plate connection, the fixed end of the lid gripper lifting cylinder is fixed on the Y-axis linear module, the connecting plate is fixedly connected with the movable end of the gripping cylinder, and the rotating head is located on the connecting plate Below, a spring is provided between the connecting plate and the rotating head, the lid handle is triangular, the top angle of the lid handle is hinged with the rotating head, and the lid handle A bottom angle of the rotator is hinged with the connection plate through a connecting rod, the motor shaft of the rotary servo motor is connected with a rotating shaft through a coupling, and the rotating shaft is fixedly connected with the rotor; the rotary servo driver is used to The control of the motion controller drives the rotation servo motor to rotate. 3. A method for automatically closing the lid of an IBC barrel using an IBC automatic lid closing system as claimed in claim 2, wherein the X-axis linear module includes an X-axis servo motor, which is sleeved on the X-axis The driving gear on the rotating shaft of the servo motor, the driven gear meshed with the driving gear, the X-axis V-ribbed belt tightly sleeved on the driving gear and the driven gear, and the X-axis V-ribbed belt A fixedly connected X-axis connecting plate; the Y-axis linear module is fixed on the X-axis connecting plate, and the Y-axis linear module includes a Y-axis servo motor, a motor set on the rotating shaft of the Y-axis servo motor The driving gear, the driven gear meshed with the driving gear, the Y-axis V-ribbed belt tightly sleeved on the driving gear and the driven gear, and the Y-axis connection fixedly connected with the Y-axis V-ribbed belt board; the visual positioning system and the installation board are respectively fixed on the Y-axis connecting board. 4. A method for automatically closing the lid of an IBC barrel using the IBC automatic lid closing system as claimed in claim 2, wherein the X-axis linear module and the Y-axis linear module are linear slides respectively. platform, the visual positioning system and the mounting plate are respectively fixed on the slider of the Y-axis linear module, and the Y-axis linear module is fixed on the slider of the X-axis linear module. 5. A method for automatically closing the lid of an IBC bucket utilizing an IBC automatic lid closing system as claimed in claim 2, wherein the handle actuator also includes a switch bracket, on which a switch bracket is installed The gripper rise detection proximity switch, the gripper grip magnetic switch and the gripper opening proximity switch, the gripper rise detection proximity switch is used to detect whether the gripper is raised, and the gripper grip magnetic switch is used to It is used to detect whether the gripper is firmly grasped, and the proximity switch for opening the gripper is used to detect whether the gripper is opened.