CN113772609B - Intelligent robot-assisted full-automatic beverage filling and packaging system - Google Patents
Intelligent robot-assisted full-automatic beverage filling and packaging system Download PDFInfo
- Publication number
- CN113772609B CN113772609B CN202111053281.3A CN202111053281A CN113772609B CN 113772609 B CN113772609 B CN 113772609B CN 202111053281 A CN202111053281 A CN 202111053281A CN 113772609 B CN113772609 B CN 113772609B
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- cup body
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- 235000013361 beverage Nutrition 0.000 title claims abstract description 61
- 238000004806 packaging method and process Methods 0.000 title claims abstract description 13
- 238000007599 discharging Methods 0.000 claims abstract description 35
- 238000002360 preparation method Methods 0.000 claims abstract description 26
- 235000011194 food seasoning agent Nutrition 0.000 claims abstract description 20
- 239000000796 flavoring agent Substances 0.000 claims abstract description 7
- 235000019634 flavors Nutrition 0.000 claims abstract description 4
- 239000002390 adhesive tape Substances 0.000 claims description 60
- 238000006073 displacement reaction Methods 0.000 claims description 33
- 238000004804 winding Methods 0.000 claims description 14
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 238000003825 pressing Methods 0.000 claims description 5
- 238000002156 mixing Methods 0.000 claims description 4
- 238000011065 in-situ storage Methods 0.000 claims description 2
- 230000035622 drinking Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
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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
- B67C3/02—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
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/30—Belts or like endless load-carriers
- B65G15/58—Belts or like endless load-carriers with means for holding or retaining the loads in fixed position, e.g. magnetic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H35/00—Delivering articles from cutting or line-perforating machines; Article or web delivery apparatus incorporating cutting or line-perforating devices, e.g. adhesive tape dispensers
- B65H35/04—Delivering articles from cutting or line-perforating machines; Article or web delivery apparatus incorporating cutting or line-perforating devices, e.g. adhesive tape dispensers from or with transverse cutters or perforators
- B65H35/06—Delivering articles from cutting or line-perforating machines; Article or web delivery apparatus incorporating cutting or line-perforating devices, e.g. adhesive tape dispensers from or with transverse cutters or perforators from or with blade, e.g. shear-blade, cutters or perforators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H37/00—Article or web delivery apparatus incorporating devices for performing specified auxiliary operations
- B65H37/04—Article or web delivery apparatus incorporating devices for performing specified auxiliary operations for securing together articles or webs, e.g. by adhesive, stitching or stapling
-
- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12G—WINE; PREPARATION THEREOF; ALCOHOLIC BEVERAGES; PREPARATION OF ALCOHOLIC BEVERAGES NOT PROVIDED FOR IN SUBCLASSES C12C OR C12H
- C12G3/00—Preparation of other alcoholic beverages
- C12G3/04—Preparation of other alcoholic beverages by mixing, e.g. for preparation of liqueurs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/10—Handled articles or webs
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Organic Chemistry (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Biochemistry (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Genetics & Genomics (AREA)
- Health & Medical Sciences (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Textile Engineering (AREA)
- Package Closures (AREA)
Abstract
The application discloses an intelligent robot-assisted full-automatic beverage filling and packaging system, which comprises a beverage preparation device and a cup body feeding device; the beverage preparation device comprises a frame, wherein the frame comprises a beverage preparation platform and a placing rack for placing multiple flavors of seasoning bottles, a to-be-placed area and an industrial robot are arranged on the beverage preparation platform, a first pneumatic clamping jaw is arranged on the industrial robot, and a cup body feeding device is arranged beside the beverage preparation platform; the cup body feeding device comprises a linear conveyor for feeding, a linear conveyor for discharging, an automatic rubberizing mechanism and a cup body grabbing manipulator; the continuous steps of cup feeding, beverage preparation and cup discharging are automatically completed, so that the function of automatically preparing beverages is realized, and the equipment can be used for preparing beverages such as cocktails in a large scale, so that the application range of the beverages such as cocktails is wide, the beverages do not need to enter bars for drinking, and the drinking cost of consumers is reduced.
Description
Technical Field
The application relates to the technical field of automatic beverage preparation, in particular to an intelligent robot-assisted full-automatic beverage filling and packaging system.
Background
At present, the on-site blending of cocktail and other beverages is carried out by professional cocktail makers according to the beverages sold by shops, however, the manual wages of the cocktail makers are higher, the technical levels of the cocktail makers are different, and the measuring cup for cocktail is in a condition without scales, so that the requirements of customers are easily met due to the fact that the cocktail is easy to be adjusted, and meanwhile, when the cocktail and other beverages need to be drunk, occasions such as bars are required to be entered, so that the drinking range is greatly limited, the cocktail maker has lower alcohol adjusting efficiency and higher drinking cost, and therefore, automatic production equipment capable of producing cocktail in a large scale with high efficiency and low cost is urgently needed.
Disclosure of Invention
The application aims to solve the defects of the technology, and discloses an intelligent robot-assisted full-automatic beverage filling and packaging system which has the following specific structure.
The intelligent robot-assisted full-automatic beverage filling and packaging system comprises a beverage preparation device and a cup body feeding device;
the beverage preparation device comprises a frame, wherein the frame comprises a beverage preparation platform and a placing rack for placing multiple flavors of seasoning bottles, a to-be-placed area and an industrial robot are arranged on the beverage preparation platform, a first pneumatic clamping jaw is arranged on the industrial robot, and a cup body feeding device is arranged beside the beverage preparation platform;
the cup body feeding device comprises a linear conveyor for feeding, a linear conveyor for discharging, an automatic rubberizing mechanism and a cup body grabbing manipulator; the feeding linear conveyor and the discharging linear conveyor are arranged in parallel, the discharging end of the feeding linear conveyor and the feeding end of the discharging linear conveyor are combined to form a feeding and discharging part, the cup body grabbing manipulator is positioned above the feeding and discharging part, and the automatic rubberizing mechanism is arranged at the discharging end of the feeding linear conveyor;
wherein, the cup body formed by the combination of the outer shell and the inner shell which are mutually penetrated is fed onto the feeding track of the linear conveyor for feeding, the feeding track of the linear conveyor for feeding conveys the cup body to the discharge end of the linear conveyor, the cup body grabbing manipulator grabs and conveys the cup body to the automatic rubberizing mechanism, the automatic rubberizing mechanism sticks the adhesive tape to the cup body, so that the outer shell and the inner shell are mutually adhered, at the moment, the cup body grabbing manipulator grabs the cup body from the automatic rubberizing mechanism and then conveys the cup body to a to-be-put area of the beverage blending platform,
according to a preset multi-flavor seasoning bottle grabbing program, the industrial robot enables the first pneumatic clamping jaw to act, each seasoning bottle on the placing rack is grabbed and placed in a cup body of a to-be-placed area in sequence, and after the placing is finished, the seasoning bottles are placed in situ;
the pneumatic clamping jaw of the industrial robot is used for grabbing the cup body filled with the prepared beverage and conveying the cup body to the discharging track of the linear conveyor for discharging.
Preferably, the automatic rubberizing mechanism comprises a cup body positioning table arranged at the discharge end of the linear conveyor for feeding, and a first rubberizing device and a second rubberizing device, wherein a cup body positioning block is arranged on the cup body positioning table, a cup body positioning groove is formed in the cup body positioning block, the first rubberizing device and the second rubberizing device are respectively arranged at the left side and the right side of the cup body positioning block, and rubberizing parts of the first rubberizing device and rubberizing parts of the second rubberizing device respectively correspond to positions of the cup body positioning groove.
Preferably, the first rubberizing device comprises a first support, a first horizontal pushing cylinder, a first vertical lifting cylinder and a second vertical lifting cylinder, the first support comprises a first working table surface, a first movable cutter, a first adhesive tape tensioning device and a first adhesive tape winding disc are sequentially arranged on the first working table surface in a straight line shape from left to right, the first adhesive tape winding disc is rotatably arranged on the first working table surface through a support, the first horizontal pushing cylinder is arranged on the first working table surface through a support block, a first translation block is fixed on a piston rod of the first horizontal pushing cylinder, a first translation rod is fixed on the first translation block, the first translation rod is positioned above a cup body in a cup body positioning groove, a first fixed clamping block is fixed at the end part of the first translation rod, one end face with a piston rod on the first vertical lifting cylinder is fixed on the first fixed clamping block, the lower side of the first fixed clamping block is attached with a first movable clamping block, a piston rod of a first vertical lifting cylinder penetrates through the first fixed clamping block and then is fixedly connected with the first movable clamping block, the end part of the first fixed clamping block and the end part of the first movable clamping block are corresponding to the position of a first adhesive tape tensioning device, a first mounting frame is fixed at the other end of the first vertical lifting cylinder, a second vertical lifting cylinder is fixedly mounted on the first mounting frame, a first transverse plate is fixed at the end part of the piston rod of the second vertical lifting cylinder, the left end and the right end of the first transverse plate are respectively hinged with a first clamping plate through pin shafts, the two first clamping plates are connected through springs, a first pinch roller is rotatably mounted at the bottom ends of the two first clamping plates through a rotating shaft, the space position between the two first clamping plates corresponds to the rim of a cup opening edge position of the cup body, a first perforation is arranged at the left end of the first working table, a first movable cutter penetrates through the first perforation, a third vertical lifting cylinder is fixed on the bottom surface of the left end of the first workbench surface through a first supporting plate, and the end part of a piston rod of the third vertical lifting cylinder is fixedly connected with the bottom end of the first movable cutter.
Preferably, a first guide sleeve is fixed at the position with the first perforation on the first workbench surface, and the first guide sleeve is sleeved on the first movable cutter.
Preferably, a first supporting seat is fixed on the first working table surface, and the first translation block is placed on the top surface of the first supporting seat.
Preferably, the second rubberizing device comprises a second support, a second horizontal pushing cylinder, a fourth vertical lifting cylinder and a fifth vertical lifting cylinder, the second support comprises a second working table, a second movable cutter, a second adhesive tape tensioning device and a second adhesive tape winding disc are sequentially arranged on the second working table from right to left in a straight shape, the second adhesive tape winding disc is rotatably mounted on the second working table through a support, the second horizontal pushing cylinder is mounted on the second working table through a support block, a second translation block is fixed on a piston rod of the second horizontal pushing cylinder, a second translation rod is fixed on the second translation block, a second fixed clamping block is fixed at the end part of the second translation rod, a piston rod is arranged above a cup body in a cup body positioning groove, a second movable clamping block is fixed on one end surface of the fourth vertical lifting cylinder, a second movable clamping block is attached to the lower side surface of the second fixed clamping block, the second movable clamping block penetrates through the second fixed clamping block and is fixedly connected with the second movable clamping block, the end part of the second fixed clamping block and the second movable clamping block is fixedly connected with a second piston rod through a second pin, the end part of the second vertical lifting cylinder is correspondingly provided with a second movable clamping block, a piston rod is correspondingly provided with a piston rod through a second movable clamping block, a piston rod is correspondingly provided with a piston rod, a piston rod is correspondingly provided with a second movable clamping plate, a piston rod is provided with a piston rod, and is provided with a piston rod, a piston rod is provided with a sealing device, the bottom surface of the right end of the second workbench surface is fixed with a sixth vertical lifting cylinder through a second supporting plate, the end part of a piston rod of the sixth vertical lifting cylinder is fixedly connected with the bottom end of the second movable cutter, and the positions of the first adhesive tape tensioning device and the second adhesive tape tensioning device correspond to each other.
Preferably, a second guide sleeve is fixed at the position with the second perforation on the second workbench surface, and the second guide sleeve is sleeved on the second movable cutter.
Preferably, a second supporting seat is fixed on the second working table surface, and the second translation block is placed on the top surface of the second supporting seat.
Preferably, the first and second tape tensioners each comprise a plurality of tensioning roller assemblies arranged in a line.
Preferably, the cup body grabbing manipulator comprises a plurality of struts, a transverse servo displacement driving mechanism, a longitudinal servo displacement driving mechanism, a vertical lifting driving mechanism and a second pneumatic clamping jaw which are positioned above the feeding and discharging parts, wherein the transverse servo displacement driving mechanism is fixed on the table top of the long supporting table through the struts, the longitudinal servo displacement driving mechanism is fixed on a sliding block of the transverse servo displacement driving mechanism, the vertical lifting driving mechanism is fixed on a sliding block of the longitudinal servo displacement driving mechanism, and the second pneumatic clamping jaw is fixed on a vertical lifting rod of the vertical lifting driving mechanism.
The intelligent robot-assisted full-automatic beverage filling and packaging system designed by the application utilizes the automatic blending of cocktail and other beverages, so that the labor cost of shops such as bars is reduced, corresponding beverages can be obtained according to the flavoring values set according to the beverage correspondingly pushed out and sold, and the beverage such as cocktail can be produced in a large scale and high efficiency, and can be sold in supermarkets, markets and the like, so that the range of people needing to drink is wide, and the cost of producing the beverage such as cocktail is reduced.
Drawings
FIG. 1 is a schematic diagram of an overall system architecture (one);
FIG. 2 is a schematic diagram of the overall system architecture (II);
FIG. 3 is an enlarged view at A;
FIG. 4 is a schematic diagram of the overall system architecture (III);
FIG. 5 is a schematic diagram of an automatic rubberizing mechanism;
FIG. 6 is a schematic diagram of an automatic rubberizing mechanism;
FIG. 7 is an enlarged view at B;
fig. 8 is a schematic view of the structure of the beverage preparation device.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the application, fall within the scope of protection of the application.
Examples:
as shown in the drawings, the intelligent robot-assisted full-automatic beverage filling and packaging system described in the present embodiment comprises a beverage preparation device 6 and a cup feeding device 3; the beverage preparation device 6 and the cup feeding device 3 are matched with each other to complete the continuous steps of cup feeding, beverage preparation and cup discharging, so as to realize the function of automatically preparing beverages such as cocktail and the like, and the beverage preparation device 6 and the cup feeding device 3 are respectively connected with and controlled by a PLC.
The beverage preparation device 6 comprises a frame 1, wherein the frame 1 comprises a beverage preparation platform 11 and a placing frame 2 for placing a plurality of flavor seasoning bottles 400, a to-be-placed area 300 and an industrial robot 4 are arranged on the beverage preparation platform 11, a first pneumatic clamping jaw 8 is arranged on the industrial robot 4, and a cup body feeding device is arranged beside the beverage preparation platform 11; the industrial robot 4 is connected with and controlled by PCL control, a touch screen is arranged on the PLC, and the first pneumatic clamping jaw 8 is connected with and controlled by the PLC through an air pump.
The cup body feeding device 3 comprises a linear conveyor 31 for feeding, a linear conveyor 32 for discharging, an automatic rubberizing mechanism 36 and a cup body grabbing manipulator 35; the feeding linear conveyor 31 and the discharging linear conveyor 32 are arranged in parallel, the discharging end of the feeding linear conveyor 31 and the feeding end of the discharging linear conveyor 32 are combined to form a feeding and discharging part 33, the cup grabbing manipulator 35 is positioned above the feeding and discharging part 33, and the automatic rubberizing mechanism 36 is arranged at the discharging end of the feeding linear conveyor 31; the feeding linear conveyor 31 and the discharging linear conveyor 32 are both crawler conveyors, and the feeding linear conveyor 31, the discharging linear conveyor 32, the automatic rubberizing mechanism 36 and the cup grabbing manipulator 35 are respectively connected with and controlled by PCL control.
Preferably, the automatic rubberizing mechanism 36 comprises a cup positioning table 363 arranged at the discharge end of the linear conveyor 31 for feeding, a first rubberizing device 361 and a second rubberizing device 362, a cup positioning block 364 is arranged on the cup positioning table 363, a cup positioning groove 365 is arranged on the cup positioning block 364, the first rubberizing device 361 and the second rubberizing device 362 are respectively arranged on the left side and the right side of the cup positioning block 364, rubberizing parts of the first rubberizing device 361 and rubberizing parts of the second rubberizing device 362 respectively correspond to positions of the cup positioning groove 365, and the first rubberizing device 361 and the second rubberizing device 362 are respectively connected with and controlled by PCL control.
Further preferably, the cup gripping robot 35 further comprises an elongated support table 34, the feeding linear conveyor 31 and the discharging linear conveyor 32 are fixedly mounted on the table top of the elongated support table 34, the cup gripping robot 35 comprises a plurality of struts 355, a transverse servo displacement driving mechanism 351, a longitudinal servo displacement driving mechanism 352, a vertical lifting driving mechanism 353 and a second pneumatic clamping jaw 354 which are positioned above the feeding and discharging part 33, the transverse servo displacement driving mechanism 351 is fixed on the table top of the elongated support table 34 through the plurality of struts 355, the longitudinal servo displacement driving mechanism 352 is fixed on the sliding block of the transverse servo displacement driving mechanism 351, the vertical lifting driving mechanism 353 is fixed on the sliding block of the longitudinal servo displacement driving mechanism 352, the second pneumatic clamping jaw 354 is fixed on the vertical lifting rod of the vertical lifting driving mechanism 353, the transverse servo displacement driving mechanism 351 and the longitudinal servo displacement driving mechanism 352 are both servo sliding tables, and the vertical lifting driving mechanism 353 are vertical lifting cylinders, and therefore the transverse servo displacement driving mechanism 351 and the longitudinal servo displacement driving mechanism 352 are respectively connected with a PLC controller and controlled by the PLC, and the second pneumatic clamping jaw 354 and the vertical lifting driving mechanism are connected with the PLC controller and controlled by the controller.
Working principle: firstly, a cup body formed by mutually penetrating and combining an outer shell and an inner shell is fed onto a feeding track 310 of a linear conveyor 31 for feeding, a first cup body positioning disc 311 is fixed on the feeding track 310, an empty cup body is placed in a positioning cavity of the first cup body positioning disc 311, at the moment, the feeding track 310 of the linear conveyor 31 for feeding moves to convey the cup body to a discharge end of the cup body, a transverse servo displacement driving mechanism 351 drives a longitudinal servo displacement driving mechanism 352 to displace to correspond to the position of the discharge end of the linear conveyor 31 for feeding, then the longitudinal servo displacement driving mechanism 352 drives a vertical lifting driving mechanism 353 to correspond to the position of a cup body positioning disc at the discharge end of the linear conveyor 31 for feeding, correspondingly, a second pneumatic clamping jaw 354 also corresponds to the position of a cup body positioning disc at the discharge end of the linear conveyor 31 for feeding, the second pneumatic clamping jaw 354 is driven to descend by the vertical lifting driving mechanism 353, the cup body in the first cup body positioning disc 311 is grabbed, the grabbed cup body is placed in the cup body positioning groove 365 of the cup body positioning table 363 under the mutual cooperation and linkage of the longitudinal servo displacement driving mechanism 352, the transverse servo displacement driving mechanism 351 and the vertical lifting driving mechanism 353, at the moment, the second pneumatic clamping jaw 354 is driven to ascend by the vertical lifting driving mechanism 353, then the rubberizing part of the first rubberizing device 361 and the rubberizing part of the second rubberizing device 362 act simultaneously, the adhesive tape is applied to the cup body, the outer shell and the inner shell are adhered mutually, finally, the longitudinal servo displacement driving mechanism 352, the transverse servo displacement driving mechanism 351 and the vertical lifting driving mechanism 353 are linked again, the adhered cup body is grabbed from the automatic rubberizing mechanism 36 and then is conveyed to the to-be-allocated area 300 of the beverage platform 11, thereby completing the feeding of the cup body.
Secondly, the industrial robot 4 enables the first pneumatic clamping jaw 8 to act according to a preset grabbing program of the multi-flavor seasoning bottles 400, each seasoning bottle 400 on the placing frame 2 is grabbed and placed into the cup body 100 of the to-be-placed area 300 in sequence, and after the placing is finished, the seasoning bottles 400 are placed in place; the pneumatic clamping jaw 8 of the industrial robot 4 is operated to grab the cup body 100 filled with the prepared beverage and convey the cup body to the blanking crawler 320 of the blanking linear conveyor 32, the second cup body positioning disc 321 is fixed on the blanking crawler 320, and the cup body 100 filled with the prepared beverage is placed in the second cup body positioning disc 321 for positioning.
Wherein, the method further comprises the steps of setting the bottle opening downward time of the seasoning bottle 400 and the pouring angle of the seasoning bottle 400 by the industrial robot 4, determining the amount of the seasoning applied into the cup body 100, setting the amount of the seasoning applied into the cup body 100 accurately, thereby reliably controlling the taste of the beverage, setting the bottle opening downward time and the pouring angle of the seasoning bottle 400 by a program in a PLC controller, and controlling the industrial robot 4 to finish the operation.
In this embodiment, the first rubberizing device 361 comprises a first support 381, a first horizontal pushing cylinder 370, a first vertical lifting cylinder 374 and a second vertical lifting cylinder 376, the first support 381 comprises a first working table 3810, a first movable cutter 366, a first adhesive tape tensioning device 367 and a first adhesive tape winding disc 368 are sequentially arranged on the first working table 3810 from left to right in a straight shape, the first adhesive tape winding disc 368 is rotatably mounted on the first working table 3810 through a bracket 369, the first horizontal pushing cylinder 370 is mounted on the first working table 3810 through a supporting block 391, a first translation block 380 is fixed on a piston rod of the first horizontal pushing cylinder 370, a first translation rod 371 is fixed on the first translation block 380, the end part of the first translation rod 371 is fixed on a cup body 100 in a cup body positioning groove 365, one end surface of the first vertical lifting cylinder 374 with a piston rod is fixed on the first fixed clamp 372, the lower side surface of the first fixed clamp 372 is attached to the first fixed clamp block, the lower side surface of the first fixed clamp 373 is correspondingly connected with the first fixed clamp plate 379 through a first rotating shaft 379, the piston rod is hinged to the second end part of the first vertical lifting cylinder 3735 through a first pin roll 379, the piston rod is hinged to the first clamp plate 3735 is fixed on the end part of the first vertical lifting cylinder 3735, the piston rod is hinged to the piston rod 37is fixed on the first piston rod 37is fixed by a piston rod 37is fixed on the piston rod side, the space position between the two first clamping plates 378 corresponds to the rim of the cup mouth edge position of the cup body, a first perforation is arranged at the left end of the first working table surface 3810, a first movable cutter 366 penetrates through the first perforation, a third vertical lifting cylinder 384 is fixed at the bottom surface of the left end of the first working table surface 3810 through a first supporting plate 383, and the end part of a piston rod of the third vertical lifting cylinder 384 is fixedly connected with the bottom end of the first movable cutter 366.
The above state is that the cup body is already in the cup body positioning groove 365, the piston rod of the first horizontal pushing cylinder 370 extends out, so that the two first clamping plates 378, the first fixing clamping block 372 and the first movable clamping block 373 are all located above the cup body, the end part of the adhesive tape 200 is clamped and pulled out under the mutual closing state of the first fixing clamping block 372 and the first movable clamping block 373, the adhesive tape 200 is located between the two first clamping plates 378 and the cup opening edge of the cup body 100, the piston rod of the third vertical lifting cylinder 384 extends out to drive the first movable cutter 366 to move upwards, the edge part of the first movable cutter 366 is contacted with the adhesive tape, then the piston rod of the second vertical lifting cylinder 376 descends to drive the two first clamping plates 378 to enable the first pressing roller 379 to press the adhesive tape until the cup opening edge of the cup body enters between the two first clamping plates 378, the inner wall and the outer wall of the cup body are attached to the cup opening edge of the cup body 100 under the action of the two first pressing rollers 379, the inner shell and the outer shell of the cup body are adhered to each other, and the adhesive tape 200 is pressed down under the action of the first vertical lifting cylinder 376, and the adhesive tape is placed in the cup body 300 to be attached to the cup body 300, and the adhesive tape is placed in the holding area of the cup body 300 at the holding area to be placed; then the first movable cutter 366 moves downwards under the action of the retraction of the piston rod of the third vertical lifting cylinder 384, the first vertical lifting cylinder 374 and the second vertical lifting cylinder 376 reset to the above of the first movable cutter 366 under the action of the retraction of the piston rod of the first horizontal pushing cylinder 370, at this time, the piston rod of the first vertical lifting cylinder 374 extends out, the first fixed clamp block 372 and the first movable clamp block 373 are opened, the end part of the adhesive tape above the first movable cutter 366 enters between the first fixed clamp block 372 and the first movable clamp block 373, then the piston rod of the first vertical lifting cylinder 374 retracts, the first fixed clamp block 372 and the first movable clamp block 373 are driven to be mutually closed to clamp the end part of the adhesive tape above the first movable cutter 366, simultaneously, the cup grabbing manipulator 35 grabs and places the cup body at the discharge end of the feeding linear conveyor 31 into the cup body positioning groove 365 again, the piston rod of the first horizontal pushing cylinder 370 stretches out again, the two first clamp blocks 372 and the first movable clamp block 373 are positioned above the cup body, and the end part of the adhesive tape above the first movable clamp block 372 and the first movable clamp block 373 are driven to be mutually closed to enable the cup body to be repeatedly lifted and the cup body to be in a position along the cup body, and the cup body is further lifted and the cup is further driven to be in a position along the cup opening mode to be in which the cup body is repeatedly lifted and the cup-shaped.
Preferably, a first guiding sleeve 382 is fixed on the first table 3810 at the position with the first perforation, and the first guiding sleeve 382 is sleeved on the first movable cutter 366, and the structure is arranged to make the lifting displacement of the first movable cutter 366 stable and reliable.
Preferably, the first table top 3810 is fixed with a first supporting seat 385, and the first translation block 380 is disposed on the top surface of the first supporting seat 385, and the structure thereof is arranged to support the first translation block 380 during displacement, so that translation is stable and reliable, and service performance of the structure is improved.
In this embodiment, the second rubberizing device 362 includes a second support 404, a second horizontal pushing cylinder 390, a fourth vertical lifting cylinder 396 and a fifth vertical lifting cylinder 398, the second support 404 includes a second working table 4040, a second movable cutter 386, a second tape tensioning device 387 and a second tape winding disc 388 are sequentially arranged in a straight shape from right to left on the second working table 4040, the second tape winding disc 388 is rotatably mounted on the second working table 4040 through a bracket 369, the second horizontal pushing cylinder 390 is mounted on the second working table 4040 through a supporting block 391, a second translation block 392 is fixed on a piston rod of the second horizontal pushing cylinder 390, a second translation rod 393 is fixed on the second translation block 392, the second translation rod 393 is positioned above the cup 100 in the cup positioning groove 365, a second fixing clamp 394 is fixed on an end of the second translation rod 393, one end face with a piston rod on the fourth vertical lifting cylinder 396 is fixed on the second fixed clamping block 394, the second movable clamping block 395 is attached to the lower side face of the second fixed clamping block 394, the piston rod of the fourth vertical lifting cylinder 396 penetrates through the second fixed clamping block 394 and then is fixedly connected with the second movable clamping block 395, the end part of the second fixed clamping block 394 and the end part of the second movable clamping block 395 correspond to the position of the second adhesive tape tensioning device 387, the other end of the fourth vertical lifting cylinder 396 is fixed with a second mounting frame 397, a fifth vertical lifting cylinder 398 is fixedly mounted on the second mounting frame 397, the end part of the piston rod of the fifth vertical lifting cylinder 398 is fixed with a second transverse plate 399, the left end and the right end of the second transverse plate 399 are respectively hinged with a second clamping plate 401 through pins, the two second clamping plates 401 are connected through springs 402, the bottom ends of the two second clamping plates 401 are rotatably mounted with a second compression roller 403 through a rotating shaft, the space position between the two second clamping plates 401 corresponds to the rim of a cup mouth of the cup body, a second perforation is formed in the right end of the second working table 4040, a second movable cutter 386 penetrates through the second perforation, a sixth vertical lifting cylinder 406 is fixed on the bottom surface of the right end of the second working table 4040 through a second supporting plate 405, the end portion of a piston rod of the sixth vertical lifting cylinder 406 is fixedly connected with the bottom end of the second movable cutter 386, and the positions of the first adhesive tape tensioning device 367 and the second adhesive tape tensioning device 387 correspond to each other.
The above state is that the cup body is already in the cup body positioning groove 365, the piston rod of the second horizontal pushing cylinder 390 extends out, so that the two second clamping plates 401, the second fixed clamping block 394 and the second movable clamping block 395 are all located above the cup body, the end part of the adhesive tape 200 is clamped and pulled out under the mutually closed state of the second fixed clamping block 394 and the second movable clamping block 395, the adhesive tape is located between the two second clamping plates 401 and the cup opening edge of the cup body 100, the piston rod of the sixth vertical lifting cylinder 406 extends out to drive the second movable cutter 386 to move upwards, the edge part of the second movable cutter 386 is in contact with the adhesive tape, then the piston rod of the fifth vertical lifting cylinder 398 descends to drive the two second clamping plates 401 to enable the second pressing roller 403 to press the adhesive tape until the cup opening edge of the cup body 100 enters between the two second clamping plates 401, the adhesive tape is attached to the inner wall and the outer wall of the cup body under the action of the two second pressing rollers 403, the inner shell of the cup body 386 is attached to the inner shell of the cup body, the adhesive tape is simultaneously cut off under the action of the second movable cutter 386, and the adhesive tape is placed in the cup body to be attached to the cup body 300, and the adhesive tape is placed in a mechanical holding area to be attached at the cup body 300 at the same time; then the second movable cutter 386 moves downwards under the action of the retraction of the piston rod of the sixth vertical lifting cylinder 406, the fourth vertical lifting cylinder 396 and the fifth vertical lifting cylinder 398 are reset to the upper part of the second movable cutter 386 under the action of the retraction of the piston rod of the second horizontal pushing cylinder 390, at this time, the piston rod of the fourth vertical lifting cylinder 396 extends out to open the second fixed clamping block 394 and the second movable clamping block 395, so that the end part of the adhesive tape above the second movable cutter 386 enters between the second fixed clamping block 394 and the second movable clamping block 395, then the piston rod of the fourth vertical lifting cylinder 396 is retracted to drive the second fixed clamping block 394 and the second movable clamping block 395 to close each other to clamp the end part of the adhesive tape above the second movable cutter 386, and simultaneously, the cup grabbing manipulator 35 grabs and places the cup at the discharge end of the feeding linear conveyor 31 into the cup locating groove 365 again, the piston rod of the second horizontal pushing cylinder 390 extends again to make the two second clamping plates 401, the second fixed clamping block 394 and the second movable clamping block 395 all located above the cup body 100, and the end of the adhesive tape is clamped and pulled out by the second fixed clamping block 394 and the second movable clamping block 395 in the mutually closed state, so that the adhesive tape is located between the two second clamping plates 401 and the rim of the cup opening of the cup body 100, and the piston rod of the sixth vertical lifting cylinder 406 extends to drive the second movable cutter 386 to move upwards, so that the edge part of the second movable cutter 386 contacts with the adhesive tape, and then the adhesive tape 200 on the cup body is pasted again to the placed cup body 100 (the cup body which is not pasted with the adhesive tape) according to the above operation mode, so that the batch type adhesive tape pasting processing is repeatedly performed on the cup body according to the above operation steps.
Preferably, a second guiding sleeve 408 is fixed on the second table 4040 at a position with a second perforation, and the second guiding sleeve 408 is sleeved on the second movable cutter 386; the structure of the cutter is arranged to enable the lifting displacement of the second movable cutter 386 to be stable and reliable.
Preferably, the second table 4040 is fixed with a second supporting seat 407, and the second translation block 392 is disposed on the top surface of the second supporting seat 407, and the structure thereof is arranged to support the second translation block 392 during displacement, so that translation is stable and reliable, and service performance of the structure is improved.
Preferably, the first adhesive tape tensioning device 367 and the second adhesive tape tensioning device 387 each comprise a plurality of tensioning roller assemblies 3671 arranged in a line, the tensioning roller assemblies 3671 comprise a mounting seat 409 and tensioning rollers 410, and the tensioning rollers 410 are rotatably mounted on the mounting seat 409 through rotating shafts, wherein adhesive tapes on the first adhesive tape winding disc 368 and the second adhesive tape winding disc 388 respectively pass through the tensioning rollers in the plurality of tensioning roller assemblies 3671 and then pass out to be clamped by the fixed clamping blocks and the movable clamping blocks, so that the adhesive tapes are leveled, and the tensioning rollers can rotate when the adhesive tapes are pulled.
In summary, the first rubberizing device 361 and the second rubberizing device 362 can act synchronously, and the adhesive tape 200 is attached to two corresponding positions of the rim edge of the cup body, so as to improve the firmness and the pasting efficiency of the adhesive connection between the inner shell and the outer shell of the cup body 100.
In this embodiment, a display screen 9 is fixed on the top of the frame 1 through a connecting frame 10, and the display screen 9 is connected with and controlled by a PLC controller, which can display the type of taste of the beverage being produced at present.
In this embodiment, the placement frame 2 includes a first step 21 and a second step 22 for placing the seasoning bottle 400, and a plurality of recesses 23 arranged in a line are provided on each of the second step 22 and the second step 22, and the recesses 23 are matched with the seasoning bottle 400. The arrangement increases the number of bottles 400 to be placed and the gripping of the pneumatic clamping jaw 8 is performed while the bottles 400 are placed in the recess 23, so that the bottles 400 are reliably positioned.
Finally, the fixing can be fixed by bolts or welded according to practical conditions.
The present application is not limited to the above-mentioned preferred embodiments, and any person who can obtain other various products under the teaching of the present application can make any changes in shape or structure, and all the technical solutions that are the same or similar to the present application fall within the scope of the present application.
Claims (5)
1. An intelligent robot-assisted full-automatic beverage filling and packaging system is characterized by comprising a beverage preparation device (6) and a cup body feeding device (3);
the beverage preparation device (6) comprises a frame (1), the frame (1) comprises a beverage preparation platform (11) and a placing frame (2) for placing a plurality of flavor seasoning bottles (400), a to-be-placed area (300) and an industrial robot (4) are arranged on the beverage preparation platform (11), a first pneumatic clamping jaw (8) is arranged on the industrial robot (4), and a cup body feeding device is arranged beside the beverage preparation platform (11);
the cup body feeding device (3) comprises a linear conveyor (31) for feeding, a linear conveyor (32) for discharging, an automatic rubberizing mechanism (36) and a cup body grabbing manipulator (35); the feeding linear conveyor (31) and the discharging linear conveyor (32) are arranged in parallel, the discharging end of the feeding linear conveyor (31) and the feeding end of the discharging linear conveyor (32) are combined to form a feeding and discharging part (33), the cup body grabbing manipulator (35) is positioned above the feeding and discharging part (33), and the automatic rubberizing mechanism (36) is arranged at the discharging end of the feeding linear conveyor (31);
wherein, the cup body formed by the combination of the outer shell and the inner shell which are mutually penetrated is fed onto the feeding track (310) of the linear conveyor (31) for feeding, the feeding track (310) of the linear conveyor (31) for feeding is used for conveying the cup body to the discharge end of the feeding, the cup body grabbing manipulator (35) is used for grabbing and conveying the cup body onto the automatic rubberizing mechanism (36), the automatic rubberizing mechanism (36) is used for pasting the adhesive tape on the cup body, so that the outer shell and the inner shell are mutually adhered, at the moment, the cup body grabbing manipulator (35) is used for grabbing the cup body from the automatic rubberizing mechanism (36) and then conveying the cup body onto the to-be-put area (300) of the beverage blending platform (11),
according to a preset grabbing program of the multiple-flavor seasoning bottles (400), the industrial robot (4) enables the first pneumatic clamping jaw (8) to act, each seasoning bottle (400) on the placing rack (2) is grabbed and placed into a cup body (100) of the to-be-placed area (300) in sequence, and after the placing is finished, the seasoning bottles (400) are placed in situ;
the pneumatic clamping jaw (8) of the industrial robot (4) acts to grab the cup body (100) filled with the prepared beverage and convey the cup body to the discharging crawler belt (320) of the linear conveyor (32) for discharging;
the automatic rubberizing mechanism (36) comprises a cup body positioning table (363) arranged at the discharge end of the linear conveyor (31) for feeding, a first rubberizing device (361) and a second rubberizing device (362), a cup body positioning block (364) is arranged on the cup body positioning table (363), a cup body positioning groove (365) is formed in the cup body positioning block (364), the first rubberizing device (361) and the second rubberizing device (362) are respectively arranged on the left side and the right side of the cup body positioning block (364), and rubberizing parts of the first rubberizing device (361) and rubberizing parts of the second rubberizing device (362) correspond to positions of the cup body positioning groove (365) respectively;
the first rubberizing device (361) comprises a first support (381), a first horizontal pushing cylinder (370), a first vertical lifting cylinder (374) and a second vertical lifting cylinder (376), the first support (381) comprises a first working table surface (3810), first movable cutters (366), first adhesive tape tensioning devices (367) and first adhesive tape winding discs (368) are sequentially arranged on the first working table surface (3810) in a straight line shape from left to right, the first adhesive tape winding discs (368) are rotatably arranged on the first working table surface (3810) through supports (369), the first horizontal pushing cylinder (370) is arranged on the first working table surface (3810) through supporting blocks (391), a first translation block (380) is fixed on a piston rod of the first horizontal pushing cylinder (370), a first translation rod (371) is fixed on the first translation block (380), the end portion of the first translation rod (371) is fixed on a cup body in a cup body positioning groove (365), a first fixed clamping block (372) is fixed on the end portion of the first translation rod (371), the first horizontal pushing cylinder (374) is fixed on the first clamping block (372) and is connected with the first vertical lifting cylinder (372) through a supporting block (391), the end part of the first fixed clamping block (372) and the end part of the first movable clamping block (373) are corresponding to the positions of the first adhesive tape tensioning device (367), a first mounting frame (375) is fixed at the other end of the first vertical lifting cylinder (374), a second vertical lifting cylinder (376) is fixedly mounted on the first mounting frame (375), a first transverse plate (377) is fixed at the end part of a piston rod of the second vertical lifting cylinder (376), first clamping plates (378) are hinged to the left end and the right end of the first transverse plate (377) through pin shafts respectively, the two first clamping plates (378) are connected through springs (402), a first pressing roller (379) is rotatably mounted at the bottom ends of the two first clamping plates (378) through rotating shafts, the space position between the two first clamping plates (378) corresponds to the edge position of a cup opening of a cup body, a first perforation is formed in the left end of the first working table (3810), a first movable cutter (366) penetrates through the first perforation, a third clamping plate (378) is fixed at the bottom surface of the left end of the first working table (3810) through the first supporting plate (383), and the bottom surface of the left end of the first movable cutter (366) is connected with the piston rod of the first movable cutter (384) through the first vertical lifting cylinder (384);
a first guide sleeve (382) is fixed at the position with a first perforation on the first workbench surface (3810), and the first guide sleeve (382) is sleeved on the first movable cutter (366);
a first supporting seat (385) is fixed on the first working table surface (3810), and a first translation block (380) is arranged on the top surface of the first supporting seat (385);
the second rubberizing device (362) comprises a second support (404), a second horizontal pushing cylinder (390), a fourth vertical lifting cylinder (396) and a fifth vertical lifting cylinder (398), the second support (404) comprises a second workbench surface (4040), a second movable cutter (386), a second adhesive tape tensioning device (387) and a second adhesive tape winding disc (388) are sequentially arranged on the second workbench surface (4040) from right to left in a straight shape, the second adhesive tape winding disc (388) is rotatably arranged on the second workbench surface (4040) through a bracket (369), the second horizontal pushing cylinder (390) is arranged on the second workbench surface (4040) through a supporting block (391), a second translation block (392) is fixed on a piston rod of the second horizontal pushing cylinder (390), a second translation rod (393) is fixed on the second translation block (392), the end part of the second translation rod (393) is fixed on a cup body in a cup body positioning groove (365), a second translation block (393) is fixed on the end part of the second translation rod (393), the second translation block (393) is fixed on the piston rod (394) and is connected with the second vertical lifting block (394) through the second vertical lifting block (394) and is fixed on the piston rod (394), and the tip of second fixed clamp splice (394) and the tip of second movable clamp splice (395) all correspond with the position of second sticky tape overspeed device tensioner (387), the other end of fourth vertical lift cylinder (396) is fixed with second mounting bracket (397), fixed mounting fifth vertical lift cylinder (398) on second mounting bracket (397), piston rod tip of fifth vertical lift cylinder (398) is fixed with second transverse plate (399), the both ends are articulated second splint (401) respectively to the round pin axle about second transverse plate (399), connect through spring (402) between two second splint (401), second pinch roller (403) are installed through pivot rotation in the bottom of two second splint (401), the spatial position between two second splint (401) corresponds with the rim of cup mouth edge position of cup, second table surface (4040) right-hand member is provided with the second perforation, second movable (386) runs through the second perforation, second table surface (4040) right-hand member bottom is fixed with sixth vertical lift (406) through second backup pad (405), the cutter mouth edge position of second movable lift cylinder (387) corresponds with second sticky tape overspeed device (387).
2. The intelligent robot-assisted full-automatic beverage filling and packaging system of claim 1, wherein a second guide sleeve (408) is fixed to the second table top (4040) at a location with a second perforation, and the second guide sleeve (408) is sleeved on the second movable cutter (386).
3. The intelligent robot-assisted fully automatic beverage filling and packaging system of claim 1, wherein a second support base (407) is fixed to the second countertop (4040), and a second translation block (392) is placed on the top surface of the second support base (407).
4. A fully automatic beverage filling and packaging system with intelligent robotic assistance according to claim 2 or 3, wherein the first and second adhesive tape tensioning means (367, 387) each comprise a plurality of tensioning roller assemblies (3671) arranged in a line.
5. The intelligent robot-assisted full-automatic beverage filling and packaging system according to claim 4, further comprising an elongated supporting table (34), wherein the linear conveyor (31) for feeding and the linear conveyor (32) for discharging are fixedly mounted on a table top of the elongated supporting table (34), the cup gripping manipulator (35) comprises a plurality of struts (355), a transverse servo displacement driving mechanism (351) located above the feeding and discharging portion (33), a longitudinal servo displacement driving mechanism (352), a vertical lifting driving mechanism (353) and a second pneumatic clamping jaw (354), the transverse servo displacement driving mechanism (351) is fixed on the table top of the elongated supporting table (34) through a plurality of struts (355), the longitudinal servo displacement driving mechanism (352) is fixed on a slider of the transverse servo displacement driving mechanism (351), the vertical lifting driving mechanism (353) is fixed on a slider of the longitudinal servo displacement driving mechanism (352), and the second pneumatic clamping jaw (354) is fixed on a vertical lifting rod of the vertical lifting driving mechanism (353).
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| CN202111053281.3A CN113772609B (en) | 2021-08-27 | 2021-08-27 | Intelligent robot-assisted full-automatic beverage filling and packaging system |
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| CN202111053281.3A CN113772609B (en) | 2021-08-27 | 2021-08-27 | Intelligent robot-assisted full-automatic beverage filling and packaging system |
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| CN113772609B true CN113772609B (en) | 2023-09-08 |
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| WO2014025750A2 (en) * | 2012-08-07 | 2014-02-13 | The Coca-Cola Company | Automated beverage dispensing system with vertical staging |
| CN103143910A (en) * | 2013-03-04 | 2013-06-12 | 慈溪市中意电器实业有限公司 | Automatic pipe clamp and rubber assembling machine |
| CN206076387U (en) * | 2016-10-13 | 2017-04-05 | 惠州市恒泰科技股份有限公司 | Battery cephalosome is around glue machine |
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