Cap opening device

Abstract

The utility model relates to mechanical automation technical field provides a kind of uncovering device, comprising: mechanical arm and uncovering assembly;Uncovering assembly is electrically connected with mechanical arm, uncovering assembly includes electronic lock opening module, mechanical lock opening module and uncovering module, electronic lock opening module, mechanical lock opening module and uncovering module are all installed in the execution end of mechanical arm, electronic lock opening module is used to realize the electronic lock opening of tank cover, mechanical lock opening module is used to realize the mechanical lock opening of tank cover, uncovering module is used to open tank cover after electronic lock and mechanical lock are all opened.The uncovering device of the utility model can realize the automatic unlocking and uncovering operation of milk tank truck, reduce the human resources, and improve the sampling efficiency of milk tank truck.

Description

Technical Field

[0001] This utility model relates to the field of mechanical automation technology, and in particular to a lid opening device. Background Technology

[0002] At the sampling station, samples need to be taken from inside the milk tanker truck to test the quality of dairy products. Currently, the tanker openings are usually opened manually. Operators need to climb to the top of the tanker truck to open the lid. There is a risk of falling during the climbing and opening process, and frequent climbing affects sampling efficiency. Utility Model Content

[0003] This utility model provides a lid-opening device to solve the problem in the prior art that the lid of a milk tanker truck requires operators to climb to the roof of the vehicle to open the lid, which poses a risk of operators falling and results in low sampling efficiency.

[0004] This utility model provides a lid-opening device, comprising:

[0005] robotic arm;

[0006] A lid-opening assembly is electrically connected to the robotic arm. The lid-opening assembly includes an electronic lock opening module, a mechanical lock opening module, and a lid-opening module. The electronic lock opening module, the mechanical lock opening module, and the lid-opening module are all installed at the end effector of the robotic arm. The electronic lock opening module is used to open the electronic lock of the can lid, the mechanical lock opening module is used to open the mechanical lock of the can lid, and the lid-opening module is used to open the can lid after both the electronic lock and the mechanical lock have been opened.

[0007] According to the cover opening device provided by this utility model, the mechanical lock opening module includes:

[0008] An adapter is installed at the end effector of the robotic arm;

[0009] The working head is detachably connected to the adapter.

[0010] When the working head is connected to the adapter, the robotic arm drives the working head to open the mechanical lock.

[0011] According to the present invention, an opening device is provided, wherein the adapter is provided with an electromagnet assembly, and the working head is provided with a magnetic plate. Under the attraction of the electromagnet assembly to the magnetic plate, the adapter is connected to the working head.

[0012] According to the present invention, an opening device is provided, wherein the adapter is provided with a plug post, and the working head is provided with a plug hole on the side facing the adapter. When the working head is connected to the adapter, the plug post is inserted into the plug hole.

[0013] According to the present invention, a cover-opening device is provided, wherein the working head includes:

[0014] The bracket is detachably connected to the adapter.

[0015] A rotary drive component is mounted on the bracket;

[0016] A linear drive unit, wherein the drive end of the rotary drive unit is connected to the linear drive unit;

[0017] The clamping blocks are provided in multiples and arranged circumferentially along the bracket. The linear drive is connected to the clamping blocks to drive the clamping blocks to move radially along the bracket. The multiple clamping blocks are used to clamp and tighten the locking element of the mechanical lock.

[0018] According to the present invention, a lid-opening device is provided, the lid-opening module comprising:

[0019] An adapter plate is installed at the end effector of the robotic arm;

[0020] A lifting cover is connected to the adapter plate. The lifting cover has a hook part for disengaging the locking member of the mechanical lock when it is in a loosened state, and is adapted to the hook of the can lid to lift the can lid.

[0021] According to the lid-opening device provided by this utility model, it further includes:

[0022] Belt conveyor assembly;

[0023] A sliding plate is provided, the robotic arm is mounted on the sliding plate, and the belt conveyor assembly is connected to the sliding plate to drive the sliding plate to move the robotic arm.

[0024] The lid-opening device provided by this utility model further includes: a receiving rack;

[0025] The receiving rack is connected to the belt conveyor assembly and is located beside the sliding frame;

[0026] When the working head is separated from the adapter, the working head is housed in the receiving rack.

[0027] According to the present invention, an opening device for opening a cover includes an electronic lock opening module comprising a Bluetooth module.

[0028] The electronic lock is a Bluetooth lock;

[0029] The Bluetooth module is used to activate the Bluetooth lock and unlock it.

[0030] The lid-opening device provided by this utility model further includes: a visual inspection component;

[0031] The visual inspection component includes: a camera and a fill light;

[0032] The camera and the fill light are installed at intervals at the end of the robotic arm. The camera is used to identify the position information of the can lid and whether the can lid has been opened.

[0033] The visual inspection component is electrically connected to the robotic arm and the cover opening component.

[0034] The lid-opening device provided by this utility model, by setting a lid-opening device at the execution end of a robotic arm, includes an electronic lock opening module, a mechanical lock opening module, and a lid-opening module. The robotic arm drives the lid-opening device to move to the lid of the milk tanker. The electronic lock opening module opens the electronic lock of the lid, the mechanical lock opening module opens the mechanical lock of the lid, and the lid-opening module opens the lid. This realizes the automatic unlocking and opening operation of the lid of the milk tanker. Compared with manual lid opening, which requires climbing to the lid of the milk tanker and performing cumbersome unlocking and opening operations, the lid-opening device of this utility model can realize the automatic unlocking and opening operation of the milk tanker, reducing the manpower burden and improving the sampling efficiency of the milk tanker. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0036] Figure 1 This is one of the three-dimensional structural schematic diagrams of the lid-opening device provided by this utility model.

[0037] Figure 2 This is the second three-dimensional structural schematic diagram of the lid-opening device provided by this utility model.

[0038] Figure 3 This is a three-dimensional structural diagram of the working head provided by this utility model.

[0039] Figure 4 This is a three-dimensional structural diagram of the belt conveyor assembly provided by this utility model.

[0040] Figure 5This is a three-dimensional structural diagram of the track assembly provided by this utility model.

[0041] Figure 6 This is a three-dimensional structural diagram of the shuttle box provided by this utility model.

[0042] Figure label:

[0043] 1. Robotic arm; 11. Connecting seat; 12. First arm section; 13. Second arm section; 14. Mounting plate;

[0044] 2. Cover opening assembly; 21. Electronic lock opening module; 22. Mechanical lock opening module; 23. Cover opening module; 211. Industrial mobile phone; 221. Adapter; 222. Working head; 231. Adapter plate; 232. Flip cover component; 2221. Insertion hole; 2222. Bracket; 2223. Rotary drive component; 2224. Linear drive component; 2225. Clamping block; 2226. Base plate;

[0045] 3. Belt conveyor assembly; 31. Frame; 32. Driver; 33. Reducer; 34. Synchronous belt; 35. Drive shaft; 36. Driven shaft; 37. Slider;

[0046] 4. Sliding plate; 5. Storage rack;

[0047] 6. Visual inspection components; 61. Camera; 62. Fill light;

[0048] 7. Track assembly; 71. Belt; 72. Gear motor; 73. Drive pulley; 74. Driven pulley; 75. Traction plate;

[0049] 8. Shuttle box. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0051] In the description of the embodiments of this utility model, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the purpose of clarifying the embodiments of this utility model 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. Therefore, they should not be construed as limitations on the embodiments of this utility model. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0052] In the description of the embodiments of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this utility model according to the specific circumstances.

[0053] In this embodiment of the utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0054] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0055] The following is combined Figures 1 to 6The opening device provided by the present utility model will be described in detail through specific embodiments and application scenarios.

[0056] like Figure 1 and Figure 2 As shown, this embodiment provides a lid-opening device, including: a robotic arm 1 and a lid-opening assembly 2.

[0057] The lid opening assembly 2 is electrically connected to the robotic arm 1. The lid opening assembly 2 includes an electronic lock opening module 21, a mechanical lock opening module 22, and a lid opening module 23. The electronic lock opening module 21, the mechanical lock opening module 22, and the lid opening module 23 are all installed at the end of the robotic arm 1. The electronic lock opening module 21 is used to open the electronic lock of the can lid, the mechanical lock opening module 22 is used to open the mechanical lock of the can lid, and the lid opening module 23 is used to open the can lid after both the electronic lock and the mechanical lock have been opened.

[0058] Understandably, the lids of milk tankers are usually closed and locked. When sampling is needed, the lid is opened to extract the milk. For standardized and secure management of the milk tankers, each tanker lid uses a double-lock system, consisting of an electronic lock and a mechanical lock. The electronic and mechanical locks are independent; both must be engaged to unlock the lid. Both the mechanical and electronic locks utilize existing technology.

[0059] Because of the height of the milk tanker truck, in order to reduce the workload of manual climbing, this embodiment uses a lid-opening device to automatically unlock and open the lid.

[0060] The robotic arm 1 in this embodiment includes a connecting seat 11, a first arm 12, a second arm 13, and a mounting plate 14. The connecting seat 11 and the first arm 12 and the second arm 13 are all connected by a rotary drive component to achieve adjustment of the position and angle of the mounting plate 14.

[0061] The electronic lock opening module 21, the mechanical lock opening module 22, and the lid opening module 23 are spaced apart on the mounting plate 14. The robotic arm 1 is electrically connected to the lid opening assembly 2. The robotic arm 1 can not only drive the lid opening assembly 2 to move relative to the lid, but also interact with the lid opening assembly 2 through electrical connection with the mechanical lock opening module 22 and the electronic lock opening module 21 to collaboratively complete the unlocking and lid opening operations.

[0062] In practical applications, the robotic arm 1 can move the lid opening module 23 to the can lid along the route set by the system. The electronic lock opening module 21 opens the electronic lock, and the mechanical lock opening module 22 opens the mechanical lock. After both the electronic lock and the mechanical lock are unlocked, the robotic arm 1 drives the lid opening module 23 to open the can lid, thus completing the automatic opening of the can lid.

[0063] Specifically, the lid can be a screw-on lid relative to the milk tanker truck, and the lid opening component 2 can screw the lid open. The lid can also be a flip-top lid, and the lid opening component 2 can flip the lid 180° to open. The lid can also be a plug-on lid, and the lid opening component 2 can pull the plug-on lid out to open.

[0064] The lid-opening device provided by this utility model, by setting a lid-opening device at the execution end of a robotic arm 1, includes an electronic lock opening module 21, a mechanical lock opening module 22, and a lid-opening module 23. The robotic arm 1 drives the lid-opening device to move to the lid of the milk tanker. The electronic lock opening module 21 opens the electronic lock of the lid, the mechanical lock opening module 22 opens the mechanical lock of the lid, and the lid-opening module 23 opens the lid. This realizes the automatic unlocking and opening operation of the lid of the milk tanker. Compared with manual lid opening, which requires climbing to the lid of the milk tanker and performing cumbersome unlocking and opening operations, the lid-opening device of this utility model can realize the automatic unlocking and opening operation of the milk tanker, reducing the manpower burden and improving the sampling efficiency of the milk tanker.

[0065] like Figure 1 , Figure 2 and Figure 3 As shown, the mechanical lock opening module 22 in this embodiment includes: an adapter 221 and a working head 222.

[0066] The adapter 221 is installed at the end of the robotic arm 1; the working head 222 is detachably connected to the adapter 221.

[0067] With the working head 222 connected to the adapter 221, the robotic arm 1 drives the working head 222 to open the mechanical lock.

[0068] Understandably, since the electronic lock opening module 21, the mechanical lock opening module 22, and the lid opening module 23 are spaced apart on the mounting plate 14, they all need to be close to the can lid. When the operating space for the can lid is limited, interference may occur when operating the can lid. To avoid mutual obstruction between the electronic lock opening module 21, the mechanical lock opening module 22, and the lid opening module 23, this embodiment makes the mechanical lock opening module 22, located in the middle of the mounting plate 14, a detachable structure.

[0069] The mechanical lock opening module 22 includes an adapter 221 and a working head 222. The adapter 221 is fixedly mounted on the mounting plate 14, and the working head 222 is detachably connected to the adapter 221 for unlocking the mechanical lock. In this embodiment, by setting the working head 222 and the adapter 221 to be detachably connected, the working head 222 is only mounted on the adapter 221 when unlocking the mechanical lock. When unlocking the electronic lock or opening the can lid, the space in the middle of the mounting plate 14 is left empty, and the gap between the electronic lock opening module 21 and the can lid opening module 23 is relatively large. This effectively ensures that there is no interference when performing various operations on the can lid, thus ensuring the reliability of opening the can lid.

[0070] Alternatively, the adapter 221 and the working head 222 can be detachably connected by fasteners or by snap-fit.

[0071] like Figure 3 As shown, the adapter 221 in this embodiment is provided with an electromagnet assembly, and the working head 222 is provided with a magnetic plate. Under the attraction of the electromagnet assembly to the magnetic plate, the adapter 221 is connected to the working head 222.

[0072] Understandably, since the electromagnet assembly can control the magnetic force by switching the current on and off, it can achieve attraction and separation with the magnetic plate, thereby achieving attraction and separation between the adapter 221 and the working head 222. Since the robotic arm 1 is electrically connected to the cover opening assembly 2, the detachable connection between the adapter 221 and the working head 222 can be conveniently achieved by controlling the current of the electromagnet assembly.

[0073] Since the electromagnet assembly and the magnetic plate can be attracted and separated automatically without manual installation, the automatic assembly and disassembly of the adapter 221 and the working head 222 are realized, which improves the automation level of the opening device.

[0074] like Figure 2 and Figure 3 As shown, the adapter 221 in this embodiment is provided with a plug-in post, and the working head 222 is provided with a plug-in hole 2221 on the side facing the adapter 221. When the working head 222 is connected to the adapter 221, the plug-in post is inserted into the plug-in hole 2221.

[0075] Understandably, since the adapter 221 and the working head 222 can automatically engage, a guide structure is provided in this embodiment to ensure the correct relative position of the adapter 221 and the working head 222. The adapter 221 is provided with a plug-in post, and the working head 222 is provided with a plug-in hole 2221. During the connection process between the working head 222 and the adapter 221, the plug-in post extends into the plug-in hole 2221 under the guidance of the plug-in hole 2221 and is inserted into place, so as to achieve precise control of the insertion position of the adapter 221 and the working head 222, avoiding manual operation such as adjusting and aligning the working head 222, and improving the automation level of the cover opening assembly 2.

[0076] like Figure 3 As shown, the working head 222 in this embodiment includes: a support 2222, a rotary drive 2223, a linear drive 2224, and a clamping block 2225.

[0077] The bracket 2222 is detachably connected to the adapter 221; the rotary drive 2223 is mounted on the bracket 2222; the drive end of the rotary drive 2223 is connected to the linear drive 2224.

[0078] Multiple clamping blocks 2225 are provided, and the multiple clamping blocks 2225 are arranged circumferentially along the bracket 2222. The linear drive 2224 is connected to the clamping blocks 2225 to drive the clamping blocks 2225 to move radially along the bracket 2222. The multiple clamping blocks 2225 are used to clamp and tighten the locking parts of the mechanical lock.

[0079] It is understood that the locking mechanism of the mechanical lock in this embodiment is locked and unlocked by turning.

[0080] The top of the bracket 2222 is detachably connected to the adapter 221 to allow for connection and separation from the adapter 221. Multiple clamping blocks 2225 form a clamping space for clamping the locking components of the mechanical lock.

[0081] Linear drive 2224 is used to drive the clamping blocks 2225 to move closer and further away along the radial direction of the bracket 2222, thereby clamping and releasing the locking element of the mechanical lock. There can be one linear drive 2224, which drives multiple clamping blocks 2225 to move synchronously along the radial direction of the bracket 2222. Alternatively, there can be multiple linear drive 2224s, each driving a corresponding clamping block 2225 to move. The driving strokes of the multiple linear drive 2224s must be synchronized to ensure the stability of the clamping of the locking element.

[0082] To clamp and tighten the locking components of the mechanical lock, this embodiment includes a rotary drive 2223, and the output end of the rotary drive 2223 is connected to a linear drive 2224. Driven by the rotary drive 2223, the linear drive 2224 drives the clamping block 2225 to rotate, thereby clamping and tightening the locking components and loosening them.

[0083] Specifically, the rotary drive 2223 can be a stepper motor, and the linear drive 2224 can be a cylinder.

[0084] In one example, this embodiment includes three clamping blocks 2225, which are evenly spaced along the circumference of the support 2222. The linear drive 2224 is a pneumatic three-jaw chuck, which can synchronously drive the three clamping blocks 2225 to move radially along the support 2222.

[0085] This embodiment sets up a rotary drive 2223, a linear drive 2224, and multiple clamping blocks 2225. The linear drive 2224 drives the multiple clamping blocks 2225 linearly, and the rotary drive 2223 drives the multiple clamping blocks 2225 to rotate, so as to realize the clamping and twisting of the locking element by the multiple clamping blocks 2225, and automatically unlock the locking element of the mechanical lock.

[0086] like Figure 2 As shown, the cover opening module 23 in this embodiment includes: an adapter plate 231 and a cover lifting component 232.

[0087] The adapter plate 231 is installed at the end of the robotic arm 1; the lifting cover 232 is connected to the adapter plate 231. The lifting cover 232 has a hook part, which is used to remove the locking part of the mechanical lock in the loosened state and is adapted to the hook of the can lid to lift the can lid.

[0088] It is understood that in this embodiment, the adapter plate 231 is fixedly connected to the mounting plate 14 and is located at the end of the mounting plate 14.

[0089] In this embodiment, the can lid is a flip-top lid, and the mechanical lock of the lid is tightened by turning the locking member. The lid-lifting component 232 has a dual function. After the working head 222 clamps and turns the locking member of the mechanical lock, the locking member is in a loosened state. The robotic arm 1 drives the lid-lifting component 232 to touch the locking member and applies slight force to pull the locking member away from the can lid. Since the end of the locking member is connected to the milk tanker by a rope, the lid-lifting component 232 only needs to slightly push the loosened locking member to pull it away. The pulled-away locking member is then connected to the milk tanker for the next mechanical locking of the can lid. Furthermore, the lid-lifting component 232 has a hook-up part. In this embodiment, the hook-up part is arranged in a ring shape with a hook-up position in the middle of the ring. The hook of the can lid can extend into the hook-up position and hook onto the hook-up part. As the lid-lifting component 232 moves, the can lid flips with the hook, thereby opening the can lid.

[0090] like Figure 4 As shown, the cover opening device in this embodiment also includes: a belt conveyor assembly 3 and a sliding plate 4.

[0091] The robotic arm 1 is mounted on the sliding plate 4, and the belt conveyor assembly 3 is connected to the sliding plate 4 to drive the sliding plate 4 to move the robotic arm 1.

[0092] Understandably, when the robotic arm 1 is located beside the milk tanker, it needs to be moved to get closer to the can lid for operation. This embodiment includes a belt conveyor assembly 3 and a sliding plate 4, with the connecting seat 11 of the robotic arm 1 mounted on the sliding plate 4. The belt conveyor assembly 3 can drive the sliding plate to reciprocate, adjusting the relative position of the robotic arm 1 with respect to the can lid, thereby moving the entire lid-opening device to the vicinity of the can lid.

[0093] Specifically, the belt conveyor assembly 3 includes a frame 31, a driver 32, a reducer 33, a timing belt 34, a drive shaft 35, a driven shaft 36, and a slider 37. The drive shaft 35 and the driven shaft 36 are rotatably mounted on the frame 31. The driver 32 is mounted on the frame 31. The output end of the driver 32 is connected to the input end of the reducer 33. The output end of the reducer 33 is connected to the drive shaft 35. The timing belt 34 is wound around the drive shaft 35 and the driven shaft 36. The slider 37 is connected to the timing belt 34 and the sliding plate 4 respectively. Under the rotation of the driver 32, the timing belt 34, the slider 37, and the sliding plate 4 are moved by the drive shaft 35.

[0094] like Figure 3 and Figure 4 As shown, the opening device in this embodiment also includes a receiving rack 5.

[0095] The housing 5 is connected to the belt conveyor assembly 3 and is located on the side of the sliding frame; when the working head 222 is separated from the adapter 221, the working head 222 is housed in the housing 5.

[0096] Understandably, in order to store the working head 222 when it is not in use, this embodiment provides a storage rack 5 on the side of the sliding frame. The bottom of the storage rack 5 is mounted on the slider 37, and the top of the storage rack 5 has a protruding support portion. The working head 222 is also provided with a seat plate 2226, which is located at the end of the bracket 2222 away from the clamping block 2225. The seat plate 2226 has a mounting hole, and the support portion can be inserted into the mounting hole to realize the storage rack 5 for storing the working head 222.

[0097] Because the storage rack 5 can slide synchronously with the sliding frame, it is always positioned to the side of the sliding frame. This allows the robotic arm 1 to easily separate the working head 222 from the adapter 221 and place the adapter 221 onto the storage rack 5 when the working head 222 is not in use. Since the storage rack 5 can accommodate the working head 222 under the operation of the robotic arm 1, there is no need for manual handling and placement of the working head 222. This automates both the use and placement of the working head 222, improving its automation level.

[0098] like Figure 2 As shown, the electronic lock unlocking module 21 in this embodiment includes a Bluetooth module.

[0099] The electronic lock is a Bluetooth lock; the Bluetooth module is used to activate and unlock the Bluetooth lock.

[0100] Understandably, to improve the ease of unlocking the electronic lock, the electronic lock in this embodiment is a Bluetooth lock. The electronic lock unlocking module 21 includes a Bluetooth module. Specifically, in this embodiment, an industrial mobile phone 211 is installed on the mounting plate 14. When unlocking the Bluetooth lock, the robotic arm 1 moves the industrial mobile phone 211 close to the Bluetooth lock. The industrial mobile phone 211 wirelessly connects to the Bluetooth lock via Bluetooth and sends an unlocking command to the Bluetooth lock, opening the locking mechanism on the Bluetooth lock, thus unlocking the Bluetooth lock.

[0101] like Figure 1 As shown, the opening device in this embodiment also includes a visual inspection component 6.

[0102] The visual inspection component 6 includes a camera 61 and a supplementary light 62; the camera 61 and the supplementary light 62 are installed at intervals at the execution end of the robotic arm 1, and the camera 61 is used to identify the position information of the can lid and whether the can lid has completed the opening operation.

[0103] The vision inspection component 6 is electrically connected to the robotic arm 1 and the cover opening component 2.

[0104] Understandably, in order to enable the robotic arm 1 to automatically identify the position of the can lid and adapt to the positioning of can lids on different milk tank trucks, this embodiment includes a vision detection component 6. The vision detection component 6 includes a camera 61 and a supplementary light 62, both of which are mounted on the mounting plate 14, with the supplementary light 62 positioned beside the camera 61. The camera 61 is used to capture environmental information of the can lid on the milk tank truck to identify its position and feeds the can lid position information back to the robotic arm 1, which then moves the lid opening component 2.

[0105] Meanwhile, in order to ensure the brightness of the ambient light source captured by the camera 61, this embodiment provides a supplementary light 62 next to the camera 61. When the ambient light is insufficient, the supplementary light 62 is turned on to supplement the ambient light intensity around the can lid.

[0106] Furthermore, after unlocking and opening the can lid, camera 61 captures an image of the lid's position. If the lid is successfully opened, camera 61 captures a picture of the milk inside the tanker truck. Milk is typically white; by recognizing the color, robotic arm 1 can determine that the lid is open. Robotic arm 1 then moves the lid-opening component 2 out of the tanker truck's area, facilitating the next step of automatic sampling. If the lid is not successfully opened, camera 61 captures an image of the lid. Since the lid's color differs significantly from the milk's color, robotic arm 1 can determine that the lid is not open by color recognition. Robotic arm 1 then moves the lid-opening component 2 to repeat the opening operation, sequentially performing the mechanical lock opening, electronic lock opening, and lid opening operations again. By capturing images of the lid area and recognizing the color of the images, camera 61 helps robotic arm 1 determine the next movement path and operation steps. It automatically determines whether the lid opening is successful and performs repeated operations for unopened lids, improving the automation level of the lid-opening device and ultimately ensuring successful opening, thus increasing the success rate of lid opening.

[0107] Accordingly, such as Figure 5 and Figure 6 As shown, since many milk tankers are parked in the workshop, this embodiment also includes a track assembly 7 and a shuttle box 8 for opening the lids of different milk tankers. The track assembly 7 is laid on the workshop floor and can be moved to the vicinity of any milk tanker in the workshop. The track assembly 7 includes a belt 71, a reduction motor 72, a drive wheel 73, a driven wheel 74, and a traction plate 75. The output end of the reduction motor 72 is connected to the drive wheel 73. The belt 71 is wound around the drive wheel 73 and the driven wheel 74. The traction plate 75 is connected to the belt 71, and the shuttle box 8 is installed on the traction plate 75. The shuttle box 8 houses the control cabinet of the robotic arm 1, a servo controller, and other electrical components. The servo controller is used to control the robotic arm 1, the lid opening assembly 2, and the vision inspection assembly 6.

[0108] The belt conveyor assembly 3 is installed at the top of the shuttle box 8. In actual use, the track assembly 7 can travel to any milk tanker. The shuttle box 8 drives the belt conveyor assembly 3 to move along the track assembly 7 in the workshop. When the shuttle box 8 and the belt conveyor assembly 3 move to the side of the milk tanker that needs to be opened, the shuttle box 8 stops. The sliding plate 4 and the receiving rack 5 are adjusted by a small distance along the frame 31. The sliding plate 4 drives the robotic arm 1 to approach the position of the can lid. When the robotic arm 1 reaches the range of operation of the can lid, the belt 71 of the belt conveyor assembly 3 stops conveying. The robotic arm 1 drives the lid opening assembly 2 to open the lid.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model 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 this utility model.

Claims

1. A lid-opening device, characterized in that, include: robotic arm; A lid-opening assembly is electrically connected to the robotic arm. The lid-opening assembly includes an electronic lock opening module, a mechanical lock opening module, and a lid-opening module. The electronic lock opening module, the mechanical lock opening module, and the lid-opening module are all installed at the end effector of the robotic arm. The electronic lock opening module is used to open the electronic lock of the can lid, the mechanical lock opening module is used to open the mechanical lock of the can lid, and the lid-opening module is used to open the can lid after both the electronic lock and the mechanical lock have been opened.

2. The lid-opening device according to claim 1, characterized in that, The mechanical lock opening module includes: An adapter is installed at the end effector of the robotic arm; The working head is detachably connected to the adapter. When the working head is connected to the adapter, the robotic arm drives the working head to open the mechanical lock.

3. The lid-opening device according to claim 2, characterized in that, The adapter is equipped with an electromagnet assembly, and the working head is equipped with a magnetic plate. Under the attraction of the electromagnet assembly to the magnetic plate, the adapter is connected to the working head.

4. The lid-opening device according to claim 3, characterized in that, The adapter is provided with a plug-in post, and the working head is provided with a plug-in hole on the side facing the adapter. When the working head is connected to the adapter, the plug-in post is inserted into the plug-in hole.

5. The lid-opening device according to claim 2, characterized in that, The working head includes: The bracket is detachably connected to the adapter. A rotary drive component is mounted on the bracket; A linear drive unit, wherein the drive end of the rotary drive unit is connected to the linear drive unit; The clamping blocks are provided in multiples and are arranged circumferentially along the bracket. The linear drive is connected to the clamping blocks to drive the clamping blocks to move radially along the bracket. The multiple clamping blocks are used to clamp and tighten the locking element of the mechanical lock.

6. The lid-opening device according to any one of claims 1 to 5, characterized in that, The lid-opening module includes: An adapter plate is installed at the end effector of the robotic arm; A lifting cover is connected to the adapter plate. The lifting cover has a hook part for disengaging the locking member of the mechanical lock when it is in a loosened state, and is adapted to the hook of the can lid to lift the can lid.

7. The lid-opening device according to any one of claims 2 to 5, characterized in that, Also includes: Belt conveyor assembly; A sliding plate is provided, the robotic arm is mounted on the sliding plate, and the belt conveyor assembly is connected to the sliding plate to drive the sliding plate to move the robotic arm.

8. The lid-opening device according to claim 7, characterized in that, Also includes: A receiving rack; the receiving rack is connected to the belt conveyor assembly and is located beside the sliding frame; When the working head is separated from the adapter, the working head is housed in the receiving rack.

9. The lid-opening device according to any one of claims 1 to 5, characterized in that, The electronic lock unlocking module includes a Bluetooth module; The electronic lock is a Bluetooth lock; The Bluetooth module is used to activate the Bluetooth lock and unlock it.

10. The lid-opening device according to any one of claims 1 to 5, characterized in that, It also includes: visual inspection components; The visual inspection component includes: a camera and a fill light; The camera and the fill light are installed at intervals at the end of the robotic arm. The camera is used to identify the position information of the can lid and whether the can lid has been opened. The visual inspection component is electrically connected to the robotic arm and the cover opening component.

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