CN113896161A

CN113896161A - Efficient subpackaging robot and subpackaging method

Info

Publication number: CN113896161A
Application number: CN202110716480.1A
Authority: CN
Inventors: 不公告发明人
Original assignee: Zhanyi Intelligent Technology Dongtai Co ltd
Current assignee: Zhanyi Intelligent Technology Dongtai Co ltd
Priority date: 2021-06-13
Filing date: 2021-06-28
Publication date: 2022-01-07
Anticipated expiration: 2041-06-28
Also published as: CN113896161B

Abstract

The invention provides a high-efficiency subpackaging robot and a subpackaging method, wherein the subpackaging robot comprises a conveying device, a metering device and a subpackaging main body device; two stations are arranged in the sub-packaging main body device and are in independent relation; a filling manipulator and a cover opening and closing manipulator are arranged in each station, and are controlled by independent power and work in a matched manner; the cover opening and closing mechanical arm and the filling mechanical arm are respectively installed on different moving mechanisms and independently move horizontally. The efficient subpackaging robot provided by the invention can be used for simultaneously carrying out process operation on two groups of packaging containers, so that the filling efficiency of subpackaging equipment is improved, and the productivity of the equipment is improved.

Description

Efficient subpackaging robot and subpackaging method

Technical Field

The invention relates to the field of post-treatment of industrial production, in particular to a high-efficiency subpackaging robot and a subpackaging method.

Background

In the prior art, there are two main industrial post-processing packaging methods, and the processing of four packaging containers is taken as an example for specific description.

The first method is that four packaging containers sequentially enter the interior of the split charging equipment in a 1 x n mode, the interior of the split charging equipment is divided into 4 stations which are a cover opening and nitrogen filling station, a filling station A, a filling station B and a cover closing station in sequence. The disadvantages of this approach are:

firstly, after the operation of each station, four packaging containers need to be conveyed to the next station, and the risk of conveying the packaging containers out of a specified position or the risk of clamping stagnation in the conveying process exists in the conveying process;

secondly, after the operation of each station of the four packaging containers is finished, the four packaging containers need to be conveyed to the next station, and after the conveying is finished, the packaging containers on the stations need to be secondarily positioned, so that the positioning cost of the barrel mouth is additionally increased;

thirdly, after the cover of the packaging container is opened, the barrel cover needs to be conveyed to a cover closing station, extra barrel cover conveying equipment needs to be added, and the barrel cover is blocked in the conveying process of the barrel cover; when the cover is placed on the cover opening station to the cover conveying device, the risk that the cover and the cover opening device are separated abnormally exists; when the cover is taken from the barrel cover conveying device at the cover closing station, the condition that the barrel cover cannot be grabbed by the cover closing device also exists

Fourthly, after each station is finished, the materials are conveyed to the next station, so that a barrel conveying time is needed, and the overall efficiency of the split charging equipment is reduced;

fifth, because a four-station layout is used, the length (along the barrel transport direction) of the dispensing apparatus of that solution is long, increasing production and shipping costs.

The second type is that four packaging containers enter into the inside of the subpackaging equipment according to the mode of 2 x 2, only one station is arranged in the subpackaging equipment, but the position is integrated with the bung hole positioning function, the uncovering function, the nitrogen filling function, the filling function and the cover closing function. The disadvantages of this approach are:

firstly, one station is adopted for operating the four packaging containers, each packaging container needs to perform the operations of positioning a barrel opening, opening a cover, filling nitrogen, filling and closing the cover, when one packaging container is operated, the rest packaging containers cannot be operated, the whole filling time of the four packaging containers is greatly increased, and the subpackaging efficiency is reduced;

secondly, the material hose needs to move along with the station vehicle body, and needs to move when a barrel opening is positioned, a cover is opened and closed and nitrogen is filled, and distances exist among devices with three functions, and when four barrels are filled, the distances also exist among the four barrels, so that the movement distance and the movement swing angle of the material hose are large, the service life of the material hose is influenced, and the material hose needs to move at such many points, so that the difficulty of large energy is increased for the length determination of the material hose and the distance layout between the material hose and other material hoses (when a plurality of material guns exist);

thirdly, the packaging method has the advantages that all functions are integrated on one station, so that the material guns cannot swing or rotate on the station, the positions of the material guns are unique, when a plurality of materials are compatible with one station, the material guns need to be sequentially arranged along the barrel conveying direction but cannot be arranged on the left side and the right side, the material guns need to be stopped at a plurality of positions, the arrangement distance between the material guns is large, when the required number of the material guns is large, the length (along the barrel conveying direction) of the subpackaging equipment is prolonged, the barrel conveying time is prolonged, the overall efficiency of the subpackaging equipment is reduced, and the length (along the barrel conveying direction) of the subpackaging equipment is prolonged, and the corresponding production cost and the corresponding delivery cost are increased.

Based on the above problems in the prior art, a need exists for an efficient dispensing robot and a dispensing method.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides an efficient subpackaging robot and a subpackaging method, which can simultaneously carry out process operation on two groups of packaging containers, improve the filling efficiency of subpackaging equipment and improve the productivity of the equipment.

In order to realize the purpose, the following technical scheme is provided:

an efficient subpackaging robot comprises a conveying device, a metering device and a subpackaging main body device; two stations are arranged in the sub-packaging main body device and are in independent relation; a filling manipulator and a cover opening and closing manipulator are arranged in each station, and are controlled by independent power and work in a matched manner; the cover opening and closing mechanical arm and the filling mechanical arm are respectively installed on different moving mechanisms and independently move horizontally.

Furthermore, the filling manipulator is arranged at the position close to the two ends of the main machine body, and the switch cover manipulator is arranged at the position close to the middle part of the main machine body.

Further, when the cover opening and closing manipulator moves horizontally relative to the filling manipulator along the Y-axis direction, the cover opening and closing manipulator moves a specified distance along the middle position of the X-axis subpackaging equipment to confirm that the areas of the functional devices on the cover opening and closing manipulator and the material guns on the filling manipulator horizontally coincide with each other in the Y-axis direction disappear, and then the cover opening and closing manipulator moves along the Y-axis direction to avoid the material guns on the filling manipulator and reach the upper part of another packaging container.

Further, the split charging robot further comprises a primary positioning device; the primary positioning device is a barrel rotating device 2, the two barrels are a unit, and the barrel openings of the two barrels in each unit are rotated to the farthest positions.

Further, the conveying device comprises a single-row conveying roller way, an automatic lane dividing roller way and a double-row conveying roller way.

Furthermore, the single-row conveying roller way conveys the single-row packaging containers conveyed by manual or other equipment to the position of the rotary barrel device and conveys the packaging containers which are completely rotated by the rotary barrel device to the butt joint position of the automatic lane-dividing roller way; the automatic lane dividing roller way conveys the packaging containers conveyed by the single-row conveying roller way to the specified row of the double-row roller way which is in butt joint with the packaging containers.

Further, the double-row conveying roller ways are divided into a front double-row conveying roller way and a rear double-row conveying roller way; the front double-row conveying roller way is matched with the automatic lane dividing roller way, and the two packaging barrel devices with the barrel openings rotated are taken down from the automatic lane dividing roller way; the front double-row conveying roller way is matched with a weighing platform in the split charging equipment for use, and the packaging containers on the double-row conveying roller way are conveyed into the split charging equipment; the rear double-row conveying roller way is matched with a weighing platform in the subpackaging equipment for use, and the filled packaging containers are conveyed to the outside of the subpackaging equipment.

An efficient subpackage method comprises the following steps:

the bung hole positioning device on the cover opening and closing manipulator moves towards the bung hole area of the packaging container A, and after the bung hole positioning device is positioned to the bung hole, a relative coordinate ruler of the bung hole of the packaging container A and the cover opening and closing manipulator is established in the electrical control system and fed back to the electrical control system;

the cover opening and closing device moves to the position right above the bung hole of the packaging container A to perform cover opening action;

after the cover opening action is finished, the electric control system controls the nitrogen filling device to move right above the bung hole of the packaging container A to execute the nitrogen filling action;

the cover opening and closing manipulator moves above the packaging container B to perform the actions of positioning the bung hole of the packaging container B, opening the cover and filling nitrogen;

when the cover opening and closing manipulator operates the packaging container B, the filling manipulator 9 moves to the bung hole area of the packaging container B according to the bung hole position measured by the cover opening and closing manipulator and executes filling action;

the cover opening and closing manipulator which is operated and completed on the packaging container B grabs the cover of the packaging container B to wait for the completion of the filling of the packaging container A, and after the filling of the packaging container A is completed, the filling manipulator moves to the bung hole area of the packaging container B and executes the filling action, and meanwhile, the cover opening and closing manipulator moves to the bung hole area of the packaging container A;

when the cover opening and closing device 22 of the cover opening and closing manipulator moves to the position above the bung hole of the packaging container A, the cover closing action is executed, and the bung hole of the packaging container B is screwed on the bung hole of the packaging container A; after the packaging container A and the packaging container C complete the subpackaging work flow, the packaging container A and the packaging container C are automatically conveyed to a rear double-row conveying roller way outside the subpackaging equipment, meanwhile, two new packaging containers AA and packaging containers CC are conveyed to a weighing platform inside the subpackaging equipment, and a cover opening and closing manipulator continues to execute corresponding processes;

after the filling action of the packaging container B is finished, the filling manipulator moves to the position above the bung hole of the new packaging container AA with the opened cover, and the cover opening and closing manipulator screws the bung hole of the new packaging container AA to the bung hole of the packaging container B under the action of the driving device.

Further, the opening operation flow of the first packaging container comprises the following steps: after the nitrogen filling action is finished, the electric control system controls the cover opening and closing mechanical arm to move to the cover placing position, and the barrel cover grabbed on the cover opening and closing device is placed on the barrel cover mounting frame at the cover placing position on the main machine body. The operation is only to perform the cap releasing operation on the first packaging container at the current station when the split charging is started, and when the first packaging container at the current station is not performed, the cap releasing operation is not performed on the second packaging container or the third packaging container at the current station.

Further, the flow of the last packaging container closing action comprises:

the cover opening and closing mechanical arm moves above the cover mounting frame arranged on the main machine body under the control of the electric control system and the driving of the driving device, and the cover opening and closing device grabs the cover and waits for the completion of filling of the packaging container B;

after the packaging container B is filled, the filling manipulator leaves the upper part of the packaging container B, and meanwhile, a cover opening and closing device on the cover opening and closing manipulator moves to the upper part of the packaging container B to perform a cover closing action;

and after the cover closing action is finished, the cover opening and closing mechanical arm returns to the specified original point of the electrical control system to wait for the next subpackaging task.

Compared with the prior art, the invention has the following advantages:

1. in the split charging process, the two groups of packaging containers can be subjected to process operations at the same time, for example, one packaging container performs filling work, and the other packaging container performs uncovering work; or one of the packaging containers performs the filling work and the other packaging container performs the closing work. The method can synchronize the filling process and the cap opening process or the cap closing process on the two packaging containers, reduce the overall filling time of the two packaging containers, and improve the filling efficiency

2. The material gun is arranged along the left side and the right side of the split charging equipment, so that the length space of the split charging equipment is reduced, the conveying time of two groups of packaging containers can be shortened, and the filling efficiency is improved.

3. The invention totally has 4 driving vehicles which are divided into two groups of combinations, the two groups of internal parts are both divided into a cover opening and closing mechanical arm and a filling mechanical arm, the cover opening and closing mechanical arm integrates a cover opening and closing function, a nitrogen filling function and a barrel opening positioning function, the filling mechanical arm only has a filling function, and the barrel opening positions of two groups of operated packaging containers are specified to an appointed position, so that the movement range of a material gun 1 on the filling mechanical arm is very small; the advantage of this is that the spacing layout of the material hoses and the range of motion of the material hoses are all within a small range; the service life of the material hose is prolonged, the length of the material hose is reduced, and the posture of the material hose is kept.

4. In the split charging process, the four packaging containers are not moved, so that the barrel conveying time and the barrel conveying risk are reduced.

Drawings

FIG. 1 is a schematic diagram of an overall structure according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a center-split device according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a main body structure according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a lid opening robot according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of an X-axis driving apparatus of a lid-opening robot in accordance with an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a Y-axis motion carrier of an open-lid manipulator according to an embodiment of the present invention;

FIG. 7 is a schematic view of a Y-axis driving device of a lid-opening robot in accordance with an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a filling manipulator in the first embodiment of the present invention;

fig. 9 is a schematic view of an X-axis driving device of a filling manipulator according to a first embodiment of the present invention;

FIG. 10 is a schematic structural diagram of a Y-axis motion carrier of a filling manipulator according to a first embodiment of the present invention;

fig. 11 is a schematic view of a Y-axis driving device of a filling manipulator according to an embodiment of the present invention;

fig. 12 is a schematic view of a filling robot Z-axis moving carrier and a Z-axis driving device according to an embodiment of the present invention;

fig. 13 is a schematic view of a direction of a rotation barrel according to an embodiment of the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the present invention are used, and are used only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements to be referred to must have specific orientations, be constructed in specific orientations, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

Example one

This embodiment provides a high-efficient partial shipment robot, including initial positioner, conveyor, metering device and partial shipment main part device 6.

The initial setting device is a rotary barrel device 2 which is fixed on the ground in a connection mode of expansion bolts and is used for rotating a barrel opening on the packaging container to a specified orientation. Based on the layout of the split charging equipment, considering the action strokes of two stations in the split charging equipment, the bucket openings of two packaging containers need to be rotated to the positions shown in the following figures, the two buckets are a unit, and the bucket openings of the two buckets in each unit are farthest away; namely, the position of the bung hole of the first barrel is forward and the position of the bung hole of the second barrel is backward in each unit.

The conveying device comprises a single-row conveying roller way 1, an automatic lane dividing roller way 3 and a double-row conveying roller way.

The single-row conveying roller way 1 is fixed on the ground in a connection mode of expansion bolts and is used for conveying single-row packaging containers conveyed by manual or other equipment to the position of the rotary barrel device 2 and conveying the packaging containers rotated by the rotary barrel device 2 to the butt joint position of the automatic lane-dividing roller way 3.

The automatic lane-dividing roller way 3 is fixed on the ground in a connection mode of expansion bolts and is used for conveying the packaging containers conveyed by the single-row conveying roller way 1 to specified rows of the double-row roller way in butt joint with the packaging containers according to requirements.

The double-row conveying roller way is used in cooperation with the automatic lane dividing roller way 3 and a weighing platform 5 in the split charging equipment and is used for conveying packaging containers. The double-row conveying roller ways are divided into a front double-row conveying roller way 4 and a rear double-row conveying roller way 7. The front double-row conveying roller way 4 is matched with the automatic lane dividing roller way 3 and is used for taking down two packaging barrel devices with rotated barrel openings from the automatic lane dividing roller way 3; the front double-row conveying roller way 4 is matched with a weighing platform 5 in the subpackaging equipment for use and is used for conveying the packaging containers on the double-row conveying roller way into the subpackaging equipment. The rear double-row conveying roller way 7 is matched with the weighing platform 5 in the subpackaging equipment for use and is used for conveying the filled packaging containers to the outside of the subpackaging equipment.

The metering device is an internal weighing platform 5. The weighing platform 5 in the subpackaging equipment is fixed on the ground in a connection mode of expansion bolts, and is used for feeding back the filled weight in real time when the subpackaging equipment is filled, providing a numerical basis for opening and closing a valve and being used as conveying equipment for packaging containers. Because the invention adopts 2 x 2 packaging container layout, the filling process for packaging each packaging container is not disturbed, and the bottom of each packaging container is provided with a weighing platform, namely 4 weighing platforms in the split charging equipment.

The main packaging body device 6 is used for carrying out bung hole positioning, cover opening, nitrogen filling, filling and cover closing actions on a packaging container and mainly comprises a main body 8, a cover opening and closing manipulator 11 and a filling manipulator 9. The main body 8 is a carrier for installing a cover opening and closing manipulator 11, a filling manipulator 9 and a replaceable material gun 10. The cover opening and closing manipulator 11 integrates a bung hole positioning function, a cover opening and closing function and a nitrogen charging function, and can enable all integrated functions to move to designated positions in sequence under the action of the driving device to execute corresponding processes. The filling robot 9 is a device that performs filling into the packaging container. The invention arranges two stations in the split charging equipment, and the two stations are in independent relation; a filling manipulator and a cover opening and closing manipulator are arranged in each station, and independent power control is performed between the filling manipulator and the cover opening and closing manipulator; the cover opening and closing manipulator 11 and the filling manipulator 9 are respectively installed on different moving mechanisms, and independently move horizontally, and the cover opening and closing manipulator and the filling manipulator are matched to work. In this embodiment, the filling manipulators are installed at positions close to both ends of the main body 8, and the cover opening and closing manipulator 11 is installed at a position close to the middle of the main body 8. That is to say, the filling manipulator and the cover opening and closing manipulator can work independently, when one manipulator operates one packaging container, the other manipulator can operate the other packaging container; the process time of the operation is overlapped, so that the total operation time of the four packaging containers is reduced, and the overall efficiency is improved. In the split charging process, the four packaging containers are not moved, so that the barrel conveying time and the barrel conveying risk are reduced; simultaneously the filling manipulator only has the function of filling, and its upper surface only has the spray gun, and the position of that spray gun can be arranged in the left side and also can be arranged on the right side, through using the rotatory wobbling device of spray gun, can let the spray gun on left side or right side, can arrange the spray gun about along bucket direction of delivery like this when needing a plurality of spray guns, provides partial shipment equipment's integrated level and miniaturization, also can reduce the time that the bucket carried, provides partial shipment equipment's efficiency.

According to the actual spatial layout and the stroke layout of the cover opening and closing manipulator 11 and the filling manipulator 9, both operate the same bung hole on the packaging container, and functional devices on the cover opening and closing manipulator 11 and the material gun 10 on the filling manipulator 9 are in a coincidence relation in the Y-axis movement direction. Therefore, when the cap opening and closing manipulator 11 moves horizontally along the Y-axis direction relative to the filling manipulator 9, the cap opening and closing manipulator 11 first moves a predetermined distance along the X-axis toward the middle position of the dispensing equipment, and confirms that the regions where the functional devices on the cap opening and closing manipulator 11 and the material gun 10 on the filling manipulator 9 horizontally overlap with each other in the Y-axis direction disappear, and then the cap opening and closing manipulator 11 can move along the Y-axis direction to avoid the material gun 10 on the filling manipulator 9 and reach the top of another packaging container to perform corresponding operations.

The main machine body 8 is a frame formed by welding steel pipes and is fixed on the ground in an expansion bolt connection mode. An X-axis motion rack 14, an X-axis linear guide rail sliding block 12 and an X-axis motion linear guide groove 17 are arranged on the main machine body 8 in a bolt connection mode; and a barrel cover mounting frame 13 at the cover placing position is arranged on the inner side surface of the main machine body 8 in a bolt connection mode. Be equipped with a plurality of spray guns 10 on the left side and the right side of the main engine body 8 along packaging container direction of delivery, be equipped with trade gun mounting bracket 15 on the main engine body 8, trade gun mounting bracket 15 adopts the welded mode fixed with the main engine body 8, installs and has main engine body trade gun device 16 on the spray gun 10 of the main engine body 8 both sides, and main engine body trade gun device 16 adopts bolted connection's mode to fix on the trade gun 10 mounting bracket 15 of the main engine body 8.

The cover opening and closing mechanical arm 11 is fixed on the main machine body 8 in a bolt connection mode, and the cover opening and closing mechanical arm 11 consists of a cover opening and closing mechanical arm X-axis driving device 18, a cover opening and closing mechanical arm Y-axis motion carrier 19, a bung hole positioning device 24, a cover opening and closing device 22 and a nitrogen filling device 23.

The bung hole positioning device 24 is used for determining the relative position of the bung hole of the packaging container and an original point in the electrical control system; and is fixed on a Y-axis motion carrier 19 of the cover opening and closing mechanical arm in a bolt connection mode. The opening and closing cover device 22 is a device for opening and closing the upper cover of the packaging container; and is fixed on a Y-axis motion carrier 19 of the cover opening and closing mechanical arm in a bolt connection mode. The nitrogen charging device 23 is a device for charging nitrogen gas into the packaging container; and is fixed on a Y-axis motion carrier 19 of the cover opening and closing mechanical arm in a bolt connection mode.

The X-axis motion carrier 18 provides power for the subpackaging equipment 11 to move along the X-axis direction and consists of an X-axis motion frame 28, an X-axis servo motor 25, an X-axis speed reducer 26 and an X-axis gear 27. The X-axis moving frame 28 is formed by welding a steel pipe and a steel plate and is a carrier for moving each functional component on the split charging equipment 11 along the X-axis direction; the upper part of the split charging device is provided with a Y-axis linear guide groove 30 which moves along the Y-axis direction of the split charging device 11, and the Y-axis linear guide groove 30 is fixed with the X-axis moving frame 28 in a bolt connection mode; the lower part of the split charging device 11 is provided with a Y-axis linear guide rail sliding block 29 which moves along the Y-axis direction, and the Y-axis linear guide rail sliding block 29 is fixed with an X-axis moving frame 28 in a bolt connection mode.

The X-axis motion frame 28 is mounted on the main body. An X-axis motion rack, an X-axis linear guide rail slider and an X-axis motion linear guide groove are mounted on the main machine body in a bolt connection mode so as to be matched with the X-axis motion frame 28 to move on the main machine body along the X-axis direction. The X-axis speed reducer is fixed on the Y-axis motion carrier 19 in a bolt connection mode; the X-axis servomotor 25 and the X-axis gear 27 are fixed to the X-axis reducer by means of bolts.

The Y-axis motion carrier 19 provides power for the motion of each functional component on the split charging equipment 11 along the Y-axis direction; is composed of a Y-axis driving device 20 and a Y-axis motion mounting plate 21. The Y-axis driving device 20 provides power for the subpackaging equipment 11 to move along the Y-axis direction, and consists of a Y-axis servo motor 31, a Y-axis speed reducer 32, a Y-axis synchronous belt pulley 33, a Y-axis synchronous belt 34 and a Y-axis driven wheel 35. The Y-axis reducer 32 and the Y-axis driven wheel 35 are fixed to the X-axis moving frame 28 by bolts, and the Y-axis servo motor 31 and the Y-axis synchronous pulley 33 are fixed to the Y-axis reducer 32 by bolts. The transmission principle here is the meshing transmission of a synchronous belt. The Y-axis movement mounting plate 21 provides mounting carriers for all functional components on the split charging equipment 11 and is formed by welding steel plates. The Y-axis motion mounting plate 21 is fixed on a Y-axis linear guide rail sliding block 29 on the X-axis motion frame 28 in a bolt connection mode; and a Y-axis guide wheel is fixed on the upper part of the Y-axis motion mounting plate 21 in a bolt connection manner, and the Y-axis guide wheel is used by being matched with a Y-axis linear guide groove 30 on the X-axis motion frame 28 to assist in supporting and guiding the Y-axis motion mounting plate 21 to move along the Y-axis.

The filling manipulator 9 is fixed on the main machine body 8 in a bolt connection mode. The filling manipulator 9 is composed of a filling manipulator X-axis driving device 37, a filling manipulator Y-axis moving carrier 36, a filling manipulator Z-axis moving carrier 39 and a 180-degree rotary swing interchangeable gun device 38.

The X-axis motion carrier includes an X-axis motion frame 44 and an X-axis drive 37. The X-axis moving frame 44 is formed by welding a steel pipe and a steel plate and is a carrier which can move along the X-axis direction of the Y-axis moving carrier 36; the upper part of the mechanical arm is provided with a Y-axis linear guide groove 45 for the mechanical arm 9 to move along the Y-axis direction. The Y-axis linear guide groove 45 is fixed with the X-axis moving frame 44 in a bolt connection mode; the lower part of the Y-axis linear guide rail sliding block is provided with a Y-axis linear guide rail sliding block 46 for the filling manipulator 9 to move along the Y-axis direction, and the Y-axis linear guide rail sliding block 46 is fixed with the X-axis moving frame 44 in a bolt connection mode. The X-axis motion frame 44 is mounted on the main body. An X-axis motion rack, an X-axis linear guide rail slider and an X-axis motion linear guide groove are mounted on the main machine body in a bolt connection mode so as to be matched with the X-axis motion frame 44 to move on the main machine body along the X-axis direction. The X-axis driving device 37 provides power for the filling manipulator 9 to move along the X-axis direction; the X-axis servo motor is composed of an X-axis servo motor 40, an X-axis speed reducer 41 and an X-axis gear 42. The X-axis speed reducer 41 is fixed on the Y-axis motion carrier 36 in a bolt connection mode; the X-axis servomotor 40 and the X-axis gear 42 are fixed to the X-axis reducer 41 by means of bolts.

The Y-axis moving carrier 36 provides a supporting force for the Z-axis moving carrier 39 to move along the Y-axis direction, and is composed of a Y-axis moving mounting plate 56 and a Y-axis driving device 43. The Y-axis motion mounting plate 56 is used for supporting the Z-axis motion carrier 39 and is formed by welding steel plates, and the Y-axis motion mounting plate 56 is fixed on the Y-axis linear guide rail sliding block 46 in a bolt connection mode; and the upper part thereof is provided with a Y-axis guide wheel which is fixed on the Y-axis movement mounting plate 56 in a bolt connection manner. The Y-axis guide wheel assists in supporting the Y-axis motion mounting plate 56 for movement along the Y-axis and provides guidance thereto by cooperating with the Y-axis linear guide groove 45 on the X-axis motion frame 44. The Y-axis driving device 43 provides power for the filling manipulator 9 to move along the Y-axis direction; the device consists of a Y-axis servo motor 47, a Y-axis speed reducer 48, a Y-axis synchronous belt pulley 49, a Y-axis synchronous belt 50 and a Y-axis driven wheel 51. The Y-axis reducer 48 and the Y-axis driven wheel 51 are fixed to the X-axis moving frame 44 by bolts, and the Y-axis servo motor 47 and the Y-axis synchronous pulley 49 are fixed to the Y-axis reducer 48 by bolts. The transmission principle here is the meshing transmission of a synchronous belt.

The Z-axis moving carrier 39 provides a mounting carrier for the filling manipulator 9 to move along the Z-axis direction, and is composed of a Z-axis moving frame 59 and a Z-axis driving device. The Z-axis moving frame 59 is formed by welding steel pipes and steel plates and is a carrier for the filling manipulator 9 to move along the Z-axis direction; the Z-axis moving frame 59 is fixed to the Y-axis moving mount plate 56 by means of bolts. A Z-axis linear guide slider 57 is provided on the Z-axis moving frame 59, and the Z-axis linear guide slider 57 and the Z-axis moving frame 59 are fixed by bolting and move in the Z-axis direction. The filling manipulator 9 of the Z-axis driving device moves along the Z-axis direction to provide power; the device consists of a Z-axis servo motor 53, a Z-axis speed reducer 54, a Z-axis synchronous belt wheel 524, a Z-axis synchronous belt 55 and a Z-axis driven wheel 58. The Z-axis reducer 54 and the Z-axis driven pulley 58 are fixed to a Z-axis moving frame 59 by means of bolts, and the Z-axis servomotor 53 and the Z-axis synchronous pulley 52 are fixed to the Z-axis reducer 54 by means of bolts. The transmission principle here is the meshing transmission of a synchronous belt.

Example two

The embodiment provides an efficient subpackaging method, which specifically comprises the following working processes:

first, separate container conveying

1. Manually or by equipment, transporting the packaging container to a single-row conveying roller way 1, and automatically transporting the packaging container to a barrel rotating device 2 by the single-row conveying roller way 1;

2. the barrel rotating device 2 rotates the barrel opening of the packaging container to a specified position according to the mode that two packaging containers form a group under the control of an electric control system;

3. the single-row conveying roller way 1 conveys the packaging containers which are rotated by the rotary barrel device 2 to the automatic lane dividing roller way 3, and the automatic lane dividing roller way 3 takes two packaging containers as a group

4. The automatic lane dividing roller way 3 is automatically butted with the front double-row conveying roller way 4, two packaging containers are input onto the front double-row conveying roller way 4, and after the automatic lane dividing roller way 3 conveys twice, the front double-row conveying roller way 4 is filled with four packaging containers (two packaging containers form a group);

5. according to the requirement of the weighing platform 5 in the split charging equipment, the packaging containers on the front double-row conveying roller way 4 are conveyed to the corresponding weighing platform 5 in the split charging equipment.

Second, split charging work

Because the two stations in the subpackaging equipment act simultaneously, the process is described by taking one station as an example, and the action of the other station is the same as the described working action.

1. The bung hole positioning device 24 on the cover opening and closing manipulator 11 automatically moves to the bung hole area of the packaging container A under the action of the driving device of the cover opening and closing manipulator 11, and after the bung hole positioning device 24 is positioned to the bung hole, a distance size between the bung hole of the packaging container A and the theoretical origin of the cover opening and closing manipulator 11 relative to the X axis and the Y axis is established in the electrical control system, and the distance size is fed back to the electrical control system;

2. the electric control system controls the cover opening and closing device 22 on the cover opening and closing manipulator 11 to move right above the bung hole of the packaging container A to execute the cover opening action;

3. after the cover opening action is finished, the electric control system controls the nitrogen charging device 23 on the cover opening and closing manipulator 11 to move to the position right above the bung hole of the packaging container A, and the nitrogen charging action is executed;

4. the cover opening and closing manipulator 11 automatically moves to the position above the packaging container B to perform the actions of positioning the bung hole of the packaging container B, opening the cover and filling nitrogen;

5. when the cover opening and closing manipulator 11 operates the packaging container B, the filling manipulator 9 automatically moves to the bung hole area of the packaging container B and executes filling action under the action of a driving device of the filling manipulator 9 according to the bung hole position measured by the cover opening and closing manipulator 11;

6. the cap opening and closing manipulator operated and completed on the packaging container B grabs the cap of the packaging container B to wait for the completion of the filling of the packaging container A, and after the filling of the packaging container A is completed, the filling manipulator automatically moves to the barrel mouth area of the packaging container B and executes the filling action under the driving of the driving device, and meanwhile, the cap opening and closing manipulator 11 moves to the barrel mouth area of the packaging container A under the driving of the driving device of the cap opening and closing manipulator 11;

7. when the cover opening and closing device 22 of the cover opening and closing manipulator 11 moves to the position above the barrel opening of the packaging container A, a cover closing action is executed, the barrel cover of the packaging container B is screwed on the barrel opening of the packaging container A, and because the two stations simultaneously act, after the packaging container A and the packaging container C complete the work flow of barrel opening positioning, uncovering, nitrogen filling, filling and cover closing, the packaging container A and the packaging container C are automatically conveyed to a rear conveying roller way 7 outside the subpackaging equipment under the matching of a rear double-row conveying roller way 7 and a weighing platform 5 inside the subpackaging equipment, meanwhile, under the matching of the front double-row conveying roller way 4 and the weighing platform 5 inside the subpackaging equipment, two new packaging containers AA and packaging containers CC are conveyed to the weighing platform inside the subpackaging equipment, and the cover opening and closing manipulator 11 continuously executes corresponding processes;

8. after the filling action of the packaging container B is finished, the filling manipulator 9 moves above the bung of a new packaging container AA with the opened cover under the control of the driving device, and the cover opening and closing manipulator 11 screws the bung of the new packaging container AA on the bung of the packaging container B under the action of the driving device;

9. the entire dispensing process continues as described above.

Specifically, the opening operation flow of the first packaging container comprises the following steps: after the action of nitrogen charging is finished, the electrical control system controls the cover opening and closing manipulator 11 to move to the cover placing position, and the barrel cover grabbed on the cover opening and closing device 22 is placed on the barrel cover mounting frame 13 at the cover placing position on the main machine body 8. The operation is only to perform the cap releasing operation on the first packaging container at the current station when the split charging is started, and when the first packaging container at the current station is not performed, the cap releasing operation is not performed on the second packaging container or the third packaging container at the current station.

Specifically, the flow of actions when the last packaging container is closed: (packaged container AAAA and packaging container BBBB are exemplified)

1. When a packaging container AAAA and a packaging container BBBB are located at a station inside the dispensing apparatus, wherein the packaging container AAAA has completed a closing operation (the cover of the packaging container AAAA is that of the packaging container BBBB), and the packaging container AAAA has performed an operation of transporting the packaging container AAAA to the outside of the dispensing apparatus, and the packaging container BBBB is performing a filling operation;

2. when the packaging container BBBB performs the filling action, the lid opening and closing manipulator 11 is driven by the driving device under the control of the electrical control system to move above the lid mounting bracket 13 at the lid placing position on the main body 8, and when the lid opening and closing manipulator moves above the lid mounting bracket 13, the lid opening and closing device 22 grabs the lid (the lid is the lid of the packaging container a) at the position to wait for the completion of the filling of the packaging container BBBB;

3. after the packaging container BBBB is filled, the filling manipulator 9 is driven by the driving device of the filling manipulator 9 to move to the position above the original packaging container AAAA, and the cover opening and closing manipulator 11 is driven by the driving device of the cover opening and closing manipulator 11 to move the cover opening and closing device 22 to the position above the packaging container BBBB to perform a cover closing action;

4. after the cover opening and closing action of the cover opening and closing manipulator 11 is completed, the cover opening and closing manipulator 11 returns to the specified original point of the electrical control system to wait for the next subpackaging task.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. The efficient subpackaging robot is characterized by comprising a conveying device, a metering device and a subpackaging main body device (6); two stations are arranged in the sub-packaging main body device (6) and are in independent relation; a filling manipulator and a cover opening and closing manipulator are arranged in each station, and are controlled by independent power and work in a matched manner; the cover opening and closing mechanical arm (11) and the filling mechanical arm (9) are respectively arranged on different moving mechanisms and independently move horizontally.

2. A high efficiency racking robot as claimed in claim 1 wherein said filling robot is mounted adjacent both ends of said main body (8) and said lid opening and closing robot (11) is mounted adjacent the middle of said main body (8).

3. A high efficiency racking robot as claimed in claim 1 wherein when said lid opening and closing robot (11) moves horizontally in the Y-axis direction relative to said filling robot (9), said lid opening and closing robot (11) moves a predetermined distance along the X-axis toward the center of said racking apparatus to confirm that the areas where the functional devices of said lid opening and closing robot (11) and the guns (10) of said filling robot (9) horizontally overlap each other in the Y-axis are missing, and then said lid opening and closing robot (11) moves in the Y-axis direction to avoid the guns (10) of said filling robot (9) and reach the top of another packaging container.

4. An efficient racking robot as recited in claim 3, wherein said racking robot further comprises a primary positioning device; the primary positioning device is a barrel rotating device (2), the two barrels are a unit, and the barrel openings of the two barrels in each unit are rotated to the farthest positions.

5. A high efficiency racking robot as claimed in claim 4 wherein said conveyor means comprises a single row of rollgangs (1), an automatic lane table (3) and a double row of rollgangs.

6. A high-efficiency subpackaging robot according to claim 5, wherein the single-row conveying roller table 1 conveys the single-row packaging containers conveyed by manual or other equipment to the position of the rotary barrel device (2), and conveys the packaging containers rotated by the rotary barrel device (2) to the butt joint of the automatic branch roller table (3); the automatic lane-dividing roller way (3) conveys the packaging containers conveyed by the single-row conveying roller way 1 to the specified row of the double-row roller way which is in butt joint with the packaging containers.

7. A high efficiency racking robot according to claim 7 wherein said double row rollgang is divided into a front double row rollgang (4) and a rear double row rollgang (7); the front double-row conveying roller way (4) is matched with the automatic lane dividing roller way (3) to take down two packaging barrel devices with rotated barrel openings from the automatic lane dividing roller way (3); the front double-row conveying roller way (4) is matched with a weighing platform (5) in the split charging equipment for use, and a packaging container on the double-row conveying roller way is conveyed into the split charging equipment; and the rear double-row conveying roller way (7) is matched with a weighing platform (5) in the subpackaging equipment for use, and the filled packaging containers are conveyed to the outside of the subpackaging equipment.

8. An efficient subpackaging method is characterized in that the subpackaging process specifically comprises the following steps:

a bung hole positioning device (24) on the cover opening and closing manipulator (11) moves to a bung hole area of the packaging container A, and after the bung hole positioning device (24) is positioned to the bung hole, a relative coordinate ruler of the bung hole of the packaging container A and the cover opening and closing manipulator (11) is established in the electrical control system and fed back to the electrical control system;

the cover opening and closing device (22) moves to the position right above the bung hole of the packaging container A to execute the cover opening action;

after the cover opening action is finished, the electric control system controls the nitrogen filling device (23) to move to the position right above the bung hole of the packaging container A to execute the nitrogen filling action;

the cover opening and closing manipulator (11) moves to the upper part of the packaging container B to perform the actions of positioning the bung hole of the packaging container B, opening the cover and filling nitrogen;

when the cover opening and closing mechanical arm (11) operates the packaging container B, the filling mechanical arm (9) moves to the bung hole area of the packaging container B according to the bung hole position measured by the cover opening and closing mechanical arm (11) and executes filling action;

the cap opening and closing manipulator operated and completed on the packaging container B grabs the cap of the packaging container B to wait for the completion of the filling of the packaging container A, and after the filling of the packaging container A is completed, the filling manipulator moves to the bung hole area of the packaging container B and executes the filling action, and meanwhile, the cap opening and closing manipulator (11) moves to the bung hole area of the packaging container A;

when a cover opening and closing device (22) of the cover opening and closing manipulator (11) moves to the position above the bung hole of the packaging container A, a cover closing action is executed, and the bung hole of the packaging container B is screwed on the bung hole of the packaging container A; after the packaging containers A and C finish the subpackaging work flow, the packaging containers A and C are automatically conveyed to a rear double-row conveying roller way (7) outside the subpackaging equipment, meanwhile, two new packaging containers AA and packaging containers CC are conveyed to a weighing platform inside the subpackaging equipment, and a cover opening and closing manipulator (11) continues to execute corresponding processes;

after the filling action of the packaging container B is finished, the filling manipulator (9) moves to the position above the bung hole of a new packaging container AA which is already opened, and meanwhile, the cover opening and closing manipulator (11) screws the bung hole of the new packaging container AA on the bung hole of the packaging container B under the action of the driving device.

9. An efficient racking method as recited in claim 8, wherein said opening of said first container comprises: after the nitrogen filling action is finished, the electric control system controls the cover opening and closing mechanical arm (11) to move to the cover placing position, and the barrel cover grabbed on the cover opening and closing device (22) is placed on the barrel cover mounting frame (13) at the cover placing position on the main machine body (8). The operation is only to perform the cap releasing operation on the first packaging container at the current station when the split charging is started, and when the first packaging container at the current station is not performed, the cap releasing operation is not performed on the second packaging container or the third packaging container at the current station.

10. A high efficiency dispensing method as claimed in claim 8 or 9 wherein the flow of the final packaging container closing action comprises:

the cover opening and closing mechanical arm (11) moves above the cover mounting rack (13) placed on the main machine body (8) under the control of the electric control system and the driving of the driving device, and the cover opening and closing device (22) grabs the cover at the position to wait for the completion of filling of the packaging container B;

after the packaging container B is filled, the filling manipulator (9) leaves the upper part of the packaging container B, and meanwhile, a cover opening and closing device (22) on the cover opening and closing manipulator (11) moves to the upper part of the packaging container B to perform a cover closing action;

after the cover closing action is finished, the cover opening and closing mechanical arm (11) returns to the specified original point of the electric control system to wait for the next subpackaging task.