CN114194856B - Multi-station automatic accurate weighing and quantitative feeding system - Google Patents
Multi-station automatic accurate weighing and quantitative feeding system Download PDFInfo
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- CN114194856B CN114194856B CN202111555296.XA CN202111555296A CN114194856B CN 114194856 B CN114194856 B CN 114194856B CN 202111555296 A CN202111555296 A CN 202111555296A CN 114194856 B CN114194856 B CN 114194856B
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- feeding
- rotary indexing
- indexing table
- container
- proximity switch
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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
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/32—Filling devices
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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
- B65G33/00—Screw or rotary spiral conveyors
- B65G33/24—Details
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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
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
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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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
Abstract
The invention belongs to the technical field of chemical machinery, and particularly discloses a multi-station automatic accurate weighing and quantitative feeding system, which comprises a supporting device, a driving device, a feeding device and a control device, wherein the supporting device comprises a supporting frame and a slewing bearing on the supporting frame; the driving device comprises a power assembly and a rotary indexing table, and the power assembly is used for driving the rotary indexing table to rotate; the rotary indexing table is connected with the inner ring of the slewing bearing; the feeding device comprises a feeder and a circular support, and the lower end of the circular support is fixed on the slewing bearing outer ring; the feeding device comprises a plurality of clamping assemblies which are arranged on the rotary indexing table and are used for clamping and conveying the containers; the control device comprises a proximity switch and a controller, wherein the proximity switch is arranged at the bottom of the rotary indexing table and is positioned below the container; the controller is connected with the proximity switch, the power assembly and the feeder. The automatic butt-joint mixing device realizes the automatic butt-joint mixing of the feeding device and the container, realizes accurate feeding, and improves the feeding efficiency and the automation degree.
Description
Technical Field
The invention belongs to the technical field of chemical machinery, and particularly relates to a multi-station automatic accurate weighing and quantitative charging system.
Background
In the current industrial process, the most used raw materials are powder and liquid, and the demand of feeding equipment for various powders and liquids is increasingly pressing. Powders and some liquids can be hazardous to humans or produce toxic substances, which are not suitable for manual feeding, and therefore, it is necessary to replace feeding with automated equipment. However, there are now a number of feeding devices, and a common problem is that the degree of automation is not very high, which necessitates human involvement and also leads to the problems described above.
Secondly, because the density and volume of the liquid can be calculated, accurate quantification of the liquid is not difficult; for a precise quantitative powder feeding system, the current important difficulty is precise quantitative powder; due to the uneven distribution of the powder, the filling rate and the powder viscosity during feeding still have large errors when the quantitative feeding device actually performs quantitative feeding.
Therefore, the design of the multi-station automatic precise quantitative feeding system is particularly urgent, and a multi-station automatic precise quantitative feeding system with high automation degree and feeding precision needs to be developed urgently.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides a multi-station automatic accurate weighing and quantitative feeding system, which aims to realize the automatic butt joint of a feeding device and a container, realize accurate feeding and improve the feeding efficiency and the automation degree.
In order to achieve the purpose, the invention provides a multi-station automatic accurate weighing and quantitative feeding system, which comprises a supporting device, a driving device, a feeding device and a control device, wherein:
the supporting device comprises a supporting frame and a slewing bearing arranged on the supporting frame;
the driving device comprises a power assembly and a rotary indexing table, and the power assembly is arranged on the supporting frame and is used for driving the rotary indexing table to rotate; the periphery of the rotary indexing table is connected with the inner ring of the slewing bearing;
the feeding device comprises feeders and a circular support, the feeders are mounted on the circular support, and the lower end of the circular support is fixed on the outer ring of the slewing bearing;
the feeding device comprises a plurality of clamping assemblies arranged on the rotary indexing table, the distance between every two adjacent clamping assemblies is equal to the distance between every two adjacent feeding machines, and the clamping assemblies are used for clamping and conveying containers;
the control device comprises a proximity switch and a controller, wherein the proximity switch is arranged at the bottom of the rotary indexing table and is positioned right below the container; the controller is connected with the proximity switch, the power assembly and the feeder.
Preferably, the feeding machine comprises a screw feeding machine and a plunger pump, and the screw feeding machine and the plunger pump are alternately arranged on the circular support in sequence.
Preferably, the control device further comprises a speed sensor and a detection spiral scale, the speed sensor is used for detecting the rotating speed of the spiral feeder to obtain the theoretical feeding amount, the detection spiral scale is used for detecting the actual feeding amount of the spiral feeder, and the controller adjusts the rotating speed of the spiral feeder according to the theoretical feeding amount and the actual feeding amount.
Preferably, the clamping assembly comprises a rod clamping cylinder, a mechanical gripper and a rodless telescopic cylinder, wherein the rod clamping cylinder is mounted on the rodless telescopic cylinder, the rod clamping cylinder is connected with the mechanical gripper, and the mechanical gripper is used for clamping and releasing the container.
More preferably, the rodless telescopic cylinder is a magnetic rodless cylinder.
Preferably, sponge blocks are arranged on two inner sides of the mechanical gripper.
Preferably, the power assembly comprises a stepping motor, a small synchronous pulley, a large synchronous pulley, a worm wheel and a worm, wherein the stepping motor is connected with the small synchronous pulley, and the small synchronous pulley is vertically connected with the large synchronous pulley through a synchronous belt; the synchronous large belt wheel is connected with the worm wheel through the worm, and the worm wheel is used for driving the rotary indexing table to rotate.
Preferably, after the proximity switch detects that the feeder is aligned with the container, the proximity switch feeds data back to the controller to stop rotation of the power assembly, and the controller then controls the feeder to operate to feed the container.
As a further preference, the rotary indexing table comprises a carousel which rests on a circular table surface provided with a carousel wheel and on which there are cylindrical rollers.
More preferably, the slewing bearing is a single-row cross-roller slewing bearing.
Generally, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:
1. according to the automatic butt-joint mixing device, the automatic butt-joint mixing of the feeding device and the container and the automatic switching of the container and the feeding station can be realized through the high-precision rotary indexing table and the control device, the in-place detection capability among all processes is realized, the processes do not need personnel assistance and manual intervention, and the whole process can be automatically and reliably completed; and have a plurality of reinforced stations, can realize reinforced simultaneously, improved reinforced efficiency and degree of automation greatly.
2. The invention can realize the feeding of liquid and powder at the same time, especially for the powder feeding, the rotating speed is detected by a speed sensor arranged at the tail part, the theoretical weight of the feeding is calculated by the measured instantaneous flow, the actual weight is obtained by the actual measured instantaneous flow of the spiral scale, further the rotating speed of the spiral of the feeding machine can be adjusted and changed according to the difference between the theoretical weight and the actual weight, and finally the difference between the theoretical weight and the actual weight is controlled in the allowable metering error range, thereby realizing the online weighing and feedback control of the feeding amount of the material.
3. The clamping part of the invention adopts the matching of the rod cylinder and the rodless cylinder, and the mechanical claw can be clamped or loosened in different states by utilizing the four-bar mechanism principle, thereby having good stability, being not easy to loosen and clamping a container more stably for charging and moving; the rodless cylinder is provided with the guide rail, so that the rodless cylinder has certain rigidity and positioning accuracy in movement compared with an outward extending piston cylinder; furthermore, the magnetic rodless cylinder generates magnetic force by utilizing the mutual attraction of magnetic fields generated by magnetic moments in the magnets, so that the transmission between the piston and an external mechanical device is realized, the transmission efficiency is high, the resistance is small, and the reaction speed is high. In addition, the sponge block is attached to the front section of the clamp, so that friction can be increased, and the container can be firmly fixed in the process of clamping the container.
4. According to the invention, the transmission between the motor and the worm is carried out through the synchronous belt, so that the problem that the transmission between the worm and the motor cannot be directly transmitted through the coupler due to limited space is solved; meanwhile, the open type worm and gear rotary indexing table is used, the stepping motor is utilized to drive the synchronous belt pulley, the synchronous belt drives the speed to reduce, the motor drives the worm and gear, and the worm and gear drive the rotary indexing table, so that the rotating speed and the rotating angle of the rotary indexing table can be better controlled, the charging opening is aligned with the container, the self-locking characteristic is realized, and the accurate and automatic switching of the charging station is realized.
Drawings
FIG. 1 isbase:Sub>A front view ofbase:Sub>A half-section A-A ofbase:Sub>A multi-station automatic precise weighing and quantitative charging system in an embodiment of the invention;
FIG. 2 is a schematic view of a container holding apparatus according to an embodiment of the present invention;
FIG. 3 is a top view of the multi-station automatic precision weighing and dosing system of the embodiment of the present invention;
FIG. 4 is a schematic view of a B-B half-section structure of a multi-station automatic precise weighing and quantitative charging system in accordance with an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a motion control portion according to an embodiment of the present invention;
fig. 6 is a flow chart of the multi-station automatic precise weighing and quantitative charging system according to the embodiment of the invention.
The same reference numbers will be used throughout the drawings to refer to the same elements or structures, wherein: the method comprises the following steps of 1-a screw feeder, 2-a transmission disc, 3-a rotary indexing table, 4-a rod clamping cylinder, 5-a telescopic rod, 6-a mechanical gripper, 7-a container, 8-a rodless telescopic cylinder, 9-a sponge block, 10-a turbine, 11-a plunger pump, 12-a circular support, 13-a slewing bearing, 14-a support frame, 15-a bearing seat, 16-a worm, 17-a conical roller bearing, 18-a stepping motor, 19-a small synchronous belt pulley, 20-a large synchronous belt pulley and 21-a synchronous belt.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The embodiment of the invention provides a multi-station automatic accurate weighing and quantitative feeding system, which comprises a supporting device, a driving device, a feeding device and a control device, as shown in fig. 1 and 4, wherein:
the supporting device comprises a supporting frame 14 and a slewing bearing 13 mounted on the supporting frame 14; the slewing bearing 13 is a single-row crossed roller type slewing bearing.
The driving device comprises a power assembly and a rotary indexing table 3, and the power assembly is arranged on the supporting frame 14 and is used for driving the rotary indexing table 3 to rotate; the periphery of the rotary indexing table 3 is connected with the inner ring of the slewing bearing 13;
furthermore, in order to improve the precision of the rotary indexing table 3, the speed reducer needs to be accurate and has a self-locking characteristic, so that a worm and gear speed reducer is designed; specifically, as shown in fig. 5, the power assembly includes a stepping motor 18, a small synchronous pulley 19, a large synchronous pulley 20, a worm wheel 10 and a worm 16, wherein the stepping motor 18 is connected with the small synchronous pulley 19, and the small synchronous pulley 19 is vertically connected with the large synchronous pulley 20 through a synchronous belt 21; the synchronous large belt wheel 20 is connected with the worm wheel 10 through the worm 16, the worm 16 is installed on a bearing seat 15 through a tapered roller bearing 17, and the worm wheel 10 is used for driving the rotary indexing table 3 to rotate;
further, the rotary indexing table 3 comprises a transmission disc 2, the transmission disc 2 is placed on a circular table surface provided with a transmission wheel, and a cylindrical roller is arranged on the circular table surface, so that friction force during rotation of the disc can be reduced, and the service life of the disc is prolonged.
The feeding device comprises a plurality of feeding machines and a circular support 12, the feeding machines are mounted on the circular support 12, the lower end of the circular support 12 is fixed on an outer ring of the slewing bearing 13, and therefore the feeding machine on the top cannot rotate along with the rotary indexing table 3.
Specifically, as shown in fig. 3, the feeding machine includes a screw feeder 1 and plunger pumps 11, which are respectively used for feeding powder and liquid, and specifically, 3 screw feeders 1 and 3 plunger pumps 11 are sequentially and alternately and uniformly arranged on a circular support 12; screw feeder can be better the leakproofness of assurance powder, and liquid feeding device precision is controlled easily, selects to use the plunger pump, and what of reinforced is detected to the transfer process of plunger pump mainly used liquid, and plunger pump 11 specifically is the promient electromagnetic metering pump.
The feeding device comprises a plurality of clamping assemblies arranged on the conveying disc 2, the distance between every two adjacent clamping assemblies is equal to the distance between every two adjacent feeding machines, and each clamping assembly is provided with 7,6 containers 7 which are circumferentially arranged on the conveying disc 2 at intervals of 60 degrees; the container 7 is used for filling materials, and the container 7 filled with the materials is conveyed to a conveyor belt;
further, as shown in fig. 2, the clamping assembly comprises a rod clamping cylinder 4, a gripper 6 and a rodless telescopic cylinder 8, wherein the rod clamping cylinder 4 is mounted on the rodless telescopic cylinder 8, the rod clamping cylinder 4 is connected with the gripper 6, and the gripper 6 clamps and releases the container 7 through the telescopic rod 5; for the positioning and the clamping of the container 7, the principle of a four-bar mechanism is mainly utilized, the middle telescopic rod 5 is clamped and loosened in different states, and the container 7 is clamped more stably for charging and moving;
preferably, the rodless telescopic cylinder 8 is a magnetic rodless cylinder, in particular an RMT series rodless cylinder, and the rod clamping cylinder 4 is an SDA20-100 ultrathin cylinder; sponge blocks 9 are arranged on the two inner sides of the mechanical gripper 6.
The control device comprises a proximity switch, a controller, a speed sensor and a detection spiral scale, wherein the proximity switch is arranged at the bottom of the rotary indexing table 3 and is positioned right below the container 7; when the metal detection body approaches the sensing area of the switch, the proximity switch can send out an electrical command rapidly without contact, pressure and spark, and accurately reflect the position and the stroke of the movement mechanism; when the proximity switch detects that the feeding machine is aligned with the container 7, the proximity switch feeds data back to the controller to stop the power assembly from rotating, and the controller then controls the feeding machine to operate to feed the container 7. The speed sensor is used for detecting the rotating speed of the screw feeder 1 to obtain the theoretical feeding amount, the detection screw scale is used for detecting the actual feeding amount of the screw feeder 1, and the controller adjusts the rotating speed of the screw feeder 1 according to the theoretical feeding amount and the actual feeding amount.
When the multi-station automatic accurate weighing and quantitative charging system works, as shown in fig. 6, the system specifically comprises the following steps:
(1) The rod clamping cylinder 4 extends to enable the mechanical gripper 6 to be opened, the rodless telescopic cylinder 8 pushes the mechanical gripper 6 to advance to the conveyor belt clamping container 7, the rod clamping cylinder 4 retracts to clamp the container 7, and the rodless telescopic cylinder 8 retracts to move the container 7 to the conveying disc 2.
(2) The power assembly drives the transmission disc 2 to rotate, the proximity switch is used for in-place detection, and when the feed inlet of the feeder is aligned with the container 7, data of the proximity switch is fed back to the controller to stop the bottom stepping motor, so that automatic alignment is completed.
(3) The controller then controls the operation of the feeders, namely the screw feeder 1 and the plunger pump 11 are used for respectively feeding powder and liquid, and when containers are arranged at all stations, the feeding can be carried out simultaneously; the spiral feeder 1 is used for continuously feeding and discharging tiny batch powdery materials, the rotating speed is detected by a speed sensor arranged at the tail part, the theoretical weight of feeding is calculated by measuring an instantaneous flow, meanwhile, the actual weight is obtained by detecting the instantaneous flow actually measured by a spiral scale, the difference between the theoretical weight and the actual weight is a PID control target, a frequency converter is controlled by a PLC output signal, the rotating speed of the spiral feeder 1 is adjusted in real time, and the difference between the theoretical weight and the actual weight is controlled within an allowable metering error range.
(4) After the container is fed after passing through each station, the mechanical gripper 6 mainly receives the pushing force of the rodless telescopic cylinder 8 and the reaction force of the container 7 on the mechanical gripper 6, the container 8 is clamped by the friction force generated by the mechanical gripper 6, the container 8 is pushed out, finally the mechanical gripper 6 is loosened, the container 7 is placed on the conveying belt, and the telescopic rod retracts to enable the mechanical gripper 6 to retract, so that the whole feeding process is completed.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. The utility model provides an automatic accurate weighing of multistation and quantitative charging system which characterized in that, includes strutting arrangement, drive arrangement, feeding device, material feeding unit and controlling means, wherein:
the supporting device comprises a supporting frame (14) and a slewing bearing (13) arranged on the supporting frame (14);
the driving device comprises a power assembly and a rotary indexing table (3), wherein the power assembly is arranged on the supporting frame (14) and is used for driving the rotary indexing table (3) to rotate; the periphery of the rotary indexing table (3) is connected with the inner ring of the slewing bearing (13);
the power assembly comprises a stepping motor (18), a small synchronous belt wheel (19), a large synchronous belt wheel (20), a worm wheel (10) and a worm (16), wherein the stepping motor (18) is connected with the small synchronous belt wheel (19), and the small synchronous belt wheel (19) is vertically connected with the large synchronous belt wheel (20) through a synchronous belt (21); the synchronous large belt wheel (20) is connected with the worm wheel (10) through the worm (16), and the worm wheel (10) is used for driving the rotary indexing table (3) to rotate; the rotary indexing table (3) comprises a transmission disc (2), the transmission disc (2) is placed on a circular table surface provided with a transmission wheel, and a cylindrical roller is arranged on the circular table surface;
the feeding device comprises feeders and a circular support (12), the feeders are mounted on the circular support (12), and the lower end of the circular support (12) is fixed on the outer ring of the slewing bearing (13); the feeding machine comprises a screw feeding machine (1) and a plunger pump (11), and the screw feeding machine (1) and the plunger pump (11) are sequentially and alternately arranged on the circular support (12);
the feeding device comprises a plurality of clamping assemblies arranged on the rotary indexing table (3), the distance between every two adjacent clamping assemblies is equal to the distance between every two adjacent feeding machines, and the clamping assemblies are used for clamping and conveying containers (7);
the control device comprises a proximity switch and a controller, wherein the proximity switch is arranged at the bottom of the rotary indexing table (3) and is positioned right below the container (7); the controller is connected with the proximity switch, the power assembly and the feeder.
2. The multi-station automatic precise weighing and quantitative feeding system according to claim 1, wherein the control device further comprises a speed sensor and a detection screw scale, the speed sensor is used for detecting the rotating speed of the screw feeder (1) to obtain a theoretical feeding amount, the detection screw scale is used for detecting the actual feeding amount of the screw feeder (1), and the controller is used for adjusting the rotating speed of the screw feeder (1) according to the theoretical feeding amount and the actual feeding amount.
3. A multi-station automatic precision weighing and dosing system according to claim 1, wherein said clamping assembly comprises a rod clamping cylinder (4), a gripper (6) and a rodless telescopic cylinder (8), wherein said rod clamping cylinder (4) is mounted on said rodless telescopic cylinder (8), said rod clamping cylinder (4) is connected to said gripper (6), and said gripper (6) is used to clamp and release said container (7).
4. A multi-station automatic precise weighing and dosing system according to claim 3, wherein said rodless telescopic cylinder (8) is a magnetic rodless cylinder.
5. A multi-station automatic precise weighing and dosing system according to claim 3, wherein sponge blocks (9) are mounted on both inner sides of said gripper (6).
6. A multi-station automatic precision weighing and dosing system as claimed in claim 1, wherein said proximity switch detects that said feeder is aligned with said container (7), and wherein said proximity switch feeds data back to said controller to stop rotation of said power assembly, said controller then controlling said feeder to operate to feed said container (7).
7. A multi-station automatic precision weighing and dosing system according to any one of claims 1 to 6, characterized in that said slewing bearing (13) is a single row cross-roller slewing bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111555296.XA CN114194856B (en) | 2021-12-17 | 2021-12-17 | Multi-station automatic accurate weighing and quantitative feeding system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111555296.XA CN114194856B (en) | 2021-12-17 | 2021-12-17 | Multi-station automatic accurate weighing and quantitative feeding system |
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| CN114194856A CN114194856A (en) | 2022-03-18 |
| CN114194856B true CN114194856B (en) | 2023-03-24 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102266895A (en) * | 2011-07-22 | 2011-12-07 | 浙江工业大学 | Manipulator device for cooling medium can production |
| CN105466533B (en) * | 2015-09-30 | 2018-08-21 | 珠海格莱利摩擦材料有限公司 | Multi-station weighing machine and method |
| CN205087486U (en) * | 2015-10-22 | 2016-03-16 | 嘉兴职业技术学院 | Miropowder screw feeder |
| CN105665700B (en) * | 2016-04-05 | 2017-09-29 | 营口市双龙射孔器材有限公司 | Powdered metal liner automation compacting production system |
| CN206455661U (en) * | 2017-01-20 | 2017-09-01 | 郑州澍青医学高等专科学校 | Receive row's books device in library |
| CN210699947U (en) * | 2019-05-23 | 2020-06-09 | 金华市银海漂染有限公司 | Automatic liquid system of joining in marriage of dyeing |
| CN210752241U (en) * | 2019-07-26 | 2020-06-16 | 福建百想生物科技有限公司 | Powder adding device for cosmetic production |
| CN212577083U (en) * | 2020-06-16 | 2021-02-23 | 南京巴诗克环保科技有限公司 | Full self-cleaning device of chemical industry container |
| CN215156158U (en) * | 2021-04-30 | 2021-12-14 | 无锡新豪泰智能科技有限公司 | Multi-station feeding device of packaging machine |
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