A visual positioning filling robot system and visual positioning filling method

Abstract

The invention discloses a vision positioning type filling robot system and a vision positioning type filling method. The vision positioning type filling robot system comprises a conveying roller bed, a main machine body, a material barrel, a capping machine, an automatic code spraying type labeling machine, a 2D (two-dimensional) load-transferring type stacker crane and a control system, wherein the conveying roller bed is connected with the main machine body, the capping machine, the automatic code spraying type labeling machine, the 2D load-transferring type stacker crane and the control system in sequence; the material barrel is placed on the conveying roller bed; a camera is arranged at the top end of the main machine body, and a barrel rotation machine and a re-inspection scale are arranged at the bottom end of the main machine body; a vision positioning four-degree-of-freedom uncapping robot and a vision positioning four-degree-of-freedom capping robot are correspondingly arranged at the input end and the output end of the main machine body, and a vision positioning three-degree-of-freedom filling robot is mounted at the middle part of the main machine body; the control system is respectively connected with the main machine body and the capping machine. The vision positioning type filling robot system provided by the invention has the advantages of simple structure, security and reliability, and can be used for performing fully-automatic transportation, so that materials are prevented from moving, emitting, dripping and leaking. Therefore, the product can be smoothly filled, and the economical efficiency of companies can be improved.

Description

technical field [0001] The invention relates to the field of chemical industry filling, in particular to a visual positioning filling robot system and a visual positioning filling method. Background technique [0002] At present, in the petrochemical, pharmaceutical, dyestuff, paint and other fields, most of the filling of liquid products adopts the semi-automatic filling method, that is, the manual addressing method. Although there are automatic filling lines used by a few enterprises, which can realize automatic filling of liquid products, most of the cap opening, closing and capping devices are manually carried out. Labeling is done after the manual capping is completed. Some enterprises also Manual labeling cannot achieve full automatic filling. Especially in the existing filling system, since the barrel mouth of the 200L circular material barrel is not in the center of the barrel, when the material barrel is transported to the filling position by the roller table, it i...

AI Technical Summary

Problems solved by technology

Although there are automatic filling lines used by a few enterprises, which can realize automatic filling of liquid products, most of the cap opening, closing and capping devices are manually carried out. Labeling is done after the manual capping is completed. Some enterprises also Manual labeling cannot achieve full automatic filling

Especially in the existing filling system, since the barrel mouth of the 200L circular material barrel is not in the center of the barrel, when the material barrel is transported to the filling position by the roller table, it is relatively close to the switch cover and the filling head. The position of the barrel is uncertain. Most of the filling devices for the barrel mouth position change can not realize automatic filling. Even the 1000L square barrel with the barrel mouth in the center will be deformed due to the long-term use of the barrel, resulting in the deformation of the barrel mouth. The relative position has changed, which will also lead to the failure of filling

[0003] With the development of technology, liquid filling equipment is also applied, but the existing equipment has the following defects: 1. The requirements for containers are relatively high, and only standard and brand-new specific containers can be used. For old containers or shapes prepared by users Containers that have mutated cannot be automatically positioned

2. It cannot be compatible with various containers, and a set of equipment can only be used for one type of container

3. After the container enters the metering station, it takes a long time to position the mouth of the barrel mechanically, and too long auxiliary time affects work efficiency

4. Due to the long-term operation of the equipment, the equipment will inevitably be worn and aged, which will cause the positioning of the barrel opening to be inaccurate, and the equipment will hit the barrel mouth or the barrel surface during the descent process. Such collisions will accelerate the damage of the equipment and cause losses

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