A bottle upright rolling device based on a multi-link mechanism

Abstract

This invention discloses a bottle upright rolling device based on a multi-link mechanism, including a frame and a vision recognition system. A rotating rod is connected to the frame via a lever shaft, one end of which is connected to a drive assembly. The top of the rotating rod is connected to the interior of a mounting base via a bearing, with the bearing and mounting base coaxial and their axis parallel to the height direction of the frame. A bottle holder is provided on the top of the mounting base to fix the bottle. A linkage assembly is rotatably connected to one side of the mounting base, with its rotation direction perpendicular to the height direction of the frame. The vision recognition system acquires flat images and identifies the type, size, and spatial posture of the bottle, controlling the movement of the drive assembly based on this information. This invention, through the drive assembly and linkage assembly, can complete the upright repositioning and linked rolling of the bottle in a single, smooth motion, significantly shortening the process flow and reducing the equipment footprint and the risk of collisions during bottle transfer.

Description

Technical Field

[0001] This invention relates to the field of industrial automation, and in particular to a bottle upright rolling device based on a multi-link mechanism. Background Technology

[0002] On modern packaging production lines for fast-moving consumer goods such as mineral water and beverages, containers such as PET bottles and glass bottles need to go through a complete process from blow molding and filling to packaging. Among them, converting horizontally conveyed empty or full bottles to an upright position and rotating them at a specific angle to complete processes such as labeling, coding, visual inspection, or boxing is a key link in the production line.

[0003] Currently, in mineral water and beverage production lines, different processes have significantly different requirements for bottle posture: filling and labeling processes require bottles to be upright to ensure precise operation; cooling and shaping processes and multi-sided printing processes require bottles to be rolled to achieve uniform cooling or full-circumference printing; however, most existing devices can only achieve single posture changes (such as cooling devices that only roll, or filling positioning devices that only stand upright), and cannot meet the process connection requirements of "upright-rolling" composite postures. For example, after the bottle is cooled by rolling, an additional transfer device is needed to adjust it to an upright position before it can enter the filling stage, which not only increases equipment investment but also reduces production efficiency.

[0004] In addition, the vision system in traditional devices only plays a "positioning" role and does not form a deep closed loop with the motion parameters (such as stroke, speed, and rotation angle) of the actuator (such as multi-link). The actuator still runs according to the preset and fixed trajectory and parameters. The vision system only ensures that the spatial coordinates of the starting or ending point of the action are correct. It cannot solve problems such as unstable clamping caused by changes in bottle size and shape, tipping caused by the shift of the center of gravity during the flipping process, or inaccurate rolling angle. Summary of the Invention

[0005] The technical problem solved by the present invention is to provide a bottle upright rolling device based on a multi-link mechanism.

[0006] This application provides a bottle upright rolling device based on a multi-link mechanism, including a frame installed on a bottle conveyor line and a vision recognition system installed above the bottle conveyor line path. A rotating rod is connected to the frame via a lever shaft, one end of which is connected to a drive assembly. The top of the rotating rod is connected to the interior of a mounting base via a bearing. The bearing and the mounting base are coaxially arranged, and their axis is parallel to the height direction of the frame. A bottle holder for fixing the bottle is provided on the top of the mounting base. A linkage assembly is rotatably connected to one side of the mounting base, and the rotation direction of the linkage assembly is perpendicular to the height direction of the frame. The vision recognition system is used to acquire flat-coated images and identify the type, size, and spatial posture of the bottle, and control the movement of the drive assembly based on this information.

[0007] Furthermore, the frame is U-shaped, and the linkage assembly includes a bearing fixed to the inner wall of the frame, a rotating shaft fixed to the bearing, a first connecting rod rotatably connected to the rotating shaft via a steering knuckle, and a second connecting rod rotatably connected to the first connecting rod. The second connecting rod is rotatably connected to the side wall of the mounting base via a lifting lug. The rotation directions of both ends of the first connecting rod and the connection end of the second connecting rod with the first connecting rod are the same and perpendicular to the rotation directions of the connection end of the second connecting rod and the steering knuckle.

[0008] Furthermore, two bottle sleeves are symmetrically arranged on the upper surface of the bottle holder. The outer wall of the bottle sleeve is formed with knurled patterns. The bottom of the bottle sleeve is connected to a fixed shaft through a bearing. The fixed shaft is connected to a micro motor installed on the mounting base.

[0009] Furthermore, the bottle holder integrates a three-jaw chuck, and a spiral sleeve is screwed to the top of the mounting base. The top end face of the spiral sleeve is formed with an end face spiral groove, and the bottom of each jaw of the three-jaw chuck is connected to the end face spiral groove by guide pins.

[0010] Furthermore, the three-jaw chuck includes a base disposed at the bottom of the bottle holder, each of the jaws is slidably connected to the base, and the ends of each of the jaws are respectively connected to the base via tension springs. An arc-shaped guide groove is provided at the bottom of the base and at the position corresponding to the jaw. One end of the guide pin is connected to the jaw, and the other end passes through the arc-shaped guide groove and is embedded in the corresponding end face spiral groove.

[0011] Furthermore, two guide blocks are provided at the bottle tray inlet, and the opposing surfaces of the two guide blocks are inclined to form a V-shaped channel. The bottom of the guide blocks is connected to a linear guide rail via a base, and the linear guide rail is fixed to the frame.

[0012] Furthermore, a compression spring is installed on one side of the mounting base, and the other end of the compression spring is connected to the frame.

[0013] Furthermore, a feeding mechanism is provided at the bottle tray inlet and on one side of the guide block. The feeding mechanism includes a star wheel and a drive motor. The shape of the bottle-dispensing groove of the star wheel is adapted to the shape of the bottle body, and the inner ring is connected to a central shaft. The output shaft of the drive motor is connected to the central shaft through a coupling.

[0014] Furthermore, a friction plate clutch is provided at the connection between the lever shaft and the rotating rod, and the pressure of the friction plate clutch is preset by a disc spring and an adjusting nut.

[0015] Furthermore, the visual recognition system includes a camera, an edge computing unit, and a control unit. The camera is used to acquire images of the bottle. The edge computing unit has a built-in deep learning algorithm for real-time identification of the bottle's type, size, and spatial orientation based on the YOLO object detection model. The control unit is electrically connected to the drive component and communicatively connected to the edge computing unit, and is used to dynamically adjust the stroke, speed, and thrust parameters of the drive component based on the bottle information output by the edge computing unit.

[0016] Compared with existing technologies, this invention can complete the two functions of upright repositioning and linked rolling of the bottle in a single smooth motion through the drive component and linkage component, which significantly shortens the process flow and reduces the equipment footprint and the risk of collision during bottle transfer. In addition, by integrating a vision recognition system, the device can perceive the type, size and spatial posture of the bottle in real time, and intelligently adjust the motion parameters of the drive component (such as the stroke and speed of the electric push rod) accordingly. This allows the same device to handle bottles of different specifications without human intervention, greatly improving the versatility of the equipment and the flexibility of the production line. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention.

[0018] Figure 1 This is an overall schematic diagram of a bottle upright rolling device based on a multi-link mechanism according to the present invention.

[0019] Figure 2 This is a front view of a bottle upright rolling device based on a multi-link mechanism according to the present invention;

[0020] Figure 3 This is a side view of a bottle upright rolling device based on a multi-link mechanism according to the present invention;

[0021] Figure 4 yes Figure 3 Sectional view of AA;

[0022] Figure 5 yes Figure 3 Sectional view of BB;

[0023] Figure 6 This is a top view of the bottle holder of the present invention;

[0024] Figure 7 This is a cross-sectional view of the bottle holder of the present invention;

[0025] Figure 8 This is a top view of the spiral sleeve of the present invention;

[0026] Figure 9 This is a bottom view of the base of the present invention;

[0027] Figure 10 This is a schematic diagram of the linear guide rail of the present invention;

[0028] Figure 11 This is a schematic diagram of the drive structure of the star-shaped wheel of the present invention.

[0029] The reference numerals in the attached figures include:

[0030] 1. Bottle body; 2. Bearing; 3. Elastic retaining ring for the first shaft; 4. Second connecting rod; 5. Mounting seat; 6. First washer; 7. First connecting rod; 8. Steering knuckle; 9. Shaft; 10. Right vertical plate; 11. Base plate; 12. Shaft seat; 13. Friction plate clutch; 14. Second rod shaft; 15. First rod shaft; 16. Left vertical plate; 17. Second pin; 18. First pin; 19. Rear vertical plate; 20. Electric cylinder connecting rod; 21. Drive assembly; 22. Second lifting lug; 23. Aluminum tube; 24. Electric cylinder shaft seat; 25. Elastic retaining ring for the second shaft; 26. Slotted spring pin; 27. Second washer; 28. Nut; 29. ​​Single spring locking washer 30. Third screw; 31. Second screw; 32. Bottle holder; 33. First screw; 34. Bearing retaining ring; 35. Fourth pin; 36. Lifting lug; 37. Limiting sealing block; 38. Rotating rod; 39. Frame; 40. Linkage assembly; 41. Micro motor; 42. Bottle sleeve; 43. Synchronous belt; 44. Spiral sleeve; 45. End face spiral groove; 46. Base; 47. Claw; 48. Tension spring; 49. Arc-shaped guide groove; 50. Guide pin; 51. Guide block; 52. Base; 53. Linear guide rail; 54. Compression spring; 55. Star wheel; 56. Drive motor; 57. Central shaft; 58. Fixed shaft; 59. Camera. Detailed Implementation

[0031] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0032] like Figure 1 As shown, a bottle upright rolling device based on a multi-link mechanism of the present invention includes a frame 39 installed on a bottle 1 conveyor line and a vision recognition system installed above the conveyor line path of the bottle 1. A rotating rod 38 is connected to the frame 39 via a lever shaft. One end of the lever shaft is connected to a drive assembly 21. The top of the rotating rod 38 is connected to the interior of a mounting base 5 via a bearing 2. The bearing 2 and the mounting base 5 are coaxially arranged, and their axis is parallel to the height direction of the frame 39. The top of the mounting base 5 is provided with a bottle holder 32 for fixing the bottle 1. A connecting rod assembly 40 is rotatably connected to one side of the mounting base 5. The rotation direction of the connecting rod assembly 40 is perpendicular to the height direction of the frame 39. The vision recognition system is used to acquire flat-coated images and identify the type, size, and spatial posture of the bottle 1, and control the movement of the drive assembly 21 based on this information.

[0033] This invention enables the upright repositioning and linked rolling of the bottle 1 to be completed in a single, smooth motion using the drive assembly 21 and the linkage assembly 40. This significantly shortens the process flow, reduces the equipment footprint, and minimizes the risk of collisions during the transfer of the bottle 1. Furthermore, by integrating a vision recognition system, the device can perceive the type, size, and spatial posture of the bottle 1 in real time and intelligently adjust the motion parameters of the drive assembly 21 (such as the stroke and speed of the electric push rod). This allows the same device to handle bottles of different specifications without human intervention, greatly improving the versatility of the equipment and the flexibility of the production line.

[0034] Specifically, the drive component 21 is an electric actuator, hydraulic cylinder, electric cylinder, etc., preferably an electric cylinder, which converts the single input into a swing-rotation compound motion of the mounting base 5 in space, thereby realizing the change of upright-rolling posture.

[0035] In some embodiments, the frame 39 is U-shaped, and the linkage assembly 40 includes a bearing seat 12 fixed to the inner wall of the frame 39, a rotating shaft 9 fixed to the bearing seat 12, a first connecting rod 7 rotatably connected to the rotating shaft 9 via a steering knuckle 8, and a second connecting rod 4 rotatably connected to the first connecting rod 7. The second connecting rod 4 is rotatably connected to the side wall of the mounting base 5 via a lifting lug 36. The rotation directions of the two ends of the first connecting rod 7 and the connection end of the second connecting rod 4 with the first connecting rod 7 are the same and perpendicular to the rotation direction of the connection end of the second connecting rod 4 and the steering knuckle 8.

[0036] In this embodiment, by setting the rotation directions at both ends of the first connecting rod 7 to be perpendicular to the rotation directions of the second connecting rod 4 and the universal joint connection end, the entire connecting rod assembly 40 forms a spatial motion chain. This design cleverly decomposes the movement of the mounting base 5 into two mutually perpendicular planes, thereby converting the single input of the electric cylinder into a composite motion of lifting, swinging, and rotating of the mounting base 5 in space. This motion trajectory is precisely mechanically constrained, and each component completely avoids motion interference during the movement process, ensuring the smoothness and reliability of the entire process of the bottle 1 standing upright and rolling.

[0037] Specifically, the frame 39 consists of a base plate 11 and a left vertical plate 16, a right vertical plate 10, and a rear vertical plate 19 connected to the base plate 11. The base plate 11 is connected to the three vertical plates by a third screw 30, and a single spring locking washer 29 is provided between the third screw 30 and the plate. The lever shaft includes a first rod shaft 15 and a second rod shaft 14, wherein the length of the second rod shaft 14 is greater than that of the first rod shaft 15, and one end of each rod shaft is rotatably connected to the side wall of the frame 39 (rotation is achieved through bearings), and the other end is connected to a friction plate clutch 13. The friction plate clutch 13 is connected to the rotating rod 38 by a first screw 33, and the rod shaft is connected to the friction plate clutch 13 by a slotted spring pin 26. A first shaft elastic retaining ring 3 and a first washer 6 are provided at the connection position between the outer wall of the frame 39 and the shaft, and the connection position between the side wall of the frame 39 and the bearing is... A first bushing is provided; the bearing seat 12 is fixed to the frame 39 by the second screw 31, and the universal joint is connected to the first connecting rod 7 by the first pin 18; the electric cylinder is fixed to the outer wall of the frame 39 by the electric cylinder bearing seat 24, and an aluminum tube 23 is sleeved on the output shaft of the electric cylinder. The output shaft is connected to the electric cylinder connecting rod 20, and the electric cylinder connecting rod 20 is fixed to the frame 39 by the second lifting lug 22. A second washer 27 is provided at the connection between the electric cylinder connecting rod 20 and the second lifting lug 22, and the electric cylinder connecting rod 20 and the second lifting lug 22 are connected by the second pin 17. A second shaft elastic retaining ring 25 is provided at the connection. The second lifting lug 22 is connected to the first rod shaft 15 by the nut 28; a bearing retaining ring 34 is provided at the bearing 2 connected to the rotating rod 38, and the two are connected by the fourth pin 35. A limiting sealing block 37 is provided at the bottom of the cylindrical mounting seat 5, and is pin connected to the mounting seat 5.

[0038] In some embodiments, two bottle sleeves 42 are symmetrically arranged on the upper surface of the bottle holder 32. The outer wall of the bottle sleeve 42 is formed with knurled patterns. The bottom of the bottle sleeve 42 is connected to a fixed shaft 58 through a bearing 2. The fixed shaft 58 is connected to a micro motor 41 installed on the mounting base 5.

[0039] In this embodiment, by using a micro motor 41 as a power source and transmitting it via a synchronous belt 43, the rotation angle, speed and acceleration of the bottle 1 can be precisely digitally controlled. This enables the bottle 1 to achieve precise positioning at any angle within the range of 0-360°, overcoming the defect of traditional pure mechanical linkage mechanisms that can only achieve "passive rolling" at a fixed angle. It also provides a reliable technical foundation for subsequent advanced processes such as circumferential labeling, 360° visual inspection, and local inkjet printing.

[0040] Specifically, one or two bearings are connected to the fixed shaft 58, and the bearings are fixed to the inner wall of the bottle holder 32. A first gear is connected to the fixed shaft 58, and the first gear meshes with a second gear perpendicular to it. The second gear is connected to the side wall of the bottle holder 32 through the shaft. The part of the shaft located outside the bottle holder 32 is connected to a third gear. A fourth gear is sleeved on the output shaft of the micro motor 41. The third gear and the fourth gear are connected by a synchronous belt 43.

[0041] In some embodiments, a three-jaw chuck is integrated inside the bottle holder 32, and a spiral sleeve 44 is screwed to the top of the mounting base 5. The top end face of the spiral sleeve 44 is formed with an end face spiral groove 45. The bottom of each jaw 47 of the three-jaw chuck is connected to the end face spiral groove 45 by a guide pin 50. The three-jaw chuck includes a base 46 disposed at the bottom of the bottle holder 32. Each jaw 47 is slidably connected to the base 46, and the end of each jaw 47 is connected to the base 46 by a tension spring 48. An arc-shaped guide groove 49 is provided at the bottom of the base 46 at the position corresponding to the jaw 47. One end of the guide pin 50 is connected to the jaw 47, and the other end passes through the arc-shaped guide groove 49 and is embedded in the corresponding end face spiral groove 45.

[0042] In this embodiment, the single rotational motion of the spiral sleeve 44 is forcibly converted into the precise and synchronous radial linear motion of the three jaws 47 by the cooperation of the spiral groove 45 on the end face of the spiral sleeve 44 and the guide pin 50. This ensures that the three jaws 47 always move synchronously and equidistantly toward or away from the center, thereby realizing the automatic centering function for bottles 1 of different diameters. When the production line needs to change the bottle type, the operator does not need to replace any parts or use special tools. He only needs to manually rotate the spiral sleeve 44 to complete the adjustment of the clamping range of the jaws 47 within a few seconds (e.g., 3 seconds). The clamping range can cover φ20mm to φ60mm or even wider, which greatly improves the flexibility of the production line.

[0043] In some embodiments, two guide blocks 51 are provided at the inlet of the bottle holder 32. The opposing surfaces of the two guide blocks 51 are inclined to form a V-shaped channel. The bottom of the guide block 51 is connected to the linear guide rail 53 through the base 52. The linear guide rail 53 is fixed to the frame 39. A compression spring 54 is installed on one side of the mounting base 5. The other end of the compression spring 54 is connected to the frame 39. A feeding mechanism is provided at the inlet of the bottle holder 32 and on one side of the guide block 51. The feeding mechanism includes a star wheel 55 and a drive motor 56. The shape of the bottle-dispensing groove of the star wheel 55 is adapted to the shape of the bottle body 1. The inner ring is connected to a central shaft 57. The output shaft of the drive motor 56 is connected to the central shaft 57 through a coupling.

[0044] In this embodiment, by arranging the star-shaped wheel 55 feeding mechanism and the V-shaped guide channel in series, a two-stage feeding system of "coarse positioning-fine positioning" is formed. The star-shaped wheel 55, with its bottle-picking groove adapted to the shape of the bottle 1, reliably intercepts, separates and coarsely positions the bottle 1 from the high-speed production line and sends it into the predetermined area. The V-shaped guide channel that follows then performs the final automatic centering and posture correction of the bottle 1, ensuring that the bottle 1 enters the bottle holder 32 with a precise posture. This collaborative working mode realizes the smooth and seamless transition of the bottle 1 from the dynamic conveyor line to the static processing station, and solves the problems of inaccurate positioning, bottle jamming and bottle tipping in the high-speed feeding process.

[0045] Specifically, the bottom of the V-shaped guide block 51 is connected to the frame 39 via a linear guide rail 53 and is preloaded by a compression spring 54, together forming a flexible floating system. When the bottle 1 enters the V-shaped channel, the lateral force it generates will push the entire guide block 51 assembly to overcome the spring force and produce a small displacement, thereby automatically adapting to the initial posture deviation of the bottle 1. The spring force then acts on the bottle 1, providing a balanced clamping force to center it. This flexible contact process can effectively absorb the impact energy between the bottle 1 and the guide mechanism, avoiding scratches or structural damage to the surface of the bottle 1 caused by rigid collisions.

[0046] In some embodiments, a friction plate clutch 13 is provided at the connection between the lever shaft and the rotating rod 38. The pressure of the friction plate clutch 13 is preset by a disc spring and an adjusting nut 28. This setting allows relative sliding between the inner and outer friction plates when the mechanism is jammed and the resistance torque exceeds the preset value. The first rod shaft 15 rotates freely, while the clutch housing and the rotating rod 38 remain stationary, protecting the drive assembly 21. The friction plate clutch 13 includes at least two inner friction plates and at least two outer friction plates, alternately stacked. A pressure plate is provided at one end of the friction plate assembly, and a disc spring is installed on the outer side of the pressure plate to provide axial elastic clamping force. The adjusting nut 28 is threaded to the end of a splined bushing. Rotating the adjusting nut 28 can compress or release the disc spring, thereby precisely adjusting its clamping force on the pressure plate and the entire friction plate assembly.

[0047] In some embodiments, the visual recognition system includes a camera 59, an edge computing unit, and a control unit. The camera 59 is used to acquire images of the bottle 1. The edge computing unit has a built-in deep learning algorithm for real-time identification of the type, size, and spatial posture of the bottle 1 based on the YOLO object detection model. The control unit is electrically connected to the drive component 21 and communicatively connected to the edge computing unit. It is used to dynamically adjust the stroke, speed, and thrust parameters of the drive component 21 according to the bottle 1 information output by the edge computing unit. The control unit includes a PLC controller and an AI coprocessor. The AI ​​coprocessor is communicatively connected to the edge computing unit (via Ethernet) and is used to run an adaptive control algorithm, generate optimized control parameters, and send them to the PLC controller. The PLC controller is electrically connected to the drive mechanism and is used to dynamically adjust the stroke, speed, and torque parameters of the drive mechanism according to material information to achieve precise adaptive operation for materials of different specifications. It also coordinates various drive motors, micro motors, etc.

[0048] In this embodiment, by integrating a deep learning algorithm based on the YOLO target detection model, the system is equipped with the ability to perceive and understand the working scene in real time. It can not only identify the presence or absence of bottle 1, but also accurately determine the type, size, and even three-dimensional spatial posture of bottle 1. This solves the problem of coarse processing and insufficient accuracy caused by the lack of perception in traditional equipment. By using an edge computing unit to process image data locally at the device end, the system response latency is greatly reduced, ensuring the real-time performance of control.

[0049] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0050] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0051] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0052] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A bottle upright rolling device based on a multi-link mechanism, characterized in that, The system includes a frame (39) installed on the bottle body (1) conveyor line and a vision recognition system installed above the bottle body (1) conveyor line path. A rotating rod (38) is connected to the frame (39) via a lever shaft. One end of the lever shaft is connected to a drive assembly (21). The top of the rotating rod (38) is connected to the interior of the mounting base (5) via a bearing (2). The bearing (2) is coaxial with the mounting base (5), and its axis is parallel to the height direction of the frame (39). The drive assembly (21) is an electric cylinder, which converts a single input into a swing-rotation compound motion of the mounting base (5) in space, thereby achieving a change in upright-rolling posture. The top of the mounting base (5) is provided with a bottle holder for fixing the bottle body (1). 32), a connecting rod assembly (40) is rotatably connected to one side of the mounting base (5), and the rotation direction of the connecting rod assembly (40) is perpendicular to the height direction of the frame (39); a three-jaw chuck is integrated inside the bottle holder (32), a spiral sleeve (44) is screwed to the top of the mounting base (5), and an end face spiral groove (45) is formed on the top end face of the spiral sleeve (44). The bottom of each jaw (47) of the three-jaw chuck is connected to the end face spiral groove (45) by a guide pin (50); the three-jaw chuck includes a base (46) provided at the bottom of the bottle holder (32), each jaw (47) is slidably connected to the base (46), and the end of each jaw (47) is connected by a tension spring (48). The base (46) is connected to the substrate (46). The bottom of the substrate (46) and the position corresponding to the claw (47) are provided with an arc-shaped guide groove (49). One end of the guide pin (50) is connected to the claw (47), and the other end passes through the arc-shaped guide groove (49) and is embedded in the corresponding end face spiral groove (45). The visual recognition system is used to collect flat images and identify the type, size and spatial posture of the bottle (1), and control the movement of the drive component (21) according to this information. The frame (39) is U-shaped. The linkage component (40) includes a bearing (12) fixed to the inner wall of the frame (39), a rotating shaft (9) fixed to the bearing (12), and a rotating shaft (9) that rotates with the rotating shaft (9) through a steering knuckle (8). The first connecting rod (7) and the second connecting rod (4) rotatably connected to the first connecting rod (7) are connected to the side wall of the mounting base (5) by a lifting lug (36). The two ends of the second connecting rod (4) and the connecting end of the second connecting rod (4) and the first connecting rod (7) rotate in the same direction and are perpendicular to the rotation direction of the connecting end of the first connecting rod (7) and the steering knuckle (8). Two bottle sleeves (42) are symmetrically provided on the upper surface of the bottle holder (32). The outer wall of the bottle sleeve (42) is formed with knurled patterns. The bottom of the bottle sleeve (42) is connected to a fixed shaft (58) through a bearing (2). The fixed shaft (58) is connected to a micro motor (41) installed on the mounting base (5).

2. The bottle upright rolling device based on a multi-link mechanism as described in claim 1, characterized in that, Two guide blocks (51) are provided at the entrance of the bottle holder (32). The opposite surfaces of the two guide blocks (51) are inclined to form a V-shaped channel. The bottom of the guide block (51) is connected to the linear guide rail (53) through the base (52). The linear guide rail (53) is fixed on the frame (39).

3. The bottle upright rolling device based on a multi-link mechanism as described in claim 2, characterized in that, A compression spring (54) is installed on one side of the mounting base (5), and the other end of the compression spring (54) is connected to the frame (39).

4. A bottle upright rolling device based on a multi-link mechanism as described in claim 3, characterized in that, A feeding mechanism is provided at the entrance of the bottle holder (32) and on one side of the guide block (51). The feeding mechanism includes a star wheel (55) and a drive motor (56). The shape of the bottle-dispensing groove of the star wheel (55) is adapted to the shape of the bottle body (1), and the inner ring is connected to a central shaft (57). The output shaft of the drive motor (56) is connected to the central shaft (57) through a coupling.

5. A bottle upright rolling device based on a multi-link mechanism as described in claim 4, characterized in that, A friction plate clutch (13) is provided at the connection between the lever shaft and the rotating rod (38), and the pressure of the friction plate clutch (13) is preset by a disc spring and an adjusting nut (28).

6. A bottle upright rolling device based on a multi-link mechanism as described in claim 5, characterized in that, The visual recognition system includes a camera (59), an edge computing unit, and a control unit. The camera (59) is used to acquire images of the bottle (1). The edge computing unit has a built-in deep learning algorithm for real-time identification of the type, size, and spatial posture of the bottle (1) based on the YOLO object detection model. The control unit is electrically connected to the drive component (21) and communicatively connected to the edge computing unit. It is used to dynamically adjust the stroke, speed, and thrust parameters of the drive component (21) according to the bottle (1) information output by the edge computing unit.

Images