CN108821209A

CN108821209A - A kind of Intelligentized mechanical arm and its working method for bottle body sealing

Info

Publication number: CN108821209A
Application number: CN201810742550.9A
Authority: CN
Inventors: 薛敏强
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-07-09
Filing date: 2018-07-09
Publication date: 2018-11-16

Abstract

The invention discloses a kind of Intelligentized mechanical arms for bottle body sealing, including：Robot and control device, pedestal, mechanical arm and disk are equipped in robot, pedestal is set to workbench side, and the mechanical arm is installed on pedestal, and disk and mechanical arm make rotation connection, rotary drive mechanism is equipped at the top of disk, disk lower part is equipped with inner groovy, and manipulator is equipped on the outside of inner groovy, and disk is equipped with position detecting device and bottle cap position detecting mechanism, protrusion is equipped on the inside of manipulator, disk and mechanical arm use movable connection.By being arranged on the robotic arm, bottle cap position detecting device is arranged in disk to its in the present invention and position detecting device respectively detects position of bottleneck on bottle cap and bottle body, then crawl bottle cap is gone according to the result mechanical arm driving manipulator of detection, position of bottleneck is detected according to position detecting device, bottle cap is installed on bottleneck again, structure is simple, the course of work is simple, convenient, fast, greatly improves its production efficiency.

Description

A kind of Intelligentized mechanical arm and its working method for bottle body sealing

Technical field

The invention belongs to mechanical arm technical field, in particular to a kind of Intelligentized mechanical arm and its work for bottle body sealing Make method.

Background technique

With the rapid development of social economy, the production of either people's lives or enterprise all gradually realizes the modern times Change and intelligent, since it is too big to artificial dependence, production equipment more falls behind for some traditional processing enterprises, production Low efficiency, processing quality is poor, so as to cause enterprise competitiveness decline, or even fatefulue strike can be brought to enterprise.Thus work as Preceding many enterprises all realize transition continuous, gradually make the transition scientific and technological enterprises from traditional Processing Firm, enterprise turns Type becomes medium-sized and small enterprises' the only way which must be passed.

It is also in many industries such as food, drug in this way, needing bottle body support container for the product of some productions Enterprise, the wherein installation of bottle cap is an important process, the bottle cap installation of most original completely manually, due to people can not Control property, the quality disunity for causing its bottle cap to be installed, causes yields low, while bottle cap installation is bad, not only results in bottle The article pot-life shortens, while can also conveyer belt be given to carry out many trouble, this with regard to some automation equipments of fasciation generation, However current bottle cap installation equipment its be all the integrated large scale equipment that large-scale slave product is filled to bottleneck capping mostly, It not only takes up a large area, and its price is very high, is heavy burden for some medium-sized and small enterprises, it also can serious shadow Ring the subsequent development of enterprise.

At the same time, many still to use original material-uploading style in the installation equipment of current bottle cap, feeding is serious Influence its installation effectiveness.And fixed when the position of existing installation its work of equipment, once position fixation cannot be random It is mobile, unless move to whole equipment, however in actual production process, it inevitably will appear error, and existing set Standby to carry out appropriate adjustment according to practical situation, this just will appear neglected loading or accidentally fills, thus existing bottle cap is pacified Installing is standby to need to improve.

Summary of the invention

Goal of the invention：In order to overcome the above deficiency, the object of the present invention is to provide a kind of intelligences for bottle body sealing Mechanical arm, structure is simple, and design rationally, is readily produced, high degree of automation, reduces manual labor amount, improves work effect Bottle cap position detecting device and position detecting device is arranged respectively to bottle cap and bottle body by setting disk on the robotic arm in rate Upper position of bottleneck is detected, and then control device drives according to the result command mechanical arm of the detection of bottle cap position detecting device Manipulator removes crawl bottle cap, then detects position of bottleneck further according to position detecting device, the bottle cap of crawl is installed on bottleneck, Entire machinery arm configuration is simple, and the course of work is simple, convenient, fast, from taking lid to realize automation to installation, greatly improves it Production efficiency also allows its production to realize standardization；

At the same time, in disk inner groovy setting, the Bottle cap top of crawl can be allowed to be stuck in inner groovy, and pass through manipulator Inner bulge it is held, make its crawl more stable, effectively prevent crawl during bottle cap fall, be also convenient for simultaneously Bottle cap tightens installation below, guarantees its installation effect, and then it is allowed to better meet the demand of production.

Technical solution：To achieve the goals above, the present invention provides it is a kind of for bottle body sealing Intelligentized mechanical arm, Including：Robot and control device, pedestal, mechanical arm and disk are equipped in the robot, and the pedestal is set to workbench one Side, the mechanical arm are installed on pedestal, and the disk and mechanical arm make rotation connection, and the top of the disk is equipped with rotation and drives Motivation structure, and the lower part of the disk is equipped with inner groovy, the outside of the inner groovy is equipped with manipulator, and the disk is equipped with For the position detecting device and bottle cap position detecting mechanism of testing product position, the inside of the manipulator is equipped with protrusion, institute Disk and mechanical arm are stated using movable connection, and the depth of the inner groovy is less than the height with bottle cap, the mechanical arm, circle Disk, manipulator, rotary drive mechanism and position detecting device and bottle cap position detecting mechanism are connect with control device.

Heretofore described a kind of Intelligentized mechanical arm for bottle body sealing, by the way that disk is arranged on the robotic arm Setting bottle cap position detecting device and position detecting device respectively detect position of bottleneck on bottle cap and bottle body, then control Device according to the result command mechanical arm driving manipulator of the detection of bottle cap position detecting device go crawl bottle cap, then further according to Position detecting device detects position of bottleneck, and the bottle cap of crawl is installed on bottleneck, and entire machinery arm configuration is simple, the course of work Simply, convenient, fast, from taking lid to realize automation to installation, its production efficiency is greatly improved, it is also allowed to produce realization standard Change；

Heretofore described pedestal is equipped with track, and the lower part of the mechanical arm is equipped with fixing seat, the fixing seat lower section Equipped with the sliding block connecting with track, the sliding block is set in track, and rotating disk is equipped in the fixing seat, and the mechanical arm is set In the top of rotating disk, the rotating disk is connect with driving mechanism, and the driving mechanism is connect with control device.

The setting of heretofore described pedestal upper rail allows the mechanical arm to realize by the sliding block below fixing seat with track Movable type connection, allows the mechanical arm to realize the movement of lateral position, allows it that can carry out adaptability according to actual working environment Adjustment, greatly improves its range used；

Meanwhile in fixing seat rotating disk setting, allow mechanical arm to can be realized the rotation of angle, greatly improve it and set with other Standby fitness, and then it is allowed to better meet the demand of production.

Column, lower arm and upper arm are equipped in heretofore described mechanical arm, the column is set to the top of rotating disk, and institute The inside for stating column is equipped with feed tank, and the lower arm is set to the top of column, and the lower arm and column make movable connection, institute Upper arm is stated on lower arm, and the upper and lower arms make movable connection, the disk is set to the one end of upper arm far from lower arm.

The mechanical arm uses column, lower arm and upper arm split-type design, and the lower arm and column make movable connection, The upper and lower arms make movable connection, make its each joint free movable, improve its operability, further mention Its high working effect.

Heretofore described feed tank is equipped with lid treatment device and rollway, and reason charging tray, institute are equipped in the lid treatment device The lower section for stating reason charging tray is equipped with vibrator, and helical orbit, the bottom of the helical orbit self-care charging tray are equipped in the reason charging tray The opening direction of portion towards reason charging tray is arranged in the shape of a spiral, and the helical orbit is communicated with rollway, and the helical orbit Position-limit mechanism is equipped at the feed inlet of outlet end and rollway.

The setting of feed tank on heretofore described column allows feed and installation to realize integrated design, right from structure The problem of entire mechanical arm optimizes, save equipment input cost, very good solution artificial loading, improves its feed speed Degree, further increases its installation effectiveness, while also shortening the time of manipulator crawl bottle cap, to greatly improve entire The time of installation, further it is allowed to meet the needs of client.

Heretofore described rollway is equipped with bottle cap testing agency and recovering mechanism for detecting bottle cap direction, described Bottle cap testing agency connect with control device.

The bottle cap testing agency to bottle cap direction detect, once detection towards it is correct when, mechanical arm Bottle cap will be grabbed, and will be grabbed bottle cap on corresponding bottle body according to the position of the product of its detection, will then be installed, if The direction of bottle cap as the result is shown of detection is not right, then bottle cap will be sent in recovering mechanism by rollway by transport mechanism, keeps away Exempt from maloperation occur, results in waste of resources.

Heretofore described lower arm uses extension type mechanical arm, and the lower arm is made of the first column and the second column, First column is set to the top of column, and second column is set to the top of the first column, and does and stretch with the first column The connection of contracting formula, and the junction of first column and the second column is equipped with strengthening mechanism.

The lower arm that first column and the second column are constituted uses telescopic connection, allows it can be according to the needs of realization The height of lower arm is adjusted, its applicability is further increased, meanwhile, the setting of strengthening mechanism greatly improves two columns Between the stability connected and the safety used.

Forearm and postbrachium are equipped in heretofore described upper arm, the postbrachium and the second column use movable connection, institute Forearm and postbrachium are stated using telescopic connection, and the junction of the forearm and postbrachium is equipped with strengthening mechanism.

Forearm and postbrachium use telescopic connection in the upper arm, allow it can be according to the height of realization needed to upper arm Be adjusted, further increase its applicability, meanwhile, the setting of strengthening mechanism, greatly improve connected between two columns it is steady Safety that is qualitative and using.

Protective shell in heretofore described strengthening mechanism, the protective shell are set to the junction of the first column and the second column Or set on the junction of forearm and postbrachium, the both ends of the protective shell are oblique, and the inside of the protective shell is equipped with and prevents Sheath, the protective jacket are equipped with texture.

The skewed setting in the protective shell both ends, greatly improve protective shell the compactness connected between component and Supportive further increases the effect of its reinforcing, and the wherein setting of the protective jacket in protective shell, effectively prevents protective shell pair Upper arm or lower arm cause to wear, to also play a very good protection to it while playing reinforcing to them.

Heretofore described forearm is equipped with the fixing seat for installing disk, the rotary driving machine far from one end of postbrachium Structure is installed in fixing seat, and the rotary drive mechanism uses servo motor.

A kind of working method of heretofore described Intelligentized mechanical arm for bottle body sealing, this is used for bottle body sealing The specific working method of Intelligentized mechanical arm it is as follows：

1）：Efficient mechanical arm is assembled first, i.e., first fixing seat is installed on pedestal, and rotating disk is installed to fixation On seat, the first column is installed in rotating disk, and the second column is connect with the first column, and by the first column and the second column Junction setting strengthening mechanism reinforces it；

Forearm and postbrachium are attached again, and it is reinforced in the junction of the two setting strengthening mechanism, it then will even Upper arm after connecting is attached with lower arm, then is installed disk and forearm by fixing seat, and manipulator is installed to On disk；

2）：During previous step assembles efficient mechanical arm, while feed tank is assembled, it then will assembling The feed tank of completion is installed to the inside of column, it is allowed to match with forearm, then position detecting device is installed on disk；

3）：After structure division installs, control circuit is attached, can be come into operation；

4）：During the work time, bottle cap is placed in feed tank first；

5）：Motor driven vibrator in feed tank is vibrated, and allows bottle cap to move along helical orbit to rollway direction, directly It runs to bottle cap to rollway；

6）：When bottle cap is run to rollway, the direction of bottle cap is detected by bottle cap testing agency, when it finds bottle cap direction When incorrect, then bottle cap will be delivered in recovering mechanism by rollway by conveyer belt, if the bottle cap of detection is wanted towards satisfaction It asks, then control device starts to work order mechanical arm；

7）：Control device order bottle cap testing agency checks the position of bottle cap first, then according to testing result, control Manipulator grabs the bottle cap of rollway, and the top of bottle cap is stuck in the inner groovy of disk；

8）：Then the knot that command position detection device is detected to the position of bottleneck on bottle body, and will test by control device Fruit sends control device to, and then the data processing module in control device, analyzes data, analyze bottle outlet tool Body position；

9）：To after control device obtains the specific location of bottleneck, drive manipulator by step by mechanical arm in previous step 7）In on the bottle cap lid to corresponding bottleneck that grabs；

10）：Then bottle cap is twisted during disk and manipulator rotate simultaneously by motor driven disc rotary It is tight；

11）：In above-mentioned steps 4）To 10）In, its lateral position can be adjusted according to the actual needs of robot, allow machine The lower part of tool arm is equipped with fixing seat and is moved to suitable position along track；

12）：At the same time, the height of lower arm and the length of upper arm can also be adjusted according to the actual needs.

Above-mentioned technical proposal can be seen that the present invention and have the advantages that：

1, heretofore described a kind of Intelligentized mechanical arm for bottle body sealing, is set by the way that disk is arranged on the robotic arm It sets bottle cap position detecting device and position detecting device respectively to detect position of bottleneck on bottle cap and bottle body, then control dress It sets and crawl bottle cap is gone according to the result command mechanical arm driving manipulator of the detection of bottle cap position detecting device, then further according to position Detection device detection position of bottleneck is set, the bottle cap of crawl is installed on bottleneck, entire machinery arm configuration is simple, course of work letter It is single, convenient, fast, from taking lid to realize automation to installation, its production efficiency is greatly improved, it is also allowed to produce realization standard Change；

2, heretofore described pedestal is equipped with track, and the lower part of the mechanical arm is equipped with fixing seat, under the fixing seat Side is equipped with the sliding block connecting with track, and the sliding block is set in track, and rotating disk, the mechanical arm are equipped in the fixing seat Set on the top of rotating disk, the rotating disk is connect with driving mechanism, and the driving mechanism is connect with control device；

The setting of heretofore described pedestal upper rail allows the mechanical arm to realize by the sliding block below fixing seat with track and moves Formula connection, allows the mechanical arm to realize the movement of lateral position, it can be adaptively adjusted according to actual working environment, Greatly improve its range used；

3, column, lower arm and upper arm are equipped in heretofore described mechanical arm, the column is set to the top of rotating disk, and The inside of the column is equipped with feed tank, and the lower arm and column make movable connection, and the upper arm is set on lower arm, and described Upper and lower arms make movable connection；The mechanical arm uses column, lower arm and upper arm split-type design, and the lower arm and vertical Column makees movable connection, and the upper and lower arms make movable connection, makes its each joint free movable, improving it can Operability further increases its working effect；

The setting of feed tank on the column, allow feed and installation realize integrated design, from structure to entire mechanical arm into Row optimization, saves equipment input cost；It the problem of very good solution artificial loading, its feeding speed is improved, further mentions Its high installation effectiveness, while the time of manipulator crawl bottle cap is also shortened, so that the time entirely installed is greatly improved, Further it is allowed to meet the needs of client.

4, heretofore described feed tank is equipped with lid treatment device and rollway, and reason charging tray is equipped in the lid treatment device, The lower section of the reason charging tray is equipped with vibrator, and helical orbit is equipped in the reason charging tray, the helical orbit self-care charging tray The opening direction of bottom towards reason charging tray is arranged in the shape of a spiral, and the helical orbit is communicated with rollway, and the helical orbit Outlet end and rollway feed inlet at be equipped with position-limit mechanism；

The setting of the reason charging tray allows it that can carry out automatic material arranging to the bottle cap in feed tank, when greatly saving reason material Between, it saves labour turnover, meanwhile, it can be fed according to practical situation, bottle is avoided the occurrence of for the setting of position-limit mechanism Lid accumulation.

5, heretofore described rollway is equipped with bottle cap testing agency and recovering mechanism for detecting bottle cap direction, institute Bottle cap testing agency is stated to connect with control device；

The bottle cap testing agency to bottle cap direction detect, once detection towards it is correct when, mechanical arm will grab Bottle cap is taken, and is grabbed bottle cap on corresponding bottle body according to the position of the product of its detection, is then installed, if detection Bottle cap as the result is shown towards not right, then bottle cap will be sent in recovering mechanism by rollway by transport mechanism, avoid out Existing maloperation, results in waste of resources.

6, heretofore described lower arm uses extension type mechanical arm, and second column is set to the top of the first column, And telescopic connection is done with the first column, and the junction of first column and the second column is equipped with strengthening mechanism；

The lower arm that first column and the second column are constituted uses telescopic connection, allows it can be according to the needs of realization under The height of arm is adjusted, and further increases its applicability, meanwhile, the setting of strengthening mechanism greatly improves between two columns The stability of connection and the safety used.

7, forearm and postbrachium are equipped in heretofore described upper arm, the postbrachium and the second column use movable connection, The forearm and postbrachium use telescopic connection, and the junction of the forearm and postbrachium is equipped with strengthening mechanism；

Forearm and postbrachium use telescopic connection in the upper arm, it can be needed to carry out the height of upper arm according to realization Adjustment, further increases its applicability, meanwhile, the setting of strengthening mechanism greatly improves the stability connected between two columns With the safety used.

8, protective shell in heretofore described strengthening mechanism, the protective shell are set to the connection of the first column and the second column Place or set on the junction of forearm and postbrachium, the both ends of the protective shell are oblique, and the inside of the protective shell is equipped with Protective jacket, the protective jacket are equipped with texture；

The skewed setting in the protective shell both ends greatly improves the compactness connected between component and support of protective shell Property, the effect of its reinforcing, and the wherein setting of the protective jacket in protective shell are further increased, effectively prevents protective shell to upper arm Or lower arm causes to wear, to also play a very good protection to it while playing reinforcing to them.

9, the working method of heretofore described a kind of Intelligentized mechanical arm for bottle body sealing, specific work side Method is as follows：

Efficient mechanical arm is assembled first, i.e., first fixing seat is installed on pedestal, and rotating disk is installed to fixing seat On, the first column is installed in rotating disk, and the second column is connect with the first column, and by the first column and the second column company The place's of connecing setting strengthening mechanism reinforces it；

During previous step assembles efficient mechanical arm, while feed tank is assembled, then installs group At feed tank be installed to the inside of column, allow it to match with forearm, then position detecting device is installed on disk；

After structure division installs, control circuit is attached, can be come into operation；

During the work time, bottle cap is placed in feed tank first；

Motor driven vibrator in feed tank is vibrated, and bottle cap is allowed to move along helical orbit to rollway direction, until Bottle cap is run to rollway；

When bottle cap is run to rollway, the direction of bottle cap is detected by bottle cap testing agency, when it finds bottle cap towards not just When true, then bottle cap will be delivered in recovering mechanism by rollway by conveyer belt, if the bottle cap direction of detection is met the requirements, that Control device starts to work order mechanical arm；

Control device order bottle cap testing agency checks the position of bottle cap first, then according to testing result, controls machine Tool hand grabs the bottle cap of rollway, and the top of bottle cap is stuck in the inner groovy of disk；

Then control device detects command position detection device to the position of bottleneck on bottle body, and the result that will test passes Give control device, then the data processing module in control device, analyzes data, analyze bottle outlet specific position It sets；

To after control device obtains the specific location of bottleneck, drive manipulator by step 7 by mechanical arm in previous step） In on the bottle cap lid to corresponding bottleneck that grabs；

Then bottle cap is tightened i.e. during disk and manipulator rotate simultaneously by motor driven disc rotary It can；

In above-mentioned steps, its lateral position can be adjusted according to the actual needs of robot, allow the lower part of mechanical arm Suitable position is moved to along track equipped with fixing seat；

At the same time, the height of lower arm and the length of upper arm can also be adjusted according to the actual needs；

Above-mentioned whole work process, it is simple and convenient, it allows it to realize really intelligent and automation, it is allowed to better meet The demand of enterprise's production, pedestal described in invention are equipped with track, and the lower part of the mechanical arm is equipped with fixing seat, the fixing seat Lower section is equipped with the sliding block connecting with track, and the sliding block is set in track, and rotating disk, the machinery are equipped in the fixing seat Arm is set to the top of rotating disk, and the rotating disk is connect with driving mechanism, and the driving mechanism is connect with control device；

Meanwhile in fixing seat rotating disk setting, allow mechanical arm to can be realized the rotation of angle, greatly improve it and set with other Standby fitness, and then it is allowed to better meet the demand of production；

Meanwhile in fixing seat rotating disk setting, allow mechanical arm to can be realized the rotation of angle, greatly improve it and set with other Standby fitness, and then it is allowed to better meet the demand of production；In heretofore described mechanical arm be equipped with column, lower arm and on Arm, the column is set to the top of rotating disk, and the inside of the column is equipped with feed tank, and the lower arm is made movable with column Connection, the upper arm is set on lower arm, and the upper and lower arms make movable connection；The mechanical arm uses column, lower arm With upper arm split-type design, and the lower arm and column make movable connection, and the upper and lower arms make movable connection, allow it Each joint can be free movable, improves its operability, further increases its working effect；

The setting of feed tank on the column, allow feed and installation realize integrated design, from structure to entire mechanical arm into Row optimization, saves equipment input cost；It the problem of very good solution artificial loading, its feeding speed is improved, further mentions Its high installation effectiveness, while the time of manipulator crawl bottle cap is also shortened, so that the time entirely installed is greatly improved, Further it is allowed to meet the needs of client；Heretofore described feed tank is equipped with lid treatment device and rollway, the riko cover dress Reason charging tray is equipped in setting, the lower section of the reason charging tray is equipped with vibrator, and helical orbit, the spiral are equipped in the reason charging tray The opening direction of the bottom of track self-care charging tray towards reason charging tray is arranged in the shape of a spiral, and the helical orbit is communicated with rollway, And position-limit mechanism is equipped at the outlet end of the helical orbit and the feed inlet of rollway；

The lower arm that first column and the second column are constituted uses telescopic connection, allows it can be according to the needs of realization The height of lower arm is adjusted, its applicability is further increased, meanwhile, the setting of strengthening mechanism greatly improves two columns Between the stability connected and the safety used；

Forearm and postbrachium are equipped in heretofore described upper arm, the postbrachium and the second column use movable connection, before described Arm and postbrachium use telescopic connection, and the junction of the forearm and postbrachium is equipped with strengthening mechanism；

Forearm and postbrachium use telescopic connection in the upper arm, it can be needed to carry out the height of upper arm according to realization Adjustment, further increases its applicability；A kind of heretofore described Intelligentized mechanical arm for bottle body sealing, by Disk is set on mechanical arm, bottle cap position detecting device and position detecting device are set respectively to position of bottleneck on bottle cap and bottle body It is detected, then control device goes to grab according to the result command mechanical arm driving manipulator of the detection of bottle cap position detecting device Bottle cap is taken, then position of bottleneck is detected further according to position detecting device, the bottle cap of crawl is installed on bottleneck, entire mechanical arm Structure is simple, and the course of work is simple, convenient, fast, from taking lid to realize automation to installation, greatly improves its production efficiency, Also its production is allowed to realize standardization；

At the same time, in disk inner groovy setting, the Bottle cap top of crawl can be allowed to be stuck in inner groovy, and pass through manipulator Inner bulge it is held, make its crawl more stable, effectively prevent crawl during bottle cap fall, be also convenient for simultaneously Bottle cap tightens installation below, guarantees its installation effect, and then it is allowed to better meet the demand of production；

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the Intelligentized mechanical arm of the present invention for bottle body sealing；

Fig. 2 is the partial schematic diagram of manipulator in the present invention；

Fig. 3 is the structural schematic diagram of feed tank in the present invention；

In figure：Robot -1, control device -2；

Pedestal -11, mechanical arm -12, disk -13；

Inner groovy -14, manipulator -15, position detecting device -16,

Bottle cap position detecting mechanism -17；

Protrusion -151；

Track -111, sliding block -1211, rotating disk -122；

Column -123, lower arm -124, upper arm -125；

Feed tank -3；

Lid treatment device -31, rollway -32,

Reason charging tray -311,

Helical orbit -312,

Position-limit mechanism -313,

Bottle cap testing agency -4, recovering mechanism -5

First column -1241, the second column -1242

Strengthening mechanism -6,

Forearm -1251, postbrachium -1252

Protective shell -61

Fixing seat -7.

Specific embodiment

In the following with reference to the drawings and specific embodiments, the present invention is furture elucidated.

Embodiment 1

A kind of Intelligentized mechanical arm for bottle body sealing, including：Robot 1 and control device 2, the robot 1 In be equipped with pedestal 11, mechanical arm 12 and disk 13, the pedestal 11 is set to workbench side, and the mechanical arm 12 is installed on pedestal On 11, the disk 13 makees rotation connection with mechanical arm 12, and the lower part of the disk 13 is equipped with inner groovy 14, the inner groovy 14 outside is equipped with manipulator 15, and the disk 13 is equipped with the position detecting device 16 and bottle cap for testing product position Position detecting mechanism 17, the inside of the manipulator 15 are equipped with protrusion 151, and the disk 13 uses movable company with mechanical arm 12 It connects, and the depth of the inner groovy 14 is less than the height with bottle cap, the mechanical arm 12, disk 13, manipulator 15, position detection Device 16 and bottle cap position detecting mechanism 17 are connect with control device 2.

Heretofore described a kind of Intelligentized mechanical arm for bottle body sealing, by the way that disk is arranged on the robotic arm Setting bottle cap position detecting device and position detecting device respectively detect position of bottleneck on bottle cap and bottle body, then control Device according to the result command mechanical arm driving manipulator of the detection of bottle cap position detecting device go crawl bottle cap, then further according to Position detecting device detects position of bottleneck, and the bottle cap of crawl is installed on bottleneck, and entire machinery arm configuration is simple, the course of work Simply, convenient, fast, from taking lid to realize automation to installation, its production efficiency is greatly improved, it is also allowed to produce realization standard Change；At the same time, in disk inner groovy setting, the Bottle cap top of crawl can be allowed to be stuck in inner groovy, and pass through manipulator Inner bulge it is held, make its crawl more stable, effectively prevent crawl during bottle cap fall, be also convenient for simultaneously Bottle cap tightens installation below, guarantees its installation effect, and then it is allowed to better meet the demand of production.

Pedestal 11 described in the present embodiment is equipped with track 111, and the lower part of the mechanical arm 12 is equipped with fixing seat 121, institute The sliding block 1211 for being equipped with below fixing seat 121 and connecting with track 111 is stated, the sliding block 1211 is set in track 111, and described solid Rotating disk 122 is equipped in reservation 121, the mechanical arm 12 is set to the top of rotating disk 122, the rotating disk 122 and driving machine Structure connection, the driving mechanism are connect with control device 2.

Embodiment 2

Column 123, lower arm 124 and upper arm 125 are equipped in mechanical arm 12 described in the present embodiment, the column 123 is set to The top of rotating disk 122, and the inside of the column 123 is equipped with feed tank 3, the lower arm 124 is set to the top of column 123, And the lower arm 124 makees movable connection with column 123, the upper arm 125 is set on lower arm 124, and the upper arm 125 is under Arm 124 makees movable connection, and the disk 13 is set to the one end of upper arm 125 far from lower arm 124.

Embodiment 3

Feed tank 3 described in the present embodiment is equipped with lid treatment device 31 and rollway 32, is equipped in the lid treatment device 31 Charging tray 311 is managed, the lower section of the reason charging tray 311 is equipped with vibrator, and helical orbit 312 is equipped in the reason charging tray 311, described The opening direction of the bottom of 312 self-care charging tray 311 of helical orbit towards reason charging tray 311 is arranged in the shape of a spiral, the helical orbit 312 communicate with rollway 32, and position-limit mechanism is equipped at the feed inlet of the outlet end of the helical orbit 312 and rollway 32 313。

Embodiment 4

Rollway 32 described in the present embodiment is equipped with bottle cap testing agency 4 and recovering mechanism for detecting bottle cap direction 5, the bottle cap testing agency 4 connect with control device 2.

Embodiment 5

A kind of Intelligentized mechanical arm for bottle body sealing shown in described, including：Robot 1 and control device 2, the machine Pedestal 11, mechanical arm 12 and disk 13 are equipped in device people 1, the pedestal 11 is set to workbench side, and the mechanical arm 12 is installed In on pedestal 11, the disk 13 makees rotation connection with mechanical arm 12, and the lower part of the disk 13 is equipped with inner groovy 14, described The outside of inner groovy 14 is equipped with manipulator 15, and the disk 13 is equipped with the position detecting device 16 for testing product position With bottle cap position detecting mechanism 17, the inside of the manipulator 15 is equipped with protrusion 151, and the disk 13 is with mechanical arm 12 using work Dynamic formula connection, and the depth of the inner groovy 14 is less than the height with bottle cap, the mechanical arm 12, disk 13, manipulator 15, position It sets detection device 16 and bottle cap position detecting mechanism 17 is connect with control device 2.

Lower arm 124 described in the present embodiment uses extension type mechanical arm, and the lower arm 124 is by the first column 1241 and the Two columns 1242 are constituted, and first column 1241 is set to the top of column 123, and it is vertical that second column 1242 is set to first The top of column 1241, and do telescopic connection with the first column 1241, and first column 1241 and the second column 1242 Junction is equipped with strengthening mechanism 6.

Embodiment 6

Forearm 1251 and postbrachium 1252, the postbrachium 1252 and the second column are equipped in upper arm 125 described in the present embodiment 1242 use movable connection, and the forearm 1251 and postbrachium 1252 use telescopic connection, and the forearm 1251 and postbrachium 1252 junction is equipped with strengthening mechanism 6.

Embodiment 7

A kind of Intelligentized mechanical arm for bottle body sealing as shown in the figure, including：Robot 1 and control device 2, the machine Pedestal 11, mechanical arm 12 and disk 13 are equipped in people 1, the pedestal 11 is set to workbench side, and the mechanical arm 12 is installed on On pedestal 11, the disk 13 and mechanical arm 12 make rotation connection, and the lower part of the disk 13 is equipped with inner groovy 14, described interior The outside of groove 14 is equipped with manipulator 15, and the disk 13 is equipped with 16 He of position detecting device for testing product position Bottle cap position detecting mechanism 17, the inside of the manipulator 15 are equipped with protrusion 151, and the disk 13 is with mechanical arm 12 using activity Formula connection, and the depth of the inner groovy 14 is less than the height with bottle cap, the mechanical arm 12, disk 13, manipulator 15, position Detection device 16 and bottle cap position detecting mechanism 17 are connect with control device 2.

Protective shell 61 in strengthening mechanism 6 described in the present embodiment, the protective shell 61 are set to the first column 1241 and second The junction of column 1242 or set on the junction of forearm 1251 and postbrachium 1252, the both ends of the protective shell 61 are inclined Shape, and the inside of the protective shell 61 is equipped with protective jacket, the protective jacket is equipped with texture.

Embodiment 8

Forearm 1251 described in the present embodiment is equipped with the fixing seat 7 for installing disk 13 far from one end of postbrachium 1252, The rotary drive mechanism 131 is installed in fixing seat 7, and the rotary drive mechanism 131 uses servo motor.

Embodiment 9

A kind of working method of the Intelligentized mechanical arm for bottle body sealing described in the present embodiment, this is used for bottle body sealing The specific working method of Intelligentized mechanical arm is as follows：

1）：Efficient mechanical arm is assembled first, i.e., first fixing seat 121 is installed on pedestal, and rotating disk 122 is installed Onto fixing seat 121, the first column 1241 is installed in rotating disk 122, and the second column 1242 is connect with the first column 1241, and It is reinforced by the way that strengthening mechanism 6 is arranged in the first column 1241 and 1242 junction of the second column；Again by forearm 1251 It is attached with postbrachium 1252, and it is reinforced in the junction of the two setting strengthening mechanism 6, after then connecting Upper arm 125 is attached with lower arm 124, then is installed disk 13 and forearm 1251 by fixing seat 7, and by manipulator 15 It is installed on disk 13；

2）：It is assembled during previous step assembles efficient mechanical arm, while to feed tank 3, then by group The feed tank 3 installed is installed to the inside of column 123, it is allowed to match with forearm 1251, then by 16 He of position detecting device Bottle cap position detecting mechanism 17 is installed on disk 13；

4）：During the work time, bottle cap is placed in feed tank 3 first；

5）：Motor driven vibrator in feed tank 3 is vibrated, and allows bottle cap along helical orbit 312 to 32 direction of rollway It is mobile, until bottle cap is run to rollway 32；

6）：When bottle cap is run to rollway 32, the direction of bottle cap is detected by bottle cap testing agency 4, when it finds bottle cap court To it is incorrect when, then bottle cap will be delivered in recovering mechanism 5 by rollway 32 by conveyer belt；

If the bottle cap of detection is towards meeting the requirements, control device 2 starts to work order mechanical arm 12；

7）：2 order bottle cap testing agency 17 of control device checks the position of bottle cap first, then according to testing result, The bottle cap that manipulator 15 grabs rollway 32 is controlled, the top of bottle cap is stuck in the inner groovy 14 of disk 13；

8）：Then control device 2 detects command position detection device 16 to the position of bottleneck on bottle body, and will test As a result control device 2 is sent to, then the data processing module in control device 2, analyzes data, analyzes to obtain bottle outlet Specific location；

10）：To after control device 2 obtains the specific location of bottleneck, drive manipulator 15 by mechanical arm 12 in previous step It will be on the bottle cap lid to corresponding bottleneck that grabbed in step 7；

11）：Then disk 13 is driven to rotate by motor 71, during disk 13 and manipulator 15 rotate simultaneously, to bottle Lid is tightened；

12）：In above-mentioned steps 4 to 11, its lateral position can be adjusted according to the actual needs of robot, allow machinery The lower part of arm 12 is equipped with fixing seat and is moved to suitable position along track 111；

13）：At the same time, the height of lower arm 124 and the length of upper arm 125 can also be adjusted according to the actual needs.

Embodiment 10

The position detecting device uses position sensor 16, and the bottle cap position detecting mechanism 17 uses infrared ray sensing Device.

Rollway 32 described in the present embodiment is equipped with bottle cap testing agency 4 and recovering mechanism for detecting bottle cap direction 5, the bottle cap testing agency 4 connect with control device 2.The bottle cap testing agency 4 uses industrial camera, passes through industrial camera Bottle cap is shot, the direction of its bottle cap is then judged by the image of shooting.

Mechanical arm control module, feed tank control module, detection control are equipped in control device 2 described in the present embodiment Module, angular adjustment control module, position adjust control module and controller module, are equipped with machine in the mechanical arm control module Tool arm control unit and manipulator control unit, the mechanical arm control unit and manipulator control unit respectively with mechanical arm 12 It is connected with manipulator 15, riko cover control unit and rollway control unit, the riko cover is equipped in the feed tank control module Control unit and rollway control unit are connect with lid treatment device 31 and rollway 32 respectively, are equipped in the detection control module Bottle cap position detection control unit, position of bottleneck detection control unit and bottle cap are towards detection control unit, the bottle cap position Detection control unit, position of bottleneck detection control unit and bottle cap towards detection control unit respectively with position detecting device 16, Bottle cap position detecting mechanism 17 and bottle cap testing agency 4 connect, the angular adjustment control module and driving rotating disk 122 Driving mechanism connection, the position adjust control module and connect with the slider-actuated mechanism for driving sliding block 1211 mobile, the machine Tool arm control module, feed tank control module, detection control module, angular adjustment control module, position adjusting control module are equal It is connect with controller module.

A kind of working method of the Intelligentized mechanical arm for bottle body sealing described in the present embodiment, this is used for bottle body envelope The specific working method of Intelligentized mechanical arm of mouth is as follows：

4）：During the work time, bottle cap is placed in feed tank 3 first；

The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For member, without departing from the principle of the present invention, several improvement can also be made, these improvement also should be regarded as of the invention Protection scope.

Claims

1. a kind of Intelligentized mechanical arm for bottle body sealing, it is characterised in that：Including：Robot（1）And control device（2）, The robot（1）In be equipped with pedestal（11）, mechanical arm（12）And disk（13）, the pedestal（11）Set on workbench side, The mechanical arm（12）It is installed on pedestal（11）On, the disk（13）With mechanical arm（12）Make rotation connection, the disk （13）Top be equipped with rotary drive mechanism（131）, and the disk（13）Lower part be equipped with inner groovy（14）, the inner groovy （14）Outside be equipped with manipulator（15）, and the disk（13）It is equipped with the position detecting device for testing product position （16）With bottle cap position detecting device（17）, the manipulator（15）Inside be equipped with protrusion（151）, the disk（13）With machine Tool arm（12）Using movable connection, and the inner groovy（14）Depth be less than height with bottle cap, the mechanical arm（12）, Disk（13）, manipulator（15）, rotary drive mechanism（131）, position detecting device（16）Testing agency is set with bottle cap（17）? With control device（2）Connection.

2. the Intelligentized mechanical arm according to claim 1 for bottle body sealing, it is characterised in that：The pedestal（11）On Equipped with track（111）, the mechanical arm（12）Lower part be equipped with fixing seat（121）, the fixing seat（121）Lower section is equipped with and rail Road（111）The sliding block of connection（1211）, the sliding block（1211）Set on track（111）In, and the fixing seat（121）In be equipped with Rotating disk（122）, the mechanical arm（12）Set on rotating disk（122）Top, the rotating disk（122）Connect with driving mechanism It connects, the driving mechanism and control device（2）Connection.

3. the Intelligentized mechanical arm according to claim 1 for bottle body sealing, it is characterised in that：The mechanical arm（12） In be equipped with column（123）, lower arm（124）And upper arm（125）, the column（123）Set on rotating disk（122）Top, and institute State column（123）Inside be equipped with feed tank（3）, the lower arm（124）Set on column（123）Top, and the lower arm （124）With column（123）Make movable connection, the upper arm（125）Set on lower arm（124）On, and the upper arm（125）With under Arm（124）Make movable connection, the disk（13）Set on upper arm（125）Far from lower arm（124）One end.

4. the Intelligentized mechanical arm according to claim 1 for bottle body sealing, it is characterised in that：The feed tank（3） It is equipped with lid treatment device（31）And rollway（32）, the lid treatment device（31）In be equipped with reason charging tray（311）, the reason charging tray （311）Lower section be equipped with vibrator, and the reason charging tray（311）It is interior to be equipped with helical orbit（312）, the helical orbit（312） Self-care charging tray（311）Bottom towards reason charging tray（311）Opening direction be arranged in the shape of a spiral, the helical orbit（312）With Rollway（32）It communicates, and the helical orbit（312）Outlet end and rollway（32）Feed inlet at be equipped with position-limit mechanism （313）.

5. the Intelligentized mechanical arm according to claim 4 for bottle body sealing, it is characterised in that：The rollway（32） It is equipped with the bottle cap testing agency for detecting bottle cap direction（4）And recovering mechanism（5）, the bottle cap testing agency（4）With control Device processed（2）Connection.

6. the Intelligentized mechanical arm according to claim 3 for bottle body sealing, it is characterised in that：The lower arm（124） Using extension type mechanical arm, the lower arm（124）By the first column（1241）With the second column（1242）It constitutes, described the One column（1241）Set on column（123）Top, second column（1242）Set on the first column（1241）Top, and With the first column（1241）Do telescopic connection, and first column（1241）With the second column（1242）Junction be equipped with Strengthening mechanism（6）.

7. the Intelligentized mechanical arm according to claim 3 for bottle body sealing, it is characterised in that：The upper arm（125） In be equipped with forearm（1251）And postbrachium（1252）, the postbrachium（1252）With the second column（1242）Using movable connection, institute State forearm（1251）And postbrachium（1252）Using telescopic connection, and the forearm（1251）And postbrachium（1252）Junction set There is strengthening mechanism（6）.

8. the Intelligentized mechanical arm according to claim 6 or 7 for bottle body sealing, it is characterised in that：The reinforcing Mechanism（6）Middle protective shell（61）, the protective shell（61）Set on the first column（1241）With the second column（1242）Junction Or it is set to forearm（1251）And postbrachium（1252）Junction, the protective shell（61）Both ends it is oblique, and the guarantor Protective case（61）Inside be equipped with protective jacket, the protective jacket be equipped with texture.

9. the Intelligentized mechanical arm according to claim 7 for bottle body sealing, it is characterised in that：The forearm（1251） Far from postbrachium（1252）One end be equipped with for installing disk（13）Fixing seat（7）, the rotary drive mechanism（131）Installation In fixing seat（7）On, the rotary drive mechanism（131）Using servo motor.

10. a kind of working method of Intelligentized mechanical arm for bottle body sealing according to any one of claims 1 to 9, It is characterized in that：The specific working method of Intelligentized mechanical arm for being used for bottle body sealing is as follows：

1）：Efficient mechanical arm is assembled first, i.e., first by fixing seat（121）It is installed on pedestal, and by rotating disk（122） It is installed to fixing seat（121）On, the first column（1241）It is installed on rotating disk（122）On, the second column（1242）It is vertical with first Column（1241）Connection, and by the first column（1241）With the second column（1242）Strengthening mechanism is arranged in junction（6）To it It is reinforced；Again by forearm（1251）And postbrachium（1252）It is attached, and strengthening mechanism is set in the junction of the two（6）It is right It is reinforced, then by the upper arm after connecting（125）With lower arm（124）It is attached, then passes through fixing seat（7）By disk （13）With forearm（1251）It is installed, and by manipulator（15）It is installed to disk（13）On；

2）：During previous step assembles efficient mechanical arm, while to feed tank（3）It is assembled, then will The feed tank being completed（3）It is installed to column（123）Inside, allow itself and forearm（1251）It matches, then by position detection Device（16）With bottle cap position detecting mechanism（17）It is installed to disk（13）On；

4）：During the work time, bottle cap is placed in feed tank first（3）In；

5）：Feed tank（3）In motor driven vibrator vibrated, allow bottle cap along helical orbit（312）To rollway （32）Direction is mobile, until bottle cap is run to rollway（32）；

6）：When bottle cap is run to rollway（32）When bottle cap testing agency（4）The direction of bottle cap is detected, when it finds bottle Lid towards it is incorrect when, then rollway（32）Bottle cap will be delivered to recovering mechanism by conveyer belt（5）In, if the bottle of detection Lid is towards meeting the requirements, then control device（2）By order mechanical arm（12）It starts to work；

7）：Control device first（2）Order bottle cap testing agency（17）The position of bottle cap is checked, is then tied according to detection Fruit controls manipulator（15）Grab rollway（32）Bottle cap, the top of bottle cap is stuck in disk（13）Inner groovy（14）In；

8）：Then control device（2）By command position detection device（16）Position of bottleneck on bottle body is detected, and will inspection The result of survey sends control device to（2）, then control device（2）In data processing module, data are analyzed, analyze Obtain the specific location of bottle outlet；

10）：To in previous step, control device（2）After the specific location for obtaining bottleneck, pass through mechanical arm（12）It drives mechanical Hand（15）By step 7）In on the bottle cap lid to corresponding bottleneck that grabs；

11）：Then pass through motor（71）Drive disk（13）Rotation, in disk（13）And manipulator（15）The process of rotation simultaneously In, bottle cap is tightened；

12）：In above-mentioned steps 4）To 11）In, its lateral position can be adjusted according to the actual needs of robot, allow machine Tool arm（12）Lower part be equipped with fixing seat along track（111）It is moved to suitable position；

13）：At the same time, lower arm（124）Height and upper arm（125）Length can also be adjusted according to the actual needs It is whole.