CN112645266A - Multi-barrel filling system and method - Google Patents

Multi-barrel filling system and method Download PDF

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Publication number
CN112645266A
CN112645266A CN201910958952.7A CN201910958952A CN112645266A CN 112645266 A CN112645266 A CN 112645266A CN 201910958952 A CN201910958952 A CN 201910958952A CN 112645266 A CN112645266 A CN 112645266A
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CN
China
Prior art keywords
filling
barrel
cover
barrels
cap
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910958952.7A
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Chinese (zh)
Inventor
吴军
侯捷
殷晶伟
程爱华
付强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mettler Toledo Changzhou Measurement Technology Ltd
Mettler Toledo International Trading Shanghai Co Ltd
Mettler Toledo Changzhou Precision Instruments Ltd
Original Assignee
Mettler Toledo Changzhou Measurement Technology Ltd
Mettler Toledo International Trading Shanghai Co Ltd
Mettler Toledo Changzhou Precision Instruments Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by Mettler Toledo Changzhou Measurement Technology Ltd, Mettler Toledo International Trading Shanghai Co Ltd, Mettler Toledo Changzhou Precision Instruments Ltd filed Critical Mettler Toledo Changzhou Measurement Technology Ltd
Priority to CN201910958952.7A priority Critical patent/CN112645266A/en
Publication of CN112645266A publication Critical patent/CN112645266A/en
Pending legal-status Critical Current

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    • 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
    • B67C3/30—Filling of barrels or casks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
    • B67B3/00—Closing bottles, jars or similar containers by applying caps
    • B67B3/20—Closing bottles, jars or similar containers by applying caps by applying and rotating preformed threaded caps
    • 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
    • B67C7/00—Concurrent cleaning, filling, and closing of bottles; Processes or devices for at least two of these operations
    • 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
    • B67C7/00—Concurrent cleaning, filling, and closing of bottles; Processes or devices for at least two of these operations
    • B67C7/0006—Conveying; Synchronising
    • B67C2007/006—Devices particularly adapted for container filling
    • 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
    • B67C7/00—Concurrent cleaning, filling, and closing of bottles; Processes or devices for at least two of these operations
    • B67C7/0006—Conveying; Synchronising
    • B67C2007/0066—Devices particularly adapted for container closing

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Basic Packing Technique (AREA)

Abstract

The invention provides a multi-barrel filling system and a method, wherein the multi-barrel filling system comprises: a first moving assembly and a second moving assembly are respectively arranged at different heights of the filling main frame; the front end of the first moving assembly is connected with a cover screwing manipulator; the front end of the second moving assembly is connected with a filling spray gun. According to the multi-barrel filling system and the method, the multi-barrel filling system has the advantages of being small in occupied area and small in structure.

Description

Multi-barrel filling system and method
Technical Field
The invention relates to an automatic filling technology, in particular to a multi-barrel filling system and a multi-barrel filling method.
Background
The production and processing of products all need packaging, and especially for large-volume products or large-scale and systematic packaging processing, an automatic packaging production line is indispensable. The filling system is an important component classification in the packaging system, and can comprise a liquid filling machine, a paste filling machine, a powder filling machine, a particle filling machine and the like from the material packaging perspective; from the viewpoint of production automation, the automatic filling machine can be divided into a semi-automatic filling machine and a full-automatic filling machine.
The filling modes of the full-automatic filling machine comprise serial filling and parallel filling. Compared with the serial filling of step-by-step operation of cap opening, filling and cap tightening, the filling station and the cap screwing station are separated into different stations at present, so that the parallel filling operation efficiency of filling and cap screwing which can be overlapped in beats is higher. However, this method can improve efficiency, but results in extremely complex structure and low reliability of the device; meanwhile, the floor area is often more than two times of the original equipment. For example, CN205327459U discloses a fully automatic powder filling and capping device, which adopts the technical scheme that a powder filling device and a capping device are respectively mounted on different racks, a station switching device is arranged between the powder filling device and the capping device, and the powder filling device and the capping device are respectively used for filling and capping medicine bottles through the rotation transmission of the station switching device. Although the medicine filling and capping can be completed for different medicine bottles at the same time, the devices for completing the two procedures are positioned on different racks, so that the filling system has the disadvantages of complex mechanism, large occupied area, very high cost and poor economy.
Disclosure of Invention
The invention aims to overcome the defects of complex structure and large occupied area of a parallel filling full-automatic multi-barrel filling system in the prior art.
In order to solve the above technical problem, the present invention provides a multi-barrel filling system, comprising: a first moving assembly and a second moving assembly are respectively arranged at different heights of the filling main frame; the front end of the first moving assembly is connected with a cover screwing manipulator; the front end of the second moving assembly is connected with a filling spray gun.
Preferably, the first movable sliding table assembly comprises a first coordinate movable sliding table; the second movable sliding table assembly comprises a second coordinate movable sliding table.
Preferably, the first coordinate moving slide table and the second coordinate moving slide table include: an X-axis moving sliding table driving device, a beam for X-axis movement and a guide rail sliding block; y axle removes slip table drive arrangement, and Y axle removes uses crossbeam and guide rail slider assembly.
Preferably, the above-mentioned multi-barrel filling system further comprises: the weighing device is used for weighing each filling barrel to determine the filling state; the addressing device is arranged in the filling chamber and used for determining the position of a barrel cover of the filling barrel; the cover screwing mechanical arm is connected with the moving device; a filling spray gun connected to the moving device; and the control device is used for controlling the cap screwing manipulator to sequentially loosen the caps of one or more non-filled filling barrels, synchronously controlling the filling spray gun to sequentially fill the filling barrels after the caps are loosened, and synchronously controlling the cap screwing manipulator to tightly cover the filling barrels after filling.
Preferably, the addressing means comprises a visual addressing camera.
Preferably, the cap screwing robot comprises: screwing a cover gripper assembly; the movable guide rail assembly is vertically arranged and connected with the cover screwing and grabbing assembly; the driving device is used for driving the guide rail assembly and the cover screwing gripper assembly to vertically move up and down; and the barrel cover buffer component is used for temporarily storing the barrel cover obtained by the cap screwing gripper component.
Preferably, the controlling device controls the filling spray gun to sequentially fill the filling barrels with the caps loosened, and the controlling device comprises: carrying out rough filling on a filling barrel in the current filling process; and when the weighing device detects that the filling barrel in the current filling reaches the preset weight, controlling the filling spray gun to enter the fine filling.
Preferably, when the filling barrel in the current filling is subjected to rough filling, the control device controls the cap screwing manipulator to synchronously perform cap loosening or cap tightening actions on other filling barrels; and when the filling spray gun enters the fine filling process, the control device controls the cap screwing manipulator to leave the surface of the filling barrel.
In order to solve the technical problem, the invention also discloses a multi-barrel filling method, which comprises the following steps: determining the position of a barrel cover of the filling barrel through an addressing device; controlling a cap screwing manipulator to sequentially loosen the caps of one or more unfilled filling barrels; synchronously controlling the filling spray gun to sequentially fill the filling barrel after the cover is loosened; and synchronously controlling the cap screwing manipulator to tightly cover the filled filling barrel.
Preferably, the controlling the cap screwing manipulator to sequentially loosen the caps of the one or more unfilled filling barrels comprises: detecting the weight of the filling barrel, and when the filling barrel is in rough filling, loosening the cover of one or more non-filled filling barrels; and stopping the cover loosening of the filling barrel when the filling barrel is in fine filling.
Preferably, the synchronous control cap screwing manipulator tightly covers the filling barrel after filling, and comprises: detecting the weight of the filling barrel, and tightly covering the filled filling barrel when the filling barrel is in rough filling; and stopping the tight covering of the filling barrel when the filling barrel is in the fine filling state.
Preferably, the synchronous control cap screwing manipulator tightly covers the filling barrel after filling, and comprises: after the cover loosening of all the filling barrels is finished, the cover screwing manipulator is synchronously controlled to tightly cover the filling barrels after the filling is finished.
The positive progress effects of the invention are as follows:
according to the multi-barrel filling system, the cover screwing mechanical arm and the filling spray gun are arranged on the filling main rack together through the respective moving assemblies, so that the structure of the multi-barrel filling system is simplified, and the occupied area of equipment is small. Meanwhile, the respective moving assemblies of the cap screwing manipulator and the filling spray gun are different in horizontal height, so that the cap screwing manipulator and the filling spray gun cannot interfere with each other in the parallel filling operation of synchronously operating, filling and weighing a plurality of filling barrels and loosening and tightening the caps.
Certain terms are used throughout the description and claims to refer to particular system components. As one skilled in the art will appreciate, different companies may refer to a component by different names. This document does not intend to distinguish between components that differ in name but not function.
Drawings
The above and other features, properties and advantages of the present invention will become more apparent from the following description of the embodiments with reference to the accompanying drawings in which like reference numerals denote like features throughout the several views, wherein:
fig. 1 is a schematic diagram of an overall structure of a multi-barrel filling system according to an embodiment of the present invention.
Fig. 2 is a side view of a filling house of the multi-tank filling system of fig. 1.
Fig. 3 is an oblique view of a filling house of the multi-tank filling system of fig. 1.
Fig. 4 is a block diagram of a screw capping robot in the filling room shown in fig. 2.
Fig. 5(a) -5 (f) are schematic views illustrating the operation positions of a multi-barrel filling system in various process states when a filling operation is performed according to an embodiment of the present invention.
Fig. 6 is a flowchart of a multi-barrel filling method according to an embodiment of the present invention.
[ reference numerals ]
Conveyor 1
Filling room 2
Main frame 21
Filling in-house pre-conveyor 22
Filling station scale 23
On-scale transport unit 24
Visual addressing device 25
Cap screwing manipulator 26
Filling lance 27
First moving assembly 281
Second moving assembly 282
X1Shaft moving slide table driving device 2811
X1Beam for shaft movement and rail block 2812
Y1Shaft-moving cross beam and guide rail slider assembly 2813
Y1Axle slide table drive 2814
X2Axle removes slip table drive arrangement 2821
X2Beam for moving shaft and rail slider 2822
Y2Beam and guide rail slider assembly 2823 for shaft movement
Y2Axle slip table drive arrangement 2824
Moving rail assembly 261
Cap rotating gripper assembly 262
Cylinder 263
Barrel cover caching assembly 264
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Example 1
As shown in fig. 1, the filling system comprises a front and a rear conveyor 1, a filling house 2 and a control device (not shown in the figure). The front conveyor is used for conveying a batch of tray barrels to be filled into the filling room, and after filling operation is completed, the batch of filled tray barrels are conveyed out through the rear conveyor.
The filling room comprises a main frame 21, a front conveyor 22 in the filling room, a filling station scale 23, an on-scale conveying unit 24, a visual addressing device 25, a capping mechanical arm 26, a filling spray gun 27 and a moving device. The moving device is horizontally arranged on the girder of the main frame 21, and comprises a first moving assembly 281 and a second moving assembly 282 which are arranged at different heights of the girder of the main frame 2 and respectively provided with the cap screwing manipulator 26 and the filling spray gun 27 at the front ends thereof. According to the control instruction, the moving device moves the cap screwing manipulator 26 or the filling spray gun 27 to the position of the barrel cover to perform cap loosening and tight cap tightening or filling.
The first moving device 281 is an XY coordinate moving stage. Shown in conjunction with FIGS. 2 and 3, including X1Shaft moving slide table driving device 2811, X1A shaft-moving cross beam and guide rail slider 2812; y is1 Axle slide drive 2814, Y1A shaft-moving beam and guide rail slider assembly 2813. In the X1Y1The coordinate moving slipway front mounted rotary-cap robot 26, as shown in fig. 4, includes a vertically disposed moving track assembly 261, i.e. it can realize Z-position1Axial movement coupled to the cap-rotating gripper assembly 262; the barrel cover buffer storage assembly 264 is used for temporarily storing barrel covers obtained by screwing the cover gripper assembly. Therefore, the cap screwing mechanical arm 26 can move in the three axial directions, and accurate positioning is realized.
The second moving device 282 is similar to the first moving device 281 in structure, and is also an XY coordinate moving stage. Shown in conjunction with FIGS. 2 and 3, including X2Axle moving slide drive 2821, X2A beam for shaft movement and a rail slider 2822; y is2 Axle slide drive 2824, Y2A shaft-moving cross member and a guide rail slider assembly 2823. In the X2Y2The filling spray gun installed at the front end of the coordinate moving sliding table comprises a vertically arranged moving guide rail assembly, namely Z-shaped sliding table2The movement in the axial direction is connected with the spray gun head; and the air cylinder is used for driving the guide rail assembly and the spray gun head to vertically move up and down. Therefore, the filling spray gun can move in the three axial directions, and accurate filling positioning is realized.
The control device of the filling system is used for controlling the filling operation of a batch of tray barrels. Referring to fig. 1 and 3, the front conveyor 1 conveys a batch of 4 pallet barrels at a time from outside the filling room to the filling station scale in the filling room via the filling room front conveyor 22 and the on-scale conveying unit 24. The 4 tray buckets of the batch are arranged in 2 × 2 rows and columns, and as shown in fig. 5(a) -5 (f), the 4 tray buckets are sequentially a number 1 bucket, a number 2 bucket, a number 3 bucket and a number 4 bucket. And the control device controls the filling station scale 23 to peel and return to zero, and waits for filling and weighing. Meanwhile, the visual addressing device 25 in the filling room 2 is controlled to carry out visual shooting addressing on each tray barrel, and the positions of each barrel and each barrel cover are determined.
As shown in fig. 5(a), after filling is started, the control device first moves the X of the slide table by the first coordinate1Axis and Y1And the shaft moves the sliding table driving device to drive the cap screwing manipulator 26 to move to the barrel cover of the No. 1 tray barrel from the initial zero position, and then the driving device of the cap screwing manipulator 26 drives the guide rail assembly and the hand grip assembly to vertically move up and down to execute cap loosening action. And after the cover loosening is finished by the cover screwing manipulator 26, placing the obtained barrel cover into the barrel cover caching assembly on the barrel cover caching assembly for temporary storage.
As shown in fig. 5(b), after the lid releasing of the tray barrel No. 1 is completed, the control device controls the lid screwing manipulator 26 to shift to the lid of the tray barrel No. 2 to perform the lid releasing action. Meanwhile, the control device also moves the X of the sliding table through the second coordinate2Axis and Y2And the shaft moves the sliding table driving device to drive the filling spray gun 27 to perform filling action at the position of the barrel cover of the No. 1 tray barrel. The control device firstly controls the filling spray gun 27 to perform coarse filling with a high filling speed, and monitors the weight measurement data of the filling station scale. And when the weight measurement data reach the preset weight, controlling the filling spray gun to perform fine filling with a slower filling speed. In the process of rough filling, the filling spray gun 27 has a longer time after entering fine filling, so that the control device controls the capping manipulator 26 to complete filling of the No. 2 tray barrel, and controls the capping manipulator 26 to perform cap loosening operation on the No. 3 tray barrel. After the cover loosening operation of the No. 3 tray barrel is completed, the No. 1 tray barrel enters the fine filling stage from the coarse filling stage. When any tray barrel is precisely filledThe control device can control the cap screwing manipulator 26 to leave the barrel surface of the tray barrel, so that the phenomenon that the weighing measurement of the filling station scale generates force application to influence the weighing accuracy due to cap loosening or cap tightening actions is avoided.
As shown in fig. 5(c), after the filling of the tray barrel No. 1 and the cap releasing operations of the tray barrel No. 2 and the tray barrel No. 3 are synchronously completed, the control device synchronously controls the cap screwing manipulator 26 to perform the cap releasing operation on the subsequent tray barrel No. 4 and the filling spray gun 27 to fill the tray barrel No. 2. Similarly, after the operation of loosening the cover of the tray barrel No. 4 is completed, the cover loosening action of all the tray barrels is completed, and the tray barrel No. 2 is separated from the fine filling machine for a long time, the control device controls the cover screwing manipulator 26 to move to the tray barrel No. 1, a barrel cover is taken out from the barrel cover caching component, and the cover tightening operation is carried out on the tray barrel No. 1.
Referring to fig. 5(d), 5(e) and 5(f), the control device synchronously controls the filling nozzles 27 to sequentially fill the subsequent tray barrels, and controls the capping robot 26 to perform a capping operation on the filled tray barrels. Namely, the control device drives the cap screwing manipulator 26 to take one barrel cover from the barrel cover caching assembly to the No. 2 tray barrel for tightly covering, and simultaneously drives the filling spray gun 27 to the No. 3 barrel for filling. Then, the control device drives the cap screwing manipulator 26 to take a barrel cover from the barrel cover caching assembly to the No. 3 tray barrel for tightly covering, and drives the filling spray gun 27 to the No. 4 tray barrel for filling. Finally, the control device drives the cap screwing manipulator 26 to take one cap from the cap buffer device to the No. 4 barrel cap tightening action, and the cap screwing manipulator 26 returns to the zero original position after the cap screwing is finished.
In the filling process, the control device controls the cap screwing manipulator to screw caps one or more filling barrels which are not filled in sequence, synchronously controls the filling spray gun to fill the filling barrels which are screwed in sequence, synchronously controls the cap screwing manipulator to tightly cap the filling barrels which are filled in sequence, synchronously realizes cap loosening, cap tightening and filling operations for a plurality of tray barrels on one tray, and simultaneously ensures that the cap screwing manipulator and the filling spray head cannot touch each other in the displacement process through the mounting positions and the sequence control of the cap screwing manipulator and the filling spray head.
It will be appreciated by those skilled in the art that the present embodiment of filling 4 pallet buckets as a batch is only one application of the present invention. The sequence control concept according to the present invention can also be applied to other numbers of multi-barrel parallel filling, such as 3, 5, 6 or more, which will not be described herein.
The first movable assembly and the second movable assembly which are respectively connected with the cap screwing manipulator and the filling spray gun are jointly arranged on the filling main frame, so that the processes of cap screwing, filling and cap tightening can be synchronously realized on a batch of filling barrels, the structure is simple, and the occupied area is small. Meanwhile, the first moving assembly and the second moving assembly are arranged at different horizontal positions of the main frame, so that when the cap screwing manipulator and the filling spray gun respectively perform corresponding actions, the cap screwing manipulator and the filling spray gun cannot interfere with each other.
Example 2
The multi-barrel filling method of this embodiment can be applied to the filling system of embodiment 1 to complete the filling operation of a batch of multi-barrel filling. In the filling system, as shown in fig. 6, the multi-barrel filling method includes:
s101, conveying a tray barrel from the outside of a filling room to a conveyor on a filling station scale, and controlling a station scale weighing platform to be peeled and return to zero by a control device;
the whole filling system comprises a front conveyor, a rear conveyor, a filling room and a control device. The front and rear conveyors are connected to the filling room, and convey a batch of tray barrels into the filling room for filling, and convey the batch of tray barrels out after filling is completed. The control device is used for controlling the whole filling process.
Step S102, the visual addressing device addresses and positions the tray barrel and the barrel cover of the tray barrel;
the visual addressing device is arranged at the top end of the filling house and is opposite to the filling station. When the control device controls the conveyor to convey a batch of 4 tray barrels into the filling room and the trays are placed to the appointed filling station through the conveyor on the scale, the control device controls the visual addressing device to shoot a picture of the tray barrels, and the position of the barrel cover of the filling barrel is identified through an image. This 4 tray buckets of batch arrange into 2 x 2's ranks, are No. 1 bucket, No. 2 buckets in proper order, No. 3 buckets and No. 4 buckets.
Step S103, loosening the cover from the original point position to the barrel cover of the No. 1 barrel by the cover screwing manipulator;
as shown in fig. 5(a), after the position of the barrel cover of the barrel No. 1 is obtained, the sliding table is moved through the XY coordinates of the cap screwing manipulator, the cap screwing manipulator moves to the position above the barrel No. 1, and the hand grip assembly of the cap screwing manipulator is driven to vertically move through the cylinder on the cap screwing manipulator, so that the cap screwing manipulator can accurately loosen the cap of the barrel No. 1. The obtained barrel cover is temporarily stored in a barrel cover cache assembly of the cap screwing manipulator.
Step S104, unscrewing the cover from the No. 2 barrel cover and the No. 3 barrel cover by the cover screwing manipulator; and the filling spray gun is used for filling the barrel No. 1;
as shown in fig. 5(b), after the lid releasing operation for the barrel No. 1 is completed, the control device visually addresses the position of the barrel cover of the barrel No. 2, and then controls the lid screwing manipulator to release the lid for the barrel No. 2. Meanwhile, the control device controls the filling spray gun to carry out filling operation on the No. 1 barrel through the XY coordinate moving sliding table of the filling spray gun and the air cylinder on the filling spray gun. The cap screwing manipulator and the filling spray gun are positioned at different heights of the main frame of the filling system.
During the filling process, the coarse filling stage is firstly carried out, and the filling speed is higher. After the control device detects that the weight of the No. 1 barrel reaches the preset weight through the filling station scale, the fine filling stage is started, and the filling speed is lower than that of the coarse filling stage at the moment so as to ensure the accuracy of filling weight weighing. When No. 1 bucket is in the thick filling stage, the spiral cover manipulator accomplish the pine lid operation back to No. 1 bucket, because there is sufficient time apart from No. 1 bucket entering essence filling stage this moment, consequently controlling means can drive the spiral cover manipulator again according to the preface, moves to No. 3 buckets and to its pine lid.
After the No. 1 barrel enters the fine filling stage, the cap screwing manipulator leaves the barrel surface of the filling barrel, so that the cap screwing operation is prevented from exerting force on the filling barrel, and the weighing measurement is influenced. And when the weight of the barrel No. 1 finally reaches the standard rated weight, the filling of the barrel No. 1 is finished.
Step S105, loosening the cover of the No. 4 barrel and tightly covering the No. 1 barrel by a cover screwing manipulator; and the filling spray gun is used for filling the No. 2 barrel;
as shown in fig. 5(c), after the control device visually addresses the position of the barrel cover of the No. 4 barrel, the control device controls the cap screwing manipulator to continuously loosen the cap of the No. 4 barrel. And meanwhile, controlling the filling spray gun to sequentially fill the barrel No. 2. After the cover loosening of the barrel No. 4 is completed, the control device drives the cover screwing manipulator to move to the barrel cover of the barrel No. 1 again, and the barrel cover is taken out from the barrel cover cache assembly to tightly cover the barrel No. 1. Similarly, when barrel number 2 enters the fine filling stage, the capping robot leaves the barrel face.
Step S106, the filling spray gun sequentially fills the remaining filling barrels which are not filled; and sequentially tightening the cover of the filling barrel which is filled by the cover screwing manipulator.
As shown in fig. 5(d) -5 (f), after the filling of the barrel number 2 is completed, the filling spray gun is sequentially moved to the barrel number 3 for filling. And the cap screwing manipulator moves to the No. 2 barrel to tightly cover the No. 2 barrel. By controlling the time sequence, when the filling spray gun finishes filling the last filling barrel of the batch, returning to the original position; and returning to the original position after the cap screwing manipulator finishes the action of tightly screwing the cap of the last filling barrel.
According to the filling control method, in the filling system, the cap screwing manipulator and the filling spray gun are located at different heights of the filling main frame, and the filling barrels are filled in sequence through time sequence control, so that the cap screwing manipulator and the filling spray gun are prevented from colliding in the moving and executing respective operations. Meanwhile, the parallel operation of cap screwing and filling can be realized, and the filling efficiency is improved.
Although the idea of the invention has been described by means of the above specific embodiments, it will be appreciated by those skilled in the art that further modifications are conceivable on the basis of the teaching of the invention, for example by combining features of the embodiments with each other and/or interchanging functional units between the embodiments. Therefore, all fall within the scope of protection of the present application.
While the invention has been described with reference to a number of specific embodiments, it will be understood by those skilled in the art that the foregoing embodiments are merely illustrative of the invention, and various changes in and substitutions of equivalents may be made without departing from the spirit of the invention. Therefore, changes and modifications to the above-described embodiments within the spirit and scope of the present invention will fall within the scope of the claims of the present application.

Claims (12)

1. A multi-barrel filling system, comprising: a first moving assembly and a second moving assembly are respectively arranged at different heights of the filling main frame;
the front end of the first moving assembly is connected with a cover screwing manipulator; the front end of the second moving assembly is connected with a filling spray gun.
2. The multi-barrel filling system of claim 1, wherein said first moving ramp assembly comprises a first coordinate moving ramp; the second movable sliding table assembly comprises a second coordinate movable sliding table.
3. The multiple-barrel filling system of a filling plant according to claim 1,
the first coordinate removes the slip table and the second coordinate removes the slip table includes: an X-axis moving sliding table driving device, a beam for X-axis movement and a guide rail sliding block; y axle removes slip table drive arrangement, and Y axle removes uses crossbeam and guide rail slider assembly.
4. The multi-barrel filling system of a filling apparatus according to claim 1, further comprising:
the weighing device is used for weighing each filling barrel to determine the filling state;
the addressing device is arranged in the filling chamber and used for determining the position of a barrel cover of the filling barrel;
the cover screwing mechanical arm is connected with the moving device;
a filling spray gun connected to the moving device;
and the control device is used for controlling the cap screwing manipulator to sequentially loosen the caps of one or more non-filled filling barrels, synchronously controlling the filling spray gun to sequentially fill the filling barrels after the caps are loosened, and synchronously controlling the cap screwing manipulator to tightly cover the filling barrels after filling.
5. The multi-barrel filling system according to claim 4, wherein the addressing device comprises a visual addressing camera.
6. The multi-barrel filling system of claim 4, wherein said capping robot comprises:
screwing a cover gripper assembly;
the movable guide rail assembly is vertically arranged and connected with the cover screwing and grabbing assembly;
the driving device is used for driving the guide rail assembly and the cover screwing gripper assembly to vertically move up and down;
and the barrel cover buffer component is used for temporarily storing the barrel cover obtained by the cap screwing gripper component.
7. The multi-barrel filling system according to claim 4 wherein said control means controlling said filling guns to sequentially fill the uncapped filling barrels comprises:
carrying out rough filling on a filling barrel in the current filling process; and the number of the first and second groups,
and when the weighing device detects that the filling barrel in the current filling reaches the preset weight, controlling the filling spray gun to enter the fine filling.
8. The multi-barrel filling system according to claim 7,
when the filling barrel in the current filling is subjected to rough filling, the control device controls the cap screwing manipulator to synchronously perform cap loosening or cap tightening actions on other filling barrels; and the number of the first and second electrodes,
when the filling spray gun enters fine filling, the control device controls the cap screwing manipulator to leave the surface of the filling barrel.
9. A method of filling a plurality of barrels, comprising:
determining the position of a barrel cover of the filling barrel through an addressing device;
controlling a cap screwing manipulator to sequentially loosen the caps of one or more unfilled filling barrels; synchronously controlling the filling spray gun to sequentially fill the filling barrel after the cover is loosened; and synchronously controlling the cap screwing manipulator to tightly cover the filled filling barrel.
10. The method of claim 9, wherein controlling the capping robot to sequentially release caps from the unfilled one or more filled barrels comprises:
detecting the weight of the filling barrel, and when the filling barrel is in rough filling, loosening the cover of one or more non-filled filling barrels; and stopping the cover loosening of the filling barrel when the filling barrel is in fine filling.
11. The method of claim 9, wherein said synchronously controlling the capping robot to cap the filled drums comprises:
detecting the weight of the filling barrel, and tightly covering the filled filling barrel when the filling barrel is in rough filling; and stopping the tight covering of the filling barrel when the filling barrel is in the fine filling state.
12. The method of claim 9, wherein said synchronously controlling the capping robot to cap the filled drums comprises: after the cover loosening of all the filling barrels is finished, the cover screwing manipulator is synchronously controlled to tightly cover the filling barrels after the filling is finished.
CN201910958952.7A 2019-10-10 2019-10-10 Multi-barrel filling system and method Pending CN112645266A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113501483A (en) * 2021-07-29 2021-10-15 常州纺织服装职业技术学院 IBC barrel double-station automatic filling line control method
CN113896161A (en) * 2021-06-13 2022-01-07 展一智能科技(东台)有限公司 Efficient subpackaging robot and subpackaging method
CN113929044A (en) * 2021-10-07 2022-01-14 展一智能科技(东台)有限公司 Single-machine double-station filling system
CN113929037A (en) * 2021-10-07 2022-01-14 展一智能科技(东台)有限公司 Single-machine double-station filling method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113896161A (en) * 2021-06-13 2022-01-07 展一智能科技(东台)有限公司 Efficient subpackaging robot and subpackaging method
CN113896161B (en) * 2021-06-13 2022-11-18 展一智能科技(东台)有限公司 Subpackaging robot and subpackaging method
CN113501483A (en) * 2021-07-29 2021-10-15 常州纺织服装职业技术学院 IBC barrel double-station automatic filling line control method
CN113929044A (en) * 2021-10-07 2022-01-14 展一智能科技(东台)有限公司 Single-machine double-station filling system
CN113929037A (en) * 2021-10-07 2022-01-14 展一智能科技(东台)有限公司 Single-machine double-station filling method

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