A spider-like machine cap-wearing mechanism with adjustable hand-gripping angle

Abstract

This invention relates to the field of cap-applying mechanisms for spider robots, specifically a cap-applying mechanism for spider robots that facilitates adjustment of the cap-gripping angle. It includes a fixed platform, a support base, a swing arm assembly, a moving platform, and a cabinet. A rotating seat is fixedly connected to the moving platform, a connecting plate is mounted on the rotating seat, and a mounting base is fixedly connected to the connecting plate. A rotatable rotating platform is located within the mounting base, and a fixed plate is fixedly connected to the rotating platform. This invention, through the coordinated arrangement of a linkage assembly and a first cylinder, allows the lifting and lowering of the clamping platform to drive the rotating platform to rotate, thereby adjusting the angle of the clamping assembly to meet cap-applying requirements under different tilt conditions. After cap-applying, the clamping assembly is first moved away from the bottle opening by the first cylinder, and then the angle is reset, avoiding collisions with the bottle opening during rotation. This ensures convenient angle adjustment, prevents interference with already installed caps, and improves cap-applying accuracy and product quality.

Description

Technical Field

[0001] This invention relates to the field of cap-wearing mechanisms for spider robots, specifically to a cap-wearing mechanism for spider robots that facilitates adjustment of the angle of the hand gripping the cap. Background Technology

[0002] In industries such as food, daily chemicals, and pharmaceuticals, bottle production is large-scale, requiring high capping efficiency. Manual capping is inefficient, costly, and struggles to guarantee consistency and stability. Spider-parallel robots can achieve high-speed, continuous operation, significantly improving capping efficiency and reducing labor costs. Furthermore, their high precision helps reduce capping errors, improve product quality, and lower the defect rate, thereby reducing overall production costs and meeting the needs of large-scale production and improved economic efficiency for enterprises.

[0003] Chinese patent CN220147651U discloses a spider-like robotic cap-applying mechanism for easy adjustment of the cap-grabbing angle. It includes a housing, a base on the lower surface of the housing, a conveyor belt on the upper surface of the base, a spider-like robotic arm on the upper surface of the inner wall of the housing, and the conveyor belt corresponding to the spider-like robotic arm. An adjustment component is located at one end of the housing, with one end corresponding to the spider-like robotic arm. Moving components are located at the four corners of the lower surface of the base. A handle and a double door are located on one side of the housing. This invention allows for the activation of the conveyor belt, placing bottled goods on it, and slowly moving it under the spider-like robotic arm. The spider-like robotic arm then places the cap at the bottle opening, achieving a convenient cap-applying effect. During use, if the bottle opening does not align with the spider-like robotic arm, the adjustment component is activated to adjust the angle of the spider-like robotic arm, thus achieving the advantage of easily adjusting the gripping angle of the spider-like robotic arm.

[0004] Chinese patent CN222492892U discloses a lightweight, high-speed parallel robot, which includes a moving platform, a stationary platform, and a rotating unit. The rotating unit includes a first axis assembly, a second axis assembly, a first slider, and a second slider. The first end of the first axis assembly is connected to the stationary platform, and the second end of the first axis assembly passes through the first slider and connects to the second slider. The second end of the second axis assembly is connected to the moving platform, and the first end of the second axis assembly passes through the second slider and connects to the first slider. This allows the rotating unit provided by this invention to transmit torque while also performing telescopic movements, making it highly flexible.

[0005] However, the above solution uses a direct placement method to install bottle caps in an inclined state. If only a suction cup is used to grab and put on the bottle cap, the bottle cap is very likely to fall off during movement in an inclined state, thus affecting the efficiency of putting on the cap. When using a gripper to pick up and put on the cap, the gripper is prone to collision with the bottle cap during movement after putting on the cap, which in turn affects the capping effect.

[0006] Therefore, the present invention provides a spider machine cap-wearing mechanism that facilitates adjustment of the hand-grabbing cap angle to solve the above-mentioned problems. Summary of the Invention

[0007] In view of the above situation and to overcome the defects of the prior art, the present invention provides a spider machine capping mechanism that is easy to adjust the angle of the hand gripping cap. This solves the problem that if only a suction cup is used to grip and cap the bottle cap, the bottle cap is very easy to fall off during movement when it is tilted, thus affecting the capping efficiency. When a gripper is used to pick up and cap the bottle cap, the gripper is easy to collide with the bottle cap during movement after capping, thus affecting the capping effect.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0009] A spider-like cap-applying mechanism for easy adjustment of the cap-grabbing angle includes a fixed platform, a support base, a swing arm assembly, a moving platform, and a cabinet. A rotating seat is fixedly connected to the moving platform, a connecting plate is mounted on the rotating seat, and a mounting base is fixedly connected to the connecting plate. A rotatable rotating platform is provided inside the mounting base, and a fixed plate is fixedly connected to the rotating platform. A first cylinder is mounted on the fixed plate, and a clamping platform is fixedly connected to the telescopic end of the first cylinder. A linkage component is provided on the fixed plate for rotating the rotating platform within the mounting base by moving the clamping platform. A clamping component is provided on the clamping platform for gripping and sucking up bottle caps.

[0010] Preferably, the swing arm assembly includes a first motor mounted on a support base, an active arm rotatably connected to the support base, and the active arm being drivenly connected to the output shaft of the first motor. A driven arm is rotatably connected to the active arm, and one end of the driven arm is rotatably connected to the moving platform.

[0011] Preferably, the linkage component includes a rotating groove formed on a fixed plate, a first rotating shaft rotatably connected to the rotating groove, a second rotating shaft rotatably connected to the mounting base, one end of the rotating table being fixedly connected to the second rotating shaft, and transmission wheels being installed on both the second and first rotating shafts, with the two transmission wheels connected by a belt drive.

[0012] Preferably, the linkage assembly further includes a rack, a gear is installed at the middle end of the first rotating shaft and meshes with the rack, a linkage rod is fixedly connected to the clamping platform, the rack has a through hole and a sliding groove, the through hole and the sliding groove are connected, the top end of the linkage rod passes through the through hole and is fixedly connected to a sliding plate, and the sliding plate is slidably connected in the sliding groove.

[0013] Preferably, a guide rod is fixedly connected to the fixed plate, a guide block is slidably connected to the guide rod, one end of the guide block is fixedly connected to the rack, and a limit plate is fixedly connected to the bottom end of the guide rod.

[0014] Preferably, two sets of gas spring telescopic rods are fixedly connected to the bottom surface of the fixing plate, and the telescopic end of each gas spring telescopic rod is fixedly connected to the clamping platform.

[0015] Preferably, the clamping assembly includes a second cylinder mounted on the bottom surface of the clamping platform. The telescopic end of the second cylinder is fixedly connected to a linkage column. A suction cup is mounted on the linkage column, and the linkage column is connected to a vacuum generator through an air pipe.

[0016] Preferably, the clamping platform is hinged with an arc-shaped gripper arranged in a circular array, the linkage column is fixedly connected with a hinge seat, the hinge seat is hinged with a hinge rod, and one end of the hinge rod is hinged to the arc-shaped gripper. The material picking surface of the arc-shaped gripper is fixedly connected with a clamping block.

[0017] The beneficial effects of this invention are as follows:

[0018] 1. Through the coordinated setup of the linkage component and the first cylinder, the lifting of the clamping platform can drive the rotation of the rotary table, thereby adjusting the angle of the clamping component to meet the capping requirements under different tilt conditions. After capping is completed, the clamping component is first moved away from the bottle mouth by the first cylinder, and then the angle is reset, avoiding collision with the bottle mouth during rotation. This ensures the convenience of angle adjustment, prevents interference with the installed bottle cap, and improves the accuracy of capping and product quality.

[0019] 2. By adopting a synchronous combination of suction cup and arc-shaped gripper, the suction cup uses negative pressure to adhere to the center of the bottle cap during material handling, while the arc-shaped gripper simultaneously holds the bottle cap from the side. This achieves double fixation of the bottle cap, avoiding the problem of the bottle cap easily falling off when using only the suction cup for tilting and movement, and preventing the collision of the bottle cap after capping that may occur when using only the gripper. This significantly improves the stability of the bottle cap gripping and moving process, reduces the risk of bottle cap falling off, and ensures capping efficiency.

[0020] 3. By setting up the swing arm assembly, the swing arm assembly can realize the movement of the moving platform in the X, Y, and Z directions, so that the clamping assembly can accurately align the bottle caps in different states on the conveyor belt. Furthermore, the setting of guide rods, guide blocks, and gas spring telescopic rods ensures the stability of the movement of the clamping platform and rack, further guaranteeing the accuracy of angle adjustment and capping action. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the installation of the present invention on the cabinet.

[0022] Figure 2 The three-dimensional representation of the present invention Figure 1 .

[0023] Figure 3 The three-dimensional representation of the present invention Figure 2 .

[0024] Figure 4 This is a schematic diagram of the structure of the present invention in the covered state.

[0025] Figure 5 For the present invention Figure 4 Enlarged schematic diagram of the structure at point B.

[0026] Figure 6 This is a schematic diagram of the structure of the present invention in the cap-removed state.

[0027] Figure 7 For the present invention Figure 6 Enlarged schematic diagram of the structure at point C.

[0028] Figure 8 A schematic diagram of the clamping component in the unfolded state in this invention.

[0029] In the diagram: 1. Fixed platform; 2. Support base; 3. Swing arm assembly; 4. Cabinet; 5. Moving platform; 6. Rotating seat; 7. Connecting plate; 8. Linkage assembly; 9. Clamping assembly; 10. Mounting base; 11. Rotary table; 12. Fixed plate; 13. First cylinder; 14. Gas spring telescopic rod; 15. Clamping platform; 16. Sliding groove; 17. Guide block; 18. Guide rod; 19. Limiting plate; 31. First motor; 32. Driving arm; 33. Driven arm; 81. Rotating groove; 82. First rotating shaft; 83. Gear; 84. Transmission wheel; 85. Second rotating shaft; 86. Perforation; 87. Rack; 88. Linkage rod; 89. Sliding plate; 91. Arc-shaped gripper; 92. Clamping block; 93. Hinge rod; 94. Second cylinder; 95. Linkage column; 96. Suction cup; 97. Hinge seat. Detailed Implementation

[0030] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0031] A spider-like machine cap-applying mechanism that allows for easy adjustment of the cap-grabbing angle, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the system includes a fixed platform 1, a support base 2, a swing arm assembly 3, a moving platform 5, and a cabinet 4. A rotating base 6 is fixedly connected to the moving platform 5. A connecting plate 7 is installed on the rotating base 6. A mounting base 10 is fixedly connected to the connecting plate 7. A rotatable rotating table 11 is provided inside the mounting base 10. A fixed plate 12 is fixedly connected to the rotating table 11. A first cylinder 13 is installed on the fixed plate 12. A clamping platform 15 is fixedly connected to the telescopic end of the first cylinder 13. A linkage assembly 8 is provided on the fixed plate 12 for rotating the rotating table 11 within the mounting base 10 by moving the clamping platform 15. A clamping assembly 9 is provided on the clamping platform 15 for gripping and sucking up bottle caps.

[0032] The support base 2 is fixed to the cabinet 4 with bolts. The rotating base 6 can move in the X, Y and Z directions with the help of the swing arm assembly 3. The telescopic end of the first cylinder 13 can drive the clamping platform 15 to move downward, thereby lowering the clamping assembly 9 to the material picking position for material picking.

[0033] This motion can precisely control the clamping component 9 to reach the material picking position of the conveyor belt or the capping position of the bottle, adapting to bottle caps and bottles in different positions and states.

[0034] like Figure 1 , Figure 2 and Figure 3 As shown, the swing arm assembly 3 includes a first motor 31 mounted on a support base 2, an active arm 32 rotatably connected to the support base 2, and the active arm 32 is connected to the output shaft of the first motor 31 via a transmission connection. A driven arm 33 is rotatably connected to the active arm 32, and one end of the driven arm 33 is rotatably connected to the moving platform 5.

[0035] The output shaft of the first motor 31 drives the active arm 32 to rotate via a pulley and belt. Through the connection between the driven arm 33 on the active arm 32 and the moving platform 5, the moving platform 5 can move in three degrees of freedom (X, Y, Z), thereby completing the moving actions such as bottle cap gripping, bottle cap moving, and bottle cap putting on.

[0036] like Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, the linkage component 8 includes a rotating groove 81 formed on the fixed plate 12. A first rotating shaft 82 is rotatably connected to the rotating groove 81. A second rotating shaft 85 is rotatably connected inside the mounting base 10. One end of the rotating table 11 is fixedly connected to the second rotating shaft 85. Both the second rotating shaft 85 and the first rotating shaft 82 are equipped with transmission wheels 84, and the two transmission wheels 84 are connected by belt drive. When the first rotating shaft 82 drives the second rotating shaft 85 to rotate synchronously through the transmission wheels 84, the second rotating shaft 85 can drive the fixed plate 12 to rotate synchronously through the rotating table 11, thereby making the rotating table 11 and the connecting plate 7 form an inclined angle, which facilitates the clamping component 9 to tilt and put on the cover.

[0037] like Figure 4 , Figure 6 and Figure 7 As shown, the linkage assembly 8 also includes a rack 87, a gear 83 is installed at the middle end of the first rotating shaft 82, and the gear 83 meshes with the rack 87. A linkage rod 88 is fixedly connected to the clamping platform 15. A through hole 86 and a sliding groove 16 are provided on the rack 87, and the through hole 86 and the sliding groove 16 are connected. The top end of the linkage rod 88 passes through the through hole 86 and is fixedly connected to a sliding plate 89, and the sliding plate 89 is slidably connected in the sliding groove 16.

[0038] Both gear 83 and rack 87 are located inside the rotating groove 81. The rotation angle of the second rotating shaft 85 is adjusted by the number of meshing teeth of rack 87 and gear 83. In order to facilitate the movement distance of rack 87 at different angles of bottle mouth on the bottle body, the movement distance of rack 87 can be adjusted according to actual needs.

[0039] During the material handling process, the telescopic end of the first cylinder 13 extends, pushing the clamping platform 15 downward and moving it. The clamping assembly 9 then completes the material handling. At this time, the clamping platform 15 drives the sliding plate 89 on the linkage rod 88 to move from the top to the bottom of the sliding groove 16, and then raises the fixed plate 12 to the waiting position. The telescopic end of the first cylinder 13 continues to drive the clamping platform 15 downward. During this process, the linkage rod 88 drives the rack 87 to descend synchronously through the sliding plate 89. With the help of the meshing action between the rack 87 and the gear 83, the first rotating shaft 82 drives the second rotating shaft 85 to rotate through the transmission wheel 84, thereby causing the rotating table 11 to rotate on the mounting base 10 and rotating the clamping assembly 9 to the cover angle.

[0040] After the clamping component 9 completes the capping operation, the first cylinder 13 drives the clamping platform 15 to rise, moving the clamping component 9 away from the cap position on the bottle body. The telescopic end of the first cylinder 13 continues to rise, rotating the rotary table 11 to a position perpendicular to the connecting plate 7. After capping the bottle, the clamping component 9 is first moved away from the bottle mouth before rotation. This effectively avoids the clamping component 9 touching the bottle mouth during rotation, ensuring convenient angle adjustment and preventing interference with the installed bottle cap, thus improving the accuracy of capping and product quality.

[0041] like Figure 5 and Figure 7 As shown, a guide rod 18 is fixedly connected to the fixed plate 12, a guide block 17 is slidably connected to the guide rod 18, and one end of the guide block 17 is fixedly connected to the rack 87. A limit plate 19 is fixedly connected to the bottom end of the guide rod 18. Two sets of gas spring telescopic rods 14 are fixedly connected to the bottom surface of the fixed plate 12, and the telescopic end of each gas spring telescopic rod 14 is fixedly connected to the clamping platform 15.

[0042] When the rack 87 moves longitudinally, the rack 87 will drive the guide block 17 to slide on the guide rod 18. The guiding performance of the guide rod 18 and the guide block 17 is used to improve the stability of the rack 87's movement. Moreover, the limiting plate 19 can form a limit at the lowest position of the guide block 17.

[0043] The gas spring telescopic rod 14 is an existing structure. It uses the air pressure inside the gas spring to achieve elastic support, and at the same time, the length can be adjusted through the structure of the telescopic rod. It has both convenience and stability. When the clamping platform 15 is raised and lowered, the gas spring telescopic rod 14 is used to support it to ensure the stability of the clamping platform 15 during the movement.

[0044] By setting up the swing arm assembly, the swing arm assembly 3 can realize the movement of the moving platform 5 in the X, Y, and Z directions, so that the clamping assembly 9 can accurately align the bottle caps in different states on the conveyor belt. Furthermore, the setting of the guide rod 18, guide block 17, and gas spring telescopic rod 14 ensures the stability of the movement of the clamping platform 15 and the rack 87, further guaranteeing the accuracy of angle adjustment and capping action.

[0045] like Figure 4 , Figure 6 and Figure 8 As shown, the clamping assembly 9 includes a second cylinder 94 mounted on the bottom surface of the clamping platform 15. The telescopic end of the second cylinder 94 is fixedly connected to a linkage column 95. A suction cup 96 is mounted on the linkage column 95, and the linkage column 95 is connected to a vacuum generator through an air pipe. The negative pressure generated by the vacuum generator is used to make the suction cup 96 pick up the bottle cap. When the suction cup 96 picks up the bottle cap, it will stick to the upper surface of the bottle cap and deform to complete the adsorption and fixation.

[0046] After the suction cup component 96 is connected to the vacuum generator, its working principle for picking up bottle caps is based on the suction force generated by the pressure difference. The core is to create a low-pressure environment inside the suction cup through the vacuum generator, using the external atmospheric pressure to press the object onto the suction cup. The working state of the suction cup component 96 is divided into three types. The first type is when the suction cup is not working, the internal air pressure is equal to the external atmospheric pressure, and there is no suction force. The second type is when the vacuum generator is started, and the air inside the suction cup is continuously discharged through the pipeline, so that the internal air pressure of the suction cup gradually decreases and the bottle cap is adsorbed onto the suction cup component 96. The third type is when the vacuum generator is stopped or the breaking valve is opened (a small amount of compressed air or atmospheric air is introduced into the suction cup), so that the internal air pressure of the suction cup rises back to be equal to the external atmospheric pressure, the pressure difference disappears, the suction force disappears, and the object is released.

[0047] like Figure 4 , Figure 6 and Figure 8 As shown, the clamping platform 15 is hinged with an arc-shaped gripper 91 arranged in a circular array. A hinge seat 97 is fixedly connected to the linkage column 95. A hinge rod 93 is hinged to the hinge seat 97, and one end of the hinge rod 93 is hinged to the arc-shaped gripper 91. A clamping block 92 is fixedly connected to the material picking surface of the arc-shaped gripper 91. The linkage column 95 is a hollow tubular structure. The suction cup component 96 is connected to the linkage column 95. The vacuum generator is connected to the suction cup component 96 through the linkage column 95.

[0048] The arc-shaped gripper 91 adopts a three-section design. Its bottom section structure realizes the gripping function of bottle cap through the gripping block 92. The gripping block 92 is specially designed with an arc-shaped groove, which can effectively increase the contact area between the gripping block 92 and the bottle cap, thereby significantly improving the stability of the gripping block 92 after gripping the bottle cap.

[0049] By employing a synchronous combination of suction cup 96 and arc-shaped gripper 91, the suction cup 96 uses negative pressure to adhere to the center of the bottle cap during material handling, while the arc-shaped gripper 91 simultaneously clamps the bottle cap from the side. This achieves dual fixation of the bottle cap, avoiding the problem of the bottle cap easily falling off when using only the suction cup for tilting and movement, and preventing collisions with the bottle cap after capping that may occur when using only the gripper. This significantly improves the stability during bottle cap gripping and movement, reduces the risk of bottle cap falling off, and ensures capping efficiency.

[0050] When picking up the bottle cap, the clamping assembly 9 is first moved to directly above the bottle cap. Then, the second cylinder 94 pushes the linkage column 95 to descend, so that the suction cup 96 on the linkage column 95 is pressed against the center of the bottle cap. The bottle cap is fixed by negative pressure adsorption. At the same time, the linkage column 95 will drive the hinge seat 97 to descend synchronously during the descent. Under the action of the hinge rod 93, the arc-shaped gripper 91 moves closer to the bottle cap and the clamping block 92 on the gripper is pressed against the side of the bottle cap, thereby realizing the synchronous clamping and fixing of the bottle cap.

[0051] By employing a synchronous combination of suction cup 96 and arc-shaped gripper 91, the suction cup 96 uses negative pressure to adhere to the center of the bottle cap during material handling, while the arc-shaped gripper 91 simultaneously clamps the bottle cap from the side. This achieves dual fixation of the bottle cap, avoiding the problem of the bottle cap easily falling off when using only suction cup 96 for tilting and movement, and preventing the possibility of collision with the bottle cap after capping when using only arc-shaped gripper 91. This significantly improves the stability during bottle cap gripping and movement, reduces the risk of bottle cap falling off, and ensures capping efficiency.

[0052] Through the coordinated arrangement of the linkage component 8 and the first cylinder 13, the lifting and lowering of the clamping platform 15 can drive the rotating table 11 to rotate, thereby adjusting the angle of the clamping component 9 to meet the capping requirements under different tilt conditions. After capping is completed, the clamping component 9 is first moved away from the bottle mouth by the first cylinder 13, and then the angle is reset, avoiding collision with the bottle mouth during rotation. This ensures the convenience of angle adjustment, prevents interference with the installed bottle cap, and improves the accuracy of capping and product quality.

[0053] It should be noted that in the description of this invention, terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," which indicate direction or positional relationships, are based on the direction or positional relationships shown in the accompanying drawings. These are used merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0054] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0055] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A spider-like robot cap-wearing mechanism for easy adjustment of the hand-grabbing cap angle, comprising a fixed platform (1), a support base (2), a swing arm assembly (3), a moving platform (5), and a cabinet (4), characterized in that, A rotating seat (6) is fixedly connected to the moving platform (5). A connecting plate (7) is installed on the rotating seat (6). A mounting seat (10) is fixedly connected to the connecting plate (7). A rotatable rotating table (11) is provided inside the mounting seat (10). A fixing plate (12) is fixedly connected to the rotating table (11). A first cylinder (13) is installed on the fixing plate (12). A clamping platform (15) is fixedly connected to the telescopic end of the first cylinder (13). A linkage component (8) is provided on the fixing plate (12) for rotating the rotating table (11) inside the mounting seat (10) by moving the clamping platform (15). A clamping component (9) for gripping and sucking bottle caps is provided on the clamping platform (15). The swing arm assembly (3) includes a first motor (31) mounted on a support base (2), an active arm (32) rotatably connected to the support base (2), and the active arm (32) is connected to the output shaft of the first motor (31) via a transmission connection. A driven arm (33) is rotatably connected to the active arm (32), and one end of the driven arm (33) is rotatably connected to the moving platform (5). The linkage assembly (8) includes a rotating groove (81) formed on a fixed plate (12), a first rotating shaft (82) rotatably connected to the rotating groove (81), a second rotating shaft (85) rotatably connected inside the mounting base (10), one end of the rotating table (11) being fixedly connected to the second rotating shaft (85), and transmission wheels (84) being installed on both the second rotating shaft (85) and the first rotating shaft (82), and the two transmission wheels (84) being connected by a belt drive. The linkage assembly (8) also includes a rack (87), a gear (83) being installed at the middle end of the first rotating shaft (82), and the gear (83) meshing with the rack (87). The clamping platform (15) is fixedly connected with a linkage rod (88). The rack (87) has a through hole (86) and a sliding groove (16), and the through hole (86) and the sliding groove (16) are connected. The top of the linkage rod (88) passes through the through hole (86) and is fixedly connected with a sliding plate (89), and the sliding plate (89) is slidably connected in the sliding groove (16). The fixed plate (12) is fixedly connected with a guide rod (18), and a guide block (17) is slidably connected on the guide rod (18). One end of the guide block (17) is fixedly connected to the rack (87), and the bottom end of the guide rod (18) is fixedly connected with a limit plate (19).

2. The spider-like machine cap-wearing mechanism for easy adjustment of the hand-grabbing cap angle according to claim 1, characterized in that, Two sets of gas spring telescopic rods (14) are fixedly connected to the bottom surface of the fixed plate (12), and the telescopic end of each gas spring telescopic rod (14) is fixedly connected to the clamping platform (15).

3. The spider-like machine cap-wearing mechanism for easy adjustment of the hand-grabbing cap angle according to claim 1, characterized in that, The clamping assembly (9) includes a second cylinder (94) mounted on the bottom surface of the clamping platform (15). The telescopic end of the second cylinder (94) is fixedly connected to a linkage column (95). A suction cup (96) is mounted on the linkage column (95), and the linkage column (95) is connected to a vacuum generator through an air pipe.

4. The spider-like machine cap-wearing mechanism for easy adjustment of the hand-grabbing cap angle according to claim 3, characterized in that, The clamping platform (15) is hinged with an arc-shaped gripper (91) arranged in a circular array. The linkage column (95) is fixedly connected with a hinge seat (97). The hinge seat (97) is hinged with a hinge rod (93), and one end of the hinge rod (93) is hinged to the arc-shaped gripper (91). The material picking surface of the arc-shaped gripper (91) is fixedly connected with a clamping block (92).

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