CN114890359A - Flange barrel packaging robot, packaging production line and packaging method - Google Patents

Abstract

The invention discloses a flange barrel packaging robot, a packaging production line and a packaging method, wherein the robot comprises a filling gun, a cover opening and closing mechanical arm, a positioning device and a main machine body; the filling gun and the cover opening and closing mechanical arm are both fixed on the main machine body and can move in two dimensions in a horizontal plane on the main machine body; the positioning device is used for determining the position of a flange barrel cover, the filling gun and the cover opening and closing manipulator are used for carrying out multi-station filling according to positioning results, and after one station is sequentially opened, filled and closed, the operation of the next station is carried out. This patent can realize the full-automatic packing of flange bucket, improves packing precision and degree of accuracy, improves work efficiency simultaneously.

Description

Flange barrel packaging robot, packaging production line and packaging method

Technical Field

The embodiment of the invention relates to the technical field of packaging, in particular to a flange barrel packaging robot, a packaging production line and a packaging method.

Background

The flange barrel is a common packaging container, is mainly used for storing and transporting various liquids, has good characteristics for special products, has the characteristics of being not easy to break, rust, light in weight, difficult to deform and the like, has excellent oil resistance and corrosion resistance, and can be used for packaging industrial products with the requirements of heat preservation, moisture resistance, pressure resistance and corrosion resistance. At present, the liquid and solid products are mainly used for containing chemical raw materials, lubricants, coatings, foods and other industries. The specification varies from 60mL to 200L.

At present, the flange barrel is mostly operated manually in the processes of opening and closing, filling and using, the industrialization degree is low, and the manpower and the time are wasted.

Disclosure of Invention

The invention provides a flange barrel packaging robot, a packaging production line and a packaging method, which are used for realizing full-automatic packaging of flange barrels, improving the precision and accuracy of flange barrel packaging and improving the working efficiency.

In order to realize the technical problem, the invention adopts the following technical scheme:

a flange barrel packaging robot comprises a filling gun, a cover opening and closing mechanical arm, a positioning device and a main machine body; the filling gun and the cover opening and closing mechanical arm are both fixed on the main machine body and can move in two dimensions in a horizontal plane on the main machine body; the positioning device is used for determining the position of the flange barrel cover, the filling gun and the cover opening and closing manipulator are used for filling in multiple stations according to positioning results, and after sequentially opening, filling and closing the cover in one station are completed, the operation of the next station is performed.

Optionally, the filling gun and the cover opening and closing manipulator are fixed on the same movable seat and move two-dimensionally in a horizontal plane along with the movable seat; the filling gun and the cover opening and closing manipulator do lifting motion independently.

Optionally, the movable seat is connected with the main body through a sliding rail and is driven by a servo motor.

Optionally, the filling gun is arranged between the cover opening and closing manipulator and the sliding rail, and during operation, the cover opening and closing manipulator firstly reaches the upper part of the flange barrel along with the movement of the sliding rail.

Optionally, the positioning device includes two cameras, and the two cameras are both fixed on the movable seat and can move along with the filling gun.

Optionally, the cover opening and closing manipulator comprises a barrel cover clamping device, a wrench opening and closing device and a fixed disk; the barrel cover clamping device is used for clamping a barrel cover and can drive the barrel cover to move, the wrench opening and closing device is used for opening or closing a flange barrel wrench, and the barrel cover clamping device and the wrench opening and closing device are connected together through the fixed disc; the fixing disc comprises a barrel cover clamping device fixing disc and a wrench opening and closing device fixing disc, and the wrench opening and closing device fixing disc can rotate relative to the barrel cover clamping device fixing disc so as to drive the wrench opening and closing device fixed on the wrench opening and closing device to rotate relative to the barrel cover clamping device.

Optionally, the multi-station layout mode is that every two stations are station groups, two stations in one station group are symmetrically arranged by taking the flange barrel conveying line as a symmetry axis, and the plurality of station groups are arranged along the flange barrel conveying line direction.

Optionally, two stations are arranged.

A flange bucket packaging production line comprising a flange bucket packaging robot, a conveying roller table and a pallet magazine according to any one of claims 1 to 8; the tray warehouse is arranged on one side of the conveying roller way and used for supplying trays; the conveying roller way is a deformable roller way and can be compatible with a plurality of barrel entering routes.

A flange barrel packaging method is characterized in that a positioning device positions two flange barrels as a station group, after the positioning is finished, one flange barrel in the station group is packaged, the processes of cover opening, filling and cover closing are carried out, and after the positioning is finished, the other flange barrel is packaged; and after the packaging of one work group is finished, packaging of the next work group is carried out according to the process.

Optionally, the packaging process for one station is as follows:

s01, when the two flange barrels arrive at the designated place, the positions of the flange barrels are detected at the same time, the barrel cover coordinates of the flange barrels are confirmed, and coordinate information is transmitted to the control system;

s02, the control system controls the cover opening and closing manipulator and the filling gun to reach the upper part of a filling barrel from the initial position according to the position information of the flange barrel, and the cover opening and closing manipulator descends to a height enough to clamp the cover of the flange barrel;

s03, the cover opening and closing mechanical hand rotates to enable the wrench opening and closing device on the cover opening and closing mechanical hand to reach the wrench, and the handle opening and closing device rotates around the cover opening and closing mechanical hand body until the wrench is clamped; the wrench switching device rotates outwards relative to the cover opening and closing mechanical hand body, the wrench is opened, and cover opening work is completed;

s04, the cover opening and closing manipulator grips the barrel cover, enables the barrel cover to leave the barrel opening to a specified position, and hovers;

s05, the filling gun reaches the designated position, starts filling after descending for a certain height, and rises to the original height after filling;

s06, the cover opening and closing manipulator carries the cover to reach the upper part of the bung hole, the cover opening and closing manipulator descends to a position where the bung hole contacts the bung hole, the wrench opening and closing device rotates towards the main body direction of the cover opening and closing manipulator to drive the wrench to close, the wrench is closed to the specified position and then rotates around the cover opening and closing manipulator until the cover opening and closing manipulator is separated from the wrench, and the cover opening and closing manipulator rotates to the initial position to complete cover closing; thus, the single-station filling is completed.

Optionally, the filling line is shaped like a Chinese character 'ji'.

By the technical scheme of the embodiment of the invention, the full-automatic packaging of the flange barrel is realized, the packaging precision and accuracy of the flange barrel are improved, and the working efficiency is improved.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a side view of a flanged bucket of the present invention;

fig. 2 is a schematic structural diagram of a flange barrel packaging robot according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a flange bucket uncovering manipulator provided by a second embodiment of the invention;

FIG. 4 is a bottom view of a fixing plate according to a second embodiment of the present invention;

FIG. 5 is a top view of a mounting plate provided in accordance with a third embodiment of the present invention;

fig. 6 is a schematic view of a drum cover clamping device according to a fourth embodiment of the present invention;

fig. 7 is a schematic view of a stop block in the hoop half-stop device according to the fifth embodiment of the present invention;

fig. 8 is a schematic view of a limiting block in the full limiting device for the barrel band according to the fifth embodiment of the present invention;

fig. 9 is a schematic structural view of a wrench switch device according to a sixth embodiment of the present invention;

FIG. 10 is a schematic diagram of a workstation layout according to a seventh embodiment of the present invention;

fig. 11 is a schematic view of a production line according to an eighth embodiment of the present invention.

Wherein the content of the first and second substances,

1-opening and closing the cover manipulator: 11-barrel cover clamping device: 111-fixed barrel cover clamping device, 112-limiting barrel cover clamping device, 114-fixing plate, 115-barrel cover body clamping device, 116-barrel hoop limiting device, 117-barrel cover clamping device fixing seat, 1151-inner positioning device, 1152-outer positioning device, 11521-positioning block, 11522-guide post, 11523-spring, 11524-telescopic limiting piece; 1161-limit block, 1162-limit guide post;

12-wrench switching device: 121-opening means, 122-closing means, 123-catch groove, 1221-first shutter 2, 1222-second shutter, 1223-reset;

13-fixing the disc: 131-a barrel cover clamping device fixing disc, 133-a bearing, 132-a wrench switching device fixing disc, 1321-a wafer, 1322-a gear and 1323-a wrench rotating motor;

14-manipulator fixing seat;

15-auxiliary barrel hoop limiting device;

2-filling a gun;

3-a movable seat;

4-barrel cover: 41-barrel hoop, 411-wrench, 412-wrench movable shaft, 413-non-wrench connecting end;

5-a positioning device;

6-a main machine body; 61-a slide rail;

7-conveying the roller bed;

8-tray library.

Detailed Description

In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

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

Example one

Fig. 2 is a schematic view of a flange-bucket packaging robot according to an embodiment of the present invention.

As shown in fig. 2, a flange barrel packaging robot comprises a filling gun 2, a cover opening and closing manipulator, a positioning device 5 and a main machine body 6; the filling gun 2 and the cover opening and closing mechanical hand are fixed on the main machine body 6 through the same movable seat, and the movable seat 3 is connected with the main machine body 6 through a slide rail 61 and driven by a servo motor; the filling gun 2 and the cover opening and closing mechanical hand can move in two dimensions in the horizontal plane on the main machine body 6, and the filling gun 2 and the cover opening and closing mechanical hand do lifting motion independently. The filling gun 2 is arranged between the cover opening and closing mechanical hand and the sliding rail 61, and during work, the cover opening and closing mechanical hand firstly reaches the upper part of the flange barrel along with the one-time movement of the sliding rail 61.

The positioning device 5 is used for determining the position of the flange barrel cover, the filling gun 2 and the cover opening and closing manipulator are used for carrying out multi-station filling according to positioning results, and after sequentially opening, filling and closing the cover of one station are finished, the operation of the next station is carried out.

In another preferred embodiment, the positioning device 5 comprises two cameras, both fixed to the main body 6 and movable with the filling gun 2.

Example two

The second embodiment of the invention provides a flange barrel packaging robot, and fig. 3 is a schematic view of a switching manipulator in the flange barrel packaging robot provided by the second embodiment of the invention.

As shown in fig. 3, the flange barrel cover opening and closing manipulator comprises a barrel cover clamping device 11, a wrench opening and closing device 12, a fixed disk 13 and a manipulator fixing seat 14. The barrel cover clamping device 11 is used for clamping a barrel cover and can drive the barrel cover to move, the wrench opening and closing device 12 is used for opening or closing a flange barrel wrench, the fixed disk 13 is used for connecting the barrel cover clamping device 11 and the wrench opening and closing device 12 together, and the fixed disk 13 is fixed on the movable seat 3 through the manipulator fixing seat 14.

Preferably, the number of the wrench opening and closing devices 12 is 1, the number of the barrel cover clamping devices 11 is greater than or equal to 2, and the wrench opening and closing devices 12 are arranged between the two barrel cover clamping devices 11; the positions of the barrel cover clamping devices 11 are relatively fixed and can synchronously move under the driving of a driving mechanism, and the wrench opening and closing device 12 can move relative to the barrel cover clamping devices 11.

EXAMPLE III

The third embodiment of the invention provides a flange barrel packaging robot, and fig. 4-5 are fixed disc structure diagrams provided by the second embodiment of the invention.

As shown in fig. 4-5, the present embodiment optimizes the structure of the fixed disk 13. The flange barrel cover opening and closing manipulator further comprises a fixed disk 13, and the fixed disk 13 comprises a barrel cover clamping device fixed disk 131 and a wrench opening and closing device fixed disk 132. The barrel cover clamping device fixing disc 131 is driven by the manipulator integral lifting cylinder and the integral rotation driving motor to do lifting motion and rotating motion, so as to drive the plurality of barrel cover clamping devices 11 fixed on the manipulator integral lifting cylinder to move; the barrel cover clamping device fixing disc 131 is of a horizontally arranged circular ring-shaped structure, a bearing 133 is arranged in the inner ring, and the inner wall of the barrel cover clamping device fixing disc 131 is fixed with the outer ring of the bearing 133. The wrench opening and closing device fixing plate 132 can rotate relative to the barrel cover clamping device fixing plate 131, so as to drive the wrench opening and closing device 12 fixed thereon to rotate relative to the barrel cover clamping device 11. The wrench opening and closing device fixing plate 132 and the barrel cover clamping device fixing plate 131 are not in the same plane, and the former is lower than the latter. Further, the wrench switch device fixing plate 132 is also circular.

A circular sheet 1321 is fixed on the wrench opening and closing device fixing disc 132, the central angle of the circular sheet 1321 is 60 degrees to 90 degrees, the diameter of a large circle in the circular sheet 1321 is larger than that of a large circle in the barrel cover clamping device fixing disc 131, the diameter of a small circle in the circular sheet 1321 is the same as that of a small circle in the wrench opening and closing device fixing disc 132, and the wrench opening and closing device fixing disc 132, the barrel cover clamping device fixing disc 131 and the circular sheet 1321 are concentric. The disc 1321 is provided with a gear at its outer edge, and the gear is engaged with a gear 1322 fixed to a cylinder rod of the wrench rotation motor 1323 and is driven to rotate around the center of the fixed disk 13, so as to drive the wrench switch device 12 to rotate around the center of the fixed disk 132. At least one barrel cover clamping device 11 is arranged between the wafer 1321 and the wrench switch device 12.

Example four

The fourth embodiment of the present invention provides a flange barrel packaging robot, and fig. 6 is a schematic view of a barrel cover clamping device 11 according to the fourth embodiment of the present invention.

As shown in fig. 6, the drum cover clamping device 11 is divided into a fixed drum cover clamping device 111 and a limiting drum cover clamping device 112. The fixed barrel cover clamping device 111 limits the movement of the barrel cover body and the barrel hoop, and the limiting barrel cover clamping device 112 limits the rotation of the barrel cover and allows the barrel hoop to move around the circumferential direction of the barrel cover. Specifically, the barrel cover clamping device 11 comprises a barrel cover body clamping device 115 and a barrel hoop limiting device 116; the barrel cover body clamping device 115 provides fixing force for the barrel cover body, and the barrel hoop limiting device 116 is used for limiting displacement of the barrel hoop. The barrel hoop limiting device 116 is divided into a barrel hoop full limiting device and a barrel hoop half limiting device; the barrel hoop full limiting device is applied to the fixed barrel cover clamping device 111, and the barrel hoop half limiting device is applied to the limiting barrel cover clamping device 112.

The barrel cover clamping devices 11 are uniformly arranged on the barrel cover clamping device fixing disc 131, a barrel hoop auxiliary limiting device 15 is further arranged between the two barrel cover clamping devices, and the barrel hoop auxiliary limiting device 15 is also fixed on the barrel cover clamping device fixing disc 131.

The number of the fixed barrel cover clamping devices 111 is one, and clamping force is provided for the flange barrel cover so as to fix the flange barrel cover. The fixed barrel cover clamping device 111 is arranged on one side of the wrench switch device 12, is close to the non-wrench connecting end in the flange barrel hoop, and is far away from the wrench movable shaft in the flange barrel hoop.

The limiting barrel cover clamping device 112 provides a restraining force to the flange barrel cover so as to restrain the flange barrel cover from displacing in a part of directions. The number thereof is plural, preferably two.

EXAMPLE five

The fifth embodiment of the invention provides a flange barrel packaging robot, and fig. 7 to 8 are schematic diagrams of limiting blocks provided by the fourth embodiment of the invention respectively.

As shown in fig. 6, the bung body clipping means 115 is used to clip the upper edge of the bung to control the position of the bung together with the ferrule stop 116. The barrel cover body clamping device 115 and the barrel hoop limiting device 116 are both connected to the fixing plate 114 through a barrel cover clamping device fixing seat 117, and are connected to the fixing plate 13 through the fixing plate 114. The bung body gripping means 115 is located above the bung limiting means 116.

The bung body gripping means 115 comprises inner and outer locating means 5, 51152. The inner positioning device 523 is used for propping the upper edge and the inner edge of the cover of the flange barrel from the inside, and the outer positioning device 51152 is used for propping the outer edge of the cover of the flange barrel from the outside. The inner positioning device 5 is fixedly connected to the fixed disc 13.

The outer positioning device 51152 comprises a positioning block 11521, a guide post 11522, a spring 11523 and a telescopic limit 11524. The positioning block 11521 and the inner positioning device 5 are matched to clamp the cover of the flange barrel. The positioning block 11521 is connected to the spring 11523 through the guide post 11522, the other end of the spring 11523 is fixed to the fixing seat, and the positioning block 11521 is driven by the spring 11523 to translate, so that the positioning block 11521 is tightly attached to the cover of the flange barrel, and the purpose of clamping the cover is achieved. One end of the limiting guide post 1162 is fixedly connected with the limiting block 1161, the other end of the limiting guide post is hollow, and one end of the spring 11523 is fixed in the inner space. The length of the hollow section of the limit guide post 1162 is greater than the maximum compression dimension of the spring 11523. The telescopic limiting part 11524 is a limiting bolt, the head of the telescopic limiting part 11524 is fixedly connected with the fixed seat through a nut, the screw rod is positioned in the spring 11523 and extends into the hollow area of the limiting guide post 1162, and the depth of the limiting bolt entering the limiting guide post 1162 can be adjusted by adjusting the screwing depth of the limiting bolt and the fixed seat. The compression distance of the spring 11523 can be adjusted according to actual needs. The guide column 11522 is also positioned in the guide seat, which is positioned above the guide column 11522 of the limiting device; namely, two through holes are formed on the guide seat and used for providing guidance for the barrel cover body clamping device 115 and the barrel hoop limiting device 116.

In another preferred embodiment, the outer positioning device 51152 and the barrel hoop limiting device 116 are fixed on the fixing plate 13 through the same barrel cover clamping device fixing seat 117, and can move in a horizontal direction along with the barrel cover clamping device fixing seat 117. The tub cover holder fixing base 117 is connected to the fixing plate 114 by an air cylinder. The cylinder is fixed on the fixing plate 114, the barrel cover clamping device fixing seat 117 is fixed on a cylinder rod through a bolt, and the cylinder is horizontally arranged. Therefore, under the driving of the air cylinder, the barrel cover clamping device fixing seat 117 can move in a translational manner to approach and leave the flange barrel hoop, so as to drive the outer positioning device 51152 and the barrel hoop limiting device 116 to move together.

The barrel hoop limiting device 116 includes a limiting block 1161, a limiting guide post 1162, a spring 11523, a guide seat and a telescopic limiting member 11524. The limiting block 1161 is used for limiting the flange barrel hoop, and is connected with the spring 11523 through the limiting guide post 1162, the spring 11523 is connected to the barrel cover clamping device fixing seat 117, and is connected to the fixing plate 13 through the barrel cover clamping device fixing seat 117.

The cross section of the limiting guide column 1162 is matched with the limiting block 1161, and the cross section of the limiting guide column 1162 can be rectangular or circular. One end of the limiting guide post 1162 is fixedly connected with the limiting block 1161, the other end of the limiting guide post is hollow, and one end of the spring 11523 is fixed in the inner space. The length of the hollow section of the limit guide post 1162 is greater than the maximum compression dimension of the spring 11523.

In another preferred embodiment, the guide seat is used for guiding the limiting guide post 1162, is fixedly connected with the fixing seat through a bolt, is in a hollow cuboid shape, and has an opening on one surface, and the opening surface is tightly attached to the fixing seat; a through hole is formed on a surface opposite to the opening surface for the passage of the stopper guide post 1162 for restricting the movement of the stopper guide post 1162 in a direction perpendicular to the spring 11523.

The telescopic limiting part 11524 is a limiting bolt, the head of the telescopic limiting part 11524 is fixedly connected with the fixed seat through a nut, the screw rod is positioned in the spring 11523 and extends into the hollow area of the limiting guide post 1162, and the depth of the limiting bolt entering the limiting guide post 1162 can be adjusted by adjusting the screwing depth of the limiting bolt and the fixed seat. The compression distance of the spring 11523 can be adjusted according to actual needs.

As shown in fig. 7, the limiting block 1161 includes two limiting side plates and a limiting bottom plate, the limiting side plates and the limiting bottom plate are integrated, and the side surface of the limiting block 1161 is in a shape of a Chinese character 'ao'. The limiting bottom plate is a flat cuboid, the size of one direction is far smaller than that of the other two directions, and two fixing holes are arranged on the limiting bottom plate and used for fixing the bottom plate. The two limiting side plates are oppositely arranged and are respectively and vertically arranged on two sides of the limiting bottom plate. A groove is formed between the two limiting side plates and the bottom plate and is called as a first groove, the cross section of the first groove is in an inverted trapezoid shape, and the bottom edge of the inverted trapezoid is located at the limiting bottom plate; the first groove is matched with the cross section of the flange barrel hoop in size, the flange barrel hoop is fixed in three directions, the barrel hoop is prevented from moving up and down, and the barrel hoop is prevented from moving in the direction away from the flange barrel. The stopper 1161 is configured for use in a barrel band stop-half device.

As shown in fig. 8, in an optimized version of the limiting block 1161, two limiting side plates of the limiting block 1161 are provided with grooves, which are called second grooves. The cross section of the second groove is rectangular, the length of the long side of the rectangle is the same as the height of the inverted trapezoid of the first groove, and the length of the short side of the rectangle is smaller than the length of the bottom side of the inverted trapezoid of the first groove. Four ridges formed at the junction of the first groove and the second groove are not chamfered, so that the sharpness of the ridges is kept, and the ridges and the flange barrel hoop form four-point tight contact, so that the up-and-down movement of the flange barrel hoop, the radial movement of the barrel cover and the radial movement of the barrel cover perpendicular to the barrel cover are limited, and the flange barrel hoop is clamped from four directions. The limiting block 1161 is made of stainless steel and is used in the barrel hoop full limiting device.

EXAMPLE six

Sixth embodiment of the present invention provides a flange barrel packaging robot, and fig. 9 is a schematic view of a wrench opening and closing device provided in sixth embodiment of the present invention.

As shown in fig. 9, the wrench opening and closing device 12 can move relative to the barrel cover clamping device 11, and adjusts the relative position of the wrench and the flange barrel wrench by using the movement, including an opening device 121 and a closing device 122; the opening device 121 is used for opening a wrench, and the closing device 122 is used for closing the wrench (where opening means that the free end of the flange barrel wrench is far away from the flange barrel hoop; where closing means that the free end of the flange barrel wrench is close to the flange barrel hoop); a clamping groove 123 for the free end of the flange barrel wrench to go in and out is formed between the opening device 121 and the closing device 122 and used for fixing the flange barrel wrench; the opening device 121 and the closing device 122 open or close the flange barrel wrench by translating.

The full-automatic opening and closing device of the flange barrel wrench is installed on a wrench opening and closing device fixing disc 132 through a fixing device, and the opening device 121 and the closing device 122 are both installed on the fixing device. A clamping groove 123 for the free end of the flange barrel wrench to go in and out is arranged between the opening device 121 and the closing device 122 and is used for fixing the flange barrel wrench. The opening unit 121 and the closing unit 122 can move along with the wrench opening and closing unit fixing plate 132 to approach or separate from the flange barrel wrench. The opening unit 121 and the closing unit 122 can also move relative to the wrench opening and closing unit fixing plate 132 to open or close the flange barrel wrench.

The closing means 122 comprise a first shutter 1221 and a second shutter 1222; the first closing element closes the flanged bucket wrench by applying a pushing force, and the second closing element 1222 is used for fine-tuning the position of the flanged bucket wrench so that the flanged bucket wrench can be closer to a flanged bucket clamp when being closed; on the other hand, the second shutter 1222 also serves to guide the free end of the flanged drum wrench into the catch groove 123 intermediate the opening device 121 and the closing device 122. The second closure member 1222 is movable relative to the first closure member for adjusting a flanged barrel wrench position. When the free end of the flange barrel wrench is inserted into the slot 123 between the closing device 122 and the opening device 121, the free end of the flange barrel wrench is inserted into a gap between the second closing member 1222 and the opening device 121, and then enters the slot 123 between the closing device 122 and the opening device 121 along the gap, so as to be closed by the pushing force exerted by the first closing member.

The closing device 122 further comprises a reset member 1223, wherein the reset member 1223 is used for controlling the second shutter 1222 to move relative to the first shutter, and the moving direction is directed to the opening device 121. Specifically, the reset member 1223 is connected to the free end of the second closing member 1222 and always provides the second closing member 1222 with a pulling force pointing to the closing direction of the flanged barrel wrench; the position of the second closing member 1222 nearest to the flange barrel clamp, which can be reached by the control of the reset member 1223, is a minimum closing position, and when the second closing member 1222 is in the minimum closing position, a gap allowing the passage of the flange barrel wrench still remains between the second closing member 1222 and the opening device 121.

EXAMPLE seven

The seventh embodiment of the invention provides a flange barrel packaging robot, and fig. 10 is a schematic diagram of station arrangement in the flange barrel packaging robot provided in the fifth embodiment of the invention.

As shown in fig. 10, the multi-station layout is that every two stations are station groups, two stations in one station group are symmetrically arranged by taking the flange barrel conveying line as a symmetry axis, and the station groups are arranged along the flange barrel conveying line direction.

In a preferred embodiment, two stations are arranged.

Example eight

An eighth embodiment of the present invention provides a flange bucket packaging production line, and fig. 11 is a schematic view of the flange bucket packaging production line provided by the eighth embodiment of the present invention.

As shown in fig. 11, the flange barrel packaging robot, the conveying roller table 7 and the pallet warehouse 8 in any one of the previous embodiments are included; the tray warehouse 8 is arranged on one side of the conveying roller way 7 and used for supplying trays; the conveying roller way 7 is a deformable roller way and can be compatible with a plurality of barrel entering routes.

Example nine

The ninth embodiment of the invention provides a flange barrel packaging method, which comprises the following steps: the positioning device 5 positions two flange barrels as a station group, packages one flange barrel in the station group after positioning, comprises processes of opening a cover, filling and closing the cover, and packages the other flange barrel after the positioning is finished; and after the packaging of one work group is finished, packaging of the next work group is carried out according to the process. In a preferred embodiment, the filling path is a zigzag.

Wherein, the packaging process of a worker group is as follows:

s01, detecting the positions of the flange barrels when the two flange barrels arrive at the appointed place, confirming the coordinates of the barrel covers of the flange barrels, and transmitting the coordinate information to a control system;

s02, the control system controls the cover opening and closing manipulator and the filling gun 2 to reach the upper part of a filling barrel from the initial position according to the position information of the flange barrel, and the cover opening and closing manipulator descends to a height enough to clamp the cover of the flange barrel;

s03, the cover opening and closing mechanical hand rotates to enable the wrench opening and closing device on the cover opening and closing mechanical hand to reach the wrench, and the handle opening and closing device rotates around the cover opening and closing mechanical hand body until the wrench is clamped; the wrench opening and closing device rotates outwards relative to the cover opening and closing manipulator main body, and the wrench is opened to complete the cover opening work;

s04, the cover opening and closing manipulator grips the barrel cover, enables the barrel cover to leave the barrel opening to a specified position, and hovers;

s05, the filling gun 2 reaches a designated position, starts filling after descending for a certain height, and rises to the original height after filling;

s06, the cover opening and closing manipulator carries the cover to reach the upper part of the bung hole, the cover opening and closing manipulator descends to a position where the bung hole contacts the bung hole, the wrench opening and closing device rotates towards the main body direction of the cover opening and closing manipulator to drive the wrench to close, the wrench is closed to the specified position and then rotates around the cover opening and closing manipulator until the cover opening and closing manipulator is separated from the wrench, and the cover opening and closing manipulator rotates to the initial position to complete cover closing; thus, the single-station filling is completed.

The opening and closing method will be described in detail below.

The decapping method is specifically as follows.

And conveying the flange barrel to a designated position, and driving the cover opening and closing mechanical arm 1 to rotate by the integral rotation driving motor until the wrench opening and closing device 12 on the cover opening and closing mechanical arm 1 reaches the position near a flange barrel wrench. The integral lifting driving cylinder drives the cover opening and closing mechanical arm 1 to descend to a certain height.

At this time, the barrel cover clamping device 11 in the cap opening and closing manipulator 1 is also driven by the fixed disk 13 to reach an appointed position, and the barrel cover clamping device 11 is driven by the barrel cover clamping driving cylinder to horizontally move towards the direction close to the barrel cover until the barrel cover body clamping device 115 and the barrel hoop limiting device 116 respectively fix the upper edge of the barrel cover and the barrel hoop.

The wrench rotation motor 1323 drives the disc 1321 on the wrench switch device fixing disc 132 to rotate, so as to drive the wrench switch device fixing disc 132 to rotate, and further drive the wrench switch device 12 to rotate towards the wrench. The free end of the wrench enters the gap between the opening device 121 and the closing device 122 of the wrench opening and closing device 12, the wrench opening and closing device 12 continues to rotate in the original direction, and along with the rotation of the wrench opening and closing device, the free end of the flange barrel wrench is inserted into a wrench slot 123 which is arranged between the opening device 121 and the closing device 122 and used for the free end of the flange barrel wrench to come in and go out, and the rotation of the flange barrel wrench is limited by the slot 123. The wrench switch driving device drives the wrench switch device 12 to rotate towards the direction far away from the flange barrel, and drives the wrench to be opened until the wrench is fixed at a fixed position. In the process, the barrel cover clamping device 11 clamps the barrel cover all the time, and after the wrench is opened, the barrel cover of the flange barrel is driven to leave the flange barrel and is kept at a fixed position. So far, the uncapping process is completed.

The fixed bung clamping means 111 clamps the bung upper edge and the hoop during opening of the wrench; the limiting barrel cover clamping device 112 limits the barrel hoop to move up and down and move along the radial direction of the barrel cover while clamping the barrel cover, and allows the barrel hoop to move along the circumferential direction of the barrel cover.

The closing method is specifically as follows.

The flange barrel opening and closing mechanism comprises a flange barrel opening and closing manipulator 1, a flange barrel wrench full-automatic opening and closing device 12, a flange barrel wrench opening and closing device 122 and a first closing member, wherein the flange barrel wrench opening and closing device is connected with the flange barrel opening and closing manipulator 1 through a connecting rod; when the free end of the flange barrel wrench exits the slot 123 between the first closing member and the opening device 121, the free end of the flange barrel wrench remains between the gap formed by the second closing member 1222 and the opening device 121, and the second closing member 1222 continues to push the flange barrel wrench to rotate towards the flange barrel clamp direction under the control of the resetting device until the free end of the flange barrel wrench is no longer in contact with the opening device 121; the free end of the flange barrel wrench is still rotated towards the flange barrel clamp under the pushing force of the second closing member 1222 until the second closing member 1222 reaches the minimum position of the second closing member 1222, and the flange barrel wrench reaches the final position, and the flange barrel wrench is closed.

The wrench opening and closing means 12 is returned to the initial position by the driving of the wrench rotating motor 1323.

The barrel cover clamping device 11 moves horizontally in a direction away from the barrel cover under the control of the driving device, and the barrel cover body clamping device 115 and the barrel hoop limiting device 116 are separated from the barrel cover respectively until the initial position is reached.

And the switching mechanical arm returns to the initial position under the driving of the integral rotation driving motor and the integral lifting driving cylinder in sequence.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A flange barrel packaging robot is characterized by comprising a filling gun, a cover opening and closing mechanical arm, a positioning device and a main machine body; the filling gun and the cover opening and closing mechanical arm are both fixed on the main machine body and can move in two dimensions in a horizontal plane on the main machine body; the positioning device is used for determining the position of the flange barrel cover, the filling gun and the cover opening and closing manipulator are used for filling in multiple stations according to positioning results, and after sequentially opening, filling and closing the cover in one station are completed, the operation of the next station is performed.

2. A flange bucket packaging robot as claimed in claim 1, wherein the filling gun and the cover opening and closing manipulator are fixed on the same movable seat and move in two dimensions in a horizontal plane along with the movable seat; the filling gun and the cover opening and closing manipulator do lifting motion independently. The movable seat is connected with the main machine body through a sliding rail and is driven by a servo motor.

3. A flanged drum packaging robot as claimed in claim 2, wherein the filling gun is located between the lid opening and closing robot and the slide rail, and in operation, as the slide rail moves, the lid opening and closing robot reaches above the flanged drum first.

4. A flange bucket packaging robot as claimed in claim 1, wherein the positioning device comprises two cameras, both of which are fixed on the movable seat and can move along with the filling gun.

5. A flange barrel packaging robot as claimed in claim 3, wherein the lid opening and closing manipulator comprises a barrel lid clamping device, a wrench opening and closing device and a fixed disk; the barrel cover clamping device is used for clamping a barrel cover and can drive the barrel cover to move, the wrench opening and closing device is used for opening or closing a flange barrel wrench, and the barrel cover clamping device and the wrench opening and closing device are connected together through the fixed disc; the fixing disc comprises a barrel cover clamping device fixing disc and a wrench opening and closing device fixing disc, and the wrench opening and closing device fixing disc can rotate relative to the barrel cover clamping device fixing disc so as to drive the wrench opening and closing device fixed on the wrench opening and closing device to rotate relative to the barrel cover clamping device.

6. A flange bucket packaging robot as claimed in claim 3, wherein the arrangement of the multiple stations is such that every two stations are station groups, two stations in one station group are symmetrically arranged with the flange bucket conveying line as a symmetry axis, and the multiple station groups are arranged along the flange bucket conveying line.

7. A flange barrel packaging production line, characterized by comprising a flange barrel packaging robot, a conveying roller table and a pallet warehouse according to any one of claims 1 to 6; the tray warehouse is arranged on one side of the conveying roller way and used for supplying trays; the conveying roller way is a deformable roller way.

8. A flange barrel packaging method is characterized in that a positioning device takes two flange barrels as a station group for positioning, after the positioning is finished, the packaging of one flange barrel in the station group is carried out, the processes of opening a cover, filling and closing the cover are included, and the packaging of the other flange barrel is carried out after the positioning is finished; and after the packaging of one work group is finished, packaging of the next work group is carried out according to the process.

9. A method of packaging a flanged bucket according to claim 8, wherein the packaging process for a station is as follows:

s01, when the two flange barrels arrive at the designated place, the positions of the flange barrels are detected at the same time, the barrel cover coordinates of the flange barrels are confirmed, and coordinate information is transmitted to the control system;

s02, the control system controls the cover opening and closing manipulator and the filling gun to reach the upper part of a filling barrel from the initial position according to the position information of the flange barrel, and the cover opening and closing manipulator descends to a height enough to clamp the cover of the flange barrel;

s03, the cover opening and closing mechanical hand rotates to enable the wrench opening and closing device on the cover opening and closing mechanical hand to reach the wrench, and the handle opening and closing device rotates around the cover opening and closing mechanical hand body until the wrench is clamped; the wrench opening and closing device rotates outwards relative to the cover opening and closing manipulator main body, and the wrench is opened to complete the cover opening work;

s04, the cover opening and closing manipulator grips the barrel cover, enables the barrel cover to leave the barrel opening to a specified position, and hovers;

s05, the filling gun reaches the designated position, starts filling after descending for a certain height, and rises to the original height after filling;

s06, the cover opening and closing manipulator carries the cover to reach the upper part of the bung hole, the cover opening and closing manipulator descends to a position where the bung hole contacts the bung hole, the wrench opening and closing device rotates towards the main body direction of the cover opening and closing manipulator to drive the wrench to close, the wrench is closed to the specified position and then rotates around the cover opening and closing manipulator until the cover opening and closing manipulator is separated from the wrench, and the cover opening and closing manipulator rotates to the initial position to complete cover closing; thus, the single-station filling is completed.

10. A method of flange-drum packaging according to claim 9, wherein said filling path is zigzag-shaped.

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