A method and system for placing a capping

Abstract

The present invention provides a method and a system for placing caps. Caps are placed and continuously replenished in multiple sets of downwardly inclined feeding channels; among the stacks of caps in the feeding channels, the cap at the forefront is in an unclamped state; the caps at the forefront are taken out from each picking channel at one time by a suction head group on a conveying mechanism, and the taken-out caps are transferred to a position where they can be grasped by a manipulator. In the conveying mechanism, the caps are in a state where the outer surface is exposed and the inner surface is sucked; the caps on the suction head group are taken away at one time by a grasping head mechanism on the manipulator. In the grasping head mechanism of the manipulator, the outer surface of the cap is sucked by the grasping head mechanism; through the transfer of the manipulator, the caps are placed at designated positions. The present invention realizes the mechanized processes of separating, transporting, and placing caps for caps made of relatively thin materials and with small shapes, with coordinated actions, high efficiency, and high space utilization rate, and can be embedded in a packaging production line.

Description

Technical Field

[0001] The present invention relates to the field of packaging machinery, and particularly to a method and a system for placing caps. Background Art

[0002] Before separating the caps covering the bottle caps, dozens or even more caps are nested together. The original cap separation was done manually, and then the caps were manually capped and then placed on the conveyor line for the next process. Such caps are made of relatively thin materials and are used for sealing bottle caps in the wine industry. After being manually capped, heat shrinkage is performed to tighten the caps. Summary of the Invention

[0003] The first object of the present invention is to provide a method for placing caps to facilitate the realization of mechanized cap placement in view of the problems in the background art. To this end, the present invention adopts the following technical solutions:

[0004] A method for placing caps, characterized by comprising the following steps:

[0005] The caps are nested into stacks in sequence, and the cap stacks are placed and continuously replenished in multiple downwardly inclined feeding channels. In the feeding channels, the tops of the caps are at the rear and the cap openings are at the front; in the cap stack in the feeding channel, the cap at the forefront is in an unclamped state and can be separated.

[0006] The forefront caps are taken out from each picking channel at one time by the suction head group on the conveying mechanism, and the taken-out caps are transferred to a position where they can be grasped by a manipulator. In the conveying mechanism, the caps are in a state where the outer surface is exposed and the inner surface is sucked.

[0007] The caps on the suction head group are taken away at one time by the grasping head mechanism on the manipulator. In the grasping head mechanism of the manipulator, the outer surface of the cap is sucked by the grasping head mechanism.

[0008] The caps are placed at the designated position through the transfer of the manipulator.

[0009] Further, the arrangement spacing and arrangement mode of the multiple groups of feeding channels, the arrangement spacing and arrangement mode of the suction heads in the suction head group of the conveying mechanism, the arrangement spacing and arrangement mode of the grasping heads in the grasping head mechanism of the manipulator, and the arrangement spacing and arrangement mode of placing the caps at the designated position are all the same.

[0010] Further, when the suction head group sucks the caps, the cap stack is clamped, but the forefront cap is in an unclamped state. When the forefront cap is taken away, the cap stack is released and slides down along the inclined feeding channel to the picking door; this process is repeated.

[0011] Further, in the conveying mechanism, when the suction head group picks up the caps, it moves obliquely upward towards the feeding channel, then retreats obliquely downward, and rotates, so that the suction head group with the caps is rotated to a position corresponding to the manipulator, and the suction head group without caps is rotated to a position aligned with the feeding channel, and this cycle repeats.

[0012] The second object of the present invention is to provide a cap placing system capable of realizing mechanized cap placing.

[0013] The cap placing system is characterized by comprising a cap separating mechanism, a conveying mechanism and a manipulator;

[0014] The cap separating mechanism includes multiple groups of feeding channels and multiple groups of openable and closable limiting channels. The multiple groups of feeding channels and multiple groups of openable and closable limiting channels are arranged obliquely downward and are connected front and back to form multiple groups of feeding channels that are obliquely downward; a material taking door is arranged in front of the multiple groups of openable and closable limiting channels.

[0015] The conveying mechanism includes a suction head group, a rotating device and a translation device. The rotating device is installed on the translation device. The translation direction of the translation device is to displace back and forth obliquely upward towards the feeding channel and obliquely downward away from the feeding channel. The rotation axis of the rotating device is perpendicular to the translation direction of the translation device. The suction head group is installed on the rotating device. A row of multiple suction heads is arranged in the suction head group. The suction heads are provided with suction holes. The arrangement of the multiple suction heads corresponds to the feeding channels one by one;

[0016] The manipulator includes a grasping mechanism. The grasping mechanism includes a fixed structure connected to the robotic arm. The grasping mechanism of the manipulator includes a rotating bracket and its rotating driving cylinder. A row or several rows of suckable grippers are arranged at the end of the rotating bracket. The grippers correspond to the suction heads on the suction head group of the conveying mechanism one by one.

[0017] For the cap separating mechanism, the following further technical solutions can be adopted:

[0018] Among the multiple groups of openable and closable limiting channels, there are positioning structures between each group.

[0019] There is a certain distance between the front end of the openable and closable limiting channel and the material taking door, so that a part of the frontmost cap close to the material taking door is not directly clamped by the openable and closable limiting channel.

[0020] The openable and closable limiting channel includes a left movable mounting part and a right movable mounting part. The left movable mounting part and the right movable mounting part are respectively provided with cap stack limiting parts. The cap stack limiting parts of the left movable mounting part and the right movable mounting part form a fixture adapted to a stack of caps.

[0021] The openable and closable limiting channel includes a left movable mounting member and a right movable mounting member. The left movable mounting members of each group of openable and closable limiting channels are connected together by a first nut and a screw group to determine the distance between them, and the right movable mounting members of each group of openable and closable limiting channels are connected together by a second nut and a screw group to determine the distance between them.

[0022] The openable and closable limiting channel includes a left movable mounting member and a right movable mounting member. The left movable mounting members of each openable and closable limiting channel are connected together, and the right movable mounting members of each openable and closable limiting channel are connected together. A first cylinder is provided on the left side of the cap separating mechanism, and the first cylinder is connected to the leftmost left movable mounting member. A second cylinder is provided on the right side of the cap separating mechanism, and the second cylinder is connected to the rightmost right movable mounting member.

[0023] The material taking door is a movable part moving horizontally, and holes or grooves matching the size of the cap and a cap limiting part are provided along the moving direction.

[0024] The cap separating mechanism is provided with a mounting plate; the multiple groups of feeding channels and the multiple groups of openable and closable limiting channels are arranged on the mounting plate; the mounting plate serves as the channel bottom plate of the multiple groups of feeding channels and the multiple groups of openable and closable limiting channels.

[0025] The feeding channel includes a left baffle and a right baffle, and the left baffle and the right baffle are installed on the mounting plate of the cap separating structure in a left-right adjustable manner.

[0026] The multiple groups of openable and closable limiting channels are provided with an opening and closing movement guiding structure.

[0027] For the conveying mechanism, the following further technical solutions can be adopted:

[0028] The conveying mechanism is evenly provided with multiple groups of suction heads along the rotation direction of the rotating device. The conveying mechanism is provided with a rotating bracket, and the rotating bracket is fixed to the rotating shaft of the rotating device.

[0029] The conveying mechanism is evenly provided with three groups of suction heads along the rotation direction of the rotating device.

[0030] The suction head includes a head adapted to the inner cavity of the cap. The head includes a top and a circle of side surfaces, and a plurality of grooves leading to the top are provided on the side surface.

[0031] The head of the suction head is in the shape of a truncated cone, and the rear conical surface of the side surface is a circumferentially continuous surface, and the circumferentially continuous surface is used for sealing cooperation with the mouth of the cap.

[0032] The top and the side surface are provided with suction holes.

[0033] The edge of the top is set as a transition part that transitions with the side; the communication parts of the several grooves with the top are at the edge of the top.

[0034] The translation direction is inclined to the horizontal plane and is consistent with the stacking angle of the caps before the cap outlet.

[0035] The motor of the rotating device is installed on the translation device and translates together with the rotating device.

[0036] The motor of the rotating device is installed on the frame and does not move with the rotating device. The motor of the rotating device is connected to the rotating shaft of the rotating device through a chain or belt drive mechanism. The conveying mechanism is also provided with a tensioning mechanism for the chain or belt drive mechanism. The tensioning mechanism is provided with a tensioning wheel. An elastic support mechanism is provided on the frame, and the tensioning wheel is arranged on the elastic support structure.

[0037] For the manipulator, the following further technical solutions can be adopted:

[0038] The suction-capable gripper head is provided with a concave cavity that is open to the item to be grasped for it to enter.

[0039] The rotation driving cylinder is rotatably installed on the fixed structure. The piston rod of the rotation driving cylinder is connected to the rotating bracket through a joint structure. The rotation axis of the rotation driving cylinder is parallel to the rotation axis of the rotating bracket.

[0040] The rear end of the rotation driving cylinder is rotatably connected to the fixed structure and axially positioned with a positioning spacer between it and the fixed structure. The piston rod of the rotation driving cylinder is connected to the connecting rod of the rotating bracket through a joint structure. The connecting rod and the gripper head are on both sides of the rotation axis of the rotating bracket.

[0041] The concave cavity matches the outer shape of the cap when the cap opening faces down, so that the cap can be sucked into the concave cavity and maintain its outer shape.

[0042] The rotating bracket includes a connecting rod, a rotating arm, and a gripper head mounting seat. The connecting rod and the gripper head mounting seat are connected to the rotating arm. The rotating arm is rotatably connected to the fixed structure through a rotating shaft. The connecting rod and the gripper head mounting seat are on both sides of the rotation axis of the rotating bracket. The piston rod of the rotation driving cylinder is connected to the connecting rod through a joint structure. The gripper heads are arranged in rows on the gripper head mounting seat.

[0043] The fixed structure includes a fixing plate, a cylinder bracket on the fixing plate, and a connecting bracket on the fixing plate. The connecting bracket is connected to the rotating bracket. The cylinder bracket is on the upper surface of the fixing plate, and the connecting bracket is on the lower surface of the fixing plate.

[0044] The robotic arm is a two-axis robotic arm; the rotation axis of the rotating bracket is parallel to the two axes in the two-axis robotic arm.

[0045] The manipulator gripping mechanism is connected to the robotic arm and docks with the suction head group of the docking and transporting mechanism to displace the cap to a specified position. The specified position is on the cap of the bottle on the conveyor line or on the conveyor line.

[0046] Due to the adoption of the technical solution of the present invention, for caps made of relatively thin materials and with small shapes, the present invention realizes the mechanized processes of cap separation, transportation, and cap placement, with coordinated actions, high efficiency, and high space utilization rate, and can be embedded in the packaging production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic diagram of an embodiment of the present invention.

[0048] Figure 2 It is a schematic diagram of a bottle and a cap.

[0049] Figure 3 It is a schematic diagram of the openable and closable limiting channel in the cap separation mechanism embodiment of the present invention.

[0050] Figure 4 It is an exploded view of the openable and closable limiting channel in the cap separation mechanism embodiment of the present invention.

[0051] Figure 5 It is a schematic diagram of the cap separation mechanism embodiment of the present invention.

[0052] Figure 6 It is a plan view of the cap separation mechanism embodiment of the present invention.

[0053] Figure 7 It is a perspective view of an embodiment of the transporting mechanism of the present invention.

[0054] Figure 8 For the present invention Figure 7 The exploded view of the shown embodiment.

[0055] Figure 9 It is a schematic diagram when the suction head of the transporting mechanism of the present invention sucks the cap.

[0056] Figure 10 It is a schematic diagram of the suction head embodiment of the transporting mechanism of the present invention.

[0057] Figure 11 It is a perspective view of another embodiment of the transporting mechanism of the present invention.

[0058] Figure 12 For Figure 11 The side view of the shown embodiment.

[0059] Figure 13Schematic diagram of the connection between the manipulator grasping mechanism and the robotic arm of the present invention.

[0060] Figure 14 One of the schematic diagrams of the manipulator grasping mechanism of the present invention.

[0061] Figure 15 Another schematic diagram of the manipulator grasping mechanism of the present invention.

[0062] Figure 16 Exploded view of the manipulator grasping mechanism of the present invention. Specific implementation mode

[0063] Referring to the attached drawings. The cap placing system provided by the present invention includes a cap separating mechanism, a conveying mechanism, and a manipulator. The reference numeral 103 in the attached drawings is a wine bottle using the cap 101.

[0064] The cap separating mechanism of the present invention includes multiple groups of feeding channels 1 arranged in parallel and multiple groups of openable and closable limiting channels arranged in parallel. The multiple groups of feeding channels 1 and the multiple groups of openable and closable limiting channels are arranged obliquely downward and are connected front and back to form multiple groups of feeding channels inclined downward; a material taking door 3 is arranged in front of the multiple groups of openable and closable limiting channels.

[0065] The cap separating mechanism is provided with a mounting plate 4; the multiple groups of feeding channels 1 and the multiple groups of openable and closable limiting channels are arranged on the mounting plate 4; the mounting plate 4 serves as the channel bottom plate of the multiple groups of feeding channels 1 and the multiple groups of openable and closable limiting channels.

[0066] The openable and closable limiting channel includes a left movable mounting member 21 and a right movable mounting member 22. The left movable mounting member 21 and the right movable mounting member 22 are respectively connected to the cap stack limiting members 23 and 24. The cap stack limiting members 23 and 24 of the left movable mounting member 21 and the right movable mounting member 22 are combined to form a fixture adapted to a stack of caps 100.

[0067] Among the multiple groups of openable and closable limiting channels, there is a positioning structure between each group. The positioning structure can adopt a nut and screw structure. In this way, the spacing can also be adjusted to adapt to caps 101 of different sizes. The feeding channel 1 includes a left baffle 11 and a right baffle 12. The left baffle 11 and the right baffle 12 are installed on the mounting plate 4 of the cap separating structure in a left-right adjustable manner through connecting long holes and bolts, and the spacing can be adjusted to adapt to caps 101 of different sizes.

[0068] The left movable mounting members 21 of each group of openable and closable limiting channels are connected together by a first nut 51 and a screw 52 group to determine the spacing between them. The right movable mounting member 22 is provided with a through hole for the first screw 52. The right movable mounting members 22 of each group of openable and closable limiting channels are connected together by a second nut 53 and a screw 54 group to determine the spacing between them. The left movable mounting member 21 is provided with a through hole for the second screw 54.

[0069] A first cylinder 61 is arranged on the left side of the cap separating mechanism. The first cylinder 61 is connected to the left movable mounting member 21 at the leftmost side. A second cylinder 62 is arranged on the right side of the cap separating mechanism. The second cylinder 62 is connected to the right movable mounting member 22 at the rightmost side. By the operation of the first cylinder 61 and the second cylinder 62, the left movable mounting member 21 and the right movable mounting member 22 are driven to act to open the openable and closable limiting channel and close the openable and closable limiting channel to clamp the stack of caps.

[0070] The multiple groups of openable and closable limiting channels are provided with an opening and closing movement guiding structure. The opening and closing movement guiding structure includes a guiding column 71. The guiding column 71 passes through each left movable mounting member 21 and right movable mounting member 22. Bearings 72 which are movably connected to the guiding column 71 are arranged on the left movable mounting member 21 and the right movable mounting member 22.

[0071] The material taking door 3 is a movable part with a transverse movement and is driven by a cylinder 30. The material taking door 3 is provided with a hole or groove 31 which is matched with the size of the cap 101 along the movement direction, and a cap limiting part 32. The material taking door is installed on the left and right sliding members 33. The cap separating mechanism is at both ends of the left and right sliding members 33, and a sliding member guiding structure 34 is arranged on the mounting plate 4.

[0072] There is a certain distance between the front end of the openable and closable limiting channel and the material taking door 3, so that a part 102 of the frontmost cap 101 close to the material taking door is not directly clamped by the openable and closable limiting channel.

[0073] During use, the stack of caps is placed in the feeding channel with the top of the cap 101 at the rear and the mouth part 104 at the front. When the cap limiting part 32 of the material taking door 3 blocks in front of the openable and closable limiting channel, the openable and closable limiting channel opens, and the stack of caps 100 slides downward by gravity until it touches the cap limiting part 32. Then, the openable and closable limiting channel closes to clamp the stack of caps 100. At this time, a part 102 of the first cap close to the material taking door is not clamped, and this cap is only inserted into the second cap. When the openable and closable limiting channel opens, the material taking door 3 moves until the hole or groove 31 is aligned with the front end of the openable and closable limiting channel, and the material taking door 3 is opened. At this time, the suction head of the following conveying mechanism can extend into the hole or groove 31 to take away the frontmost cap. The stack of caps can be replenished into the feeding channel at any time during the use process.

[0074] The conveying mechanism provided by the present invention includes a suction head group, a rotating device, and a translation device. The translation device is installed on the frame 105, and the cap separating mechanism provides the frontmost cap 101 of the stack of caps that can be picked up by the conveying mechanism of the present invention. The rotating device is installed on the translation device. The translation direction of the translation device is to displace back and forth obliquely upward towards the feeding channel and obliquely downward away from the feeding channel. The rotation axis of the rotating device is perpendicular to the translation direction of the translation device. The suction head group is installed on the rotating device. A plurality of suction heads 201 arranged in a row are provided in the suction head group. The suction head 201 is provided with a suction hole 210. The arrangement of the plurality of suction heads corresponds one-to-one with the feeding channel, and their arrangement pitch and arrangement method are the same. Through the rotation of the rotating device, the suction head 201 can rotate to align with the feeding channel and rotate to an angle that cooperates with the gripper of the following manipulator.

[0075] Three groups of suction heads are evenly arranged along the rotation direction of the rotating device of the conveying mechanism to improve work efficiency. The conveying mechanism is provided with a rotating bracket 202. The rotating bracket 202 is fixedly connected to the rotating shaft 220 of the rotating device. Each group of suction heads 201 is arranged in a row on the rotating bracket 202. The suction head 201 is provided with an installation part 217. The installation part 217 is connected to the rotating bracket 202.

[0076] The suction head 201 includes a head adapted to the inner cavity of the cap. The diameter of the head is generally slightly smaller than the inner cavity diameter of the cap 101. The head includes a top 211 and a circle of side surfaces 212. And a plurality of grooves 213 leading to the top 211 are provided on the side surface 212. The grooves 213 can play a role in compensation and limitation. When the suction head 201 adsorbs the cap, they absorb the excess part of the cap 101 that is larger than the head of the suction head, avoiding irregular wrinkles on the side surface of the cap 101, and increasing the applicable range of the suction head 201 for different caps. At the same time, through the concave and convex surfaces formed on the cap after adsorption, the grasping force on the cap is increased, and when the cap 101 is released, it can also quickly separate by using the rebound of the cap 101. The edge of the top 211 is set as a transition part 215 that transitions with the side surface 212. The communication part 216 between the plurality of grooves 213 and the top 211 is at the edge of the top.

[0077] The shape of the head of the suction head 201 is preferably frustum-shaped. The rear conical surface 214 of the side surface 212 is a circumferentially continuous surface, and the circumferentially continuous conical surface 214 is used for sealing cooperation with the mouth part 104 of the cap, that is, the diameter of the root of the frustum shape is always larger than the diameter of the mouth part of the applied cap. Through the above configuration, the applicable range of the suction head 201 for different caps can be increased.

[0078] Both the top 211 and the side surface 212 can be provided with suction holes 210.

[0079] The translation device is arranged obliquely to the horizontal plane, and the translation direction is inclined to the horizontal plane, which is the same as the stacking angle of the caps before the cap outlet (the same as the inclination angle of the feeding channel). The translation device includes a translation driving cylinder 203, a translation mounting frame 231 and a guiding track 232. The translation mounting frame 231 is connected to the driving cylinder 203 and also slidably connected to the guiding track 232.

[0080] The motor 221 of the rotating device can be directly mounted on the translation device and move along with the rotating device. An installation frame 231 is provided on the translation device. The motor 221 is mounted on the installation frame 231, and the bearings of the rotating shaft 220 are also mounted on the installation frame 231. The motor 221 drives the rotating shaft 220 and the rotating bracket 202 to rotate by a required angle.

[0081] The motor 221 of the rotating device can also be mounted on the frame 105 without moving along with the rotating device. The motor 221 of the rotating device is connected to the rotating shaft 220 of the rotating device through a chain transmission mechanism 222. The conveying mechanism is also provided with a tensioning mechanism for the chain transmission mechanism 222. The tensioning mechanism is provided with a tensioning sprocket 223. An elastic support mechanism 224 is provided on the frame 105. The tensioning sprocket 223 is arranged on the elastic support structure 224. When the driven sprocket 225 of the chain transmission mechanism 222 is displaced by translation, the cooperation force between the chain and the tensioning sprocket 223 changes, and the elastic support structure 224 makes a corresponding reaction. Under the action of the compression spring 227 in the elastic support structure 224, the movable frame 226 in the elastic support structure and the tensioning sprocket 223 arranged thereon are displaced along the track 228 correspondingly to keep the chain taut.

[0082] The manipulator of the present invention includes a manipulator grasping mechanism. The manipulator grasping mechanism includes a fixed structure connected to the robotic arm 300. The fixed structure includes a fixing plate 301, a cylinder support 311 on the fixing plate 301, and a connecting support 312 on the fixing plate. The cylinder support 311 is located above the fixing plate 301, and the connecting support 312 is located below the fixing plate 301.

[0083] The manipulator grasping mechanism includes a rotating bracket and its rotating driving cylinder 302. A row or several rows of air-sucking grippers 304 are arranged at the end of the rotating bracket. The air-sucking grippers 304 are provided with cavities 340 that are open to the item to be grasped for it to enter. The item can be the cap 101 with a relatively thin wall thickness. The outer shapes of the cavity 340 and the cap 101 in the state where the cap mouth is facing downwards (i.e., when covering the bottle cap of the bottle 103) match, so that the cap 101 can be sucked into the cavity 340 and maintain this outer shape of the cap 101. The grippers 304 correspond one by one to the suction heads 201 on the suction head group of the conveying mechanism, and their arrangement pitches and arrangement manners are the same.

[0084] The rear end of the rotation driving cylinder 302 is rotatably connected to the cylinder bracket 311 of the fixed structure and axially positioned between the cylinder bracket 311 of the fixed structure by a positioning spacer 321. The rotation axis of the rotation driving cylinder 302 is parallel to the rotation axis of the rotation bracket.

[0085] The rotation bracket includes a connecting rod 331, a rotating arm 332, and a gripper mounting seat 333. The connecting rod 331 and the gripper mounting seat 333 are connected to the rotating arm 332. The rotating arm 332 is rotatably connected to the connecting bracket 312 in the fixed structure through a rotating shaft 330. The connecting rod 331 and the gripper mounting seat 333 are located on both sides of the rotation axis of the rotation bracket. The piston rod of the rotation driving cylinder 302 is connected to the connecting rod 331 through a joint structure 320. The grippers 304 are arranged in rows on the gripper mounting seat 333. The reference numeral 341 in the attached drawing is the vent hole of the gripper 304.

[0086] The robotic arm 300 is a two-axis robotic arm. The rotation axis of the rotation bracket is parallel to the two axes in the two-axis robotic arm. The robotic hand grasping mechanism is connected to the robotic arm 300 and docks with the conveying mechanism to displace a plurality of caps in groups onto the bottles 103 on the packaging conveyor line, on the bottle caps of the bottles, or on another conveyor line 400 associated with the bottles. The section of the packaging conveyor line corresponding to the cap placement is generally a straight conveyor line. The direction of the feeding channel 1 is preferably perpendicular to this section of the conveyor line (or perpendicular to the conveying direction of the bottle conveyor line corresponding to the bottles), or rather, the rotation axis of the rotating device of the conveying mechanism is preferably parallel to this section of the conveyor line or the conveying direction.

[0087] In summary, the above cap placing suction head can implement the following mechanized cap placing method:

[0088] The caps 101 are nested in stacks in sequence and placed and continuously replenished in multiple downwardly inclined feeding channels 1. In the feeding channel 1, the tops of the caps are at the rear and the cap openings 104 are facing forward. In the stack of caps in the feeding channel, the cap at the frontmost end is in a state of not being clamped and can be separated.

[0089] The frontmost caps 101 are taken out from each feeding channel 1 at one time by the suction head group on the conveying mechanism. The taken-out caps 101 are transferred to a position where they can be grasped by the robotic hand. In the conveying mechanism, the caps 101 are in a state where the outer surface is exposed and the inner surface is sucked.

[0090] The caps on the suction head group are taken away at one time by the gripper mechanism on the robotic hand. In the gripper mechanism of the robotic hand, the outer surface of the caps 101 is sucked by the gripper mechanism.

[0091] Through the transfer of the manipulator, the cap is placed at a designated position, that is, a plurality of caps are grouped and displaced onto the bottle 103 on the packaging conveyor line, on the bottle cap of the bottle, or placed on another conveyor line 400 associated with the bottle.

[0092] The above are only specific embodiments of the present invention, but the structural features of the present invention are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present invention are covered by the protection scope of the present invention.

Claims

1. A method for placing a capping cover, characterized in that Including the following steps: The caps are nested in stacks in sequence. The stack of caps is placed into and continuously replenished in multiple sets of downwardly inclined feeding channels. The cap has an inner cavity, with the top of the cap at the rear and the cap opening facing forward. Among the stack of caps in the feeding channel, the frontmost cap is in a state of not being clamped and can be separated; The frontmost caps are taken out from each feeding channel at one time by the suction head group on the conveying mechanism. The taken-out caps are transferred to a position where they can be grasped by the manipulator. In the conveying mechanism, the caps are in a state where the outer surface is exposed and the inner surface is sucked; The suction head group is provided with multiple suction heads arranged in rows; The caps on the suction head group are taken away at one time by the grasping mechanism on the manipulator. The grasping mechanism includes one row or several rows of air-suckable grippers; The outer surface of the cap is sucked by the grippers; Through the transfer of the manipulator, the cap is placed at the designated position; The feeding channel is provided with an openable and closable limiting channel. A material taking door is arranged in front of the openable and closable limiting channel. There is a certain distance between the front end of the openable and closable limiting channel and the material taking door, so that a part of the frontmost cap close to the material taking door is not directly clamped by the openable and closable limiting channel; When the cap limiting part of the material taking door blocks in front of the openable and closable limiting channel, the openable and closable limiting channel opens, and the stack of caps slides downward by gravity until it touches the cap limiting part; Then, the openable and closable limiting channel closes to clamp the stack of caps. At this time, a part of the first cap close to the material taking door is not clamped, and this cap is only inserted into the second cap; The suction head includes a head adapted to the inner cavity of the cap. The diameter of the head is slightly smaller than the inner diameter of the cap. The head includes a top and a circle of side surfaces. And, a number of grooves leading to the top are arranged on the side surface; The grooves can play a role in compensation and limitation. When the suction head adsorbs the cap, they absorb the excess part of the cap larger than the head of the suction head, avoiding irregular wrinkles on the side surface of the cap, and increasing the applicable range of the suction head for different caps; At the same time, through the concave-convex surface formed on the cap after adsorption, the grasping force for the cap is increased, and when releasing the cap, it can also quickly separate by using the rebound of the cap; The gripper is provided with a cavity opening towards the item to be grasped for it to enter; The cavity matches the shape of the cap in the state where the cap opening faces downward, so that the cap can be sucked into the cavity and maintain this shape of the cap.

2. The method for placing a capping cover according to claim 1, characterized in that The arrangement spacing and arrangement mode of the multiple sets of feeding channels, the arrangement spacing and arrangement mode of the suction heads in the suction head group of the conveying mechanism, the arrangement spacing and arrangement mode of the grippers in the gripper mechanism of the manipulator, and the arrangement spacing and arrangement mode of placing the caps at the designated position are all the same.

3. The method for placing a capping cover according to claim 1, characterized in that In the conveying mechanism, when the suction head group takes the caps, it moves obliquely upward towards the feeding channel, then retreats obliquely downward, and performs a rotational movement, so that the suction head group with the sucked caps rotates to a position corresponding to the manipulator, and the suction head group without caps rotates to a position aligned with the feeding channel, and this cycle repeats.

4. A capping cover placing system, characterized in that Including a cap separating mechanism, a conveying mechanism, and a manipulator; The cap-splitting mechanism includes multiple groups of feeding channels and multiple groups of openable and closable limiting channels. The multiple groups of feeding channels and multiple groups of openable and closable limiting channels are arranged obliquely downward and are connected front and back to form multiple groups of feeding channels that are inclined downward; a material-taking door is arranged in front of the multiple groups of openable and closable limiting channels; The conveying mechanism includes a suction head group, a rotating device, and a translation device. The rotating device is installed on the translation device. The translation direction of the translation device is to move back and forth obliquely upward towards the feeding channel and obliquely downward away from the feeding channel. The rotation axis of the rotating device is perpendicular to the translation direction of the translation device. The suction head group is installed on the rotating device. Multiple suction heads are arranged in rows in the suction head group. The suction heads are provided with suction holes. The arrangement of the multiple suction heads corresponds to the multiple groups of feeding channels one by one; The manipulator includes a grasping mechanism. The grasping mechanism includes a fixed structure connected to the robotic arm. The grasping mechanism includes a rotating bracket and its rotating driving cylinder. A row or several rows of suckable grippers are arranged at the end of the rotating bracket. The grippers correspond to the suction heads on the suction head group of the conveying mechanism one by one; The feeding channel is provided with an openable and closable limiting channel. A material-taking door is arranged in front of the openable and closable limiting channel. There is a certain distance between the front end of the openable and closable limiting channel and the material-taking door, so that a part of the frontmost cap close to the material-taking door is not directly clamped by the openable and closable limiting channel; The suction head includes a head adapted to the inner cavity of the cap. The diameter of the head is slightly smaller than the inner diameter of the cap. The head includes a top and a side surface. And, a number of grooves leading to the top are arranged on the side surface; the grooves can play a role of compensation and limitation. When the suction head adsorbs the cap, the excess part of the cap larger than the head of the suction head is absorbed, avoiding irregular wrinkles on the side surface of the suction head and increasing the applicable range of the suction head for different caps; at the same time, the uneven surface formed on the cap after adsorption increases the grasping force on the cap. When the cap is released, it can also quickly detach by using the rebound of the cap; The gripper is provided with a cavity that opens towards the object to be grasped for it to enter; the cavity matches the outer shape of the cap in the state where the cap opening faces downward, so that the cap can be sucked into the cavity and maintain this outer shape of the cap.

5. The capping cover placing system according to claim 4, characterized in that The openable and closable limiting channel includes a left movable mounting member and a right movable mounting member. Clamping cap stack limiting members are respectively arranged on the left movable mounting member and the right movable mounting member. The clamping cap stack limiting members on the left movable mounting member and the right movable mounting member form a fixture adapted to a stack of caps.

6. The capping cover placing system according to claim 4, characterized in that Multiple groups of suction heads are evenly arranged along the rotation direction of the rotating device of the conveying mechanism. The conveying mechanism is provided with a rotating bracket, and the rotating bracket is fixed to the rotating shaft of the rotating device.

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