CN110654828B - Automatic glass bottle grabbing and overturning equipment and using method thereof - Google Patents

Automatic glass bottle grabbing and overturning equipment and using method thereof Download PDF

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Publication number
CN110654828B
CN110654828B CN201910810386.5A CN201910810386A CN110654828B CN 110654828 B CN110654828 B CN 110654828B CN 201910810386 A CN201910810386 A CN 201910810386A CN 110654828 B CN110654828 B CN 110654828B
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China
Prior art keywords
assembly line
bottle
parallel robot
clamping
overturning
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CN201910810386.5A
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CN110654828A (en
Inventor
梅江平
刘彦敏
汤搏浪
龚长华
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Wuhu Irobsys Robot Co ltd
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Wuhu Irobsys Robot Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/0244—Bottles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

The invention relates to automatic glass bottle grabbing and overturning equipment and a using method thereof. Compared with the prior art, the parallel robot has the advantages that the clamping and overturning device, the safety device and the self-adaptive reset device are added on the basis of the parallel robot, so that the bottle bodies are not damaged in the clamping and carrying process on the basis of realizing high-efficiency automation, the posture angle of the bottle bodies can be adjusted, and the requirements of different production lines are further met.

Description

Automatic glass bottle grabbing and overturning equipment and using method thereof
Technical Field
The invention relates to the technical field of bottle body carrying, in particular to automatic glass bottle grabbing and overturning equipment and a using method thereof.
Background
In the industrial production process, a large amount of high-repeatability work including sorting, packaging, stacking and the like exists, and currently, the work depends on workers to a great extent, so that the problems of low speed, low efficiency and the like exist. With the increasing degree of industrial automation, more and more robots are beginning to be applied to various aspects of production. The parallel robot has the characteristics of high speed, stability, small error, high precision, small working range and the like, so that the parallel robot has great application advantages on an automatic production line. Various bottles are very common containers in production, and the carrying by using the parallel robot in the assembly line of various bottles is one of the very common means, but the carrying by using the parallel robot has some problems: the parallel robot has the advantages that the clamping hands are in rigid contact with the bottles, so that the bottles are easily damaged; in addition, the posture angle of the bottle is often required to be adjusted in the process of carrying, such as changing from an inverted state to a self-standing state; therefore, how to solve the problems and how to effectively realize the grabbing and placing of the bottles on the automatic assembly line at high speed have great significance for improving the production efficiency.
Disclosure of Invention
In order to solve the technical problems, the invention provides automatic glass bottle grabbing and overturning equipment and a using method thereof, and aims to prevent bottles from being damaged in the clamping and carrying processes and meet the requirement of posture angle adjustment of the bottles.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
the utility model provides an automatic tipping arrangement that snatchs of glass bottle, includes parallel robot, is located parallel robot below and first assembly line, the second assembly line that distributes side by side, set gradually the bottle that is the gesture of standing upside down on the first assembly line, parallel robot end is provided with and is used for overturning 4 upset bottles that stand upside down on the first assembly line to upright state and carry the centre gripping turning device on the second assembly line.
Further, the first assembly line is an annular chain conveying assembly line, and fixing rods matched with bottle bodies and bottle mouths are uniformly distributed on the first assembly line.
Further, the second assembly line is a strip-shaped chain plate conveying assembly line.
Furthermore, the clamping and overturning device comprises a clamping device connected with the tail end of the parallel robot and used for clamping the bottle body, and an overturning device arranged on the clamping device and used for driving the bottle body to adjust the posture and the angle.
Furthermore, a safety device for avoiding bottle body damage and a self-adaptive reset device for resetting the clamping device are arranged between the clamping device and the tail end of the parallel robot.
A use method of automatic glass bottle grabbing and overturning equipment comprises the following specific steps:
(a) the bottle bodies are sequentially buckled on a fixed rod on the first assembly line in an inverted manner;
(b) starting driving motors on the first production line and the second production line to enable the first production line and the second production line to start conveying work;
(c) clamping the inverted bottles on the first assembly line through a clamping device, and carrying the inverted bottles from the first assembly line to the second assembly line through a parallel robot;
(d) in the conveying process, the bottle body is turned over from an inverted state to an upright state through the turning device;
(e) the bottle body which is in an upright state after being turned over is loosened by the clamping device and falls on the second production line.
The invention has the beneficial effects that:
compared with the prior art, the parallel robot has the advantages that the clamping and overturning device, the safety device and the self-adaptive reset device are added on the basis of the parallel robot, so that the bottle bodies are not damaged in the clamping and carrying process on the basis of realizing high-efficiency automation, the posture angle of the bottle bodies can be adjusted, and the requirements of different production lines are further met.
Drawings
The invention is further illustrated with reference to the following figures and examples:
FIG. 1 is a first perspective view of the present invention;
FIG. 2 is a schematic perspective view of the present invention;
FIG. 3 is a third schematic perspective view of the present invention;
FIG. 4 is a schematic view of a clamping device according to the present invention;
FIG. 5 is a schematic structural view of the turning device of the present invention;
FIG. 6 is a schematic view of the safety device of the present invention;
fig. 7 is a schematic structural diagram of the adaptive resetting device of the present invention.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the invention is further explained in the following with the accompanying drawings and the embodiments.
As shown in fig. 1 to 3, an automatic glass bottle grabbing and overturning device comprises a parallel robot 1, a first assembly line 2 and a second assembly line 3 which are located below the parallel robot 1 and are distributed side by side, wherein the first assembly line 2 is an annular chain conveying assembly line, fixing rods 21 matched with bottle openings of bottle bodies 4 are sequentially arranged on the assembly lines, and the bottle bodies 4 in an inverted state are correspondingly placed on the fixing rods 21; the second assembly line 3 is positioned at the front side of the first assembly line 2 and is a strip-shaped chain plate conveying assembly line distributed from left to right; the end of the parallel robot 1 is provided with a safety device 7, a self-adaptive reset device 8 is connected below the safety device 7, a clamping and overturning device is connected below the self-adaptive reset device 8, and the clamping and overturning device comprises a clamping device 5 connected with the self-adaptive reset device 8 and an overturning device 6 arranged on the clamping device 5.
As shown in fig. 4, the clamping device 5 includes a double-headed cylinder 51 fixed at the bottom of the self-adaptive resetting device 8 by bolts, connecting plates 52 symmetrically installed on two sliders at the bottom of the double-headed cylinder 51, and clamp plates 53 correspondingly connected with the connecting plates 52 by bolts and vertically distributed, a reinforcing plate 54 is further disposed between the connecting plates 52 and the clamp plates 53, the turnover device 6 is installed on the clamp plates 53, and the two clamp plates 53 are driven by the linear motion of the double-headed cylinder 51 to simultaneously move towards the center or both sides.
As shown in fig. 5, the turning device 6 includes a rotating motor 61 fixed on the clamp plate 53 through a mounting plate 62, a bending plate 63 and a butting plate 64 arranged on the clamp plate 53 through a bearing, the bending plate 63 and the butting plate 64 are both provided with a silica gel plate 65, wherein the bending plate 63 is coaxially connected with a motor shaft of the rotating motor 61; the silica gel plate 65 is used for reducing the impact force on the bottle in the clamping process, avoiding damaging the bottle body 4 and increasing the friction force during clamping.
As shown in fig. 6, the safety device 7 includes a platform 71 connected to the end of the parallel robot 1, three guide shafts 72 annularly distributed on the platform 71, and a first spring 73 sleeved on the three guide shafts 72, wherein a fixing plate 74 is disposed above the three guide shafts 72, and a vertical shaft 75 is disposed on the fixing plate 74; a proximity switch 77 is connected to the platform 71 through a positioning plate 76.
The purpose of the safety device 7 is that when the bottles cannot be taken from the conveyor due to various factors, the bottles will exert a counter-pulling force on the device. Under the action of the pulling force, the three first springs 73 on the three guide shafts 72 are compressed downwards to drive the vertical shaft 75 to move downwards, and when the force reaches a certain degree, the vertical shaft 75 moves downwards to a position where the proximity switch 77 can detect. Proximity switch 77 is last to have the sensor, will send a signal when sensing vertical axis 75, and the double-end cylinder 51 that is located 8 bottoms of self-adaptation resetting means controls splint 53 to both sides translation simultaneously for the board 63 of bending loosens bottle 4 with the board 64 that supports, avoids causing the damage of bottle 4.
As shown in fig. 7, the adaptive resetting device 8 includes a bearing plate 81 connected with the guide shaft 72 by a bolt, and two long shafts 82 fixed on the bearing plate 81 by a bolt, two of the long shafts 82 are symmetrically distributed, a mounting block 83 is sleeved on the two long shafts 82, and four second springs 84 are symmetrically distributed on two sides of the mounting block 83 and on the two long shafts 82.
The adaptive reset device 8 is used for keeping the mounting block 83 at the middle position of the long shaft 82 due to the two springs 84 at the two sides when the mounting block 83 has no external force. During the period from the bottle body 4 being clamped to the bottle body 4 being separated from the fixing rod 21, the clamping device 5 has a certain amount of deviation due to the speed of the first assembly line 2, and at the moment, the mounting block 83 is in sliding connection with the safety device 7 and the parallel robot 1, so that the safety device 7 and the parallel robot 1 cannot generate displacement, and the safety device 7 and the parallel robot 1 are protected; meanwhile, after the bottle body 4 leaves the fixing rod 21, the mounting block 83 will quickly return to the middle position of the long shaft 82 under the action of the second spring 84 on the long shaft 82.
A use method of automatic glass bottle grabbing and overturning equipment comprises the following specific steps:
(a) the bottle bodies 4 are sequentially buckled on the fixed rod 21 on the first assembly line 2 in an inverted manner;
(b) starting driving motors on the first production line 2 and the second production line 3 to enable the first production line 2 and the second production line 3 to start conveying work;
(c) the inverted bottles 4 on the first production line 2 are clamped by a clamping device and are transported from the first production line 2 to the second production line 3 by a parallel robot;
(d) in the conveying process, the bottle body 4 is turned over from an inverted state to an upright state through the turning device;
(e) the bottle bodies 4 which are in the upright state after being turned over are loosened by the clamping device and fall on the second production line 3.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (4)

1. The utility model provides an automatic tipping arrangement that snatchs of glass bottle which characterized in that: the bottle overturning device comprises a parallel robot (1), a first assembly line (2) and a second assembly line (3), wherein the first assembly line (2) and the second assembly line (3) are positioned below the parallel robot (1) and are distributed side by side, bottles (4) in inverted postures are sequentially arranged on the first assembly line (2), and a clamping and overturning device used for overturning the inverted bottles (4) on the first assembly line (2) to an upright state and carrying the inverted bottles to the second assembly line (3) is arranged at the tail end of the parallel robot (1);
the clamping and overturning device comprises a clamping device (5) which is connected with the tail end of the parallel robot (1) and is used for clamping the bottle body (4), and an overturning device (6) which is arranged on the clamping device and is used for driving the bottle body (4) to adjust the posture and the angle;
a safety device (7) for preventing the bottle body (4) from being damaged and a self-adaptive reset device (8) for resetting the clamping device (5) are arranged between the clamping device (5) and the tail end of the parallel robot (1);
the safety device (7) comprises a platform (71) connected with the tail end of the parallel robot (1), three guide shafts (72) annularly distributed on the platform (71), and a first spring (73) sleeved on the three guide shafts (72), wherein a fixing plate (74) is arranged above the three guide shafts (72), and a vertical shaft (75) is arranged on the fixing plate (74); the platform (71) is connected with a proximity switch (77) through a positioning plate (76);
the self-adaptive reset device (8) comprises a bearing plate (81) connected with the guide shaft (72) through a bolt and long shafts (82) fixed on the bearing plate (81) through bolts, wherein the two long shafts (82) are symmetrically distributed, one mounting block (83) is sleeved on the two long shafts (82) together, and four second springs (84) are symmetrically distributed on two sides of the mounting block (83) and on the two long shafts (82).
2. The automatic glass bottle grabbing and overturning device according to claim 1, is characterized in that: the first assembly line (2) is an annular chain conveying assembly line, and fixing rods (21) matched with bottle openings of the bottle bodies (4) are uniformly distributed on the first assembly line (2).
3. The automatic glass bottle grabbing and overturning device according to claim 1, is characterized in that: the second assembly line (3) is a strip-shaped chain plate conveying assembly line.
4. Use method of an automatic gripping and overturning device for glass bottles, as claimed in any one of claims 1 to 3, characterized in that: the method comprises the following specific steps:
(a) the bottle bodies (4) are sequentially buckled on a fixed rod (21) on the first assembly line (2) in an inverted manner;
(b) starting driving motors on the first production line (2) and the second production line (3) to enable the first production line (2) and the second production line (3) to start conveying work;
(c) the inverted bottles (4) on the first assembly line (2) are clamped by a clamping device and are conveyed from the first assembly line (2) to the second assembly line (3) by a parallel robot;
(d) in the conveying process, the bottle body (4) is turned over from an inverted state to an upright state through the turning device;
(e) the bottle bodies (4) which are in the vertical state after being overturned are loosened by the clamping device and fall on the second production line (3).
CN201910810386.5A 2019-08-29 2019-08-29 Automatic glass bottle grabbing and overturning equipment and using method thereof Active CN110654828B (en)

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Application Number Priority Date Filing Date Title
CN201910810386.5A CN110654828B (en) 2019-08-29 2019-08-29 Automatic glass bottle grabbing and overturning equipment and using method thereof

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Application Number Priority Date Filing Date Title
CN201910810386.5A CN110654828B (en) 2019-08-29 2019-08-29 Automatic glass bottle grabbing and overturning equipment and using method thereof

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CN110654828A CN110654828A (en) 2020-01-07
CN110654828B true CN110654828B (en) 2021-07-23

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Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111874612B (en) * 2020-07-29 2022-12-27 上海澄穆生物技术有限公司 A bottle lid snatchs rotary mechanism for cosmetics production
CN111874589B (en) * 2020-08-04 2021-04-16 南通鑫德医药包装材料有限公司 Integral type glass bottle automated production equipment
CN114229421A (en) * 2021-12-20 2022-03-25 芜湖瑞思机器人有限公司 Turnover device is got to beverage bottle clamp
CN117585366B (en) * 2024-01-18 2024-04-02 安溪中科绿华智能科技有限公司 Conveying device for product detection

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JP4567155B2 (en) * 2000-07-21 2010-10-20 大和製罐株式会社 Container reversing device
CN200978212Y (en) * 2006-11-21 2007-11-21 广州俊升轻工机械有限公司 Bottle overturning device
CN201224172Y (en) * 2008-05-19 2009-04-22 湖南千山制药机械股份有限公司 Turnover mechanism for bottle or bottle parison
CN201559309U (en) * 2009-11-19 2010-08-25 於祖建 Tube blank feeding mechanism for full automatic plastic bottle blowing machine
CN204505291U (en) * 2015-02-17 2015-07-29 苏州博众精工科技有限公司 Capture switching mechanism
CN105798894B (en) * 2016-04-11 2018-07-06 哈尔滨理工大学 A kind of catching robot of turnable babinet
CN108792583A (en) * 2017-04-28 2018-11-13 泸州市天执科技有限公司 A kind of bottle tipper
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