Full-automatic uncovering and sucking machine for barreled solution and sucking method

Abstract

The invention relates to a full-automatic uncovering and sucking machine for barreled solution and a sucking method. A full-automatic uncovering and sucking machine for barreled solution comprises a movement unit and a solution sucking unit. The liquid suction unit comprises a working liquid suction level and a plurality of liquid suction gun temporary storage positions, and the working liquid suction level is connected with the working end of the movement unit; the working end of the motion unit is further provided with an uncovering assembly and an identifying and positioning device in a matched mode. The identifying and positioning device is used for identifying the position of a specified solution barrel. The uncovering assembly comprises a first uncovering mechanism and a second uncovering mechanism, the second uncovering mechanism opens a non-spiral cover on the solution barrel, and the first uncovering mechanism opens a spiral cover on the solution barrel. By arranging the liquid suction gun and the execution mechanism, liquid suction can be performed in a full-automatic production mode, so that the labor intensity of personnel is reduced, the harm of toxic solutions to the personnel and the workshop environment is avoided, the production efficiency is high, and the production takt is compact and coherent.

Description

Technical Field

[0001] The invention relates to the technical field of suction devices, in particular to a fully automatic lid-opening suction machine for barreled solution and a suction method. Background Art

[0002] Barrel containers are often used to store and transport solutions. A suction port for sucking out or pouring out the solution is opened on the top of the barrel container. A barrel cover is installed on the suction port to ensure the sealing performance of the barrel container during storage and transportation to prevent leakage of the solution inside.

[0003] In the prior art, the barreled solution is usually sucked manually, relying on manual tools to open the barrel cover of the barrel container, and then using a suction tube to extend into the barrel container to suck the liquid. This suction method has the following main disadvantages:

[0004] (1) Manual suction is cumbersome, has low operating efficiency, high labor intensity and high labor costs;

[0005] (2) Some types of solutions are toxic and volatile, which may harm the health of operators;

[0006] (3) During manual operation, the solution is easy to drip into the environment, polluting the workshop environment;

[0007] (4) When manually sucking materials, the suction tube and solution need to be matched, which can easily cause mixed suction and wrong suction. Summary of the invention

[0008] In view of the shortcomings in the above-mentioned existing production technologies, the applicant provides a fully automatic opening and sucking machine for barreled solutions and a sucking method, which can perform fully automatic sucking, has high liquid suction efficiency, and can operate continuously and accurately. It can reduce the labor intensity and labor costs of personnel, prevent toxic solutions from causing harm to the human body, prevent the solution from dripping and polluting the workshop environment, and avoid mixed suction and wrong suction.

[0009] The technical solution adopted by the present invention is as follows:

[0010] A fully automatic lid opening and liquid suction machine for barreled solution, comprising a motion unit and a liquid suction unit;

[0011] The liquid suction unit includes a working liquid suction position and a plurality of temporary storage positions for liquid suction guns, and the working liquid suction position is connected to the working end of the motion unit;

[0012] The motion unit drives the working liquid suction position to the designated temporary storage position of the liquid suction gun, so that the liquid suction gun stored at the designated temporary storage position of the liquid suction gun is replaced to the working liquid suction position. The motion unit drives the working liquid suction position to move to the designated solution barrel, and the liquid suction gun at the working liquid suction position absorbs the solution and discharges it into the storage container connected thereto;

[0013] The working end of the motion unit is also equipped with a cover opening assembly and an identification and positioning device, and the identification and positioning device is used to identify the position of the designated solution barrel;

[0014] The cover opening assembly comprises a first cover opening mechanism and a second cover opening mechanism, wherein the second cover opening mechanism opens a non-screw cover on the solution barrel, and the first cover opening mechanism opens a screw cover on the solution barrel.

[0015] As a further improvement of the above technical solution:

[0016] The motion unit comprises a first motion component and a second motion component, the second motion component is connected to the working end of the first motion component, and the working liquid suction level, the cover opening component and the identification and positioning device are all installed on the working end of the second motion component;

[0017] The first motion component drives the second motion component to move linearly along the X-axis direction, thereby driving the working liquid suction level, the cover opening component and the identification and positioning device to move linearly along the X-axis direction;

[0018] The second motion component drives the working liquid suction level, the cover opening component and the identification and positioning device to move linearly along the Y-axis direction.

[0019] The structure of the first cover opening mechanism is as follows: it includes a cover opening connection seat connected to the working end of the motion unit, a first driving member is fixed on the cover opening connection seat, an output end of the first driving member is connected to a first mounting seat, a first cover opening motor is fixed on the first mounting seat, an output end of the first cover opening motor is connected to a first spindle, and a first cover opening tool is fixed on the end of the first spindle;

[0020] The first driving member drives the first cover opening device to move linearly through the first mounting seat, so that the first cover opening device abuts against the screw cover of the solution barrel;

[0021] The first cover-opening motor drives the first cover-opening tool to rotate via the first main shaft, thereby unscrewing the screw cap on the solution barrel.

[0022] The first cover opening tool comprises a screwing assembly and a first suction cup assembly, wherein the screwing assembly is used to screw off the screw cap on the solution barrel, and the first suction cup assembly is used to suck up the screw cap that has been screwed off.

[0023] The screwing assembly includes a first connecting shaft fixed to the end of the first main shaft, and the end of the first connecting shaft is detachably mounted with a screwing member, and the screwing member corresponds to the cover opening groove on the screw cover, so that the screw cover can be clamped and driven to rotate.

[0024] The first suction cup assembly includes a first suction cup fixed to the end of the first connecting shaft, and a first vacuum generator, wherein the output end of the first vacuum generator is connected to the input end of the first suction cup, so that the first suction cup can suck up the screw cap that has been screwed off through negative pressure.

[0025] The communication mode between the output end of the first vacuum generator and the input end of the first suction cup is:

[0026] A first gas passage is provided inside the first main shaft;

[0027] A first spindle box is mounted on the outer circumferential surface of the first spindle, and the first spindle box is fixed to the bottom of the first mounting seat to support the rotation of the first spindle;

[0028] A second gas passage is provided inside the first spindle box, and a pneumatic joint is mounted on the outer wall of the first spindle box;

[0029] A third gas passage is simultaneously provided inside the first connecting shaft and the first suction cup;

[0030] The first gas passage connects the second gas passage with the third gas passage;

[0031] One end of the pneumatic joint is connected to the second gas passage, and the other end is connected to the output end of the first vacuum generator through the air pipe;

[0032] The first vacuum generator generates negative pressure, which sequentially passes through the pneumatic joint, the second gas passage, the first gas passage and the third gas passage to cause the first suction cup to generate negative pressure.

[0033] The second cover opening mechanism comprises a second driving member, and a cover opening assembly connected to the output end of the second driving member;

[0034] The cover opening assembly comprises a second cover opening motor, the output end of the second cover opening motor is connected to a second main shaft, and the end of the second main shaft is equipped with a second cover opening tool;

[0035] The second driving member drives the cover opening assembly to move linearly, so that the cover opening assembly moves to the solution barrel, and the second cover opening motor drives the second cover opening tool to rotate, so that the second cover opening tool cuts the non-screw cover on the solution barrel.

[0036] The second cover opening tool comprises a cover opening assembly and a second suction cup assembly, wherein the cover opening assembly is used to cut the non-screw cover, and the second suction cup assembly sucks up the cut non-screw cover.

[0037] The cover opening assembly comprises a cutter head seat, on which at least one cutter is mounted through a size adjusting member, and the cutter is used for cutting open a non-screw cover.

[0038] The size adjustment member is in the form of a mounting surface group. An array of mounting surface groups is arranged along the circumference on the outer wall surface of the tool head seat. A single mounting surface group includes two mounting surfaces that are symmetrically distributed around the center. The mounting surfaces are used to install the tool, so that the second opening tool can adapt to non-screw caps of different sizes.

[0039] A cavity is provided inside the cutter head seat, a second connecting shaft is installed in the cavity, a spring is installed between the top wall of the second connecting shaft and the inner wall of the cavity, a universal ball bearing is fixed to the bottom wall of the second connecting shaft, a limit plate is installed at the opening of the cavity, and the limit plate limits the axial displacement of the second connecting shaft;

[0040] When the second cover-opening tool opens the cover, the spring provides downward pressure, so that the universal ball bearing presses the non-screw cover.

[0041] The second suction cup assembly includes a suction cup driving member, the output end of the suction cup driving member is connected to the second suction cup, and the input end of the second suction cup is connected to the output end of the second vacuum generator;

[0042] The second vacuum generator drives the second suction cup to generate negative pressure, thereby sucking up the cut non-screw cap.

[0043] The structure of the working liquid suction position is as follows: comprising a driving device, the output end of the driving device is connected to a first clamping component, and the first clamping component clamps the liquid suction gun;

[0044] The driving device drives the liquid suction gun to move linearly through the clamping assembly, so that the end of the liquid suction gun is immersed in the solution in the solution barrel, and then the solution is sucked by the liquid suction gun.

[0045] The first clamping assembly includes a lifting connection plate fixed to the output end of the driving device, and at least one first pneumatic clamp is fixed on the end surface of the lifting connection plate, and the first pneumatic clamp is used to clamp the outer side wall of the suction gun.

[0046] A second pneumatic clamp and a liquid collection driving cylinder are fixed to the bottom of the driving device, and the second pneumatic clamp and the liquid collection driving cylinder are arranged at intervals;

[0047] The output end of the liquid collecting driving cylinder is connected to the first liquid collecting box.

[0048] The temporary storage position of the suction gun includes a mounting frame, and a plurality of storage stations are arranged on the mounting frame. A single storage station includes a first limiting assembly and a second limiting assembly arranged at intervals along the axial direction of the suction gun. The first limiting assembly clamps the outer side wall of the suction gun, so that the suction gun is stored in the corresponding storage station;

[0049] The mounting frame is also equipped with a plurality of second liquid collecting boxes.

[0050] The first limiting assembly includes at least one third pneumatic clamp, and the second limiting assembly includes a fourth pneumatic clamp.

[0051] The structure of the liquid suction gun is as follows: it comprises a cylindrical gun barrel with a hollow interior, one end of the gun barrel is equipped with a pipeline joint, and the other end is equipped with a gun head, and a check valve is equipped on the pipeline joint.

[0052] A cleaning device is installed below the outer wall of the liquid suction gun, and the cleaning device removes the solution attached to the outer wall of the liquid suction gun.

[0053] The structure of the cleaning device is as follows: it includes a mounting plate, a mounting ring is fixed on the top of the mounting plate, mounting holes are provided on the mounting ring and the mounting plate at the same time, a plurality of annular mounting grooves are provided on the inner wall surface of the mounting hole corresponding to the mounting ring at intervals, a sealing ring is installed in a single mounting groove, and the sealing ring is tightly attached to the outer wall surface of the suction gun, thereby removing the solution attached to the outer wall surface of the suction gun.

[0054] A method for sucking materials using the above-mentioned fully automatic lid-opening sucking machine for barreled solution comprises the following steps:

[0055] S1. Loading: Automatic loading by AGV or roller line, so as to deliver the solution barrel to the place;

[0056] S2. Scan the code. A QR code is provided on the solution barrel. The identification and positioning device is electrically connected to the control system. The control system reads the QR code on the solution barrel through the identification and positioning device to plan the action of the actuator;

[0057] S3. Open the lid, the recognition and positioning device takes a photo, generates the position coordinates of the barrel lid, the motion unit drives the lid opening component to the position coordinates, and the lid opening component removes the barrel lid;

[0058] S4. Take the gun, the first pneumatic clamp and the second pneumatic clamp in the working liquid suction position are opened at the same time, the motion unit drives the working liquid suction position to the grasping position of the liquid suction gun, and then the first pneumatic clamp clamps the outer wall of the liquid suction gun, and the second pneumatic clamp clamps the cleaning device, so that the working liquid suction position stably grasps the corresponding liquid suction gun;

[0059] S5. Liquid suction, the motion unit drives the liquid suction gun to the top of the liquid suction port on the solution barrel through the working liquid suction level, and then the working liquid suction level drives the liquid suction gun to make a downward linear motion in the vertical direction. After it drops to a preset height, the liquid suction gun starts to suck liquid;

[0060] As the liquid level in the solution barrel drops, the working liquid suction level drives the liquid suction gun to gradually drop, thereby reducing the amount of solution attached to the outer wall of the liquid suction gun;

[0061] S6. Cleaning the outer wall: After the suction gun completes the suction, the working suction level drives the suction gun to move upward in a straight line in the vertical direction, and the cleaning device removes the solution attached to the outer wall of the suction gun;

[0062] S7. Waste liquid collection, after the working liquid suction level drives the liquid suction gun to rise to the initial position, the liquid collection driving cylinder of the working liquid suction level extends, driving the first liquid collection box of the working liquid suction level to extend, thereby collecting the residual solution in the liquid suction gun;

[0063] S8. Return the gun, the motion unit drives the working suction position to the gun removal position, and then the first pneumatic clamp and the second pneumatic clamp in the working suction position are opened at the same time, so that the working suction position releases the suction gun and the cleaning device, and the gun is returned. The motion unit returns to its original position and waits for the next suction signal;

[0064] S9. Unloading: remove the solution barrel through AGV or roller line to complete unloading.

[0065] The beneficial effects of the present invention are as follows:

[0066] The present invention has a compact and reasonable structure and is easy to operate. By arranging a liquid suction gun and an actuator, a fully automatic production method can be used for liquid suction, thereby reducing the labor intensity of personnel, avoiding harm to personnel and workshop environment caused by toxic solutions, and having high production efficiency and a compact and continuous production rhythm.

[0067] The present invention also has the following advantages:

[0068] (1) In the present invention, by setting a temporary storage position for the suction gun, multiple suction guns can be temporarily stored, thereby matching different types of solutions and solution barrels of different specifications; by setting a motion unit and a working suction position, the corresponding suction gun can be accurately grasped, thereby avoiding the problem of using the wrong suction gun and preventing mixed suction and wrong suction.

[0069] (2) In the present invention, by providing a cover opening assembly, various forms of barrel covers can be removed and opened, and the use flexibility is high; by providing a first cover opening mechanism, a screw cover can be removed, and by providing a second cover opening mechanism, a non-screw cover can be removed.

[0070] (3) In the present invention, a gun head is provided, and the gun head adopts a hose, which can play a buffering role, thereby preventing the friction between the gun head and the inner bottom wall of the solution barrel during liquid aspiration to generate debris that affects the quality of the solution, and can also ensure that the liquid aspiration gun can absorb the solution inside the solution barrel as much as possible to reduce the residual amount.

[0071] (4) In the present invention, by providing a cleaning device, the residual liquid on the outer wall of the gun barrel can be removed to prevent the subsequent solution quality from being affected when the suction gun is used again; at the same time, the amount of residual liquid on the suction gun can be reduced to prevent pollution of the production environment.

[0072] (5) In the present invention, by providing the first liquid collecting box, the second liquid collecting box and the waste liquid tank, the residual solution in the liquid suction gun can be automatically collected to prevent the solution from dripping into the workshop and causing pollution.

[0073] (6) The descending speed of the liquid suction gun in the present invention is linked with its liquid suction speed, which can reduce the solution adhesion on the outer wall of the liquid suction gun and reduce the pollution to the environment and the next bucket of solution.

[0074] (7) In the present invention, automatic loading and unloading of materials are realized by using an AGV forklift or a conveyor line, thereby enabling automated production.

[0075] (8) The fully automatic lid opening and suction machine for barreled solution of the present invention is compatible with a variety of solution barrels and can realize integrated loading by means of a tray, thus saving layout space.

[0076] (9) In the present invention, by setting up an identification and positioning device, cooperating with a control system and a sensor component, the actuator can be automatically controlled to achieve intelligent production.

[0077] (10) In the present invention, by providing a hose reel, the connecting pipeline can be automatically retracted and released, thereby reducing the drag force of the connecting pipeline on the actuator and avoiding pulling interference on its movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] Figure 1 It is a structural schematic diagram of the present invention.

[0079] Figure 2 for Figure 1 Top view of the .

[0080] Figure 3 It is a schematic diagram of the structure of the motion unit in the present invention.

[0081] Figure 4 It is an exploded diagram of the motion unit in the present invention.

[0082] Figure 5 It is a structural schematic diagram of the working liquid suction position in the present invention.

[0083] Figure 6 It is a full cross-sectional view of the cleaning device of the present invention.

[0084] Figure 7 It is a structural schematic diagram of the first cover opening mechanism in the present invention.

[0085] Figure 8 A partial cross-sectional view of the first cover opening mechanism of the present invention

[0086] Fig. 9 The schematic diagram of the structure of the second cover opening mechanism in the present invention is

[0087] Fig.10It is a partial full cross-sectional view of the second cover opening mechanism in the present invention.

[0088] Fig.11 It is a schematic diagram of the installation structure of the tool head seat and the tool in the present invention.

[0089] Fig.12 It is a structural schematic diagram of the temporary storage position of the liquid suction gun in the present invention.

[0090] Among them: 1. Support frame; 2. Motion unit; 3. Working liquid suction position; 4. Cover collection box; 5. First cover opening mechanism; 6. Second cover opening mechanism; 7. Waste liquid box; 8. Identification and positioning device; 9. Liquid suction gun; 10. Cleaning device; 11. Temporary storage position for liquid suction gun; 12. Solution barrel;

[0091] 201, first translation motor; 202, second translation motor; 203, translation seat; 204, first screw rod; 205, first translation connection seat; 206, first slide rail; 207, first slider; 208, translation beam; 209, second screw rod; 210, second translation connection seat; 211, second slide rail; 212, second slider;

[0092] 301, driving device; 302, lifting connecting plate; 303, first pneumatic clamp; 304, second pneumatic clamp; 305, first liquid collecting box; 306, liquid collecting driving cylinder;

[0093] 501, first driving member; 502, first mounting seat; 503, first cover opening motor; 504, first spindle; 5041, first gas passage; 505, first spindle box; 5051, second gas passage; 5052, pneumatic joint; 506, first cover opening tool; 5061, first connecting shaft; 5062, first suction cup; 5063, third gas passage; 5064, screwing member; 5065, first vacuum generator; 507, cover opening connection seat;

[0094] 601, second driving member; 602, second mounting seat; 603, second cover opening motor; 604, second spindle; 605, second spindle box; 606, second cover opening tooling;

[0095] 60601, cutter head seat; 60602, cutter; 60603, limit plate; 60604, universal ball bearing; 60605, spring; 60606, second connecting shaft; 60607, protective cover; 60608, second vacuum generator; 60609, second suction cup; 60610, mounting surface; 60611, cavity; 60612, suction cup driving member;

[0096] 901, gun barrel; 902, pipe joint; 903, gun head;

[0097] 1001. Mounting plate; 1002. Mounting ring; 1003. Mounting hole; 1004. Mounting groove; 1005. Sealing ring;

[0098] 1101. Mounting frame; 1102. Second liquid collection box; 1103. Third pneumatic gripper; 1104. Fourth pneumatic gripper. Specific implementation mode

[0099] The following combines with the attached drawings to illustrate the specific implementation mode of the present invention.

[0100] Embodiment 1:

[0101] As Figure 1-Figure 12 shown, the full-automatic barrel-opening and liquid-sucking machine for barreled solution of this embodiment includes a motion unit 2 and a liquid-sucking unit; the liquid-sucking unit includes a working liquid-sucking position 3 and several liquid-sucking gun temporary storage positions 11, and the working liquid-sucking position 3 is connected to the working end of the motion unit 2; the motion unit 2 drives the working liquid-sucking position 3 to a specified liquid-sucking gun temporary storage position 11, so as to replace the liquid-sucking gun 9 placed on the specified liquid-sucking gun temporary storage position 11 onto the working liquid-sucking position 3, the motion unit 2 drives the working liquid-sucking position 3 to move to a specified solution barrel 12, and the liquid-sucking gun 9 on the working liquid-sucking position 3 sucks the solution and discharges it into a storage container communicated therewith; the working end of the motion unit 2 is also respectively equipped with an opening cover assembly and an identification and positioning device 8, and the identification and positioning device 8 is used to identify the position of the specified solution barrel 12; the opening cover assembly includes a first opening cover mechanism 5 and a second opening cover mechanism 6, and the second opening cover mechanism 6 opens the non-screw cap on the solution barrel 12, and the first opening cover mechanism 5 opens the screw cap on the solution barrel 12. The full-automatic barrel-opening and liquid-sucking machine for barreled solution of this embodiment is used to automatically open the cover and suck the liquid of the solution storage barrel, which can reduce the labor intensity of manual work, ensure the cleanliness and orderliness of the production site, have high work efficiency and good liquid-sucking effect.

[0102] The specific structure and function of this embodiment are as follows:

[0103] The full-automatic barrel-opening and liquid-sucking machine for barreled solution of this embodiment includes a support frame 1, a motion unit 2, a liquid-sucking unit, an opening cover assembly, an identification and positioning device 8, a liquid-sucking gun 9; among them,

[0104] The identification and positioning device 8 adopts an industrial camera.

[0105] As Figure 1-Figure 2 shown, the support frame 1 is the installation frame of the whole equipment, with a compact structure, and the motion unit 2 and the liquid-sucking gun temporary storage position 11 are installed on the top. The support frame 1 is also provided with a storage position for placing the solution barrel 12, which can be used to place the solution barrel 12, and the solution barrel 12 is located below the motion unit 2, the working liquid-sucking position 3, the opening cover assembly, and the identification and positioning device 8;

[0106] In addition, in order to improve the working reliability of the suction gun 9, a guide device is installed at the storage position for positioning the solution barrel 12; an in-place detection sensor is also installed at the storage position for detecting whether the solution barrel 12 is in place. Only after the solution barrel 12 is in place can subsequent actions be performed.

[0107] The motion unit 2 includes a first motion component and a second motion component, the second motion component is connected to the working end of the first motion component, and the working liquid suction level 3, the cover opening component and the identification and positioning device 8 are all installed on the working end of the second motion component; the first motion component drives the second motion component to move in a straight line, thereby driving the working liquid suction level 3, the cover opening component and the identification and positioning device 8 to move in a straight line along the X-axis direction; the second motion component drives the working liquid suction level 3, the cover opening component and the identification and positioning device 8 to move in a straight line along the Y-axis direction; the X-axis direction and the Y-axis direction are perpendicular to each other; the motion unit 2 can adopt the form of screw feeding, or the form of gear rack feeding, etc.;

[0108] Specifically, when the screw feed method is adopted, Figure 3-Figure 4 As shown, the first motion assembly includes a first translation motor 201, a first screw rod 204, a first translation connection seat 205, a first slide rail 206, and a first slider 207; the second motion assembly includes a second translation motor 202, a translation seat 203, a translation beam 208, a second screw rod 209, a second translation connection seat 210, a second slide rail 211, and a second slider 212;

[0109] The installation structure of the first motion component and the second motion component is as follows: the first translation motor 201 is fixed to the top of the support frame 1, the output end of the first translation motor 201 is connected to the first screw rod 204, and the first translation connection seat 205 is installed on the outer circumferential surface of the first screw rod 204; several first slide rails 206 are fixed at intervals on the top of the support frame 1, and several first sliders 207 are installed on the single first slide rail 206. The top of the first slider 207 is also fixed with a translation beam 208, and the bottom wall surface of the translation beam 208 is connected to the top wall surface of the first translation connection seat 205; the first translation motor 201 drives the first screw rod 204 to rotate, thereby driving the translation beam 208 to make a linear motion along the first slide rail 206 through the first translation connection seat 205; the second translation motor 202 is fixed on the top of the translation beam 208, and the output end of the first translation motor 202 is connected to the first translation connection seat 205. The end is connected to the second screw rod 209, and the second translation connection seat 210 is installed on the outer circumference of the second screw rod 209; second slide rails 211 are installed on the symmetrical side walls of the translation beam 208 respectively, and a plurality of second sliders 212 are installed on the single second slide rail 211, and the translation seat 203 is fixed on the surface of the second slider 212, and the bottom wall surface of the translation seat 203 is connected to the top wall surface of the second translation connection seat 210; the second translation motor 208 drives the second screw rod 209 to rotate, thereby driving the translation seat 203 to move linearly along the second slide rail 211 through the second translation connection seat 210; the first slide rail 206 is arranged along the X-axis direction, and the second slide rail 211 is arranged along the Y-axis direction; threaded holes are provided in the middle of the first translation connection seat 205 and the second translation connection seat 210, which are respectively used to cooperate with the first screw rod 204 and the second screw rod 209 for installation.

[0110] In addition, if Figure 1-Figure 4 As shown, the working liquid suction level 3, the cover opening assembly, and the identification and positioning device 8 are all installed on the translation seat 203, and the translation seat 203 is installed on the translation beam 208; when the translation seat 203 moves linearly along the second slide rail 211, it drives the working liquid suction level 3, the cover opening assembly, and the identification and positioning device 8 to move linearly along the horizontal X direction; when the translation beam 208 moves linearly along the first slide rail 206, it drives the working liquid suction level 3, the cover opening assembly, and the identification and positioning device 8 to move linearly along the horizontal Y direction through the translation seat 203; thereby, the working liquid suction level 3, the cover opening assembly, and the identification and positioning device 8 can reach any point within the XOY range. An accordion cover is installed on the motion unit 2 to prevent the grinding chips from falling into the solution barrel 12 and contaminating the solution therein when the motion unit 2 is working, thereby ensuring the quality of the solution.

[0111] like Figure 5As shown, the working liquid suction position 3 is used to clamp the liquid suction gun 9 and drive the liquid suction gun 9 to extend into or out of the solution barrel 12; the structure of the working liquid suction position 3 is: including a driving device 301, the output end of the driving device 301 is connected to the first clamping component, and the first clamping component clamps the liquid suction gun 9; the driving device 301 drives the liquid suction gun 9 to move linearly through the clamping component, so that the end of the liquid suction gun 9 is immersed in the solution of the solution barrel 12, and then the solution is absorbed by the liquid suction gun 9.

[0112] The first clamping assembly includes a lifting connecting plate 302 fixed to the output end of the driving device 301, and at least one first pneumatic clamp 303 is fixed on the end face of the lifting connecting plate 302, and the first pneumatic clamp 303 is used to clamp the outer wall of the liquid suction gun 9; a second pneumatic clamp 304 and a liquid collection driving cylinder 306 are fixed to the bottom of the driving device 301, and the second pneumatic clamp 304 and the liquid collection driving cylinder 306 are arranged at intervals; the output end of the liquid collection driving cylinder 306 is connected to the first liquid collection box 305.

[0113] like Figure 5 As shown, the structure of the liquid suction gun 9 is: it includes a cylindrical gun barrel 901 with a hollow interior, one end of the gun barrel 901 is equipped with a pipe connector 902, and the other end is equipped with a gun head 903, and the pipe connector 902 is equipped with a check valve.

[0114] like Figure 5-Figure 6 As shown, a cleaning device 10 is installed below the outer wall of the liquid suction gun 9, and the cleaning device 10 removes the solution attached to the outer wall of the liquid suction gun 9; the cleaning device 10 can adopt a contact cleaning method, and at this time, the structure of the cleaning device 10 is: including a mounting plate 1001, a mounting ring 1002 fixed on the top of the mounting plate 1001, mounting holes 1003 are simultaneously provided on the mounting ring 1002 and the mounting plate 1001, and a plurality of annular mounting grooves 1004 are provided on the inner wall of the mounting hole 1003 corresponding to the mounting ring 1002 at intervals, and a sealing ring 1005 is installed in a single mounting groove 1004, and the sealing ring 1005 is closely attached to the outer wall of the liquid suction gun 9, so as to remove the solution attached to the outer wall of the liquid suction gun 9;

[0115] The cleaning device 10 also adopts a non-contact cleaning method, such as relying on ultrasonic water washing to clean the solution attached to the outer wall surface of the gun barrel 901.

[0116] The driving device 301 is placed upright and can adopt a linear motor module or a cylinder and other equipment, which can drive the lifting connecting plate 302 to move linearly in the vertical direction, thereby driving the first pneumatic clamping jaw 303 to move linearly in the vertical direction through the lifting connecting plate 302, and further driving the liquid suction gun 9 to move linearly in the vertical direction;

[0117] In this embodiment, two first pneumatic clamps 303 are provided, and the two first pneumatic clamps 303 are arranged along the axial direction of the liquid suction gun 9. The output end of a single first pneumatic clamp 303 is in the form of a V-shaped iron, which can fit the outer wall shape of the barrel 901 and can accurately position the outer ring of the liquid suction gun 9, thereby ensuring the grasping accuracy;

[0118] The two first pneumatic clamps 303 are located at the upper gripping position on the barrel 901 of the liquid suction gun 9, which can extend the stroke of the liquid suction gun 9 and facilitate the gun head 903 of the liquid suction gun 9 to reach the bottom of the solution barrel 12 to reduce the amount of liquid residue.

[0119] The gun barrel 901 is made of metal and is a hard pipe; the pipe joint 902 is used to connect with the connecting pipe group, the connecting pipe group is connected to the storage container, the connecting pipe group is a hose, and is retracted and released by a hose reel. A check valve is installed on the pipe joint 902 to prevent the solution from flowing back; a delivery pump is installed on the connecting pipe group, and the delivery pump provides drive, so that the solution in the solution barrel 12 flows to the storage container through the gun head 903, the gun barrel 901, the pipe joint 902, and the delivery pipe group in sequence; the gun head 903 adopts a hose, which can play a buffering role, avoiding the friction between the gun head 903 and the inner bottom wall of the solution barrel 12 during liquid aspiration to produce debris that affects the quality of the solution, and can also ensure that the liquid suction gun 9 absorbs the solution inside the solution barrel 12 as much as possible to reduce the residual amount.

[0120] Specifically, the gun barrel 901 passes through the mounting hole 1003 and is tightly matched with the outer circumference of the gun barrel 901 through the sealing ring 1005, so that the cleaning device 10 is installed on the outer circumference of the gun barrel 901, and the cleaning device 10 is arranged close to the gun head 903 before the suction begins.

[0121] The second pneumatic clamp 304 is fixed to the bottom of the driving device 301 , and the second pneumatic clamp 304 clamps the mounting plate 1001 , thereby positioning the cleaning device 10 and further improving the gripping stability of the liquid suction gun 9 .

[0122] The driving device 301 is equipped with a liquid collecting driving cylinder 306 through a connecting seat. The output end of the liquid collecting driving cylinder 306 is connected to the first liquid collecting box 305. The first liquid collecting box 305 collects the residual liquid inside the liquid suction gun 9. An opening is set on the top of the first liquid collecting box 305. When the liquid collecting driving cylinder 306 drives the first liquid collecting box 305 to extend, the opening faces the gun head 903, so that the first liquid collecting box 305 can collect the residual solution inside after the liquid suction gun 9 sucks the liquid; when the liquid collecting driving cylinder 306 drives the first liquid collecting box 305 to retract, the first liquid collecting box 305 avoids interfering with the action of the liquid suction gun 9.

[0123] The lid opening assembly is used to remove the barrel cover on the solution barrel 12, and the barrel cover removed by the lid opening assembly is collected by the lid collecting box 4; the barrel cover on the solution barrel 12 includes a screw cover and a non-screw cover. Taking a 200L barrel as an example, there is an outer cover of a non-screw cover and an inner cover of a screw cover, and the outer cover protects the inner cover; the second lid opening mechanism 6 is used to remove the non-screw cover on the solution barrel 12 (i.e., the outer cover of the 200L barrel), and the first lid opening mechanism 5 is used to remove the screw cover on the solution barrel 12 (i.e., the inner cover of the 200L barrel);

[0124] like Figure 7-Figure 8 As shown, the structure of the first cover-opening mechanism 5 is as follows: it includes a cover-opening connection seat 507 connected to the working end of the motion unit 2, a first driving member 501 is fixed on the cover-opening connection seat 507, an output end of the first driving member 501 is connected to the first mounting seat 502, a first cover-opening motor 503 is fixed on the first mounting seat 502, an output end of the first cover-opening motor 503 is connected to the first main shaft 504, and a first cover-opening fixture 506 is fixed to the end of the first main shaft 504; the first driving member 501 drives the first cover-opening fixture 506 to make a linear motion through the first mounting seat 502, so that the first cover-opening fixture 506 is against the screw cover of the solution barrel 12; the first cover-opening motor 503 drives the first cover-opening fixture 506 to rotate through the first main shaft 504, so as to screw off the screw cover on the solution barrel 12.

[0125] The first cover opening tool 506 includes a screwing assembly and a first suction cup assembly, the screwing assembly is used to screw off the screw cover on the solution barrel 12, and the first suction cup assembly is used to suck up the screw cover that has been screwed off; the screwing assembly includes a first connecting shaft 5061 fixed to the end of the first main shaft 504, and the end of the first connecting shaft 5061 is detachably mounted with a screwing member 5064, and the screwing member 5064 corresponds to the cover opening groove on the screw cover, so that the screw cover can be stuck and driven to rotate; the first suction cup assembly includes a first suction cup 5062 fixed to the end of the first connecting shaft 5061, and a first vacuum generator 5065, the output end of the first vacuum generator 5065 is connected to the input end of the first suction cup 5062, so that the first suction cup 5062 sucks up the screw cover that has been screwed off through negative pressure; the communication method between the output end of the first vacuum generator 5065 and the input end of the first suction cup 5062 is as follows: a first gas passage 5041 is opened inside the first main shaft 504; The first and second spindle boxes 60505 are installed on the outer circumferential surface, and the first and second spindle boxes 60505 are fixed to the bottom of the first mounting seat 502 to support the rotation of the first spindle 504; the first and second spindle boxes 60505 are provided with a second gas passage 5051 inside, and the outer wall surface of the first and second spindle boxes 60505 is provided with a pneumatic joint 5052; the first connecting shaft 5061 and the first suction cup 5062 are provided with a third gas passage 5063 inside at the same time; the first gas passage 5041 connects the second gas passage 5051 with the third gas passage 5063; one end of the pneumatic joint 5052 is connected to the second gas passage 5051, and at the same time, the other end is connected to the output end of the first vacuum generator 5065 through an air pipe; the first vacuum generator 5065 generates negative pressure, and the first suction cup 5062 generates negative pressure through the pneumatic joint 5052, the second gas passage 5051, the first gas passage 5041 and the third gas passage 5063 in sequence. In this embodiment, different first cover opening tools 506 can be replaced according to the form of the cover opening groove on the screw cover, so that the first cover opening mechanism 5 can easily unscrew the screw cover; the unscrewed screw cover is sucked up by the first suction cup 5062 and transferred to the cover collection box 4.

[0126] like Figure 9-11 As shown, the second cover-opening mechanism 6 includes a second driving member 601, and a cover-opening assembly connected to the output end of the second driving member 601; the cover-opening assembly includes a second cover-opening motor 603, the output end of the second cover-opening motor 603 is connected to the second second main shaft 60404, and the end of the second second main shaft 60404 is cooperated with the second cover-opening tool 606; the second driving member 601 drives the cover-opening assembly to move linearly, so that the cover-opening assembly moves to the solution barrel 12, and the second cover-opening motor 603 drives the second cover-opening tool 606 to rotate, so that the second cover-opening tool 606 cuts the non-screw cover on the solution barrel 12.

[0127] The second cover opening tool 606 includes a cover opening component and a second suction cup component, the cover opening component is used to cut the non-screw cover, and the second suction cup component sucks up the cut non-screw cover; the cover opening component includes a tool head seat 60601, and at least one tool 60602 is installed on the tool head seat 60601 through a size adjustment member, and the tool 60602 is used to cut the non-screw cover; the size adjustment member adopts the form of a mounting surface group, and an array of mounting surface groups is arranged along the circumference on the outer wall surface of the tool head seat 60601, and a single group of mounting surface groups includes two center-symmetrically distributed mounting surfaces 60610, and the mounting surface 60610 is used to install the tool 60602, so that the second cover opening tool 606 can adapt to non-screw covers of different sizes; a cavity 60611 is arranged inside the tool head seat 60601, and a second connecting shaft 60606 is installed in the cavity 60611, and the second connecting shaft 6 A spring 60605 is installed between the top wall of 0606 and the inner wall of the cavity 60611, a universal ball bearing 60604 is fixed to the bottom wall of the second connecting shaft 60606, and a limit plate 60603 is installed at the opening of the cavity 60611, and the limit plate 60603 limits the axial displacement of the second connecting shaft 60606; when the second cover opening tool 606 opens the cover, the spring 60605 provides downward pressure, so that the universal ball bearing 60604 presses the non-screw cover; the second suction cup assembly includes a suction cup driving member 60612, the output end of the suction cup driving member 60612 is connected to the second suction cup 60609, and the input end of the second suction cup 60609 is connected to the output end of the second vacuum generator 60608; the second vacuum generator 60608 drives the second suction cup 60609 to generate negative pressure, thereby sucking up the cut non-screw cover.

[0128] The second cover opening mechanism 6 structure includes a second driving member 601, a second mounting seat 602, a second cover opening motor 603, a second main shaft 604 and a second cover opening tool 606;

[0129] The second driving member 601 is arranged upright, the output end of the second driving member 601 is connected to the second mounting seat 602, the second cover opening motor 603 is fixed on the top of the second mounting seat 602, the output end of the second cover opening motor 603 is connected to the second main shaft 604, the end of the second main shaft 604 is matched with the second cover opening tool 606, the second driving member 601 drives the second mounting seat 602 to make a linear motion in the vertical direction, thereby driving the second cover opening motor 603, the second main shaft 604 and the cover opening assembly to make a linear motion in the vertical direction through the second mounting seat 602, thereby making the second cover opening tool 606 approach or move away from the non-screw cover; the second cover opening motor 603 drives the second cover opening tool 606 to rotate through the second main shaft 604, thereby cutting the non-screw cover 8;

[0130] The second cover opening motor 603 is connected to the second main shaft 604 through a coupling, and the coupling can transmit the torque output by the second cover opening motor 603 and absorb the coaxiality deviation between the motor output shaft and the second main shaft 604; the second main shaft box 605 is fixed to the bottom of the second mounting seat 602, and is used to support the rotation of the second main shaft 604, thereby further improving the rotation stability of the second main shaft 604.

[0131] The second cover opening tool 606 includes a tool 60602, a tool head seat 60601, a limit plate 60603, a universal ball bearing 60604, a spring 60605, a connecting shaft 60606, a second suction cup 60609, a second vacuum generator 60608, and a protective cover 60607;

[0132] The tool head seat 60601 is fixed to the end of the second spindle 604, and the tool head seat 60601 is installed in cooperation with the tool 60602 through a size adjustment member;

[0133] The size adjustment member has various forms. A driving device may be used to connect the tool 60602 to the output end of the driving device so that the tool 60602 can move radially along the non-screw cap, thereby being compatible with non-screw caps of different sizes. Alternatively, a mounting surface group may be used. The mounting surface group is disposed on the outer wall surface of the cutter head seat 60601. The mounting surface group includes two mounting surfaces 60610 arranged symmetrically with respect to the center. Grooves of different depths are provided along the circumference of the outer wall surface of the cutter head seat 60601 to form a mounting surface 60610. 0610 is used to install the tool 60602, so that the distance between the two tools 60602 can be adjusted to adapt to non-screw caps of different sizes; in addition, the tool 60602 is fixed to the corresponding mounting surface 60610 by a threaded connector, and a detachable mounting method is adopted, which facilitates and quickly removes the tool 60602 from the mounting surface 60610; the blade of the tool 60602 is V-shaped, and the blade of the tool 60602 is lower than the bottom end surface of the limiting plate 60603, so that the non-screw cap can be cut.

[0134] The second vacuum generator 60608 is fixed on the second mounting seat 602, the output end of the suction cup driving member 60612 is connected to the second suction cup 60609, the suction cup driving member 60612 is fixed on the second spindle box 605, the suction cup driving member 60612 can adopt a linear motor or a cylinder, the output end of the second vacuum generator 60608 is connected to the input end of the second suction cup 60609, the second suction cup 60609 generates negative pressure through the second vacuum generator 60608, thereby sucking up the non-screw cap, and cooperating with the robot arm to transfer the non-screw cap to the centralized collection point to prevent the non-screw cap from falling into the production workshop after cutting, thereby ensuring that the production site is clean and orderly.

[0135] A cavity 60611 is provided inside the cutter head seat 801, and a spring 60605 and a connecting shaft 60606 are installed in the cavity 60611, and the connecting shaft 60606 can slide axially in the cavity 60611; a spring 60605 is installed between one end of the connecting shaft 60606 and the cavity 60611, and a universal ball bearing 60604 is installed at the other end; a universal ball is provided on the universal shaft bearing 60604, and the universal shaft bearing 60604 presses the non-screw cover through the universal ball; the bottom end face of the universal ball is lower than the bottom end face of the cutter 60602, and the universal ball can rotate freely , so that when it presses the non-screw cover, it will not interfere with the rotational movement of the cutter head seat 60601; the bottom of the cutter head seat 801 is equipped with a limit plate 60603 corresponding to the position of the opening of the cavity 60611, and the limit plate 60603 limits the axial displacement of the connecting shaft 60606 to prevent the connecting shaft 60606 from escaping from the cavity 60611; specifically, a through hole is provided in the middle of the limit plate 60603, and the diameter of the through hole is slightly larger than the maximum outer diameter of the universal ball bearing 60604, so that the universal ball of the universal ball bearing 60604 can be exposed from the cavity 60611.

[0136] The outside of the second cover opening tool 606 is equipped with a protective cover 60607, which is fixed to the bottom of the second spindle box 605. The protective cover 60607 is used to prevent the tool 60602 from breaking and injuring people, and can also prevent the tool 60602 from injuring people during equipment maintenance.

[0137] like Fig.12 As shown, the temporary storage position 11 of the liquid suction gun includes a mounting frame 1101, and a plurality of storage stations are arranged on the mounting frame 1101. A single storage station includes a first limit assembly and a second limit assembly arranged along the axial direction of the liquid suction gun 9, and the first limit assembly clamps the outer wall of the liquid suction gun 9, so that the liquid suction gun 9 is stored in the corresponding storage station; and a plurality of second liquid collecting boxes 1102 are also installed on the mounting frame 1101. The first limit assembly includes at least one third pneumatic clamp 1103, and the second limit assembly includes a fourth pneumatic clamp 1104. The temporary storage position 11 of the liquid suction gun can store multiple liquid suction guns 9, so as to correspond to solution barrels 12 of different specifications and different types of solutions, prevent mixed suction, ensure the quality of the solution after suction, and reduce the residual amount of solution in the solution barrel 12 after suction.

[0138] In this embodiment, four storage stations can be arranged on the mounting frame 1101. For a single storage station, it includes a first limiting assembly and a second limiting assembly, which correspond to each other and are arranged at intervals along the axial direction of the liquid suction gun 9; the second limiting assembly corresponds to the cleaning device 10, which is used to clamp the cleaning device 10 on the liquid suction gun 9, thereby further limiting the position of the liquid suction gun 9; when multiple storage stations are arranged, the multiple storage stations are arranged at intervals;

[0139] Two third pneumatic clamps 1103 can be set in a single first limiting component, and the output end of the single third pneumatic clamp 1103 is connected to two V-shaped irons at the same time. The two V-shaped irons are arranged symmetrically, so that the working end faces of the two V-shaped irons are opposite to each other, and the working end faces are V-shaped, which can fit the shape of the outer circumferential surface of the suction gun 9 and accurately position the outer circle of the suction gun 9, thereby ensuring the storage accuracy and preventing the suction gun 9 from deforming; when multiple third pneumatic clamps 1103 are arranged in the first limiting component, two adjacent third pneumatic clamps 1103 are arranged symmetrically, and the two third pneumatic clamps 1103 in the present invention are arranged tail to tail; in addition, the grasping position of the first limiting component on the suction gun 9 is not limited to the upper position of the side wall of the suction gun 9, and multiple third pneumatic clamps 1103 can also be set to simultaneously grasp the upper and upper positions of the side wall of the suction gun 9, thereby ensuring the grasping stability.

[0140] The second limiting assembly is arranged directly below the corresponding first limiting assembly; the output end of the fourth pneumatic clamp 1104 in the second limiting assembly is connected to symmetrically arranged pads, and the fourth pneumatic clamp 1104 drives the two pads to move in a straight line close to or away from each other, so that the second limiting assembly clamps or releases the cleaning device 10; the arrangement direction of the two pads is perpendicular to the plate surface at the end of the suction gun 9, and the pad 202 is made of non-metallic soft material to prevent friction and collision with the end plate, which can reduce debris and avoid contamination of the solution.

[0141] Several second liquid collecting boxes 1102 are also installed on the mounting frame 1101. The second liquid collecting boxes 1102 correspond to the first limiting assembly and the second limiting assembly one by one, and are arranged directly below the corresponding second limiting assembly. The second liquid collecting boxes 1102 are used to collect residual liquid in the suction gun 9 to prevent the residual liquid from dripping into the production workshop and polluting the production environment.

[0142] In addition, the output ends of the first pneumatic clamp 303, the second pneumatic clamp 304, the third pneumatic clamp 1103 and the fourth pneumatic clamp 1104 are in the form of V-shaped iron, which can fit the outer wall shape of the barrel 901 and accurately position the outer circle of the suction gun 9, thereby ensuring the grasping accuracy.

[0143] The first liquid collecting box 305 and the second liquid collecting box 1102 are connected to the waste liquid box 7 respectively. The residual liquid collected in the first liquid collecting box 305 and the second liquid collecting box 1102 is collected by the waste liquid box 7 and then processed uniformly.

[0144] In order to facilitate automatic control, a control system and corresponding sensor components are installed on the barreled solution fully automatic lid opening and suction machine of this embodiment.

[0145] Embodiment 2:

[0146] Using the fully automatic lid opening and suction machine for barreled solution provided in Example 1, this embodiment provides a suction method comprising the following steps:

[0147] S1. Loading, automatically loading by AGV or roller line, so that the solution barrel 12 is delivered to the place;

[0148] A guide device and an in-place detection sensor are installed at the bottom of the support frame 1, and the next step can be started after the solution barrel 12;

[0149] S2. Scan the code. A QR code is provided on the solution barrel 12. The identification and positioning device 8 is electrically connected to the control system. The control system reads the QR code on the solution barrel 12 by identifying and positioning the device 8, thereby planning the action of the actuator;

[0150] The QR code of the solution barrel 12 stores the specification information of the solution barrel 12 (including the capacity of the solution barrel 12 and the type of the barrel cover) and the type information of the solution in the solution barrel 12;

[0151] The identification and positioning device 8 may be an industrial camera;

[0152] S3. Open the lid, identify and locate the device 8 to take a picture, generate the position coordinates of the barrel lid, the motion unit 2 drives the lid opening component to reach the position coordinates, and the lid opening component removes the barrel lid;

[0153] S3.1. When the barrel cover includes a screw cap and a non-screw cap, the barrel cover removal assembly includes the following steps:

[0154] S3.1.1. The motion unit 2 drives the second cover opening mechanism 6 to the top of the corresponding barrel cover, and the second driving member 601 is started, and the second cover opening tool 606 is driven to move downward in a vertical direction through the second mounting seat 602, so that the second cover opening tool 606 is close to the top of the non-screw cover;

[0155] S3.1.2. Then the second opening motor 603 is started, driving the second opening tool 606 to rotate, and the non-screw cover is removed by cutting to expose the screw cover;

[0156] S3.1.3. The non-screw cap is then sucked up by the second suction cup 60609 and transferred to the collection cover box 4;

[0157] S3.1.4. Then, the second driving member 601 is started to drive the second cover opening tool 606 to perform a linear upward motion in the vertical direction, so that the second cover opening tool 606 is reset; at the same time, the motion unit 2 drives the first cover opening mechanism 5 to reach the top of the corresponding screw cap;

[0158] S3.1.5. The first driving member 501 extends to drive the first cover opening tool 506 to move linearly in the vertical direction, so that the first cover opening tool 506 is in close contact with the top of the corresponding screw cap;

[0159] S3.1.6. Then the first cover opening motor 503 drives the first cover opening tool 506 to rotate, thereby unscrewing the corresponding screw cap;

[0160] S3.1.7. The first suction cup 5062 sucks up the screw cap that has been unscrewed and transfers the screw cap to the cover collection box 4;

[0161] S3.2. When the barrel cover includes a screw cap, the barrel cover removal assembly includes the following steps:

[0162] The motion unit 2 drives the first cover opening mechanism 5 to the top of the corresponding barrel cover, the first cover opening mechanism 5 unscrews the screw cover, and transfers the screw cover to the cover collecting box 4;

[0163] S4. Take the gun, the first pneumatic clamp 303 and the second pneumatic clamp 304 in the working liquid suction position 3 are opened at the same time, and the motion unit 2 drives the working liquid suction position 3 to reach the grasping position of the liquid suction gun 9, and then the first pneumatic clamp 303 clamps the outer wall of the liquid suction gun 9, and the second pneumatic clamp 304 clamps the cleaning device 10, so that the working liquid suction position 3 stably grasps the corresponding liquid suction gun 9;

[0164] The first pneumatic clamp 303 and the second pneumatic clamp 304 in the working liquid suction position 3 are opened at the same time, and the motion unit 2 drives the working liquid suction position 3 to reach the grasping position of the liquid suction gun 9, and then the first pneumatic clamp 303 and the second pneumatic clamp 304 are clamped at the same time, so that the working liquid suction position 3 grasps the corresponding liquid suction gun 9;

[0165] In this embodiment, the liquid suction gun 9 is pre-stored in the temporary storage position 11 of the liquid suction gun, and the motion unit 2 drives the working liquid suction position 3 to grab the corresponding liquid suction gun 9 from the temporary storage position 11 of the liquid suction gun;

[0166] A QR code is provided on the liquid suction gun 9, and a code scanning gun is provided on the working liquid suction position 3, and the grasping object is determined according to the QR code information on the liquid suction gun 9;

[0167] S5. Liquid suction, the motion unit 2 drives the liquid suction gun 9 to the top of the liquid suction port on the solution barrel 12 through the working liquid suction position 3, and then the working liquid suction position 3 drives the liquid suction gun 9 to make a downward linear motion in the vertical direction. After descending to a preset height, the liquid suction gun 9 starts to suck liquid;

[0168] As the liquid level in the solution barrel 12 decreases, the working liquid suction level 3 drives the liquid suction gun 9 to gradually decrease, so that the barrel 901 of the liquid suction gun 9 is always partially immersed in the solution to reduce the amount of solution attached to the barrel 901;

[0169] During the movement of the liquid suction gun 9, the connecting pipeline connected thereto is automatically retracted and released by the hose reel;

[0170] S6. Cleaning the outer wall. After the suction gun 9 completes the suction, the working suction position 3 drives the suction gun 9 to make an upward linear motion in the vertical direction, and the cleaning device 10 removes the solution attached to the outer wall of the suction gun 9;

[0171] S7. Waste liquid collection, after the working liquid suction position 3 drives the liquid suction gun 9 to rise to the initial position, the liquid collection driving cylinder 306 of the working liquid suction position 3 extends, driving the first liquid collection box 305 of the working liquid suction position 3 to extend, thereby collecting the residual solution in the liquid suction gun 9;

[0172] S8. Return the gun, the motion unit 2 drives the working liquid suction position 3 to the gun removal position, and then the first pneumatic clamp 303 and the second pneumatic clamp 304 in the working liquid suction position 3 are opened at the same time, so that the working liquid suction position 3 releases the liquid suction gun 9 and the cleaning device 10, and the gun is returned. The motion unit 2 returns to its original position and waits for the next material suction signal;

[0173] S9. Unloading, the solution barrel 12 is removed by AGV or roller line to complete unloading;

[0174] Typically, the AGV or roller line transports the solution barrel 12 via a pallet. There may be several solution barrels 12 on the pallet. When all 12 on the pallet have finished sucking the material, the unloading step can be performed.

[0175] After unloading is completed, the barrel solution fully automatic lid opening and suction machine switches to the waiting state, waiting for the next loading.

[0176] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. A fully automatic lid opening and suction machine for barreled solution, characterized in that: It comprises a motion unit (2) and a liquid suction unit; The liquid suction unit comprises a working liquid suction position (3) and a plurality of temporary storage positions (11) for liquid suction guns, wherein the working liquid suction position (3) is connected to the working end of the motion unit (2); The motion unit (2) drives the working liquid suction position (3) to a designated temporary storage position (11) for the liquid suction gun, thereby replacing the liquid suction gun (9) stored at the designated temporary storage position (11) for the liquid suction gun to be installed at the working liquid suction position (3). The motion unit (2) drives the working liquid suction position (3) to move to a designated solution barrel (12), and the liquid suction gun (9) at the working liquid suction position (3) absorbs the solution and discharges it into a storage container connected thereto. The working end of the motion unit (2) is also equipped with a cover opening assembly and an identification and positioning device (8), respectively, and the identification and positioning device (8) is used to identify the position of a designated solution barrel (12); The cover opening assembly comprises a first cover opening mechanism (5) and a second cover opening mechanism (6), wherein the second cover opening mechanism (6) opens a non-screw cover on a solution barrel (12), and the first cover opening mechanism (5) opens a screw cover on a solution barrel (12).

2. The fully automatic lid opening and suction machine for barreled solution according to claim 1, characterized in that: The motion unit (2) comprises a first motion component and a second motion component, the second motion component is connected to the working end of the first motion component, and the working liquid suction level (3), the cover opening component and the identification and positioning device (8) are all installed on the working end of the second motion component; The first moving component drives the second moving component to move linearly along the X-axis direction, thereby driving the working liquid suction level (3), the cover opening component and the identification and positioning device (8) to move linearly along the X-axis direction; The second motion component drives the working liquid suction level (3), the cover opening component and the identification and positioning device (8) to perform linear motion along the Y-axis direction.

3. The fully automatic lid opening and suction machine for barreled solution according to claim 1, characterized in that: The structure of the first cover opening mechanism (5) is as follows: it comprises a cover opening connection seat (507) connected to the working end of the motion unit (2); a first driving member (501) is fixed on the cover opening connection seat (507); an output end of the first driving member (501) is connected to a first mounting seat (502); a first cover opening motor (503) is fixed on the first mounting seat (502); an output end of the first cover opening motor (503) is connected to a first main shaft (504); and a first cover opening tool (506) is fixed to the end of the first main shaft (504); The first driving member (501) drives the first cover opening tool (506) to move linearly via the first mounting seat (502), so that the first cover opening tool (506) abuts against the screw cover of the solution barrel (12); The first cover-opening motor (503) drives the first cover-opening tool (506) to rotate via the first main shaft (504), thereby unscrewing the screw cap on the solution barrel (12).

4. The fully automatic lid opening and suction machine for barreled solution as claimed in claim 3, characterized in that: The first cover opening tool (506) comprises a screwing assembly and a first suction cup assembly, wherein the screwing assembly is used to screw off the screw cover on the solution barrel (12), and the first suction cup assembly is used to suck up the screw cover that has been screwed off.

5. The fully automatic lid opening and suction machine for barreled solution as claimed in claim 4, characterized in that: The screwing assembly comprises a first connecting shaft (5061) fixed to the end of a first main shaft (504); a screwing member (5064) is detachably mounted on the end of the first connecting shaft (5061); the screwing member (5064) corresponds to a cover opening groove on the screw cover, thereby being able to clamp the screw cover and drive the screw cover to rotate.

6. A fully automatic lid opening and suction machine for barreled solution as claimed in claim 5, characterized in that: The first suction cup assembly comprises a first suction cup (5062) fixed to the end of a first connecting shaft (5061), and a first vacuum generator (5065), wherein the output end of the first vacuum generator (5065) is connected to the input end of the first suction cup (5062), so that the first suction cup (5062) can suck up the screw cap that has been screwed off through negative pressure.

7. The fully automatic lid opening and suction machine for barreled solution as claimed in claim 6, characterized in that: The communication mode between the output end of the first vacuum generator (5065) and the input end of the first suction cup (5062) is: A first gas passage (5041) is provided inside the first main shaft (504); A first spindle box (505) is mounted on the outer circumferential surface of the first spindle (504); the first spindle box (505) is fixed to the bottom of the first mounting seat (502) and is used to support the first spindle (504) to rotate; A second gas passage (5051) is provided inside the first spindle box (505), and a pneumatic joint (5052) is installed on the outer wall surface of the first spindle box (505); A third gas passage (5063) is simultaneously opened inside the first connecting shaft (5061) and the first suction cup (5062); The first gas passage (5041) connects the second gas passage (5051) and the third gas passage (5063); One end of the pneumatic joint (5052) is connected to the second gas passage (5051), and the other end is connected to the output end of the first vacuum generator (5065) through an air pipe; The first vacuum generator (5065) generates negative pressure, which in turn passes through the pneumatic joint (5052), the second gas passage (5051), the first gas passage (5041) and the third gas passage (5063) so that the first suction cup (5062) generates negative pressure.

8. The fully automatic lid opening and suction machine for barreled solution according to claim 1, characterized in that: The second cover opening mechanism (6) comprises a second driving member (601) and a cover opening component connected to the output end of the second driving member (601); The cover opening assembly comprises a second cover opening motor (603), the output end of the second cover opening motor (603) is connected to a second main shaft (604), and the end of the second main shaft (604) is cooperatively mounted with a second cover opening tool (606); The second driving member (601) drives the cover opening assembly to move linearly, thereby causing the cover opening assembly to move to the solution barrel (12), and the second cover opening motor (603) drives the second cover opening tool (606) to rotate, thereby causing the second cover opening tool (606) to cut off the non-screw cover on the solution barrel (12).

9. The fully automatic lid opening and suction machine for barreled solution according to claim 6, characterized in that: The second cover opening tool (606) comprises a cover opening assembly and a second suction cup assembly, wherein the cover opening assembly is used to cut the non-screw cover, and the second suction cup assembly sucks up the cut non-screw cover.

10. The fully automatic lid opening and suction machine for barreled solution according to claim 9, characterized in that: The cover opening assembly includes a cutter head seat (60601), on which at least one cutter (60602) is mounted in cooperation with a size adjustment member, and the cutter (60602) is used to cut open a non-screw cover.

11. The fully automatic lid opening and suction machine for barreled solution according to claim 10, characterized in that: The size adjustment member is in the form of a mounting surface group. An array of mounting surface groups is arranged along the circumference on the outer wall surface of the tool head seat (60601). A single mounting surface group includes two mounting surfaces (60610) that are symmetrically distributed. The mounting surfaces (60610) are used to install the tool (60602), so that the second opening tool (606) can adapt to non-screw caps of different sizes.

12. The fully automatic lid opening and suction machine for barreled solution according to claim 10, characterized in that: The cutter head seat (60601) is provided with a cavity (60611) inside, a second connecting shaft (60606) is installed in the cavity (60611), a spring (60605) is installed between the top wall of the second connecting shaft (60606) and the inner wall of the cavity (60611), a universal ball bearing (60604) is fixed to the bottom wall of the second connecting shaft (60606), a limit plate (60603) is installed at the opening of the cavity (60611), and the limit plate (60603) limits the axial displacement of the second connecting shaft (60606); When the second cover opening tool (606) opens the cover, the spring (60605) provides downward pressure, so that the universal ball bearing (60604) presses the non-screw cover.

13. The fully automatic lid opening and suction machine for barreled solution according to claim 9, characterized in that: The second suction cup assembly comprises a suction cup driving member (60612), the output end of the suction cup driving member (60612) is connected to the second suction cup (60609), and the input end of the second suction cup (60609) is connected to the output end of the second vacuum generator (60608); The second vacuum generator (60608) drives the second suction cup (60609) to generate negative pressure, thereby sucking up the cut non-screw cap.

14. The fully automatic lid opening and suction machine for barreled solution according to claim 1, characterized in that: The structure of the working liquid suction position (3) is as follows: it comprises a driving device (301), the output end of the driving device (301) is connected to a first clamping component, and the first clamping component clamps the liquid suction gun (9); The driving device (301) drives the liquid suction gun (9) to move linearly via the clamping assembly, so that the end of the liquid suction gun (9) is immersed in the solution in the solution barrel (12), and the solution is then sucked by the liquid suction gun (9).

15. The fully automatic lid opening and suction machine for barreled solution according to claim 14, characterized in that: The first clamping assembly comprises a lifting connection plate (302) fixed to the output end of the driving device (301), and at least one first pneumatic clamp (303) is fixed on the end surface of the lifting connection plate (302), and the first pneumatic clamp (303) is used to clamp the outer wall of the liquid suction gun (9).

16. The fully automatic lid opening and suction machine for barreled solution according to claim 14, characterized in that: A second pneumatic clamp (304) and a liquid collection driving cylinder (306) are fixed to the bottom of the driving device (301), and the second pneumatic clamp (304) and the liquid collection driving cylinder (306) are arranged at intervals; The output end of the liquid collection driving cylinder (306) is connected to the first liquid collection box (305).

17. The fully automatic lid opening and suction machine for barreled solution according to claim 1, characterized in that: The temporary storage position (11) of the liquid suction gun comprises a mounting frame (1101), and a plurality of storage stations are arranged on the mounting frame (1101), and a single storage station comprises a first limiting assembly and a second limiting assembly arranged at intervals along the axial direction of the liquid suction gun (9), and the first limiting assembly clamps the outer side wall of the liquid suction gun (9), so that the liquid suction gun (9) is stored in the corresponding storage station; A plurality of second liquid collecting boxes (1102) are also mounted on the mounting frame (1101).

18. The fully automatic lid opening and suction machine for barreled solution according to claim 17, characterized in that: The first limiting assembly includes at least one third pneumatic clamp (1103), and the second limiting assembly includes a fourth pneumatic clamp (1104).

19. The fully automatic lid opening and suction machine for barreled solution according to claim 1, characterized in that: The structure of the liquid suction gun (9) is as follows: it comprises a cylindrical gun barrel (901) with a hollow interior, one end of the gun barrel (901) is fitted with a pipe joint (902), and the other end is fitted with a gun head (903), and a check valve is fitted on the pipe joint (902).

20. The fully automatic lid opening and suction machine for barreled solution according to claim 1, characterized in that: A cleaning device (10) is installed below the outer wall surface of the liquid suction gun (9), and the cleaning device (10) removes the solution attached to the outer wall surface of the liquid suction gun (9).

21. The fully automatic lid opening and suction machine for barreled solution according to claim 1, characterized in that: The cleaning device (10) has the following structure: it comprises a mounting plate (1001), a mounting ring (1002) fixed on the top of the mounting plate (1001), mounting holes (1003) are provided on the mounting ring (1002) and the mounting plate (1001), a plurality of annular mounting grooves (1004) are provided at intervals on the inner wall surface of the mounting hole (1003) corresponding to the mounting ring (1002), a sealing ring (1005) is installed in each mounting groove (1004), and the sealing ring (1005) is in close contact with the outer wall surface of the liquid suction gun (9), so as to remove the solution attached to the outer wall surface of the liquid suction gun (9).

22. The fully automatic lid opening and suction machine for barreled solution according to claim 1, characterized in that: The identification and positioning device (8) adopts an industrial camera.

23. A method for sucking materials using the fully automatic lid-opening sucking machine for barreled solution as claimed in claim 1, characterized in that: The steps include: S1. Loading, automatically loading by AGV or roller line, so that the solution barrel (12) is delivered to the place; S2. Scanning code, a two-dimensional code is provided on the solution barrel (12), and the identification and positioning device (8) is electrically connected to the control system. The control system reads the two-dimensional code on the solution barrel (12) through the identification and positioning device (8), thereby planning the action of the actuator; S3. Open the lid, the identification and positioning device (8) takes a photo, generates the position coordinates of the barrel lid, the motion unit (2) drives the lid opening component to reach the position coordinates, and the lid opening component removes the barrel lid; S4. Take the gun, the first pneumatic clamp (303) and the second pneumatic clamp (304) in the working liquid suction position (3) are opened at the same time, the motion unit (2) drives the working liquid suction position (3) to reach the grasping position of the liquid suction gun (9), and then the first pneumatic clamp (303) clamps the outer wall of the liquid suction gun (9), and the second pneumatic clamp (304) clamps the cleaning device (10), so that the working liquid suction position (3) stably grasps the corresponding liquid suction gun (9); S5. Suctioning, the motion unit (2) drives the suction gun (9) to the position directly above the suction port on the solution barrel (12) through the working suction position (3), and then the working suction position (3) drives the suction gun (9) to perform a downward linear motion in the vertical direction. After descending to a preset height, the suction gun (9) starts to suck liquid; As the liquid level of the solution in the solution barrel (12) decreases, the working liquid suction level (3) drives the liquid suction gun (9) to gradually decrease, thereby reducing the amount of solution attached to the outer wall of the liquid suction gun (9); S6. Cleaning the outer wall. After the liquid suction gun (9) completes the liquid suction, the working liquid suction position (3) drives the liquid suction gun (9) to make an upward linear motion in the vertical direction, and the cleaning device (10) removes the solution attached to the outer wall of the liquid suction gun (9); S7. Waste liquid collection: after the working liquid suction level (3) drives the liquid suction gun (9) to rise to the initial position, the liquid collection driving cylinder (306) of the working liquid suction level (3) extends, driving the first liquid collection box (305) of the working liquid suction level (3) to extend, thereby collecting the residual solution in the liquid suction gun (9); S8. Return the gun, the motion unit (2) drives the working liquid suction position (3) to the gun removal position, and then the first pneumatic clamp (303) and the second pneumatic clamp (304) in the working liquid suction position (3) are opened at the same time, so that the working liquid suction position (3) releases the liquid suction gun (9) and the cleaning device (10), and the gun is returned. The motion unit (2) returns to its original position and waits for the next material suction signal; S9. Unloading: the solution barrel (12) is removed by AGV or roller line to complete unloading.

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