Self-adaptive sealing cover gripper device

Abstract

The utility model discloses a self-adaptive sealing cover gripper device which comprises a fixing support and a first locking mechanism. The execution unit is erected and installed on the fixing support and comprises a gripper assembly and an installation part, the gripper assembly is used for grabbing and installing the cover body, and the installation part comprises a second lock catch mechanism; when the execution unit is in the locking posture, the second lock catch mechanism and the first lock catch mechanism are locked in a matched mode; and when in the unlocking posture, the first lock catch mechanism and the second lock catch mechanism are separated from the unlocking execution unit, so that the gripper assembly can deflect in all directions. When the cover sealing operation is not executed, the execution unit can be in the locking posture, at the moment, the gripper assembly is kept locked and cannot deflect, the cover body is conveniently grabbed, when the cover sealing operation is conducted, the execution unit can be in the unlocking posture under the supporting effect of the barrel body, the angle and position of the cover body can be adjusted in a self-adaptive mode, cover sealing deflection is effectively avoided, and the service life of the cover body is prolonged. And the sealing performance and reliability of the sealing cover are ensured.

Description

Technical Field

[0001] The present application belongs to the field of capping and packaging technology, and specifically relates to an adaptive capping gripper device. Background Art

[0002] In the chemical, food, and pharmaceutical industries, leakage and overflow of liquid products during filling are serious problems, polluting the working environment and seriously endangering the health of operators. Therefore, automated capping grippers are currently widely used to perform the capping operation after filling.

[0003] The position of the barrel mouth relative to the barrel body is poorly aligned, and the mouth is prone to skew. Existing equipment uses capping grippers that are poorly adaptable to the barrel mouth's position and are unable to adaptively adjust the capping position and angle in response to mouth deviation or skew. This results in low capping reliability and a tendency for capping to skew, compromising the seal. Furthermore, current capping grippers lack a successful cap removal feedback signal. In some cases, the system may mistakenly interpret the cap removal as successful despite the gripper failing to remove the cap, leading to missed caps.

[0004] When the above-mentioned cap is skewed or missing, the operator is required to manually re-cap, which greatly reduces the overall production efficiency and increases the labor intensity of the operator. If the operator fails to discover the above-mentioned situation during quality inspection, the chemical material in the barrel will leak, which is very harmful to the health of the operator and is prone to explosion or fire, causing huge losses to the company. Utility Model Content

[0005] The purpose of this application is to provide an adaptive capping gripper device to solve the technical problems in the prior art that the capping gripper has poor adaptability to the barrel mouth state, is prone to cap tilting, and affects the sealing performance of the cap.

[0006] In order to achieve the above purpose, a technical solution adopted in this application is:

[0007] Provided is an adaptive capping gripper device, comprising:

[0008] A fixed bracket, comprising a first locking mechanism;

[0009] an execution unit mounted on the fixed bracket, the execution unit comprising a gripper assembly and a mounting portion connected to each other, the gripper assembly being used to grip and mount the cover, and the mounting portion comprising a second locking mechanism matching the first locking mechanism;

[0010] In which, the execution unit includes a locking posture and an unlocking posture. When the execution unit is in the locking posture, the second locking mechanism cooperates with the first locking mechanism to lock the execution unit; when the execution unit is in the unlocking posture, the first locking mechanism and the second locking mechanism separate and unlock the execution unit, so that the gripper assembly can be universally swung.

[0011] In one or more embodiments, the first locking mechanism includes a mounting hole passing through the fixed bracket, the second locking mechanism includes a mounting plate located above the fixed bracket and interfering with the mounting hole, the mounting portion also includes a connecting shaft passing through the mounting hole, the two ends of the connecting shaft are respectively connected to the mounting plate and the gripper assembly, and the diameter of the connecting shaft is smaller than the mounting hole, so that the gripper assembly can be universally deflected when the execution unit is in the unlocked posture.

[0012] In one or more embodiments, the mounting hole includes a first hole segment and a second hole segment arranged in sequence along a first direction, the first direction is the direction in which the mounting portion points to the gripper assembly, the diameter of the second hole segment is smaller than the first hole segment, so that the first hole segment and the second hole segment cooperate to form a step surface, the mounting plate includes an embedded segment matching the first hole segment, and when the execution unit is in the locking posture, the embedded segment is embedded in the first hole segment, and the step surface interferes with the end face of the embedded segment to limit the maximum descending stroke of the mounting plate.

[0013] In one or more embodiments, the diameter of the first hole segment gradually decreases along the first direction, and the embedded segment is a tapered block structure matching the first hole segment.

[0014] In one or more embodiments, the mounting hole further includes a third hole segment, which is arranged at an end of the second hole segment away from the first hole segment, and has a diameter greater than a diameter of the second hole segment.

[0015] In one or more embodiments, the fixed bracket includes a fixed plate and a support block arranged on the side of the fixed plate facing the mounting plate, the first hole segment is arranged on the side of the support block facing away from the fixed plate, the third hole segment passes through the fixed plate and extends into the support block, and the second hole segment passes through the support block to connect the first hole segment and the third hole segment.

[0016] In one or more embodiments, the mounting portion further includes a buffer spring, which is sleeved on the connecting shaft and located between the fixing bracket and the gripper assembly.

[0017] In one or more embodiments, the gripper assembly includes a telescopic mechanism, a gripper mechanism and a limiting cylinder, wherein the limiting cylinder is arranged on the periphery of the gripper mechanism, and the telescopic mechanism is used to drive the gripper mechanism to extend out of the limiting cylinder to grip the cover body, and drive the gripper mechanism to retract into the limiting cylinder to install the cover body.

[0018] In one or more embodiments, the gripper assembly includes a suction cup for sucking the cover, and the gripper assembly and the mounting portion are provided with air holes penetrating therethrough for controlling the suction cup;

[0019] The adaptive capping gripper device further includes a vacuum detection mechanism, which is connected to the air hole and is used to detect whether the suction cup successfully absorbs the cap.

[0020] Different from the prior art, the present invention has the following advantages:

[0021] The actuator unit of the adaptive capping gripper device of the present application includes a locking posture and an unlocking posture. When the capping operation is not being performed, the actuator unit can be in the locking posture. At this time, the gripper assembly remains locked and cannot swing, which facilitates the gripping of the cap. When the capping operation is being performed, the actuator unit can be in the unlocking posture under the support of the barrel body. At this time, the gripper assembly can swing in all directions. The cap can adaptively adjust its angle and position under the support of the barrel body, thereby ensuring that the position of the cap and the barrel mouth are matched, effectively avoiding the cap from being skewed, and ensuring the sealing and reliability of the cap.

[0022] The adaptive capping gripper device of the present application can realize cap grabbing detection, effectively avoiding the situation where the capping gripper fails to take the cap but the system mistakenly believes that the cap is taken successfully, thus avoiding the situation of missed capping;

[0023] The capping method of the present application is simple to operate. It only requires lowering the grasped cap to the barrel mouth to achieve adaptive position adjustment of the cap, thereby ensuring the sealing and reliability of the capping. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] To more clearly illustrate the embodiments of this application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some of the embodiments described in this application. For those of ordinary skill in the art, other drawings can be derived from these drawings without inventive effort.

[0025] Figure 1 This is a structural diagram of an embodiment of the adaptive capping gripper device of the present application;

[0026] Figure 2 yes Figure 1 Schematic diagram of the cross-sectional structure;

[0027] Figure 3 yes Figure 2 A partial enlarged schematic diagram;

[0028] Figure 4 This is a structural diagram of a first working state and an implementation method of the installation part of the present application;

[0029] Figure 5 This is a structural diagram of an embodiment of a second working state of the installation portion of the present application;

[0030] Figure 6 This is a structural diagram of an embodiment of the working state of the adaptive capping gripper device of the present application;

[0031] Figure 7 It is a structural schematic diagram of another embodiment of the adaptive capping gripper device of the present application;

[0032] Figure 8 It is a flow chart of an embodiment of a capping method of the adaptive capping gripper device of the present application.

[0033] Description of main reference numerals:

[0034] Fixed bracket 1; first locking mechanism 10; mounting hole 11; first hole section 111; second hole section 112; third hole section 113; stepped surface 114; fixed plate 12; support block 13;

[0035] Actuator 2; gripper assembly 20; telescopic mechanism 201; telescopic end 2011; cylinder 2012; piston rod 2013; limiting cylinder 202; gripper mechanism 203; suction cup 2031; elastic claw arm 2032; mounting portion 21; second locking mechanism 210; mounting plate 211; embedded section 2111; connecting shaft 212; buffer spring 213; air hole 22;

[0036] Vacuum generator 3;

[0037] Vacuum detection mechanism 4;

[0038] Control system 5;

[0039] Lifting unit 6; back plate 60; lifting guide rail 61; sliding bracket 62; driving mechanism 63;

[0040] Cover body 7. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0042] Currently, the capping grippers in automated capping systems have poor adaptability to the barrel opening, resulting in low capping reliability and a tendency for the cap to skew, compromising the seal. This skewed capping situation requires manual recapping by the operator, significantly reducing overall production efficiency and increasing the risk of chemical leakage from the barrel. This poses a significant health risk to the operator and can easily cause explosions or fires, resulting in significant losses for the company.

[0043] In order to solve the above problems, the applicant has developed an adaptive capping gripper device, which can adaptively adjust the angle and position of the cap during the capping process to ensure that the position of the cap corresponds to the position of the barrel mouth and avoid the cap being skewed.

[0044] Specifically, see Figure 1 and Figure 2 , Figure 1 This is a structural diagram of an embodiment of the adaptive capping gripper device of the present application. Figure 2 yes Figure 1 Schematic diagram of the cross-sectional structure.

[0045] like Figure 1 and Figure 2 As shown, the device includes a fixed bracket 1 and an execution unit 2. The execution unit 2 is mounted on the fixed bracket 1 and includes a gripper assembly 20 and a mounting portion 21 that are connected to each other.

[0046] The gripper assembly 20 is used to grip and install the cover body, and the installation portion 21 is used to cooperate with the fixing bracket 1 to set up the installation execution unit 2.

[0047] Among them, a first locking mechanism 10 is arranged on the fixed bracket 1, and the mounting part 21 includes a second locking mechanism 210 matching the first locking mechanism 10. The first locking mechanism 10 and the second locking mechanism 210 can cooperate to lock the execution unit 2 so that the gripper assembly 20 cannot swing.

[0048] Specifically, the execution unit 2 includes a locking posture and an unlocking posture. When the execution unit 2 is in the locking posture, the second locking mechanism 210 cooperates with the first locking mechanism 10 under the action of the gravity of the execution unit 2 to lock the execution unit 2; when the execution unit 2 is in the unlocking posture, the execution unit 2 is supported to drive the first locking mechanism 10 and the second locking mechanism 210 to separate and unlock the execution unit 2, so that the gripper assembly 20 can be universally swung.

[0049] It can be understood that when the execution unit 2 is mounted on the fixed bracket 1 under the action of gravity, the first locking mechanism 10 and the second locking mechanism 210 can cooperate to lock the gripper assembly 20 to prevent the gripper assembly 20 from swinging, which helps the gripper assembly 20 to grab the cover body 7 to be installed; after the grabbing is completed, the execution unit 2 can be moved to the barrel mouth to be sealed. Under the support of the barrel mouth, the first locking mechanism 10 and the second locking mechanism 210 can be separated from each other, so that the execution unit 2 switches to the unlocked posture. Under the support of the barrel mouth, the gripper assembly 20 can swing with the angle and position of the barrel mouth, so that the cover body 7 matches the position of the barrel mouth. On this basis, the gripper assembly 20 performs the sealing operation to effectively avoid the cover body 7 from being skewed.

[0050] In this embodiment, the first locking mechanism 10 can be a mounting hole 11 passing through the fixed bracket 1, the second locking mechanism 210 can include a mounting plate 211 located above the fixed bracket 1 and interfering with the mounting hole 11, and the mounting portion 21 can include a connecting shaft 212 passing through the mounting hole 11, and the two ends of the connecting shaft 212 are respectively connected to the mounting plate 211 and the gripper assembly 20, and the diameter of the connecting shaft 212 is smaller than the mounting hole 11, so that the gripper assembly 20 can be universally deflected when the execution unit 2 is in the unlocked posture.

[0051] It can be understood that when the mounting plate 211 is in contact with the fixed bracket 1 under the action of gravity, the gripper assembly 20 is in a locked position; and when the mounting plate 211 rises and separates from the fixed bracket 1 under the support of the barrel mouth, the gripper assembly 20 is in an unlocked position. At this time, the connecting shaft 212 can swing within the internal space of the mounting hole 11, and synchronously, the operating end of the gripper assembly 20 can swing in all directions.

[0052] It should be noted that the structure of the above-mentioned first locking mechanism 10 and the second locking mechanism 210 is not the only option. In other embodiments, the first locking mechanism 10 and the second locking mechanism 210 can also adopt other locking structures commonly used in the field. For example, the first locking mechanism 10 and the second locking mechanism 210 can be mutually matching snap and slot structures, or the first locking mechanism 10 can be a bracket structure arranged on the side of the fixed bracket 1, and the second locking mechanism 210 can be a block that interferes with the bracket structure, both of which can achieve the effect of this embodiment.

[0053] The following describes the structure of the mounting hole 11 in detail. Figure 3 , Figure 3 yes Figure 2 A partial enlarged schematic diagram of the middle A.

[0054] like Figure 3 As shown, in this embodiment, the mounting hole 11 includes a first hole segment 111 and a second hole segment 112 arranged in sequence along the first direction x, wherein the diameter of the second hole segment 112 is smaller than that of the first hole segment 111, so that the first hole segment 111 and the second hole segment 112 cooperate to form a step surface 114.

[0055] The mounting plate 211 includes an embedded section 2111 that matches the first hole section 111. When the execution unit 2 is in a locked position, the embedded section 2111 is embedded in the first hole section 111, and the step surface 114 interferes with the end face of the embedded section 2111 to limit the maximum descending stroke of the mounting plate 211.

[0056] It can be understood that when the execution unit 2 is in the locking posture, the embedding section 2111 of the mounting plate 211 can be embedded in the first hole section 111 of the mounting hole 11, thereby further improving the locking posture stability of the gripper assembly 20.

[0057] Furthermore, in order to avoid the situation where the mounting plate 211 moves out of position and the embedding section 2111 cannot be embedded, the first hole section 111 in this embodiment can be a tapered hole, that is, the diameter of the first hole section 111 can gradually decrease along the first direction, and the embedding section 2111 of the mounting plate 211 can be a tapered block structure that matches the first hole section 111, thereby realizing a guiding function during the descent of the mounting plate 211.

[0058] In order to increase the swing space of the gripper assembly 20 and improve the adaptability of the gripper assembly 20 to the large offset barrel mouth, in this embodiment, the mounting hole 11 may also include a third hole section 113, and the third hole section 113 is arranged at the end of the second hole section 112 away from the first hole section 111, and the diameter of the third hole section 113 is larger than the diameter of the second hole section 112, so that the connecting shaft 212 can swing in the larger internal space of the third hole section 113.

[0059] Specifically, in this embodiment, the fixed bracket 1 includes a fixed plate 12 and a support block 13 disposed on the side of the fixed plate 12 facing the mounting plate 211. The first hole section 111 is disposed on the side of the support block 13 facing away from the fixed plate 12. The third hole section 113 penetrates the fixed plate 12 and extends into the support block 13. The second hole section 112 penetrates the support block 13 and connects the first hole section 111 and the third hole section 113. Since the third hole section 113 extends into the interior of the support block 13, the length of the third hole section 113 is increased, thereby further increasing the deflection space of the connecting shaft 212 and the gripper assembly 20.

[0060] Of course, in other embodiments, the mounting hole 11 may also adopt other structures. For example, the mounting hole 11 may be a tapered hole structure as a whole, or the mounting hole 11 may be configured to include other numbers of hole segments with different diameters, so as to achieve the limited locking of the fixing plate 12. No further details will be given here.

[0061] See also Figure 4 and Figure 5 , Figure 4 This is a structural diagram of a first working state and an implementation method of the installation part of this application. Figure 5 It is a structural diagram of an implementation method of the second working state of the installation part of this application.

[0062] like Figure 4 As shown, the execution unit 2 is in a locked position, the embedded section 2111 of the mounting plate 211 is embedded in the first hole section 111, and the mounting plate 211 is against the step surface 114, and the connecting shaft 212 and the gripper assembly 20 are locked and cannot deflect; Figure 5 As shown, the execution unit 2 is in an unlocked posture, the embedded section 2111 of the mounting plate 211 moves up to the outside of the first hole section 111, and the connecting shaft 212 can be universally swung in the space inside the third hole section 113, so that the operating end of the gripper assembly 20 can be universally swung to adapt to the barrel mouth position and angle.

[0063] Further, such as Figure 4 and Figure 5 As shown, in order to buffer the movement of the execution unit 2, prevent the gripper assembly 20 from colliding with the fixed bracket 1 during the upward movement, and prevent the mounting plate 211 from having excessive impact force with the fixed bracket 1 during the downward movement, the mounting portion 21 in this embodiment also includes a buffer spring 213, which is sleeved on the connecting shaft 212, and the buffer spring 213 is located between the fixed bracket 1 and the gripper assembly 20.

[0064] Specifically, one end of the buffer spring 213 is connected to the top surface of the gripper assembly 20 , and the other end is embedded in the third hole section 113 and fixed therein to play a buffering role.

[0065] The structure of the gripper assembly 20 in this embodiment is described in detail below. Figure 2 In this embodiment, the gripper assembly 20 includes a telescopic mechanism 201, a limiting cylinder 202 and a gripper mechanism 203.

[0066] The telescopic mechanism 201 is connected to the connecting shaft 212 and includes a telescopic end 2011 located on the side facing away from the connecting shaft 212. A gripper mechanism 203 is mounted on the telescopic end 2011 and is used to grip and install the cover 7. A limiting cylinder 202 is located on the side of the telescopic mechanism 201 facing away from the mounting portion 21 and is sleeved onto the gripper mechanism 203.

[0067] In order to facilitate the connection between the telescopic mechanism 201 and the connecting shaft 212, the telescopic mechanism 201 includes a cylinder body 2012 and a piston rod 2013 arranged in the cylinder body 2012. The two ends of the piston rod 2013 are respectively arranged to pass through the cylinder body 2012, the telescopic end 2011 is arranged at one end of the piston rod 2013, and the other end of the piston rod 2013 is connected to the connecting shaft 212.

[0068] like Figure 2 As shown, in this embodiment, the gripping mechanism 203 may include a suction cup 2031 located at one end away from the mounting portion 21 and a circle of elastic claw arms 2032 arranged around the suction cup 2031. The telescopic mechanism 201 can drive the suction cup 2031 to extend out of the limiting cylinder 202 to adhere to and absorb the cover 7. The telescopic mechanism 201 can drive the elastic claw arms 2032 to extend out of the limiting cylinder 202 to be clamped on the circumference of the cover 7. At the same time, the telescopic mechanism 201 can drive the elastic claw arms 2032 to retract into the inside of the limiting cylinder 202. The elastic claw arms 2032 are limited by the inner wall of the limiting cylinder 202 to press the circumference of the cover 7 inward, thereby achieving the installation of the cover 7 on the barrel mouth.

[0069] Among them, in order to facilitate the suction control of the suction cup 2031, a penetrating air hole 22 can be formed inside the gripping mechanism 203, the connecting shaft 212 and the mounting plate 211. One end of the air hole 22 is connected to the suction cup 2031, and the other end extends to the top surface of the mounting plate 211, so that the suction cup 2031 can be controlled to suck the cover body 7 through the air hole 22.

[0070] For further information, see Figure 6 , Figure 6 It is a structural diagram of an embodiment of the working state of the adaptive capping gripper device of the present application.

[0071] like Figure 6 The air hole 22 is connected to the vacuum generator 3 , and the vacuum generator 3 controls the suction and release operations of the suction cup 2031 on the cover body 7 through the air hole 22 .

[0072] Furthermore, to detect the suction state of the suction cup 2031 and prevent the lid from leaking, the air hole 22 is also connected to a vacuum detection mechanism 4. The vacuum detection mechanism 4 is used to detect the vacuum state of the suction cup 2031, thereby identifying whether the suction cup 2031 has successfully absorbed the lid 7. The vacuum detection mechanism 4 is connected to the control system 5 and can provide feedback on the detected state of the suction cup 2031. When the control system 5 receives a signal that the suction cup 2031 has not successfully absorbed the lid 7, it can issue an alarm signal, allowing the operator to respond and make adjustments, thereby preventing the lid from leaking from the barrel mouth.

[0073] It should be noted that the above embodiment only shows an optional structure of the gripping mechanism 203. In other embodiments, gripping mechanisms 203 with other structures may also be used. For example, the gripping mechanism 203 may be a robot, a clamp, etc., which can realize the gripping and installation of the cover body 7, and can achieve the effect of this embodiment.

[0074] In order to facilitate the control of the lifting of the execution unit 2 and drive the execution unit 2 to switch between the locking posture and the unlocking posture, in one embodiment, the capping gripper device further includes a lifting unit 6, see Figure 7 , Figure 7 It is a structural schematic diagram of another embodiment of the adaptive capping gripper device of the present application.

[0075] like Figure 7 As shown, the lifting unit 6 is connected to the fixed support 1 , and the lifting unit 6 is used to drive the fixed support 1 and the execution unit 2 to move up and down.

[0076] Specifically, in this embodiment, the lifting unit 6 includes a back plate 60 , a lifting guide rail 61 , a sliding bracket 62 and a driving mechanism 63 .

[0077] The back panel 60 is arranged vertically next to the fixed bracket 1; the lifting guide rail 61 is arranged on the side of the back panel 60 facing the fixed bracket 1; the sliding bracket 62 is slidably mounted on the lifting guide rail 61, and the sliding bracket 62 is connected to the fixed bracket 1; the driving mechanism 63 is arranged on the back panel 60, and the driving mechanism 63 includes a driving end connected to the sliding bracket 62, and the driving mechanism 63 is used to drive the sliding bracket 62 to slide along the lifting guide rail 61.

[0078] In this embodiment, the driving mechanism 63 may be a driving cylinder. In other embodiments, the driving mechanism 63 may also be other telescopic devices, such as a hydraulic cylinder, an electronic telescopic rod, etc.

[0079] It can be understood that by setting up the lifting unit 6, it is convenient to control the lifting and lowering of the gripper assembly 20. On the one hand, it helps to lower the gripper assembly 20 to the cover body 7 to be grasped, so that the suction cup 2031 can absorb and the elastic claw arm 2032 can grasp the cover body 7; on the other hand, it helps to lower the gripper assembly 20 to the barrel mouth, so that the execution unit 2 can be driven to switch from the locked posture to the unlocked posture under the support of the barrel mouth, so that the cover body 7 can adaptively adjust the angle and position under the support of the barrel mouth.

[0080] This application also provides a method for sealing the barrel mouth using the above-mentioned adaptive sealing gripper device, see Figure 8 , Figure 8 It is a flow chart of an embodiment of a capping method of the adaptive capping gripper device of the present application.

[0081] like Figure 8 As shown, the capping method includes:

[0082] S100, moving the fixing bracket and the execution unit to above the cover.

[0083] In one embodiment, the execution unit is in a locked position at this time, and the suction cup and the elastic claw arm cannot be universally deflected; at the same time, the elastic claw arm is in a telescopic position, and the suction cup also extends out of the limiting cylinder.

[0084] S200: Drive the fixed support to descend until the gripper assembly contacts the cover.

[0085] In one embodiment, at this time, the suction cup is pressed against the surface of the cover, and a circle of elastic claw arms is clamped on the circumference of the cover.

[0086] S300, controlling the gripper assembly to grip the cover.

[0087] In one embodiment, the suction cup is controlled by a vacuum generator to suck the cover.

[0088] S400: Move the fixing bracket and the execution unit to above the barrel to be capped.

[0089] S500, drive the fixed bracket to descend until the gripper assembly is supported by the barrel body, driving the first locking mechanism and the second locking mechanism to separate and unlock the execution unit. The gripper assembly adaptively adjusts its angle under the support of the barrel body so that the cover body fits tightly with the open end of the barrel body.

[0090] By controlling the fixed bracket to descend, the gripper assembly is driven to descend until the gripper assembly is supported by the barrel body. At this time, the fixed bracket is continued to be controlled to descend, so that the first locking mechanism and the second locking mechanism can be separated to unlock the execution unit.

[0091] When in the unlocked position, the cover grasped by the suction cup and the elastic claw arm can adaptively adjust its position and angle based on the position and angle of the barrel mouth, thereby ensuring that the cover and the barrel mouth are in close contact.

[0092] S600, control the gripper assembly to install the cover.

[0093] In one embodiment, the elastic claw arm is driven to retract into the limiting cylinder by the telescopic mechanism, and the elastic claw arm is limited by the inner wall of the limiting cylinder to press the circumference of the cover body inward, thereby achieving the installation of the cover body on the barrel mouth.

[0094] S700: Control the gripper assembly to release the cover, drive the fixed bracket to rise, and complete the capping.

[0095] In one embodiment, the telescopic mechanism drives the working end of the elastic claw arm to extend out of the limiting cylinder, synchronously controls the suction cup to release the cover body, thereby releasing the cover body, and then drives the fixed bracket to rise, thus completing the barrel capping operation.

[0096] In another embodiment, when the adaptive capping gripper device further includes a vacuum detection mechanism for detecting whether the suction cup successfully absorbs the cap, the method further includes, before the above step S400:

[0097] Obtaining a feedback signal from the vacuum detection mechanism, and determining whether the suction cup has successfully sucked the cover body based on the feedback signal;

[0098] If not, an alarm message is sent and the fixed bracket and the execution unit are controlled to reset.

[0099] By detecting the feedback signal of the vacuum detection mechanism, it is possible to determine whether the suction cup has sucked the cover body, and send an alarm message when the cover body is not sucked, effectively avoiding the barrel body from leaking.

[0100] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be encompassed within the present invention. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0101] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. An adaptive capping gripper device, characterized in that: include: A fixed bracket, comprising a first locking mechanism; an execution unit, mounted on the fixed bracket, the execution unit comprising a gripper assembly and a mounting portion connected to each other, the gripper assembly being used to grasp and mount the cover body, and the mounting portion comprising a second locking mechanism matching the first locking mechanism; Among them, the execution unit includes a locking posture and an unlocking posture. When the execution unit is in the locking posture, the second locking mechanism cooperates with the first locking mechanism to lock the execution unit; when the execution unit is in the unlocking posture, the first locking mechanism and the second locking mechanism separate and unlock the execution unit, so that the gripper assembly can swing in all directions.

2. The adaptive capping gripper device according to claim 1, characterized in that: The first locking mechanism includes a mounting hole passing through the fixed bracket, the second locking mechanism includes a mounting plate located above the fixed bracket and interfering with the mounting hole, the mounting portion also includes a connecting shaft passing through the mounting hole, the two ends of the connecting shaft are respectively connected to the mounting plate and the gripper assembly, and the diameter of the connecting shaft is smaller than the mounting hole, so that the gripper assembly can be universally deflected when the execution unit is in the unlocking posture.

3. The adaptive capping gripper device according to claim 2, characterized in that: The mounting hole includes a first hole segment and a second hole segment arranged in sequence along a first direction, the first direction being the direction in which the mounting portion points to the gripper assembly, the diameter of the second hole segment being smaller than the first hole segment, so that the first hole segment and the second hole segment cooperate to form a step surface, the mounting plate includes an embedded segment matching the first hole segment, and when the execution unit is in the locking posture, the embedded segment is embedded in the first hole segment, and the step surface interferes with the end face of the embedded segment to limit the maximum descending stroke of the mounting plate.

4. The adaptive capping gripper device according to claim 3, characterized in that: The diameter of the first hole segment gradually decreases along the first direction, and the embedded segment is a tapered block structure matching the first hole segment.

5. The adaptive capping gripper device according to claim 3, characterized in that: The mounting hole further includes a third hole segment, which is arranged at an end of the second hole segment away from the first hole segment, and has a diameter greater than a diameter of the second hole segment.

6. The adaptive capping gripper device according to claim 5, characterized in that: The fixed bracket includes a fixed plate and a support block arranged on a side of the fixed plate facing the mounting plate, the first hole section is arranged on a side of the support block facing away from the fixed plate, the third hole section penetrates the fixed plate and extends into the support block, and the second hole section penetrates the support block to connect the first hole section and the third hole section.

7. The adaptive capping gripper device according to any one of claims 2 to 6, characterized in that: The mounting portion further comprises a buffer spring, wherein the buffer spring is sleeved on the connecting shaft and is located between the fixing bracket and the gripper assembly.

8. The adaptive capping gripper device according to claim 1, characterized in that: The gripper assembly includes a telescopic mechanism, a gripper mechanism and a limiting cylinder, wherein the limiting cylinder is arranged at the periphery of the gripper mechanism, and the telescopic mechanism is used to drive the gripper mechanism to extend out of the limiting cylinder to grip the cover body, and drive the gripper mechanism to retract into the limiting cylinder to install the cover body.

9. The adaptive capping gripper device according to claim 1, characterized in that: The gripper assembly includes a suction cup for sucking the cover body, and the gripper assembly and the mounting portion are provided with air holes for controlling the penetration of the suction cup; The adaptive capping gripper device further comprises a vacuum detection mechanism, which is connected to the air hole and is used to detect whether the suction cup successfully absorbs the cap body.

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