Production line for capping bottle bodies and use method of production line

Abstract

The invention relates to the technical field of bottle cap transportation and bottle body capping, in particular to a production line for bottle body capping and a use method of the production line. The bottle body capping production line comprises a bottle cap feeding line; a bottle cap tray is arranged on the bottle cap transfer line, and the bottle cap tray filled with bottle caps is transferred to the cap feeding position from the transfer position; a bottle cap transfer plate is arranged at the free end of the transfer manipulator and used for integrally transferring a plurality of bottle caps in the bottle cap box to the bottle cap tray, and grooves for positioning the bottle caps are formed in the bottle cap tray; the bottle body feeding line is used for carrying the bottle bodies one by one, and the bottle bodies pass through an upper cover position and are transferred to a next processing station; and the cap feeding manipulator is used for mounting the bottle caps on the bottle cap tray on the bottle bodies of the bottle body feeding line one by one. By means of the equipment, the bottle body capping working efficiency and the working yield on a production line can be effectively improved, the bottle body capping speed can be adjusted in real time according to needs, and therefore the design requirement of the flexible production line is met.

Description

Technical Field

[0001] The present invention relates to the technical fields of bottle cap transportation and bottle body capping, and particularly relates to a production line for capping a bottle body and a method for using the same. Background Art

[0002] In the production process of packaging bottles, it is necessary to supply bottle caps through a bottle cap conveying device and perform the bottle body capping work through instruments such as a manipulator. Since the manipulator needs to correspond to its corresponding bottle cap conveying device. Therefore, how to control the coordinated work of the bottle cap conveying device and the manipulator to improve production efficiency and ensure capping accuracy is a technical problem urgently to be solved in this field.

[0003] To solve the above problems, in the prior art, a vibration device is mostly used to realize the row-by-row transportation of bottle caps, and then a transfer mechanism and a manipulator are used to realize the work of installing the caps on the bottle body. For example, the patent application with the publication number CN215558856U discloses an automatic capping machine for sampling tubes. Specifically disclosed: an automatic capping machine, including a vibration arranging device, a turntable, and a feeding mechanism arranged between the vibration arranging device and the turntable. The bottle caps are transported row by row through the above vibration arranging device, and then the bottle caps are transported one by one to the position of the manipulator through the feeding mechanism and the turntable. However, the above method of transporting bottle caps one by one will cause the positions of adjacent bottle caps to be inconsistent, and it is difficult for the manipulator to accurately identify the positions of dynamic bottle caps and accurately grasp the bottle caps. Moreover, the above method of dynamically transporting bottle caps one by one will also affect the working efficiency of the manipulator, and further affect the working efficiency of the entire production line. And, the above traditional bottle body capping production line is also difficult to adjust the capping speed of the production line as needed and cannot meet the requirements of a flexible production line for capping different types of bottle bodies. Therefore, those skilled in the art still need a new production line for capping a bottle body, so as to improve the working efficiency and working yield of the bottle body capping work of the production line, and at the same time, the capping speed of the bottle body can be adjusted in real time as needed, and further meet the requirements of flexible production line design. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to solve the problems of insufficient working efficiency and working yield of the bottle body capping work of the production line for capping a bottle body in the prior art, as well as the problems of being unable to adjust the capping speed of the bottle body in real time as needed and being difficult to meet the requirements of flexible production line design. For this purpose, the present invention provides a production line for capping a bottle body, including:

[0005] A bottle cap feeding line, which is used to carry a bottle cap box containing bottle caps and transfer the bottle cap box to a transfer position;

[0006] Cap transfer line, on which a cap tray is provided. The cap tray is fixed on the transmission chain of the cap transfer line and is driven to transfer the cap tray filled with caps from the transfer position to the capping position and transfer the empty cap tray from the capping position back to the transfer position; the cap tray has a stop state of stopping at the capping position to cooperate with the capping of the bottle body.

[0007] Transfer manipulator, arranged between the cap feeding line and the cap transfer line; a cap transfer plate with a plurality of suction cups is provided at the free end of the transfer manipulator for integrally transferring a plurality of caps in the cap box onto the cap tray, and a groove for positioning the caps is provided on the cap tray.

[0008] Bottle body feeding line, used to transport the bottle bodies one by one, pass through the capping position and transfer them to the next processing station; the bottle body has a stop state of stopping at the capping position to cooperate with the capping of the bottle body.

[0009] Capping manipulator, arranged at the capping position, used to install the caps on the cap tray onto the bottle bodies on the bottle body feeding line one by one.

[0010] Optionally, the cap transfer line includes: a fixed frame, a transmission chain wound around the fixed frame, and a driving part;

[0011] The driving part is in transmission connection with the transmission chain to drive the transmission chain to rotate reciprocally on the fixed frame;

[0012] An elastic tray connecting piece is arranged at the bottom of the cap tray; the tray connecting piece is fixed on the transmission chain to drive the cap tray to rotate reciprocally on the fixed frame.

[0013] Optionally, an inverted conical groove for accommodating the caps is provided on the cap tray to adapt to caps of different shapes.

[0014] A plurality of negative pressure suction cups are provided on the cap transfer plate, and the negative pressure suction cups are of an elastic structure; the negative pressure suction cups have an adsorption state of closely abutting against the caps and being compressed and deformed.

[0015] The cap feeding line includes: a feeding line for transporting the cap box to the transfer manipulator, and a discharging line for sending the empty box back; the suction cups of the transfer manipulator are also adapted to the box cover of the cap box to realize the actions of opening the box and moving the box cover.

[0016] The cap transfer line further includes: a sealing cover; the sealing cover covers the transmission chain and the cap tray to realize the protection of cap transportation.

[0017] The tray connecting piece is a U-shaped elastic piece clamped on the conveying chain and fixed to the conveying chain through a fixing piece.

[0018] Optionally, each of the bottle cap feeding lines is provided with at least two of the bottle cap transfer lines, and the bottle cap transportation is achieved by a transfer robot; and each of the bottle cap transfer lines is provided with at least one of the capping robots.

[0019] Optionally, a pallet position sensor is provided at one end of the bottle cap transfer line close to the transfer robot; the pallet position sensor is used to detect whether the bottle cap pallet has reached the upper cover position, and is linked with the bottle cap transfer line to control the bottle cap pallet to stop;

[0020] Each of the bottles stops at the cover position, and the cover manipulator is also provided with a visual sensor to detect the position of the bottle and complete the bottle cover action.

[0021] Optionally, the upper cover manipulator includes:

[0022] A driving rod and a driving assembly, wherein there are multiple driving rods; one end of each driving rod is connected to the driving assembly, and the other end is connected to the bottle cap installation fixture, and multiple driving rods cooperate and link to realize the installation of bottle caps one by one on the bottle body of the bottle body feeding line;

[0023] The vertical lifting drive mechanism comprises: a mechanical arm connecting part, a lifting drive part and a mechanical hand connecting part; the mechanical arm connecting part is connected to the mechanical arm, and the mechanical arm drives the upper cover mechanical hand to move in the horizontal and vertical directions; the mechanical hand connecting part is flexibly connected to the upper cover mechanical hand, and the upper cover mechanical hand always maintains a vertical state through its own gravity; the mechanical arm drives the vertical lifting drive mechanism to approach the bottle body, and the lifting drive part drives the upper cover mechanical hand to descend and complete the bottle body upper cover action.

[0024] Optionally, the manipulator connection portion is a flexible connection structure, and the upper cover manipulator remains vertical in the vertical direction under the action of its own gravity; the manipulator connection portion includes:

[0025] A first rotating shaft is arranged between the upper cover manipulator and the lifting drive unit to enable the two to rotate relative to each other;

[0026] A first rotating seat, fixedly mounted on the top of the upper cover manipulator;

[0027] The first transmission sleeve is arranged at the driving end position of the lifting drive part. The first transmission sleeve is sleeved on the first rotating shaft and is connected to the first rotating seat through the first rotating shaft, so that the upper cover manipulator is vertical in the vertical direction under the action of its own gravity.

[0028] Optionally, the robotic arm connecting portion and the lifting driving portion are connected through a flexible structure, which includes: a second rotating shaft and a second rotating seat provided on the robotic arm connecting portion; the second rotating seat is provided on the top of the lifting driving portion and is sleeved and rotatably connected with the second rotating shaft.

[0029] A method for controlling a bottle cap covering device, which is used for the production line for covering bottle caps as described above, includes the following steps:

[0030] Step S1, the bottle cap feeding line transfers the bottle cap box loaded with bottle caps to the transfer position; after the position sensor at the transfer position detects that the bottle cap box reaches the designated position, the controller receives this position signal and controls the transfer robotic arm to transfer the box cover of the bottle cap box to the box cover partition temporary storage position;

[0031] Meanwhile, the bottle cap transfer line receives the signal from the controller and moves the empty bottle cap tray to the transfer position, and the bottle cap tray pauses waiting for bottle caps;

[0032] Step S2, the transfer robotic arm identifies the positions of the bottle caps on the partition in the bottle cap box through a vision sensor, and transfers multiple bottle caps on the partition to the bottle cap tray simultaneously through a bottle cap transfer plate;

[0033] After the bottle cap transfer line detects that the bottle caps are installed on the bottle cap tray, it transfers the bottle cap tray to the cap covering position;

[0034] During the above steps S1 and S2, the transfer robotic arm repeatedly transfers the bottle caps to the empty bottle cap tray; and, the transfer robotic arm is driven to transfer the box cover and the partition of the bottle cap box to the box cover partition temporary storage position, and the empty bottle cap box is transferred to the discharge line through the moving mechanism on the bottle cap feeding line and then removed;

[0035] Step S3, the bottle cap transfer line transfers the bottle cap tray loaded with bottle caps to the cap covering position; after the position sensor at the cap covering position detects that the bottle cap tray reaches the designated position, the controller receives this position signal and controls the bottle cap tray to pause waiting for the bottle cap covering operation on the bottle body;

[0036] Step S4, the controller controls the robotic arm to drive the cap covering robotic arm to move to the bottle cap position of the bottle cap tray, and drives the cap covering robotic arm to descend to grab the bottle cap through a vertical lifting driving mechanism; the controller controls the robotic arm to drive the cap covering robotic arm to move to the bottle body position, and drives the cap covering robotic arm to descend to perform the bottle cap covering action on the bottle body;

[0037] During the above process, the bottle body feeding line intermittently pauses to run, so as to pause the bottle bodies located at the cap covering position one by one and realize the bottle cap covering action.

[0038] Optionally, in steps S1 to S4, there is one transfer manipulator, and two of the bottle cap transfer lines correspond to one transfer manipulator, and each of the two bottle cap transfer lines is provided with one cap placing manipulator.

[0039] The technical solution of the present invention has the following advantages:

[0040] 1. The production line for capping a bottle body provided by the present invention includes:

[0041] A bottle cap feeding line for carrying a bottle cap box containing bottle caps and moving the bottle cap box to a transfer position;

[0042] A bottle cap transfer line, on which a bottle cap tray is arranged. The bottle cap tray is fixed on the conveyor chain of the bottle cap transfer line and is driven to move the bottle cap tray filled with bottle caps from the transfer position to the cap placing position and move the empty bottle cap tray back from the cap placing position to the transfer position; the bottle cap tray has a stop state of stopping at the cap placing position to cooperate with the capping of the bottle body;

[0043] A transfer manipulator is arranged between the bottle cap feeding line and the bottle cap transfer line; a bottle cap transfer plate with a plurality of suction cups is arranged at the free end of the transfer manipulator for integrally transferring a plurality of bottle caps in the bottle cap box onto the bottle cap tray, and a groove for positioning the bottle caps is arranged on the bottle cap tray;

[0044] A bottle body feeding line for transporting the bottle bodies one by one, passing through the cap placing position and moving them to the next processing station; the bottle body has a stop state of stopping at the cap placing position to cooperate with the capping of the bottle body;

[0045] A cap placing manipulator is arranged at the cap placing position for installing the bottle caps on the bottle bodies on the bottle body feeding line one by one.

[0046] In the present invention, first, the multi-layer bottle caps in the bottle cap box are transported onto the bottle cap tray one by one through the bottle cap transfer plate on the transfer manipulator. The above-mentioned bottle cap tray is provided with grooves, and each bottle cap can be positioned by the grooves. Then, the bottle caps with determined positions on the bottle cap tray are moved to the cap placing position by the bottle cap transfer line and stopped. The cap placing manipulator picks up each bottle cap in sequence through a preset coordinate system and installs the bottle caps on the bottle bodies on the bottle body feeding line. The above-mentioned bottle cap tray can effectively ensure that the positions of adjacent bottle caps are consistent, so as to ensure that the cap placing manipulator accurately identifies the static positions of the bottle caps, and thus accurately completes the bottle cap grasping action. At the same time, through the above-mentioned mutually cooperating transfer manipulator and cap placing manipulator, the user can adjust the corresponding numbers of the transfer manipulator and the cap placing manipulator according to needs to ensure their coordinated work, and adjust the capping speed of the production line according to production needs to meet the working requirements of the flexible production line. Furthermore, the working efficiency of the bottle body capping production line is effectively ensured.

[0047] 2. The production line for the upper cover of the bottle body provided by the present invention, wherein the bottle cap transfer line includes: a fixed frame, a conveyor chain wound around the fixed frame, and a driving part;

[0048] The driving part is in transmission connection with the conveyor chain to drive the conveyor chain to rotate reciprocally on the fixed frame;

[0049] An elastic tray connecting piece is arranged at the bottom of the bottle cap tray; the tray connecting piece is fixed on the conveyor chain to drive the bottle cap tray to rotate reciprocally on the fixed frame.

[0050] In the present invention, by driving the bottle cap tray to rotate circumferentially reciprocally on the fixed frame through the conveyor chain, the recycling of the bottle cap tray can be effectively realized. More importantly, the above conveyor chain can accurately stop the bottle cap tray at a preset position, thereby ensuring that the transfer manipulator and the bottle body feeding line accurately move the bottle cap onto and out of the bottle cap tray. At the same time, in the present invention, in order to ensure that the bottle cap tray can be normally transferred at the turning of the conveyor chain, the tray connecting piece is also made of an elastic material, thereby avoiding the problem that the bottle cap tray detaches from the conveyor chain at the turning of the conveyor chain.

[0051] 3. The production line for the upper cover of the bottle body provided by the present invention, wherein an inverted conical groove is arranged on the bottle cap tray, and different sizes and shapes of bottle caps can be effectively adapted through the above inverted conical groove, so as to improve the adaptation range of the bottle cap tray and meet the design requirements of the flexible production line.

[0052] 4. The production line for the upper cover of the bottle body provided by the present invention, wherein a plurality of negative pressure suction cups are arranged on the bottle cap transfer plate, and the negative pressure suction cups are of an elastic structure; the negative pressure suction cups have an adsorption state in which they are in close contact with the bottle cap and the negative pressure suction cups are compressed and deformed. Through the negative pressure suction cups of the above elastic structure, the negative pressure suction cups can be in close contact with the bottle cap, thereby ensuring that the negative pressure suction cups stably and reliably transfer the bottle cap onto the bottle cap tray.

[0053] 5. The production line for the upper cover of the bottle body provided by the present invention, wherein at least two bottle cap transfer lines are correspondingly arranged for each bottle cap feeding line, and the bottle cap transportation work is realized through a transfer manipulator; and at least one upper cover manipulator is correspondingly arranged for each bottle cap transfer line.

[0054] In the present invention, arranging a plurality of bottle cap transfer lines correspondingly for each bottle cap feeding line can effectively ensure the production rhythm of the bottle body upper cover production line, and thus ensure the production efficiency.

[0055] 6. The production line for bottle capping provided by the present invention includes a vertical lifting drive mechanism, which includes: a robot arm connecting part, a lifting drive part and a robot arm connecting part; the robot arm connecting part is connected to the robot arm, and the robot arm drives the capping robot to move in the horizontal and vertical directions; the robot arm connecting part is flexibly connected to the capping robot, and the capping robot is always kept in a vertical state by its own gravity; the robot arm drives the vertical lifting drive mechanism to approach the bottle body, and the lifting drive part drives the capping robot to descend and complete the bottle capping action.

[0056] The vertical lifting drive mechanism has a flexible transmission structure. The manipulator connection part on the vertical lifting drive mechanism is flexibly connected to the cover manipulator. The cover manipulator relies on its own gravity to keep it vertical at all times, thereby avoiding the problem of the cover manipulator position offset caused by the uneven bottom surface or the transmission error of the manipulator arm, thereby ensuring that the cover manipulator is perpendicular to the bottle cap and operates the bottle cap accurately.

[0057] 7. In the production line for bottle caps provided by the present invention, the manipulator connection part is a flexible connection structure, and the cap manipulator remains vertical in the vertical direction under the action of its own gravity; the manipulator connection part includes: a first rotating shaft, which is arranged between the cap manipulator and the lifting drive part to enable the two to rotate relative to each other; a first rotating seat, which is fixedly installed on the top of the cap manipulator; a first transmission sleeve, which is arranged at the driving end position of the lifting drive part, and the first transmission sleeve is sleeved on the first rotating shaft and is connected to the first rotating seat through the first rotating shaft, so that the cap manipulator remains vertical in the vertical direction under the action of its own gravity.

[0058] In the present invention, the length direction of the first rotating shaft is parallel to the moving direction of the upper cover manipulator, so as to avoid the horizontal swing force being directly transmitted to the first rotating shaft. The above arrangement can reduce the horizontal force generated by the manipulator connection part during the movement process, which affects the upper cover manipulator.

[0059] 8. In the production line for bottle caps provided by the present invention, the robot arm connecting part is connected to the lifting drive part through a flexible structure, and the flexible structure includes: a second rotating shaft and a second rotating seat arranged on the robot arm connecting part; the second rotating seat is arranged on the top of the lifting drive part and is rotatably connected with the second rotating shaft.

[0060] In the present invention, the robotic arm connecting part and the lifting driving part are also connected through a flexible structure. The flexible structure includes: a second rotating shaft arranged parallel to the first rotating shaft. Since the lifting driving part adopted in the present invention is a hydraulic cylinder body or an electric control cylinder body, and its weight is relatively large. Therefore, the lifting driving part may also cause a positional deviation when driving the upper cover manipulator, resulting in the problem that the upper cover manipulator cannot maintain a vertical state. Therefore, in the present invention, the robotic arm connecting part and the lifting driving part are flexibly connected through the second rotating shaft, which can effectively offset the positional offset generated during the synchronous movement of the upper cover manipulator and the lifting driving part by the weights of the lifting driving part and the upper cover manipulator, thereby ensuring that the bottle cap installation fixture of the upper cover manipulator is always perpendicular to the bottle cap and ensuring the success rate of capping the bottle body.

[0061] 9. The bottle capping equipment control method provided by the present invention, in cooperation with the above-mentioned production line for bottle capping, can effectively transfer the bottle caps arranged in rows in the bottle cap box to the bottle cap tray, and position and fix each bottle cap through the bottle cap tray to ensure the position of each bottle cap is determined. Then, the upper cover manipulator is used to transfer and install each bottle cap on the bottle body of the bottle body feeding line one by one. During the above process, the bottle cap feeding line, the bottle cap transfer line, and the bottle body feeding line can all pause the transfer of materials as needed to assist the bottle cap transfer work. The above-mentioned production line and usage method for bottle capping can effectively improve the working efficiency and yield of bottle capping on the production line, and can also adjust the bottle capping speed in real time as needed to meet the design requirements of the flexible production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0063] Figure 1 It is a top view of the bottle capping production line provided by the present invention;

[0064] Figure 2 It is a front view of the bottle capping production line provided by the present invention;

[0065] Figure 3 It is an enlarged three-dimensional structure schematic diagram of the end position of the bottle cap transfer line provided by the present invention;

[0066] Figure 4 It is a three-dimensional structure schematic diagram of the bottle cap transfer line provided by the present invention;

[0067] Figure 5Schematic structural diagram of the transfer manipulator provided by the present invention;

[0068] Figure 6 Schematic structural diagram of the upper cover manipulator provided by the present invention;

[0069] Figure 7 Schematic three - dimensional structural diagram of the vertical lifting drive mechanism provided by the present invention.

[0070] Explanation of reference numerals:

[0071] 1 - Bottle cap feeding line; 2 - Bottle cap box; 3 - Transfer position; 4 - Bottle cap transfer line; 5 - Bottle cap tray; 6 - Conveyor chain; 7 - Upper cover position; 8 - Transfer manipulator; 9 - Bottle cap transfer plate; 10 - Bottle body feeding line; 11 - Upper cover manipulator; 12 - Fixed frame; 13 - Driving part; 14 - Tray connecting part; 15 - Sealing cover; 16 - Driving rod; 17 - Driving assembly; 18 - Bottle cap installation fixture; 19 - Vertical lifting drive mechanism; 20 - Manipulator connecting part; 21 - Lifting drive part; 22 - Manipulator connecting part; 23 - First rotating shaft; 24 - First rotating seat; 25 - First transmission sleeve; 26 - Second rotating shaft; 27 - Second rotating seat; 28 - Temporary storage position of box cover partition. Detailed implementation manners

[0072] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0073] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0074] Embodiment 1

[0075] Refer to Figure 1 and Figure 2 , Figure 1 shows a top view of the bottle body upper - covering production line in an embodiment of the present invention. Figure 2 shows a front view of the bottle body upper - covering production line in an embodiment of the present invention. The production line for bottle body upper - covering includes:

[0076] The cap feeding line 1 is used to carry the cap boxes 2 containing caps and transfer the cap boxes 2 to the transfer position 3. In a preferred embodiment, the cap feeding line 1 includes: a feeding line for transporting the cap boxes 2 to the transfer manipulator 8, and a discharging line for sending the empty boxes back; the suction cups of the transfer manipulator 8 are also adapted to the lids of the cap boxes 2 to achieve the operations of opening the lids and moving the lids;

[0077] The cap transfer line 4 is provided with cap trays 5 on the cap transfer line 4. The cap trays 5 are fixed on the conveyor chain 6 of the cap transfer line 4 and are driven to transfer the cap trays 5 full of caps from the transfer position 3 to the cap covering position 7 and transfer the empty cap trays 5 from the cap covering position 7 back to the transfer position 3; the cap trays 5 have a stopped state of stopping at the cap covering position 7 to cooperate with covering the caps on the bottle bodies. In an alternative embodiment, as Figure 3 shown, the cap transfer line 4 further includes: a sealing cover 15; the sealing cover 15 covers the conveyor chain 6 and the cap trays 5 to achieve protection for cap transportation;

[0078] The transfer manipulator 8 is arranged between the cap feeding line 1 and the cap transfer line 4; the free end of the transfer manipulator 8 is provided with a cap transfer plate 9 having a plurality of suction cups for integrally transferring a plurality of caps in the cap box 2 onto the cap tray 5, and the cap tray 5 is provided with grooves for positioning the caps. As Figure 5 shown, in a preferred embodiment, the cap transfer plate 9 is provided with a plurality of negative pressure suction cups, and the negative pressure suction cups are of an elastic structure; the negative pressure suction cups have an adsorption state of closely abutting against the caps and the negative pressure suction cups being compressed and deformed;

[0079] The bottle body feeding line 10 is used to carry the bottle bodies one by one, pass through the cap covering position 7 and transfer them to the next processing station; the bottle bodies have a stopped state of stopping at the cap covering position 7 to cooperate with covering the caps on the bottle bodies. In a preferred embodiment, at one end position of the cap transfer line 4 close to the transfer manipulator 8, a tray position sensor is provided; the tray position sensor is used to detect whether the cap tray 5 reaches the cap covering position 7 and is linked with the cap transfer line 4 to control the cap tray 5 to stop; each of the bottle bodies stops at the cap covering position 7, and a vision sensor is further provided on the cap covering manipulator 11 to detect the position of the bottle body and complete the operation of covering the cap on the bottle body;

[0080] The cap covering manipulator 11 is arranged at the cap covering position 7 and is used to install the caps on the cap tray 5 onto the bottle bodies on the bottle body feeding line 10 one by one.

[0081] In this embodiment, as Figure 3The end position of the bottle cap transfer line is shown in the figure, and the three-dimensional structure is enlarged. Figure 4 The bottle cap transfer line 4 comprises: a fixed frame 12, a conveying chain 6 wound on the fixed frame 12, and a driving unit 13;

[0082] The driving part 13 is connected to the conveying chain 6 in a transmission manner to drive the conveying chain 6 to reciprocate on the fixing frame 12; an elastic pallet connector 14 is also provided at the bottom of the bottle cap tray 5; the pallet connector 14 is fixed to the conveying chain 6 to drive the bottle cap tray 5 to reciprocate on the fixing frame 12. The pallet connector 14 made of the elastic material can effectively prevent the bottle cap tray 5 from detaching from the conveying chain 6 at the bend of the conveying chain 6. In an optional embodiment, the pallet connector 14 is a U-shaped elastic member clamped on the conveying chain 6, and is fixed to the conveying chain 6 by a fixing member.

[0083] In this embodiment, in order to allow the bottle cap tray 5 to effectively adapt to bottle caps of different sizes and shapes, thereby increasing the adaptability range of the bottle cap tray 5 and meeting the design requirements of the flexible production line, in the present invention, an inverted conical groove for accommodating the bottle cap is also provided on the bottle cap tray 5, and the bottle cap can be effectively clamped at different depths in the inverted conical groove, thereby adapting to bottle caps of different sizes.

[0084] In this embodiment, see Figure 1 and Figure 2 Each of the bottle cap feeding lines 1 is provided with two of the bottle cap transfer lines 4, and the bottle cap transportation work is realized by a transfer robot 8; and each of the bottle cap transfer lines 4 is provided with a capping robot 11. By providing multiple bottle cap transfer lines 4 for each bottle cap feeding line 1, the production rhythm of the bottle body capping production line can be effectively guaranteed, thereby ensuring production efficiency.

[0085] In a preferred embodiment, the present embodiment also needs to solve the problem of position offset of the cover manipulator 11 caused by the uneven bottom surface or the transmission error of the robot arm, so as to ensure that the cover manipulator 11 is perpendicular to the bottle cap and operates the bottle cap accurately. Figure 6 The schematic diagram of the upper cover robot structure is shown. And, Figure 7 The vertical lifting drive mechanism is shown in the three-dimensional structural diagram. The upper cover manipulator 11 includes:

[0086] A driving rod 16 and a driving assembly 17, wherein there are multiple driving rods 16; one end of each driving rod 16 is connected to the driving assembly 17, and the other end is connected to the bottle cap mounting fixture 18, and multiple driving rods 16 cooperate and link to realize the installation of bottle caps one by one on the bottle body of the bottle body feeding line 10;

[0087] The vertical lifting drive mechanism 19 includes: a robot arm connection part 20, a lifting drive part 21 and a robot hand connection part 22; the robot arm connection part 20 is connected to the robot arm, and the robot arm drives the upper cover robot 11 to move in the horizontal and vertical directions; the robot hand connection part 22 is flexibly connected to the upper cover robot 11, and the upper cover robot 11 is always kept in a vertical state by its own gravity; the robot arm drives the vertical lifting drive mechanism 19 to approach the bottle body, and the lifting drive part 21 drives the upper cover robot 11 to descend and complete the bottle body covering action.

[0088] Specifically, in this embodiment, Figure 7 As shown, the manipulator connection part 22 is a flexible connection structure, and the upper cover manipulator 11 remains vertical in the vertical direction under the action of its own gravity; the manipulator connection part 22 includes: a first rotating shaft 23, which is arranged between the upper cover manipulator 11 and the lifting drive part 21 so that the two can rotate relative to each other; a first rotating seat 24, which is fixedly installed on the top of the upper cover manipulator 11; a first transmission sleeve 25, which is arranged at the driving end position of the lifting drive part 21, and the first transmission sleeve 25 is sleeved on the first rotating shaft 23, and is connected to the first rotating seat 24 through the first rotating shaft 23, so that the upper cover manipulator 11 is vertical in the vertical direction under the action of its own gravity. Moreover, in this embodiment, the length direction of the first rotating shaft 23 is parallel to the moving direction of the upper cover manipulator 11, so as to avoid the swing force in the horizontal direction being directly transmitted to the first rotating shaft 23. The above-mentioned setting can reduce the horizontal force generated by the manipulator connection part 22 during the movement process, which affects the upper cover manipulator 11.

[0089] Specifically, in this embodiment, Figure 7 As shown, the above-mentioned mechanical arm connection part 20 is also connected to the lifting drive part 21 through a flexible structure, and the flexible structure includes: a second rotating shaft 26 and a second rotating seat 27 arranged on the above-mentioned mechanical arm connection part 20. The above-mentioned second rotating shaft 26 and the first rotating shaft 23 are arranged parallel to each other. The second rotating seat 27 is arranged on the top of the above-mentioned lifting drive part 21, and is sleeved and rotatably connected with the second rotating shaft 26. The mechanical arm connection part 20 is flexibly connected to the lifting drive part 21 through the above-mentioned second rotating shaft 26, which can effectively offset the position offset problem generated during the synchronous movement of the above-mentioned upper cover manipulator 11 and the lifting drive part 21 through the weight of the lifting drive part 21 and the weight of the upper cover manipulator 11, thereby ensuring that the bottle cap installation fixture 18 of the upper cover manipulator 11 is always perpendicular to the bottle cap, and ensuring the success rate of the upper cover of the bottle body.

[0090] A bottle cover equipment control method is used to use the above-mentioned production line for bottle cover, specifically comprising the following steps:

[0091] In step S1, the cap feeding line 1 transfers the cap box 2 loaded with caps to the transfer position 3; after the position sensor at the transfer position 3 detects that the cap box 2 has reached the designated position, the controller receives this position signal and controls the transfer manipulator 8 to transfer the lid of the cap box 2 to the lid partition temporary storage position 28;

[0092] Meanwhile, upon receiving the signal from the controller, the cap transfer line 4 moves the empty cap tray 5 to the transfer position 3, and the cap tray 5 pauses waiting for caps;

[0093] In step S2, the transfer manipulator 8 identifies the positions of the caps on the partition in the cap box 2 through a vision sensor, and simultaneously transfers multiple caps on the partition to the cap tray 5 through the cap transfer plate 9;

[0094] After the cap transfer line 4 detects that the caps are installed on the cap tray 5, it transfers the cap tray 5 to the cap-on position 7;

[0095] During the above steps S1 and S2, the transfer manipulator 8 repeatedly transfers caps to the empty cap tray 5; and, the transfer manipulator 8 is driven to transfer the lid and partition of the cap box 2 to the lid partition temporary storage position 28, and the empty cap box 2 is transferred to the discharge line through the moving mechanism on the cap feeding line 1 and then removed;

[0096] In step S3, the cap transfer line 4 transfers the cap tray 5 loaded with caps to the cap-on position 7; after the position sensor at the cap-on position 7 detects that the cap tray 5 has reached the designated position, the controller receives this position signal and controls the cap tray 5 to pause waiting for the cap-on operation on the bottle body;

[0097] In step S4, the controller controls the robotic arm to drive the cap-on manipulator 11 to move to the cap position of the cap tray 5, and drives the cap-on manipulator 11 to descend to grab the cap through the vertical lifting drive mechanism 19; the controller controls the robotic arm to drive the cap-on manipulator 11 to move to the bottle body position, and drives the cap-on manipulator 11 to descend through the vertical lifting drive mechanism 19 to perform the cap-on operation on the bottle body;

[0098] During the above process, the bottle body feeding line 10 intermittently pauses to run, so that the bottle bodies located at the cap-on position 7 are paused one by one to perform the cap-on operation on the bottle bodies.

[0099] In a preferred embodiment, in steps S1 to S4 of this embodiment, there is one transfer manipulator 8, and two cap transfer lines 4 correspond to one transfer manipulator 8, and each of the two cap transfer lines 4 has one cap-on manipulator 11.

[0100] Obviously, the above embodiments are merely examples given for clear illustration and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to enumerate all implementation manners here. And the obvious changes or variations derived therefrom still fall within the protection scope of the present invention.

Claims

1. A production line for the upper cover of a bottle body, characterized in that, Including: A cap feeding line (1) for carrying a cap box (2) containing caps and transferring the cap box (2) to a transfer position (3); A cap transfer line (4) provided with a cap tray (5) thereon. The cap tray (5) is fixed on a conveyor chain (6) of the cap transfer line (4) and is driven to transfer the cap tray (5) filled with caps from the transfer position (3) to a cap - covering position (7) and transfer the empty cap tray (5) from the cap - covering position (7) back to the transfer position (3). The cap tray (5) has a stopped state for stopping at the cap - covering position (7) to cooperate with cap - covering the bottle body; A transfer manipulator (8) is arranged between the cap feeding line (1) and the cap transfer line (4). A cap transfer plate (9) with a plurality of suction cups is provided at the free end of the transfer manipulator (8) for integrally transferring a plurality of caps in the cap box (2) onto the cap tray (5). Grooves for positioning the caps are provided on the cap tray (5); A bottle body feeding line (10) for carrying the bottle bodies one by one, passing through the cap - covering position (7) and transferring them to the next processing station. The bottle body has a stopped state for stopping at the cap - covering position (7) to cooperate with cap - covering the bottle body; A cap - covering manipulator (11) is arranged at the cap - covering position (7) for installing the caps on the cap tray (5) onto the bottle bodies on the bottle body feeding line (10) one by one.

2. The production line for the upper cover of the bottle body according to claim 1, characterized in that, The cap transfer line (4) includes: a fixed frame (12), a conveyor chain (6) wound around the fixed frame (12), and a driving part (13); The driving part (13) is in transmission connection with the conveyor chain (6) to drive the conveyor chain (6) to rotate reciprocally on the fixed frame (12); An elastic tray connecting part (14) is arranged at the bottom of the cap tray (5). The tray connecting part (14) is fixed on the conveyor chain (6) to drive the cap tray (5) to rotate reciprocally on the fixed frame (12).

3. The production line for the upper cover of the bottle body according to claim 2, wherein, Inverted - conical grooves for accommodating the caps are provided on the cap tray (5) to adapt to caps of different sizes; and / or, A plurality of negative - pressure suction cups are provided on the cap transfer plate (9), and the negative - pressure suction cups are of an elastic structure. The negative - pressure suction cups have an adsorption state of closely abutting against the caps and the negative - pressure suction cups being compressed and deformed; and / or, The cap feeding line (1) includes: a feeding line for transporting the cap box (2) to the transfer manipulator (8) and a discharging line for sending the empty box back. The suction cups of the transfer manipulator (8) are also adapted to the box cover of the cap box (2) to realize the actions of opening the box and moving the box cover; and / or, The cap transfer line (4) further includes: a sealing cover (15). The sealing cover (15) covers the conveyor chain (6) and the cap tray (5) to realize the protection of cap transportation; and / or, The tray connecting part (14) is a U - shaped elastic part clamped on the conveyor chain (6) and is fixed to the conveyor chain (6) through a fixing part.

4. The production line for the upper cover of a bottle body according to any one of claims 1 to 3, characterized in that, Each of the bottle cap feeding lines (1) is provided with at least two of the bottle cap transfer lines (4), and bottle cap transportation is achieved through a transfer robot (8); and each of the bottle cap transfer lines (4) is provided with at least one of the capping robots (11).

5. The production line for the upper cover of the bottle body according to claim 1, characterized in that, A tray position sensor is provided at one end of the bottle cap transfer line (4) close to the transfer robot (8); the tray position sensor is used to detect whether the bottle cap tray (5) has reached the cover position (7), and to work in conjunction with the bottle cap transfer line (4) to control the bottle cap tray (5) to stop; Each of the bottles stops at the cover-up position (7), and the cover-up manipulator (11) is also provided with a visual sensor to detect the position of the bottle and complete the bottle-covering action.

6. The production line for the upper cover of a bottle body according to claim 1, characterized in that, The upper cover manipulator (11) comprises: A driving rod (16) and a driving assembly (17), wherein the driving rod (16) is multiple; one end of each driving rod (16) is connected to the driving assembly (17), and the other end is connected to a bottle cap installation fixture (18); the multiple driving rods (16) cooperate and work together to realize the installation of bottle caps one by one on the bottle bodies of the bottle body feeding line (10); The vertical lifting drive mechanism (19) comprises: a mechanical arm connection part (20), a lifting drive part (21) and a manipulator connection part (22); the mechanical arm connection part (20) is connected to the mechanical arm, and the mechanical arm drives the upper cover manipulator (11) to move in the horizontal and vertical directions; the manipulator connection part (22) is flexibly connected to the upper cover manipulator (11) and is always kept in a vertical state by the self-weight of the upper cover manipulator (11); the mechanical arm drives the vertical lifting drive mechanism (19) to approach the bottle body, and the lifting drive part (21) drives the upper cover manipulator (11) to descend and complete the bottle body upper cover action.

7. The production line for the upper cover of the bottle body according to claim 6, characterized in that, The manipulator connection part (22) is a flexible connection structure, and the upper cover manipulator (11) remains vertical in the vertical direction under the action of its own gravity; the manipulator connection part (22) comprises: A first rotating shaft (23) is arranged between the upper cover manipulator (11) and the lifting drive unit (21) so as to enable the two to rotate relative to each other; A first rotating seat (24) is fixedly mounted on the top of the upper cover manipulator (11); A first transmission sleeve (25) is arranged at a driving end position of the lifting drive unit (21); the first transmission sleeve (25) is sleeved on the first rotating shaft (23) and is transmission-connected to the first rotating seat (24) via the first rotating shaft (23), so that the upper cover manipulator (11) is vertically erected in a vertical direction under the action of its own gravity.

8. The production line for the upper cover of a bottle body according to claim 7, characterized in that, The mechanical arm connecting part (20) is connected to the lifting drive part (21) via a flexible structure, and the flexible structure comprises: a second rotating shaft (26) and a second rotating seat (27) arranged on the mechanical arm connecting part (20); the second rotating seat (27) is arranged on the top of the lifting drive part (21) and is sleeved and rotatably connected with the second rotating shaft (26).

9. A control method for a bottle body capping device, which is used for a production line for capping a bottle body as described in any one of claims 1 to 8, characterized in that, The following steps are involved: Step S1, the cap feeding line (1) transfers the cap box (2) loaded with caps to the transfer position (3); after the position sensor at the transfer position (3) detects that the cap box (2) reaches the designated position, the controller receives this position signal and controls the transfer manipulator (8) to transfer the lid of the cap box (2) to the lid and partition temporary storage position (28); Meanwhile, the cap transfer line (4) receives the signal from the controller and moves the empty cap tray (5) to the transfer position (3), and the cap tray (5) pauses waiting for caps; Step S2, the transfer manipulator (8) identifies the positions of the caps on the partition in the cap box (2) through the vision sensor, and transfers multiple caps on the partition to the cap tray (5) simultaneously through the cap transfer plate (9); After the cap transfer line (4) detects that the caps are installed on the cap tray (5), it transfers the cap tray (5) to the cap covering position (7); During the above steps S1 and S2, the transfer manipulator (8) repeatedly transfers the caps to the empty cap tray (5); and, the transfer manipulator (8) is driven to transfer the lid and partition of the cap box (2) to the lid and partition temporary storage position (28), and the empty cap box (2) is transferred to the discharge line through the moving mechanism on the cap feeding line (1) and then removed; Step S3, the cap transfer line (4) transfers the cap tray (5) loaded with caps to the cap covering position (7); after the position sensor at the cap covering position (7) detects that the cap tray (5) reaches the designated position, the controller receives this position signal and controls the cap tray (5) to pause waiting for the cap covering operation on the bottle body; Step S4, the controller controls the robotic arm to drive the cap covering manipulator (11) to move to the cap position of the cap tray (5), and drives the cap covering manipulator (11) to descend to grab the cap through the vertical lifting drive mechanism (19); The controller controls the robotic arm to drive the cap covering manipulator (11) to move to the bottle body position, and drives the cap covering manipulator (11) to descend through the vertical lifting drive mechanism (19) to perform the cap covering action on the bottle body; During the above process, the bottle body feeding line (10) intermittently pauses to run, so that the bottle bodies located at the cap covering position (7) are paused one by one to perform the cap covering action on the bottle bodies.

10. The method for controlling the bottle body upper cover device according to claim 9, characterized in that, In steps S1 to S4, there is one transfer manipulator (8), and two cap transfer lines (4) correspond to one transfer manipulator (8), and each of the two cap transfer lines (4) has one cap covering manipulator (11).

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