CN113173548A - Automatic bottle cap screwing robot and method thereof - Google Patents
Automatic bottle cap screwing robot and method thereof Download PDFInfo
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- CN113173548A CN113173548A CN202110577745.4A CN202110577745A CN113173548A CN 113173548 A CN113173548 A CN 113173548A CN 202110577745 A CN202110577745 A CN 202110577745A CN 113173548 A CN113173548 A CN 113173548A
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- suction nozzle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B3/00—Closing bottles, jars or similar containers by applying caps
- B67B3/20—Closing bottles, jars or similar containers by applying caps by applying and rotating preformed threaded caps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B3/00—Closing bottles, jars or similar containers by applying caps
- B67B3/26—Applications of control, warning, or safety devices in capping machinery
- B67B3/261—Devices for controlling the tightening of threaded caps, e.g. testing the release torque
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- Mechanical Engineering (AREA)
- Sealing Of Jars (AREA)
Abstract
The invention discloses an automatic bottle cap screwing robot and a method thereof, and belongs to the technical field of intelligent machinery. The method comprises the following steps: a mounting frame; the mounting frame is provided with a driving mechanism; the plurality of groups of suction nozzle mechanisms are in transmission connection with the driving mechanism; the driving mechanism is set to adjust the distance between the adjacent suction nozzle mechanisms according to requirements; the suction nozzle mechanism comprises a plurality of suction nozzle components, an adjusting part for adjusting the distance between the adjacent suction nozzle components, and a control part for driving the suction nozzles to ascend and descend and rotate. The driving mechanism and the adjusting part are arranged and are respectively used for adjusting the distance between the adjacent suction nozzles in the X-axis direction and the Y-axis direction so as to be suitable for the cap screwing operation of bottles of different models, and when the bottle bodies are large, namely the distance between the adjacent bottle bodies is large, the required distance between the suction nozzles is met by adjusting the driving mechanism and the adjusting part.
Description
Technical Field
The invention belongs to the technical field of intelligent machinery, and particularly relates to an automatic bottle cap screwing robot and a method thereof.
Background
In daily life, people often use various bottled foods and daily necessities, such as bottled beverages, bottled cleaning products, such as beverage bottles, detergent bottles, shampoo bottles and the like, and after the bottles are filled, the bottle caps need to be screwed down automatically, so that a cap screwing machine, a cap screwing machine or a capping machine specially used for screwing the bottle caps is involved. The types of the used bottles are different according to different requirements, and the sizes and the heights of the bottles in different models are different, namely the distance between the bottle caps on the adjacent bottles is different from the height of the bottle caps.
In order to improve the production efficiency, the existing cap screwing robots are provided with a plurality of clamping hands for screwing caps simultaneously, but the distance between the clamping hands is fixed, and the distance between the bottle caps on bottles of different models is variable, so that the same group of clamping hands can only meet the cap screwing of the bottles of the specified models, and the application range is greatly limited.
Disclosure of Invention
The invention provides an automatic bottle cap screwing robot and a method thereof, aiming at solving the technical problems in the background technology.
The invention adopts the following technical scheme: the utility model provides an automatic change and twist bottle lid robot, includes the arm, the end of arm is equipped with the screw cap assembly, the screw cap assembly includes:
a mounting frame; the mounting frame is provided with a driving mechanism;
the plurality of groups of suction nozzle mechanisms are in transmission connection with the driving mechanism; the driving mechanism is set to adjust the distance between the adjacent suction nozzle mechanisms according to requirements;
the suction nozzle mechanism comprises a plurality of suction nozzle components, an adjusting part for adjusting the distance between the adjacent suction nozzle components, and a control part for driving the suction nozzles to ascend and descend and rotate.
In a further embodiment, the drive mechanism comprises:
the guide rod is fixed in the mounting rack along the length direction of the mounting rack;
the driving blocks are sleeved on the guide rods; the number of the driving blocks is equal to that of the suction nozzle mechanisms; the driving block is provided with a first connecting rod and a second connecting rod, and the first connecting rod is hinged with the center of the second connecting rod and is hinged with the driving block at the same time; two ends of the first connecting rod and the second connecting rod are respectively connected and hinged with the adjacent driving blocks;
the driving piece is arranged on the mounting rack; the driving piece is arranged to adjust an included angle between the first connecting rod and the second connecting rod so as to realize distance adjustment between adjacent driving blocks.
In a further embodiment, the drive mechanism comprises:
the guide rod is fixed in the mounting rack along the length direction of the mounting rack;
the number of the driving blocks is equal to that of the suction nozzle mechanisms; two sides of each driving block are respectively provided with a guide plate and a guide post, and the guide plate is provided with a guide groove; the guide groove and the guide column are positioned on the same horizontal line; the guide post on the current driving block is movably clamped in the guide groove on the adjacent driving block;
the driving piece is arranged on the mounting rack; the driving piece is arranged to adjust the position of the guide post in the guide groove so as to realize the distance adjustment between the adjacent driving blocks.
In a further embodiment, the driving member is an electric cylinder mounted in the mounting frame, and a piston rod of the electric cylinder is in transmission connection with a driving block at the tail end.
In a further embodiment, the nozzle assembly comprises: the mounting plate is in transmission connection with the driving mechanism; the adjusting part is arranged on the mounting plate; the adjusting portion includes:
the driving cylinder is fixed at the top of the mounting plate;
the moving plate is in transmission connection with a piston rod of the driving cylinder; the movable plate is provided with a plurality of variable-pitch sliding grooves, and a sliding protruding part is arranged inside each variable-pitch sliding groove and used for mounting the control part and the suction nozzle;
the guide piece is arranged on the moving plate; when the variable-pitch sliding chute moves, the sliding protruding pieces slide in the variable-pitch sliding chute, and under the action of the guide piece, the distance between every two adjacent sliding protruding pieces changes along with the change of the distance between every two adjacent variable-pitch sliding chutes corresponding to the sliding protruding pieces.
In a further embodiment, the guide comprises:
a plurality of guide rails transversely fixed on the guide plate; the number of the guide rails is consistent with that of the variable-pitch sliding chutes;
each guide rail is provided with a sliding block; the sliding blocks are fixedly connected with the corresponding sliding protruding pieces.
In a further embodiment, the control section includes:
a connecting frame; the bottom of the connecting frame is provided with a first bevel gear; the first bevel gear is in transmission connection with a second bevel gear, and the second bevel gear is in transmission connection with an output shaft of the positive and negative motor;
the threaded sleeve is fixed at the circle center of the first conical gear;
the threaded rod is sleeved in the threaded sleeve through internal and external threads; the bottom of threaded rod is fixed with the suction nozzle, an accommodation chamber is formed at the top of link, the accommodation chamber provides the required space demand when ascending for the threaded rod.
In a further embodiment, the edge of the bottom of the connecting frame is provided with a pressing part which extends downwards to a certain height, the bottom of the pressing part is provided with an accommodating cavity which is sunken upwards, and the bottom of the threaded rod and the suction nozzle are located inside the accommodating cavity.
In a further embodiment, the bottoms of adjacent connecting frames are distributed in a staggered mode, and the lengths of the threaded rods are the same.
The cap screwing method of the automatic bottle cap screwing robot specifically comprises the following steps:
firstly, putting bottle bodies of the same type needing to be screwed on a console in a matrix form;
step two, respectively calculating the distance L between the centers of the circles of the two adjacent bottle openings along the X axial direction1The distance L between the centers of the circles of two adjacent bottle openings along the Y-axis direction2；
Step three, according to L1Controlling an electric cylinder in the driving mechanism, wherein the electric cylinder pushes or pulls back a driving block in transmission connection with the electric cylinder until the distance between the central lines of the adjacent driving blocks in the X-axis direction is L1；
Step four, according to L2A driving air cylinder in the adjusting part is controlled to push or pull back a guide plate in transmission connection with the driving air cylinder until the distance between the axes of the adjacent suction nozzles in the Y-axis direction is L2；
Controlling the screw cap assembly to move downwards by the robot so that the pressing part is abutted against the bottle body, and adsorbing the bottle cap by the suction nozzle in the accommodating cavity without contacting with the bottle mouth;
step six, starting a forward and reverse rotation motor, enabling the suction nozzle to move downwards and rotate under the action of the threaded rod and the threaded sleeve, and enabling the rotation direction to be consistent with the thread direction at the bottle mouth until the suction nozzle screws the bottle cap at the bottle mouth; the suction nozzle continues to rotate until the suction nozzle is separated from the bottle cap;
and seventhly, reversely rotating the forward and reverse rotating motor, and enabling the suction nozzle to move upwards relative to the bottle cap.
The invention has the beneficial effects that: the driving mechanism and the adjusting part are arranged and are respectively used for adjusting the distance between the adjacent suction nozzles in the X-axis direction and the Y-axis direction so as to be suitable for the cap screwing operation of bottles of different models; when the bottle body volume is relatively less, then the distance between the adjacent bottle body is less, then through adjusting actuating mechanism and regulating part with the distance between the required suction nozzle that satisfies, increase the application range of screw cap assembly, improve production efficiency.
Drawings
Fig. 1 is a schematic structural view of a screw cap assembly of embodiment 1.
Figure 2 is a side view of the screw cap assembly of example 1.
Fig. 3 is a schematic structural view of a suction nozzle assembly of embodiment 1.
Fig. 4 is a partial plan view of the drive mechanism of embodiment 1.
Fig. 5 is a partial configuration diagram of a control unit according to embodiment 2.
Fig. 6 is a front view of a control unit according to embodiment 2.
Fig. 7 is a schematic structural view of a drive mechanism of embodiment 3.
Fig. 8 is a side view of the drive mechanism of embodiment 3.
Each of fig. 1 to 8 is labeled as: the device comprises a mounting frame 1, a driving mechanism 2, a suction nozzle mechanism 3, a guide rod 201, a driving block 202, a first connecting rod 203, a second connecting rod 204, an electric cylinder 205, a guide plate 206, a guide column 207, a guide groove 208, a mounting plate 301, a driving cylinder 302, a moving plate 303, a variable pitch chute 304, a sliding protrusion 305, a guide rail 306, a pressing part 307, a sliding block 308, a connecting frame 309, a first bevel gear 310, a second bevel gear 311, a threaded sleeve 312 and a threaded rod 313.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
The applicant found, in actual processing: the existing cap screwing robots are all provided with a plurality of clamping hands for screwing caps simultaneously, but the distance between the clamping hands is fixed, and the distance between bottle caps on bottles of different models is variable, so that the same group of clamping hands can only meet the cap screwing of the bottles of the specified models, and the application range is greatly limited.
Example 1
The embodiment discloses an automatic change and twist bottle lid robot includes: the tail end of the mechanical arm is provided with a rotating mechanism, and a screw cap assembly is in transmission connection with the rotating mechanism. The screw cap assembly can rotate 360 degrees under the action of the rotating mechanism, and can move in a certain space under the action of the mechanical arm.
As shown in fig. 1 and 2, the screw-on cap assembly includes: the transmission is connected in rotary mechanism's mounting bracket 1, is provided with actuating mechanism 2 on the installation, and actuating mechanism 2 goes up the transmission and is connected with a plurality of suction nozzle mechanism 3. The direction of the length of the defining mounting frame 1 is the X axial direction, the direction of the width is the Y axial direction, and the driving mechanism 2 is set to adjust the distance between the adjacent suction nozzle mechanisms 3 in the X axial direction according to requirements.
In a further embodiment, the nozzle mechanism 3 includes a plurality of nozzle assemblies, an adjusting portion for adjusting a distance between adjacent nozzle assemblies, and a control portion for driving the nozzles to ascend and descend and to rotate. In this embodiment, the number of the suction nozzle assemblies is determined according to the number of rows of the currently placed bottle bodies. When the bottle body is 8 rows, the number of the suction nozzle mechanisms 3 can be 4 or 8. The rows here are then measured in the Y-axis. Realize a large amount of screw capping and handle, improve the screw capping efficiency.
As shown in fig. 4, the drive mechanism 2 includes: two guide rods 201 installed in the mounting rack 1 along the X-axis direction, wherein 10 driving blocks 202 are sleeved on the guide rods 201, and each driving block 202 corresponds to one suction nozzle assembly. Each driving block 202 is provided with a first connecting rod 203 and a second connecting rod 204, the first connecting rod 203 is hinged with the center of the second connecting rod 204, and the first connecting rod 203 and the second connecting rod 204 are hinged with the driving blocks 202 at the same time; the two ends of the first connecting rod 203 and the second connecting rod 204 are respectively connected and hinged with the adjacent driving blocks 202.
The drive mechanism 2 further includes: and an electric cylinder 205 is arranged on the mounting frame 1, and the electric cylinder 205 is used for adjusting the included angle between the first connecting rod 203 and the second connecting rod 204 so as to realize the distance adjustment between the adjacent driving blocks 202. The concrete expression is as follows: the end of the piston rod of the electric cylinder 205 is drivingly connected to the end located drive block 202. Not only does it increase the stability of the movement but it also ensures that the same variation occurs in the distance between any adjacent drive blocks 202.
The driving mechanism 2 is in operation: when the electric cylinder 205 is in a compressed state, the adjacent driving blocks 202 are connected in the first position, the included angle between the first connecting rod 203 and the second connecting rod 204 is the minimum, and the distance between the adjacent suction nozzle mechanisms 3 is the shortest; when the piston rod of the electric cylinder 205 is slowly stretched and pushes the driving block 202 in transmission connection with the piston rod to move back, the included angle between the first connecting rod 203 and the second connecting rod 204 increases with the increase of the pushing distance, and the distance between the adjacent driving blocks 202 increases, that is, the distance between the adjacent suction nozzle mechanisms 3 increases. Further realizing the adjustment of the distance between the suction nozzle mechanisms 3 according to the model of the bottle body.
In the structure, the distance adjustment in the X axial direction is only realized through the driving mechanism 2, but the sizes of the bottle bodies are different, so that the distance in the X axial direction is changed, and the distance between the adjacent bottle openings in the Y axial direction is also changed.
In a further embodiment, the mouthpiece mechanism 3 is modified: the suction nozzle mechanism 3 includes: the number of the suction nozzle components is determined according to the number of the rows of the bottle bodies which are currently arranged in parallel. When the bottle body is 10 rows, the number of the suction nozzle mechanisms 3 can be 5 or 10. The columns are here measured in the X-axis. Each of the nozzle assemblies has an adjusting part for adjusting a distance between the adjacent nozzle assemblies, and a control part for driving the nozzles to ascend and descend and to rotate.
In a further embodiment, as shown in fig. 3, the nozzle assembly comprises: the mounting plate 301 is in transmission connection with the driving mechanism 2; the adjusting part is mounted on the mounting plate 301; the adjusting portion includes: a driving cylinder 302 vertically fixed on the mounting plate 301, and a moving plate 303 is connected at the tail end of a piston rod of the driving cylinder 302 in a transmission manner. A plurality of pitch-variable chutes 304 are movably arranged, and in the present embodiment, the number of the pitch-variable chutes 304 is four. A sliding protrusion 305 is arranged inside each variable pitch sliding chute 304, and the sliding protrusion 305 is used for installing a control part and a suction nozzle; when the variable-pitch sliding chute 304 moves, the sliding convex pieces 305 slide in the variable-pitch sliding chute 304, and the distance between two adjacent sliding convex pieces 305 changes with the distance between two adjacent variable-pitch sliding chutes 304 corresponding to the two adjacent sliding convex pieces 305.
In the above process, in order to increase the stability of the sliding protrusion 305 during the movement and avoid the uncontrollable reverse movement of the sliding protrusion 305 due to the external force during the screwing process, a guide is added on the moving plate 303. In a further embodiment, the guide comprises: four guide rails 306 arranged along the Y-axis direction, each guide rail 306 is provided with a sliding block 308 matched with the guide rail 306, and each sliding block 308 is correspondingly connected with one sliding convex piece 305. The guide rails 306 and the sliding blocks 308 are additionally arranged, so that the suction nozzles in the suction nozzle assembly are all positioned at the same height, consistency is kept, and the phenomenon that part of the bottle caps are not screwed up due to different heights of the suction nozzles during screwing is avoided.
The distance of the suction nozzle assembly in the Y-axis direction is adjusted as follows: when the driving cylinder 302 is in a stretching state, each sliding protrusion 305 is located at the top of the corresponding variable pitch slot, the distance between the adjacent suction nozzle assemblies is the shortest, when the distance between the adjacent suction nozzle assemblies needs to be increased, the piston rod of the driving cylinder 302 compresses the moving plate 303, the moving plate 303 and the variable pitch sliding slot 304 in the moving plate 303 move upwards relative to the mounting plate 301, and the sliding protrusion 305 located in the variable pitch sliding slot 304 moves along the path of the variable pitch sliding slot 304 in the variable pitch sliding slot 304, so that the distance between the adjacent suction nozzle assemblies is increased, and the increased variable is the same.
In order to keep the suction nozzles on the same horizontal plane without interference, the sliders 308 on the adjacent sliding protrusions 305 are staggered to form a space avoiding.
Example 2
Described in accordance with embodiment 1, embodiment 1 is a centralized, automated screw-on cap adapted for use with different bottle sizes. However, in example 1, it is not considered that the bottle caps of different types of bottle bodies have different sizes. Thus, if a fixed clip or other gripping device is used, it is preferred that it not be compatible with different types of grippers. Secondly, if the adjustable clamping jaws are used for clamping the bottle cap, the relaxation degree of the clamping jaws is adjusted according to the size of the bottle cap, but when the bottle body is small and the bottle cap is large, the distance between the suction nozzle mechanism 3 and the suction nozzle assembly is small so as to be insufficient for two adjacent clamping jaws or even four clamping jaws on the periphery to effectively clamp, and a space is obstructed. Also limiting the range of use of the screw-on cap assembly.
The applicant replaces with the suction nozzle, realizes the absorption to different big or small bottle lids through the suction nozzle to satisfy the demand in space.
Meanwhile, the suction nozzle is required to have an adsorption process and a screwing process (the suction nozzle drives the bottle cap to rotate). Therefore, a forward and reverse rotation motor is installed at the bottom of the sliding protrusion 305, and the rotation of the suction nozzle is realized through the forward and reverse rotation motor to complete the process of screwing the cap. However, the spout is difficult to screw down on the cap without a downward force.
In a further embodiment, as shown in fig. 5, a control part is installed at the bottom of the sliding protrusion 305, and the control part includes: a connecting frame 309 fixedly connected with the sliding protrusion 305, and a forward and reverse rotation motor and a first bevel gear 310 are installed at the bottom of the connecting frame 309. The output shaft of the forward and reverse rotation motor is connected with a second bevel gear 311 in a transmission way, and the first bevel gear 310 is connected with the second bevel gear 311 in a transmission way. A threaded sleeve 312 is attached to the center of the first bevel gear 310, and a threaded rod 313 is connected to the inside of the threaded sleeve 312 by internal and external screw transmission. The bottom of the threaded rod 313 is fixed with a suction nozzle, and the top of the connecting frame 309 forms a containing cavity which provides the threaded rod 313 with the space requirement needed when the threaded rod is lifted.
When the cap needs to be screwed, the forward and reverse rotation motor rotates forward, the suction nozzle adsorbing the cap rotates forward and moves downwards until being buckled on the bottle opening, the suction nozzle continues to move downwards until the cap is screwed on the bottle opening, the suction nozzle is continuously forced to be separated from the cap downwards under the action of external force given by the forward and reverse rotation motor, and the forward and reverse rotation motor rotates the suction nozzle upwards (the accommodating cavity provides space requirements required when the threaded rod 313 ascends). Meanwhile, the problem that the suction nozzle cannot be separated from the bottle cap like a clamping jaw after being screwed is solved, and the bottle body can be lifted together when the suction nozzle moves upwards.
However, in the above process, the separation of the suction nozzle and the bottle cap is a shaking process, and if the bottle body has no other external force, the whole process is very easy to shake, so that the bottle body turns on one side.
In a further embodiment, as shown in fig. 6, a pressing portion 307 extending downward to a certain height is provided at the bottom edge of the connecting frame 309, a receiving cavity recessed upward is provided at the bottom of the pressing portion 307, and the bottom of the threaded rod 313 and the suction nozzle are located inside the receiving cavity. The inner diameter of the pressing portion 307 is slightly larger than the average value of the outer diameters of the bottle caps on the market at present, and can be customized according to requirements.
When the bottle cap is used, the pressing portion 307 is moved downwards to abut against the bottle body to exert a fixed acting force on the bottle body, the threaded rod 313 and the suction nozzle are located at the highest position, after the bottle cap is fixed, the forward and reverse rotation motor rotates forwards, the suction nozzle with the bottle cap adsorbed thereon rotates forwards and moves downwards until being buckled on the bottle opening, the suction nozzle continues to move downwards until the bottle cap is screwed on the bottle opening, the suction nozzle is continuously forced to be separated from the bottle cap downwards under the action of an external force exerted by the forward and reverse rotation motor, and the forward and reverse rotation motor rotates the suction nozzle upwards (the accommodating cavity provides a space requirement required when the threaded rod 313 ascends). In the above process, the pressing portion 307 always controls the bottle body not to shake, and provides convenience for the separation of the suction nozzle from the bottle cap.
Meanwhile, in order to avoid the phenomenon of space obstruction, the bottoms of the adjacent connecting frames 309 are distributed in a staggered manner, and the lengths of the threaded rods 313 are the same (the height of each suction nozzle is always kept consistent).
The cap screwing method of the automatic bottle cap screwing robot specifically comprises the following steps:
firstly, putting bottle bodies of the same type needing to be screwed on a console in a matrix form; determining the number of columns and rows of bottles to drive the number and the arrangement form of the required suction nozzles;
step two, respectively calculating the distance L1 between the centers of the two adjacent bottle openings along the X axial direction and the distance L2 between the centers of the two adjacent bottle openings along the Y axial direction;
step three, controlling an electric cylinder 205 in the driving mechanism 2 according to L1, wherein the electric cylinder 205 pushes or pulls back a driving block 202 in transmission connection with the electric cylinder 205 until the distance between the central lines of the adjacent driving blocks 202 in the X-axis direction is L1;
fourthly, controlling a driving air cylinder 302 in the adjusting part according to L2, and pushing or pulling back a guide plate 206 in transmission connection with the driving air cylinder 302 until the distance between the axes of the adjacent suction nozzles in the Y axis is L2;
step five, the robot controls the screw cap assembly to move downwards to enable the pressing part 307 to be abutted against the bottle body, and at the moment, the suction nozzle in the accommodating cavity adsorbs the bottle cap without contacting with the bottle opening;
step six, starting a forward and reverse rotation motor, enabling the suction nozzle to move downwards and rotate under the action of the threaded rod 313 and the threaded sleeve 312, and enabling the rotation direction to be consistent with the thread direction at the bottle mouth until the suction nozzle screws the bottle cap at the bottle mouth; the suction nozzle continues to rotate until the suction nozzle is separated from the bottle cap;
and seventhly, reversely rotating the forward and reverse rotating motor, and enabling the suction nozzle to move upwards relative to the bottle cap.
Example 3
The drive mechanism 2 used in the present embodiment includes, as shown in fig. 7 and 8: two guide rods 201 installed in the mounting rack 1 along the X-axis direction, wherein 10 driving blocks 202 are sleeved on the guide rods 201, and each driving block 202 corresponds to one suction nozzle assembly. And both sides of each driving block 202 are respectively provided with a guide plate 206 and a guide post 207, a guide groove 208 is formed on the guide plate 206, and each guide groove 208 and the guide post 207 are positioned on the same horizontal line so as to ensure the movement on the horizontal plane. The guide column 207 on the current driving block 202 is movably clamped in the guide groove 208 on the adjacent driving block 202; meanwhile, the driving block 202 is in concave-convex fit with the guide rail 306 through the guide block to play a guiding role, and the guide rail 306 is installed in the installation frame 1.
The drive mechanism 2 further includes: and an electric cylinder 205 is arranged on the mounting frame 1, and the electric cylinder 205 is used for adjusting the position of the guide column 207 in the guide groove 208 so as to realize the distance adjustment between the adjacent driving blocks 202.
The concrete expression is as follows: the end of the piston rod of the electric cylinder 205 is drivingly connected to the end located drive block 202. Not only does it increase the stability of the movement but it also ensures that the same variation occurs in the distance between any adjacent drive blocks 202.
The driving mechanism is used for: when the electric cylinder is in a compression state, the adjacent driving blocks are connected in a first position, the guide post on the current driving block is positioned on one side, close to the guide post, of the guide groove on the adjacent driving block, and the distance between the adjacent suction nozzle mechanisms is shortest; when a piston rod of the electric cylinder is slowly stretched and pushes a driving block in transmission connection with the piston rod to move backwards, the guide post moves in the guide groove until the guide post on the current driving block is positioned on one side, away from the guide post, of the guide groove on the adjacent driving block, and the distance between the adjacent driving blocks is the largest. Further realize adjusting the distance between the suction nozzle mechanisms according to the model of the bottle body.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
Claims (10)
1. The utility model provides an automatic change and twist bottle lid robot, includes the arm, the end of arm is equipped with the screw cap assembly, its characterized in that, the screw cap assembly includes:
a mounting frame; the mounting frame is provided with a driving mechanism;
the plurality of groups of suction nozzle mechanisms are in transmission connection with the driving mechanism; the driving mechanism is set to adjust the distance between the adjacent suction nozzle mechanisms according to requirements;
the suction nozzle mechanism comprises a plurality of suction nozzle components, an adjusting part for adjusting the distance between the adjacent suction nozzle components, and a control part for driving the suction nozzles to ascend and descend and rotate.
2. An automated bottle capping robot according to claim 1,
the drive mechanism includes:
the guide rod is fixed in the mounting rack along the length direction of the mounting rack;
the driving blocks are sleeved on the guide rods; the number of the driving blocks is equal to that of the suction nozzle mechanisms; the driving block is provided with a first connecting rod and a second connecting rod, and the first connecting rod is hinged with the center of the second connecting rod and is hinged with the driving block at the same time; two ends of the first connecting rod and the second connecting rod are respectively connected and hinged with the adjacent driving blocks;
the driving piece is arranged on the mounting rack; the driving piece is arranged to adjust an included angle between the first connecting rod and the second connecting rod so as to realize distance adjustment between adjacent driving blocks.
3. An automated bottle capping robot according to claim 1,
the drive mechanism includes:
the guide rod is fixed in the mounting rack along the length direction of the mounting rack;
the number of the driving blocks is equal to that of the suction nozzle mechanisms; two sides of each driving block are respectively provided with a guide plate and a guide post, and the guide plate is provided with a guide groove; the guide groove and the guide column are positioned on the same horizontal line; the guide post on the current driving block is movably clamped in the guide groove on the adjacent driving block;
the driving piece is arranged on the mounting rack; the driving piece is arranged to adjust the position of the guide post in the guide groove so as to realize the distance adjustment between the adjacent driving blocks.
4. An automatic bottle cap screwing robot according to any one of claims 2 or 3, wherein the driving part is a power cylinder installed in the mounting frame, and a piston rod of the power cylinder is in transmission connection.
5. An automated bottle capping robot according to claim 1,
the suction nozzle assembly includes: the mounting plate is in transmission connection with the driving mechanism; the adjusting part is arranged on the mounting plate; the adjusting portion includes:
the driving cylinder is fixed at the top of the mounting plate;
the moving plate is in transmission connection with a piston rod of the driving cylinder; the movable plate is provided with a plurality of variable-pitch sliding grooves, and a sliding protruding part is arranged inside each variable-pitch sliding groove and used for mounting the control part and the suction nozzle;
the guide piece is arranged on the moving plate; when the variable-pitch sliding chute moves, the sliding protruding pieces slide in the variable-pitch sliding chute, and under the action of the guide piece, the distance between every two adjacent sliding protruding pieces changes along with the change of the distance between every two adjacent variable-pitch sliding chutes corresponding to the sliding protruding pieces.
6. An automated bottle capping robot according to claim 5,
the guide member includes:
a plurality of guide rails transversely fixed on the guide plate; the number of the guide rails is consistent with that of the variable-pitch sliding chutes;
each guide rail is provided with a sliding block; the sliding blocks are fixedly connected with the corresponding sliding protruding pieces.
7. An automated bottle capping robot according to claim 1,
the control section includes:
a connecting frame; the bottom of the connecting frame is provided with a first bevel gear; the first bevel gear is in transmission connection with a second bevel gear, and the second bevel gear is in transmission connection with an output shaft of the positive and negative motor;
the threaded sleeve is fixed at the circle center of the first conical gear;
the threaded rod is sleeved in the threaded sleeve through internal and external threads; the bottom of threaded rod is fixed with the suction nozzle, an accommodation chamber is formed at the top of link, the accommodation chamber provides the required space demand when ascending for the threaded rod.
8. An automated bottle capping robot according to claim 7,
the bottom edge of link is provided with the splenium of a take the altitude that extends downwards, the bottom of pressing the splenium is equipped with the sunken chamber that holds that makes progress, the bottom and the suction nozzle of threaded rod are located hold the inside in chamber.
9. The automated bottle capping robot of claim 7, wherein the bottoms of adjacent connecting frames are staggered and the length of the threaded rods is the same.
10. The method for screwing cap on a bottle cap by an automated bottle-screwing robot according to any one of claims 1 to 3 and 5 to 9, characterized in that it comprises the following steps:
firstly, putting bottle bodies of the same type needing to be screwed on a console in a matrix form;
step two, respectively calculating the distance L between the centers of the circles of the two adjacent bottle openings along the X axial direction1The distance L between the centers of the circles of two adjacent bottle openings along the Y-axis direction2；
Step three, according to L1Controlling an electric cylinder in the driving mechanism, wherein the electric cylinder pushes or pulls back a driving block in transmission connection with the electric cylinder until the distance between the central lines of the adjacent driving blocks in the X-axis direction is L1；
Step four, according to L2A driving air cylinder in the adjusting part is controlled to push or pull back a guide plate in transmission connection with the driving air cylinder until the distance between the axes of the adjacent suction nozzles in the Y-axis direction is L2；
Controlling the screw cap assembly to move downwards by the robot so that the pressing part is abutted against the bottle body, and adsorbing the bottle cap by the suction nozzle in the accommodating cavity without contacting with the bottle mouth;
step six, starting a forward and reverse rotation motor, enabling the suction nozzle to move downwards and rotate under the action of the threaded rod and the threaded sleeve, and enabling the rotation direction to be consistent with the thread direction at the bottle mouth until the suction nozzle screws the bottle cap at the bottle mouth; the suction nozzle continues to rotate until the suction nozzle is separated from the bottle cap;
and seventhly, reversely rotating the forward and reverse rotating motor, and enabling the suction nozzle to move upwards relative to the bottle cap.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110577745.4A CN113173548A (en) | 2021-05-26 | 2021-05-26 | Automatic bottle cap screwing robot and method thereof |
| PCT/CN2021/100867 WO2022246931A1 (en) | 2021-05-26 | 2021-06-18 | Automatic bottle cap screwing robot and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110577745.4A CN113173548A (en) | 2021-05-26 | 2021-05-26 | Automatic bottle cap screwing robot and method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113173548A true CN113173548A (en) | 2021-07-27 |
Family
ID=76927279
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110577745.4A Withdrawn CN113173548A (en) | 2021-05-26 | 2021-05-26 | Automatic bottle cap screwing robot and method thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113173548A (en) |
| WO (1) | WO2022246931A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113955204A (en) * | 2021-11-25 | 2022-01-21 | 江西欧丽仕智能科技有限公司 | Sausage material sucking mechanism |
| CN115108514A (en) * | 2022-07-11 | 2022-09-27 | 陈培根 | A spiral cover machine for food processing |
| CN115325436A (en) * | 2022-09-08 | 2022-11-11 | 珠海格力智能装备有限公司 | Material filling mechanism and air conditioner material filling device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116788813B (en) * | 2023-07-10 | 2023-12-22 | 江苏易实精密科技股份有限公司 | Connecting piece feeding device of new energy automobile and application method of connecting piece feeding device |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6439631B1 (en) * | 2000-03-03 | 2002-08-27 | Micron Technology, Inc. | Variable-pitch pick and place device |
| CN203319661U (en) * | 2013-06-21 | 2013-12-04 | 杭州中亚机械股份有限公司 | Cap screwing device |
| CN203427038U (en) * | 2013-06-28 | 2014-02-12 | 熊刚 | Suction nozzle distance adjusting device |
| CN208345274U (en) * | 2017-12-20 | 2019-01-08 | 宏冠奇科技（深圳）有限公司 | A kind of pitch-changing mechanism |
| CN108639749A (en) * | 2018-06-20 | 2018-10-12 | 深圳市浦洛电子科技有限公司 | A kind of suction nozzle automatic space adjustment mechanism |
| CN110076814A (en) * | 2019-05-07 | 2019-08-02 | 三峡大学 | A kind of displacement draws manipulator and operating method |
| CN210392833U (en) * | 2019-05-31 | 2020-04-24 | 大族激光科技产业集团股份有限公司 | Electricity core clamping jaw |
| CN210419167U (en) * | 2019-08-01 | 2020-04-28 | 杭州脉兴机械有限公司 | Cap screwing device |
| CN212448280U (en) * | 2020-03-11 | 2021-02-02 | 上海天檀电子科技有限公司 | Variable-pitch packaging structure |
-
2021
- 2021-05-26 CN CN202110577745.4A patent/CN113173548A/en not_active Withdrawn
- 2021-06-18 WO PCT/CN2021/100867 patent/WO2022246931A1/en unknown
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113955204A (en) * | 2021-11-25 | 2022-01-21 | 江西欧丽仕智能科技有限公司 | Sausage material sucking mechanism |
| CN115108514A (en) * | 2022-07-11 | 2022-09-27 | 陈培根 | A spiral cover machine for food processing |
| CN115108514B (en) * | 2022-07-11 | 2023-12-19 | 榴莲先生(广东)实业有限公司 | A spiral cover machine for food processing |
| CN115325436A (en) * | 2022-09-08 | 2022-11-11 | 珠海格力智能装备有限公司 | Material filling mechanism and air conditioner material filling device |
| CN115325436B (en) * | 2022-09-08 | 2024-05-17 | 珠海格力智能装备有限公司 | Air conditioner charging device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022246931A1 (en) | 2022-12-01 |
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Legal Events
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| PB01 | Publication | ||
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210727 |
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| WW01 | Invention patent application withdrawn after publication |