Bottle-sorting device based on robot
This utility model belongs to conveyer device technical field, is specifically related to a kind of bottle-sorting device, especially relates to
And a kind of bottle-sorting device based on robot.
Bottle-sorting device be by bottle in the case of mixed and disorderly, disperseed and regular proper alignment station
Stand on the conveyor belt, to meet supermatic requirement.The effect of bottle managing machine is to mess therein
Bottle arranges, and make its orderliness have direction arrange on the conveyor belt, high-speed and high-efficiency pass to it
Its machinery carries out next process (such as fill, labeling, vanning etc.), to improve whole production line
Along with the design of plastic bottle packing in recent years is more complicated, there is moulding of more Multiple Shape and surface character
Material bottle continues to bring out so that original artificial bottle cleaning method or existing automatization reason bottle equipment are all difficult to
Meet new reason bottle demand, require the most more and more in less equipment and less occupation of land face
Under conditions of Ji, it is achieved the arrangement to Special plastic bottle.
Current emerging reason bottle demand is primarily present the following aspects for original reason bottle mode
The first, position during plastic bottle charging and bottleneck are towards having the biggest randomness, thus improve
Difficulty when manual sorting judges, and single shape and single surface character only had by some
Identify and the automation equipment of sorting ability lost efficacy；
The second, plastic bottle has the curved surface features of complexity so that the crawl point of some automation equipments is inclined
Move, cause the upset point skew of default plastic bottle, ultimately form the skew of position after upset, and cause
Carrying after crawl cannot arrive default position, maybe cannot complete plastic bottle from lying down upright turning over
Turn, so that actual reason bottle effect is undesirable；
3rd, due to floor space reason, reason bottle operation is strictly required single line bottle inlet, single line bottle outlet.
The reason bottle mode that after the most existing sorting, different bottle mouth exports towards separated time cannot meet demand；
4th, the reason exported due to floor space and single line so that actively switching mechanism carries out plastics
The space of bottle pose adjustment is restricted, and the existing crawl mechanism for sorting utilizing integrated turn over function will
It is difficult to meet upset demand；
5th, special-shaped bottle position in course of conveying and attitude are to pipeline vibration and acceleration and deceleration more
Sensitivity, if the sorting of reason bottle or overturning step are unstable, easily forms plastic bottle at outgoing position
Neutral, and easily cause plastic bottle toppling at conveying direction, after this is to the sorting before upset and upset
Output is proposed the highest requirement.
Therefore, how to realize the bottle-sorting device of a kind of strong adaptability, working stability, be this area urgently
The difficult problem solved.
Utility model content
In order to overcome the shortcoming of prior art, goal of the invention of the present utility model is to provide a kind of novel
Bottle-sorting device, be used for adapting to the emerging bottle-sorting device in this area.
Technical solutions of the utility model provide a kind of bottle-sorting device based on robot, and described reason is bottled
Put and include feeding mechanism, mechanism for sorting, partition, switching mechanism and discharging mechanism；Wherein said
Feeding mechanism includes feed conveyor belt, for body is sent to the machine of described mechanism for sorting from entrance
People working region；Described mechanism for sorting includes described robot and is arranged on the folder in described robot
Tool；Described partition includes that multiple dividing plate and conveyer belt, described conveyer belt also extend to described upset
Mechanism and described discharging mechanism, described conveyer belt is positioned in described partition by the plurality of dividing plate
Part even partition is multiple compartment, and each described compartment is for accommodating single described body respectively；Described
Mechanism for sorting is used for capturing described body, and is placed in described compartment after being horizontally rotated, and makes institute
State body bottleneck towards perpendicular with the direction of transfer of described conveyer belt；Described switching mechanism is used for will
The described body upset of horizontal positioned is upright, and bottleneck is upwards；Described discharging mechanism is for list
Line bottle outlet mode is sequentially output upright described body.
Further, also to include that top running roller, described top running roller are arranged on described for described feeding mechanism
The top of feed conveyor belt, at a distance with described feed conveyor belt, for passing along with described charging
The transmission sending band carries out pretreatment to described body, to eliminate the stacking of described body.
Further, be set to can for the described distance between described top running roller and described feed conveyor belt
Adjust, be used for adapting to various sizes of described body.
Further, the described distance between described top running roller and described feed conveyor belt is set to greatly
In the diameter of 1 described body, simultaneously less than the diameter of 2 described bodies.
Further, described mechanism for sorting also includes that visual identifying system, described visual identifying system set
Put before described robot work region, for identifying position and the posture feature of described body.
Further, described robot includes motion controller, for calculating the motion of described robot
Path, described visual identifying system is for exporting recognition result to described motion controller.
Further, described visual identifying system is two-dimensional visual identification system.
Further, described visual identifying system is visual identifying system based on camera.
Further, described fixture possesses crawl existence crawl point height difference and the work of gripping surface differential seat angle
The ability of part.
Further, described fixture is vacuum cup.
Further, described fixture is connected to the work flange of described robot end by joint.
Further, described machine artificially robot with four axle steer abilities.
Further, described mechanism for sorting also includes support, is used for installing and fix described robot.
Further, described robot, for rotating described body with minimum rotation angle, makes described bottle
Body bottleneck towards perpendicular with the direction of transfer of described conveyer belt.
Further, described minimum rotation angle is not more than 90 degree.
Further, the bottleneck of the described body in each described compartment is towards identical or contrary.
Further, described switching mechanism includes that two sides with gradual change closing in type curve trend are led
To bar, and described side guide bar gradually steps up, for by institute along the direction of transfer of described conveyer belt
State body gradually to overturn as uprightly.
Further, body described in described side guide pole pair forms the first limit point, described first limit
Below bottleneck before site is positioned at upset and in upset, along with the advance of described body gradually steps up, use
Effect is promoted in forming bottleneck.
Further, body described in described side guide pole pair forms the second limit point, described second limit
By described body before site is positioned at upset and in upset, form the point of rotation according to described body shape,
For forming the rotation effect of described body.
Further, body described in described side guide pole pair forms the 3rd limit point, described 3rd limit
Site is positioned at by the described body after having overturn, for stablizing the position of described body.
Further, described conveyer belt is also positioned at the part in described switching mechanism by the plurality of dividing plate
Even partition is multiple compartment, and each described compartment is for accommodating single described body respectively, the plurality of
Dividing plate is for providing described body power forward, thus realizes upset.
Further, described discharging mechanism also includes the upright guarantor being positioned at the initiating terminal of described discharging mechanism
Holding mechanism, described upright maintaining body is connected to described switching mechanism end, described upright maintaining body
Including two pieces of side grip blocks, for the described body upright from clamping sides so that it is keep with single line
Bottle outlet mode is sequentially transmitted.
Further, the distance between described two pieces of side grip blocks is set to adjustable, for adapting to not
Described body with size.
Further, described side grip block is frictional grip belt.
Further, described side grip block progressively tightens up.
Further, described conveyer belt is also positioned at the part in described discharging mechanism by the plurality of dividing plate
Even partition is multiple compartment, and each described compartment is for accommodating single described body respectively, thus keeps
It is sequentially transmitted in single line bottle outlet mode.
Further, described conveyer belt is also positioned at the front portion in described discharging mechanism by the plurality of dividing plate
Even partition is multiple compartment, and each described compartment is for accommodating single described body respectively, thus keeps
It is sequentially transmitted in single line bottle outlet mode.
Further, described discharging mechanism includes that two are held up shelves, described in being kept upright from side
Body so that it is be sequentially transmitted in single line bottle outlet mode.
Further, described robot work region is a cylinder, described cylindrical bottom surface radius
For the moving radius of described robot horizontal direction, vertically side of described cylindrical a height of described robot
To moving radius.
Further, described feed conveyor belt is paralleled with described conveyer belt.
Further, described feed conveyor belt is contrary with the direction of transfer of described conveyer belt, is used for saving
Thus, the bottle-sorting device based on robot that this utility model provides, overcome prior art
Shortcoming, it is provided that the reason bottle scheme that a kind of strong adaptability, bottle organizing efficiency are high, working stability, carries significantly
High system reliability, it has the advantage that
One, sorting ability is strong: this utility model provide technical scheme can be applicable to variously-shaped respectively
The bottle of kind of attitude, can process the special-shaped bottle with complex surface feature, also can process with various not
Same attitude, the different bottle towards charging；
Two, floor space is little: the technical scheme that this utility model provides by designed cleverly from
The disorderly and unsystematic reason bottle to single line bottle outlet operates, and floor space is little, save space；
Three, the degree of modularity is high: the Technical Design that this utility model provides is compact, number of parts
Less, be prone to modularized production and processing；
Four, wide adaptability: the technical scheme that this utility model provides is by adjusting a small amount of size, so that it may
To be readily applied to arrange the bottle of various sizes.
With detailed description of the invention, this utility model is described further below in conjunction with the accompanying drawings.
Accompanying drawing explanation
In order to preferably describe embodiment of the present utility model, depict the following drawings.It is to be understood that
It is that accompanying drawing is only to show preferred embodiment of the present utility model in an illustrative manner, and should be by not attached
Figure is construed to restriction of the present utility model, wherein:
The axonometric chart of the bottle-sorting device of the embodiment that Fig. 1 provides for this utility model；
The right view of the bottle-sorting device of the embodiment that Fig. 2 provides for this utility model；
The top view of the bottle-sorting device of the embodiment that Fig. 3 provides for this utility model；
The bottle-sorting device of the embodiment that Fig. 4 provides for this utility model conceals the top view of robot；
The top view of the feeding mechanism of the bottle-sorting device of the embodiment that Fig. 5 provides for this utility model；
The axonometric chart of the mechanism for sorting of the bottle-sorting device of the embodiment that Fig. 6 provides for this utility model
And partial enlarged drawing；
The front view of the mechanism for sorting of the bottle-sorting device of the embodiment that Fig. 7 provides for this utility model；
The top view of the partition of the bottle-sorting device of the embodiment that Fig. 8 provides for this utility model；
The front view of the switching mechanism of the bottle-sorting device of the embodiment that Fig. 9 provides for this utility model；
The vertical view of the switching mechanism of the bottle-sorting device of the embodiment that Figure 10 provides for this utility model
The section view of the switching mechanism of the bottle-sorting device of the embodiment that Figure 11 provides for this utility model
The left view of the switching mechanism of the bottle-sorting device of the embodiment that Figure 12 provides for this utility model
The work of the switching mechanism of the bottle-sorting device of the embodiment that Figure 13 provides for this utility model is former
Reason schematic diagram；
The solid of the discharging mechanism of the bottle-sorting device of the embodiment that Figure 14 provides for this utility model
In the present description and drawings, identical reference represents identical or similar feature or unit
Detailed description of the invention
Below with reference to the following description and accompanying drawing, describe exemplary scheme of the present utility model in detail.
The accompanying drawing of this application is not exclusively to draw by the actual size of specific embodiments, and in terms of size
Change should be construed as making restriction of the present utility model.Hereinafter " such as figure ... shown " or similar
Statement, refers to be described specified features with reference to certain accompanying drawing, but, should not be construed as, should
Specified features or its equivalents are only included in this accompanying drawing.
In the following description, some direction term, such as "left", "right", " on ", D score, " front ",
In " ", " afterwards ", " initiateing ", " eventually " and other directional terminology, be only used for representing referring to the drawings indication
The direction shown, but when changing in application scenario, then the direction that these directional terminology represent also can be corresponding
Ground changes.And the term such as " first ", " second ", " the 3rd " is used for describing multiple ingredient, but
There is not sequencing between these ingredients, these terms are only used to an ingredient
Distinguish with another ingredient.
The bottle-sorting device based on robot that this utility model provides, is completed jointly by modules
Reason bottle operation, stable performance, work efficiency height, strong adaptability, floor space is little, can expire simultaneously
Foot is to complex surface feature and the process requirement of the bottle of different attitude, so that automaticity obtains
To being greatly improved.
Fig. 1-4, by different views, respectively illustrates a preferred embodiment of this utility model offer
The structure of bottle-sorting device.Wherein, Fig. 1 is the axonometric chart of bottle-sorting device, and Fig. 2 is the right side of bottle-sorting device
View, Fig. 3 is the top view of bottle-sorting device, in order to be shown more clearly by the structure of each mechanism, Fig. 4
It it is the bottle-sorting device top view that concealed robot.As it can be seen, bottle-sorting device arranges body according to it
The order of 100, includes feeding mechanism 10, mechanism for sorting 20, partition 30, tipper successively
Structure 40 and discharging mechanism 50.Feeding mechanism 10 includes that feed conveyor belt 11, mechanism for sorting 20 include
Robot 21 and the fixture 22 being arranged in robot 21, partition 30 includes multiple dividing plate 31
With conveyer belt 32, conveyer belt 32 also extends to switching mechanism 40 and discharging mechanism 50.Multiple
The part even partition that conveyer belt 32 is positioned in partition 30 by dividing plate 31 is multiple compartments 33,
Each compartment 33 can accommodate single body 100 respectively.
The groundwork flow process of bottle-sorting device is as follows: after body 100 enters bottle-sorting device, feeding mechanism
10 machines from entrance, body 100 being sent to mechanism for sorting 20 by feed conveyor belt 11 are artificial
Make region 211.Mechanism for sorting 20 captures body 100, and is placed into separation machine after being horizontally rotated
In the compartment 33 of structure 30, make hanging down mutually towards the direction of transfer with conveyer belt 32 of body 100 bottleneck
Directly.The body 100 of horizontal positioned is overturn as uprightly by switching mechanism 40, and keeps bottleneck upwards,
Output is to discharging mechanism 50.Discharging mechanism 50 is sequentially output upright body in single line bottle outlet mode
100, so that body 100 is stood on the conveyor line with single-row proper alignment, such that it is able to efficiently
It is sent to next process.
In order to save floor space, feed conveyor belt 11 could be arranged to parallel with conveyer belt 32.
It is possible to further feed conveyor belt 11 is set to contrary with the direction of transfer of conveyer belt 32, from
And the structure of bottle-sorting device can be made compacter.
The technical solution of the utility model can carry out pretreatment further to supplied materials, eliminates body 100
Stacking or the overstocked phenomenon of spacing, make each body 100 have a stable contour feature, thus more
Add the process of beneficially mechanism for sorting 20, meet visual identifying system to the stable knowledge of each bottle
Not requirement.As shown in the preferred embodiment of Fig. 5, feeding mechanism 10 can include top running roller 12,
Top running roller 12 is arranged on the top of feed conveyor belt 11, at a distance with feed conveyor belt 11,
Such as the distance between top running roller 12 and feed conveyor belt 11 is set greater than 1 body 100
Diameter, simultaneously less than the diameter of 2 bodies 100, thus along with the transmission of feed conveyor belt 11
Body 100 is carried out pretreatment, to eliminate the stacking of body 100.In order to adapt to various sizes of bottle
Body 100, the distance between top running roller 12 and feed conveyor belt 11 arranges and can also arrange further
The technical solution of the utility model can be realized charging by visual identifying system further
Identification, thus preferably guided robot 21 carries out sort operation.Preferred embodiment such as Fig. 1
Shown in, mechanism for sorting 20 can include visual identifying system 23, for example, two-dimensional visual identification system,
Or it is visual identifying system based on camera.Visual identifying system 23 is arranged on robot workspace
Before territory 211, such that it is able to identify position and the posture feature of body 100.Robot 21 is permissible
Farther include motion controller, with the motion path of calculating robot 21, visual identifying system 23
Recognition result is exported to motion controller.
It should be noted that visual identifying system is also dispensed with, but in order to preferably complete
Sort operation, it is preferred to use the direction of two-dimensional visual system identification bottle, position, and foundation has in detail
Thin contour feature, such that it is able to meet the reason bottle to complicated body to process demand.
In order to preferably process the body 100 with complex-curved feature, technical side of the present utility model
Case can select further to possess to capture and there is the workpiece capturing point height difference and gripping surface differential seat angle
The fixture 22 of ability, such as vacuum cup.As shown in the preferred embodiment of Fig. 6-7, vacuum cup
22 can be connected on the work flange 212 of robot 21 end by joint.In order to improve sorting
Ability, robot 21 can select the robot with four axle steer abilities, such that it is able in robot
Working region 211 forms a cylinder, and cylindrical bottom surface radius is robot 21 horizontal direction
Moving radius, the moving radius of cylindrical a height of robot 21 vertical direction.Mechanism for sorting 20 is also
Support 24 can be included, thus install easily and stationary machines people 21.
In order to be more efficiently completed sorting operation, robot 21 can be designed to minimum rotation angle
Degree rotate body 100, as long as make body 100 bottleneck towards the direction of transfer phase with conveyer belt 32
Vertical.As shown in Figure 8, robot 21 is prejudged by the result of visual identity, actually
To be still rotated clockwise body 100 counterclockwise, rolling target can be realized with minimum angles,
So that rotational angle is no more than 90 degree.Based on different rotation modes and body 100
Original attitude is different, has rotated rear body 100 and has been respectively A class attitude bottle and B class attitude bottle, A
The bottleneck of class attitude bottle and B class attitude bottle towards on the contrary, but all with the direction of transfer phase of conveyer belt 32
In this utility model one embodiment, robot 21 controls vacuum cup 22 and draws body 100,
And be placed into after being rotated in the compartment 33 of partition 30, each compartment 33 accommodates single respectively
Body 100, thus complete part housekeeping, complete the preparation of switching mechanism 40.As
Shown in Fig. 9, switching mechanism 40 completes to make body 100 upset of horizontal positioned to be upright work,
And remain that bottleneck is upwards.
The setting of mechanism for sorting can also be various ways, as long as can realize the edit of body equally
Work so that it is regular fitly transmit, however it is not limited to the mode of Fig. 6-7.Its rotation mode
It is also not necessarily limited to the preferred embodiment shown in Fig. 6-7 with arrangement mode, but in order to preferably position and just
In upset, preferably body is sequentially transmitted in a horizontal manner, keeps its stable transmission by compartment simultaneously,
Thus the reliability of the most whole bottle-sorting device work.
After completing to separate, entrance is overturn operation by body 100.Switching mechanism 40 of the present utility model
Preferred embodiment as shown in figures 10-13 can be specifically used to realize.
As shown in the top view of Figure 10, switching mechanism 40 can two there is gradual change closing in type curve walk
To side guide bar 41, and as shown in the sectional view of Figure 11, side guide bar 41 is along transmission
Direction of transfer with 32 gradually steps up, thus as shown in the left view of Figure 12, can be along with body
The transmission of 100, it is upright for gradually being overturn by body 100.
For the power keeping body 100 to transmit, multiple dividing plate 31 can be used further to transmit
The part even partition being positioned in switching mechanism 40 with 32 is multiple compartments 33, and each compartment 33 still divides
Do not accommodate single body 100, such that it is able to by dividing plate 31 auxiliary conveyor belt 32 provide body 100 to
Front power, thus contribute to the stable realization of upset.
Below with reference to the schematic diagram of Figure 13, further illustrate the tipper of this utility model one embodiment
The operation principle of structure and operating procedure.
Shown in the leading portion of switching mechanism as shown in Figure 13 and stage casing, side guide bar 41 is to body
100 form the first limit point 411, under the bottleneck before the first limit point 411 is positioned at upset and in upset
Side, along with the advance of body 100 gradually steps up, thus forms bottleneck and promotes effect.Side guide bar
41 also form the second limit point 412 to body 100, and the second limit point 412 is positioned at before overturning and upset
In body 100 other, form the point of rotation according to body 100 shape, thus form the rotation of body 100
Shown in switching mechanism latter end as shown in Figure 13, side guide bar 41 forms the to body 100
Three limit points 413, it is other that the 3rd limit point 413 is positioned at the body after having overturn 100, such that it is able to
Stablize the position of body 100.
Thus, body 100 is at the clamping of the side guide bar 41 of switching mechanism 40 and the work of lifting force
Under with, coordinate the power forward that conveyer belt 32 power forward and dividing plate 31 further provide for, altogether
With the action completing upset.It should be noted that this preferred embodiment uses has gradual change closing in type
Curve trend side guide bar, with dividing plate provide stepping line as power, formed passive type (i.e. bottle
Body does not moves forward, then be not carried out upset) body rollover effect so that only transmit fast by regulation
Degree can be achieved with regulating the possibility of reversal rate.But, side guide bar 41 be disposed to
Body upset provides power, it is also possible to arrange other structures, and the guiding operation overturn can also root
Need to be adjusted according to practical operation, however it is not limited to the set-up mode of Figure 10-13.Simultaneously because transmit
With 32 power having been provided for forward, dividing plate 31 can also omit, but in order to preferably guide bottle
Body 100 advances, thus coordinates realization upset, preferably arranges dividing plate in switching mechanism 40.
After completing upset, body 100 is output to discharging mechanism 50, until the outlet of whole bottle.
In order to make body 100 preferably keep single line bottle outlet mode to be sequentially transmitted, the transmission of discharging mechanism 50
Carry 32 both sides to preferably include two and hold up shelves 52, such that it is able to the body 100 being kept upright from side.
As shown in figure 14, the technical solution of the utility model can be entered at the initiating terminal of discharging mechanism 50
One step arranges upright maintaining body, and upright maintaining body is connected to the end of switching mechanism 40, including
Two pieces of side grip blocks 51, from the body 100 that clamping sides is upright so that it is keep with single line bottle outlet side
Formula is sequentially transmitted.Side grip block 51 can be frictional grip belt, plays the effect tightened up, especially
Its erectility being applicable to keep the body of High Speed Transfer.In order to adapt to various sizes of body 100,
Distance between two pieces of side grip blocks 51 is also configured to adjustable.
For the power keeping body 100 to transmit, multiple dividing plate 31 can be set further, will pass
Sending the part even partition being positioned in discharging mechanism with 32 is multiple compartments 33, and each compartment 33 is respectively
Accommodate single body 100, thus preferably keep being sequentially transmitted in single line bottle outlet mode.
It should be noted that dividing plate 31 and the side grip block 51 setting in discharging mechanism 50 are
In order to the transmission making upright body 100 is more smooth and easy and steady but it also may omit side grip block,
And use and hold up shelves 52 to keep the upright of body 100, or other structures are set, however it is not limited to Figure 14
Set-up mode.Such as after body upset, it would however also be possible to employ side guide Timing Belt progressively tightens up, and
It is transported to the exit position of whole reason bottle system.Dividing plate 31 can also be provided only on discharging mechanism simultaneously
In front portion, or can omit, but in order to preferably guide body in the case of high speed bottle outlet
100 advance, and preferably set up dividing plate in discharging mechanism 50.
The shortcoming that bottle-sorting device of the present utility model overcomes prior art, it is provided that a kind of adaptability
By force, reason bottle scheme that bottle organizing efficiency is high, by having designed cleverly from disorderly and unsystematic to single line bottle outlet
The operation of reason bottle, floor space is little, compact to design, save space, working stability, it is possible to be applicable to
The bottle of variously-shaped various attitude, can process the special-shaped bottle with complex surface feature, also can locate
Manage with various different attitudes, the different bottle towards charging, it is also possible to be readily applied to arrange various
The bottle of size.
As required, above-mentioned each technical scheme can be combined, to reach best-of-breed technology effect.
Above is only principle of the present utility model and preferred embodiment.Although it should be pointed out that, as to say
Bright the purpose of this utility model discloses preferred embodiment of the present utility model and accompanying drawing, but is familiar with this
The personnel of art, without departing from this utility model and appended spirit and scope by the claims
In, various replacement can be made, change and retouch.On the basis of this utility model principle, if make
Do other modification, also should be regarded as protection domain of the present utility model.Therefore, this utility model does not answer office
Being limited to preferred embodiment and accompanying drawing disclosure of that, protection domain of the present utility model is with appended power
Profit claim is defined in the range of standard.