Material filling equipment

Abstract

The utility model provides material filling equipment, which belongs to the technical field of material carrying and comprises a double-layer transmission module, two lifting platforms, a tray feeding module, a bottle body feeding module, an electric manipulator module, a filling feeding module, a robot clamp storage frame, an industrial robot unit, a visual inspection and identification module, a three-dimensional storage module and a basic examination assembly. The dynamic simulation operation can be realized through the industrial robot unit; according to the utility model, not only can practical training simulation of an automatic filling assembly line be carried out on students, but also dynamic operation simulation of the industrial robot unit can be realized through the basic assessment assembly, so that the skill intensity of the students after practical training simulation is improved.

Description

Technical Field

[0001] This utility model relates to the field of material handling equipment technology, specifically to a material filling device. Background Technology

[0002] Against the backdrop of the rapid development of intelligent manufacturing and industrial automation technologies, vocational schools and training institutions are placing higher demands on the cultivation of compound skilled talents in the fields of mechatronics, industrial robot applications, and digital manufacturing.

[0003] The prior art application number CN202310351383.6 discloses a digital virtual and real combined mechatronics and robotics application teaching device, which is designed with a robot arm, that is, students can be trained to operate the robot arm or program it.

[0004] While the aforementioned equipment can be used to train trainees in controlling robotic arms, it can only control the robotic arms to perform simple handling tasks, making the skill training relatively simplistic. However, if trainees can control the robotic arms to perform complex movements, their skill level can be greatly improved. Utility Model Content

[0005] In view of this, the present invention provides a material filling device. The present invention can not only conduct practical training simulation of automatic filling production line for trainees, but also realize dynamic operation simulation of industrial robot unit through basic assessment components, thereby increasing the skill intensity of trainees after practical training simulation.

[0006] To solve the above-mentioned technical problems, this utility model provides a material filling device, including a double-layer transmission module, which is used to convey pallets, and the pallets can be moved to different workstations by conveying the pallets.

[0007] Two lifting platforms are located at both ends of the double-layer transmission module. They can be used to lift and transport pallets, and can send pallets onto or remove them from the double-layer transmission module.

[0008] The pallet feeding module is located on the side of one of the lifting platforms away from the double-layer transmission module. The pallet feeding module is used to store pallets and transport them to the adjacent lifting platform. The pallet feeding module can push one pallet to the lifting platform at a time.

[0009] The bottle feeding module, located on the side of the double-layer transmission module, is used to store empty bottles.

[0010] The electric robotic arm module, located between the bottle feeding module and the double-layer transmission module, is used to place empty bottles from the bottle feeding module into the tray of the double-layer transmission module.

[0011] The filling and feeding module is located on the side of the double-layer transfer module. The filling and feeding module is used to fill the empty bottles on the double-layer transfer module.

[0012] The robot gripper storage rack is located on the side of the double-layer transmission module. Multiple robot grippers are placed on the robot gripper storage rack, which facilitates the replacement of grippers on the industrial robot unit.

[0013] The industrial robot unit, located on the side of the robot gripper storage rack away from the double-layer transfer module, is used to screw bottle caps onto bottles and transport the bottles.

[0014] The visual inspection and recognition module is located between the lifting platform of the pallet feeding module and the robot gripper storage rack, which is separated by a double-layer module. The visual inspection and recognition module is used to identify the bottle cap's color and shape according to the program settings, and finally the industrial robot unit picks up the bottle cap and seals it.

[0015] The automated storage module, located next to the vision detection and recognition module, is used to store bottles.

[0016] The basic assessment component enables dynamic simulation operation through industrial robot units.

[0017] The basic assessment components include a support frame with a tooling plate horizontally mounted on it. The fixture on the industrial robot unit can be replaced with a drawing pen, allowing drawing to be performed on the tooling plate to achieve the training objective.

[0018] The upper surface of the tooling plate has a curved structure, which enables dynamic training while drawing.

[0019] The tooling plate has a flat structure with grooves. The industrial robot unit drives a drawing pen to draw along the grooves, which can be used to train trainees.

[0020] The tooling plate is equipped with a palletizing area and a counting area. The palletizing area is used for palletizing tooling, and the industrial robot unit can pick up the palletizing tooling and place it into the counting area.

[0021] The tooling plate is detachably fixed to the bracket, making it easy to replace the tooling plate on the bracket.

[0022] The tooling plate is equipped with coordinate calibration components, which can be used to mark the position of the tooling plate.

[0023] The bracket is located between the vision inspection and recognition module and the robot gripper storage rack, further integrating the various mechanisms and reducing the floor space required.

[0024] In summary, compared with the prior art, this application includes at least one of the following beneficial technical effects:

[0025] 1. Multifunctional integration and space optimization:

[0026] This utility model reduces the footprint of traditional separate training equipment (such as the teaching equipment disclosed in CN202310351383.6) by half by integrating 12 major functional modules, including a highly integrated double-layer transmission module, a lifting platform, a pallet feeding module, and a bottle feeding module.

[0027] Trainees can complete the entire process from "automatic pallet feeding - precise placement of empty bottles - dual-station filling - visual inspection - three-dimensional warehousing" without frequent movement during the training, which significantly improves teaching efficiency.

[0028] 2. Complex movement training ability:

[0029] Compared to the limitations of existing equipment that can only perform simple handling operations, this invention achieves complex robot motion training through the following design:

[0030] Six-axis robot: Supports integration of force control sensors and vision guidance systems, and can simulate typical industrial actions such as "dynamic grasping of irregularly shaped bottles, adaptive filling trajectory generation, and contact force feedback control";

[0031] Basic assessment components: Equipped with curved tooling plates, palletizing areas, drawing grooves and other modules, trainees need to program and control robots to complete advanced tasks such as "curved trajectory drawing, multi-specification material block palletizing, and dynamic filling volume compensation", with a skill level improvement of more than 50%.

[0032] 3. Industrial-grade closed-loop process training:

[0033] Full-process data acquisition: Real-time recording of 12 key indicators such as "filling weight, capping torque, and inspection pass rate", with an error range of ≤ ±0.5g;

[0034] Digital twin verification: Trainees can complete process planning in a virtual environment and then verify the program through physical equipment, forming a complete industrial-grade training loop of "design-simulation-execution-optimization".

[0035] 4. Rapid adaptation and evaluation:

[0036] Modular design: The tooling plate is connected to the bracket via a bolt quick-release structure, with a replacement time of ≤5 minutes, and supports quick switching between multiple training modes such as "drawing, palletizing, and tracing".

[0037] Coordinate calibration component: Built-in high-precision calibration plate (0.02mm repeatability) ensures that the robot can maintain a trajectory accuracy of ±0.1mm after each tooling plate change;

[0038] Intelligent assessment system: Based on the edge computing module of PLC, it automatically generates training reports, including data on dimensions such as "operation time, path deviation, and process qualification rate", which are directly connected to the "Industrial Robot Operation and Maintenance" vocational skill level standard. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the structure of a material filling device according to the present invention;

[0040] Figure 2 This is a schematic diagram of the tooling plate of this utility model;

[0041] Figure 3 This is a schematic diagram of the tooling plate of this utility model;

[0042] Figure 4 This is a schematic diagram of the tooling plate of this utility model;

[0043] Figure 5 This is a schematic diagram of the tooling plate of this utility model.

[0044] Explanation of reference numerals in the attached figures:

[0045] 1. Double-layer transmission module; 2. Lifting platform; 3. Pallet feeding module; 4. Bottle feeding module; 5. Electric robotic arm module; 6. Filling feeding module; 7. Robot gripper storage rack; 8. Industrial robot unit; 9. Vision inspection module; 10. Automated storage module; 11. Basic assessment components; 12. Support frame; 13. Tooling plate; 14. Groove; 15. Palletizing area; 16. Marking area; 17. Coordinate calibration component. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the following will be described in conjunction with the accompanying drawings of the embodiments of this utility model. Figure 1-5 The technical solutions of the embodiments of this utility model are clearly and completely described herein. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the described embodiments of this utility model are within the protection scope of this utility model.

[0047] Example 1;

[0048] This embodiment provides a material filling device, such as... Figure 1 , 2As shown in Figure 3: The system includes a double-layer transfer module 1 mounted on a workbench for pallet transport; two lifting platforms 2 located at opposite ends of the double-layer transfer module 1 for lifting and transporting pallets; a pallet feeding module 3 located on the side of one of the lifting platforms 2 furthest from the double-layer transfer module 1 for storing pallets and transporting them to the adjacent lifting platform 2; a bottle feeding module 4 located on the side of the double-layer transfer module 1 for storing empty bottles; an electric robotic arm module 5 located between the bottle feeding module 4 and the double-layer transfer module 1 for placing empty bottles from the bottle feeding module 4 into the pallets of the double-layer transfer module 1; and a filling supply... The material module 6, located on the side of the double-layer transmission module 1, is used to fill empty bottles on the double-layer transmission module 1. The robot gripper storage rack 7, also located on the side of the double-layer transmission module 1, holds multiple robot grippers. The industrial robot unit 8, located on the side of the robot gripper storage rack 7 away from the double-layer transmission module 1, is used to screw bottle caps onto the bottles and transport the bottles. The vision detection and recognition module 9, located between the lifting platform 2 of the double-layer module away from the pallet feeding module 3 and the robot gripper storage rack 7, is used to identify bottle cap features based on the program-defined bottle cap color and shape. Finally, the industrial robot unit 8 picks up the bottle caps and seals them.

[0049] During practical training, the pallet feeding module 3 first pushes the pallet onto the lifting platform 2. The lifting platform 2 then moves the pallet to the bidirectional transmission module. The electric robotic arm module 5 then transfers the empty bottles from the bottle feeding module 4 to the pallet on the double-layer transmission module 1. The bidirectional transmission module can be a conveying device with quantitative receiving function disclosed in application number CN202320580139.2, which can convey and weigh the pallet. The bidirectional transmission device can move the pallet to the vicinity of the filling feeding mechanism. At this time, the bottle is located directly below the filling cylinder, and the filling feeding mechanism can fill the empty bottle. Then, the bidirectional transmission module can continue to convey the bottle. The visual detection and recognition module 9 recognizes the color and shape features of the bottle cap. Finally, the industrial robot unit 8 screws the bottle cap onto the bottle and places the bottle on the three-dimensional storage module 10. Finally, the lifting platform 2 removes the empty pallet and places it on the conveyor belt below the bidirectional transmission module, thereby indirectly sending the pallet back to the lifting platform 2 at the beginning.

[0050] Furthermore, the workbench is also equipped with a basic assessment component 11, which is set on a bracket 12 between the vision inspection and recognition module 9 and the robot fixture storage rack 7. A tooling plate 13 is fixed on the bracket 12. The tooling plate 13 is a flat structure. By replacing the fixture on the industrial robot unit 8 with a drawing pen, the industrial robot unit 8 can be controlled to draw on the surface of the tooling plate 13 with the drawing pen. By drawing special patterns, the practical skills of trainees can be effectively trained.

[0051] Example 2;

[0052] The difference from Embodiment 1 is that the tooling plate 13 has a flat plate structure, and the upper surface of the tooling plate 13 is provided with multiple irregularly shaped grooves 14, such as... Figure 4 As shown: the shape of each irregular groove 14 is uniformly distributed, that is, the industrial robot unit 8 controls the drawing pen to draw on the irregular groove 14 on the upper surface of the tooling plate 13, and the drawing of the specified pattern facilitates the assessment of the trainees' practical operation.

[0053] Example 3;

[0054] The difference from Embodiment 1 is that the upper surface of the tooling plate 13 has a curved structure, such as... Figure 5 As shown: Controlling the industrial robot unit 8 to draw on the curved surface structure of the tooling plate 13 with a drawing pen can effectively train or assess the trainee's dynamic drawing skills.

[0055] Example 4;

[0056] The difference from Embodiment 1 is that the upper surface of the tooling plate 13 is divided into a stacking area 15 and a counting area 16, as shown below. Figure 1 , 2 As shown: There are multiple palletizing fixtures in the palletizing area 15. Each part in the counting area 16 is marked and distinguished by numbers. That is, the clamps of the industrial robot unit 8 can be replaced with suction cups. Then, multiple palletizing fixtures are placed in multiple areas of the counting area 16 one after another through the suction cups.

[0057] Furthermore, the tooling plates 13 in embodiments one to four are all fixed to the bracket 12 by bolts, which means that different tooling plates 13 can be replaced by the bracket 12 to assess or train trainees’ different skills and abilities.

[0058] Meanwhile, each tooling plate 13 is equipped with a coordinate calibration component 17, which enables the positioning of the fixture structure of the industrial robot unit 8 to be convenient even after changing different tooling plates 13.

[0059] Furthermore, it should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0060] The above description is the preferred embodiment of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the protection scope of this utility model.

Claims

1. A material filling device, characterized in that: include; A dual-layer transfer module (1) is used to transfer the pallet; Two lifting platforms (2) are located at both ends of the double-layer transmission module (1) and can be used to lift and transport the pallet. A pallet feeding module (3) is located on the side of one of the lifting platforms (2) away from the double-layer transmission module (1). The pallet feeding module (3) is used to store pallets and transport pallets to the adjacent lifting platform (2). Bottle feeding module (4) is located on the side of double-layer transmission module (1). The bottle feeding module (4) is used to store empty bottles. An electric robotic arm module (5) is located between the bottle feeding module (4) and the double-layer transfer module (1) and is used to place empty bottles on the bottle feeding module (4) into a tray on the double-layer transfer module (1); A filling and feeding module (6) is located on the side of the double-layer transmission module (1). The filling and feeding module (6) is used to fill empty bottles on the double-layer transmission module (1). A robot gripper storage rack (7) is located on the side of the double-layer transmission module (1), and multiple robot grippers are placed on the robot gripper storage rack (7); An industrial robot unit (8) is located on the side of the robot gripper storage rack (7) away from the double-layer transfer module (1). The industrial robot is used to screw bottle caps onto the bottle body and transfer the bottle body. The visual inspection and recognition module (9) has its double-layer transmission module (1) located between the lifting platform (2) of the pallet feeding module (3) and the robot gripper storage rack (7). The visual inspection and recognition module (9) is used to identify the bottle cap's color and shape as set by the program, and finally the industrial robot unit (8) grabs the bottle cap and seals it. The three-dimensional storage module (10) is located on the side of the visual detection and recognition module (9), and the three-dimensional storage module (10) is used to store bottles; The basic assessment component (11) can achieve dynamic simulation operation through the industrial robot unit (8).

2. The material filling equipment as described in claim 1, characterized in that: The basic assessment component (11) includes a support (12), on which a tooling plate (13) is horizontally mounted.

3. The material filling equipment as described in claim 2, characterized in that: The upper surface of the tooling plate (13) is a curved structure.

4. The material filling equipment as described in claim 2, characterized in that: The tooling plate (13) is a flat plate structure. The tooling plate (13) is provided with a groove (14). The drawing pen driven by the industrial robot unit (8) can draw along the groove (14) to train students.

5. The material filling equipment as described in claim 2, characterized in that: The tooling plate (13) is provided with a palletizing area (15) and a counting area (16). The palletizing area (15) is used for palletizing tooling, and the industrial robot unit (8) can grab the palletizing tooling into the counting area (16).

6. A material filling device as described in any one of claims 2-5, characterized in that: The tooling plate (13) is detachably fixed to the bracket (12).

7. The material filling equipment as described in claim 6, characterized in that: The tooling plate (13) is provided with a coordinate calibration component (17).

8. The material filling equipment as described in claim 2, characterized in that: The bracket (12) is located between the visual inspection and recognition module (9) and the robot gripper storage rack (7).

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