Filling system and filling method
By designing liftable conveying chains and barrel port correction devices in the liquid filling production line, the problem of position deviation of packaging barrels during the conveying process is solved, ensuring the accuracy and efficiency of filling operations.
Patent Information
- Application Number
- CN202411329709.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-24
- Publication Date
- 2025-01-03
AI Technical Summary
During the transportation process of the existing liquid filling production line, the empty packaging barrel is lighter and easy to shake, resulting in a deviation in the position of the barrel opening, which affects the accuracy of the filling operation.
A filling system is designed, including parallel-set bucket and bucket conveying rollers, connecting the bucket and filling station through a liftable lift conveying chain, and setting the bucket rotating device and bucket at the positioning station at the barrel port. The port identification device uses the barrel port correction device to clamp the barrel port to the preset position to ensure the accuracy of the filling operation.
It effectively solves the problem of position deviation of the port of the packaging barrel during the conveying process, ensures the accuracy and efficiency of the filling operation, and improves the alignment of the switch cover and the material pipe to the port.
Smart Images
Figure CN119240585A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of filling technology, and in particular to a filling system and a filling method. Background Art
[0002] In existing liquid filling production lines, the mouth of an empty packaging barrel is usually positioned at the previous station and then transported to the next station for filling. However, during the transportation process, the empty packaging barrel is light and prone to shaking, resulting in deviation in the position of the barrel mouth when the packaging barrel arrives at the next station, causing inconvenience to the lid opening and closing and filling operations. Summary of the invention
[0003] The purpose of the present invention is to provide a filling system and a filling method to solve the technical problem of position deviation of the mouth of a packaging barrel during transportation.
[0004] To solve the above technical problems, the present invention is implemented by adopting the following technical solutions.
[0005] In one aspect, the present invention provides a filling system, comprising:
[0006] The conveying system 100 comprises a barrel inlet conveying roller 110 and a barrel outlet conveying roller 120 which are arranged in parallel. The barrel inlet conveying roller 110 is provided with a barrel mouth positioning station 111 and a barrel separation station 112 in its conveying direction. The barrel outlet conveying roller 120 is provided with a barrel outlet station 121. The barrel separation station 112 and the barrel outlet station 121 are connected by a liftable lifting conveying chain 130. The upper surface heights of the barrel inlet conveying roller 110 and the barrel outlet conveying roller 120 are not lower than the height of the lifting conveying chain 130 when it is lowered, and are lower than the height of the lifting conveying chain 130 when it is raised. The two ends of the lifting conveying chain 130 extend into the barrel separation station 112 and the barrel outlet station 121 respectively. A filling station 131 is provided in the middle of the lifting conveying chain 130.
[0007] The barrel mouth positioning device is arranged at the barrel mouth positioning station 111, and includes a barrel rotating device 200 that can rotate the packaging barrel 600 on the barrel mouth positioning station 111, and a barrel mouth identification device 300 that can identify the barrel mouth 610 during the rotation of the packaging barrel 600;
[0008] The barrel mouth correcting device 400 is arranged at the filling station 131, and includes a first lifting actuator 410, and a barrel mouth correcting mechanism 420 that can move up and down under the drive of the first lifting actuator 410, and the barrel mouth correcting mechanism 420 has a pair of barrel mouth conforming clamping jaws 421 that can be opened and clamped. When the pair of barrel mouth conforming clamping jaws 421 are clamped, the raised part of the barrel mouth 610 can be clamped;
[0009] The filling operation device 500 is arranged at the filling station 131, and includes a manipulator 510 capable of multi-axis movement, and a cover opening and closing device 520 and a material pipe 530 connected to the manipulator 510. The manipulator 510 can respectively drive the cover opening and closing device 520 and the material pipe 530 to perform cover opening and closing and filling operations on the packaging barrel 600.
[0010] Furthermore, the barrel inlet conveying roller 110 is provided with at least two barrel separating stations 112 in its conveying direction, the barrel outlet stations 121 on the barrel outlet conveying roller 120 are the same in number as the barrel separating stations 112, each barrel separating station 112 is connected to the barrel outlet station 121 by a lifting conveying chain 130, and a plurality of lifting conveying chains 130 are arranged in parallel.
[0011] Furthermore, the barrel rotating device 200 includes a positioning mechanism 210 and a driving mechanism 220 which are relatively arranged on both sides of the barrel mouth positioning station 111: the positioning mechanism 210 includes a first telescopic actuator 211, and a barrel holding bracket 212 connected to the first telescopic actuator 211 and capable of horizontal telescopic movement under the drive of the first telescopic actuator 211, and the left and right ends of the barrel holding bracket 212 are provided with horizontally rotatable barrel holding rollers 213; the driving mechanism 220 includes a driving shaft 221 which is vertically arranged and driven to rotate by a motor, a pair of connecting plates 222 which are hingedly connected to each other with the driving shaft 221 as hinge axes, a second telescopic actuator 223 which can drive the connecting plate 222 to rotate around the driving shaft 221, a driven shaft 224 which is arranged parallel to the driving shaft 221 and rotatably connected to the connecting plate 222, and a barrel rotating roller 225 arranged at the end of the driven shaft 224; the driving shaft 221 drives the driven shaft 224 to rotate through a synchronous belt assembly.
[0012] The barrel mouth identification device 300 includes a third lifting actuator 310 arranged above the barrel mouth positioning station 111, and a second rotating shaft 320 and a barrel mouth identification element 330 connected to the third lifting actuator 310 and capable of lifting and lowering movement driven by the third lifting actuator 310; the second rotating shaft 320 is arranged along the radial direction of the packaging barrel 600, and a second barrel pressing roller 321 is provided at its end, and the second barrel pressing roller 321 can rotate around the second rotating shaft 320 as the axis, and the barrel mouth identification element 330 can identify the barrel mouth 610 of the packaging barrel 600.
[0013] Furthermore, the barrel mouth identification element 330 is connected to the third lifting actuator 310 via a connecting disc 340 , a strip hole 341 is provided on the connecting disc 340 along the circumferential direction, and the barrel mouth identification element 330 is connected to the strip hole 341 via a connecting piece.
[0014] Furthermore, the barrel mouth correction device 400 also includes a base 430 arranged at the filling station 131 for supporting the packaging barrel 600, and the top surface of the base 430 is provided with rollers 431 distributed along the circumferential direction of the packaging barrel 600, and the rollers 431 can rotate around an axis that is in the same radial direction as the packaging barrel 600.
[0015] Furthermore, the barrel mouth correcting device 400 also includes a top barrel pressing mechanism 440 arranged above the base 430, and the top barrel pressing mechanism 440 includes a second lifting actuator 441, a first rotating shaft 442 connected to the second lifting actuator 441, and a first barrel pressing roller 443 arranged at the end of the first rotating shaft 442. The second lifting actuator 441 can drive the first rotating shaft 442 to perform lifting and lowering movements. The first rotating shaft 442 is arranged along the radial direction of the packaging barrel 600, and the first barrel pressing roller 443 can rotate around the first rotating shaft 442 as the axis.
[0016] Furthermore, the pair of barrel mouth conformable clamping jaws 421 are controlled to open and clamp by pneumatic fingers 422 .
[0017] Furthermore, the barrel mouth correction device 400 also includes an auxiliary clamping mechanism 450, which includes two auxiliary clamping cylinders 451 connected to the first lifting actuator 410, and the two auxiliary clamping cylinders 451 are horizontally arranged on both sides of a pair of barrel mouth conformable clamps 421, and the extension and retraction direction of the piston rod of the auxiliary clamping cylinder 451 intersects with the barrel mouth conformable clamp 421, and the end of the piston rod of the auxiliary clamping cylinder 451 is provided with a top piece 452.
[0018] On the other hand, the present invention also provides a filling method, using the above filling system, comprising the following steps:
[0019] S10, placing the packaging barrel 600 at the barrel opening positioning station 111;
[0020] S20, rotating the packaging barrel 600 on the barrel opening positioning station 111 by the barrel rotating device 200, and identifying the barrel opening 610 of the packaging barrel 600 by the barrel opening recognition device 300 during the rotation process, so that the barrel opening 610 stops at a preset position;
[0021] S30, transporting the packaging barrel 600 from the barrel opening positioning station 111 to the filling station 131 through the conveying system 100;
[0022] S40, clamping the raised portion of the barrel mouth 610 of the packaging barrel 600 on the filling station 131 by the barrel mouth correcting device 400, and correcting the barrel mouth 610 to a preset position;
[0023] S50, the robot 510 drives the cover opening and closing device 520 and the material pipe 530 to sequentially open the cover, fill and close the cover of the packaging barrel 600;
[0024] S60, after the filling is completed, the packaging barrel 600 is driven by the conveying system 100 to move to the barrel unloading station 121.
[0025] Furthermore, in the step S30, the process of conveying the packaging barrel 600 from the barrel mouth positioning station 111 to the filling station 131 also includes conveying the packaging barrel 600 from the barrel mouth positioning station 111 to the barrel separation station 112, and then raising it by the lifting and conveying chain 130, lifting the packaging barrel 600 on the barrel separation station 112, and conveying it to the top of the filling station 131, and then lowering the lifting and conveying chain 130, and then dropping the packaging barrel 600 on the filling station 131; in the step S60, the process of moving the packaging barrel 600 to the barrel discharge station 121 also includes raising it by the lifting and conveying chain 130, lifting the packaging barrel 600 on the filling station 131, and conveying it to the top of the barrel discharge station 121, and then lowering the lifting and conveying chain 130, and then dropping the packaging barrel 600 on the barrel discharge station 121.
[0026] Compared with the prior art, the present invention has the following beneficial effects:
[0027] A filling system and a filling method proposed in the present invention are characterized in that a barrel mouth alignment device is arranged at the filling station. Before the filling operation is performed, the barrel mouth of the packaging barrel is first aligned to a preset position by the barrel mouth alignment device, and then the filling operation is performed to ensure that the opening and closing cover device and the material pipe can be accurately aligned with the barrel mouth of the packaging barrel. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] The present invention will be further described below in conjunction with the accompanying drawings.
[0029] Figure 1 It is a schematic diagram of the structure of a filling system in an embodiment.
[0030] Figure 2 The figure is a schematic diagram of the structure of a filling system with a packaging barrel in working state in an embodiment.
[0031] Figure 3 The figure is a schematic diagram of the arrangement of a filling system in an embodiment.
[0032] Figure 4 FIG. 1 is a top view of a conveying system in one embodiment.
[0033] Figure 5 FIG. 1 is a side view of a lifting conveyor chain in one embodiment.
[0034] Figure 6 It is a schematic diagram of the structure of a barrel opening positioning device in an embodiment.
[0035] Figure 7 FIG. 1 is a top view of a barrel opening positioning device in one embodiment.
[0036] Figure 8 It is a schematic diagram of the structure of a barrel mouth identification device in an embodiment.
[0037] Fig. 9 It is a schematic diagram of the structure of a barrel mouth correction device in an embodiment.
[0038] Fig.10 The present invention is a structural schematic diagram of a barrel mouth correcting device with a packaging barrel in working state in an embodiment.
[0039] Fig.11 It is a schematic diagram of the structure of a barrel mouth correcting device in another embodiment.
[0040] Fig.12 It is a structural schematic diagram of the barrel mouth correcting device with the packaging barrel in the working state in another embodiment.
[0041] Fig.13 The present invention is a flow chart of a filling method in an embodiment.
[0042] In the above figure:
[0043] 100. Conveying system, 110. Barrel inlet conveying roller, 111. Barrel mouth positioning station, 112. Barrel separation station, 120. Barrel outlet conveying roller, 121. Barrel outlet station, 130. Lifting conveying chain, 131. Filling station, 132. Chain conveyor, 133. Lifting cylinder.
[0044] 200. Rotating barrel device, 210. Positioning mechanism, 211. First telescopic actuator, 212. Barrel holding bracket, 213. Barrel holding roller, 220. Driving mechanism, 221. Active shaft, 222. Connecting plate, 223. Second telescopic actuator, 224. Driven shaft, 225. Rotating barrel roller.
[0045] 300. barrel mouth identification device, 310. third lifting actuator, 320. second rotating shaft, 321. second barrel pressing roller, 330. barrel mouth identification element, 340. connecting disc, 341. strip hole, 350. combined connecting plate, 351. L-shaped plate, 352. straight plate.
[0046] 400. Barrel mouth correcting device, 410. First lifting actuator, 420. Barrel mouth correcting mechanism, 421. Barrel mouth conforming clamp, 422. Pneumatic fingers, 430. Base, 431. Roller, 440. Top surface barrel pressing mechanism, 441. Second lifting actuator, 442. First rotating shaft, 443. First barrel pressing roller, 450. Auxiliary clamping mechanism, 451. Auxiliary clamping cylinder, 452. Top piece.
[0047] 500. Filling operation device, 510. Robot, 520. Cover opening and closing device, 530. Material pipe.
[0048] 600. Packaging barrel, 610. Barrel mouth.
[0049] 700. Door-shaped bracket.
[0050] 800. Stand. DETAILED DESCRIPTION
[0051] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the present invention is described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0052] Embodiment 1
[0053] See also Figures 1 to 10 This embodiment provides a filling system, including: a conveying system 100, a barrel mouth positioning device, a barrel mouth correcting device 400 and a filling operation device 500, wherein the barrel mouth positioning device includes a barrel rotating device 200 and a barrel mouth identification device 300.
[0054] The conveying system 100 includes two barrel inlet conveying rollers 110 and barrel outlet conveying rollers 120 which are arranged parallel to each other. The barrel inlet conveying rollers 110 are provided with a barrel mouth positioning station 111 and a barrel separation station 112 in the conveying direction thereof, and the barrel outlet conveying rollers 120 are provided with a barrel outlet station 121. The barrel separation station 112 and the barrel outlet station 121 are connected by a lifting conveying chain 130 which can be raised and lowered, and a filling station 131 is provided in the middle position of the lifting conveying chain 130.
[0055] At the barrel mouth positioning station 111, the packaging barrel 600 can be rotated so that the barrel mouth 610 of the packaging barrel 600 faces the preset position; the barrel separation station 112 serves as a transfer station between the barrel mouth positioning station 111 and the filling station 131; at the filling station 131, the packaging barrel 600 is filled; at the barrel unloading station 121, the packaging barrel 600 is transferred to the next process.
[0056] The barrel inlet conveyor roller 110 and the barrel outlet conveyor roller 120 both use powered roller conveyors, and the lifting conveyor chain 130 uses a powered chain conveyor 132. A lifting cylinder 133 is provided at the bottom of the chain conveyor 132, and the lifting cylinder 133 can drive the chain conveyor 132 to move up and down. The chain conveyor 132 and the above-mentioned roller conveyor are vertically arranged, and the two chains of the chain conveyor 132 extend into between the two rollers of the above-mentioned roller conveyor, so that the two ends of the lifting conveyor chain 130 extend into the barrel separation station 112 and the barrel outlet station 121 respectively.
[0057] The upper surface heights of the inlet conveyor roller 110 and the outlet conveyor roller 120 are not lower than the height of the lifting conveyor chain 130 when it is lowered, but lower than the height of the lifting conveyor chain 130 when it is raised, that is, when the lifting conveyor chain 130 is lowered, its upper surface is not higher than the upper surfaces of the inlet conveyor roller 110 and the outlet conveyor roller 120, and does not affect the normal conveying of the packaging barrel 600 on the inlet conveyor roller 110 and the outlet conveyor roller 120; when the lifting conveyor chain 130 is raised, its upper surface is higher than the upper surfaces of the inlet conveyor roller 110 and the outlet conveyor roller 120, and the packaging barrel 600 can be lifted, and the lifting conveyor chain 130 conveys it along its own conveying direction.
[0058] The barrel mouth positioning device is arranged at the barrel mouth positioning station 111, and the barrel mouth positioning device includes the barrel rotating device 200 and the barrel mouth identification device 300. The barrel rotating device 200 and the barrel mouth identification device 300 are installed on a door-shaped bracket 700 straddling the barrel mouth positioning station 111. The barrel rotating device 200 can rotate the packaging barrel 600 on the barrel mouth positioning station 111, and the barrel mouth identification device 300 can identify the barrel mouth 610 of the packaging barrel 600 during the rotation of the packaging barrel 600.
[0059] The rotating barrel device 200 includes a positioning mechanism 210 and a driving mechanism 220 , and the positioning mechanism 210 and the driving mechanism 220 are disposed on the pillars on both sides of the gate-shaped bracket 700 opposite to each other.
[0060] The positioning mechanism 210 includes a first telescopic actuator 211 and a barrel holding bracket 212; in the present embodiment, a cylinder is used as the first telescopic actuator 211, the cylinder body of the cylinder is horizontally mounted on a column on one side of the gate-shaped bracket 700, and the piston rod of the cylinder can telescope horizontally; the barrel holding bracket 212 is constructed as a C-shaped component, the middle part of the barrel holding bracket 212 is connected to the piston rod of the cylinder, the piston rod of the cylinder can telescope horizontally, and can drive the barrel holding bracket 212 to telescope horizontally, and the left and right ends of the barrel holding bracket 212 are provided with horizontally rotatable barrel holding rollers 213.
[0061] The driving mechanism 220 includes a driving shaft 221, a pair of connecting plates 222, two second telescopic actuators 223, a driven shaft 224 and a rotating barrel roller 225; the driving shaft 221 is vertically arranged, connected to the output shaft of a motor installed on the column on the other side of the gate-shaped bracket 700, and can rotate under the drive of the motor; a pair of connecting plates 222 are hingedly connected to each other with the driving shaft 221 as a hinge axis; a cylinder is used as the second telescopic actuator 223, the cylinder body of the cylinder is horizontally installed on the column of the gate-shaped bracket 700, the end of the piston rod of the cylinder is hingedly connected to the connecting plate 222, and the horizontal extension and retraction of the piston rod of the cylinder can drive the connecting plate 222 to rotate around the driving shaft 221; the driven shaft 224 is arranged parallel to the driving shaft 221, and is rotatably connected to the connecting plate 222; the rotating barrel roller 225 is arranged at the end of the driven shaft 224.
[0062] The general working process of the rotating barrel device 200 is as follows: when the packaging barrel 600 reaches the barrel mouth positioning station 111, the first telescopic actuator 211 and the second telescopic actuator 223 respectively drive the barrel holding bracket 212 and the pair of connecting plates 222 to move toward the packaging barrel 600, so that the barrel holding roller 213 and the rotating barrel roller 225 contact the packaging barrel 600 to position the packaging barrel 600 in the horizontal direction; then the motor of the driving shaft 221 is driven to work, and the driving shaft 221 transmits power to the driven shaft 224 through the synchronous belt assembly, and the driven shaft 224 drives the rotating barrel roller 225 to rotate, and the friction between the rotating barrel roller 225 and the packaging barrel 600 drives the packaging barrel 600 to rotate.
[0063] The bunghole identification device 300 includes a third lifting actuator 310 , a second rotating shaft 320 and a bunghole identification element 330 .
[0064] In this embodiment, a cylinder is used as the third lifting actuator 310, and the cylinder body of the cylinder is vertically installed on the top beam of the gate-shaped bracket 700, and the piston rod of the cylinder is extended and retracted downward; the second rotating shaft 320 and the barrel mouth identification element 330 are connected to the piston rod of the cylinder, and the extension and retraction of the cylinder piston rod can drive the second rotating shaft 320 and the barrel mouth identification element 330 to perform lifting and lowering movements; the second rotating shaft 320 is arranged along the radial direction of the packaging barrel 600, and second barrel pressing rollers 321 are arranged at both ends of the second rotating shaft 320, and the second barrel pressing rollers 321 can rotate around the second rotating shaft 320 as the axis; the barrel mouth identification element 330 can adopt elements such as photoelectric sensors, and can be identified when the barrel mouth 610 of the packaging barrel 600 reaches the position of the barrel mouth identification element 330, so the position of the barrel mouth identification element 330 is the preset position of the barrel mouth 610 of the packaging barrel 600.
[0065] As a preferred solution in this embodiment, a connecting disc 340 is provided at the end of the piston rod of the cylinder serving as the third lifting actuator 310. The connecting disc 340 is provided with a strip hole 341 along the circumferential direction. The barrel mouth identification element 330 is connected to the connecting disc 340 by means of bolts and the strip hole 341. Through the setting of the strip hole 341, the position of the barrel mouth identification element 330 in the circumferential direction can be adjusted, thereby realizing the adjustment of the preset position of the barrel mouth 610 of the packaging barrel 600.
[0066] As a further solution, the barrel mouth identification element 330 is connected to the connecting disc 340 through another combined connecting plate 350. The combined connecting plate 350 includes an L-shaped plate 351 and straight plate members 352 connected to both ends of the L-shaped plate 351. The straight plate members 352 at both ends are connected to the L-shaped plate 351 through bolts and long holes. The straight plate member 352 at one end is used to connect the connecting disc 340, and the straight plate member 352 at the other end is used to install the barrel mouth identification element 330, thereby achieving adjustable position of the barrel mouth identification element 330 in the horizontal radial and vertical directions to adapt to packaging barrels 600 of different specifications.
[0067] The barrel mouth correcting device 400 is arranged at the filling station 131 , and the barrel mouth correcting device 400 includes a first lifting actuator 410 , a barrel mouth correcting mechanism 420 , a base 430 and a top surface barrel pressing mechanism 440 .
[0068] In this embodiment, a cylinder is used as the first lifting actuator 410. The cylinder body of the cylinder is vertically installed on a stand 800 arranged next to the filling station 131. The piston rod of the cylinder extends and retracts up and down in the vertical direction, which can drive the barrel mouth correction mechanism 420 to move up and down; the barrel mouth correction mechanism 420 has a pair of barrel mouth conformable clamps 421 that can be controlled to open and clamp by pneumatic fingers 422. The pneumatic fingers 422 are parallel pneumatic fingers connected to the piston rod of the above-mentioned cylinder. The ends of the barrel mouth conformable clamps 421 are provided with clamping parts that are conformed to the outer contour shape of the raised part of the barrel mouth 610 of the packaging barrel 600. When the pair of barrel mouth conformable clamps 421 are clamped, the clamping parts at the ends of the barrel mouth conformable clamps 421 can clamp the raised part of the barrel mouth 610. The clamping process is the correction process of the barrel mouth 610. After the clamping is completed, the barrel mouth 610 is corrected to the preset position.
[0069] The base 430 is arranged at the filling station 131, and is used to carry the packaging barrel 600. The top surface of the base 430 is provided with four rollers 431 spaced apart along the circumferential direction of the packaging barrel 600. The rollers 431 can rotate around an axis that is in the same radial direction as the packaging barrel 600. When the packaging barrel 600 rotates on the base 430, the bottom surface of the packaging barrel 600 contacts the rollers 431. The rotation of the rollers 431 can reduce the friction at the bottom of the packaging barrel 600, so that the rotation of the packaging barrel 600 is smoother.
[0070] The top surface barrel pressing mechanism 440 is arranged above the base 430 , and the top surface barrel pressing mechanism 440 includes a second lifting actuator 441 , a first rotating shaft 442 connected to the second lifting actuator 441 , and a first barrel pressing roller 443 arranged at the end of the first rotating shaft 442 .
[0071] In this embodiment, a cylinder is used as the second lifting actuator 441, and the cylinder body of the cylinder is vertically arranged above the base 430, and the piston rod of the cylinder is extended and retracted up and down in the vertical direction. The cylinder can be installed through an independent bracket, or it can be installed on the frame of the entire filling system, or it can be integrated with the filling operation device 500; the first rotating shaft 442 is connected to the piston rod of the above-mentioned cylinder, and can be lifted and lowered under the drive of the above-mentioned cylinder. The first rotating shaft 442 is arranged along the radial direction of the packaging barrel 600, and the first barrel pressing roller 443 can rotate with the first rotating shaft 442 as the axis.
[0072] After the packaging barrel 600 is conveyed to the base 430 of the filling station 131, the second lifting actuator 441 drives the first rotating shaft 442 to descend, so that the first barrel pressing roller 443 is pressed on the top edge of the packaging barrel 600, which can prevent the packaging barrel 600 from tilting or moving during rotation.
[0073] The general working process of the barrel mouth correcting device 400 is as follows: after the packaging barrel 600 is conveyed to the base 430 of the filling station 131, the second lifting actuator 441 drives the first rotating shaft 442 to descend, so that the first barrel pressing roller 443 is pressed on the top edge of the packaging barrel 600; at the same time, the first lifting actuator 410 drives the barrel mouth correcting mechanism 420 to move downward, and after the barrel mouth correcting mechanism 420 is lowered into place, the pneumatic finger 422 controls the barrel mouth conformal clamp 421 to clamp, and the barrel mouth conformal clamp 421 clamps the raised part of the barrel mouth 610 of the packaging barrel 600; if the position of the barrel mouth 610 of the packaging barrel 600 is offset, during the clamping process, the packaging barrel 600 will follow the rotation, and finally the barrel mouth 610 of the packaging barrel 600 is corrected to the preset position.
[0074] The filling operation device 500 is arranged above the filling station 131, and includes a manipulator 510 capable of multi-axis movement, and a cover opening and closing device 520 and a material tube 530 connected to the manipulator 510. The manipulator 510 can be a multi-axis robot or a multi-axis manipulator module composed of modules. The manipulator 510 can respectively drive the cover opening and closing device 520 and the material tube 530 to perform cover opening and closing and filling operations on the packaging barrel 600.
[0075] In this embodiment, the barrel inlet conveyor roller 110 is provided with two barrel separation stations 112 in its conveying direction, and the barrel outlet conveyor roller 120 is also provided with two barrel outlet stations 121 in its conveying direction. Each barrel separation station 112 is connected to the barrel outlet station 121 by a lifting conveyor chain 130, and the two lifting conveyor chains 130 are arranged in parallel, so there are two parallel filling stations 131. After the first packaging barrel 600 arrives at the first barrel separation station 112, it is transported to the first filling station 131 by the first lifting conveyor chain 130 for filling operation; the second packaging barrel 600 then moves to the second barrel separation station 112, and at the second barrel separation station 112, it is transported to the second filling station 131 by the second lifting conveyor chain 130 for filling operation. The two parallel filling stations 131 perform filling operation synchronously, which can improve filling efficiency.
[0076] In another embodiment, more barrel separation stations 112, filling stations 131 and barrel unloading stations 121 can be set according to actual production needs, and the barrel mouth correction device 400 and the filling operation device 500 set at the filling station 131 can be modularized and copied.
[0077] Embodiment 2
[0078] See also Fig.11 , Fig.12 This embodiment provides a filling system, which is different from the first embodiment in that: in this embodiment, the first lifting actuator 410, the barrel mouth correcting mechanism 420 and the top surface barrel pressing mechanism 440 are integrated and installed. Fig.11 As shown, one cylinder is used as both the first lifting actuator 410 and the second lifting actuator 441 to control the barrel mouth correction mechanism 420 and the first rotating shaft 442 to perform lifting movements simultaneously; the pneumatic finger 422 in this embodiment adopts an angle-type pneumatic finger. In order to avoid the situation where the barrel mouth 610 cannot be corrected due to insufficient clamping force of the pneumatic finger 422, an auxiliary clamping mechanism 450 is provided in this embodiment to assist the pneumatic finger 422 in clamping the barrel mouth conformable clamp 421.
[0079] The auxiliary clamping mechanism 450 includes two auxiliary clamping cylinders 451 connected to the first lifting actuator 410. The two auxiliary clamping cylinders 451 are horizontally arranged on both sides of a pair of barrel mouth conformable clamps 421. The extension and retraction direction of the piston rod of the auxiliary clamping cylinder 451 intersects with the length direction of the barrel mouth conformable clamps 421. The end of the piston rod of the auxiliary clamping cylinder 451 is provided with a top piece 452. When the piston rod of the auxiliary clamping cylinder 451 is extended, the top piece 452 contacts with the barrel mouth conformable clamp 421, so as to provide clamping force for the barrel mouth conformable clamp 421.
[0080] Embodiment 3
[0081] See also Fig.13 This embodiment provides a filling method, which uses the filling system described in Embodiment 1 or Embodiment 2 and includes the following steps.
[0082] S10, placing the packaging barrel 600 at the barrel opening positioning station 111.
[0083] S20, the packaging barrel 600 on the barrel mouth positioning station 111 is rotated by the barrel rotating device 200, and during the rotation, the barrel mouth 610 of the packaging barrel 600 is identified by the barrel mouth identification device 300, so that the barrel mouth 610 stops at a preset position.
[0084] S30 , conveying the packaging barrel 600 from the barrel mouth positioning station 111 to the filling station 131 through the conveying system 100 .
[0085] During the process of conveying the packaging barrel 600 from the barrel mouth positioning station 111 to the filling station 131, the packaging barrel 600 is first conveyed from the barrel mouth positioning station 111 to the barrel separation station 112, and then lifted by the lifting and conveying chain 130 to lift the packaging barrel 600 on the barrel separation station 112. After conveying it to above the filling station 131, the lifting and conveying chain 130 is lowered to drop the packaging barrel 600 onto the filling station 131.
[0086] S40, clamping the raised portion of the barrel mouth 610 of the packaging barrel 600 on the filling station 131 through the barrel mouth correcting device 400, and correcting the barrel mouth 610 to a preset position.
[0087] S50, the robot 510 drives the cover opening and closing device 520 and the material pipe 530 to sequentially open the cover, fill and close the cover of the packaging barrel 600.
[0088] S60, after the filling is completed, the packaging barrel 600 is driven by the conveying system 100 to move to the barrel unloading station 121.
[0089] When the packaging barrel 600 moves to the barrel unloading station 121, it is first raised by the lifting and conveying chain 130 to lift the packaging barrel 600 on the filling station 131, and then conveyed to the top of the barrel unloading station 121. Then, the lifting and conveying chain 130 is lowered to drop the packaging barrel 600 onto the barrel unloading station 121.
[0090] Refer to the following Figures 1 to 12 , describe in detail the specific process of the filling method.
[0091] The empty packaging barrel 600 is placed on the barrel opening positioning station 111, and the first telescopic actuator 211 drives the barrel holding bracket 212 to move and extend toward the packaging barrel 600. At the same time, the second telescopic actuator 223 drives a pair of connecting plates 222 to move and extend toward the packaging barrel 600, so that the barrel holding roller 213 and the barrel rotating roller 225 contact the packaging barrel 600, and the packaging barrel 600 is positioned in the horizontal direction; at this time, the third lifting actuator 310 drives the second rotating shaft 320 to descend, so that the second barrel pressing roller 321 at the end of the second rotating shaft 320 presses on the packaging barrel 60 0; then the motor driving the main shaft 221 to rotate works, the driving shaft 221 transmits power to the driven shaft 224 through the synchronous belt assembly, the driven shaft 224 drives the rotating barrel rollers 225 at both ends to rotate, and the friction between the rotating barrel rollers 225 and the packaging barrel 600 drives the packaging barrel 600 to rotate; during the rotation of the packaging barrel 600, when the barrel mouth 610 reaches the position of the barrel mouth identification element 330, it is identified by the barrel mouth identification element 330, at which time the motor driving the driving shaft 221 to rotate stops working, the packaging barrel 600 stops rotating, and the barrel mouth 610 stops at a preset position.
[0092] After the barrel mouth 610 of the packaging barrel 600 is positioned, the barrel inlet conveyor roller 110 conveys the packaging barrel 600 from the barrel mouth positioning station 111 to the barrel separation station 112, and then the lifting and conveying chain 130 rises, lifts the packaging barrel 600 on the barrel separation station 112, and conveys it to the top of the base 430 of the filling station 131, and then the lifting and conveying chain 130 descends, and the packaging barrel 600 falls on the base 430.
[0093] After the packaging barrel 600 falls on the base 430, the second lifting actuator 441 drives the first rotating shaft 442 to descend, so that the first barrel pressing roller 443 at the end of the first rotating shaft 442 is pressed on the top edge of the packaging barrel 600; at the same time, the first lifting actuator 410 drives the barrel mouth correcting mechanism 420 to move downward, and after the barrel mouth correcting mechanism 420 is lowered into place, the pneumatic finger 422 controls the barrel mouth conformal clamp 421 to clamp, and the barrel mouth conformal clamp 421 clamps the raised part of the barrel mouth 610 of the packaging barrel 600; if the position of the barrel mouth 610 is offset, during the clamping process, the packaging barrel 600 will follow the rotation, and finally the barrel mouth 610 is corrected to the preset position.
[0094] After ensuring that the barrel mouth 610 is in the correct position, the robot arm 510 first drives the cover switch device 520 to move to the barrel mouth 610 to open the cover; after the cover is opened, the robot arm 510 drives the material tube 530 to insert into the barrel mouth 610 to fill the packaging barrel 600; finally, the robot arm 510 drives the cover switch device 520 to move to the barrel mouth 610 again to close the cover.
[0095] After the filling operation is completed, the lifting and conveying chain 130 rises, lifts the packaging barrel 600 at the filling station 131 again, and conveys it to the top of the barrel discharge station 121, and then the lifting and conveying chain 130 descends, and the packaging barrel 600 falls on the barrel discharge station 121, and is conveyed to the next process at the barrel discharge station 121 through the barrel discharge conveying roller 120.
[0096] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.
[0097] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A filling system, characterized in that: include: The conveying system (100) comprises a barrel inlet conveying roller (110) and a barrel outlet conveying roller (120) arranged in parallel, wherein the barrel inlet conveying roller (110) is provided with a barrel mouth positioning station (111) and a barrel separation station (112) in its conveying direction, and the barrel outlet conveying roller (120) is provided with a barrel outlet station (121), and the barrel separation station (112) and the barrel outlet station (121) are connected by a lifting and lowering conveying chain (130) Then, the upper surface heights of the barrel inlet conveyor roller (110) and the barrel outlet conveyor roller (120) are not lower than the height of the lifting conveyor chain (130) when it is lowered, and are lower than the height of the lifting conveyor chain (130) when it is raised, and the two ends of the lifting conveyor chain (130) extend into the barrel separation station (112) and the barrel outlet station (121) respectively, and a filling station (131) is arranged in the middle of the lifting conveyor chain (130); a barrel mouth positioning device, arranged at the barrel mouth positioning station (111), comprising a barrel rotating device (200) capable of rotating the packaging barrel (600) on the barrel mouth positioning station (111), and a barrel mouth identification device (300) capable of identifying the barrel mouth (610) during the rotation of the packaging barrel (600); A barrel mouth correcting device (400) is arranged at the filling station (131), comprising a first lifting actuator (410), and a barrel mouth correcting mechanism (420) that can move up and down under the drive of the first lifting actuator (410), wherein the barrel mouth correcting mechanism (420) has a pair of barrel mouth conforming clamping jaws (421) that can be opened and clamped, and when the pair of barrel mouth conforming clamping jaws (421) are clamped, the raised portion of the barrel mouth (610) can be clamped; The filling operation device (500) is arranged at the filling station (131), and comprises a manipulator (510) capable of multi-axis movement, and a cover opening and closing device (520) and a material pipe (530) connected to the manipulator (510). The manipulator (510) can respectively drive the cover opening and closing device (520) and the material pipe (530) to perform cover opening and closing and filling operations on the packaging barrel (600).
2. The filling system according to claim 1, characterized in that: At least two barrel separation stations (112) are arranged on the barrel inlet conveying roller (110) in its conveying direction, and the barrel outlet stations (121) on the barrel outlet conveying roller (120) are the same in number as the barrel separation stations (112), and each barrel separation station (112) is connected to the barrel outlet station (121) by a lifting conveying chain (130), and a plurality of lifting conveying chains (130) are arranged in parallel.
3. The filling system according to claim 1, characterized in that: The barrel rotating device (200) comprises a positioning mechanism (210) and a driving mechanism (220) which are arranged on both sides of the barrel mouth positioning station (111) relatively to each other: the positioning mechanism (210) comprises a first telescopic actuator (211), and a barrel holding bracket (212) which is connected to the first telescopic actuator (211) and can be horizontally telescopically moved under the drive of the first telescopic actuator (211), and the barrel holding bracket (212) is provided with barrel holding rollers (213) which can rotate horizontally at the left and right ends; the driving mechanism (220) comprises a vertically arranged A driving shaft (221) driven to rotate by a motor, a pair of connecting plates (222) hingedly connected to each other with the driving shaft (221) as a hinge shaft, a second telescopic actuator (223) capable of driving the connecting plates (222) to rotate around the driving shaft (221), a driven shaft (224) arranged parallel to the driving shaft (221) and rotatably connected to the connecting plates (222), and a rotating barrel roller (225) arranged at the end of the driven shaft (224); the driving shaft (221) drives the driven shaft (224) to rotate through a synchronous belt assembly; The barrel mouth identification device (300) includes a third lifting actuator (310) arranged above the barrel mouth positioning station (111), and a second rotating shaft (320) and a barrel mouth identification element (330) connected to the third lifting actuator (310) and capable of lifting and lowering movement under the drive of the third lifting actuator (310); the second rotating shaft (320) is arranged along the radial direction of the packaging barrel (600), and a second barrel pressing roller (321) is arranged at its end, and the second barrel pressing roller (321) can rotate around the second rotating shaft (320), and the barrel mouth identification element (330) can identify the barrel mouth (610) of the packaging barrel (600).
4. The filling system according to claim 3, characterized in that: The barrel mouth identification element (330) is connected to the third lifting actuator (310) via a connecting disc (340); a strip hole (341) is provided on the connecting disc (340) along a circumferential direction; and the barrel mouth identification element (330) is connected to the strip hole (341) via a connecting piece.
5. The filling system according to claim 1, characterized in that: The barrel mouth correcting device (400) also includes a base (430) arranged at the filling station (131) for supporting the packaging barrel (600), and the top surface of the base (430) is provided with rollers (431) distributed along the circumferential direction of the packaging barrel (600), and the rollers (431) can rotate around an axis that is in the same radial direction as the packaging barrel (600).
6. The filling system according to claim 5, characterized in that: The barrel mouth correcting device (400) also includes a top barrel pressing mechanism (440) arranged above the base (430), and the top barrel pressing mechanism (440) includes a second lifting actuator (441), a first rotating shaft (442) connected to the second lifting actuator (441), and a first barrel pressing roller (443) arranged at the end of the first rotating shaft (442), the second lifting actuator (441) can drive the first rotating shaft (442) to perform lifting and lowering movements, the first rotating shaft (442) is arranged along the radial direction of the packaging barrel (600), and the first barrel pressing roller (443) can rotate around the first rotating shaft (442).
7. The filling system according to claim 1, characterized in that: The pair of barrel mouth conformable clamping jaws (421) are controlled to open and clamp via pneumatic fingers (422).
8. The filling system according to claim 7, characterized in that: The barrel mouth correction device (400) also includes an auxiliary clamping mechanism (450), which includes two auxiliary clamping cylinders (451) connected to the first lifting actuator (410), and the two auxiliary clamping cylinders (451) are horizontally arranged on both sides of a pair of barrel mouth conformal clamps (421), and the extension and retraction direction of the piston rod of the auxiliary clamping cylinder (451) intersects with the barrel mouth conformal clamps (421), and the end of the piston rod of the auxiliary clamping cylinder (451) is provided with a top piece (452).
9. A filling method, using the filling system according to any one of claims 1 to 8, characterized in that: The following steps are involved: S10, placing the packaging barrel (600) at the barrel opening positioning station (111); S20, rotating the packaging barrel (600) on the barrel mouth positioning station (111) by means of the barrel rotating device (200), and identifying the barrel mouth (610) of the packaging barrel (600) by means of the barrel mouth identification device (300) during the rotation process, so that the barrel mouth (610) stops at a preset position; S30, transporting the packaging barrel (600) from the barrel mouth positioning station (111) to the filling station (131) through the transport system (100); S40, clamping the raised portion of the barrel mouth (610) of the packaging barrel (600) on the filling station (131) by the barrel mouth correcting device (400), and correcting the barrel mouth (610) to a preset position; S50, the robot (510) drives the lid opening and closing device (520) and the material pipe (530) to sequentially perform lid opening, filling and lid closing operations on the packaging barrel (600); S60, after the filling is completed, the packaging barrel (600) is driven by the conveying system (100) to move to the barrel unloading station (121).
10. The filling method according to claim 9, characterized in that: In the step S30, the process of transporting the packaging barrel (600) from the barrel mouth positioning station (111) to the filling station (131) also includes transporting the packaging barrel (600) from the barrel mouth positioning station (111) to the barrel separation station (112), and then raising the packaging barrel (600) on the barrel separation station (112) by the lifting and conveying chain (130), and transporting it to the top of the filling station (131), and then lowering the lifting and conveying chain (130) to the filling station (131). The packaging barrel (600) is lowered and then falls onto the filling station (131); in the step S60, the movement of the packaging barrel (600) to the barrel discharge station (121) also includes raising the packaging barrel (600) on the filling station (131) by the lifting and conveying chain (130), and after conveying it to above the barrel discharge station (121), the lifting and conveying chain (130) is lowered and then the packaging barrel (600) falls onto the barrel discharge station (121).