CN114534610A - Intelligent micro-batching system and use method thereof - Google Patents

Abstract

The invention relates to an intelligent micro-batching system and a using method thereof, wherein the intelligent micro-batching system comprises a material rack, a mechanical arm, a working rack, a batching component and a control terminal, wherein a plurality of material barrels are placed on the material rack, each material barrel comprises a barrel body and a barrel cover, each barrel cover comprises a connecting part and a working part which are integrally formed, each connecting part is connected to the barrel body, each working part is arranged in a duckbilled shape, two ends of each working part in the length direction are stress ends, and each working part is used for forming a discharging opening when the stress ends are extruded; the batching component comprises a batching container, an electronic balance, a first sensor and a discharging clamping jaw, wherein the batching container is arranged on the electronic balance, and the first sensor and the electronic balance are respectively in signal connection with the discharging clamping jaw; the operating frame is connected with a supporting component; the discharging clamping jaw is used for extruding a stress end on the material barrel on the supporting component; the manipulator is used for realizing the transfer of material bucket. The invention has the effects of improving the batching efficiency and ensuring the safety of workers and materials.

Description

Intelligent micro-batching system and use method thereof

Technical Field

The invention relates to the technical field of micro-ingredients, in particular to an intelligent micro-ingredient system and a using method thereof.

Background

In the industries of medicine, food, chemical industry and the like, a manufacturing procedure of mixing two or more materials according to different feeding proportions is often used.

At present, the micro powder proportioning is manually completed by operators, and each component in the formula must be manually weighed and input into the current production process.

In the process of implementing the present application, the inventors found that the above-mentioned technology has at least the following problems: on the one hand, the efficiency of manual dosing is not high, and on the other hand, when it comes to metering of extremely important substances in the production of drugs, chemicals, food, the manner of manual dosing may give rise to potential safety hazards for operators and products.

Disclosure of Invention

In order to improve the batching efficiency, the application provides an intelligent micro-batching system and a using method thereof.

In a first aspect, the present application provides an intelligent micro-ingredient system, which adopts the following technical scheme:

an intelligent micro-batching system comprises a material frame, a mechanical arm, a working frame, a batching component and a control terminal, wherein a plurality of material barrels are placed on the material frame, each material barrel comprises a barrel body and a barrel cover connected to the barrel body, each barrel cover comprises a connecting part and a working part which are integrally formed, the connecting part is connected to the barrel body, the working parts are arranged in a duckbill shape, two ends of each working part in the length direction are stress ends, and the working parts are used for forming a discharging opening when the stress ends are extruded;

the batching component comprises a batching container, an electronic balance, a first sensor and a discharging clamping jaw, wherein the electronic balance, the first sensor and the discharging clamping jaw are respectively arranged on the working frame, the batching container is arranged on the electronic balance, and the first sensor and the electronic balance are respectively connected to the discharging clamping jaw through the control terminal signals; the operating frame is connected with a supporting component for supporting a material barrel in the burdening, and the supporting component is positioned above the burdening container; the discharging clamping jaw is used for extruding a stress end on a material barrel on the supporting component;

the manipulator is in signal connection with the control terminal and used for grabbing the material barrel and realizing transfer of the material barrel between the material rack and the supporting component.

By adopting the technical scheme, when in use, the control terminal clamps the appointed material barrel on the supporting component in sequence for material proportioning based on the material proportioning requirement of the working personnel, for a single material barrel, the control terminal firstly controls the mechanical arm to transfer the material barrel to be used from the material rack and place the material barrel on the supporting component, the placed material barrel triggers the first sensor, so that the first sensor feeds back an electric signal to the control terminal, so that the control terminal controls the discharging clamping jaw to extrude the stress end on the barrel cover on the material barrel, the extruded material barrel forms a discharging opening, wherein the materials fall into the batching container below, the electronic balance detects the total weight of the batching container in real time and feeds the total weight back to the control terminal in the falling process of the materials, when the discharge amount meets the requirement, the control terminal controls the discharge clamping jaw to loosen the material barrel and controls the manipulator to put the material barrel back to the original position. After the completion is to the ejection of compact of all appointed material buckets, can obtain the material of required mixture among the batching container, compare in traditional artifical reinforced mode, improved batching efficiency and accuracy.

Optionally, the material rack and the work rack jointly enclose a circular work space, the manipulator is located at the circle center of the work space, and the length direction of the working portion of the material barrel located on the material rack is parallel to the tangential direction of the work space.

Through adopting above-mentioned technical scheme, the length direction of the work portion of the bung on all material buckets on the material frame all is on a parallel with workspace's tangential direction, when manipulator presss from both sides the material bucket, need not to carry out the fine setting of angle, and is comparatively convenient.

Optionally, the intelligent micro-batching system further comprises a feeding conveying device, wherein a feeding waiting area for the manipulator to grab the material barrel is arranged at the end part of the feeding conveying device close to the manipulator, a proximity sensor for confirming whether the material barrel is conveyed in place is installed in the feeding waiting area, a verification tag for recording material information of the loaded material is arranged on the material barrel, and a first card reader for reading the verification tag and feeding back a reading result to the control terminal is arranged in the feeding waiting area; and an image acquisition device is arranged above the feeding waiting area and used for acquiring top images of the material barrels in the feeding waiting area and transmitting the top images to the control terminal.

Through adopting above-mentioned technical scheme, when needing to place the material bucket on the material frame, the staff can place the material bucket on material conveying device, material conveying device carries the material bucket after the material waiting area of material loading, proximity sensor detects the material bucket, and through control terminal control material loading conveyor pause operation, the operation of first card reader and image acquisition device of simultaneous control, first card reader discerns the verification label on the material bucket, and give control terminal with the discernment result transmission, make control terminal can learn the material type of the material of dress in the material bucket, thereby confirm whether accurate of material bucket that the staff placed automatically, and the target of material bucket on the material frame is placed the position. The image acquisition device acquires top images of the material barrels in the feeding waiting area and transmits the images to the control terminal, so that the control terminal can identify the placement angle of the barrel covers of the material barrels, the real-time angle of the mechanical arm for grabbing the material barrels is controlled, and the length direction of the working portion of the material barrel placed on the material rack is parallel to the tangential direction of the working space. And then, the control terminal controls the mechanical arm to move the material barrel to the designated position on the material rack, so that the automatic placement of the material barrel is realized.

Optionally, the manipulator is provided with a second card reader for reading the verification tag on the material barrel and feeding back a reading result to the control terminal.

By adopting the technical scheme, in the batching process, the control terminal can also control the second card reader to operate when controlling the manipulator to grab the material barrel on the material rack, so that the second card reader reads the verification label on the material barrel and feeds the reading result back to the control terminal, the control terminal is convenient to automatically identify the material barrel, and the possibility of taking the wrong material barrel is reduced.

Optionally, intelligence micro-batching system still includes out unloading conveyor and is used for the transport subassembly of batching container, unloading conveyor is located electronic balance keeps away from one side of manipulator, the transport subassembly is including promoting cylinder, connecting rod and being used for the centre gripping the unloading clamping jaw of batching container, the cylinder body of promoting the cylinder connect in the work rest just is located the electronic balance below, the telescopic link of promoting the cylinder sets up towards the manipulator, the connecting rod is connected between the telescopic link and the unloading clamping jaw of promoting the cylinder, material loading conveyor and transport subassembly difference signal connection in control terminal.

Through adopting above-mentioned technical scheme, after the batching is accomplished, control terminal control unloading clamping jaw snatchs the batching container to control push cylinder with the batching container propelling movement to unloading conveyor on, later, control terminal starts unloading conveyor, thereby can see out the batching container that is equipped with the mixed material of treating, the subsequent processing of being convenient for.

Optionally, the material barrel is an anti-static material barrel.

Through adopting above-mentioned technical scheme, when the material is powdered, the setting of preventing static material bucket can reduce the absorption of material bucket to the material.

In a second aspect, the present application provides a method of using a smart micro-ingredient system, the method being based on the smart micro-ingredient system as described in the first aspect, the method comprising:

s10: the control terminal receives a batching instruction, wherein the batching instruction carries at least two target material types, material usage corresponding to each target material type and a batching sequence;

s20: the control terminal controls the manipulator to move a material barrel corresponding to a current target material type to the supporting assembly based on the material mixing sequence, a material mixing container is located on the supporting assembly, a barrel cover of the material barrel faces downward, and the current target material type is the target material type with the highest priority in all target material types which are not subjected to material mixing;

s30: the control terminal controls the discharging clamping jaw to operate after receiving the electric signal fed back by the first sensor, so that the discharging clamping jaw extrudes a stress end on the material barrel on the supporting assembly;

s40: the control terminal controls the working state of the discharging clamping jaw based on the real-time detection quality fed back by the electronic balance and the material usage amount corresponding to the current target material type; after the difference value between the newly added material amount in the batching container and the corresponding material amount reaches a preset stop threshold value corresponding to the current target material type, controlling the discharging clamping jaw to stop extruding;

s50: the control terminal controls the mechanical arm to put the discharged material barrel back to the original position of the discharged material barrel on the material rack;

and repeating the steps S20-S50 until the discharging operation of the material barrels corresponding to all the target material types is completed.

Optionally, in S40, the control terminal gradually decreases the stroke and the opening and closing frequency of the discharging clamping jaw along with the increase of the real-time detection quality, so as to decrease the discharging speed.

In summary, the present application includes at least one of the following beneficial technical effects:

1. when in use, the control terminal clamps the appointed material barrel on the supporting component in sequence for material proportioning based on the material proportioning requirement of the working personnel, for a single material barrel, the control terminal firstly controls the mechanical arm to transfer the material barrel to be used from the material rack and place the material barrel on the supporting component, the placed material barrel triggers the first sensor, so that the first sensor feeds back an electric signal to the control terminal, so that the control terminal controls the discharging clamping jaw to extrude the stress end on the barrel cover on the material barrel, the extruded material barrel forms a discharging opening, wherein the materials fall into the batching container below, the electronic balance detects the total weight of the batching container in real time and feeds the total weight back to the control terminal in the falling process of the materials, when the discharge amount meets the requirement, the control terminal controls the discharge clamping jaw to loosen the material barrel and controls the manipulator to put the material barrel back to the original position. After the materials are discharged from all the designated material barrels, the materials to be mixed can be obtained in the material mixing container, and compared with the traditional manual feeding mode, the material mixing container has the effects of improving the material mixing efficiency and ensuring the safety of workers and the materials;

2. when a material barrel needs to be placed on the material rack, a worker can place the material barrel on the feeding conveying device, the feeding conveying device conveys the material barrel to the feeding waiting area, the proximity sensor detects the material barrel, the feeding conveying device is controlled to pause through the control terminal, the first card reader and the image acquisition device are controlled to run simultaneously, the first card reader identifies a verification label on the material barrel and transmits an identification result to the control terminal, the control terminal can know the material type of the material in the material barrel, and whether the material barrel placed by the worker is accurate or not and the target placement position of the material barrel on the material rack is automatically confirmed. The image acquisition device acquires top images of the material barrels in the feeding waiting area and transmits the images to the control terminal, so that the control terminal can identify the placement angle of the barrel covers of the material barrels, the real-time angle of the mechanical arm for grabbing the material barrels is controlled, and the length direction of the working portion of the material barrel placed on the material rack is parallel to the tangential direction of the working space. And then, the control terminal controls the mechanical arm to move the material barrel to the designated position on the material rack, so that the automatic placement of the material barrel is realized.

Drawings

FIG. 1 is a schematic diagram of a smart micro-ingredient system embodying embodiments of the present application.

Fig. 2 is an enlarged schematic view of a portion a in fig. 1 in an embodiment of the present application.

FIG. 3 is a schematic structural diagram for embodying a material bucket in an embodiment of the present application

Fig. 4 is a schematic structural diagram for embodying a handling assembly in the embodiment of the present application.

Fig. 5 is a schematic structural diagram for embodying a feeding and conveying device in an embodiment of the present application.

FIG. 6 is a flow chart of a method of use for embodying an intelligent micro-ingredient system in an embodiment of the present application.

FIG. 7 is a flow chart of a loading process for embodying a method of use of the intelligent micro-ingredient system in an embodiment of the present application.

Description of reference numerals: 01. a safety guard rail; 1. a material rack; 11. placing the plate; 2. a manipulator; 3. a working frame; 31. supporting legs; 32. an upper support plate; 33. a lower support plate; 34. passing the materials through a port; 35. a vertical plate; 4. a dosing assembly; 41. a dispensing container; 42. an electronic balance; 43. a first sensor; 44. a discharging clamping jaw; 5. a human-computer interaction device; 6. a material barrel; 61. a barrel body; 611. verifying the label; 62. a barrel cover; 621. a connecting portion; 622. a working part; 623. a force-bearing end; 7. a blanking conveying device; 8. a handling assembly; 81. a push cylinder; 82. a connecting rod; 83. blanking clamping jaws; 9. a feeding and conveying device; 91. a feeding waiting area; 92. a proximity sensor; 93. an image acquisition device; 101. a first card reader; 102. a second card reader.

Detailed Description

The present application is described in further detail below with reference to figures 1-7.

The embodiment of the application discloses an intelligent micro-batching system. Referring to fig. 1 and 2, the intelligent micro-batching system comprises a safety guard rail 01 for isolating an external environment, the intelligent micro-batching system further comprises a material rack 1, a manipulator 2, a working rack 3 and a batching component 4 which are arranged in the safety guard rail 01, the intelligent micro-batching system further comprises a control terminal and a human-computer interaction device 5 which is arranged outside the safety guard rail 01 and is connected to the control terminal in a signal mode, and the human-computer interaction device 5 can be a touch display screen and is used for enabling a worker to input various instructions to the control terminal.

Referring to fig. 1, the cross section of the material rack 1 is arc-shaped, and two material racks 1 are arranged at a relative interval. Every material frame 1 all sets up to upper and lower multilayer to be formed with a plurality of boards 11 of placing, every is placed and all can be placed a material bucket 6 on the board 11. Different materials can be stored in different material barrels 6, and the materials can be solid in powder form or liquid.

Referring to fig. 1 and 3, each material barrel 6 includes a barrel 61 and a barrel cover 62 fixedly connected to the barrel 61, in order to reduce the adsorption of static electricity on the material barrel 6 to the powdery material, the barrel 61 and the barrel cover 62 are respectively configured as an anti-static barrel and an anti-static barrel cover, wherein the anti-static effect can be achieved by coating an anti-static coating on the barrel 61 and the barrel cover 62, or by adding an anti-static material when the barrel 61 and the barrel cover 62 are manufactured. Bung 62 includes integrated into one piece's connecting portion 621 and work portion 622, and connecting portion 621 is used for with ladle body 61 butt joint, and work portion 622 is duckbilled shape setting, and work portion 622 length direction's both ends are stress end 623, and when bung 62's stress end 623 received the extrusion, can form and communicate to the inside discharge opening of ladle body 61.

Referring to fig. 1 and 3, the work frame 3 is disposed between a pair of end portions of the two material frames 1, which are close to each other, and together form an approximately circular work space. The length direction of the working parts 622 of all the material buckets 6 on the material rack 1 is parallel to the tangential direction of the working space.

Referring to fig. 1 and 2, the base of the robot 2 is fixedly installed at the center of a work space, and the robot 2 can freely rotate in the work space. The end of the manipulator 2 is provided with an electric clamping piece which can clamp the barrel body 61 of the material barrel 6 and a rotating piece which can drive the material barrel 6 to rotate, wherein the electric clamping piece can be an electric clamping jaw, and the rotating piece can be a rotating motor. Manipulator 2 signal connection is in control terminal for snatch material bucket 6 based on control terminal's control, and realize the transfer of material bucket 6 between material frame 1 and batching subassembly 4.

Referring to fig. 1 and 2, the batching assemblies 4 are located on the work bench 3, in this embodiment the batching assemblies 4 are provided in two groups. Each set of dosing assemblies 4 comprises a dosing container 41, an electronic balance 42, a first sensor 43 and an outfeed jaw 44. The first sensor 43 and the electronic balance 42 are respectively connected with the same group of discharging clamping jaws 44 through control terminal signals. The working frame 3 comprises four vertically arranged supporting legs 31, and an upper supporting plate 32 and a lower supporting plate 33 which are arranged at intervals up and down are fixedly connected between the four supporting legs 31. An electronic balance 42 is stably attached to the upper surface of the lower support plate 33, and the batching vessel 41 is placed on the weighing surface of the electronic balance 42. The upper surface of the batching container 41 is arranged in an opening shape, the upper supporting plate 32 is provided with two material through openings 34 which correspond to the electronic balance 42 one by one, and the batching container 41 is positioned right below the corresponding material through openings 34. The discharging clamping jaw 44 and the first sensor 43 are respectively fixedly connected to the working frame 3 and are positioned between the electronic balance 42 and the material through opening 34 which correspond to each other.

Referring to fig. 1 and 2, the upper surface of the upper supporting plate 32 is provided with two sets of supporting components for supporting the material barrels 6 in the ingredients, the supporting components are arranged in a one-to-one correspondence to the electronic balances 42, each set of supporting components comprises three vertical plates 35 fixedly connected to the upper surface of the upper supporting plate 32, and the three vertical plates 35 jointly form a support for the material barrels 6. After the material barrel 6 is placed on the supporting component, the barrel cover 62 of the material barrel 6 is arranged downwards, meanwhile, the working part 622 of the material barrel 6 faces the first sensor 43 and is located between the two jaws of the discharging clamping jaw 44, and the two jaws of the discharging clamping jaw 44 are respectively close to the two stressed ends 623 of the working part 622. The first sensor 43 may be a photoelectric sensor, and thus can be triggered by the material barrel 6, and then controls the operation state of the corresponding discharging clamping jaw 44 through the control terminal, so that the discharging clamping jaw 44 finally extrudes the force bearing end 623 of the working portion 622.

Referring to fig. 1 and 4, at least one set of blanking conveying devices 7 is disposed on one side of the working frame 3 away from the manipulator 2, and an opening for placing the blanking conveying devices 7 is disposed on the safety protection fence 01. In this embodiment, two sets of the blanking conveying devices 7 are adjacently arranged, and each set of the blanking conveying devices 7 respectively corresponds to one set of the batching components 4. In the present embodiment, the blanking conveying device 7 is a conveyor belt type conveying device, and the conveying direction is arranged along the radial direction of the working space. After the dosage vessel 41 is placed on the blanking conveyor 7, it can be transported to a subsequent processing station.

Referring to fig. 1 and 4, two sets of carrying assemblies 8 for carrying the ingredient containers 41 to the blanking conveying device 7 are connected to the work frame 3, and the carrying assemblies 8 are arranged in one-to-one correspondence to the ingredient assemblies 4. Each set of handling assemblies 8 comprises a pushing cylinder 81, a connecting rod 82 and a blanking jaw 83 for clamping the batching container 41, the blanking jaw 83 being likewise an electric jaw. The cylinder body fixed connection of push cylinder 81 is in the lower surface of bottom suspension fagging 33, and push cylinder 81's telescopic link is along workspace radial setting and towards manipulator 2, and connecting rod 82 is vertical setting and fixed connection between push cylinder 81's that corresponds telescopic link and unloading clamping jaw 83. The two jaws of the blanking jaw 83 are arranged towards the dosage container 41 in the corresponding dosage assembly 4.

Referring to fig. 2 and 3, in the initial state, the telescopic rod of the pushing cylinder 81 is in the extended state. When the batching container 41 filled with the mixed material needs to be moved onto the blanking conveying device 7, the control terminal starts the blanking clamping jaw 83, so that the blanking clamping jaw 83 can just clamp the batching container 41 on the corresponding electronic balance 42, and then the control terminal controls the telescopic rod of the pushing cylinder 81 to be retracted, the telescopic rod of the pushing cylinder 81 drives the connecting rod 82 to move, the connecting rod 82 drives the blanking clamping jaw 83 to move, and the batching container 41 can be carried onto the corresponding blanking conveying device 7. Then, the control terminal can control the blanking clamping jaws 83 to loosen the material-containing material container 41, and after a worker replaces a new material container 41, the control terminal controls the blanking clamping jaws 83 to clamp the replaced material container 41, so that the replaced material container 41 can be carried to the electronic balance 42 by using the pushing cylinder 81, and the next material mixing is facilitated.

Referring to fig. 1 and 5, in order to realize the automatic placement of the material barrel 6 on the material shelf 1, the intelligent micro-batching system further comprises at least one set of feeding conveying devices 9, and the safety guard rail 01 is also provided with an opening for placing the feeding conveying devices 9. In the present embodiment, the feeding conveyor 9 is provided with two sets. In the present exemplary embodiment, the infeed conveyor 9 is likewise a conveyor belt conveyor, and its conveying direction is distributed in the radial direction of the working space. The end part of each feeding and conveying device 9 close to the manipulator 2 is provided with a feeding waiting area 91 for the manipulator 2 to grab the material barrel 6, and the feeding waiting area 91 is positioned between the end parts of the two material racks 1 far away from the batching assembly 4.

Referring to fig. 1 and 5, a proximity sensor 92 for confirming whether the material barrel 6 is conveyed in place is correspondingly installed in the material loading waiting area 91, and a sensing end of the proximity sensor 92 is arranged toward the material loading waiting area 91. The body 61 of the material barrel 6 is provided with a verification tag 611 (the verification tag 611 on the material barrel 6 on the material rack 1 is not shown) for recording material information of the contained material, and the first card reader 101 for reading the verification tag 611 on the material barrel 6 and feeding back the reading result to the control terminal is fixedly connected in the material loading waiting area 91. An image acquisition device 93 is installed in the top correspondence of material loading waiting area 91, and image acquisition device 93 can be the surveillance camera head of fixed connection in 01 inside walls of safety protection fence, and it shoots the vertical downward setting of end, can gather the top image of material bucket 6 in two material loading waiting areas 91 and transmit to control terminal to help control terminal to snatch the regulation of angle when manipulator 2 snatchs material bucket 6 in the material loading waiting area 91.

Referring to fig. 1 and 2, the manipulator 2 is provided with a second card reader 102 for reading the verification tag 611 on the material barrel 6 and feeding back the reading result to the control terminal, and in the batching process, when the control terminal controls the manipulator 2 to capture the material barrel 6 on the material rack 1, the control terminal also controls the second card reader 102 to operate, so that the second card reader 102 reads the verification tag 611 on the material barrel 6 and feeds back the reading result to the control terminal, thereby facilitating the control terminal to automatically identify the material barrel 6 and reducing the possibility of taking the wrong material barrel 6.

Based on the above system, the embodiment of the present application further discloses a method for using the intelligent micro-ingredient system, and referring to fig. 6, the method for using the intelligent micro-ingredient system specifically includes the following contents:

s10: the control terminal receives a batching instruction, and the batching instruction carries at least two target material types, material usage corresponding to each target material type and a batching sequence.

Specifically, the staff can send the batching instruction to the control terminal through the human-computer interaction device 5 according to the actual batching demand. The batching instruction carries a batching formula selected by a worker, wherein the batching formula can be pre-stored in the control terminal, and selected after being called and checked by the worker through the human-computer interaction device 5, or manually input by the worker. At least two target material types, the material usage amount corresponding to each target material type and a batching sequence are recorded in a batching formula, wherein the target material type refers to the material type of the material required to be used in the batching.

S20: the control terminal controls the manipulator to move the material barrel corresponding to the current target material type to the supporting assembly based on the material mixing sequence, the barrel cover of the material barrel on the supporting assembly faces to the downward material mixing container, and the current target material type refers to the highest priority target material type in all target material types which are not subjected to material mixing.

Specifically, after receiving the batching instruction, the control terminal reads the batching formula carried in the batching instruction, and identifies the type of the current target material to be used currently based on the batching sequence in the batching instruction. Then, the control terminal may control the manipulator 2 to move to the material barrel 6 corresponding to the current target material type based on a correspondence between the pre-stored material type and the placement position of the material barrel 6. Then, the control terminal may control second card reader 102 on manipulator 2 to operate, so that second card reader 102 reads authentication tag 611 on opposite material bucket 6 and feeds back the identification result. After confirming that the material barrel 6 is correct, the control terminal controls the manipulator 2 to move the material barrel 6 corresponding to the current target material type to the supporting component in an idle state, and then the manipulator 2 rotates the material barrel 6 by 180 degrees and vertically and downwards places the material barrel on the supporting component.

S30: after receiving the electric signal fed back by the first sensor, the control terminal controls the discharge clamping jaw to operate, so that the discharge clamping jaw extrudes the stress end on the material barrel on the supporting assembly.

Specifically, after the material barrel 6 is placed, the barrel cover 62 of the material barrel 6 triggers the first sensor 43 shielded by the first sensor, so that the first sensor 43 feeds back an electric signal to the control terminal, and then the control terminal controls the corresponding discharging clamping jaw 44 to operate, so that the discharging clamping jaw 44 extrudes the stress end 623 of the material barrel 6, and the material barrel 6 forms a discharging opening for the material to fall.

S40: the control terminal controls the working state of the discharging clamping jaw based on the real-time detection quality fed back by the electronic balance and the material usage amount corresponding to the current target material type; and controlling the discharging clamping jaw to stop extruding after the difference value between the newly added material amount in the batching container and the corresponding material amount reaches a preset stop threshold value corresponding to the current target material type.

Specifically, in the falling process of the material, the electronic balance 42 may detect the real-time detection quality of the batching container 41 and feed the real-time detection quality back to the control terminal, where the real-time detection quality may be the total mass of the batching container 41 and the material therein, and the control terminal may calculate the amount of the newly added material in the batching container 41, that is, the amount of the material discharged from the material barrel 6, based on the received real-time detection quality, the pre-stored initial mass of the batching container 41, and the previously received historical data. Along with the gradual increase of load, when the load is close to the material quantity that current target material type corresponds, for example reach 80% back of the material quantity that current target material type corresponds, control terminal can control ejection of compact clamping jaw 44 and reduce the stroke and the frequency that opens and shuts of self to make ejection of compact speed reduce. Then, when the difference between the amount of the material newly added to the dispensing container 41 and the amount of the material corresponding to the current target material type reaches a corresponding preset stop threshold, the control terminal controls the discharging clamping jaw 44 to stop extruding, and the discharging of the material barrel 6 is completed. The control terminal stores stop thresholds corresponding to the material types one by one, and the stop thresholds are specific numerical values, such as 1g and 2 g. Because there is the floating effect powdered material can exist, when the ejection of compact was stopped to material bucket 6, batching container 41 is inside still can to suspend some material that does not fall to batching container 41 bottom, consequently, to the material of different density, is provided with different stop threshold values to the too much possibility of ejection of compact has been reduced.

S50: the control terminal controls the manipulator to place the discharged material barrel back to the original position on the material frame.

And repeating the steps S20-S50 until the discharging operation of the material barrels corresponding to all the target material types is completed.

Specifically, the control terminal controls the manipulator 2 to sequentially place the material barrels 6 corresponding to the target material types on the support assembly according to the material mixing sequence, and for each material barrel 6, the operations of S20 to S50 are performed until the discharging operations of the material barrels 6 corresponding to all the target material types are completed, so that the material mixing container 41 containing the materials to be mixed can be obtained.

S60: after the batching is completed, the control terminal controls the carrying assembly to carry the batching container to the feeding conveying device, so that the follow-up operation is facilitated.

Further, referring to fig. 7, the method of using the intelligent micro-ingredient system further includes a loading control method, which specifically includes the following steps:

s01: and after receiving the electric signal fed back by the target proximity sensor, the control terminal controls the corresponding first card reader to operate so as to obtain and feed back a reading result of the verification tag.

Specifically, when an operator wants to add an additive material barrel 6 to the material rack 1, the operator can place the material barrel 6 on the feeding and conveying device 9, and convey the material barrel 6 to the feeding waiting area 91 through the feeding and conveying device 9, so as to trigger the proximity sensor 92. Thereafter, the proximity sensor 92 sends an electric signal to the control terminal, so that the control terminal controls the operation of the first card reader 101 corresponding to the proximity sensor 92. The first card reader 101 reads the verification tag 611 on the material barrel 6, and feeds back the read result to the control terminal.

S02: and judging the material type of the material contained in the material barrel based on the reading result, and after confirming that the material type is correct, controlling the corresponding image acquisition device to operate by the control terminal so as to acquire and feed back the top image of the material barrel.

Specifically, after receiving the reading result fed back by the first card reader 101, the control terminal may identify the material type of the material held in the material bucket 6 in the material-loading waiting area 91 based on the reading result, compare the material type with the material type to be loaded input by the operator in advance, and when the comparison result is consistent, the control terminal may control the image acquisition device 93 to operate, so that the image acquisition device 93 acquires the top image of the material bucket 6 and feeds the top image back to the control terminal.

S03: and carrying out image recognition processing on the top image so as to confirm the placing angle of the material barrel.

S04: controlling the grabbing angle of the manipulator to the material barrel based on the placing angle and a pre-stored standard angle; meanwhile, based on the material type identified in the above S02 and the placement condition on the material rack at the current time, a target placement plate for placing the material bucket on the material rack is determined. And then, the control terminal controls the mechanical arm to place the material barrel on the target placing plate on the material shelf.

Specifically, the control terminal controls the end of the manipulator 2, which is provided with the electric clamping member, to move to the area to be loaded, and controls the angle of the electric clamping member on the manipulator 2 based on the placing angle recognized in S03 and the standard angle stored in advance. Meanwhile, based on the material type recognized in the above S02 and the placement condition on the material rack 1 at the present time, the target placement plate 11 on the material rack 1 for placing the material bucket 6 is confirmed. Here, the placeable position refers to any one of the placing plates 11 in an empty state among all the placing plates 11 corresponding to the material type. Then, the control terminal controls the manipulator 2 to place the material barrel 6 on the target placing plate 11 on the material shelf 1.

Furthermore, because the use amount and the use frequency of different materials are different, for the materials which are frequently used, a plurality of material barrels 6 which store the materials of the type can be placed on the material rack 1, namely, a single material barrel 6 is not used; for less materials, only one material barrel 6 for storing the materials of the type, namely a single material barrel 6, can be arranged on the material rack 1. Meanwhile, in order to distinguish the two situations, the control terminal can record whether each material barrel 6 belongs to a single material barrel 6 or a non-single material barrel 6, and for the non-single material barrel 6, the control terminal can also store the association relation among the material barrels 6 which store the same type of materials. At this time, in order to timely replace the material barrel 6, the use method of the intelligent micro-batching system may further include the following steps:

after the control terminal finishes discharging of each material barrel 6, the amount of the residual materials in the material barrel 6 is counted, and the amount of the residual materials is displayed on a display screen of the control terminal. Then, the control terminal may perform different subsequent processes for the feeding of the non-single material bucket 6 and the single material bucket 6.

If this material bucket 6 is non-single material bucket 6, other material buckets 6 that this non-single material bucket 6 is correlated with can be discerned to control terminal, and after the material in one of them storage bucket 6 used up, manipulator 2 can directly snatch the material bucket 6 rather than being correlated with and continue the batching, and simultaneously, control terminal still can be when manipulator 2 is idle state, moves the non-single material bucket 6 of above-mentioned empty bucket to material waiting area 91 to the staff of being convenient for carries out the feed supplement of material bucket 6. After moving non-single material bucket 6 to material waiting area 91, control terminal can also start the suggestion equipment that has predetermineeing, for example buzzer siren, voice broadcast device etc. send the warning to the operator.

If this material bucket 6 is single material bucket 6, control terminal then can directly send the warning to the operator through the suggestion equipment that has predeterminedly when needing to reload to be convenient for the operator in time prepare full material bucket 6 that is used for changing, later, after the material in above-mentioned single material bucket 6 is used up the back, manipulator 2 can directly remove this single material bucket 6 to material waiting area, thereby the staff of being convenient for changes. Through reminding the staff in advance, help improving the change efficiency to single material bucket 6, it is long when shutting down when reducing the feed supplement.

The above are preferred embodiments of the present application, and the scope of protection of the present application is not limited thereto, so: equivalent changes in structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims (8)

1. The utility model provides an intelligence micro-batching system, its characterized in that, includes material frame (1), manipulator (2), work frame (3), batching subassembly (4) and control terminal, a plurality of material buckets (6) have been placed on material frame (1), material bucket (6) include ladle body (61) and connect in bung (62) of ladle body (61), bung (62) include integrated into one piece's connecting portion (621) and work portion (622), connecting portion (621) connect in ladle body (61), work portion (622) are duckbilled setting, work portion (622) length direction's both ends are atress end (623), work portion (622) are used for forming discharge opening when atress end (623) are extrudeed;

the batching assembly (4) comprises a batching container (41), an electronic balance (42), a first sensor (43) and a discharging clamping jaw (44), the electronic balance (42), the first sensor (43) and the discharging clamping jaw (44) are respectively arranged on the working frame (3), the batching container (41) is arranged on the electronic balance (42), and the first sensor (43) and the electronic balance (42) are respectively connected to the discharging clamping jaw (44) through the control terminal signals; the operating frame is connected with a supporting component for supporting a material barrel (6) in the ingredients, and the supporting component is positioned above the ingredient container (41); the discharging clamping jaw (44) is used for extruding a stress end (623) on a material barrel (6) on the supporting assembly;

the manipulator (2) is in signal connection with the control terminal and used for grabbing the material barrel (6) and realizing transfer of the material barrel (6) between the material rack (1) and the supporting assembly.

2. The intelligent micro-ingredient system of claim 1, wherein: the material rack (1) and the working rack (3) jointly enclose a circular working space, the manipulator (2) is located at the circle center of the working space, and the length direction of a working part (622) of a material barrel (6) located on the material rack (1) is parallel to the tangential direction of the working space.

3. The intelligent micro-ingredient system of claim 2, wherein: the intelligent micro-batching system further comprises a feeding conveying device (9), wherein a feeding waiting area (91) for the manipulator (2) to grab the material barrel (6) is arranged at the end part, close to the manipulator (2), of the feeding conveying device (9), a proximity sensor (92) for confirming whether the material barrel (6) is conveyed in place is installed in the feeding waiting area (91), a verification label (611) for recording material information of the loaded material is arranged on the material barrel (6), and a first card reader (101) for reading the verification label (611) and feeding back a reading result to the control terminal is arranged in the feeding waiting area (91); an image acquisition device (93) is arranged above the feeding waiting area (91), and the image acquisition device (93) is used for acquiring top images of the material barrel (6) in the feeding waiting area (91) and transmitting the top images to the control terminal.

4. The intelligent micro-ingredient system of claim 3, wherein: and a second card reader (102) used for reading the verification tag (611) on the material barrel (6) and feeding back the reading result to the control terminal is arranged on the manipulator (2).

5. The intelligent micro-ingredient system of claim 1, wherein: the intelligent micro-batching system also comprises a discharging and conveying device (7) and a carrying assembly (8) used for carrying the batching containers (41), the blanking conveying device (7) is positioned on one side of the electronic balance (42) far away from the mechanical arm (2), the carrying assembly (8) comprises a pushing cylinder (81), a connecting rod (82) and a blanking clamping jaw (83) used for clamping the ingredient container (41), the cylinder body of the pushing cylinder (81) is connected with the working frame (3) and is positioned below the electronic balance (42), the telescopic rod of the pushing cylinder (81) is arranged towards the manipulator (2), the connecting rod (82) is connected between the telescopic rod of the pushing cylinder (81) and the blanking clamping jaw (83), and the feeding and conveying device (9) and the carrying assembly (8) are respectively in signal connection with the control terminal.

6. The intelligent micro-ingredient system of claim 1, wherein: the material barrel (6) is an anti-static material barrel.

7. A method of using a smart micro-ingredient system, the method being based on the smart micro-ingredient system according to any of claims 1-6, the method comprising:

s10: the control terminal receives a batching instruction, wherein the batching instruction carries at least two target material types, material usage corresponding to each target material type and a batching sequence;

s20: the control terminal controls the manipulator to move a material barrel corresponding to a current target material type to the supporting assembly based on the material mixing sequence, a material mixing container is located on the supporting assembly, a barrel cover of the material barrel faces downward, and the current target material type is the target material type with the highest priority in all target material types which are not subjected to material mixing;

s30: the control terminal controls the discharging clamping jaw to operate after receiving the electric signal fed back by the first sensor, so that the discharging clamping jaw extrudes a stress end on the material barrel on the supporting assembly;

s40: the control terminal controls the working state of the discharging clamping jaw based on the real-time detection quality fed back by the electronic balance and the material usage amount corresponding to the current target material type; after the difference value between the newly added material amount in the batching container and the corresponding material amount reaches a preset stop threshold value corresponding to the current target material type, controlling the discharging clamping jaw to stop extruding;

s50: the control terminal controls the mechanical arm to put the discharged material barrel back to the original position of the discharged material barrel on the material rack;

and repeating the steps S20-S50 until the discharging operation of the material barrels corresponding to all the target material types is completed.

8. The method of using an intelligent micro-ingredient system according to claim 7, wherein in the step S40, the control terminal gradually reduces the stroke and the opening and closing frequency of the discharging clamping jaw along with the increase of the real-time detection quality so as to reduce the discharging speed.

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