Bottle cap assembling equipment based on parallel robot

Abstract

The utility model belongs to the field of industrial robots, and particularly relates to bottle cap assembling equipment based on parallel robots, which comprises a bottle cap conveying device, a bottle body conveying device, an execution device, a detection device and a control cabinet, the bottle cap conveying device comprises a bottle cap conveying belt and a bottle cap lifting mechanism; the bottle body conveying device comprises a bottle body conveying belt; the execution device comprises a parallel robot and a tail end execution mechanism; the detection device comprises a visual detection mechanism, a first speed measurement mechanism, a second speed measurement mechanism and a position detection mechanism; through the cooperation of the parallel robot, the bottle cap conveying belt and the bottle body conveying belt, on the basis that the visual sensor obtains a posture image of a bottle cap and outputs a posture signal, the control cabinet controls the bottle cap conveying belt according to a received first speed signal, a received second speed signal and a received position signal; and control signals for controlling the parallel robot, the rotating air cylinder and the pneumatic clamping jaw to operate are output, so that the pneumatic clamping jaw accurately clamps the bottle cap and covers the top of the bottle body, and the automatic packaging efficiency of the wine bottle is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of industrial robots, concretely relates to bottle cap assembly equipment based on parallel robot. BACKGROUND

[0002] In the automatic packaging process of wine bottles, the grabbing and assembling of bottle caps are one of the key links in the production line, at present, the grabbing and assembling process of traditional equipment on bottle caps mostly depends on fixed track mechanical equipment or manual operation, among them, the traditional mechanical grabbing equipment generally runs based on fixed track of bottle caps, is only suitable for regularly placed bottle caps, when bottle caps are distributed in random postures on the conveying belt, the grabbing efficiency and success rate significantly decrease; and manual assembling of bottle caps and bottle bodies makes the efficiency lower. UTILITARY MODEL CONTENT

[0003] In view of this, the utility model provides a kind of bottle cap assembly equipment based on parallel robot, utilize the automatic operation of parallel robot, on the basis that bottle cap conveying belt and bottle body conveying belt cooperate with each other, realize the accurate grabbing of bottle cap and the accurate cooperation of bottle cap and bottle body by the joint control effect of control cabinet, improve the assembling efficiency of bottle cap and bottle body.

[0004] In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:

[0005] The bottle cap assembly equipment based on parallel robot includes:

[0006] Bottle cap conveying device, including first support frame, bottle cap conveying belt is arranged on the first support frame, for conveying bottle cap;

[0007] Bottle body conveying device is arranged on the side of the bottle cap conveying device, and the bottle body conveying device includes second support frame, and bottle body conveying belt is arranged on the second support frame, for conveying bottle body;

[0008] Execution device, including third support frame, the third support frame is arranged on the top of the bottle cap conveying device and bottle body conveying device simultaneously, parallel robot is arranged on the third support frame, and the output end of the parallel robot is provided with end execution mechanism, wherein the end execution mechanism includes flange connecting piece, one end of the flange connecting piece is connected with the output end of the parallel robot, the other end is connected with rotating cylinder, the output end of the rotating cylinder is rotated by 90° of maximum stroke, on the basis, the output end of the rotating cylinder is also connected with pneumatic gripper, and the pneumatic gripper is used to clamp the bottle cap on the bottle cap conveying belt and cover it on the top of bottle body on the bottle body conveying belt;

[0009] Detection device, including:

[0010] The visual detection mechanism comprises a mounting frame arranged above the bottle cap conveying belt and located at a side close to the bottle cap input end, and a visual sensor is arranged at the top of the mounting frame to obtain the posture image of the bottle cap conveyed on the bottle cap conveying belt and output a posture signal.

[0011] The first speed detection mechanism comprises a first mounting plate arranged on the first support frame, and a first roller rotatably connected to the end of the first mounting plate, wherein the circumferential outer wall of the first roller is in contact with the bottle cap conveying belt and drives the first roller to rotate when the bottle cap conveying belt runs, and a first encoder is further arranged on the first roller to detect the rotating speed of the first roller, so as to obtain the running speed of the bottle cap conveying belt and output a first speed signal.

[0012] The second speed detection mechanism comprises a second mounting plate arranged on the second support frame, and a second roller rotatably connected to the end of the second mounting plate, wherein the circumferential outer wall of the second roller is in contact with the bottle body conveying belt and drives the second roller to rotate when the bottle body conveying belt runs, and a second encoder is further arranged on the second roller to detect the rotating speed of the second roller, so as to obtain the running speed of the bottle body conveying belt and output a second speed signal.

[0013] The position detection mechanism comprises a photoelectric sensor and a reflective plate arranged correspondingly, and the photoelectric sensor and the reflective plate are arranged on both sides of the second support frame through fixing frames, wherein when the bottle body passes through the photoelectric sensor following the bottle body conveying belt, the photoelectric sensor outputs a position signal of the bottle body.

[0014] The control cabinet is in communication connection with the parallel robot, the rotating cylinder, the pneumatic clamping jaw, the visual sensor, the first encoder, the second encoder and the photoelectric sensor respectively, and after receiving the posture signal, the first speed signal, the second speed signal and the position signal, the control cabinet sends control signals for controlling the running of the parallel robot, the rotating cylinder and the pneumatic clamping jaw respectively.

[0015] Preferably, in the bottle cap conveying device, the bottle cap conveying belt comprises a bottle cap input end and a bottle cap output end, one side of the bottle cap input end is provided with a bottle cap lifting mechanism for lifting the bottle cap onto the bottle cap conveying belt, wherein the bottle cap lifting mechanism comprises a group of mounting seats arranged in an inclined manner as a whole, one end of the group of mounting seats is connected with a guide plate, the end of the guide plate is arranged above the bottle cap conveying belt, in addition, the other end of the group of mounting seats is provided with a material placing groove, a plurality of bottle caps are placed in the material placing groove, on this basis, a bottle cap lifting belt is arranged between the group of mounting seats, a plurality of partitions are uniformly arranged on the bottle cap lifting belt, and the area between adjacent two partitions is configured as a material placing area; when the bottle cap lifting belt operates, the bottle caps in the material placing groove are lifted onto the bottle cap conveying belt through the material placing area.

[0016] Preferably, in the bottle cap conveying device, an L-shaped baffle is further arranged on the first support frame and located at one side of the bottle cap input end.

[0017] Preferably, in the bottle cap conveying device, a recycling opening is further arranged on the first support frame and located at one side of the bottle cap output end, for recycling the bottle caps that are not grabbed by the device.

[0018] Preferably, the bottle body conveying device further comprises a group of limiting wall plates, and the group of limiting wall plates is arranged above the bottle body conveying belt through a first support frame, and the distance between the group of limiting wall plates is equal to the maximum diameter of the bottle body.

[0019] Preferably, in the detection device, the visual detection mechanism further comprises a group of light supplementing lamps arranged in the mounting frame.

[0020] Preferably, the mounting frame is provided with light shielding plates around and on the top.

[0021] The bottle cap assembly equipment based on the parallel robot has the advantages that:

[0022] The bottle cap assembly equipment based on the parallel robot has the advantages that: BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings described below are only some of the embodiments of the present application, and not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0024] Figure 1 It is a schematic diagram of the overall structure of the present application.

[0025] Figure 2 It is another angle schematic diagram of the overall structure in the present application.

[0026] Figure 3 It is a schematic diagram of the specific structure of the bottle body conveying device in the present application.

[0027] Figure 4 It is a schematic diagram of the specific structure of the end execution mechanism in the present application.

[0028] In the figure: bottle cap conveying device 1, first support frame 101, bottle cap conveying belt 102, bottle cap input end 103, bottle cap output end 104, L-shaped baffle 105, recycling port 106; bottle cap lifting mechanism 5, mounting seat 501, guide plate 502, material placing groove 503, bottle cap lifting belt 504, partition plate 505; bottle body conveying device 2, second support frame 201, bottle body conveying belt 202, limiting wall plate 203, first support 204; execution device 3, third support frame 301, parallel robot 302; end execution mechanism 8, flange connecting piece 801, rotating air cylinder 802, pneumatic clamping jaw 803; visual detection mechanism 4, mounting frame 401, visual sensor 402, light supplementing lamp 403; first speed measuring mechanism 7, first mounting plate 701, first roller 702; second speed measuring mechanism 9, second mounting plate 901, second roller 902; position detection mechanism 10, photoelectric sensor 1001, reflector plate 1002, fixing frame 1003. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, and not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0030] In the description of the utility model, it is necessary to explain that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "internal", "external" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and are not indicative or suggestive of the devices or elements indicated must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the utility model; the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicative or suggestive of relative importance, in addition, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements. For ordinary skilled persons in the art, the specific meaning of the above-mentioned terms in the utility model can be understood according to the specific circumstances.

[0031] The technical scheme of the present application will be described in detail below with reference to the drawings.

[0032] The bottle cap assembly equipment based on parallel robot provided by the technical scheme comprises a bottle cap conveying device 1, a bottle body conveying device 2, an execution device 3, a detection device and a control cabinet, as shown in the figure. Figure 1 As shown in the figure, the bottle cap conveying device 1 comprises a first support frame 101, and the first support frame 101 is provided with a bottle cap conveying belt 102 for conveying bottle caps.

[0033] As shown in the figure, the bottle cap conveying device 1 comprises a first support frame 101, and the first support frame 101 is provided with a bottle cap conveying belt 102 for conveying bottle caps. Figures 1-2 As shown in the figure, the bottle cap conveying device 1 comprises a first support frame 101, and the first support frame 101 is provided with a bottle cap conveying belt 102 for conveying bottle caps.

[0034] The bottle cap lifting mechanism 5 comprises a group of mounting seats 501 arranged in a whole inclined manner, one end of the group of mounting seats 501 is connected with a guide plate 502, the end of the guide plate 502 is placed above the bottle cap conveying belt 102, in addition, the other end of the group of mounting seats 501 is provided with a material placing groove 503, a plurality of bottle caps are placed in the material placing groove 503, on this basis, a bottle cap lifting belt 504 is arranged between the group of mounting seats 501, a plurality of partition plates 505 are uniformly arranged on the bottle cap lifting belt 504, and the area between the adjacent two partition plates 505 is configured as a material placing area.

[0035] Based on the above embodiment, when the bottle cap lifting belt 504 is running, the bottle caps in the bottle cap placing groove 503 are lifted to the bottle cap conveying belt 102 through the placing area, and the bottle cap conveying belt 102 transports the bottle caps from the bottle cap input end 103 to the bottle cap output end 104. In addition, the first support frame 101 is provided with an L-shaped baffle 105 on one side of the bottle cap input end 103, which is used to prevent the bottle caps conveyed to the bottle cap lifting belt 504 by the bottle cap lifting mechanism 5 from rolling off from the side.

[0036] As shown in Figures 2-3 , the bottle body conveying device 2 is arranged on one side of the bottle cap conveying device 1. The bottle body conveying device 2 comprises a second support frame 201, and the second support frame 201 is provided with a bottle body conveying belt 202 for conveying bottle bodies. In addition, the bottle body conveying device 2 further comprises a set of limiting wall plates 203, and the set of limiting wall plates 203 is arranged above the bottle body conveying belt 202 through a first support 204. The distance between the set of limiting wall plates 203 is equal to the maximum diameter of the bottle body.

[0037] Based on the above embodiment, the limiting wall plates 203 prevent the position of the bottle body from deviating in the direction perpendicular to the running direction of the bottle body conveying belt 202. It should be noted that, Figures 2-3 As shown in , the bottle body conveying belt 202 is a selection of the whole bottle body conveying device 2.

[0038] Figure 2 , Figure 4 As shown in , the execution device 3 comprises a third support frame 301, which is arranged above the bottle cap conveying device 1 and the bottle body conveying device 2. The third support frame 301 is provided with a parallel robot 302, and the output end of the parallel robot 302 is provided with an end execution mechanism 8. The model of the parallel robot 302 is a three-degree-of-freedom parallel robot MDSUA1-90S.

[0039] In addition, the end execution mechanism 8 comprises a flange connecting piece 801, one end of which is connected with the output end of the parallel robot 302, and the other end is connected with a rotating cylinder 802. The output end of the rotating cylinder 802 performs a rotary motion with a maximum stroke of 90°. On this basis, the output end of the rotating cylinder 802 is further connected with a pneumatic clamp jaw 803, which is used to clamp the bottle cap on the bottle cap conveying belt 102 and place it on the top of the bottle body on the bottle body conveying belt 202.

[0040] Based on the above embodiment, when the execution device 3 performs the above-mentioned grasping of the bottle cap and places the bottle cap on the top of the bottle body, the detection device is needed to realize the detection and positioning of the bottle cap and the bottle body.

[0041] Therefore, the detection device includes: a visual detection mechanism 4, a first speed measuring mechanism 7, a second speed measuring mechanism 9, and a position detection mechanism 10, wherein:

[0042] like Figure 2 As shown, the visual inspection mechanism 4 includes a mounting frame 401 mounted above the bottle cap conveyor belt 102, and the mounting frame 401 is located on the side near the bottle cap input end 103. A visual sensor 402 is provided on the top of the mounting frame 401 to acquire the posture image of the bottle caps conveyed on the bottle cap conveyor belt 102 and output the posture signal. In addition, the visual inspection mechanism 4 also includes a set of supplementary lights 403 installed in the mounting frame 401, and light shields are provided on all four sides and the top of the mounting frame 401. The light shields are not shown in the figure. The light shields are provided to prevent external light sources from affecting the image acquisition process of the visual sensor 402.

[0043] like Figure 2 As shown, the first speed measuring mechanism 7 includes a first mounting plate 701 mounted on a first support frame 101. A first roller 702 is rotatably connected to the end of the first mounting plate 701. The outer circumferential wall of the first roller 702 is in contact with the bottle cap conveyor belt 102 and drives the first roller 702 to rotate when the bottle cap conveyor belt 102 is running. In addition, a first encoder is also configured on the first roller 702 to detect the rotation speed of the first roller 702, thereby obtaining the running speed of the bottle cap conveyor belt 102 and outputting a first speed signal.

[0044] like Figure 3 As shown, the second speed measuring mechanism 9 includes a second mounting plate 901 mounted on the second support frame 201. A second roller 902 is rotatably connected to the end of the second mounting plate 901. The outer circumferential wall of the second roller 902 is in contact with the bottle conveyor belt 202 and drives the second roller 902 to rotate when the bottle conveyor belt 202 is running. In addition, a second encoder is also configured on the second roller 902 to detect the rotation speed of the second roller 902, thereby obtaining the running speed of the bottle conveyor belt 202 and outputting a second speed signal.

[0045] like Figure 3 As shown, the position detection mechanism 10 includes a photoelectric sensor 1001 and a reflector 1002 arranged corresponding to each other. The photoelectric sensor 1001 and the reflector 1002 are respectively mounted on both sides of the second support frame 201 through the fixing frame 1003. When the bottle body passes the photoelectric sensor 1001 along the bottle body conveyor belt 202, the photoelectric sensor 1001 outputs the position signal of the bottle body.

[0046] Based on the above embodiment, the control cabinet in the application is in communication connection with the parallel robot 302, the rotating cylinder 802, the pneumatic clamping jaw 803, the visual sensor 402, the first encoder, the second encoder and the photoelectric sensor 1001 respectively, and after the control cabinet receives the posture signal, the first speed signal, the second speed signal and the position signal, control signals for respectively controlling the parallel robot 302, the rotating cylinder 802 and the pneumatic clamping jaw 803 to run are sent, so as to control the pneumatic clamping jaw 803 to clamp the bottle cap and then set the cap on the top of the bottle body on the bottle body conveying belt 202.

[0047] It should be noted here that the visual sensor 402, the first encoder, the second encoder and the photoelectric sensor 1001 are all commonly used detection devices in the prior art, and the application only uses them, so the specific detection process is not described in detail, and those skilled in the art can obtain them through existing patent literature and other channels.

[0048] On this basis, when there are some bottle caps on the bottle cap conveying belt 102 that cannot be recognized by the visual sensor 402, the execution device 3 will not grab this kind of bottle cap, and the bottle cap will run in the direction of the bottle cap output end 104 along with the bottle cap conveying belt 102, and the first support frame 101 is also provided with a recycling opening 106 located on one side of the bottle cap output end 104, which is used to recycle the bottle caps that are not grabbed by the execution device 3, and the specific structure is as shown in Figure 1 .

[0049] Specifically, the bottle cap conveying device 1 provided by the application relies on the bottle cap lifting belt 504 to lift the disordered bottle caps in the material placing groove 503 onto the bottle cap conveying belt 102, and when the bottle cap conveying belt 102 conveys the bottle caps from the bottle cap input end 103 to the bottle cap output end 104, it will pass through the visual detection mechanism 4, and under the light supplementing effect of the light supplementing lamp 403, the visual sensor 402 obtains the posture image of the bottle cap and outputs the posture signal to the control cabinet, and at the same time, in the specific running process of the bottle cap conveying belt 102, the running speed is obtained by the first roller 702 cooperating with the first encoder, and the first speed signal is output to the control cabinet.

[0050] On this basis, the bottle conveying device 2 relies on the bottle conveying belt 202 to convey the bottle, and in the specific operation process, the running speed of the bottle conveying belt 202 is obtained by the second roller 902 cooperating with the second encoder, and a second speed signal is output to the control cabinet. In addition, the bottle conveying device 2 also relies on the photoelectric sensor 1001 in the position detection mechanism 10 to obtain the position of the bottle and output the position signal of the bottle to the control cabinet. At this point, after receiving the posture signal, the first speed signal, the second speed signal and the position signal, the control cabinet sends control signals for respectively controlling the parallel robot 302, the rotating cylinder 802 and the pneumatic clamp jaw 803 to run, and then controls the pneumatic clamp jaw 803 to clamp the bottle cap and set the cap on the top of the bottle on the bottle conveying belt 202, thereby improving the efficiency of the automatic packaging of the wine bottle.

[0051] Finally, it should be noted that: the above only for the preferred embodiments of the present application, and is not intended to limit the present application, although the foregoing detailed description of the present application is made with reference to the foregoing embodiments, for those skilled in the art, it still can be modified to the technical solutions recorded in the foregoing embodiments, or equivalent replacement of some of the technical features, any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application, should be included within the scope of the present application.

Claims

1. A bottle cap assembly apparatus based on parallel robots, characterized by, The utility model relates to a bottle cap conveying device, bottle body conveying device, execution device, detection device and control cabinet, and the bottle cap conveying device comprises a first support frame, and a bottle cap conveying belt is arranged on the first support frame and is used for conveying bottle caps. The bottle body conveying device is arranged on one side of the bottle cap conveying device, and the bottle body conveying device comprises a second support frame, and a bottle body conveying belt is arranged on the second support frame and is used for conveying bottle bodies. The execution device comprises a third support frame, and the third support frame is arranged above the bottle cap conveying device and the bottle body conveying device, and a parallel robot is arranged on the third support frame, and an output end of the parallel robot is provided with an end execution mechanism. The end execution mechanism comprises a flange connecting piece, one end of the flange connecting piece is connected with the output end of the parallel robot, the other end of the flange connecting piece is connected with a rotary cylinder, the output end of the rotary cylinder performs a rotary motion with a maximum stroke of 90 degrees, and on this basis, the output end of the rotary cylinder is further connected with a pneumatic clamp jaw. The pneumatic clamp jaw is used for clamping the bottle cap on the bottle cap conveying belt and covering the bottle cap on the top of the bottle body on the bottle body conveying belt. The detection device comprises a visual detection mechanism, a first speed detection mechanism, a second speed detection mechanism and a position detection mechanism. The visual detection mechanism comprises a mounting frame arranged above the bottle cap conveying belt, and the mounting frame is arranged on one side close to a bottle cap input end. The top of the mounting frame is provided with a visual sensor, which is used for acquiring a posture image of the bottle cap conveyed on the bottle cap conveying belt and outputting a posture signal. The first speed detection mechanism comprises a first mounting plate arranged on the first support frame, and the end of the first mounting plate is rotatably connected with a first roller. The circumferential outer wall of the first roller is in contact with the bottle cap conveying belt and drives the first roller to rotate when the bottle cap conveying belt runs. In addition, the first roller is further provided with a first encoder for detecting the rotating speed of the first roller, so as to obtain the running speed of the bottle cap conveying belt and output a first speed signal. The second speed detection mechanism comprises a second mounting plate arranged on the second support frame, and the end of the second mounting plate is rotatably connected with a second roller. The circumferential outer wall of the second roller is in contact with the bottle body conveying belt and drives the second roller to rotate when the bottle body conveying belt runs. In addition, the second roller is further provided with a second encoder for detecting the rotating speed of the second roller, so as to obtain the running speed of the bottle body conveying belt and output a second speed signal. The position detection mechanism comprises a photoelectric sensor and a reflecting plate arranged correspondingly. The photoelectric sensor and the reflecting plate are arranged on both sides of the second support frame through fixing frames respectively. When the bottle body follows the bottle body conveying belt and passes through the photoelectric sensor, the photoelectric sensor outputs a position signal of the bottle body. The control cabinet is in communication connection with the parallel robot, the rotary cylinder, the pneumatic clamp jaw, the visual sensor, the first encoder, the second encoder and the photoelectric sensor respectively. After the control cabinet receives the posture signal, the first speed signal, the second speed signal and the position signal, control signals for controlling the running of the parallel robot, the rotary cylinder and the pneumatic clamp jaw are sent respectively.

2. The parallel robot-based bottle cap assembly apparatus according to claim 1, characterized by: In the bottle cap conveying device, the bottle cap conveying belt comprises a bottle cap input end and a bottle cap output end, one side of the bottle cap input end is provided with a bottle cap lifting mechanism for lifting the bottle caps onto the bottle cap conveying belt, wherein the bottle cap lifting mechanism comprises a group of mounting seats arranged in an inclined manner, one end of the group of mounting seats is connected with a guide plate, the end of the guide plate is arranged above the bottle cap conveying belt, in addition, the other end of the group of mounting seats is provided with a material placing groove, a plurality of bottle caps are arranged in the material placing groove, on this basis, a bottle cap lifting belt is arranged between the group of mounting seats, a plurality of partitions are uniformly arranged on the bottle cap lifting belt, the area between two adjacent partitions is configured as a material placing area, when the bottle cap lifting belt operates, the bottle caps in the material placing groove are lifted onto the bottle cap conveying belt through the material placing area.

3. The parallel robot-based bottle cap assembly apparatus according to claim 2, characterized by: In the bottle cap conveying device, an L-shaped baffle is further arranged on the first support frame, and the L-shaped baffle is located at one side of the bottle cap input end.

4. The parallel robot-based bottle cap assembly apparatus according to claim 3, characterized by: In the bottle cap conveying device, a recovery opening is further arranged on the first support frame, and the recovery opening is located at one side of the bottle cap output end, and is used for recovering the bottle caps that are not grabbed by the device.

5. The parallel robot-based bottle cap assembly apparatus according to claim 4, characterized by: The bottle body conveying device further comprises a group of limiting wall plates, and the group of limiting wall plates are arranged above the bottle body conveying belt through the first support frame, and the distance between the group of limiting wall plates is equal to the maximum diameter of the bottle body.

6. The parallel robot-based bottle cap assembly apparatus according to claim 5, characterized by: In the detection device, the visual detection mechanism further comprises a group of light supplementing lamps arranged in the mounting frame.

7. The parallel robot-based bottle cap assembly apparatus according to claim 6, characterized by: The mounting frame is provided with light shielding plates around and on the top.

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