CN210140422U - An automatic cap removal device - Google Patents

Abstract

The utility model discloses an automatic get and cover device, include: the conveying line unit is used for conveying a filling barrel, the top of the filling barrel is provided with a filling opening, and a barrel cover is arranged on the filling opening; a filling barrel rotating unit located above the conveyor line unit for rotating the filling barrel to rotate the filling opening to a preset position; the cap screwing device unit is positioned above the filling barrel rotating unit and is used for screwing down and taking away the barrel cover from the filling opening; the barrel cover comprises a cover main body and an elastic piece, wherein a groove is formed in the top of the cover main body, the elastic piece is clamped in the groove, and two opposite ends of the elastic piece are bent to form a pair of elastic clamping arms matched with the cap screwing device unit. The automatic cover taking device has the advantages of simple structure and convenience in cover taking.

Description

An automatic cap removal device

technical field

The utility model relates to the technical field of filling equipment, in particular to an automatic cap removal device.

Background technique

For some large-capacity filling barrels, the cover on the filling barrel needs to be removed before filling to realize the filling operation of the filling barrel. However, the existing capping operations of filling buckets are all manual operations, that is, operators take caps manually. Such manual operations are laborious and inefficient. Therefore, it is necessary to develop an automatic capping device.

Utility model content

Aiming at the deficiencies in the above technologies, the utility model provides an automatic cover removal device with a simple structure and convenient cover removal.

The technical scheme adopted by the utility model to solve the technical problem is: an automatic cap removal device, comprising: a conveying line unit, on which a filling bucket is conveyed, and a filling bucket is arranged on the top of the filling bucket The filling opening is provided with a bucket cover; a filling bucket rotation unit located above the conveying line unit for rotating the filling bucket to rotate the filling opening to a preset position; and a filling bucket rotating unit located on the The top of the filling barrel rotating unit is used to unscrew and remove the barrel cover from the filling port; wherein, the barrel cover includes a cover body with a groove formed on the top, a clamping device In the elastic piece in the groove, the opposite ends of the elastic piece are bent to form a pair of elastic clamping arms which are matched with the capscrew unit.

Preferably, the capper unit includes a servo motor, a transmission shaft seat disposed directly below the servo motor, a transmission shaft vertically disposed on the transmission shaft seat and connected to the servo motor, The capping device lifting cylinder on the side of the servo motor, the third guide rail arranged on the side of the capping device lifting cylinder, and the third sliding block is arranged on the third guide rail and is connected with the capping device lifting cylinder. The second connecting plate to which the piston rod is fastened, the rotating shaft seat which is fastened on the second connecting plate and is located directly under the transmission shaft seat, is vertically arranged on the rotating shaft seat and the top extends into the In the transmission shaft, a rotation shaft that rotates with the rotation of the transmission shaft, a head fastened to the bottom of the rotation shaft and rotated with the rotation of the rotation shaft, and fastened to the second connecting plate for In order to drive the head to grab the cover cylinder, the upper part of the outer circumferential wall of the rotating shaft is provided with a long keyway distributed along its axial direction, and the transmission shaft is formed with an axial through-hole. The transmission shaft is a central hole through which the top of the rotating shaft extends, a guide key matched with the long keyway is fastened on the inner hole wall of the central hole, and the rotating shaft is in the second Driven by the connecting plate, it can move up and down in the upward and downward directions.

Preferably, it also includes a first imaging unit for monitoring the position of the tub cover and the position of the capper unit.

Preferably, a pressure plate is fastened on the piston rod of the cover removal cylinder, the pressure plate is located between the cover removal cylinder and the head, and the pressure plate is connected to the head through a plane bearing, wherein the pressure plate is The head includes a top ring sleeve set on the rotating shaft and connected with the plane bearing, a plurality of connecting arms pivotally connected to the outer circumferential wall of the top ring sleeve, a a bottom ring sleeve below and firmly connected with the rotating shaft, a plurality of clamping claw blocks connecting the connecting arm and the bottom ring sleeve and corresponding to the connecting arm one-to-one, a ring sleeve disposed on the top and the bottom ring sleeve, when the cap removal cylinder drives the pressure plate to press down, the pressure plate drives the top ring sleeve to move down, so that the connecting arm drives the clamping claw block to fold so as to The grabbing of the bucket lid is achieved.

Preferably, the jaw block includes a pivot rod and a jaw formed on the pivot rod, wherein the top of the pivot rod is pivotally connected to the bottom of the connecting arm, and the pivot rod The bottom of the bottom ring is pivotally connected to the outer circumferential wall of the bottom ring sleeve.

Preferably, a clamping block is fixedly arranged on the bottom end surface of the bottom ring sleeve, and the clamping block is engaged with the elastic clamping arm when the bottom ring sleeve is pressed down, so that the bucket cover can follow the The bottom ring sleeve rotates.

Preferably, the filling barrel rotating unit includes a driving rubber wheel mechanism and a driven rubber wheel mechanism located on opposite sides of the filling barrel.

Preferably, the active rubber wheel mechanism includes a first base plate, a pair of first guide rods horizontally arranged on the first base plate, a first linear bearing sleeved on the first guide rods, a tensioner a first top plate fixed on the first linear bearing and located above the first bottom plate, a first top plate mounted on the first bottom plate to push the first top plate to slide on the first guide rod a top plate cylinder, a pair of first pins vertically arranged on the first top plate, fastened on top of the first pins and located above the first top plate for abutting on the filling The driving rubber wheel on the outer circumferential wall of the barrel, and the driving motor of the driving rubber wheel mounted on the first top plate, wherein the driving motor of the driving rubber wheel drives the first pin to rotate through the transmission belt and the pulley, so that the The driving rubber wheel rotates.

Preferably, the driven rubber wheel mechanism includes a second base plate, a pair of second guide rods horizontally arranged on the second base plate, a second linear bearing sleeved on the second guide rods, a A second top plate fastened to the second linear bearing and located above the second bottom plate, a second top plate mounted on the second bottom plate to drive the second top plate to slide on the second guide rod Two top plate cylinders, a pair of driven rubber wheels arranged above the second top plate through the second pin shaft for abutting on the outer circumferential wall of the filling barrel, wherein the driven rubber wheels are connected to the Describe the active rubber wheel contour setting.

Preferably, it also includes a two-axis drive unit that drives the cap screw unit to move along the X-axis and the Y-axis, the two-axis drive unit includes a pair of first straight racks distributed along the X-axis, located in the X-axis and the Y-axis. A pair of first guide rails on both sides of the first straight rack and parallel to the first straight rack, one located above the first straight rack and set on the first guide rail through a first slider The moving plate, a rotating shaft disposed on the first side wall of the moving plate through a bearing seat and located above the first straight rack, fastened at the opposite ends of the rotating shaft and connected to the first straight a pair of first gears meshing with the racks, a first motor mounted on the moving plate for driving the rotating shaft to rotate so that the first gears roll on the first straight rack, and tightening A second spur gear rack on the second side wall of the moving plate and distributed along the Y axis, a second spur gear rack fastened on the second side wall of the moving plate and parallel to the second spur rack A guide rail, a first connecting plate arranged on the second guide rail through a second sliding block, a connecting plate mounted on the first connecting plate for driving the first connecting plate to move on the second guide rail The second motor, wherein a second gear meshing with the second spur gear is fastened on the output shaft of the second motor, and the first side wall and the second side wall of the moving plate are the On the opposite side walls of the moving plate, the servo motor, the transmission shaft seat, the capping device lifting cylinder and the third guide rail are all fastened on the first connecting plate.

Compared with the prior art, the utility model has the beneficial effects that the automatic cap removal device provided by the utility model has the filling barrel rotating unit capable of rotating the barrel cover of the filling barrel to a preset position, so as to facilitate the capping device. The capping operation of the unit; the head of the capping unit can rotate under the drive of the rotating shaft, and can also move up and down relative to the transmission shaft along the Z-axis direction. The cover is unscrewed from the filling barrel, and the head can clamp the cover under the action of the cylinder that takes the cover. When the head clamps the cover, the cylinder is lifted and lowered by the cap screw to drive the head to move up and down along the Z-axis. The downward lifting movement can remove the barrel cover from the filling port of the filling barrel, which has the advantages of simple structure and convenient cover removal; the two-axis drive unit drives the capper unit to move along the X axis and the Y axis. The capper unit can move in the X axis, the Y axis and the Z axis, which has the advantage of being convenient to move; the first image unit is used to monitor the position of the barrel cap and the position of the capper unit, so as to facilitate the capper to take the cap, It has the advantage of convenient cover removal.

Description of drawings

Fig. 1 is the structural representation of the automatic cover removal device of the present invention;

Fig. 2 is the structural representation of the barrel cover of the present utility model;

3 is a schematic diagram of the exploded structure of the barrel cover of the present invention;

Fig. 4 is one of the structural representations of the capscrew unit of the present invention;

Fig. 5 is the second structural schematic diagram of the capscrew unit of the present invention;

6 is a schematic diagram of the exploded structure of the capscrew unit of the present invention;

Fig. 7 is the exploded structure schematic diagram of the device head of the present invention;

8 is a schematic diagram of the connection relationship between the transmission shaft and the rotating shaft of the present invention;

Fig. 9 is the structural representation of the guide key of the present utility model;

Fig. 10 is the structural representation of the bottom ring of the present invention;

Fig. 11 is the structural representation of the clamping jaw block of the present utility model;

Figure 12 is one of the structural schematic diagrams of the two-axis drive unit of the present invention;

Figure 13 is the second structural schematic diagram of the two-axis drive unit of the present invention;

14 is a schematic diagram of the positional relationship between the second spur rack and the second gear of the present invention;

15 is a schematic structural diagram of the active rubber wheel mechanism of the present invention;

Figure 16 is a schematic diagram of the exploded structure of the active rubber wheel mechanism of the present invention;

17 is a schematic structural diagram of the driven rubber wheel mechanism of the present invention;

18 is a schematic diagram of the exploded structure of the driven rubber wheel mechanism of the present invention.

In the figure: 20, two-axis drive unit; 21, the first straight rack; 211, the first guide rail; 22, the moving plate; 23, the rotating shaft; 231, the first gear; 24, the first motor; 25, the second straight rack; 251, the second guide rail; 26, the second motor; 261, the second gear; 27, the first connecting plate; 30, the capping unit; 31, the servo motor; 311, the coupling; 32, the transmission shaft ;321, drive shaft seat; 322, positioning hole; 33, rotating shaft; 331, rotating shaft seat; 332, long keyway; 34, cap screw lifter cylinder; 341, third guide rail; 35, cap removal cylinder; 351, pressure plate; 36, second connecting plate; 37, head; 371, top ring sleeve; 372, connecting arm; 373, bottom ring sleeve; 374, clamping jaw block; 375, compression spring; 376, clamping block; 377, clamp Claw; 38, plane bearing; 381, sensor; 39, guide key; 391, key body; 392, positioning boss; 40, filling barrel rotation unit; 41, active rubber wheel mechanism; 411, first bottom plate; 412 413, the first linear bearing; 414, the first top plate; 415, the first top plate cylinder; 416, the driving motor of the driving rubber wheel; 417, the first pin; 418, the driving rubber wheel; 42, Driven rubber wheel mechanism; 421, second bottom plate; 422, second guide rod; 423, second linear bearing; 424, second top plate; 425, second top plate cylinder; 426, driven rubber wheel; 80, conveyor line unit; 90, filling barrel; 91, barrel lid; 911, lid body; 912, elastic piece; 913, clamping arm.

Detailed ways

The present utility model will be further described in detail below with reference to the accompanying drawings, so that those skilled in the art can refer to the text of the description to implement it accordingly.

As shown in FIG. 1 to FIG. 18 , the present invention provides an automatic cap removal device, including: a conveying line unit 80 on which a filling bucket 90 is conveyed, and the top of the filling bucket 90 is A filling port is provided, and a barrel cover 91 is provided on the filling port; a filling barrel located above the conveying line unit 80 for rotating the filling barrel 90 to rotate the filling port to a preset position A rotation unit 40; and a capper unit 30 located above the filling barrel rotation unit 40 for unscrewing and removing the barrel cover 91 from the filling port; wherein, as shown in FIG. 2 and FIG. 3 As shown, the bucket cover 91 includes a cover body 911 with a groove formed at the top, and an elastic member 912 clamped in the groove. The opposite ends of the elastic member 912 are bent to form a pair of opposite ends. The elastic clamping arm 913 that the capscrew unit 30 cooperates with.

As an embodiment of this solution, it further includes a first imaging unit (not shown) for monitoring the position of the tub cover 91 and the position of the capper unit 30 .

As an example of this solution, as shown in FIGS. 4 to 6 , the capper unit 30 includes a servo motor 31 , a drive shaft seat 321 disposed directly below the servo motor 31 , and vertically disposed on the The transmission shaft 32 on the transmission shaft seat 321 and connected with the servo motor 31 , the capping device lifting cylinder 34 arranged on the side of the servo motor 31 , the third capping device lifting cylinder 34 arranged on the side of the capping device lifting cylinder 34 . The guide rail 341 , the second connecting plate 36 , which is arranged on the third guide rail 341 through the third slider and is fastened to the piston rod of the capping lifter cylinder 34 , and is fastened to the second connecting plate 36 The rotating shaft seat 331 located on the top and directly below the transmission shaft seat 321, and the rotating shaft that is vertically arranged on the rotating shaft seat 331 and whose top extends into the transmission shaft 32 and rotates with the rotation of the transmission shaft 32 33. A head 37 fastened to the bottom of the rotating shaft 33 and rotating with the rotation of the rotating shaft 33, fastened to the second connecting plate 36 for driving the head 37 to grab the The cover cylinder 35 of the barrel cover 91, wherein, as shown in FIG. 8, a long keyway 332 distributed along the axial direction is provided in the upper part of the outer circumferential wall of the rotating shaft 33, and an axial direction is formed on the transmission shaft 32. There is a central hole through the transmission shaft 32 for the top of the rotating shaft 33 to protrude into. A guide key 39 is fastened on the inner hole wall of the central hole, which is matched with the long key groove 332. The rotating shaft Driven by the second connecting plate 36 , the 33 moves up and down relative to the transmission shaft 32 , that is, in the direction of the Z axis. In this solution, the rotating shaft 33 can also perform up-and-down movements relative to the transmission shaft 32 while rotating with the transmission shaft 32 to realize the rotation and up-down movement of the head 37; the The servo motor 31 drives the transmission shaft 32 to rotate and then drives the rotation shaft 33 to rotate. The servo motor 31 is connected with a coupling 311 , and the servo motor 31 is connected with the transmission shaft 32 through the coupling 311 , the coupling 311 is fastened above the transmission shaft seat 321; the transmission shaft seat 321 has a built-in transmission shaft bearing, and the transmission shaft 32 is arranged on the transmission shaft seat 321 through the transmission shaft bearing The rotating shaft seat 331 has a built-in rotating shaft bearing, the rotating shaft 33 is arranged on the rotating shaft seat 331 through the rotating shaft bearing, and the top and bottom of the rotating shaft 33 respectively extend out of the rotating shaft Axle seat 331.

As an example of this solution, as shown in FIGS. 8 and 9 , the guide key 39 includes a key body 391 and a positioning boss 392 formed on the key body 391 , wherein the transmission shaft 32 There is a positioning hole 322 on the wall of the hole for the positioning protrusion 392 to be inserted, and the guide key 39 is fastened on the transmission shaft 32 by bolts.

As an embodiment of this solution, as shown in FIGS. 4 and 5 , the capper unit 30 further includes a sensor 381 for sensing the number of rotations of the rotating shaft 33 .

As an example of this solution, as shown in FIG. 6 and FIG. 7 , a pressure plate 351 is fastened on the piston rod of the cap removal cylinder 35 , and the pressure plate 351 is located on the cap removal cylinder 35 and the head 37 . In between, the pressing plate 351 is connected with the head 37 through the plane bearing 38 , wherein the head 37 includes a top ring sleeve 371 set on the rotating shaft 33 and connected with the plane bearing 38 , a plurality of connecting arms 372 pivotally connected to the outer circumferential wall of the top ring sleeve 371, a bottom ring sleeve 373 located directly below the connecting arms 372 and firmly connected with the rotating shaft 33, connecting the connection The arm 372 and the bottom loop 373 and a plurality of clamping jaw blocks 374 corresponding to the connecting arms 372 one-to-one, a compression spring 375 arranged between the top loop 371 and the bottom loop 373, When the cap removal cylinder 35 drives the pressing plate 351 to press down, the pressing plate 351 drives the top ring sleeve 371 to move down, so that the connecting arm 372 drives the clamping claw block 374 to close so as to realize the bucket lid 91 crawl. In this solution, the top ring sleeve 371 is fastened on the inner ring of the plane bearing 38, and the outer ring of the plane bearing 38 is fastened on the pressing plate 351; the connecting arms 372 are arranged in an annular array Pivoted on the outer circumferential wall of the top ring sleeve 371 , the clamping jaw blocks 374 are also pivoted on the outer circumferential wall of the bottom ring sleeve 373 in an annular array.

As an example of this solution, as shown in FIG. 11 , the clamping claw block 374 includes a pivoting rod and a clamping claw 377 formed on the pivoting rod, wherein the top of the pivoting rod is connected to the The bottom of the connecting arm 372 is pivotally connected, and the bottom of the pivoting rod is pivotally connected to the outer circumferential wall of the bottom ring sleeve 373 .

As an example of this solution, as shown in FIG. 10 , a locking block 376 is fixedly disposed on the bottom end surface of the bottom ring sleeve 373 , and the locking block 376 interacts with the elastic The clamping arms 913 are engaged with each other so that the bucket cover 91 rotates with the bottom ring sleeve 373 ; in this solution, the clamping force of the elastic clamping arms 913 is small, and under the action of no external force, the The barrel cover 91 can be disengaged from the clamping block 376 under the action of its own gravity. Therefore, when the barrel cover 91 is removed from the filling barrel 90, the clamping claw block 374 needs to be clamped. The barrel cover 91 is described.

As an embodiment of this solution, as shown in FIG. 1 , the filling barrel rotating unit 40 includes a driving rubber wheel mechanism 41 and a driven rubber wheel mechanism 42 located on opposite sides of the filling barrel 90 .

As an embodiment of this solution, as shown in FIG. 15 and FIG. 16 , the active rubber wheel mechanism 41 includes a first bottom plate 411 , a pair of first guide rods 412 horizontally arranged on the first bottom plate 411 , The first linear bearing 413 sleeved on the first guide rod 412, the first top plate 414 fastened on the first linear bearing 413 and located above the first bottom plate 411, mounted on the The first top plate cylinder 415 on the first bottom plate 411 to push the first top plate 414 to slide on the first guide rod 412 , a pair of first pin shafts 417 vertically arranged on the first top plate 414 , The active rubber wheel 418 fastened to the top of the first pin shaft 417 and located above the first top plate 414 for abutting against the outer circumferential wall of the filling barrel 90 is installed on the first The driving rubber wheel driving motor 416 on the top plate 414, wherein the driving rubber wheel driving motor 416 drives the first pin shaft 417 to rotate through a transmission belt and a pulley, so that the driving rubber wheel 418 rotates. Specifically, the A driven pulley is fastened on the first pin shaft 417, and the driven pulley is located below the first top plate 414. The output shaft of the driving rubber wheel driving motor 416 is provided with a driving pulley. The driving pulley is located below the first top plate 414 , and a transmission belt is tensioned on the driving pulley and the driven pulley, and the driving rubber wheel driving motor 416 drives the driving pulley to rotate to drive the driving pulley The driven pulley rotates; the first bottom plate 411 is also provided with a tensioning pulley for tensioning the transmission belt.

As an embodiment of this solution, as shown in FIGS. 17 and 18 , the driven rubber wheel mechanism 42 includes a second bottom plate 421 and a pair of second guide rods 422 horizontally arranged on the second bottom plate 421 . , a second linear bearing 423 sleeved on the second guide rod 422, a second top plate 424 fastened to the second linear bearing 423 and located above the second bottom plate 421, a second top plate 424 mounted on the second linear bearing 423 The second top plate cylinder 425 on the second bottom plate 421 to drive the second top plate 424 to slide on the second guide rod 422 is disposed above the second top plate 424 through a second pin for abutting on the second top plate 424. A pair of driven rubber wheels 426 on the outer circumferential wall of the filling barrel 90 , wherein the driven rubber wheels 426 and the driving rubber wheels 418 are arranged at the same height, and the driven rubber wheels 426 and the The purpose of setting the active rubber wheels 418 at the same height is to facilitate the rotation of the filling barrel 90 .

As an example of this solution, as shown in FIG. 12 to FIG. 14 , it further includes a two-axis driving unit 20 that drives the capping unit 30 to move along the X-axis and the Y-axis. The two-axis driving unit 20 includes a pair of first straight racks 21 distributed along the X-axis, a pair of first guide rails 211 located on both sides of the first straight rack 21 and parallel to the first straight rack 21, A moving plate 22 above the first straight rack 21 and disposed on the first guide rail 211 through a first sliding block, and a moving plate 22 disposed on the first side wall of the moving plate 22 through a bearing seat and located on the first guide rail 211. A rotating shaft 23 above the straight rack 21 , a pair of first gears 231 fastened to opposite ends of the rotating shaft 23 and meshing with the first straight rack 21 , one mounted on the moving plate 22 The first motor 24 for driving the rotating shaft 23 to rotate so that the first gear 231 rolls on the first straight rack 21 is fastened on the second side wall of the moving plate 22 along the Y The axially distributed second spur rack 25, the second guide rail 251 fastened to the second side wall of the moving plate 22 and parallel to the second spur rack 25, a The first connecting plate 27 on the second guide rail 251, a second motor 26 mounted on the first connecting plate 27 for driving the first connecting plate 27 to move on the second guide rail 251, The output shaft of the second motor 26 is fastened with a second gear 261 engaged with the second spur gear 25, and the first side wall and the second side wall of the moving plate 22 are the As shown in FIG. 4 and FIG. 5 , on the opposite side walls of the moving plate 22 , the servo motor 31 , the transmission shaft seat 321 , the capping lifter cylinder 34 and the third guide rail 341 are all fastened. on the first connecting plate 27 .

Although the embodiment of the present invention has been disclosed as above, it is not limited to the application listed in the description and the embodiment, and it can be applied to various fields suitable for the present invention. Additional modifications may readily be effected, therefore, the invention is not limited to the specific details and illustrations herein shown and described without departing from the general concept defined by the claims and the scope of equivalents.

Claims (10)

1. An automatic cap removal device, characterized in that, comprising: A conveying line unit (80), a filling bucket (90) is conveyed on the conveying line unit (80), a filling opening is arranged on the top of the filling bucket (90), and a bucket cover is arranged on the filling opening (91); a filling barrel rotating unit (40) located above the conveying line unit (80) for rotating the filling barrel (90) to rotate the filling port to a preset position; and a capper unit (30) located above the filling barrel rotating unit (40) for unscrewing and removing the barrel cover (91) from the filling port; Wherein, the bucket cover (91) includes a cover body (911) with a groove formed on the top, and an elastic member (912) clamped in the groove, and opposite ends of the elastic member (912) The part is bent to form a pair of elastic clamping arms (913) matched with the capscrew unit (30). 2. The automatic cap removal device according to claim 1, wherein the capping unit (30) comprises a servo motor (31), a drive shaft seat (31) disposed directly below the servo motor (31) 321), a transmission shaft (32) vertically arranged on the transmission shaft seat (321) and connected to the servo motor (31), a capping device lifting cylinder arranged on one side of the servo motor (31) (34), a third guide rail (341) arranged on one side of the capping device lifting cylinder (34), arranged on the third guide rail (341) through a third slider, and lifting and lowering with the capping device a second connecting plate (36) to which the piston rod of the cylinder (34) is fastened, and a rotating shaft seat (331) fastened to the second connecting plate (36) and located directly below the transmission shaft seat (321) ), a rotating shaft (33) vertically arranged on the rotating shaft seat (331) and the top of which extends into the transmission shaft (32) and rotates with the rotation of the transmission shaft (32), fastened on the A head (37) at the bottom of the rotating shaft (33) and rotating with the rotation of the rotating shaft (33), fastened on the second connecting plate (36) for driving the head (37) to grasp The cover cylinder (35) for taking the barrel cover (91), wherein a long keyway (332) distributed along its axial direction is provided in the middle and upper part of the outer circumferential wall of the rotating shaft (33), and the transmission shaft ( 32) A central hole is formed axially through the transmission shaft (32) for the top of the rotating shaft (33) to extend into, and the inner hole wall of the central hole is fastened with a long keyway ( 332) The matching guide key (39), the rotating shaft (33) is driven by the second connecting plate (36) to move up and down in the upward and downward directions. 3. The automatic cap removal device according to claim 1, further comprising a first imaging unit for monitoring the position of the tub cap (91) and the position of the capper unit (30). 4. The automatic cap removal device according to claim 2, characterized in that a pressure plate (351) is fastened on the piston rod of the cap removal cylinder (35), and the pressure plate (351) is located in the cap removal cylinder (35). Between (35) and the device head (37), the pressing plate (351) is connected with the device head (37) through a plane bearing (38), wherein the device head (37) includes a set of a top ring sleeve (371) on the rotating shaft (33) and connected with the plane bearing (38), a plurality of connecting arms (372) pivotally connected to the outer circumferential wall of the top ring sleeve (371), A bottom ring sleeve (373) located directly below the connecting arm (372) and firmly connected with the rotating shaft (33), connecting the connecting arm (372) and the bottom ring sleeve (373) and with The connecting arms (372) correspond to a plurality of clamping jaw blocks (374) one-to-one, and a compression spring (375) arranged between the top ring sleeve (371) and the bottom ring sleeve (373), when When the cap removal cylinder (35) drives the pressing plate (351) to press down, the pressing plate (351) drives the top ring sleeve (371) to move down so that the connecting arm (372) drives the clamping jaw block (374) is folded to achieve the grabbing of the tub cover (91). 5. The automatic cap removal device according to claim 4, wherein the clamping claw block (374) comprises a pivoting rod and a clamping claw (377) formed on the pivoting rod, wherein the The top of the pivoting rod is pivotally connected to the bottom of the connecting arm (372), and the bottom of the pivoting rod is pivotally connected to the outer circumferential wall of the bottom ring sleeve (373). 6 . The automatic cap removal device according to claim 4 , wherein a clamping block ( 376 ) is fixedly provided on the bottom end surface of the bottom ring sleeve ( 373 ), and the clamping block ( 376 ) is located at the bottom When the ring sleeve (373) is pressed down, it engages with the elastic clamping arm (913) so that the tub cover (91) rotates with the bottom ring sleeve (373). 7. The automatic cap removal device according to claim 1, wherein the filling barrel rotating unit (40) comprises an active rubber wheel mechanism (41) located on opposite sides of the filling barrel (90) and a driven rubber wheel mechanism (42). 8 . The automatic cap removal device according to claim 7 , wherein the active rubber wheel mechanism ( 41 ) comprises a first bottom plate ( 411 ), a For a first guide rod (412), a first linear bearing (413) sleeved on the first guide rod (412), fastened on the first linear bearing (413) and located in the A first top plate (414) above the first bottom plate (411), a first top plate (414) mounted on the first bottom plate (411) to push the first top plate (414) to slide on the first guide rod (412) A top plate cylinder (415), a pair of first pins (417) vertically arranged on the first top plate (414), fastened to the top of the first pins (417) and located on the first A driving rubber wheel (418) above the top plate (414) for abutting on the outer circumferential wall of the filling bucket (90), and a driving motor (416) for driving the rubber wheel mounted on the first top plate (414) ), wherein the driving rubber wheel driving motor (416) drives the first pin shaft (417) to rotate through a transmission belt and a pulley, so that the driving rubber wheel (418) rotates. 9 . The automatic cap removal device according to claim 8 , wherein the driven rubber wheel mechanism ( 42 ) comprises a second bottom plate ( 421 ), a A pair of second guide rods (422), a second linear bearing (423) sleeved on the second guide rod (422), a pair of second linear bearings (423) fastened on the second linear bearing (423) and located on the A second top plate (424) above the second bottom plate (421), a second top plate (424) mounted on the second bottom plate (421) to drive the second top plate (424) to slide on the second guide rod (422) A second top plate cylinder (425), a pair of driven rubber wheels ( 426), wherein the driven rubber wheel (426) and the driving rubber wheel (418) are arranged at the same height. 10. The automatic cap removal device according to claim 2, characterized in that it further comprises a two-axis driving unit (20) that drives the capping unit (30) to move along the X-axis and the Y-axis, so that The two-axis drive unit (20) includes a pair of first straight racks (21) distributed along the X-axis, located on both sides of the first straight rack (21) and connected to the first straight rack (21) ) parallel pair of first guide rails (211), a moving plate (22) located above the first straight rack (21) and set on the first guide rail (211) through a first slider, a moving plate (22) The rotating shaft (23), which is arranged on the first side wall of the moving plate (22) and located above the first straight rack (21), is fastened to the opposite ends of the rotating shaft (23) through a bearing seat. A pair of first gears (231) meshing with the first straight rack (21), and a pair of first gears (231) mounted on the moving plate (22) for driving the rotating shaft (23) to rotate so as to make the first gear (231) rotate. A first motor (24) with a gear (231) rolling on the first straight rack (21), a first motor (24) fastened on the second side wall of the moving plate (22) and distributed along the Y axis Two straight racks (25), a second guide rail (251) fastened to the second side wall of the moving plate (22) and parallel to the second straight rack (25), one passing through the second sliding a first connecting plate (27) arranged on the second guide rail (251), a first connecting plate (27) mounted on the first connecting plate (27) for driving the first connecting plate (27) to move on the first connecting plate (27) A second motor (26) moving on two guide rails (251), wherein a second gear (26) meshing with the second straight rack (25) is fastened on the output shaft of the second motor (26). 261), the first side wall and the second side wall of the moving plate (22) are opposite side walls on the moving plate (22), the servo motor (31), the transmission shaft seat (321) ), the capping device lifting cylinder (34) and the third guide rail (341) are all fastened on the first connecting plate (27).

Images