Automatic steel bottle packaging method

Abstract

The present application relates to a kind of steel bottle automatic packaging method, comprising the following steps: obtaining steel bottle information, and according to the steel bottle information configuration in central control system;With three-axis truss manipulator, steel bottle is automatically grabbed to conveying line;Cap dismounting machine recognizes steel bottle to position, and then the cap of steel bottle is dismounted;Valve photographing manipulator needs to be photographed from different angles according to set requirement and is uploaded to storage system;Torque detection manipulator, valve torque, valve handle torque are detected;Labeling manipulator automatically prints and sticks identification according to steel bottle information;According to steel bottle information, the bagging machine realizes to different model steel bottle and is shrunk film bagging;After air is heated, plastic encapsulation machine blows to the surface of steel bottle, realizes the plastic encapsulation of steel bottle surface;Overall photographing manipulator is photographed to sample after packaging, and is uploaded to storage system.The present application realizes inspection before packaging, automatic packaging and archive system, and efficiency is high, practicality is strong, and it can be traced.

Description

Technical Field

[0001] This invention relates to an automatic packaging method for steel cylinders, belonging to the field of automated packaging. Background Technology

[0002] Gas cylinders, as pressure vessels, can store media such as kerosene, liquefied gases, or mixed gases. After filling, the cylinders need to be labeled to identify information such as the weight, volume, and intended use of the medium. To better protect the cylinders and this information, they require packaging. Manual packaging is inefficient, lacks traceability, and is difficult to mass-produce. Existing automated gas cylinder packaging technologies have the following problems:

[0003] 1. It is impossible to inspect the appearance and valve torque before packaging;

[0004] 2. Packaging process information lacks systematic recording, making traceability difficult. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic packaging method for steel cylinders, which solves the problems of existing technologies where it is impossible to check the appearance and valve torque before packaging and where there is a lack of systematic recording of packaging process information, making it difficult to trace.

[0006] The above-mentioned objective of the present invention is achieved through the following technical solution:

[0007] An automatic packaging method for steel cylinders includes the following steps:

[0008] Step 1: Obtain the cylinder information and configure it in the central control system according to the cylinder information;

[0009] Step 2: Use a three-axis gantry robot to automatically pick up the gas cylinders and transfer them to the conveyor line;

[0010] Step 3: After the bottle cap removal machine identifies the gas cylinder in place, it removes the bottle cap.

[0011] Step 4: The valve photography robot needs to take photos from different angles according to the set requirements and upload them to the storage system;

[0012] Step 5: The torque detection robot arm performs torque detection on the upper valve torque and valve handle torque;

[0013] Step 6: The labeling robot automatically prints and affixes labels based on the cylinder information;

[0014] Step 7: Based on the cylinder information, the bagging machine performs heat shrink wrapping on cylinders of different models.

[0015] Step 8: The sealing machine heats the air and blows it onto the surface of the cylinder to achieve a plastic seal on the cylinder surface;

[0016] Step 9: The robotic arm takes photos of the packaged steel cylinders and uploads them to the storage system.

[0017] Preferably, step 1 includes the following steps:

[0018] The three-axis gantry robot identifies RFID card information and transmits the information to the central control system.

[0019] The central control system transmits the automatic packaging information of the gas cylinders to the three-axis gantry robot, the conveyor line, the bottle cap removal machine, the valve photography robot, the torque detection robot, the central control system, the bagging machine, the sealing machine, the labeling robot, and the overall photography robot.

[0020] Preferably, in step 2, the cylinder needs to be manually delivered to the preparation area before the three-axis gantry robot grabs it.

[0021] Preferably, after the gas cylinder is in place in step 3, the position is determined by distance detection using a visual positioning system.

[0022] Preferably, in step 4, a high-definition 3D camera is used to photograph the appearance of the bottle valve;

[0023] The different angles mentioned are divided into four directions according to the shooting direction: 0°, 90°, 180°, and 270° perpendicular to the cylinder, and 0°, 90°, 180°, and 270° angled downwards at 45°.

[0024] Preferably, the inspection robot described in step 5 is compatible with different valve handles by changing the contour tooling for turning the handle;

[0025] The torque of the upper valve is set to 180–240 N·m; the torque of the handle is set to 8–12 N·m.

[0026] Preferably, the labeling robot described in step 6 uses laser vision technology to accurately locate the label placement position.

[0027] Preferably, in step 7, the information of the steel cylinder is transmitted from the central control system to the bagging machine, and then different plastic sealing bags are selected according to the steel product information; the bagging machine uses negative pressure to open the bag and put the entire heat shrink film on the steel cylinder.

[0028] Preferably, in step 8, the sealing machine heats the air with a heating rod, and then a hot air blower blows the hot air to the air outlet. The film assembly moves up and down with the air outlet to seal the thermoplastic film on the cylinder.

[0029] The overall photographing robot arm mentioned in step 9 uses a high-definition 3D camera, is equipped with a light source and an automatic lifting platform; the gas cylinder photographing and sampling can be performed at any angle along the cylinder's axial direction.

[0030] Preferably, an automated cylinder packaging system is used to achieve automated cylinder packaging. This system includes a three-axis gantry robot, a conveyor line, a bottle cap removal machine, a valve photographing robot, a torque detection robot, a central control system, a bagging machine, a sealing machine, a labeling robot, and an overall photographing robot. The sequence of workstations in the entire system is as follows: three-axis gantry robot, bottle cap removal machine, valve photographing robot, torque detection robot, labeling robot, bagging machine, sealing machine, and overall photographing robot. The central control system transmits control signals. After each system passes inspection, the conveyor line transports the cylinders to the designated workstations according to the workstation sequence for the corresponding actions.

[0031] The advantages of this invention are:

[0032] This invention realizes a pre-packaging inspection, automatic packaging and archiving system, which is highly efficient, practical and traceable.

[0033] 1. An automatic packaging system for steel cylinders, which is highly efficient, has stable quality, and can be used for mass production;

[0034] 2. An automatic packaging system for steel cylinders, capable of performing appearance and valve torque checks before packaging;

[0035] 3. An automatic packaging system for steel cylinders, in which the detection and packaging results can be recorded by the system and easily traced. Attached Figure Description

[0036] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate the invention and are used to explain it, but do not constitute an undue limitation of the invention.

[0037] Figure 1 This is a schematic diagram of an automatic steel cylinder packaging system provided by the present invention;

[0038] Figure 2 A flowchart of an automatic packaging method for steel cylinders provided by the present invention;

[0039] Figure 3 This is a control process diagram of the system of the present invention;

[0040] In the attached diagram, 1-three-axis gantry robot, 2-conveyor line, 3-bottle cap removal machine, 4-valve photography robot, 5-torque detection robot, 6-central control system, 7-bag making machine, 8-sealing machine, 9-labeling robot, and 10-overall photography robot. Detailed Implementation

[0041] The technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described examples are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this invention.

[0042] Example 1

[0043] This invention provides an automatic cylinder packaging system, applicable to automatic cylinder packaging methods, as described above. Figure 1 and 3 An automated cylinder packaging system is used to automate the packaging of steel cylinders. This system includes a three-axis gantry robot 1 (controlled by a central control system and operating sequentially via a conveyor line), a conveyor line 2, a bottle cap removal machine 3, a valve photographing robot 4, a torque detection robot 5, a central control system 6, a bagging machine 7, a sealing machine 8, a labeling robot 9, and an overall photographing robot 10. (Refer to...) Figure 3 The control process is as follows:

[0044] 1. The central control system 6 issues an action command, and the three-axis gantry robot 1 grabs the gas cylinder and places it on the conveyor line 2;

[0045] 2. When conveyor line 2 receives the gas cylinder location information, it sends the signal back to the central control system 6. The central control system 6 sends a command to conveyor line 2, and conveyor line 2 transfers the gas cylinder to the cylinder cap removal machine 3 station. After completion, conveyor line 2 sends feedback information to the central control system 6.

[0046] 3. After receiving the feedback signal from the conveyor line 2, the central control system 6 issues an action command to the bottle cap removal machine 3 station. The bottle cap removal machine 3 performs the bottle cap removal action. After completion, it transmits the feedback signal to the central control system 6.

[0047] 4. The central control system 6 receives the feedback signal from the bottle cap removal machine 3 and sends an instruction to the conveyor line 2. The conveyor line 2 transfers the cylinder from the bottle cap removal machine 3 to the valve photographing robot 4. After completion, the conveyor line 2 sends feedback to the central control system 6.

[0048] 5. The central control system 6 receives the feedback signal and sends an action command to the torque detection robot 5. The torque detection robot 5 receives the command and performs valve torque detection. After completion, it sends feedback to the central control system 6.

[0049] 6. When the central control system 6 receives the feedback signal, it sends an instruction to the conveyor line 2. The conveyor line 2 transfers the cylinder from the torque detection robot 5 to the labeling robot 9. After completion, the conveyor line 2 sends feedback to the central control system 6.

[0050] 7. The central control system 6 receives the feedback signal and sends an action command to the labeling robot 9. The labeling robot 9 receives the command and performs the labeling action. After completion, it sends a feedback to the central control system 6.

[0051] 8. When the central control system 6 receives the feedback signal, it sends an instruction to the conveyor line 2. The conveyor line 2 transfers the cylinder from the labeling robot 9 to the bagging machine 7. After completion, the conveyor line 2 sends feedback to the central control system 6.

[0052] 9. The central control system 6 receives the feedback signal and sends an action command to the bagging machine 7. The bagging machine 7 receives the command and performs the bagging action. After completion, it sends feedback to the central control system 6.

[0053] 10. When the central control system 6 receives the feedback signal, it sends an instruction to the conveyor line 2. The conveyor line 2 transfers the cylinder from the bagging machine 7 to the sealing machine 8. After completion, the conveyor line 2 sends feedback to the central control system 6.

[0054] 11. The central control system 6 receives the feedback signal and sends an action command to the laminator 8. The laminator 8 receives the command and performs the lamination action. After completion, it sends feedback to the central control system 6.

[0055] 12. The central control system 6 receives the feedback signal and sends an instruction to the conveyor line 2. The conveyor line 2 transfers the cylinder from the sealing machine 8 to the overall photographing robot 10. After completion, the conveyor line 2 sends feedback to the central control system 6.

[0056] 13. The central control system 6 receives the feedback signal and sends an action command to the overall photography robot 10. The overall photography robot 10 receives the command and performs the photography action. After completion, it sends feedback to the central control system 6.

[0057] 14. The central control system 6 receives the feedback signal and sends an instruction to the conveyor line 2. The conveyor line 2 transfers the gas cylinder from the overall imaging robot 10 to the three-axis gantry robot 1. After completion, the conveyor line 2 sends feedback to the central control system 6.

[0058] 15. The central control system 6 receives the feedback signal and sends an action command to the three-axis gantry robot 1. The three-axis gantry robot 1 receives the command, grabs the gas cylinder and places it in the storage area. After completion, it sends a feedback signal to the central control system 6. The central control system receives the feedback signal, stops and terminates, and the packaging is completed.

[0059] Example 2

[0060] like Figure 2 As shown, the method includes the following steps:

[0061] Step 1: Obtain the cylinder information and configure the automatic packaging program in the central control system according to the cylinder information;

[0062] For example, information such as height, volume, and diameter of the gas cylinder needs to be established in advance in the database and bound to the RFID card. The central control system transmits the automatic packaging program of the gas cylinder to the three-axis gantry robot, the conveyor line, the bottle cap removal machine, the valve photographing robot, the torque detection robot, the central control system, the bagging machine, the sealing machine, the labeling robot, and the overall photographing robot.

[0063] Step 2: After the program starts running, the three-axis gantry robot automatically grabs the gas cylinder and places it on the conveyor line;

[0064] Before the three-axis truss robot can grab the cylinder, the cylinder needs to be manually moved to the preparation area.

[0065] Step 3: After the bottle cap removal robot identifies the gas cylinder in place, it removes the bottle cap from the gas cylinder.

[0066] Once the gas cylinder is in place, a visual positioning system is used to detect and locate its position from a distance.

[0067] Step 4: The robotic arm needs to take photos from different angles according to the set program and upload them to the storage system;

[0068] The aforementioned robotic arm uses a high-definition 3D camera to photograph the appearance of the bottle valve;

[0069] The different angles mentioned are divided into four directions according to the shooting direction: 0°, 90°, 180°, and 270° perpendicular to the cylinder, and 0°, 90°, 180°, and 270° angled downwards at 45°.

[0070] Step 5: The torque detection robot arm performs torque detection on the upper valve torque and the valve handle torque.

[0071] The aforementioned inspection robot achieves equipment compatibility for different valve handles by quickly changing the contour tooling for turning the handle;

[0072] The upper valve torque is set to 180-240 N·m, with 200 N·m being preferred.

[0073] The handle torque is set to 8-12 N.M, with 9 N.M being preferred.

[0074] Step 6: The labeling robot automatically prints and affixes labels based on the cylinder information;

[0075] The labeling robot uses laser vision technology to precisely locate the label placement position.

[0076] Step 7: Based on the cylinder information, the bagging machine performs heat shrink wrapping on cylinders of different models.

[0077] The information about the gas cylinder is transmitted from the central control system to the bagging machine, which then selects different sealing bags based on the gas cylinder information.

[0078] The bagging machine uses negative pressure to open the bag and then covers the entire heat-shrink film onto the cylinder.

[0079] Step 8: The sealing machine heats the air and blows it onto the surface of the steel cylinder to achieve sealing of the steel cylinder surface;

[0080] The sealing machine uses a heating rod to heat the air, and then a hot air blower blows the hot air to the air outlet. The film assembly moves up and down with the air outlet to seal the thermoplastic film on the cylinder.

[0081] Step 9: The robotic arm takes photos of the packaged steel cylinders and uploads them to the storage system.

[0082] The overall photography robotic arm described above uses a high-definition 3D camera, is equipped with a light source and an automatic lifting platform;

[0083] The aforementioned cylinder photography sampling method allows for sampling at any angle along the cylinder's axial direction.

[0084] Example 3

[0085] The automatic cylinder packaging system includes a three-axis gantry robot 1, a conveyor line 2, a bottle cap removal machine 3, a valve photographing robot 4, a torque detection robot 5, a central control system 6, a bagging machine 7, a sealing machine 8, a labeling robot 9, and an overall photographing robot 10; (Refer to...) Figure 1 When conveyor line 2 is working, it forms a closed-loop conveyor counterclockwise. A three-axis gantry robot 1 is installed at the starting position 1 of conveyor line 2 and fixed to the ground. The central control system 6 issues commands, and the three-axis gantry robot 1 grabs the cylinders onto and off the conveyor line. Bottle cap removal machine 3, valve photographing robot 4, torque detection robot 5, labeling robot 9, bagging machine 7, sealing machine 8, and overall photographing robot 10 are distributed sequentially along conveyor line 2 at stations numbered 2 to 10 and fixed to the ground. The central control system 6 controls the conveyor line to transport the cylinders to stations 2 to 10 sequentially. When a cylinder is received at a corresponding station, the central control system 6 controls that station to begin its work. After completion, conveyor line 2 transports the cylinder to the next station until all stations are working. Finally, the three-axis gantry robot 1 grabs the cylinder and places it in the storage area.

[0086] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. An automatic packaging method for steel cylinders, characterized in that, Includes the following steps: Step 1: Obtain the cylinder information and configure the cylinder information in the central control system; Step 2: Use a three-axis gantry robot to automatically pick up the gas cylinders and transfer them to the conveyor line; Step 3: After the bottle cap removal machine identifies the gas cylinder in place, it removes the bottle cap. Step 4: The valve photography robot needs to take photos from different angles according to the set requirements and upload them to the storage system; Step 5: The torque detection robot arm performs torque detection on the upper valve torque and valve handle torque; Step 6: The labeling robot automatically prints and affixes labels based on the cylinder information; Step 7: Based on the cylinder information, the bagging machine performs heat shrink wrapping on cylinders of different models. Step 8: The sealing machine heats the air and blows it onto the surface of the cylinder to achieve a plastic seal on the cylinder surface; Step 9: The robotic arm takes photos of the packaged steel cylinders and uploads them to the storage system.

2. The automatic packaging method for steel cylinders according to claim 1, characterized in that, Step 1 includes the following specific steps: The three-axis gantry robot identifies RFID card information and transmits the information to the central control system. The central control system transmits the automatic packaging information of the gas cylinders to the three-axis gantry robot, conveyor line, bottle cap removal machine, valve photography robot, torque detection robot, bagging machine, sealing machine, labeling robot, and overall photography robot.

3. The automatic packaging method for steel cylinders according to claim 1, characterized in that, In step 2, the cylinder needs to be manually moved to the preparation area before the three-axis gantry robot can grab it.

4. The automatic packaging method for steel cylinders according to claim 1, characterized in that, In step 3, after the gas cylinder is in place, a visual positioning system is used to detect and locate its position from a distance.

5. The automatic packaging method for steel cylinders according to claim 1, characterized in that, In step 4, a high-definition 3D camera is used to photograph the appearance of the bottle valve; The different angles mentioned are divided into four directions according to the shooting direction: 0°, 90°, 180°, and 270° perpendicular to the cylinder, and 0°, 90°, 180°, and 270° angled downwards at 45°.

6. The automatic packaging method for steel cylinders according to claim 1, characterized in that, The inspection robot described in step 5 achieves equipment compatibility for different valve handles by changing the contour tooling for turning the handle; The torque of the upper valve is set to 180~240 N.M; the torque of the handle is set to 8~12 N.M.

7. The automatic packaging method for steel cylinders according to claim 1, characterized in that, The labeling robot described in step 6 uses laser vision technology to accurately locate the label placement position.

8. The automatic packaging method for steel cylinders according to claim 1, characterized in that, In step 7, the information of the gas cylinder is transmitted from the central control system to the bagging machine, and then different plastic bags are selected according to the gas cylinder information. The bagging machine uses negative pressure to open the bag and put the entire heat shrink film on the gas cylinder.

9. The automatic packaging method for steel cylinders according to claim 1, characterized in that, The sealing machine described in step 8 uses a heating rod to heat the air, and then a hot air blower blows the hot air to the air outlet. The film assembly moves up and down with the air outlet to seal the thermoplastic film on the cylinder. The overall photographing robot arm mentioned in step 9 uses a high-definition 3D camera, is equipped with a light source and an automatic lifting platform; the gas cylinder photographing and sampling can be performed at any angle along the cylinder's axial direction.

10. The automatic packaging method for steel cylinders according to claim 1, characterized in that, An automated cylinder packaging system is used to achieve automated cylinder packaging. This system includes a three-axis gantry robot, a conveyor line, a bottle cap removal machine, a valve photographing robot, a torque detection robot, a central control system, a bagging machine, a sealing machine, a labeling robot, and an overall photographing robot. The sequence of workstations in the entire system is as follows: three-axis gantry robot, bottle cap removal machine, valve photographing robot, torque detection robot, labeling robot, bagging machine, sealing machine, and overall photographing robot. The central control system transmits control signals, and the conveyor line transports the cylinders to the designated workstations according to the sequence for the corresponding actions.

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