Arc-shaped cover grabbing method

Abstract

The invention relates to the technical field of bottle cap grabbing, in particular to an arc-shaped cap grabbing method, wherein a clamping jaw in a loosened state rises to a predetermined height and rotates around a rotation axis to reset to a set posture; the clamping jaw rotates around a revolution axis to make an arc motion, so that the bottle cap at a cap removing station relatively enters a clamping cavity from an opening, and then the claw of the clamping jaw grabs the bottle cap, so that when the clamping jaw passes through the bottle cap at the cap removing station, only one action of grabbing is needed, and the descending action required for the clamping jaw when passing through the bottle cap at the cap removing station is omitted, thereby reducing the control difficulty, avoiding the collision between the clamping jaw and the bottle cap on a cap supply unit, and improving the success rate of grabbing; since the descending action when grabbing the cap is omitted, this change directly shortens the cap picking path of the clamping jaw, speeds up the grabbing process, and also releases the constraint on the moving speed of the clamping jaw caused by the up and down reversing motion of the clamping jaw, so as to complete the rapid grabbing of the bottle cap, improve the grabbing efficiency, and save the grabbing time.

Description

Technical Field

[0001] The invention relates to the technical field of bottle cap grabbing, in particular to an arc-shaped cap grabbing method. Background Art

[0002] In the production process of bottling liquid, after the bottle is filled with liquid, the bottle cap will be tightened to the bottle mouth by the clamp to achieve a sealing effect. After tightening the bottle cap, the clamp will grab another bottle cap and then complete the tightening of the next bottle mouth. In the execution of the above production process, it can be divided into two situations. One is that the conveying direction of the bottle body and the movement direction of the clamp are both circumferential directions, and the cap supply unit and the bottle supply unit are close to each other in the water surface; the other is that the conveying direction of the bottle body is a first circumferential direction or a linear direction, the movement direction of the clamp is a second circumferential direction, and the cap supply unit and the bottle supply unit are far apart in the water surface, and the first circumferential direction is not coaxial with the second circumferential direction.

[0003] When the cap supply unit and the bottle supply unit are close to each other in the water surface, the clamp needs to move up and down to complete the cap grabbing. When the clamp reaches the bottle cap of the cap supply unit, the clamp will not stop above the bottle cap and wait to grab the bottle cap before rotating, but keep real-time synchronous rotation with the bottle supply unit. This requires the clamp to perform at least two actions, namely, descending and grasping, when passing directly above the bottle cap of the cap supply unit, which requires precise control of the timing and speed of the clamp's descending movement, otherwise it is easy for the clamp to collide with the bottle cap on the cap supply unit, resulting in a grasping failure. At the same time, in this process, the clamp needs to be intermittently switched on the Z axis, the moving path is long, and frequent starts and stops are used to change the movement direction of the clamp, which can easily greatly extend the grasping time of the clamp, resulting in a decrease in production efficiency during the production process, causing economic losses to the company.

[0004] When the cap supply unit and the bottle supply unit are far apart in the water, the gripper mainly relies on rising to a position higher than the bottle cap and then moving downward before grabbing the next bottle cap, so as to complete the sleeve and clamping of the next bottle cap. The motion trajectory between the bottle mouth and the cap delivery unit is mostly intermittent motion in the X-axis direction and intermittent motion in the Y-axis direction (the X-axis direction, the Y-axis direction and the up and down directions are perpendicular to each other), so that the gripper gradually approaches the bottle cap and moves to the upper end of the next bottle cap, and then descends after reaching a position aligned with the axis of the bottle cap, thereby completing the grabbing of the bottle cap. In this process, the motor needs to be frequently stopped and started to make the gripper complete unidirectional motion such as up and down, left and right, etc., which will extend the path distance of the gripper moving to the bottle cap, thereby extending the time for grabbing the cap, reducing production efficiency, and increasing enterprise costs. Summary of the invention

[0005] The technical problem to be solved by the present invention is: in order to solve the problems of long path and poor grasping success rate when the gripping claws with rotating or multi-directional movements grasp the cap in the prior art, an arc-shaped grasping method is provided.

[0006] The technical solution adopted by the present invention to solve the technical problem is: an arc-shaped cap grabbing method, including an alternate cap removal process and a cap installation process, in which the cap removal process is to use a clamping claw to move from a cap screwing station of a bottle supply unit to a cap removal station of the cap supply unit, and then the clamping claw grabs the bottle cap at the cap removal station; in the cap installation process, the bottle cap grabbed by the clamping claw is screwed tightly onto the bottle mouth of the bottle body at the cap screwing station;

[0007] The bottle body and the clamping jaws at the capping station are configured to be able to rotate synchronously around the revolution axis, and the clamping jaws can rise or fall along the revolution axis; in a projection plane perpendicular to the revolution axis, the projection of the bottle mouth at the capping station and the projection of the bottle cap at the capping station are on the same arc line, and the center of the arc line is located on the revolution axis;

[0008] The clamp has at least two claws, and all the claws together enclose a clamping cavity. The clamp releases the bottle cap when in a loose state. An opening is formed between the side walls of any two adjacent claws in the circumferential direction of the clamping cavity, and the opening is connected to the clamping cavity. The axis of the clamp is a rotation axis.

[0009] During the cap removal process, the movement trajectory of the clamp includes the following steps:

[0010] S1, the clamping jaw in the released state rises to a predetermined height;

[0011] S2, the clamping jaw in the released state rotates around the rotation axis and returns to a set posture;

[0012] S3, the clamping jaws rotate around the revolution axis to make circular arc motion, so that the bottle caps at the cap removal station relatively enter the clamping cavity from the opening, and then the claws of the clamping jaws grasp the bottle caps;

[0013] The order of step S1 and step S2 can be interchanged or performed simultaneously; at the same time, the clamping jaws at the predetermined height and set posture are completely separated from the bottle cap at the bottle mouth, and there is an opening aligned with the bottle cap at the cap removal station in the arc direction.

[0014] Furthermore, the bottle supply unit includes a station tray provided with a capping station, the station tray is located below the clamping claw, one capping station is used to place a corresponding bottle body, and the station tray is used to drive the bottle body at the capping station to rotate;

[0015] The station disk has a plurality of capping stations, the station disc has a plurality of clamping claws, the capping stations correspond to the clamping claws one by one, and the bottle mouth at the capping station and the rotation axis of the corresponding clamping claw are coaxially arranged.

[0016] Furthermore, in step S3, when the clamping jaw contracts so that the jaws grasp the bottle cap, the height of the bottom end of the clamping jaw is higher than the height of the bottom end of the bottle cap.

[0017] Furthermore, the cap supply unit is used to drive the bottle cap to move along a straight line.

[0018] Furthermore, in a plane perpendicular to the revolution axis, a line connecting the inner ends of the side walls of two adjacent claws of the clamping jaws aligned with the opening of the bottle cap at the cap removal station in the direction of the arc line is a first reference line, and a tangent line at the intersection of the rotation axis of the clamping jaw and the arc line when the clamping jaw moves along the arc line is a second reference line;

[0019] When the first reference line and the second reference line are perpendicular, the clamping jaw is in a set posture.

[0020] The present invention also provides an arc-shaped cap grabbing method, which includes an alternate cap removal process and a cap installation process. In the cap removal process, the clamping claw moves from the cap screwing station of the bottle supply unit to the cap removal station of the cap supply unit, and then the clamping claw grabs the bottle cap at the cap removal station; in the cap installation process, the bottle cap grabbed by the clamping claw is screwed tightly onto the bottle mouth of the bottle body at the cap screwing station.

[0021] The clamping jaws are configured to be able to rotate around the revolution axis and to rise or fall along the revolution axis; in a projection plane perpendicular to the revolution axis, the projection of the bottle mouth at the capping station and the projection of the bottle cap at the capping station are on the same arc line, and the center of the arc line is located on the revolution axis;

[0022] The clamp has at least two claws, and all the claws together enclose a clamping cavity. The clamp releases the bottle cap when in a loose state. An opening is formed between the side walls of any two adjacent claws in the circumferential direction of the clamping cavity, and the opening is connected to the clamping cavity. The axis of the clamp is a rotation axis.

[0023] During the cap removal process, the movement trajectory of the clamp includes the following steps:

[0024] S1, the bottle body at the capping station stops moving along the conveying direction of the bottle supply unit, and the clamping claw in the loose state rises to a predetermined height, so that the clamping claw is completely separated from the bottle cap at the bottle mouth;

[0025] S2, the clamping jaw in the loosened state rotates around the rotation axis to return to the set posture, at which time, there is an opening aligned with the bottle cap at the cap removal station in the direction of the arc line;

[0026] S3, the clamping jaws rotate around the revolution axis to make circular arc motion, so that the bottle caps at the cap removal station relatively enter the clamping cavity from the opening, and then the claws of the clamping jaws grasp the bottle caps.

[0027] Further, the clamp is driven by the X-axis linear feed mechanism to move along the X-axis direction, the clamp is driven by the Y-axis linear feed mechanism to move along the Y-axis direction, and the clamp is driven by the Z-axis linear feed mechanism to move along the revolution axis direction;

[0028] The X-axis direction, the Y-axis direction and the revolution axis direction are perpendicular to each other;

[0029] The clamping jaws are rotated around the revolution axis through the linkage of the X-axis linear feed mechanism and the Y-axis linear feed mechanism.

[0030] Furthermore, in a plane perpendicular to the revolution axis, a line connecting the inner ends of the side walls of two adjacent claws of the clamping jaws aligned with the opening of the bottle cap at the cap removal station in the direction of the arc line is a first reference line, and a tangent line at the intersection of the rotation axis of the clamping jaw and the arc line when the clamping jaw moves along the arc line is a second reference line;

[0031] When the first reference line and the second reference line are perpendicular, the clamping jaw is in a set posture.

[0032] Furthermore, the cap supply unit is used to drive the bottle cap to move along a straight line.

[0033] Furthermore, in step S3, when the clamping jaw contracts so that the jaws grasp the bottle cap, the height of the bottom end of the clamping jaw is higher than the height of the bottom end of the bottle cap.

[0034] The beneficial effects of the present invention are as follows: the arc-shaped cap grabbing method of the present invention utilizes the rotational movement of the clamping jaws around the revolution axis to make the bottle caps at the cap removing station relatively enter the clamping cavity from the opening, so that the clamping jaws only need to grasp the bottle caps at the cap removing station when passing through the bottle cap removing station, eliminating the need for the clamping jaws to descend when passing through the bottle caps at the cap removing station, thereby reducing the control difficulty, avoiding the collision between the clamping jaws and the bottle caps on the cap supply unit, and improving the success rate of grasping; since the descending action when grasping the caps is omitted, this change directly shortens the cap taking path of the clamping jaws, speeds up the grasping process, and also removes the constraints on the moving speed of the clamping jaws caused by the up and down reversing movement of the clamping jaws, so that it can be compatible with higher-speed operation requirements, complete the rapid grasping of bottle caps, improve the grasping efficiency, and save grasping time.

[0035] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0037] Figure 1 is a three-dimensional schematic diagram of the bottle body and the clamping claw of the bottle supply unit in Example 1 being arranged to rotate synchronously around the revolution axis A;

[0038] Figure 2 is a front view schematic diagram of the clamping jaws in Example 1 rising to a predetermined height;

[0039] Figure 3 is a schematic top view of the bottle supply unit in Example 1;

[0040] Figure 4 It is a three-dimensional schematic diagram of one side of the gripper;

[0041] Figure 5 is a three-dimensional schematic diagram of the other side of the gripper;

[0042] Figure 6 is a top view schematic diagram of a clamp having two claws;

[0043] Figure 7 1. It is a schematic top view of the capping station and the capping station in Embodiment 1 on the same arc line;

[0044] Figure 8 is a front view schematic diagram of the clamping jaws rising to a predetermined height to grasp the cover in Example 1;

[0045] Fig. 9 is a schematic top view of the opening of the clamping jaws in Example 1 aligned with the bottle cap at the cap removal station in the direction of the arc line C;

[0046] Fig.10 is a schematic diagram of the case where the first reference line L1 and the second reference line L2 in Embodiment 1 are perpendicular;

[0047] Fig.11 is a schematic top view of the clamping jaws in Example 3 rising to a predetermined height;

[0048] Fig.12 is a front view schematic diagram of the clamping jaws in Example 3 rising to a predetermined height;

[0049] Fig.13 is a schematic top view of the clamping jaws in Example 3 rising to a predetermined height and being in a set posture;

[0050] Fig.14 is a front view schematic diagram of the clamping jaws in Example 3 rising to a predetermined height and being in a set posture;

[0051] Fig.15 is a schematic top view of the bottle cap being grasped by the clamping jaws at the cap-removing station in Example 3;

[0052] Fig.16 is a schematic front view of the clamping jaws grasping the bottle cap at the cap removal station in Example 3;

[0053] Fig.17 is a schematic top view of the clamp in Example 3 screwing the bottle cap onto the bottle mouth;

[0054] Fig.18 is a front view schematic diagram of the clamping jaws rotating the bottle cap onto the bottle mouth in Example 3;

[0055] Fig.19 This is a schematic diagram of the case where the first reference line L1 and the second reference line L2 in Embodiment 3 are perpendicular.

[0056] In the figure: 1, clamping claw; 11, claw portion; 12, clamping cavity; 13, opening;

[0057] 2. Cap supply unit; 2a. Cap removal station;

[0058] 3. Bottle supply unit; 3a. Capping station; 31. Station tray; 32. Bottle inlet conveyor line; 33. Bottle outlet conveyor line; 34. Bottle supply power mechanism; 35. Rotating disk;

[0059] 4. Bottle body; 41. Bottle mouth;

[0060] 5. Bottle cap;

[0061] 6. Z-axis mechanism;

[0062] 7. Rotating mechanism;

[0063] A. The revolution axis;

[0064] B. Rotation axis;

[0065] C. Arc line;

[0066] H, predetermined height;

[0067] L1, first baseline;

[0068] L2, second baseline. DETAILED DESCRIPTION

[0069] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams that only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention, and directions and references (e.g., up, down, left, right, etc.) may only be used to help describe the features in the drawings. Therefore, the following specific embodiments are not to be taken in a limiting sense, and the scope of the subject matter claimed is limited only by the attached claims and their equivalents.

[0070] Embodiment 1, as Figure 1-9As shown, an arc-shaped cap grabbing method includes an alternating cap removing process and a cap installing process. In the cap removing process, the clamping jaw 1 moves from the cap screwing station 3a of the bottle supply unit 3 toward the cap removing station 2a of the cap supply unit 2, and then the clamping jaw 1 grabs the bottle cap 5 at the cap removing station 2a. The bottle cap 5 can be screwed to the bottle mouth 41 by means of a threaded connection.

[0071] The cap supply unit 2 is used to drive the bottle caps 5 to move in a straight line direction. The cap supply unit 2 can adopt any cap supply device or bottle cap conveyor line in the prior art. It can be a bottle cap conveyor line that conveys the bottle caps 5 in a straight line direction. The cap supply unit 2 can also be a loading platform, and the bottle caps 5 are placed on the loading platform manually; specifically, the present embodiment adopts a bottle cap conveyor line that can move in a straight line direction.

[0072] The bottle supply unit 3 is used to drive the bottle body 4 at the capping station 3a to rotate around the revolution axis A. The bottle supply unit 3 can adopt any bottle body 4 conveying line in the prior art that can drive the bottle body 4 to rotate.

[0073] The cap supply unit 2 is arranged above the bottle supply unit 3 so that the bottom end height of the bottle cap 5 placed at the cap removal station 2 a is higher than the top end height of the bottle mouth 41 .

[0074] The capping process is to screw the bottle cap 5 grasped by the clamp 1 onto the bottle mouth 41 of the bottle body 4 at the capping station 3a;

[0075] Specifically, the capping process is to use the clamping jaw 1 to rotate the bottle cap 5 from the cap removing station 2a around the revolution axis A to just above the bottle mouth 41 at the cap screwing station 3a, so that the bottle cap 5 is coaxial with the bottle mouth 41, and then the clamping jaw 1 moves downward, and drives the bottle cap 5 to rotate around the axis of the clamping jaw 1, and screws the bottle cap 5 to the bottle mouth 41; in the process of the clamping jaw 1 driving the bottle cap 5 to rotate, the clamping jaw 1 can drive the bottle cap 5 to rotate in a tangential form (for example, the clamping jaw 1 adopts the structure of the pump cap grabbing and cap screwing assembly disclosed in the Chinese patent CN202297071U, which can realize the tangential form of driving the bottle cap 5 to rotate), and the clamping jaw 1 can also rotate around the axis of the bottle cap 5, thereby driving the bottle cap 5 to rotate; it is worth noting that during the process of tightening the bottle cap 5, the relative position between the clamping jaw 1 and the bottle cap 5 remains unchanged;

[0076] In the process of tightening the bottle cap 5, the bottle supply unit 3 rotates around the revolution axis A to transport the bottle body 4, and the clamping jaws 1 follow the bottle body 4 on the bottle supply unit 3 to rotate synchronously in the process of tightening the bottle cap 5 on the bottle mouth 41, thereby realizing follow-up capping and improving production efficiency; it is also possible that in the process of tightening the bottle cap 5, the bottle supply unit 3 and the clamping jaws 1 stop rotating around the revolution axis A at the same time until the clamping jaws 1 tighten the bottle cap 5 on the bottle mouth 41.

[0077] The clamping jaw 1 can adopt any clamping jaw 1 in the prior art that can form the following opening 13 and can clamp the bottle cap 5, such as the structure in the pump cap grabbing mechanism disclosed in Chinese Patent Publication No. CN205132531U, whose clamping jaw corresponds to the following claw portion 11; it can also adopt the structure in the pump cap grabbing and screwing cap assembly disclosed in Chinese Patent Publication No. CN202297071U; it can also adopt the structure in a screwing cap mechanism disclosed in Chinese Patent Publication No. CN106744579B. In short, under the premise of being able to form the opening 13, as long as the clamping jaw 1 can grab the bottle cap 5 and screw it tightly to the bottle mouth 41, it will be fine.

[0078] The bottle body 4 and the clamping jaw 1 of the bottle supply unit 3 are configured to be able to rotate synchronously around the revolution axis A, and the clamping jaw 1 can rise or fall along the revolution axis A; in the projection plane perpendicular to the revolution axis A, the projection of the bottle mouth 41 at the capping station 3a and the projection of the bottle cap 5 at the capping station 2a are on the same arc line C, and the center of the arc line C is located on the revolution axis A;

[0079] like Figure 4 , 5 As shown in Figures 6 and 7, the clamping jaw 1 has at least two claws 11, and all the claws 11 together enclose a clamping cavity 12. The clamping jaw 1 has two or three or more claws 11 distributed at equal intervals in the circumferential direction of the clamping cavity 12. Specifically, the size and shape of each claw 11 are consistent. The clamping jaw 1 releases the bottle cap 5 in a loose state. The side walls of any two adjacent claws 11 in the circumferential direction of the clamping cavity 12 of the clamping jaw 1 in the loose state form an opening 13, and the opening 13 is connected to the clamping cavity 12. The axis of the clamping jaw 1 is the rotation axis B. When the clamping jaw 1 is loosened to make the claw 11 move away from the rotation axis B, the claw 11 releases the bottle cap 5, that is, the claw 11 releases the bottle cap 5, and when the clamping jaw 1 contracts to make the claw 11 move toward the rotation axis B, the claw 11 grips the bottle cap 5.

[0080] The bottle supply unit 3 includes a station tray 31 provided with a capping station 3a. The station tray 31 is located below the clamping jaw 1. One capping station 3a is used to place a bottle body 4 correspondingly. The station tray 31 is used to drive the bottle body 4 at the capping station 3a to rotate; a bottle inlet conveyor line 32 is provided on one side of the station tray 31, and a bottle outlet conveyor line 33 is provided on the other side. The bottle inlet conveyor line 32 is used to feed the bottle body 4 without the bottle cap 5 screwed on into the capping station 3a of the station tray 31. The bottle body 4 after the bottle cap 5 is screwed on the station tray 31 enters the bottle outlet conveyor line 33 and is output through the bottle outlet conveyor line 33.

[0081] The rotational motion of the work station disc 31 and the clamping jaw 1 around the revolution axis A is provided by the bottle supply power mechanism 34, the vertical lifting motion of the clamping jaw 1 in the direction of the revolution axis A can be provided by the Z-axis mechanism 6, and the rotation of the clamping jaw 1 around the rotation axis B is provided by the rotating mechanism 7. For example, a rotating disc 35 is provided above the work station disc 31, and the Z-axis mechanism 6 and the rotating mechanism 7 are both transmission-connected with the clamping jaw 1 to drive the clamping jaw 1 to rotate around the rotation axis B and rise or fall. The output end of the bottle supply power mechanism 34 is coaxially fixedly connected with the work station disc 31 and the rotating disc 35 to drive the bottle body 4, the clamping jaw 1, the Z-axis mechanism 6 and the rotating mechanism 7 to rotate synchronously around the revolution axis A.

[0082] During the process of removing the cap, the motion trajectory of the clamping jaw 1 includes the following steps:

[0083] S1, such as Figure 2 As shown, the clamping jaw 1 in the released state rises to a predetermined height H;

[0084] S2, such as Fig. 9 As shown, the clamping jaw 1 in the released state rotates around the rotation axis B and returns to the set posture;

[0085] S3, the clamping jaw 1 rotates around the revolution axis A to make a circular arc C movement, so that the bottle cap 5 at the cap removal station 2a relatively enters the clamping cavity 12 from the opening 13, and then the claw 11 of the clamping jaw 1 grabs the bottle cap 5, as shown in FIG. Figure 8 As shown;

[0086] The order of step S1 and step S2 can be interchanged or performed simultaneously; the clamping jaw 1 at the predetermined height H and the set posture is completely separated from the bottle cap 5 at the bottle mouth 41, and there is an opening 13 aligned with the bottle cap 5 at the cap removal station 2a in the direction of the arc line C; specifically, Fig.11 As shown, in a plane perpendicular to the revolution axis A, the line connecting the inner ends of the side walls of two adjacent claws 11 of the clamp 1 aligned with the opening 13 of the bottle cap 5 at the cap removal station 2a in the direction of the arc line C is the first reference line L1, and the tangent of the rotation axis B of the clamp 1 at the intersection of the arc line C and the arc line C when the clamp 1 moves along the arc line C is the second reference line L2; when the first reference line L1 and the second reference line L2 are perpendicular, the clamp 1 is in a set posture; specifically, the length of the first reference line L1 is greater than the diameter of the bottle cap 5.

[0087] It is worth noting that the predetermined height H refers to the height at which the clamping jaw 1 can rotate around the revolution axis A to make a circular arc C movement to grasp the bottle cap 5 in a plane. When the clamping jaw 1 contracts to make the claw 11 grasp the bottle cap 5, the height of the bottom end of the clamping jaw 1 is higher than the height of the bottom end of the bottle cap 5, which can prevent the claw 11 from interfering with the cap supply unit 2.

[0088] This embodiment is applicable to the situation that the cap supply unit 2 and the bottle supply unit 3 are close to each other in the water surface. The clamping jaw 1 is rotated around the revolution axis A to make the bottle cap 5 at the cap removal station 2a relatively enter the clamping cavity 12 from the opening 13, so that the clamping jaw 1 only needs to grasp the bottle cap 5 at the cap removal station 2a when passing through the bottle cap 5 at the cap removal station 2a, eliminating the need for the clamping jaw 1 to descend when passing through the bottle cap 5 at the cap removal station 2a, thereby reducing the control difficulty, avoiding the collision between the clamping jaw 1 and the bottle cap 5 on the cap supply unit 2, and improving the success rate of grasping; since the descending action when grasping the cap is omitted, this change directly shortens the cap removal path of the clamping jaw 1, speeds up the grasping process, and also removes the constraint on the moving speed of the clamping jaw 1 caused by the up and down reversing movement of the clamping jaw 1, so that it can be compatible with higher-speed operation requirements, complete the rapid grasping of the bottle cap 5, improve the grasping efficiency, and save the grasping time;

[0089] Before the clamping jaw 1 rotates around the revolution axis A to grasp the bottle cap 5 , it is first accurately adjusted to a set posture and a predetermined height H. This measure significantly enhances the stability and accuracy of the clamping jaw 1 when grasping the bottle cap 5 .

[0090] By adjusting the posture of the clamping jaw 1 first, it is ensured that the opening 13 of the clamping jaw 1 adjusted to the set posture and the predetermined height H is aligned with the bottle cap 5 at the cap removing station 2a in the direction of the arc line C before the clamping jaw 1 is rotated to grasp the cap; once the bottle cap 5 relatively completely enters the clamping cavity 12 from the opening 13, regardless of whether the axis of the bottle cap 5 is coaxial with the axis of the clamping jaw 1, the contraction of the claw portion 11 can make the bottle cap 5 coaxially aligned with the clamping jaw 1, thereby reducing the risk of grasping failure caused by position deviation and improving the stability and reliability of cap removal.

[0091] Embodiment 2, Embodiment 2 differs from Embodiment 1 in that: the bottle supply unit 3 comprises a station tray 31 provided with a capping station 3a, the station tray 31 is located below the clamping jaw 1, one capping station 3a is used to place one bottle body 4, and the station tray 31 is used to drive the bottle body 4 at the capping station 3a to rotate;

[0092] There are multiple capping stations 3a on the station tray 31, and multiple clamping jaws 1. The capping stations 3a correspond to the clamping jaws 1 one by one. The bottle mouth 41 at the capping station 3a is coaxially arranged with the rotation axis B of the corresponding clamping jaw 1.

[0093] Thus, multi-station capping is achieved, and each clamping jaw 1 is only responsible for tightening the bottle cap 5 on it to the bottle mouth 41 at the corresponding capping station 3a.

[0094] Embodiment 3, as Figure 4 , 5, 6 and 11-19, an arc-shaped cap grabbing method includes an alternating cap removing process and a cap installing process. In the cap removing process, the clamping jaw 1 moves from the cap screwing station 3a of the bottle supply unit 3 toward the cap removing station 2a of the cap supply unit 2, and then the clamping jaw 1 grabs the bottle cap 5 at the cap removing station 2a. The bottle cap 5 can be screwed onto the bottle mouth 41 by means of a threaded connection.

[0095] The cap supply unit 2 is used to drive the bottle caps 5 to move in a straight line direction. The cap supply unit 2 can adopt any cap supply device or bottle cap conveyor line in the prior art. It can be a bottle cap conveyor line that conveys the bottle caps 5 in a straight line direction. The cap supply unit 2 can also be a loading platform, and the bottle caps 5 are placed on the loading platform manually; specifically, the present embodiment adopts a bottle cap conveyor line that can move in a straight line direction.

[0096] The bottle supply unit 3 is used to drive the bottle body 4 to move in a linear direction, or the bottle supply unit 3 is used to drive the bottle body 4 at the capping station 3a to move in a circumferential direction. For example, the bottle supply unit 3 includes a turntable, which is used to drive the bottle body 4 to rotate around the axis of the turntable so that the bottle bodies 4 arrive at the capping station 3a one by one. The axis of the turntable is parallel to the revolution axis A and is arranged at intervals.

[0097] The cap supply unit 2 is arranged above the bottle supply unit 3 so that the bottom end height of the bottle cap 5 placed at the cap removal station 2 a is higher than the top end height of the bottle mouth 41 .

[0098] The capping process is to screw the bottle cap 5 grasped by the clamp 1 onto the bottle mouth 41 of the bottle body 4 at the capping station 3a;

[0099] Specifically, Fig.17 and 18 As shown, the capping process is to use the clamping jaw 1 to move or rotate the bottle cap 5 from the cap removing station 2a to the top of the bottle mouth 41 at the cap screwing station 3a, so that the bottle cap 5 is coaxial with the bottle mouth 41, and then the clamping jaw 1 moves downward, and drives the bottle cap 5 to rotate around the axis of the clamping jaw 1, and screws the bottle cap 5 to the bottle mouth 41; in the process of the clamping jaw 1 driving the bottle cap 5 to rotate, the clamping jaw 1 can drive the bottle cap 5 to rotate in a tangential form (for example, the clamping jaw 1 adopts the structure of the pump cap grasping and cap screwing assembly disclosed in the Chinese patent CN202297071U, which can realize the tangential form of driving the bottle cap 5 to rotate), and the clamping jaw 1 can also rotate around the axis of the bottle cap 5, thereby driving the bottle cap 5 to rotate; it is worth noting that during the process of tightening the bottle cap 5, the relative position between the clamping jaw 1 and the bottle cap 5 remains unchanged;

[0100] During the process of tightening the bottle cap 5 , the bottle supply unit 3 stops driving the bottle body 4 of the cap screwing station 3 a to move along the conveying direction until the clamping jaws 1 screw the bottle cap 5 onto the bottle mouth 41 .

[0101] The clamping jaw 1 can adopt any clamping jaw 1 in the prior art that can form the following opening 13 and can clamp the bottle cap 5, such as the structure in the pump cap grabbing mechanism disclosed in Chinese Patent Publication No. CN205132531U, whose clamping jaw corresponds to the following claw portion 11; it can also adopt the structure in the pump cap grabbing and screwing cap assembly disclosed in Chinese Patent Publication No. CN202297071U; it can also adopt the structure in a screwing cap mechanism disclosed in Chinese Patent Publication No. CN106744579B. In short, under the premise of being able to form the opening 13, as long as the clamping jaw 1 can grab the bottle cap 5 and screw it tightly to the bottle mouth 41, it will be fine.

[0102] The clamping jaw 1 is configured to be able to rotate around the revolution axis A, and the clamping jaw 1 can rise or fall along the revolution axis A; in a projection plane perpendicular to the revolution axis A, the projection of the bottle mouth 41 at the capping station 3a and the projection of the bottle cap 5 at the capping station 2a are on the same arc line C, and the center of the arc line C is located on the revolution axis A;

[0103] like Figure 4 , 5 As shown in Figures 6 and 7, the clamping jaw 1 has at least two claws 11, and all the claws 11 together enclose a clamping cavity 12. The clamping jaw 1 releases the grip on the bottle cap 5 in the loosened state. The side walls of any two adjacent claws 11 in the circumferential direction of the clamping cavity 12 of the clamping jaw 1 in the loosened state form an opening 13, and the opening 13 is connected to the clamping cavity 12. The axis of the clamping jaw 1 is the rotation axis B. When the clamping jaw 1 is loosened to make the claw 11 move away from the rotation axis B, the claw 11 releases the bottle cap 5, that is, the claw 11 releases the grip on the bottle cap 5, and when the clamping jaw 1 contracts to make the claw 11 move toward the rotation axis B, the claw 11 grips the bottle cap 5.

[0104] The bottle supply unit 3 includes a turntable with a capping station 3a, the turntable is located below the clamping jaw 1, one capping station 3a is used to place a bottle body 4, and the turntable is used to drive the bottle body 4 to rotate;

[0105] The movement of the clamping jaw 1 in the X-axis direction, the Y-axis direction and the revolution axis A direction can be provided by the three-axis linear feed assembly, the revolution axis A coincides with the Z-axis direction, and the three-axis linear feed assembly includes an X-axis linear feed mechanism, a Y-axis linear feed mechanism and a Z-axis linear feed mechanism. The clamping jaw 1 is driven by the X-axis linear feed mechanism to move along the X-axis direction, the clamping jaw 1 is driven by the Y-axis linear feed mechanism to move along the Y-axis direction, and the clamping jaw 1 is driven by the Z-axis linear feed mechanism to move along the revolution axis A direction. The rotational movement of the clamping jaw 1 around the rotation axis B can be provided by a rotary mechanism. The X-axis direction, the Y-axis direction and the revolution axis A direction are perpendicular to each other. The clamping jaw 1 realizes rotation around the revolution axis A through the linkage of the X-axis linear feed mechanism and the Y-axis linear feed mechanism;

[0106] For example, the output end of the rotary mechanism is connected to the clamping jaw 1 to drive the clamping jaw 1 to rotate around the rotation axis B, the output end of the X-axis linear feed mechanism is connected to the rotary mechanism to drive the rotary mechanism and the clamping jaw 1 to move synchronously along the X-axis direction, the output end of the Y-axis linear feed mechanism is connected to the X-axis linear feed mechanism to drive the X-axis linear feed mechanism, the rotary mechanism and the clamping jaw 1 to move synchronously along the Y-axis direction, and the output end of the Z-axis linear feed mechanism is connected to the Y-axis linear feed mechanism to drive the Y-axis linear feed mechanism, the X-axis linear feed mechanism, the rotary mechanism and the clamping jaw 1 to move synchronously along the Z-axis direction;

[0107] The X-axis linear feed mechanism and the Y-axis linear feed mechanism perform compound motion in the X-axis direction and the Y-axis direction, thereby realizing the circular motion of the rotary mechanism and the clamping jaw 1 along the direction of the circular arc line C;

[0108] The X-axis linear feed mechanism, the Y-axis linear feed mechanism and the Z-axis linear feed mechanism may all be, but are not limited to, linear modules, cylinders, electric push rods, synchronous belt linear motion mechanisms or cam linear motion mechanisms.

[0109] The clamping jaw 1 is configured to be able to rotate around the revolution axis A and to rise or fall along the revolution axis A. In a projection plane perpendicular to the revolution axis A, the projection of the bottle mouth 41 at the capping station 3a and the projection of the bottle cap 5 at the capping station 2a are on the same arc line C, and the center of the arc line C is located on the revolution axis A.

[0110] The clamping jaw 1 has at least two claws 11, and all the claws 11 together enclose a clamping cavity 12. The clamping jaw 1 releases the grip on the bottle cap 5 in a loose state. The side walls of any two adjacent claws 11 in the circumferential direction of the clamping cavity 12 of the clamping jaw 1 in the loose state form an opening 13, and the opening 13 is connected to the clamping cavity 12. The axis of the clamping jaw 1 is the rotation axis B.

[0111] During the process of removing the cap, the motion trajectory of the clamping jaw 1 includes the following steps:

[0112] S1, the bottle supply unit 3 stops conveying, so that the bottle body 4 at the capping station 3a stops moving along the conveying direction of the bottle supply unit 3, such as Fig.11 and 12 As shown, the clamping jaw 1 in the loosened state rises along the revolution axis A to a predetermined height H, so that the clamping jaw 1 is completely separated from the bottle cap 5 at the bottle mouth 41;

[0113] S2, the clamping jaw 1 in the released state rotates around the rotation axis B to return to the set posture, such as Fig.13 and 14 As shown, at this time, there is an opening 13 aligned with the bottle cap 5 at the cap removal station 2a in the direction of the arc line C; specifically, as Fig.19As shown, in a plane perpendicular to the revolution axis A, the line connecting the inner ends of the side walls of two adjacent claws 11 of the clamping jaw 1 aligned with the opening 13 of the bottle cap 5 at the cap removal station 2a in the direction of the arc line C is the first reference line L1, and the tangent line at the intersection of the rotation axis B and the arc line C when the clamping jaw 1 moves along the arc line C is the second reference line L2; when the first reference line L1 and the second reference line L2 are perpendicular, the clamping jaw 1 is in a set posture; specifically, the length of the first reference line L1 is greater than the diameter of the bottle cap 5;

[0114] S3, such as Fig.15 and 16 As shown, the clamping jaw 1 rotates around the revolution axis A to make a circular arc C motion, so that the bottle cap 5 at the cap removing station 2a relatively enters the clamping cavity 12 from the opening 13, and then the claw portion 11 of the clamping jaw 1 grasps the bottle cap 5.

[0115] It is worth noting that the predetermined height H refers to the height at which the clamp 1 can rotate around the revolution axis A to make a circular arc C movement to grab the bottle cap 5 in a plane. When the claw 11 of the clamp 1 grabs the bottle cap 5, the clamp 1 contracts so that the claw 11 grasps the bottle cap 5, and the height of the bottom end of the clamp 1 is higher than the height of the bottom end of the bottle cap 5, which can prevent the claw 11 from interfering with the cap supply unit 2.

[0116] This embodiment is applicable to the situation that the cap supply unit 2 and the bottle supply unit 3 are far apart in the water surface. The clamping jaw 1 is rotated around the revolution axis A to make the bottle cap 5 at the cap removal station 2a relatively enter the clamping cavity 12 from the opening 13, so that the clamping jaw 1 only needs to grasp the bottle cap 5 at the cap removal station 2a when passing through the bottle cap 5 at the cap removal station 2a, eliminating the need for the clamping jaw 1 to descend when passing through the bottle cap 5 at the cap removal station 2a, thereby reducing the control difficulty, avoiding the collision between the clamping jaw 1 and the bottle cap 5 on the cap supply unit 2, and improving the success rate of grasping; since the descending action when grasping the cap is omitted, this change directly shortens the cap removal path of the clamping jaw 1, speeds up the grasping process, and also removes the constraint on the moving speed of the clamping jaw 1 caused by the up and down reversing movement of the clamping jaw 1, so that it can be compatible with higher-speed operation requirements, complete the rapid grasping of the bottle cap 5, improve the grasping efficiency, and save the grasping time;

[0117] Before the clamping jaw 1 rotates around the revolution axis A to grasp the bottle cap 5 , it is first accurately adjusted to a set posture and a predetermined height H. This measure significantly enhances the stability and accuracy of the clamping jaw 1 when grasping the bottle cap 5 .

[0118] By adjusting the posture of the clamping jaw 1 first, it is ensured that the opening 13 of the clamping jaw 1 adjusted to the set posture and the predetermined height H is aligned with the bottle cap 5 at the cap removing station 2a in the direction of the arc line C before the clamping jaw 1 is rotated to grasp the cap; once the bottle cap 5 relatively completely enters the clamping cavity 12 from the opening 13, regardless of whether the axis of the bottle cap 5 is coaxial with the axis of the clamping jaw 1, the contraction of the claw portion 11 can make the bottle cap 5 coaxially aligned with the clamping jaw 1, thereby reducing the risk of grasping failure caused by position deviation and improving the stability and reliability of cap removal.

[0119] The above-mentioned ideal embodiments of the present invention are for inspiration. Through the above-mentioned description, relevant staff can make various changes and modifications without departing from the technical idea of ​​the present invention. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. An arc-shaped capping method, comprising an alternate capping process and a capping process, wherein the capping process is to use a clamping claw to move from a capping station of a bottle supply unit to a capping station of a cap supply unit, and then the clamping claw grabs the bottle cap at the capping station; the capping process is to tighten the bottle cap grabbed by the clamping claw to the bottle mouth of the bottle body at the capping station, characterized in that: The bottle body and the clamping jaws at the capping station are configured to be able to rotate synchronously around the revolution axis, and the clamping jaws can rise or fall along the revolution axis; in a projection plane perpendicular to the revolution axis, the projection of the bottle mouth at the capping station and the projection of the bottle cap at the capping station are on the same arc line, and the center of the arc line is located on the revolution axis; The clamp has at least two claws, and all the claws together enclose a clamping cavity. The clamp releases the bottle cap when in a loose state. An opening is formed between the side walls of any two adjacent claws in the circumferential direction of the clamping cavity, and the opening is connected to the clamping cavity. The axis of the clamp is a rotation axis. During the cap removal process, the movement trajectory of the clamp includes the following steps: S1, the clamping jaw in the released state rises to a predetermined height; S2, the clamping jaw in the released state rotates around the rotation axis and returns to a set posture; S3, the clamping jaws rotate around the revolution axis to make circular arc motion, so that the bottle caps at the cap removal station relatively enter the clamping cavity from the opening, and then the claws of the clamping jaws grasp the bottle caps; The order of step S1 and step S2 can be interchanged or performed simultaneously; at the same time, the clamping jaws at the predetermined height and set posture are completely separated from the bottle cap at the bottle mouth, and there is an opening aligned with the bottle cap at the cap removal station in the arc direction.

2. The arc-shaped cover grabbing method according to claim 1, characterized in that: The bottle supply unit comprises a station tray provided with a capping station, the station tray is located below the clamping claw, one capping station is used to place a corresponding bottle body, and the station tray is used to drive the bottle body at the capping station to rotate; The station disk has a plurality of capping stations, the station disc has a plurality of clamping claws, the capping stations correspond to the clamping claws one by one, and the bottle mouth at the capping station and the rotation axis of the corresponding clamping claw are coaxially arranged.

3. The arc-shaped cover grabbing method according to claim 1, characterized in that: In step S3, when the clamping jaw contracts so that the jaws grasp the bottle cap, the height of the bottom end of the clamping jaw is higher than the height of the bottom end of the bottle cap.

4. The arc-shaped cover grabbing method according to claim 1, characterized in that: The cap supplying unit is used to drive the bottle caps to move along a straight line.

5. The arc-shaped cover grabbing method according to claim 1, characterized in that: In a plane perpendicular to the revolution axis, the line between the inner ends of the side walls of two adjacent claws of the clamping jaws aligned with the opening of the bottle cap at the cap removal station in the direction of the arc line is the first reference line, and the tangent line at the intersection of the rotation axis and the arc line when the clamping jaw moves along the arc line is the second reference line; When the first reference line and the second reference line are perpendicular, the clamping jaw is in a set posture.

6. An arc-shaped capping method, comprising an alternate capping process and a capping process, wherein the capping process is to use a clamping claw to move from a capping station of a bottle supply unit to a capping station of a cap supply unit, and then the clamping claw grabs the bottle cap at the capping station; the capping process is to tighten the bottle cap grabbed by the clamping claw to the bottle mouth of the bottle body at the capping station, characterized in that: The clamping jaws are configured to be able to rotate around the revolution axis and to rise or fall along the revolution axis; in a projection plane perpendicular to the revolution axis, the projection of the bottle mouth at the capping station and the projection of the bottle cap at the capping station are on the same arc line, and the center of the arc line is located on the revolution axis; The clamp has at least two claws, and all the claws together enclose a clamping cavity. The clamp releases the bottle cap when in a loose state. An opening is formed between the side walls of any two adjacent claws in the circumferential direction of the clamping cavity, and the opening is connected to the clamping cavity. The axis of the clamp is a rotation axis. During the cap removal process, the movement trajectory of the clamp includes the following steps: S1, the bottle body at the capping station stops moving along the conveying direction of the bottle supply unit, and the clamping claw in the loose state rises to a predetermined height, so that the clamping claw is completely separated from the bottle cap at the bottle mouth; S2, the clamping jaw in the loosened state rotates around the rotation axis to return to the set posture, at which time, there is an opening aligned with the bottle cap at the cap removal station in the direction of the arc line; S3, the clamping jaws rotate around the revolution axis to make circular arc motion, so that the bottle caps at the cap removal station relatively enter the clamping cavity from the opening, and then the claws of the clamping jaws grasp the bottle caps.

7. The arc-shaped cover grabbing method according to claim 6, characterized in that: The clamp is driven by the X-axis linear feed mechanism to move along the X-axis direction, the clamp is driven by the Y-axis linear feed mechanism to move along the Y-axis direction, and the clamp is driven by the Z-axis linear feed mechanism to move along the revolution axis direction; The X-axis direction, the Y-axis direction and the revolution axis direction are perpendicular to each other; The clamping jaws are rotated around the revolution axis through the linkage of the X-axis linear feed mechanism and the Y-axis linear feed mechanism.

8. The arc-shaped cover grabbing method according to claim 6, characterized in that: In a plane perpendicular to the revolution axis, the line between the inner ends of the side walls of two adjacent claws of the clamping jaws aligned with the opening of the bottle cap at the cap removal station in the direction of the arc line is the first reference line, and the tangent line at the intersection of the rotation axis and the arc line when the clamping jaw moves along the arc line is the second reference line; When the first reference line and the second reference line are perpendicular, the clamping jaw is in a set posture.

9. The arc-shaped cover grabbing method according to claim 6, characterized in that: The cap supplying unit is used to drive the bottle caps to move along a straight line.

10. The arc-shaped cover grabbing method according to claim 6, characterized in that: In step S3, when the clamping jaw contracts so that the jaws grasp the bottle cap, the height of the bottom end of the clamping jaw is higher than the height of the bottom end of the bottle cap.

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