Automatic bottle washing machine and control method

Abstract

The present application relates to the technical field of cleaning equipment, and in particular to an automatic bottle washing machine and a control method. The automatic bottle washing machine comprises a manipulator for transferring a container bottle and a cleaning rack; a liquid pouring assembly for receiving the container bottle and automatically inverting the container bottle to pour out residual liquid in the container bottle; the cleaning rack for carrying the inverted container bottle; a cleaning bin comprising a bin and an openable and closable door, the bin being used for accommodating the cleaning rack with the container bottle placed thereon; a spraying assembly cooperating with the cleaning bin and used for spraying and cleaning the container bottle on the cleaning rack in the bin in multiple directions; a drying assembly used for conveying hot air into the bin to dry the cleaned container bottle; and a control system signal connected with the liquid pouring assembly, the manipulator, the cleaning bin, the spraying assembly and the drying assembly respectively, and used for controlling the manipulator, the liquid pouring assembly, the cleaning bin, the spraying assembly and the drying assembly to perform liquid pouring, rack loading, bin entering, cleaning, drying and taking-out actions.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, specifically to an automatic bottle washing machine and control method for automatically cleaning containers such as bottles and centrifuge tubes. Background Technology

[0002] In laboratories and production workshops in the pharmaceutical, chemical, and bioengineering fields, slender containers such as bottles and centrifuge tubes are frequently used. After use, these containers often contain residual liquids such as chemical reagents, biological samples, or cleaning solutions. Before entering the cleaning equipment for standardized cleaning, the residual liquids must be emptied, and the containers must be placed upside down on a dedicated cleaning rack so that the subsequent spray nozzles can reach into the container from the bottom up for effective rinsing.

[0003] Currently, the aforementioned liquid pouring and inverting racking processes are almost entirely done manually. Operators must hold each container individually, move it above the waste liquid collection container, manually tilt or invert it to pour out the liquid, and then insert the emptied containers one by one into the mounting holes of the cleaning rack. The drawbacks of this manual method are particularly pronounced when dealing with large quantities of containers. First, the repetitive holding, pouring, and inserting actions consume a significant amount of time and energy for researchers, causing substantial fatigue and severely distracting them from their core research or production work. Second, manual liquid pouring requires high operational stability. When rapidly processing large numbers of containers, wrist tremors, uneven force, or lack of concentration can easily lead to inaccurate liquid pouring into the collection container, with some liquid splashing onto the workbench or floor. This not only increases subsequent cleaning workload but, if the splashed liquid is corrosive, toxic, or biohazardous, can pose a direct threat to the operator's safety and create a risk of cross-contamination of the experimental environment. In addition, manually inserting the containers upside down into the cleaning rack is also time-consuming and labor-intensive, and it is difficult to ensure that each container is installed in the correct upside-down position.

[0004] While some automated cleaning equipment has emerged in the existing technology, its improvements are mostly focused on the spray structure, water circulation system or drying components inside the cleaning chamber. There is still a lack of effective automated solutions for the container emptying and inverting racking processes at the front end of the cleaning process. Summary of the Invention

[0005] The main objective of this invention is to provide an automatic bottle washing machine that can automatically complete the processes of pouring liquid from containers, mounting them on racks, placing them in a storage bin, washing them, drying them, and removing them, thereby reducing manual operation and improving washing efficiency and reliability.

[0006] To achieve the above objectives, the present invention provides an automatic bottle washing machine, comprising: a robotic arm for transferring container bottles and washing racks; a liquid pouring assembly for receiving container bottles and automatically inverting them to pour out residual liquid; a washing rack for supporting the inverted container bottles; a washing chamber including a machine compartment and an openable and closable door, the machine compartment for accommodating the washing racks containing container bottles; a spraying assembly cooperating with the washing chamber for multi-directional spraying cleaning of the container bottles on the washing racks within the machine compartment; a drying assembly for supplying hot air into the machine compartment to dry the cleaned container bottles; and a control system connected to the liquid pouring assembly, the robotic arm, the washing chamber, the spraying assembly, and the drying assembly, respectively, for controlling the robotic arm, the liquid pouring assembly, the washing chamber, the spraying assembly, and the drying assembly to perform liquid pouring, racking, hopper placement, cleaning, drying, and removal actions.

[0007] Furthermore, the liquid pouring assembly includes a housing, a clamping actuator, a tilting drive assembly, and a collection container bottle. The housing has a dispensing port at its top; the clamping actuator is located inside the housing and is used to clamp or release the container bottle entering the housing; the tilting drive assembly is connected to the clamping actuator and is used to drive the clamping actuator to tilt, thus inverting the clamped container bottle; the collection container bottle is located at the bottom inside the housing and is used to collect the poured liquid. The tilting drive assembly includes a rotating support and a power source; the clamping actuator is connected to the rotating support and rotates synchronously with it; the housing has a mounting port on its side; the rotating support includes a turntable that covers the mounting port and can rotate; the clamping actuator is fixed to the outside of the turntable; the tilting drive assembly also includes a rotating shaft coaxially fixed to the turntable, and the rotating shaft is connected to the power source through a transmission mechanism.

[0008] Furthermore, a flow guide seat is provided inside the outer casing below the clamping execution end. The upper surface of the flow guide seat is an inclined slope, and the inlet end of the collection container bottle is located on the lower side of the slope. The collection container bottle includes a first collection box with an upper opening, a second collection box with a side opening, and an inclined partition. The side opening of the second collection box is connected to the upper opening of the first collection box, and the lower end of the partition leads to the second collection box to separate the waste liquid from the magnetic particle.

[0009] Furthermore, the liquid discharge assembly also includes an internal cleaning component for cleaning the interior of the housing. The internal cleaning component includes a pipe fitting, an inlet pipe, and a baffle plate. One end of the pipe fitting has an inlet, and the other end has an outlet; the inlet pipe is connected to the inlet. An opening is provided on the side of the housing near the higher part of the slope; the pipe fitting is positioned at the opening, and the outlet extends into the housing through the opening. The baffle plate is located on the inner wall of the housing to guide the water flowing from the outlet to the slope of the guide seat. The discharge port of the housing also has an openable and closable sealing cap and an opening / closing drive mechanism that moves the sealing cap between the open and closed positions.

[0010] Furthermore, the spray assembly includes a water collection chamber, a circulating water pump, and a first water inlet module. The water collection chamber is connected to the water outlet at the bottom of the machine compartment and is used to store water discharged from the machine compartment. The input end of the circulating water pump is connected to the water collection chamber and is used to pump the water in the water collection chamber to the first water inlet module. The first water inlet module is used to supply water to the inner wall of the machine compartment and / or the cleaning rack, and the water sprays the inner wall of the container bottle after flowing through the cleaning rack. The first water inlet module includes a first water inlet and a first water inlet pipe. The first water inlet is opened on the inner wall of the machine compartment, one end of the first water inlet pipe is connected to the first water inlet, and the other end is connected to the output end of the circulating water pump. There are multiple first water inlets, which are distributed around the inner wall of the machine compartment, and each first water inlet is connected to the first water inlet pipe through a branch pipe.

[0011] Furthermore, the spray assembly also includes a second water inlet module. The circulating water pump is also used to pump water from the water collection chamber to the second water inlet module; the second water inlet module is located at the bottom of the machine compartment and is used to supply water from bottom to top into the machine compartment for spraying the bottom of the outer wall of the container bottle. The second water inlet module includes a lower swing arm and a second water inlet pipe; the lower swing arm is horizontally rotatably mounted inside the machine compartment, and has a first water inlet chamber inside, with multiple first water outlets opened along its length at its top, and a second water inlet connected to the first water inlet chamber at its bottom; one end of the second water inlet pipe is rotatably connected to the second water inlet, and the other end passes through the machine compartment and is connected to the output end of the circulating water pump; the bottom of the lower swing arm is rotatably connected to the bottom of the machine compartment via a first rotating seat, the first rotating seat being a hollow structure, with its top connected to the second water inlet and its bottom connected to the second water inlet pipe.

[0012] Furthermore, the spray assembly also includes a third water inlet module. The circulating water pump is also used to pump water from the collection chamber to the third water inlet module; the third water inlet module is located on the machine door and is used to supply water from top to bottom into the machine compartment, with its outlet direction facing inwards to spray the top of the outer wall of the container bottle. The third water inlet module includes a third water inlet pipe, a second rotating seat, and an upper swing arm; one end of the third water inlet pipe is connected to the output end of the circulating water pump, and the other end passes through and extends into the machine door; the second rotating seat is located on the machine door, and one end of it passes through the machine door and is connected to the third water inlet pipe; the upper swing arm is horizontally rotatably located inside the machine compartment, and its interior has a second water inlet chamber, with multiple second water outlets opened along its length at its bottom, and a third water inlet connected to the second water inlet chamber at its top or side end; the third water inlet of the upper swing arm is connected to the second rotating seat.

[0013] Furthermore, the drying assembly includes a fan and a heating chamber. The fan outlet is connected to the inlet of the heating chamber via a first outlet pipe, and the outlet of the heating chamber leads to the machine compartment via a second outlet pipe. The output of the circulating water pump is connected to a main pipeline, which is connected to the first, second, and third water inlet modules respectively. The second outlet pipe is connected to the main pipeline, and an electric ball valve is installed on the second outlet pipe to control its on / off state.

[0014] Furthermore, a gas vent is provided on the side wall of the nacelle, and a waterproof cover is installed at the gas vent. The cleaning chamber also includes a condensation component for spraying and cooling the high-temperature steam discharged from the nacelle.

[0015] On the other hand, a control method for an automatic bottle washing machine is also provided, the control method including the following steps: S1. Liquid Pouring Step: The robotic arm places the container bottle into the liquid pouring assembly. The clamping actuator of the liquid pouring assembly clamps the container bottle. The flipping drive assembly drives the clamping actuator to flip, causing the container bottle to invert and pour out the liquid inside. The liquid flows through the guide seat to the collection container bottle. The magnetic particles inside the container bottle are separated by the screen and sent to the second collection box. Then the flipping drive assembly resets, and the robotic arm removes the inverted container bottle. S2. Loading steps: The robotic arm inserts the inverted container directly into the cleaning rack, so that the container is inverted on the cleaning rack. Repeat the above action until the cleaning rack is full. S3. Entering the chamber: The robotic arm holds the cleaning rack and places the cleaning rack filled with containers into the machine compartment of the cleaning chamber, and aligns the water inlet tray of the cleaning rack with the first water inlet on the side wall of the machine compartment; repeat the placement until the cleaning rack is placed in the machine compartment, and then close the machine door. S4. Cleaning Steps: The spray assembly is activated, and the circulating water pump sends water from the collection chamber to the first, second, and third water inlet modules. The first water inlet module sprays the inner wall of the container bottle through the cleaning rack and spray pipe. The lower swing arm of the second water inlet module sprays the bottom of the outer wall of the container bottle from bottom to top. The upper swing arm of the third water inlet module sprays the top of the outer wall of the container bottle from top to bottom. The cleaned water flows back to the collection chamber through the outlet for recycling. After multiple rounds of cleaning and rinsing, the wastewater is discharged. S5. Drying steps: The circulating water pump stops, the electric ball valve on the second air outlet pipe is opened, the fan and heating box are started, and the hot air enters the machine chamber through the main pipe, the first water inlet module, the second water inlet module and the third water inlet module, and is dried on the inner and outer walls of the container bottle by the washing rack and the swing arm. S6. Removal Steps: After drying is complete, open the machine door, the robotic arm grips the cleaning rack and removes it from the machine compartment, and then unloads the containers on the cleaning rack onto the finished product tray.

[0016] Compared with the prior art, the beneficial effects of the present invention include: through the coordinated operation of the robotic arm, liquid pouring assembly, cleaning rack, cleaning chamber, spraying assembly, drying assembly, and control system, the container bottle is automatically processed from liquid pouring, racking, chambering, cleaning, rinsing, drying to removal; the liquid pouring assembly can automatically flip the container bottle and separate the waste liquid from the magnetic strip; the cleaning rack can limit the lower end of the container bottle to suppress radial shaking during high-pressure spraying; the spraying assembly forms multi-directional three-dimensional cleaning from the inside out and from the bottom up; the drying assembly and the spraying assembly share some pipelines, resulting in a compact structure; and the condensation assembly can cool and condense high-temperature steam, improving safety. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of the automatic bottle washing machine of the present invention; Figure 2 This is a schematic diagram of the liquid pouring assembly of the present invention; Figure 3 This is a schematic diagram of the internal structure of the liquid pouring component of the present invention; Figure 4 This is a schematic diagram of the cleaning rack of the present invention; Figure 5 This is a schematic diagram of the internal structure of the cleaning rack of the present invention; Figure 6 This is a schematic diagram of the internal structure of the cleaning chamber of the present invention; Figure 7 This is a schematic diagram showing the position and structure of the spray assembly, drying assembly, and condensation assembly of the present invention; Figure 8 This is a schematic diagram showing the position and structure of the spray assembly, drying assembly, and condensation assembly of the present invention; Figure 9 This is a schematic diagram of the structure of the first water inlet module of the spray assembly of the present invention; Figure 10 This is a schematic diagram of the structure of the second water inlet module of the spray assembly of the present invention; Figure 11 This is a schematic diagram of the structure of the third water inlet module of the spray assembly of the present invention.

[0019] Explanation of reference numerals in the attached figures: A. Container bottle; B. Magnetic magnet; 1. Robotic arm; 11. Composite gripper; 111. Gripper base; 112. First gripping unit; 113. Second gripping unit; 2. Liquid pouring assembly; 21. Outer shell; 211. Dispensing port; 212. Sealing cap; 213. Opening and closing drive mechanism; 2131. Mounting base; 2132. Linear module; 2133. First connecting plate; 2134. Inductive switch; 2135. Inductive plate; 22. Clamping actuator; 221. Pneumatic gripper body; 222. Claw; 23. Tilting drive assembly; 231. Rotary support; 232. Power source; 24. Collection container; 241. First collection box; 242. Second collection box; 243. Partition screen; 244. Drain port; 245. Magnetic discharge port; 25. Internal cleaning component; 251. Pipe connector mounting component; 252. Water inlet pipe; 253. Water baffle; 26. Flow guide seat; 3. Cleaning rack; 31. Base; 311. Base plate; 312. First side plate; 313. Second side plate; 314. Square groove; 32. Lower limiting plate; 321. Mounting hole; 33. Upper limiting plate; 34. Connecting rod; 35. Main water inlet pipe; 351. Water inlet tray; 36. Branch pipe; 361. Water outlet; 362. End; 37. Spray pipe; 38. Limiting component; 39. Handle structure; 4. Cleaning chamber; 41. Machine compartment; 411. Shelf; 412. Water inlet; 413. Detergent dispensing port; 414. Gas vent; 416. Water outlet; 42. Machine door; 5. Spray assembly; 51. Water collection chamber; 52. Circulating water pump; 53. First water inlet module; 531. First water inlet; 532. First water inlet pipe; 533. Diverter pipe; 54. Second water inlet module; 541. Lower swing arm; 5411. First water inlet chamber; 5412. First water outlet; 5413. Second water inlet; 542. Second water inlet pipe; 543. First rotating seat; 55. Third water inlet module; 551. Third water inlet pipe; 552. Second rotating seat; 553. Upper swing arm; 5531. Second water outlet; 56. Heating pipe; 6. Drying assembly; 61. Fan; 62. Heating chamber; 63. First air outlet pipe; 64. Second air outlet pipe; 65. Electric ball valve; 7. Condensation assembly. Detailed Implementation

[0020] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely a part of the embodiments of this application, and not all of the embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0021] It should be noted that, as shown in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, and these steps and elements do not constitute an exclusive list; the method or apparatus may also include other steps or elements.

[0022] If the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0023] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0024] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0025] The automatic bottle washing machine of the present invention will be described in detail below through several embodiments.

[0026] Example 1:

[0027] like Figures 1-11 As shown in the figure, this embodiment proposes an automatic bottle washing machine, including a robotic arm 1, a liquid pouring assembly 2, a washing rack 3, a washing chamber 4, a spraying assembly 5, a drying assembly 6, and a control system.

[0028] Robotic arm 1 is used to transfer container bottle A and cleaning rack 3. Robotic arm 1 may have multiple articulation points, enabling multi-dimensional movement. A composite gripper 11 is provided at the end effector of robotic arm 1. The composite gripper 11 integrates both container bottle A gripping and cleaning rack 3 gripping functions, eliminating the need to change the end effector between gripping container bottle A and gripping cleaning rack 3. Specifically, the composite gripper 11 includes two gripper bases 111 that can open and close relative to each other. A first gripping unit 112 and a second gripping unit 113 are provided on the gripper bases 111. The first gripping unit 112 is used to grip the grasping part on the cleaning rack 3. The second gripping unit 113 is used to grip container bottle A. The gripper bases 111 can be driven by a pneumatic drive unit to open and close relative to each other. Through the aforementioned composite gripper 11, robotic arm 1 can handle both the cleaning rack 3 and the container bottle without changing the end effector, reducing gripper changing time and improving operational efficiency.

[0029] The liquid pouring assembly 2 is used to receive the container bottle and automatically flip and invert it to pour out the residual liquid inside the container bottle.

[0030] The cleaning rack 3 is used to support inverted containers. The cleaning rack 3 has a gripping part for the composite gripper 11 to hold the container and a mounting hole 321 for inserting the container inverted. The cleaning rack 3 is also provided with a spray pipe 37 and a limiting member 38. The spray pipe 37 can extend into the container to spray, and the limiting member 38 can limit the lower end of the container to suppress radial shaking of the container during spraying.

[0031] The cleaning chamber 4 includes a machine compartment 41 and an openable and closable door 42. The machine compartment 41 is used to accommodate the cleaning rack 3 containing containers. The machine compartment 41 may be a box-type structure with a cleaning chamber inside. The door 42 is located at the top of the machine compartment 41 and is used to open or close the inlet 211 of the machine compartment 41. A shelf 411 may be installed inside the machine compartment 41 to position and support the cleaning rack 3 placed inside the machine compartment 41. A water inlet 412, a detergent inlet 413, a first water inlet 531, and a gas outlet 414 may be provided on the side wall of the machine compartment 41, and a water outlet 416 may be provided at the bottom of the machine compartment 41. When the cleaning rack 3 is placed on the shelf 411, the water inlet tray on the cleaning rack 3 can connect with the first water inlet 531 on the side wall of the machine compartment 41 to form a water passage.

[0032] The spray assembly 5 works in conjunction with the cleaning chamber 4 to perform multi-directional spray cleaning on the containers on the cleaning rack 3 inside the machine compartment 41.

[0033] The drying assembly 6 is used to deliver hot air into the chamber 41 to dry the cleaned containers.

[0034] The control system is connected to the liquid pouring assembly 2, the robotic arm 1, the cleaning chamber 4, the spraying assembly 5, and the drying assembly 6 via signal connections. It controls these components to perform actions such as liquid pouring, racking, hopper placement, cleaning, drying, and retrieval. The control system may include a controller, a touchscreen, sensors, motor drivers, and pneumatic control valves. The controller can be configured as a PLC or industrial computer, coordinating the movements of the robotic arm 1, liquid pouring assembly 2, cleaning chamber 4, spraying assembly 5, and drying assembly 6 based on preset programs and sensor signals.

[0035] The workflow of this embodiment is as follows: Robotic arm 1 places the container to be cleaned into the liquid-pouring assembly 2, which automatically inverts the container to pour out the liquid. Then, robotic arm 1 removes the inverted container and places it directly onto the cleaning rack 3. This process is repeated until the cleaning rack 3 is full. Robotic arm 1 then picks up the cleaning rack 3 and places it into the machine compartment 41 of the cleaning chamber 4. Once the machine compartment 41 is full of cleaning racks 3, the machine door 42 is closed. The spray assembly 5 begins operation, spraying the container on the cleaning rack 3 in multiple directions. After cleaning, the drying assembly 6 delivers hot air into the machine compartment 41 for drying. Finally, the machine door 42 is opened, robotic arm 1 removes the cleaning rack 3, and unloads the cleaned container onto the finished product tray. The entire process requires no change of end-effectors, resulting in a high degree of automation and high cleaning efficiency.

[0036] Example 2:

[0037] This embodiment, based on Embodiment 1, details the specific structure of the liquid pouring component 2.

[0038] like Figure 2 and Figure 3 As shown, the liquid pouring assembly 2 includes a housing 21, a clamping actuator 22, a flipping drive assembly 23, a collection container bottle 24, and an internal cleaning component 25.

[0039] The top of the outer casing 21 has a dispensing port 211 for the container bottle to enter and exit. The dispensing port 211 is also equipped with an openable and closable sealing cap 212 and an opening / closing drive mechanism 213 that drives the sealing cap 212 to move between an open and closed position. The opening / closing drive mechanism 213 may include a mounting base 2131, a linear module 2132, a first connecting plate 2133, an inductive switch 2134, and an inductive plate 2135. The mounting base 2131 is fixed to the side wall of the outer casing 21, and the linear module 2132 is mounted on the mounting base 2131. The slider of the linear module 2132 is rigidly connected to the sealing cap 212 through the first connecting plate 2133. When the linear module 2132 is activated, the slider drives the sealing cap 212 to move linearly along the plane of the dispensing port 211, causing the sealing cap 212 to move from a closed position that completely covers the dispensing port 211 to an open position that completely avoids the dispensing port 211, and vice versa. Induction switches 2134 can be installed at both ends of the mounting base 2131, and induction plates 2135 are correspondingly installed on the first connecting plate 2133 to detect the open and closed positions of the sealing cover 212. The sealing cover 212 can separate the interior of the outer casing 21 from the external environment during liquid pouring, reducing liquid splashing and volatile gas diffusion.

[0040] The clamping actuator 22 is disposed within the housing 21 and is used to clamp or release container bottles that have entered the housing 21. In this embodiment, the clamping actuator 22 is a pneumatic gripper, which includes a gripper body 221 and at least two claw portions 222 driven by the gripper body 221, the claw portions 222 extending into the housing 21. When compressed air is supplied, the claw portions 222 close to clamp the container bottle; when the air supply is cut off or reversed, the claw portions 222 open to release the container bottle. The pneumatic gripper responds quickly and has a stable clamping force, making it suitable for rapid and reliable pick-and-place operations in laboratory automation equipment.

[0041] The flipping drive assembly 23 is connected to the clamping actuator 22 for driving the clamping actuator 22 to flip, thereby inverting the clamped container bottle. The flipping drive assembly 23 includes a rotating support 231 and a power source 232. The clamping actuator 22 is connected to the rotating support 231 and rotates synchronously with it. A mounting port is provided on the side of the housing 21. The rotating support 231 includes a turntable that covers the mounting port and is rotatable. The clamping actuator 22 is fixed to the outside of the turntable, and its actuating portion extends into the housing 21. The flipping drive assembly 23 also includes a rotating shaft coaxially fixed to the turntable, which is connected to the power source 232 via a transmission mechanism. The rotating shaft can be supported by a bearing housing. The transmission mechanism can be a synchronous belt pulley mechanism, including a first synchronous pulley fixed to the rotating shaft, a second synchronous pulley disposed on the output shaft of the power source 232, and a transmission belt connecting the two. The power source 232 is a motor, preferably a stepper motor or a servo motor, which can precisely control the rotation angle and speed. The rotation of the motor drives the second synchronous pulley, the transmission belt, the first synchronous pulley, and the rotating shaft to rotate, thereby realizing the flipping motion of the turntable and the clamping actuator 22. The turntable, as the rotating support component 231, has a stable structure and can effectively seal the mounting opening; the synchronous belt drive combined with motor control can achieve precise control of the flipping angle and speed of the clamping actuator 22, ensuring a smooth and thorough liquid pouring action.

[0042] A collection container bottle 24 is located at the bottom inside the outer casing 21 to collect poured liquid. Inside the outer casing 21, a flow guide seat 26 is located below the clamping actuator end 22. The upper surface of the flow guide seat 26 is an inclined slope, and the inlet end of the collection container bottle 24 is located on the lower side of the slope. The liquid poured from the experimental apparatus flows through the inclined surface of the flow guide seat 26 to the collection container bottle 24. The collection container bottle 24 includes a first collection box 241 with an upper opening, a second collection box 242 with a side opening, and an inclined mesh 243. The side opening of the second collection box 242 communicates with the upper opening of the first collection box 241, and the lower end of the mesh 243 leads to the second collection box 242 to separate the waste liquid from the magnetic particle B. Specifically, the first collection box 241 is used to collect the waste liquid, the second collection box 242 is used to collect the magnetic particle B, and the mesh 243 is used to separate the magnetic particle B from the waste liquid. After the waste liquid containing magnetic particle B is poured out of the container, magnetic particle B and the waste liquid pass through a mesh 243. The waste liquid leaks through the mesh 243 and flows into the first collection box 241, while magnetic particle B rolls on the mesh 243 and finally enters the second collection box 242, thus completing solid-liquid separation and eliminating the need for manual sorting of magnetic particle B. A drain port 244 can be provided at the bottom of the first collection box 241 to discharge the waste liquid into a waste liquid bucket; a magnetic particle discharge port 245 can be provided at the bottom of the second collection box 242 to discharge and collect magnetic particles B.

[0043] The internal cleaning component 25 is used to clean the inside of the outer casing 21 to prevent contaminants from remaining inside. The internal cleaning component 25 includes a pipe fitting 251, a water inlet pipe 252, and a baffle plate 253. One end of the pipe fitting 251 has a water inlet, and the other end has a water outlet; the water inlet pipe 252 is connected to the water inlet. An opening is provided on the side of the outer casing 21 near the higher part of the slope. The pipe fitting 251 is positioned at the opening, and the water outlet extends into the outer casing 21 through the opening. External water or liquid containing cleaning solution is introduced into the pipe fitting 251 through the water inlet pipe 252, then discharged from the water outlet of the pipe fitting 251, and subsequently enters the outer casing 21 to rinse the areas inside the outer casing 21 that have been irrigated by the liquid from the experimental vessel.

[0044] A baffle plate 253 is disposed on the inner wall of the outer casing 21 to guide the water flowing out of the outlet to the inclined surface of the guide seat 26. The higher side of the guide seat 26 is positioned close to the inner wall of the outer casing 21. The baffle plate 253 includes a rear plate, left and right side plates, and a top plate. The left and right side plates are respectively disposed on the left and right sides of the rear plate and connected to the inner wall of the outer casing 21; the top plate is disposed on the top of the rear plate and connected to the inner wall of the outer casing 21; the rear plate faces the outlet. When the experimental vessel is poured, the liquid inside will flow directly onto the guide seat 26. The liquid discharged from the pipe fitting 251 into the outer casing 21 is easily rushed forward under water pressure, making it difficult to effectively rinse the guide seat 26. By setting up the baffle plate 253, the liquid discharged from the outlet of the pipe joint mounting part 251 directly rushes towards the rear plate. Blocked by the rear plate and limited by the left and right side plates and the top plate, it can only flow downwards to the upper surface of the guide seat 26, rinsing the upper surface of the guide seat 26. Then, under the action of gravity, it flows from top to bottom until the entire guide seat 26 is cleaned. It then flows to the partition 243 and finally enters the first collection box 241, cleaning the first collection box 241, and is discharged from the drain port 244. After rinsing for a certain period of time, the internal cleaning part 25 is closed, ending the cleaning process.

[0045] In this embodiment, initially, the sealing cap 212 is open, and the claws 222 of the clamping actuator 22 are in an open state. During the placement stage, the robotic arm 1 holds a container bottle to be poured, extends it into the housing 21 through the inlet 211, and places the bottle body between the two claws 222. The clamping actuator 22 actuates, and the claws 222 close and stably clamp the bottle. During the pouring and separation stage, the motor of the flipping drive assembly 23 starts to run, driving the turntable to rotate slowly through the synchronous belt mechanism. The clamping actuator 22 holding the bottle flips together with the turntable, and the bottle opening gradually changes from an upward posture to a tilted downward posture or even a vertical downward posture. The waste liquid and any magnetic particles that may be present in the bottle flow to the mesh 243 under the action of gravity, and then the waste liquid flows from the holes in the mesh 243 to the first collection box 241, while the magnetic particles roll on the mesh 243 and finally enter the second collection box 242. During the reset and opening phase, after maintaining the liquid-pouring posture for a certain period to ensure complete emptying, the motor reverses, and the container bottle flips back to its initial vertical or slightly tilted posture along with the gripping claws. During the retrieval phase, the claws 222 of the gripping actuator 22 open, releasing the emptied container bottle. The external robotic arm 1 extends to remove the container bottle and transfers it to the cleaning rack 3 for the next cleaning process. During the sealing phase, after all the liquid in the container bottle has been poured out, the linear module 2132 of the opening / closing drive mechanism 213 is activated, causing the sealing cap 212 to move horizontally and close the dispensing port 211. During the cleaning phase, after the day's liquid-pouring of experimental equipment is completed, clean water or cleaning solution is introduced into the outer shell 21 to clean the chamber inside the outer shell 21 and the first collection box 241 until they are clean for the next use.

[0046] This embodiment automates the entire process of clamping, flipping, and pouring liquid from experimental vessels by using the clamping actuator 22 and the flipping drive assembly 23. This completely replaces manual operation and significantly reduces the workload of laboratory personnel. The entire pouring action is completed within the relatively enclosed space of the outer shell 21. Combined with the sealing cap 212, this effectively prevents liquid splashing and the diffusion of volatile gases, improving the safety and cleanliness of the operating environment. The integrated collection container bottle 24 enables centralized collection and discharge of waste liquid, and the waste liquid is separated from the magnetic particles by the mesh 243. The internal cleaning component 25 cleans the internal chamber of the outer shell 21 to prevent liquid residue.

[0047] Example 3:

[0048] This embodiment, based on Embodiment 1, details the specific structure of the cleaning rack 3.

[0049] like Figure 4 and Figure 5 As shown, the cleaning rack 3 includes a base 31, a lower limiting plate 32, an upper limiting plate 33, a connecting rod 34, a main water inlet pipe 35, multiple branch pipes 36, a spray pipe 37, a limiting component 38, and a handle structure 39.

[0050] The base 31 serves as a support, comprising a base plate 311 and a first side plate 312 and a second side plate 313 respectively connected to both sides of the base plate 311, thus forming a U-shaped cross-section. The base plate 311 has drainage holes for the discharge of liquid after cleaning; preferably, these drainage holes are multiple square grooves 314 arranged longitudinally and transversely. The use of square grooves 314 provides a large surface area for rapid liquid drainage, while the retention of grid-like reinforcing plates ensures sufficient structural strength of the base plate 311, preventing deformation under repeated handling and water flow impacts.

[0051] Above the base 31, a lower limiting plate 32 and an upper limiting plate 33 are spaced apart vertically. Multiple connecting rods 34 have their lower ends fixed to the base 31, and their bodies pass through and fix the lower limiting plate 32 and the upper limiting plate 33 sequentially, thus ensuring the two limiting plates are stably supported above the base 31. Multiple connecting rods 34 are arranged spaced apart circumferentially. The lower limiting plate 32 has several mounting holes 321, and the upper limiting plate 33 has the same number of mounting holes 321, with the vertically aligned mounting holes 321 aligned coaxially. Thus, when a slender container is inserted from top to bottom, the two holes together provide two-point radial restraint along the height direction, keeping the container in a substantially vertical position.

[0052] The main water inlet pipe 35 is the main water flow path for the entire cleaning rack 3. It is horizontally positioned in the central area of ​​the base 31, specifically in the central space between the first side plate 312 and the second side plate 313. The main water inlet pipe 35 has an open end for water inlet and a closed end, forcing water to flow only to the branch pipes connected to it. A water inlet tray 351 is installed at the open end. The water inlet tray 351 has a flange or quick-connect structure for quick sealing and connection with the first water inlet 531 on the cleaning chamber 4, simplifying the pipeline connection operation.

[0053] Multiple branch pipes 36 are vertically connected to both sides of the main inlet pipe 35, and their interiors are completely connected to the main inlet pipe 35. These branch pipes 36 are arranged sequentially along the length of the main inlet pipe 35, forming a comb-shaped water distribution pipeline that extends to both sides. The end 362 of each branch pipe 36 away from the main inlet pipe 35 is fixed to the first side plate 312 or the second side plate 313 respectively. With this structure, the main inlet pipe 35 does not require additional support, but is stably supported in the center of the base 31 by means of the branch pipes 36 on both sides, so that the water distribution flow frame is integrated with the frame of the base 31, resulting in a compact and stable structure with stronger resistance to external impact and avoiding the vibration risk caused by the pipeline being suspended.

[0054] Each branch pipe 36 has an outlet 361 on its upper surface, and the number and position of the outlets 361 correspond one-to-one with the positions of the mounting holes 321 on the limiting plate. A vertically arranged spray pipe 37 is sealed and installed on the outlet 361. The upper end of the spray pipe 37 is the water outlet end, and its outer diameter is smaller than the inner diameter of the container bottle to be cleaned, so it can extend into the container bottle to spray.

[0055] The limiting member 38 is a component that suppresses the shaking of the container bottle. It is located on the upper surface of the branch pipe 36 and fits around the root of the spray pipe 37. The limiting member 38 includes a central sleeve and four support arms that extend evenly outward from the central sleeve, thus forming a cross-shaped structure. The central sleeve fits around the spray pipe 37 and can be tightly fitted or snapped into place; the upper end faces of the support arms form multiple support points on the same plane. When the container bottle is inserted upside down with its opening facing down, it wraps around the support arms, which provide multi-point constraint to the lower end of the container bottle in the radial direction, significantly reducing the gap that the lower end of the container bottle can swing freely. The evenly distributed support arms in the circumferential direction provide a symmetrical and balanced limiting force to the lower end of the container bottle, avoiding the sway that may occur with single-point support, ensuring that the axis of the container bottle and the axis of the spray pipe 37 remain highly coaxial, thereby allowing the rinsing water to evenly cover the inner wall and further improving the uniformity of cleaning.

[0056] The handle structure 39 includes a vertically arranged column located in the central area of ​​the upper and lower limiting plates 32 and 33. Its lower end passes through the central holes of the upper limiting plate 33 and the lower limiting plate 32, and is fixedly connected to the upper surface of the main water inlet pipe 35. The top of the column has a head with a larger radial dimension, which can be firmly gripped by a robotic claw. Because the column is located in the central area of ​​the overall structure, the center of gravity is centered when lifting the cleaning rack 3, facilitating stable gripping, transfer, and placement by the robotic claw. This handle structure 39 allows the cleaning rack 3 to be seamlessly integrated into the automated cleaning production process, ensuring high operational safety and efficiency, and the centered center of gravity prevents tilting during lifting and the overturning of containers.

[0057] Before the cleaning process begins, the robot arm 1 picks up the empty container bottle and transfers it to the top of the cleaning rack 3. It is then lowered, passing through the mounting holes 321 of the upper and lower limiting plates 33 and 321 respectively, until the open edge of the container bottle is firmly against the branch pipe 36. At this point, the spray pipe 37 is fully inserted into the container bottle, which is radially limited by the upper and lower limiting plates 33 and 32, while its lower end is held by the limiting component 38, ensuring the entire container bottle is vertically stable. Next, the robot gripper holds the top of the column and smoothly lowers the entire cleaning rack 3, fully loaded with containers, into the cleaning chamber 4. The water outlet in the cleaning chamber 4 automatically aligns and seals with the water inlet tray 351 at the opening of the main water inlet pipe 35. After the cleaning program is started, the water pump in the cleaning chamber 4 pressurizes the cleaning fluid or water and forces it into the main inlet pipe 35 through the inlet pan 351. Due to the closed end, the water flow immediately splits to both sides, entering each branch pipe 36, and then flowing through each outlet 361 into the vertical spray pipe 37. High-pressure water jets out at high speed from the top of the spray pipe 37, directly rinsing all parts of the container bottle's inner wall. The rinsed water flows out of the container bottle under gravity, converges at the bottom of the base 31, and quickly flows back to the water tank at the bottom of the cleaning chamber 4 through the square groove 314 on the base plate 311, achieving recycling or discharge. According to the program, clean water can also be supplied to rinse the container bottle.

[0058] Throughout the high-pressure rinsing process, the high-speed water jet from the spray pipe 37 generates a continuous and unstable recoil force on the container bottles. Through the radial constraint implemented from the base of the container bottles by the limiting member 38, combined with the double limiting provided from above by the lower limiting plate 32 and the upper limiting plate 33, any tendency of the container bottles to swing is greatly suppressed. A safe distance is maintained between the container bottles, preventing collisions, and the spray pipe 37 always points towards the center of the container bottles. This ensures that the inner wall of each container bottle is thoroughly and evenly rinsed, reliably guaranteeing the stability and cleanliness of the cleaning process and avoiding cleaning blind spots caused by swinging. Simultaneously, the stable posture eliminates the risk of the container bottles jumping out of the mounting hole 321, making operation safer.

[0059] Example 4:

[0060] This embodiment, based on Embodiment 1, details the specific structure of the spray assembly 5.

[0061] like Figures 6-11 As shown, the spray assembly 5 includes a water collection chamber 51, a circulating water pump 52, a first water inlet module 53, a second water inlet module 54 and a third water inlet module 55, and may also include a heating pipe 56.

[0062] The water collection chamber 51 is connected to the water outlet 416 at the bottom of the machine compartment 41 and is used to store water discharged from the machine compartment 41. The water collection chamber 51 is also equipped with a waste outlet for discharging wastewater from the equipment after each cleaning cycle. The input end of the circulating water pump 52 is connected to the water collection chamber 51, and the output end is connected to three water inlet modules respectively, pumping and pressurizing the water in the water collection chamber 51 and delivering it to each water inlet module. The output end of the circulating water pump 52 is connected to a main pipeline, which is connected to the first water inlet module 53, the second water inlet module 54, and the third water inlet module 55 respectively.

[0063] The first water inlet module 53 is used to supply water to the inner wall of the machine compartment 41 and / or the cleaning rack 3. After the water flows through the cleaning rack 3, it sprays the inner wall of the container bottle. The first water inlet module 53 includes a first water inlet 531 and a first water inlet pipe 532. The first water inlet 531 is located on the inner wall of the machine compartment 41, and its position corresponds to the water inlet tray 351 of the cleaning rack 3. When the cleaning rack 3 is placed in place, the water inlet tray 351 is exactly connected to the first water inlet 531 to form a water passage. There are multiple first water inlets 531, each corresponding to the water inlet tray 351 on a different cleaning rack 3, ensuring that each cleaning rack 3 can receive sufficient water. One end of the first water inlet pipe 532 is connected to the output end of the circulating water pump 52, and the other end is connected to each first water inlet 531 through a branch pipe 533. During cleaning, the circulating water pump 52 delivers water through the first inlet pipe 532 and the branch pipe 533 to each first inlet 531. The water flows into the internal piping of the cleaning rack 3 and is sprayed upwards from each spray pipe 37, directly into the corresponding container bottle to rinse and clean the inner wall of the container bottle. The cleaned water flows out from the bottle mouth and falls to the bottom of the machine compartment 41.

[0064] The second water inlet module 54 is located at the bottom of the machine compartment 41 and is used to supply water into the machine compartment 41 from bottom to top to clean the bottom and lower side of the outer wall of the container bottle. The second water inlet module 54 includes a lower swing arm 541 and a second water inlet pipe 542. The lower swing arm 541 is horizontally rotatably mounted inside the machine compartment 41, located below the cleaning rack 3 and the container bottle, and can rotate around a vertical axis. The lower swing arm 541 has a first water inlet chamber 5411 inside, and several first water outlet holes 5412 are opened along the length direction at the top to spray water upwards towards the bottom and lower side of the outer wall of the container bottle. A second water inlet 5413 is opened at the bottom of the lower swing arm 541 and is connected to the first water inlet chamber 5411. One end of the second water inlet pipe 542 is rotatably connected to the second water inlet 5413, and the other end passes through the bottom wall of the machine compartment 41 and is connected to the output end of the circulating water pump 52. The bottom of the lower swing arm 541 is rotatably connected to the bottom of the housing 41 via a first rotating seat 543. The first rotating seat 543 is a hollow structure, with its top connected to the second water inlet 5413 and its bottom connected to the second water inlet pipe 542, serving as both a rotational support and a water flow transition channel. During cleaning, the circulating water pump 52 sends water through the second water inlet pipe 542 and the first rotating seat 543 into the first water inlet chamber 5411 of the lower swing arm 541, spraying upwards from each of the first water outlets 5412 to rinse the bottom and lower sides of the container bottle's outer wall. Driven by the reaction force of the water flow, the lower swing arm 541 rotates horizontally around the first rotating seat 543, forming a dynamic rotating spray that fully covers all areas of the bottom of the container bottle's outer wall. The rotating spray is achieved by utilizing the self-force of the water flow through the horizontally rotatable lower swing arm 541, eliminating the need for an additional drive motor and resulting in a simple and reliable structure. Rotating sprays allow water to dynamically cover all areas of the bottom of the container's outer wall, avoiding the blind spots of fixed nozzles and improving the uniformity and efficiency of cleaning the outer wall.

[0065] The third water inlet module 55 is installed on the machine door 42 and is used to supply water from top to bottom into the machine compartment 41. Its water outlet direction is towards the inside of the machine compartment 41 to spray the top and upper sides of the container bottle's outer wall. The third water inlet module 55 includes a third water inlet pipe 551, a second rotating seat 552, and an upper swing arm 553. One end of the third water inlet pipe 551 is connected to the output end of the circulating water pump 52, and the other end passes through and extends into the machine door 42, with its path adapted to the movement trajectory of the machine door 42. The second rotating seat 552 is installed on the machine door 42, with one end passing through the wall of the machine door 42 and connected to the third water inlet pipe 551, and the other end connected to the upper swing arm 553. The second rotating seat 552 has a hollow structure. The upper swing arm 553 is horizontally rotatable inside the machine door 42, located above the cleaning rack 3 and the container bottle, and can rotate around a vertical axis. The upper swing arm 553 has a second water inlet chamber inside, and several second water outlets 5531 are opened along its length at the bottom, facing downwards, for spraying water downwards onto the top and upper side of the container bottle's outer wall. A third water inlet is opened at the top or side of the upper swing arm 553, communicating with the second water inlet chamber, and the third water inlet is connected to the second rotating seat 552. During cleaning, the circulating water pump 52 sends water through the third water inlet pipe 551 and the second rotating seat 552 into the second water inlet chamber of the upper swing arm 553, spraying downwards from each of the second water outlets 5531 to rinse the top and upper side of the container bottle's outer wall. Driven by the reaction force of the water flow, the upper swing arm 553 rotates horizontally around the second rotating seat 552, forming a dynamic rotating spray from top to bottom. By integrating the third water inlet module 55 onto the machine door 42, the space of the machine door 42 is fully utilized without occupying the effective volume of the machine compartment 41. Driven by water flow, the upper swing arm 553 rotates, dynamically spraying the outer wall of the container from the top. This forms a three-dimensional outer wall spraying combination with the lower swing arm 541, effectively covering the upper and lower ends and sides of the container's outer wall. The upper and lower swing arms work in tandem with the inner wall cleaning of the first water inlet module 53, significantly enhancing cleaning uniformity and efficiency.

[0066] A heating element 56 is installed inside the water collection chamber 51, fixedly mounted on the inner wall or bottom of the chamber, and submerged in the cleaning water. When hot water cleaning is required, the heating element 56 is energized to heat the water in the collection chamber 51. The hot water is simultaneously pumped to three water inlet modules via a circulating water pump 52, rinsing the inner and outer walls of the container bottle. Hot water has better dissolving and emulsifying capabilities for stubborn dirt such as grease and chemical agents, significantly improving the cleaning effect. In this embodiment, the heating element 56 is centrally located inside the water collection chamber 51, and the heated water is supplied to three water inlet modules simultaneously, eliminating the need for separate heating devices in each branch. This results in a simple structure, low cost, and convenient control. The hot water simultaneously rinses the inner and outer walls of the container bottle, providing strong cleaning power, especially suitable for cleaning containers containing grease and chemical agents.

[0067] The cleaning process in this embodiment is as follows: The circulating water pump 52 starts, pressurizing the cleaning fluid in the water collection chamber 51 and simultaneously delivering it to the three water inlet modules via the main pipeline. In the first water inlet module 53, the cleaning fluid enters the internal pipeline of the cleaning rack 3 through the diversion pipe 533 and is sprayed into the container bottle from the spray pipe 37, rinsing the inner wall of the container bottle. In the second water inlet module 54, the cleaning fluid enters the lower swing arm 541 through the first rotating seat 543 and is sprayed upwards from the first water outlet 5412. The lower swing arm 541 rotates to dynamically rinse the bottom of the outer wall of the container bottle. In the third water inlet module 55, the cleaning fluid enters the upper swing arm 553 through the second rotating seat 552 and is sprayed downwards from the second water outlet 5531. The upper swing arm 553 rotates to dynamically rinse the top of the outer wall of the container bottle. The three water flows work simultaneously, forming a comprehensive three-dimensional cleaning from the inside out and from the bottom up. The cleaned liquid flows back to the water collection chamber 51 through the water outlet 416 and is pressurized and recycled by the circulating water pump 52. After a set time, the circulating water pump 52 stops, the waste outlet is opened, and the cleaning wastewater containing dirt in the water collection chamber 51 is discharged. Multiple rinses can then be performed until the container is thoroughly cleaned.

[0068] In this embodiment, water discharged from the machine compartment 41 is collected by the water collection chamber 51 and then pumped by the circulating water pump 52 to the first water inlet module 53, the second water inlet module 54, and the third water inlet module 55. This achieves an organic combination of three methods: rinsing the inner wall of the container, spraying the bottom of the outer wall, and spraying the top of the outer wall. This forms a comprehensive three-dimensional cleaning mode from the inside out and from the bottom up, eliminating the cleaning dead spots that are easily caused by single-direction spraying, and significantly improving cleaning efficiency and quality. The three water inlet modules share one circulating water pump 52 and one water collection chamber 51, resulting in a compact water system structure, simplified pipeline layout, reduced manufacturing costs, and convenient centralized maintenance and management. The water collection chamber 51 has the functions of water storage, circulation, and waste discharge. Combined with the multi-round cleaning process, it not only achieves the phased recycling of cleaning water and saves water resources, but also ensures the cleanliness of the water used in each round of cleaning, avoiding secondary pollution of the container by wastewater.

[0069] Example 5:

[0070] This embodiment, based on Embodiment 1, details the specific structure of the drying component 6.

[0071] like Figure 7 and Figure 8As shown, the drying assembly 6 includes a fan 61 and a heating chamber 62. The fan 61 provides the airflow power required for drying. The heating chamber 62 is equipped with an electric heating element to heat the flowing air. The air outlet of the fan 61 is connected to the inlet of the heating chamber 62 via a first air outlet pipe 63, and the outlet of the heating chamber 62 leads to the machine compartment 41 via a second air outlet pipe 64. The output of the circulating water pump 52 is connected to a main pipeline, which is connected to a first water inlet module 53, a second water inlet module 54, and a third water inlet module 55. The second air outlet pipe 64 is connected to the main pipeline, and an electric ball valve 65 is installed on the second air outlet pipe 64 to control its on / off state.

[0072] During the cleaning phase, the electric ball valve 65 is closed, blocking the connection between the second air outlet duct 64 and the main pipe, preventing circulating water from flowing back into the drying air path. The main pipe is specifically used to transport the cleaning water delivered by the circulating pump. During the drying phase, the circulating pump stops working, the water in the main pipe is drained, and the electric ball valve 65 opens. The fan 61 starts, and the airflow enters the heating box 62 through the first air outlet duct 63 for heating. The resulting hot air enters the main pipe through the second air outlet duct 64 and the electric ball valve 65, and then enters the machine compartment 41 through the main pipe and each water inlet module. The hot air can enter the cleaning rack 3 through the first water inlet module 53 to dry the inner wall of the container bottle, while simultaneously drying the outer wall of the container bottle through the second water inlet module 54 and the third water inlet module 55, achieving comprehensive hot air drying. By sharing the main pipe and each water inlet module with the circulating pipe, the number of additional openings in the machine compartment 41 is reduced, simplifying the structure of the machine compartment 41. The setting of the electric ball valve 65 ensures reliable switching between the cleaning and drying modes, with the two paths not interfering with each other and operating reliably.

[0073] The cleaning chamber 4 also includes a condenser assembly 7. During the hot water cleaning process, a large amount of high-temperature steam and humid gas are generated inside the cleaning chamber. If these high-temperature gases are directly discharged to the outside of the equipment, they will not only cause humid heat pollution to the surrounding environment, but more seriously, they may burn nearby workers, posing a significant safety hazard. To solve this problem, this embodiment has a gas emission structure and a condenser assembly 7 configured on the cleaning chamber 41.

[0074] A gas vent 414 is provided on the side wall of the machine compartment 41. The gas vent 414 is located in the upper middle or top area of ​​the side wall of the machine compartment 41 and is used to exhaust the high-temperature steam and humid gas generated in the cleaning chamber. A waterproof cover is provided at the gas vent 414. The waterproof cover covers the inside or outside of the gas vent 414 and prevents splashing water from directly entering the gas vent 414, thus preventing water from splashing out of the gas vent 414 during the cleaning process. At the same time, it allows gas to pass through the waterproof cover and be discharged through the gas vent 414.

[0075] The condenser assembly 7 is connected to the gas outlet 414 and is used to cool and condense the high-temperature gas discharged from the gas outlet 414, so that the temperature of the discharged gas is reduced to a safe range to avoid burns to personnel.

[0076] This embodiment adds a drying component 6, enabling the equipment to perform both cleaning and drying functions. Containers can be dried without being moved, improving production efficiency. The drying air path shares a pipeline with the main pipe and all water inlet modules, using an electric ball valve 65 for switching, reducing the number of openings in the machine compartment 41, simplifying the structure, and lowering costs. Hot air acts simultaneously on the inner and outer walls of the containers, ensuring thorough and uniform drying. The condensation component 7 effectively solves the problem of high-temperature steam and humid gas emissions during hot water cleaning, improving the safety of equipment operation.

[0077] Example 6:

[0078] This embodiment provides a control method for the aforementioned automatic bottle washing machine. The control method includes the following steps: S1. Liquid pouring step: The robot arm 1 puts the container bottle into the liquid pouring assembly 2. The clamping execution end 22 of the liquid pouring assembly 2 clamps the container bottle. The flipping drive assembly 23 drives the clamping execution end 22 to flip, so that the container bottle is inverted and the liquid inside is poured out. The liquid flows through the guide seat 26 to the collection container bottle 24. The magnetic particles in the container bottle are separated into the second collection box 242 by the partition 243. Then the flipping drive assembly 23 is reset, and the robot arm 1 takes out the inverted container bottle.

[0079] S2. Mounting Step: The robot arm 1 inserts the inverted container bottle directly into the cleaning rack 3, so that the container bottle is upside down on the cleaning rack 3. The above action is repeated until the cleaning rack 3 is full. Specifically, the robot arm 1 can hold the container bottle through the second gripping unit 112 of the composite gripper 11, insert the container bottle with the opening facing down into the mounting holes 321 of the upper limiting plate 33 and the lower limiting plate 32 of the cleaning rack 3, and limit the lower end of the container bottle by the limiting member 38.

[0080] S3. Loading Procedure: The robotic arm 1 grips the cleaning rack 3 and places the cleaning rack 3 filled with containers into the machine compartment 41 of the cleaning chamber 4, aligning the water inlet tray of the cleaning rack 3 with the first water inlet 531 on the side wall of the machine compartment 41; this placement is repeated until the cleaning rack 3 is completely placed in the machine compartment 41, then the machine door 42 is closed. Specifically, the robotic arm 1 can grip the head of the handle structure 39 of the cleaning rack 3 through the first gripping unit 112 of the composite gripper 11, placing the cleaning rack 3 onto the shelf 411 inside the machine compartment 41. The shelf 411 positions and supports the cleaning rack 3, ensuring that the water inlet tray of the cleaning rack 3 is accurately aligned with the first water inlet 531.

[0081] S4. Cleaning Steps: The spray assembly 5 is activated, and the circulating water pump 52 pumps water from the water collection chamber 51 to the first water inlet module 53, the second water inlet module 54, and the third water inlet module 55. The first water inlet module 53 sprays the inner wall of the container bottle through the cleaning rack 3 and the spray pipe 37. The lower swing arm 541 of the second water inlet module 54 sprays the bottom of the outer wall of the container bottle from bottom to top, and the upper swing arm 553 of the third water inlet module 55 sprays the top of the outer wall of the container bottle from top to bottom. The cleaned water flows back to the water collection chamber 51 through the outlet 416 for recycling. After multiple rounds of cleaning and rinsing, the wastewater is discharged. During the cleaning process, the heating pipe 56 can be activated to heat the cleaning water as needed, and the detergent can be added to the water collection chamber 51 or the machine compartment 41 through the detergent inlet. The high-temperature steam generated by hot water cleaning can enter the condenser assembly 7 through the gas outlet 414, and is safely discharged after being cooled by spraying.

[0082] S5. Drying steps: The circulating water pump 52 stops, the electric ball valve 65 on the second air outlet pipe 64 is opened, the fan 61 and the heating box 62 are started, and the hot air enters the machine chamber 41 through the main pipe, the first water inlet module 53, the second water inlet module 54 and the third water inlet module 55, and dries the inner and outer walls of the container bottle with hot air through the cleaning rack 3 and the swing arm.

[0083] S6. Removal Step: After drying is completed, open the machine door 42, the robot arm 1 clamps the cleaning rack 3 and removes the cleaning rack 3 from the machine compartment 41, and then unloads the container bottles on the cleaning rack 3 onto the finished product tray.

[0084] This control method enables fully automated bottle washing machines to handle containers from pouring liquid, racking, warehousing, cleaning, rinsing, drying to removal, eliminating the need for manual liquid pouring and fixture replacement, thus significantly improving cleaning efficiency, cleaning consistency, and operational safety.

[0085] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. An automatic bottle washing machine, characterized in that, include: A robotic arm (1) is used to transfer containers and cleaning racks (3); The liquid pouring assembly (2) is used to receive the container bottle and automatically flip and invert the container bottle to pour out the residual liquid inside the container bottle; A cleaning rack (3) is used to hold inverted containers; The cleaning chamber (4) includes a machine compartment (41) and an openable and closable door (42), the machine compartment (41) being used to accommodate a cleaning rack (3) containing container bottles. The spray assembly (5), in conjunction with the cleaning chamber (4), is used to perform multi-directional spray cleaning on the container bottles on the cleaning rack (3) inside the machine compartment (41); The drying assembly (6) is used to deliver hot air into the machine compartment (41) to dry the cleaned container bottles; The control system is connected to the liquid pouring assembly (2), the robotic arm (1), the cleaning chamber (4), the spray assembly (5), and the drying assembly (6) respectively, and is used to control the robotic arm (1), the liquid pouring assembly (2), the cleaning chamber (4), the spray assembly (5), and the drying assembly (6) to perform liquid pouring, racking, storage, cleaning, drying, and removal actions.

2. The automatic bottle washing machine according to claim 1, characterized in that, The liquid pouring assembly (2) includes: The outer casing (21) has an injection port (211) on its top. The clamping actuator (22) is disposed inside the housing (21) and is used to clamp or release the container bottle that enters the housing (21); The flipping drive assembly (23) is connected to the clamping execution end (22) for driving the clamping execution end (22) to flip so that the clamped container bottle is inverted; A collection container bottle (24) is located at the bottom inside the outer shell (21) to receive the poured liquid; The flip drive assembly (23) includes a rotating support (231) and a power source (232). The clamping execution end (22) is connected to the rotating support (231) and rotates synchronously with it. The housing (21) has an installation port on its side. The rotating support (231) includes a turntable that covers the installation port and can rotate. The clamping execution end (22) is fixed to the outside of the turntable. The flip drive assembly (23) also includes a rotating shaft that is coaxially fixed with the turntable. The rotating shaft is connected to the power source (232) through a transmission mechanism.

3. The automatic bottle washing machine according to claim 2, characterized in that, The outer shell (21) is provided with a flow guide seat (26) located below the clamping execution end (22). The upper surface of the flow guide seat (26) is an inclined slope, and the inlet end of the collection container bottle (24) is located on the lower side of the inclined slope. The collection container bottle (24) includes a first collection box (241) with an opening at the top, a second collection box (242) with an opening at the side, and an inclined mesh (243). The side opening of the second collection box (242) is connected to the top opening of the first collection box (241), and the lower end of the mesh (243) leads to the second collection box (242) to separate the waste liquid from the magnetic particles.

4. The automatic bottle washing machine according to claim 3, characterized in that, The liquid pouring assembly (2) further includes an internal cleaning component (25) for cleaning the inside of the outer casing (21); The internal cleaning component (25) includes a pipe fitting (251), a water inlet pipe (252), and a baffle plate (253). One end of the pipe fitting (251) has a water inlet, and the other end has a water outlet. The water inlet pipe (252) is connected to the water inlet. The outer shell (21) has an opening on the side near the high position of the inclined surface. The pipe fitting (251) is located at the opening, and the water outlet extends into the outer shell (21) after passing through the opening. The baffle plate (253) is located on the inner wall of the outer shell (21) and is used to guide the water flowing out from the water outlet to the inclined surface of the guide seat (26). The outer shell (21) also has an openable and closable sealing cover (212) and an opening and closing drive mechanism (213) for driving the sealing cover (212) to move between the open position and the closed position.

5. The automatic bottle washing machine according to claim 1, characterized in that, The spray assembly (5) includes a water collection chamber (51), a circulating water pump (52), and a first water inlet module (53). The water collection chamber (51) is connected to the water outlet (416) at the bottom of the machine compartment (41) and is used to store water discharged from the machine compartment (41); The input end of the circulating water pump (52) is connected to the water collection chamber (51) and is used to pump the water in the water collection chamber (51) to the first water inlet module (53). The first water inlet module (53) is used to supply water to the inner wall of the machine compartment (41) and / or the cleaning rack (3), and the water flows through the cleaning rack (3) and sprays the inner wall of the container bottle; The first water inlet module (53) includes a first water inlet (531) and a first water inlet pipe (532). The first water inlet (531) is located on the inner wall of the machine compartment (41). One end of the first water inlet pipe (532) is connected to the first water inlet (531), and the other end is connected to the output end of the circulating water pump (52). There are multiple first water inlets (531), which are distributed around the inner wall of the machine compartment (41). Each first water inlet (531) is connected to the first water inlet pipe (532) through a diversion pipe (533).

6. The automatic bottle washing machine according to claim 5, characterized in that, The spray assembly (5) also includes a second water inlet module (54); The circulating water pump (52) is also used to pump water from the water collection chamber (51) to the second water inlet module (54). The second water inlet module (54) is located at the bottom of the machine compartment (41) and is used to supply water into the machine compartment (41) from bottom to top to spray the bottom of the outer wall of the container bottle; The second water inlet module (54) includes a lower swing arm (541) and a second water inlet pipe (542); the lower swing arm (541) is horizontally rotatably disposed in the machine compartment (41), and has a first water inlet chamber (5411) inside, with a plurality of first water outlet holes (5412) opened on its top along its length direction, and a second water inlet (5413) connected to the first water inlet chamber (5411) at its bottom; one end of the second water inlet pipe (542) is connected to the second water inlet (5413). 413) Rotary connection, the other end passes through the machine compartment (41) and is connected to the output end of the circulating water pump (52); the bottom of the lower swing arm (541) is rotatably connected to the bottom of the machine compartment (41) through the first rotating seat (543), the first rotating seat (543) is a hollow structure, and the top of the first rotating seat (543) is connected to the second water inlet (5413), and the bottom of the first rotating seat (543) is connected to the second water inlet pipe (542).

7. The automatic bottle washing machine according to claim 6, characterized in that, The spray assembly (5) also includes a third water inlet module (55); The circulating water pump (52) is also used to pump water from the water collection chamber (51) to the third water inlet module (55). The third water inlet module (55) is installed on the machine door (42) and is used to supply water to the machine compartment (41) from top to bottom, and its water outlet direction is towards the inside of the machine compartment (41) so as to spray the top of the outer wall of the container bottle; The third water inlet module (55) includes a third water inlet pipe (551), a second rotating seat (552), and an upper swing arm (553); one end of the third water inlet pipe (551) is connected to the output end of the circulating water pump (52), and the other end passes through and extends into the machine door (42); the second rotating seat (552) is set on the machine door (42), and one end of it passes through the machine door (42) and is connected to the third water inlet pipe (551); the upper swing arm (553) is horizontally rotatably set in the machine compartment (41), and has a second water inlet chamber inside, and has a plurality of second water outlet holes (5531) opened along its length at its bottom, and has a third water inlet at its top or side end that is connected to the second water inlet chamber; the third water inlet of the upper swing arm (553) is connected to the second rotating seat (552).

8. The automatic bottle washing machine according to claim 7, characterized in that, The drying assembly (6) includes a fan (61) and a heating box (62); the air outlet of the fan (61) is connected to the inlet of the heating box (62) through a first air outlet pipe (63), and the outlet of the heating box (62) is connected to the machine compartment (41) through a second air outlet pipe (64); The output end of the circulating water pump (52) is connected to a main pipe, which is connected to the first water inlet module (53), the second water inlet module (54) and the third water inlet module (55) respectively; the second air outlet pipe (64) is connected to the main pipe, and an electric ball valve (65) for controlling its opening and closing is also provided on the second air outlet pipe (64).

9. The automatic bottle washing machine according to claim 8, characterized in that, The side wall of the machine compartment (41) is provided with a gas discharge port (414) and a waterproof cover is provided at the gas discharge port (414). The cleaning chamber (4) also includes a condensation component (7) for spraying and cooling the high-temperature steam discharged from the machine compartment (41) and condensing it.

10. A control method for an automatic bottle washing machine according to any one of claims 1-9, characterized in that, The control method includes the following steps: S1. Liquid Pouring Step: The robotic arm places the container bottle into the liquid pouring assembly. The clamping actuator of the liquid pouring assembly clamps the container bottle. The flipping drive assembly drives the clamping actuator to flip, causing the container bottle to invert and pour out the liquid inside. The liquid flows through the guide seat to the collection container bottle. The magnetic particles inside the container bottle are separated by the screen and sent to the second collection box. Then the flipping drive assembly resets, and the robotic arm removes the inverted container bottle. S2. Loading steps: The robotic arm inserts the inverted container directly into the cleaning rack, so that the container is inverted on the cleaning rack. Repeat the above action until the cleaning rack is full. S3. Entering the chamber: The robotic arm holds the cleaning rack and places the cleaning rack filled with containers into the machine compartment of the cleaning chamber, and aligns the water inlet tray of the cleaning rack with the first water inlet on the side wall of the machine compartment; repeat the placement until the cleaning rack is placed in the machine compartment, and then close the machine door. S4. Cleaning Steps: The spray assembly is activated, and the circulating water pump sends water from the collection chamber to the first, second, and third water inlet modules. The first water inlet module sprays the inner wall of the container bottle through the cleaning rack and spray pipe. The lower swing arm of the second water inlet module sprays the bottom of the outer wall of the container bottle from bottom to top. The upper swing arm of the third water inlet module sprays the top of the outer wall of the container bottle from top to bottom. The cleaned water flows back to the collection chamber through the outlet for recycling. After multiple rounds of cleaning and rinsing, the wastewater is discharged. S5. Drying steps: The circulating water pump stops, the electric ball valve on the second air outlet pipe is opened, the fan and heating box are started, and the hot air enters the machine chamber through the main pipe, the first water inlet module, the second water inlet module and the third water inlet module, and is dried on the inner and outer walls of the container bottle by the washing rack and the swing arm. S6. Removal Steps: After drying is complete, open the machine door, the robotic arm grips the cleaning rack and removes it from the machine compartment, and then unloads the containers on the cleaning rack onto the finished product tray.

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