Automatic grinding bottle opening and closing system and control method thereof

Abstract

The invention provides an automatic grinding bottle opening and closing system and a control method thereof, and belongs to the technical field of grinding devices. The automatic grinding bottle opening and closing system comprises a grinding bottle and an opening and closing device, the grinding bottle comprises a bottle body and a bottle cap, a mounting groove is formed in the inner wall of the bottle body, and the bottle cap comprises a mounting rod capable of being connected with the mounting groove in a clamped mode. The opening and closing device comprises a bottle body clamping device and a bottle cap screwing device; the bottle body clamping device is used for fixing a bottle body, the bottle cap screwing device is used for driving the mounting rod to press down and rotate so as to screw the end part of the mounting rod into or out of the mounting groove, and the bottle cap screwing device comprises a bottle cap clamping device, a rotating mechanism connected with the bottle cap clamping device and a lifting mechanism connected with the rotating mechanism. By means of the mode, the automatic opening and closing system for the grinding bottle can achieve automatic cover opening and closing of the grinding bottle, the operation process is simple and convenient to control, the bottle body and the bottle cover can be reliably sealed after cover closing, and the problem of material leakage in the grinding process is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of grinding devices, and particularly relates to an automatic opening and closing system for a grinding bottle and a control method thereof. Background Art

[0002] In a sample grinding production line, it is necessary to place a grinding bottle filled with a sample and a grinding rod on a grinding machine and rotate it so that the grinding rod in the grinding bottle grinds the sample. Before grinding, it is necessary to load the grinding rod into the grinding bottle, and after grinding, it is also necessary to take out the grinding rod from the grinding bottle for cleaning. During the process of loading and taking out the grinding rod, it is necessary to perform opening and closing operations on the bottle body and the bottle cap of the grinding bottle. If it is done manually, it will take a lot of time and cost. It is necessary to use automated equipment to achieve automatic opening and closing of the grinding bottle.

[0003] In the prior art, the bottle body and the bottle cap of the grinding bottle are usually fixed by a fixing member and a threaded structure. It is necessary to manually insert the fixing member into the fixing hole of the grinding bottle and then screw the thread. By the way of the screw rod pressing downwards, the fixing member and the bottle cap are tightly fixed. This way is difficult to achieve automated operation, and it is usually difficult to control the tightening degree. If the tightening degree is not enough, it is difficult to reliably seal between the bottle body and the bottle cap, and leakage may occur during the rotation and grinding of the grinding bottle on the grinding machine. If the tightening degree is too high, it will increase the difficulty of unscrewing and is easy to damage the grinding bottle.

[0004] How to simply and efficiently perform automatic opening and closing of the bottle body and the bottle cap of the grinding bottle and ensure reliable sealing between the bottle body and the bottle cap after closing is a technical problem to be solved urgently at present. Summary of the Invention

[0005] In view of the technical problems in the background art, the present application provides an automatic opening and closing system for a grinding bottle and a control method thereof, which are used to conveniently and reliably achieve automatic opening and closing of the grinding bottle.

[0006] In a first aspect, an embodiment of the present application provides an automatic opening and closing system for a grinding bottle, including a grinding bottle and an opening and closing device;

[0007] The grinding bottle includes a bottle body and a bottle cap; an installation groove is provided on the inner wall of the bottle body, and the bottle cap includes an installation rod that can be snap-fitted with the installation groove;

[0008] The opening and closing device includes a bottle body clamping device and a bottle cap screwing device; the bottle body clamping device is used to fix the bottle body, and the bottle cap screwing device is used to drive the installation rod to perform downward pressing and rotational movements so that the end of the installation rod is screwed into or out of the installation groove;

[0009] The bottle cap screwing device includes a bottle cap clamping device, a rotating mechanism connected to the bottle cap clamping device, and a lifting mechanism connected to the rotating mechanism.

[0010] In the technical solution of the embodiment of the present application, by setting a bottle body clamping device to fix the bottle body and a bottle cap screwing device to screw the bottle cap, the lifting mechanism can drive the rotating mechanism and the bottle cap clamping mechanism to lift as a whole, and the bottle cap clamping mechanism can clamp the bottle cap. Then, the rotating mechanism drives the bottle cap clamping mechanism and the installation rod in the bottle cap to rotate, so that the end of the installation rod enters the installation groove, and the capping operation can be completed. When opening the cap, the lifting mechanism is used to press down the installation rod, and then the rotating mechanism drives the installation rod to rotate in the reverse direction, so that the end of the installation rod can be screwed out of the installation groove to complete the uncapping operation. The above capping operation and uncapping operation can be carried out automatically, and the operation process is simple and easy to control. After capping, the bottle body and the bottle cap can be reliably sealed.

[0011] In some embodiments, the installation groove includes a groove body and an installation hole. The groove body extends along the circumferential direction of the bottle body and its depth gradually increases. The installation hole is arranged on one side with the maximum depth of the groove body.

[0012] In this embodiment, by setting the installation groove to have a structure with a gradually increasing depth of the groove body and forming an installation hole, it is convenient for the end of the installation rod to gradually expand and contract as the depth of the groove body changes during rotation, and fully extend at the installation hole to achieve the engagement of the installation rod and the installation hole.

[0013] In some embodiments, a limiting protrusion for carrying the bottle cap is arranged on the inner wall of the bottle body; the limiting protrusion is located below the installation groove.

[0014] In this embodiment, by setting the limiting protrusion, it is convenient to stably place the bottle cap. Then, by rotating the installation rod to engage it with the installation groove, the capping operation can be completed, and the overall operation is relatively convenient.

[0015] In some embodiments, the bottle cap includes a cap body. A telescopic rod that can expand and contract in the vertical direction is arranged in the middle of the top surface of the cap body. The installation part in the middle of the installation rod is connected to the telescopic end of the telescopic rod. A first spring is arranged outside the telescopic rod, and the two ends of the first spring are respectively connected to the bottom surface of the installation part and the top surface of the cap body.

[0016] In this embodiment, the telescopic rod and the first spring are used to connect the cap body and the installation rod, so that the installation rod can move relative to the cap body in the vertical direction to adjust the height of the installation rod.

[0017] In some embodiments, the mounting rod includes a sleeve and a mounting pin. The sleeves are symmetrically arranged on both sides of the mounting portion. The mounting pin is arranged at one end of the sleeve away from the mounting portion. A second spring is arranged between the sleeve and the mounting pin for enabling the mounting pin to axially expand and contract along the sleeve. A guide pin is arranged radially in the sleeve, and a guide hole is arranged axially in the mounting pin along the sleeve, and the guide pin is located in the guide hole.

[0018] In this embodiment, the mounting pin can expand and contract relative to the sleeve to adapt to different depths in the mounting groove. When the mounting pin is located in the mounting hole, the bottle body no longer compresses the second spring. At this time, the length of the mounting rod is the longest and can be engaged with the mounting hole to achieve closing the lid.

[0019] In some embodiments, the bottle cap clamping device includes a pressing plate connected to the rotating mechanism and two clamping plates spaced apart at the bottom of the pressing plate. The two clamping plates are respectively used to abut against both sides of the mounting rod.

[0020] In this embodiment, the mounting rod can be pressed down by the pressing plate, and the mounting rod can be driven to rotate by the clamping plates.

[0021] In some embodiments, a pressure sensor is arranged on the inner wall of the clamping plate for detecting whether the clamping plate abuts against the mounting rod.

[0022] In this embodiment, by arranging the pressure sensor, it can be conveniently detected whether the clamping plate abuts against the mounting rod, and the mounting rod can be driven to rotate by the clamping plate only in the abutting state.

[0023] In some embodiments, the bottle body clamping device includes two bottle body clamping portions respectively arranged on both sides of the grinding bottle opening and closing station and a driving mechanism for driving the two bottle body clamping portions to approach or separate from each other. The driving mechanism includes a driving gear and two racks respectively meshing with the driving gear. The two racks are respectively located above and below the driving gear and are respectively connected to the two bottle body clamping portions.

[0024] In this embodiment, by one driving gear, the two racks can be driven to drive the corresponding bottle body clamping portions to approach or separate from each other respectively, so as to clamp and loosen the bottle body.

[0025] In a second aspect, an embodiment of the present application provides a control method for an automatic opening and closing system of a grinding bottle, including the following steps:

[0026] Controlling the bottle body clamping device to fix the bottle body at the grinding bottle opening and closing station;

[0027] Positioning the mounting rod and clamping the mounting rod by using the bottle cap clamping device;

[0028] Control the rotation mechanism to drive the bottle cap clamping device and the mounting rod to rotate in the opening or closing direction of the bottle cap, so that the end of the mounting rod disengages from or enters the mounting groove.

[0029] In the technical solution of the embodiment of the present application, the bottle body clamping device can effectively fix the bottle body. On this basis, the bottle cap clamping device is used to clamp the mounting rod, and combined with the rotation of the rotation mechanism, the mounting rod can be effectively controlled to make its end disengage from or enter the mounting groove, so as to realize the automatic opening and closing of the grinding bottle.

[0030] In some embodiments, the method of positioning the mounting rod and clamping the mounting rod by the bottle cap clamping device includes one of the following methods:

[0031] (1) Control the lifting mechanism to drive the bottle cap clamping device to descend to a preset working height, and then control the rotation mechanism to drive the bottle cap clamping device to rotate until the clamping plates in the bottle cap clamping device are located on both sides of the mounting rod;

[0032] (2) Use vision recognition technology or angle sensing technology to identify the angle of the mounting rod, then control the rotation mechanism to drive the bottle cap clamping device to rotate to the same angle as the mounting rod, and control the lifting mechanism to drive the bottle cap clamping device to descend to a preset working height, so that the clamping plates are located on both sides of the mounting rod;

[0033] (3) Position the angle of the bottle body, determine the angle of the mounting rod according to the position of the mounting groove, then control the rotation mechanism to drive the bottle cap clamping device to rotate to the same angle as the mounting rod, and control the lifting mechanism to drive the bottle cap clamping device to descend to a preset working height, so that the clamping plates are located on both sides of the mounting rod;

[0034] Wherein, the preset working height refers to the height corresponding to the bottle cap clamping device when the mounting rod is flush with the mounting groove and the clamping plates in the bottle cap clamping device are located on both sides of the mounting rod.

[0035] In this embodiment, by positioning the mounting rod, it is convenient to adjust the rotation angle of the bottle cap clamping device to ensure that the clamping plates can be on both sides of the mounting rod to drive the mounting rod to rotate; and after clamping the mounting rod, the clamping plates are at the preset working height through the lifting mechanism, which can ensure that the mounting rod and the mounting groove are aligned in the vertical direction at this time, and the mounting rod can be rotated to enter or disengage from the mounting groove.

[0036] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of this application more obvious and understandable, the following specific embodiments of this application are given. Brief Description of the Drawings

[0037] In order to more clearly illustrate the technical solution of this application, the drawings used in this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0038] Figure 1 Structural schematic diagram of the opening and closing device in the automatic opening and closing system of the grinding bottle provided by the embodiment of this application;

[0039] Figure 2 Structural schematic diagram of the grinding bottle in the automatic opening and closing system of the grinding bottle provided by the embodiment of this application;

[0040] Figure 3 Structural schematic diagram of the bottle body in the automatic opening and closing system of the grinding bottle provided by the embodiment of this application;

[0041] Figure 4 Structural schematic diagram of the bottle cap in the automatic opening and closing system of the grinding bottle provided by the embodiment of this application;

[0042] Figure 5 Structural schematic diagram of the mounting rod in the automatic opening and closing system of the grinding bottle provided by the embodiment of this application;

[0043] Figure 6 Structural schematic diagram of the bottle cap screwing device in the automatic opening and closing system of the grinding bottle provided by the embodiment of this application;

[0044] Figure 7 Structural schematic diagram of the bottle cap clamping device in the automatic opening and closing system of the grinding bottle provided by the embodiment of this application;

[0045] Figure 8 Structural schematic diagram of the lifting mechanism in the automatic opening and closing system of the grinding bottle provided by the embodiment of this application;

[0046] Figure 9 Structural schematic diagram of the bottle body clamping device in the automatic opening and closing system of the grinding bottle provided by the embodiment of this application from the first perspective;

[0047] Figure 10 Main structural schematic diagram of the bottle body clamping device in the automatic opening and closing system of the grinding bottle provided by the embodiment of this application from the second perspective;

[0048] Figure 11This is a schematic structural diagram of the bottle body positioning mechanism in the automatic opening and closing system of the grinding bottle provided by the embodiment of the present application.

[0049] Explanation of reference numerals: 10, bottle body; 11, groove body; 111, mounting hole; 12, limiting protrusion; 13, grinding rod; 20, bottle cap; 21, mounting rod; 211, mounting part; 212, sleeve; 213, mounting pin; 2131, guiding hole; 214, second spring; 215, guiding pin; 22, cover body; 23, telescopic rod; 24, first spring; 30, bottle cap clamping device; 31, pressing plate; 32, clamping plate; 321, avoiding part; 322, pressure sensor; 41, rotating motor; 42, first fixing structure; 43, first connecting plate; 50, lifting mechanism; 51, telescopic cylinder; 52, second connecting plate; 53, second fixing structure; 54, lifting guiding rod; 55, lifting guiding slider; 56, lifting limiting rod; 60, bottle body clamping device; 611, first base; 612, second base; 621, first bottle body clamping part; 622, second bottle body clamping part; 631, driving gear; 632, first rack; 633, second rack; 641, first connecting piece; 642, second connecting piece; 651, first guiding rod; 652, first guiding slider; 653, first mounting seat; 661, second guiding rod; 662, second guiding slider; 663, second mounting seat; 67, bottle body positioning mechanism; 671, positioning groove; 672, limiting block; 673, telescopic part; 6731, convex block; 6732, fixing column; 674, fixing part; 675, first sliding groove; 676, positioning spring; 677, second sliding groove; 678, positioning slider; 679, moving bracket; 70, workbench. Detailed implementation manners

[0050] Hereinafter, embodiments of the technical solutions of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solutions of the present application more clearly, and thus are only examples and should not be used to limit the protection scope of the present application.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above accompanying drawings are intended to cover non-exclusive inclusion.

[0052] In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects, and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity, specific order, or primary-secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "a plurality" is more than two, unless otherwise specifically and clearly defined.

[0053] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0054] In the description of the embodiments of the present application, the orientation or positional relationship indicated by technical terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation on the embodiments of the present application.

[0055] In the description of the embodiments of the present application, unless otherwise clearly specified and defined, technical terms such as "install", "connect", "couple", "fix", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can also be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0056] In order to automatically open and close the bottle body 10 and the bottle cap 20 of the grinding bottle simply and efficiently, and ensure that the bottle body 10 and the bottle cap 20 can be reliably sealed after closing, the present application provides an automatic opening and closing system for a grinding bottle and its control method. By designing the grinding bottle in a connection manner where the bottle body 10 and the bottle cap 20 are respectively engaged at specific positions through the installation groove and the installation rod 21, and setting a bottle body clamping device 60 to fix the bottle body 10, and at the same time setting a bottle cap screwing device to screw the bottle cap 20, the automatic closing and opening operations can be realized only through simple lifting and rotating operations. Moreover, the bottle body 10 and the bottle cap 20 after closing need to be pressed down and rotated in sequence before they can be opened, and there will be no material leakage when rotating for abrasives on the grinding machine, which can meet the requirements of practical applications.

[0057] Specifically, the embodiment of the present application provides an automatic opening and closing system for a grinding bottle, including a grinding bottle and an opening and closing device;

[0058] The grinding bottle includes a bottle body 10 and a bottle cap 20; an installation groove is provided on the inner wall of the bottle body 10, and the bottle cap 20 includes an installation rod 21 that can be engaged and connected with the installation groove;

[0059] The opening and closing device includes a bottle body clamping device 60 and a bottle cap screwing device; the bottle body clamping device 60 is used to fix the bottle body 10, and the bottle cap screwing device is used to drive the installation rod 21 to perform pressing down and rotating movements so that the end of the installation rod 21 is screwed into or out of the installation groove;

[0060] The bottle cap screwing device includes a bottle cap clamping device 30, a rotating mechanism connected to the bottle cap clamping device 30, and a lifting mechanism 50 connected to the rotating mechanism.

[0061] In the technical solution of the embodiment of the present application, the connection method between the bottle body 10 and the bottle cap 20 in the grinding bottle is not a conventional thread connection, but the bottle body 10 and the bottle cap 20 are engaged and connected at specific positions through the installation groove and the installation rod 21. In this way, not only can the tightening degree be accurately controlled to simply and efficiently realize opening and closing, but also the loosening and material leakage of the grinding bottle after closing during rotation on the grinding machine can be avoided. Based on this engaged grinding bottle, the embodiment of the present application specifically designs a corresponding opening and closing device. On the one hand, the bottle body clamping device 60 is used to fix the bottle body 10, and on the other hand, the bottle cap screwing device is used to drive the installation rod 21 in the bottle cap 20 to perform pressing down and rotating movements so that the end of the installation rod 21 is screwed into or out of the installation groove, thereby realizing automatic closing and opening operations.

[0062] Further, in some embodiments of the present application, the structural schematic diagram of the opening and closing device is as Figure 1As shown in the figure. The opening and closing device is arranged on the workbench 70. There are several grinding bottle opening and closing stations arranged on the workbench 70. Each station corresponds to a set of opening and closing devices. The number of corresponding stations and opening and closing devices can be set according to actual needs. Preferably, two grinding bottle opening and closing stations are set, which can be used for lid closing and lid opening operations respectively. Specifically, the bottle clamping device 60 is arranged on the tabletop of the workbench 70, including two bottle clamping parts located on both sides of the grinding bottle opening and closing station. The placement space formed between the two bottle clamping parts for accommodating the grinding bottle is the grinding bottle opening and closing station. The bottle cap screwing device is vertically arranged on one side of the bottle clamping device 60. Among them, the bottle cap clamping device 30 is located directly above the grinding bottle opening and closing station. The lifting mechanism 50 and the rotating mechanism are respectively used to drive the bottle cap clamping device 30 to lift and rotate.

[0063] Based on the above setting method, only need to place the grinding bottle on the grinding bottle opening and closing station, then the bottle clamping part can be used to clamp the grinding bottle, and the lifting mechanism 50 is used to drive the bottle cap clamping device 30 to descend to the position where the bottle cap 20 is located. Through the cooperation of the lifting mechanism 50 and the rotating mechanism, the mounting rod 21 in the bottle cap 20 can be clamped and the mounting rod 21 can be driven to rotate, so that the end of the mounting rod 21 can be separated from or inserted into the mounting groove, realizing automatic lid opening and lid closing. Among them, the operation of placing the grinding bottle on the grinding bottle opening and closing station can be carried out by a manipulator to realize full automation.

[0064] Furthermore, in some embodiments of the present application, the structural schematic diagram of the grinding bottle is as Figure 2 shown. The grinding bottle includes a bottle body 10 and a bottle cap 20. The bottle cap 20 is arranged at the upper part of the inner cavity of the bottle body 10. The bottle cap 20 and the bottle body 10 are snap-connected through a telescopic mounting rod 21 and a mounting groove. Specifically, please refer to Figure 2 、 Figure 3, there is a receiving cavity for accommodating the grinding rod 13 and the sample inside the bottle body 10. The inner wall of the receiving cavity of the bottle body 10 protrudes outward to form a limiting protrusion 12 for carrying the bottle cap 20. The cover body 22 of the bottle cap 20 can be directly placed on the limiting protrusion 12. The installation groove provided on the inner wall of the bottle body 10 is located above the limiting protrusion 12, and its height is determined according to the position of the installation rod 21 above the cover body 22, so that the installation rod 21 can be aligned with the installation groove in the vertical direction after being pressed. Among them, the number of installation grooves is preferably two, and the two installation grooves are symmetrically arranged with respect to the center of the bottle body 10. Each installation groove includes a groove body 11 and an installation hole 111. The groove body 11 extends along the circumferential direction of the bottle body 10 and the depth gradually increases. The installation hole 111 is provided on the side where the depth of the groove body 11 is the largest. With such a setting, the direction in which the depth of the groove body 11 gradually increases is the direction of closing the cap, and vice versa is the direction of opening the cap. When the end of the installation rod 21 enters the groove body 11 and rotates along the direction of closing the cap, the end of the installation rod 21 gradually extends and completely extends out at the installation hole 111, so that the installation rod 21 is engaged with the installation groove to complete the operation of closing the cap. More preferably, when the end of the installation rod 21 completely extends out, its end is still located inside the installation hole 111 and does not extend outside the bottle body 10, that is: when the end of the installation rod 21 is located inside the installation hole 111, the overall length of the installation rod 21 is neither less than the overall length corresponding to the position where its end is at the maximum depth of the groove body 11 nor greater than the diameter of the outer wall of the bottle body 10. In this way, it is convenient to screw out the installation rod 21 from the installation groove and does not affect the rotation of the grinding bottle on the grinding machine.

[0065] Furthermore, in some embodiments of the present application, as Figure 4 shown, the bottle cap 20 includes a cover body 22. A telescopic rod 23 that can be telescoped in the vertical direction is provided in the middle of the top surface of the cover body 22. The installation part 211 in the middle of the installation rod 21 is connected to the telescopic end of the telescopic rod 23. A first spring 24 is provided outside the telescopic rod 23. The two ends of the first spring 24 are respectively connected to the bottom surface of the installation part 211 and the top surface of the cover body 22. When the end of the installation rod 21 is engaged with the installation groove, the first spring 24 is in a compressed state, which is used to push the installation rod 21 upward to improve the sealing degree of closing the cap.

[0066] Specifically, in order to further improve the firmness after closing the lid while ensuring convenient opening and closing, in some embodiments of the present application, the mounting hole 111 includes a communicating portion that communicates with the groove 11 along the circumferential direction of the bottle body 10 and a top portion provided at the top of the communicating portion. The top portion is not in communication with the groove 11 in the circumferential direction of the bottle body 10. With such a setting, by pressing down the mounting rod 21 with the bottle cap screwing device, the end of the mounting rod 21 is located in the groove 11, and then it is rotated along the lid-closing direction into the communicating portion of the mounting hole 111. After removing the bottle cap screwing device, the first spring 24 can be used to push the mounting rod 21 upward, so that the end of the mounting rod 21 enters the top portion of the mounting hole 111. Since the top portion is not in communication with the groove 11 in the circumferential direction of the bottle body 10, the mounting rod 21 cannot be disengaged from the mounting groove only by rotation, thus realizing the firm engagement between the bottle body 10 and the bottle cap 20. When it is necessary to open the lid, only need to use the bottle cap screwing device to press down the mounting rod 21, so that its end moves down from the top portion of the mounting hole 111 to the communicating portion, and then rotate it along the lid-opening direction, the end of the mounting rod 21 can be gradually disengaged from the mounting groove, so that the bottle body 10 and the bottle cap 20 are loosened, and the lid-opening operation is completed.

[0067] Further, please refer to Figure 4 、 Figure 5 , in some embodiments of the present application, the mounting rod 21 further includes a sleeve 212 and a mounting pin 213. The sleeves 212 are symmetrically arranged on both sides of the mounting portion 211. The mounting pin 213 is arranged at one end of the sleeve 212 far from the mounting portion 211. A second spring 214 is arranged between the sleeve 212 and the mounting pin 213 for enabling the mounting pin 213 to expand and contract along the axial direction of the sleeve 212. A guide pin 215 is arranged radially in the sleeve 212. A guide hole 2131 is arranged axially in the mounting pin 213 along the sleeve 212. The guide pin 215 is located in the guide hole 2131. With such a setting, the mounting pin 213 can expand and contract relative to the sleeve 212 to adapt to different depths in the mounting groove. When the end of the mounting pin 213 abuts against the inner wall of the bottle body 10, the second spring 214 is in a compressed state, continuously applying an outward force to the mounting pin 213 to urge it to extend outward along the axial direction of the sleeve 212. As the mounting pin 213 rotates along the lid-closing direction in the mounting groove, the second spring 214 gradually elongates, driving the mounting pin 213 to gradually extend outward. When the mounting pin 213 rotates into the mounting hole 111, the second spring 214 elongates to its natural length. At this time, the overall length of the mounting rod 21 is the longest. If it is necessary to open the lid, rotate the mounting rod 21 along the lid-opening direction, and the inner wall of the groove 11 can be used to push the mounting pin 213 to contract inward along the direction of the guide hole 2131, thereby compressing the second spring 214. When the mounting rod 21 is screwed out of the mounting groove, the overall length of the mounting rod 21 is the shortest. At this time, the overall length of the mounting rod 21 is the diameter of the inner wall of the bottle body 10.

[0068] Furthermore, in some embodiments of the present application, since the overall length of the mounting rod 21 in the natural state is greater than the inner diameter of the bottle body 10, in order to conveniently place the cover body 22 on the limiting protrusion 12 again and enable the mounting rod 21 to enter the bottle body 10 after removing the bottle cap 20, it is preferable to set the side of the end of the mounting pin 213 away from the sleeve 212 facing the cover body 22 as an inclined surface. With this setting, when placing the bottle cap 20, the inclined surface of the mounting pin 213 contacts the inner wall edge of the bottle body 10 and then contracts inward to squeeze the second spring 214, so that the overall length of the mounting pin 213 is shortened and it enters the bottle body 10, ensuring that the bottle cap 20 can be normally placed on the limiting protrusion 12. On this basis, automatic capping can be achieved by rotational engagement. Moreover, due to the setting of this inclined surface, the overall length of the mounting rod 21 corresponding to the second spring 214 in the natural length can be greater than the inner diameter of the bottle body 10 corresponding to the deepest part of the groove body 11, such that when the mounting pin 213 is located in the mounting hole 111, the overall length of the mounting rod 21 is greater than the overall length corresponding to when the mounting pin 213 is exactly located at the deepest part of the groove body 11. When the mounting rod 21 is rotated in the capping direction, the mounting pin 213 can be further elongated when it is screwed into the mounting hole 111. At this time, regardless of whether the mounting hole 111 is provided with a top portion that is not circumferentially connected to the groove body 11, the mounting pin 213 cannot be directly unscrewed from the mounting hole 111 by reverse rotation, effectively improving the clamping fastness between the bottle body 10 and the bottle cap 20 in the capped state. When it is necessary to open the cap, after clamping the mounting rod 21, by further pressing down the mounting rod 21, an upward force can be applied to the inclined surface of the mounting pin 213 by the bottom surface of the mounting hole 111, thereby pushing the mounting pin 213 to squeeze the second spring 214 inward, shortening the overall length of the mounting rod 21. When the overall length of the mounting rod 21 is shortened to the inner diameter of the bottle body 10 corresponding to the deepest part of the groove body 11, then rotating the mounting rod 21 in the uncapping direction can unscrew the mounting rod 21 from the mounting hole 111 to complete the uncapping operation.

[0069] Furthermore, please refer to Figure 1 , Figure 6 , in some embodiments of the present application, the bottle cap screwing device includes a lifting mechanism 50 provided on the workbench 70, a rotating mechanism connected to the lifting mechanism 50, and a bottle cap clamping device 30 connected to the rotating mechanism. Among them, the bottle cap clamping device 30 is located directly above the opening and closing station of the grinding bottle. The lifting mechanism 50 is used to drive the rotating mechanism and the bottle cap clamping device 30 as a whole to lift, so that the bottle cap clamping device 30 is far from or close to the bottle cap 20. The rotating mechanism is used to drive the bottle cap clamping device 30 to rotate around the central axis of the bottle body 10. Under the combined action of the rotating mechanism and the lifting mechanism 50, the bottle cap clamping device 30 can clamp the bottle cap 20 and drive the mounting rod 21 in the bottle cap 20 to rotate to complete the uncapping and capping operations.

[0070] Further, please refer to Figure 7 In some embodiments of the present application, the bottle cap clamping device 30 includes a pressing plate 31 connected to the rotating mechanism and two clamping plates 32 spaced apart from the bottom of the pressing plate 31. A receiving space for receiving the mounting rod 21 is formed by surrounding between the two clamping plates 32 and the pressing plate 31. When the two clamping plates 32 are respectively abutted against both sides of the mounting rod 21, the clamping of the mounting rod 21 is completed. Preferably, a pressure sensor 322 is provided on the inner wall of the clamping plate 32 to detect whether the clamping plate 32 is abutted against the mounting rod 21.

[0071] Specifically, in order to clamp the mounting rod 21 more stably, the shape of the clamping plate 32 can be determined according to the shape of the mounting rod 21. In some embodiments of the present application, since a mounting portion 211 is provided in the middle of the mounting rod 21 and sleeves 212 are provided on both sides of the mounting portion 211, and the clamping plate 32 is mainly used to clamp the sleeves 212 in the mounting rod 21 and then drive the mounting rod 21 to rotate. Therefore, an avoidance portion 321 for avoiding the mounting portion 211 is provided at a position corresponding to the mounting portion 211 in the middle of the clamping plate 32. The shape of the avoidance portion 321 can be exactly the same as that of the mounting portion 211, or can be adjusted as needed, as long as the cavity formed between the avoidance portions 321 of the two clamping plates 32 can completely accommodate the mounting portion 211. The pressure sensor 322 can also be provided in the avoidance portion 321, as long as the mounting portion 211 can squeeze the pressure sensor 322 in the clamping state. The positions of the two sides of the clamping plate 32 corresponding to the sleeves 212 of the mounting rod 21 are the sleeve clamping portions. In the clamping state, the sleeve clamping portions of the two clamping plates 32 are respectively located on both sides of the sleeve 212. When the two clamping plates 32 rotate driven by the rotating mechanism, the sleeve clamping portion can be abutted against the sleeve 212 and drive the sleeve 212 to rotate around the central axis of the bottle body 10.

[0072] In addition, in the embodiments of the present application, the two clamping plates 32 only need to be located on both sides of the mounting rod 21 and be able to drive the mounting rod 21 to rotate. After the opening operation, a manipulator can be used to take out the bottle cap 20 so as to load the sample and the grinding rod 13 into the bottle body 10. If it is necessary to clamp the bottle cap 20 by the clamping plate 32 and drive it to rise after opening, a driving mechanism can be additionally provided according to needs to control the two clamping plates 32 to approach or separate from each other. The present application is not limited thereto.

[0073] Further, as Figure 6As shown, in some embodiments of the present application, the rotation mechanism includes a rotation motor 41 connected to the bottle cap clamping device 30, a first fixing structure 42 for fixing the rotation motor 41, and a first connecting plate 43 for connecting the first fixing structure 42 and the lifting mechanism 50. Among them, the output shaft of the rotation motor 41 is connected to the pressing plate 31 of the bottle cap clamping device 30, and this output shaft is on the same straight line as the central axis of the bottle body 10, and is used to make the bottle cap clamping device 30 drive the mounting rod 21 to rotate around the central axis of the bottle body 10. Moreover, the output shaft of this rotation motor 41 can rotate forward and reverse, so as to complete the operations of opening and closing the bottle cap.

[0074] Further, please refer to Figure 6 , Figure 8 . In some embodiments of the present application, the lifting mechanism 50 includes a second fixing structure 53 arranged on the workbench 70, a telescopic cylinder 51 arranged on the second fixing structure 53 and telescoping in the vertical direction, and a second connecting plate 52 for connecting the telescopic end of the telescopic cylinder 51 and the first connecting plate 43. In this way, the telescopic movement of the telescopic cylinder 51 can drive the rotation mechanism and the bottle cap clamping device 30 to lift. More preferably, in order to ensure the stability of the lifting process, a lifting guide rod 54 is also arranged on the second fixing structure 53. The axial direction of this lifting guide rod 54 is the same as the telescopic direction of the telescopic cylinder 51. A lifting guide slider 55 is arranged on the lifting guide rod 54, and the lifting guide slider 55 is connected to the first connecting plate 43. With such a setting, when the telescopic cylinder 51 drives the first connecting plate 43 to move, it can ensure that it moves along the axial direction of the lifting guide rod 54. Among them, the number of lifting guide rods 54 can be set as required, preferably two, and the two lifting guide rods 54 are symmetrically arranged on both sides of the telescopic cylinder 51, further improving the stability of the lifting process. More preferably, a lifting limit rod 56 is also arranged at the lower part of the second fixing structure 53, and the lifting limit rod 56 is located below the second connecting plate 52; when the second connecting plate 52 descends to abut against the top of the lifting limit rod 56, the second connecting plate 52 no longer continues to descend, and at this time the bottle cap clamping device reaches the preset working height. With such a setting, it is convenient to accurately control the descending position of the bottle cap clamping device, so as to effectively clamp the bottle cap.

[0075] Further, in some embodiments of the present application, the bottle body clamping device 60 includes two bottle body clamping parts respectively arranged on both sides of the grinding bottle opening and closing station and a driving mechanism for driving the two bottle body clamping parts to approach or separate from each other; this driving mechanism includes a driving gear 631 and two racks respectively meshing with the driving gear 631. The two racks are respectively located above and below the driving gear 631 and are respectively connected to the two bottle body clamping parts. With such a setting, through one driving gear 631, the two racks can be driven to drive the corresponding bottle body clamping parts to approach or separate from each other respectively, so as to realize the clamping and loosening of the bottle body 10.

[0076] Specifically, please refer to Figure 9 and Figure 10 . In some embodiments of the present application, the bottle clamping device 60 includes a bottle clamping structure for clamping the bottle 10 and a support structure for supporting the bottle clamping structure, so as to improve the stability of the bottle clamping structure. Among them, the bottle clamping structure includes a first base 611 and a second base 612 respectively arranged on both sides of the grinding bottle opening and closing station. A first bottle clamping portion 621 is arranged in the middle of the first base 611, and a second bottle clamping portion 622 is arranged in the middle of the second base 612. With such a setting, by driving and supporting the first base 611 and the second base 612, the first bottle clamping portion 621 and the second bottle clamping portion 622 can be driven to move stably in translation, so as to clamp the bottle 10. Preferably, the opposite side walls of the first bottle clamping portion 621 and the second bottle clamping portion 622 are set as a profiling structure matching the outer wall shape of the bottle 10, so as to effectively clamp the bottle 10.

[0077] Furthermore, in some embodiments of the present application, the driving mechanism drives the first base 611 and the second base 612 to approach or separate from each other, thereby realizing the approach or separation between the first bottle clamping portion 621 and the second bottle clamping portion 622. Specifically, the driving mechanism includes a driving gear 631 and a first rack 632 and a second rack 633 meshing with the driving gear 631. Among them, the driving gear 631 is driven by a motor that can rotate forward and backward. The first rack 632 is arranged above the driving gear 631 and is connected to the first base 611. The second rack 633 is arranged below the driving gear 631 and is connected to the second base 612. With such a setting, when the driving gear 631 rotates, it can drive the first rack 632 and the second rack 633 to move in opposite directions, and then the first bottle clamping portion 621 on the first base 611 and the second bottle clamping portion 622 on the second base 612 approach or separate from each other, so as to clamp or release the bottle 10.

[0078] Furthermore, in some embodiments of the present application, since the first base 611 and the second base 612 are at the same height, while the first rack 632 and the second rack 633 are at different heights, in order to improve the connection stability, a first connecting member 641 is provided to connect the first rack 632 and the first base 611, and a second connecting member 642 is provided to connect the second rack 633 and the second base 612. Among them, the first connecting member 641 includes a first middle connecting portion arranged vertically, a first upper connecting portion horizontally arranged on the top of the first middle connecting portion, and a first lower connecting portion horizontally arranged on the bottom of the first middle connecting portion. The first upper connecting portion and the first lower connecting portion are respectively located on both sides of the first middle connecting portion. Based on this, the first middle connecting portion is arranged on one side of the first base 611, so that the top surface of the first upper connecting portion is flush with the top surface of the first base 611, and the first lower connecting portion is located below the first base 611. By connecting the first rack 632 to the first upper connecting portion and connecting the first lower connecting portion to the first base 611, the first rack 632 can be stably connected to the first base 611 through the first connecting member 641. Similarly, the second connecting member 642 includes a second middle connecting portion arranged vertically, a second upper connecting portion horizontally arranged on the top of the second middle connecting portion, and a second lower connecting portion horizontally arranged on the bottom of the second middle connecting portion. The second upper connecting portion and the second lower connecting portion are respectively located on both sides of the second middle connecting portion. The second middle connecting portion is arranged on one side of the second base 612, so that the top surface of the second upper connecting portion is located above the second base 612. By connecting the second upper connecting portion to the second base 612 and connecting the second lower connecting portion to the second rack 633, the second rack 633 can be stably connected to the second base 612 through the second connecting member 642.

[0079] Further, in some embodiments of the present application, in order to stably support the mutual approach or separation of the bottle gripping mechanism, the support structure includes a first support mechanism disposed on the side close to the drive mechanism and a second support mechanism disposed on the side away from the drive mechanism. Among them, the first support mechanism includes a first guide rod 651, a first guide slider 652 disposed on the first guide rod 651, and a first mounting seat 653 for fixing the first guide rod 651. Preferably, two first mounting seats 653 are provided, symmetrically disposed at both ends of the first guide rod 651 respectively, for supporting the first guide rod 651; preferably, two first guide sliders 652 are also provided, connected to the first base 611 and the second base 612 respectively; the axial direction of the first guide rod 651 is parallel to the moving directions of the first rack 632 and the second rack 633. Similarly, the second support mechanism includes a second guide rod 661, a second guide slider 662 disposed on the second guide rod 661, and a second mounting seat 663 for fixing the second guide rod 661. Preferably, two second mounting seats 663 are provided, symmetrically disposed at both ends of the second guide rod 661 respectively, for supporting the second guide rod 661; preferably, two second guide sliders 662 are also provided, connected to the first base 611 and the second base 612 respectively; the axial direction of the second guide rod 661 is parallel to the moving directions of the first rack 632 and the second rack 633. With such a setting, when the first rack 632 and the second rack 633 drive the first base 611 and the second base 612 to translate respectively, the end of the first base 611 and the second base 612 close to the drive mechanism will translate along the first guide rod 651 under the action of the first guide slider 652, and the end of the first base 611 and the second base 612 away from the drive mechanism will translate along the second guide rod 661 under the action of the second guide slider 662, so as to ensure that the first base 611 and the second base 612 stably approach or separate from each other as a whole, thereby improving the gripping effect on the bottle 10.

[0080] Further, in some embodiments of the present application, the first mounting base 653 is directly fixed on the workbench 70, and the two first mounting bases 653 are respectively located on the outer sides below the first base 611 and the second base 612, and the two first guiding sliders 652 are respectively connected to the outer sides of the bottoms of the first base 611 and the second base 612, for driving the outer sides of the first base 611 and the second base 612 to move. The second mounting base 663 is directly fixed on the workbench 70, and the two second mounting bases 663 are respectively located below the first base 611 and the second base 612, and the two second guiding sliders 662 are respectively connected to the inner sides of the bottoms of the first base 611 and the second base 612, for driving the inner sides of the first base 611 and the second base 612 to move. With such a setting, the stability of the movement of the first base 611 and the second base 612 is further improved, and a more uniform clamping force can be provided, further improving the clamping effect on the bottle body 10.

[0081] Further, in some embodiments of the present application, the bottle body clamping device 60 further includes a bottle body positioning mechanism for preliminarily positioning the bottle body 10. The bottle body positioning mechanism 67 includes a positioning groove 671 provided at the grinding bottle opening and closing station for accommodating the bottle body 10, and the size of the positioning groove 671 is the same as the size of the bottom of the bottle body 10, so as to place the bottle body 10 in the positioning groove 671; a plurality of limiting blocks 672 are further provided on the outer side of the positioning groove 671. When the bottle body 10 is located in the positioning groove 671, the inner walls of the limiting blocks 672 are in contact with the outer wall of the bottle body 10, so as to prevent the bottle body 10 from shifting outwards.

[0082] Further, in some embodiments of the present application, in order to prevent the bottle body 10 from rotating when the bottle cap 20 rotates, a groove is provided on the side wall of the bottom of the bottle body 10, and the bottle body positioning mechanism 67 further includes a clamping component for clamping with the groove. Specifically, the clamping component is provided on the outer side of the positioning groove 671, and includes a telescopic portion 673 and a fixing portion 674 arranged along the radial direction of the bottle body 10. The telescopic portion 673 is arranged on the side close to the positioning groove 671, and the telescopic portion 673 is slidably connected to a first chute 675 extending along the radial direction of the bottle body 10. A positioning spring 676 that telescopically extends along the radial direction of the bottle body 10 is provided between the telescopic portion 673 and the fixing portion 674. A convex block 6731 extending towards the direction where the bottle body 10 is located is provided on the side of the telescopic portion 673 close to the positioning groove 671, for clamping with the groove on the side wall of the bottle body 10. More specifically, when the positioning spring 676 is in a natural elongation state, the convex block 6731 can be clamped with the groove of the bottle body 10; when the telescopic portion 673 moves along the direction close to the fixing portion 674, so that the convex block 6731 is located on the outer side of the radial direction of the positioning groove 671, the positioning spring 676 is in a compressed state.

[0083] In the above manner, when the bottle body 10 needs to be placed, the telescopic part 673 is moved towards the direction where the fixed part 674 is located by an external force, so that the convex block 6731 is located outside the radial direction of the positioning groove 671, and then the bottle body 10 can be stably placed into the positioning groove 671. Then, the external force compressing the telescopic part 673 is removed, and the positioning spring 676 in the compressed state can continuously apply a force towards the bottle body 10 to the telescopic part 673. By rotating the bottle body 10, when it just rotates to the position where the groove is opposite to the convex block 6731, the convex block 6731 enters the groove under the action of the positioning spring 676 and engages with the groove, thereby realizing the fixation of the bottle body 10. Among them, the rotation of the bottle body 10 can be manually rotated by a human or a manipulator, or a rotating mechanism for driving the rotation of the bottle body 10 can be provided at the bottom of the positioning groove 671. The specific method can be selected according to the actual situation, and the present application is not limited thereto.

[0084] Furthermore, in some embodiments of the present application, the bottle body positioning mechanism 67 further includes a moving component for driving the telescopic part 673 to perform telescopic movement. Specifically, in some embodiments of the present application, the moving component is arranged on one side of the telescopic part 673 and includes a second chute 677 extending in a direction perpendicular to the first chute 675 and a positioning slider 678 slidably connected to the second chute 677; a fixing column 6732 is provided at the top of the telescopic part 673, and one end of the positioning slider 678 close to the fixing column 6732 is provided with an inclined surface facing the fixed part 674. When the positioning slider 678 slides to one end of the second chute 677 close to the fixing column 6732, the inclined surface abuts against the fixing column 6732, and the convex block 6731 is located outside the radial direction of the positioning groove 671.

[0085] In the above manner, when the bottle body 10 needs to be placed or taken out, by moving the positioning slider 678 along the second chute 677 until the inclined surface of the positioning slider 678 contacts the fixing column 6732, and then continuing to move the positioning slider 678 in the direction close to the fixing column 6732, a force towards the fixed part 674 can be applied to the fixing column 6732 by the inclined surface, and then the fixing column 6732 is used to drive the telescopic part 673 and the convex block 6731 thereon to move towards the direction of the fixed part 674 together, thereby realizing the compression of the telescopic part 673 to ensure that the convex block 6731 is located outside the radial direction of the positioning groove 671, facilitating the free placement or removal of the bottle body 10. When the bottle body 10 needs to be fixed, the positioning slider 678 is moved in the direction away from the fixing column 6732, and the telescopic part 673 can make the convex block 6731 move towards the bottle body 10 under the action of the positioning spring 676, so as to engage with the groove on the side wall of the bottle body 10, thereby realizing the fixation of the bottle body 10.

[0086] More specifically, in the embodiments of the present application, the number of engaging components can be adjusted according to actual needs, and the number of moving components is the same as that of the engaging components, so as to control each engaging component separately. Preferably, in some embodiments of the present application, two groups of engaging components are symmetrically arranged along the radial direction of the bottle body 10, and the two groups of moving components are arranged on the same side of the engaging components. The positioning sliders 678 in the two groups of moving components are connected by a moving bracket 679. Pushing the moving bracket 679 along the extending direction of the second chute 677 can drive the positioning sliders 678 in the two groups of moving components to move synchronously, and then drive the two groups of engaging components to move synchronously, realizing the efficient positioning of the bottle body 10. Among them, the movement of the moving bracket 679 can be carried out manually or by a manipulator, or a corresponding moving mechanism can be set to drive the moving bracket 679 to translate along the extending direction of the second chute 677. The specific method can be selected according to the actual situation, and the present application is not limited thereto.

[0087] Second, the present application also provides a control method for an automatic opening and closing system of a grinding bottle, which is used to control the automatic opening and closing system of the grinding bottle provided in the first aspect to realize the automatic opening and closing of the grinding bottle. The control method of the automatic opening and closing system of the grinding bottle includes the following steps:

[0088] Control the bottle body clamping device 60 to fix the bottle body 10 at the opening and closing station of the grinding bottle;

[0089] Locate the mounting rod 21 and use the bottle cap clamping device 30 to clamp the mounting rod 21;

[0090] Control the rotating mechanism to drive the bottle cap clamping device 30 and the mounting rod 21 to rotate in the opening or closing direction, so that the end of the mounting rod 21 disengages from or enters the mounting groove.

[0091] In the above manner, the bottle body clamping device 60 can be used to effectively fix the bottle body 10. On this basis, the bottle cap clamping device 30 is used to clamp the mounting rod 21, and combined with the rotation of the rotating mechanism, the mounting rod 21 can be effectively controlled so that its end disengages from or enters the mounting groove, thereby realizing the automatic opening and closing of the grinding bottle.

[0092] Further, in some embodiments of the present application, the method of locating the mounting rod 21 and using the bottle cap clamping device 30 to clamp the mounting rod 21 includes one of the following three methods:

[0093] (1) Control the lifting mechanism 50 to drive the bottle cap clamping device 30 to descend to a preset working height, and then control the rotating mechanism to drive the bottle cap clamping device 30 to rotate until the clamping plates 32 in the bottle cap clamping device 30 are located on both sides of the mounting rod 21;

[0094] (2) Adopt visual recognition technology or angle sensing technology to identify the angle of the mounting rod 21, then control the rotating mechanism to drive the bottle cap clamping device 30 to rotate to the same angle as the mounting rod 21, and control the lifting mechanism 50 to drive the bottle cap clamping device 30 to descend to a preset working height, so that the clamping plates 32 are located on both sides of the mounting rod 21;

[0095] (3) Perform angle positioning on the bottle body 10, determine the angle of the mounting rod 21 according to the position of the mounting groove, then control the rotating mechanism to drive the bottle cap clamping device 30 to rotate to the same angle as the mounting rod 21, and control the lifting mechanism 50 to drive the bottle cap clamping device 30 to descend to a preset working height, so that the clamping plates 32 are located on both sides of the mounting rod 21.

[0096] In the above three methods, the preset working height refers to: when the mounting rod 21 is flush with the mounting groove and the clamping plates 32 in the bottle cap clamping device 30 are located on both sides of the mounting rod 21, the corresponding height of the bottle cap clamping device 30. Based on this, when the bottle cap clamping device 30 descends to this preset working height, as long as it is ensured that the two clamping plates 32 are respectively located on both sides of the mounting rod 21, it can be ensured that the mounting rod 21 is aligned with the mounting groove in the vertical direction. Under this condition, rotating the mounting rod 21 can make it screw into or out of the mounting groove to complete the operation of closing or opening the cap.

[0097] Specifically, in the above three methods, in method (1), it is not necessary to specifically identify the angle corresponding to the mounting rod 21. Only need to lower the bottle cap clamping device 30 to the preset working height. At this time, the first spring 24 is in a compressed state and will continuously apply an upward force to the mounting rod 21. On this basis, only need to use the rotating mechanism to drive the clamping plate 32 to continuously rotate in any direction. When the clamping plate 32 just rotates to the same angle as the mounting rod 21, the mounting rod 21 can be pushed into the accommodation space between the two clamping plates 32 under the action of the first spring 24, and the pressure sensor 322 in the clamping plate 32 can detect the corresponding pressure information, indicating that the clamping operation of the mounting rod 21 has been completed.

[0098] If method (2) is adopted, corresponding visual recognition equipment or angle sensing equipment needs to be set up to accurately identify the angle of the mounting rod 21, and then control the rotating mechanism to rotate the clamping plate 32 to the same angle and descend to the preset working height under the action of the lifting mechanism 50. Among them, the visual recognition equipment or angle sensing equipment adopted can both select existing conventional equipment and use existing recognition methods for angle recognition. This application is not limited thereto.

[0099] Since the position of the mounting hole 111 on the bottle body 10 is determined, with the position of the bottle body 10 determined, the position of the mounting rod 21 in the lid-closed state is determined. Based on this, method (3) is applicable to positioning the mounting rod 21 when opening the lid of a ground bottle with the lid already closed. When using this method, the angle of the bottle body 10 needs to be determined in advance. For example, a groove can be provided on the side wall of the bottle body 10, and a corresponding engaging component can be provided at the ground bottle opening and closing station, so that the protrusion 6731 in the engaging component can engage with the groove at a preset position to ensure that the bottle body 10 is stably placed at the preset position and angle, so as to determine the angle of the mounting rod 21 according to the fixed position of the bottle body 10. Then, control the rotating mechanism to rotate the clamping plate 32 to the same angle, and lower it to the preset working height under the action of the lifting mechanism 50.

[0100] Taking only method (1) as an example below, the specific control method of the ground bottle automatic opening and closing system provided in an embodiment of the present application will be described in detail:

[0101] When an opening operation needs to be performed on the ground bottle, the specific process is as follows:

[0102] S1. Control the bottle body clamping device 60 to fix the bottle body 10 at the ground bottle opening and closing station. A manipulator can be used to place the ground bottle at the ground bottle opening and closing station, and then the driving motor is used to drive the driving gear 631 to rotate forward, and drive the first rack 632 and the second rack 633 to approach each other, thereby driving the first bottle body clamping part 621 and the second bottle body clamping part 622 to approach each other until the bottle body 10 is clamped. At this time, the two clamping parts cannot approach further, and the corresponding driving motor can be turned off.

[0103] S2. Position the mounting rod 21 and use the bottle cap clamping device 30 to clamp the mounting rod 21. By controlling the telescopic end of the telescopic cylinder 51 to extend outwards, drive the rotating mechanism and the bottle cap clamping device 30 as a whole to descend until the bottle cap clamping device 30 descends to the preset working height. At this time, the first spring 24 is in a compressed state and will continuously apply an upward force to the mounting rod 21. Then control the rotating motor 41 to rotate, which can drive the clamping plate 32 to rotate. When the clamping plate 32 just rotates to the same angle as the mounting rod 21, the mounting rod 21 can be pushed into the accommodation space between the two clamping plates 32 under the action of the first spring 24, and the pressure sensor 322 in the clamping plate 32 can detect the corresponding pressure information to complete the clamping of the mounting rod 21. At this time, the mounting rod 21 is aligned with the mounting groove in the vertical direction, the mounting pin 213 at the end of the mounting rod 21 is in the communicating part of the mounting hole 111, and the overall length of the mounting rod 21 is the same as the inner diameter of the bottle body 10 corresponding to the deepest part of the groove body 11.

[0104] S3. Control the rotating mechanism to drive the mounting rod 21 to rotate along the opening direction of the cap, so that the mounting pin 213 at the end of the mounting rod 21 gradually disengages from the mounting groove along the opening direction. Among them, the rotation angle of the rotating mechanism can be determined according to the arc of the mounting groove in the circumferential direction, ensuring that the rotated mounting pin 213 can disengage from the mounting groove. When the mounting pin 213 disengages from the mounting groove, the bottle cap 20 is only placed on the limiting protrusion 12 of the bottle body 10, and the two are not engaged. At this time, the opening of the cap is completed, and the lifting mechanism 50 can drive the bottle cap clamping device 30 to rise to the initial position. The bottle cap 20 placed on the limiting protrusion 12 can be taken out by a manipulator, so as to add samples and the grinding rod 13 into the bottle body 10. If it is necessary to take out the bottle body 10, the driving gear 631 can be rotated in the reverse direction to drive the first bottle body clamping part 621 and the second bottle body clamping part 622 to move away from each other, and then the bottle body 10 can be taken out by a manipulator.

[0105] When the lid of the grinding bottle needs to be closed, the specific process is as follows:

[0106] S1. Control the bottle body clamping device 60 to fix the bottle body 10 at the opening and closing station of the grinding bottle. This step is the same as that in the opening operation and will not be repeated here. If the bottle body 10 has been at the opening and closing station of the grinding bottle and is effectively clamped by the bottle body clamping device 60, the next operation can be directly carried out.

[0107] S2. Position the mounting rod 21 and use the bottle cap clamping device 30 to clamp the mounting rod 21. This step is the same as that in the opening operation and will not be repeated here. Among them, the bottle cap 20 can be placed on the limiting protrusion 12 of the bottle body 10 by a manipulator.

[0108] S3. Control the rotating mechanism to drive the mounting rod 21 to rotate along the closing direction of the cap, so that the mounting pin 213 at the end of the mounting rod 21 gradually enters the mounting groove along the closing direction. Among them, the rotation angle of the rotating mechanism is based on the rotation until it cannot rotate. When it rotates until it cannot rotate, it can be determined that the mounting pin 213 is already in the mounting hole 111. At this time, the first spring 24 is in a compressed state and will continuously apply an upward force to the mounting rod 21. Then control the telescopic end of the telescopic cylinder 51 to contract inward, driving the bottle cap clamping device 30 to rise to its original position. The mounting rod 21 can then move upward under the action of the first spring 24 until the mounting pin 213 is located at the top part of the mounting hole 111, so that the bottle cap 20 is clamped and connected to the bottle body 10. At this time, the closing operation of the cap is completed. If it is necessary to take out the ground bottle after closing the cap, the driving gear 631 can be rotated in the reverse direction to drive the first bottle body clamping part 621 and the second bottle body clamping part 622 to move away from each other, and then the grinding bottle can be taken out by a manipulator.

[0109] Through the above method, the automatic opening and closing system of the grinding bottle and its control method provided by the present application can realize the automatic opening and closing of the grinding bottle, and the operation process is simple and easy to control. After closing the lid, the bottle body 10 and the bottle cap 20 can be reliably sealed, avoiding the problem of material leakage during the grinding process.

[0110] It should be noted that the present application is not limited to the above embodiments. The above embodiments are only examples, and embodiments having the same constitution and achieving the same effect within the technical scope of the present application are included in the technical scope of the present application. In addition, within the scope not departing from the gist of the present application, various modifications that can be conceived by those skilled in the art to the embodiments, and other ways constructed by combining some constituent elements of the embodiments are also included in the scope of the present application.

Claims

1. An automatic opening and closing system for a grinding bottle, characterized in that, It includes a grinding bottle and an opening / closing device; The grinding bottle includes a bottle body and a bottle cap; an installation groove is provided on the inner wall of the bottle body, and the bottle cap includes an installation rod that can be snap-connected to the installation groove; The opening / closing device includes a bottle body clamping device and a bottle cap screwing device; the bottle body clamping device is used to fix the bottle body, and the bottle cap screwing device is used to drive the installation rod to perform pressing and rotating movements, so that the end of the installation rod is screwed into or out of the installation groove; The bottle cap screwing device includes a bottle cap clamping device, a rotating mechanism connected to the bottle cap clamping device, and a lifting mechanism connected to the rotating mechanism.

2. The automatic opening and closing system of the grinding bottle according to claim 1, wherein The installation groove includes a groove body and an installation hole, the groove body extends along the circumferential direction of the bottle body and the depth gradually increases, and the installation hole is arranged on one side with the maximum depth of the groove body.

3. The automatic opening and closing system of the grinding bottle according to claim 1, wherein A limiting protrusion for carrying the bottle cap is provided on the inner wall of the bottle body; the limiting protrusion is located below the installation groove.

4. The automatic opening and closing system of the grinding bottle according to claim 1, wherein, The bottle cap includes a cap body, a telescopic rod that can telescopically extend in the vertical direction is provided in the middle of the top surface of the cap body, the installation part in the middle of the installation rod is connected to the telescopic end of the telescopic rod, a first spring is arranged outside the telescopic rod, and the two ends of the first spring are respectively connected to the bottom surface of the installation part and the top surface of the cap body.

5. The automatic opening and closing system of the grinding bottle according to claim 4, wherein The installation rod includes a sleeve and an installation pin, the sleeves are symmetrically arranged on both sides of the installation part, the installation pin is arranged at one end of the sleeve far away from the installation part, and a second spring is arranged between the sleeve and the installation pin for making the installation pin telescopically extend along the axial direction of the sleeve; a guide pin is arranged radially in the sleeve, and a guide hole is arranged axially in the installation pin along the sleeve, and the guide pin is located in the guide hole.

6. The automatic opening and closing system of the grinding bottle according to claim 1, wherein The bottle cap clamping device includes a pressing plate connected to the rotating mechanism and two clamping plates arranged at intervals at the bottom of the pressing plate, and the two clamping plates are respectively used to abut against both sides of the installation rod.

7. The automatic opening and closing system of the grinding bottle according to claim 1, characterized in that, A pressure sensor is arranged on the inner wall of the clamping plate for detecting whether the clamping plate abuts against the installation rod.

8. The automatic opening and closing system of the grinding bottle according to claim 1, wherein The bottle body clamping device includes two bottle body clamping parts respectively arranged on both sides of the opening / closing station of the grinding bottle and a driving mechanism for driving the two bottle body clamping parts to approach or separate from each other; the driving mechanism includes a driving gear and two racks respectively meshed with the driving gear, the two racks are respectively located at the upper and lower parts of the driving gear and are respectively connected to the two bottle body clamping parts.

9. A control method for an automatic opening and closing system of a grinding bottle according to any one of claims 1-8, characterized in that, It includes the following steps: Control the bottle body clamping device to fix the bottle body at the opening / closing station of the grinding bottle; Position the installation rod and clamp the installation rod by using the bottle cap clamping device; Control the rotating mechanism to drive the bottle cap clamping device and the installation rod to rotate in the opening or closing direction of the bottle cap, so that the end of the installation rod is separated from or enters the installation groove.

10. The control method of the automatic opening and closing system of the grinding bottle according to claim 9, characterized in that, The method of positioning the installation rod and clamping the installation rod by using the bottle cap clamping device includes one of the following methods: (1) Control the lifting mechanism to drive the bottle cap clamping device to descend to a preset working height, and then control the rotating mechanism to drive the bottle cap clamping device to rotate until the clamping plates in the bottle cap clamping device are located on both sides of the mounting rod; (2) Use visual recognition technology or angle sensing technology to identify the angle of the mounting rod, then control the rotating mechanism to drive the bottle cap clamping device to rotate to the same angle as the mounting rod, and control the lifting mechanism to drive the bottle cap clamping device to descend to a preset working height, so that the clamping plates are located on both sides of the mounting rod; (3) Perform angle positioning on the bottle body, determine the angle of the mounting rod according to the position of the mounting groove, then control the rotating mechanism to drive the bottle cap clamping device to rotate to the same angle as the mounting rod, and control the lifting mechanism to drive the bottle cap clamping device to descend to a preset working height, so that the clamping plates are located on both sides of the mounting rod; Wherein, the preset working height refers to: the height corresponding to the bottle cap clamping device when the mounting rod is flush with the mounting groove and the clamping plates in the bottle cap clamping device are located on both sides of the mounting rod.

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