CN114180508B - Full-automatic barreled solution sucking machine and sucking method - Google Patents
Full-automatic barreled solution sucking machine and sucking method Download PDFInfo
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- CN114180508B CN114180508B CN202111467877.8A CN202111467877A CN114180508B CN 114180508 B CN114180508 B CN 114180508B CN 202111467877 A CN202111467877 A CN 202111467877A CN 114180508 B CN114180508 B CN 114180508B
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- container
- pipe
- industrial robot
- outer cover
- clamping jaw
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000000007 visual effect Effects 0.000 claims description 6
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B7/00—Hand- or power-operated devices for opening closed containers
- B67B7/14—Hand- or power-operated devices for opening closed containers for removing tightly-fitting lids or covers, e.g. of shoe-polish tins, by gripping and rotating
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- 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
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of material sucking devices, in particular to a full-automatic barreled solution sucking machine and a material sucking method, which can realize automatic material sucking, reduce labor intensity and improve efficiency.
Description
Technical Field
The invention relates to the technical field of material sucking devices, in particular to a full-automatic barreled solution sucking machine and a sucking method.
Background
For the barreled container, when the barreled container needs to be fed, two general modes exist, one is to open the cap of the barreled container and lift the barreled container, and then pour the solution after tilting, the mode is more convenient for the operation of the light-weight and small-size container, but the solution is easy to splash or drip in the pouring process, and the solution cannot be poured cleanly, so that residues exist; the other is to open the cap of the barreled container, and then extend the suction pipe into the container for sucking the material, so that the method is suitable for the container with heavy weight or large volume, because the operation is inconvenient to the container, the cap of the container needs to be manually removed in the conventional operation, and when the outer cap and the inner cap exist, as shown in fig. 1, the cap is also required to be opened by means of a tool, and then the suction pipe is manually extended into the container for sucking the material after the cap is opened, so that the labor intensity is high and the overall operation efficiency is low.
Disclosure of Invention
In order to solve the problems of high labor intensity and low efficiency in the conventional manual operation of sucking materials, the invention provides a full-automatic barreled solution sucking machine which can realize automatic sucking, reduce the labor intensity and improve the efficiency, and simultaneously provides a corresponding sucking method.
The technical scheme is as follows: the utility model provides a full-automatic material machine that inhales of barreled solution, its includes inhales the material pipe, its characterized in that still includes industrial robot, install the integrative frock of inhaling the material of uncapping on industrial robot's the arm, the integrative frock of inhaling the material of uncapping is including opening inner cup frock and material pipe centre gripping frock, material pipe centre gripping frock includes the material pipe clamping jaw, it includes the rotatory piece of connecting servo motor to open the inner cup frock, rotatory piece appearance corresponds with the inner cup upper clamping groove of container, vacuum chuck has been seted up to rotatory piece terminal surface.
The cover opening and material sucking integrated tool is further characterized by comprising an outer cover opening tool, wherein the outer cover opening tool comprises a fixed clamping jaw and a movable clamping jaw connected with an outer cover opening cylinder;
the feeding pipe clamping jaw comprises a pair of feeding pipe upper clamping jaws and a pair of feeding pipe lower clamping jaws, and the feeding pipe upper clamping jaws and the feeding pipe lower clamping jaws are respectively connected with clamping jaw cylinders;
a reset spring is arranged between the upper clamping jaw and the lower clamping jaw of the material pipe, the clamping jaw cylinder is fixed on a material pipe clamping frame, a sliding rail is arranged on the material pipe clamping frame, and sliding blocks matched with the sliding rail are arranged on the upper clamping jaw and the lower clamping jaw of the material pipe;
the uncapping and material sucking integrated tool is connected with a mechanical arm of the industrial robot through a quick-change disc, one end of a material sucking pipe is connected with a hose, and the hose is flexibly wound on a reel;
an inner cover placing box and an outer cover placing box are arranged beside the industrial robot;
the mechanical arm of the industrial robot is provided with a visual mechanism for identifying the outer cover and the inner cover on the container.
The full-automatic barreled solution sucking method is characterized by comprising the following steps of:
(1) The mechanical arm of the industrial robot drives a rotating block on the inner cover opening tool to be inserted into a clamping groove on the inner cover of the container;
(2) The servo motor drives the rotating block to rotate and drive the inner cover to rotate together and then unscrew, the vacuum chuck adsorbs the inner cover, and the mechanical arm of the industrial robot acts to take the inner cover away from the container;
(3) The material pipe clamping jaw on the material pipe clamping tool grabs the material sucking pipe and stretches into the container to suck materials;
(4) When the amount of the solution in the container is less than 5% of the total amount, the vacuum chuck adsorbs the top cover of the container, and the mechanical arm of the industrial robot moves to tilt the container and then continues to suck materials;
(5) After the material sucking is completed, the container is reset, the vacuum chuck loosens the top cover of the container, and the material sucking pipe is taken out from the container.
The method is further characterized in that an outer cover opening step is added before the step (1): the mechanical arm of the industrial robot drives the outer cover opening tool to move to the edge of the outer cover of the container, the outer cover opening cylinder drives the movable clamping jaw to be matched with the fixed clamping jaw to clamp the edge of the outer cover, and the mechanical arm of the industrial robot acts to drive the outer cover to be taken down from the container;
the outer cover and the inner cover are respectively put into an outer cover placing box and an inner cover placing box after being taken down from the container;
before the outer cover opening step, a visual mechanism on the mechanical arm of the industrial robot scans the two-dimensional code on the outer cover to determine material information, batch and outer cover states, and before the inner cover opening step, the visual mechanism on the mechanical arm of the industrial robot scans the inner cover states.
After the invention is adopted, the operations of opening the inner cover on the container and extending the suction pipe into the container are realized by the industrial robot matched with the inner cover opening tool and the pipe clamping tool, so that the manual operation is omitted, the labor intensity is reduced, the automatic suction operation is realized, and the efficiency is improved; furthermore, the outer cover of the container is also realized by the industrial robot matched with the outer cover opening tool, so that the automation efficiency is improved.
Drawings
FIG. 1 is a schematic view of the outer and inner lids on a container;
FIG. 2 is a schematic diagram of the structure of the present invention;
fig. 3 is a schematic diagram of a structure of an uncovering and material sucking integrated tool;
fig. 4 is a schematic structural diagram of the tool for opening the outer cover and the tool for opening the inner cover.
Detailed Description
Referring to fig. 2, fig. 3 and fig. 4, a full-automatic barreled solution sucking machine comprises a sucking pipe 1 and an industrial robot 2, wherein an uncovering and sucking integrated tool 4 is arranged on a mechanical arm of the industrial robot 2 through a quick-change disc 3, the uncovering and sucking integrated tool 4 comprises an outer cover opening tool, an inner cover opening tool and a pipe clamping tool, and the outer cover opening tool comprises a fixed clamping jaw 5 and a movable clamping jaw 7 connected with an outer cover uncovering cylinder 6; the inner cup opening tool comprises a rotating block 9 connected with a servo motor 8, the appearance of the rotating block 9 corresponds to that of a clamping groove on an inner cup 11 of a container 10, the clamping groove on the inner cup 11 is cross-shaped in the embodiment, the rotating block 9 corresponds to the cross-shaped, an opening block is arranged at the edge of an outer cup 12, and a vacuum chuck 13 is arranged on the end face of the rotating block 9. The whole outer cover opening tool can be independently lifted and lowered, and is driven by the lifting cylinder 26, so that the operation of opening the inner cover 11 is prevented from being influenced.
The material pipe clamping fixture comprises material pipe clamping jaws, the material pipe clamping jaws comprise a pair of material pipe upper clamping jaws 14 and a pair of material pipe lower clamping jaws 15, the material pipe upper clamping jaws 14 and the material pipe lower clamping jaws 15 are respectively connected with clamping jaw air cylinders 16, reset springs 17 are arranged between the material pipe upper clamping jaws 14 and between the material pipe lower clamping jaws 15, the clamping jaw air cylinders 16 are fixed on a material pipe clamping frame 18, sliding rails 19 are arranged on the material pipe clamping frame 18, sliding blocks 20 matched with the sliding rails 19 are arranged on the material pipe upper clamping jaws 14 and the material pipe lower clamping jaws 15, the sliding blocks 20 and the sliding rails 19 are matched to ensure the clamping stability, and the reset springs 17 can timely enable the material pipe upper clamping jaws 14 and the material pipe lower clamping jaws 15 to loosen the suction pipe 1 when the clamping jaw air cylinders 16 do not work.
One end of the suction pipe 1 is connected with a hose (not shown in the figure), and the hose is soft-coiled on a reel 21; the industrial robot 2 is provided with an inner cover placing box 22 and an outer cover placing box 23 beside the industrial robot, and an inner cover 11 and an outer cover 12 are placed separately so as to be taken away in a sorting manner later.
The mechanical arm of the industrial robot 1 is provided with a vision mechanism 24 for recognizing the outer lid 12 and the inner lid 11 of the container 10.
A full-automatic sucking method for barreled solution comprises the following steps:
(1) The container 10 is placed on a tray, the container is sent to a designated position through a forklift or an AGV trolley, the cover opening and material sucking integrated tool 4 is installed on a mechanical arm of the industrial robot 2, the mechanical arm of the industrial robot 2 starts to work, a visual mechanism 24 firstly scans two-dimensional codes on an outer cover 12 to determine material information, batch and outer cover states, the outer cover opening tool is driven to move to the edge of the outer cover 12 of the container 10, an outer cover opening cylinder 6 drives a movable clamping jaw 7 to clamp an opening block at the edge of the outer cover 12 in cooperation with a fixed clamping jaw 5, and the mechanical arm of the industrial robot 2 acts to drive the outer cover 12 to be taken down from the container 10 and placed in an outer cover placing box 23;
(2) The state of the inner cover 11 is scanned by a visual mechanism 24 on a mechanical arm of the industrial robot 2, a rotating block 9 on an inner cover opening tool is driven by the mechanical arm of the industrial robot 2 to be inserted into a clamping groove on the inner cover 11 of the container 10, the inner cover 11 is driven by a servo motor 8 to rotate and then unscrew by driving the rotating block 9 to rotate together with the inner cover 11, the inner cover 11 is adsorbed by a vacuum chuck 13, the inner cover 11 is taken out from the container 10 by the mechanical arm action of the industrial robot 2, and the inner cover is placed in an inner and outer placing box 22;
(3) The upper clamping jaw 14 and the lower clamping jaw 15 of the material pipe on the material pipe clamping tool are driven by the clamping jaw cylinder 16 to grab the material sucking pipe 1 and extend into the container 10 for sucking materials;
(4) When the amount of the solution in the container 10 is less than 5% of the total amount, the vacuum chuck 13 adsorbs the top cover of the container 10, and the mechanical arm of the industrial robot 2 moves to tilt the container 10 and then continues to suck the material, so that the solution in the container 10 can be ensured to be sucked as completely as possible;
(5) After the sucking is completed, the container 10 is reset to the vertical state, the vacuum chuck 13 loosens the top cover of the container 10, and the sucking pipe 1 is taken out from the container 10 and is put back to the original position to wait for the next sucking operation.
(6) After all the containers 10 on the tray have sucked materials, the materials are taken away by a forklift or an AGV trolley and conveyed to a new container 10 for sucking materials, and uninterrupted continuous operation can be realized.
Besides the fact that the feeding of the container 10 possibly needs to be manually operated by a forklift, the whole material sucking process is fully automatic, manual intervention is not needed, manual operation is saved, efficiency is improved, the container 10 can be guaranteed to be clean in material sucking, dripping and the like are avoided, and the safety grating 25 is arranged outside the container, so that safety production is achieved.
Claims (4)
1. The full-automatic suction machine for barreled solution comprises a suction pipe and is characterized by further comprising an industrial robot, wherein an uncovering and suction integrated tool is arranged on a mechanical arm of the industrial robot and comprises an inner cover opening tool, an outer cover opening tool and a pipe clamping tool, the pipe clamping tool comprises a pipe clamping jaw, the inner cover opening tool comprises a rotating block connected with a servo motor, the shape of the rotating block corresponds to an inner cover upper clamping groove of a container, a vacuum chuck is arranged on the end face of the rotating block, the outer cover opening tool comprises a fixed clamping jaw and a movable clamping jaw connected with an outer cover uncovering cylinder, the pipe clamping jaw comprises a pair of pipe upper clamping jaws and a pair of pipe lower clamping jaws, and the pipe upper clamping jaws and the pipe lower clamping jaws are respectively connected with a clamping jaw cylinder; a reset spring is arranged between the upper clamping jaw and the lower clamping jaw of the material pipe, the clamping jaw cylinder is fixed on a material pipe clamping frame, a sliding rail is arranged on the material pipe clamping frame, and sliding blocks matched with the sliding rail are arranged on the upper clamping jaw and the lower clamping jaw of the material pipe; the uncapping and material sucking integrated tool is connected with a mechanical arm of the industrial robot through a quick-change disc, one end of a material sucking pipe is connected with a hose, and the hose is flexibly wound on a reel; an inner cover placing box and an outer cover placing box are arranged beside the industrial robot; the mechanical arm of the industrial robot is provided with a visual mechanism for identifying the outer cover and the inner cover on the container.
2. The method for sucking the barreled solution in the full-automatic sucking machine according to claim 1, which is characterized by comprising the following steps:
(1) The mechanical arm of the industrial robot drives the outer cover opening tool to move to the edge of the outer cover of the container, the outer cover opening cylinder drives the movable clamping jaw to be matched with the fixed clamping jaw to clamp the edge of the outer cover, and the mechanical arm of the industrial robot acts to drive the outer cover to be taken down from the container; the mechanical arm of the industrial robot drives a rotating block on the inner cover opening tool to be inserted into a clamping groove on the inner cover of the container;
(2) The servo motor drives the rotating block to rotate and drive the inner cover to rotate together and then unscrew, the vacuum chuck adsorbs the inner cover, and the mechanical arm of the industrial robot acts to take the inner cover away from the container;
(3) The material pipe clamping jaw on the material pipe clamping tool grabs the material sucking pipe and stretches into the container to suck materials;
(4) When the amount of the solution in the container is less than 5% of the total amount, the vacuum chuck adsorbs the top cover of the container, and the mechanical arm of the industrial robot moves to tilt the container and then continues to suck materials;
(5) After the material sucking is completed, the container is reset, the vacuum chuck loosens the top cover of the container, and the material sucking pipe is taken out from the container.
3. The method of sucking in material according to claim 2, wherein the outer cap and the inner cap are put into the outer cap placing box and the inner cap placing box, respectively, after being removed from the container.
4. The method of claim 2, wherein prior to the step of opening the outer cover, a vision mechanism on the robotic arm of the industrial robot scans the two-dimensional code on the outer cover to determine the material information, the lot, and the status of the outer cover, and prior to the step of opening the inner cover, the vision mechanism on the robotic arm of the industrial robot scans the status of the inner cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111467877.8A CN114180508B (en) | 2021-12-03 | 2021-12-03 | Full-automatic barreled solution sucking machine and sucking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111467877.8A CN114180508B (en) | 2021-12-03 | 2021-12-03 | Full-automatic barreled solution sucking machine and sucking method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114180508A CN114180508A (en) | 2022-03-15 |
| CN114180508B true CN114180508B (en) | 2023-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111467877.8A Active CN114180508B (en) | 2021-12-03 | 2021-12-03 | Full-automatic barreled solution sucking machine and sucking method |
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| CN (1) | CN114180508B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203173788U (en) * | 2013-03-21 | 2013-09-04 | 深圳出入境检验检疫局食品检验检疫技术中心 | Unsealing device for high pressure digestion tank |
| CN104607429A (en) * | 2015-01-05 | 2015-05-13 | 上海格盟工业控制设备有限公司 | Charging basket material sucking and cleaning device |
| CN111071970B (en) * | 2019-12-31 | 2021-10-15 | 武汉华中数控股份有限公司 | Automatic industrial robot platform that uncaps of easy open can |
| CN213446155U (en) * | 2020-08-27 | 2021-06-15 | 苏州微湃医疗科技有限公司 | Cover opening mechanism for liquid transfer system |
| CN112225148A (en) * | 2020-09-16 | 2021-01-15 | 山东大学日照智能制造研究院 | Get closing cap anchor clamps and nuclear industry waste material bucket processing apparatus |
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| CN114180508A (en) | 2022-03-15 |
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Address after: 214000 No. 238, Fangda Road, Xishan Economic Development Zone, Xishan District, Wuxi City, Jiangsu Province Patentee after: Wuxi Liqi Intelligent Equipment Co.,Ltd. Country or region after: China Address before: 214000 No.20 Chunzhu West Road, Xishan Economic Development Zone, Xishan District, Wuxi City, Jiangsu Province Patentee before: WUXI RICH INTELLIGENT EQUIPMENT Co.,Ltd. Country or region before: China |
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