Self-centering flexible cover opening and closing device and method and filling machine

Abstract

The invention relates to the technical field of filling, in particular to a self-centering flexible cover opening and closing device and method and a filling machine, the cover opening and closing device comprises a rotating unit and a grabbing unit, the rotating unit comprises a rotating drive, a rotating shaft and a rotating head which are arranged in sequence, and the end, connected with the rotating head, of the rotating shaft is arranged in a mounting groove formed in the surface of the rotating head; an arc-shaped surface exists between the positions where the end face of the rotating shaft can make contact with the bottom face of the mounting groove, so that the rotating head can form an inclined angle relative to the rotating shaft under the action of external force, and fixed clamping jaws are distributed in the circumferential direction of the rotating head; the grabbing unit comprises a tensioning drive, a bearing and a tensioning gripper; in the cover opening and closing device, the rotating head used for grabbing the barrel cover is connected with the rotating shaft providing rotating torque through a flexible structure, and when the rotating head makes contact with the barrel cover, under the action of the barrel cover, the rotating head can generate a certain inclination angle relative to the rotating shaft so as to be matched with the inclination angle possibly existing in a barrel opening. And therefore, the actual condition of the barrel opening can be better fit in the operation process.

Description

Technical Field

[0001] This application relates to the field of filling technology, and in particular to a self-centering flexible cap opening and closing device, method and filling machine. Background Technology

[0002] Most IBC containers on the market today will tilt to some extent at the opening, either initially or after a period of use. This tilting design can cause problems in actual use, especially when the filling machine is opening and closing the lid. Because the opening is not perfectly vertical, the gripper of the filling machine's lid-opening device will form a significant tilt angle when it contacts the lid, which causes considerable inconvenience to the operation.

[0003] This problem is particularly pronounced when closing the lid. When attempting to close the lid, the threads at the opening are difficult to align precisely due to the angle of the bucket's opening. This misalignment creates resistance during tightening, requiring repeated adjustments to ensure a smooth screw-in. This not only increases the time and difficulty of the operation but also directly leads to a lower success rate in closing the lid, causing considerable inconvenience to the operator and impacting work efficiency. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a self-centering flexible cap opening and closing device, method, and filling machine. When opening and closing IBC containers, the gripper of the cap opening and closing device can adaptively swing as the container opening tilts, thus solving the problem that existing cap opening and closing devices are difficult to adapt to container tilt. The specific solution is as follows:

[0005] In a first aspect, the present invention provides a self-centering flexible switch cover device, comprising:

[0006] A rotating unit includes a rotating drive 100, a rotating shaft 200, and a rotating head 300 arranged sequentially along a first direction. The rotating shaft 200 connects the output end of the rotating drive 100 to the rotating head 300 to transmit torque. One end of the rotating shaft 200 connected to the rotating head 300 is placed in a mounting groove 301 opened on the surface of the rotating head 300. There is an arc-shaped surface between the end face of the rotating shaft 200 and the bottom surface of the mounting groove 301 at a position where they can contact each other, so that the rotating head 300 can form an inclination angle relative to the rotating shaft 200 under the action of external force. Fixed grippers 302 are distributed circumferentially on the rotating head 300.

[0007] The gripping unit includes a tension drive 400, a bearing 500, and a tension gripper 600. The tension gripper 600 is rotatably mounted on the rotating head 300 and is rotatably connected to the output end of the tension drive 400 via the bearing 500. Under the action of an external force, the tension gripper 600 can rotate relative to the output end of the tension drive 400 in a plane perpendicular to the first direction. The tension drive 400 can drive the tension gripper 600 to open and close in the radial direction of the rotating head 300.

[0008] Furthermore, a cross groove is formed on the rotating head 300 as the mounting groove 301, and the corresponding rotating shaft 200 has radial protrusions 201 arranged in a cross shape on the circumferential direction at the end connected to the rotating head 300. The bottom surface of the protrusions 201 is an arc-shaped surface.

[0009] Furthermore, the rotating head 300 is detachably connected to the rotating shaft 200.

[0010] Furthermore, the rotating head 300 includes a cover plate 310 and a pressure plate 320 that are stacked vertically and detachably connected. The mounting groove 301 is formed on the top surface of the pressure plate 320. The cover plate 310 has a hole through which the rotating shaft 200 passes. The radial dimension of the hole is larger than the diameter of the rotating shaft 200 and smaller than the radial dimension of the protrusion 201. The rotating shaft 200 passes through the cover plate 310, so that the protrusion 201 is located in the receiving space of the mounting groove 301. The protrusion 201 is trapezoidal and its side has an inclined angle.

[0011] Furthermore, the fixed gripper 302 is detachably connected to the rotating head 300.

[0012] Furthermore, the tension gripper 600 is detachably connected to the rotating head 300.

[0013] Furthermore, the self-centering flexible switch cover device also includes an elastic structure 700, which is disposed between the rotating head 300 and the bearing 500. When the bearing 500 changes position relative to the rotating head 300 in the first direction, the elastic structure 700 will be compressed or stretched.

[0014] Furthermore, the self-centering flexible switch cover device also includes a locking component 800, which includes a first locking part 810 disposed on the rotating head 300 and a second locking part 820 disposed at the end of the rotating shaft 200. The first locking part 810 and the second locking part 820 can be selectively connected or disconnected.

[0015] Secondly, the present invention also provides a method for opening and closing a self-centering flexible opening and closing lid. Utilizing the aforementioned self-centering flexible opening and closing lid device, the method includes: moving the self-centering flexible opening and closing lid device above the packaging barrel, aligning the rotating head 300 with the packaging barrel lid, the tension drive 400 driving the tension gripper 600 to open, and then moving the self-centering flexible opening and closing lid device downwards, causing the fixing claw 302 to fall between the edges of the packaging barrel lid, the rotating head 300 contacting the packaging barrel lid, and tilting according to the tilt angle of the packaging barrel opening under the action of the packaging barrel lid; the rotation drive 100 transmitting torque through the rotating shaft 200, and the driving rotating head 300 rotating, causing the packaging barrel lid to detach from the packaging barrel opening; the closing process includes: moving the self-centering flexible opening and closing lid device above the packaging barrel lid, aligning the rotating head 300 with the packaging barrel lid, the tension drive 400 driving the tension gripper 600 to open, and then moving the self-centering flexible opening and closing lid device downwards, causing the fixing claw 302 to fall between the edges of the packaging barrel lid, the rotating head 300 contacting the packaging barrel lid, and under the action of the packaging barrel lid, tilting according to the tilt angle of the packaging barrel opening; the rotation drive 100 transmitting torque through the rotating shaft 200, and the driving rotating head 300 rotating, causing the packaging barrel lid to detach from the packaging barrel opening; the closing process includes: moving the self-centering flexible opening and closing lid device above the packaging barrel lid, the rotating head 300... The head 300 is aligned with the packaging barrel lid. The tension drive 400 drives the tension gripper 600 to open. Then, the self-centering flexible switch lid device is moved downward, so that the fixing claw 302 falls between the edges of the packaging barrel lid. The tension drive 400 drives the tension gripper 600 to grip the packaging barrel lid. The self-centering flexible switch lid device, together with the packaging barrel lid, is moved again to above the packaging barrel opening. Then, the self-centering flexible switch lid device is moved downward, so that the packaging barrel lid falls on the packaging barrel opening. The tension drive 400 drives the tension gripper 600 to open, and the packaging barrel lid contacts the packaging barrel opening. Under the action of the packaging barrel opening, the packaging barrel lid, together with the rotating head 300, tilts with the tilt angle of the packaging barrel opening. The rotation drive 100 transmits torque through the rotating shaft 200, driving the rotating head 300 to rotate, so that the packaging barrel lid is tightened to the packaging barrel opening.

[0016] Thirdly, the present invention also provides a filling machine, including the above-mentioned self-centering flexible cap switching device, moving device, and filling execution device, wherein the self-centering flexible cap switching device is connected to the moving device, and the moving device can drive the self-centering flexible cap switching device to move on a preset trajectory.

[0017] This invention provides a self-centering flexible cap-opening device, method, and filling machine. In the cap-opening device, a flexible structure connects the rotating head used to grip the cap to the rotating shaft that provides rotational torque. When the rotating head contacts the cap, under the force of the cap, the rotating head can tilt relative to the rotating shaft at a certain angle. This design allows the cap-opening device to better adapt to the possible tilt angle of the bottle opening, thereby ensuring a closer fit to the actual condition of the bottle opening during operation and improving the efficiency and stability of cap opening and closing. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a front view of a self-centering flexible switch cover device according to an exemplary embodiment.

[0020] Figure 2 for Figure 1 Sectional view at point AA.

[0021] Figure 3 This is a front view of a rotating unit according to an exemplary embodiment.

[0022] Figure 4 for Figure 3 Sectional view at point BB.

[0023] Figure 5 This is a schematic diagram of the structure of a rotating unit according to an exemplary embodiment.

[0024] Figure 6 This is a top view of a shaft and head connection structure according to an exemplary embodiment.

[0025] Figure 7 for Figure 6 Sectional view at point CC.

[0026] Figure 8 This is a top view of a shaft and pressure plate connection structure according to an exemplary embodiment.

[0027] Figure 9 for Figure 8 Sectional view at point DD.

[0028] Figure 10 This is a front view of a rotating shaft according to an exemplary embodiment.

[0029] Figure 11 This is a schematic diagram of the structure of a pressure plate according to an exemplary embodiment.

[0030] Figure 12 This is a schematic diagram of the structure of a tensioning unit according to an exemplary embodiment.

[0031] Figure 13 This is a schematic diagram illustrating the connection between a self-centering flexible switch cover device and a moving device according to an exemplary embodiment.

[0032] Figure 14This is a front view of a self-centering flexible switch cover device according to another exemplary embodiment.

[0033] Figure 15 for Figure 14 Sectional view at EE.

[0034] In the above figure:

[0035] 1. Self-centering flexible switch cover device; 2. Moving device;

[0036] 100. Rotary drive; 200. Rotary shaft; 201. Protrusion; 300. Rotary head; 301. Mounting groove; 302. Fixing gripper; 310. Cover plate; 320. Pressure plate; 321. Slot; 322. Hinge ear; 400. Tensioning drive; 410. Pressure cover; 500. Bearing; 600. Tensioning gripper; 610. Connecting rod; 620. Connecting seat; 700. Elastic structure; 800. Locking assembly; 810. First locking part; 820. Second locking part. Detailed Implementation

[0037] To better explain the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application. In some instances, methods, means, elements, and circuits well known to those skilled in the art are not described in detail in order to highlight the main points of this application. Similarly, for clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0038] Example 1

[0039] See Figures 1 to 12 This embodiment provides a self-centering flexible switch cover device, including a rotating unit, a gripping unit, and an elastic structure 700.

[0040] The rotating unit includes a rotating drive 100, a rotating shaft 200, and a rotating head 300 arranged sequentially along the first direction X. The rotating shaft 200 connects the output end of the rotating drive 100 to the rotating head 300 to realize the transmission of torque.

[0041] In this embodiment, a servo motor is used as the rotation drive 100, and one end of the rotating shaft 200 is connected to the shaft of the servo motor.

[0042] One end of the rotating shaft 200 connected to the rotating head 300 is placed in the mounting groove 301 opened on the surface of the rotating head 300. There is an arc-shaped surface between the end face of the rotating shaft 200 and the bottom surface of the mounting groove 301 at the position where they can contact each other, so that the rotating head 300 can form an inclined angle relative to the rotating shaft 200 under the action of external force. In specific embodiments, the arcuate surface between the end face of the rotating shaft 200 and the bottom surface of the mounting groove 301 can take various forms. Both can have mutually cooperating arcuate surfaces, or one of the surfaces can be an arcuate surface. In this embodiment, the end face of the rotating shaft 200 that contacts the bottom surface of the mounting groove 301 is set as an arcuate surface, and the bottom surface of the mounting groove 301 is set as a plane. Specifically, a cross groove is opened on the rotating head 300 as the mounting groove 301. Correspondingly, the rotating shaft 200 has radial protrusions 201 arranged in a cross shape on the circumferential direction at the end connected to the rotating head 300. The bottom surface of the protrusions 201 is an arcuate surface.

[0043] Given the differences in size and specifications of various packaging barrel lids, in this embodiment, to improve the versatility of this lid opening and closing device, the rotating head 300 and the rotating shaft 200 are configured as a detachable connection. Specifically, the rotating head 300 includes a cover plate 310 and a pressure plate 320 stacked vertically and detachably connected. The cover plate 310 and the pressure plate 320 can be detachably connected by bolts or other means. The mounting groove 301 is formed on the top surface of the pressure plate 320. The cover plate 310 has a hole for the rotating shaft 200 to pass through. The radial dimension of this hole is larger than the diameter of the rotating shaft 200 and smaller than the radial dimension of the protrusion 201. The rotating shaft 200 passes through the cover plate 310, allowing the rotating head 300 to pass through the pressure plate 200. The protrusion 201 is placed in the receiving space of the mounting groove 301. After the cover plate 310 is connected to the pressure plate 320, the protrusion 201 is restricted within the space enclosed by the bottom surface of the cover plate 310 and the mounting groove 301. The rotating shaft 200 cannot pass through the hole on the cover plate 310 to disengage. The protrusion 201 is trapezoidal and its side has an inclined angle. When the side of the protrusion 201 contacts the edge of the hole on the cover plate 310, it can play a self-centering role to ensure smooth rotation.

[0044] The rotating head 300 is provided with fixed grippers 302 distributed circumferentially. The number and distribution position of the fixed grippers 302 can be set according to the actual condition of the side edge of the packaging barrel lid. The function of the fixed grippers 302 is that when the fixed grippers 302 fall between the side edge of the packaging barrel lid, the rotating head 300 can rotate by acting on the side edge of the packaging barrel lid through the fixed grippers 302, thereby driving the packaging barrel lid to rotate.

[0045] Given the differences in the distribution of side ridges on different packaging barrel lids, in this embodiment, to improve the versatility of the lid opening and closing device, the connection between the fixing claw 302 and the rotating head 300 is set to be detachable. Specifically, the pressure plate 320 has several slots 321 distributed circumferentially along its edge. The fixing claw 302 achieves a detachable connection with the rotating head 300 by engaging with the slots 321. The fixing claw 302 can be configured with different specifications. Depending on the actual situation of the side ridges on the packaging barrel lid, different specifications of the fixing claw 302 and different positions of the slots 321 can be selected for connection.

[0046] The gripping unit includes a tension drive 400, a bearing 500, and a tension gripper 600.

[0047] The number of tension grippers 600 is not less than two. In this embodiment, four tension grippers 600 are used. They are rotatably mounted on the rotating head 300 and rotatably connected to the output end of the tension drive 400 through the bearing 500. The bearing 500 is coaxially arranged with the rotating shaft 200. Under the action of external force, the tension gripper 600 can rotate relative to the output end of the tension drive 400 in a plane perpendicular to the first direction X. The tension drive 400 can drive the tension gripper 600 to open and close in the radial direction of the rotating head 300.

[0048] Based on a design concept similar to the fixed gripper 302, the tensioning gripper 600 and the rotating head 300 also adopt a detachable connection method, which can further improve the versatility of this cover opening and closing device to adapt to different packaging barrel lids. Specifically, the edge of the pressure plate 320 is also provided with several hinge ears 322 distributed circumferentially. The tensioning gripper 600 is hinged to the hinge ears 322 through a pin, thereby realizing a rotatable and detachable connection with the rotating head 300. The tensioning gripper 600 can be set with different specifications. Different specifications of the tensioning gripper 600 and different positions of the hinge ears 322 can be selected for connection according to the actual condition of the side edge of the packaging barrel lid.

[0049] In this embodiment, a cylinder is used as the tension drive 400. The cylinder is arranged vertically downward along the first direction X, and a pressure cap 410 is provided at the end of the piston rod of the cylinder. The bearing 500 is mounted on the pressure cap 410. The four tension grippers 600 are respectively connected to a connecting seat 620 via a connecting rod 610. The connecting seat 620 is connected to the bearing 500 and can rotate through the bearing 500. The extension and retraction of the cylinder piston rod can be transmitted to the tension grippers 600 via the pressure cap 410, the bearing 500, the connecting seat 620, and the connecting rod 610, thereby driving the tension grippers 600 to open and close in the radial direction of the rotating head 300.

[0050] The elastic structure 700 is disposed between the rotating head 300 and the bearing 500 to provide support. When the bearing 500 changes position relative to the rotating head 300 in the first direction X, the elastic structure 700 will be compressed or stretched.

[0051] In this embodiment, a spring is used as the elastic structure 700, and it is disposed between the cover plate 310 and the bearing 500. When the piston rod of the cylinder that serves as the tension drive 400 extends downward, the pressure plate 410 and the bearing 500 move downward along the first direction X, compressing the spring that serves as the elastic structure 700. At this time, the tension gripper 600 performs a gripping operation. When the piston rod of the cylinder that serves as the tension drive 400 retracts upward, the pressure plate 410 and the bearing 500 move upward along the first direction X, causing the spring that serves as the elastic structure 700 to reset. At this time, the tension gripper 600 performs a releasing operation. Because the elastic structure 700 lifts the bearing 500 and the connected rotating head 300 upwards, a gap is formed between the edge of the hole on the pressure plate 310 and the side of the protrusion 201 on the rotating shaft 200, thereby eliminating the interaction force between the rotating head 300 and the rotating shaft 200. Due to the presence of the arc-shaped bottom surface of the protrusion 201, the rotating head 300 can form an inclined angle relative to the rotating shaft 200 under the force of the packaging barrel lid after contacting it.

[0052] The working principle of the self-centering flexible switch cover device provided in this embodiment is as follows:

[0053] See Figures 1 to 13 The self-centering flexible switch cover device 1 can be connected to a moving device 2. The moving device 2 can drive the self-centering flexible switch cover device 1 to move in the horizontal and vertical directions. The moving device 2 can take various forms, such as a linear module or a robotic arm.

[0054] The opening process of the self-centering flexible switch cover device 1 is as follows: The moving device 2 moves the self-centering flexible switch cover device 1 above the packaging barrel, aligning the rotating head 300 with the packaging barrel lid. The piston rod of the cylinder of the tension drive 400 retracts upward, causing the pressure cover 410 and the bearing 500 to move upward along the first direction X. The spring of the elastic structure 700 returns to its original position, and the tension gripper 600 opens. Because the elastic structure 700 pushes the bearing 500 and the connected rotating head 300 upward, the edge of the hole on the pressure plate 310... An active gap is formed between the edge and the side of the protrusion 201 on the rotating shaft 200, thereby eliminating the interaction force between the rotating head 300 and the rotating shaft 200; then the moving device 2 drives the self-centering flexible switch cover device 1 to move downward, so that the fixed gripper 302 falls between the edges of the packaging barrel cover, the rotating head 300 contacts the packaging barrel cover, and under the action of the packaging barrel cover, it tilts with the tilt angle of the packaging barrel opening, the rotation drive 100 transmits torque through the rotating shaft 200, drives the rotating head 300 to rotate, so that the packaging barrel cover is separated from the packaging barrel opening.

[0055] The closing process of the self-centering flexible switch cover device 1 includes: the moving device 2 moves the self-centering flexible switch cover device 1 above the packaging barrel lid, aligning the rotating head 300 with the packaging barrel lid; the tension drive 400 drives the tension gripper 600 to open; then the moving device 2 drives the self-centering flexible switch cover device 1 downward, causing the fixing claw 302 to fall between the edges of the packaging barrel lid; the piston rod of the cylinder of the tension drive 400 extends downward; the pressure cap 410 and the bearing 500 move downward along the first direction X, transmitting the tension via the connecting seat 620 and the connecting rod 610 to the tension gripper. The gripper 600 tightens the packaging barrel lid; the moving device 2 moves the self-centering flexible switch lid device 1, along with the packaging barrel lid, above the packaging barrel opening, and then moves the self-centering flexible switch lid device 1 downward so that the packaging barrel lid falls onto the packaging barrel opening. The tension drive 400 drives the tension gripper 600 to open, and the packaging barrel lid contacts the packaging barrel opening. Under the action of the packaging barrel opening, the packaging barrel lid, along with the rotating head 300, tilts with the tilt angle of the packaging barrel opening. The rotation drive 100 transmits torque through the rotating shaft 200, driving the rotating head 300 to rotate, so that the packaging barrel lid is tightened to the packaging barrel opening.

[0056] Example 2

[0057] See Figure 14 , Figure 15This embodiment also provides a self-centering flexible switch cover device. Unlike the first embodiment, the self-centering flexible switch cover device further includes a locking component 800. The locking component 800 includes a first locking part 810 disposed on the rotating head 300 and a second locking part 820 disposed at the end of the rotating shaft 200. The first locking part 810 and the second locking part 820 can be selectively connected or disconnected, thereby selectively changing the flexible or rigid connection between the rotating head 300 and the rotating shaft 200.

[0058] Specifically, the locking assembly 800 can employ magnets that attract each other magnetically. That is, the first locking part 810 and the second locking part 820 are a pair of magnets that can attract each other magnetically, respectively disposed on the bottom surface of the mounting groove 301 on the pressure plate 320 and the bottom surface of the protrusion 201 on the rotating shaft 200. The magnets of the first locking part 810 and the second locking part 820 can be electromagnets, thus allowing for selective magnetization or demagnetization as needed. When the magnets of the first locking part 810 and the second locking part 820 are magnetized, they attract each other magnetically, and the rotating head 300 and the rotating shaft 200 become rigidly connected. When the first locking part 810 and the second locking part 820 are magnetized, they attract each other magnetically, and the rotating head 300 and the rotating shaft 200 become rigidly connected. When the magnet of the second locking part 820 is demagnetized, there is no magnetic force between the two, and the rotating head 300 and the rotating shaft 200 become a flexible connection. The locking assembly 800 can also be a pair of matching bolts, that is, the first locking part 810 is a screw screwed to the bottom surface of the mounting groove 301, and the second locking part 820 is a nut provided at the bottom of the protrusion 201. When it is necessary to lock the rotating head 300 and the rotating shaft 200 together, the first locking part 810 is screwed into the second locking part 820 to lock the two together. When the rotating head 300 and the rotating shaft 200 need to be flexibly connected, the first locking part 810 can be unscrewed and removed.

[0059] Example 3

[0060] See Figures 1 to 13 This embodiment provides a self-centering flexible opening and closing method for opening and closing packaging barrel lids using the aforementioned self-centering flexible opening and closing device.

[0061] The opening process includes: moving the self-centering flexible opening and closing device above the packaging barrel, aligning the rotating head 300 with the packaging barrel lid, the tensioning drive 400 driving the tensioning gripper 600 to open, and then moving the self-centering flexible opening and closing device downwards so that the fixing claw 302 falls between the edges of the packaging barrel lid, the rotating head 300 contacts the packaging barrel lid, and tilts with the tilt angle of the packaging barrel opening under the action of the packaging barrel lid, the rotation drive 100 transmits torque through the rotating shaft 200, and the drive rotating head 300 rotates, causing the packaging barrel lid to detach from the packaging barrel opening.

[0062] The closing process includes: moving the self-centering flexible cover device above the packaging barrel lid, aligning the rotating head 300 with the packaging barrel lid, the tension drive 400 driving the tension gripper 600 to open, then moving the self-centering flexible cover device downwards, so that the fixing claw 302 falls between the edges of the packaging barrel lid, the tension drive 400 driving the tension gripper 600 to grip the packaging barrel lid, moving the self-centering flexible cover device together with the packaging barrel lid above the packaging barrel opening again, and then moving the self-centering flexible cover device downwards, so that the packaging barrel lid falls on the packaging barrel opening, the tension drive 400 driving the tension gripper 600 to open, and the packaging barrel lid comes into contact with the packaging barrel opening. Under the action of the packaging barrel opening, the packaging barrel lid together with the rotating head 300 tilts with the tilt angle of the packaging barrel opening, and the rotation drive 100 transmits torque through the rotating shaft 200 to drive the rotating head 300 to rotate, so that the packaging barrel lid is tightened with the packaging barrel opening.

[0063] In this embodiment, the switching principle of the self-centering flexible switch cover device is the same as that in Embodiment 1, and the repeated content will not be described again.

[0064] Example 4

[0065] This embodiment provides a filling machine, including the aforementioned self-centering flexible cap opening and closing device, a moving device, and a filling execution device. The self-centering flexible cap opening and closing device is connected to the moving device, and the moving device can drive the self-centering flexible cap opening and closing device to move along a preset trajectory. The filling execution device may include a filling barrel conveying system, a filling system, a labeling system, etc.

[0066] This embodiment provides a working process for a filling machine:

[0067] The filling barrel conveying system transports the filling barrels to the designated workstation; the moving device moves the self-centering flexible opening and closing cap device above the packaging barrel, where it performs the opening operation and places the cap in the designated position; the filling system can either move to the location of the packaging barrel to perform the filling operation, or it can transport the filling barrel to the filling workstation via the filling barrel conveying system for filling; after the filling operation is completed, the moving device drives the self-centering flexible opening and closing cap device to the cap storage area, where the device grabs the cap, and then the moving device again drives it to move above the packaging barrel, where it performs the closing operation; similarly, the labeling system then performs the labeling operation.

[0068] The switching principle of the self-centering flexible switch cover device is the same as that of the switch cover in the above embodiment, and the repeated content will not be described again.

[0069] The foregoing provides a detailed description of the self-centering flexible cap device, method, and filling machine provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this application. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A self-centering flexible switch cover device, characterized by, The utility model relates to a kind of rotary mechanism, including: Rotary unit, the rotary unit includes rotation drive (100) in turn along the first direction, rotating shaft (200) and rotating head (300), the rotating shaft (200) is connected with the output end of the rotation drive (100) and the rotating head (300), to realize the transmission of torque, the rotating shaft (200) is connected with the one end of the rotating head (300), and it is placed in the installation groove (301) opened in the surface of the rotating head (300), and there is arc surface between the end surface of the rotating shaft (200) and the bottom surface of the installation groove (301) can be contacted each other, so that the rotating head (300) can form inclination angle relative to the rotating shaft (200) under external force, and the circumferential distribution of the rotating head (300) is provided with fixed jaw (302); Grabbing unit, the grabbing unit includes tensioning drive (400), bearing (500) and tensioning gripper (600), the tensioning gripper (600) is rotatably installed in the rotating head (300), and is rotatably connected with the output end of the tensioning drive (400) by the bearing (500), and the tensioning gripper (600) can rotate in the plane perpendicular to the first direction relative to the output end of the tensioning drive (400) under external force, and the tensioning drive (400) can drive the tensioning gripper (600) to open and close in the radial direction of the rotating head (300).

2. The self-centering flexible switch cover apparatus of claim 1, wherein, The rotating head (300) is provided with a cross groove as the installation groove (301), and the rotating shaft (200) is provided with radial protrusions (201) in a cross distribution on the circumferential direction of the end connected with the rotating head (300).

3. The self-centering flexible switch cover apparatus of claim 2, wherein, The rotating head (300) is detachably connected with the rotating shaft (200).

4. The self-centering flexible switch cover apparatus of claim 3, wherein, The rotating head (300) includes a cover plate (310) and a pressing plate (320) stacked and detachably connected, the installation groove (301) is opened on the top surface of the pressing plate (320), the cover plate (310) is provided with a hole for the rotating shaft (200) to pass through, the radial dimension of the hole is greater than the diameter of the rotating shaft (200) and less than the radial dimension of the protrusion (201), the rotating shaft (200) passes through the cover plate (310), so that the protrusion (201) is located in the accommodation space of the installation groove (301), and the protrusion (201) is trapezoidal, and the side surface has an inclination angle.

5. The self-centering flexible switch cover apparatus of claim 1, wherein, The fixed jaw (302) is detachably connected with the rotating head (300).

6. The self-centering flexible switch cover apparatus of claim 1, wherein, The tensioning gripper (600) is detachably connected with the rotating head (300).

7. The self-centering flexible switch cover apparatus of claim 1, wherein, Further comprising an elastic structure (700), the elastic structure (700) is arranged between the rotating head (300) and the bearing (500), when the bearing (500) changes position relative to the rotating head (300) in the first direction, the elastic structure (700) will be compressed or stretched.

8. The self-centering flexible switch cover apparatus of claim 1, wherein, Also included is a locking assembly (800) comprising a first locking part (810) arranged on the head (300) and a second locking part (820) arranged on the end of the shaft (200), the first locking part (810) and the second locking part (820) being selectively connectable or disconnectable.

9. A self-centering flexible switch cover method, characterized by, The self-centering flexible switch cover device of any one of claims 1 to 8 is used to open and close a packaging barrel cover, the opening process comprising: moving the self-centering flexible switch cover device above the packaging barrel, aligning the head (300) with the packaging barrel cover, driving the tensioning gripper (600) to open by the tensioning drive (400), then moving the self-centering flexible switch cover device downwardly so that the fixed clamping jaw (302) falls between the corrugations of the packaging barrel cover, the head (300) being in contact with the packaging barrel cover, the packaging barrel cover and the head (300) tilting with the inclination angle of the packaging barrel opening under the action of the packaging barrel cover, the rotation drive (100) transmitting torque through the shaft (200) to drive the head (300) to rotate, and the packaging barrel cover being separated from the packaging barrel opening; the closing process comprising: moving the self-centering flexible switch cover device above the packaging barrel cover, aligning the head (300) with the packaging barrel cover, driving the tensioning gripper (600) to open by the tensioning drive (400), then moving the self-centering flexible switch cover device downwardly so that the fixed clamping jaw (302) falls between the corrugations of the packaging barrel cover, the tensioning drive (400) driving the tensioning gripper (600) to grip the packaging barrel cover, moving the self-centering flexible switch cover device together with the packaging barrel cover above the packaging barrel opening again, then moving the self-centering flexible switch cover device downwardly so that the packaging barrel cover falls on the packaging barrel opening, the tensioning drive (400) driving the tensioning gripper (600) to open, the packaging barrel cover being in contact with the packaging barrel opening, the packaging barrel cover and the head (300) tilting with the inclination angle of the packaging barrel opening under the action of the packaging barrel opening, the rotation drive (100) transmitting torque through the shaft (200) to drive the head (300) to rotate, and the packaging barrel cover being screwed with the packaging barrel opening.

10. A filling machine characterized in that, The self-centering flexible switch cover device of any one of claims 1 to 8, a moving device, and A filling execution device, the self-centering flexible switch cover device being connected with the moving device, the moving device being capable of driving the self-centering flexible switch cover device to move on a preset track. The self-centering flexible switch cover device of any one of claims 1 to 8, a moving device, and A filling execution device, the self-centering flexible switch cover device being connected with the moving device, the moving device being capable of driving the self-centering flexible switch cover device to move on a preset track.

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