CN109110704A

CN109110704A - A kind of Efficient intelligent bottle cap installation mechanical arm and its working method

Info

Publication number: CN109110704A
Application number: CN201810742533.5A
Authority: CN
Inventors: 薛敏强
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-07-09
Filing date: 2018-07-09
Publication date: 2019-01-01

Abstract

The invention discloses a kind of Efficient intelligent bottle caps to install mechanical arm, comprising: pedestal, first mechanical arm, second mechanical arm and control device；Pedestal is equipped with the first column and the second column, workbench is equipped between the first column and the second column, first mechanical arm and second mechanical arm are respectively arranged on the first column and the second column；Pedestal is equipped with track, and the first column and the second column are set to track both ends relatively, and fixing seat is equipped with below the first column and the second column, sliding block is equipped with below fixing seat, sliding block is set in track；The end of first mechanical arm is equipped with cap sheathing mechanism, and second mechanical arm is equipped with manipulator, and cap sheathing mechanism is equipped with bottle cap position detecting mechanism and position of bottleneck testing agency, and manipulator is equipped with position detecting mechanism；The first mechanical arm and second mechanical arm are relatively arranged on workbench two sides, and first mechanical arm improves bottle cap mounting stability, improve installation effectiveness for grabbing and installing bottle cap, second mechanical arm for fixing bottle body.

Description

A kind of Efficient intelligent bottle cap installation mechanical arm and its working method

Technical field

The invention belongs to mechanical arm manufacture field, in particular to a kind of Efficient intelligent bottle cap installation mechanical arm and its work 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 current many enterprises all realize transition continuous, gradually make the transition from traditional Processing Firm science and technology-oriented The transition of enterprise, enterprise 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 generation with regard to some automation equipments of fasciation；

However current bottle cap installation equipment its be all that large-scale slave product is filled to the integrated large size of bottleneck capping and sets mostly It is standby, 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 be tight The subsequent development of influence enterprise of weight.

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 first mechanical arm and second mechanical arm are relatively arranged on the two sides of workbench, and first mechanical arm is for grabbing and installing Bottle cap, second mechanical arm is for fixing bottle body, and when the cap sheathing mechanism in first mechanical arm installs bottle cap, second is mechanical Bottle body is fixed in arm, avoid installation bottle cap during bottle body and then rotate together either bottle body be subjected to displacement, to mention The high stability of bottle cap installation, also further increases the quality and installation effectiveness of its installation.

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 fixing bottle body and control device；

The pedestal is equipped with the first column and the second column, and workbench, institute are equipped between first column and the second column It states first mechanical arm and second mechanical arm is respectively arranged on the first column and the second column；

The pedestal is equipped with track, first column and the opposite both ends for being set to track of the second column, and described first is vertical It is equipped with fixing seat below column and the second column, sliding block is equipped with below the fixing seat, the sliding block is set in track, and described Sliding block is connect with slider-actuated mechanism；

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 solid Determine the manipulator of bottle body, the cap sheathing mechanism is equipped with bottle cap position detecting mechanism and position of bottleneck testing agency, the machinery It is equipped with the position detecting mechanism for detecting bottle body position on hand；

The first mechanical arm, second mechanical arm, cap sheathing mechanism, manipulator and bottle cap position detecting mechanism, position of bottleneck inspection It surveys mechanism and position detecting mechanism is connect with control device.

A kind of heretofore described Efficient intelligent bottle cap installs mechanical arm, by the way that the is arranged on the same pedestal One column and the second column, and first mechanical arm and second mechanical arm, institute are provided on the first column and the second column respectively Stating the opposite both ends for being set to track of the first column and the second column allows it that can realize that position adjusts in orbit, to drive the One mechanical arm and second mechanical arm realize that position is adjusted, and it is more convenient to provide to production；

And the first mechanical arm and second mechanical arm are relatively arranged on the two sides of workbench, and first mechanical arm for grabbing, And bottle cap is installed, and second mechanical arm is for fixing bottle body, when the cap sheathing mechanism in first mechanical arm installs bottle cap, the Bottle body is fixed in two mechanical arms, avoid installation bottle cap during bottle body and then rotate together either bottle body be subjected to displacement, To improve the stability of bottle cap installation, the quality and installation effectiveness of its installation are also further increased.

It is further in the present invention:

Upper cover manipulator is equipped in the cap sheathing mechanism, the upper cover manipulator is connect by fixed pedestal with first mechanical arm, The rotary drive mechanism for driving upper cover manipulator to rotate is equipped in the fixed pedestal, the upper cover manipulator and rotation are driven The connection of motivation structure, the lower section of the upper cover manipulator is equipped with disk, and the lower section of the disk is equipped with inner groovy, the inner groovy Matched with bottle cap, the fixed pedestal be equipped with press mechanism, and the rotary drive mechanism and press mechanism with control Device connection.It can be more bonded with what bottle cap cooperated for the setting of inner groovy below the disk, meanwhile, press mechanism Setting, when bottle cap is placed to bottleneck, press mechanism pushes bottle cap, allow at the top of bottle cap be stuck in it is interior below disk In groove, the compactness of bottle cap and bottleneck is improved, prevents bottle cap not to be bonded with bottleneck, is then tightened again, it is effective to improve Its quality installed.

It is further in the present invention:

Motor is equipped in the rotary drive mechanism, the motor is equipped with frequency converter, and the motor passes through connecting shaft and upper cover Manipulator connection.The setting of the frequency converter allows it can be according to the rotation of actual demand motor

It is further in the present invention:

The inside of the manipulator is in arc-shaped, and surface is equipped with protective pad, and the protective pad uses elastic protective cushion, and described Protective pad is equipped with texture.The setting of protective pad effectively can prevent manipulator from causing to damage to bottle body, effectively slow down machine Friction between tool hand and bottle body also all plays a very good protection to bottle body to manipulator itself.

It is further in the present invention:

Be equipped with rotating mechanism in the fixing seat, first column and the second column by rotating mechanism respectively with it is corresponding solid Reservation connection, the setting of rotating mechanism, allow the first column and the second column can according to the actual needs of production to its angle into Row adjustment, to further increase its applicability.

It is further in the present invention:

First column is equipped with feed tank, is equipped with lid treatment device and rollway, the lid treatment device in the feed tank In be equipped with reason charging tray, the lower section of the reason charging tray is equipped with vibrator, and equipped with helical orbit in the reason charging tray, the spiral track The opening direction of the bottom of road self-care charging tray towards reason charging tray is arranged in the shape of a spiral, and the helical orbit is communicated with rollway, institute State rollway be equipped with whether have bottle cap for detecting rollway infrared sensor, and the outlet end of the helical orbit with Position-limit mechanism is equipped at the feed inlet of rollway, the feed tank, infrared sensor and position-limit mechanism are and control device Connection.

The setting of feed tank on first column allows bottle cap feed to realize integrated design with installation, 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 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.

It is further in the present invention:

The rollway is equipped with for detecting the bottle cap in bottle cap direction towards testing agency and recovering mechanism, and the rollway It is equipped with groove, is equipped with conveyer belt in groove, the bottle cap is connect with control device towards testing agency and recovering mechanism.

The bottle cap towards testing agency to bottle cap direction detect, once detection towards it is correct when, machine Tool arm will grab bottle cap, and be grabbed bottle cap on corresponding bottle body according to the position of the product of its detection, then be installed, If the direction of bottle cap as the result is shown of detection is not right, bottle cap will be sent to recovering mechanism by transport mechanism by rollway In, maloperation is avoided the occurrence of, is resulted in waste of resources；

Meanwhile rollway is equipped with groove, is equipped with conveyer belt in groove, convenient for limiting to bottle cap, it is avoided to enter confession Expect to slide when platform.

It is further in the present invention:

Long rails and longitudinal sliding block are equipped on first column and the second column, the longitudinal sliding block is set to long rails In, and the longitudinal sliding block is connect with slider-actuated mechanism, and the first mechanical arm and second mechanical arm pass through fixed plate and the Longitudinal sliding block connection on one column in long rails, the second mechanical arm by fixed plate respectively with it is longitudinal on the second column Longitudinal sliding block connection in track.The setting of long rails and longitudinal sliding block on first column and the second column, allows first Mechanical arm and second mechanical arm realize the adjustment of vertical direction, only with its different adjustable extent, it are allowed to better meet production Demand greatly improves its applicability.

It is further in the present invention:

Forearm and postbrachium are equipped in the first mechanical arm and second mechanical arm, the postbrachium is connect with fixed plate, after described Nearby one end of arm is connected with forearm using scalability arm rest, and the junction of the forearm and postbrachium is equipped with strengthening mechanism, Protective shell is equipped in the strengthening mechanism, the protective shell is set to the junction of forearm and postbrachium, and the both ends of the protective shell are in It is skewed, 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, and on protective jacket texture setting, further increase the stability of its connection, rise To good antiskid effect.

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

1): bottle cap installation mechanical arm being assembled first, that is, the first column and the second column are installed to the rail of pedestal Road；

Then first mechanical arm and second mechanical arm are respectively installed to the first column and by the longitudinal sliding block in fixed plate In long rails on two columns；

Cap sheathing mechanism and manipulator are respectively installed in first mechanical arm and second mechanical arm again, and by bottle cap position detection machine Structure and position of bottleneck testing agency are installed on cap sheathing mechanism, and position detecting mechanism is installed on manipulator；

2): and then feed tank is installed on the first column, and circuit of the entire bottle cap installation mechanical arm in is attached；

3): before bottle cap installation mechanical arm comes into operation, first mechanical arm and second mechanical arm being first adjusted to suitable position It sets；

The adjustment of the distance between two columns is carried out along the track on pedestal by the first column and the second column, then first Mechanical arm and second mechanical arm move the adjustment for realizing height by longitudinal sliding block along long rails；

Flexible adjustment is carried out by adjusting forearm and postbrachium junction again, first mechanical arm and second mechanical arm are adjusted to close Then suitable length can start to produce；

4): during the work time, bottle cap being placed in feed tank first；

5): the motor driven vibrator in feed tank is vibrated, and bottle cap is allowed to move along helical orbit to rollway direction；

When bottle cap is run to the feed inlet of rollway, whether there is bottle cap on infrared sensor detection rollway, if detection There is bottle cap on rollway, then position-limit mechanism closes, bottle cap will be to motionless in situ；

When its detection structure is displayed without bottle cap, control device opens order position-limit mechanism, and bottle cap is allowed to can smoothly enter into feed Platform, and enter in the groove on rollway, the designated position of rollway is moved to by the conveyer belt drive bottle cap below groove；

6): then bottle cap towards testing agency to bottle cap direction detect, when its find bottle cap towards it is incorrect when, control Bottle cap is delivered on recovering mechanism by device by order conveyer belt, and 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, control device starts to work order first mechanical arm；

7): control device order bottle cap position detecting mechanism detects the bottle cap position on rollway first, and according to inspection It is surveying as a result, bottle cap on upper cover manipulator crawl rollway in cap sheathing mechanism in order first mechanical arm；

It is detected further according to position of the position of bottleneck testing agency to bottleneck on bottle body, the upper cover for then having grabbed bottle cap is mechanical The bottle cap grabbed is placed on bottleneck by hand；

8) while middle first mechanical arm: in above-mentioned steps 7) works, second mechanical arm also works together, i.e. position detection machine Structure detects the position of bottle body, then according to detection the case where, control device order manipulator firmly grasps bottle body；

9): and then the pushing driving mechanism in order first mechanical arm is driven the press mechanism pair on fixed pedestal by control device Bottle cap pushes, and allows at the top of bottle cap in the inner groovy being stuck in below disk；

10): and then drive disk to start to rotate by rotary drive mechanism, in the process that disk and upper cover manipulator rotate simultaneously In, bottle cap is tightened；

11): in above-mentioned steps 7) into the course of work 10), rotating mechanism is passed through by the first column of rotation and the second column The angle of first column and the second column is adjusted；

12): at the same time, in the step course of work, additionally it is possible to which the frequency converter on rotary drive mechanism is to upper cover manipulator Screw capping speed is adjusted.

Above-mentioned technical proposal can be seen that the invention has the following beneficial effects:

1, a kind of heretofore described Efficient intelligent bottle cap installs mechanical arm, by being arranged first on the same pedestal Column and the second column, and first mechanical arm and second mechanical arm are provided on the first column and the second column respectively, it is described First column and the opposite both ends for being set to track of the second column allow it that can realize that position adjusts in orbit, to drive first Mechanical arm and second mechanical arm realize that position is adjusted, and it is more convenient to provide to production；

2, it can be more bonded with what bottle cap cooperated for the setting of heretofore described disk lower section inner groovy, meanwhile, The setting of press mechanism, when bottle cap is placed to bottleneck, press mechanism pushes bottle cap, allows at the top of bottle cap and is stuck in disk In the inner groovy of lower section, the compactness of bottle cap and bottleneck is improved, prevents bottle cap not to be bonded with bottleneck, is then tightened again, had The quality for improving its installation of effect.

First column is equipped with feed tank, is equipped with lid treatment device and rollway, the riko cover in the feed tank Reason charging tray is equipped in device, the lower section of the reason charging tray is equipped with vibrator, and helical orbit, the spiral shell are equipped in the reason charging tray The opening direction for revolving bottom towards the reason charging tray of track self-care charging tray is arranged in the shape of a spiral, the helical orbit and rollway phase Logical, the rollway is equipped with the infrared sensor for whether having bottle cap for detecting rollway, and the helical orbit goes out Be equipped with position-limit mechanism at the feed inlet of mouthful end and rollway, the feed tank, infrared sensor and position-limit mechanism with control Device connection processed.

3, on heretofore described first column feed tank setting, allow bottle cap feed with installation realize integrated design, It entire mechanical arm is optimized from structure, saves equipment input cost, the problem of very good solution artificial loading, mention Its high feeding speed, further increases its installation effectiveness, while also shortening the time of manipulator crawl bottle cap, thus greatly The time entirely installed is improved, further it is allowed to meet the needs of client；

Detailed description of the invention

Fig. 1 is the structural diagram of the present invention；

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

Fig. 3 is the partial schematic diagram of cap sheathing mechanism in the present invention；

Fig. 4 is the structural schematic diagram of cap sheathing mechanism upper cover manipulator in the present invention；

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

In figure: pedestal -1,

First mechanical arm -2,

Second mechanical arm -3,

Control device -4,

Workbench -5,

Track -6,

First column -11,

Second column -12,

Fixing seat -13,

Sliding block -14

Cap sheathing mechanism -21

Manipulator -31

Bottle cap position detecting mechanism -211, position of bottleneck testing agency -212,

Position detecting mechanism -311,

Upper cover manipulator -213

Fixed pedestal -22

Rotary drive mechanism -214

Disk -215

Inner groovy -216

Press mechanism -23

Protective pad -311

Rotating mechanism -131

Feed tank -7

Lid treatment device -71, rollway 72,

Reason charging tray -711,

Helical orbit -712,

Infrared sensor -721,

Position-limit mechanism -713,

Conveyer belt -722,

Bottle cap towards testing agency -8, recovering mechanism -9,

Long rails -111, longitudinal sliding block -112,

Fixed plate -13,

Forearm -24, postbrachium -25,

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 installs mechanical arm, comprising: pedestal 1, the first mechanical arm 2 for grabbing bottle cap, For fixing the second mechanical arm 3 and control device 4 of bottle body, the pedestal 1 is equipped with the first column 11 and the second column 12, institute It states and is equipped with workbench 5 between the first column 11 and the second column 12；

The first mechanical arm 2 and second mechanical arm 3 are respectively arranged on the first column 11 and the second column 12, the pedestal 1 It is equipped with track 6, first column 11 and the opposite both ends for being set to track 6 of the second column 12；

And fixing seat 13 is equipped with below first column 11 and the second column 12, sliding block is equipped with below the fixing seat 13 14, the sliding block 14 is set in track 6, and the sliding block 14 is connect with slider-actuated mechanism；

The end of the first mechanical arm 2 is equipped with the cap sheathing mechanism 21 for grabbing bottle cap, and the second mechanical arm 3, which is equipped with, to be used In the manipulator 31 of fixed bottle body；

The cap sheathing mechanism 21 is equipped with bottle cap position detecting mechanism 211 and position of bottleneck testing agency 212, the manipulator 31 It is equipped with the position detecting mechanism 311 for detecting bottle body position, the first mechanical arm 2, second mechanical arm 3, cap sheathing mechanism 21, manipulator 31 and bottle cap position detecting mechanism 211, position of bottleneck testing agency 212 and position detecting mechanism 311 with control Device 4 processed connects.

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.

Embodiment 2

Upper cover manipulator 213 is equipped in cap sheathing mechanism 21 described in the present embodiment, the upper cover manipulator 213 passes through fixation Pedestal 22 is connect with first mechanical arm 2, and the rotation for driving upper cover manipulator 213 to rotate is equipped in the fixed pedestal 22 and is driven Motivation structure 214, the upper cover manipulator 213 are connect with rotary drive mechanism 214；

The lower section of the upper cover manipulator 213 is equipped with disk 215, and the lower section of the disk 215 is equipped with inner groovy 216, described Inner groovy 216 is matched with bottle cap, and the fixed pedestal 22 is equipped with press mechanism 23, and 214 He of the rotary drive mechanism Press mechanism 23 is connect with control device 4.

Embodiment 3

Motor is equipped in rotary drive mechanism 214 described in the present embodiment, the motor is equipped with frequency converter, the motor It is connect by connecting shaft with upper cover manipulator 213.

Embodiment 4

The inside of manipulator 31 described in the present embodiment is in arc-shaped, and surface is equipped with protective pad 311, the protective pad 311 use elastic protective cushion, and the protective pad 311 is equipped with texture.

Embodiment 5

The setting of protective pad effectively can prevent manipulator from causing to damage to bottle body, effectively slow down manipulator and bottle body Between friction, also all play a very good protection to manipulator itself to bottle body.

Rotating mechanism 131 is equipped in fixing seat 13 described in the present embodiment, first column 11 and the second column 12 are logical Rotating mechanism 131 is crossed to connect with corresponding fixing seat 13 respectively.

Embodiment 6

First column 11 described in the present embodiment is equipped with feed tank 7, is equipped with 71 He of lid treatment device in the feed tank 7 Rollway 72, reason charging tray 711 is equipped in the lid treatment device 71, and the lower section of the reason charging tray 711 is equipped with vibrator, and the reason Helical orbit 712, the opening of the bottom direction reason charging tray 711 of the 712 self-care charging tray 711 of helical orbit are equipped in charging tray 711 Direction is arranged in the shape of a spiral, and the helical orbit 712 is communicated with rollway 72；

The rollway 72 is equipped with the infrared sensor 721 for whether having bottle cap for detecting rollway, and the spiral track Position-limit mechanism 713, the feed tank 7, infrared sensor are equipped at the outlet end in road 712 and the feed inlet of rollway 72 721 and position-limit mechanism 713 connect with control device 4.

Embodiment 7

A kind of Efficient intelligent bottle cap installation mechanical arm as shown in Fig. 1 to 5, comprising: pedestal 1, first for grabbing bottle cap Mechanical arm 2, the second mechanical arm 3 for fixing bottle body and control device 4, the pedestal 1 are equipped with the first column 11 and second Column 12 is equipped with workbench 5 between first column 11 and the second column 12；

Rollway 72 described in the present embodiment is equipped with the bottle cap for detecting bottle cap direction towards testing agency 8 and recycling Mechanism 9, and the rollway 72 is equipped with groove, conveyer belt 722 is equipped in groove, the bottle cap is towards testing agency 8 and returns Mechanism 9 is received to connect with control device 4.

Embodiment 8

Long rails 111 and longitudinal sliding block 112 are equipped on first column 11 described in the present embodiment and the second column 12, The longitudinal sliding block 112 is set in long rails 111；

And the longitudinal sliding block 112 is connect with slider-actuated mechanism, the first mechanical arm 2 and second mechanical arm 3 pass through fixation Plate 113 is connect with the longitudinal sliding block 112 in long rails 111 on the first column 11, and the second mechanical arm 3 passes through fixed plate 113 connect with the longitudinal sliding block 112 in long rails 111 on the second column 12 respectively.

Embodiment 9

Forearm 24 and postbrachium 25, the postbrachium are equipped in first mechanical arm 2 described in the present embodiment and second mechanical arm 3 25 connect with fixed plate 113, and the postbrachium 25 is connected close to one end and the forearm 24 of forearm 24 using scalability, and it is described before The junction of arm 22 and postbrachium 23 is equipped with strengthening mechanism 10；

Protective shell 101 is equipped in the strengthening mechanism 10, the protective shell 101 is set to the junction of forearm 24 and postbrachium 25, institute The both ends for stating protective shell are oblique, and the inside of the protective shell is equipped with protective jacket, and the protective jacket is equipped with texture.

Embodiment 10

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): bottle cap installation mechanical arm being assembled first, that is, the first column 11 and the second column 12 are installed to pedestal 1 Track 6 on, then first mechanical arm 2 and second mechanical arm 3 are installed respectively by the longitudinal sliding block 112 in fixed plate 113 In long rails 111 on to the first column 11 and the second column 12, then cap sheathing mechanism 21 and manipulator 31 be respectively installed to In first mechanical arm 2 and second mechanical arm 3, and bottle cap position detecting mechanism 211 and position of bottleneck testing agency 212 are installed to On cap sheathing mechanism 21, position detecting mechanism 311 is installed on manipulator 31；

2): and then feed tank 7 is installed on the first column 11, and circuit of the entire bottle cap installation mechanical arm in is connected It connects；

3): before bottle cap installation mechanical arm comes into operation, first mechanical arm 2 and second mechanical arm 3 being first adjusted to suitable Position carries out the adjustment of the distance between two columns along the track 6 on pedestal 1 by the first column 11 and the second column 12, Then first mechanical arm 2 and second mechanical arm 3 move the adjustment for realizing height by longitudinal sliding block 112 along long rails 111, Flexible adjustment is carried out by adjusting forearm 22 and 23 junction of postbrachium again, by being adjusted to for first mechanical arm 2 and second mechanical arm 3 Then suitable length can start to produce；

4): during the work time, bottle cap being placed in feed tank 7 first；

5): the motor driven vibrator in feed tank 7 is vibrated, and allows bottle cap along helical orbit 712 to 72 direction of rollway It is mobile, when bottle cap is run to the feed inlet of rollway 72；

Infrared sensor 721 detects on rollway 72 whether have bottle cap, if having bottle cap on detection rollway 72, limits Mechanism 713 closes, and bottle cap will be to motionless in situ；

When its detection structure is displayed without bottle cap, control device 2 opens order position-limit mechanism 713, and bottle cap is allowed to can smoothly enter into Rollway 72, and enter in the groove on rollway 72, drive bottle cap to be moved to rollway by the conveyer belt 722 below groove 72 designated position；

6): then bottle cap towards testing agency 8 to bottle cap direction detect, when its find bottle cap towards it is incorrect when, control Bottle cap is delivered on recovering mechanism 10 by device 2 processed by order conveyer belt 723, and bottle cap is sent to feed tank 7 by conveyer belt Feed inlet；

If the bottle cap of detection is towards meeting the requirements, control device 4 starts to work order first mechanical arm 2；

7): 4 order bottle cap position detecting mechanism 211 of control device first detects the bottle cap position on rollway 72, and According to detection as a result, the upper cover manipulator 213 in cap sheathing mechanism 21 in order first mechanical arm 2 grabs on rollway 72 Bottle cap detects further according to position of the position of bottleneck testing agency 212 to bottleneck on bottle body, has then grabbed the upper cover of bottle cap The bottle cap grabbed is placed on bottleneck by manipulator 213；

8): while the middle first mechanical arm 2 of above-mentioned steps 7 works, second mechanical arm 3 also works together, i.e. position detection Mechanism 311 detects the position of bottle body, then according to detection the case where, 4 order manipulator 31 of control device firmly grasp bottle body；

9): and then the pushing driving mechanism in order first mechanical arm 2 is driven the lower press on fixed pedestal 22 by control device 4 Structure 23 pushes bottle cap, allows at the top of bottle cap and is stuck in the inner groovy 216 of 215 lower section of disk；

10): and then drive disk 215 to start to rotate by rotary drive mechanism 214, it is same in disk 215 and upper cover manipulator 213 During Shi Xuanzhuan, bottle cap is tightened；

11): in the course of work of above-mentioned steps 7 to 10, whirler being passed through by the first column 11 of rotation and the second column 12 Structure 131 is adjusted the angle of the first column 11 and the second column 12；

12): at the same time, in step 10 course of work, additionally it is possible to which the frequency converter on rotary drive mechanism 214 is to upper cover machinery The screw capping speed of hand 213 is adjusted.

Embodiment 10

A kind of as shown in Figures 1 to 5 Efficient intelligent bottle cap installs mechanical arm, comprising: pedestal 1, for grabbing bottle The first mechanical arm 2 of lid, the second mechanical arm 3 for fixing bottle body and control device 4, the pedestal 1 are equipped with the first column 11 and second column 12, workbench 5 is equipped between first column 11 and the second column 12；

The bottle cap position detecting mechanism 211 uses infrared side position sensor, and the position of bottleneck testing agency 212 adopts With infrared side distance measuring sensor, the position detecting mechanism 311 uses position sensor.

The bottle cap uses industrial camera towards testing agency 8, is shot by industrial camera to bottle cap, is then passed through The image of shooting judges the direction of its bottle cap.

In control device 4 described in the present embodiment be equipped with first mechanical arm control module, second mechanical arm control module, Mechanical arm lateral position adjustment module, mechanical arm lengthwise position adjustment module, arm angle adjustment module, feed control mould Block detects control module and controller module, is equipped with upper cover control unit, the upper cover in the first mechanical arm control module It is equipped with manipulator rotation control unit in control unit and pushes control unit, the manipulator rotation control unit is voltage-controlled under Unit processed is connect with rotary drive mechanism 214 and press mechanism 23 respectively, the second mechanical arm control module and manipulator 31 Connection；

It is equipped with first mechanical arm lateral position in the adjustment module of the mechanical arm lateral position and adjusts unit and second mechanical arm cross To position regulating unit, the first mechanical arm lateral position adjusts unit and is used to drive 11 lower section fixing seat 13 of the first column The mobile slider-actuated mechanism connection of sliding block 14, the second mechanical arm lateral position adjusts unit respectively and for driving the The mobile slider-actuated mechanism connection of the sliding block 14 of two columns, 12 lower section fixing seat 13；

It is equipped with first mechanical arm vertical adjustment control unit in the mechanical arm lengthwise position adjustment module and second mechanical arm is vertical To regulation unit, the first mechanical arm vertical adjustment control unit with for driving longitudinal sliding block in first mechanical arm 2 112 mobile longitudinal sliding block driving mechanism connections, the second mechanical arm vertical adjustment control unit are indulged with second mechanical arm 3 The longitudinal sliding block driving mechanism connection mobile to sliding block 112；

First mechanical arm angular adjustment control unit and second mechanical arm are equipped in the arm angle adjustment module compared with low-key Save control unit, the first mechanical arm angular adjustment control unit and the rotation being set in 11 lower section fixing seat 13 of the first column Mechanism 131 connects, the lower regulation unit of second mechanical arm and the rotation being set in 12 lower section fixing seat 13 of the second column Rotation mechanism 131 connects；

Riko cover control unit, feed control unit and limit control unit, the riko cover control are equipped in the feed control module Unit, feed control unit and limit control unit processed are connect with lid treatment device 71, rollway 72 and position-limit mechanism 713 respectively；

Bottle cap position detection control unit, position of bottleneck detection control unit, bottle body position are equipped in the detection control module Detection control unit, infrared detection control unit, bottle cap towards detection control unit, the bottle cap position detection control unit with Bottle cap position detecting mechanism 211 connects, and the position of bottleneck detection control unit is connect with position of bottleneck testing agency 212, institute It states bottle body position detection control unit to connect with position detecting mechanism 311, the infrared detection control unit and infrared ray sensing Device 721 connects, and the bottle cap is connected towards detection control unit and bottle cap towards testing agency 8；

The first mechanical arm control module, second mechanical arm control module, mechanical arm lateral position adjustment module, mechanical arm are vertical Connect to position adjustment block, arm angle adjustment module, feed control module, detection control module with controller module It connects.

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:

4): during the work time, bottle cap being placed in feed tank 7 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 Efficient intelligent bottle cap installs mechanical arm, it is characterised in that: include: pedestal (1), first for grabbing bottle cap Mechanical arm (2), the second mechanical arm (3) for fixing bottle body and control device (4), the pedestal (1) are equipped with the first column (11) and the second column (12) workbench (5), are equipped between first column (11) and the second column (12), first machine Tool arm (2) and second mechanical arm (3) are respectively arranged on the first column (11) and the second column (12), are set on the pedestal (1) Have track (6), first column (11) and the opposite both ends for being set to track (6) of the second column (12), and first column (11) and below the second column (12) it is equipped with fixing seat (13), is equipped with sliding block (14) below the fixing seat (13), the cunning Block (14) is set in track (6), and the sliding block (14) is connect with slider-actuated mechanism, the end of the first mechanical arm (2) Equipped with the cap sheathing mechanism (21) for grabbing bottle cap, the second mechanical arm (3) is equipped with the manipulator for fixing bottle body (31), the cap sheathing mechanism (21) is equipped with bottle cap position detecting mechanism (211) and position of bottleneck testing agency (212), described Manipulator (31) is equipped with the position detecting mechanism (311) for detecting bottle body position, the first mechanical arm (2), the second machine Tool arm (3), cap sheathing mechanism (21), manipulator (31) and bottle cap position detecting mechanism (211), position of bottleneck testing agency (212) it is connect with control device (4) with position detecting mechanism (311).

2. 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 upper cover manipulator (213), the upper cover manipulator (213) is connect by fixed pedestal (22) with first mechanical arm (2), The rotary drive mechanism (214) for driving upper cover manipulator (213) to rotate, the upper cover are equipped in the fixed pedestal (22) Manipulator (213) is connect with rotary drive mechanism (214), and the lower section of the upper cover manipulator (213) is equipped with disk (215), and The lower section of the disk (215) is equipped with inner groovy (216), and the inner groovy (216) matches with bottle cap, the fixed pedestal (22) press mechanism (23) are equipped with, and the rotary drive mechanism (214) and press mechanism (23) connect with control device (4) It connects.

3. Efficient intelligent bottle cap according to claim 2 installs mechanical arm, it is characterised in that: the rotary drive mechanism (214) motor is equipped in, the motor is equipped with frequency converter, and the motor is connect by connecting shaft with upper cover manipulator (213).

4. Efficient intelligent bottle cap according to claim 1 installs mechanical arm, it is characterised in that: the manipulator (31) Inside is in arc-shaped, and surface is equipped with protective pad (311), and the protective pad (311) uses elastic protective cushion, and the protective pad (311) it is equipped with texture.

5. Efficient intelligent bottle cap according to claim 1 installs mechanical arm, it is characterised in that: in the fixing seat (13) Equipped with rotating mechanism (131), first column (11) and the second column (12) by rotating mechanism (131) respectively with it is corresponding Fixing seat (13) connection.

6. Efficient intelligent bottle cap according to claim 1 installs mechanical arm, it is characterised in that: first column (11) It is equipped with feed tank (7), lid treatment device (71) and rollway (72), the lid treatment device is equipped in the feed tank (7) (71) reason charging tray (711) is equipped in, the lower section of reason charging tray (711) is equipped with vibrator, and is equipped in the reason charging tray (711) The bottom of helical orbit (712), helical orbit (712) the self-care charging tray (711) is in towards the opening direction for managing charging tray (711) Helical form setting, the helical orbit (712) communicate with rollway (72), and the rollway (72) is equipped with for detecting feed Whether platform has the infrared sensor (721) of bottle cap, and the charging of the outlet end of the helical orbit (712) and rollway (72) Mouthful place equipped with position-limit mechanism (713), the feed tank (7), infrared sensor (721) and position-limit mechanism (713) with control Device (4) connection processed.

7. Efficient intelligent bottle cap according to claim 6 installs mechanical arm, it is characterised in that: on the rollway (72) Equipped with the bottle cap for detecting bottle cap direction towards testing agency (8) and recovering mechanism (9), and the rollway (72) is equipped with Groove is equipped with conveyer belt (722) in groove, the bottle cap towards testing agency (8) and recovering mechanism (9) and control device (4) it connects.

8. Efficient intelligent bottle cap according to claim 1 installs mechanical arm, it is characterised in that: first column (11) Be equipped with long rails (111) and longitudinal sliding block (112) on the second column (12), the longitudinal sliding block (112) is set to longitudinal In track (111), and the longitudinal sliding block (112) is connect with slider-actuated mechanism, the first mechanical arm (2) and the second machinery Arm (3) is connect by fixed plate (113) with the longitudinal sliding block (112) in long rails (111) on the first column (11), and described the Two mechanical arms (3) by fixed plate (113) respectively with the longitudinal sliding block (112) in long rails (111) on the second column (12) Connection.

9. Efficient intelligent bottle cap according to claim 1 installs mechanical arm, it is characterised in that: the first mechanical arm (2) and in second mechanical arm (3) it is equipped with forearm (24) and postbrachium (25), the postbrachium (25) connect with fixed plate (113), institute It states postbrachium (25) to connect with forearm (24) using scalability close to the one end of forearm (24), and the forearm (22) and postbrachium (23) junction is equipped with strengthening mechanism (10), is equipped with protective shell (101) in the strengthening mechanism (10), the protective shell (101) it is set to the junction of forearm (24) and postbrachium (25), the both ends of the protective shell are oblique, and the protective shell is interior Portion is equipped with protective jacket, and the 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): bottle cap installation mechanical arm being assembled first, that is, the first column (11) and the second column (12) are installed to base It is then that first mechanical arm (2) and second mechanical arm (3) is sliding by the longitudinal direction on fixed plate (113) on the track (6) of seat (1) Block (112) is respectively installed in the long rails (111) on the first column (11) and the second column (12), then by cap sheathing mechanism (21) it is respectively installed in first mechanical arm (2) and second mechanical arm (3) with manipulator (31), and by bottle cap position detecting mechanism (211) it is installed on cap sheathing mechanism (21) with position of bottleneck testing agency (212), position detecting mechanism (311) is installed to machine On tool hand (31)；

2): and then feed tank (7) is installed on the first column (11), and to circuit of the entire bottle cap installation mechanical arm in into Row connection；

3): before bottle cap installation mechanical arm comes into operation, first first mechanical arm (2) and second mechanical arm (3) being adjusted to close Suitable position is carried out between two columns by the first column (11) and the second column (12) along the track (6) on pedestal (1) Distance adjustment, then first mechanical arm (2) and second mechanical arm (3) pass through longitudinal sliding block (112) along long rails (111) The mobile adjustment for realizing height, then flexible adjustment is carried out by adjusting forearm (22) and postbrachium (23) junction, by the first machinery Arm (2) and second mechanical arm (3) are adjusted to suitable length, then can start to produce；

4): during the work time, bottle cap being placed in feed tank (7) first；

5): the motor driven vibrator in feed tank (7) is vibrated, and allows bottle cap along helical orbit (712) to rollway (72) direction is mobile, and when bottle cap is run to the feed inlet of rollway (72), infrared sensor (721) detects rollway (72) On whether have bottle cap, if detection rollway (72) on have bottle cap, position-limit mechanism (713) closes, and bottle cap will be in situ Motionless, when its detection structure is displayed without bottle cap, control device (2) opens order position-limit mechanism (713), makes bottle cap smooth Into rollway (72), and enter in the groove on rollway (72), drives bottle cap to move by the conveyer belt (722) below groove It moves to the designated position of rollway (72)；

6): then bottle cap towards testing agency (8) to bottle cap direction detect, when its find bottle cap towards it is incorrect when, Bottle cap is delivered on recovering mechanism (10) by control device (2) by order conveyer belt (723), is sent to bottle cap by conveyer belt The feed inlet of feed tank (7), if the bottle cap of detection, towards meeting the requirements, control device (4) is by order first mechanical arm (2) it starts to work；

7): control device (4) order bottle cap position detecting mechanism (211) examines the bottle cap position on rollway (72) first It surveys, and according to detection as a result, the upper cover manipulator (213) in cap sheathing mechanism (21) in order first mechanical arm (2) grabs Bottle cap on rollway (72) herein detects the position of bottleneck on bottle body according to position of bottleneck testing agency (212), so The bottle cap grabbed is placed on bottleneck by the upper cover manipulator (213) for having grabbed bottle cap afterwards；

8) while middle first mechanical arm (2): in above-mentioned steps 7) works, second mechanical arm (3) also works together, i.e. position The position of bottle body is detected by testing agency (311), then according to detection the case where, control device (4) order manipulator (31) bottle body is firmly grasped；

9): and then control device (4) will be in pushing driving mechanism driving fixed pedestal (22) on order first mechanical arm (2) Press mechanism (23) pushes bottle cap, allows at the top of bottle cap in the inner groovy (216) being stuck in below disk (215)；

10): and then start to rotate by rotary drive mechanism (214) driving disk (215), it is mechanical in disk (215) and upper cover During hand (213) rotates simultaneously, bottle cap is tightened；

11): in above-mentioned steps 7) into the course of work 10), passed through by rotation the first column (11) and the second column (12) Rotating mechanism (131) is adjusted the angle of the first column (11) and the second column (12)；

12): at the same time, in step (10) course of work, additionally it is possible to which the frequency converter on rotary drive mechanism (214) is to upper cover The screw capping speed of manipulator (213) is adjusted.