CN108821207A

CN108821207A - A kind of Efficient intelligent bottle cap installation mechanical arm

Info

Publication number: CN108821207A
Application number: CN201810742452.5A
Authority: CN
Inventors: 薛敏强
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-07-09
Filing date: 2018-07-09
Publication date: 2018-11-16

Abstract

The invention discloses a kind of Efficient intelligent bottle caps to install mechanical arm, including：Pedestal, first mechanical arm, second mechanical arm and control device, pedestal is equipped with column, first mechanical arm and second mechanical arm are mounted on column, and transmission mechanism is equipped between first mechanical arm and second mechanical arm, and first mechanical arm and second mechanical arm cooperate；The end of first mechanical arm is equipped with the cap sheathing mechanism for grabbing bottle cap, second mechanical arm is equipped with the tightening mechanism for tightening bottle cap, cap sheathing mechanism is equipped with bottle cap position detecting mechanism and position of bottleneck testing agency, and tightening mechanism is equipped with the position detecting mechanism for detecting bottle body position.Structure is simple in the present invention, its structure is optimized, the setting of transmission mechanism between first mechanical arm and second mechanical arm, first mechanical arm and second mechanical arm is allowed to realize pipelined operation, it allows and two station upper covers and screw capping while carrying out, and Each performs its own functions, to effectively improve its working efficiency.

Description

A kind of Efficient intelligent bottle cap installation mechanical arm

Technical field

The invention belongs to mechanical arm technical field, in particular to a kind of Efficient intelligent bottle cap installs mechanical arm.

Background technique

With the rapid development of social economy, the production of either people's lives or enterprise all gradually realizes the modern times Change and intelligent, since it is too big to artificial dependence, production equipment more falls behind for some traditional processing enterprises, production Low efficiency, processing quality is poor, so as to cause enterprise competitiveness decline, or even fatefulue strike can be brought to enterprise.Thus work as Preceding many enterprises all realize transition continuous, gradually make the transition scientific and technological enterprises from traditional Processing Firm, enterprise turns Type becomes medium-sized and small enterprises' the only way which must be passed.

It is also in many industries such as food, drug in this way, needing bottle body support container for the product of some productions Enterprise, the wherein installation of bottle cap is an important process, the bottle cap installation of most original completely manually, due to people can not Control property, the quality disunity for causing its bottle cap to be installed, causes yields low, while bottle cap installation is bad, not only results in bottle The article pot-life shortens, while can also conveyer belt be given to carry out many trouble, this with regard to some automation equipments of fasciation generation, However current bottle cap installation equipment its be all the integrated large scale equipment that large-scale slave product is filled to bottleneck capping mostly, It not only takes up a large area, and its price is very high, is heavy burden for some medium-sized and small enterprises, it also can serious shadow Ring the subsequent development of enterprise.

It is many still to use original material-uploading style, the serious influence of feeding meanwhile in the installation equipment of current bottle cap Its installation effectiveness.And fixed when the position of existing installation its work of equipment, once position fixation cannot be moved arbitrarily It is dynamic, unless move to whole equipment, however in actual production process, it inevitably will appear error, and existing equipment Appropriate adjustment can not be carried out according to practical situation, this just will appear neglected loading or accidentally fills.

At the same time, existing mechanical arm is mostly all using stand alone type design, then it is during manufacture, it is all Component requires into Analysis of Nested Design, not only wastes a large amount of material, also increases its occupied area, at the same also increase enterprise at This investment.

Summary of the invention

Goal of the invention：In order to overcome the above deficiency, the object of the present invention is to provide a kind of Efficient intelligent bottle cap fitting machines Tool arm, structure is simple, and design rationally, is readily produced, high degree of automation, reduces manual labor amount, improves work efficiency, The cap sheathing mechanism bottle cap position detecting mechanism can carry out accurate detection to the location of bottle cap, then control device root Crawl bottle cap, the bottle then detected according to position of bottleneck testing agency are removed according to testing result order cap sheathing mechanism to specified position Mouth position, the bottle cap of crawl is installed on bottleneck, and the bottle body for being mounted with bottle cap is transported to the second machinery by transmission mechanism On the corresponding station of arm；

Again by the position detecting mechanism on the tightening mechanism to from first mechanical arm correspond to the station bottle body that comes of conveying into Row detection, according to detection as a result, control device tightens order tightening mechanism to bottle cap；

, by the way that first mechanical arm and second mechanical arm are arranged on column, structure is simple, optimizes to its structure, well for it Solve the problems, such as that increased cost and land occupation is respectively set in two mechanical arms, first mechanical arm will be arrived by cap sheathing mechanism on bottle cap On the bottleneck of bottle body, the bottle body for being mounted with bottle cap is transported on the corresponding station of second mechanical arm by transmission mechanism, second Mechanical arm tightens bottle cap by tightening mechanism, and the setting of mechanical arm allows it to realize automation and intelligence, and, two The setting of transmission mechanism between mechanical arm allows first mechanical arm and second mechanical arm to realize pipelined operation, allows two stations Upper cover and screw capping carry out simultaneously, and Each performs its own functions, to effectively improve its working efficiency.

Technical solution：To achieve the goals above, the present invention provides a kind of Efficient intelligent bottle caps to install mechanical arm, packet It includes：Pedestal, the first mechanical arm for grabbing bottle cap, the second mechanical arm for installing bottle cap and control device, the pedestal It is equipped with column, the first mechanical arm and second mechanical arm are mounted on column, the first mechanical arm and the second machinery Transmission mechanism is equipped between arm, and the first mechanical arm and second mechanical arm cooperate；

The end of the first mechanical arm is equipped with the cap sheathing mechanism for grabbing bottle cap, and the second mechanical arm is equipped with for twisting The tightening mechanism of tight bottle cap, the cap sheathing mechanism is equipped with bottle cap position detecting mechanism and position of bottleneck testing agency, described to twist Tight mechanism is equipped with the position detecting mechanism for detecting bottle body position；

The first mechanical arm, second mechanical arm, cap sheathing mechanism, tightening mechanism, transmission mechanism and bottle cap position detecting mechanism, Position of bottleneck testing agency and position detecting mechanism are connect with control device.

A kind of heretofore described Efficient intelligent bottle cap installs mechanical arm, the cap sheathing mechanism bottle cap position detection machine Structure can to the location of bottle cap carry out accurate detection, then control device according to testing result order cap sheathing mechanism to finger Crawl bottle cap is removed in fixed position, and the bottle cap of crawl is installed to by the position of bottleneck then detected according to position of bottleneck testing agency On bottleneck, the bottle body for being mounted with bottle cap is transported on the corresponding station of second mechanical arm by transmission mechanism；

Heretofore described column is equipped with track, and the track is equipped with the first fixing seat and the second fixing seat, described Sliding block is equipped with below first fixing seat and the second fixing seat, the sliding block is set in track, and the sliding block and sliding block drive The connection of motivation structure, the first mechanical arm are connect by the first rotating mechanism with the first fixing seat, and the second mechanical arm passes through Second rotating mechanism is connect with the second fixing seat, the slider-actuated mechanism, the first rotating mechanism and the second rotating mechanism with Control device connection.

It is connect by sliding block with track below first fixing seat and the second fixing seat, allows first mechanical arm and second Mechanical arm can need to realize that position is adjusted in orbit according to actual production；

First mechanical arm is connect by the first rotating mechanism with the first fixing seat simultaneously, and the second mechanical arm passes through the second rotation Mechanism is connect with the second fixing seat, allows first mechanical arm and second mechanical arm during the work time can be according to actual needs to each From angle be adjusted, thus allow its realize adjustable angle, also greatly improve its applicable range.

Heretofore described transmission mechanism is equipped with conveyer belt, and the conveyer belt is equipped with the tooling for placing bottle body, The tooling and conveyer belt use detachable connection, and the tooling is equipped with the groove for placing bottle body, and described recessed Neck bush is equipped in slot, the neck bush is equipped with texture.

The groove of placing bottle body is set in the tooling, effectively prevents bottle body from shifting either in moving process The problems such as tilting is preventive from possible trouble, greatly improves the safety and stability of its transport.

It is equipped with feed tank positioned at the side of first mechanical arm on heretofore described column, is equipped with reason in the feed tank Lid arrangement and rollway, reason charging tray is equipped in the lid treatment device, and the lower section of the reason charging tray is equipped with vibrator, and reason material Helical orbit is equipped in disk, the opening direction of bottom towards the reason charging tray of the helical orbit self-care charging tray is arranged in the shape of a spiral, The helical orbit is communicated with rollway, and the rollway is equipped with for detecting the infrared sensing for whether having bottle cap on rollway Device, and position-limit mechanism, the reason charging tray, helical orbit, infrared sensor and position restrainer are equipped at the feed inlet of the rollway Structure is connect with control device.

The position-limit mechanism uses electric controlled door or barrier plate.

Feed tank is set on column in the present invention, bottle cap feed is allowed to realize integrated design with installation, it is right from structure The problem of entire mechanical arm optimizes, save equipment input cost, very good solution artificial loading, improves its feed speed Degree, further increases its installation effectiveness, while also shortening the time of manipulator crawl bottle cap, to greatly improve entire The time of installation, further it is allowed to meet the needs of client.

At the same time, the setting of infrared sensor can timely detect whether there is bottle cap on rollway on rollway, When it, which is detected, does not have bottle cap on rollway, then control device opens order position-limit mechanism, bottle cap is allowed to normally enter confession Expect platform, when it, which is detected, has bottle cap on rollway, then position-limit mechanism will keep reset condition, bottle cap is prevented to enter feed Platform avoids occurring vacancy on rollway, guarantees that manipulator has bottle cap that can grab at any time, guarantees that it can be grabbed by lid, greatly Improve the efficiency of its upper cover.

The bottle cap testing agency for detecting bottle cap direction is equipped with above heretofore described rollway, side is equipped with back Expect mechanism, the bottle cap testing agency and material return mechanism are connect with control device.

The bottle cap testing agency to bottle cap direction detect, once detection towards it is correct when, mechanical arm Bottle cap will be grabbed, and will be grabbed bottle cap on corresponding bottle body according to the position of the product of its detection, will then be installed, if The direction of bottle cap as the result is shown of detection is not right, then bottle cap will be sent in recovering mechanism by rollway by transport mechanism, keeps away Exempt from maloperation occur, results in waste of resources.

Mounting rack and gripper are equipped in heretofore described tightening mechanism, the lower section of the mounting rack is equipped with disk, institute The surrounding that gripper is set to disk bottom is stated, the disk is connect with the rotary drive motor of driving disc rotary, and the machine The inside of machinery claw is equipped with liner, and the driving motor is connect with control device.

The setting of the gripper medial pad allows it that can guarantee while tightening of bottle cap, can also play to bottle cap Good protective effect avoids gripper from causing to scratch to bottle cap surface, to play a very good protection to bottle cap.

The inside for being located at gripper below heretofore described disk is equipped with swivel mount, and the swivel mount is surrounded by convex Block, bottom are equipped with the inner groovy to match with bottle cap, and the gripper, which is grabbed, to be pinched on convex block, the position detecting mechanism installation In on swivel mount.

The setting of the swivel mount can allow it preferably to limit bottle cap, and the convex block of swivel mount surrounding is convenient for machinery It is fixed in pawl, the setting of the inner groovy, and the top of bottle cap can be stuck in inner groovy, avoids in its rotary course It has skidded.

It is equipped with pressing plate and manipulator in heretofore described cap sheathing mechanism, is equipped with above the pressing plate for driving pressing plate Pressing plate drives cylinder, and the manipulator is installed below pressing plate, and the manipulator and driving cylinder are connect with control device.

The setting of pressing plate in the cap sheathing mechanism will by pressing plate when manipulator grabs bottle cap and is installed to bottleneck Bottle cap pushes, and increases the compactness of bottle cap and bottleneck, and bottle cap is avoided to occur mobile in bottle body moving process or fall off.

Forearm and postbrachium are equipped in heretofore described first mechanical arm, the postbrachium is with the first fixing seat using movable Connection, the forearm and postbrachium use telescopic connection, and the junction of the forearm and postbrachium is equipped with strengthening mechanism, described to add Gu being equipped with protective shell in mechanism, the protective shell is set to the junction of forearm and postbrachium, and the both ends of the protective shell are oblique, And the inside of the protective shell is equipped with protective jacket, the protective jacket is equipped with texture.

Forearm and postbrachium use telescopic connection, it can be needed to be adjusted the height of upper arm according to realization, Its applicability is further increased, meanwhile, the setting of strengthening mechanism greatly improves the stability and use connected between two columns Safety, and the protective shell both ends are oblique, greatly increase the stabilization that strengthening mechanism is connect with forearm and postbrachium Property, to further increase its consolidation effect.

A kind of working method of heretofore described Efficient intelligent bottle cap installation mechanical arm, specific working method is such as Under：

1）：First according to requiring to install bottle cap installation mechanical arm, first column is installed on pedestal, then by first Mechanical arm and second mechanical arm are installed on column, and feed tank is installed to the side for being located at first mechanical arm on column；

Again by bottle cap position detecting mechanism, position of bottleneck testing agency, position detecting mechanism, bottle cap testing agency, infrared sensing Device and it is installed to designated position, finally the electric control part on the installation mechanical arm is attached, can put into after connecting makes With；

2）：First according to practical situation before putting into production, first mechanical arm and second mechanical arm position on column into Row adjustment, i.e.,：It is moved to suitable position along track by the sliding block of the lower section of the first fixing seat and the second fixing seat, is then It can put into production；

3）：During the work time, bottle cap is placed in feed tank first, bottle body is installed in the groove of tooling；

4）：Motor driven vibrator in lid treatment device in feed tank is vibrated, and allows bottle cap along helical orbit to feed Platform direction is mobile, when bottle cap reaches the entrance of rollway, whether has bottle cap on infrared sensor detection rollway on rollway；

If so, so position-limit mechanism will prevent bottle cap from passing through, if there is no bottle cap on the rollway as the result is shown of detection, Control device opens order position-limit mechanism, and bottle cap is allowed to pass through into rollway；

6）：When bottle cap is run to rollway, the direction of bottle cap is detected by bottle cap testing agency, when it finds bottle cap direction When incorrect, control device starts to work the manipulator in order first mechanical arm；

It first passes through bottle cap position detecting mechanism to detect the position of bottle cap, then manipulator grabs bottle cap to feed back machine Structure；

7）：If the bottle cap detected in previous step is towards meeting the requirements, control device starts order first mechanical arm Work, control device start to work the manipulator in order first mechanical arm,

It first passes through bottle cap position detecting mechanism to detect the position of bottle cap, according to the bottle cap position of detection, control device life Manipulator is enabled to remove crawl bottle cap,

During manipulator crawl, the position of bottleneck on bottle body detects in position of bottleneck testing agency, control device In data processing module data are analyzed to what position of bottleneck testing agency was detected, analyze bottle outlet specific position It sets,

The bottle cap of crawl is placed into bottle by the result command manipulator that then control device is detected according to position of bottleneck testing agency On mouth；

8）：Then control device order pressing plate driving cylinder driving pressing plate presses to bottle cap on bottleneck；

9）：Then the bottle body that completion upper cover is completed is transported on the station of second mechanical arm by the conveyer belt in transmission mechanism；

10）：Position detecting mechanism first on control device order tightening mechanism detects the bottle cap on bottle body, then root Bottle cap is caught according to the result command gripper of detection,

Since swivel mount is located at the inside of gripper, and the lower part of swivel mount is equipped with inner groovy, thus when gripper grabs bottle When bottle cap on body, the top of bottle cap will be stuck in the inner groovy of swivel mount；

11）：Then control device will drive the rotary drive motor of disc rotary to start to drive by drive control module order Disc rotary drives gripper and swivel mount to rotate together during disc rotary,

It, will due in the inner groovy that is stuck at the top of bottle cap on swivel mount, thus during swivel mount and gripper rotate Lid is tightened on bottleneck.

Above-mentioned technical proposal can be seen that the present invention and have the advantages that：

1, a kind of heretofore described Efficient intelligent bottle cap installs mechanical arm, the cap sheathing mechanism bottle cap position detecting mechanism Can to the location of bottle cap carry out accurate detection, then control device according to testing result order cap sheathing mechanism to specify Position go crawl bottle cap, then according to position of bottleneck testing agency detect position of bottleneck, the bottle cap of crawl is installed to bottle On mouth, the bottle body for being mounted with bottle cap is transported on the corresponding station of second mechanical arm by transmission mechanism；

2, heretofore described column is equipped with track, and the track is equipped with the first fixing seat and the second fixing seat, institute It states and is equipped with sliding block below the first fixing seat and the second fixing seat, the sliding block is set in track, and the sliding block and sliding block Driving mechanism connection, the first mechanical arm are connect by the first rotating mechanism with the first fixing seat, and the second mechanical arm is logical The second rotating mechanism is crossed to connect with the second fixing seat；Pass through sliding block and track below first fixing seat and the second fixing seat First mechanical arm and second mechanical arm can be needed to realize that position is adjusted in orbit according to actual production for connection；

3, heretofore described transmission mechanism is equipped with conveyer belt, and the conveyer belt is equipped with the work for placing bottle body Dress, the tooling and conveyer belt use detachable connection, and the tooling is equipped with the groove for placing bottle body, and described Neck bush is equipped in groove, the neck bush is equipped with texture；

The groove of placing bottle body is set in the tooling, effectively prevents bottle body from shifting in moving process either and occurs The problems such as inclination, is preventive from possible trouble, greatly improves the safety and stability of its transport, texture sets on the neck bush It sets, can allow bottle body is more firm to be set in groove, only with different its stability of raising.

4, it is equipped with feed tank positioned at the side of first mechanical arm on heretofore described column, is equipped in the feed tank Lid treatment device and rollway, the rollway are equipped with for detecting the infrared sensor for whether having bottle cap on rollway, and institute State at the feed inlet of rollway be equipped with position-limit mechanism, the reason charging tray, helical orbit, infrared sensor and position-limit mechanism with control Device connection processed；

Feed tank is set on column in the present invention, allows bottle cap feed to realize integrated design with installation, to entire from structure The problem of mechanical arm optimizes, save equipment input cost, very good solution artificial loading, improves its feeding speed, Its installation effectiveness is further increased, while also shortening the time of manipulator crawl bottle cap, to greatly improve entire peace The time of dress, further it is allowed to meet the needs of client；

At the same time, the setting of infrared sensor can timely detect whether there is bottle cap on rollway on rollway, when it It detects on rollway when there is no bottle cap, then control device opens order position-limit mechanism, bottle cap is allowed to normally enter rollway, When it, which is detected, has bottle cap on rollway, then position-limit mechanism will keep reset condition, prevents bottle cap from entering rollway, keep away Exempt from occur vacancy on rollway, guarantee that manipulator has bottle cap that can grab at any time, guarantees that it can be grabbed by lid, greatly improve it The efficiency of upper cover.

5, heretofore described rollway is equipped with bottle cap testing agency and material return mechanism for detecting bottle cap direction, institute The feed inlet of the tail portion and feed tank of stating material return mechanism connects, and the bottle cap testing agency connect with control device；

The bottle cap testing agency to bottle cap direction detect, once detection towards it is correct when, mechanical arm will grab Bottle cap is taken, and is grabbed bottle cap on corresponding bottle body according to the position of the product of its detection, is then installed, if detection Bottle cap as the result is shown towards not right, then bottle cap will be sent in recovering mechanism by rollway by transport mechanism, avoid out Existing maloperation, results in waste of resources.

6, mounting rack and gripper are equipped in heretofore described tightening mechanism, the inside of the gripper is equipped with liner, The driving motor is connect with control device；

The setting of the gripper medial pad allows it that can guarantee while tightening of bottle cap, can also play to bottle cap very well Protective effect, avoid gripper from causing to scratch to bottle cap surface, to play a very good protection to bottle cap.

7, the inside for being located at gripper below heretofore described disk is equipped with swivel mount, and the swivel mount is surrounded by convex Block, bottom are equipped with the inner groovy to match with bottle cap, and the gripper, which is grabbed, to be pinched on convex block, the position detecting mechanism installation In on swivel mount；

The setting of the swivel mount can allow it preferably to limit bottle cap, and the convex block of swivel mount surrounding is convenient for gripper pair It is fixed, the setting of the inner groovy, and the top of bottle cap can be stuck in inner groovy, avoids occurring in its rotary course It skids.

8, it is equipped with pressing plate and manipulator in heretofore described cap sheathing mechanism, is equipped with above the pressing plate for driving pressing plate Pressing plate drive cylinder, the manipulator is installed below pressing plate, the manipulator and cylinder is driven to connect with control device；

The setting of pressing plate in the cap sheathing mechanism, when manipulator grabs bottle cap and is installed to bottleneck, by pressing plate by bottle cap It pushes, increases the compactness of bottle cap and bottleneck, bottle cap is avoided to occur mobile in bottle body moving process or fall off.

9, forearm and postbrachium are equipped in heretofore described first mechanical arm, the postbrachium and the first fixing seat are using activity Formula connection, the forearm and postbrachium use telescopic connection, and the junction of the forearm and postbrachium is equipped with strengthening mechanism, described Protective shell is equipped in strengthening mechanism,；The both ends of the protective shell are oblique, and the inside of the protective shell is equipped with protective jacket, The protective jacket is equipped with texture；

Forearm and postbrachium use telescopic connection, it can be needed to be adjusted the height of upper arm according to realization, into one Step improves its applicability, meanwhile, the setting of strengthening mechanism greatly improves the stability connected between two columns and the peace used Quan Xing, and the protective shell both ends are oblique, greatly increase the stability that strengthening mechanism is connect with forearm and postbrachium, from And further increase its consolidation effect.

Detailed description of the invention

Fig. 1 is the structural schematic diagram that Efficient intelligent bottle cap of the present invention installs mechanical arm；

Fig. 2 is the structural schematic diagram of transmission mechanism in the present invention；

Fig. 3 is the top view of swivel mount in the present invention；

Fig. 4 is front view of the present invention in red swivel mount；

Fig. 5 is the structural schematic diagram of feed tank in the present invention；

Fig. 6 is the structural schematic diagram of the first fixing seat in the present invention；

In figure：Pedestal -1, first mechanical arm -2, second mechanical arm -3, control device -4

Transmission mechanism -5,

Column -11, track -111, the first fixing seat -112, the second fixing seat -113,

First rotating mechanism -1121, the second rotating mechanism -1131,

Cap sheathing mechanism -21, bottle cap position detecting mechanism -201, -202 tightening mechanism -31 of position of bottleneck testing agency, position detection Mechanism -301,

Conveyer belt -51, tooling -52, groove -53,

Feed tank -6,

Lid treatment device -61, rollway -62, reason charging tray -611, helical orbit -612,

Position-limit mechanism -613, infrared sensor -621,

Bottle cap testing agency -7, material return mechanism -8,

Mounting rack -311, gripper -312,

Disk -313, swivel mount -314, convex block -315,

Pressing plate -211, manipulator -212,

Forearm -22, postbrachium 23

Strengthening mechanism -10, protective shell -101.

Specific embodiment

In the following with reference to the drawings and specific embodiments, the present invention is furture elucidated.

Embodiment 1

A kind of Efficient intelligent bottle cap as shown in the figure installs mechanical arm, including：Pedestal 1, the first machinery for grabbing bottle cap Arm 2, the second mechanical arm 3 for installing bottle cap and control device 4, the pedestal 1 are equipped with column 11, the first mechanical arm 2 and second mechanical arm 3 be mounted on column 11, between the first mechanical arm 2 and second mechanical arm 3 be equipped with transmission mechanism 5, And the first mechanical arm 1 and second mechanical arm 3 cooperate, the end of the first mechanical arm 2 is equipped with for grabbing bottle cap Cap sheathing mechanism 21, the second mechanical arm 3 is equipped with tightening mechanism 31 for tightening bottle cap, sets on the cap sheathing mechanism 21 There are bottle cap position detecting mechanism 201 and position of bottleneck testing agency 202, the tightening mechanism 31 is equipped with for detecting bottle body position The position detecting mechanism 301 set, the first mechanical arm 2, second mechanical arm 3, cap sheathing mechanism 21, tightening mechanism 31, conveyer Structure 5 and bottle cap position detecting mechanism 201, position of bottleneck testing agency 202 and position detecting mechanism 301 with control device 4 Connection；

The bottle cap position detecting mechanism 201 uses position sensor, and the position of bottleneck testing agency 202 is examined using infrared ray Instrument is surveyed, the position detecting mechanism 301 uses infrared position sensor.

A kind of heretofore described Efficient intelligent bottle cap installs mechanical arm, passes through setting first mechanical arm and second Mechanical arm, first mechanical arm is by cap sheathing mechanism by, on the bottleneck of bottle body, second mechanical arm passes through tightening mechanism pair on bottle cap Bottle cap is tightened, and the setting of mechanical arm allows it to realize automation and intelligence, and, transmission mechanism between two mechanical arms Setting allows first mechanical arm and second mechanical arm to realize pipelined operation, allows two station upper covers and screw capping while carrying out, and Each performs its own functions, to effectively improve its working efficiency.

Column 11 described in the present embodiment is equipped with track 111, and the track 11 is equipped with the first fixing seat 112 and second The lower section of fixing seat 113, first fixing seat 112 and the second fixing seat 113 is equipped with sliding block, and the sliding block is set to track In 111, and the sliding block is connect with slider-actuated mechanism, and the first mechanical arm 2 passes through the first rotating mechanism 1121 and first Fixing seat 112 connects, and the second mechanical arm 3 is connect by the second rotating mechanism 1131 with the second fixing seat 113, the sliding block Driving mechanism, the first rotating mechanism 1121 and the second rotating mechanism 1131 are connect with control device 4.

Transmission mechanism 5 described in the present embodiment is equipped with conveyer belt 51, and the conveyer belt 51, which is equipped with, is used for placing bottle body Tooling 52, the tooling 52 uses detachable connection with conveyer belt 51, and the tooling 52 is equipped with and is used for placing bottle body Groove 53, and the groove 53 in be equipped with neck bush, the neck bush be equipped with texture.

It is equipped with feed tank 6 positioned at the side of first mechanical arm 2 on column 11 described in the present embodiment, in the feed tank 6 It is equipped with lid treatment device 61 and rollway 62, reason charging tray 611, the lower section of the reason charging tray 611 are equipped in the lid treatment device 61 Equipped with vibrator, and helical orbit 612, the bottom of the 612 self-care charging tray 611 of helical orbit are equipped in the reason charging tray 611 It is arranged in the shape of a spiral towards the opening direction of reason charging tray 611, the helical orbit 612 is communicated with rollway 62, the rollway 62 are equipped with infrared sensor 621, and position-limit mechanism 613 is equipped at the feed inlet of the rollway 62, the reason charging tray 611, Helical orbit 612, infrared sensor 621 and position-limit mechanism 613 are connect with control device 4.The position-limit mechanism is using automatically controlled Door or barrier plate

The bottle cap testing agency 7 for detecting bottle cap direction is equipped with above rollway 62 described in the present embodiment, side is equipped with Material return mechanism 8, the bottle cap testing agency 7 and material return mechanism 8 are connect with control device 4.

Mounting rack 311 and gripper 312 are equipped in tightening mechanism 31 described in the present embodiment, under the mounting rack 311 Side is equipped with disk 313, and the gripper 312 is set to the surrounding of 313 bottom of disk, the disk 313 and driving disc rotary Rotary drive motor connection, and the inside of the gripper 312 is equipped with liner, the driving motor is connect with control device 4.

Swivel mount 314, the swivel mount are equipped with positioned at the inside of gripper 312 below disk 313 described in the present embodiment 314 are surrounded by convex block 315, and bottom is equipped with the inner groovy 316 to match with bottle cap, and the gripper 312, which is grabbed, to be pinched in convex block On 315, the position detecting mechanism 301 is installed on swivel mount 314.

It is equipped with pressing plate 211 and manipulator 212 in cap sheathing mechanism 21 described in the present embodiment, is equipped with above the pressing plate 211 Pressing plate for driving pressing plate 211 drives cylinder, and the manipulator 212 is installed on 211 lower section of pressing plate, 212 He of manipulator Driving cylinder is connect with control device 4.

Forearm 22 and postbrachium 23, the postbrachium 23 and the first fixing seat are equipped in first mechanical arm 2 described in the present embodiment 112 use movable connection, and the forearm 22 and postbrachium 23 use telescopic connection, and the connection of the forearm 22 and postbrachium 23 Place is equipped with strengthening mechanism 10, and protective shell 101 is equipped in the strengthening mechanism 10, and the protective shell 101 is set to forearm 22 and postbrachium The both ends of 23 junction, the protective shell 101 are oblique, and the inside of the protective shell 101 is equipped with protective jacket, described anti- Sheath is equipped with texture.

Embodiment 2

A kind of working method of Efficient intelligent bottle cap installation mechanical arm described in the present embodiment, specific working method is such as Under：

1）：First according to requiring to install bottle cap installation mechanical arm, first column 11 is installed on pedestal 1, then will First mechanical arm 2 and second mechanical arm 3 are installed on column 11, and feed tank 6 is installed on column 11 and is located at the first machinery The side of arm 2；

Again by bottle cap position detecting mechanism 201, position of bottleneck testing agency 202, position detecting mechanism 301, bottle cap testing agency 7, infrared sensor 621 and it is installed to designated position, finally the electric control part on the installation mechanical arm is attached, is connected After can come into operation；

2）：First according to practical situation before putting into production, the first mechanical arm 2 on column 11 and second mechanical arm 3 It sets and is adjusted；

I.e.：It is moved to suitable position along track 111 by the sliding block of the lower section of the first fixing seat 112 and the second fixing seat 113, Then it can put into production；

3）：During the work time, bottle cap is placed in feed tank 6 first, bottle body is installed in the groove 53 of tooling 52；

4）：The motor driven vibrator in lid treatment device 61 in feed tank 6 is vibrated, and allows bottle cap along helical orbit 612 It is mobile to 62 direction of rollway；

When bottle cap reaches the entrance of rollway 62, infrared sensor 621 detects on rollway 52 whether have bottle on rollway 62 Lid；

If so, so position-limit mechanism 613 will prevent bottle cap from passing through, if without bottle on the rollway as the result is shown 62 of detection Lid, then control device 4 opens order position-limit mechanism 613, allows bottle cap to pass through into rollway 62；

5）：When bottle cap is run to rollway 62, the direction of bottle cap is detected by bottle cap testing agency 7；

When its find bottle cap towards it is incorrect when, control device 4 starts to work the manipulator 212 in order first mechanical arm 2, It first passes through bottle cap position detecting mechanism 211 to detect the position of bottle cap, then manipulator 212 grabs bottle cap to feed back machine Structure 8；

6）：If the bottle cap detected in previous step is towards meeting the requirements, control device 4 opens order first mechanical arm 2 Beginning work, control device 4 start to work the manipulator 212 in order first mechanical arm 2, first pass through bottle cap position detecting mechanism It detects the position of 201 pairs of bottle caps；

According to the bottle cap position of detection, 4 order manipulator 212 of control device removes crawl bottle cap, in the process that manipulator 212 grabs In, the position of bottleneck on bottle body detects in position of bottleneck testing agency 202；

Data processing module in control device 4, what position of bottleneck testing agency 202 was detected analyzes data, analyzes The specific location of bottle outlet, the result command manipulator 212 that then control device 4 is detected according to position of bottleneck testing agency 202 The bottle cap of crawl is placed on bottleneck；

7）：Then 4 order pressing plate of control device driving cylinder driving pressing plate 211 presses to bottle cap on bottleneck；

8）：Then the bottle body that completion upper cover is completed is transported to the station of second mechanical arm 3 by the conveyer belt 51 in transmission mechanism 5 On；

9）：Position detecting mechanism 301 first on 4 order tightening mechanism 31 of control device detects the bottle cap on bottle body, Then bottle cap is caught according to the result command gripper 312 of detection；

Since swivel mount 314 is located at the inside of gripper 312, and the lower part of swivel mount 314 is equipped with inner groovy 316, thus works as machine When machinery claw 312 grabs the bottle cap on bottle body, the top of bottle cap will be stuck in the inner groovy 316 of swivel mount 314；

10）：Then control device 4 will drive the rotary drive motor of disc rotary to start to drive by drive control module order Disc rotary drives gripper 312 and swivel mount 314 to rotate together during disc rotary；

It is stuck at the top of due to bottle cap in the inner groovy 316 on swivel mount 314, thus is revolved in swivel mount 314 and gripper 312 During turning, lid will be tightened on bottleneck.

Embodiment 3

A kind of Efficient intelligent bottle cap as shown in the figure installs mechanical arm, including：Pedestal 1, the first machinery for grabbing bottle cap Arm 2, the second mechanical arm 3 for installing bottle cap and control device 4, the pedestal 1 are equipped with column 11, the first mechanical arm 2 and second mechanical arm 3 be mounted on column 11, between the first mechanical arm 2 and second mechanical arm 3 be equipped with transmission mechanism 5, And the first mechanical arm 1 and second mechanical arm 3 cooperate, the end of the first mechanical arm 2 is equipped with for grabbing bottle cap Cap sheathing mechanism 21, the second mechanical arm 3 is equipped with tightening mechanism 31 for tightening bottle cap, sets on the cap sheathing mechanism 21 There are bottle cap position detecting mechanism 201 and position of bottleneck testing agency 202, the tightening mechanism 31 is equipped with position detecting mechanism 301, the first mechanical arm 2, second mechanical arm 3, cap sheathing mechanism 21, tightening mechanism 31, transmission mechanism 5 and the inspection of bottle cap position Mechanism 201, position of bottleneck testing agency 202 and position detecting mechanism 301 is surveyed to connect with control device 4；

Embodiment 4

The bottle cap position detecting mechanism 201 uses position sensor, and the position of bottleneck testing agency 202 is examined using infrared ray Instrument is surveyed, the position detecting mechanism 301 uses infrared position sensor；The transmission mechanism 5 is equipped with conveyer belt 51, described Conveyer belt 51 is equipped with the tooling 52 for placing bottle body, and the tooling 52 uses detachable connection, and institute with conveyer belt 51 It states tooling 52 and is equipped with the groove 53 for being used for placing bottle body, and be equipped with neck bush in the groove 53, the neck bush is equipped with Texture.

Embodiment 4

It is equipped with feed tank 6 positioned at the side of first mechanical arm 2 on column 11 described in the present embodiment, in the feed tank 6 It is equipped with lid treatment device 61 and rollway 62, reason charging tray 611, the lower section of the reason charging tray 611 are equipped in the lid treatment device 61 Equipped with vibrator, and helical orbit 612, the bottom of the 612 self-care charging tray 611 of helical orbit are equipped in the reason charging tray 611 It is arranged in the shape of a spiral towards the opening direction of reason charging tray 611, the helical orbit 612 is communicated with rollway 62, the rollway 62 are equipped with infrared sensor 621, and position-limit mechanism 613 is equipped at the feed inlet of the rollway 62, the reason charging tray 611, Helical orbit 612, infrared sensor 621 and position-limit mechanism 613 are connect with control device 4.The position-limit mechanism is using automatically controlled Door or barrier plate.

Embodiment 5

The bottle cap testing agency 7 for detecting bottle cap direction, side are equipped with above rollway 62 described in the present embodiment Equipped with material return mechanism 8, the bottle cap testing agency 7 and material return mechanism 8 are connect with control device 4.

Embodiment 6

Embodiment 7

Heretofore described first rotating mechanism 1121 and the second rotating mechanism 1131 are all made of rotary turntable, and described First fixing seat is identical with the mechanism of the second fixing seat.

The bottle cap testing agency 7 uses industrial camera.

Swivel mount 314, the swivel mount are equipped with positioned at the inside of gripper 312 below disk 313 described in the present embodiment 314 are surrounded by convex block 315, and bottom is equipped with the inner groovy 316 to match with bottle cap, and the inside of the inner groovy 316 is equipped with Protective jacket, the gripper 312, which is grabbed, to be pinched on convex block 315, and the position detecting mechanism 301 is installed on swivel mount 314.

Bottle cap crawl control module, bottle cap installation control module, transmission are equipped in control device 4 described in the present embodiment Control module, mechanical arm lateral position adjust control module, detection control module, feed control module and controller module, institute It states to be equipped in bottle cap crawl control module and pushes control unit and manipulator control unit, the pushing control unit and manipulator Control unit drives cylinder and manipulator 212 to connect with pressing plate respectively, is equipped with disk in the bottle cap installation control module and controls Unit and gripper control unit, the disk control unit and gripper control unit respectively with disk 313 and gripper 312 Connection, the transmission control module are connect with transmission mechanism 5, and the mechanical arm lateral position, which is adjusted, is equipped with first in control module Mechanical arm position adjusts unit and second mechanical arm position regulating unit, institute's first mechanical arm position regulating unit be used for first The mobile slider-actuated mechanism connection of 112 lower section sliding block of fixing seat, the second mechanical arm position regulating unit be used for second The mobile slider-actuated mechanism of 113 lower section sliding block of fixing seat connects, and it is single that the first detection control is equipped in the detection control module Member, the second detection control unit, third detection control unit, the 4th detection control unit and the 5th detection control unit, it is described First detection control unit, the second detection control unit, third detection control unit, the 4th detection control unit and the 5th detection Control unit is examined with bottle cap position detecting mechanism 201, position of bottleneck testing agency 202, position detecting mechanism 301, bottle cap respectively It surveys mechanism 7 and infrared sensor 621 connects, riko cover control unit and feed control unit are equipped in the feed control module, The riko cover control unit and feed control unit are connect with lid treatment device 61 and rollway 62 respectively, bottle cap crawl control mould Block, bottle cap installation control module, transmission control module, mechanical arm lateral position adjust control module, detection control module, feed Control module is connect with controller module.

A kind of working method of Efficient intelligent bottle cap installation mechanical arm, specific working method described in the present embodiment It is as follows：

It is rotated due in the inner groovy 316 that is stuck at the top of bottle cap on swivel mount 314, thus in swivel mount 314 and gripper 312 During, lid will be tightened on bottleneck.

The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For member, without departing from the principle of the present invention, several improvement can also be made, these improvement also should be regarded as of the invention Protection scope.

Claims

1. a kind of Efficient intelligent bottle cap installs mechanical arm, it is characterised in that：Including：Pedestal（1）, for grabbing bottle cap first Mechanical arm（2）, second mechanical arm for installing bottle cap（3）And control device（4）, the pedestal（1）It is equipped with column（11）, The first mechanical arm（2）And second mechanical arm（3）It is mounted on column（11）On, the first mechanical arm（2）With the second machine Tool arm（3）Between be equipped with transmission mechanism（5）, and the first mechanical arm（1）And second mechanical arm（3）It cooperates, described the One mechanical arm（2）End be equipped with cap sheathing mechanism for grabbing bottle cap（21）, the second mechanical arm（3）It is equipped with for twisting The tightening mechanism of tight bottle cap（31）, the cap sheathing mechanism（21）It is equipped with bottle cap position detecting mechanism（201）It is examined with position of bottleneck Survey mechanism（202）, the tightening mechanism（31）It is equipped with the position detecting mechanism for detecting bottle body position（301）, described One mechanical arm（2）, second mechanical arm（3）, cap sheathing mechanism（21）, tightening mechanism（31）, transmission mechanism（5）And bottle cap position inspection Survey mechanism（201）, position of bottleneck testing agency（202）And position detecting mechanism（301）And control device（4）Connection.

2. Efficient intelligent bottle cap according to claim 1 installs mechanical arm, it is characterised in that：The column（11）On set There is track（111）, the track（11）It is equipped with the first fixing seat（112）With the second fixing seat（113）, first fixing seat （112）With the second fixing seat（113）Lower section be equipped with sliding block, the sliding block is set to track（111）In, and the sliding block and cunning The connection of block driving mechanism, the first mechanical arm（2）Pass through the first rotating mechanism（1121）With the first fixing seat（112）Connection, The second mechanical arm（3）Pass through the second rotating mechanism（1131）With the second fixing seat（113）Connection, the slider-actuated machine Structure, the first rotating mechanism（1121）With the second rotating mechanism（1131）And control device（4）Connection.

3. Efficient intelligent bottle cap according to claim 1 installs mechanical arm, it is characterised in that：The transmission mechanism（5） It is equipped with conveyer belt（51）, the conveyer belt（51）It is equipped with the tooling for placing bottle body（52）, the tooling（52）With biography Send band（51）Using detachable connection, and the tooling（52）It is equipped with the groove for placing bottle body（53）, and it is described recessed Slot（53）Interior to be equipped with neck bush, the neck bush is equipped with texture.

4. Efficient intelligent bottle cap according to claim 1 installs mechanical arm, it is characterised in that：The column（11）It is upper In first mechanical arm（2）Side be equipped with feed tank（6）, the feed tank（6）In be equipped with lid treatment device（61）And rollway （62）, the lid treatment device（61）In be equipped with reason charging tray（611）, the reason charging tray（611）Lower section be equipped with vibrator, and it is described Manage charging tray（611）It is interior to be equipped with helical orbit（612）, the helical orbit（612）Self-care charging tray（611）Bottom towards reason charging tray （611）Opening direction be arranged in the shape of a spiral, the helical orbit（612）With rollway（62）It communicates, the rollway（62） It is equipped with for detecting the infrared sensor for whether having bottle cap on rollway（621）, and the rollway（62）Feed inlet at Equipped with position-limit mechanism（613）, the reason charging tray（611）, helical orbit（612）, infrared sensor（621）And position-limit mechanism （613）And control device（4）Connection.

5. Efficient intelligent bottle cap according to claim 4 installs mechanical arm, it is characterised in that：The rollway（62）On Side is equipped with the bottle cap testing agency for detecting bottle cap direction（7）, side is equipped with material return mechanism（8）, the bottle cap detection machine Structure（7）And material return mechanism（8）And control device（4）Connection.

6. Efficient intelligent bottle cap according to claim 1 installs mechanical arm, it is characterised in that：The tightening mechanism（31） In be equipped with mounting rack（311）And gripper（312）, the mounting rack（311）Lower section be equipped with disk（313）, the gripper （312）Set on disk（313）The surrounding of bottom, the disk（313）It is connect with the rotary drive motor of driving disc rotary, and The gripper（312）Inside be equipped with liner, the driving motor and control device（4）Connection.

7. Efficient intelligent bottle cap according to claim 6 installs mechanical arm, it is characterised in that：The disk（313）Under Orientation is in gripper（312）Inside be equipped with swivel mount（314）, the swivel mount（314）It is surrounded by convex block（315）, bottom Portion is equipped with the inner groovy to match with bottle cap（316）, the gripper（312）It grabs and pinches in convex block（315）On, the position detection Mechanism（301）It is installed on swivel mount（314）On.

8. Efficient intelligent bottle cap according to claim 1 installs mechanical arm, it is characterised in that：The cap sheathing mechanism（21） In be equipped with pressing plate（211）And manipulator（212）, the pressing plate（211）Top is equipped with for driving pressing plate（211）Pressing plate driving Cylinder, the manipulator（212）It is installed on pressing plate（211）Lower section, the manipulator（212）And control device with driving cylinder （4）Connection.

9. Efficient intelligent bottle cap according to claim 1 installs mechanical arm, it is characterised in that：The first mechanical arm （2）In be equipped with forearm（22）And postbrachium（23）, the postbrachium（23）With the first fixing seat（112）It is described using movable connection Forearm（22）And postbrachium（23）Using telescopic connection, and the forearm（22）And postbrachium（23）Junction be equipped with strengthening mechanism （10）, the strengthening mechanism（10）In be equipped with protective shell（101）, the protective shell（101）Set on forearm（22）And postbrachium（23） Junction, the protective shell（101）Both ends it is oblique, and the protective shell（101）Inside be equipped with protective jacket, it is described Protective jacket is equipped with texture.

10. a kind of working method of Efficient intelligent bottle cap installation mechanical arm according to any one of claims 1 to 9, It is characterized in that, specific working method is as follows：

1）：First according to requiring to install bottle cap installation mechanical arm, first column（11）It is installed to pedestal（1）On, so Afterwards by first mechanical arm（2）And second mechanical arm（3）It is installed to column（11）On, and by feed tank（6）It is installed to column（11） It is upper to be located at first mechanical arm（2）Side, then by bottle cap position detecting mechanism（201）, position of bottleneck testing agency（202）, position Set testing agency（301）, bottle cap testing agency（7）, infrared sensor（621）Be installed to designated position, finally to the installation Electric control part on mechanical arm is attached, and can be come into operation after connecting；

2）：First according to practical situation, column before putting into production（11）On first mechanical arm（2）And second mechanical arm （3）Position is adjusted, i.e.,：Pass through the first fixing seat（112）With the second fixing seat（113）Lower section sliding block along track （111）It is moved to suitable position, then can be put into production；

3）：During the work time, bottle cap is placed in feed tank first（6）In, bottle body is installed to tooling（52）Groove（53）In；

4）：Feed tank（6）In lid treatment device（61）In motor driven vibrator vibrated, allow bottle cap along helical orbit （612）To rollway（62）Direction is mobile, when bottle cap reaches rollway（62）Entrance when, rollway（62）Upper infrared sensor （621）Detect rollway（52）On whether have bottle cap, if so, so position-limit mechanism（613）Bottle cap will be prevented to pass through, if inspection The rollway as the result is shown surveyed（62）Upper no bottle cap, then control device（4）By order position-limit mechanism（613）It opens, allows bottle Lid is passed through into rollway（62）；

6）：When bottle cap is run to rollway（62）When bottle cap testing agency（7）The direction of bottle cap is detected, when it finds bottle Lid towards it is incorrect when, control device（4）By order first mechanical arm（2）On manipulator（212）It starts to work, first passes through bottle Lid position detecting mechanism（211）The position of bottle cap is detected, then manipulator（212）Bottle cap is grabbed to material return mechanism （8）；

7）：If the bottle cap direction detected in previous step is met the requirements, control device（4）By order first mechanical arm （2）It starts to work, control device（4）By order first mechanical arm（2）On manipulator（212）It starts to work, first passes through bottle cap Position detecting mechanism（201）The position of bottle cap is detected, according to the bottle cap position of detection, control device（4）Order is mechanical Hand（212）Crawl bottle cap is removed, in manipulator（212）During crawl, position of bottleneck testing agency（202）To the bottle on bottle body Mouth position is detected, control device（4）In data processing module, position of bottleneck testing agency（202）Detection to data Analyzed, analyze bottle outlet specific location, then control device（4）According to position of bottleneck testing agency（202）Detection Result command manipulator（212）The bottle cap of crawl is placed on bottleneck；

8）：Then control device（4）Order pressing plate drives cylinder to drive pressing plate（211）Bottle cap is pressed on bottleneck；

9）：Then transmission mechanism（5）In conveyer belt（51）The bottle body that completion upper cover is completed is transported to second mechanical arm（3） Station on；

10）：Control device first（4）Order tightening mechanism（31）On position detecting mechanism（301）To the bottle cap on bottle body into Row detection, then according to the result command gripper of detection（312）Bottle cap is caught, due to swivel mount（314）Positioned at gripper （312）Inside, and swivel mount（314）Lower part be equipped with inner groovy（316）, thus work as gripper（312）It grabs on bottle body Bottle cap when, the top of bottle cap will be stuck in swivel mount（314）Inner groovy（316）In；

11）：Then control device（4）The rotary drive motor of disc rotary will be driven to start to drive by drive control module order Dynamic disc rotary, drives gripper during disc rotary（312）And swivel mount（314）It rotates together, due to bottle cap Top is stuck in swivel mount（314）On inner groovy（316）In, thus in swivel mount（314）And gripper（312）The process of rotation In, lid will be tightened on bottleneck.