CN109872459B

CN109872459B - Cup capping machine and capping mechanism

Info

Publication number: CN109872459B
Application number: CN201910305132.8A
Authority: CN
Inventors: 徐航
Original assignee: Shanghai Haitun Robot Technology Co ltd
Current assignee: Shanghai Haitun Robot Technology Co ltd
Priority date: 2019-04-16
Filing date: 2019-04-16
Publication date: 2024-06-28
Anticipated expiration: 2039-04-16
Also published as: CN109872459A

Abstract

A cup capping machine comprising: the cup cover comprises a cover pressing mechanism, a cover storing mechanism and a cover discharging mechanism, wherein the cover pressing mechanism comprises a driving part, a cover pressing part and a cup body grabbing part; the driving part drives the gland part and/or the cup body grabbing part to reciprocate in a single plane; the cover storage mechanism is used for storing the cover body; the cover discharging mechanism is used for discharging the cover bodies in the cover storing mechanism in sequence; in the cover taking state, the driving part drives the gland part to obtain the cover body; in the capping state, the driving part drives the capping part or the cup grabbing part to move in a single plane, so that the capping part is positioned above the cup grabbing part, and when the cup to be capped is positioned on the cup grabbing part, the driving part drives the capping part or the cup grabbing part to press the cap into the cup. The design ensures that the operation space from the cover sucking station to the cover pressing station does not need to be turned, simplifies the operation flow of cover taking and cover pressing, reduces the space occupation rate of the cover pressing and the cup grabbing part, and ensures that the cup covering machine has the characteristic of miniaturization.

Description

Cup capping machine and capping mechanism

Technical Field

The invention relates to the technical field of automatic capping, in particular to a cup capping machine and a capping mechanism.

Background

With technological progress and development, the present manufacturing and vending equipment has become a non-variable component part in the commercial retail market, for example, the present manufacturing and vending equipment involves an automatic capping technology, and at present, a mechanical arm is used for simulating the actions of a human to realize capping and capping functions, but the capping mode has complex process and high cost, and in addition, the mechanical arm equipment is huge and cannot be popularized in a large scale; therefore, there is a need in the art for a compact, low cost, and reliable automatic cup lid mechanism that ensures automatic gripping of the lid, and automatic lid loading and closing.

Disclosure of Invention

The application provides a cup capping machine which can achieve cap taking and capping, and is simple in operation process, small in structure and low in cost.

In order to achieve the above object, the present application provides a cup capping machine comprising:

The gland mechanism comprises a driving part, a gland part and a cup body grabbing part, wherein the driving part drives the gland part and/or the cup body grabbing part to reciprocate in a single plane;

the cover storage mechanism is used for storing the cover body;

The cover discharging mechanism is used for discharging the cover bodies in the cover storing mechanism in sequence;

in a cover taking state, the driving part drives the cover pressing part to obtain a cover body;

In the pressing cover state, the driving part drives the pressing cover part or the cup body grabbing part to move in a single plane, so that the pressing cover part is positioned above the cup body grabbing part, and when the cup body to be pressed is positioned on the cup body grabbing part, the driving part drives the pressing cover part or the cup body grabbing part to press the cover body into the cup body.

In one embodiment, the driving part only drives the gland part to reciprocate in a vertical plane, specifically, the gland part and the cup body grabbing part are coaxial in the vertical direction, and in an initial state, the gland part is positioned above the cup body grabbing part;

in a cover taking state, the driving part drives the cup body grabbing part to be in an open state, the driving part drives the gland part to pass through the cup body grabbing part and move towards the cover storage mechanism until a cover body is obtained, and the driving part drives the gland part to recover to an initial state;

In the pressing cover state, the driving part drives the cup body grabbing part to be in a folding state, and when the cup body to be pressed is positioned on the cup body grabbing part, the driving part drives the pressing cover part to move downwards until the cup body is pressed into the cup body.

In one embodiment, the driving part only drives the gland part to reciprocate in a vertical plane, specifically, the gland part and the cup body grabbing part are coaxial in the vertical direction, and in an initial state, the gland part is positioned below the cup body grabbing part;

in the cap taking state, the driving part drives the capping part to move towards the cap storage mechanism until a cap body is obtained, and the driving part drives the capping part to recover to an initial state;

Under the gland state, the drive part drives the cup body grabbing part to be in an open state, the drive part drives the gland part to penetrate through the cup body grabbing part and vertically move upwards, so that the gland part is located above the cup body grabbing part, when the cup body to be capped is located on the cup body grabbing part, the drive part drives the cup body grabbing part to be in a closed state to locate the cup body, and the drive part drives the gland part to move downwards until the cup body is pressed into the cup body.

In one embodiment, the driving part drives the gland part to reciprocate in a vertical plane, the driving part drives the cup grabbing part to reciprocate in a transverse plane, and in an initial state, the gland part is positioned above the cup grabbing part;

In the cover taking state, the driving part drives the gland part to move towards the cover storage mechanism until a cover body is obtained;

In the pressing cover state, the driving part drives the cup body grabbing part to transversely move so that the cup body grabbing part is positioned below the pressing cover part, and when the cup body to be pressed is positioned on the cup body grabbing part, the driving part drives the pressing cover part to downwardly move until the cup body is pressed into the cup body.

In one embodiment, the capping part comprises a capping tool, and an acquisition part for acquiring the cap body is arranged in the direction of the capping tool towards the outlet of the cap storage mechanism.

In one embodiment, the acquiring part is a suction cup for sucking the cover body, and the suction cup sucks the cover body under a vacuum state.

In an embodiment, the capping part further comprises a plurality of floating claws, the floating claws are arranged along the periphery of the capping tool, after the capping tool absorbs the cap body through the sucker, the floating claws fold to fasten the cap body towards the capping tool, and when the capping tool grabs the cap body and presses the cap body into the cup body, the floating claws open to release the cap body from the capping tool.

In an embodiment, the floating claw includes fixed part, movable arm, spacing round platform and elastic part, wherein, fixed part fixed mounting in the border of gland frock, the one end of movable arm articulate in fixed part, the other end with spacing round platform articulates, the one end of elastic part connect in the movable arm and be close to the movable arm with the articulated department of fixed part, the other end of elastic part connect in on the wall of gland frock, the flexible deformation of elastic part makes the movable arm is relative the gland frock opens and folds.

In one embodiment, the pressing cover part further includes a pressure sensor, the pressure sensor is disposed between the pressing cover tool and the driving part, the pressure sensor is used for detecting pressure applied by the pressing cover tool, and the driving part controls the pressing cover stroke of the pressing cover tool according to a detection value of the pressure sensor.

In one embodiment, the cup grabbing portion includes a first clamping jaw and a second clamping jaw, the first clamping jaw and the second clamping jaw are respectively connected with the second driving portion, and when the second driving portion drives the first clamping jaw and the second clamping jaw to fold, an accommodating hole for accommodating the cup is formed in an end portion formed by folding the first clamping jaw and the second clamping jaw.

In an embodiment, store up lid mechanism includes stores up the lid, store up the lid and include and store up the lid position in storehouse, store up a side of lid position in storehouse and seted up lid benefit storehouse mouth, be used for opening and closing a side of lid benefit storehouse mouth and be used for the location and the door body of direction, the door body with store up the non-closed installation of lid position in storehouse.

In one embodiment, the storage cap includes a storage cap receptacle.

In an embodiment, the cover storage body includes at least two cover storage bins, and when the cover body in the corresponding cover storage bin is exhausted, the cover storage body automatically moves until the next cover storage bin moves above the cover outlet mechanism, so that each cover storage bin is automatically switched relative to the cover outlet mechanism.

According to a second aspect, in one embodiment, there is provided a capping mechanism, including a driving portion and a capping portion, an output end of the driving portion is connected to the capping portion, and is configured to drive the capping portion to perform capping and capping operations, the capping portion includes a capping tool, and an obtaining portion for obtaining a cap body is provided in an outlet direction of the capping tool.

In an embodiment, the gland part further comprises a plurality of floating claws, the floating claws are arranged along the periphery of the gland tool, after the gland tool sucks the cover body through the sucker, the floating claws fold to fasten the cover body towards the direction of the gland tool, and when the gland tool presses the cover body into the cup body, the floating claws open to release the cover body from the direction of the gland tool.

In one embodiment, the pressing cover part further comprises a pressure sensor, the pressure sensor is arranged at the top of the pressing cover tool, the pressure sensor is used for detecting pressure applied by the pressing cover tool, and the driving part controls the pressing cover stroke of the pressing cover tool according to the detection value of the pressure sensor.

The cup covering machine according to the embodiment has the following beneficial effects:

1) The design of the gland part and/or the cup body grabbing part only makes reciprocating motion in a single plane, and the design ensures that the gland part does not need steering operation from the operation space from the capping station to the capping station in the operation process of the capping and the capping, therefore, the design of unidirectional movement of the gland part and the cup body grabbing part not only simplifies the operation flow of cap taking and capping, but also reduces the occupancy rate of the gland part and the cup body grabbing part in the inner space of the capping machine compared with the traditional steering capping operation, and further ensures that the capping machine has the characteristic of miniaturization.

2) The gland part adopts a vacuum suction cover body, in order to prevent the cover body from falling off during vacuum leakage, a floating claw is designed at the edge of the periphery of the gland tool, and the cover body is closed and fastened through the floating claw to prevent the cover body from falling off; further, in the process of fastening the cover body by the floating clamping jaw, the vacuum pump can be stopped from providing a vacuum power source for the gland tool, so that the energy-saving effect is achieved.

3) Compared with the traditional method of setting the gland stroke through a fixed distance, the technical scheme of the application is not influenced by the height of the cup body to be gland, and the capping of the cup body and the default cover body is successful only when the detection value of the pressure sensor reaches the preset value. Meanwhile, through cooperation with stroke detection, when the stroke exceeds a preset stroke and the gland force does not reach a preset pressure value, an alarm is given to correct errors.

4) The cup covering machine supplements the cover body at the side edge of the cover storage bin, and compared with the existing cover body supplementing at the bottom or the top of the cover storage bin, the cup covering machine supplements the cover body more conveniently.

5) Compared with the existing single cover storage bin, the cover cup machine provided by the application has a large number of cover cups, can be suitable for places with high sales, can be automatically switched between two or less cover storage bins, does not need manual participation, and realizes automatic cover supplementing in the use process of the cover cup machine through automatic switching of a plurality of cover storage bins.

Drawings

FIG. 1 is a schematic view of a cup capping machine according to a second embodiment;

FIG. 2 is an exploded view of a capping mechanism according to a second embodiment;

FIG. 3 is a diagram showing the assembly of floating jaws and a gland tool in a second embodiment;

FIG. 4 is an exploded view of a cap storage mechanism according to a second embodiment;

FIG. 5 is an exploded view of a cap outlet mechanism according to a second embodiment;

FIG. 6 is a schematic view of a cup capping machine according to a third embodiment;

FIG. 7 is a construction diagram of a cap storing mechanism according to a third embodiment;

FIG. 8 is an exploded view of FIG. 7;

FIG. 9 is a schematic diagram of a capping mechanism of a fifth embodiment;

FIG. 10 is a schematic view of the capping mechanism of FIG. 9 in a capping state;

Fig. 11 is a schematic view of a capping mechanism according to a sixth embodiment.

Detailed Description

The invention will be described in further detail below with reference to the drawings by means of specific embodiments.

In the embodiment of the invention, the cup capping machine with a novel structure is designed to realize the capping and capping in the same direction, so that the operation flow is simple, and meanwhile, the capping storage mechanism is improved, so that the capping body can be conveniently supplemented and automatically supplemented.

Embodiment one:

The application provides a cup capping machine which mainly comprises a capping mechanism, a cap storage mechanism and a cap discharging mechanism.

The gland mechanism comprises a driving part, a gland part and a cup body grabbing part, wherein the driving part drives the gland part and/or the cup body grabbing part to reciprocate in a single plane, wherein in the application, the single plane refers to a plane formed by reciprocating motion tracks of the gland part or the cup body grabbing part, and the gland part or the cup body grabbing part only reciprocates in the plane without turning in space.

The capping portion and the cup gripping portion of this example may share one driving portion, and the capping portion and the cup gripping portion may be separate driving portions, that is, one driving portion may be designed to control the capping portion and the cup gripping portion, or two driving portions may be designed, where one driving portion controls the capping portion and the other driving portion controls the cup gripping portion.

The cover storage mechanism is used for storing the cover body, and in the cover taking state, the cover outlet of the cover storage mechanism and the cover pressing part are coaxial in the up-down direction, so that the cover pressing part can acquire the cover body in a unidirectional movement.

The cover discharging mechanism is used for sequentially discharging the cover bodies in the cover storing mechanism to the cover discharging opening of the cover storing mechanism.

In the cover taking state, the driving part drives the gland part to obtain the cover body;

In the capping state, the driving part drives the capping part or the cup body grabbing part to move in a single plane, so that the capping part is positioned above the cup body grabbing part, and when the cup body to be capped is positioned on the cup body grabbing part, the driving part drives the capping part or the cup body grabbing part to press the cap body into the cup body.

According to the embodiment, the cover pressing part and/or the cup body grabbing part do/does reciprocating motion only in a single plane, and in the operation process of the cover sucking and the cover pressing, the cover pressing part does not need steering operation from the cover sucking station to the cover pressing station, so that the cover pressing part and the cup body grabbing part move in one direction, the operation flow of cover taking and cover pressing is simplified, and compared with the traditional steering cover pressing operation, the occupancy rate of the cover pressing part and the cup body grabbing part in the inner space of the cup covering machine is reduced, and the cup covering machine has the characteristic of miniaturization.

Embodiment two:

Based on the basic concept of the first embodiment, the present embodiment provides an exemplary cup capping machine, in which the driving part drives only the capping part to reciprocate in a vertical plane, specifically, the capping part and the cup gripping part are coaxial in a vertical direction, and in an initial state, the capping part is located above the cup gripping part;

the cover body machine body of this example is the theory of operation:

in the cover taking state, the driving part drives the cup body grabbing part to be in an open state, the driving part drives the gland part to move downwards to penetrate through the cup body grabbing part and move towards the cover storage mechanism until the cover body is obtained, and the driving part drives the gland part to recover to an initial state;

In the pressing cover state, the driving part drives the cup body grabbing part to be in a closed state, when the cup body to be pressed is positioned at the cup body grabbing part, the driving part drives the pressing cover part to move downwards until the cover body is pressed into the cup body, and then the driving part drives the pressing cover part to move upwards and restore to the initial state.

The cup capping machine mainly realizes cap taking and capping operations in the coaxial direction, so that the capping mechanism, the cap storage mechanism and the cap outlet mechanism can be mutually independent in physical structure, and an installation structure can be independently designed, and the capping mechanism, the cap storage mechanism and the cap outlet mechanism are uniformly installed on the installation structure, whether the capping mechanism, the cap storage mechanism and the cap outlet mechanism are separately installed in physical structure or uniformly installed on a structure, only the capping part of the capping mechanism, the cup body grabbing part and the cap outlet of the cap storage mechanism are coaxial in the vertical direction of the space position; the cover outlet of the cover pressing part, the cup grabbing part and the cover storage mechanism are coaxially designed in the up-down direction, so that the cover pressing part can move towards the cup grabbing part to realize the cover pressing operation without steering operation after sucking the cover, the operation flow of cover taking and cover pressing is simplified, the occupancy rate of the cover pressing part and the cup grabbing part in the inner space of the cover cup machine is reduced, and the cover cup machine has the characteristic of miniaturization.

The cup capping machine is described below in this example in a specific example configuration.

In this example, the capping mechanism, the cap storing mechanism, and the cap discharging mechanism in the cap cup machine are commonly mounted in one structure, and the capping portion and the cup gripping portion in the capping mechanism are controlled by separate driving portions, respectively.

The cup capping machine of this example includes gland mechanism 100, lid storing mechanism 200 and cover discharging mechanism 300, gland mechanism 100, lid storing mechanism 200 and cover discharging mechanism 300 are installed on base frame 400 jointly, as shown in fig. 1, wherein gland mechanism 100 is installed above base frame 400, lid storing mechanism 200 and cover discharging mechanism 300 are installed on base frame 400 in a matching way, cover discharging mechanism 300 provides the cover body stored in lid storing mechanism 200 to gland mechanism 100, cover taking and cover pressing operation are performed on the coaxial direction of gland mechanism 100, and the operation flow of cover taking and cover pressing is simplified.

The cup lid machine of the present application will be described below in terms of the connection relation of the whole structure.

Specifically, the capping mechanism 100 includes a first driving part 110, a second driving part 120, a capping part 130, and a cup gripping part 140; wherein, the output end of the first driving part 110 is connected with the gland part 130, and the first driving part 110 drives the gland part 130 to move up and down; the output end of the second driving part 120 is connected with the cup grabbing part 140, the second driving part 120 drives the cup grabbing part 140 to open and close, and the gland part 130 and the cup grabbing part 140 are coaxial in the up-down direction; the capping mechanism 100 is installed above the base frame 400, and the capping mechanism 100 is provided with a cap body by matching the cap storage mechanism 200 and the cap outlet mechanism 300 below the base frame, so that the capping mechanism 100 can take the cap and cap in the coaxial direction.

The base frame 400 of this embodiment includes an upper mounting surface 410 and a supporting frame 420, the supporting frame 420 is used for supporting the upper mounting surface 410, the capping mechanism 100 is mounted above the upper mounting surface 410, the number of the supporting frames 420 can be three, and correspondingly can be four, so long as the capping mechanism 100 mounted on the upper mounting surface 410 and the upper mounting surface 410 can be stably supported. In other embodiments, those skilled in the art may design other shapes of the base frame 400, and the base frame 400 is not limited in this example.

The cap storing mechanism 200 is mounted on the support frame 420, the cap storing mechanism 200 is used for storing caps, the cap outlet, the cup grabbing portion 140 and the capping portion 130 of the cap storing mechanism 200 are coaxial in the up-down direction, the cap discharging mechanism 300 and the cap storing mechanism 200 are mounted on the support frame 420 in a matched manner, and the cap discharging mechanism 300 is used for sequentially discharging caps stored in the cap storing mechanism 200 to the upper mounting surface 410.

The principle of operation of the cup cover of this example is as follows:

In the cap taking state, the second driving part 120 drives the cup grabbing part 140 to be in an open state, the first driving part 110 drives the gland part 130 to move downwards until the cap is obtained, and then the first driving part 110 drives the gland part 130 to move upwards and reset;

In the capping state, when the cup to be capped is positioned at the cup grabbing portion 140, the second driving portion 120 drives the cup grabbing portion 140 to be in a closed state to position the cup, the first driving portion 110 drives the capping portion 130 to move downwards until the cap is pressed onto the cup, and then the first driving portion 110 drives the capping portion 130 to move upwards and reset.

According to the cover taking and capping process, only the up-and-down movement of the cover pressing part 130 is controlled, the cover taking and capping operation can be implemented without controlling the rotation of the cover pressing part 130, and compared with the fact that the existing cover taking station and the existing cover pressing station are not at the same position in space, the cover taking machine has the advantages that the cover pressing part 130 and the cup grabbing part 140 are coaxially designed, the cover taking station and the cover pressing station are coaxial in the up-and-down direction in space, and therefore the cover taking machine can not only simplify the operation flow of cover taking and capping, but also has the effects of small size and space saving.

The cup capping machine of the present application will be described in terms of a specific structure, and first, the structure and composition of the capping mechanism 100 will be described as shown in fig. 2.

The first driving portion 110 of the present embodiment is configured to drive the capping portion 130 to move up and down, so that the first driving portion 110 is a lifting mechanism, for example, the first driving portion 110 may be a cylinder assembly, or may be other structures such as a lifting screw assembly, and the specific structure of the first driving portion 110 is not limited in this embodiment; the second driving portion 120 of the present embodiment has the function of driving the cup grabbing portion 140 to open and close, the second driving portion 120 of the present embodiment may be a combination of a power portion and a link mechanism, the power portion drives the link mechanism to drive the cup grabbing portion 140 to open and close, and in a specific application, the second driving portion 120 is designed to match with a specific structure of the cup grabbing portion 140, so long as the cup grabbing portion 140 can be driven to open and close, so the specific structure of the second driving portion 110 is not limited in this embodiment.

The structure of the capping portion 130 will be described in detail.

The capping part 130 comprises a capping tool 131, an acquisition part for acquiring a cap body is arranged in the outlet direction of the capping tool 131, in this example, the acquisition part is preferably a sucker for sucking the cap body, the sucker sucks the cap body in a vacuum state, in the prior art, the cap body is grabbed in a manner of friction force generated by hard contact between a square ring sleeved on the cap body and the cap body, and the cap body is easy to deform due to the suction of the cap body in a friction deformation manner and is easy to fall due to unstable friction force; in the embodiment, the vacuum pump controls the sucker to be in a vacuum state to suck the cover body, so that the cover body cannot be deformed.

The gland tool 131 is in a circular structure, and a person skilled in the art can design the gland tool 131 into a square structure according to the conception of the example; further, in order to prevent the sucking disc from sucking the in-process of lid, leak because of the vacuum state, and lead to the lid to drop in the sucking disc, the gland portion 130 of this example still includes floating jack catch 132, a plurality of floating jack catch 132 are along the peripheral setting of gland frock 131, wait that gland frock 131 is through the sucking disc after sucking the lid, a plurality of floating jack catch 132 fold the fastening lid towards gland frock 131 direction, wait that gland frock 131 opens the release lid in the direction of gland frock dorsad when pressing the lid into the cup, consequently, the in-process of floating jack catch 132 fastening the lid, still can control the vacuum pump and stop work, stop the vacuum pump promptly and provide the vacuum power supply to the sucking disc of gland frock 131, in order to reach energy-conserving effect.

In this example, three floating claws 132 are used, and the three floating claws 132 are uniformly distributed around the periphery of the capping tool 131, and in other embodiments, two or more than three floating claws 132 may be provided, as long as the floating claws 132 cooperate with each other to achieve the effect of fastening the capping body.

In order to more clearly understand the structure of the floating claw 132, this example provides a specific structure diagram of the cooperation installation of the floating claw 132 and the gland tool, as shown in fig. 3, the floating claw 132 includes a fixed portion 1321, a movable arm 1322, a limiting round table 1323 and an elastic portion, wherein the fixed portion 1321 is fixedly installed at the edge of the gland tool 131, one end of the movable arm 1322 is hinged to the fixed portion 1321, the other end is hinged to the limiting round table 1323, one end of the elastic portion is connected to the movable arm 1322 and is close to the hinged position of the movable arm 1322 and the fixed portion 1321, the other end of the elastic portion is connected to the wall body of the gland tool 131, and the elastic portion stretches and contracts to enable the movable arm 1322 to open and close relative to the gland tool 131, preferably, the elastic portion is a spring.

Based on the specific structure of the floating claw 132 shown in fig. 3 and the matching structure of the floating claw 132 and the gland tool 131 in fig. 2, the specific working principle of the gland part 130 is as follows: when the capping tool 131 sucks the cap body through the suction cup, the force of the suction cup on the cap body causes only 1 cap body to be sucked up, the movable arm 1322 is extruded by the upper mounting surface 410 to expand outwards, but the movable arm 1322 is prevented from expanding outwards due to the tensile force of the elastic part on the movable arm, so that the capping tool moves upwards to reset under the drive of the first driving part, after the capping tool is far away from the cap taking position (namely the capping tool is far away from the upper mounting surface) for a certain distance, the movable arm 1322 resets, a single cap body is clamped among the plurality of movable arms 1322, and a limiting round table 1323 is arranged below the movable arm 1322, so that the cap body is limited between the plurality of movable arms 1322 and the limiting round table 1323, and the cap body is prevented from falling.

When the cover pressing tool 131 applies downward pressure to press the cover body to the cup body, the elastic part is stretched because the gravity of the cup is larger than the tension of the elastic part to the movable arms 1322, and the movable arms 1322 are opened back to the direction of the cover pressing tool 131 to release the cover body, so that the cover pressing operation is completed.

In order to solve the problem existing in the conventional capping stroke based on the distance control capping tool 131, for example, when the stroke distance is set, the average height of the corresponding cup body is limited, but when the cup body height is greater than the average height, the situation that the cup body is deformed by pressing easily occurs, or when the cup body height is smaller than the average height, the phenomenon that the cup body cannot be capped easily occurs. For this purpose, the capping part 130 further includes a pressure sensor 133 disposed between the capping tool 131 and the first driving part 110, the pressure sensor 133 is used for detecting the pressure applied by the capping tool 131, and the first driving part 110 controls the capping stroke of the capping tool 131 according to the detection value of the pressure sensor 133.

Further, in order to detect whether the capping tool 131 successfully absorbs the cap body in the capping process and detect whether the capping tool 131 successfully presses the cap body onto the cup body in the capping process, the capping portion 130 of this example further includes a cap body photo detector 134, where the cap body photo detector 134 may be an infrared detector, and detect whether the capping tool 131 has a cap body by infrared light, for example, in the capping process, if the capping tool 131 completes the downward and upward movement process, the cap body photo detector 134 detects that the capping tool 131 has no cap body, and the first driving portion 110 controls the capping tool 131 to continue capping.

The cover photoelectric detector 134, the pressure sensor 133, the floating claw 132, and the capping tool 131 together constitute the capping portion 130 of this example. Based on the concept of the present example, the capping portion 130 may include only the capping tool 131, may include only the capping tool 131 and the floating jaw 132, and the like, that is, one skilled in the art may combine the capping tool 131 with any one or any two of the above-described cap body photodetector 134, pressure sensor 133, and floating jaw 132 to form the capping portion 130.

The following describes the fitting of the cup gripping portion 140 and the cap portion 130 in detail.

The cup gripping portion 140 includes a first jaw 141 and a second jaw 142, the first jaw 141 and the second jaw 142 are respectively connected with the second driving portion 120, and when the second driving portion 120 drives the first jaw 141 and the second jaw 142 to close, an end portion formed by folding the first jaw 141 and the second jaw 142 has a receiving hole for receiving the cup. The size of the accommodation hole is designed to accommodate the middle or more than middle position of the cup body, that is, the middle or more than middle position of the cup body is grasped by the cup body grasping part 140 instead of being supported at the bottom of the cup body, and the conventional cup body grasping gland is not suitable for a softer transparent cup body, so that compared with the cup body bottom gland, the cup body grasping part or more than middle position is designed to be used for gland in the embodiment, and the method is suitable for paper type cup body gland, and is also suitable for a softer transparent cup body gland, so that the cup body cannot be damaged, and the application range of the cup body is enlarged.

The cup gripping portion 140 and the lid portion 130 may be mounted together on the same mounting body, or separate mounting bodies may be designed for the cup gripping portion 140 and the lid portion 130, that is, one mounting body for the lid portion 130 and one mounting body for the cup gripping portion 140, and the lid portion 130 and the lid portion 140 may be mounted coaxially in the up-down direction.

Preferably, in order to simplify the structure of the cup capping machine and miniaturize the cup capping machine, the capping mechanism 100 of this example further includes a support portion 150 in which the capping portion 130 and the cup gripping portion 140 are mounted on the same mounting body, and the capping portion 130 is commonly mounted on the support portion 150 via the first driving portion 110 and the cup gripping portion 140 via the second driving portion 120.

Specifically, the support portion 150 includes a first support surface 151 and a second support surface 152, the first support surface 151 is located above the second support surface 152, the second driving portion 120 is mounted on the first support surface 151, and the first driving portion 110 penetrates the cup capturing portion 140 and the first support surface 151 to be mounted on the second support surface 152; in order to facilitate the installation of the first driving portion 110, one end of the first supporting surface 151 facing the cup capturing portion 140 in this example is provided with a notch 153 for accommodating the first driving portion 110, and a portion of the cup capturing portion 140 penetrated by the first clamping jaw 141 and the second clamping jaw 142 relative to the first driving portion 110 encloses a accommodating opening, that is, when the first clamping jaw 141 and the second clamping jaw 142 are folded, the first driving portion 110 penetrates the accommodating opening, for example, when the first clamping jaw 141 and the second clamping jaw 142 are folded, takes an 8-like shape.

The lid storage mechanism 200 is described below.

The cap storage mechanism 200 is fixedly mounted on the support frame 420, the upper mounting surface 410 is provided with a discharge guide port 430 corresponding to the cap outlet of the cap storage mechanism 200, and the capping portion 130, the cup gripping portion 140, the discharge guide port 230 and the cap outlet of the cap storage mechanism 200 are coaxial in the vertical direction.

The cover storage mechanism 200 of this example includes a cover storage body 210, the cover storage body includes a cover storage bin, a cover outlet 220 is provided above the cover storage bin, a cover body supplementing opening 230 is provided on a side of the cover storage bin, a door 240 for opening and closing the cover body supplementing opening 230 and for positioning and guiding is mounted on a side of the cover body supplementing opening 230, the door 240 is non-closed mounted with the cover storage bin, that is, the other side of the door 240 is non-contact with the cover storage bin, so that one non-contact end of the door 240 and the cover storage bin forms a channel for up-and-down movement of the cover outlet mechanism 300, so that the cover outlet mechanism 300 sequentially covers the cover body stored in the cover storage bin 210 to the discharge guide opening 430 in the upper mounting surface 410. The storage lid bin that this example provided is that a side is equipped with lid benefit storehouse mouth 230 for adopt the side to mend the mode of lid can once only with whole group lid feed supplement to the storage lid bin in, compare with current from the bottom to mend the lid, the side of this example is mended the lid more convenient.

The structure diagram of the cover discharging mechanism 300 of this example is shown in fig. 5, and includes an automatic cover supplementing module 310 and a cover support 320, where the automatic cover supplementing module 310 controls the cover support 320 to move gradually from bottom to top, so that the covers in the cover storage bin sequentially pass through the cover discharging opening 220 and are discharged to the discharging guide opening 430 in the upper mounting surface 410, and after all the covers are discharged, the automatic cover supplementing module 310 controls the cover support 320 to move downwards and reset.

Embodiment III:

based on the second embodiment, the cup capping machine with another exemplary structure is provided, and compared with the second embodiment, the cup capping machine of the present embodiment can automatically supplement the cap body in the capping process, and the structure diagram is shown in fig. 6.

The cup capping machine of this embodiment is a modification of the second embodiment, and the same parts can be referred to the second embodiment, which is not described in detail.

In contrast to the embodiment, the design of the cup lid machine of this embodiment is specifically different from the embodiment described below.

The base frame 400 further includes a lower mounting surface 440, the cover storage mechanism 200 is movably mounted on the lower mounting surface 440, specifically, the cover storage body 210 includes at least two cover storage bins, the door 240 is used for opening and closing the cover storage bins, and the cover storage body 210 is movably mounted on the lower mounting surface 440, so that each cover storage bin is switched relative to the discharge guide port 430.

Compared with the existing single cover storage bin, the cup cover machine provided by the application has the advantages that the number of the cup covers accommodated by the cup cover machine is multiplied, the cup cover machine is applicable to places with higher sales, at least two cover storage bins can be automatically switched, manual participation is not needed, and automatic cover supplementing in the use process of the cup cover machine is realized through automatic switching of a plurality of cover storage bins.

Correspondingly, a cover body compartment opening 230 is formed on one side of the cover storage bin, one side of the door body 230 is mounted on the support frame 420, the door body 240 is used for opening and closing the cover body compartment opening 230, and when the door body 240 closes the cover body compartment opening 230, the edge of one side of the door body 240 far away from the mounting side is not closed with the corresponding cover body compartment opening 230, so that a channel for up-and-down movement of the cover discharging mechanism 300 is formed by the door body 240 and one non-contact end of the cover storage bin, and the cover discharging mechanism 300 sequentially discharges the cover bodies stored in the cover storage bin to the discharge guide opening 430 in the upper mounting surface 410.

Regarding how the cap storage mechanism 200 is implemented to be movable on the lower mounting surface 440, the present example further includes a third driving portion for controlling the sliding of the cap storage body 240 with respect to the lower mounting surface 440; as for the manner in which the third driving portion controls the movement of the storage cap 210, there are various manners, such as a mechanical control manner, or an electric control manner, which are not limited in this example, in order to more clearly understand that the movement of the storage cap 210 on the lower mounting surface 440 enables the switching of a plurality of storage cap positions, this example provides a specific application in which the mechanical structure controls the movement of the storage cap 210, as described below.

As shown in fig. 7 and 8, the mechanical structure controlling the sliding of the storage cover 210 on the lower mounting surface 440 includes a guide part 500, a guide rail part 600, a positioning part 700, and a damping part 800 and a traction part 900; the guide part 500 includes a guide shaft 510 and a guide bearing 520, the guide bearing 520 is mounted on the lower mounting surface 440, and the guide shaft 510 is mounted on the lower portion of the back surface Chu Gaiti through the guide bearing 520.

The guide rail part 600 is installed at the upper part of the back surface of Chu Gaiti; the positioning part 700 includes a first fixing frame 710, a second fixing frame 720, a ratchet positioning block 730, a ratchet 740, and an electromagnet driving module 750; the top of the first fixing frame 710 is mounted on the upper mounting surface 410, a chute is formed on one surface of the first fixing frame 710 opposite to the guide rail portion 600, the guide rail portion 600 includes a guide rail rod matched with the chute, the guide rail rod slides along the chute under the traction of the traction portion 900, a plurality of mounting holes are formed on one surface of the first fixing frame 710 opposite to the guide rail portion 600, a plurality of mounting holes are formed on the second fixing frame 720, the second fixing frame 720 is mounted on the first fixing frame 710 in a staggered manner, the ratchet positioning block 730 is mounted on the upper portion of the back of the Chu Gaiti and is located below the guide rail portion 600, a limit groove 731 is formed in the ratchet positioning block 730 corresponding to each storage bin, the ratchet 740 is mounted on the lower portion of the first fixing frame 710, and the ratchet 740 can be limited in the limit groove 731 so as to position the storage cover 210, in addition, a notch is formed in the first fixing frame 710 at the mounting position of the ratchet 740, and a notch is formed in the mounting position of the second fixing frame 720 opposite to the mounting position of the electromagnet driving module 750, so that the electromagnet driving module 750 can drive the ratchet 740 to disengage from the limit groove 731 to enable the traction cover 210 to move to the preset storage bin 210 to be located in the limit groove 210, and then the storage cover 210 is driven to be limited to the limit position of the storage cover 210.

The damping part 800 is mounted on the upper part of the back of the Chu Gaiti and is located above the guide rail part 600, and the damper 810 in the damping part 800 is unidirectional damping, the damping force of the damper 810 causes the storage cover 210 to slowly move, so that the position deviation of the discharge guide port 430 and the cover outlet 220 caused by rapid sliding of the storage cover 210 is avoided, for example, the storage cover 210 is directly and rapidly pulled to be separated from the base frame 400 under the action of traction force.

The working principle of the gland of the cup capping machine of the embodiment is as follows: under the driving of the supplementary cover body module 310, the cover support 320 automatically descends to a position lower than the bottom of the storage cover bin, the cover support 320 ensures separation from the rest covers, the rest covers are stopped at the bottom of the storage cover bin, the covers are tidily arranged and then placed into two storage cover bins of the storage cover body 210 by manpower, after the storage bins are fully filled, the whole machine is reset, at the moment, the supplementary cover body module 310 is electrified to lift the whole stack of covers in the single storage cover bin by controlling the cover support 320, the whole stack of covers is placed at the discharge guide hole 430, after the photoelectric detector of the discharge guide hole 430 detects the covers, the supplementary cover body module 310 stops acting, at the moment, the second driving part 120 controls the cup body grabbing part 140 to open, the first driving part 110 drives the gland part 130 to move downwards, when the gland tool 131 reaches the upper part of the discharge guide hole 430, the suction cup in the gland tool 131 sucks one cover body, then the cover body is fastened by the floating claw 132, and then the gland part 130 ascends to the highest position (namely ascends and resets); then, the cup body waiting to be capped enters the cup body grabbing part 140, and when the cup body needing to be capped is placed in the cup body grabbing part 140, the second driving part controls the cup body grabbing part 140 to fold so as to position the cup body; then, the first driving part 110 drives the capping part 130 to press the cap body in the capping tool 131 into the cup body slowly, when the pressure value detected by the pressure sensor 133 reaches the preset pressure value, the capping part 130 does not descend and starts to rise to the highest position for resetting, at this time, the manipulator will take the cup body with the capping completed, the second driving part 120 opens the cup body grabbing part 140 again, and the manipulator takes the cup body out, so that the capping operation flow is completed.

When the cover body in the first cover storage bin is used up, the cover support 320 automatically descends to a position lower than the bottom of the cover storage bin under the driving of the cover supplementing module 310, the cover support 320 is ensured to be separated from the rest of the covers, the rest of the covers are remained at the bottom of the cover storage bin 210, the electromagnet driving module 750 drives the ratchet 740 to move to be separated from the limiting groove 731, the traction part 900 drives the cover storage bin 210 to move, and when the second cover storage bin in the cover storage bin 210 reaches the position below the discharging guide hole 430, the electromagnet driving module 750 drives the ratchet 740 to be limited in the limiting groove 731 again, so that the cover storage bin 210 is positioned in the base frame 400 again; realizing the function of automatic cover supplementing.

Embodiment four:

based on the first and second embodiments, the present embodiment provides another exemplary cup capping machine, in which the driving portion drives only the capping portion to reciprocate in the vertical plane, specifically, the capping portion and the cup gripping portion are coaxial in the vertical direction, and in the initial state, the capping portion is located below the cup gripping portion;

the cover body machine body of this example is the theory of operation:

in the cap taking state, the driving part drives the cap pressing part to move towards the cap storing mechanism until the cap body is obtained, and the driving part drives the cap pressing part to restore to the initial state;

Under the gland state, the driving part drives the cup body grabbing part to be in an open state, the driving part drives the gland part to vertically move upwards through the cup body grabbing part, so that the gland part is positioned above the cup body grabbing part, when the cup body to be capped is positioned at the cup body grabbing part, the driving part drives the cup body grabbing part to be in a closed state to position the cup body, then the driving part drives the gland part to move downwards until the cup body is pressed into the cup body, and finally the driving part drives the gland part to move downwards and restore to an initial state.

Compared with the embodiment, the embodiment only changes the initial states of the gland part and the cup body grabbing part, based on the concept, those skilled in the art can think of correspondingly deforming the corresponding mounting structure to realize that the gland part is positioned below the cup body grabbing part in the initial state, and specific structures are not repeated in this embodiment.

Fifth embodiment:

Based on the first embodiment and the second embodiment, the present embodiment provides another exemplary cup capping machine, unlike the second embodiment, in this embodiment, the driving portion drives the capping portion to reciprocate in the vertical plane, and the driving portion drives the cup gripping portion to reciprocate in the horizontal plane, that is, the capping portion and the cup gripping portion both perform unidirectional movement, and in the initial state, the capping portion is located above the cup gripping portion.

In the following, the motion control of the capping portion and the cup gripping portion is described only structurally, and other similar parts refer to the second to the third embodiments, which are not described in detail.

As shown in fig. 9 and 10, the capping mechanism 100 includes a first driving part 110, a second driving part 120, a capping part 130, and a cup gripping part 140; wherein, the output end of the first driving part 110 is connected with the gland part 130, and the first driving part 110 drives the gland part 130 to move up and down; the output end of the second driving part 120 is connected with the cup gripping part 140, and the second driving part 120 drives the cup gripping part 140 to reciprocate transversely.

The cup body grabbing portion 140 is provided with an avoidance space matched with the gland portion 130, the cup body grabbing portion 140 is further provided with a containing hole for containing a cup body, specifically, the cup body grabbing portion 140 comprises a first clamping jaw and a second clamping jaw, the first clamping jaw and the second clamping jaw are respectively connected with the second driving portion 120, the second driving portion 120 further drives the first clamping jaw and the second clamping jaw to fold, and when the first clamping jaw and the second clamping jaw fold, the end portion formed by folding the first clamping jaw and the second clamping jaw is provided with the containing hole for containing the cup body.

In other embodiments, the cup gripping portion 140 may be an integrally formed structure, similar to an 8-shaped structure, in which one port is used to receive the cup and the other port is used to mate with the gland portion 130.

As shown in fig. 9, in the cap taking state, the first driving part 110 drives the capping part 130 to move toward the cap storing mechanism through the cup grasping part 140 until the cap is taken, and then the first driving part 110 drives the capping part 130 to return to the initial state;

As shown in fig. 10, in the capping state, the second driving part 120 drives the cup gripping part 140 to move laterally so that the cup gripping part 140 is located below the capping part 130, and when the cup to be capped is positioned at the cup gripping part 140, the first driving part 110 drives the capping part 130 to move downward until the cap is pressed onto the cup.

In the embodiment, the cover pressing part and the cup body grabbing part are designed to move in one direction, and the cover pressing part can move to the cup body grabbing part to realize the cover pressing operation without steering operation after the cover pressing part sucks the cover body, so that the operation flow of cover taking and cover pressing is simplified, the occupancy rate of the cover pressing part and the cup body grabbing part in the inner space of the cup covering machine is reduced, and the cup covering machine has the characteristic of miniaturization.

Example six:

The present embodiment provides a capping mechanism, including driving portion 110 and capping portion 130, the output of driving portion 110 is connected with capping portion 130, as shown in fig. 11, be used for driving capping portion 130 to inhale lid and gland operation, concretely, capping portion 130 includes gland frock 131, the output of driving portion 110 is connected with gland frock 131, be used for driving gland frock 131 to inhale lid and gland operation, the exit direction of gland frock 131 is provided with the acquisition portion that is used for acquireing the lid, in this case, this acquisition portion is the sucking disc of the preferred suction lid, the sucking disc absorbs the lid under the vacuum state. In the prior art, the cover body is grasped by a friction force generated by hard contact between the square ring sleeved on the cover body and the cover body, and the cover body is easily deformed by the way of friction deformation and is easily fallen off due to unstable friction force; in the embodiment, the vacuum pump controls the sucker to be in a vacuum state to suck the cover body, so that the cover body cannot be deformed.

The driving portion 110 in this example has a function of driving the gland tool 131 to move up and down, so the driving portion 1 is a lifting mechanism, for example, the driving portion 1 may be a cylinder assembly or other structures such as a lifting screw assembly, and the specific structure of the driving portion 1 is not limited in this example.

The gland tool 131 is in a circular structure, and a person skilled in the art can design the gland tool 131 into a square structure according to the concept of the present example.

Further, in order to prevent the sucking disc from sucking the in-process of lid, leak because of the vacuum state, and lead to the lid to drop in the sucking disc, the gland portion 130 of this example still includes floating jack catch 132, a plurality of floating jack catch 132 are along the peripheral setting of gland frock 131, wait that gland frock 131 is through the sucking disc after sucking the lid, a plurality of floating jack catch 132 fold the fastening lid towards gland frock 131 direction, wait that gland frock 131 opens the release lid in the direction of gland frock dorsad when pressing the lid into the cup, consequently, the in-process of floating jack catch 132 fastening the lid, still can control the vacuum pump and stop work, stop the vacuum pump promptly and provide the vacuum power supply to the sucking disc of gland frock 131, in order to reach energy-conserving effect.

In this example, three floating claws 132 are used, and the three floating claws 132 are distributed at the periphery of the gland tool 131 at 120 degrees, and in other embodiments, two or more than three floating claws 132 may be provided, as long as the floating claws 132 cooperate with each other to play a role in fastening the cover body.

In order to more clearly understand the structure of the floating claw 132, this example provides a specific structure diagram of the cooperation installation of the floating claw 132 and the gland tool, please continue to refer to fig. 3, the floating claw 132 includes a fixing portion 1321, a movable arm 1322, a limiting round table 1323 and an elastic portion, wherein the fixing portion 1321 is fixedly installed at the edge of the gland tool 131, one end of the movable arm 1322 is hinged to the fixing portion 1321, the other end is hinged to the limiting round table 1323, one end of the elastic portion is connected to the movable arm 1322 and is close to the hinged position of the movable arm 1322 and the fixing portion 1321, the other end of the elastic portion is connected to the wall body of the gland tool 131, and the elastic portion stretches and contracts to enable the movable arm 1322 to open and close relative to the gland tool 131, preferably, the elastic portion is a spring.

Based on the cooperation structure of the floating claw 132 and the gland tool 131 shown in fig. 3, the specific working principle of the gland part 130 is as follows: in the process that the cover is sucked by the tool 131 to be pressed, the cover is sucked by the suction cup under the action of the suction cup, the movable arm 1322 is expanded outwards due to the fact that the movable arm 1322 is extruded by the edge portion of the cover, but the movable arm 1322 is prevented from expanding outwards due to the tension of the elastic portion on the movable arm, so that the cover is clamped between the movable arms 1322, and the limiting round table 1323 is arranged below the movable arm 1322, so that the cover is limited between the movable arms 1322 and the limiting round table 1323, and the cover is prevented from falling off.

When the cover pressing tool 131 applies downward pressure to press the cover body to the cup body, the elastic part is stretched because the downward pressure is larger than the tension of the elastic part to the movable arms 1322, and the movable arms 1322 are opened back to the direction of the cover pressing tool 131 to release the cover body, so that the cover pressing operation is completed.

The foregoing description of the invention has been presented for purposes of illustration and description, and is not intended to be limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the invention pertains, based on the idea of the invention.

Claims

1. A cup capping machine, comprising:

the cover storage mechanism is used for storing the cover body;

In a capping state, the driving part drives the capping part or the cup grabbing part to move in a single plane so that the capping part is positioned above the cup grabbing part, and when a cup to be capped is positioned on the cup grabbing part, the driving part drives the capping part or the cup grabbing part to press the cap into the cup;

The driving part comprises a first driving part and a second driving part, the first driving part is used for driving the gland part to reciprocate in the vertical direction, and the second driving part is used for driving the cup body grabbing part to open or close; when the second driving part drives the cup body grabbing part to be in an open state, the first driving part can drive the gland part to move from above the cup body grabbing part to below the cup body grabbing part or from below the cup body grabbing part to above the cup body grabbing part;

And the gland part and the cup body grabbing part are coaxial with the cover outlet of the cover storage mechanism in the vertical direction of the space position.

2. The cup-covering machine according to claim 1, wherein the driving portion drives only the capping portion to reciprocate in a vertical plane, specifically, the capping portion and the cup-grasping portion are coaxial in a vertical direction, and in an initial state, the capping portion is located above the cup-grasping portion;

3. The cup-covering machine according to claim 1, wherein the driving portion drives only the capping portion to reciprocate in a vertical plane, specifically, the capping portion and the cup-grasping portion are coaxial in a vertical direction, and in an initial state, the capping portion is located below the cup-grasping portion;

4. The cup-covering machine according to claim 1, wherein the driving portion drives the capping portion to reciprocate in a vertical plane, the driving portion drives the cup-grasping portion to reciprocate in a lateral plane, and in an initial state, the capping portion is located above the cup-grasping portion;

5. The cup-covering machine according to any one of claims 1 to 4, wherein the capping portion includes a capping tool provided with an acquisition portion for acquiring the lid body toward an outlet direction of the cap storage mechanism.

6. The cup-covering machine according to claim 5, wherein the acquisition portion is a suction cup that sucks the cover, and the suction cup sucks the cover in a vacuum state.

7. The cup-covering machine according to claim 6, wherein the cover-covering portion further comprises a plurality of floating claws, the plurality of floating claws are arranged along the periphery of the cover-covering tool, after the cover-covering tool sucks the cover body through the suction cup, the plurality of floating claws fold towards the cover-covering tool to fasten the cover body, and when the cover-covering tool grabs the cover body and presses the cover body into the cup body, the plurality of floating claws open away from the cover-covering tool to release the cover body.

8. The cup capping machine of claim 7 wherein the floating jaw comprises a fixed portion, a movable arm, a limiting round table and an elastic portion, wherein the fixed portion is fixedly mounted on the edge of the capping tool, one end of the movable arm is hinged to the fixed portion, the other end of the movable arm is hinged to the limiting round table, one end of the elastic portion is connected to the movable arm and is close to the hinged position of the movable arm and the fixed portion, the other end of the elastic portion is connected to the wall of the capping tool, and the elastic portion stretches and contracts to enable the movable arm to open and close relative to the capping tool.

9. The cup capping machine of claim 5 wherein the capping portion further comprises a pressure sensor disposed between the capping tool and a driving portion, the pressure sensor being configured to detect a pressure applied by the capping tool, the driving portion controlling a capping stroke of the capping tool according to a detection value of the pressure sensor.

10. The cup lid machine of any one of claims 1-4, wherein the cup gripping portion includes a first jaw and a second jaw, the first jaw and the second jaw being respectively connected to the driving portion, and when the driving portion drives the first jaw and the second jaw to close, an end portion formed by the first jaw and the second jaw to close has a receiving hole for receiving the cup.

11. The cup lid machine of any one of claims 1-4, wherein the lid storage mechanism comprises a lid storage body, the lid storage body comprises a lid storage bin, a lid body compartment opening is formed in one side of the lid storage bin, a door body for opening and closing the lid body compartment opening and for positioning and guiding is mounted on one side of the lid body compartment opening, and the door body is mounted in a non-sealing manner with the lid storage bin.

12. The cup lid machine of claim 11 wherein the lid storage includes a lid storage bin.

13. The cup lid machine of claim 11, wherein the lid storage includes at least two lid storage bins, and when the lid in the lid storage bin currently corresponding to the lid discharge mechanism is depleted, the lid storage automatically moves until the next lid storage bin moves above the lid discharge mechanism to automatically switch each lid storage bin relative to the lid discharge mechanism.

14. The gland mechanism is characterized by comprising a driving part, a gland part and a cup body grabbing part, wherein the output end of the driving part is connected with the gland part and used for driving the gland part to perform capping and gland operation, the gland part comprises a gland tool, and an acquisition part used for acquiring a cover body is arranged in the outlet direction of the gland tool;

15. The capping mechanism of claim 14 wherein the capture portion is a suction cup that suctions the cap, the suction cup suctioning the cap in a vacuum state.

16. The capping mechanism of claim 15 wherein the capping portion further comprises a plurality of floating jaws disposed along a periphery of the capping tool, the plurality of floating jaws closing the fastening cap toward the capping tool after the capping tool suctions the cap via the suction cup, and opening the releasing cap away from the capping tool when the capping tool presses the cap into the cup.

17. The capping mechanism of claim 16 wherein the floating jaw comprises a fixed portion, a movable arm, a limiting boss and an elastic portion, wherein the fixed portion is fixedly mounted on the edge of the capping tool, one end of the movable arm is hinged to the fixed portion, the other end of the movable arm is hinged to the limiting boss, one end of the elastic portion is connected to the movable arm and is close to the hinge between the movable arm and the fixed portion, the other end of the elastic portion is connected to the wall of the capping tool, and the elastic portion deforms to expand and close the movable arm relative to the capping tool.

18. The capping mechanism of claim 14 wherein the capping portion further comprises a pressure sensor disposed on top of the capping tool, the pressure sensor for detecting a pressure applied by the capping tool, the driving portion controlling a capping stroke of the capping tool according to a detection value of the pressure sensor.