CN208995103U - A kind of efficient mechanical arm for bottle body sealing - Google Patents
A kind of efficient mechanical arm for bottle body sealing Download PDFInfo
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- CN208995103U CN208995103U CN201821075083.0U CN201821075083U CN208995103U CN 208995103 U CN208995103 U CN 208995103U CN 201821075083 U CN201821075083 U CN 201821075083U CN 208995103 U CN208995103 U CN 208995103U
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- 238000007789 sealing Methods 0.000 title claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims abstract description 94
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 55
- 210000000245 forearm Anatomy 0.000 claims description 47
- 230000001681 protective effect Effects 0.000 claims description 46
- 238000012360 testing method Methods 0.000 claims description 42
- 238000009434 installation Methods 0.000 claims description 32
- 238000005728 strengthening Methods 0.000 claims description 32
- 230000003014 reinforcing effect Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 abstract description 35
- 238000004519 manufacturing process Methods 0.000 abstract description 29
- 239000007787 solid Substances 0.000 description 9
- 230000000694 effects Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 238000013461 design Methods 0.000 description 7
- 238000007689 inspection Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004904 shortening Methods 0.000 description 3
- 230000007723 transport mechanism Effects 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 230000003245 working effect Effects 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000003319 supportive effect Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
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- Automatic Analysis And Handling Materials Therefor (AREA)
- Sealing Of Jars (AREA)
Abstract
The utility model discloses a kind of efficient mechanical arms for bottle body sealing, it include: robot and control device, pedestal, mechanical arm and disk are equipped in robot, pedestal is set to workbench side, the mechanical arm is installed on pedestal, disk and mechanical arm make rotation connection, rotary drive mechanism is equipped at the top of disk, disk lower part is equipped with inner groovy, manipulator is equipped on the outside of inner groovy, disk is equipped with position detecting device and bottle cap position detecting mechanism, and protrusion is equipped on the inside of manipulator, and disk and mechanical arm use movable connection.By being arranged on the robotic arm, bottle cap position detecting device is arranged in disk to its in the utility model and position detecting device respectively detects position of bottleneck on bottle cap and bottle body, then crawl bottle cap is gone according to the result mechanical arm driving manipulator of detection, position of bottleneck is detected according to position detecting device, bottle cap is installed on bottleneck again, structure is simple, the course of work is simple, convenient, fast, greatly improves its production efficiency.
Description
Technical field
The utility model belongs to mechanical arm technical field, in particular to a kind of efficient mechanical arm for bottle body sealing.
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.
At the same time, many still to use original material-uploading style in the installation equipment of current bottle cap, feeding is serious
Influence its installation effectiveness.And fixed when the position of existing installation its work of equipment, once position fixation cannot be random
It is mobile, unless move to whole equipment, however in actual production process, it inevitably will appear error, and existing set
Standby to carry out appropriate adjustment according to practical situation, this just will appear neglected loading or accidentally fills, thus existing bottle cap is pacified
Installing is standby to need to improve.
Utility model content
Purpose of utility model: in order to overcome the above deficiency, the purpose of the utility model is to provide one kind to seal for bottle body
Efficient mechanical arm, structure is simple, design rationally, be readily produced, high degree of automation, reduce manual labor amount, improve
Bottle cap position detecting device and position detecting device is arranged respectively to bottle cap by setting disk on the robotic arm in working efficiency
It is detected with position of bottleneck on bottle body, then control device is mechanical according to the result command of the detection of bottle cap position detecting device
Arm driving manipulator removes crawl bottle cap, then detects position of bottleneck further according to position detecting device, the bottle cap of crawl is installed to
On bottleneck, entire machinery arm configuration is simple, and the course of work is simple, convenient, fast, from taking lid to realize automation to installation, significantly
Raising its production efficiency, also allow its production to realize standardization；
At the same time, in disk inner groovy setting, the Bottle cap top of crawl can be allowed to be stuck in inner groovy, and pass through machine
The inner bulge of tool hand holds it, makes its crawl more stable, and bottle cap during crawl is effectively prevent to fall, while
Installation is tightened convenient for bottle cap below, guarantees its installation effect, and then it is allowed to better meet the demand of production.
Technical solution: to achieve the goals above, the utility model provides a kind of efficient mechanical for bottle body sealing
Arm, comprising: robot and control device are equipped with pedestal, mechanical arm and disk in the robot, and the pedestal is set to workbench
Side, the mechanical arm are installed on pedestal, and the disk and mechanical arm make rotation connection, and the top of the disk is equipped with rotation
Driving mechanism, and the lower part of the disk is equipped with inner groovy, the outside of the inner groovy is equipped with manipulator, and sets on the disk
There are the position detecting device and bottle cap position detecting device for testing product position, the inside of the manipulator is equipped with protrusion,
The disk and mechanical arm use movable connection, and the depth of the inner groovy is less than the height with bottle cap, the mechanical arm,
Disk, manipulator, rotary drive mechanism and position detecting device and bottle cap position detecting device are connect with control device.
A kind of efficient mechanical arm for bottle body sealing described in the utility model, passes through setting circle on the robotic arm
Disk setting bottle cap position detecting device and position detecting device respectively detect position of bottleneck on bottle cap and bottle body, then control
Device processed removes crawl bottle cap according to the result command mechanical arm driving manipulator of the detection of bottle cap position detecting device, then root again
Position of bottleneck is detected according to position detecting device, the bottle cap of crawl is installed on bottleneck, entire machinery arm configuration is simple, worked
Journey is simple, convenient, fast, from taking lid to realize automation to installation, greatly improves its production efficiency, its production is also allowed to realize mark
Standardization；
At the same time, in disk inner groovy setting, the Bottle cap top of crawl can be allowed to be stuck in inner groovy, and pass through machine
The inner bulge of tool hand holds it, makes its crawl more stable, and bottle cap during crawl is effectively prevent to fall, while
Installation is tightened convenient for bottle cap below, guarantees its installation effect, and then it is allowed to better meet the demand of production.
Pedestal described in the utility model is equipped with track, and the lower part of the mechanical arm is equipped with fixing seat, the fixing seat
Lower section is equipped with the sliding block connecting with track, and the sliding block is set in track, and rotating disk, the machinery are equipped in the fixing seat
Arm is set to the top of rotating disk, and the rotating disk is connect with driving mechanism, and the driving mechanism is connect with control device.
The setting of the upper rail of pedestal described in the utility model, allows the mechanical arm to pass through the sliding block and track below fixing seat
It realizes mobile connection, allows the mechanical arm to realize the movement of lateral position, it can be fitted according to actual working environment
Answering property adjusts, and greatly improves its range used；
Meanwhile in fixing seat rotating disk setting, allow mechanical arm to can be realized the rotation of angle, greatly improve itself and its
The fitness of his equipment, and then it is allowed to better meet the demand of production.
Column, lower arm and upper arm are equipped in mechanical arm described in the utility model, the column is set to the top of rotating disk,
And the inside of the column is equipped with feed tank, the lower arm is set to the top of column, and the lower arm and column make movable company
It connects, the upper arm is set on lower arm, and the upper and lower arms make movable connection, and the disk is set to upper arm far from lower arm
One end.
The mechanical arm uses column, lower arm and upper arm split-type design, and the lower arm and column make movable connection,
The upper and lower arms make movable connection, make its each joint free movable, improve its operability, further mention
Its high working effect.
Feed tank described in the utility model is equipped with lid treatment device and rollway, and reason material is equipped in the lid treatment device
The lower section of disk, the reason charging tray is equipped with vibrator, and helical orbit, the helical orbit self-care charging tray are equipped in the reason charging tray
Bottom towards reason charging tray opening direction be arranged in the shape of a spiral, the helical orbit is communicated with rollway, and the spiral track
Position-limit mechanism is equipped at the outlet end in road and the feed inlet of rollway.
The setting of feed tank on column described in the utility model allows feed and installation to realize integrated design, from structure
On entire mechanical arm is optimized, save equipment input cost, the problem of very good solution artificial loading, improve its confession
Expect speed, further increase its installation effectiveness, while also shortening the time of manipulator crawl bottle cap, to greatly improve
The time entirely installed, further it is allowed to meet the needs of client.
Rollway described in the utility model is equipped with bottle cap testing agency and recovering mechanism for detecting bottle cap direction,
The bottle cap testing agency connect with control device.
The bottle cap testing agency to bottle cap direction detect, once detection towards it is correct when, mechanical arm
Bottle cap will be grabbed, and will be grabbed bottle cap on corresponding bottle body according to the position of the product of its detection, will then be installed, if
The direction of bottle cap as the result is shown of detection is not right, then bottle cap will be sent in recovering mechanism by rollway by transport mechanism, keeps away
Exempt from maloperation occur, results in waste of resources.
Lower arm described in the utility model uses extension type mechanical arm, and the lower arm is by the first column and the second column structure
At first column is set to the top of column, and second column is set to the top of the first column, and does with the first column
Telescopic connection, and the junction of first column and the second column is equipped with strengthening mechanism.
The lower arm that first column and the second column are constituted uses telescopic connection, allows it can be according to the needs of realization
The height of lower arm is adjusted, its applicability is further increased, meanwhile, the setting of strengthening mechanism greatly improves two columns
Between the stability connected and the safety used.
Forearm and postbrachium are equipped in upper arm described in the utility model, the postbrachium and the second column use movable company
It connects, the forearm and postbrachium use telescopic connection, and the junction of the forearm and postbrachium is 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.
Protective shell in strengthening mechanism described in the utility model, the protective shell are set to the company of the first column and the second column
It meets place or set on the junction of forearm and postbrachium, the both ends of the protective shell is oblique, and the inside of the protective shell is set
There is protective jacket, the protective jacket is equipped with texture.
The skewed setting in the protective shell both ends, greatly improve protective shell the compactness connected between component and
Supportive further increases the effect of its reinforcing, and the wherein setting of the protective jacket in protective shell, effectively prevents protective shell pair
Upper arm or lower arm cause to wear, to also play a very good protection to it while playing reinforcing to them.
Forearm described in the utility model is equipped with the fixing seat for installing disk far from one end of postbrachium, and the rotation is driven
Motivation structure is installed in fixing seat, and the rotary drive mechanism uses servo motor.
Above-mentioned technical proposal can be seen that the utility model has the following beneficial effects:
1, a kind of efficient mechanical arm for bottle body sealing described in the utility model, by being arranged on the robotic arm
Disk setting bottle cap position detecting device and position detecting device respectively detect position of bottleneck on bottle cap and bottle body, then
Control device removes crawl bottle cap according to the result command mechanical arm driving manipulator of the detection of bottle cap position detecting device, then again
Position of bottleneck is detected according to position detecting device, the bottle cap of crawl is installed on bottleneck, entire machinery arm configuration is simple, work
Process is simple, convenient, fast, from taking lid to realize automation to installation, greatly improves its production efficiency, its production is also allowed to be realized
Standardization；
At the same time, in disk inner groovy setting, the Bottle cap top of crawl can be allowed to be stuck in inner groovy, and pass through machine
The inner bulge of tool hand holds it, makes its crawl more stable, and bottle cap during crawl is effectively prevent to fall, while
Installation is tightened convenient for bottle cap below, guarantees its installation effect, and then it is allowed to better meet the demand of production.
2, pedestal described in the utility model is equipped with track, and the lower part of the mechanical arm is equipped with fixing seat, the fixation
Seat lower section is equipped with the sliding block connecting with track, and the sliding block is set in track, and rotating disk, the machine are equipped in the fixing seat
Tool arm is set to the top of rotating disk, and the rotating disk is connect with driving mechanism, and the driving mechanism is connect with control device；
The setting of the upper rail of pedestal described in the utility model, allows the mechanical arm to pass through the sliding block and track below fixing seat
It realizes mobile connection, allows the mechanical arm to realize the movement of lateral position, it can be fitted according to actual working environment
Answering property adjusts, and greatly improves its range used；
Meanwhile in fixing seat rotating disk setting, allow mechanical arm to can be realized the rotation of angle, greatly improve itself and its
The fitness of his equipment, and then it is allowed to better meet the demand of production.
3, column, lower arm and upper arm are equipped in mechanical arm described in the utility model, the column is set to the upper of rotating disk
Side, and the inside of the column is equipped with feed tank, the lower arm and column make movable connection, and the upper arm is set on lower arm,
And the upper and lower arms make movable connection；The mechanical arm use column, lower arm and upper arm split-type design, and it is described under
Arm and column make movable connection, and the upper and lower arms make movable connection, make its each joint free movable, mention
Its high operability, further increases its working effect；
The setting of feed tank on the column allows feed and installation to realize integrated design, to entire machinery from structure
Arm optimizes, and saves equipment input cost；The problem of very good solution artificial loading, its feeding speed is improved, into one
Step improves its installation effectiveness, while also shortening the time of manipulator crawl bottle cap, entirely installs to greatly improve
Time further allows it to meet the needs of client.
4, feed tank described in the utility model is equipped with lid treatment device and rollway, and reason material is equipped in the lid treatment device
The lower section of disk, the reason charging tray is equipped with vibrator, and helical orbit, the helical orbit self-care charging tray are equipped in the reason charging tray
Bottom towards reason charging tray opening direction be arranged in the shape of a spiral, the helical orbit is communicated with rollway, and the spiral track
Position-limit mechanism is equipped at the outlet end in road and the feed inlet of rollway；
The setting of the reason charging tray allows it that can carry out automatic material arranging to the bottle cap in feed tank, greatly saves reason
Expect the time, saves labour turnover, meanwhile, it can be fed according to practical situation, avoids out for the setting of position-limit mechanism
Existing bottle cap accumulation.
5, rollway described in the utility model is equipped with bottle cap testing agency and recycling machine for detecting bottle cap direction
Structure, the bottle cap testing agency connect with control device；
The bottle cap testing agency to bottle cap direction detect, once detection towards it is correct when, mechanical arm
Bottle cap will be grabbed, and will be grabbed bottle cap on corresponding bottle body according to the position of the product of its detection, will then be installed, if
The direction of bottle cap as the result is shown of detection is not right, then bottle cap will be sent in recovering mechanism by rollway by transport mechanism, keeps away
Exempt from maloperation occur, results in waste of resources.
6, lower arm described in the utility model uses extension type mechanical arm, and second column is set to the upper of the first column
Side, and telescopic connection is done with the first column, and the junction of first column and the second column is equipped with strengthening mechanism；
The lower arm that first column and the second column are constituted uses telescopic connection, allows it can be according to the needs of realization
The height of lower arm is adjusted, its applicability is further increased, meanwhile, the setting of strengthening mechanism greatly improves two columns
Between the stability connected and the safety used.
7, forearm and postbrachium are equipped in upper arm described in the utility model, the postbrachium and the second column use movable company
It connects, the forearm and postbrachium use telescopic connection, and the junction of the forearm and postbrachium is 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.
8, protective shell in strengthening mechanism described in the utility model, the protective shell are set to the first column and the second column
Junction or set on the junction of forearm and postbrachium, the both ends of the protective shell are oblique, and the inside of the protective shell
Equipped with protective jacket, the protective jacket is equipped with texture；
The skewed setting in the protective shell both ends, greatly improve protective shell the compactness connected between component and
Supportive further increases the effect of its reinforcing, and the wherein setting of the protective jacket in protective shell, effectively prevents protective shell pair
Upper arm or lower arm cause to wear, to also play a very good protection to it while playing reinforcing to them.
9, a kind of working method of the efficient mechanical arm for bottle body sealing described in the utility model, it is specific to work
Method is as follows:
Efficient mechanical arm is assembled first, i.e., first fixing seat is installed on pedestal, and rotating disk is installed to admittedly
In reservation, the first column is installed in rotating disk, and the second column is connect with the first column, and by vertical in the first column and second
Column junction setting strengthening mechanism reinforces it；
Forearm and postbrachium are attached again, and it is reinforced in the junction of the two setting strengthening mechanism, then
Upper arm after connecting is attached with lower arm, then disk and forearm are installed by fixing seat, and manipulator is pacified
It is attached on disk；
During previous step assembles efficient mechanical arm, while 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, then position detecting device is installed on disk；
After structure division installs, control circuit is attached, can be come into operation；
During the work time, bottle cap is placed in feed tank first；
Motor driven vibrator in feed tank is vibrated, and bottle cap is allowed to move along helical orbit to rollway direction,
Until bottle cap is run to rollway；
When bottle cap is run to rollway, the direction of bottle cap is detected by bottle cap testing agency, when it finds bottle cap direction
When incorrect, then bottle cap will be delivered in recovering mechanism by rollway by conveyer belt, if the bottle cap of detection is wanted towards satisfaction
It asks, then control device starts to work order mechanical arm；
Control device order bottle cap testing agency checks the position of bottle cap first, then according to testing result, control
The bottle cap of manipulator crawl rollway processed, the top of bottle cap is stuck in the inner groovy of disk；
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；
To after control device obtains the specific location of bottleneck, drive manipulator that will walk by mechanical arm in previous step
It is rapid 7) on the bottle cap lid to corresponding bottleneck that grabs；
Then bottle cap is twisted during disk and manipulator rotate simultaneously by motor driven disc rotary
It is tight；
In above-mentioned steps, its lateral position can be adjusted according to the actual needs of robot, allow mechanical arm
Lower part is equipped with fixing seat and is moved to suitable position along track；
At the same time, the height of lower arm and the length of upper arm can also be adjusted according to the actual needs；
Above-mentioned whole work process, it is simple and convenient, it allows it to realize really intelligent and automation, makes it better
Meets the needs of enterprise's production, pedestal described in utility model is equipped with track, and the lower part of the mechanical arm is equipped with fixing seat, institute
The sliding block for being equipped with below fixing seat and connecting with track is stated, the sliding block is set in track, and rotating disk is equipped in the fixing seat,
The mechanical arm is set to the top of rotating disk, and the rotating disk is connect with driving mechanism, and the driving mechanism and control device connect
It connects；
The setting of the upper rail of pedestal described in the utility model, allows the mechanical arm to pass through the sliding block and track below fixing seat
It realizes mobile connection, allows the mechanical arm to realize the movement of lateral position, it can be fitted according to actual working environment
Answering property adjusts, and greatly improves its range used；
Meanwhile in fixing seat rotating disk setting, allow mechanical arm to can be realized the rotation of angle, greatly improve itself and its
The fitness of his equipment, and then it is allowed to better meet the demand of production；
The setting of the upper rail of pedestal described in the utility model, allows the mechanical arm to pass through the sliding block and track below fixing seat
It realizes mobile connection, allows the mechanical arm to realize the movement of lateral position, it can be fitted according to actual working environment
Answering property adjusts, and greatly improves its range used；
Meanwhile in fixing seat rotating disk setting, allow mechanical arm to can be realized the rotation of angle, greatly improve itself and its
The fitness of his equipment, and then it is allowed to better meet the demand of production；In mechanical arm described in the utility model be equipped with column,
Lower arm and upper arm, the column is set to the top of rotating disk, and the inside of the column is equipped with feed tank, the lower arm and column
Make movable connection, the upper arm is set on lower arm, and the upper and lower arms make movable connection；The mechanical arm is using vertical
Column, lower arm and upper arm split-type design, and the lower arm and column make movable connection, the upper and lower arms make movable company
It connects, makes its each joint free movable, improve its operability, further increase its working effect；
The setting of feed tank on the column allows feed and installation to realize integrated design, to entire machinery from structure
Arm optimizes, and saves equipment input cost；The problem of very good solution artificial loading, its feeding speed is improved, into one
Step improves its installation effectiveness, while also shortening the time of manipulator crawl bottle cap, entirely installs to greatly improve
Time further allows it to meet the needs of client；Feed tank described in the utility model 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；
The setting of the reason charging tray allows it that can carry out automatic material arranging to the bottle cap in feed tank, greatly saves reason
Expect the time, saves labour turnover, meanwhile, it can be fed according to practical situation, avoids out for the setting of position-limit mechanism
Existing bottle cap accumulation.
The lower arm that first column and the second column are constituted uses telescopic connection, allows it can be according to the needs of realization
The height of lower arm is adjusted, its applicability is further increased, meanwhile, the setting of strengthening mechanism greatly improves two columns
Between the stability connected and the safety used；
Forearm and postbrachium are equipped in upper arm described in the utility model, the postbrachium and the second column use movable company
It connects, the forearm and postbrachium use telescopic connection, and the junction of the forearm and postbrachium is 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
It is adjusted, further increases its applicability；A kind of efficient mechanical arm for bottle body sealing described in the utility model,
Bottle cap position detecting device and position detecting device are set respectively to bottle on bottle cap and bottle body by the way that disk is arranged on the robotic arm
Mouth position is detected, and then control device drives mechanical according to the result command mechanical arm of the detection of bottle cap position detecting device
Hand removes crawl bottle cap, then detects position of bottleneck further according to position detecting device, the bottle cap of crawl is installed on bottleneck, entirely
Mechanical arm configuration is simple, and the course of work is simple, convenient, fast, from taking lid to realize automation to installation, greatly improves its production
Efficiency also allows its production to realize standardization；
At the same time, in disk inner groovy setting, the Bottle cap top of crawl can be allowed to be stuck in inner groovy, and pass through machine
The inner bulge of tool hand holds it, makes its crawl more stable, and bottle cap during crawl is effectively prevent to fall, while
Installation is tightened convenient for bottle cap below, guarantees its installation effect, and then it is allowed to better meet the demand of production；
The bottle cap testing agency to bottle cap direction detect, once detection towards it is correct when, mechanical arm
Bottle cap will be grabbed, and will be grabbed bottle cap on corresponding bottle body according to the position of the product of its detection, will then be installed, if
The direction of bottle cap as the result is shown of detection is not right, then bottle cap will be sent in recovering mechanism by rollway by transport mechanism, keeps away
Exempt from maloperation occur, results in waste of resources.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the efficient mechanical arm described in the utility model for bottle body sealing；
Fig. 2 is the partial schematic diagram of manipulator in the utility model；
Fig. 3 is the structural schematic diagram of feed tank in the utility model；
In figure: robot -1, control device -2；
Pedestal -11, mechanical arm -12, disk -13；
Inner groovy -14, manipulator -15, position detecting device -16,
Bottle cap position detecting device -17；
Protrusion -151；
Track -111, sliding block -1211, rotating disk -122；
Column -123, lower arm -124, upper arm -125；
Feed tank -3；
Lid treatment device -31, rollway -32,
Reason charging tray -311,
Helical orbit -312,
Position-limit mechanism -313,
Bottle cap testing agency -4, recovering mechanism -5
First column -1241, the second column -1242
Strengthening mechanism -6,
Forearm -1251, postbrachium -1252
Protective shell -61
Fixing seat -7.
Specific embodiment
In the following with reference to the drawings and specific embodiments, the utility model is furtherd elucidate.
Embodiment 1
A kind of efficient mechanical arm for bottle body sealing, comprising: robot 1 and control device 2, the robot
Pedestal 11, mechanical arm 12 and disk 13 are equipped in 1, the pedestal 11 is set to workbench side, and the mechanical arm 12 is installed on base
On seat 11, the disk 13 makees rotation connection with mechanical arm 12, and the lower part of the disk 13 is equipped with inner groovy 14, the indent
The outside of slot 14 is equipped with manipulator 15, and the disk 13 is equipped with the position detecting device 16 and bottle for testing product position
Lid position detecting device 17, the inside of the manipulator 15 are equipped with protrusion 151, and the disk 13 is with mechanical arm 12 using movable
Connection, and the depth of the inner groovy 14 is less than the height with bottle cap, the mechanical arm 12, disk 13, manipulator 15, position inspection
It surveys device 16 and bottle cap position detecting device 17 is connect with control device 2.
A kind of efficient mechanical arm for bottle body sealing described in the utility model, passes through setting circle on the robotic arm
Disk setting bottle cap position detecting device and position detecting device respectively detect position of bottleneck on bottle cap and bottle body, then control
Device processed removes crawl bottle cap according to the result command mechanical arm driving manipulator of the detection of bottle cap position detecting device, then root again
Position of bottleneck is detected according to position detecting device, the bottle cap of crawl is installed on bottleneck, entire machinery arm configuration is simple, worked
Journey is simple, convenient, fast, from taking lid to realize automation to installation, greatly improves its production efficiency, its production is also allowed to realize mark
Standardization；At the same time, in disk inner groovy setting, the Bottle cap top of crawl can be allowed to be stuck in inner groovy, and pass through machinery
The inner bulge of hand holds it, makes its crawl more stable, effectively prevent bottle cap during crawl to fall, while also just
Bottle cap tightens installation later, guarantees its installation effect, and then it is allowed to better meet the demand of production.
Pedestal 11 described in the present embodiment is equipped with track 111, and the lower part of the mechanical arm 12 is equipped with fixing seat 121, institute
The sliding block 1211 for being equipped with below fixing seat 121 and connecting with track 111 is stated, the sliding block 1211 is set in track 111, and described solid
Rotating disk 122 is equipped in reservation 121, the mechanical arm 12 is set to the top of rotating disk 122, the rotating disk 122 and driving machine
Structure connection, the driving mechanism are connect with control device 2.
Embodiment 2
A kind of efficient mechanical arm for bottle body sealing, comprising: robot 1 and control device 2, the robot
Pedestal 11, mechanical arm 12 and disk 13 are equipped in 1, the pedestal 11 is set to workbench side, and the mechanical arm 12 is installed on base
On seat 11, the disk 13 makees rotation connection with mechanical arm 12, and the lower part of the disk 13 is equipped with inner groovy 14, the indent
The outside of slot 14 is equipped with manipulator 15, and the disk 13 is equipped with the position detecting device 16 and bottle for testing product position
Lid position detecting device 17, the inside of the manipulator 15 are equipped with protrusion 151, and the disk 13 is with mechanical arm 12 using movable
Connection, and the depth of the inner groovy 14 is less than the height with bottle cap, the mechanical arm 12, disk 13, manipulator 15, position inspection
It surveys device 16 and bottle cap position detecting device 17 is connect with control device 2.
A kind of efficient mechanical arm for bottle body sealing described in the utility model, passes through setting circle on the robotic arm
Disk setting bottle cap position detecting device and position detecting device respectively detect position of bottleneck on bottle cap and bottle body, then control
Device processed removes crawl bottle cap according to the result command mechanical arm driving manipulator of the detection of bottle cap position detecting device, then root again
Position of bottleneck is detected according to position detecting device, the bottle cap of crawl is installed on bottleneck, entire machinery arm configuration is simple, worked
Journey is simple, convenient, fast, from taking lid to realize automation to installation, greatly improves its production efficiency, its production is also allowed to realize mark
Standardization；
At the same time, in disk inner groovy setting, the Bottle cap top of crawl can be allowed to be stuck in inner groovy, and pass through machine
The inner bulge of tool hand holds it, makes its crawl more stable, and bottle cap during crawl is effectively prevent to fall, while
Installation is tightened convenient for bottle cap below, guarantees its installation effect, and then it is allowed to better meet the demand of production.
Pedestal 11 described in the present embodiment is equipped with track 111, and the lower part of the mechanical arm 12 is equipped with fixing seat 121, institute
The sliding block 1211 for being equipped with below fixing seat 121 and connecting with track 111 is stated, the sliding block 1211 is set in track 111, and described solid
Rotating disk 122 is equipped in reservation 121, the mechanical arm 12 is set to the top of rotating disk 122, the rotating disk 122 and driving machine
Structure connection, the driving mechanism are connect with control device 2.
Column 123, lower arm 124 and upper arm 125 are equipped in mechanical arm 12 described in the present embodiment, the column 123 is set to
The top of rotating disk 122, and the inside of the column 123 is equipped with feed tank 3, the lower arm 124 is set to the top of column 123,
And the lower arm 124 makees movable connection with column 123, the upper arm 125 is set on lower arm 124, and the upper arm 125 is under
Arm 124 makees movable connection, and the disk 13 is set to the one end of upper arm 125 far from lower arm 124.
Embodiment 3
A kind of efficient mechanical arm for bottle body sealing, comprising: robot 1 and control device 2, the robot
Pedestal 11, mechanical arm 12 and disk 13 are equipped in 1, the pedestal 11 is set to workbench side, and the mechanical arm 12 is installed on base
On seat 11, the disk 13 makees rotation connection with mechanical arm 12, and the lower part of the disk 13 is equipped with inner groovy 14, the indent
The outside of slot 14 is equipped with manipulator 15, and the disk 13 is equipped with the position detecting device 16 and bottle for testing product position
Lid position detecting device 17, the inside of the manipulator 15 are equipped with protrusion 151, and the disk 13 is with mechanical arm 12 using movable
Connection, and the depth of the inner groovy 14 is less than the height with bottle cap, the mechanical arm 12, disk 13, manipulator 15, position inspection
It surveys device 16 and bottle cap position detecting device 17 is connect with control device 2.
Pedestal 11 described in the present embodiment is equipped with track 111, and the lower part of the mechanical arm 12 is equipped with fixing seat 121, institute
The sliding block 1211 for being equipped with below fixing seat 121 and connecting with track 111 is stated, the sliding block 1211 is set in track 111, and described solid
Rotating disk 122 is equipped in reservation 121, the mechanical arm 12 is set to the top of rotating disk 122, the rotating disk 122 and driving machine
Structure connection, the driving mechanism are connect with control device 2.
Column 123, lower arm 124 and upper arm 125 are equipped in mechanical arm 12 described in the present embodiment, the column 123 is set to
The top of rotating disk 122, and the inside of the column 123 is equipped with feed tank 3, the lower arm 124 is set to the top of column 123,
And the lower arm 124 makees movable connection with column 123, the upper arm 125 is set on lower arm 124, and the upper arm 125 is under
Arm 124 makees movable connection, and the disk 13 is set to the one end of upper arm 125 far from lower arm 124.
Feed tank 3 described in the present embodiment is equipped with lid treatment device 31 and rollway 32, is equipped in the lid treatment device 31
Charging tray 311 is managed, the lower section of the reason charging tray 311 is equipped with vibrator, and helical orbit 312 is equipped in the reason charging tray 311, described
The opening direction of the bottom of 312 self-care charging tray 311 of helical orbit towards reason charging tray 311 is arranged in the shape of a spiral, the helical orbit
312 communicate with rollway 32, and position-limit mechanism is equipped at the feed inlet of the outlet end of the helical orbit 312 and rollway 32
313。
Embodiment 4
A kind of efficient mechanical arm for bottle body sealing, comprising: robot 1 and control device 2, the robot
Pedestal 11, mechanical arm 12 and disk 13 are equipped in 1, the pedestal 11 is set to workbench side, and the mechanical arm 12 is installed on base
On seat 11, the disk 13 makees rotation connection with mechanical arm 12, and the lower part of the disk 13 is equipped with inner groovy 14, the indent
The outside of slot 14 is equipped with manipulator 15, and the disk 13 is equipped with the position detecting device 16 and bottle for testing product position
Lid position detecting device 17, the inside of the manipulator 15 are equipped with protrusion 151, and the disk 13 is with mechanical arm 12 using movable
Connection, and the depth of the inner groovy 14 is less than the height with bottle cap, the mechanical arm 12, disk 13, manipulator 15, position inspection
It surveys device 16 and bottle cap position detecting device 17 is connect with control device 2.
Pedestal 11 described in the present embodiment is equipped with track 111, and the lower part of the mechanical arm 12 is equipped with fixing seat 121, institute
The sliding block 1211 for being equipped with below fixing seat 121 and connecting with track 111 is stated, the sliding block 1211 is set in track 111, and described solid
Rotating disk 122 is equipped in reservation 121, the mechanical arm 12 is set to the top of rotating disk 122, the rotating disk 122 and driving machine
Structure connection, the driving mechanism are connect with control device 2.
Column 123, lower arm 124 and upper arm 125 are equipped in mechanical arm 12 described in the present embodiment, the column 123 is set to
The top of rotating disk 122, and the inside of the column 123 is equipped with feed tank 3, the lower arm 124 is set to the top of column 123,
And the lower arm 124 makees movable connection with column 123, the upper arm 125 is set on lower arm 124, and the upper arm 125 is under
Arm 124 makees movable connection, and the disk 13 is set to the one end of upper arm 125 far from lower arm 124.
Feed tank 3 described in the present embodiment is equipped with lid treatment device 31 and rollway 32, is equipped in the lid treatment device 31
Charging tray 311 is managed, the lower section of the reason charging tray 311 is equipped with vibrator, and helical orbit 312 is equipped in the reason charging tray 311, described
The opening direction of the bottom of 312 self-care charging tray 311 of helical orbit towards reason charging tray 311 is arranged in the shape of a spiral, the helical orbit
312 communicate with rollway 32, and position-limit mechanism is equipped at the feed inlet of the outlet end of the helical orbit 312 and rollway 32
313。
Rollway 32 described in the present embodiment is equipped with bottle cap testing agency 4 and recovering mechanism for detecting bottle cap direction
5, the bottle cap testing agency 4 connect with control device 2.
Embodiment 5
A kind of efficient mechanical arm for bottle body sealing shown in described, comprising: robot 1 and control device 2, it is described
Pedestal 11, mechanical arm 12 and disk 13 are equipped in robot 1, the pedestal 11 is set to workbench side, and the mechanical arm 12 is pacified
Loaded on pedestal 11, the disk 13 makees rotation connection with mechanical arm 12, and the lower part of the disk 13 is equipped with inner groovy 14, institute
The outside for stating inner groovy 14 is equipped with manipulator 15, and the disk 13 is equipped with the position detecting device for testing product position
16 and bottle cap position detecting device 17, the inside of the manipulator 15 is equipped with protrusion 151, and the disk 13 is used with mechanical arm 12
Movable connection, and the depth of the inner groovy 14 is less than height with bottle cap, the mechanical arm 12, disk 13, manipulator 15,
Position detecting device 16 and bottle cap position detecting device 17 are connect with control device 2.
Pedestal 11 described in the present embodiment is equipped with track 111, and the lower part of the mechanical arm 12 is equipped with fixing seat 121, institute
The sliding block 1211 for being equipped with below fixing seat 121 and connecting with track 111 is stated, the sliding block 1211 is set in track 111, and described solid
Rotating disk 122 is equipped in reservation 121, the mechanical arm 12 is set to the top of rotating disk 122, the rotating disk 122 and driving machine
Structure connection, the driving mechanism are connect with control device 2.
Column 123, lower arm 124 and upper arm 125 are equipped in mechanical arm 12 described in the present embodiment, the column 123 is set to
The top of rotating disk 122, and the inside of the column 123 is equipped with feed tank 3, the lower arm 124 is set to the top of column 123,
And the lower arm 124 makees movable connection with column 123, the upper arm 125 is set on lower arm 124, and the upper arm 125 is under
Arm 124 makees movable connection, and the disk 13 is set to the one end of upper arm 125 far from lower arm 124.
Feed tank 3 described in the present embodiment is equipped with lid treatment device 31 and rollway 32, is equipped in the lid treatment device 31
Charging tray 311 is managed, the lower section of the reason charging tray 311 is equipped with vibrator, and helical orbit 312 is equipped in the reason charging tray 311, described
The opening direction of the bottom of 312 self-care charging tray 311 of helical orbit towards reason charging tray 311 is arranged in the shape of a spiral, the helical orbit
312 communicate with rollway 32, and position-limit mechanism is equipped at the feed inlet of the outlet end of the helical orbit 312 and rollway 32
313。
Rollway 32 described in the present embodiment is equipped with bottle cap testing agency 4 and recovering mechanism for detecting bottle cap direction
5, the bottle cap testing agency 4 connect with control device 2.
Lower arm 124 described in the present embodiment uses extension type mechanical arm, and the lower arm 124 is by the first column 1241 and the
Two columns 1242 are constituted, and first column 1241 is set to the top of column 123, and it is vertical that second column 1242 is set to first
The top of column 1241, and do telescopic connection with the first column 1241, and first column 1241 and the second column 1242
Junction is equipped with strengthening mechanism 6.
Embodiment 6
A kind of efficient mechanical arm for bottle body sealing shown in described, comprising: robot 1 and control device 2, it is described
Pedestal 11, mechanical arm 12 and disk 13 are equipped in robot 1, the pedestal 11 is set to workbench side, and the mechanical arm 12 is pacified
Loaded on pedestal 11, the disk 13 makees rotation connection with mechanical arm 12, and the lower part of the disk 13 is equipped with inner groovy 14, institute
The outside for stating inner groovy 14 is equipped with manipulator 15, and the disk 13 is equipped with the position detecting device for testing product position
16 and bottle cap position detecting device 17, the inside of the manipulator 15 is equipped with protrusion 151, and the disk 13 is used with mechanical arm 12
Movable connection, and the depth of the inner groovy 14 is less than height with bottle cap, the mechanical arm 12, disk 13, manipulator 15,
Position detecting device 16 and bottle cap position detecting device 17 are connect with control device 2.
Pedestal 11 described in the present embodiment is equipped with track 111, and the lower part of the mechanical arm 12 is equipped with fixing seat 121, institute
The sliding block 1211 for being equipped with below fixing seat 121 and connecting with track 111 is stated, the sliding block 1211 is set in track 111, and described solid
Rotating disk 122 is equipped in reservation 121, the mechanical arm 12 is set to the top of rotating disk 122, the rotating disk 122 and driving machine
Structure connection, the driving mechanism are connect with control device 2.
Column 123, lower arm 124 and upper arm 125 are equipped in mechanical arm 12 described in the present embodiment, the column 123 is set to
The top of rotating disk 122, and the inside of the column 123 is equipped with feed tank 3, the lower arm 124 is set to the top of column 123,
And the lower arm 124 makees movable connection with column 123, the upper arm 125 is set on lower arm 124, and the upper arm 125 is under
Arm 124 makees movable connection, and the disk 13 is set to the one end of upper arm 125 far from lower arm 124.
Feed tank 3 described in the present embodiment is equipped with lid treatment device 31 and rollway 32, is equipped in the lid treatment device 31
Charging tray 311 is managed, the lower section of the reason charging tray 311 is equipped with vibrator, and helical orbit 312 is equipped in the reason charging tray 311, described
The opening direction of the bottom of 312 self-care charging tray 311 of helical orbit towards reason charging tray 311 is arranged in the shape of a spiral, the helical orbit
312 communicate with rollway 32, and position-limit mechanism is equipped at the feed inlet of the outlet end of the helical orbit 312 and rollway 32
313。
Rollway 32 described in the present embodiment is equipped with bottle cap testing agency 4 and recovering mechanism for detecting bottle cap direction
5, the bottle cap testing agency 4 connect with control device 2.
Lower arm 124 described in the present embodiment uses extension type mechanical arm, and the lower arm 124 is by the first column 1241 and the
Two columns 1242 are constituted, and first column 1241 is set to the top of column 123, and it is vertical that second column 1242 is set to first
The top of column 1241, and do telescopic connection with the first column 1241, and first column 1241 and the second column 1242
Junction is equipped with strengthening mechanism 6.
Forearm 1251 and postbrachium 1252, the postbrachium 1252 and the second column are equipped in upper arm 125 described in the present embodiment
1242 use movable connection, and the forearm 1251 and postbrachium 1252 use telescopic connection, and the forearm 1251 and postbrachium
1252 junction is equipped with strengthening mechanism 6.
Embodiment 7
A kind of efficient mechanical arm for bottle body sealing as shown in the figure, comprising: robot 1 and control device 2, the machine
Pedestal 11, mechanical arm 12 and disk 13 are equipped in device people 1, the pedestal 11 is set to workbench side, and the mechanical arm 12 is installed
In on pedestal 11, the disk 13 makees rotation connection with mechanical arm 12, and the lower part of the disk 13 is equipped with inner groovy 14, described
The outside of inner groovy 14 is equipped with manipulator 15, and the disk 13 is equipped with the position detecting device 16 for testing product position
With bottle cap position detecting device 17, the inside of the manipulator 15 is equipped with protrusion 151, and the disk 13 is with mechanical arm 12 using work
Dynamic formula connection, and the depth of the inner groovy 14 is less than the height with bottle cap, the mechanical arm 12, disk 13, manipulator 15, position
It sets detection device 16 and bottle cap position detecting device 17 is connect with control device 2.
Pedestal 11 described in the present embodiment is equipped with track 111, and the lower part of the mechanical arm 12 is equipped with fixing seat 121, institute
The sliding block 1211 for being equipped with below fixing seat 121 and connecting with track 111 is stated, the sliding block 1211 is set in track 111, and described solid
Rotating disk 122 is equipped in reservation 121, the mechanical arm 12 is set to the top of rotating disk 122, the rotating disk 122 and driving machine
Structure connection, the driving mechanism are connect with control device 2.
Column 123, lower arm 124 and upper arm 125 are equipped in mechanical arm 12 described in the present embodiment, the column 123 is set to
The top of rotating disk 122, and the inside of the column 123 is equipped with feed tank 3, the lower arm 124 is set to the top of column 123,
And the lower arm 124 makees movable connection with column 123, the upper arm 125 is set on lower arm 124, and the upper arm 125 is under
Arm 124 makees movable connection, and the disk 13 is set to the one end of upper arm 125 far from lower arm 124.
Feed tank 3 described in the present embodiment is equipped with lid treatment device 31 and rollway 32, is equipped in the lid treatment device 31
Charging tray 311 is managed, the lower section of the reason charging tray 311 is equipped with vibrator, and helical orbit 312 is equipped in the reason charging tray 311, described
The opening direction of the bottom of 312 self-care charging tray 311 of helical orbit towards reason charging tray 311 is arranged in the shape of a spiral, the helical orbit
312 communicate with rollway 32, and position-limit mechanism is equipped at the feed inlet of the outlet end of the helical orbit 312 and rollway 32
313。
Rollway 32 described in the present embodiment is equipped with bottle cap testing agency 4 and recovering mechanism for detecting bottle cap direction
5, the bottle cap testing agency 4 connect with control device 2.
Lower arm 124 described in the present embodiment uses extension type mechanical arm, and the lower arm 124 is by the first column 1241 and the
Two columns 1242 are constituted, and first column 1241 is set to the top of column 123, and it is vertical that second column 1242 is set to first
The top of column 1241, and do telescopic connection with the first column 1241, and first column 1241 and the second column 1242
Junction is equipped with strengthening mechanism 6.
Forearm 1251 and postbrachium 1252, the postbrachium 1252 and the second column are equipped in upper arm 125 described in the present embodiment
1242 use movable connection, and the forearm 1251 and postbrachium 1252 use telescopic connection, and the forearm 1251 and postbrachium
1252 junction is equipped with strengthening mechanism 6.
Protective shell 61 in strengthening mechanism 6 described in the present embodiment, the protective shell 61 are set to the first column 1241 and second
The junction of column 1242 or set on the junction of forearm 1251 and postbrachium 1252, the both ends of the protective shell 61 are inclined
Shape, and the inside of the protective shell 61 is equipped with protective jacket, the protective jacket is equipped with texture.
Embodiment 8
A kind of efficient mechanical arm for bottle body sealing as shown in the figure, comprising: robot 1 and control device 2, the machine
Pedestal 11, mechanical arm 12 and disk 13 are equipped in device people 1, the pedestal 11 is set to workbench side, and the mechanical arm 12 is installed
In on pedestal 11, the disk 13 makees rotation connection with mechanical arm 12, and the lower part of the disk 13 is equipped with inner groovy 14, described
The outside of inner groovy 14 is equipped with manipulator 15, and the disk 13 is equipped with the position detecting device 16 for testing product position
With bottle cap position detecting device 17, the inside of the manipulator 15 is equipped with protrusion 151, and the disk 13 is with mechanical arm 12 using work
Dynamic formula connection, and the depth of the inner groovy 14 is less than the height with bottle cap, the mechanical arm 12, disk 13, manipulator 15, position
It sets detection device 16 and bottle cap position detecting device 17 is connect with control device 2.
Pedestal 11 described in the present embodiment is equipped with track 111, and the lower part of the mechanical arm 12 is equipped with fixing seat 121, institute
The sliding block 1211 for being equipped with below fixing seat 121 and connecting with track 111 is stated, the sliding block 1211 is set in track 111, and described solid
Rotating disk 122 is equipped in reservation 121, the mechanical arm 12 is set to the top of rotating disk 122, the rotating disk 122 and driving machine
Structure connection, the driving mechanism are connect with control device 2.
Column 123, lower arm 124 and upper arm 125 are equipped in mechanical arm 12 described in the present embodiment, the column 123 is set to
The top of rotating disk 122, and the inside of the column 123 is equipped with feed tank 3, the lower arm 124 is set to the top of column 123,
And the lower arm 124 makees movable connection with column 123, the upper arm 125 is set on lower arm 124, and the upper arm 125 is under
Arm 124 makees movable connection, and the disk 13 is set to the one end of upper arm 125 far from lower arm 124.
Feed tank 3 described in the present embodiment is equipped with lid treatment device 31 and rollway 32, is equipped in the lid treatment device 31
Charging tray 311 is managed, the lower section of the reason charging tray 311 is equipped with vibrator, and helical orbit 312 is equipped in the reason charging tray 311, described
The opening direction of the bottom of 312 self-care charging tray 311 of helical orbit towards reason charging tray 311 is arranged in the shape of a spiral, the helical orbit
312 communicate with rollway 32, and position-limit mechanism is equipped at the feed inlet of the outlet end of the helical orbit 312 and rollway 32
313。
Rollway 32 described in the present embodiment is equipped with bottle cap testing agency 4 and recovering mechanism for detecting bottle cap direction
5, the bottle cap testing agency 4 connect with control device 2.
Lower arm 124 described in the present embodiment uses extension type mechanical arm, and the lower arm 124 is by the first column 1241 and the
Two columns 1242 are constituted, and first column 1241 is set to the top of column 123, and it is vertical that second column 1242 is set to first
The top of column 1241, and do telescopic connection with the first column 1241, and first column 1241 and the second column 1242
Junction is equipped with strengthening mechanism 6.
Forearm 1251 and postbrachium 1252, the postbrachium 1252 and the second column are equipped in upper arm 125 described in the present embodiment
1242 use movable connection, and the forearm 1251 and postbrachium 1252 use telescopic connection, and the forearm 1251 and postbrachium
1252 junction is equipped with strengthening mechanism 6.
Protective shell 61 in strengthening mechanism 6 described in the present embodiment, the protective shell 61 are set to the first column 1241 and second
The junction of column 1242 or set on the junction of forearm 1251 and postbrachium 1252, the both ends of the protective shell 61 are inclined
Shape, and the inside of the protective shell 61 is equipped with protective jacket, the protective jacket is equipped with texture.
Forearm 1251 described in the present embodiment is equipped with the fixing seat for installing disk 13 far from one end of postbrachium 1252
121, the rotary drive mechanism 131 is installed in fixing seat 121, and the rotary drive mechanism 131 uses servo motor.
Embodiment 9
A kind of working method of the efficient mechanical arm for bottle body sealing described in the present embodiment, this is used for bottle body sealing
The specific working method of efficient mechanical arm it is as follows:
1): efficient mechanical arm being assembled first, i.e., first fixing seat 121 is installed on pedestal, and by rotating disk 122
It is installed in fixing seat 121, the first column 1241 is installed in rotating disk 122, and the second column 1242 and the first column 1241 connect
It connects, and it is reinforced by the way that strengthening mechanism 6 is arranged in the first column 1241 and 1242 junction of the second column；Again by forearm
1251 and postbrachium 1252 be attached, and the junction of the two setting strengthening mechanism 6 it is reinforced, then will connect
Upper arm 125 afterwards is attached with lower arm 124, then is installed disk 13 and forearm 1251 by fixing seat 121, and by machine
Tool hand 15 is installed on disk 13；
2): being assembled during previous step assembles efficient mechanical arm, while to feed tank 3, then
The feed tank 3 being completed is installed to the inside of column 123, it is allowed to match with forearm 1251, then by position detecting device
16 and bottle cap position detecting device 17 be installed on disk 13；
3): after structure division installs, control circuit being attached, can be come into operation；
4): during the work time, bottle cap being placed in feed tank 3 first；
5): the motor driven vibrator in feed tank 3 is vibrated, and allows bottle cap along helical orbit 312 to rollway 32
Direction is mobile, until bottle cap is run to rollway 32；
6): when bottle cap is run to rollway 32, the direction of bottle cap is detected by bottle cap testing agency 4, when it finds bottle
Lid towards it is incorrect when, then bottle cap will be delivered in recovering mechanism 5 by rollway 32 by conveyer belt；
If the bottle cap of detection is towards meeting the requirements, control device 2 starts to work order mechanical arm 12；
7): 2 order bottle cap position detecting device 17 of control device first checks the position of bottle cap, then according to inspection
It surveys as a result, control manipulator 15 grabs the bottle cap of rollway 32, the top of bottle cap is stuck in the inner groovy 14 of disk 13；
8): and then control device 2 detects command position detection device 16 to the position of bottleneck on bottle body, and will inspection
The result of survey sends control device 2 to, and then the data processing module in control device 2, analyzes data, analysis obtains
The specific location of bottleneck；
10): to after control device 2 obtains the specific location of bottleneck, drive machinery by mechanical arm 12 in previous step
Hand 15 will be on the bottle cap lid to corresponding bottleneck that grabbed in step 7；
11): and then drive disk 13 to rotate by motor 71, during disk 13 and manipulator 15 rotate simultaneously,
Bottle cap is tightened；
12): in above-mentioned steps 4 to 11, its lateral position can be adjusted according to the actual needs of robot, be allowed
The lower part of mechanical arm 12 is equipped with fixing seat and is moved to suitable position along track 111；
13): at the same time, the height of lower arm 124 and the length of upper arm 125 can also be adjusted according to the actual needs
It is whole.
Embodiment 10
A kind of efficient mechanical arm for bottle body sealing as shown in the figure, comprising: robot 1 and control device 2, the machine
Pedestal 11, mechanical arm 12 and disk 13 are equipped in device people 1, the pedestal 11 is set to workbench side, and the mechanical arm 12 is installed
In on pedestal 11, the disk 13 makees rotation connection with mechanical arm 12, and the lower part of the disk 13 is equipped with inner groovy 14, described
The outside of inner groovy 14 is equipped with manipulator 15, and the disk 13 is equipped with the position detecting device 16 for testing product position
With bottle cap position detecting device 17, the inside of the manipulator 15 is equipped with protrusion 151, and the disk 13 is with mechanical arm 12 using work
Dynamic formula connection, and the depth of the inner groovy 14 is less than the height with bottle cap, the mechanical arm 12, disk 13, manipulator 15, position
It sets detection device 16 and bottle cap position detecting device 17 is connect with control device 2.The position detecting device is passed using position
Sensor 16, the bottle cap position detecting device 17 use infrared sensor.
Pedestal 11 described in the present embodiment is equipped with track 111, and the lower part of the mechanical arm 12 is equipped with fixing seat 121, institute
The sliding block 1211 for being equipped with below fixing seat 121 and connecting with track 111 is stated, the sliding block 1211 is set in track 111, and described solid
Rotating disk 122 is equipped in reservation 121, the mechanical arm 12 is set to the top of rotating disk 122, the rotating disk 122 and driving machine
Structure connection, the driving mechanism are connect with control device 2.
Column 123, lower arm 124 and upper arm 125 are equipped in mechanical arm 12 described in the present embodiment, the column 123 is set to
The top of rotating disk 122, and the inside of the column 123 is equipped with feed tank 3, the lower arm 124 is set to the top of column 123,
And the lower arm 124 makees movable connection with column 123, the upper arm 125 is set on lower arm 124, and the upper arm 125 is under
Arm 124 makees movable connection, and the disk 13 is set to the one end of upper arm 125 far from lower arm 124.
Feed tank 3 described in the present embodiment is equipped with lid treatment device 31 and rollway 32, is equipped in the lid treatment device 31
Charging tray 311 is managed, the lower section of the reason charging tray 311 is equipped with vibrator, and helical orbit 312 is equipped in the reason charging tray 311, described
The opening direction of the bottom of 312 self-care charging tray 311 of helical orbit towards reason charging tray 311 is arranged in the shape of a spiral, the helical orbit
312 communicate with rollway 32, and position-limit mechanism is equipped at the feed inlet of the outlet end of the helical orbit 312 and rollway 32
313。
Rollway 32 described in the present embodiment is equipped with bottle cap testing agency 4 and recovering mechanism for detecting bottle cap direction
5, the bottle cap testing agency 4 connect with control device 2.The bottle cap testing agency 4 uses industrial camera, passes through industrial camera
Bottle cap is shot, the direction of its bottle cap is then judged by the image of shooting.
Lower arm 124 described in the present embodiment uses extension type mechanical arm, and the lower arm 124 is by the first column 1241 and the
Two columns 1242 are constituted, and first column 1241 is set to the top of column 123, and it is vertical that second column 1242 is set to first
The top of column 1241, and do telescopic connection with the first column 1241, and first column 1241 and the second column 1242
Junction is equipped with strengthening mechanism 6.
Forearm 1251 and postbrachium 1252, the postbrachium 1252 and the second column are equipped in upper arm 125 described in the present embodiment
1242 use movable connection, and the forearm 1251 and postbrachium 1252 use telescopic connection, and the forearm 1251 and postbrachium
1252 junction is equipped with strengthening mechanism 6.
Protective shell 61 in strengthening mechanism 6 described in the present embodiment, the protective shell 61 are set to the first column 1241 and second
The junction of column 1242 or set on the junction of forearm 1251 and postbrachium 1252, the both ends of the protective shell 61 are inclined
Shape, and the inside of the protective shell 61 is equipped with protective jacket, the protective jacket is equipped with texture.
Forearm 1251 described in the present embodiment is equipped with the fixing seat for installing disk 13 far from one end of postbrachium 1252
121, the rotary drive mechanism 131 is installed in fixing seat 121, and the rotary drive mechanism 131 uses servo motor.
Mechanical arm control module, feed tank control module, detection control are equipped in control device 2 described in the present embodiment
Module, angular adjustment control module, position adjust control module and controller module, are equipped with machine in the mechanical arm control module
Tool arm control unit and manipulator control unit, the mechanical arm control unit and manipulator control unit respectively with mechanical arm 12
It is connected with manipulator 15, riko cover control unit and rollway control unit, the riko cover is equipped in the feed tank control module
Control unit and rollway control unit are connect with lid treatment device 31 and rollway 32 respectively, are equipped in the detection control module
Bottle cap position detection control unit, position of bottleneck detection control unit and bottle cap are towards detection control unit, the bottle cap position
Detection control unit, position of bottleneck detection control unit and bottle cap towards detection control unit respectively with position detecting device 16,
Bottle cap position detecting device 17 and bottle cap testing agency 4 connect, the angular adjustment control module and driving rotating disk 122
Driving mechanism connection, the position adjust control module and connect with the slider-actuated mechanism for driving sliding block 1211 mobile, the machine
Tool arm control module, feed tank control module, detection control module, angular adjustment control module, position adjusting control module are equal
It is connect with controller module.
A kind of efficient mechanical arm for bottle body sealing described in the present embodiment, its working principles are as follows:
1): efficient mechanical arm being assembled first, i.e., first fixing seat 121 is installed on pedestal, and by rotating disk 122
It is installed in fixing seat 121, the first column 1241 is installed in rotating disk 122, and the second column 1242 and the first column 1241 connect
It connects, and it is reinforced by the way that strengthening mechanism 6 is arranged in the first column 1241 and 1242 junction of the second column；Again by forearm
1251 and postbrachium 1252 be attached, and the junction of the two setting strengthening mechanism 6 it is reinforced, then will connect
Upper arm 125 afterwards is attached with lower arm 124, then is installed disk 13 and forearm 1251 by fixing seat 121, and by machine
Tool hand 15 is installed on disk 13；
2): being assembled during previous step assembles efficient mechanical arm, while to feed tank 3, then
The feed tank 3 being completed is installed to the inside of column 123, it is allowed to match with forearm 1251, then by position detecting device
16 and bottle cap position detecting device 17 be installed on disk 13；
3): after structure division installs, control circuit being attached, can be come into operation；
4): during the work time, bottle cap being placed in feed tank 3 first；
5): the motor driven vibrator in feed tank 3 is vibrated, and allows bottle cap along helical orbit 312 to rollway 32
Direction is mobile, until bottle cap is run to rollway 32；
6): when bottle cap is run to rollway 32, the direction of bottle cap is detected by bottle cap testing agency 4, when it finds bottle
Lid towards it is incorrect when, then bottle cap will be delivered in recovering mechanism 5 by rollway 32 by conveyer belt；
If the bottle cap of detection is towards meeting the requirements, control device 2 starts to work order mechanical arm 12；
7): 2 order bottle cap testing agency 17 of control device checks the position of bottle cap first, is then tied according to detection
Fruit, control manipulator 15 grab the bottle cap of rollway 32, and the top of bottle cap is stuck in the inner groovy 14 of disk 13；
8): and then control device 2 detects command position detection device 16 to the position of bottleneck on bottle body, and will inspection
The result of survey sends control device 2 to, and then the data processing module in control device 2, analyzes data, analysis obtains
The specific location of bottleneck；
10): to after control device 2 obtains the specific location of bottleneck, drive machinery by mechanical arm 12 in previous step
Hand 15 will be on the bottle cap lid to corresponding bottleneck that grabbed in step 7；
11): and then drive disk 13 to rotate by motor 71, during disk 13 and manipulator 15 rotate simultaneously,
Bottle cap is tightened；
12): in above-mentioned steps 4 to 11, its lateral position can be adjusted according to the actual needs of robot, be allowed
The lower part of mechanical arm 12 is equipped with fixing seat and is moved to suitable position along track 111；
13): at the same time, the height of lower arm 124 and the length of upper arm 125 can also be adjusted according to the actual needs
It is whole.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, without departing from the principle of this utility model, several improvement can also be made, these improvement also should be regarded as
The protection scope of the utility model.
Claims (9)
1. a kind of efficient mechanical arm for bottle body sealing, it is characterised in that: include: robot (1) and control device (2), institute
It states and is equipped with pedestal (11), mechanical arm (12) and disk (13) in robot (1), the pedestal (11) is set to workbench side, institute
It states mechanical arm (12) to be installed on pedestal (11), rotation connection, the disk (13) are made in the disk (13) and mechanical arm (12)
Top be equipped with rotary drive mechanism (131), and the lower part of the disk (13) be equipped with inner groovy (14), the inner groovy (14)
Outside be equipped with manipulator (15), and the disk (13) be equipped with for testing product position position detecting device (16) and
The inside of bottle cap position detecting device (17), the manipulator (15) is equipped with raised (151), the disk (13) and mechanical arm
(12) movable connection is used, and the depth of the inner groovy (14) is less than the height with bottle cap, the mechanical arm (12), disk
(13), manipulator (15), rotary drive mechanism (131), position detecting device (16) and bottle cap position detecting device (17) with
Control device (2) connection.
2. the efficient mechanical arm according to claim 1 for bottle body sealing, it is characterised in that: set on the pedestal (11)
Have track (111), the lower part of the mechanical arm (12) is equipped with fixing seat (121), and fixing seat (121) lower section is equipped with and track
(111) sliding block (1211) connected, the sliding block (1211) are set in track (111), and rotation is equipped in the fixing seat (121)
Turntable (122), the mechanical arm (12) are set to the top of rotating disk (122), and the rotating disk (122) connect with driving mechanism,
The driving mechanism is connect with control device (2).
3. the efficient mechanical arm according to claim 1 for bottle body sealing, it is characterised in that: in the mechanical arm (12)
Equipped with column (123), lower arm (124) and upper arm (125), the column (123) is set to the top of rotating disk (122), and described
The inside of column (123) is equipped with feed tank (3), and the lower arm (124) is set to the top of column (123), and the lower arm (124)
Make movable connection with column (123), the upper arm (125) is set on lower arm (124), and the upper arm (125) and lower arm
(124) make movable connection, the disk (13) is set to the one end of upper arm (125) far from lower arm (124).
4. the efficient mechanical arm according to claim 3 for bottle body sealing, it is characterised in that: on the feed tank (3)
Equipped with lid treatment device (31) and rollway (32), reason charging tray (311), the reason charging tray are equipped in the lid treatment device (31)
(311) lower section is equipped with vibrator, and is equipped with helical orbit (312) in the reason charging tray (311), the helical orbit (312)
The opening direction of the bottom of self-care charging tray (311) towards reason charging tray (311) is arranged in the shape of a spiral, the helical orbit (312) with
Rollway (32) communicates, and position-limit mechanism is equipped at the feed inlet of the outlet end of the helical orbit (312) and rollway (32)
(313).
5. the efficient mechanical arm according to claim 4 for bottle body sealing, it is characterised in that: on the rollway (32)
Equipped with for detecting bottle cap direction bottle cap testing agency (4) and recovering mechanism (5), the bottle cap testing agency (4) and control
Device (2) connection.
6. the efficient mechanical arm according to claim 3 for bottle body sealing, it is characterised in that: the lower arm (124) is adopted
With extension type mechanical arm, the lower arm (124) is made of the first column (1241) and the second column (1242), and described first
Column (1241) be set to column (123) top, second column (1242) be set to the first column (1241) top, and with
First column (1241) does telescopic connection, and the junction of first column (1241) and the second column (1242) is equipped with and adds
Gu mechanism (6).
7. the efficient mechanical arm according to claim 3 for bottle body sealing, it is characterised in that: in the upper arm (125)
Equipped with forearm (1251) and postbrachium (1252), the postbrachium (1252) and the second column (1242) use movable connection, described
Forearm (1251) and postbrachium (1252) use telescopic connection, and the junction of the forearm (1251) and postbrachium (1252) is equipped with
Strengthening mechanism (6).
8. the efficient mechanical arm according to claim 6 or 7 for bottle body sealing, it is characterised in that: the reinforcing machine
Protective shell (61) in structure (6), the protective shell (61) be set to the first column (1241) and the second column (1242) junction or
Person is set to the junction of forearm (1251) and postbrachium (1252), and the both ends of the protective shell (61) are oblique, and the protection
The inside of shell (61) is equipped with protective jacket, and the protective jacket is equipped with texture.
9. the efficient mechanical arm according to claim 7 for bottle body sealing, it is characterised in that: the forearm (1251) is remote
One end from postbrachium (1252) is equipped with the fixing seat (121) for installing disk (13), rotary drive mechanism (131) installation
In on fixing seat (121), the rotary drive mechanism (131) uses servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821075083.0U CN208995103U (en) | 2018-07-09 | 2018-07-09 | A kind of efficient mechanical arm for bottle body sealing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821075083.0U CN208995103U (en) | 2018-07-09 | 2018-07-09 | A kind of efficient mechanical arm for bottle body sealing |
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| Publication Number | Publication Date |
|---|---|
| CN208995103U true CN208995103U (en) | 2019-06-18 |
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ID=66797460
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821075083.0U Expired - Fee Related CN208995103U (en) | 2018-07-09 | 2018-07-09 | A kind of efficient mechanical arm for bottle body sealing |
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| CN (1) | CN208995103U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108821209A (en) * | 2018-07-09 | 2018-11-16 | 薛敏强 | A kind of Intelligentized mechanical arm and its working method for bottle body sealing |
-
2018
- 2018-07-09 CN CN201821075083.0U patent/CN208995103U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108821209A (en) * | 2018-07-09 | 2018-11-16 | 薛敏强 | A kind of Intelligentized mechanical arm and its working method for bottle body sealing |
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