CN209193511U - A kind of bottle automatic capping device - Google Patents
A kind of bottle automatic capping device Download PDFInfo
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- CN209193511U CN209193511U CN201821658153.5U CN201821658153U CN209193511U CN 209193511 U CN209193511 U CN 209193511U CN 201821658153 U CN201821658153 U CN 201821658153U CN 209193511 U CN209193511 U CN 209193511U
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- bottle
- splicing groove
- pipeline
- transfer robot
- testing agency
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Abstract
The utility model discloses a kind of bottle automatic capping device, belongs to white wine automated production equipment technical field, including the first pipeline and bottle cover unit, and bottle cover unit includes pose adjustment unit, First look testing agency and transfer robot；First look testing agency, transfer robot sets gradually side on it along the direction of motion of the first pipeline, the side of transfer robot is arranged in pose adjustment unit, pose adjustment unit includes vibrating disk, the output end of vibrating disk is connected with the input terminal of straight line feeder, the output end of splicing groove face straight line feeder, bottle enters in splicing groove through straight line feeder, light-transmitting plate is horizontally arranged at the lower end of splicing groove, the lower section of splicing groove is equipped with the second vision-based detection mechanism, second vision-based detection mechanism is used to detect the posture of bottle cap in splicing groove, the bottleneck that transfer robot is placed into bottle for carrying bottle cap from splicing groove.Utility model device can carry out upper cover to special-shaped bottle cap.
Description
Technical field
The utility model belongs to white wine automated production equipment technical field, and in particular to a kind of bottle automatic capping dress
It sets.
Background technique
In modern medium and high-grade liquor production, bottle progress upper cover is sealed bottle after canned, it is right
In the reference substance, such as the ears of protrusion etc. that on polymorphic structure bottle cap, bottle cap with feature identification object are bottle cap angle recognition, wine
Bottle is upper simultaneously to identify that object is the reference substance, such as label, applique on bottle etc. of bottle angle recognition with feature, in upper cover work
In sequence, when the bottle to upper cover rotates to, posture is consistent, needs the pose adjustment of bottle cap unanimously carrying out upper cover again, to guarantee
Feature identification object is consistent with respect to the posture of bottle after upper cover on bottle.
The production technology of bottle upper cover is complicated, main at present to pass through manually to the pose adjustment of bottle cap, guarantees double in bottle cap
Ear is consistent with the feature of the bottle body identification relative angle of object, is subsequently placed on the bottleneck of bottle, the bottle after upper cover is sent
Enter capping machine and carry out gland, tentatively can judge bottle airtight quality by observing the position difference of ears, ensure that simultaneously
Preferable aesthetics.
For bottle before upper cover, bottle has already passed through multiple working procedure processing, and the presentation quality of bottle had detected repeatedly, wine
Bottle is generally not present quality flaw；For general Special bottle cap, simplify processing technology, bottle to mitigate the own wt of bottle cap
Lid is hollow structure, and bottle cap is made of bottle cap top and bottle cap lower part, and bottle cap top is closely nested in bottle cap lower part, bottle cap pole
The case where breaking an ancient egg-shaped, holed wind instrument there may be bottle cap.
Summary of the invention
The utility model in view of the above technical problems, provides a kind of bottle automatic capping device, which can adjust automatically
Feature identification object is consistent with the feature of the bottle identification relative angle of object in whole bottle cap and bottle cap is placed on the bottleneck of bottle.
The technical solution adopted in the utility model is as follows: a kind of bottle automatic capping device, which includes the first conveying
Line, at least one bottle cover unit, bottle cover unit are arranged along the direction of motion of the first pipeline, sheet on each bottle
Member includes pose adjustment unit, First look testing agency and transfer robot；First look testing agency, transfer robot
Side, pose adjustment unit on it are set gradually along the direction of motion of the first pipeline, and the side of transfer robot, appearance are set
State adjustment unit includes vibrating disk, and the output end of vibrating disk is connected with the input terminal of straight line feeder, at least one splicing groove is just
To the output end of straight line feeder, bottle enters in splicing groove through straight line feeder, and light-transmitting plate is horizontally arranged under splicing groove
The lower section at end, splicing groove is equipped with the second vision-based detection mechanism, the second vision-based detection mechanism face splicing groove, the second vision testing machine
Structure is used to detect the posture of bottle cap in splicing groove, the bottle that transfer robot is placed into bottle for carrying bottle cap from splicing groove
Mouthful.
Further, the quantity of splicing groove is two and is arranged side by side that transverse-moving mechanism drives two splicing grooves to move back and forth,
Two splicing groove arranged side by side alternately splicings.
It further, further include testing agency and rejecting mechanism, the fortune of testing agency and rejecting mechanism along the first pipeline
Dynamic direction is successively set on the downstream of transfer robot, and testing agency includes two groups of correlation type photoelectric sensors, two groups of correlation types
Photoelectric sensor be arranged in the top of the first pipeline and be located at different height, testing agency for detect bottle whether upper cover,
Track of the rejecting mechanism for changing bottle on the first pipeline.
Further, rejecting mechanism includes rejecting cylinder, rejects cylinder by mounting bracket and is mounted on the first pipeline
In rack, rejects and be slidably connected in the middle part of the cylinder rod and push plate of cylinder, the upper end of push plate and mounting bracket hinge.
Further, the first pipeline is equipped with deflector, and deflector is fixed in the rack of the first pipeline and is located at
The downstream of rejecting mechanism is set on deflector there are two symmetrically arranged diversion trench, and diversion trench is used for different on the first pipeline
The bottle for conveying queue carries out water conservancy diversion.
Further, transfer robot includes conveying robot human body and end handgrip, and conveying robot human body is four axis
Parallel robot or six-degree-of-freedom parallel robot.
Further, the side of splicing groove is equipped with crawl spare part mounting table, and crawl spare part is placed on crawl spare part mounting table
On, the side of transfer robot is arranged in waste product holder, and transfer robot includes end handgrip, and end handgrip is mounted on carrying
The output end of robot causes transfer robot to drive end handgrip that cannot grab in splicing groove damaged or other reasons
Bottle cap when, transfer robot drive end handgrip from crawl spare part mounting table take out crawl spare part after taken out from splicing groove again
Bottle cap, i.e. transfer robot grab bottle cap using crawl spare part indirectly and are placed into waste product holder.
The utility model has following technical characterstic:
(1) device can carry out upper cover to special-shaped bottle cap, be specially adapted to medium-to-high grade liquor production, and the present apparatus is equally suitable
Upper cover should be carried out to common bottle, the second vision-based detection mechanism in the device can be omitted at this time, increase the life of equipment
It produces flexible；
(2) two splicing grooves, which are arranged, can increase the discharging speed of straight line feeder, and a splicing groove is used for splicing straight line
Feed appliance is connected directly, and the second vision-based detection mechanism carries out detection to another splicing groove and avoids adjacent bottle cap to detected bottle cap
Extruding, influence detection effect；
(3) motion profile for changing bottle in rejecting mechanism by push plate rotation advantageously reduces the fortune for rejecting cylinder
Dynamic stroke, to improve rejecting efficiency.
Detailed description of the invention
Fig. 1 is the overall structure diagram of utility model device.
Fig. 2 is the partial structural diagram of pose adjustment unit in utility model device.
Fig. 3 is the schematic perspective view of transfer robot in utility model device.
Fig. 4 is the schematic perspective view of testing agency and rejecting mechanism in utility model device.
Fig. 5 is the partial structural diagram of rejecting mechanism in utility model device.
Fig. 6 is the schematic perspective view of First look testing agency in utility model device.
In figure: 1: the first pipeline；2: pose adjustment unit；2-1: vibrating disk；2-2: straight line feeder；2-3: splicing
Slot；2-4: light-transmitting plate；2-5: handgrip spare part；2-6: handgrip spare part mounting table；2-7: the second vision-based detection mechanism；2-8: baffle；
2-9: transverse-moving mechanism；3: First look testing agency；3-1: installation frame；3-2: industrial camera；3-3: bowl-type light source；4. carrying
Robot；4-1: conveying robot human body；4-2: end handgrip；5: robot mounting rack；6: deflector；7: rejected product is placed
Storehouse；8: testing agency；9: rejecting mechanism；9-1: mounting bracket；9-2: cylinder is rejected；9-3: push plate；9-4: link block；9-5:
Sliding axle.
Specific embodiment
As shown in Figure 1 and Figure 2, a kind of bottle automatic capping device provided by the utility model includes the first pipeline 1 and two
An a bottle cover unit, two bottle cover units are set gradually along the direction of motion of the first pipeline 1, on two bottles
The structure of cap unit is identical, and bottle cover unit includes pose adjustment unit 2, First look testing agency 3 and transfer robot 4
, First look testing agency 3 and transfer robot 4 are successively set on the first pipeline 1 along the direction of motion of the first pipeline 1
The side of First look testing agency 3 is arranged in top, pose adjustment unit 2, and First look testing agency 1 is used for bottle
Posture is detected, i.e., is to identify to the signature identification of special-shaped bottle, and pose adjustment unit 2 includes vibrating disk 2-1, vibration
The output end of disk 2-1 is connected with the input terminal of straight line feeder 2-2, and the output of straight line feeder 2-2 is arranged in splicing groove 2-3
End, bottle cap enter in splicing groove 2-3 through straight line feeder 2-2, and light-transmitting plate 2-4 is horizontally fixed on the lower end of splicing groove 2-3, bottle cap
It lies in a horizontal plane on light-transmitting plate 2-4, the lower section of splicing groove 2-3, the second vision testing machine is arranged in the second vision-based detection mechanism 2-7
The lower section of structure 2-7 face splicing groove 2-3, the second vision-based detection mechanism 2-7 are used to detect the posture of bottle cap in splicing groove 2-3, the
The picture of two vision-based detection mechanism 2-7 shooting obtains bottle cap by image processing system progress operation and is capped spy in bottle relatively
The angle that sign identification object needs to rotate.
Feature is identified as First look testing agency 3 for setting the label of wine bottle body in the present embodiment, and second
Vision-based detection mechanism 2-7 is for detecting marker in Special bottle cap, such as position of the ears in bottle cap is so that it is determined that bottle cap
Posture.
As shown in Figure 1, bottle cap is dispersedly placed into vibrating disk 2-1, vibrating disk 2-1 is by bottle cap according to big end in upper, bottle
The posture permutation of mouth down conveys, and bottle cap moves in the splicing groove 2-3 for entering side with straight line feeder 2-2, in order to increase
Add the efficiency of bottle cap detection, the identical splicing groove 2- of two structures of setting in preferably single pose adjustment unit 2 in the present embodiment
3, two splicing groove 2-3 are arranged along the direction of motion of the first pipeline 1, and light-transmitting plate 2-4 is horizontally set under splicing groove 2-3
End, two splicing groove 2-3 are disposed side by side on the output end of straight line feeder 2-2, and transverse-moving mechanism 2-9 drives two splicing groove 2-3
It is moved back and forth along the feed direction perpendicular to straight line feeder 2-2, i.e. transverse-moving mechanism 2-9 drives two splicing groove 2-3 along parallel
It is moved in the direction of motion of the first pipeline 1, two splicing groove 2-3 alternately terminate bottle cap from the output of straight line feeder 2-2, single
A splicing groove 2-3 can at most accommodate a bottle cap simultaneously, it is preferred that the internal structure of splicing groove 2-3 copies bottle cap lateral surface
The outside face contact of shape design, splicing groove 2-3 and bottle cap plays the role of limit.
As shown in fig. 6, First look testing agency 3 includes installation frame 3-1, front glass is fixedly mounted frame 3-1's
Surrounding, industrial camera 3-2 and bowl-type light source 3-3 are fixed on the inside of installation frame 3-1, and bowl-type light source 3-3 is located at industrial camera
The lower section of 3-2, the center of industrial camera 3-2 face bowl-type light source 3-3, bowl-type light source 3-3 the first pipeline 1 of direction.
As shown in Fig. 2, splicing groove 2-3 is no more than 180 degree to the wrap angle of bottle cap circumferencial direction, in order to prevent bottle cap from
It is fallen down in splicing groove 2-3, the two sides of the output end of straight line feeder 2-2 are arranged in baffle 2-8, and baffle 2-8 is for preventing bottle cap
It is fallen down from splicing groove 2-3.
For detected bottle cap between baffle 2-8 and splicing groove 2-3, the second vision-based detection mechanism 2-7 carries out bottle cap
Detection, process are as follows: transverse-moving mechanism 2-9 drives splicing groove 2-3 to move to the left, and the second vision-based detection mechanism 2-7 connects left side
Bottle cap in hopper 2-3 is detected, and the second vision-based detection mechanism 2-7 carried out the Picture section at the splicing groove 2-3 of right side
Filter, bottle enter in the splicing groove 2-3 of right side, and transverse-moving mechanism 2-9 drives splicing groove 2-3 to move to the right, the second vision testing machine
Structure 2-7 detects the end cap in the splicing groove 2-3 of right side, and bottle cap vision-based detection mechanism is to the picture at the splicing groove 2-3 of left side
Part is filtered, and it is synchronous that the movements such as two splicing groove 2-3 can feed splicing groove 2-3, vision-based detection mechanism takes pictures are arranged
It carries out, improves the efficiency of upper cover, when bottle is between baffle 2-8 and splicing groove 2-3, bottle cap is not by it in splicing groove 2-3
The extruding of his bottle cap, bottle cap are lain in a horizontal plane on splicing groove 2-3, guarantee that the second vision-based detection mechanism 2-7 takes pictures.
As shown in figure 3, transfer robot 4 includes conveying robot human body 4-1 and end handgrip 4-2, transfer robot sheet
Body 4-1 is parallel robot, the artificial four-shaft parallel robot of parallel manipulator or six-degree-of-freedom parallel robot, four-shaft parallel robot
Tool is there are three one-movement-freedom-degree and a rotational freedom, and there are three one-movement-freedom-degrees and three rotations for six-degree-of-freedom parallel robot tool
The working space of freedom degree, parallel robot is small and pickup velocity is adapted to carrying small-sized material fastly, and transfer robot 4 is mounted on
On robot mounting rack 5, end handgrip 4-2 includes sucker in this implementation, and sucker is mounted on parallel manipulator by sucker adapter
On the end flange of people.
Utility model device further includes crawl spare part mounting table 2-6, and crawl spare part mounting table 2-6 is arranged in splicing groove 2-
3 side, crawl spare part 2-5 are placed on crawl spare part mounting table 2-6, and transfer robot 4 drives crawl spare part 2-5 crawl
The bottle cap of top breakage is placed into waste product holder, when the breakage of bottle cap top causes end handgrip that can not draw bottle cap or its
When his factor causes transfer robot 4 that can not draw the bottle cap in splicing groove 2-3, transfer robot 4 is from handgrip spare part mounting table
2-6 draws handgrip spare part 2-5 and is placed into waste product holder from the bottle cap that splicing groove 2-3 draws breakage, and the setting of waste product holder exists
The side of the first pipeline of handgrip 1 and the working space for being located at transfer robot 4, can not be directly from connecing for transfer robot 4
The bottle cap that hopper 2-3 is drawn is referred to as damaged bottle cap, clip position and end handgrip 4-2 pair of the handgrip spare part 2-5 to bottle cap
The clip position of bottle cap is different.
According to the calculated result of First look testing agency 3 and the second vision-based detection mechanism 2-7, transfer robot 4 and from
Splicing groove 2-3 draws bottle cap and bottle cap is driven to rotate corresponding angle, is then placed on the bottle on the first pipeline 1.
As shown in Figure 4, Figure 5, utility model device further includes testing agency 8 and rejecting mechanism 9, testing agency 8 and is picked
Except mechanism 9 is successively set on the side of the first pipeline 1 and is located at the downstream of pose adjustment unit 2, testing agency 8 is for detecting
Bottle whether upper cover, rejecting mechanism 9 rejects the bottle of not upper cover, and testing agency 8 includes two groups of correlation type photoelectric transfers
The top of the first pipeline 1 is arranged in sensor, two groups of photoelectric sensors, and two groups of correlation type photoelectric sensors are located at same vertical flat
In face and mounting height is different, and bottle is moved with first bottle of pipeline 1, the receiving end and transmitting terminal position of two groups of correlation type sensors
In the two sides of bottle initial motion track, the height of the correlation type photoelectric sensor induction region of lower section is less than the height of Bottle neck for wine bottle
Degree, the correlation type sensor of lower section are greater than non-upper cover for incuding bottle, the height in the correlation type sensor sensing region of top
The height of Bottle neck for wine bottle and be less than upper cover after bottle the top height, so as to detect bottle whether upper cover, work as lower section
Correlation type sensor sensing to bottle, the correlation type sensor of top does not sense bottle cap, then judge the bottle not on
Lid.
As shown in figure 5, the downstream of testing agency 8 is arranged in rejecting mechanism 9, rejecting mechanism 9 includes rejecting cylinder 9-2, is picked
Except cylinder 9-2 is mounted in the rack of the first pipeline 1 by mounting bracket 9-1, the cylinder rod and sliding axle 9- of cylinder 9-2 are rejected
5 are fixedly connected, and the upper end of push plate 9-3 and mounting bracket hinge, push plate 9-3 is fixedly connected with link block 9-4, in link block 9-4
It is provided with sliding slot, sliding axle 9-5 is nested in sliding slot, and gate shafts 9-5 sliding slot can be slided along link block 9-4, to reject gas
Cylinder 9-2 drives push plate 9-3 to rotate around upper end hinge point, and the lower end of push plate 9-3 is contacted with bottle changes bottle in the first pipeline 1
On track.
As shown in Figure 1, deflector 6 is arranged in the rack of the first pipeline 1, deflector 6 is fixed on the first pipeline 1
In rack and it is located at the downstream of rejecting mechanism 9, opens on deflector 6 there are two diversion trench is symmetricly set on, diversion trench is preferably justified
Arc, after being acted on by rejecting mechanism 9, the bottle of upper cover enters subsequent processing, the wine of non-upper cover from the side diversion trench of deflector 6
Bottle enters subsequent processing from the other side diversion trench of deflector 6 and enters rejected product place position 7.
The action process of the utility model is as follows: a. bottle is moved with the first pipeline 1, the quantity of pose adjustment unit 2
It is two, previous First look testing agency 1 is with corresponding pose adjustment unit 2, transfer robot 4 to odd number bottle
Upper cover is carried out, the latter First look testing agency 1 is with corresponding pose adjustment unit 2, transfer robot 4 to even number wine
Bottle carries out upper cover.
Schematically the utility model and embodiments thereof are described above, description is not limiting, attached drawing
Shown in be also one of the embodiments of the present invention, actual structure is not limited to this.So if this field
Those of ordinary skill enlightened by it, without deviating from the purpose of the present invention, without creatively designing
The frame mode and embodiment similar with the technical solution, all should belong to the protection range of the utility model.
Claims (7)
1. a kind of bottle automatic capping device, it is characterised in that the device includes the first pipeline (1), at least one bottle upper cover
Unit, bottle cover unit are arranged along the direction of motion of the first pipeline (1), and each bottle cover unit includes pose adjustment
Unit (2), First look testing agency (3) and transfer robot (4), the First look testing agency (3), transfer robot
(4) direction of motion along the first pipeline (1) sets gradually side on it, and pose adjustment unit (2) is arranged in transfer robot
(4) side, the First look testing agency (3) are arranged in the upstream of the pose adjustment unit (2)；The pose adjustment
Unit (2) includes vibrating disk (2-1), and the output end of the vibrating disk (2-1) is connected with the input terminal of straight line feeder (2-2),
The output end of straight line feeder (2-2) described at least one splicing groove (2-3) face, bottle is through the straight line feeder (2-2)
Into in the splicing groove (2-3), light-transmitting plate (2-4) is horizontally arranged at the lower end of the splicing groove (2-3), the splicing groove
The lower section of (2-3) is equipped with the second vision-based detection mechanism (2-7), splicing groove described in second vision-based detection mechanism (2-7) face
(2-3), second vision-based detection mechanism (2-7) are used to detect the posture of bottle cap in the splicing groove (2-3)；The carrying implement
Device people (4) is used to carry the bottleneck that bottle cap is placed into bottle from the splicing groove (2-3).
2. bottle automatic capping device according to claim 1, it is characterised in that the quantity of the splicing groove (2-3) is two
A and arranged side by side, transverse-moving mechanism (2-9) drives two splicing grooves (2-3) to move back and forth, and two arranged side by side described
Splicing groove (2-3) alternately splicing.
3. bottle automatic capping device according to claim 1, it is characterised in that further include testing agency (8) and rejecting machine
Structure (9), the testing agency (8) and the rejecting mechanism (9) are successively set on described along the direction of motion of the first pipeline (1)
The downstream of transfer robot (4), the testing agency (8) include two groups of correlation type photoelectric sensors, two groups of correlation type light
Electric transducer is arranged the top in first pipeline (1) and is located at different height, and the testing agency (8) is for detecting wine
Bottle whether upper cover, track of the rejecting mechanism (9) for changing bottle on first pipeline (1).
4. bottle automatic capping device according to claim 3, it is characterised in that the rejecting mechanism (9) includes rejecting gas
Cylinder (9-2), rejecting cylinder (9-2) are mounted in the rack of first pipeline (1) by mounting bracket (9-1), institute
It states the cylinder rod for rejecting cylinder (9-2) and is slidably connected in the middle part of push plate (9-3), the upper end of the push plate (9-3) and the installation
Bracket (9-1) hinge.
5. bottle automatic capping device according to claim 4, it is characterised in that first pipeline (1) is equipped with and leads
Flowing plate (6), the deflector (6) are fixed in the rack of first pipeline (1) and are located under the rejecting mechanism (9)
It swims, is set on the deflector (6) there are two symmetrically arranged diversion trench, the diversion trench is used for first pipeline (1)
The bottle of upper different conveying queues carries out water conservancy diversion.
6. bottle automatic capping device according to claim 1, it is characterised in that the transfer robot (4) includes carrying
Robot body (4-1) and end handgrip (4-2), the conveying robot human body (4-1) are four-shaft parallel robot or six
Axis parallel robot.
7. bottle automatic capping device according to claim 1, it is characterised in that the side of the splicing groove (2-3) is equipped with
It grabs spare part mounting table (2-6), crawl spare part (2-5) is placed on the crawl spare part mounting table (2-6), and waste product holder is set
The side in the transfer robot (4) is set, the transfer robot (4) includes end handgrip, and end handgrip is mounted on described
The output end of transfer robot (4), the transfer robot (4) are placed into described useless using crawl spare part (2-5) crawl bottle cap
Product holder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821658153.5U CN209193511U (en) | 2018-10-12 | 2018-10-12 | A kind of bottle automatic capping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821658153.5U CN209193511U (en) | 2018-10-12 | 2018-10-12 | A kind of bottle automatic capping device |
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| Publication Number | Publication Date |
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| CN209193511U true CN209193511U (en) | 2019-08-02 |
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ID=67407952
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| CN201821658153.5U Active CN209193511U (en) | 2018-10-12 | 2018-10-12 | A kind of bottle automatic capping device |
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| CN (1) | CN209193511U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109179286A (en) * | 2018-10-12 | 2019-01-11 | 安徽海思达机器人有限公司 | A kind of bottle automatic capping device |
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2018
- 2018-10-12 CN CN201821658153.5U patent/CN209193511U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109179286A (en) * | 2018-10-12 | 2019-01-11 | 安徽海思达机器人有限公司 | A kind of bottle automatic capping device |
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