CN108423626A - A kind of robot bulking system - Google Patents
A kind of robot bulking system Download PDFInfo
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- CN108423626A CN108423626A CN201810464358.8A CN201810464358A CN108423626A CN 108423626 A CN108423626 A CN 108423626A CN 201810464358 A CN201810464358 A CN 201810464358A CN 108423626 A CN108423626 A CN 108423626A
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- filling
- robot
- filling machine
- bull
- bulking system
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- 244000309464 bull Species 0.000 claims abstract description 49
- 230000008859 change Effects 0.000 claims abstract description 26
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 6
- 239000007788 liquid Substances 0.000 claims description 17
- 230000007246 mechanism Effects 0.000 claims description 13
- 230000003068 static effect Effects 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 230000001276 controlling effect Effects 0.000 claims description 3
- 230000000903 blocking effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 8
- 239000000047 product Substances 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 235000013361 beverage Nutrition 0.000 description 1
- 238000009924 canning Methods 0.000 description 1
- 230000009514 concussion Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000012263 liquid product Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
- B67C3/00—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus; Filling casks or barrels with liquids or semiliquids
- B67C3/02—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus
- B67C3/22—Details
- B67C3/24—Devices for supporting or handling bottles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
- B67C3/00—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus; Filling casks or barrels with liquids or semiliquids
- B67C3/02—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus
- B67C3/22—Details
- B67C3/26—Filling-heads; Means for engaging filling-heads with bottle necks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
- B67C3/00—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus; Filling casks or barrels with liquids or semiliquids
- B67C3/02—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus
- B67C3/22—Details
- B67C3/28—Flow-control devices, e.g. using valves
Abstract
The present invention proposes a kind of robot bulking system, including：Robot, the machine are artificially fixedly installed in the articulated robot on ground or pedestal；Bull filling machine, the bull filling machine are equipped with multiple adjustable in pitch for filling filling valve；Fast replacing device, the fast replacing device includes quick change master and quick-change tool disk, the quick change master is fixedly installed in the end of the robot, and the quick-change tool disk is fixedly installed on the bull filling machine, and the quick change master can mutually be attracted and detach with the quick-change tool disk；Active conveying bottle line, the active conveying bottle line is equipped with conveyer belt, for conveying container filling.The bulking system can realize different size, the bottle of different bottle-type it is filling, and filling effect and adaptability improve significantly than traditional bulking system.
Description
Technical field
The present invention relates to industrial filling production technical field more particularly to a kind of robot bulking systems.
Background technology
At present in filling liquid field, it is generally divided into two kinds of linear filling and rotary filling, and it is linear canned, one
As be that state type is fixed filling, that is, after bottle reaches filling position by conveyer belt, temporarily cease transmission, at this time filling dress
It sets and starts to start, filling valve is moved downward, be inserted into and carry out filling in bottle, after filling, lift filling valve, restart at this time
The filling bottle finished is delivered to subsequent processing by conveyer belt.
Although this filling production lines disclosure satisfy that existing filling demand, but its filling apparatus has filling bottle-type
Certain limitation can only meet the filling of a few bottle-type, and not adapt to the product of different liquids, to same liquid
Product cannot meet the bottle of a variety of sizes when filling, if the bottle-type on production line is replaced, can only replace different folders at this time
Tool can just be met the requirements, and need manual operation when replacement, time-consuming and laborious.In addition, since filling apparatus can only be in a fixation
Position realize static filling, finished when filling, bottle continue movement moment be likely to result in bottle liquid concussion flare or
It splashes, and some special liquids are not allow such case occur.
Therefore, the filling effect and adaptability of bulking system how are improved, is those skilled in the art's urgent need to resolve
Technical problem.
Invention content
In order to solve the above-mentioned technical problem, the present invention proposes a kind of robot bulking system, which can realize
Different size, the bottle of different bottle-type it is filling, and filling effect and adaptability have obviously than traditional bulking system
Improvement.
The present invention is achieved by the following technical solutions, a kind of robot bulking system, including：
Robot, the machine are artificially fixedly installed in the articulated robot on ground or pedestal；
Bull filling machine, the bull filling machine are equipped with multiple adjustable in pitch for filling filling valve；
Fast replacing device, the fast replacing device include quick change master and quick-change tool disk, and the quick change master is fixedly installed in
The end of the robot, the quick-change tool disk are fixedly installed on the bull filling machine, the quick change master with it is described
Quick-change tool disk can mutually be attracted and detach；
Active conveying bottle line, the active conveying bottle line is equipped with conveyer belt, for conveying container filling.
Based on the above technical solution, the invention also discloses technical solutions further below.
Further, the bull filling machine is equipped with spacing adjusting device, and multiple filling valves, which are arranged in order, to be installed on
On the spacing adjusting device, by adjusting the spacing adjusting device, the spacing of multiple filling valves can be changed.
Further, the robot bulking system further includes filling machine storage rack, and the filling machine storage rack is arranged in institute
The periphery for stating robot, for placing one or more sets bull filling machines, the robot can be stored from the filling machine
The bull filling machine is picked and placeed on frame.
Further, the filling machine storage rack is two, and two filling machine storage racks are arranged in outside the robot
The homonymy enclosed or two opposite sides.
Further, valve storage shield is additionally provided on the filling machine storage rack, the valve storage shield is box typed structure,
Top is equipped with strip slit or multiple spaced holes, and the bull filling machine is positioned on the filling machine storage rack
Afterwards, the valve port end of multiple filling valves passes through the slit or hole to extend into the valve storage shield.
Further, the bull filling machine is multiple, and multiple bull filling machines can deposit in the filling machine simultaneously
On storage rack, the robot is connect by the way that the fast replacing device is selectable with any bull filling machine, different institutes
Bull filling machine is stated for filling different liquid.
Further, the quick change master is that pneumatic type is attracted or electromagnetic type is attracted with the quick-change tool disk.
Further, the active conveying bottle line is arranged in the periphery of the robot, and the active conveying bottle line further includes transport platform and gear bottle
Mechanism, the conveyer belt are installed in the transport platform, and the Dang Ping mechanisms are installed on the side of the transport platform, and being used for will be more
A container filling blocking positioning marshalling.
Further, the active conveying bottle line is a plurality of and is arranged side by side that a plurality of active conveying bottle line is arranged in the same of the robot
Side or opposite both sides.
Further, the robot includes first mechanical arm, second mechanical arm, manipulator and control module；
Between the first mechanical arm and the second mechanical arm and between the second mechanical arm and the manipulator
It is connected by the joint, the manipulator is located at the end of the robot and is fixedly connected with the quick change master；
The control module is electrically connected with the robot, for controlling the first mechanical arm, second mechanical arm and institute
State manipulator completion include rotation, capture and filling action, the control module can be arranged static filling and follow filling
Two kinds of filling patterns, and two kinds of filling patterns can any switching laws.
Advantageous effect using robot bulking system provided by the present invention is：
1, robot combination automatic adjustable-pitch fixture is used to adjust the spacing between filling valve, filling valve and pipeline
The relative position of height and a whole set of filling machine and pipeline, to realize different bottle-type, bottle-type different size, the filling of different product
Dress, has saved machine cost and manual maintenance cost, and substantially increase the utilization rate of production site so that the adaptation of product
Extensively.
2, by the way that multiple bull filling machines are arranged, it can be adapted for a variety of different filling liquids so that a production line
Can meet the needs of different types of filling liquid.
3, by control module, different canning means can be set, it not only can be with static filling but also could be provided as
Mobile filling two ways is followed, when filling, bottle need not stop filling to coordinate halfway, and be moved by manipulator to coordinate
Bottle in conveying is filling to realize, and since the manipulator of robot can move in all directions, so as to coordinate each position
The bottle set comes filling, can not only greatly improve production efficiency, and solve in traditional approach it is static it is filling after open suddenly
The technical issues of dynamic liquid flare brought is splashed.
4, by control robot, the replacement for being automatically performed filling apparatus may be implemented, it is time saving and energy saving, save manually at
This, greatly improves production efficiency.
Description of the drawings
Fig. 1 is a kind of a kind of stereochemical structure signal of specific implementation mode of robot bulking system provided by the present invention
Figure；
Fig. 2 is enlarged structure schematic diagram shown in A in Fig. 1；
Fig. 3 is that the bull filling machine is positioned over the structural schematic diagram after the filling machine storage rack；
Fig. 4 to fig. 6 is schematic diagram of the different bull filling machines in the canned different canned container；
Fig. 7 is structural schematic diagram of the robot in the canned container on canned another active conveying bottle line.
Wherein, piece number is expressed as in figure：
1, pedestal, 2, robot, 3, bull filling machine, 4, fast replacing device, 5, active conveying bottle line, 6, filling machine storage rack, 21,
One mechanical arm, 22, second mechanical arm, 23, manipulator, 31, filling valve, 41, quick change master, 42, quick-change tool disk, 51, conveying
Band, 52, transport platform, 53, Dang Ping mechanisms, 61, valve storage shield, 100, container filling.
Specific implementation mode
The specific implementation mode of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific implementation mode stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
It is a kind of a kind of specific embodiment party of robot bulking system provided by the present invention to please refer to Fig.1 to Fig. 7, Fig. 1
The dimensional structure diagram of formula；Fig. 2 is enlarged structure schematic diagram shown in A in Fig. 1；Fig. 3 is that the bull filling machine is positioned over
Structural schematic diagram after the filling machine storage rack；Fig. 4 to fig. 6 be the different bull filling machines it is canned it is different described in
Schematic diagram when canned container；Fig. 7 is structural representation of the robot in the canned container on canned another active conveying bottle line
Figure.
In a kind of specific implementation mode of robot bulking system provided by the present invention, including：Robot 2, it is described
Robot 2 is the articulated robot 2 being fixedly installed on ground or pedestal 1；In specific implementation mode as shown in Figure 1, institute
It states robot 2 to be installed on pedestal 1, which includes first mechanical arm 21, second mechanical arm 22, manipulator 23 and control
Module；Between the first mechanical arm 21 and the second mechanical arm 22 and the second mechanical arm 22 and the manipulator 23
Between be connected by the joint, by control module can control robot 2 rotation, crawl etc. movements.The control mould
Block is electrically connected with the robot 2, is completed for controlling the first mechanical arm 21, second mechanical arm 22 and the manipulator 23
Including rotation, crawl and filling action；Due to robot 2 can by control realize flexible motion, so with robot 2 into
Row fill operations may be implemented accurate filling, and the degree of automation greatly improves.
This bulking system further includes bull filling machine 3, and the bull filling machine 3 is equipped with multiple adjustable in pitch for filling
The filling valve 31 of dress；In a preferred embodiment, the bull filling machine 3 is equipped with distance automatic regulating device, more
A filling valve 31, which is arranged in order, to be installed on the spacing adjusting device, and adjusting the spacing by motor or cylinder is adjusted
The spacing of multiple filling valves 31 can be changed in device.As shown, multiple sliding blocks can be arranged in the regulating device, each
One filling valve 31 is installed on sliding block and adjusts the spacing between each sliding block by way of transmission mechanism such as feed screw nut, into
And it may be implemented to adjust the purpose of the spacing of filling valve 31.When progress bottle is filling, spacing adjusting device is adjusted so that filling
Valve 31 is mutually drawn close, and spacing reduces；When bottle is filling greatly, spacing adjusting device is adjusted so that filling valve 31 mutually scatters, and spacing increases
Greatly, to complete the filling of different size bottle-type.
This bulking system further includes fast replacing device 4, and the fast replacing device 4 includes quick change master 41 and quick-change tool disk 42,
The quick change master 41 is fixedly installed in the end of the robot 2, can be installed on manipulator 23, the quick-change tool disk
42 are fixedly installed on the bull filling machine 3, may be mounted at the top of filling machine and can also be mounted on side, preferably push up
Portion, with the action of adaptation mechanical hand 23, it is easier to control.In order to realize quick change purpose, the quick change master 41 and the quick change
Tool shelf 42 can mutually be attracted and detach；The quick change master 41 is pneumatic type actuation or electromagnetic type with the quick-change tool disk 42
It is attracted.
The bull filling machine 3 is multiple, and multiple bull filling machines 3 can deposit in the filling machine storage rack simultaneously
On 6, the robot 2 is connect by the way that the fast replacing device 4 is selectable with any bull filling machine 3, and different is described
Bull filling machine 3 is used for filling different liquid.
When using pneumatic type attracting mode, quick-change tool disk 42 and quick change master 41 are tight under the action of pneumatic device
It is connected and is connected together, and then the purpose of " crawl " bull of manipulator 23 filling machine 3 may be implemented, when needing replacing bull filling machine
When 3, at 2 rotary machine arm to filling machine storage rack 6 of robot, air pressure is released, then quick change master 41 divides with quick-change tool disk 42
From.
When being attracted using electromagnetic type, quick change master 41 and quick-change tool disk 42 can be by generating magnetic picture after energization
It inhales, magnetic force is eliminated and separated mode after power-off, realizes the purpose of " crawl " bull of manipulator 23 filling machine 3.
Two kinds of quick change modes can be automatically brought into operation by control module to realize, after setting program as required, you can
It realizes automation control, certainly, if it is necessary, needing the associate member that some pipelines, sensor etc is arranged, does not do herein specific
It illustrates, may be implemented according to the prior art.
This bulking system further includes active conveying bottle line 5, and the active conveying bottle line 5 is equipped with conveyer belt 51, for conveying container filling
100.Container filling 100 mentioned here can be various beverage bottles, pop can or cup type container.The active conveying bottle line 5 can basis
The demand of production arranges its position and rotational alignment formula or circular arc type.The present invention does not limit this, it is to be understood that
Which kind of based on the technical solutions of the present invention, all belonged to the scope of protection of the present invention by the way of active conveying bottle line 5.
In a preferred embodiment, it in order to preferably realize " crawl " of robot 2, accurately efficiently replaces
Bull filling machine 3, the robot bulking system further include filling machine storage rack 6, and the filling machine storage rack 6 is arranged in described
The periphery of robot 2, for placing the bull filling machine 3, the robot 2 can be picked and placeed from the filling machine storage rack 6
The bull filling machine 3.
The filling machine storage rack 6 only can be arranged one on the side of robot 2, can also be arranged as required to two
It is a, a storage position can be set on each filling machine storage rack 6, can also be arranged multiple.Two filling machine storage racks 6
It is arranged in two opposite sides of 2 periphery of the robot.More bull filling machines 3 can be prevented in this way, improve production efficiency；
And due to opposite installation, when the capture program of robot 2 is arranged, it is easier to realize operation, is easy positioning, to reduce
Error improves filling accuracy.
In a kind of preferred embodiment of above-mentioned filling machine storage rack 6, it can also be set on the filling machine storage rack 6
There is valve storage shield 61 that can protect filling valve in this way for living the valve port end shield of the filling valve 31 on bull filling machine 3
31, while liquid in the pollution valve such as prevent external dust, the liquid being also possible to prevent in filling valve 31 arbitrarily drop onto on the ground.
Specifically, the valve storage shield 61 can be box typed structure, top is equipped with strip slit (as shown in Figure 1)
Or multiple spaced holes (as shown in Fig. 3, Fig. 6), after the bull filling machine 3 is positioned on the filling machine storage rack 6,
The valve port end of multiple filling valves 31 can pass through the slit or hole to extend into the valve storage shield 61.
In this bulking system, in order to improve production efficiency, the active conveying bottle line 5 can be a plurality of, as shown in Figure 1, showing 2
Bar active conveying bottle line 5, and it is arranged in peripheral the same side of the robot 2, it can also also arrange 2 or a plurality of active conveying bottle in its offside
Line 5, is arranged side by side, in order to which robot 2 carries out filling and utilizes space to greatest extent.It is understood that root
According to different demands, active conveying bottle line 5 can be arbitrarily arranged, in the hope of improving production efficiency to greatest extent.
It can be with the product of filling different type, due to the bottle shape of different product on same production line in order to realize
Frequent not of uniform size, various shapes, it may be possible to which ellipse or other abnormity, bottle may be squeezed mutually when bottle stacked arrangement
Torsion or the uneven bottleneck spacing of supplied materials speed are inconsistent, cause each bottle position of bottleneck to change, 31 mouthfuls of possibility of filling valve
Bottleneck can not be directed at.To solve the above problems, in a preferred embodiment, the active conveying bottle line 5 further includes transport platform 52
And Dang Ping mechanisms 53, the conveyer belt 51 are installed in the transport platform 52, the Dang Ping mechanisms 53 are installed on the transport platform
52 side, for being aligned multiple container fillings 100.Dang Ping mechanisms 53 may include a baffle, be driven using cylinder
Dynamic mode drives the baffle to push the bottle on conveyer belt 51, is located on straight line, realizes alignment, in this way can be with
The valve port misalignment bottleneck of filling valve 31 when preventing filling.
When bottle reaches designated position, electrical control Dang Ping mechanisms 53 stop bottle, positioned or are organized into groups, machine
2 arm of people declines so that entire bull filling machine 3 declines, drive filling valve 31 drop to bottle mouth position bottle is carried out it is filling, it is filling
After the completion, electrical control Dang Ping mechanisms 53 retract, and bottle continues to be fed forward, since the moment being fed forward again in bottle can
It can lead to liquid flare or oscillation in bottle because of a forward acceleration, if this problem is also unknown when filling discontented
It is aobvious, if it is filling relatively completely when, or do not allow for the such as mordant liquid of some special liquids, this is filling
System can be arranged static filling and follow filling two kinds of filling patterns, and two kinds of filling patterns can appoint by control module
Meaning switching.When filling using follow the mode, according to the speed of conveyer belt 51, the action of mechanical arm is pre-set, so that it may with
It synchronizes and follows bottle advance filling to bottle progress.When carrying out following filling, in order to ensure the bottle spacing on conveyer belt 51
It for predetermined value and remains unchanged, bottle can be positioned by detent mechanism such as screw rod, spacing does not rest conveying, or
Person bottle is put into prefabricated tooling pallet in advance do not rest conveying and it is filling.
When specific filling, Dang Ping mechanisms 53 can be closed, by control module by the robotic arm of robot 2 along conveyer belt 51
Mobile speed is arranged to consistent with 51 transmission speed of conveyer belt, and when bottle is transported to certain position, mechanical arm is with filling dress
It sets and is moved to above bottle, follow bottle to carry out filling, filling completion, mechanical arm with movement is carried out at the same time before bottle in turn
It retracts, continues that subsequent bottle follow filling.
In conclusion a kind of robot bulking system provided by the present invention, is a kind of flexible bulking system, between using
Adjust the distance between filling valve 31 away from regulating device, so as to realize different size, the bottle of different bottle-type it is filling, and
Traditional filling apparatus can not achieve the adjustment of 31 distance of filling valve, can only meet different size of bottle by replacing fixture,
And replace fixture and considerably bother, and a machine can only adapt to a type of product, and the flexible bulking system of robot 2
Due to being mounted with fast replacing device 4, the automatic replacement of different filling fixtures can be realized rapidly, be not necessarily to labor intensive, so that
One machine can be greatly improved work efficiency, and cost-effective with filling different types of product, in addition traditional filling dress
Setting can only be static filling in a fixed position realization, is finished when filling, the moment that bottle continues movement is likely to result in bottle
Interior liquid shakes flare, and some special liquids are not allow such case occur, so the flexible bulking system of robot 2 increases
Add and followed mobile filling function, bottle need not stop filling to coordinate halfway, and be moved by manipulator 23 to coordinate in conveying
Bottle it is filling to realize, and since the manipulator of robot 2 23 can move in all directions, so as to coordinate each position
Bottle is next filling, substantially increases production efficiency.
A kind of robot bulking system provided by the present invention is described in detail above.It is used herein specifically
Principle and implementation of the present invention are described for a example, and the explanation of above example is only intended to help to understand the present invention
Method and its core concept.It should be pointed out that for those skilled in the art, not departing from original of the invention
, can be with several improvements and modifications are made to the present invention under the premise of reason, these improvement and modification also fall into right of the present invention and want
In the protection domain asked.
Claims (10)
1. a kind of robot bulking system, which is characterized in that including：
Robot, the machine are artificially fixedly installed in the articulated robot on ground or pedestal；
Bull filling machine, the bull filling machine are equipped with multiple adjustable in pitch for filling filling valve；
Fast replacing device, the fast replacing device include quick change master and quick-change tool disk, and the quick change master is fixedly installed in described
The end of robot, the quick-change tool disk are fixedly installed on the bull filling machine, the quick change master and the quick change
Tool shelf can mutually be attracted and detach；
Active conveying bottle line, the active conveying bottle line is equipped with conveyer belt, for conveying container filling.
2. robot bulking system according to claim 1, which is characterized in that the bull filling machine is equipped with spacing tune
Regulating device, multiple filling valves, which are arranged in order, to be installed on the spacing adjusting device, and dress is adjusted by adjusting the spacing
It sets, the spacing of multiple filling valves can be changed.
3. robot bulking system according to claim 1, which is characterized in that the robot bulking system further includes filling
Device storage rack is filled, the filling machine storage rack is arranged in the periphery of the robot, for placing one or more sets bulls
Filling machine, the robot can pick and place the bull filling machine from the filling machine storage rack.
4. robot bulking system according to claim 3, which is characterized in that the filling machine storage rack be two, two
A filling machine storage rack be arranged in the robot periphery the same side or two opposite sides.
5. robot bulking system according to claim 3, which is characterized in that be additionally provided with valve on the filling machine storage rack
Shield is stored, the valve storage shield is box typed structure, and top is equipped with strip slit or multiple spaced holes, described
After bull filling machine is positioned on the filling machine storage rack, the valve port end of multiple filling valves passes through the slit or hole to stretch
Enter into valve storage shield.
6. robot bulking system according to claim 3, which is characterized in that the bull filling machine be it is multiple, it is multiple
The bull filling machine can be deposited in simultaneously on the filling machine storage rack, and the robot may be selected by the fast replacing device
Connect with any bull filling machine, the different bull filling machines be used for filling different liquid.
7. robot bulking system according to claim 1, which is characterized in that the quick change master and the quick-change tool
Disk is that pneumatic type is attracted or electromagnetic type is attracted.
8. robot bulking system according to claim 1, which is characterized in that the active conveying bottle line is arranged in the robot
Periphery, the active conveying bottle line further includes transport platform and Dang Ping mechanisms, and the conveyer belt is installed in the transport platform, the gear bottle
Mechanism is installed on the side of the transport platform, for organizing into groups multiple container filling blocking positioning.
9. robot bulking system according to claim 8, which is characterized in that the active conveying bottle line is a plurality of and and arranges
It sets, a plurality of active conveying bottle line is arranged in the homonymy of the robot or opposite both sides.
10. according to claim 1-9 any one of them robot bulking system, which is characterized in that the robot includes the
One mechanical arm, second mechanical arm, manipulator and control module；
Pass through between the first mechanical arm and the second mechanical arm and between the second mechanical arm and the manipulator
The joint is connected, and the manipulator is located at the end of the robot and is fixedly connected with the quick change master；
The control module is electrically connected with the robot, for controlling the first mechanical arm, second mechanical arm and the machine
The completion of tool hand includes rotation, crawl and filling action；
The control module can be arranged static filling and follow filling two kinds of filling patterns, and two kinds of filling patterns can be arbitrary
Switching.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810464358.8A CN108423626B (en) | 2018-05-15 | Robot filling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810464358.8A CN108423626B (en) | 2018-05-15 | Robot filling system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108423626A true CN108423626A (en) | 2018-08-21 |
| CN108423626B CN108423626B (en) | 2024-05-03 |
Family
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109336033A (en) * | 2018-12-05 | 2019-02-15 | 无锡科创苏鑫机电科技有限公司 | A kind of the tracking filling mechanism and its packaging process of continuous container |
| CN112896575A (en) * | 2021-03-26 | 2021-06-04 | 苏州益唯环保科技有限公司 | Flexible detergent filling equipment |
| CN115255910A (en) * | 2022-06-22 | 2022-11-01 | 日照市越疆智能科技有限公司 | Industrial robot joint production line and spare and accessory part assembly line |
| CN115610767A (en) * | 2022-12-20 | 2023-01-17 | 合肥哈工地表智能科技有限公司 | Porous multiseriate mould box liquid filling machine |
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| CN109336033A (en) * | 2018-12-05 | 2019-02-15 | 无锡科创苏鑫机电科技有限公司 | A kind of the tracking filling mechanism and its packaging process of continuous container |
| CN112896575A (en) * | 2021-03-26 | 2021-06-04 | 苏州益唯环保科技有限公司 | Flexible detergent filling equipment |
| CN115255910A (en) * | 2022-06-22 | 2022-11-01 | 日照市越疆智能科技有限公司 | Industrial robot joint production line and spare and accessory part assembly line |
| CN115610767A (en) * | 2022-12-20 | 2023-01-17 | 合肥哈工地表智能科技有限公司 | Porous multiseriate mould box liquid filling machine |
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