CN112141399A - Bottle taking robot, bottle blank transferring system and method - Google Patents
Bottle taking robot, bottle blank transferring system and method Download PDFInfo
- Publication number
- CN112141399A CN112141399A CN202010947828.3A CN202010947828A CN112141399A CN 112141399 A CN112141399 A CN 112141399A CN 202010947828 A CN202010947828 A CN 202010947828A CN 112141399 A CN112141399 A CN 112141399A
- Authority
- CN
- China
- Prior art keywords
- bottle
- blanks
- distance
- connecting rod
- sliding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B21/00—Packaging or unpacking of bottles
- B65B21/02—Packaging or unpacking of bottles in or from preformed containers, e.g. crates
- B65B21/04—Arranging, assembling, feeding, or orientating the bottles prior to introduction into, or after removal from, containers
Abstract
The invention discloses a bottle taking robot, a bottle blank transferring system and a bottle blank transferring method, wherein the bottle taking robot comprises a mechanical arm, and the mechanical arm is provided with a rotating end; the fixed frame is arranged on the rotating end and rotates relative to the rotating end; the bottle taking mechanism is arranged on the fixed frame and comprises a plurality of connecting rods distributed side by side and sliding rods crossing the fixed frame, the lower surface of each connecting rod is provided with a suction device, each connecting rod is fixedly connected with a sliding block, and each sliding block is in sliding connection with the sliding rod so as to enable each connecting rod to transversely move back and forth along the sliding rod; and the driving module is connected with the sliding block and the suction device. According to the invention, the bottle blank taking robot is used for adjusting the space between the bottle blanks after grabbing the bottle blanks, so that the bottle blank transferring and packaging efficiency is improved.
Description
Technical Field
The invention relates to the technical field of full-automatic packaging, in particular to a bottle taking robot, a bottle blank transferring system and a bottle blank transferring method.
Background
At present, in the intelligent full-automatic production process of bottle blanks, the bottle blanks can enter a packaging production line to be subjected to blank taking and boxing processes after injection molding, and the bottle blanks after injection molding and cooling need to be transferred into a packaging box in batches in the process.
In the production line, place in proper order after bottle embryo accomplishes moulding plastics one by one and transport on the travelling bogie, finally snatch to the conveyer belt in order to transport to follow-up packing process, all can keep having certain clearance in order to ensure the stability of standing of every bottle embryo between the adjacent bottle embryo on the travelling bogie, avoid in the transportation bottle embryo to take place the vibration of small amplitude and make between bottle embryo and the bottle embryo collision each other lead to the bottle embryo to empty, influence work efficiency.
However, the gap between the bottle embryo and the bottle embryo can not be changed when the bottle embryo is grabbed in batches by the existing bottle grabbing robot, so that after the bottle embryo and the bottle embryo are transferred to the conveying belt in batches, the gap between the bottle embryo and the bottle embryo on the conveying belt is too large, and the grabbing efficiency of the bottle embryo on the conveying belt in batches to the packing box is low subsequently.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the objectives of the present invention is to provide a bottle picking robot, which adjusts the distance between bottle blanks after grabbing the bottle blanks, so that the bottle blanks are packed more compactly.
The second purpose of the present invention is to provide a bottle blank transferring system, which uses a bottle picking robot capable of adjusting the space between bottle blanks as a tool for grabbing bottle blanks and transferring the bottle blanks, and can improve the efficiency of bottle blank packing.
The third purpose of the invention is to provide a bottle embryo transfer method, which can adjust the space between bottle embryos in the process of transferring the bottle embryos to a conveyor belt after grabbing the bottle embryos, shorten the adjustment time before releasing the bottle embryos on the conveyor belt, and improve the efficiency of transferring and boxing the bottle embryos.
One of the purposes of the invention is realized by adopting the following technical scheme:
a bottle-taking robot comprising:
the mechanical arm is provided with a rotating end;
the fixed frame is arranged on the rotating end and rotates relative to the rotating end;
the bottle taking mechanism is arranged on the fixed frame and comprises a plurality of connecting rods distributed side by side and sliding rods crossing the fixed frame, the lower surface of each connecting rod is provided with a suction device, each connecting rod is fixedly connected with a sliding block, and each sliding block is in sliding connection with the sliding rod so as to enable each connecting rod to transversely move back and forth along the sliding rod;
and the driving module is connected with the sliding block and the suction device.
Further, the orthographic projections of the connecting rods on the horizontal plane are parallel to each other, and the orthographic projection of the connecting rods on the horizontal plane is perpendicular to the orthographic projection of the sliding rod on the horizontal plane.
Further, a coincident point of an orthographic projection of the connecting rod on a horizontal plane and an orthographic projection of the sliding rod on the horizontal plane is taken as an origin O, the direction of the sliding rod is an X axis, the direction of the connecting rod is a Y axis, and a line which passes through the origin O and is vertical to an XOY plane is taken as a Z axis; the number of the suction devices on each connecting rod is the same, and the orthographic projections of all the suction devices on the same connecting rod on the ZOX plane are completely overlapped; orthographic projections of the N-th suction devices on the adjacent connecting rods on the ZOY plane are completely overlapped, and N is an integer.
Furthermore, each connecting rod is provided with a linkage column, every two adjacent connecting rods form a group of bottle taking modules, each linkage column on each bottle taking module is sleeved with a linkage piece, and any trepanning of the linkage pieces is set to be a strip-shaped hole.
Furthermore, a limiting column is arranged on the same side of each connecting rod.
Further, the driving module comprises power equipment and vacuum equipment which are both installed on the fixing frame, the power equipment is connected with each sliding block through an electric wire, and the vacuum equipment is connected with each suction device through a connecting pipe.
The second purpose of the invention is realized by adopting the following technical scheme:
a preform transfer system comprising:
the conveying equipment is provided with a plurality of slotted holes for placing bottle blanks, and the slotted holes are distributed on the conveying equipment in a matrix form;
the conveying belt is provided with limiting grooves which are sequentially arranged on the surface of the conveying belt, and the distance between every two adjacent limiting grooves is different from the distance between every two adjacent slotted holes on the conveying equipment;
the bottle taking robot is arranged between the conveying equipment and the conveying belt, and the number and the arrangement mode of the suction devices of the bottle taking robot are matched with those of the slotted holes on the conveying equipment.
And the control system is connected with the conveyor belt, the conveying equipment and the bottle taking robot and used for controlling the bottle taking robot to grab the bottle blanks on the conveying equipment in batches and transfer the bottle blanks onto the conveyor belt and controlling the moving distance of each sliding block on the sliding rod in the transfer process so as to adjust the distance between the adjacent connecting rods, so that the distance between the bottle blanks on the adjacent connecting rods is the same as the distance between two adjacent limiting grooves on the conveyor belt.
Further, the distance between the adjacent limiting grooves is smaller than the distance between the two adjacent slotted holes on the transportation equipment.
Further, the bottle taking robot releases the Nth bottle embryo on each connecting rod for the Nth time, wherein N is an integer.
The third purpose of the invention is realized by adopting the following technical scheme:
a bottle embryo transfer method is applied to the bottle embryo transfer system, and comprises the following steps:
step S1: the conveying equipment conveys a group of bottle embryos to the grabbing range of the bottle taking robot, and the number of the group of bottle embryos is the same as that of the slotted holes of the conveying equipment;
step S2: the bottle taking robot grabs bottle blanks on the transportation equipment in batches and transfers the bottle blanks onto the conveying belt, and the moving distance of each sliding block on the sliding rod is controlled in the transferring process so as to adjust the distance between the adjacent connecting rods, so that the distance between the bottle blanks on the adjacent connecting rods is the same as the distance between two adjacent limiting grooves on the conveying belt;
step S3: rotating the rotating end to enable a line of bottle blanks at the lowest end of the bottle taking mechanism to be close to the surface of the conveying belt, controlling the suction devices corresponding to the line of bottle blanks closest to the surface of the conveying belt to be released simultaneously, and controlling the rotating end to move after each line of bottle blanks is released to enable the next line of bottle blanks of the bottle taking mechanism to be close to the surface of the conveying belt, wherein in the process, the conveying belt rotates to drive the blank position to move backwards until the blank position is empty; and then the step S3 is circulated until the group of bottle blanks is completely released.
Compared with the prior art, the invention has the beneficial effects that:
(1) the bottle taking robot is provided with a suction device on the lower surface of each connecting rod, and each connecting rod is connected to the slide rod through the slide block in a sliding manner, so that the connecting rods can drive the suction devices to slide back and forth along the slide rods, and the adjustment of the distance between bottle blanks is realized;
(2) get bottle robot and snatch the bottle embryo after the bottle embryo and adjust the interval between the bottle embryo at the in-process that shifts the bottle embryo to the conveyer belt, make full use of bottle embryo transfer process's time adjusts the bottle embryo interval for the bottle embryo can be fast and accurately released on the conveyer belt, improves the transfer and the vanning efficiency of bottle embryo.
Drawings
FIG. 1 is a schematic structural diagram of a bottle picking robot according to an embodiment of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is a three-dimensional coordinate system according to a first embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a bottle embryo transfer system according to a second embodiment of the present invention;
FIG. 5 is a schematic top view of a bottle blank transfer system according to a second embodiment of the present invention;
FIG. 6 is a schematic side view of a bottle blank releasing process according to a second embodiment of the present invention;
FIG. 7 is a flowchart illustrating a bottle embryo transfer method according to a third embodiment of the present invention.
In the figure: 1. a mechanical arm; 2. a rotating end; 3. a fixed mount; 4. a power plant; 5. a vacuum device; 6. a suspension member; 7. a slide bar; 8. a connecting rod; 9. a slider; 10. a suction device; 11. a linkage column; 12. a linkage member; 13. a strip-shaped hole; 14. a limiting column; 15. a transportation device; 16. a slot; 17. a conveyor belt; 18. a limiting groove; 19. an electric motor.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
Example one
This implementation discloses a get bottle robot, uses on bottle embryo packing production line for snatch in batches and shift the bottle embryo, and adjust the clearance between the bottle embryo at the transfer in-process, the bottle embryo vanning of being convenient for is compacter.
As shown in fig. 1 to 3, the bottle taking robot includes a mechanical arm 1, a fixing frame 3, a bottle taking mechanism and a driving module, wherein one end of the mechanical arm 1 fixes a bottom surface, the mechanical arm 1 uses one end fixed on the bottom surface as a fixed point, the other end of the mechanical arm 1 is provided with a rotating end 2, the rotating end 2 is provided with the fixing frame 3, the rotating end 2 can drive the fixing frame 3 to rotate for 360 degrees, so that the mechanical arm 1 drives the fixing frame 3 to rotate and move in a certain three-dimensional space range at multiple angles, and the principle that the mechanical arm 1 drives the fixing frame 3 to rotate and move is disclosed in the prior art and is not described in detail herein.
The bottle picking mechanism is connected to the fixing frame 3, and a plurality of suction devices 10 used for grabbing bottle blanks are arranged on the bottle picking mechanism, so that a series of actions of grabbing, transferring and releasing the bottle blanks in batches by the bottle picking robot are achieved.
The bottle taking mechanism comprises a plurality of connecting rods 8 distributed side by side and a sliding rod 7 stretching across the fixed frame 3, wherein the lower surface of each connecting rod 8 is provided with a plurality of suction devices 10, the upper surface of each connecting rod 8 is fixedly connected with a sliding block 9, and each connecting rod 8 can transversely move back and forth along the sliding rod 7 by virtue of the sliding block 9 which is in sliding connection with the sliding rod 7.
In addition, a hanging piece 6 is further arranged on the bottle taking mechanism, one end of the hanging piece 6 is connected to the upper surface of any one of the connecting rods 8, and the other end of the hanging piece 6 is fixed on the fixed frame 3, so that the connecting rods 8 which are connected to the same sliding rod 7 through the sliding blocks 9 in a sliding mode can be hung on the fixed frame 3 as a whole to play a role in fixing the bottle taking mechanism; in this embodiment, the hanging member 6 is connected to one of the connecting rods 8 near the middle of the sliding rod 7, so that in the process of adjusting the space between the bottle blanks, the connecting rod 8 connected to the hanging member 6 is stationary, and the other connecting rods 8 gradually get closer to each other toward the middle, thereby improving the efficiency of adjusting the space. In addition, the hanging member 6 can also be used for connecting the sliding rod 7 with the fixed frame 3.
In this embodiment, the two ends of the fixing frame 3 are both provided with the sliding rods 7, two states parallel to each other are kept between the sliding rods 7, the two ends of the connecting rods 8 are both connected with the sliding blocks 9, each connecting rod 8 is respectively in sliding connection with the two sliding rods 7 through the two sliding blocks 9, and the moving speed and the moving direction of the sliding block 9 on each connecting rod 8 are the same, so that each connecting rod 8 is kept in a relatively stable state in the moving process.
In the present embodiment, the orthographic projections of each of the links 8 on the horizontal plane are parallel to each other, i.e. each of the links 8 is parallel to each other; and the orthographic projection of each connecting rod 8 on the horizontal plane is perpendicular to the orthographic projection of the sliding rod 7 on the horizontal plane.
The driving module comprises power equipment 4 and vacuum equipment 5, the power equipment 4 is connected with the connecting rods 8 at the head end and the tail end through two mounting seats at the head end and the tail end, and when the power equipment 4 makes telescopic motion, the power equipment drives the linkage piece 12 to move and carries out limiting through the strip-shaped hole 13 and the limiting column 14, so that the moving state of each connecting rod 8 on the sliding rod 7 is driven; the vacuum equipment 5 is connected with each suction device 10 through a connecting pipe, the suction devices 10 can be set as suction nozzles, and the vacuum equipment 5 adopts the vacuum principle to control the suction nozzles to suck bottle embryos by using vacuum negative pressure so as to achieve the purpose of grabbing the bottle embryos. The power equipment 4 with the vacuum equipment 5 all erects on the mount 3, the rational utilization space on the mount 3, simultaneously power equipment 4 with the vacuum equipment 5 all with mount 3 synchronous motion to improve the motion flexibility of getting the bottle robot.
And each of said connecting rods 8 is provided with the same number of said suction means 10. In this embodiment, as shown in fig. 3, a coincidence point of an orthographic projection of the connecting rod 8 on a horizontal plane and an orthographic projection of the sliding rod 7 on the horizontal plane is taken as an origin O to establish a three-dimensional stereo coordinate, where a direction in which the sliding rod 7 is located is an X axis, a direction in which the connecting rod 8 is located is a Y axis, and a line passing through the origin O and perpendicular to an XOY plane is a Z axis. In three-dimensional stereo coordinates, orthographic projections of all the suction devices 10 on the same connecting rod 8 on an ZOX plane are completely overlapped; adjacent Nth on connecting rod 8 suction device 10 is complete coincidence in the orthographic projection on the ZOY plane, and N is 1, 2, 3, …, the positive integer of N, adjacent promptly the orthographic projection of suction nozzle on the ZOY plane of same position on connecting rod 8 is complete coincidence for get a set of bottle embryo that the bottle mechanism can absorb the matrix array in batches at every turn, and adjust adjacently in the in-process of adjusting the bottle embryo interval on connecting rod 8 between the bottle embryo, but keep a set of bottle embryo to arrange for the matrix mode all the time.
In addition, each connecting rod 8 is provided with a protruded linkage column 11, each two adjacent connecting rods 8 form a group of bottle taking modules, the linkage columns 11 on the two connecting rods 8 on each bottle taking module are respectively sleeved with a linkage piece 12, but no linkage piece 12 is arranged between the adjacent bottle taking modules. Two trepanning are arranged on the linkage piece 12, each trepanning corresponds to one linkage column 11, any trepanning of each linkage piece 12 is set to be a strip-shaped hole 13, the strip-shaped holes 13 are formed in the same direction of each linkage piece 12 in the embodiment, the hole width of each strip-shaped hole 13 limits the moving distance between two connecting rods 8, meanwhile, one connecting rod 8 can drive the other connecting rod 8 in the same group of bottle taking modules to move synchronously, the distance between the two connecting rods 8 in each group of bottle taking modules can be adjusted firstly when the distance between bottle blanks is adjusted, then each group of bottle taking modules are controlled to be concentrated in the direction of the middle portion in a unified mode, the adjusting process is step-by-step and orderly, the distances between the adjusted bottle blanks are ensured to be relatively uniform, and the adjusting efficiency is improved.
Meanwhile, the same side of each connecting rod 8 is provided with a limiting column 14, and the limiting columns 14 can limit the minimum distance between the adjacent connecting rods 8.
Example two
The embodiment provides a bottle embryo transfer system, and the bottle taking robot in the first embodiment is applied between a conveying device 15 and a conveyor belt 17 in a bottle embryo packaging production line, and is used for synchronously picking up a group of bottle embryos on the conveying device 15 and transferring the bottle embryos onto the conveyor belt 17, and adjusting the distance between adjacent connecting rods 8 in the transfer process to change the distance between the bottle embryos, so that the packaging efficiency of the bottle embryos is improved.
As shown in fig. 4 and 5, the transportation device 15 may be a transportation cart, a plurality of slots 16 for placing the bottle blanks are disposed on the transportation device 15, the slots 16 are distributed on the transportation device 15 in a matrix form, each slot 16 can correspondingly accommodate one bottle blank, and the arrangement of the slots 16 is consistent with the arrangement structure of the mold.
In this embodiment, in order to reduce the rotation angle of the bottle taking mechanism of the bottle taking robot during the movement, the orthographic projection area of the conveyor belts 17 on the horizontal plane is not zero, and the orthographic projection area of each conveyor belt 17 on the horizontal plane is smaller than the conveying surface area of the conveyor belt 17, that is, two conveyor belts 17 are set to be in an inclined state, and in this embodiment, the extended surfaces of the conveying surfaces of the two conveyor belts 17 intersect to form a relatively inclined state (as shown in fig. 6), so as to improve the overall packing efficiency.
The conveying surface of the conveyor belt 17 is provided with limiting grooves 18 which are sequentially arranged, and the distance between every two adjacent limiting grooves 18 is different from the distance between every two adjacent slotted holes 16 on the conveying equipment 15; in this embodiment, the distance between the adjacent limiting grooves 18 is smaller than the distance between two adjacent slots 16 on the transportation device 15.
And a bottle taking robot in the first embodiment is arranged between the transportation equipment 15 and the conveyor belt 17, and is used for grabbing the bottle mouth of the bottle blank on the transportation equipment 15 and transferring the bottle mouth onto the conveyor belt 17 for transportation. The number and arrangement of the suction devices 10 of the bottle taking robot are matched with those of the slots 16 on the transportation equipment 15, but the distance between the suction devices 10 can be different from that between the slots 16 on the transportation equipment 15.
The control system is connected with the conveyor belt 17, the conveying equipment 15 and the bottle taking robot, before bottle blanks on the conveying equipment 15 are grabbed, the control system controls the bottle taking robot to adjust the distance between the adjacent connecting rods 8, so that the distance between the suction nozzles on the bottle taking robot is the same as the distance between the slotted holes 16, at the moment, the bottle taking robot can simultaneously adsorb a group of bottle blanks on the conveying equipment 15, and then drives the group of bottle blanks to rotate and transfer to the position above the conveyor belt 17 to prepare for releasing the bottle blanks on the conveyor belt 17.
And in the transfer process, the control system controls the moving distance of each sliding block 9 on the sliding rod 7 so as to adjust the distance between the adjacent connecting rods 8, so that the distance between bottle blanks on the adjacent connecting rods 8 is the same as the distance between two adjacent limiting grooves 18 on the conveyor belt 17. The bottle embryo interval is adjusted through the time of make full use of bottle embryo transfer in-process for the spacing groove 18 on the conveyer belt 17 can be fast and accurately positioned to the bottle embryo, and the bottle embryo is accurately released so that every bottle embryo homoenergetic accurately falls into the spacing groove 18 on the conveyer belt 17 and transports, improves the transfer and the vanning efficiency of bottle embryo.
The conveyor belt 17 is provided with a motor 19 for driving the conveyor belt 17 to move and controlling the pause and start states of the conveyor belt 17, the motor 19 controls the conveyor belt 17 to temporarily stop at preset time intervals according to a preset time rule, the bottle picking robot can align the bottle blanks to the limiting groove 18 and release the bottle blanks on the conveyor belt 17 when the conveyor belt 17 is in the temporarily stop state, and the conveyor belt 17 is restarted according to the preset time rule, so that the bottle blanks released on the conveyor belt 17 can be transported to the front.
The bottle taking robot releases each row of bottle blanks in a line-by-line release manner, that is, the bottle taking robot can release all bottle blanks on one connecting rod 8 at a time, or release the nth bottle blank on each connecting rod 8 for the nth time, where N is a positive integer of 1, 2, 3, …, N, that is, release the first bottle blank on each connecting rod 8 for the first time, and release the second bottle blank on each connecting rod 8 for the second time, thereby achieving the line-by-line release effect. The two releasing modes depend on the number of each row and each column of a group of bottle blanks, and when the number of the suction nozzles on one connecting rod 8 is larger than that of the connecting rods 8, the mode of releasing all the bottle blanks on one connecting rod 8 at a time is adopted; when the number of the connecting rods 8 is larger than that of the suction nozzles on one connecting rod 8, the Nth bottle blank on each connecting rod 8 is released for the Nth time. In the present embodiment, the latter scheme is adopted.
As shown in fig. 6, before releasing the bottle blanks, the bottle taking robot rotates the bottle taking mechanism to an inclination angle perpendicular to the surface of the conveyor 17, so that a line of bottle blanks at the lowest end of a group of bottle blanks is parallel to the surface of the conveyor 17, the bottle taking mechanism releases a line of bottle blanks closest to the surface of the conveyor 17 from the group of bottle blanks at each time, and drives the bottle taking mechanism to move to a position where a next line of bottle blanks is close to the surface of the conveyor 17 after releasing a line of bottle blanks, and then releases the line of bottle blanks, and the bottle taking mechanism sequentially circulates so that each line of bottle blanks in the bottle taking mechanism are sequentially released on the same conveyor 17; the grabbing mode of the bottle taking robot can reduce the moving path in the bottle embryo releasing process, and the releasing efficiency is improved.
EXAMPLE III
The present embodiment provides a bottle embryo transfer method, which is applied to the bottle embryo transfer system in the second embodiment. As shown in FIG. 7, the bottle embryo transfer method comprises:
step S1: the conveying equipment 15 conveys a group of bottle blanks to the grabbing range of the bottle taking robot, and the number of the group of bottle blanks is the same as that of the slotted holes 16 of the conveying equipment 15;
step S2: the bottle taking robot grabs a group of bottle blanks on the transportation equipment 15 in batches and transfers the bottle blanks to the conveyor belt 17, and the moving distance of each sliding block 9 on the sliding rod 7 is controlled in the transferring process to adjust the distance between the adjacent connecting rods 8, so that the distance between the bottle blanks on the adjacent connecting rods 8 is the same as the distance between two adjacent limiting grooves 18 on the conveyor belt 17;
step S3: in the process of adjusting the space between the bottle blanks, the rotating end 2 is rotated to enable a line of bottle blanks at the lowest end of the bottle taking mechanism to be close to the surface of the conveying belt 17; when the distance between the bottle blanks is adjusted, the distance between one line of bottle blanks is just aligned with the distance between the limiting grooves 18 on the conveyor belt 17; and then controlling the suction devices 10 corresponding to the row of bottle blanks closest to the surface of the conveyor belt 17 to release simultaneously, controlling the rotating end 2 to move after each row of bottle blanks is released, so that the next row of bottle blanks of the bottle taking mechanism is close to the surface of the conveyor belt 17, and repeating the step S3 until a group of bottle blanks is completely released.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (10)
1. A bottle taking robot, comprising:
the mechanical arm is provided with a rotating end;
the fixed frame is arranged on the rotating end and rotates relative to the rotating end;
the bottle taking mechanism is arranged on the fixed frame and comprises a plurality of connecting rods distributed side by side and sliding rods crossing the fixed frame, the lower surface of each connecting rod is provided with a suction device, each connecting rod is fixedly connected with a sliding block, and each sliding block is in sliding connection with the sliding rod so as to enable each connecting rod to transversely move back and forth along the sliding rod;
and the driving module is connected with the sliding block and the suction device.
2. The bottle fetching robot of claim 1, wherein the orthographic projections of the connecting rods on the horizontal plane are parallel to each other, and the orthographic projections of the connecting rods on the horizontal plane are perpendicular to the orthographic projection of the sliding rod on the horizontal plane.
3. The bottle taking robot according to claim 2, wherein a coincidence point of an orthographic projection of the connecting rod on a horizontal plane and an orthographic projection of the sliding rod on the horizontal plane is taken as an origin O, the direction of the sliding rod is taken as an X-axis, the direction of the connecting rod is taken as a Y-axis, and a line which passes through the origin O and is perpendicular to an XOY plane is taken as a Z-axis; the number of the suction devices on each connecting rod is the same, and the orthographic projections of all the suction devices on the same connecting rod on the ZOX plane are completely overlapped; orthographic projections of the N-th suction devices on the adjacent connecting rods on the ZOY plane are completely overlapped, and N is an integer.
4. The bottle taking robot according to claim 3, wherein each connecting rod is provided with a linkage column, two adjacent connecting rods form a group of bottle taking modules, each linkage column on each bottle taking module is sleeved with a linkage piece, and any one set of holes of the linkage pieces is arranged to be strip-shaped holes.
5. The bottle-taking robot as claimed in claim 4, wherein a limiting column is arranged on the same side of each connecting rod.
6. The bottle taking robot according to claim 1, wherein the driving module comprises a power device and a vacuum device, both of which are mounted on the fixed frame, the power device is connected with each of the sliders through a wire, and the vacuum device is connected with each of the suction devices through a connecting pipe.
7. A preform transfer system, comprising:
the conveying equipment is provided with a plurality of slotted holes for placing bottle blanks, and the slotted holes are distributed on the conveying equipment in a matrix form;
the conveying belt is provided with limiting grooves which are sequentially arranged on the surface of the conveying belt, and the distance between every two adjacent limiting grooves is different from the distance between every two adjacent slotted holes on the conveying equipment;
the bottle taking robot as claimed in any one of claims 1 to 6, which is arranged between the transportation equipment and the conveyor belt, wherein the number and arrangement of the suction devices of the bottle taking robot are matched with those of the slotted holes on the transportation equipment;
and the control system is connected with the conveyor belt, the conveying equipment and the bottle taking robot and used for controlling the bottle taking robot to grab the bottle blanks on the conveying equipment in batches and transfer the bottle blanks onto the conveyor belt and controlling the moving distance of each sliding block on the sliding rod in the transfer process so as to adjust the distance between the adjacent connecting rods, so that the distance between the bottle blanks on the adjacent connecting rods is the same as the distance between two adjacent limiting grooves on the conveyor belt.
8. The preform transfer system of claim 7, wherein the distance between adjacent ones of said retaining grooves is less than the distance between adjacent ones of said slots on said transport device.
9. The bottle embryo transfer system of claim 7, wherein the bottle taking robot releases the Nth bottle embryo on each connecting rod for the Nth time, wherein N is an integer.
10. The bottle embryo transfer method is applied to the bottle embryo transfer system of claim 7, and comprises:
step S1: the conveying equipment conveys a group of bottle embryos to the grabbing range of the bottle taking robot, and the number of the group of bottle embryos is the same as that of the slotted holes of the conveying equipment;
step S2: the bottle taking robot grabs bottle blanks on the transportation equipment in batches and transfers the bottle blanks onto the conveying belt, and the moving distance of each sliding block on the sliding rod is controlled in the transferring process so as to adjust the distance between the adjacent connecting rods, so that the distance between the bottle blanks on the adjacent connecting rods is the same as the distance between two adjacent limiting grooves on the conveying belt;
step S3: rotating the rotating end to enable a line of bottle blanks at the lowest end of the bottle taking mechanism to be close to the surface of the conveying belt, controlling the suction devices corresponding to the line of bottle blanks closest to the surface of the conveying belt to be released simultaneously, and controlling the rotating end to move after each line of bottle blanks is released to enable the next line of bottle blanks of the bottle taking mechanism to be close to the surface of the conveying belt, wherein in the process, the conveying belt rotates to drive the blank position to move backwards until the blank position is empty; and then the step S3 is circulated until the group of bottle blanks is completely released.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010947828.3A CN112141399A (en) | 2020-09-10 | 2020-09-10 | Bottle taking robot, bottle blank transferring system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010947828.3A CN112141399A (en) | 2020-09-10 | 2020-09-10 | Bottle taking robot, bottle blank transferring system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112141399A true CN112141399A (en) | 2020-12-29 |
Family
ID=73889504
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010947828.3A Pending CN112141399A (en) | 2020-09-10 | 2020-09-10 | Bottle taking robot, bottle blank transferring system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112141399A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114291584A (en) * | 2022-02-09 | 2022-04-08 | 广州达意隆包装机械股份有限公司 | Stacking device |
| CN116280415A (en) * | 2023-03-22 | 2023-06-23 | 广东建邦机械有限公司 | Clamp spacing adjusting device, robot boxing machine and boxing method |
| CN116395182A (en) * | 2023-06-09 | 2023-07-07 | 廊坊永创包装机械有限公司 | Robot boxing system and working method thereof |
-
2020
- 2020-09-10 CN CN202010947828.3A patent/CN112141399A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114291584A (en) * | 2022-02-09 | 2022-04-08 | 广州达意隆包装机械股份有限公司 | Stacking device |
| CN114291584B (en) * | 2022-02-09 | 2022-12-23 | 广州达意隆包装机械股份有限公司 | Stacking device |
| CN116280415A (en) * | 2023-03-22 | 2023-06-23 | 广东建邦机械有限公司 | Clamp spacing adjusting device, robot boxing machine and boxing method |
| CN116280415B (en) * | 2023-03-22 | 2023-10-17 | 广东建邦机械有限公司 | Clamp spacing adjusting device, robot boxing machine and boxing method |
| CN116395182A (en) * | 2023-06-09 | 2023-07-07 | 廊坊永创包装机械有限公司 | Robot boxing system and working method thereof |
| CN116395182B (en) * | 2023-06-09 | 2023-08-22 | 廊坊永创包装机械有限公司 | Robot boxing system and working method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112141399A (en) | Bottle taking robot, bottle blank transferring system and method | |
| CN102699221B (en) | Loading and unloading manipulator | |
| CN107293512B (en) | Chip packaging device of multi-core smart card | |
| JP2010159088A (en) | Method for classifying product such as glass bottle type or the like | |
| CN103809525B (en) | A kind of control system and control method of automatic die Bonder three-dimensional motion soldering tip | |
| CN107708916B (en) | Laser machine, laser processing, sheet processing system and method for processing sheet material | |
| JP6504780B2 (en) | Supply apparatus and supply method | |
| CN108750235B (en) | Automatic production method for laser processing two-dimensional code online cutting, marking, detecting and packaging | |
| CN105057222A (en) | Flexible material sorting system | |
| CN104400782A (en) | Openable manipulator for precisely grabbing and releasing small regularly-shaped materials | |
| CN202399268U (en) | Hybrid robot device facing to high-speed precise operation | |
| JP6153027B2 (en) | Accumulator | |
| CN105197293A (en) | Automatic electric energy meter boxing system | |
| CN204912107U (en) | Flexible letter sorting system of material | |
| CN103625920A (en) | Automatic workpiece conveying and assembling production system and method | |
| CN214542175U (en) | Silicon wafer feeding system | |
| CN108748241A (en) | A kind of lamellule crawl transfer method of Quick Response Code to be processed | |
| CN214139081U (en) | Bottle taking robot and bottle blank transfer system | |
| CN110497102A (en) | A kind of material transmission system and laser process equipment | |
| CN207518961U (en) | A kind of pin machine | |
| JP4725003B2 (en) | Panel conveyor | |
| CN213675711U (en) | Paper box inner support assembling machine | |
| CN102502223B (en) | Position correction device | |
| CN110550251A (en) | Intelligent packaging system for finished product line | |
| CN110329699A (en) | A kind of conveying device for the automatic balance piler of workpiece |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |