WO2019109296A1 - 一种灌装用工业机器人 - Google Patents

一种灌装用工业机器人 Download PDF

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Publication number
WO2019109296A1
WO2019109296A1 PCT/CN2017/114979 CN2017114979W WO2019109296A1 WO 2019109296 A1 WO2019109296 A1 WO 2019109296A1 CN 2017114979 W CN2017114979 W CN 2017114979W WO 2019109296 A1 WO2019109296 A1 WO 2019109296A1
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WO
WIPO (PCT)
Prior art keywords
filling
valve
joint
industrial robot
seat
Prior art date
Application number
PCT/CN2017/114979
Other languages
English (en)
French (fr)
Inventor
周利锋
Original Assignee
无锡艾度科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 无锡艾度科技有限公司 filed Critical 无锡艾度科技有限公司
Priority to SG11202006907VA priority Critical patent/SG11202006907VA/en
Priority to PCT/CN2017/114979 priority patent/WO2019109296A1/zh
Publication of WO2019109296A1 publication Critical patent/WO2019109296A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
    • B67C3/00—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus; Filling casks or barrels with liquids or semiliquids
    • B67C3/02—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus
    • B67C3/22—Details
    • B67C3/26—Filling-heads; Means for engaging filling-heads with bottle necks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
    • B67C7/00—Concurrent cleaning, filling, and closing of bottles; Processes or devices for at least two of these operations

Definitions

  • the invention relates to the technical field of industrial machinery, in particular to an industrial robot for filling.
  • the industrial robot is a multi-joint robot or a multi-degree-of-freedom robot for the industrial field. It is a machine that automatically performs work, and realizes various functions by its own power and control ability. It consists of three basic parts: the main body, the drive system and the control system. It can be commanded by humans or run in accordance with pre-programmed procedures, and modern industrial robots can also act according to the principles of artificial intelligence. Typical applications for industrial robots include welding, painting, assembly, collection and placement, product inspection and testing, etc.; all work is done with high efficiency, durability, speed and accuracy, and industrial robots are used in the prior art. At the time of filling, the filling is carried out by means of a solenoid valve. Not only is the filling speed slow, the efficiency is low, and the filling liquid is easily contaminated by the industrial gases and bacteria in the bottle body and the air during the filling process. In view of this, we propose an industrial robot for filling.
  • the present invention provides the following technical solutions:
  • An industrial robot for filling comprising a fixing seat, a surface of the fixing base is provided with a rotating seat, a surface of the rotating seat is provided with a first joint, and one end of the first joint is provided with a main arm and a main arm One end of the main arm is rotatably connected, and the other end of the main arm is provided with an arm and is rotatably connected to the arm, and one end of the arm is provided with a connector, and both sides of the connector are provided with a second joint, and the The connecting head is rotatably connected to the second joint, the bottom end of the second joint is provided with a chassis, and a filling mechanism is arranged below the chassis, and the fixing seat is further provided with a liquid storage tank, the fixing seat A disinfection mechanism is disposed at one end, and a swing mechanism is mounted on one side of the liquid storage tank.
  • a surface of the rotating base is provided with a first servo motor, and an output shaft of the first servo motor passes through a motor shaft hole on the rotating base and is between the rotating base and the fixed seat
  • the shaft is provided with a pinion gear, and one side of the pinion gear is provided with a large gear and meshes with the large gear.
  • the top end of the large gear is fixedly connected with the rotating seat, and the bottom end of the large gear is rotatably connected with the fixed seat.
  • a side surface of the first joint is provided with a second servo motor for driving the main arm to rotate, and a side wall of one end of the main arm is provided with a third servo motor for driving the arm to rotate, the connector head
  • a fourth servo motor for driving the rotation of the second joint is disposed on one end side wall.
  • the filling mechanism comprises a filling cylinder fixed on the side wall of the chassis and a filling head below the filling cylinder, the filling head being coaxially fixedly connected with the chassis, the filling The top end of the head is provided with a filling cylinder, and the piston rod of the filling cylinder passes through the top of the filling cylinder and is slidably connected to the inner wall of the filling cylinder through the piston.
  • the bottom end of the filling cylinder is connected with a tee through a pipe, a top end of the tee is connected with a first one-way check valve, and a bottom end of the three-way is connected with a second one-way check valve.
  • the top end of the first one-way check valve is in communication with the filling head through a pipe, and the bottom end of the second one-way check valve is in communication with the liquid storage tank through a hose.
  • the sterilizing mechanism comprises a heating tank fixed on a surface of the fixing seat, a pressure relief valve at a bottom end of the heating tank, and an air outlet at one end of the fixing seat, and the pressure relief valve passes through an air outlet hose and a
  • the gas port is connected to each other, and the inner end of the heating tank is provided with an electric socket, and the bottom end of the electric socket is provided with a quartz heating tube.
  • the pressure relief valve comprises a valve body and a spring seat, one end of the valve body is provided with an air inlet, a side end of the valve body is provided with an air outlet, and a valve seat is arranged inside the air inlet
  • the valve seat is sealed by a valve disc, and one end of the valve seat is provided with a guiding sleeve, a top end of the guiding sleeve is provided with a backing disc, and a top end of the backing disc is provided with a valve stem.
  • a spring is disposed inside the spring seat, a valve stem is disposed at a center of the spring, and the valve stem extends to the backlash plate and is sleeved with the kickback disk, the valve The flap is slidably coupled to the guide sleeve.
  • the swinging mechanism includes a rocker on the side wall of the air outlet, one end of the rocker is fixed on the air outlet and is provided with a connecting rod, and one end of the rocking rod and the connecting rod
  • One end of the connecting rod is rotatably connected, and one end of the connecting rod is provided with a crank and is rotatably connected to one end of the crank, and one end of the crank is provided with a driving motor and is coaxially fixedly connected with an output shaft of the driving motor, and
  • the driving motor is fixed to the liquid storage tank through a connecting seat, and the other end of the rocking rod is rotatably connected to the air outlet through a rotating shaft.
  • the invention drives the gear to rotate by the first servo motor, thereby driving the large gear that meshes with the rotation, so that the rotating seat can rotate 360° in all directions along the fixed seat, and respectively through the second servo motor and the third servo motor respectively Driving the rotation of the main arm and the arm, driving the second joint to simulate the rotation of the human wrist through the fourth servo motor, so that the whole robot can move in four degrees of freedom, simulating the joint structure of the human arm, and has an excellent effect in the industrial handling process. And precision.
  • the invention drives the piston in the filling cylinder downward through the piston rod of the filling cylinder to form a negative pressure region in the filling cylinder, and the first one-way check valve connecting pipeline is extracted from the filling device of the filling liquid.
  • the piston rod of the filling cylinder drives the piston in the filling cylinder to ascend
  • the air pressure in the filling cylinder is reduced
  • the first one-way check valve is closed by the opposite liquid flow
  • the check valve is opened by pressure, so that the mask liquid falls from the second one-way check valve into the bottle below to fill
  • the air pressure is utilized by the cylinder
  • the two one-way check valves are skillfully used to realize the filling liquid.
  • the invention completely disinfects the bottle body by spraying the high-pressure high-temperature water vapor in the heating tank with the outlet hose, and when the air pressure from the air inlet is smaller than the spring force of the spring, the valve flap will be
  • the spring is quickly returned to the closed position, and the high pressure water vapor in the heating tank is continuously sprayed out by the pressure relief valve to sterilize the filled bottle body and the surrounding air, so that the whole process of filling is kept safe. poison.
  • the driving motor drives the crank to make a circular motion.
  • one end of the crank drives the rocker through the connecting rod and the air outlet swings along the rotating shaft as a center, so that The jet end of the air outlet swings up and down, increasing the area and angle of disinfection, and improving the efficiency of sterilization and sterilization.
  • FIG. 1 is a schematic view showing the overall structure of a viewing angle in the present invention
  • FIG. 2 is a schematic view showing the overall structure of another perspective in the present invention.
  • Figure 3 is a schematic view showing the connection structure of the fixing base and the rotating base in the present invention.
  • Figure 4 is a schematic structural view of a filling mechanism of the present invention.
  • Figure 5 is a schematic view showing the structure of the disinfection mechanism of the present invention.
  • Figure 6 is a schematic cross-sectional structural view of a pressure relief valve of the present invention.
  • Figure 7 is a schematic view showing the structure of the disinfection mechanism of the present invention.
  • the present invention provides a technical solution:
  • An industrial robot for filling comprising a fixing base 1, a surface of the fixing base 1 is provided with a rotating seat 10, a surface of the rotating base 10 is provided with a first servo motor 11, and an output shaft of the first servo motor 11 passes through the rotating base 10
  • the motor shaft hole 100 is disposed coaxially with the pinion gear 12 between the rotating base 10 and the fixed base 1.
  • One side of the pinion gear 12 is provided with a large gear 13 and meshes with the large gear 13, and the top end of the large gear 13 rotates.
  • the base 10 is fixedly connected, and the bottom end of the large gear 13 is rotatably connected to the fixed base 1.
  • the first servo motor 11 drives the gear 12 to rotate, thereby driving the large gear 13 meshing therewith, so that the rotating base 10 can be carried along the fixed base 1.
  • the surface of the rotating base 10 is provided with a first joint 2
  • one end of the first joint 2 is provided with a main arm 3 and is rotatably connected with one end of the main arm 3
  • the other end of the main arm 3 is provided with an arm 4
  • the second arm joint 5 is disposed on both sides of the connecting head 41, and the connecting head 41 is rotatably connected with the second joint 5, and the second joint 5 is provided.
  • the bottom end is provided with a chassis 50, and the side of the first joint 2 is provided with a second servo for driving the main arm 3 to rotate.
  • a third servo motor 30 for driving the arm 4 to rotate on the side wall of one end of the main arm 3, and a fourth servo motor 40 for driving the rotation of the second joint 5 is disposed on one end wall of the connecting head 41.
  • the rotation of the main arm 3 and the arm 4 is respectively driven by the second servo motor 20 and the third servo motor 30, and the second joint 5 is driven by the fourth servo motor 40 to simulate the rotation of the human wrist, so that the entire robot can move in four degrees of freedom. Simulating the joint structure of the human arm, it has excellent effects and precision in the industrial handling process.
  • a filling mechanism 6 is disposed below the chassis 50.
  • the filling mechanism 6 includes a filling cylinder 60 fixed to the side wall of the chassis 50 and a filling head 66 below the filling cylinder 60.
  • the filling head 66 is coaxially fixed with the chassis 50.
  • the top end of the filling head 66 is provided with a filling cylinder 65.
  • the piston rod of the filling cylinder 65 passes through the top of the filling cylinder 60 and is slidably connected to the inner wall of the filling cylinder 60 through the piston.
  • the bottom end of the filling cylinder 60 The tee 61 is connected through a pipe, and the top end of the tee 61 is connected with a first one-way check valve 62, and the bottom end of the three-way 61 is connected with a second one-way check valve 63, the top end of the first one-way check valve 62
  • the bottom end of the second one-way check valve 63 communicates with the liquid storage tank 8 through the pipe 64, and the piston rod of the filling cylinder 65 drives the piston in the filling cylinder 60 downward.
  • a negative pressure region is formed in the filling cylinder 60, and the first one-way check valve 62 connects the pipeline to extract the filling liquid from the filling device of the filling liquid in the tee 61, and the piston rod of the filling cylinder 65 drives the filling.
  • the piston in the cylinder 60 is ascending, the air pressure in the filling cylinder 60 is reduced, the first one-way check valve 62 is closed by the opposite liquid flow, and the second one-way The return valve 63 is pressure-opened to cause the mask liquid to fall from the second one-way check valve 25 into the lower bottle body for filling, and the air pressure is utilized by the cylinder to skillfully utilize two one-way check valves to realize the filling liquid.
  • the effective filling under the distance of the piston rod of the cylinder, fully guarantees the dosage of each filling, makes the filling accurate and orderly, and effectively solves the problems of leakage and reflow during filling.
  • the fixing base 1 is further provided with a liquid storage tank 8, and one end of the fixing base 1 is provided with a disinfecting mechanism 7, which comprises a heating tank 71 fixed on the surface of the fixing base 1, a pressure relief valve 72 at the bottom end of the heating tank 71, and a fixing
  • the air outlet 70 at one end of the seat 1 and the pressure relief valve 72 communicate with the air outlet 70 through the air outlet hose 73.
  • the inner end of the heating tank 71 is provided with an electric socket 710, and the bottom end of the power socket 710 is provided with a quartz heating tube 711.
  • the pressure valve 72 includes a valve body 722 and a spring seat 720. One end of the valve body 722 is provided with an air inlet 721.
  • the side end of the valve body 722 is provided with an air outlet 727.
  • the air inlet 721 is internally provided with a valve seat 729. 729 is sealed by a valve flap 723.
  • One end of the valve seat 729 is provided with a guiding sleeve 725.
  • the top end of the guiding sleeve 725 is provided with a backing plate 724.
  • the top end of the backing plate 724 is provided with a valve stem 726.
  • the spring seat 720 is internally provided with a spring. 728, a valve stem 726 is disposed at the center of the spring 728, and the valve stem 726 extends to the kickback disk 724 and is sleeved with the kickback disk 724.
  • the valve flap 723 and the guide sleeve 725 are slidably connected to each other while being filled.
  • the energized socket 710 in the tank 71 is heated by the quartz heating tube 711 after being energized, and the quartz heating tube 711 is far infrared heating. It is a milk-white quartz glass tube processed by a special process, and a resistance material is used as a proton. Since the opal quartz glass can absorb almost all visible and near-infrared light from the heating wire, and can be converted into far infrared. Radiation, the water added in advance in the heating tank 71 is evaporated, and the water continuously generates water vapor after heating.
  • the valve When the setting pressure of the pressure relief valve 72 is greater than the outside air pressure, the valve is in a closed state, and then acts on the valve flap 723.
  • the force of the spring 728 preload, the direction is upward, the force of the medium, the direction is downward, and then the backing force (sealing force) of the valve seat 729 against the valve flap 723, the specific pressure generated by the sealing force on the sealing surface
  • the pressure relief valve 72 is ensured to have the necessary sealing property.
  • the static pressure of the fluid on the backlash disk 724 is utilized, and the pressure relief valve 72 flap 723 continues.
  • Fast down Speed movement at this time, the flow rate is always limited by the opening between the valve flap 723 and the valve seat 729 until the height of the valve flap 723 from the valve seat 729 reaches a quarter of the diameter of the flow path, after which the flow is from the throat The diameter of the runner is controlled, and then the total amount is discharged, so that the pressure of the medium drops rapidly.
  • the pressure relief valve 72 is in the discharge state, and the high pressure and high temperature water vapor in the heating tank 71 is ejected from the air outlet 70 along with the outlet hose 73, and the bottle body is completely disinfected, when the air pressure from the air inlet 721 is less than
  • the valve flap 723 is quickly returned to the closed position by the spring 728, and the high pressure water vapor in the heating tank 71 is continuously ejected by the pressure relief valve 72, and the bottle body and the surrounding body are filled.
  • the air is sterilized to keep the whole process of filling safe and non-toxic.
  • One side of the liquid storage tank 8 is mounted with a swinging mechanism 9 including a rocking lever 90 on the side wall of the air outlet 70.
  • One end of the rocking lever 90 is fixed to the air outlet 70 and is provided with a connecting rod 91, and the rocking lever 90
  • One end of the connecting rod 91 is rotatably connected to one end of the connecting rod 91.
  • One end of the connecting rod 91 is provided with a crank 92 and is rotatably connected to one end of the crank 92.
  • One end of the crank 92 is provided with a driving motor 93 and is coaxially fixedly connected with the output shaft of the driving motor 93.
  • the driving motor 93 is fixed on the liquid storage tank 8 through the connecting seat 94, and the other end of the rocking lever 90 is rotatably connected to the air outlet 70 through the rotating shaft 95.
  • the driving motor 93 drives the crank 92 to do

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Abstract

一种灌装用工业机器人，包括固定座(1)，固定座(1)的表面设有转动座(10)，转动座(10)的表面设有第一关节(2)，第一关节(2)一端设有主臂(3)并与主臂(3)的一端转动连接，主臂(3)的另一端设有小臂(4)并与小臂(4)转动连接，小臂(4)的一端设有连接头(41)，连接头(41)的两侧均设有第二关节(5)，且连接头(41)与第二关节(5)转动连接，第二关节(5)的底端设有底盘(50)，固定座(1)的一端设有消毒机构(7)，储液箱(8)的一侧安装有摆动机构(9)，该灌装用工业机器人通过加热罐(71)中的高压高温水蒸气随着出气软管(73)从出气口(70)中喷出，对灌装的瓶体以及周围的空气进行消毒杀菌，使灌装的全过程保持安全无毒，在出气口(70)的喷气消毒过程中，使出气口(70)的喷气端上下摆动，使消毒的面积和角度增大，提高消毒灭菌的效率。

Description

一种灌装用工业机器人 技术领域
本发明涉及工业机械技术领域，具体为一种灌装用工业机器人。
 背景技术
工业机器人是面向工业领域的多关节机械手或多自由度的机器人，是自动执行工作的机器装置，靠自身动力和控制能力来实现各种功能的一种机器。由主体、驱动系统和控制系统三个基本部分组成。它可以接受人类指挥，也可以按照预先编排的程序运行，现代的工业机器人还可以根据人工智能技术制定的原则纲领行动。工业机器人的典型应用包括焊接、刷漆、组装、采集和放置、产品检测和测试等；所有的工作的完成都具有高效性、持久性、速度和准确性，现有技术中的工业机器人在用于灌装的时候都是通过电磁阀开进行灌装，不仅灌装速度慢，效率低下，并且在灌装的过程中由于瓶体和空气中的工业气体以及细菌很容易对灌装液进行污染，导致产品不合格，鉴于此，我们提出一种灌装用工业机器人。
 技术问题
本发明的目的在于提供一种灌装用工业机器人，以解决上述背景技术中提出的问题。
 技术解决方案
为实现上述目的，本发明提供如下技术方案：
一种灌装用工业机器人，包括固定座，所述固定座的表面设有转动座，所述转动座的表面设有第一关节，所述第一关节一端设有主臂并与主臂的一端转动连接，所述主臂的另一端设有小臂并与小臂转动连接，所述小臂的一端设有连接头，所述连接头的两侧均设有第二关节，且所述连接头与第二关节转动连接，所述第二关节的底端设有底盘，且所述底盘的下方设有灌装机构，所述固定座上还设有储液箱，所述固定座的一端设有消毒机构，所述储液箱的一侧安装有摆动机构。
优选的，所述转动座的表面设有第一伺服电机，所述第一伺服电机的输出轴穿过所述转动座上的电机轴孔并在所述转动座与所述固定座之间同轴设有小齿轮，所述小齿轮的一侧设有大齿轮并与所述大齿轮啮合，所述大齿轮的顶端与转动座固定连接，所述大齿轮的底端与固定座转动连接。
优选的，所述第一关节的侧面设有用于带动主臂转动的第二伺服电机，所述主臂的一端侧壁上设有用于带动小臂转动的第三伺服电机，所述连接头的一端侧壁上设有用于带动所述第二关节转动的第四伺服电机。
优选的，所述灌装机构包括固定在所述底盘侧壁上的灌装筒和所述灌装筒下方的灌装头，所述灌装头与所述底盘同轴固定连接，所述灌装头的顶端设有灌料气缸，所述灌料气缸的活塞杆穿过灌装筒的顶部并通过活塞与灌装筒的内壁滑动连接。
优选的，所述灌装筒的底端通过管道连接有三通，所述三通的顶端连接有第一单向止回阀，所述三通的底端连接有第二单向止回阀，所述第一单向止回阀的顶端通过管道与所述灌装头相连通，所述第二单向止回阀的底端通过软管与所述储液箱相连通。
优选的，所述消毒机构包括固定在所述固定座表面上的加热罐、所述加热罐底端的泄压阀和所述固定座一端的出气口，所述泄压阀通过出气软管与所述出气口相连通，所述加热罐的内侧顶端设有通电插座，所述通电插座的底端设有石英加热管。
优选的，所述泄压阀包括阀体和弹簧座，所述阀体的一端设有进气口，所述阀体的侧端设有出气口，所述进气口的内部设有阀座，所述阀座通过阀瓣密封，所述阀座的一端设有导向套，所述导向套的顶端设有反冲盘，所述反冲盘的顶端设有阀杆。
优选的，所述弹簧座的内部设有弹簧，所述弹簧的中心处设有阀杆，且所述阀杆延伸到所述反冲盘上并与所述反冲盘套接，所述阀瓣和所述导向套滑动连接。
优选的，所述摆动机构包括所述出气口侧壁上的摇杆，所述摇杆的一端固定在所述出气口上并设有连杆，且所述摇杆的一端与所述连杆的一端转动连接，所述连杆的一端设有曲柄并与所述曲柄的一端转动连接，所述曲柄的一端设有驱动马达并与所述驱动马达的输出轴同轴固定连接，且所述驱动马达通过连接座固定在所述储液箱上，所述摇杆的另一端通过转轴与所述出气口转动连接。
 有益效果
与现有技术相比，本发明的有益效果如下：
1、本发明通过第一伺服电机带动齿轮转动，从而带动与其啮合的大齿轮转动，使转动座能够沿着固定座进行360°全方位的转动，并通过第二伺服电机和第三伺服电机分别带动主臂和小臂的转动，通过第四伺服电机带动第二关节模拟人手腕的转动，使整个机器人能够四自由度活动，模拟人手臂的关节结构，在工业搬运过程中起到了优异的效果和精准度。
2、本发明通过灌料气缸的活塞杆带动灌装筒内的活塞下行，使灌装筒内形成负压区域，第一单向止回阀连接管道从灌装液的储存装置中抽取灌装液在三通中，灌料气缸的活塞杆带动灌装筒内的活塞上行时，灌装筒内的气压减小，第一单向止回阀受到相反的液流关闭，同时第二单向止回阀受到压力打开使面膜液从第二单向止回阀中落入下方的瓶体中进行灌装，利用气缸带动气压，巧妙的利用两个单向止回阀来实现灌装液的有效灌装，在保证气缸活塞杆伸出距离下，充分的保证了每次灌装的剂量，使灌装精准有序，并且有效的解决了灌装时的漏液和回流等问题。
3、本发明通过加热罐中的高压高温水蒸气随着出气软管从出气口中喷出，对瓶体进行全面消毒，当来自进气口处的气压小于弹簧的弹力时，阀瓣又会在弹簧的作用下迅速回到关闭位置，利用泄压阀使加热罐内的高压水蒸气不断的喷出，对灌装的瓶体以及周围的空气进行消毒杀菌，使灌装的全过程保持安全无毒。
4、本发明在出气口的喷气消毒过程中，驱动马达带动曲柄做圆周运动，在曲柄摇杆的原理下，曲柄的一端通过连杆带动摇杆以及出气口沿转轴为圆心做摆动运动，使出气口的喷气端上下摆动，使消毒的面积和角度增大，提高消毒灭菌的效率。
 附图说明
图1为本发明中的一种视角的整体结构示意图；
图2为本发明中的另一种视角的整体结构示意图；
图3为本发明中固定座与转动座的连接结构示意图；
图4为本发明中灌装机构的结构示意图；
图5为本发明中消毒机构的结构示意图；
图6为本发明中泄压阀的剖面结构示意图；
图7为本发明中消毒机构的结构示意图。
图中：1、固定座；10、转动座；100、电机轴孔；11、第一伺服电机；12、小齿轮；13、大齿轮；14、安装孔；2、第一关节；20、第二伺服电机；3、主臂；30、第三伺服电机；4、小臂；40、第四伺服电机；41、连接头；5、第二关节；50、底盘；6、灌装机构；60、灌装筒；61、三通；62、第一单向止回阀；63、第二单向止回阀；64、软管；65、灌料气缸；66、灌装头；67、连接杆；7、消毒机构；70、出气口；71、加热罐；710、通电插座；711、石英加热管；72、泄压阀；720、弹簧座；721、进气口；722、阀体；723、阀瓣；724、反冲盘；725、导向套；726、阀杆；727、出气口；728、弹簧；729、阀座；73、出气软管；8、储液箱；9、摆动机构；90、摇杆；91、连杆；92、曲柄；93、驱动马达；94、连接座；95、转轴。
 本发明的实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
请参阅图1-7，本发明提供一种技术方案：
一种灌装用工业机器人，包括固定座1，固定座1的表面设有转动座10，转动座10的表面设有第一伺服电机11，第一伺服电机11的输出轴穿过转动座10上的电机轴孔100并在转动座10与固定座1之间同轴设有小齿轮12，小齿轮12的一侧设有大齿轮13并与大齿轮13啮合，大齿轮13的顶端与转动座10固定连接，大齿轮13的底端与固定座1转动连接，通过第一伺服电机11带动齿轮12转动，从而带动与其啮合的大齿轮13转动，使转动座10能够沿着固定座1进行360°全方位的转动，转动座10的表面设有第一关节2，第一关节2一端设有主臂3并与主臂3的一端转动连接，主臂3的另一端设有小臂4并与小臂4转动连接，小臂4的一端设有连接头41，连接头41的两侧均设有第二关节5，且连接头41与第二关节5转动连接，第二关节5的底端设有底盘50，第一关节2的侧面设有用于带动主臂3转动的第二伺服电机20，主臂3的一端侧壁上设有用于带动小臂4转动的第三伺服电机30，连接头41的一端侧壁上设有用于带动第二关节5转动的第四伺服电机40，通过第二伺服电机20和第三伺服电机30分别带动主臂3和小臂4的转动，通过第四伺服电机40带动第二关节5模拟人手腕的转动，使整个机器人能够四自由度活动，模拟人手臂的关节结构，在工业搬运过程中起到了优异的效果和精准度。
底盘50的下方设有灌装机构6，灌装机构6包括固定在底盘50侧壁上的灌装筒60和灌装筒60下方的灌装头66，灌装头66与底盘50同轴固定连接，灌装头66的顶端设有灌料气缸65，灌料气缸65的活塞杆穿过灌装筒60的顶部并通过活塞与灌装筒60的内壁滑动连接，灌装筒60的底端通过管道连接有三通61，三通61的顶端连接有第一单向止回阀62，三通61的底端连接有第二单向止回阀63，第一单向止回阀62的顶端通过管道与灌装头66相连通，第二单向止回阀63的底端通过软管64与储液箱8相连通，通过灌料气缸65的活塞杆带动灌装筒60内的活塞下行，使灌装筒60内形成负压区域，第一单向止回阀62连接管道从灌装液的储存装置中抽取灌装液在三通61中，灌料气缸65的活塞杆带动灌装筒60内的活塞上行时，灌装筒60内的气压减小，第一单向止回阀62受到相反的液流关闭，同时第二单向止回阀63受到压力打开使面膜液从第二单向止回阀25中落入下方的瓶体中进行灌装，利用气缸带动气压，巧妙的利用两个单向止回阀来实现灌装液的有效灌装，在保证气缸活塞杆伸出距离下，充分的保证了每次灌装的剂量，使灌装精准有序，并且有效的解决了灌装时的漏液和回流等问题。
固定座1上还设有储液箱8，固定座1的一端设有消毒机构7，消毒机构7包括固定在固定座1表面上的加热罐71、加热罐71底端的泄压阀72和固定座1一端的出气口70，泄压阀72通过出气软管73与出气口70相连通，加热罐71的内侧顶端设有通电插座710，通电插座710的底端设有石英加热管711，泄压阀72包括阀体722和弹簧座720，阀体722的一端设有进气口721，阀体722的侧端设有出气口727，进气口721的内部设有阀座729，阀座729通过阀瓣723密封，阀座729的一端设有导向套725，导向套725的顶端设有反冲盘724，反冲盘724的顶端设有阀杆726，弹簧座720的内部设有弹簧728，弹簧728的中心处设有阀杆726，且阀杆726延伸到反冲盘724上并与反冲盘724套接，阀瓣723和导向套725滑动连接，在灌装的同时，加热罐71内的通电插座710在通电后利用石英加热管711进行加热，石英加热管711是远红外加热管是采用了经特殊工艺加工的乳白石英玻璃管、配用电阻合材料作为发热子，由于乳白石英玻璃可以吸收来自电热丝辐射的几乎全部的可见光和近红外光、且能使之转化为远红外辐射，使加热罐71内提前加入的水进行蒸发，水在加热后不断的产生水蒸气，当泄压阀72的整定压力大于外界气压时，阀门处于关闭状态，这时作用在阀瓣723上的力有弹簧728预紧力，方向向上，介质的作用力，方向向下，再就是阀座729对阀瓣723的托力(密封力)，这个密封力在密封面上所产生的比压力，保证了泄压阀72有了必需的密封性，当水蒸气使加热罐71内的气压升高，在气压升高到一定程度时，此时弹簧728的预紧力与密封力未发生变化，来自进气口721处的气压升高，使阀瓣723向下运动，突跳开启，一旦泄压阀72开启，利用反冲盘724上流体的静压力，泄压阀72阀瓣723继续向下快速运动，此时,流量始终被阀瓣723和阀座729之间的开度限制着，直到阀瓣723离开阀座729的高度达到四分之一流道直径，此后，流量便由喉部的流道直径控制，继而全量排放，使介质压力迅速下降。此时泄压阀72处于排放状态，加热罐71中的高压高温水蒸气随着出气软管73从出气口70中喷出，对瓶体进行全面消毒，当来自进气口721处的气压小于弹簧728的弹力时，阀瓣723又会在弹簧728的作用下迅速回到关闭位置，利用泄压阀72使加热罐71内的高压水蒸气不断的喷出，对灌装的瓶体以及周围的空气进行消毒杀菌，使灌装的全过程保持安全无毒。
储液箱8的一侧安装有摆动机构9，摆动机构9包括出气口70侧壁上的摇杆90，摇杆90的一端固定在出气口70上并设有连杆91，且摇杆90的一端与连杆91的一端转动连接，连杆91的一端设有曲柄92并与曲柄92的一端转动连接，曲柄92的一端设有驱动马达93并与驱动马达93的输出轴同轴固定连接，且驱动马达93通过连接座94固定在储液箱8上，摇杆90的另一端通过转轴95与出气口70转动连接，在出气口70的喷气消毒过程中，驱动马达93带动曲柄92做圆周运动，在曲柄摇杆的原理下，曲柄92的一端通过连杆91带动摇杆90以及出气口70沿转轴95为圆心做摆动运动，使出气口70的喷气端上下摆动，使消毒的面积和角度增大，提高消毒灭菌的效率。

Claims (9)

  1. 一种灌装用工业机器人，包括固定座（1），其特征在于：所述固定座（1）的表面设有转动座（10），所述转动座（10）的表面设有第一关节（2），所述第一关节（2）一端设有主臂（3）并与主臂（3）的一端转动连接，所述主臂（3）的另一端设有小臂（4）并与小臂（4）转动连接，所述小臂（4）的一端设有连接头（41），所述连接头（41）的两侧均设有第二关节（5），且所述连接头（41）与第二关节（5）转动连接，所述第二关节（5）的底端设有底盘（50），且所述底盘（50）的下方设有灌装机构（6），所述固定座（1）上还设有储液箱（8），所述固定座（1）的一端设有消毒机构（7），所述储液箱（8）的一侧安装有摆动机构（9）。
  2. 根据权利要求1所述的灌装用工业机器人，其特征在于：所述转动座（10）的表面设有第一伺服电机（11），所述第一伺服电机（11）的输出轴穿过所述转动座（10）上的电机轴孔（100）并在所述转动座（10）与所述固定座（1）之间同轴设有小齿轮（12），所述小齿轮（12）的一侧设有大齿轮（13）并与所述大齿轮（13）啮合，所述大齿轮（13）的顶端与转动座（10）固定连接，所述大齿轮（13）的底端与固定座（1）转动连接。
  3. 根据权利要求1所述的灌装用工业机器人，其特征在于：所述第一关节（2）的侧面设有用于带动主臂（3）转动的第二伺服电机（20），所述主臂（3）的一端侧壁上设有用于带动小臂（4）转动的第三伺服电机（30），所述连接头（41）的一端侧壁上设有用于带动所述第二关节（5）转动的第四伺服电机（40）。
  4. 根据权利要求1所述的灌装用工业机器人，其特征在于：所述灌装机构（6）包括固定在所述底盘（50）侧壁上的灌装筒（60）和所述灌装筒（60）下方的灌装头（66），所述灌装头（66）与所述底盘（50）同轴固定连接，所述灌装头（66）的顶端设有灌料气缸（65），所述灌料气缸（65）的活塞杆穿过灌装筒（60）的顶部并通过活塞与灌装筒（60）的内壁滑动连接。
  5. 根据权利要求4所述的灌装用工业机器人，其特征在于：所述灌装筒（60）的底端通过管道连接有三通（61），所述三通（61）的顶端连接有第一单向止回阀（62），所述三通（61）的底端连接有第二单向止回阀（63），所述第一单向止回阀（62）的顶端通过管道与所述灌装头（66）相连通，所述第二单向止回阀（63）的底端通过软管（64）与所述储液箱（8）相连通。
  6. 根据权利要求1所述的灌装用工业机器人，其特征在于：所述消毒机构（7）包括固定在所述固定座（1）表面上的加热罐（71）、所述加热罐（71）底端的泄压阀（72）和所述固定座（1）一端的出气口（70），所述泄压阀（72）通过出气软管（73）与所述出气口（70）相连通，所述加热罐（71）的内侧顶端设有通电插座（710），所述通电插座（710）的底端设有石英加热管（711）。
  7. 根据权利要求6所述的灌装用工业机器人，其特征在于：所述泄压阀（72）包括阀体（722）和弹簧座（720），所述阀体（722）的一端设有进气口（721），所述阀体（722）的侧端设有出气口（727），所述进气口（721）的内部设有阀座（729），所述阀座（729）通过阀瓣（723）密封，所述阀座（729）的一端设有导向套（725），所述导向套（725）的顶端设有反冲盘（724），所述反冲盘（724）的顶端设有阀杆（726）。
  8. 根据权利要求7所述的灌装用工业机器人，其特征在于：所述弹簧座（720）的内部设有弹簧（728），所述弹簧（728）的中心处设有阀杆（726），且所述阀杆（726）延伸到所述反冲盘（724）上并与所述反冲盘（724）套接，所述阀瓣（723）和所述导向套（725）滑动连接。
  9. 根据权利要求6所述的灌装用工业机器人，其特征在于：所述摆动机构（9）包括所述出气口（70）侧壁上的摇杆（90），所述摇杆（90）的一端固定在所述出气口（70）上并设有连杆（91），且所述摇杆（90）的一端与所述连杆（91）的一端转动连接，所述连杆（91）的一端设有曲柄（92）并与所述曲柄（92）的一端转动连接，所述曲柄（92）的一端设有驱动马达（93）并与所述驱动马达（93）的输出轴同轴固定连接，且所述驱动马达（93）通过连接座（94）固定在所述储液箱（8）上，所述摇杆（90）的另一端通过转轴（95）与所述出气口（70）转动连接。
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