A bottle cap loading and unloading robot arm and a bottle cap and bottle body unloading production line

Abstract

The present invention relates to the field of bottle cap transfer technology, and specifically to a bottle cap loading and unloading robot arm and a loading and unloading production line for bottle caps and bottle bodies. The bottle cap loading and unloading robot arm comprises: a rotating arm; a fixed frame; a clamping mechanism, which is arranged at the outer contour position of the fixed frame; the clamping mechanism comprises: relatively arranged claws, and a claw driving assembly that drives each claw to move independently; the claws are used to tighten and fix the bottle cap material box or the bottle cap material box cover; the bottle cap adsorption mechanism is arranged at the internal position of the fixed frame; the bottle cap adsorption mechanism comprises: a suction cup, a suction cup driving assembly; the suction cup driving assembly drives the suction cup to extend and retract toward the bottle caps in the bottle cap material box, so as to adsorb multiple bottle caps at the same time through the suction cup. Through the above-mentioned multifunctional bottle cap loading and unloading robot arm, it is possible to effectively realize the unpacking of the bottle cap material box, the transfer of the material box, and the bottle cap transfer work by a single robot, which greatly reduces the space occupied by the equipment and the material moving distance.

Description

Technical Field

[0001] The present invention relates to the technical field of bottle cap transfer, and in particular to a bottle cap loading and unloading robot arm and a production line for loading and unloading bottle caps and bottles. Background Art

[0002] In the liquid product production industry, when it comes to the liquid filling process, bottle caps are often required to seal the bottle body. This requires the robotic arm on the unloading production line to complete the unpacking of the bottle cap material box, the transfer of the bottle cap, and the transfer of the material box. In the existing technology, it is often necessary to use two robotic arms to complete the above tasks separately, which greatly increases the space occupied by the equipment and the distance of material movement. In order to solve the above problems, those skilled in the art are in urgent need of a new bottle cap loading and unloading robotic arm, so that the bottle cap loading and unloading robotic arm can simultaneously complete the unpacking of the material box, the transfer of the bottle cap, and the transfer of the material box. Summary of the Invention

[0003] Therefore, the technical problem to be solved by the present invention is to solve the problem that in the prior art, two manipulators are required to complete the unpacking, material box transfer, and bottle cap transfer work respectively, resulting in a significant increase in the equipment space occupied and the material movement distance of the loading and unloading production line. To this end, the present invention provides a bottle cap loading and unloading robot arm, comprising:

[0004] Rotating arm;

[0005] a fixed frame, arranged at the free end of the rotating arm;

[0006] A clamping mechanism is provided at an outer contour of the fixed frame; the clamping mechanism comprises: oppositely arranged clamping claws, and a clamping claw driving assembly for driving each of the clamping claws to independently move; the clamping claws are used to tighten and fix the bottle cap material box or the bottle cap material box cover;

[0007] The bottle cap adsorption mechanism is arranged at an internal position of the frame of the fixed frame; the bottle cap adsorption mechanism includes: a suction cup and a suction cup driving assembly; the suction cup driving assembly drives the suction cup to extend and retract toward the bottle caps in the bottle cap material box, so as to simultaneously adsorb multiple bottle caps through the suction cup.

[0008] Optionally, the bottle cap material box is a rectangular structure, and the fixing frame is adapted to the shape of the bottle cap material box;

[0009] There are three clamping claws, two of which are arranged on a set of opposite surfaces of the bottle cap material box to form a main clamping component for clamping and fixing the bottle cap material box, and the other clamping claw is arranged between the main clamping components to form an auxiliary clamping member for auxiliary clamping and fixing the bottle cap material box;

[0010] Moreover, in the process of the clamping mechanism clamping and fixing the material, the main clamping component is driven to clamp and fix the material before the auxiliary clamping member; the material includes: a bottle cap material box and a bottle cap material box cover plate.

[0011] Optionally, one of the claws constituting the main clamping assembly is connected to a vertical adjustment mechanism, and the vertical adjustment mechanism drives the claw to telescope and adjust its position along the height direction of the bottle cap material box to adjust the vertical position of the bottle cap material box or the bottle cap material box cover.

[0012] Optionally, an extension portion is further provided at the periphery of the frame body of the fixed frame;

[0013] The vertical adjustment mechanism is a first telescopic push rod provided in a vertical direction of the extension portion, and the movable end of the telescopic push rod is connected to the clamping claw.

[0014] Optionally, an extension portion is further provided at the periphery of the frame body of the fixed frame;

[0015] The claw driving assembly includes: a second telescopic push rod provided in the horizontal extension direction of the extension portion, and a guide rail provided on the extension portion;

[0016] The clamping claw is provided with a linkage plate extending to the extension portion, and the second telescopic push rod is fixedly connected to the linkage plate to drive the clamping claw to move toward or away from the material.

[0017] Optionally, the suction cup drive assembly includes: a third telescopic push rod, and a bottle cap position detector;

[0018] The third telescopic push rod is provided on the connection side of the suction cup toward the fixed frame, and is used to drive the suction cup to move closer to or away from the bottle caps in the bottle cap material box to complete the transfer of the bottle caps;

[0019] The bottle cap position detector is located on the adsorption side of the suction cup away from the fixed frame, and is used to detect the distance between the bottle cap and the suction cup.

[0020] A bottle cap and bottle body unloading production line, comprising: the bottle cap loading and unloading robot arm mentioned above; and

[0021] A material conveying line is located on the lower platform, and the material conveying line is docked with the material conveying robot and receives the materials transferred by the material conveying robot; an elevator is provided on the material conveying line, and the elevator is used to transfer the bottle caps and bottle bodies to the upper platform;

[0022] The material unloading line is located on the upper platform; the material unloading line includes: an empty bottle unloading line, a bottle cap unloading line, and a carrier conveyor line located between the empty bottle unloading line and the bottle cap unloading line, arranged in parallel with the two lines and connected to each other; the carrier conveyor line is connected to the elevator and is used to transfer the empty pallets and bottle cap material boxes that have completed the material unloading work to the material conveyor line;

[0023] An empty bottle conveyor belt, which is connected to the empty bottle unloading line via an empty bottle unloading robot arm and is used to transfer independently set empty bottles to the next production equipment;

[0024] A bottle cap conveyor line is connected to the bottle cap unloading line through a bottle cap loading and unloading robotic arm; the bottle cap loading and unloading robotic arm transfers the cover plates of the bottle cap material box to the palletizing station, transfers the bottle caps to the bottle cap conveyor line, and transfers the bottle cap material box to the palletizing station.

[0025] Optionally, the material conveying line is further provided with a first detection mechanism; the first detection mechanism is used to detect the material type and the overall dimensions of the entire stack, and unqualified materials are transferred to the first sorting station, and qualified materials are transferred to the elevator; the first detection mechanism is located between the elevator and the first sorting station;

[0026] Optionally, the carrier conveyor line is also provided with a second detection mechanism for detecting the type and external dimensions of the materials; and a second sorting station is also provided in the lateral direction of the carrier conveyor line, and materials that do not meet the size requirements are transferred to the second sorting station, and qualified materials are transferred to the elevator.

[0027] Optionally, the carrier conveyor line is close to one side of the empty bottle conveyor belt and is connected to the empty bottle conveyor belt via a conveyor belt with a pallet collecting station;

[0028] The carrier conveyor line is connected to a pallet collecting mechanism for temporarily storing the pallets, and the pallet collecting mechanism and the pallet collecting station are symmetrically arranged on both sides of the carrier conveyor line;

[0029] A pallet collecting robotic arm is further provided at the connection position between the empty bottle unloading line and the pallet collecting station;

[0030] The pallet collecting robot arm and the empty bottle unloading robot arm work alternately to sequentially transfer the pallet top plate and the pallet partitions carrying the empty bottles to the pallet collecting station.

[0031] Optionally, the step of unloading bottle caps and bottle bodies of the unloading production line includes:

[0032] Step S1: The material conveying robot docks with the material inlet of the material conveying line, and the material conveying line transfers the material to the first detection mechanism;

[0033] Step S2: The first detection mechanism detects the material type and the overall dimensions of the stack. Materials with qualified dimensions are transferred to the elevator; materials with unqualified dimensions are transferred to the first sorting station. After sorting, the materials are again inspected by the first detection mechanism and transferred to the elevator if they meet the requirements.

[0034] Step S3, the elevator is driven to lift the material to the material unloading line located on the upper platform;

[0035] Step S4-1: If the material detected in step S2 is a bottle, the bottle is driven to move to a demolding station for film removal; thereafter, the bottle moves to a bottle unloading station;

[0036] In step S5-1, the pallet collecting robot moves the pallet top plate to the pallet collecting station. Afterwards, the empty bottle unloading robot and the pallet collecting robot work alternately to move the bottles to the empty bottle conveyor belt and move the pallet partitions to the pallet collecting station. The above steps are repeated until all bottles are unloaded.

[0037] Step S6-1: The pallet top plate and the pallet partition are driven to be transferred to the pallet collecting mechanism to ensure that the pallet collecting station has a smooth operating channel;

[0038] Step S4-2: If the material detected in step S2 is a bottle cap, the bottle cap is driven to move to a bottle cap unloading station;

[0039] Step S5-2, the bottle cap loading and unloading robot arm moves back and forth to transfer the cover plate of the bottle cap material box to the palletizing station, transfer the bottle caps to the bottle cap conveyor line, and transfer the bottle cap material box to the palletizing station;

[0040] Step S6-2, the bottle cap conveyor line transfers the bottle cap to the next processing station;

[0041] Step S7: The empty pallet, the pallet top plate, the pallet partition plate, and the bottle cap material box are moved to the carrier conveying line driven by a conveyor;

[0042] Step S8, the empty pallet, the pallet top plate, the pallet partition, and the bottle cap material box in step S7 are driven to a second detection mechanism to detect the material type and external dimensions;

[0043] Step S9, in step S8, the qualified materials are transferred to the material conveying line located on the lower platform through the elevator;

[0044] The materials that do not meet the size requirements are transferred to the second sorting station. After sorting, they are inspected by the second inspection mechanism and transferred to the elevator after the size meets the requirements.

[0045] In step S10, the material is driven to be moved to the discharge port of the material conveying line and docked with the material conveying robot.

[0046] The technical solution of the present invention has the following advantages:

[0047] 1. The bottle cap loading and unloading robot arm provided by the present invention comprises: a rotating arm; a fixed frame, which is arranged at the free end of the rotating arm;

[0048] A clamping mechanism is provided at an outer contour of the fixed frame; the clamping mechanism comprises: oppositely arranged clamping claws, and a clamping claw driving assembly for driving each of the clamping claws to independently move; the clamping claws are used to tighten and fix the bottle cap material box or the bottle cap material box cover;

[0049] The bottle cap adsorption mechanism is arranged at an internal position of the frame of the fixed frame; the bottle cap adsorption mechanism includes: a suction cup and a suction cup driving assembly; the suction cup driving assembly drives the suction cup to extend and retract toward the bottle caps in the bottle cap material box, so as to simultaneously adsorb multiple bottle caps through the suction cup.

[0050] In the present invention, a clamping mechanism for transferring bottle cap material boxes and bottle cap material box cover plates, and a bottle cap adsorption mechanism for transferring bottle caps in the material box are integrated and fixed on the same fixed frame. This allows one robot to complete the unpacking of the bottle cap material box, transfer of the material box, and transfer of the bottle caps. At the same time, the need to ensure that there is no positional interference between the clamping mechanism and the bottle cap adsorption mechanism is taken into consideration. In the present invention, the clamping mechanism is arranged at a position on the outer contour of the fixed frame. In addition, the bottle cap adsorption mechanism is arranged at a position inside the frame of the fixed frame. Furthermore, the suction cup of the bottle cap adsorption mechanism is driven by a suction cup drive assembly to move up and down in the vertical direction, thereby adsorbing the bottle caps. The above structure can effectively ensure that the clamping mechanism and the bottle cap adsorption mechanism do not interfere with each other, and can stably and achievably realize their respective functions. Through the multifunctional bottle cap loading and unloading robot arm, the unpacking of the bottle cap material box, the transfer of the material box, and the transfer of the bottle cap can be effectively completed by a single robot, which greatly reduces the space occupied by the equipment and the material moving distance.

[0051] 2. In the bottle cap loading and unloading robot arm provided by the present invention, the bottle cap material box is a rectangular structure, and the fixed frame is adapted to the shape of the bottle cap material box;

[0052] There are three clamping claws, two of which are arranged on a set of opposite surfaces of the bottle cap material box to form a main clamping component for clamping and fixing the bottle cap material box, and the other clamping claw is arranged between the main clamping components to form an auxiliary clamping member for auxiliary clamping and fixing the bottle cap material box;

[0053] Moreover, in the process of the clamping mechanism clamping and fixing the material, the main clamping component is driven to clamp and fix the material before the auxiliary clamping member; the material includes: a bottle cap material box and a bottle cap material box cover plate.

[0054] In the present invention, a main clamping assembly is formed by two oppositely arranged clamping claws. In addition, an auxiliary clamping member is formed by a clamping claw arranged between the main clamping assemblies. During the clamping and transfer process of the bottle cap material box or the bottle cap material box cover plate, the main clamping assembly is first used to fix a set of opposite sides of the material, and then the auxiliary clamping member is used to fix the other side of the material. The auxiliary clamping member can effectively prevent the bottle cap material box or the bottle cap material box cover plate from positional deviation or shaking during the transfer process, thereby ensuring the transfer accuracy of the clamping mechanism and further ensuring that the bottle cap material box or the bottle cap material box cover plate can be effectively stacked together.

[0055] 3. The bottle cap loading and unloading robot arm provided by the present invention has one of the claws constituting the main clamping assembly connected to a vertical adjustment mechanism, and the vertical adjustment mechanism drives the claw to adjust its position along the height direction of the bottle cap material box to adjust the vertical position of the bottle cap material box.

[0056] In the present invention, a vertical adjustment mechanism is provided on one of the jaws of the main clamping assembly, coupled to the jaw. This mechanism can adjust the vertical position of the jaw, thereby adjusting the pitch angle of the bottle cap material box or the bottle cap material box cover. This angle adjustment function effectively ensures that the clamping mechanism maintains a consistent horizontal angle when transferring the bottle cap material box or the bottle cap material box cover, thereby achieving stacking of the materials.

[0057] 4. The bottle cap loading and unloading robot arm provided by the present invention is further provided with an extension portion at the outer periphery of the frame body of the fixed frame; the vertical adjustment mechanism is a first telescopic push rod provided in the vertical direction of the extension portion, and the movable end of the telescopic push rod is connected to the clamping claw.

[0058] The claw driving assembly includes: a second telescopic push rod arranged in the horizontal extension direction of the extension part, and a guide slide rail arranged on the extension part; a linkage plate extending to the extension part is provided on the claw, and the second telescopic push rod is fixedly connected to the linkage plate to drive the claw to move toward or away from the material.

[0059] In the present invention, an extension is provided on the outer periphery of the fixed frame body, thereby effectively increasing the movement radius of the claws. Furthermore, during operation of the bottle cap suction mechanism, the plurality of claws can be driven away from the bottle cap suction mechanism. The extension allows the claws to maintain a greater distance from the bottle cap suction mechanism, thereby ensuring stable and reliable operation of the bottle cap suction mechanism.

[0060] 5. In the bottle cap loading and unloading robot arm provided by the present invention, the suction cup drive assembly includes: a third telescopic push rod, and a bottle cap position detector;

[0061] The third telescopic push rod is provided on the connection side of the suction cup toward the fixed frame, and is used to drive the suction cup to move closer to or away from the bottle caps in the bottle cap material box to complete the transfer of the bottle caps;

[0062] The bottle cap position detector is located on the adsorption side of the suction cup away from the fixed frame, and is used to detect the distance between the bottle cap and the suction cup.

[0063] In the present invention, the bottle cap position detector is installed on the side of the suction cup facing the bottle cap. This can accurately detect the distance between the bottle cap and the suction cup, thereby precisely controlling the suction cup's lowering range and improving the suction effect on the bottle cap. Furthermore, the liftable suction cup can effectively prevent the suction cup from interfering with the normal operation of the clamping mechanism.

[0064] 6. The bottle cap and bottle body unloading production line provided by the present invention comprises: the bottle cap loading and unloading robot arm mentioned above; and

[0065] A material conveying line is located on the lower platform, and the material conveying line is docked with the material conveying robot and receives the materials transferred by the material conveying robot; an elevator is provided on the material conveying line, and the elevator is used to transfer the bottle caps and bottle bodies to the upper platform;

[0066] The material unloading line is located on the upper platform; the material unloading line includes: an empty bottle unloading line, a bottle cap unloading line, and a carrier conveyor line located between the empty bottle unloading line and the bottle cap unloading line, arranged in parallel with the two lines and connected to each other; the carrier conveyor line is connected to the elevator and is used to transfer the empty pallets and bottle cap material boxes that have completed the material unloading work to the material conveyor line;

[0067] An empty bottle conveyor belt, which is connected to the empty bottle unloading line via an empty bottle unloading robot arm and is used to transfer independently set empty bottles to the next production equipment;

[0068] A bottle cap conveyor line is connected to the bottle cap unloading line through a bottle cap loading and unloading robotic arm; the bottle cap loading and unloading robotic arm transfers the cover plates of the bottle cap material box to the palletizing station, transfers the bottle caps to the bottle cap conveyor line, and transfers the bottle cap material box to the palletizing station.

[0069] In the present invention, by separating the material conveying line and the material unloading line, optimizing the spatial layout and arranging the unloading production lines of the bottle caps and bottle bodies together, it is possible to effectively solve the problem in the prior art that the unloading production lines for the bottle caps and bottle bodies occupy a large area and the bottle caps and bottle bodies may be contaminated. In this technical solution, the bottle caps and bottle bodies are unloaded in the same area, which can effectively reduce the pollution problem that is easily caused by the long-distance transportation of the above-mentioned bottle caps and bottle bodies during the filling process. At the same time, the above-mentioned layout can effectively realize the transfer processing of the bottle caps and bottle bodies in the same clean area, further ensuring the cleanliness and hygiene of the materials. In addition, in the present invention, by arranging the empty bottle unloading line, the bottle cap unloading line, and the carrier conveying line, the above three production lines are arranged in parallel and the carrier conveying line is arranged between the empty bottle unloading line and the bottle cap unloading line. The above setting can effectively realize the output of the vehicles of the empty bottle unloading line and the bottle cap unloading line from the same carrier conveyor line. At the same time, material transportation can be completed by the empty bottle unloading robot arm, the bottle cap loading and unloading robot arm and the pallet collection robot arm, effectively optimizing the spatial layout of the material unloading line.

[0070] 7. In the bottle cap and bottle unloading production line provided by the present invention, the material conveying line is further provided with a first detection mechanism; the first detection mechanism is used to detect the material type and overall dimensions of the entire stack, and unqualified materials are transferred to the first sorting station, while qualified materials are transferred to the elevator; the first detection mechanism is located between the elevator and the first sorting station;

[0071] The carrier conveyor line is also provided with a second detection mechanism for detecting the type and external dimensions of the materials; and a second sorting station is also provided in the lateral direction of the carrier conveyor line. Materials that do not meet the size requirements are transferred to the second sorting station, and qualified materials are transferred to the elevator.

[0072] The first detection mechanism and the first sorting station can effectively detect the type and overall dimensions of the materials on the material conveying line, and the first sorting station can sort the overall dimensions of the overall stack, thereby facilitating the transportation of the materials by the elevator. In addition, the second detection mechanism and the second sorting station can effectively detect the type and overall dimensions of the materials on the carrier conveying line, and the second sorting station can sort the overall dimensions of the overall stack, thereby facilitating the transportation of the materials by the elevator.

[0073] 8. In the bottle cap and bottle body unloading production line provided by the present invention, the carrier conveyor line is located adjacent to one side of the empty bottle conveyor belt and is connected to the empty bottle conveyor belt via a conveyor belt having a pallet collection station. The carrier conveyor line is connected to a pallet collection mechanism for temporarily storing the pallets, and the pallet collection mechanism and the pallet collection station are symmetrically arranged on both sides of the carrier conveyor line.

[0074] A pallet collecting robot arm is further provided at the connection position between the empty bottle unloading line and the pallet collecting station; the pallet collecting robot arm and the empty bottle unloading robot arm work alternately to move the pallet top plate and the pallet partition carrying the empty bottles to the pallet collecting station in sequence.

[0075] In the present invention, by symmetrically arranging the pallet collection mechanism and the pallet collection station on either side of the carrier conveyor line, this arrangement effectively achieves the collection and transfer of pallets, and the pallet transfer process does not affect the normal collection work of the pallet collection station. In addition, by locating the pallet collection robot arm and the empty bottle unloading robot arm together, the two work alternately, which can quickly and efficiently complete the collection of empty bottles and pallets.

[0076] 9. In the unloading production line provided by the present invention, during the steps of unloading bottle caps and bottles, steps S4-1 to S6-1, as well as steps S4-2 to S6-2, are performed simultaneously, thereby achieving simultaneous unloading of bottles and caps. Simultaneously, the bottle caps and bottles that have completed the unloading process are transferred to their corresponding empty bottle conveyor belts and bottle cap conveyor lines, respectively. Furthermore, during the above steps, the carrier conveyor line can stably and reliably transfer empty pallets, pallet tops and pallet partitions, and bottle cap material boxes to the material conveyor line, ensuring stable operation of the unloading production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0078] Figure 1 A schematic diagram of the three-dimensional structure of a bottle cap loading and unloading robot arm provided by the present invention, which is only equipped with a clamping mechanism;

[0079] Figure 2 A schematic diagram of the three-dimensional structure of the assembly structure of the fixed frame and the clamping mechanism provided by the present invention;

[0080] Figure 3 A top view of the bottle cap adsorption mechanism provided by the present invention and disposed within the fixed frame;

[0081] Figure 4 A schematic diagram of the suction cup structure of the bottle cap adsorption mechanism provided by the present invention;

[0082] Figure 5 This is a schematic diagram of the equipment layout of the material unloading line in the unloading production line provided by the present invention;

[0083] Figure 6 This is a schematic diagram of the layout of the material conveying line equipment in the unloading production line provided by the present invention.

[0084] Description of reference numerals:

[0085] 1 - Rotating arm; 2 - Fixed frame; 3 - Gripping mechanism; 4 - Claw; 5 - Claw drive assembly; 6 - Bottle cap adsorption mechanism; 7 - Suction cup; 8 - Third telescopic push rod; 9 - Vertical adjustment mechanism; 10 - Frame body; 11 - Extension; 12 - Second telescopic push rod; 13 - Guide rail; 14 - Linkage plate; 15 - Bottle cap position detector; 16 - Bottle cap loading and unloading robot; 17 - Material conveying line; 18 - Elevator; 19 - Material unloading line; 20 - Empty bottles Unloading line; 21-Bottle cap unloading line; 22-Carrier conveyor line; 23-Empty bottle conveyor belt; 24-Bottle cap conveyor line; 25-Palletizing station; 26-First detection mechanism; 27-First sorting station; 28-Second detection mechanism; 29-Second sorting station; 30-Empty bottle unloading robot arm; 31-Pallet collecting station; 32-Pallet collecting mechanism; 33-Pallet collecting robot arm; 34-Mold removal station; 35-Bottle body unloading station; 36-Bottle cap unloading station. DETAILED DESCRIPTION

[0086] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0087] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0088] Example 1

[0089] See Figure 2 and Figure 3 , Figure 2 shows a schematic diagram of the three-dimensional structure of the assembly structure of the fixed frame and the clamping mechanism in an embodiment of the present invention, Figure 3 A top view of a bottle cap adsorption mechanism disposed within a fixed frame in an embodiment of the present invention is shown.

[0090] A bottle cap loading and unloading robot arm, such as Figure 1 As shown, it includes:

[0091] Rotating arm 1;

[0092] A fixed frame 2 is provided at the free end of the rotating arm 1;

[0093] The clamping mechanism 3 is arranged at the outer contour position of the fixed frame 2; the clamping mechanism 3 includes: claws 4 arranged opposite to each other, and a claw driving assembly 5 for driving each claw 4 to move independently; the claws 4 are used to tighten and fix the bottle cap material box or the bottle cap material box cover;

[0094] The bottle cap adsorption mechanism 6 is arranged at an internal position of the frame of the fixed frame 2; the bottle cap adsorption mechanism 6 includes: a suction cup 7 and a suction cup drive assembly; the suction cup drive assembly drives the suction cup 7 to extend and retract toward the bottle caps in the bottle cap material box, so as to simultaneously adsorb multiple bottle caps through the suction cup 7.

[0095] In this embodiment, the bottle cap material box is a rectangular structure. Figure 2 The fixed frame 2 shown is adapted to the shape of the bottle cap material box;

[0096] There are three clamping claws 4, two of which are relatively arranged on a group of opposite surfaces of the bottle cap material box to constitute a main clamping component for clamping and fixing the bottle cap material box, and the other clamping claw 4 is arranged between the main clamping components to constitute an auxiliary clamping member for auxiliary clamping and fixing the bottle cap material box; and, in the process of clamping and fixing the material by the clamping mechanism 3, the main clamping component is driven to clamp and fix the material before the auxiliary clamping member; the material includes: bottle cap material box and bottle cap material box cover plate.

[0097] In the present invention, in order to adjust the pitch angle of the bottle cap material box or the bottle cap material box cover in the vertical direction. Figure 2 As shown, one of the clamping jaws 4 that makes up the main clamping assembly is connected to a vertical adjustment mechanism 9. The vertical adjustment mechanism 9 drives the clamping jaw 4 to adjust its position along the height direction of the bottle cap material box to adjust the vertical position of the bottle cap material box or the bottle cap material box cover. This angle adjustment function effectively ensures that the clamping mechanism 3 can maintain the same horizontal angle when transferring the bottle cap material box or the bottle cap material box cover, thereby achieving stacking of the materials.

[0098] See Figure 1 and Figure 2 , Figure 1 It shows a schematic diagram of the three-dimensional structure of a bottle cap loading and unloading robot arm equipped with only a gripping mechanism in an embodiment of the present invention. Figure 2 A schematic diagram of the three-dimensional structure of the assembly structure of the fixed frame and the clamping mechanism in an embodiment of the present invention is shown.

[0099] An extension portion 11 is further provided at the outer periphery of the frame body 10 of the fixed frame 2;

[0100] The vertical adjustment mechanism 9 is a first telescopic push rod provided in a vertical direction of the extension portion 11 , and a movable end of the telescopic push rod is connected to the clamping claw 4 .

[0101] The claw drive assembly 5 includes: a second telescopic push rod 12 arranged in the horizontal extension direction of the extension part 11, and a guide slide rail 13 arranged on the extension part 11; a linkage plate 14 extending to the extension part 11 is provided on the claw 4, and the second telescopic push rod 12 is fixedly connected to the linkage plate 14 to drive the claw 4 to move toward or away from the material.

[0102] By providing an extension 11 at the outer periphery of the frame body 10 of the fixed frame 2, the moving radius of the clamping claw 4 is effectively increased. Moreover, during the operation of the bottle cap adsorption mechanism 6, the plurality of clamping claws 4 can be driven away from the bottle cap adsorption mechanism 6. The extension 11 can allow the clamping claws 4 to be a greater distance away from the bottle cap adsorption mechanism 6, thereby ensuring that the bottle cap adsorption mechanism 6 can operate stably and reliably. In addition, the vertical adjustment mechanism 9 can drive the clamping claws 4 to adjust their position in the vertical direction, thereby adjusting the pitch angle of the bottle cap material box or the bottle cap material box cover in the vertical direction. The above-mentioned angle adjustment function can effectively ensure that the clamping mechanism 3 can keep the material at the same angle in the horizontal direction when transferring the bottle cap material box or the bottle cap material box cover, thereby achieving stacking and stacking of the material.

[0103] See Figure 3 and Figure 4 , Figure 3 FIG2 shows a top view of a bottle cap adsorption mechanism disposed within a fixed frame in an embodiment of the present invention. Figure 4 A schematic diagram of the suction cup structure of the bottle cap adsorption mechanism in an embodiment of the present invention is shown.

[0104] The suction cup drive assembly includes: a third telescopic push rod 8, and a bottle cap position detector 15; the third telescopic push rod 8 is arranged on the connection side of the suction cup 7 toward the fixed frame 2, and is used to drive the suction cup 7 to move closer to or away from the bottle caps in the bottle cap material box to complete the transfer of the bottle caps; the bottle cap position detector 15 is located on the adsorption side of the suction cup 7 away from the fixed frame 2, and is used to detect the distance between the bottle cap and the suction cup 7.

[0105] See Figure 5 and Figure 6 , Figure 5 It shows a schematic diagram of the equipment layout of the material unloading line in the unloading production line in an embodiment of the present invention. Figure 6 It shows a schematic diagram of the layout of the material conveying line equipment in the unloading production line in an embodiment of the present invention.

[0106] A bottle cap and bottle body unloading production line, comprising: the bottle cap loading and unloading robot arm 16; and

[0107] The material conveying line 17 is located on the lower platform. The material conveying line 17 is docked with the material conveying robot and receives the materials transferred by the material conveying robot. The material conveying line 17 is provided with an elevator 18, and the elevator 18 is used to transfer the bottle caps and bottle bodies to the upper platform.

[0108] The material unloading line 19 is located on the upper platform; the material unloading line 19 includes: an empty bottle unloading line 20, a bottle cap unloading line 21, and a carrier conveying line 22 located between the empty bottle unloading line 20 and the bottle cap unloading line 21, arranged in parallel with the two and connected to each other; the carrier conveying line 22 is connected to the elevator 18, and is used to transfer the empty pallets and bottle cap material boxes that have completed the material unloading work to the material conveying line 17; the carrier conveying line 22 is close to one side of the empty bottle conveyor belt 23, and is connected to the conveyor with a pallet collecting station 31. The conveyor belt is connected to the empty bottle conveyor belt 23; the carrier conveyor line 22 is connected to a pallet collection mechanism 32 for temporarily storing the pallets, and the pallet collection mechanism 32 and the pallet collection station 31 are symmetrically arranged on both sides of the carrier conveyor line 22; a pallet collection robot arm 33 is further provided at the connection position between the empty bottle unloading line 20 and the pallet collection station 31; the pallet collection robot arm 33 and the empty bottle unloading robot arm 30 work alternately to sequentially transfer the pallet top plate and the pallet partition carrying the empty bottles to the pallet collection station 31;

[0109] An empty bottle conveyor belt 23, which is connected to the empty bottle unloading line 20 via an empty bottle unloading robot 30, and is used to transfer independently set empty bottles to the next production equipment;

[0110] The bottle cap conveyor line 24 is connected to the bottle cap unloading line 21 through the bottle cap loading and unloading robot arm 16; the bottle cap loading and unloading robot arm 16 transfers the cover plate of the bottle cap material box to the palletizing station 25, transfers the bottle cap to the bottle cap conveyor line 24, and transfers the bottle cap material box to the palletizing station 25.

[0111] In this embodiment, if Figure 5 and Figure 6 As shown, the material conveying line 17 is further provided with a first detection mechanism 26; the first detection mechanism 26 is used to detect the material type and the overall size of the whole stack. Unqualified materials are transferred to the first sorting station 27, and qualified materials are transferred to the elevator 18; the first detection mechanism 26 is located between the elevator 18 and the first sorting station 27;

[0112] The carrier conveyor line 22 is also provided with a second detection mechanism 28 for detecting the type and external dimensions of the materials; and a second sorting station 29 is also provided in the lateral direction of the carrier conveyor line 22. Materials that do not meet the size requirements are transferred to the second sorting station 29, and qualified materials are transferred to the elevator 18.

[0113] The steps of unloading bottle caps and bottles on the unloading production line include:

[0114] Step S1: The material conveying robot docks with the material inlet of the material conveying line 17, and the material conveying line 17 transfers the material to the first detection mechanism 26;

[0115] In step S2, the first detection mechanism 26 detects the material type and the overall dimensions of the stack. Materials with qualified dimensions are transferred to the elevator 18; materials with unqualified dimensions are transferred to the first sorting station 27. After sorting, the materials are again inspected by the first detection mechanism 26 and transferred to the elevator 18 after the materials are qualified in dimensions.

[0116] Step S3, the elevator 18 is driven to lift the material to the material unloading line 19 located on the upper platform;

[0117] Step S4-1: If the material detected in step S2 is a bottle, the bottle is driven to move to the demolding station 34 for demolding; thereafter, the bottle moves to the bottle unloading station 35;

[0118] In step S5-1, the pallet collecting robot 33 transfers the pallet top plate to the pallet collecting station 31. Then, the empty bottle unloading robot 30 and the pallet collecting robot 33 work alternately to transfer the bottles to the empty bottle conveyor 23 and transfer the pallet partitions to the pallet collecting station 31. The above steps are repeated until all bottles are unloaded.

[0119] Step S6-1: The pallet top plate and the pallet partition are driven to be transferred to the pallet collecting mechanism 32 to ensure that the operation channel of the pallet collecting station 31 is smooth;

[0120] Step S4-2: If the material detected in step S2 is a bottle cap, the bottle cap is driven to move to the bottle cap unloading station 36;

[0121] Step S5-2, the bottle cap loading and unloading robot arm 16 reciprocates to transfer the cover plate of the bottle cap material box to the palletizing station 25, transfers the bottle caps to the bottle cap conveying line 24, and transfers the bottle cap material box to the palletizing station 25;

[0122] Step S6-2, the bottle cap conveying line 24 transfers the bottle cap to the next processing station;

[0123] Step S7: The empty pallet, the pallet top plate, the pallet partitions, and the bottle cap material box are moved to the carrier conveying line 22 by the conveyor;

[0124] Step S8, the empty pallet, the pallet top plate, the pallet partition, and the bottle cap material box in step S7 are driven to the second detection mechanism 28 to detect the material type and external dimensions;

[0125] Step S9: In step S8, the qualified materials are transferred to the material conveying line 17 located on the lower platform via the elevator 18;

[0126] The materials that do not meet the size requirements are transferred to the second sorting station 29. After sorting, they are inspected by the second inspection mechanism 28. If the size meets the requirements, the materials are transferred to the elevator 18.

[0127] In step S10, the material is driven to be moved to the discharge port of the material conveying line 17 and docked with the material conveying robot.

[0128] In the present invention, the reciprocating motion of the bottle cap loading and unloading robot arm 16 can independently complete the transfer of the cover plate of the bottle cap material box to the palletizing station 25, the transfer of the bottle caps to the bottle cap conveyor line 24, and the transfer of the bottle cap material box to the palletizing station 25. This effectively realizes the completion of the unpacking, material box transfer, and bottle cap transfer of the bottle cap material box by a single robot, greatly reducing the space occupied by the equipment and the material movement distance.

[0129] Of course, this embodiment does not specifically limit the specific shape of the bottle cap material box. In other embodiments, the bottle cap material box can also be square or other irregular polygonal shapes. The clamping jaws 4 are at least three, two of which are arranged on a set of opposite surfaces of the bottle cap material box to form a main clamping assembly for clamping and fixing the bottle cap material box, and another clamping jaw 4 is arranged between the main clamping assemblies to form an auxiliary clamping member for auxiliary clamping and fixing the bottle cap material box. Moreover, during the process of clamping and fixing the material by the clamping mechanism 3, the main clamping assembly is driven to clamp and fix the material before the auxiliary clamping member. The material includes: the bottle cap material box and the bottle cap material box cover.

[0130] Of course, this embodiment does not specifically limit whether the above-mentioned first detection mechanism 26 is set on the material conveying line 17. In other embodiments, the above-mentioned first detection mechanism 26 is not set on the material conveying line 17. If the material's external dimensions are unqualified, it cannot enter the elevator 18; the material is transported out through the exit of the elevator 18 and manually processed.

[0131] Of course, this embodiment does not specifically limit whether the second detection mechanism 28 is provided on the carrier conveyor line 22. In other embodiments, the second detection mechanism 28 is not provided on the carrier conveyor line 22. If the material does not meet the external dimensions, it cannot enter the elevator 18; the material is transported out through the exit of the elevator 18 and manually processed.

[0132] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A production line for unloading and assembling bottle caps and bottles, characterized in that: include: A bottle cap loading and unloading robotic arm (16); the bottle cap loading and unloading robotic arm (16) comprises: Rotating arm (1); A fixed frame (2) is arranged at the free end of the rotating arm (1); A clamping mechanism (3) is arranged at a position on the outer contour of the fixed frame (2); the clamping mechanism (3) comprises: claws (4) arranged opposite to each other, and a claw driving assembly (5) for driving each of the claws (4) to independently move; the claws (4) are used to clamp and fix the bottle cap material box or the bottle cap material box cover plate; A bottle cap adsorption mechanism (6) is arranged at an internal position of the fixed frame (2); the bottle cap adsorption mechanism (6) comprises a suction cup (7) and a suction cup drive assembly; the suction cup drive assembly drives the suction cup (7) to move toward the bottle caps in the bottle cap material box to simultaneously adsorb multiple bottle caps through the suction cup (7); The unloading line for caps and bottles also includes: A material conveying line (17) is located on the lower platform, and the material conveying line (17) is docked with the material conveying robot and receives the materials transferred by the material conveying robot; an elevator (18) is provided on the material conveying line (17), and the elevator (18) is used to transfer the bottle caps and bottle bodies to the upper platform; A material unloading line (19) is located on the upper platform; the material unloading line (19) includes: an empty bottle unloading line (20), a bottle cap unloading line (21), and a carrier conveying line (22) located between the empty bottle unloading line (20) and the bottle cap unloading line (21), arranged in parallel with the two and connected to each other; the carrier conveying line (22) is connected to the elevator (18) and is used to transfer the empty pallets and bottle cap material boxes that have completed the material unloading work to the material conveying line (17); An empty bottle conveyor belt (23), the empty bottle conveyor belt (23) being connected to the empty bottle unloading line (20) via an empty bottle unloading robot arm (30), and being used for transferring independently arranged empty bottles to the next production equipment; A bottle cap conveying line (24) is connected to the bottle cap unloading line (21) via a bottle cap loading and unloading robot arm (16); the bottle cap loading and unloading robot arm (16) transfers the cover plate of the bottle cap material box to the palletizing station (25), transfers the bottle cap to the bottle cap conveying line (24), and transfers the bottle cap material box to the palletizing station (25).

2. The unloading production line for bottle caps and bottles according to claim 1, characterized in that: The material conveying line (17) is further provided with a first detection mechanism (26); the first detection mechanism (26) is used to detect the type of material and the overall dimensions of the stack, and materials with unqualified dimensions are transferred to the first sorting station (27), and qualified materials are transferred to the elevator (18); the first detection mechanism (26) is located between the elevator (18) and the first sorting station (27); and / or, The carrier conveyor line (22) is also provided with a second detection mechanism (28) for detecting the type and external dimensions of the materials; and a second sorting station (29) is also provided in the transverse direction of the carrier conveyor line (22), and materials with unqualified dimensions are transferred to the second sorting station (29), and qualified materials are transferred to the elevator (18).

3. The unloading production line for bottle caps and bottles according to claim 1, characterized in that: The carrier conveyor line (22) is close to one side of the empty bottle conveyor belt (23) and is connected to the empty bottle conveyor belt (23) via a conveyor belt having a pallet collecting station (31); The carrier conveyor line (22) is connected to a pallet collecting mechanism (32) for temporarily storing the pallets, and the pallet collecting mechanism (32) and the pallet collecting station (31) are symmetrically arranged on both sides of the carrier conveyor line (22); A pallet collecting robot arm (33) is further provided at the connection position between the empty bottle unloading line (20) and the pallet collecting station (31); The pallet collecting robot arm (33) and the empty bottle unloading robot arm (30) work alternately to sequentially transfer the pallet top plate and the pallet partitions carrying the empty bottles to the pallet collecting station (31).

4. The unloading production line for bottle caps and bottles according to claim 3, characterized in that: The steps of unloading bottle caps and bottle bodies of the unloading production line include: Step S1, the material conveying robot docks with the material inlet of the material conveying line (17), and the material conveying line (17) transfers the material to the first detection mechanism (26); Step S2, the first detection mechanism (26) detects the type of material and the overall dimensions of the stack, and the materials with qualified dimensions are transferred to the elevator (18); the materials with unqualified dimensions are transferred to the first sorting station (27), and after sorting is completed, the materials are again inspected by the first detection mechanism (26) and transferred to the elevator (18) if the dimensions are qualified; Step S3, the elevator (18) is driven to lift the material to the material unloading line (19) located on the upper platform; Step S4-1: If the material detected in step S2 is a bottle, the bottle is driven to move to the demolding station (34) to remove the film; then, the bottle moves to the bottle unloading station (35); In step S5-1, the pallet collecting robot arm (33) transfers the pallet top plate to the pallet collecting station (31); thereafter, the empty bottle unloading robot arm (30) and the pallet collecting robot arm (33) work alternately to transfer the bottle body to the empty bottle conveyor belt (23) and transfer the pallet partition to the pallet collecting station (31); the above actions are repeated to unload all the bottles; Step S6-1, the pallet top plate and the pallet partition are driven to be transferred to the pallet collecting mechanism (32) to ensure that the operation channel of the pallet collecting station (31) is smooth; Step S4-2, if the material detected in step S2 is a bottle cap, the bottle cap is driven to move to the bottle cap unloading station (36); Step S5-2, the bottle cap loading and unloading robot arm (16) moves back and forth to transfer the cover plate of the bottle cap material box to the palletizing station (25), transfer the bottle cap to the bottle cap conveying line (24), and transfer the bottle cap material box to the palletizing station (25); Step S6-2, the bottle cap conveying line (24) transfers the bottle cap to the next processing station; Step S7, the empty pallet, the pallet top plate, the pallet partition plate, and the bottle cap material box are moved to the carrier conveying line (22) driven by a conveyor; Step S8, the empty pallet, the pallet top plate, the pallet partition plate, and the bottle cap material box in step S7 are driven to be transferred to a second detection mechanism (28) to detect the material type and external dimensions; Step S9, in step S8, the qualified materials are transferred to the material conveying line (17) located on the lower platform via the elevator (18); The materials that do not meet the size requirements are transferred to the second sorting station (29). After sorting, they are inspected by the second inspection mechanism (28). If the materials meet the size requirements, they are transferred to the elevator (18). In step S10, the material is driven to be moved to the discharge port of the material conveying line (17) and docked with the material conveying robot.

5. The unloading production line for bottle caps and bottles according to claim 1, characterized in that: The bottle cap material box is a rectangular structure, and the fixed frame (2) is adapted to the shape of the bottle cap material box; There are three clamping claws (4), two of which are relatively arranged on a group of opposite surfaces of the bottle cap material box to form a main clamping component for clamping and fixing the bottle cap material box, and another clamping claw (4) is arranged between the main clamping components to form an auxiliary clamping member for auxiliary clamping and fixing the bottle cap material box; Furthermore, in the process of the clamping mechanism (3) clamping and fixing the material, the main clamping component is driven to clamp and fix the material before the auxiliary clamping component; the material includes: a bottle cap material box and a bottle cap material box cover plate.

6. The unloading production line for bottle caps and bottles according to claim 5, characterized in that: One of the clamping claws (4) constituting the main clamping assembly is connected to a vertical adjustment mechanism (9), and the vertical adjustment mechanism (9) drives the clamping claw (4) to telescope and adjust its position along the height direction of the bottle cap material box to adjust the position of the bottle cap material box or the bottle cap material box cover in the vertical direction.

7. The unloading production line for bottle caps and bottles according to claim 6, characterized in that: An extension portion (11) is further provided at the outer periphery of the frame body (10) of the fixed frame (2); The vertical adjustment mechanism (9) is a first telescopic push rod provided in a vertical direction of the extension portion (11), and the movable end of the telescopic push rod is connected to the clamping claw (4).

8. The unloading production line for bottle caps and bottles according to claim 5, characterized in that: An extension portion (11) is further provided at the outer periphery of the frame body (10) of the fixed frame (2); The claw drive assembly (5) comprises: a second telescopic push rod (12) arranged in the horizontal extension direction of the extension portion (11), and a guide slide rail (13) arranged on the extension portion (11); The clamping claw (4) is provided with a linkage plate (14) extending to the extension portion (11), and the second telescopic push rod (12) is fixedly connected to the linkage plate (14) to drive the clamping claw (4) to move toward or away from the material.

9. The unloading production line for bottle caps and bottles according to any one of claims 5 to 8, characterized in that: The suction cup drive assembly comprises: a third telescopic push rod (8), and a bottle cap position detector (15); The third telescopic push rod (8) is arranged on the connection side of the suction cup (7) toward the fixed frame (2), and is used to drive the suction cup (7) to move closer to or away from the bottle caps in the bottle cap material box to complete the transfer of the bottle caps; The bottle cap position detector (15) is located on the adsorption side of the suction cup (7) away from the fixed frame (2) and is used to detect the distance between the bottle cap and the suction cup (7).

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