A multi-functional transfer manipulator, control system, control method and its bottle cap transfer integrated machine

Abstract

This application relates to the technical field of production control of cosmetic containers, specifically to a multi-functional transfer manipulator, a control system, a control method, and a bottle cap and tray transfer integrated machine. The multi-functional transfer manipulator is provided with a grasping structure at the end of the mechanical forearm of a multi-axis manipulator. N vacuum nozzles arranged on the second substrate respectively adsorb N bottle caps, and then the multi-axis manipulator transfers the adsorbed bottle caps to the conveyor belt until all the bottle caps on the bottle cap tray are completely transferred and loaded. When the bottle caps on the topmost bottle cap tray are transferred, the grasping structure on its mechanical forearm is controlled to move above the bottle cap tray again, and N vacuum nozzles and M vacuum suction heads are used to simultaneously adsorb the empty bottle cap tray. The multi-axis manipulator transfers the adsorbed empty bottle cap tray away. The solution provided by this application can automatically and integrally transfer the bottle caps and trays respectively, improve the feeding efficiency of the cosmetic bottle caps, and ensure the continuous supply of bottle caps.

Description

Technical Field

[0001] The present application relates to the technical field of production control of cosmetic containers, and particularly to a multifunctional transfer manipulator, a control system, a control method, and a bottle cap transfer integrated machine thereof. Background Art

[0002] The structure of a cosmetic container (cosmetic bottle) generally includes two parts: a bottle body and a bottle cap. The bottle body is used to hold cosmetics, and the bottle cap is used to seal the bottle body containing cosmetics; in the actual automatic packaging process of cosmetic containers (cosmetic bottles), usually, the empty bottle body is first placed on a conveyor belt and then transported to the cosmetic automatic injection station in sequence; at the same time, at another station, the bottle caps also need to be transported to the vicinity of the cosmetic automatic injection station in sequence through the conveyor belt; after injecting cosmetics into the empty bottle body and after the empty bottle body is filled with cosmetics, the bottle cap is then manually placed on the bottle body filled with cosmetics and tightened and sealed, and then labels are pasted on the bottle body and the bottle cap respectively to package the cosmetic bottle.

[0003] However, in the entire production process of packaging cosmetic bottles, when loading the bottle body and the bottle cap respectively, usually, the bottle cap or the bottle body is manually transferred onto the conveyor belt, and then the conveyor belt transports the bottle body or the bottle cap to the vicinity of the cosmetic automatic injection station; at the same time, after the bottle caps pass the inspection, usually, the qualified bottle caps are arranged and placed on a tray in sequence, and then the trailer transports multiple trays filled with qualified bottle caps to the vicinity of the conveyor belt, and finally, the workers transfer the qualified bottle caps on the tray to the conveyor belt one by one to complete the loading of the bottle caps, so as to ensure the continuous packaging and production of cosmetic bottles; however, the method of manually transferring the qualified bottle caps onto the conveyor belt not only requires the staff to constantly monitor whether there are still bottle caps on the conveyor belt, but also requires the staff to timely transfer the qualified bottle caps onto the conveyor belt regularly and quantitatively for timely replenishment of materials; moreover, after all the qualified bottle caps on a single-layer tray are loaded, the workers also need to timely remove the empty tray and then continue to transfer the qualified bottle caps on the next layer of the tray to the conveyor belt to prevent the lack of materials on the conveyor belt; for this reason, the method of manual feeding requires the staff to continuously transfer the bottle caps onto the conveyor belt, which not only greatly increases the working pressure of the staff, but also easily leads to low efficiency of bottle cap feeding and is very prone to mistakes; at the same time, the staff also needs to repeat this operation step all the time, which extremely easily causes the staff to be fatigued, and then unable to replenish materials in time according to the lack of materials, and finally may also lead to the suspension of cosmetic bottle packaging.

[0004] Therefore, how to intelligently and integrally transfer, load, and stack the bottle caps and trays respectively is a technical problem that needs to be solved by current technical personnel. Summary of the Invention

[0005] To overcome the problems existing in the related technologies, the present application provides a multi-functional transfer manipulator, a control system, a control method and a bottle cap transfer integrated machine, which can automatically and integrally transfer bottle caps and trays respectively, improve the feeding efficiency of the bottle caps of cosmetic bottles, and ensure the continuous supply of bottle caps.

[0006] In a first aspect of the present application, a multi-functional transfer manipulator is provided, including:

[0007] A multi-axis manipulator and a grasping structure;

[0008] The multi-axis manipulator includes a mechanical forearm, and a rotating block is provided at the end of the mechanical forearm;

[0009] The grasping structure includes a first substrate and a second substrate. The first substrate is fixed on the rotating block, and the second substrate is fixed directly in front of the first substrate and is parallel to the first substrate;

[0010] At least one first mounting plate is provided on the first substrate. A pushing mechanism is provided on the first mounting plate. A second mounting plate is provided at the pushing end of the pushing mechanism. M vacuum suction heads are arranged on the second mounting plate. The vacuum suction heads are used for adsorbing the bottle cap tray, and M is an integer greater than 1;

[0011] N vacuum suction nozzles are arranged on the second substrate. The vacuum suction nozzles are used for adsorbing bottle caps, and N is an integer greater than 1; wherein, when the pushing mechanism pushes the second mounting plate to the end, the ends of the vacuum suction heads and the ends of the vacuum suction nozzles are located on the same plane, and the vacuum suction nozzles and the vacuum suction heads jointly adsorb the bottle cap tray.

[0012] Preferably, K rows of strip-shaped through grooves are provided on the bottle cap tray. N placement grooves are provided on each row of the strip-shaped through grooves, and the linear distance between each pair of adjacent placement grooves is equal to the linear distance between each pair of adjacent vacuum suction nozzles;

[0013] K is an integer greater than or equal to M. The placement grooves are used for placing bottle caps, and the bottle caps are adapted to the placement grooves.

[0014] Preferably, the vacuum suction nozzle includes a vacuum suction seat and a vacuum suction cup. The vacuum suction cup is fixed on the surface of the vacuum suction seat. A limiting blind hole is provided at one end of the vacuum suction seat facing the vacuum suction cup. An adsorption through hole is provided at the bottom of the limiting blind hole, and the diameter of the limiting blind hole is greater than the diameter of the adsorption through hole;

[0015] On the second substrate, N mounting through-holes are arranged in corresponding positions. An elastic structure is provided on each mounting through-hole. The elastic structure includes a vacuum suction pipe, a movable block, and a return compression spring. A guiding through-hole is provided inside the movable block; one end of the vacuum suction pipe is provided with an annular stopper. The other end of the vacuum suction pipe sequentially passes through the limiting blind hole, the adsorption through-hole, the guiding through-hole, and the return compression spring, and is fixed on the mounting through-hole.

[0016] Wherein, when the movable block is pushed to the end point by the rebounding force of the return compression spring, the annular stopper is exactly located inside the limiting blind hole and abuts against the bottom surface of the limiting blind hole.

[0017] Preferably, the vacuum suction cup is a two-layer suction cup, a three-layer suction cup or a four-layer suction cup. The inner diameter of the vacuum suction cup is larger than the diameter of the annular stopper. The adsorption through-hole is adapted to the vacuum suction pipe, and the limiting blind hole is adapted to the annular stopper.

[0018] Preferably, the vacuum suction head includes a tray suction cup and a suction head base. M suction head through-holes are correspondingly provided on the second mounting plate. A negative pressure conduit is provided inside the suction head base. One end of the negative pressure conduit is communicated with the tray suction cup, and the other end of the negative pressure conduit is used for communicating with a negative pressure device.

[0019] The negative pressure conduit of the suction head base passes through the suction head through-hole and is fixed on the second mounting. Wherein, the grasping structure further includes at least two transition columns. One end of the transition column is fixedly connected to the first substrate, and the other end is fixedly connected to the second substrate.

[0020] Preferably, the multi-axis manipulator further includes a fixed base, a rotating platform, a first robotic arm, and a second robotic arm. The rotating platform is fixed on the fixed base. One end of the first robotic arm is hinged to the rotating arm of the rotating platform. The other end of the first robotic arm is hinged to one end of the second robotic arm. The other end of the second robotic arm is hinged to the starting end of the robotic forearm.

[0021] Preferably, the arrangement direction of the M vacuum suction heads is perpendicular to the arrangement direction of the N vacuum suction nozzles.

[0022] When the number of the first mounting plates is 1, the first mounting plate is fixed on one side of the first substrate and is located in the middle of the first substrate, and the first mounting plate is perpendicular to the second mounting plate.

[0023] When the number of the first mounting plates is 2, the two first mounting plates are respectively fixed on both sides of the first substrate, and the two first mounting plates are centrosymmetric.

[0024] The second aspect of the present application provides a transfer control system, including:

[0025] a control module, N pressure sensors, M first pressure sensors and N second pressure sensors, and a multifunctional transfer manipulator as described above;

[0026] The N pressure sensors are respectively fixed on the N annular stoppers for detecting whether the annular stoppers contact the bottle caps; the N pressure sensors are respectively fixed in the N vacuum suction pipes for measuring the pressure inside the vacuum suction pipes; the M first pressure sensors are respectively fixed inside the M vacuum suction nozzles for measuring the pressure inside the vacuum suction nozzles; the control module is electrically connected to the N pressure sensors, the N second pressure sensors and the M first pressure sensors respectively, and is also electrically connected to the multi-axis manipulator and the pushing mechanism respectively;

[0027] When the control module receives a bottle cap transfer instruction, the control module controls the multi-axis manipulator to move the grasping structure to the first position, and when the pressure values detected by the N pressure sensors are all greater than a preset pressure value and the pressure values detected by the N second pressure sensors are all less than a preset pressure value, the control module controls the multi-axis manipulator to transfer the grasping structure to the second position. The first position is the target position when sucking the bottle cap, and the second position is the loading position when placing the bottle cap;

[0028] When the control module receives a tray transfer instruction, the control module controls the multi-axis manipulator to move the grasping structure to the third position, and at the same time controls the pushing mechanism to move the second mounting plate to the end. When the pressure values detected by the N pressure sensors are all greater than a preset pressure value, the pressure values detected by the M first pressure sensors are all less than a preset pressure value, and the pressure values detected by the N second pressure sensors are all less than a preset pressure value, the control module controls the multi-axis manipulator to transfer the grasping structure to the fourth position. The third position is the target position when sucking an empty bottle cap tray, and the fourth position is the stacking position when placing the empty bottle cap tray.

[0029] The third aspect of the present application provides a transfer control method, which is applied to the transfer control system as described above, and includes the following steps:

[0030] S1: According to the bottle cap transfer instruction, extract the bottle cap tray information, the bottle cap transfer information and the tray transfer information. The bottle cap tray information includes the number sequence of K columns of strip-shaped through grooves and the central coordinates of each column of strip-shaped through grooves. The bottle cap transfer information includes the bottle cap loading coordinates, and the tray transfer information includes the tray placement coordinates;

[0031] S2: Based on the central coordinates of each column of strip-shaped through slots, control the multi-functional transfer manipulator to sequentially transfer the bottle caps on K columns of strip-shaped through slots to the bottle cap loading coordinates, and count the number of times of transfer to the bottle cap loading coordinates. When the number of transfer times reaches K, a tray transfer instruction is issued;

[0032] S3: According to the tray transfer instruction, control the multi-functional transfer manipulator to transfer the empty bottle cap tray to the tray placement coordinates, then issue a bottle cap transfer instruction again, and execute S1.

[0033] The fourth aspect of the present application provides a bottle cap transfer integrated machine, including:

[0034] A multi-functional transfer manipulator as described above, and a placement platform, a bottle cap storage box body, and a tray placement box body;

[0035] The bottle cap storage box body is adjacent to the placement platform, the tray placement box body is adjacent to the bottle cap storage box body, and the placement platform and the tray placement box body are on the same straight line;

[0036] The multi-functional transfer manipulator is fixed on the placement platform, and the height of the manipulator placement platform is less than the height of the bottle cap storage box body;

[0037] A tray platform is provided inside the bottle cap storage box body, a lifting mechanism is provided at the bottom of the tray platform, the lifting mechanism is used to control the lifting height of the tray platform, and the tray platform is used to stack and place bottle cap trays containing bottle caps;

[0038] The tray placement box body includes a tray placement entrance, the tray placement entrance is located at the top of the tray placement box body, and the tray placement box body is used to stack empty bottle cap trays.

[0039] The technical solutions provided by the present application may include the following beneficial effects:

[0040] In this technical solution, a grasping structure is provided at the end of the mechanical forearm of the multi-axis manipulator. The first substrate of the grasping structure is fixed on the rotating block, and the second substrate is fixed directly in front of the first substrate and is parallel to the first substrate. At the same time, a first mounting plate is provided on the first substrate, and a pushing mechanism is mounted on the first mounting plate. The pushing mechanism is used to control the movement of the second mounting plate, so that the M vacuum suction heads arranged on the second mounting plate can move forward to adsorb the bottle cap tray by using the vacuum suction heads. At the same time, in this example, N vacuum suction nozzles are arranged in a row on the second substrate, and the vacuum suction nozzles are used to adsorb the bottle caps. When adsorbing and transporting the bottle caps on the bottle cap tray, the multi-axis manipulator controls the grasping structure on its mechanical forearm to move above the bottle cap tray, so that the grasping structure aligns with the bottle caps on the bottle cap tray. The N vacuum suction nozzles arranged on the second substrate respectively adsorb N bottle caps, and then the multi-axis manipulator moves the adsorbed bottle caps to the conveyor belt until all the bottle caps on the bottle cap tray are completely moved and loaded. At the same time, when the bottle caps on the topmost bottle cap tray are moved, the multi-axis manipulator controls the grasping structure on its mechanical forearm to move above the bottle cap tray again, and at the same time uses the pushing mechanism to push the second mounting plate to the end, so that the ends of the vacuum suction heads and the ends of the vacuum suction nozzles are located on the same plane. The N vacuum suction nozzles and the M vacuum suction heads are used to adsorb the empty bottle cap tray at the same time, and finally the multi-axis manipulator moves the adsorbed empty bottle cap tray away, so as to realize the automatic and integrated separation of the bottle caps and the trays, improve the feeding efficiency of the cosmetic bottle caps, and ensure the continuous supply of the bottle caps. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] By describing the exemplary embodiments of the present application in more detail in conjunction with the drawings, the above and other objects, features, and advantages of the present application will become more obvious. Among them, in the exemplary embodiments of the present application, the same reference numerals generally represent the same components.

[0042] Figure 1 FIG. is a schematic structural diagram of a multi-functional transfer manipulator shown in an embodiment of the present application.

[0043] Figure 2 FIG. is a schematic structural diagram of a grasping structure shown in an embodiment of the present application.

[0044] Figure 3 FIG. is a schematic structural diagram of a bottle cap transfer integrated machine shown in an embodiment of the present application.

[0045] Figure 4 FIG. is a schematic structural diagram of a bottle cap storage box shown in an embodiment of the present application.

[0046] Figure 5 FIG. is a schematic flowchart of a transfer control method shown in an embodiment of the present application.

[0047] In the figure: multi-axis manipulator - 10; mechanical forearm - 11, rotating block - 12, fixed base - 13, rotating platform - 14, first robotic arm - 15, second robotic arm - 16; grasping structure - 20; first substrate - 21, first mounting plate - 211; second substrate - 22, mounting through-hole - 221; vacuum suction nozzle - 23, vacuum suction base - 231, vacuum suction cup - 232, limiting blind hole - 233, adsorption through-hole - 234; elastic structure - 24, vacuum suction pipe - 241, movable block - 242, return compression spring - 243, annular stopper - 244; transition post - 25; pushing mechanism - 30, second mounting plate - 31, vacuum suction head - 32; bottle cap tray - 40, strip-shaped through-groove - 41, placement groove - 42; placement platform - 50; bottle cap storage box - 60, tray platform - 61, lifting mechanism - 62; tray placement box - 70, tray placement entrance - 71. Detailed implementation mode

[0048] The preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0049] The technical solutions of the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0050] See Figures 1 to 5 , the multi-functional transfer manipulator includes:

[0051] A multi-axis manipulator 10 and a grasping structure 20;

[0052] The multi-axis manipulator 10 includes a mechanical forearm 11, and a rotating block 12 is provided at the end of the mechanical forearm 11;

[0053] The grasping structure 20 includes a first substrate 21 and a second substrate 22. The first substrate 21 is fixed on the rotating block 12, and the second substrate 22 is fixed directly in front of the first substrate 21 and is parallel to the first substrate 21;

[0054] At least one first mounting plate 211 is provided on the first substrate 21. A pushing mechanism 30 is provided on the first mounting plate 211. A second mounting plate 31 is provided at the pushing end of the pushing mechanism 30. M vacuum suction heads 32 are arranged on the second mounting plate 31. The vacuum suction heads 32 are used to adsorb the bottle cap tray 40, and M is an integer greater than 1;

[0055] There are N vacuum suction nozzles 23 arranged on the second substrate 22. The vacuum suction nozzles 23 are used to adsorb the bottle caps, and N is an integer greater than 1. Among them, when the pushing mechanism 30 pushes the second mounting plate 31 to the end, the ends of the vacuum suction heads 32 and the vacuum suction nozzles 23 are located on the same plane, and the vacuum suction nozzles 23 and the vacuum suction heads 32 jointly adsorb the bottle cap tray.

[0056] Specifically, there are K rows of strip-shaped through grooves 41 on the bottle cap tray 40. There are N placement grooves 42 on each row of strip-shaped through grooves 41, and the linear distance between each pair of adjacent placement grooves 42 is equal to the linear distance between each pair of adjacent vacuum suction nozzles 23.

[0057] K is an integer greater than or equal to M. The placement grooves 42 are used to place the bottle caps, and the bottle caps are adapted to the placement grooves.

[0058] Specifically, the vacuum suction nozzle 23 includes a vacuum suction base 231 and a vacuum suction cup 232. The vacuum suction cup 232 is fixed on the surface of the vacuum suction base 231. One end of the vacuum suction base 231 facing the vacuum suction cup 232 is provided with a limiting blind hole 233. An adsorption through hole 234 is provided at the bottom of the limiting blind hole 233, and the inner diameter of the limiting blind hole 233 is greater than the inner diameter of the adsorption through hole 234. There are N mounting through holes 221 correspondingly arranged on the second substrate 22. An elastic structure 24 is provided on each mounting through hole 221. The elastic structure includes a vacuum suction pipe 241, a movable block 242, and a return compression spring 243. A guiding through hole (not shown in the figure) is provided inside the movable block 242. One end of the vacuum suction pipe 241 is provided with an annular stopper 244. The other end of the vacuum suction pipe 241 sequentially passes through the limiting blind hole 233, the adsorption through hole 234, the guiding through hole, and the return compression spring 243, and is fixed on the adsorption through hole 234. Among them, when the movable block is pushed to the end point by the rebounding force of the return compression spring, the annular stopper is just located inside the limiting blind hole and abuts against the bottom surface of the limiting blind hole.

[0059] Specifically, the vacuum suction cup 232 is a two-layer suction cup, a three-layer suction cup, or a four-layer suction cup. The inner diameter of the vacuum suction cup 232 is greater than the diameter of the annular stopper 244. The adsorption through hole 234 is adapted to the vacuum suction pipe 241, and the limiting blind hole 233 is adapted to the annular stopper 244.

[0060] Specifically, the vacuum suction head 32 includes a tray suction cup (not shown in the figure) and a suction head base (not shown in the figure). There are M suction head through holes (not shown in the figure) correspondingly provided on the second mounting plate 31. A negative pressure conduit (not shown in the figure) is provided inside the suction head base. One end of the negative pressure conduit is communicated with the tray suction cup, and the other end of the negative pressure conduit is used to communicate with a negative pressure device.

[0061] The negative pressure conduit of the suction head base passes through the suction head through-hole and is fixed on the second mounting plate 31; wherein, the grasping structure 20 further includes an excessive column 25, and there are at least two excessive columns 25. One end of the excessive column 25 is fixedly connected to the first substrate 21, and the other end is fixedly connected to the second substrate 22.

[0062] Specifically, the multi-axis manipulator 10 further includes a fixed base 13, a rotating platform 14, a first robotic arm 15 and a second robotic arm 16. The rotating platform 14 is fixed on the fixed base 13. One end of the first robotic arm 15 is hinged to the rotating arm of the rotating platform 14, the other end of the first robotic arm 15 is hinged to one end of the second robotic arm 16, and the other end of the second robotic arm 16 is hinged to the starting end of the robotic forearm 11.

[0063] Specifically, the arrangement direction of the M vacuum suction heads 32 is perpendicular to the arrangement direction of the N vacuum suction nozzles 23;

[0064] When the number of the first mounting plates is 1, the first mounting plate 211 is fixed on one side of the first substrate 21 and is located in the middle of the first substrate 21, and the first mounting plate 211 is perpendicular to the second mounting plate 31;

[0065] When the number of the first mounting plates 211 is 2, the two first mounting plates 211 are respectively fixed on both sides of the first substrate 21, and the two first mounting plates 211 are centrosymmetric. Embodiment 1

[0066] See Figures 1 to 5 , in this example, to solve the problem of low feeding efficiency caused by the existing method of manually moving and feeding the bottle caps; and, the existing method of manually moving the bottle caps and trays separately requires workers to operate multiple steps and cannot fully automate the moving and feeding. This example provides a multi-functional moving manipulator. By improving the structure on the multi-axis manipulator and using the multi-axis manipulator and the grasping structure, the bottle caps and trays can be automatically and integrally moved, fed and stacked to improve the feeding efficiency and accuracy of the cosmetic bottle caps.

[0067] For this purpose, in this example, a rotating block is provided at the end of the mechanical forearm of the multi-axis manipulator. The grasping structure includes a first substrate and a second substrate. The first substrate is fixed on the rotating block, and at the same time, the second substrate is fixed directly in front of the first substrate and made parallel to the first substrate. One or two first mounting plates are provided on the first substrate. A pushing mechanism is provided on each first mounting plate, and a second mounting plate is provided at the pushing end of the pushing mechanism. Then, three vacuum suction heads are arranged on the second mounting plate to adsorb the cap tray through the vacuum suction heads. At the same time, in this example, seven vacuum suction nozzles are also arranged on the second substrate (the same number as the number of placement grooves on each column of strip-shaped through grooves, that is, there are also seven placement grooves on each column of strip-shaped through grooves on the corresponding cap tray). The vacuum suction nozzles are used to adsorb the caps, so that the multi-functional transfer manipulator can transfer the caps on each column of strip-shaped through grooves at one time every time it transfers the caps. In addition, in order to be able to transfer the empty cap tray at one time after completely transferring the caps on the cap tray, in this example, when the pushing mechanism pushes the second mounting plate to the end, the ends of the vacuum suction heads and the ends of the vacuum suction nozzles are set on the same plane, so that the vacuum suction nozzles and the vacuum suction heads can jointly adsorb the cap tray, and then the multi-functional transfer manipulator is used to transfer the empty cap tray, exposing the next layer of cap tray containing caps, so that it can continuously feed the caps. It should be noted that the cap is a generalized lid, which includes not only a single cap, but also the lids for locking hoses and toothpaste tubes, or called locking caps.

[0068] For example, in this example, a grasping structure is provided at the end of the mechanical forearm of the multi-axis manipulator. The first substrate of the grasping structure is fixed on the rotating block, and the second substrate is fixed directly in front of the first substrate and is parallel to the first substrate. At the same time, a first mounting plate is provided on the first substrate, and a pushing mechanism is mounted on the first mounting plate. The pushing mechanism is used to control the movement of the second mounting plate, so that the three vacuum suction heads arranged on the second mounting plate can move forward, and the vacuum suction heads are used to adsorb the bottle cap tray. At the same time, in this example, seven vacuum suction nozzles are arranged in a row on the second substrate, and the vacuum suction nozzles are used to adsorb the bottle caps. When adsorbing and transporting the bottle caps on the bottle cap tray, the multi-axis manipulator controls the grasping structure on its mechanical forearm to move above the bottle cap tray, so that the grasping structure aligns with the bottle caps on the bottle cap tray. The seven vacuum suction nozzles arranged on the second substrate respectively adsorb seven bottle caps, and then the multi-axis manipulator moves the adsorbed bottle caps to the conveyor belt until all the bottle caps on the bottle cap tray are completely moved and loaded. At the same time, when the bottle caps on the topmost bottle cap tray are completely moved, the multi-axis manipulator controls the grasping structure on its mechanical forearm to move above the bottle cap tray again, and at the same time uses the pushing mechanism to push the second mounting plate to the end, so that the ends of the vacuum suction heads and the ends of the vacuum suction nozzles are located on the same plane. The seven vacuum suction nozzles and the three vacuum suction heads are used to adsorb the empty bottle cap tray at the same time, and finally the multi-axis manipulator moves the adsorbed empty bottle cap tray away, so as to realize the automatic and integrated separate transfer of the bottle caps and the trays, improve the feeding efficiency of the cosmetic bottle caps, and ensure the continuous supply of the bottle caps.

[0069] It should be noted that in this example, M vacuum suction heads are provided, and M is an integer greater than 1. This is to prevent the bottle cap tray from shaking and falling off during the process of the multi-functional transfer manipulator moving the empty bottle cap tray, and to ensure the smooth progress of the work. Specifically, in order to facilitate ensuring the continuous feeding of the bottle caps and the smooth transfer of the bottle cap tray, the bottle cap tray is set as a tray with K columns of strip-shaped through grooves, and each column of strip-shaped through grooves is provided with N placement grooves. At the same time, the linear distance between each pair of adjacent placement grooves is set to be equal to the linear distance between each pair of adjacent vacuum suction nozzles, so that when the multi-functional transfer manipulator transfers the bottle caps, it can transfer and load multiple bottle caps at one time, greatly improving the feeding efficiency of the bottle caps. Therefore, it can be determined that compared with manual feeding of the bottle caps, the multi-functional transfer manipulator can greatly improve the efficiency and there is no need for workers to transfer the empty bottle cap tray again. In addition, it should be noted that the placement grooves in this example are used to place the bottle caps, and the bottle caps are adapted to the placement grooves to ensure that when the multi-functional transfer manipulator sucks the bottle caps, it can accurately suck up the bottle caps and prevent problems such as misabsorption and omission when transferring the bottle caps at one time (for example, it can effectively prevent the bottle caps in individual placement grooves from not being sucked up).

[0070] It is worth noting that in the actual application process, to ensure the accurate handling of the bottle caps, in this example, the arrangement direction of the M vacuum suction heads is set perpendicular to the arrangement direction of the N vacuum nozzles. Moreover, when the number of the first mounting plates is set to 1, in this example, the first mounting plate is fixed to one side of the first substrate, located in the middle of the first substrate, and the first mounting plate is perpendicular to the second mounting plate, so that when the multi-functional handling manipulator handles the empty bottle cap tray, it can effectively prevent the bottle cap tray from swinging up and down, and overcome the problem of the bottle cap tray falling off. For example, since the N vacuum nozzles on the second substrate are arranged, when adsorbing the bottle cap tray, it will inevitably cause the bottle cap tray to swing up and down, and there will definitely be inertia during the handling process, which will lead to the easy falling off of the bottle cap tray. Therefore, in this example, by setting M vacuum suction heads in the direction perpendicular to the arrangement direction of the N vacuum nozzles, when the pushing mechanism pushes the second mounting plate to the end to adsorb the bottle cap tray, under the combined action of the N vacuum nozzles and the M vacuum suction heads, it can effectively prevent the bottle cap tray from swinging up and down, and then effectively reduce the effect of inertia on the bottle cap tray, so that the bottle cap tray can be smoothly moved away, and at the same time, the multi-functional handling manipulator can continue to handle and load the bottle caps on the next layer of the bottle cap tray.

[0071] In addition, setting one first mounting plate can effectively prevent the bottle cap tray from swinging up and down, but the bottle cap tray on the other side cannot be effectively adsorbed and still has instability. Therefore, in this example, two first mounting plates can also be set. Moreover, when the number of the first mounting plates is 2, in this example, the two first mounting plates are respectively fixed to both sides of the first substrate, and the two first mounting plates are centrosymmetric. Therefore, when the N vacuum nozzles are in the longitudinal row of the bottle cap tray, the two centrosymmetric first mounting plates in this example can synchronously adsorb the transverse row of the bottle cap tray, ensuring that the bottle cap tray can be stably adsorbed and left, so as to realize the intelligent integration of separately handling, loading and stacking the bottle caps and the trays, and improve the packaging production efficiency of the cosmetic bottles. Embodiment 2

[0072] See Figures 1 to 5, in this example, to prevent the existing multi-functional transfer manipulator from damaging the bottle cap or the bottle cap tray when pressing down on the bottle cap or the bottle cap tray during the adsorption process, this example further improves the above-mentioned multi-functional transfer manipulator to ensure that the bottle caps and bottle cap trays moved by the multi-functional transfer manipulator each time are undamaged bottle caps and bottle cap trays, thereby reducing the rejection rate of bottle caps and bottle cap trays. For example, when the multi-functional transfer manipulator controls the grasping structure to adsorb the bottle cap downward, the vacuum suction nozzle needs to directly contact the bottle cap, and then negative pressure is applied to the inside of the vacuum suction nozzle to adsorb the bottle cap. However, when the vacuum suction nozzle contacts the bottle cap, it is extremely easy to squeeze the bottle cap, thereby damaging the surface of the bottle cap and ultimately affecting the packaging quality of the cosmetic bottle. Similarly, the same is true when adsorbing the bottle cap tray.

[0073] Therefore, in order to avoid damaging the bottle cap when adsorbing the bottle cap and move multiple bottle caps onto the conveyor belt without damaging them at the same time, in this example, a limiting blind hole is provided at one end of the vacuum suction seat facing the vacuum suction cup, and an adsorption through hole is provided at the bottom of the limiting blind hole. The diameter of the limiting blind hole is set to be larger than the diameter of the adsorption through hole, so that negative pressure can be formed inside the vacuum suction nozzle. At the same time, in this example, N mounting through holes are arranged correspondingly on the second substrate, and an elastic structure is provided on each mounting through hole. The elastic structure includes a vacuum suction pipe, a movable block and a return compression spring. A guiding through hole is provided inside the movable block, and an annular stopper is provided at one end of the vacuum suction pipe. Then the other end of the vacuum suction pipe is sequentially passed through the limiting blind hole, the adsorption through hole, the guiding through hole and the return compression spring, and finally fixed on the mounting through hole. The other end of the vacuum suction pipe is connected to a negative pressure device. The return compression spring is used to push the movable block against the vacuum suction seat, so that the annular stopper at one end of the vacuum suction pipe is exactly located inside the limiting blind hole. Then, the annular stopper is blocked by the bottom of the limiting blind hole, so that the vacuum suction pipe can generate negative pressure, and the bottle cap can be adsorbed through the vacuum suction nozzle. At the same time, both the vacuum suction seat and the movable block can move on the vacuum suction pipe, and there will be no air leakage problem. In addition, to ensure buffering when the vacuum suction nozzle contacts the bottle cap, in this example, the annular stopper is also arranged inside the limiting blind hole so that it can abut against the bottom surface of the limiting blind hole. When the movable block is pushed to the end point by the rebounding force of the return compression spring, the annular stopper is exactly located inside the limiting blind hole, realizing the sealing inside the vacuum suction nozzle and ensuring that both the vacuum suction seat and the movable block can move on the vacuum suction pipe.

[0074] For example, when the multi-functional transfer manipulator controls the grasping structure to adsorb the bottle cap downward, the resilient compression spring pushes the movable block against the vacuum suction seat, causing the annular stopper to be exactly inside the limiting blind hole and abut against the bottom of the limiting blind hole. Then, the multi-axis manipulator continues to control the grasping structure to press downward and make contact with the bottle cap. After contacting the bottle cap, it continues to press downward. At this time, the vacuum suction seat will continue to press tightly against the bottle cap, and its annular stopper will directly contact the bottle cap. At the same time, due to the reaction force from the bottle cap, the vacuum suction seat will be pushed in the reverse direction, causing the movable block to move in the direction of the resilient compression spring. At the same time, since the resilient compression spring is compressed by the force of the movable block, it then generates a rebound force to push the movable block in the direction of the vacuum suction seat. And at this time, the negative pressure device creates negative pressure inside the vacuum suction pipe, adsorbing the bottle cap while the resilient compression spring, in cooperation with the movable block and the vacuum suction seat, can effectively produce a buffering effect, preventing the vacuum suction seat from directly crushing the bottle cap while ensuring that negative pressure can be created inside the vacuum suction pipe to adsorb the bottle cap, and then transferring it to the conveyor belt to ensure that the bottle cap will not be damaged during the transfer process. Similarly, when adsorbing the longitudinal rows of the bottle cap tray, this structure can also protect the bottle cap tray from being crushed simultaneously, thereby reducing the rejection rate caused during the transfer process.

[0075] In addition, although the above technical solution can play a buffering role when adsorbing the bottle cap or the bottle cap tray; however, in actual applications, since both the vacuum suction pipe and the vacuum suction seat are made of rigid materials, when contacting and adsorbing the bottle cap or the bottle cap tray, they will still cause extrusion to the bottle cap or the bottle cap tray, thus causing a certain degree of pressure and then crushing the bottle cap or the bottle cap tray. Moreover, for cosmetic bottle caps, the surface is generally smooth (the appearance of cosmetic bottles can generally reflect light slightly, looking more advanced from a visual perspective), and wear during the packaging process will lead to a decline in the appearance quality of the product, thereby affecting sales. Therefore, to overcome the above problems, in this example, a vacuum suction cup is also provided on the vacuum suction nozzle. By fixing the vacuum suction cup on the surface of the vacuum suction seat, the back surface of the vacuum suction seat faces the movable block to prevent the vacuum suction seat or the vacuum suction pipe from directly colliding with the bottle cap or the bottle cap tray. At the same time, in order to adsorb the bottle cap without the vacuum suction seat or the vacuum suction pipe directly contacting the bottle cap, in this example, the vacuum suction cup is a two-layer suction cup, a three-layer suction cup or a four-layer suction cup. By using the two-layer suction cup, the three-layer suction cup or the four-layer suction cup to further isolate the direct contact between the bottle cap and the vacuum suction seat or the vacuum suction pipe, and at the same time, it can use the negative pressure inside the vacuum suction pipe to adsorb the bottle cap to ensure that the bottle cap will not be worn during the adsorption process. Moreover, to prevent the multi-axis manipulator from overpressing when controlling the grasping structure to adsorb, in this example, the inner diameter of the vacuum suction cup is set to be larger than the diameter of the annular stopper, preventing the annular stopper from directly crushing the vacuum suction cup while ensuring that the vacuum suction pipe can adsorb the bottle cap.

[0076] Relatively speaking, in this example, when adsorbing the cap tray, it is also necessary to utilize the vacuum suction nozzle and the vacuum suction head simultaneously. That is, the longitudinal row of the cap tray is adsorbed by the vacuum suction nozzle, and the transverse row of the cap tray is adsorbed by the vacuum suction head to prevent the cap tray from swaying or even falling off during the adsorption process. Specifically, the vacuum suction head in this example includes a tray suction cup and a suction head base. M suction head through holes are correspondingly provided on the second mounting plate, and a negative pressure conduit is provided inside the suction head base. One end of the negative pressure conduit is connected to the tray suction cup, and the other end of the negative pressure conduit is used to connect to a negative pressure device. In this example, the negative pressure conduit of the suction head base passes through the suction head through hole and is fixed on the second mounting, thereby realizing the fixation of the tray suction cup and the suction head base. The negative pressure device creates negative pressure inside the negative pressure conduit, and then the pushing mechanism pushes the second mounting plate forward and presses it to the end, so that the tray suction cup can adsorb the transverse row of the cap tray, and at the same time cooperate with the vacuum suction nozzle to jointly adsorb the longitudinal row of the cap tray, realizing the adsorption of the entire cap tray, and the cap tray is moved away by the multi-axis manipulator.

[0077] It should be noted that in the fixation of the entire grasping structure, this example also provides an over-column in the grasping structure. Two over-columns are used to connect the first substrate and the second substrate to ensure that the first substrate and the second substrate are parallel. Among them, one end of the over-column in this example is fixedly connected to the first substrate, and the other end is fixedly connected to the second substrate. The second substrate can be easily fixed directly in front of the first substrate through the two over-columns, ensuring that the ends of the vacuum suction head and the vacuum suction nozzle are on the same plane, and leaving a certain distance for the pushing mechanism to push the second mounting plate, preventing the vacuum suction head from adsorbing other caps on the transverse row of the cap tray while the vacuum suction nozzle adsorbs the caps, resulting in the inability to accurately move all the caps on the cap tray to the conveyor belt. Embodiment III

[0078] See Figures 1 to 5, in this example, in order for the multi-axis manipulator to adjust the position of the grasping structure in multiple degrees of freedom, ensure that the grasping structure can move the bottle caps on the bottle cap tray at multiple angles, and improve the moving and adjusting function of the multi-functional moving manipulator, this example further refines the multi-axis manipulator; specifically, this example also provides a fixed base, a rotating platform, a first robotic arm, and a second robotic arm on the multi-axis manipulator. Originally, by fixing the rotating platform on the fixed base, hinging one end of the first robotic arm to the rotating arm of the rotating platform, hinging the other end of the first robotic arm to one end of the second robotic arm, and simultaneously hinging the other end of the second robotic arm to the starting end of the robotic forearm, the position of the grasping structure can be adjusted in multiple directions, improving the position range for the multi-axis manipulator to control the movement of the grasping structure; for example, the multi-axis manipulator in this example can be a six-axis manipulator or a five-axis manipulator. By increasing the degree of automation of the multi-axis manipulator, the activity range that the grasping structure can move can be greatly improved.

[0079] Among them, a six-axis manipulator usually refers to a six-axis industrial robot, which is a robotic arm with six rotating joints and can have very high flexibility in its working space to perform complex actions and operations; the movement of each joint increases the degree of freedom of the robot, enabling it to reach any position in the working space and operate in any posture. Embodiment Four

[0080] See Figures 1 to 5 , in this example, in order to automatically recycle the bottle cap tray while moving the bottle caps, this example also provides a bottle cap moving integrated machine, which specifically includes:

[0081] A multi-functional moving manipulator as described above, as well as a placement platform 50, a bottle cap storage box 60, and a tray placement box 70;

[0082] The bottle cap storage box 60 is adjacent to the placement platform 50, the tray placement box 70 is adjacent to the bottle cap storage box 60, and the placement platform 50 and the tray placement box 70 are located on the same straight line;

[0083] The multi-functional moving manipulator is fixed on the placement platform 50, and the height of the placement platform 50 is less than the height of the bottle cap storage box 60;

[0084] The interior of the bottle cap storage box 60 is provided with a tray platform 61, and a lifting mechanism 62 is provided at the bottom of the tray platform 61. The lifting mechanism 62 is used to control the lifting height of the tray platform 61, and the tray platform 61 is used to stack and place the bottle cap trays containing bottle caps;

[0085] The tray placement box 70 includes a tray placement entrance 71, and the tray placement entrance 71 is located at the top of the tray placement box 70. The tray placement box 70 is used to stack the empty bottle cap trays.

[0086] Specifically, in this example, by adding a placement platform, a bottle cap storage box body, and a tray placement box body, the bottle cap storage box body is set adjacent to the placement platform, and at the same time, the tray placement box body is set adjacent to the bottle cap storage box body, and the placement platform is set to be on the same straight line as the tray placement box body. By fixing the multi-functional transfer manipulator on the placement platform and setting the height of the placement platform to be less than the height of the bottle cap storage box body, the multi-functional transfer manipulator can pick up the bottle caps on the bottle cap tray from multiple degrees of freedom when fixed on the placement platform.

[0087] In addition, in order to ensure continuous feeding of bottle caps, in this example, a tray platform is provided inside the bottle cap storage box body, and a lifting mechanism is provided at the bottom of the tray platform. Multiple layers of bottle cap trays containing bottle caps are stacked on the tray platform, and the lifting height of the tray platform is controlled by the lifting mechanism. After the bottle caps on one layer of the bottle cap tray are transferred, the tray platform is lifted by the lifting mechanism so that the bottle cap trays containing bottle caps can always be kept on the same plane, facilitating the multi-functional transfer manipulator to accurately pick up the bottle caps and the empty bottle cap trays on the tray.

[0088] Moreover, in this example, a tray placement entrance is also provided on the tray placement box body, and this tray placement entrance is located at the top of the tray placement box body. When the multi-functional transfer manipulator finishes transferring the bottle caps, the multi-functional transfer manipulator then transfers the empty bottle cap tray above the tray placement entrance and then drops it, recycling and placing the empty bottle cap tray inside the tray placement box body, facilitating the staff to continue using the empty bottle cap trays to refill qualified bottle cap products and repeatedly use the empty bottle cap trays.

[0089] Corresponding to the foregoing application function implementation method embodiments, the present application also provides a transfer control system, a transfer control method, and corresponding embodiments. Embodiment Five

[0090] In this example, although the above-mentioned multi-functional transfer manipulator can buffer the bottle cap tray and the bottle caps when the vacuum suction nozzle adsorbs the bottle caps or the bottle cap tray, thereby preventing the bottle caps or the bottle cap tray from being crushed and worn during the transfer process; however, when the multi-functional transfer manipulator adsorbs the bottle caps or the bottle cap tray, it cannot effectively solve the problem of how to determine whether the bottle caps or the bottle cap tray are truly adsorbed; for this reason, this example provides a transfer control system to overcome the problem of how to determine whether the bottle caps or the bottle cap tray have been adsorbed. Specifically, the transfer control system includes: a control module, N pressure sensors, M first pressure sensors, N second pressure sensors, and a multi-functional transfer manipulator as described above;

[0091] In this example, N pressure sensors are respectively and fixedly arranged on N annular stoppers, and whether the annular stoppers contact the bottle caps is detected by whether the pressure sensors generate pressure. And N pressure sensors are respectively and fixedly arranged in N vacuum suction pipes, and the pressure inside the vacuum suction pipes is measured by the pressure sensors to determine whether the vacuum suction nozzles have adsorbed the bottle caps. In addition, M first pressure sensors are respectively and fixedly arranged inside M vacuum suction heads, and the pressure inside the vacuum suction nozzles is measured by the first pressure sensors to ensure that whether the vacuum suction heads have adsorbed the bottle cap tray can be detected when moving the bottle cap tray. Specifically, in this example, the control module is electrically connected to the N pressure sensors, the N second pressure sensors and the M first pressure sensors respectively, and is simultaneously electrically connected to the multi-axis manipulator and the pushing mechanism respectively, and the adsorption action of the multi-functional transfer manipulator is controlled by the control module.

[0092] For example: when the control module receives the bottle cap transfer instruction, when the control module controls the multi-functional transfer manipulator to adsorb the bottle cap for transfer, first, the control module controls the multi-axis manipulator to move the grasping structure to the first position (that is, the target position when sucking the bottle cap, and this target position is the position where the bottle cap is placed in the bottle cap tray), and then the N pressure sensors are respectively used to obtain the pressure values generated in the N vacuum suction nozzles, and the N second pressure sensors are used to obtain the pressure values generated in the N vacuum suction pipes. When the pressure values detected by the N pressure sensors are all greater than the preset pressure value, and the pressure values detected by the N second pressure sensors are all less than the preset pressure value, it indicates that the N vacuum suction nozzles have all contacted the bottle caps, and it also indicates that negative pressure has been generated in the N vacuum suction pipes. Therefore, it can be determined that the N vacuum suction nozzles have all adsorbed the bottle caps. Finally, the control module can determine that the N vacuum suction nozzles can all completely adsorb the bottle caps, and then the control module controls the multi-axis manipulator to move the grasping structure to the second position (that is, the feeding position when placing the bottle cap, and this feeding position is actually the position on the conveyor belt), so as to realize the intelligent transfer of the bottle caps to the conveyor belt.

[0093] In addition, when there is a situation where the pressure values detected by the N pressure sensors are equal to or less than the preset pressure value, it indicates that there is a situation where the vacuum suction nozzles cannot contact the bottle caps. Therefore, multiple bottle caps cannot be transferred at one time. Therefore, an alarm signal needs to be sent to remind the staff to pay attention and handle it to determine whether there are empty slots on the bottle cap tray. In addition, or when there is a situation where the pressure values detected by the N second pressure sensors are greater than or equal to the preset pressure value, it indicates that the multi-functional transfer manipulator cannot stably suck the bottle cap, and negative pressure cannot be formed inside its vacuum suction pipe. Even if it contacts the bottle cap, it cannot adsorb the bottle cap for transfer. Therefore, an alarm signal also needs to be sent to remind the staff to pay attention and handle it.

[0094] It should be noted that, in this example, when the caps on the cap tray have been completely moved, the cap tray still needs to be moved so that the multi-functional transfer manipulator can move the caps on the next layer to the conveyor belt to ensure the continuous feeding of the caps. For this purpose, in this example, when the caps have been completely moved, a tray transfer instruction needs to be issued. And when the control module receives the tray transfer instruction, the control module needs to control the multi-axis manipulator to move the grasping structure to the third position (i.e., the target position when sucking the empty cap tray, which is actually the position where the empty cap tray is placed), and at the same time control the pushing mechanism to move the second mounting plate to the end to ensure that the adsorption ends of the vacuum suction nozzles and the vacuum suction heads are on the same plane. At the same time, the vacuum suction nozzles and the vacuum suction heads on the same plane respectively detect the pressure inside them through N second pressure sensors and M first pressure sensors inside them, and detect whether the vacuum suction nozzles touch the cap tray through N pressure sensors inside the vacuum suction pipes. When the pressure sensors touch the cap tray, pressure will be generated.

[0095] For this reason, when the N pressure sensors detect that the pressure values are all greater than the preset pressure value, it means that the pressure sensors touch the cap tray. And when the pressure values detected by the M first pressure sensors are all less than the preset pressure value, it means that the vacuum suction head has adsorbed the horizontal cap tray (only when the vacuum suction head adsorbs the cap tray will a pressure value smaller than the preset pressure value be generated, or when the cap tray touches the tray suction cup will a pressure value smaller than the preset pressure value be generated). Similarly, the same is true for the vacuum suction nozzles. That is, when the pressure values detected by the N second pressure sensors are all less than the preset pressure value, it means that the N vacuum suction nozzles have also adsorbed the vertical cap tray. And when the above three conditions are met, it is determined that the grasping structure has completely adsorbed the cap tray. Therefore, the control module needs to control the multi-axis manipulator to move the grasping structure to the fourth position (i.e., the stacking position when placing the empty cap tray). In summary, in this embodiment, this transfer control system first uses the vacuum suction nozzles to completely move the caps on the cap tray, and then simultaneously uses the final vacuum suction nozzles and the vacuum suction heads to suck the empty cap trays horizontally and vertically respectively, and then uses the multi-functional transfer manipulator to move the caps and the cap trays separately, so as to integrally realize the feeding of the caps and the separate movement of the cap trays, greatly improving the efficiency of cap feeding.

[0096] Moreover, it should also be noted that in this transfer control system, when the system adsorbs the bottle cap and the bottle cap tray respectively, it can not only determine whether the bottle cap and the bottle cap tray are adsorbed respectively, but also perform the transfer only when it is determined that the bottle cap and the bottle cap tray have been adsorbed, thus avoiding the problem of mis-adsorption or missed adsorption of the bottle cap and the bottle cap tray during the transfer. Finally, the bottle cap and the bottle cap tray can timely load the bottle cap and timely remove the empty bottle cap tray, so as to facilitate the timely transfer of the bottle caps on the next layer, greatly improving the efficiency of intelligent bottle cap loading, and being able to accurately transfer the bottle caps and remove the bottle cap trays respectively. Embodiment Six

[0097] In this example, to solve the problem of how to accurately transfer and load the bottle caps and how to remove the empty bottle cap trays in the above transfer control system, this example also provides a transfer control method, which includes the following steps:

[0098] S1: According to the bottle cap transfer instruction, extract the bottle cap tray information, the bottle cap transfer information and the tray transfer information. The bottle cap tray information includes the number of columns of K-column bar-shaped through slots and the central coordinates of each column of bar-shaped through slots. The bottle cap transfer information includes the bottle cap loading coordinates, and the tray transfer information includes the tray placement coordinates. Among them, the above bottle cap loading coordinates, tray placement coordinates and the central coordinates of each column of bar-shaped through slots are all three-dimensional coordinates. Based on the above three-dimensional coordinates, the multi-functional transfer manipulator can accurately transfer and load the bottle caps and accurately remove the empty bottle cap trays, ensuring the smooth progress of the cosmetic bottle packaging production;

[0099] S2: Based on the central coordinates of each column of bar-shaped through slots, control the multi-functional transfer manipulator to sequentially transfer the bottle caps on the K-column bar-shaped through slots to the bottle cap loading coordinates, and count the number of times of transfer to the bottle cap loading coordinates. When the number of transfer times reaches K, then issue a tray transfer instruction;

[0100] S3: According to the tray transfer instruction, control the multi-functional transfer manipulator to transfer the empty bottle cap tray to the tray placement coordinates, and then issue the bottle cap transfer instruction again to execute S1.

[0101] Specifically, in this example, according to the bottle cap moving instruction, the bottle cap pallet information, the bottle cap moving information and the pallet moving information are respectively extracted, the number of series of bar through slots included in the bottle cap pallet and the center coordinates of each column of bar through slots are determined, as well as the bottle cap loading coordinates, the pallet placement coordinates and the center coordinates of each column of bar through slots are determined, and by executing the moving control method, the bottle caps placed in each column on the bottle cap pallet are moved to the bottle cap loading coordinates at one time in turn, until the bottle caps on the K columns of bar through slots are completely moved, and then the empty bottle cap pallet is moved away based on the pallet placement coordinates, and after the movement away, the bottle cap moving instruction is issued again, the bottle cap pallet information, the bottle cap moving information and the pallet moving information of the next layer are obtained again, and the bottle caps and the bottle cap pallet of the next layer are respectively moved, loaded and moved away, thereby realizing automatic feeding of the bottle caps, ensuring the continuity of bottle cap feeding, and improving the efficiency of bottle cap feeding.

[0102] In addition, when moving the bottle caps on each column of the bar-shaped through slots, the method can also move a plurality of bottle caps to the conveyor belt at one time, and when the bottle caps on the K columns of the bar-shaped through slots are moved to the bottle cap loading coordinates in sequence, the number of times the bottle caps are moved to the bottle cap loading coordinates is counted to ensure that all the bottle caps on the bottle cap tray can be moved to the conveyor belt before the empty bottle cap tray is moved away, thereby ensuring that the bottle caps on the bottle cap tray will not be abandoned and reducing the waste rate of the bottle caps.

[0103] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A multifunctional transfer manipulator, characterized in that, Including: A multi-axis manipulator and a grasping structure; The multi-axis manipulator includes a mechanical forearm, and a rotating block is provided at the end of the mechanical forearm; The grasping structure includes a first substrate and a second substrate. The first substrate is fixed on the rotating block, and the second substrate is fixed directly in front of the first substrate and is parallel to the first substrate; At least one first mounting plate is provided on the first substrate. A pushing mechanism is provided on the first mounting plate. A second mounting plate is provided at the pushing end of the pushing mechanism. M vacuum suction heads are arranged on the second mounting plate. The vacuum suction heads are used for adsorbing a bottle cap tray, and M is an integer greater than 1; N vacuum suction nozzles are arranged on the second substrate. The vacuum suction nozzles are used for adsorbing bottle caps, and N is an integer greater than 1; K rows of strip-shaped through holes are provided on the bottle cap tray. N placement grooves are provided on each row of the strip-shaped through holes, and the linear distance between each pair of adjacent placement grooves is equal to the linear distance between each pair of adjacent vacuum suction nozzles; K is an integer greater than or equal to M. The placement grooves are used for placing bottle caps, and the bottle caps are adapted to the placement grooves; The vacuum suction nozzle includes a vacuum suction seat and a vacuum suction cup. The vacuum suction cup is fixed on the surface of the vacuum suction seat. A limiting blind hole is provided at one end of the vacuum suction seat facing the vacuum suction cup. An adsorption through hole is provided at the bottom of the limiting blind hole, and the diameter of the limiting blind hole is greater than the diameter of the adsorption through hole; N mounting through holes are correspondingly arranged on the second substrate. An elastic structure is provided on each mounting through hole. The elastic structure includes a vacuum suction pipe, a movable block and a return compression spring. A guiding through hole is provided inside the movable block; One end of the vacuum suction pipe is provided with an annular stopper. The other end of the vacuum suction pipe sequentially passes through the limiting blind hole, the adsorption through hole, the guiding through hole and the return compression spring and is fixed on the mounting through hole; When the movable block is pushed to the end point by the rebounding force of the return compression spring, the annular stopper is exactly located inside the limiting blind hole and abuts against the bottom surface of the limiting blind hole; The vacuum suction cup is a two-layer suction cup, a three-layer suction cup or a four-layer suction cup. The inner diameter of the vacuum suction cup is greater than the diameter of the annular stopper. The adsorption through hole is adapted to the vacuum suction pipe, and the limiting blind hole is adapted to the annular stopper; Wherein, when the pushing mechanism pushes the second mounting plate to the end, the ends of the vacuum suction heads and the ends of the vacuum suction nozzles are on the same plane, and the vacuum suction nozzles and the vacuum suction heads jointly adsorb the bottle cap tray.

2. The multifunctional transfer manipulator according to claim 1, wherein, The vacuum suction head includes a tray suction cup and a suction head base. M suction head through holes are correspondingly provided on the second mounting plate. A negative pressure conduit is provided inside the suction head base. One end of the negative pressure conduit is communicated with the tray suction cup, and the other end of the negative pressure conduit is used for communicating with a negative pressure device; The negative pressure conduit of the suction head base passes through the suction head through-hole and is fixed on the second mounting plate; wherein, the grasping structure further includes an excessive post, and there are at least two excessive posts. One end of the excessive post is fixedly connected to the first substrate, and the other end is fixedly connected to the second substrate.

3. The multifunctional transfer manipulator according to claim 1, characterized in that, The multi-axis manipulator further includes a fixed base, a rotating platform, a first robotic arm, and a second robotic arm. The rotating platform is fixed on the fixed base. One end of the first robotic arm is hinged to the rotating arm of the rotating platform. The other end of the first robotic arm is hinged to one end of the second robotic arm. The other end of the second robotic arm is hinged to the starting end of the robotic forearm.

4. A multifunctional transfer manipulator according to claim 1, characterized in that, The arrangement direction of the M vacuum suction heads is perpendicular to the arrangement direction of the N vacuum suction nozzles; When the number of the first mounting plates is 1, the first mounting plate is fixed on one side of the first substrate and located in the middle of the first substrate, and the first mounting plate is perpendicular to the second mounting plate; When the number of the first mounting plates is 2, the two first mounting plates are respectively fixed on both sides of the first substrate, and the two first mounting plates are centrosymmetric.

5. A relocation control system, characterized in that, Comprising: a control module, N pressure sensors, M first pressure sensors and N second pressure sensors, and a multifunctional transfer manipulator according to any one of claims 1 to 2; The N pressure sensors are respectively and fixedly arranged on the N annular stoppers for detecting whether the annular stoppers contact the bottle caps; The N pressure sensors are respectively and fixedly arranged in the N vacuum suction pipes for measuring the pressure inside the vacuum suction pipes; the M first pressure sensors are respectively and fixedly arranged inside the M vacuum suction heads for measuring the pressure inside the vacuum suction nozzles; the control module is electrically connected to the N pressure sensors, the N second pressure sensors and the M first pressure sensors respectively, and is electrically connected to the multi-axis manipulator and the pushing mechanism respectively; When the control module receives a bottle cap transfer instruction, the control module controls the multi-axis manipulator to move the grasping structure to a first position. And when the pressure values detected by the N pressure sensors are all greater than a preset pressure value and the pressure values detected by the N second pressure sensors are all less than a preset pressure value, the control module controls the multi-axis manipulator to move the grasping structure to a second position. The first position is the target position when sucking the bottle cap, and the second position is the loading position when placing the bottle cap; When the control module receives a tray transfer instruction, the control module controls the multi-axis manipulator to move the grasping structure to the third position, and at the same time controls the pushing mechanism to move the second mounting plate to the end. And when the pressure values detected by N pressure sensors are all greater than the preset pressure value, the pressure values detected by M first pressure sensors are all less than the preset pressure value, and the pressure values detected by N second pressure sensors are all less than the preset pressure value, the control module controls the multi-axis manipulator to move the grasping structure to the fourth position. The third position is the target position when sucking the empty bottle cap tray, and the fourth position is the stacking position when placing the empty bottle cap tray.

6. A relocation control method, applied to a relocation control system as described in claim 5, characterized in that, It includes the following steps: S1: According to the bottle cap transfer instruction, extract the bottle cap tray information, the bottle cap transfer information and the tray transfer information. The bottle cap tray information includes the number sequence of K columns of strip-shaped through grooves and the central coordinates of each column of strip-shaped through grooves. The bottle cap transfer information includes the bottle cap loading coordinates, and the tray transfer information includes the tray placement coordinates; S2: Based on the central coordinates of each column of strip-shaped through grooves, control the multi-functional transfer manipulator to sequentially transfer the bottle caps on the K columns of strip-shaped through grooves to the bottle cap loading coordinates, and count the number of times of transfer to the bottle cap loading coordinates. And when the number of transfers reaches K, a tray transfer instruction is issued; S3: According to the tray transfer instruction, control the multi-functional transfer manipulator to transfer the empty bottle cap tray to the tray placement coordinates, and issue a bottle cap transfer instruction again, and execute S1 to transfer the bottle caps on the next layer of the bottle cap tray.

7. A bottle cap handling and transferring integrated machine, characterized in that, It includes: A multi-functional transfer manipulator according to any one of claims 1-4, as well as a placement platform, a bottle cap storage box and a tray placement box; The bottle cap storage box is adjacent to the placement platform, the tray placement box is adjacent to the bottle cap storage box, and the placement platform and the tray placement box are on the same straight line; The multi-functional transfer manipulator is fixed on the placement platform, and the height of the placement platform is less than the height of the bottle cap storage box; A tray platform is provided inside the bottle cap storage box, and a lifting mechanism is provided at the bottom of the tray platform. The lifting mechanism is used to control the lifting height of the tray platform, and the tray platform is used to stack and place the bottle cap trays containing bottle caps; The tray placement box includes a tray placement entrance, and the tray placement entrance is located at the top of the tray placement box. The tray placement box is used to stack empty bottle cap trays.

Images