Double-robot shuttle linkage bottle feeding device

Abstract

The application discloses a double-mechanical hand shuttling linkage bottle loading device, and belongs to the field of loading. The double-mechanical hand shuttling linkage bottle loading device comprises a loading assembly line and at least one bottle loading machine arranged along the conveying direction of the loading assembly line. The bottle loading machine comprises a rack, a turnover box feeding and discharging mechanism arranged on the rack, a turnover box lifting mechanism, a double-mechanical hand bottle shuttling and transferring mechanism and a bottle translation mechanism. The turnover box lifting mechanism is located at the right side of the turnover box feeding and discharging mechanism. The bottle translation mechanism is located at the front side of the turnover box lifting mechanism. The double-mechanical hand bottle shuttling and transferring mechanism is located above the turnover box lifting mechanism and the bottle translation mechanism. The double-mechanical hand shuttling linkage bottle loading device is stable and efficient in operation, can greatly reduce the labor cost and the failure rate, and is strong in adaptability due to the modular design, so that the production line capacity and the good product rate can be effectively improved.

Description

Technical Field

[0001] This invention belongs to the field of material feeding, and in particular relates to a dual-manipulator shuttle linkage bottle feeding device. Background Technology

[0002] In automated production industries such as bottled product processing, filling, and packaging, bottle feeding is a core and fundamental process at the front end of the production line. Its feeding efficiency, stability, and accuracy directly determine the production cycle time and product yield of the entire production line. Currently, the mainstream feeding solutions in the industry fall into three categories, all of which have insurmountable technical shortcomings: The first type of traditional manual loading and unloading operation involves manually arranging bottles one by one from the transfer box onto the loading conveyor belt, which then transports the bottles to the designated picking station to complete the subsequent loading operation. This method requires multiple workers to continuously perform bottle placement, arrangement, and replenishment, resulting in a large labor input and high long-term labor costs, significantly increasing the production burden on enterprises. Furthermore, manual labor is limited by physical strength and concentration, leading to fatigue and errors during long hours, resulting in uneven loading rhythms and intermittent supply. This makes it unsuitable for high-speed automated production, resulting in low overall production efficiency and limited capacity.

[0003] The second type is a single-manipulator, single-station fixed feeding equipment: It is equipped with only a single bottle-picking robot, and picks and places bottles at a single station. There are waiting windows when picking and placing bottles, and the upper limit of the cycle time is low. There is no double-layer turnover box circulation conveying structure, and the full box feeding and empty box discharging cannot be synchronized. A dedicated person is required to change the turnover box, and the degree of automation is insufficient.

[0004] The third type is a split-type multi-station feeding equipment: the turnover box conveying, lifting and positioning, bottle picking and bottle placing are separated into independent frames. The equipment occupies a large area, the multi-mechanism linkage control logic is complex, and the debugging and maintenance costs are high. Most of them are only suitable for a single bottle size, the changeover time is long, and the fixtures and spacing modules are disassembled as a whole, resulting in poor flexible production capabilities.

[0005] In summary, existing technologies lack integrated bottle loading equipment with dual robotic arms working in coordination and dual translational workstations operating without interruption, making it difficult to meet the industry's needs for small footprint, high cycle time, compatibility with multiple bottle types, and fully automated unmanned operation. Summary of the Invention

[0006] The purpose of this invention is to propose a dual-manipulator shuttle linkage bottle loading device to overcome the shortcomings of high cost of manual loading, low cycle time of single manipulator equipment, large footprint of split equipment, and the existence of waiting gaps in operation.

[0007] To achieve this objective, the present invention adopts the following technical solution: This invention provides a dual-manipulator shuttle-linked bottle loading device, comprising a loading assembly line and at least one bottle loading machine arranged along the conveying direction of the loading assembly line. The bottle loading machine includes a frame, and a turnover box infeed / outfeed mechanism, a turnover box lifting mechanism, a dual-manipulator bottle shuttle transfer mechanism, and a bottle translation mechanism arranged on the frame. The turnover box lifting mechanism is located to the right of the turnover box infeed / outfeed mechanism, the bottle translation mechanism is located in front of the turnover box lifting mechanism, and the dual-manipulator bottle shuttle transfer mechanism is located above the turnover box lifting mechanism and the bottle translation mechanism. The dual-manipulator bottle shuttle transfer mechanism completes the transfer of bottles from the turnover box lifting mechanism to the bottle translation mechanism and from the bottle translation mechanism to the loading assembly line in sequence through reciprocating shuttle motion.

[0008] Preferably, the turnover box feeding and discharging mechanism includes a first roller conveyor line, a first belt conveyor line, a second roller conveyor line, a second belt conveyor line, and a first transition support roller. The first belt conveyor line is arranged to the right of the first roller conveyor line, and the second belt conveyor line is arranged to the right of the second roller conveyor line. The second roller conveyor line is located above the first roller conveyor line, and the second belt conveyor line is located above the first belt conveyor line. The turnover box lifting mechanism is located to the right of the first belt conveyor line and the second belt conveyor line. The first transition support roller is rotatably connected to both the left and right sides of the first belt conveyor line and the second belt conveyor line.

[0009] Preferably, the turnover box lifting mechanism includes a stand, a Z-axis linear module, a lifting platform, a third belt conveyor, a second transition support roller, and a first baffle. The stand is mounted on the frame, the Z-axis linear module is mounted on the left side of the stand, the lifting platform is mounted on the moving end of the Z-axis linear module, the third belt conveyor is mounted on the top of the lifting platform, the second transition support roller is rotatably connected to the left side of the third belt conveyor, and the first baffle is mounted on the right side of the third belt conveyor.

[0010] Preferably, it also includes a turnover box positioning mechanism, which includes a Y-axis linear module, a first limiting plate, a first telescopic cylinder, and a second limiting plate. The Y-axis linear module is provided on the right side of the upright, and the first limiting plate is provided at the moving end of the Y-axis linear module. The frame is provided with a first telescopic cylinder, and the front end of the first telescopic cylinder is connected to the second limiting plate. The first limiting plate and the second limiting plate are arranged opposite each other.

[0011] Preferably, the dual-manipulator bottle shuttle transfer mechanism includes a first manipulator, a first variable-pitch module, a first clamping component, a partition pick-and-place assembly, a second manipulator, a mounting frame, and a second clamping component. The first manipulator and the second manipulator are spaced apart on the left and right sides of the inner top of the frame. The first manipulator is located to the left of the second manipulator. The end of the first manipulator is provided with a first variable-pitch module. One side of the first variable-pitch module has several first execution ends. The first execution ends are detachably connected to the first clamping component. The other side of the first variable-pitch module is detachably connected to the partition pick-and-place assembly. The end of the second manipulator is provided with a mounting frame. The mounting frame is detachably connected to several second clamping components.

[0012] Preferably, the partition loading and unloading assembly includes a first hinge seat, a second telescopic cylinder, a swing arm, and a third clamping member. Both the first and second hinge seats are detachably connected to one side wall of the first variable pitch module. One end of the second telescopic cylinder is hinged to the first hinge seat, the swing arm is hinged to the second hinge seat, the other end of the second telescopic cylinder is connected to the swing arm, and the third clamping member is installed at one end of the swing arm.

[0013] Preferably, the swing arm includes a connecting rod and a swing frame. The swing frame is hinged to a second hinge seat. One end of the swing frame is hinged to a connecting rod. One end of the connecting rod is fixedly connected to the telescopic end of the second telescopic cylinder. The other end of the swing frame is equipped with a third clamping member.

[0014] Preferably, there are two third clamping members, and the swing frame between the two third clamping members has a limiting groove.

[0015] Preferably, the bottle translation mechanism includes a first X-axis linear module, a second X-axis linear module, a second pitch-changing module, a first placement seat, a third pitch-changing module, and a second placement seat. The first X-axis linear module and the second X-axis linear module are both mounted on the frame. The first X-axis linear module is located behind the second X-axis linear module. The moving end of the first X-axis linear module is provided with the second pitch-changing module. The second pitch-changing module has a plurality of second actuators. The second actuators are detachably connected to the first placement seat. The moving end of the second X-axis linear module is provided with the third pitch-changing module. The third pitch-changing module has a plurality of third actuators. The third actuators are detachably connected to the second placement seat.

[0016] Preferably, the feeding assembly line includes a U-shaped conveyor, a third telescopic cylinder, a baffle, a fourth telescopic cylinder, a third limiting plate, a second baffle, and a brake cylinder. The U-shaped conveyor is equipped with several sets of brake cylinders along its conveying direction. The U-shaped conveyor has two straight sections, front and rear. The rear straight section is equipped with several third telescopic cylinders and several fourth telescopic cylinders at intervals along its conveying direction. The telescopic end of the third telescopic cylinder is equipped with a baffle, which extends above the conveying surface of the straight section. The telescopic end of the fourth telescopic cylinder is equipped with a third limiting plate. The front side of the rear straight section is equipped with a second baffle, which is positioned opposite to the third limiting plate.

[0017] The beneficial effects of this invention are as follows: 1. Multiple bottle-making machines can be connected in series according to the production line capacity. The modular design means they can be plugged and used, adapting to production lines with different outputs and bottle types. The equipment's versatility and expandability are significantly improved. No manual bottle handling is required throughout the process, greatly reducing labor costs and human error.

[0018] 2. The material feeding and discharging mechanism of the turnover box adopts a double-layer conveying design, which can realize the independent flow of empty and full turnover boxes in layers. With the help of transition support rollers, smooth conveying is ensured, which greatly improves the automated circulation efficiency and operational stability of the turnover box.

[0019] 3. The turnover box lifting mechanism can accurately lift and reposition the turnover box between the first belt conveyor line and the second belt conveyor line, realizing the cyclical flow of full box feeding and empty box discharging, and improving the overall bottle loading efficiency.

[0020] 4. The bidirectional positioning method provides high positioning accuracy and strong adaptability, effectively correcting deviations in the placement of turnover boxes, eliminating bottle picking errors caused by turnover box offset or misalignment, and significantly reducing the feeding error rate.

[0021] 5. The first variable pitch module and the detachable first and second clamping parts enable rapid adaptation of multiple bottle types. The integrated partition loading and unloading and the dual robotic arms for hoisting and collaborative operation combine high versatility, process integration and space utilization, greatly improving the efficiency and accuracy of loading and unloading.

[0022] 6. The partition pick-and-place component is integrated into the first variable pitch module, eliminating the need for additional equipment installation space and achieving integrated partition pick-and-place function with bottle variable pitch feeding function.

[0023] 7. Both the first and second hinge seats are detachable connection structures, which allows the entire partition loading and unloading assembly to be quickly disassembled, inspected and replaced. The third clamping component can be adapted to different specifications of partitions, making the equipment easy to change and highly versatile, effectively improving the maintenance convenience and flexible production capacity of the mechanism.

[0024] 8. The kraft paper on the partition can be positioned and limited by the limiting groove to prevent the kraft paper from shifting or falling off during the picking, placing and transferring process, and to ensure that the partition and kraft paper are placed neatly.

[0025] 9. It adopts a dual X-axis linear module combined with a dual variable pitch module structure. The two sets of translation mechanisms can work alternately and be used in a cross manner. One set is in the bottle placement waiting state, while the other set moves to the right synchronously to wait for bottle retrieval. There is no idle waiting interval, which greatly improves the bottle loading cycle and overall work efficiency. At the same time, it can realize adaptive adjustment of bottle spacing, adapt to various bottle sizes, and has strong compatibility.

[0026] 10. The U-shaped conveyor is used to transport the carriers. The layout is compact and reasonable, which facilitates docking with the bottle loading machine and makes high space utilization. The carriers can be orderly intercepted and separated by the baffle. With the front and rear centering positioning mechanism, the entire row of carriers is positioned neatly and uniformly, ensuring that the bottle loading position is accurate and consistent.

[0027] 11. The entire machine integrates all modules such as double-layer conveying of turnover boxes, lifting and positioning, double robotic arms for picking and placing, and double translation workstations. The structure is compact and does not require splicing multiple equipment, thus greatly reducing the footprint. Attached Figure Description

[0028] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0029] Figure 2 This is a three-dimensional structural diagram of the bottle loading machine of the present invention.

[0030] Figure 3 This is a schematic diagram of the internal structure of the bottle loading machine of the present invention.

[0031] Figure 4 This is a three-dimensional structural diagram of the material feeding and discharging mechanism of the turnover box of the present invention.

[0032] Figure 5 This is a three-dimensional structural diagram of the turnover box lifting mechanism and the turnover box positioning mechanism of the present invention.

[0033] Figure 6 This is a three-dimensional structural diagram of the dual-manipulator bottle shuttle transfer mechanism of the present invention.

[0034] Figure 7 This is a three-dimensional structural diagram of the first variable pitch module and the partition plate picking and placing assembly of the present invention.

[0035] Figure 8 This is a three-dimensional structural diagram of the swing arm component of the present invention.

[0036] Figure 9 This is a three-dimensional structural diagram of the bottle translation mechanism of the present invention.

[0037] Figure 10This is a three-dimensional structural diagram (first perspective) of the material feeding production line of the present invention.

[0038] Figure 11 This is a three-dimensional structural schematic diagram (second perspective) of the feeding production line of the present invention.

[0039] The labels in the attached diagram are as follows: 100-feeding line, 200-bottle loading machine, 1-frame, 2-turnover box feeding / discharging mechanism, 3-turnover box lifting mechanism, 4-dual robotic arm bottle shuttle transfer mechanism, 5-bottle translation mechanism, 21-first roller conveyor line, 22-first belt conveyor line, 23-second roller conveyor line, 24-second belt conveyor line, 25-first transition support roller, 31-stand, 32-Z-axis linear module, 33-lifting platform, 34-third belt conveyor line, 35-second transition support roller, 36-first baffle, 6-turnover box positioning mechanism, 61-Y-axis linear module, 62-first limiting plate, 63-first telescopic cylinder, 64-second limiting plate, 41-first robotic arm, 42-first variable pitch module, 421-first actuator. End, 43-First clamping component, 44-Partition plate picking and placing assembly, 45-Second robotic arm, 46-Mounting frame, 47-Second clamping component, 441-First hinge seat, 442-Second telescopic cylinder, 443-Second hinge seat, 444-Swing arm component, 445-Third clamping component, 4441-Connecting rod, 4442-Swing frame, 4443-Limiting groove, 51-First X-axis linear module, 52-Second X-axis linear module, 53-Second pitch changing module, 531-Second execution end, 54-First placement seat, 55-Third pitch changing module, 551-Third execution end, 56-Second placement seat, 7-U-shaped conveyor, 8-Third telescopic cylinder, 9-Baffle, 10-Fourth telescopic cylinder, 11-Third limiting plate, 12-Second baffle, 13-Brake cylinder. Detailed Implementation

[0040] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0041] Contents not described in detail in this specification are prior art known to those skilled in the art. In the description of this invention, it should be understood that terms such as "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, terms such as "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0042] like Figures 1 to 11 As shown, the dual-manipulator shuttle linkage bottle loading device provided in this embodiment includes a loading assembly line 100 and at least one bottle loading machine 200 arranged along the conveying direction of the loading assembly line 100. The bottle loading machine 200 includes a frame 1, and a turnover box infeeding and discharging mechanism 2, a turnover box lifting mechanism 3, a dual-manipulator bottle shuttle transfer mechanism 4, and a bottle translation mechanism 5 arranged on the frame 1. The turnover box lifting mechanism 3 is located to the right of the turnover box infeeding and discharging mechanism 2, the bottle translation mechanism 5 is located in front of the turnover box lifting mechanism 3, and the dual-manipulator bottle shuttle transfer mechanism 4 is located above the turnover box lifting mechanism 3 and the bottle translation mechanism 5. The dual-manipulator bottle shuttle transfer mechanism 4 completes the transfer of bottles from the turnover box lifting mechanism 3 to the bottle translation mechanism 5 and the transfer of bottles from the bottle translation mechanism 5 to the loading assembly line 100 in sequence through reciprocating shuttle motion.

[0043] This embodiment also provides a method for loading bottles using a dual-manipulator shuttle linkage, including the following steps: S1: Manually place the full turnover box into the turnover box infeed / outfeed mechanism 2; S2: The full turnover box is sent to the turnover box lifting mechanism 3 via the turnover box feeding and discharging mechanism 2, and then sent to the picking position by the turnover box lifting mechanism 3; S3: The unloading end of the dual robotic bottle shuttle transfer mechanism 4 grabs the bottles in the turnover box and transfers them to the bottle translation mechanism 5; S4: Bottle translation mechanism 5 transfers the bottle to one side close to the feeding line 100; S5: The loading end of the dual robotic bottle shuttle transfer mechanism 4 transfers the bottles on the bottle translation mechanism 5 to the loading assembly line 100. S6: The feeding line 100 transports the bottles to the designated picking station for subsequent feeding operations.

[0044] After all the bottles in the turnover box on the turnover box lifting mechanism 3 have been removed, the turnover box lifting mechanism 3 will transport the empty turnover box to the turnover box inlet and outlet mechanism 2 for the empty turnover box to flow out. Then the turnover box lifting mechanism 3 will move down to receive the next full turnover box.

[0045] This invention adopts a modular design, allowing for flexible configuration of one or more bottle-holding machines 200 according to the actual production line capacity requirements. It is plug-and-play, adaptable to different bottle production lines, and boasts strong compatibility and scalability. The equipment achieves coordinated operation through a turnover box feeding / unloading mechanism 2, a turnover box lifting mechanism 3, a dual-robotic arm bottle shuttle transfer mechanism 4, and a bottle translation mechanism 5. This completes the automated shuttle loading of bottles from the turnover box to the loading line 100, eliminating the need for manual placement and significantly reducing labor input and costs. Furthermore, the coordinated operation of each mechanism ensures stable rhythm, enabling continuous and efficient bottle picking, moving, and placing. High loading efficiency matches the high-speed production rhythm of automated production lines, effectively improving overall capacity. Simultaneously, the precise and reliable mechanical positioning, gripping, and translation conveying avoid problems such as bottle tilting, missing, or misplacement, reducing loading error rates and the risk of equipment jamming and downtime. It also minimizes bottle damage from impacts, improving product yield.

[0046] The turnover box feeding and discharging mechanism 2 includes a first roller conveyor line 21, a first belt conveyor line 22, a second roller conveyor line 23, a second belt conveyor line 24, and a first transition support roller 25. The first belt conveyor line 22 is arranged to the right of the first roller conveyor line 21, and the second belt conveyor line 24 is arranged to the right of the second roller conveyor line 23. The second roller conveyor line 23 is located above the first roller conveyor line, and the second belt conveyor line 24 is located above the first belt conveyor line 22. The turnover box lifting mechanism 3 is located to the right of the first belt conveyor line 22 and the second belt conveyor line 24. The first transition support roller 25 is rotatably connected to both the left and right sides of the first belt conveyor line 22 and the second belt conveyor line 24.

[0047] The turnover box feeding and discharging mechanism 2 adopts a double-layer conveyor structure. The upper layer consists of a second roller conveyor line 23 and a second belt conveyor line 24 forming the discharge channel, while the lower layer consists of a first roller conveyor line 21 and a first belt conveyor line 22 forming the feeding channel. The turnover box undergoes coarse positioning conveying via the first roller conveyor line 21, and is then smoothly conveyed to the lifting station via the first belt conveyor line 22. The first transition support roller 25 connects the roller and belt conveyor sections, providing transition support to the bottom of the turnover box and preventing jamming. The upper and lower channels, in conjunction with the turnover box lifting mechanism 3, enable the layered and cyclical flow of empty and full turnover boxes, completing the automatic feeding and discharging of turnover boxes. The double-layer conveyor structure allows for independent layered conveying of empty and full turnover boxes without interference, improving the turnover box circulation efficiency.

[0048] The turnover box lifting mechanism 3 includes a frame 31, a Z-axis linear module 32, a lifting platform 33, a third belt conveyor 34, a second transition support roller 35, and a first baffle 36. The frame 31 is mounted on the frame 1. The Z-axis linear module 32 is mounted on the left side of the frame 31. The lifting platform 33 is mounted on the moving end of the Z-axis linear module 32. The third belt conveyor 34 is mounted on the top of the lifting platform 33. The second transition support roller 35 is rotatably connected to the left side of the third belt conveyor 34. The first baffle 36 is mounted on the right side of the third belt conveyor 34.

[0049] The turnover box lifting mechanism 3 is driven by the Z-axis linear module 32 to achieve up-and-down lifting of the lifting platform 33. The third belt conveyor 34 on the lifting platform 33 is used to receive and transport the turnover boxes. The second transition support roller 35 is used to smoothly connect with the turnover box feeding and discharging mechanism 2 to avoid box jamming; the first baffle 36 limits the turnover box to prevent it from deviating or falling out during conveying. The turnover box lifting mechanism 3 can accurately lift and reposition the turnover box between the first belt conveyor 22 and the second belt conveyor 24, realizing the cyclical flow of full-box feeding and empty-box discharging, improving the overall bottle loading efficiency.

[0050] The system also includes a turnover box positioning mechanism 6, which includes a Y-axis linear module 61, a first limiting plate 62, a first telescopic cylinder 63, and a second limiting plate 64. The Y-axis linear module 61 is located on the right side of the upright frame 31. The first limiting plate 62 is located at the moving end of the Y-axis linear module 61. The first telescopic cylinder 63 is located on the frame 1. The front end of the first telescopic cylinder 63 is connected to the second limiting plate 64. The first limiting plate 62 and the second limiting plate 64 are arranged opposite each other.

[0051] The Y-axis linear module 61 drives the first limiting plate 62 to adjust its forward and backward displacement, forming a bidirectional alignment structure with the second limiting plate 64 driven by the first telescopic cylinder 63 on the frame 1. When the turnover box is transported to the work station by the lifting mechanism, the first limiting plate 62 and the second limiting plate 64 extend relative to each other and clamp together, accurately limiting and fixing the turnover box from both front and rear, correcting the positional deviation caused during the transport of the turnover box, and ensuring that the turnover box is accurately stopped in the bottle picking area. This provides a precise work station benchmark for the subsequent stable bottle picking by the dual robotic arm bottle shuttle transfer mechanism 4. After the bottle is picked up, each limiting structure resets, waiting for the next turnover box to arrive at the work station. The module + cylinder bidirectional positioning method has high positioning accuracy and strong adaptability, which can effectively correct the turnover box placement deviation, eliminate bottle picking errors caused by turnover box offset or misalignment, and significantly reduce the loading error rate.

[0052] The dual-manipulator bottle shuttle transfer mechanism 4 includes a first manipulator 41, a first pitch-changing module 42, a first clamping member 43, a partition pick-and-place assembly 44, a second manipulator 45, a mounting frame 46, and a second clamping member 47. The first manipulator 41 and the second manipulator 45 are spaced apart on the left and right sides of the inner top of the frame 1. The first manipulator 41 is located to the left of the second manipulator 45. The first pitch-changing module 42 is located at the end of the first manipulator 41. One side of the first pitch-changing module 42 has several first actuation ends 421, which are detachably connected to the first clamping members 43. The partition pick-and-place assembly 44 is detachably connected to the other side of the first pitch-changing module 42. The mounting frame 46 is located at the end of the second manipulator 45, and several second clamping members 47 are detachably connected to the mounting frame 46. The first manipulator 41 and its first clamping members 43 are used for bottle unloading, and the second manipulator 45 and its second clamping members 47 are used for bottle loading. In this embodiment, "bottle unloading" refers to the process of taking the bottles out of the turnover box and placing them on the bottle translation mechanism 5, and "bottle loading" refers to the process of taking the bottles out of the bottle translation mechanism 5 and placing them on the loading assembly line 100. The first robot 41 is a six-axis robot, model IRB1200-7 / 0.7, and the second robot 45 is a six-axis robot, model IRB1100-4 / 0.58.

[0053] The first variable-pitch module 42, paired with the first clamping component 43, allows for flexible adjustment of the clamping point spacing according to bottle specifications and arrangement spacing, breaking the limitation of traditional fixed clamps that can only adapt to a single product. Simultaneously, the first clamping component 43 features a detachable structure, enabling quick replacement to accommodate different bottle types without requiring machine downtime for debugging and modification. This significantly reduces production line downtime for model changes, substantially improving equipment versatility and flexible production capabilities, and adapting to the batch production needs of multiple bottle specifications. A partition loading / unloading component 44 is integrated into the first variable-pitch module 42, enabling a single robotic arm to simultaneously perform both variable-pitch bottle unloading and automatic partition loading / unloading functions. Compared to traditional equipment requiring manual assistance or additional partition handling equipment, this structure achieves integrated linkage between bottle unloading and partition loading / unloading processes, simplifying production line equipment configuration, reducing equipment footprint and procurement costs, while eliminating placement deviations caused by manual intervention, and improving the regularity and operational accuracy of partition placement and removal. Employing a dual-manipulator collaborative structure, the first manipulator 41, equipped with a first pitch-changing module 42, a first gripper 43, and a partition pick-and-place assembly 44, is responsible for high-precision pitch adjustment, transferring bottles from the turnover box to the bottle translation mechanism 5, and precise partition pick-and-place operations. The second manipulator 45, equipped with multiple sets of second grippers 47, is responsible for the stable transfer of batches of bottles, moving them from the bottle translation mechanism 5 to the loading line 100. The two manipulators have clear division of labor, operate independently, and work collaboratively. This effectively solves the problems of low efficiency of traditional single manipulators, overlapping functions of dual manipulator structures, and low equipment utilization, significantly improving the efficiency and capacity of bottle loading and unloading, and is suitable for large-scale automated production scenarios. Furthermore, both the first manipulator 41 and the second manipulator 45 are hoisted, saving space and significantly improving equipment space utilization.

[0054] The partition loading and unloading assembly 44 includes a first hinge seat 441, a second telescopic cylinder 442, a second hinge seat 443, a swing arm 444, and a third clamping member 445. The first hinge seat 441 and the second hinge seat 443 are both detachably connected to one side wall of the first variable pitch module 42. One end of the second telescopic cylinder 442 is hinged to the first hinge seat 441, the swing arm 444 is hinged to the second hinge seat 443, and the other end of the second telescopic cylinder 442 is connected to the swing arm 444. The third clamping member 445 is installed at one end of the swing arm 444.

[0055] When a partition needs to be removed or placed, the second telescopic cylinder 442 extends, causing the swing arm 444 to swing, so that the third clamping member 445 faces downward. Then, the first robotic arm 41 moves to move the third clamping member 445 downward to remove the partition. The first robotic arm 41 then moves to place the partition into the empty box next to it. Figure 6As shown, the first clamping member 43 is located in front of the third clamping member 445. In this state, the second telescopic cylinder 442 extends to prepare the third clamping member 445 for removing the partition. When the first clamping member 43 is needed for bottle unloading, the first robotic arm 41 moves to make the clamping end of the first clamping member 43 face downwards, waiting for subsequent bottle removal. At this time, the third clamping member 445 is located above the first clamping member 43.

[0056] The partition pick-and-place assembly 44 is integrated into the first variable pitch module 42, eliminating the need for additional equipment installation space and achieving integrated partition pick-and-place and bottle variable pitch feeding functions. Both the first hinge seat 441 and the second hinge seat 443 are detachable connection structures, allowing the entire partition pick-and-place assembly 44 to be quickly disassembled, inspected, and replaced. It can be adapted to the corresponding third clamping component 445 according to different partition specifications, making equipment changeover convenient and highly versatile, effectively improving the maintenance convenience and flexible production capabilities of the mechanism.

[0057] The swing arm component 444 includes a connecting rod 4441 and a swing frame 4442. The swing frame 4442 is hinged to a second hinge seat 443. One end of the swing frame 4442 is hinged to the connecting rod 4441, and one end of the connecting rod 4441 is fixedly connected to the telescopic end of the second telescopic cylinder 442. The other end of the swing frame 4442 is equipped with a third clamping member 445. When the second telescopic cylinder 442 extends, it pushes the upper part of the swing frame 4442 to swing to the left through the connecting rod 4441, causing the left end of the swing frame 4442 to swing downward until the third clamping member 445 is vertically downward. The hinged connection between the connecting rod 4441 and the swing frame 4442 ensures reliable transmission and smooth operation.

[0058] There are two third clamping members 445, and the rack 4442 between the two third clamping members 445 has a limiting groove 4443. A turnover box can hold multiple layers of bottles, and each layer of bottles is separated by partitions. Since the turnover box partitions are covered with integrated mesh kraft paper to separate the bottles in the same layer, the limiting groove 4443 can position and limit the kraft paper on the partitions to prevent the kraft paper from shifting or falling off during handling and transportation, and to ensure that the partitions and kraft paper are placed neatly.

[0059] The bottle translation mechanism 5 includes a first X-axis linear module 51, a second X-axis linear module 52, a second pitch-changing module 53, a first placement seat 54, a third pitch-changing module 55, and a second placement seat 56. The first X-axis linear module 51 and the second X-axis linear module 52 are both mounted on the frame 1. The first X-axis linear module 51 is located behind the second X-axis linear module 52. The moving end of the first X-axis linear module 51 is provided with the second pitch-changing module 53. The second pitch-changing module 53 has several second execution ends 531. The second execution ends 531 are detachably connected to the first placement seat 54. The moving end of the second X-axis linear module 52 is provided with the third pitch-changing module 55. The third pitch-changing module 55 has several third execution ends 551. The third execution ends 551 are detachably connected to the second placement seat 56.

[0060] The horizontal reciprocating movement of the two sets of mechanisms is achieved through the first X-axis linear module 51 and the second X-axis linear module 52. The second pitch-changing module 53 and the third pitch-changing module 55 respectively drive the first placement seat 54 and the second placement seat 56 to adjust the spacing to adapt to different bottle types and pick-up / placement positions. The first placement seat 54 and the second placement seat 56 are used to receive and position the bottles. Driven by the first X-axis linear module 51 and the second X-axis linear module 52, the bottles are smoothly transported to the loading station for the second clamping member 47 to grip and, in conjunction with the second robotic arm 45, to load the bottles onto the loading line 100, completing the automated transfer and loading of the bottles. The dual X-axis linear module combined with the dual pitch-changing module structure allows the two sets of translation mechanisms to work alternately and cross-use. One set is in a bottle-placing waiting state, while the other set moves to the right synchronously to wait for bottle retrieval, eliminating idle waiting intervals and significantly improving the bottle loading cycle and overall work efficiency. At the same time, it can achieve adaptive adjustment of the bottle spacing, adapting to various bottle sizes and providing strong compatibility. The first placement seat 54 and the second placement seat 56 are detachable and can be replaced according to different bottle types, making them highly adaptable. The dual modules are independently driven, ensuring smooth operation and precise positioning. Together with the dual robotic arm bottle shuttle transfer mechanism 4, the loading and unloading are seamless, further improving the automation level and operational reliability of the equipment.

[0061] The feeding assembly line 100 includes a U-shaped conveyor 7, a third telescopic cylinder 8, a baffle 9, a fourth telescopic cylinder 10, a third limiting plate 11, a second baffle 12, and a brake cylinder 13. The U-shaped conveyor 7 is equipped with several sets of brake cylinders 13 along its conveying direction. The U-shaped conveyor 7 has two straight sections, front and rear. The rear straight section is equipped with several third telescopic cylinders 8 and several fourth telescopic cylinders 10 at intervals along its conveying direction. The telescopic end of the third telescopic cylinder 8 is equipped with a baffle 9, which extends above the conveying surface of the straight section. The telescopic end of the fourth telescopic cylinder 10 is equipped with a third limiting plate 11. The front side of the rear straight section is equipped with a second baffle 12, which is arranged opposite to the third limiting plate 11.

[0062] A U-shaped conveyor 7 transports the carriers (conveyor trays for supporting bottles). On the rear straight section, a third telescopic cylinder 8 drives a baffle 9 to extend and intercept and separate the carriers. A fourth telescopic cylinder 10 drives a third limit plate 11, which, in conjunction with a second baffle 12, centers and positions the entire row of carriers for subsequent loading operations. Multiple sets of brake cylinders 13 automatically engage in emergency braking in case of sudden malfunctions, power outages, or gas shortages, preventing equipment loss of control or safety accidents. The U-shaped conveyor 7 provides a compact and reasonable layout for easy docking with the bottle loading machine 200, resulting in high space utilization. The baffle 9 allows for orderly interception and separation of the carriers, and the front and rear centering and positioning mechanism ensures that the entire row of carriers is neatly and uniformly positioned, guaranteeing accurate and consistent bottle loading.

[0063] In this embodiment, the first clamping member 43, the second clamping member 47, and the third clamping member 445 are all vacuum suction cups. In other embodiments, they may also be clamping cylinders or expansion clamps.

[0064] The control method of this invention is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art. The power supply is also common knowledge in the art. Furthermore, since this invention is mainly used to protect mechanical devices, the control method and circuit connection will not be explained in detail here.

[0065] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dual-manipulator shuttle-linked bottle loading device, characterized in that: It includes a feeding assembly line and at least one bottle feeder arranged along the conveying direction of the feeding assembly line; The bottle loading machine includes a frame, and a turnover box feeding and discharging mechanism, a turnover box lifting mechanism, a dual-manipulator bottle shuttle transfer mechanism, and a bottle translation mechanism, all mounted on the frame. The turnover box lifting mechanism is located on the right side of the turnover box feeding and discharging mechanism; The bottle translation mechanism is located in front of the turnover box lifting mechanism; The dual-manipulator bottle shuttle transfer mechanism is located above the turnover box lifting mechanism and the bottle translation mechanism; The dual-manipulator bottle shuttle transfer mechanism completes the transfer of bottles from the turnover box lifting mechanism to the bottle translation mechanism, and the transfer of bottles from the bottle translation mechanism to the feeding assembly line through reciprocating shuttle motion. The dual-manipulator bottle shuttle transfer mechanism includes a first manipulator, a first variable pitch module, a first clamping component, a partition pick-and-place assembly, a second manipulator, a mounting frame, and a second clamping component; The inner top of the frame is provided with a first robotic arm and a second robotic arm spaced apart on the left and right, with the first robotic arm located to the left of the second robotic arm; The end of the first robotic arm is provided with a first pitch-changing module; The first variable pitch module has several first actuators on one side, and each actuator is detachably connected to a first clamping member. A partition plate loading and unloading assembly is detachably connected to the other side of the first pitch module; The end of the second robotic arm is provided with a mounting frame, and the mounting frame is detachably connected to a plurality of second clamping components; The partition plate picking and placing assembly includes a first hinge seat, a second telescopic cylinder, a second hinge seat, a swing arm, and a third clamping member; Both the first hinge seat and the second hinge seat can be detachably connected to one side wall of the first pitch module; One end of the second telescopic cylinder is hinged to the first hinge seat; The swing arm is hinged to the second hinge seat; The other end of the second telescopic cylinder is connected to the swing arm component; A third clamping component is installed at one end of the swing arm.

2. The dual-manipulator shuttle-linked bottle loading device according to claim 1, characterized in that: The turnover box feeding and discharging mechanism includes a first roller conveyor line, a first belt conveyor line, a second roller conveyor line, a second belt conveyor line, and a first transition support roller; A first belt conveyor is provided on the right side of the first roller conveyor line; A second belt conveyor is provided on the right side of the second roller conveyor line; The second roller conveyor line is located above the first roller conveyor line, the second belt conveyor line is located above the first belt conveyor line, and the turnover box lifting mechanism is located to the right of the first belt conveyor line and the second belt conveyor line; The first belt conveyor and the second belt conveyor are rotatably connected to the left and right sides of the first transition support roller.

3. The dual-manipulator shuttle-linked bottle loading device according to claim 1, characterized in that: The turnover box lifting mechanism includes a stand, a Z-axis linear module, a lifting platform, a third belt conveyor, a second transition support roller, and a first baffle. The support frame is mounted on the machine frame; A Z-axis linear module is provided on the left side of the upright frame, and a lifting platform is provided on the moving end of the Z-axis linear module. A third belt conveyor line is installed on the top of the lifting platform; The left side of the third belt conveyor is rotatably connected to a second transition support roller, and the right side of the third belt conveyor is provided with a first baffle.

4. The dual-manipulator shuttle-linked bottle loading device according to claim 3, characterized in that: It also includes a turnover box positioning mechanism; The turnover box positioning mechanism includes a Y-axis linear module, a first limiting plate, a first telescopic cylinder, and a second limiting plate; A Y-axis linear module is provided on the right side of the upright frame, and a first limiting plate is provided on the moving end of the Y-axis linear module. The frame is equipped with a first telescopic cylinder, and the front end of the first telescopic cylinder is connected to a second limiting plate. The first limiting plate and the second limiting plate are arranged opposite each other.

5. The dual-manipulator shuttle-linked bottle loading device according to claim 1, characterized in that: The swing arm component includes a connecting rod and a swing frame; The swing frame is hinged to the second hinge seat; One end of the swing frame is hinged to a connecting rod, and one end of the connecting rod is fixedly connected to the telescopic end of the second telescopic cylinder; A third clamping component is installed at the other end of the swing frame.

6. The dual-manipulator shuttle-linked bottle loading device according to claim 5, characterized in that: There are two third clamping components; The swing frame between the two third clamping members has a limiting groove.

7. The dual-manipulator shuttle-linked bottle loading device according to claim 1, characterized in that: The bottle translation mechanism includes a first X-axis linear module, a second X-axis linear module, a second variable pitch module, a first placement seat, a third variable pitch module, and a second placement seat; The first X-axis linear module and the second X-axis linear module are both mounted on the frame, with the first X-axis linear module located behind the second X-axis linear module. The moving end of the first X-axis linear module is provided with a second pitch module. The second pitch module has a plurality of second execution ends, and the second execution ends are detachably connected to a first placement seat. The moving end of the second X-axis linear module is provided with a third pitch module, the third pitch module has several third execution ends, and the third execution ends are detachably connected to a second placement seat.

8. The dual-manipulator shuttle-linked bottle loading device according to claim 1, characterized in that: The feeding assembly line includes a U-shaped conveyor, a third telescopic cylinder, a baffle, a fourth telescopic cylinder, a third limit plate, a second baffle, and a brake cylinder; The U-shaped conveyor is equipped with several sets of brake cylinders along its conveying direction; The U-shaped conveyor has two straight sections, front and rear. The straight section on the rear side is provided with several third telescopic cylinders and several fourth telescopic cylinders at intervals along its conveying direction. The telescopic end of the third telescopic cylinder is provided with a stop, which extends above the conveying surface of the straight segment. The telescopic end of the fourth telescopic cylinder is provided with a third limiting plate, and the front side of the straight section located at the rear is provided with a second baffle. The second baffle and the third limiting plate are arranged opposite each other.

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