CN212151563U - Full-automatic filling system - Google Patents
Full-automatic filling system Download PDFInfo
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- CN212151563U CN212151563U CN202020675854.0U CN202020675854U CN212151563U CN 212151563 U CN212151563 U CN 212151563U CN 202020675854 U CN202020675854 U CN 202020675854U CN 212151563 U CN212151563 U CN 212151563U
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Abstract
The utility model provides a full-automatic filling system, which comprises a conveying device, a plurality of rows of filling barrels are arranged; the filling system bracket is arranged at the side part of the conveying device or the filling system spans above the conveying device; the at least two multi-coordinate-axis rotating beam devices are arranged on the filling system bracket and are positioned above the filling barrel; at least one first camera is arranged above the working area of the filling barrel; at least one second camera disposed above the motion footprint of the multi-axis rotating beam apparatus; the control system is respectively connected with the conveying device, the multi-coordinate-axis rotating beam device, the first camera and the second camera; the vision recognition system is connected with the first camera and the second camera and used for processing image information. The utility model discloses an in the same time, possess a plurality of mutually independent filling instrument that can carry out the multi freedom and remove and cooperate work jointly in single station work area, promoted filling efficiency. The anti-collision device can realize the anti-collision of the filling tool and the movement mechanism when the filling tool and the movement mechanism are cooperated together, and realize the simple array expansion of multiple stations working at the same time.
Description
Technical Field
The utility model relates to a liquid material full-automatic packing field in trades such as chemical industry, food, medicine, in particular to full-automatic filling system for many buckets of liquid material filling occasion simultaneously.
Background
In the field of full-automatic liquid material packaging, the existing full-automatic filling equipment for simultaneously filling a plurality of barrels of liquid materials adopts a Cartesian coordinate system sliding table type structure. The structure has to use a gantry type frame to span a working area, use a linear guide mechanism as the guide of a coordinate axis, and the main size of the guide mechanism has to cover the whole working area, so that the structure is heavy, the occupied area is large, and the working and maintenance space in the equipment is tight. At the same time, only a single cartesian coordinate system sliding table structure with the same range of movement can be arranged in the same working area without changing the main dimensions of the guide mechanism and the frame dimensions.
The existing full-automatic filling equipment only has a single filling tool with multiple degrees of freedom in the working area of a single station to work at the same time, and can only stop the current work even if the single station can switch multiple filling tools, and continue to work after the filling tools are switched.
The multi-station expandability of the existing full-automatic filling equipment is poor, and when the station is expanded, the gantry type frame of a Cartesian coordinate system sliding table type structure cannot be expanded through a simple array.
In view of the above, a fully automatic filling system is developed by those skilled in the art to overcome the above technical problems.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is that it is low in order to overcome among the prior art single station unit tool serial work efficiency of full-automatic filling equipment, the relatively poor defect of the scalability of the equipment heaviness provides a full-automatic filling system.
The utility model discloses a solve above-mentioned technical problem through following technical scheme:
the utility model provides a full-automatic filling system, its characteristics lie in, full-automatic filling system includes: the conveying device is provided with a plurality of rows of filling barrels;
a filling system support disposed on a side of the conveyor or across above the conveyor;
the at least two multi-coordinate-axis rotating beam devices are arranged on the filling system support, are positioned above the filling barrel and move left and right relative to the filling system support;
at least a first camera disposed above a working area of the filling barrel;
at least one second camera disposed above a motion footprint of the multi-axis rotating beam apparatus;
the control system is respectively connected with the conveying device, the multi-coordinate-axis rotating beam device, the first camera and the second camera;
a vision recognition system connected to the first camera and the second camera for processing image information;
and processing the information of the filling barrel and the multi-coordinate-axis rotating beam device through the visual recognition system, driving the conveying device to move the filling barrel through the control system, and driving the multi-coordinate-axis rotating beam device to fill the filling barrel.
According to an embodiment of the present invention, the multi-coordinate axis rotating beam device includes a multi-coordinate axis rotating beam assembly, a linear guide mechanism, a transmission mechanism and an actuator;
the linear guide mechanism is fixed on the filling system support, one end part of the multi-coordinate-axis rotating beam assembly is connected with the transmission mechanism, and the transmission mechanism is arranged on the linear guide mechanism in a sliding manner to realize the up-and-down movement of the multi-coordinate-axis rotating beam assembly along the linear guide mechanism;
the actuating mechanism is installed at one end of the linear guide mechanism, is connected with the control system and is used for driving the linear guide mechanism to move up and down.
According to the utility model discloses an embodiment, many coordinate axis swivel beam subassembly includes:
the first rotating beam and the second rotating beam are connected through a first hinge joint;
a second hinge joint fixed to the other end of the first rotary beam and hinging the other end of the first rotary beam and the transmission mechanism;
the first rotating beam driving mechanism is connected with the second hinge joint and used for driving the second hinge joint so as to drive the first rotating beam to rotate;
the second rotating beam driving mechanism is connected between the first hinge joint and the second hinge joint and is used for driving the first hinge joint to realize rotation between the second rotating beam and the first rotating beam;
at least one filling tool is mounted at the other end of the second rotating beam.
According to the utility model discloses an embodiment, many coordinate axis swivel beam subassembly includes:
the first rotating beam, the second rotating beam and a third rotating beam assembly consisting of at least one third rotating beam are sequentially connected through a third hinge joint, and the third rotating beam assembly is connected between one end part of the first rotating beam and one end part of the second rotating beam through a corresponding third hinge joint;
a second hinge joint fixed to the other end of the first rotary beam and hinging the other end of the first rotary beam and the transmission mechanism;
the first rotating beam driving mechanism is connected with the second hinge joint and used for driving the second hinge joint so as to drive the first rotating beam to rotate;
the second rotating beam driving mechanism is connected between the second hinge joint and the adjacent third hinge joint and is used for driving the corresponding third hinge joint to realize the rotation between the first rotating beam and the adjacent third rotating beam;
the plurality of third rotating beam driving mechanisms are respectively arranged between two adjacent third hinged joints and are used for driving the corresponding third hinged joints to realize the rotation between two adjacent third rotating beams and the rotation between the second rotating beam and the adjacent third rotating beam;
at least one filling tool is mounted at the other end of the second rotating beam.
According to an embodiment of the present invention, the first rotary beam driving mechanism includes a first rotary beam transmission mechanism and a first rotary beam closed-loop control motor, the first rotary beam transmission mechanism is installed in the second hinge joint, the first rotary beam closed-loop control motor is installed at one end of the second hinge joint, and the second hinge joint is driven by the first rotary beam closed-loop control motor and the first rotary beam transmission mechanism;
the second rotating beam driving mechanism comprises a second rotating beam transmission mechanism and a second rotating beam closed-loop control motor, the second rotating beam closed-loop control motor is installed at one end of the second hinge joint, one end of the second rotating beam transmission mechanism is connected with the second rotating beam closed-loop control motor, and the other end of the second rotating beam transmission mechanism is connected with the first hinge joint;
or the second rotating beam closed-loop control motor is installed on the first hinge joint, and the second rotating beam transmission mechanism is installed in the first hinge joint;
and the first hinge joint is driven by a second rotating beam closed-loop control motor and a second rotating beam transmission mechanism.
According to an embodiment of the present invention, the multi-coordinate axis rotating beam assembly further includes a posture maintaining mechanism and an end mounting seat, the end mounting seat is disposed at the other end of the second rotating beam, the filling tool is mounted on the end mounting seat, one end of a portion of the posture maintaining mechanism close to the second rotating beam is connected to the end mounting seat, and the other end is connected to the first hinge joint; one end of the posture maintaining mechanism, which is close to the other part of the first rotating beam, is connected with the first hinge joint, and the other end of the posture maintaining mechanism is connected with the second hinge joint.
According to an embodiment of the invention, the attitude keeping mechanism is constituted by two hingedly connected planar or spatially parallel linkage mechanisms.
According to an embodiment of the utility model, terminal mount pad with the filling instrument passes through the fastener fixed, perhaps welded connection, perhaps terminal mount pad does a part of filling instrument.
According to an embodiment of the present invention, the first rotary beam transmission mechanism and the second rotary beam transmission mechanism are a link transmission, a chain transmission, a belt transmission, a gear pair transmission, a flexible transmission or a screw pair transmission.
The utility model discloses an actively advance the effect and lie in:
the utility model discloses full-automatic filling system has realized the lightweight of motion and frame construction with the space motion of non-cartesian coordinate system, has practiced thrift equipment area. The filling tools which are independent of each other and can move in multiple degrees of freedom are arranged in a single station working area at the same time to work together, and filling efficiency is improved. The anti-collision device can realize the anti-collision of the filling tool and the movement mechanism when the filling tool and the movement mechanism are cooperated together, and realize the simple array expansion of multiple stations working at the same time.
Drawings
The above and other features, properties and advantages of the present invention will become more apparent from the following description of the embodiments with reference to the accompanying drawings, in which like reference numerals refer to like features throughout, and in which:
fig. 1 is a schematic structural diagram of the full-automatic filling system of the present invention.
Fig. 2 is the utility model discloses among the full-automatic filling system a structural schematic of many coordinate axis twist beam subassembly.
Fig. 3 is a schematic structural diagram of another multi-coordinate axis rotating beam assembly in the full-automatic filling system of the present invention.
Fig. 4 is a schematic structural diagram of another multi-coordinate axis rotating beam assembly in the full-automatic filling system of the present invention.
Fig. 5 is the schematic view of a multi-column barrel and its bung hole number in the full-automatic filling system of the present invention.
Fig. 6 is a flow chart of the method of using the fully automatic filling system of the present invention.
Fig. 7 is a flow chart of an anti-collision process in the method for using the full-automatic filling system of the present invention.
[ reference numerals ]
Conveying device 10
Filling system support 20
Multi-axis rotating beam assembly 30
Filling barrel 11
Multi-axis rotating beam assembly 31
First rotating beam 311
Second rotating beam 312
Second articulation joint 314
Filling tool 315
First rotating beam closed-loop control motor 316
Second rotating beam transmission mechanism 317
Second rotating beam closed loop control motor 318
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts.
Further, although the terms used in the present invention are selected from publicly known and used terms, some of the terms mentioned in the description of the present invention may be selected by the applicant at his or her discretion, the detailed meanings of which are described in relevant parts of the description herein.
Furthermore, it is required that the present invention is understood, not simply by the actual terms used but by the meaning of each term lying within.
Fig. 1 is a schematic structural diagram of the full-automatic filling system of the present invention.
As shown in fig. 1, the utility model provides a full-automatic filling system, it includes conveyor 10, filling system support 20, two at least multi-coordinate axis rotating beam device 30, an at least first camera 40, an at least second camera 50, control system (not shown in the figure) and visual identification system (not shown in the figure), places multiseriate filling bucket 11 on conveyor 10, multiseriate filling bucket 11 can be directly or place on conveyor 10 through the tray, filling system support 20 sets up at conveyor 10's lateral part or filling system spanes conveyor's top. The multi-axis rotating beam device 30 is installed on the filling system support 20, is located above the filling barrel 11, and moves left and right relative to the filling system support 20. The multi-axis rotating beam assembly 30 may be secured directly to the filling system frame 20 or may be mounted to the filling system frame 20 by other external structures.
The first camera 40 is arranged above the working area of the keg 11 and the second camera 50 is arranged above the movement footprint of the multi-axis rotary beam device 30. Preferably, a second camera 50 is fixed above the motion coverage area of every two multi-axis rotary beam devices.
Here, the control system is connected to the transport apparatus 10, the multi-axis rotating beam apparatus 30, the first camera 40, and the second camera 50, respectively, and the vision recognition system is connected to the first camera 40 and the second camera 50 for processing image information. The visual recognition system is used for processing the information of the filling barrel 11 and the multi-coordinate-axis rotating beam device 30, the control system is used for driving the conveying device 10 to move the filling barrel 11, and the multi-coordinate-axis rotating beam device 30 is driven to fill the filling barrel 11.
Preferably, the multi-coordinate axis rotating beam device 30 includes a multi-coordinate axis rotating beam assembly 31, a linear guide mechanism 32, a transmission mechanism 33 and an actuator 34, the linear guide mechanism 32 is fixed on the filling system support 20, one end of the multi-coordinate axis rotating beam assembly 31 is connected with the transmission mechanism 33, and the transmission mechanism 33 is slidably disposed on the linear guide mechanism 32, so as to realize the up-and-down movement of the multi-coordinate axis rotating beam assembly 31 along the linear guide mechanism 32. The actuator 34 is mounted at one end of the linear guide 32 (for example, the actuator is mounted at the lower end of the linear guide as shown in fig. 1, but this is by way of example only, and not by way of limitation, and may be mounted at another position of the linear guide), and is connected to the control system for driving the linear guide 32 to move up and down, that is, the up and down movement of the multi-axis rotating beam assembly 31 is performed by the actuator 34 through the transmission mechanism 33.
Fig. 2 is the utility model discloses among the full-automatic filling system a structural schematic of many coordinate axis twist beam subassembly. Fig. 3 is a schematic structural diagram of another multi-coordinate axis rotating beam assembly in the full-automatic filling system of the present invention.
As shown in fig. 1 to fig. 3, the present embodiment of the present invention uses the full-automatic filling system includes two multi-axis rotating beam devices 30, and each multi-axis rotating beam device 30 includes two rotating beams, and each multi-axis rotating device 30 is provided with a filling tool as an example, so as to explain in detail the present invention. Of course, the present invention is only exemplary, and the same can be analogized, and the number of the multi-axis rotating beam devices, the number of the rotating beams, and the number of the filling tools are not limited, and a plurality of these components should be considered within the scope of the present invention.
Specifically, the multi-axis rotary beam assembly 31 includes a first rotary beam 311, a second rotary beam 312, a first articulation joint 313, a second articulation joint 314, a first rotary beam drive mechanism, a second rotary beam drive mechanism, and a filling tool 315. Wherein, one end of the first rotating beam 311 and one end of the second rotating beam 312 are connected by a first hinge joint 313. For example, the first hinge joint 313 and the first and second rotating beams 311 and 312 are connected by a fastener or a welding. The second hinge joint 314 is fixed to the other end of the first rotary beam 311, and is connected to the other end of the first rotary beam 311 by, for example, a fastener or a welding, to hinge the other end of the first rotary beam 311 and the transmission mechanism 33.
The first rotating beam driving mechanism is connected to the second hinge joint 314, and is configured to drive the second hinge joint 314, so as to drive the first rotating beam 311 to rotate. The second rotating beam driving mechanism is connected between the first hinge joint 313 and the second hinge joint 314, and is used for driving the first hinge joint 313 to realize rotation between the second rotating beam 312 and the first rotating beam 311. A filling tool 315 is mounted at the other end of the second rotary beam 312.
As shown in fig. 2 and 3, the first rotating beam driving mechanism in this embodiment preferably includes a first rotating beam transmission mechanism (not shown) and a first rotating beam closed-loop control motor 316. The first rotary beam actuator may be selectively installed in the second hinge joint 314, or may be connected to the outside of the second hinge joint 314, or may be connected to the second hinge joint 314 in other manners. A first rotary beam closed-loop control motor 316 is mounted at one end (e.g., upper end) of the second articulation joint 314, and the second articulation joint 314 is driven by the first rotary beam closed-loop control motor 316 and the first rotary beam transmission mechanism.
As shown in fig. 2 and 3, the second rotating beam driving mechanism in this embodiment preferably includes a second rotating beam transmission mechanism 317 and a second rotating beam closed-loop control motor 318. Where a second rotary beam closed loop control motor 318 is mounted at one end (e.g., the bottom end) of second articulation joint 314. One end of the second rotating beam transmission mechanism 317 is connected with the second rotating beam closed-loop control motor 318, and the other end is connected with the first hinge joint 313, and the first hinge joint 313 is driven by the second rotating beam closed-loop control motor 318 and the second rotating beam transmission mechanism 317.
Alternatively, as shown in fig. 4, a second rotating beam closed-loop control motor 318 may be mounted on the first articulation joint 313, and the second rotating beam transmission mechanism is mounted in the first articulation joint 313 (not shown), and the first articulation joint 313 is driven by the second rotating beam closed-loop control motor 318 and the second rotating beam transmission mechanism.
As shown in fig. 3, further, the multi-axis rotary beam assembly 31 may further preferably include a posture maintaining mechanism 35 and a terminal mounting seat 36, the terminal mounting seat 36 is disposed at the other end of the second rotary beam 312, a filling tool 315 is mounted on the terminal mounting seat 36, one end of a portion of the posture maintaining mechanism 35 near the second rotary beam 313 is connected to the terminal mounting seat 36, and the other end is connected to the first hinge joint 313. One end of the posture holding mechanism 35 near another portion (not shown) of the first rotating beam 311 is connected to the first hinge joint 313, and the other end is connected to the second hinge joint 314.
In particular, the attitude keeping mechanism 35 here may preferably be constituted by two hingedly connected planar or spatial parallel linkages, capable of keeping the attitude of the distal end mount 36 of the second rotating beam 312 unchanged in space. The end mount 36 and the filling tool 315 are fixedly connected to each other, for example, by fasteners, by welding, or the end mount 36 may be formed as part of the filling tool 315.
Of course, in addition to the above-exemplified embodiment in which each multi-axis rotary beam assembly 31 includes two rotary beams (i.e., the first rotary beam 311 and the second rotary beam 312), in practice, the multi-axis rotary beam assembly may be extended to include a plurality of rotary beams, such as a first rotary beam, a second rotary beam, and at least one third rotary beam (not shown), which constitutes a three-rotary beam assembly, and the third rotary beams are sequentially connected to each other by a third hinge joint, and the third rotary beam assembly is connected between one end portion of the first rotary beam and one end portion of the second rotary beam by the corresponding third hinge joint. And a second hinge joint is fixed at the other end of the first rotating beam and is used for hinging the other end of the first rotating beam with the transmission mechanism.
In addition, each multi-coordinate axis rotating beam assembly in the technical scheme further comprises a first rotating beam driving mechanism, a second rotating beam driving mechanism and a plurality of third rotating beam driving mechanisms, wherein the first rotating beam driving mechanism is connected with the second hinge joint and used for driving the second hinge joint to further drive the first rotating beam to rotate. The second rotating beam driving mechanism is connected between the second hinge joint and the adjacent third hinge joint and used for driving the corresponding third hinge joint to realize rotation between the first rotating beam and the adjacent third rotating beam. The plurality of third rotating beam driving mechanisms are respectively arranged between two adjacent third hinged joints and used for driving the corresponding third hinged joints to realize the rotation between the two adjacent third rotating beams and the rotation between the second rotating beam and the adjacent third rotating beam. At the same time, at least one filling tool is mounted at the other end of the second rotary beam.
More specifically, the first and second rotary beam driving mechanisms are configured in the same or similar manner as described above with reference to fig. 3, and the third rotary beam driving mechanism is configured in the same or similar manner as the second rotary beam driving mechanism.
According to the above structural description, the first rotating beam, the second rotating beam and the third rotating beam are preferably made of metal and are formed by metal forming, welding or fastening. Two ends of the first rotating beam, the second rotating beam and the third rotating beam can be respectively used as a part of the first hinge joint, the second hinge joint and the third hinge joint at corresponding positions.
In addition, the first rotating beam transmission mechanism, the second rotating beam transmission mechanism and the third rotating beam transmission mechanism can be link transmission, chain transmission, belt transmission, gear pair transmission, flexible transmission or screw pair transmission. The second rotary beam drive mechanism shown in fig. 2-4 is embodied as a linkage mechanism for ease of understanding only and is not limiting to this patent.
The utility model discloses full-automatic filling system can adopt a plurality of multi-coordinate axis twist beam subassemblies, and every multi-coordinate axis twist beam subassembly can include a plurality of twist beams, does not prescribe a limit to only two, multi-coordinate axis twist beam subassembly can direct mount in the filling system frame, does not prescribe a limit to need to pass through the indirect connection of guiding mechanism.
The up-down moving mechanism of the multi-coordinate axis rotating beam component can be driven by a cylinder and a hydraulic cylinder in a linear mode, and can also be driven by a rotating executing element such as a motor. The actuating element can be driven in an open-loop control mode or a closed-loop control mode. The transmission mechanism for the up-and-down movement of the multi-coordinate axis rotating beam component can be link transmission, chain transmission, belt transmission, gear pair transmission, flexible transmission and screw pair transmission.
The utility model discloses filling instrument is for removing the instrument of executing the function again to specific position at full-automatic filling in-process among the full-automatic filling system, and it can be a plurality of different instruments, also can be the same instrument, and more than one filling instrument of the terminal mountable of every many coordinate axis twist beam subassemblies. The first and second filling tools shown in fig. 2 and 3 are only for better understanding and are not intended as limitations of the present invention.
The utility model discloses a plurality of coordinate axis rotatory roof beam device cooperation filling system is relatively independent among the full-automatic filling system, can follow the extension of transfer chain direction, realizes the same kind of work multistation and arranges. The motion range of the filling tool arranged at the tail end of the multi-coordinate-axis rotating beam device can reach a position capable of covering any position of the barrel surface of the multi-column barrel.
Fig. 6 is a flow chart of the method of using the fully automatic filling system of the present invention.
As shown in fig. 6, the utility model also provides a method for using full-automatic filling system, it adopts as above full-automatic filling system, method for using full-automatic filling system includes following steps:
S1: and driving the conveyor to convey the multiple rows of filling barrels to a working area through the control system.
S2: and driving the first camera to shoot pictures of the upper surfaces of the multiple columns of filling barrels through the control system.
S3: and identifying the positions of the barrel openings of the multiple rows of filling barrels through image processing by the vision identification system.
To better explain step S3, as shown in fig. 5, in combination with the full-automatic filling system shown in fig. 1 to 4, the embodiment of the full-automatic filling method of the present invention selects a specific structural example to explain the technical solution of the present invention, which is specifically; the full-automatic filling system comprises two multi-coordinate-axis rotating beam devices and two rows of filling barrels which are arranged in a single layer, wherein one multi-coordinate-axis rotating beam device comprises a first filling tool, and the other multi-coordinate-axis rotating beam device comprises a second filling tool. As shown in fig. 5, the filling barrels are arranged clockwise along the upper right corner and are respectively a filling barrel C, a filling barrel D, a filling barrel E and a filling barrel F.
Based on this, the vision recognition system recognizes the bung positions of the multiple rows of filling drums (i.e. the bung positions of the four filling drums in fig. 5) through image processing as:
C1(XC1,YC1),D1(XD1,YD1),E1(XE1,YE1),F1(XF1,YF1)；
it should be understood that this is only an example, and the step S is described here3Not restricted by it, the filling bucket of other quantity, or the rotatory roof beam device of many coordinate axes of other quantity all can so on, should be applicable to equally the utility model discloses the step belongs to the utility model discloses a within range.
S4: and solving an equation obtained by a D-H method to obtain the deflection position of the bung hole of each filling barrel corresponding to the zero position of each multi-coordinate-axis rotating beam device.
Based on the above step S3For example, the equation obtained by the D-H method is:
solving to obtain the position of the barrel mouth of each filling barrel corresponding to the relative initial position (theta) of one multi-coordinate-axis rotating beam deviceA1N,θA2N) The deflection positions of (a) are:
C1’(θA1C1,θA2C1),D1’(θA1D1,θA2D1),E1’(θA1E1,θA2E1),F1’((θA1F1,θA2F1)；
solving to obtain the relative initial position (theta) of the multi-coordinate axis rotating beam device corresponding to the position of the bucket opening of each filling bucketB1N,θB2N) The deflection positions of (a) are:
C1’(θB1C1,θB2C1),D1’(θB1D1,θB2D1),E1’(θB1E1,θB2E1),F1’(θB1F1,θB2F1)。
it should be understood that this is only an example, and the step S is described here4Not limited by it, the filling bucket of other quantity, or the many coordinate axis of other quantity rotatory roof beam device all can so on, should be applicable to equally the utility model discloses the step belongs to the utility model disclosesWithin the scope of protection of (1).
S5: judging the using sequence of each filling tool to each filling barrel, filling each filling barrel by each filling tool according to the using sequence, and simultaneously performing the step S6。
S6: and performing anti-collision flow processing on each multi-coordinate-axis rotating beam through the control system and the visual recognition system.
Wherein, preferably, the step S5The method specifically comprises the following steps: if each filling tool only needs to perform positioning movement towards the bung hole of each filling barrel once, the following step S is performed51。
Step S51: determining an overall filling path for each filling tool for the filling barrel, each filling tool filling each filling barrel along the respective overall filling path in order of use and finally returning to a starting position; furthermore, each positioning movement of the previous filling tool must precede the positioning movement of the subsequent filling tool to the common target bung position of the filling drums.
Alternatively, the step S5The method specifically comprises the following steps: if at least one filling tool needs to perform positioning movement towards the direction of the opening of each filling barrel for multiple times, the following step S is performed52。
Step S52: determining an overall filling path for each filling tool for the filling barrel, each filling tool filling each filling barrel along the respective overall filling path in order of use and finally returning to a starting position.
During the first positioning movement of the filling tool to one of the bungholes, the positioning movement of the former filling tool must be moved to the bunghole position of the target filling barrel shared by the former filling tool and the latter filling tool before the latter filling tool is moved to the bunghole position of the target filling barrel.
During the second to nth positioning movements of the filling tool to one of the bungholes, the nth-1 positioning movement of the latter filling tool must be moved to the bunghole position of the target filling drum common to the former filling tool before the nth positioning movement of the former filling tool.
Fig. 5 is the schematic view of a multi-column barrel and its bung hole number in the full-automatic filling system of the present invention.
As shown in fig. 5, in combination with the full-automatic filling system shown in fig. 1 to 4, the embodiment of the full-automatic filling method of the present invention selects a specific structural example to explain the technical solution of the present invention, which is specifically; the full-automatic filling system comprises two multi-coordinate-axis rotating beam devices and two rows of two filling barrels, wherein one multi-coordinate-axis rotating beam device comprises a first filling tool, and the other multi-coordinate-axis rotating beam device comprises a second filling tool. As shown in fig. 5, the filling barrels are arranged clockwise along the upper right corner and are respectively a filling barrel C, a filling barrel D, a filling barrel E and a filling barrel F.
Of course, this is merely an example, and the same can be analogized, and the number of the multi-axis rotating beam devices, the number of the rotating beams, the number of the filling tools, and the number of the filling barrels are not limited, and a plurality of these components should be considered within the scope of the present invention.
Referring to fig. 6 in conjunction with the fully automatic filling system shown in fig. 1 to 5, the step S5The method specifically comprises the following steps: if each filling tool only needs to perform positioning movement towards the bung hole of each filling barrel once, the following step S is performed511。
Said step S511There are many cases, only a few of which are exemplified here, to elaborate the step S in the fully automatic filling system of the book utility model511But not as a pair of step S511Other non-exhaustive equivalents and equivalents should be considered as falling within the scope of the present invention.
In the first case:
step S511: if the work flow of each filling barrel is that the first filling tool is firstly carried out and then the second filling tool is carried out, the following step S is carried out512；
Step S512: the first filling tool operates in the sequence of the bung position C1 of the first filling drum C, the bung position D1 of the second filling drum D, the bung position E1 of the second filling drum E, the bung position F1 of the second filling drum F, and finally back to the starting position.
The second filling tool operates in the sequence of the bung position C1 of the filling drum C first, the bung position D1 of the filling drum D later, the bung position E1 of the filling drum E later, the bung position F1 of the filling drum F later, and finally back to the starting position. And each movement of the first filling tool must be moved to the common target bung location before the second filling tool.
In the second case:
step S511: if the work flow of each filling barrel is that the second filling tool is firstly carried out and then the first filling tool is carried out, the following step S is carried out513；
Step S513: the second filling tool operates in the sequence of the bung position F1 of the filling drum F first, the bung position E1 of the filling drum E later, the bung position D1 of the filling drum D later, the bung position C1 of the filling drum C later, and finally back to the starting position.
The second filling tool operates in the sequence of the bung position F1 of the filling drum F first, the bung position E1 of the filling drum E later, the bung position D1 of the filling drum D later, the bung position C1 of the filling drum C later, and finally back to the starting position.
At the same time, each movement of the first filling tool must be carried out before the second filling tool to the target bung position common to both.
In the third case:
step S511: if the work flow of each filling barrel is that the first filling tool is firstly carried out and then the second filling tool is carried out, the following step S is carried out512；
Step S512: the first filling tool is used for filling the opening position D1 of the barrel D firstly and the opening position of the barrel E secondlyE1, the bung position F1 of the filling drum F, the bung position C1 of the filling drum C, and finally back to the initial position.
The second filling tool operates in the sequence of the bung position D1 of the filling drum D first, the bung position E1 of the filling drum E later, the bung position F1 of the filling drum F later, the bung position C1 of the filling drum C later, and finally back to the starting position.
At the same time, each movement of the first filling tool must be carried out before the second filling tool to the target bung position common to both.
In a fourth case:
step S511: if the work flow of each filling barrel is that the second filling tool is firstly carried out and then the first filling tool is carried out, the following step S is carried out513；
Step S513: the second filling tool operates in the sequence of the bung position C1 of the filling drum C first, the bung position F1 of the filling drum F later, the bung position E1 of the filling drum E later, the bung position D1 of the filling drum D later, and finally back to the starting position.
The first filling tool operates in the sequence of the bung position C1 of the first filling drum C, the bung position F1 of the second filling drum F, the bung position E1 of the second filling drum E, the bung position D1 of the second filling drum D, and finally back to the starting position.
At the same time, each movement of the second filling tool must be moved to the common target bung position before the first filling tool.
In the fifth case:
step S511: if the work flow of each filling barrel is that the first filling tool is firstly carried out and then the second filling tool is carried out, the following step S is carried out512；
Step S512: the first filling tool is sequentially operated according to a bucket opening position F1 of the filling bucket F, a bucket opening position C1 of the filling bucket C, a bucket opening position D1 of the filling bucket D, a bucket opening position E1 of the filling bucket E and finally returned to the initial positionDo this.
The second filling tool operates in the sequence of the bung position F1 of the filling drum F first, the bung position C1 of the filling drum C later, the bung position D1 of the filling drum D later, the bung position E1 of the filling drum E later, and finally back to the starting position.
At the same time, each movement of the first filling tool must be carried out before the second filling tool to the target bung position common to both.
In the sixth case:
step S511: if the work flow of each filling barrel is that the second filling tool is firstly carried out and then the first filling tool is carried out, the following step S is carried out513；
Step S513: the second filling tool operates in the sequence of the bung position E1 of the filling drum E first, the bung position D1 of the filling drum D later, the bung position C1 of the filling drum C later, the bung position F1 of the filling drum F later, and finally back to the starting position.
The first filling tool operates in the sequence of the bung position E1 of the filling drum E first, the bung position D1 of the filling drum D later, the bung position C1 of the filling drum C later, the bung position F1 of the filling drum F later, and finally back to the starting position.
At the same time, each movement of the second filling tool must be moved to the common target bung position before the first filling tool.
In the seventh case:
step S511: if the work flow of each filling barrel is that the first filling tool is firstly carried out and then the second filling tool is carried out, the following step S is carried out512；
Step S512: the first filling tool operates in the sequence of the bung position E1 of the filling drum E first, the bung position F1 of the filling drum F later, the bung position C1 of the filling drum C later, the bung position D1 of the filling drum D later, and finally back to the starting point.
The second filling tool operates in the sequence of the bung position E1 of the filling drum E first, the bung position F1 of the filling drum F later, the bung position C1 of the filling drum C later, the bung position D1 of the filling drum D later, and finally back to the starting position.
At the same time, each movement of the first filling tool must be carried out before the second filling tool to the target bung position common to both.
In the eighth case:
step S511: if the work flow of each filling barrel is that the second filling tool is firstly carried out and then the first filling tool is carried out, the following step S is carried out513；
Step S513: the second filling tool operates in the sequence of the bung position D1 of the filling drum D first, the bung position C1 of the filling drum C later, the bung position F1 of the filling drum F later, the bung position E1 of the filling drum E later, and finally back to the starting position.
The first filling tool operates in the sequence of the bung position D1 of the filling drum D, the bung position C1 of the filling drum C, the bung position F1 of the filling drum F, the bung position E1 of the filling drum E, and finally back to the starting position.
At the same time, each movement of the second filling tool must be moved to the common target bung position before the first filling tool.
Referring to fig. 6 in conjunction with the fully automatic filling system shown in fig. 1 to 5, the step S5The method specifically comprises the following steps: said step S5The method specifically comprises the following steps: if at least one filling tool needs to perform positioning movement towards the direction of the opening of each filling barrel for multiple times, the following step S is performed521。
Said step S521There are many cases, only a few of which are exemplified here, to elaborate the step S in the fully automatic filling system of the book utility model521But not as a pair of step S521Other non-exhaustive equivalents and equivalents should be considered as falling within the scope of the present invention.
In the first case:
step (ii) ofS521: if the work flow of each filling barrel is that the first filling tool is firstly carried out, then the second filling tool is carried out, and then the first filling tool is carried out, the flow enters the following step S522。
Step S522: the first filling tool operates in the sequence of the bung position C1 of the filling drum C, the bung position D1 of the filling drum D, the bung position E1 of the filling drum E, the bung position F1 of the filling drum F, the bung position E1 of the filling drum E, the bung position F1 of the filling drum F, the bung position C1 of the filling drum C, the bung position D1 of the filling drum D, and finally returns to the starting position.
The second filling tool operates in the sequence of the bung position C1 of the filling drum C first, the bung position E1 of the filling drum E later, the bung position F1 of the filling drum F later, the bung position D1 of the filling drum D later, and finally back to the starting position.
The second filling tool can only be activated after the first filling tool has to be moved to the bung position C1 of the filling drum C. After the first filling tool has to be finished at the bung position E1 of the filling drum E, the second filling tool can be moved to the bung position E1 of the filling drum E. The first filling tool must first be able to complete its operation at the bung position F1 of the filling drum F before the second filling tool can be moved to the bung position F1 of the filling drum F. The second filling tool B must first be moved to the bung position E1 of the filling drum E after the bung position E1 of the filling drum E has been completed, and the first filling tool B must first be moved to the bung position F1 of the filling drum F after the bung position F1 of the filling drum F has been completed.
In the second case:
step S521: if the work flow of each filling barrel is that the second filling tool is firstly used, then the first filling tool is used, and then the second filling tool is used, the flow enters the following step S523。
Step S523: the second filling tool operates in the sequence of the bung position F1 of the filling drum F, the bung position E1 of the filling drum E, the bung position D1 of the filling drum D, the bung position C1 of the filling drum C, the bung position D1 of the filling drum D, the bung position C1 of the filling drum C, the bung position F1 of the filling drum F, the bung position E1 of the filling drum E, and finally returns to the starting position.
The first filling tool operates in the sequence of the bung position F1 of the filling drum F, the bung position D1 of the filling drum D, the bung position C1 of the filling drum C, the bung position E1 of the filling drum E, and finally back to the starting position.
The first filling tool can only be activated after the second filling tool has to be moved to the bung position F1 of the filling drum F. The second filling tool must first be able to move into the bung position D1 of the filling drum D after the completion of the work at the bung position D1 of the filling drum D. The second filling tool must first be able to move into the bung position C1 of the filling drum C after the completion of the work at the bung position C1 of the filling drum C. After the first filling tool has to complete its operation at the bung position D1 of the filling drum D, the second filling tool can be moved to the bung position D1 of the filling drum D for a second time. The second filling tool can be moved to the bung position C1 of the filling drum C a second time after the first filling tool has to be worked at the bung position C1 of the filling drum C.
In the third case:
step S521: if the work flow of each filling barrel is that the first filling tool is firstly carried out, then the second filling tool is carried out, and then the first filling tool is carried out, the flow enters the following step S522。
Step S522: the first filling tool follows the bung position D1 of the filling drum D, the bung position E1 of the filling drum E, the bung position F1 of the filling drum F, and the bung of the filling drum CPosition C1, then bung position F1 of filling drum F, then bung position C1 of filling drum C, then bung position D1 of filling drum D, then bung position E1 of filling drum E, and finally back to the starting position.
The second filling tool operates in the sequence of the bung position D1 of the filling drum D, the bung position F1 of the filling drum F, the bung position C1 of the filling drum C, the bung position E1 of the filling drum E, and finally back to the starting position.
At the same time, the second filling tool can only be activated after the first filling tool has to be moved to the bung position D1 of the filling drum D. The first filling tool must first be able to move to the bung position F1 after the completion of the work at the bung position F1 of the filling drum F. The first filling tool must first be able to move to the bung position C1 of the filling drum C after the completion of the work at the bung position C1 of the filling drum C. The second filling tool must first be able to complete its operation at the bung position F1 of the filling drum F before the first filling tool can be moved to the bung position F1 of the filling drum F for a second time. The second filling tool must first be able to complete its operation at the bung position C1 of the filling drum C before the first filling tool can be moved to the bung position C1 of the filling drum C for a second time.
In a fourth case:
step S521: if the work flow of each filling barrel is that the second filling tool is firstly used, then the first filling tool is used, and then the second filling tool is used, the flow enters the following step S523。
Step S523: the second filling tool operates in the sequence of the bung position C1 of the filling drum C, the bung position F1 of the filling drum F, the bung position E1 of the filling drum E, the bung position D1 of the filling drum D, the bung position E1 of the filling drum E, the bung position D1 of the filling drum D, the bung position C1 of the filling drum C, the bung position F1 of the filling drum F, and finally returning to the starting position.
The first filling tool operates in the sequence of the bung position C1 of the first filling drum C, the bung position E1 of the second filling drum E, the bung position D1 of the second filling drum D, the bung position F1 of the second filling drum F, and finally back to the starting position. The second filling tool must first be moved to the bung position C1 of the filling drum C before the first filling tool can be activated. After the second filling tool has to be worked at the bung position E1 of the filling drum E, the first filling tool can be moved to the bung position E1 of the filling drum E. The second filling tool must first be able to move into the bung position D1 of the filling drum D after the completion of the work at the bung position D1 of the filling drum D. After the first filling tool has to be worked at the bung position E1 of the filling drum E, the second filling tool can be moved to the bung position E1 of the filling drum E for a second time. After the first filling tool has to complete its operation at the bung position D1 of the filling drum D, the second filling tool can be moved to the bung position D1 of the filling drum D for a second time.
In the fifth case:
step S521: if the work flow of each filling barrel is that the first filling tool is firstly carried out, then the second filling tool is carried out, and then the first filling tool is carried out, the flow enters the following step S522。
Step S522: the first filling tool operates in the sequence of the bung position F1 of the filling drum F, the bung position C1 of the filling drum C, the bung position D1 of the filling drum D, the bung position E1 of the filling drum E, the bung position D1 of the filling drum D, the bung position E1 of the filling drum E, the bung position F1 of the filling drum F, the bung position C1 of the filling drum C, and finally returns to the starting position.
The second filling tool operates in the sequence of the bung position F1 of the filling drum F first, the bung position D1 of the filling drum D later, the bung position E1 of the filling drum E later, the bung position C1 of the filling drum C later, and finally back to the starting position.
At the same time, the second filling tool can only be activated after the first filling tool has to be moved to the bung position F1 of the filling drum F. The first filling tool must first be able to move into the bung position D1 of the filling drum D after the completion of the work at the bung position D1 of the filling drum D. After the first filling tool has to be finished at the bung position E1 of the filling drum E, the second filling tool can be moved to the bung position E1 of the filling drum E. After the second filling tool has to complete its operation at the bung position D1 of the filling drum D, the first filling tool can be moved to the bung position D1 of the filling drum D for a second time. After the second filling tool has to be worked at the bung position E1 of the filling drum E, the first filling tool can be moved to the bung position E1 of the filling drum E for a second time.
In the sixth case:
step S521: if the work flow of each filling barrel is that the second filling tool is firstly used, then the first filling tool is used, and then the second filling tool is used, the flow enters the following step S523。
Step S523: the second filling tool operates in the sequence of the bung position E1 of the filling drum E, the bung position D1 of the filling drum D, the bung position C1 of the filling drum C, the bung position F1 of the filling drum F, the bung position C1 of the filling drum C, the bung position F1 of the filling drum F, the bung position E1 of the filling drum E, the bung position D1 of the filling drum D, and finally returns to the starting position.
The first filling tool operates in the sequence of the bung position E1 of the filling drum E first, the bung position C1 of the filling drum C later, the bung position F1 of the filling drum F later, the bung position D1 of the filling drum D later, and finally back to the starting position.
At the same time, the first filling tool can only be activated after the second filling tool has to be moved to the bung position E1 of the filling drum E. The second filling tool must first be able to move into the bung position C1 of the filling drum C after the completion of the work at the bung position C1 of the filling drum C. The second filling tool must first be able to move into the bung position F1 of the filling drum F after the completion of the work in the bung position F1 of the filling drum F. The second filling tool can be moved to the bung position C1 of the filling drum C a second time after the first filling tool has to be worked at the bung position C1 of the filling drum C. The second filling tool can be moved to the bung position F1 of the filling drum F only after the first filling tool has to be worked at the bung position F1 of the filling drum F.
In the seventh case:
step S521: if the work flow of each filling barrel is that the first filling tool is firstly carried out, then the second filling tool is carried out, and then the first filling tool is carried out, the flow enters the following step S522。
Step S522: the first filling tool operates in the sequence of the bung position E1 of the filling drum E, the bung position F1 of the filling drum F, the bung position C1 of the filling drum C, the bung position D1 of the filling drum D, the bung position C1 of the filling drum C, the bung position D1 of the filling drum D, the bung position E1 of the filling drum E, the bung position F1 of the filling drum F, and finally returns to the starting position.
The second filling tool operates in the sequence of the bung position E1 of the filling drum E first, the bung position C1 of the filling drum C later, the bung position D1 of the filling drum D later, the bung position F1 of the filling drum F later, and finally back to the starting position.
At the same time, the second filling tool can only be activated after the first filling tool has to be moved to the bung position E1 of the filling drum E. The first filling tool must first be able to move to the bung position C1 of the filling drum C after the completion of the work at the bung position C1 of the filling drum C. The first filling tool must first be able to move into the bung position D1 of the filling drum D after the completion of the work at the bung position D1 of the filling drum D. The second filling tool must first be able to complete its operation at the bung position C1 of the filling drum C before the first filling tool can be moved to the bung position C1 of the filling drum C for a second time. After the second filling tool has to complete its operation at the bung position D1 of the filling drum D, the first filling tool can be moved to the bung position D1 of the filling drum D for a second time.
In the eighth case:
step S521: if the work flow of each filling barrel is that the second filling tool is firstly used, then the first filling tool is used, and then the second filling tool is used, the flow enters the following step S523。
Step S523: the second filling tool operates in the sequence of the bung position D1 of the filling drum D, the bung position C1 of the filling drum C, the bung position F1 of the filling drum F, the bung position E1 of the filling drum E, the bung position F1 of the filling drum F, the bung position E1 of the filling drum E, the bung position D1 of the filling drum D, the bung position C1 of the filling drum C, and finally returning to the starting position.
The first filling tool operates in the sequence of the bung position D1 of the filling drum D, the bung position F1 of the filling drum F, the bung position E1 of the filling drum E, the bung position C1 of the filling drum C, and finally back to the starting position.
At the same time, the first filling tool can only be activated after the second filling tool has to be moved to the bung position D1 of the filling drum D. The second filling tool must first be able to move into the bung position F1 of the filling drum F after the completion of the work in the bung position F1 of the filling drum F. After the second filling tool has to be worked at the bung position E1 of the filling drum E, the first filling tool can be moved to the bung position E1 of the filling drum E. The second filling tool can be moved to the bung position F1 of the filling drum F only after the first filling tool has to be worked at the bung position F1 of the filling drum F. After the first filling tool has to be worked at the bung position E1 of the filling drum E, the second filling tool can be moved to the bung position E1 of the filling drum E for a second time.
Fig. 7 is a flow chart of the anti-collision flow in the full-automatic filling method of the present invention.
As shown in fig. 6 and 7, in the fully automatic filling method of the present invention, in step S5While executing, step S6And (6) executing in a loop.
Preferably, the step S6The method specifically comprises the following steps:
S61: driving the second camera to shoot pictures of all the multi-coordinate-axis rotating beams through the control system;
S62: identifying, by the vision identification system, the feature identifiers on the multi-coordinate axis rotating beam through image processing;
S63: calculating the minimum distance L between the feature identifiers by using a minimum distance method;
S64: comparing the minimum distance L with a preset threshold value L0, and judging whether the minimum distance L is greater than the preset threshold value L0;
if the minimum distance L is greater than the preset threshold L0, returning to the step S61；
If the minimum distance L is smaller than the preset threshold L0, go to step S65；
S65: stopping the rotation of one of the multi-coordinate axis rotating beams;
S66: generating a dangerous area boundary on the basis of the stopped characteristic identification of the multi-coordinate axis rotating beam;
S67: generating a coordinate sequence along the boundary of the dangerous area pointing to the current moving target point;
S68: inserting the coordinate sequence into the front of the current moving target point to serve as a new target point sequence of the multi-coordinate axis rotating beam;
S69: the multi-axis rotating beam to be moved is moved awayAfter the dangerous area, starting another multi-coordinate axis rotating beam stopped before starting, and returning to the step S61。
In particular, the utility model discloses in relate to the filling instrument not only is limited to the filling instrument that can realize single function, still can accomplish the filling instrument group of a plurality of functions for the order. The characteristic marks are color blocks, characteristic patterns and modes of the multi-coordinate-axis rotating beam which can be identified by the images.
To sum up, the utility model discloses full-automatic filling system has realized the lightweight of motion and frame construction with the space motion of non-cartesian coordinate system, has practiced thrift equipment area. The filling tools which are independent of each other and can move in multiple degrees of freedom are arranged in a single station working area at the same time to work together, and filling efficiency is improved. The anti-collision device can realize the anti-collision of the filling tool and the movement mechanism when the filling tool and the movement mechanism are cooperated together, and realize the simple array expansion of multiple stations working at the same time.
Although particular embodiments of the present invention have been described above, it will be appreciated by those skilled in the art that these are examples only and that the scope of the present invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are all within the scope of the invention.
Claims (9)
1. The utility model provides a full-automatic filling system which characterized in that, full-automatic filling system includes:
the conveying device is provided with a plurality of rows of filling barrels;
a filling system support disposed on a side of the conveyor or across above the conveyor;
the at least two multi-coordinate-axis rotating beam devices are arranged on the filling system support, are positioned above the filling barrel and move left and right relative to the filling system support;
at least a first camera disposed above a working area of the filling barrel;
at least one second camera disposed above a motion footprint of the multi-axis rotating beam apparatus;
the control system is respectively connected with the conveying device, the multi-coordinate-axis rotating beam device, the first camera and the second camera;
a vision recognition system connected to the first camera and the second camera for processing image information;
and processing the information of the filling barrel and the multi-coordinate-axis rotating beam device through the visual recognition system, driving the conveying device to move the filling barrel through the control system, and driving the multi-coordinate-axis rotating beam device to fill the filling barrel.
2. The fully automatic filling system of claim 1, wherein said multi-axis rotating beam assembly comprises a multi-axis rotating beam assembly, a linear guide mechanism, a transmission mechanism and an actuator;
the linear guide mechanism is fixed on the filling system support, one end part of the multi-coordinate-axis rotating beam assembly is connected with the transmission mechanism, and the transmission mechanism is arranged on the linear guide mechanism in a sliding manner to realize the up-and-down movement of the multi-coordinate-axis rotating beam assembly along the linear guide mechanism;
the actuating mechanism is installed at one end of the linear guide mechanism, is connected with the control system and is used for driving the linear guide mechanism to move up and down.
3. The fully automated filling system of claim 2, wherein the multi-axis rotating beam assembly comprises:
the first rotating beam and the second rotating beam are connected through a first hinge joint;
a second hinge joint fixed to the other end of the first rotary beam and hinging the other end of the first rotary beam and the transmission mechanism;
the first rotating beam driving mechanism is connected with the second hinge joint and used for driving the second hinge joint so as to drive the first rotating beam to rotate;
the second rotating beam driving mechanism is connected between the first hinge joint and the second hinge joint and is used for driving the first hinge joint to realize rotation between the second rotating beam and the first rotating beam;
at least one filling tool is mounted at the other end of the second rotating beam.
4. The fully automated filling system of claim 2, wherein the multi-axis rotating beam assembly comprises:
the first rotating beam, the second rotating beam and a third rotating beam assembly consisting of at least one third rotating beam are sequentially connected through a third hinge joint, and the third rotating beam assembly is connected between one end part of the first rotating beam and one end part of the second rotating beam through a corresponding third hinge joint;
a second hinge joint fixed to the other end of the first rotary beam and hinging the other end of the first rotary beam and the transmission mechanism;
the first rotating beam driving mechanism is connected with the second hinge joint and used for driving the second hinge joint so as to drive the first rotating beam to rotate;
the second rotating beam driving mechanism is connected between the second hinge joint and the adjacent third hinge joint and is used for driving the corresponding third hinge joint to realize the rotation between the first rotating beam and the adjacent third rotating beam;
the plurality of third rotating beam driving mechanisms are respectively arranged between two adjacent third hinged joints and are used for driving the corresponding third hinged joints to realize the rotation between two adjacent third rotating beams and the rotation between the second rotating beam and the adjacent third rotating beam;
at least one filling tool is mounted at the other end of the second rotating beam.
5. The fully automatic filling system of claim 3, wherein the first rotary beam drive mechanism comprises a first rotary beam transmission mechanism and a first rotary beam closed-loop control motor, the first rotary beam transmission mechanism is mounted in the second articulation joint, the first rotary beam closed-loop control motor is mounted at one end of the second articulation joint, and the second articulation joint is driven by the first rotary beam closed-loop control motor and the first rotary beam transmission mechanism;
the second rotating beam driving mechanism comprises a second rotating beam transmission mechanism and a second rotating beam closed-loop control motor, the second rotating beam closed-loop control motor is installed at one end of the second hinge joint, one end of the second rotating beam transmission mechanism is connected with the second rotating beam closed-loop control motor, and the other end of the second rotating beam transmission mechanism is connected with the first hinge joint;
or the second rotating beam closed-loop control motor is installed on the first hinge joint, and the second rotating beam transmission mechanism is installed in the first hinge joint;
and the first hinge joint is driven by a second rotating beam closed-loop control motor and a second rotating beam transmission mechanism.
6. The fully automated filling system according to claim 5, wherein the multi-axis rotary beam assembly further comprises an attitude maintaining mechanism and a terminal mount, the terminal mount being disposed at the other end of the second rotary beam, the filling tool being mounted on the terminal mount, one end of the portion of the attitude maintaining mechanism adjacent to the second rotary beam being connected to the terminal mount, the other end being connected to the first hinge joint; one end of the posture maintaining mechanism, which is close to the other part of the first rotating beam, is connected with the first hinge joint, and the other end of the posture maintaining mechanism is connected with the second hinge joint.
7. The fully automated filling system according to claim 6, wherein the attitude maintaining mechanism is comprised of two hingedly connected planar or spatially parallel linkages.
8. The fully automated filling system according to claim 6, wherein the end mount is secured to the filling tool by a fastener, or is welded, or is part of the filling tool.
9. The fully automatic filling system of claim 5, wherein the first rotary beam drive and the second rotary beam drive are link drives, chain drives, belt drives, gear pair drives, flexible drives, or screw pair drives.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020675854.0U CN212151563U (en) | 2020-04-28 | 2020-04-28 | Full-automatic filling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020675854.0U CN212151563U (en) | 2020-04-28 | 2020-04-28 | Full-automatic filling system |
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| Publication Number | Publication Date |
|---|---|
| CN212151563U true CN212151563U (en) | 2020-12-15 |
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| CN202020675854.0U Active CN212151563U (en) | 2020-04-28 | 2020-04-28 | Full-automatic filling system |
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| Country | Link |
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| CN (1) | CN212151563U (en) |
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2020
- 2020-04-28 CN CN202020675854.0U patent/CN212151563U/en active Active
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