CN108821208A

CN108821208A - A kind of adjustable Intelligentized mechanical arm and its working method for bottle body sealing

Info

Publication number: CN108821208A
Application number: CN201810742535.4A
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 adjustable Intelligentized mechanical arms for bottle body sealing, including：Robot and control device, pedestal, column and mechanical arm are equipped in robot, column is set on pedestal, column is equipped with long rails, the connecting pin of mechanical arm and column is equipped with connection frame, connection frame is equipped with longitudinal sliding block far from the side of mechanical arm, and longitudinal sliding block is installed in long rails, and longitudinal sliding block is connect with longitudinal sliding block driving mechanism；Mechanical arm is equipped with disk far from one end of column, and disk is connect with disk driving mechanism, and the portion of disk is equipped with limit hole, and the side of limit hole is equipped with manipulator；Disk is equipped with position detecting device and position sensor, by the way that long rails are arranged on column in the present invention, mechanical arm is passed through into connection frame and longitudinal sliding block, the height of mechanical arm is adjusted, the setting in the lower limit hole of the disk, the stability of its crawl and installation is improved, the setting of position detecting device and position sensor improves the accuracy of bottle cap installation.

Description

A kind of adjustable Intelligentized mechanical arm and its working method for bottle body sealing

Technical field

The invention belongs to the field of manufacturing, in particular to it is a kind of for bottle body sealing adjustable Intelligentized mechanical arm and Its working method.

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.

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 for the adjustable of bottle body sealing Intelligentized mechanical arm, structure is simple, and design rationally, is readily produced, high degree of automation, reduces manual labor amount, improves Working efficiency, by mechanical arm by connection frame and longitudinal sliding block, allows longitudinal sliding block edge by the way that long rails are arranged on column Long rails move up and down, the height of mechanical arm is adjusted, it can be adjusted according to the actual conditions of production；

The setting of the lower part inner groovy of the disk increases its being bonded with bottle cap, allows the top of bottle cap to be stuck in inner groovy, energy It is enough that certain position-limiting action is played to it, the stability of its crawl and installation is improved, at the same time, for detecting bottleneck on disk The setting of the position detecting device of position and the position sensor for detecting bottle cap position, respectively to position locating for bottleneck and bottle cap It sets and is detected, greatly improve the accuracy of bottle cap installation, also effectively raise the precision and installation effect of its installation Rate, and then it is allowed to better meet the demand of enterprise's production.

Technical solution：To achieve the goals above, the present invention provides a kind of adjustable intelligences for bottle body sealing Mechanical arm, including：Robot and control device, pedestal, column and mechanical arm are equipped in the robot, and the column is set to base On seat, and the column is equipped with long rails, and the connecting pin of the mechanical arm and column is equipped with connection frame, and the connection frame is remote Side from mechanical arm is equipped with longitudinal sliding block, and the longitudinal sliding block is installed in long rails, and the longitudinal sliding block and longitudinal direction Slider-actuated mechanism connection；

The mechanical arm is equipped with disk far from one end of column, and the disk is connect with disk driving mechanism, and the disk Lower part is equipped with limit hole, and the outside of the limit hole is equipped with manipulator；And the disk is equipped with for detecting position of bottleneck The inside of position detecting device and position sensor for detecting bottle cap position, the manipulator is equipped with protrusion, the disk Movable connection is used with mechanical arm, and the depth of the limit hole is less than the height with bottle cap；

The mechanical arm, disk, manipulator, longitudinal sliding block driving mechanism and position detecting device and position sensor with control Device connection processed.

Heretofore described a kind of adjustable Intelligentized mechanical arm for bottle body sealing, by being arranged on column Long rails allow longitudinal sliding block to move up and down along long rails, to mechanical arm by mechanical arm by connection frame and longitudinal sliding block Height be adjusted, it can be adjusted according to the actual conditions of production；

The setting in the lower limit hole of the disk increases its being bonded with bottle cap, allows the top of bottle cap to be stuck in limit hole, energy It is enough that certain position-limiting action is played to it, the stability of its crawl and installation is improved, at the same time, for detecting bottleneck on disk The setting of the position detecting device of position and the position sensor for detecting bottle cap position, respectively to position locating for bottleneck and bottle cap It sets and is detected, greatly improve the accuracy of bottle cap installation, also effectively raise the precision and installation effect of its installation Rate, and then it is allowed to better meet the demand of enterprise's production.

Heretofore described pedestal is equipped with cross track, and the lower part of the column is equipped with fixing seat, under the fixing seat Side is equipped with the transverse slider connecting with cross track, and the transverse slider is connect with transverse slider driving mechanism, and the fixation Rotating disk is equipped in seat, the column makees rotation connection, the rotating disk and rotary disc driving mechanism by rotating disk and fixing seat Connection, the transverse slider driving mechanism and rotary disc driving mechanism are connect with control device.

The setting of the pedestal upper rail allows column lower part to connect by the transverse slider below fixing seat with cross track It connects, during transverse slider is moved along cross track, the lateral position of column is adjusted, to make the mechanical arm real The movement of existing lateral position, to effectively improve its range used；

Meanwhile in fixing seat rotating disk setting, allow mechanical arm to can be realized the rotation of angle, greatly improve it and set with other Standby fitness, and then it is allowed to better meet the demand of production.

Forearm and postbrachium are equipped in heretofore described mechanical arm, the forearm and postbrachium use telescopic connection, institute It states postbrachium to connect by connection frame with column, and the forearm and postbrachium junction are equipped with strengthening mechanism.

Forearm and postbrachium use telescopic connection in the upper arm, allow it can be according to the height of realization needed to upper arm Be adjusted, further increase its applicability, meanwhile, the setting of strengthening mechanism, greatly improve connected between two columns it is steady Safety that is qualitative and using.

It is equipped with one group of perforation, the forearm and postbrachium junction on heretofore described forearm and postbrachium and passes through flexible card Key passes through corresponding perforation on forearm and postbrachium, and, the both ends of the flexible card key are equipped with anti-skidding block piece, the anti-skidding block piece with Flexible card key both ends are detachably connected.

The forearm is connected with postbrachium using punched-type, flexible convenient for realizing between the two, meanwhile, the outside for card key of stretching Anti-skidding block piece is set, can effectively prevent flexible card key from falling off, to further increase the stability of its connection and use Safety provides guarantee to production.

Protective shell in heretofore described strengthening mechanism, the protective shell both ends are tapered, are set to forearm and postbrachium Junction, and the protective shell extends from the junction of the two to two sides, the protective shell and forearm and postbrachium are using detachable Formula connection, and, the inside of the protective shell is equipped with protective jacket, and the protective jacket is equipped with texture.

The protective shell both ends use the setting of taper, greatly improve the compactness of protective shell connected between component And supportive, the effect of its reinforcing, and the wherein setting of the protective jacket in protective shell are further increased, protective shell is effectively prevented Upper arm or lower arm are caused to wear, thus also play a very good protection to it while playing reinforcing to them, it is described The setting of texture can effectively prevent slippage problems on protective jacket, improve the compactness of connection.

The side of heretofore described column is equipped with feed tank, and the feed tank is equipped with lid treatment device and rollway, institute It states and is equipped with reason charging tray in lid treatment device, the lower section of the reason charging tray is equipped with vibrator, and helical orbit is equipped in the reason charging tray, The opening direction of the bottom of the helical orbit self-care charging tray towards reason charging tray is arranged in the shape of a spiral, the helical orbit and feed Platform communicates, and position-limit mechanism is equipped at the outlet end of the helical orbit and the feed inlet of rollway, and the rollway is equipped with For detecting the bottle cap testing agency in bottle cap direction and for detecting whether there is the infrared detector of bottle cap, and the spiral track Road, position-limit mechanism, bottle cap testing agency and infrared detector are connect with control device.

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；

Bottle cap testing agency detects the direction of bottle cap, once detection towards it is correct when, then pass through infrared detector The specific location of bottle cap is detected, then mechanical arm will grab bottle cap, and according to the position of the product of its detection by bottle cap It grabs on corresponding bottle body, greatly improves the accuracy of manipulator crawl bottle cap, avoid the occurrence of the phenomenon that accidentally grabbing, play Certain energy-saving effect, so that the mechanical arm be allowed to realize energy conservation, efficient effect.

Material return mechanism is additionally provided on heretofore described feed tank, described material return mechanism one end passes through conveyer belt and feed tank Feed inlet connection, one end is connect with rollway, and the material return mechanism is connect with control device.

The direction of bottle cap detects in the bottle cap testing agency, if the direction of bottle cap as the result is shown of detection is not right, So bottle cap will be sent in material return mechanism by rollway by conveyer belt, and pass through the conveyer belt in recovering mechanism for recycling Bottle cap is sent into feed tank, avoids the occurrence of maloperation, is resulted in waste of resources.

The setting of the outlet end of the initial position and helical orbit of heretofore described rollway in the same horizontal line, and The outlet end of the helical orbit is equipped with inner groovy, and the rollway is in outer gibbosity close to the side of helical orbit, and its is close The end of helical orbit is oblique, and the feed inlet of the material return mechanism is in outer gibbosity, is located at material return mechanism on the rollway Side be equipped with inner groovy, and the rollway and helical orbit and material return mechanism match.

The concavo-convex cooperation of the rollway and material return mechanism and helical orbit, can effectively ensure that on helical orbit Bottle cap can smoothly enter into rollway, also can smoothly be sent to material return mechanism towards underproof bottle cap on rollway In, so that it be allowed to better meet the demand of production.

On heretofore described feed tank positioned at rollway side be equipped with feeding orbit, the rollway by sliding block with Feeding orbit connection, the sliding block are connect with slider-actuated mechanism, and the slider-actuated mechanism is connect with control device, and described Rollway is equipped with groove, is equipped with conveyer belt in the groove.

It can be adjusted according to height of the actual demand to rollway for the setting of feeding orbit on the feed tank It is whole, and the setting of rollway upper groove, guarantee bottle cap can normal movement while, be also convenient for the bottle cap for entering rollway It is limited, it is avoided to slide in moving process.

A kind of working method of heretofore described adjustable Intelligentized mechanical arm for bottle body sealing, this is used for bottle The adjustable specific working method of Intelligentized mechanical arm of body sealing is as follows：

1）：Efficient mechanical arm is assembled first, i.e., is first passed through forearm and postbrachium on forearm and postbrachium by flexible card key Corresponding perforation is attached, and then installs anti-skidding block piece at the both ends of flexible card key, then set in the junction of forearm and postbrachium Strengthening mechanism is set, so far mechanical arm is installed；

2）：Then column makees rotation connection by rotating disk and fixing seat, and fixing seat is connect by transverse slider with cross track； Mechanical arm and connection frame are installed again, i.e., longitudinal sliding block is fixedly connected with connection frame, longitudinal sliding block is then installed to longitudinal direction In track, and longitudinal sliding block is connect with longitudinal sliding block driving mechanism；At the same time, feed tank is assembled, then by group The feed tank installed is installed to the inside of column, it is allowed to match with forearm；

3）：Position detecting device, position sensor, bottle cap testing agency and infrared detector are installed to corresponding position again It sets, then control circuit is attached, can come into operation；

4）：During the work time, bottle cap is placed in feed tank first；

5）：Motor driven vibrator in feed tank is vibrated, and bottle cap is allowed to move along helical orbit to rollway direction, when When bottle cap is run to the feed inlet of rollway, whether there is bottle cap on infrared sensor detection rollway, if detection rollway On have bottle cap, then bottle cap will to motionless in situ, when its detection structure is displayed without bottle cap, control device will order limit Mechanism opening allows bottle cap to can smoothly enter into rollway, and enters in the groove on rollway, is driven by the conveyer belt below groove Bottle cap is moved to the designated position of rollway；

6）：Then bottle cap testing agency to bottle cap direction detect, when its find bottle cap towards it is incorrect when, control device Bottle cap is delivered on material return mechanism by order conveyer belt, bottle cap is sent to the feed inlet of feed tank by conveyer belt, if The bottle cap of detection is towards meeting the requirements, then control device starts to work order mechanical arm；

7）：Control device command position sensor detects the position of bottle cap first, then according to detection as a result, order Manipulator grabs the bottle cap on rollway, and the top of bottle cap is stuck in the limit hole of disk；

8）：Then the knot that command position detection device is detected to the position of bottleneck on bottle body, and will test by control device Fruit sends control device to, and then the data processing module in control device, analyzes data, analyze bottle outlet tool Body position；

10）：To after control device obtains the specific location of bottleneck, drive manipulator that will walk by mechanical arm in previous step Rapid 7）In on the bottle cap to corresponding bottleneck that grabs；

11）：Then disc rotary is driven by disk driving mechanism, during disk and manipulator rotate simultaneously, to bottle Lid is tightened；

12）：In above-mentioned steps 4）To 11）In, its lateral position can be adjusted according to the actual needs of robot, be allowed vertical The fixing seat of the lower part of column is moved to suitable position along cross track, and column carries out direction by the rotating disk in fixing seat Adjustment；

13）：Meanwhile the length and height of mechanical arm can also be adjusted according to the actual needs, the length of mechanical arm is logical It crosses that forearm and postbrachium junction stretch and adjustment can be realized；

The height of mechanical arm adjusts, i.e., drives longitudinal sliding block to move up and down along long rails by longitudinal sliding block driving mechanism, Due to allowing mechanical arm to connect by connection frame with longitudinal sliding block, thus during longitudinal sliding block moves up and down, drive together Mechanical arm is mobile, to realize the height adjustment of mechanical arm；

14）：At the same time, rollway during the work time, is moved up and down by sliding block along feeding orbit, to the position of rollway It sets and is adjusted.

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

1, heretofore described a kind of adjustable Intelligentized mechanical arm for bottle body sealing, it is vertical by being arranged on column Longitudinal sliding block is allowed to move up and down along long rails, to mechanical arm to track by mechanical arm by connection frame and longitudinal sliding block Height is adjusted, it can be adjusted according to the actual conditions of production；

2, heretofore described pedestal is equipped with cross track, and the lower part of the column is equipped with fixing seat, the fixing seat Lower section is equipped with the transverse slider connecting with cross track；The setting of the pedestal upper rail, allows column lower part to pass through under fixing seat The transverse slider of side is connect with cross track, during transverse slider is moved along cross track, the lateral position of column Set and be adjusted, thus allow the mechanical arm realize lateral position movement, to effectively improve its range used.

3, rotating disk is equipped in the fixing seat, the column makees rotation connection, the rotating disk by rotating disk and fixing seat It is connect with rotary disc driving mechanism, the transverse slider driving mechanism and rotary disc driving mechanism are connect with control device；Fixing seat The setting of middle rotating disk allows mechanical arm to can be realized the rotation of angle, greatly improves its fitness with other equipment, in turn It is allowed to better meet the demand of production.

4, forearm and postbrachium are equipped in heretofore described mechanical arm, the forearm and postbrachium use telescopic connection, The postbrachium is connect by connection frame with column, and the forearm and postbrachium junction are equipped with strengthening mechanism；

Forearm and postbrachium use telescopic connection in the upper arm, it can be needed to carry out the height of upper arm according to realization Adjustment, further increases its applicability, meanwhile, the setting of strengthening mechanism greatly improves the stability connected between two columns With the safety used.

5, one group of perforation, the forearm and postbrachium junction are equipped with by stretching on heretofore described forearm and postbrachium Card key passes through corresponding perforation on forearm and postbrachium, and, the both ends of the flexible card key are equipped with anti-skidding block piece, the anti-skidding block piece It is detachably connected with flexible card key both ends；

The forearm is connected with postbrachium using punched-type, flexible convenient for realizing between the two, meanwhile, the outside setting for card key of stretching Anti-skidding block piece can effectively prevent flexible card key from falling off, thus the safety for further increasing the stability of its connection and using Property, guarantee is provided to production.

7, protective shell in heretofore described strengthening mechanism, the protective shell both ends are tapered, are set to forearm and postbrachium Junction, and the protective shell from both junction extend to two sides, the inside of the protective shell is equipped with protective jacket, described Protective jacket is equipped with texture；

The protective shell both ends use the setting of taper, greatly improve the compactness connected between component and branch of protective shell Support property further increases the effect of its reinforcing, and the wherein setting of the protective jacket in protective shell, effectively prevents protective shell to upper Arm or lower arm cause to wear, thus also play a very good protection to it while playing reinforcing to them, the protection The setting for putting on texture can effectively prevent slippage problems, improve the compactness of connection.

8, the side of heretofore described column is equipped with feed tank, and bottle cap feed is allowed to realize integrated design with installation, from Entire mechanical arm is optimized in structure, saves equipment input cost, the problem of very good solution artificial loading, is improved Its feeding speed further increases its installation effectiveness, while also shortening the time of manipulator crawl bottle cap, to greatly mention The high time of entire installation, further it is allowed to meet the needs of client.

9, heretofore described rollway is equipped with the bottle cap testing agency for detecting bottle cap direction and for detecting The no infrared detector for having bottle cap, and the helical orbit, position-limit mechanism, bottle cap testing agency and infrared detector with Control device connection；

10, material return mechanism is additionally provided on heretofore described feed tank, described material return mechanism one end is by conveyer belt and supplies The feed inlet of hopper connects, and one end is connect with rollway, and the material return mechanism is connect with control device；

The direction of bottle cap detects in the bottle cap testing agency, if the direction of bottle cap as the result is shown of detection is not right, Bottle cap will be sent in material return mechanism by rollway by conveyer belt, and pass through the conveyer belt in recovering mechanism for the bottle cap of recycling It send into feed tank, avoids the occurrence of maloperation, result in waste of resources.

11, the setting of the outlet end of the initial position and helical orbit of heretofore described rollway is in same horizontal line On, and the outlet end of the helical orbit is equipped with inner groovy, the rollway is in outer gibbosity close to the side of helical orbit, described The feed inlet of material return mechanism is in outer gibbosity, and the side that material return mechanism is located on the rollway is equipped with inner groovy, and the feed Platform and helical orbit and material return mechanism match；

The concavo-convex cooperation of the rollway and material return mechanism and helical orbit, can effectively ensure that the bottle on helical orbit Lid can smoothly enter into rollway, also can smoothly be sent in material return mechanism on rollway towards underproof bottle cap, from And it is allowed to better meet the demand of production.

12, it is equipped with feeding orbit positioned at the side of rollway on heretofore described feed tank, the rollway passes through cunning Block is connect with feeding orbit, and the sliding block is connect with slider-actuated mechanism, and the slider-actuated mechanism is connect with control device, and The rollway is equipped with groove, is equipped with conveyer belt in the groove；

It can be adjusted according to height of the actual demand to rollway for the setting of feeding orbit on the feed tank, And the setting of rollway upper groove, guarantee bottle cap can normal movement while, be also convenient for enter rollway bottle cap into Row limit, avoids it from sliding in moving process.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the adjustable Intelligentized mechanical arm of the present invention for bottle body sealing；

Fig. 2 is the structural schematic diagram of feed tank in the present invention；

Fig. 3 is the connection schematic diagram of material return mechanism and rollway in the present invention；

Fig. 4 is the partial structural diagram of manipulator in the present invention；

In figure：Robot 1, control device 2,

Pedestal 11, column 12, mechanical arm 13,

Long rails 121,

Connection frame 131,

Longitudinal sliding block 3,

Disk 4,

Limit hole 41

Manipulator 42,

Position detecting device 43,

Protrusion 421,

Cross track 111,

Fixing seat 122,

Transverse slider 123

Rotating disk 124

Forearm 132,

Postbrachium 133,

Flexible card key 134,

Anti-skidding block piece 135,

Strengthening mechanism 5,

Protective shell 51,

Feed tank 6,

Lid treatment device 61,

Rollway 62,

Helical orbit 612,

Position-limit mechanism 613,

Bottle cap testing agency 621,

Infrared detector 622,

Material return mechanism 7,

Feeding orbit 63,

Conveyer belt 623.

Specific embodiment

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

Embodiment 1

A kind of adjustable Intelligentized mechanical arm for bottle body sealing as shown in the figure, including：Robot 1 and control device 2, institute It states and is equipped with pedestal 11, column 12 and mechanical arm 13 in robot 1, the column 12 is set on pedestal 11, and on the column 12 Equipped with long rails 121, the connecting pin of the mechanical arm 13 and column 2 is equipped with connection frame 131, and the connection frame 131 is far from machine The side of tool arm 13 is equipped with longitudinal sliding block 3, and the longitudinal sliding block 3 is installed in long rails 121, and the longitudinal sliding block 3 with The connection of longitudinal sliding block driving mechanism；

The mechanical arm 13 is equipped with disk 4 far from one end of column 12, and the disk 4 is connect with disk driving mechanism, and described The lower part of disk 4 is equipped with limit hole 41, and the outside of the limit hole 41 is equipped with manipulator 42, and the disk 4 is equipped with and is used for The position detecting device 43 and position sensor 44 for detecting bottle cap position for detecting position of bottleneck, the manipulator 42 it is interior Side is equipped with protrusion 421, and the disk 4 uses movable connection with mechanical arm 13, and the depth of the limit hole 41 is less than and bottle The height of lid, the mechanical arm 13, disk 4, manipulator 42, longitudinal sliding block driving mechanism and position detecting device 43 and position Sensor 44 is connect with control device 2.

Embodiment 2

Pedestal 11 described in the present embodiment is equipped with cross track 111, and the lower part of the column 12 is equipped with fixing seat 122, The transverse slider 123 connecting with cross track 111, the transverse slider 123 and transverse slider are equipped with below the fixing seat 122 Driving mechanism connection, and rotating disk 124 is equipped in the fixing seat 122, the column 12 passes through rotating disk 124 and fixing seat 122 make rotation connection, and the rotating disk 124 is connect with rotary disc driving mechanism, the transverse slider driving mechanism and turntable driving Mechanism is connect with control device 2.

Embodiment 3

Forearm 132 and postbrachium 133 are equipped in mechanical arm 13 described in the present embodiment, the forearm 132 and postbrachium 133 use Telescopic connection, the postbrachium 133 are connect by connection frame 131 with column 12, and the forearm 132 and postbrachium 133 connect Place is equipped with strengthening mechanism 5.

Embodiment 4

One group of perforation is equipped on forearm 132 described in the present embodiment and postbrachium 133, the forearm 132 and postbrachium 133 connect It meets place and corresponding perforation on forearm 132 and postbrachium 133 is passed through by flexible card key 134, and, the both ends of the flexible card key 134 Equipped with anti-skidding block piece 135, the anti-skidding block piece 135 is detachably connected with flexible 134 both ends of card key.

Embodiment 5

Protective shell 51 in strengthening mechanism 5 described in the present embodiment, 51 both ends of protective shell are tapered, are set to forearm 132 and postbrachium 133 junction, and the protective shell 51 from both junction extend to two sides, the protective shell 51 is with before Arm 132 and postbrachium 133 use detachable connection, and, the inside of the protective shell 51 is equipped with protective jacket, sets on the protective jacket It is textured.

Embodiment 6

The side of column 12 described in the present embodiment is equipped with feed tank 6, and the feed tank 6 is equipped with lid treatment device 61 and supplies Expect platform 62, reason charging tray 611 is equipped in the lid treatment device 61, the lower section of the reason charging tray 611 is equipped with vibrator, and the reason is expected Helical orbit 612 is equipped in disk 611；

The opening direction of the bottom of the 612 self-care charging tray 611 of helical orbit towards reason charging tray 611 is arranged in the shape of a spiral, described Helical orbit 612 is communicated with rollway 62, and limit is equipped at the feed inlet of the outlet end of the helical orbit 612 and rollway 62 Position mechanism 613；

The rollway 62 is equipped with the bottle cap testing agency 621 for detecting bottle cap direction and for detecting whether there is bottle cap Infrared detector 622, and the helical orbit 612, position-limit mechanism 613, bottle cap testing agency 621 and infrared detector 622 connect with control device 2.

Embodiment 7

Material return mechanism 7 is additionally provided on feed tank 6 described in the present embodiment, and the material return mechanism 7 and control device 2 connect It connects.

The setting of the outlet end of the initial position and helical orbit 612 of rollway 62 described in the present embodiment is in same level On line, and the outlet end of the helical orbit 612 is equipped with inner groovy, and the rollway 62 is in close to the side of helical orbit 612 Outer gibbosity, and it is oblique close to the end of helical orbit 612, the feed inlet of the material return mechanism 7 is in outer gibbosity, the confession Expect that the side for being located at material return mechanism 7 on platform 62 is equipped with inner groovy, and the rollway 62 and helical orbit 612 and material return mechanism 7 match.

Embodiment 8

The setting of the outlet end of the initial position and helical orbit 612 of rollway 62 described in the present embodiment is in same level On line, and the outlet end of the helical orbit 612 is equipped with inner groovy, and the rollway 62 is in close to the side of helical orbit 612 Outer gibbosity, and it is oblique close to the end of helical orbit 612, the feed inlet of the material return mechanism 7 is in outer gibbosity, and it is leaned on The side for being located at material return mechanism 7 on the nearly rollway 62 is equipped with inner groovy, and the rollway 62 and helical orbit 612 and Material return mechanism 7 matches.

Feeding orbit 63, the rollway 62 are equipped with positioned at the side of rollway 62 on feed tank 6 described in the present embodiment It is connect by sliding block with feeding orbit 63, the sliding block is connect with slider-actuated mechanism, and the slider-actuated mechanism and control fill 2 connections are set, and the rollway 62 is equipped with groove, is equipped with conveyer belt 623 in the groove.

Embodiment 9

A kind of working method of the adjustable Intelligentized mechanical arm for bottle body sealing described in the present embodiment, this is used for bottle body The adjustable specific working method of Intelligentized mechanical arm of sealing is as follows：

1）：Efficient mechanical arm is assembled first, i.e., forearm 132 and postbrachium 133 are first passed through into forearm by flexible card key 134 132 and postbrachium 133 on corresponding perforation be attached, anti-skidding block piece 135 then is installed at the both ends of flexible card key 134, then Strengthening mechanism 5 is arranged in the junction of forearm 132 and postbrachium 133, and so far mechanical arm 13 is installed；

2）：Then column 12 makees rotation connection by rotating disk 124 and fixing seat 122, and fixing seat 122 passes through transverse slider 123 It is connect with cross track 111；Mechanical arm 13 and connection frame 131 are installed again, i.e., by longitudinal sliding block 3 and the fixed company of connection frame 131 It connects, then longitudinal sliding block 3 is installed in long rails 121, and longitudinal sliding block 3 is connect with longitudinal sliding block driving mechanism；With This simultaneously assembles feed tank 6, then the feed tank 6 being completed is installed to the inside of column 11, allows itself and forearm 132 match；

3）：Position detecting device 43, bottle cap testing agency 7 and position sensor 44 are installed to corresponding position again, then to control Circuit processed is attached, and can be come into operation；

4）：During the work time, bottle cap is placed in feed tank 6 first；

5）：Motor driven vibrator in feed tank 6 is vibrated, and allows bottle cap along helical orbit 612 to 62 direction of rollway It is mobile；

When bottle cap is run to the feed inlet of rollway 62, position sensor 44 detects on rollway 62 whether have bottle cap；

If having bottle cap on detection rollway 62, bottle cap will be to motionless in situ, when its detection structure is displayed without bottle cap When, control device 2 opens order position-limit mechanism 613, allows bottle cap to can smoothly enter into rollway 62, and enter recessed on rollway 62 In slot, the designated position of rollway 62 is moved to by the drive bottle cap of conveyer belt 623 below groove；

6）：Then bottle cap testing agency 7 to bottle cap direction detect, when its find bottle cap towards it is incorrect when, control dress It sets 2 and bottle cap is delivered to material return mechanism 7 by order conveyer belt 623, if the bottle cap of detection is towards meeting the requirements, control is filled It sets 2 order mechanical arm 13 is started to work；

7）：2 command position sensor 44 of control device first detects the position of bottle cap, then according to detection as a result, Order manipulator 42 grabs the bottle cap on rollway 62, and the top of bottle cap is stuck in the limit hole 41 of disk 4；

8）：Then control device 2 detects command position detection device 43 to the position of bottleneck on bottle body, and will test As a result control device 2 is sent to, then the data processing module in control device 2, analyzes data, analyzes to obtain bottle outlet Specific location；

9）：To after control device 2 obtains the specific location of bottleneck, drive manipulator 42 by mechanical arm 13 in previous step It will be on the bottle cap that grabbed in step 7 to corresponding bottleneck；

10）：Then disk 4 is driven to rotate by disk driving mechanism, during disk 4 and manipulator 42 rotate simultaneously, Bottle cap is tightened；

11）：In above-mentioned steps 4 to 11, its lateral position can be adjusted according to the actual needs of robot, allow column The fixing seat 122 of 12 lower part is moved to suitable position along cross track 111, and column 12 passes through the rotation in fixing seat 122 Turntable 124 carries out direction adjustment；

12）：Meanwhile the length and height of mechanical arm 13 can also be adjusted according to the actual needs, the length of mechanical arm 13 Adjustment can be realized by stretch to forearm 132 and 133 junction of postbrachium in degree；

The height of mechanical arm 13 adjusts, i.e., drives longitudinal sliding block 3 along about 121 long rails by longitudinal sliding block driving mechanism It is mobile, due to allowing mechanical arm 13 to pass through the process that connection frame 131 connect with longitudinal sliding block 3, thus moves up and down in longitudinal sliding block 3 In, drive mechanical arm 13 mobile together, to realize the height adjustment of mechanical arm 13；

13）：At the same time, rollway 62 during the work time, is moved up and down by sliding block along feeding orbit 63, to rollway 62 position is adjusted.

Embodiment 10

The position detecting device 43 uses infrared position sensor.

The bottle cap testing agency 621 uses industrial camera, is shot by industrial camera to bottle cap, then passes through bat The image taken the photograph judges the direction of its bottle cap.

Mechanical arm control module, feed control module, detection control mould are equipped in control device 2 described in the present embodiment It is longitudinal to be equipped with mechanical arm lateral position regulation unit, mechanical arm in the mechanical arm control module for block and controller module Position regulation unit, angular adjustment control unit, mechanical arm control unit, disk drive control unit and manipulator control Unit, mechanical arm lateral position regulation unit are connect with transverse slider driving mechanism, the mechanical arm lengthwise position Regulation unit is connect with longitudinal sliding block driving mechanism, and the angular adjustment control unit is connect with rotary disk drive mechanism, The mechanical arm control unit is connect with mechanical arm 13, and the disk drive control unit is connect with disk driving mechanism, described Manipulator control unit is connect with manipulator 42；

Riko cover control unit, rollway control unit, limit control unit and conveyer belt control are equipped in the feed control module Unit processed, the riko cover control unit are connect with lid treatment device 61 and rollway 62 respectively, and in the rollway control unit It is additionally provided with rollway height adjustment control module, the limit control unit is connect with position-limit mechanism 613, the rollway height It adjusts control module and is connect with the slider-actuated mechanism for driving sliding block mobile, the transmission tape control unit and conveyer belt 623 connect It connects；

Position of bottleneck detection control unit, position sensor control unit, bottle cap direction inspection are equipped in the detection control module It surveys control unit and bottle cap detection control unit, the position of bottleneck detection control unit is connect with position detecting device 43, institute Rheme is set sensor control unit and is connect with position sensor 44, and the bottle cap is towards detection control unit and bottle cap testing agency 621 connections, the position detecting device 43 are connect with infrared detector 622；

The mechanical arm control module, feed control module, detection control module are connect with controller module.

A kind of working method of the adjustable Intelligentized mechanical arm for bottle body sealing described in the present embodiment, this is used for The adjustable specific working method of Intelligentized mechanical arm of bottle body sealing is as follows：

4）：During the work time, bottle cap is placed in feed tank 6 first；

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 adjustable Intelligentized mechanical arm for bottle body sealing, it is characterised in that：Including：Robot（1）It is filled with control It sets（2）, the robot（1）In be equipped with pedestal（11）, column（12）And mechanical arm（13）, the column（12）Set on pedestal （11）On, and the column（12）It is equipped with long rails（121）, the mechanical arm（13）With column（2）Connecting pin be equipped with Connection frame（131）, the connection frame（131）Far from mechanical arm（13）Side be equipped with longitudinal sliding block（3）, the longitudinal sliding block （3）It is installed on long rails（121）In, and the longitudinal sliding block（3）It is connect with longitudinal sliding block driving mechanism；

The mechanical arm（13）Far from column（12）One end be equipped with disk（4）, the disk（4）Connect with disk driving mechanism It connects, and the disk（4）Lower part be equipped with limit hole（41）, the limit hole（41）Outside be equipped with manipulator（42）, and institute State disk（4）It is equipped with the position detecting device for detecting position of bottleneck（43）With the position sensing for detecting bottle cap position Device（44）, the manipulator（42）Inside be equipped with protrusion（421）, the disk（4）With mechanical arm（13）Using movable company It connects, and the limit hole（41）Depth be less than height with bottle cap, the mechanical arm（13）, disk（4）, manipulator（42）, Longitudinal sliding block driving mechanism and position detecting device（43）And position sensor（44）And control device（2）Connection.

2. the adjustable Intelligentized mechanical arm according to claim 1 for bottle body sealing, it is characterised in that：The pedestal （11）It is equipped with cross track（111）, the column（12）Lower part be equipped with fixing seat（122）, the fixing seat（122）Lower section It is equipped with and cross track（111）The transverse slider of connection（123）, the transverse slider（123）Connect with transverse slider driving mechanism It connects, and the fixing seat（122）In be equipped with rotating disk（124）, the column（12）Pass through rotating disk（124）With fixing seat （122）Make rotation connection, the rotating disk（124）It is connect with rotary disc driving mechanism, the transverse slider driving mechanism and turntable Driving mechanism is and control device（2）Connection.

3. the adjustable Intelligentized mechanical arm according to claim 1 for bottle body sealing, it is characterised in that：The machinery Arm（13）In be equipped with forearm（132）And postbrachium（133）, the forearm（132）And postbrachium（133）Using telescopic connection, institute State postbrachium（133）Pass through connection frame（131）With column（12）Connection, and the forearm（132）And postbrachium（133）Junction is equipped with Strengthening mechanism（5）.

4. the adjustable Intelligentized mechanical arm according to claim 3 for bottle body sealing, it is characterised in that：The forearm （132）And postbrachium（133）On be equipped with one group of perforation, the forearm（132）And postbrachium（133）Junction passes through card key of stretching （134）Across forearm（132）And postbrachium（133）Upper corresponding perforation, and, the flexible card key（134）Both ends be equipped with it is anti-skidding Block piece（135）, the anti-skidding block piece（135）With flexible card key（134）Both ends are detachably connected.

5. the adjustable Intelligentized mechanical arm according to claim 3 for bottle body sealing, it is characterised in that：The reinforcing Mechanism（5）Middle protective shell（51）, the protective shell（51）Both ends are tapered, are set to forearm（132）And postbrachium（133）Connection Place, and the protective shell（51）Extend from the junction of the two to two sides, the protective shell（51）With forearm（132）And postbrachium （133）Using detachable connection, and, the protective shell（51）Inside be equipped with protective jacket, the protective jacket be equipped with texture.

6. the adjustable Intelligentized mechanical arm according to claim 1 for bottle body sealing, it is characterised in that：The column （12）Side be equipped with feed tank（6）, the feed tank（6）It is equipped with lid treatment device（61）And rollway（62）, the riko cover Device（61）In be equipped with reason charging tray（611）, the reason charging tray（611）Lower section be equipped with vibrator, and the reason charging tray（611）It is interior Equipped with helical orbit（612）, the helical orbit（612）Self-care charging tray（611）Bottom towards reason charging tray（611）Opening side To being arranged in the shape of a spiral, the helical orbit（612）With rollway（62）It communicates, and the helical orbit（612）Outlet end With rollway（62）Feed inlet at be equipped with position-limit mechanism（613）, the rollway（62）It is equipped with for detecting bottle cap direction Bottle cap testing agency（621）With for detecting whether there is the infrared detector of bottle cap（622）, and the helical orbit （612）, position-limit mechanism（613）, bottle cap testing agency（621）And infrared detector（622）And control device（2）Connection.

7. the adjustable Intelligentized mechanical arm according to claim 6 for bottle body sealing, it is characterised in that：The feed Case（6）On be additionally provided with material return mechanism（7）, and the material return mechanism（7）With control device（2）Connection.

8. the adjustable Intelligentized mechanical arm according to claim 7 for bottle body sealing, it is characterised in that：The spiral Track（612）Outlet end be equipped with inner groovy, the rollway（62）Close to helical orbit（612）Side be in outer gibbosity, and It is close to helical orbit（612）End it is oblique, the material return mechanism（7）Feed inlet be in outer gibbosity, the rollway （62）It is upper to be located at material return mechanism（7）Side be equipped with inner groovy, and the rollway（62）And helical orbit（612）And feed back Mechanism（7）It cooperates.

9. the adjustable Intelligentized mechanical arm according to claim 8 for bottle body sealing, it is characterised in that：The feed Case（6）It is upper to be located at rollway（62）Side be equipped with feeding orbit（63）, the rollway（62）Pass through sliding block and feeding orbit （63）Connection, the sliding block are connect with slider-actuated mechanism, the slider-actuated mechanism and control device（2）Connection, and it is described Rollway（62）It is equipped with groove, is equipped with conveyer belt in the groove（623）.

10. a kind of work of adjustable Intelligentized mechanical arm for bottle body sealing according to any one of claims 1 to 9 Method, it is characterised in that：The adjustable specific working method of Intelligentized mechanical arm for being used for bottle body sealing is as follows：

1）：Efficient mechanical arm is assembled first, i.e., first by forearm（132）And postbrachium（133）Pass through card key of stretching（134）It wears Cross forearm（132）And postbrachium（133）Upper corresponding perforation is attached, then in flexible card key（134）Both ends installation it is anti-skidding Block piece（135）, then in forearm（132）And postbrachium（133）Junction be arranged strengthening mechanism（5）, so far mechanical arm（13）Installation It completes；

2）：Then column（12）Pass through rotating disk（124）With fixing seat（122）Make rotation connection, fixing seat（122）Pass through transverse direction Sliding block（123）With cross track（111）Connection；Again to mechanical arm（13）And connection frame（131）Installation, i.e., by longitudinal sliding block（3） With connection frame（131）It is fixedly connected, then by longitudinal sliding block（3）It is installed to long rails（121）In, and by longitudinal sliding block（3） It is connect with longitudinal sliding block driving mechanism；At the same time, to feed tank（6）It is assembled, the feed tank that then will be completed（6） It is installed to column（11）Inside, allow itself and forearm（132）It matches；

3）：Again position detecting device（43）, position sensor（44）, bottle cap testing agency（7）And infrared detector（622） It is installed to corresponding position, then control circuit is attached, can be come into operation；

4）：During the work time, bottle cap is placed in feed tank first（6）In；

5）：Feed tank（6）In motor driven vibrator vibrated, allow bottle cap along helical orbit（612）To rollway （62）Direction is mobile, when bottle cap is run to rollway（62）Feed inlet when, infrared detector（44）Detect rollway（62） On whether have bottle cap, if detection rollway（62）On have bottle cap, then bottle cap will be to motionless in situ, when its detection structure is aobvious Show when there is no bottle cap, control device（2）By order position-limit mechanism（613）It opens, bottle cap is allowed to can smoothly enter into rollway（62）, go forward side by side Enter rollway（62）On groove in, pass through the conveyer belt below groove（623）Bottle cap is driven to be moved to rollway（62）Finger Positioning is set；

6）：Then bottle cap testing agency（7）To bottle cap direction detect, when its find bottle cap towards it is incorrect when, control Device（2）By order conveyer belt（623）Bottle cap is delivered to material return mechanism（7）On, bottle cap is sent to by feed by conveyer belt Case（6）Feed inlet, if the bottle cap of detection towards meeting the requirements, control device（2）By order mechanical arm（13）Start Work；

7）：Control device first（2）Command position sensor（44）The position of bottle cap is detected, then according to the knot of detection Fruit, order manipulator（42）Grab rollway（62）On bottle cap, the top of bottle cap is stuck in disk（4）Limit hole（41）In；

8）：Then control device（2）By command position detection device（43）Position of bottleneck on bottle body is detected, and will inspection The result of survey sends control device to（2）, then control device（2）In data processing module, data are analyzed, analyze Obtain the specific location of bottle outlet；

10）：To in previous step, control device（2）After the specific location for obtaining bottleneck, pass through mechanical arm（13）It drives mechanical Hand（42）By step 7）In on the bottle cap to corresponding bottleneck that grabs；

11）：Then disk is driven by disk driving mechanism（4）Rotation, in disk（4）And manipulator（42）The mistake of rotation simultaneously Cheng Zhong tightens bottle cap；

12）：In above-mentioned steps 4）To 11）In, its lateral position can be adjusted according to the actual needs of robot, be allowed vertical Column（12）Lower part fixing seat（122）Along cross track（111）It is moved to suitable position, and column（12）Pass through fixing seat （122）In rotating disk（124）Carry out direction adjustment；

13）：Meanwhile mechanical arm（13）Length and height can also be adjusted according to the actual needs, mechanical arm（13） Length pass through to forearm（132）And postbrachium（133）Junction, which stretch, can be realized adjustment；

Mechanical arm（13）Height adjustment, i.e., by longitudinal sliding block driving mechanism drive longitudinal sliding block（3）Along long rails （121）It moves up and down, due to allowing mechanical arm（13）Pass through connection frame（131）With longitudinal sliding block（3）Connection, thus in longitudinal sliding block （3）During moving up and down, mechanical arm is driven together（13）It is mobile, to realize mechanical arm（13）Height adjustment；

14）：At the same time, rollway（62）During the work time, by sliding block along feeding orbit

（63）It moves up and down, to rollway（62）Position be adjusted.