CN109928344B - Bottle inner plug press-loading robot - Google Patents
Bottle inner plug press-loading robot Download PDFInfo
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- CN109928344B CN109928344B CN201910344289.1A CN201910344289A CN109928344B CN 109928344 B CN109928344 B CN 109928344B CN 201910344289 A CN201910344289 A CN 201910344289A CN 109928344 B CN109928344 B CN 109928344B
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- 238000003825 pressing Methods 0.000 claims abstract description 85
- 230000007246 mechanism Effects 0.000 claims abstract description 66
- 230000005540 biological transmission Effects 0.000 claims abstract description 46
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 9
- 239000010959 steel Substances 0.000 claims abstract description 9
- 230000000149 penetrating effect Effects 0.000 claims description 6
- 230000003014 reinforcing effect Effects 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 6
- 241001411320 Eriogonum inflatum Species 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000003044 adaptive effect Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 239000000047 product Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012263 liquid product Substances 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000012265 solid product Substances 0.000 description 1
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Abstract
The invention relates to a bottle inner plug press-loading robot which comprises a machine box seat, a transmission assembly, a conveyor belt assembly, a turntable assembly, a lock outer cover assembly, an inner plug pressing assembly and a vibration disc assembly, wherein the transmission assembly comprises an indexing box, a transmission shaft, an outer cover locking mechanism and an inner plug pressing mechanism, the conveyor belt assembly supports a shell and a conveyor belt, the turntable assembly comprises a station turntable, a bottle supporting bottom plate and a guard plate, the outer cover locking assembly comprises a fixed upright post, a sliding shaft, a motor and a cover locking device, and the inner plug pressing assembly comprises a self-adaptive supporting mechanism, an inner plug pressing mechanism and a plug pressing connecting rod; the locking positioning device comprises a nut insert, a locking screw, a guide screw and a positioning steel ball matched with the positioning groove, the inner plug pressing mechanism comprises a fan-shaped rotating arm and a finger-type plug holding device, the finger-type plug holding device comprises a bottle plug chuck, a clamping bent arm and a driving sliding plate, and the vibration disc assembly comprises a lifting square column, a vibration disc and a bottle plug runner.
Description
Technical Field
The invention relates to the technical field of bottle inner plug press equipment, in particular to a bottle inner plug press robot.
Background
The bottle stopper is pressed into a packaging bottle mouth to seal the bottle after the liquid or solid product is filled in the bottle, and the bottle stopper is pressed by a manual pressing mode on a traditional production line, so that the packing quality of the product is affected, meanwhile, the manual mode has high labor intensity and low efficiency, the problem of defective products caused by pressing defects in the pressing process is solved, along with the development of industrialization, an automatic production line becomes the main stream, the application of an automatic bottle stopper pressing robot is also wider, the quality and the production efficiency of the product can be improved, but the pressing process of the bottle stopper pressing robot in the prior art is more complex, the special machine is used, the production cost is greatly improved, and the poor adaptability leads to difficult popularization.
Disclosure of Invention
In order to solve the problems, the invention provides a bottle plug press-loading robot.
The specific contents are as follows: the bottle inner plug press-mounting robot comprises a machine box seat, a transmission assembly, a conveyer belt assembly, a turntable assembly, a lock outer cover assembly, an inner plug press-mounting assembly and a vibration disc assembly, and is characterized in that:
the machine box seat is a cuboid empty box body, the transmission assembly is fixed in the machine box seat and comprises an indexing box, a transmission shaft, a locking outer cover mechanism and an inner plug pressing mechanism, two side faces of the indexing box are respectively fixed with a side end plate, a side inner fixing plate is fixed on the free end of the end plate, an outer fixing plate which is parallel to the inner fixing plate is fixed on the outer side face of the inner fixing plate through a connecting rod, the transmission shaft is horizontally fixed on the inner fixing plate and the outer fixing plate through a bearing seat A and a bearing seat B respectively, and the inner end of the transmission shaft is coaxially fixed on one end of an input shaft of the indexing box through a coupling;
the outer lock cover mechanism comprises an outer lock cover cam, a driving rocker arm and a driven rocker arm, wherein the outer lock cover cam is fixed on a transmission shaft through a cam hub A, the driving rocker arm and the driven rocker arm are fixedly connected through a rotating shaft, the rotating shaft is horizontally fixed on an inner fixing plate through a bearing seat C and is parallel to the transmission shaft, the driving rocker arm and the driven rocker arm are respectively positioned on two sides of the inner fixing plate, and a driven roller A which corresponds to the outer lock cover cam to form a cam mechanism is arranged at the free end of the driving rocker arm;
the inner plug pressing mechanism comprises an inner plug pressing cam and a lever rocker arm, the inner plug pressing cam is fixed on a transmission shaft through a cam hub B and is positioned on the inner side of an outer fixing plate, the middle position of the lever rocker arm is fixed on a rocker arm shaft horizontally extending out of the inner side of the outer fixing plate through a revolute pair, one end of the lever rocker arm is provided with a driven roller B which corresponds to the inner plug pressing cam to form a cam mechanism, the rotating shaft and the rocker arm shaft are parallel to the transmission shaft and are respectively positioned on two sides of the transmission shaft, and the indexing box and the outer fixing plate are fixed in a box seat;
the conveying belt assembly is provided with a conveying belt,
the conveyor belt assembly comprises a support shell horizontally fixed on the upper surface of the machine box seat, the support shell is arranged along the length direction of the upper surface of the machine box seat, a conveyor belt which is matched with the support shell and is horizontally driven is arranged in the support shell, and a protection rod is fixed on the side surface of the support shell;
the rotating disc assembly is provided with a rotating disc,
the rotary table assembly comprises a station rotary table, a bottle supporting bottom plate and a guard plate, wherein the station rotary table is disc-shaped, bottle poking notches which are uniformly distributed along the periphery of the station rotary table are correspondingly matched with bottle bodies of bottles, a main shaft which is coaxial with the bottle poking notches and extends downwards vertically is fixed on the station rotary table, the lower end of the main shaft is coaxially fixed with an output shaft of an indexing box, the station rotary table is positioned above a conveying belt and covers the conveying belt with a certain length, the guard plate and the bottle supporting bottom plate are arc-shaped strip-shaped plates, the guard plate and the bottle supporting bottom plate are horizontally fixed on the upper surface of a machine box and are positioned at the inner side of a supporting shell, the axes corresponding to the guard plate and the bottle supporting bottom plate are collinear with the axes of the station rotary table, the diameter corresponding to the inner arc surface of the guard plate is larger than the diameter of the station rotary table and the upper surface of the station rotary table is coplanar, the bottle supporting bottom plate is positioned below the station rotary table and is flush with the conveying belt and vertically covers the bottle poking notches, and the lengths of the guard plate and the bottle supporting bottom plate are corresponding to the length of the station rotary table at the inner side of the supporting shell;
the outer cover assembly of the lock,
the outer lock cover assembly comprises a fixed upright post, a sliding shaft, a motor and a lock cover device, wherein the fixed upright post is vertically fixed on the upper surface of the machine box seat, the sliding shaft vertically penetrates through the fixed upright post and stretches into the machine box seat, the motor and the lock cover device which are connected through belt transmission are fixed at the upper end of the sliding shaft, the lock cover device corresponds to a rotating path of a bottle poking notch on a station tray, the lower end of the sliding shaft is hinged with a lock cover connecting rod, the free end of the lock cover connecting rod is hinged on the free end of a driven rocker arm on the transmission assembly, a reset tension spring is further fixed on the free end of the driven rocker arm, and the other end of the reset tension spring is vertically fixed on the top surface inside the machine box seat and exerts upward tension on the lock cover connecting rod;
the inner plug assembly is pressed down, so that the inner plug assembly is pressed down,
the inner plug pressing assembly comprises a self-adaptive supporting mechanism, an inner plug pressing mechanism and a plug pressing connecting rod;
the self-adaptive supporting mechanism comprises an inner sleeve, an outer sleeve matched with the inner sleeve and a locking positioning device, wherein the inner sleeve is cylindrical and is vertically fixed on the upper surface of a machine box seat through a fixed seat at the lower end of the inner sleeve, at least two circles of same circular positioning grooves are formed in the outer circumferential surface of the inner sleeve, the cross section of each positioning groove is arc-shaped, two symmetrical rotating arms are hinged on the outer circumferential surface of one end, close to the fixed seat, of the inner sleeve, the hinge shafts of the two rotating arms are coaxial and extend outwards along the radial direction of the inner sleeve, and the two rotating arms are connected through an arc-shaped plate and are provided with rotating handles; the outer sleeve is coaxially sleeved outside the inner sleeve, two lifting connecting rods which correspond to the rotating arms respectively are hinged on the outer circumferential surface of the outer sleeve, and the free ends of the lifting connecting rods are correspondingly hinged with the free ends of the rotating arms to form a connecting rod mechanism;
the locking positioning device comprises a nut insert, a locking screw, a guide screw and a positioning steel ball matched with a positioning groove, wherein the nut insert is vertically fixed on the outer surface of the outer sleeve, the locking screw penetrates through the nut insert and the outer sleeve wall in the radial direction of the outer sleeve through threaded connection and is propped against the outer surface of the inner sleeve, the guide screw penetrates through the nut insert and the outer sleeve wall in the radial direction of the outer sleeve through threaded connection and stretches into a guide groove arranged on the inner sleeve in the bus direction, a through hole penetrating through the outer sleeve wall and the nut insert is formed in the radial direction of the outer sleeve, the positioning steel ball is arranged in the through hole and is propped against the positioning groove through the positioning spring, the other end of the positioning spring is supported on a pressing plate fixed on the outer surface of the nut insert, and the pressing plate is fixed on the nut insert through a fastening screw.
The inner plug pressing mechanism comprises a fan-shaped rotating arm and a finger type plug holding device, the fan-shaped rotating arm is in a fan shape with a central angle not smaller than 90 degrees, the thickness of the fan-shaped rotating arm is not smaller than the diameter of a corresponding bottle plug, a shaft hole penetrating in the thickness direction of the fan-shaped rotating arm is formed in the position of the shaft center corresponding to the fan-shaped rotating arm, the shaft hole is coaxial with the circumferential surface corresponding to the arc surface of the fan-shaped rotating arm, a transversely extending hinge lug is formed in the end face of the fan-shaped rotating arm, a hinge hole parallel to the shaft hole is formed in the tail end of the hinge lug, a negative pressure plug holding hole is formed in the other end face of the fan-shaped rotating arm and close to the arc surface, the negative pressure plug holding hole is communicated with the negative pressure connecting hole on the side face of the fan-shaped rotating arm in the fan-shaped rotating arm, the fan-shaped rotating arm is hinged to the upper end of the outer sleeve through the shaft hole and rotates in the vertical surface, and the negative pressure plug holding hole on the fan-shaped rotating arm corresponds to the rotating path of a bottle poking notch on a station tray;
the finger type plug holding device is arranged on the end face where the negative pressure plug holding hole is arranged on the fan-shaped rotating arm, the finger type plug holding device comprises bottle plug chucks, clamping bent arms and driving sliding plates, two supporting plates extending out of the end face of the fan-shaped rotating arm are respectively and correspondingly fixed on two sides of the end face of the fan-shaped rotating arm, two guide sliding rods parallel to the rotating shaft are fixed between the supporting plates, two symmetrical and horizontal bottle plug chucks freely sliding along the axial direction of the bottle plug chucks are arranged on the guide sliding rods, a U-shaped clamping shape is formed below the negative pressure plug holding hole between the free ends of the two bottle plug chucks, the upper surface of each bottle plug chuck is attached to the end face of the fan-shaped rotating arm, a baffle plate extending inwards is fixed on the lower surface of the bottle plug chuck, a long round hole extending vertically is arranged on each bottle plug chuck, two clamping bent arms are coaxially and horizontally hinged to the end face of the fan-shaped rotating arm and are in a scissor shape, pins are fixed on the end face of the bottle plug chuck, the pins extend into the long round holes on the corresponding bottle plug chuck, the free ends are hinged to one end face of the bottle plug chuck, a U-shaped clamping plate is formed below the negative pressure plug holding hole, a clamping plate is formed on the free end of the bottle plug chuck, a cylindrical key is hinged to the end face of the bottle plug chuck, a reset key is arranged on the end of the bottle plug chuck is vertically and is vertically connected to the cylindrical key is vertically arranged on the end of the bottle plug chuck, the bottle plug clamping device, the bottle plug is vertically and the bottle-shaped, the bottle plug is vertically and the bottle, the upper end of the ejector pin is provided with a chamfer;
the lower end of the plug pressing connecting rod is hinged to the free end of the lever rocker arm, the upper end of the plug pressing connecting rod is fixedly provided with a multi-station connecting block, the multi-station connecting block is provided with at least two mounting holes which are axially distributed, the plug pressing connecting rod passes through the inside of the outer sleeve and is hinged with the hinge hole on the fan-shaped rotating arm through the mounting hole on the multi-station connecting block, the distance between the two positioning grooves in the axial direction, the vertical distance between the two mounting holes on the multi-station connecting block and the length of the guide groove are corresponding, the lower end of the plug pressing connecting rod is fixedly provided with a plug taking tension spring, and the other end of the plug taking tension spring is vertically fixed on the bottom surface inside the machine box seat and applies downward tension to the plug pressing connecting rod;
a vibration plate assembly, wherein the vibration plate assembly comprises a vibration plate,
the vibration disc assembly comprises a lifting square column, a vibration disc and a bottle plug runner, wherein the lifting square column is vertically fixed on the upper surface of the machine box seat, the vibration disc for leveling the bottle plug is fixed at the upper end of the lifting square column, the bottle plug runner, the upper end of which is communicated with the vibration disc and the lower end of which vertically corresponds to the shaft hole of the fan-shaped rotating arm, is arranged at the edge of the vibration disc, the cross section of the bottle plug runner is matched with the bottle plug, and the lower end of the bottle plug runner is close to the arc surface of the fan-shaped rotating arm;
preferably, a reinforcing arm is hinged between the shaft hole and the hinge hole, and the multi-station connecting block is positioned between the fan-shaped rotating arm and the reinforcing arm.
Preferably, the negative pressure connecting hole is provided with a pipe joint communicated with the negative pressure connecting hole and fixed on the fan-shaped rotating arm.
Preferably, a cover plate covering the groove is fixed on the fan-shaped rotating arm, and a sliding groove matched with the sliding mechanism is arranged on the cover plate.
Preferably, the outer side surface of the driving slide plate is provided with an arc-shaped notch with the corresponding radius being the same as the radius of the ejector pin.
Preferably, the outer end of the locking screw is provided with a locking hand wheel fixed with the locking screw.
Preferably, the lower end of the outer sleeve is provided with yielding notches corresponding to the positions of the hinge shafts respectively.
The beneficial technical effects of the invention are as follows:
in the internal plug pressing mechanism, the fan-shaped rotating arm realizes the whole process of plug taking and plug pressing, the finger-type plug holding mechanism is arranged on the pressing surface of the fan-shaped rotating arm, when the fan-shaped rotating arm is used for taking a bottle plug, the bottle plug falls into the bottle plug chuck of the finger-type plug holding mechanism from the bottle plug runner to realize the clamping and positioning of the bottle plug, then the bottle plug is sucked through the negative pressure plug holding hole, the finger-type plug holding mechanism ensures that the bottle plug can be accurately transferred to a bottle mouth by the fan-shaped rotating arm to finish the bottle plug pressing, and the bottle plug can be accurately taken away, transferred and pressed through the negative pressure in the negative pressure plug holding hole and the finger-type plug holding mechanism, thereby ensuring the stability and the high efficiency of the whole process of bottle plug pressing;
in the self-adaptive supporting mechanism, the total height of the internal plug pressing mechanism is adjusted by adjusting the relative height between the inner sleeve and the outer sleeve, so that the internal plug pressing mechanism is matched with the mounting holes on the multi-station connecting block, and therefore, the internal plug pressing mechanism is adaptive to at least two different types of bottles, the limitation of a bottle internal plug pressing robot is smaller, the adaptability is wider, and the bottle internal plug pressing robot is convenient to popularize better;
in the transmission assembly, the input shaft of the indexing box is connected with a driving force to be divided into three different driving modes, and the rotation of the station turntable, the downward movement of the outer cover locking mechanism to lock the bottle cap and the rotation of the inner plug pressing mechanism to press the bottle plug are respectively controlled, so that the whole robot has a more compact structure, more compact connection among all actions, better linkage and coordination and convenience for overall control, and the production efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of a three-dimensional structure of a bottle plug press-loading robot;
FIG. 2 is a schematic diagram showing a three-dimensional structure of a bottle plug press-loading robot II;
FIG. 3 is a schematic perspective view of a bottle plug press robot;
FIG. 4 is a schematic perspective view of an inner plug assembly;
FIG. 5 is a schematic perspective view of an inner plug pressing mechanism;
FIG. 6 is a bottom view of FIG. 5;
FIG. 7 is a schematic view of the cross-sectional structure in the direction A-A in FIG. 6;
FIG. 8 is a schematic perspective view of a finger-type plug device;
FIG. 9 is a schematic diagram showing a second perspective structure of the finger-type plug holder;
FIG. 10 is a schematic perspective view of the adaptive support mechanism;
FIG. 11 is a schematic diagram of a second perspective view of the adaptive support mechanism;
FIG. 12 is a front view of the adaptive support mechanism;
FIG. 13 is a schematic view showing a sectional structure in the direction B-B in FIG. 12;
FIG. 14 is a schematic perspective view of the inner sleeve of FIG. 10;
FIG. 15 is a schematic perspective view of a transmission assembly;
FIG. 16 is a schematic diagram of a second perspective view of the transmission assembly;
fig. 17 is a front view of fig. 15;
FIG. 18 is a schematic view showing a sectional structure in the direction C-C in FIG. 17;
FIG. 19 is a schematic view showing a sectional structure in the direction D-D in FIG. 17;
in the figure:
1. the machine box seat, the transmission assembly, the self-adaptive supporting mechanism, the internal plug pressing mechanism, the bottle and the bottle plug 91;
211. the indexing box, 212, the output shaft of the indexing box, 213, end plates, 214, connecting rods, 215, inner fixing plates, 216, outer fixing plates, 217, the outer end of the input shaft of the indexing box, 218, a coupling,
221. Outer lock cover cams, 222, drive rocker arms, 223, driven roller A, 224, cam hub A, 225, rotary shaft, 226, bearing support C, 227, driven rocker arms, 231, plunger cams, 232, lever rocker arms, 233, driven roller B, 234, rocker shaft, 235, cam hub B; 241. the transmission shaft 242, bearing seat B and 243, bearing seat A;
31. a support shell, 32, a conveyer belt and 33, a protective rod;
41. the device comprises a fixed upright post, a motor, a lock cover connecting rod, a reset tension spring, a lock cover device and a sliding shaft, wherein the fixed upright post, the motor, the lock cover connecting rod, the reset tension spring, the lock cover device and the sliding shaft are arranged in sequence, and the fixed upright post, the motor, the lock cover connecting rod, the reset tension spring, the lock cover device and the sliding shaft are arranged in sequence;
51. station turnplate, 511, bottle pulling notch, 52, guard plate, 53, bottle supporting bottom plate and 54, main shaft;
61. top pin, 62, inner sleeve, 621, hinge shaft, 622, rotating arm, 623, rotating handle, 624, fixed seat, 625, arcuate plate, 626, detent, 627, guide slot, 63, outer sleeve, 631, relief notch, 632, lifting link, 641, nut insert, 642, locking hand wheel, 643, pressure plate, 644, fastening screw, 645, guide screw, 646, positioning spring, 647, positioning steel ball, 648 locking screw.
71. Lifting square columns, 72, vibrating discs, 73, bottle plug flow passages;
81. the device comprises a pressing plug connecting rod, 811, a multi-station connecting block, 8112, a mounting hole, 812, a reinforcing arm, 82, a plug taking tension spring, 83, a fan-shaped rotating arm, 831, a hinge lug and a connecting rod 832, hinge holes, 833, shaft holes, 834, pipe joints, 835, relief grooves, 836, negative pressure joint holes, 837, negative pressure holding holes, 838, grooves,
84. Finger-type stopper holding device, 841, supporting plate, 842, guiding sliding rod, 843, stopper clamping head, 8431, oblong hole, 844, stopper baffle, 845, clamping bent arm, 8451, pin, 846, linkage plate, 847, driving sliding plate, 8471, arc notch, 848, sliding key, 8481, cover plate, 849 and reset spring.
Detailed Description
1-19, the bottle inner plug press-loading robot comprises a machine box seat, a transmission assembly, a conveyor belt assembly, a turntable assembly, a lock outer cover assembly, an inner plug pressing assembly and a vibration disc assembly;
the machine box seat is a cuboid empty box body, the transmission assembly is fixed in the machine box seat and comprises an indexing box, a transmission shaft, a locking outer cover mechanism and an inner plug pressing mechanism, two side faces of the indexing box are respectively fixed with a side end plate, a side inner fixing plate is fixed on the free end of the end plate, an outer fixing plate which is parallel to the inner fixing plate is fixed on the outer side face of the inner fixing plate through a connecting rod, the transmission shaft is horizontally fixed on the inner fixing plate and the outer fixing plate through a bearing seat A and a bearing seat B respectively, and the inner end of the transmission shaft is coaxially fixed on one end of an input shaft of the indexing box through a coupling;
the outer lock cover mechanism comprises an outer lock cover cam, a driving rocker arm and a driven rocker arm, wherein the outer lock cover cam is fixed on a transmission shaft through a cam hub A, the driving rocker arm and the driven rocker arm are fixedly connected through a rotating shaft, the rotating shaft is horizontally fixed on an inner fixing plate through a bearing seat C and is parallel to the transmission shaft, the driving rocker arm and the driven rocker arm are respectively positioned on two sides of the inner fixing plate, and a driven roller A which corresponds to the outer lock cover cam to form a cam mechanism is arranged at the free end of the driving rocker arm;
the inner plug pressing mechanism comprises an inner plug pressing cam and a lever rocker arm, the inner plug pressing cam is fixed on a transmission shaft through a cam hub B and is positioned on the inner side of an outer fixing plate, the middle position of the lever rocker arm is fixed on a rocker arm shaft horizontally extending out of the inner side of the outer fixing plate through a revolute pair, one end of the lever rocker arm is provided with a driven roller B which corresponds to the inner plug pressing cam to form a cam mechanism, the rotating shaft and the rocker arm shaft are parallel to the transmission shaft and are respectively positioned on two sides of the transmission shaft, and the indexing box and the outer fixing plate are fixed in a box seat;
the conveying belt assembly is provided with a conveying belt,
the conveyor belt assembly comprises a support shell horizontally fixed on the upper surface of the machine box seat, the support shell is arranged along the length direction of the upper surface of the machine box seat, a conveyor belt which is matched with the support shell and is horizontally driven is arranged in the support shell, and a protection rod is fixed on the side surface of the support shell;
the rotating disc assembly is provided with a rotating disc,
the rotary table assembly comprises a station rotary table, a bottle supporting bottom plate and a guard plate, wherein the station rotary table is disc-shaped, bottle poking notches which are uniformly distributed along the periphery of the station rotary table are correspondingly matched with bottle bodies of bottles, a main shaft which is coaxial with the bottle poking notches and extends downwards vertically is fixed on the station rotary table, the lower end of the main shaft is coaxially fixed with an output shaft of an indexing box, the station rotary table is positioned above a conveying belt and covers the conveying belt with a certain length, the guard plate and the bottle supporting bottom plate are arc-shaped strip-shaped plates, the guard plate and the bottle supporting bottom plate are horizontally fixed on the upper surface of a machine box and are positioned at the inner side of a supporting shell, the axes corresponding to the guard plate and the bottle supporting bottom plate are collinear with the axes of the station rotary table, the diameter corresponding to the inner arc surface of the guard plate is larger than the diameter of the station rotary table and the upper surface of the station rotary table is coplanar, the bottle supporting bottom plate is positioned below the station rotary table and is flush with the conveying belt and vertically covers the bottle poking notches, and the lengths of the guard plate and the bottle supporting bottom plate are corresponding to the length of the station rotary table at the inner side of the supporting shell;
the outer cover assembly of the lock,
the outer lock cover assembly comprises a fixed upright post, a sliding shaft, a motor and a lock cover device, wherein the fixed upright post is vertically fixed on the upper surface of the machine box seat, the sliding shaft vertically penetrates through the fixed upright post and stretches into the machine box seat, the motor and the lock cover device which are connected through belt transmission are fixed at the upper end of the sliding shaft, the lock cover device corresponds to a rotating path of a bottle poking notch on a station tray, the lower end of the sliding shaft is hinged with a lock cover connecting rod, the free end of the lock cover connecting rod is hinged on the free end of a driven rocker arm on the transmission assembly, a reset tension spring is further fixed on the free end of the driven rocker arm, and the other end of the reset tension spring is vertically fixed on the top surface inside the machine box seat and exerts upward tension on the lock cover connecting rod; the cover locking device and the bottle cover are all in the prior art and are not the points of the invention of the application, so the application is not described in detail;
the inner plug assembly is pressed down, so that the inner plug assembly is pressed down,
the inner plug pressing assembly comprises a self-adaptive supporting mechanism, an inner plug pressing mechanism and a plug pressing connecting rod;
the self-adaptive supporting mechanism comprises an inner sleeve, an outer sleeve matched with the inner sleeve and a locking positioning device, wherein the inner sleeve is cylindrical and is vertically fixed on the upper surface of a machine box seat through a fixed seat at the lower end of the inner sleeve, at least two circles of same circular positioning grooves are formed in the outer circumferential surface of the inner sleeve, the cross section of each positioning groove is arc-shaped, two symmetrical rotating arms are hinged on the outer circumferential surface of one end, close to the fixed seat, of the inner sleeve, the hinge shafts of the two rotating arms are coaxial and extend outwards along the radial direction of the inner sleeve, and the two rotating arms are connected through an arc-shaped plate and are provided with rotating handles; the outer sleeve is coaxially sleeved outside the inner sleeve, two lifting connecting rods which correspond to the rotating arms respectively are hinged on the outer circumferential surface of the outer sleeve, and the free ends of the lifting connecting rods are correspondingly hinged with the free ends of the rotating arms to form a connecting rod mechanism;
the locking positioning device comprises a nut insert, a locking screw, a guide screw and a positioning steel ball matched with a positioning groove, wherein the nut insert is vertically fixed on the outer surface of the outer sleeve, the locking screw penetrates through the nut insert and the outer sleeve wall in the radial direction of the outer sleeve through threaded connection and is propped against the outer surface of the inner sleeve, the guide screw penetrates through the nut insert and the outer sleeve wall in the radial direction of the outer sleeve through threaded connection and stretches into a guide groove arranged on the inner sleeve in the bus direction, a through hole penetrating through the outer sleeve wall and the nut insert is formed in the radial direction of the outer sleeve, the positioning steel ball is arranged in the through hole and is propped against the positioning groove through the positioning spring, the other end of the positioning spring is supported on a pressing plate fixed on the outer surface of the nut insert, and the pressing plate is fixed on the nut insert through a fastening screw.
The inner plug pressing mechanism comprises a fan-shaped rotating arm and a finger type plug holding device, the fan-shaped rotating arm is in a fan shape with a central angle not smaller than 90 degrees, the thickness of the fan-shaped rotating arm is not smaller than the diameter of a corresponding bottle plug, a shaft hole penetrating in the thickness direction of the fan-shaped rotating arm is formed in the position of the shaft center corresponding to the fan-shaped rotating arm, the shaft hole is coaxial with the circumferential surface corresponding to the arc surface of the fan-shaped rotating arm, a transversely extending hinge lug is formed in the end face of the fan-shaped rotating arm, a hinge hole parallel to the shaft hole is formed in the tail end of the hinge lug, a negative pressure plug holding hole is formed in the other end face of the fan-shaped rotating arm and close to the arc surface, the negative pressure plug holding hole is communicated with the negative pressure connecting hole on the side face of the fan-shaped rotating arm in the fan-shaped rotating arm, the fan-shaped rotating arm is hinged to the upper end of the outer sleeve through the shaft hole and rotates in the vertical surface, and the negative pressure plug holding hole on the fan-shaped rotating arm corresponds to the rotating path of a bottle poking notch on a station tray;
the finger type plug holding device is arranged on the end face where the negative pressure plug holding hole is arranged on the fan-shaped rotating arm, the finger type plug holding device comprises bottle plug chucks, clamping bent arms and driving sliding plates, two supporting plates extending out of the end face of the fan-shaped rotating arm are respectively and correspondingly fixed on two sides of the end face of the fan-shaped rotating arm, two guide sliding rods parallel to the rotating shaft are fixed between the supporting plates, two symmetrical and horizontal bottle plug chucks freely sliding along the axial direction of the bottle plug chucks are arranged on the guide sliding rods, a U-shaped clamping shape is formed below the negative pressure plug holding hole between the free ends of the two bottle plug chucks, the upper surface of each bottle plug chuck is attached to the end face of the fan-shaped rotating arm, a baffle plate extending inwards is fixed on the lower surface of the bottle plug chuck, a long round hole extending vertically is arranged on each bottle plug chuck, two clamping bent arms are coaxially and horizontally hinged to the end face of the fan-shaped rotating arm and are in a scissor shape, pins are fixed on the end face of the bottle plug chuck, the pins extend into the long round holes on the corresponding bottle plug chuck, the free ends are hinged to one end face of the bottle plug chuck, a U-shaped clamping plate is formed below the negative pressure plug holding hole, a clamping plate is formed on the free end of the bottle plug chuck, a cylindrical key is hinged to the end face of the bottle plug chuck, a reset key is arranged on the end of the bottle plug chuck is vertically and is vertically connected to the cylindrical key is vertically arranged on the end of the bottle plug chuck, the bottle plug clamping device, the bottle plug is vertically and the bottle-shaped, the bottle plug is vertically and the bottle, the upper end of the ejector pin is provided with a chamfer;
the lower end of the plug pressing connecting rod is hinged to the free end of the lever rocker arm, the upper end of the plug pressing connecting rod is fixedly provided with a multi-station connecting block, the multi-station connecting block is provided with at least two mounting holes which are axially distributed, the plug pressing connecting rod passes through the inside of the outer sleeve and is hinged with the hinge hole on the fan-shaped rotating arm through the mounting hole on the multi-station connecting block, the distance between the two positioning grooves in the axial direction, the vertical distance between the two mounting holes on the multi-station connecting block and the length of the guide groove are corresponding, the lower end of the plug pressing connecting rod is fixedly provided with a plug taking tension spring, and the other end of the plug taking tension spring is vertically fixed on the bottom surface inside the machine box seat and applies downward tension to the plug pressing connecting rod;
a vibration plate assembly, wherein the vibration plate assembly comprises a vibration plate,
the vibration disc assembly comprises a lifting square column, a vibration disc and a bottle plug runner, wherein the lifting square column is vertically fixed on the upper surface of the machine box seat, the vibration disc for leveling the bottle plug is fixed at the upper end of the lifting square column, the bottle plug runner, the upper end of which is communicated with the vibration disc and the lower end of which vertically corresponds to the shaft hole of the fan-shaped rotating arm, is arranged at the edge of the vibration disc, the cross section of the bottle plug runner is matched with the bottle plug, and the lower end of the bottle plug runner is close to the arc surface of the fan-shaped rotating arm; the specific structure and working principle of the vibration disc assembly belong to the prior art and are not the points of the invention of the application, so the application is not described in detail;
the multi-station connecting block is positioned between the fan-shaped rotating arm and the reinforcing arm.
The negative pressure connecting hole is provided with a pipe joint communicated with the negative pressure connecting hole and fixed on the fan-shaped rotating arm, and the pipe joint is used for connecting a negative pressure air source.
A cover plate covering the groove is fixed on the fan-shaped rotating arm, and a sliding groove matched with the sliding mechanism is arranged on the cover plate.
The outer side surface of the driving slide plate is provided with an arc-shaped notch with the corresponding radius being the same as the radius of the ejector pin, so that the ejector pin can push the driving slide plate conveniently.
The outer end of the locking screw is provided with a locking hand wheel fixed with the locking screw.
The lower end of the outer sleeve is provided with a yielding gap corresponding to the position of the hinge shaft.
The working process and principle of the invention are as follows:
according to the model (height) adjusting the height of the self-adaptive supporting mechanism, rotating the locking hand wheel to separate the locking screw from the inner sleeve to loosen the locking screw, rotating the rotating handle to link the rotating arm and the lifting connecting rod to enable the outer sleeve to move upwards or downwards relative to the inner sleeve, meanwhile forcing the positioning steel ball to compress the spring to separate from the current positioning groove and enter the next appointed positioning groove along with the movement of the outer sleeve, thereby realizing the control of the height adjustment of the outer sleeve, then screwing the locking screw, and correspondingly hinging the hinging hole on the sector rotating arm with the corresponding mounting hole on the multi-station connecting block, thereby enabling the height of the sector rotating arm to correspond to the bottle;
the bottles to be filled with bottle plugs are vertically arranged on a conveyor belt in sequence from one end of the conveyor belt, conveyed to a station turntable through the conveyor belt, the station turntable is rotated, the bottles are driven to sequentially pass through a bottle pushing gap to press the bottle plugs, an outer cover is additionally arranged, and the bottle plugs are locked by an outer cover locking mechanism, and finally the bottles return to the other end of the conveyor belt and are conveyed to the next procedure;
pressing the bottle stopper:
the finger-type stopper holding mechanism is arranged on the press-fit surface of the fan-shaped rotating arm, the fan-shaped rotating arm downwards pulls the stopper pressing connecting rod under the action of the stopper pressing tension spring to enable the stopper pressing connecting rod to rotate, so that the side opening of the stopper chuck on the finger-type stopper holding mechanism just corresponds to the lower port of the stopper runner, at the moment, the ejector pin is separated from the abdicating groove on the fan-shaped rotating arm, the sliding key moves outwards under the support of the reset spring to push the driving sliding plate, so that the two stopper chucks are driven to fold inwards through the linkage plate and the clamping bent arm to form a stopper clamping space without clamping force, the lowest stopper in the stopper runner falls down and automatically falls into the stopper clamping space of the stopper chuck to realize positioning, then the negative pressure is communicated with the stopper pressing connecting rod to absorb the stopper, the fan-shaped rotating arm is blocked by the circular arc surface of the stopper pressing connecting rod to prevent other stoppers from continuing to fall, and simultaneously the sucked stopper is absorbed to the bottle opening of a bottle on the bottle poking notch on the fan-shaped station rotating disc, and the stopper corresponds to the bottle opening position of the bottle opening, and the stopper is just pushed upwards to drive the fan-shaped rotating arm to move the driving rotating arm to enable the ejector pin to gradually move to block the stopper chuck to move, so that the stopper is prevented from moving outwards to be blocked and separated from the stopper clamping space of the stopper chuck and the stopper chuck to be pressed into the stopper chuck; the negative pressure in the negative pressure plug holding hole and the finger type plug holding mechanism ensure that the bottle plug can be fixed and positioned and accurately taken away, transferred and pressed, and ensure the stability and the high efficiency of the whole process of bottle plug press fitting.
The indexing box is a novel mechanism for realizing indexing intermittent motion, the outer end of the input shaft of the indexing box is connected with driving mechanisms such as a driving motor, the input shaft of the indexing box is connected with a transmission shaft through a coupler, the rotation of the transmission shaft drives an inner plug cam and an outer lock cover cam to rotate, the driven rocker arm and the lever rocker arm are respectively driven by a driven roller A and a driven roller B, the driven rocker arm drives a lock cover connecting rod to move downwards, a lock cover device is moved downwards to a bottle mouth to finish locking, the lock cover mechanism is lifted and reset by a reset tension spring, the lever rocker arm drives the plug pressing connecting rod to move upwards, the fan-shaped rotating arm is enabled to finish plug pressing, the fan-shaped rotating arm is rotated to a plug taking position by a plug taking tension spring, meanwhile, the output shaft of the indexing box drives a station turntable to rotate to realize bottle movement, so that the bottle is sequentially completed in the processes of plug pressing, the outer lock cover and the like, one driving force of the driving assembly can be divided into three different driving modes, the rotation of the station turntable, the lock and the inner plug pressing are respectively controlled, the whole robot structure is more compact, and the outer covers are in each action, the linkage is more compact, the whole, and the whole is convenient to control, and the production efficiency is improved.
Claims (5)
1. The bottle inner plug press-mounting robot comprises a machine box seat, a transmission assembly, a conveyer belt assembly, a turntable assembly, a lock outer cover assembly, an inner plug press-mounting assembly and a vibration disc assembly, and is characterized in that:
the machine box seat is a cuboid empty box body, the transmission assembly is fixed in the machine box seat and comprises an indexing box, a transmission shaft, a locking outer cover mechanism and an inner plug pressing mechanism, two side faces of the indexing box are respectively fixed with a side end plate, a side inner fixing plate is fixed on the free end of the end plate, an outer fixing plate which is parallel to the inner fixing plate is fixed on the outer side face of the inner fixing plate through a connecting rod, the transmission shaft is horizontally fixed on the inner fixing plate and the outer fixing plate through a bearing seat A and a bearing seat B respectively, and the inner end of the transmission shaft is coaxially fixed on one end of an input shaft of the indexing box through a coupling;
the outer lock cover mechanism comprises an outer lock cover cam, a driving rocker arm and a driven rocker arm, wherein the outer lock cover cam is fixed on a transmission shaft through a cam hub A, the driving rocker arm and the driven rocker arm are fixedly connected through a rotating shaft, the rotating shaft is horizontally fixed on an inner fixing plate through a bearing seat C and is parallel to the transmission shaft, the driving rocker arm and the driven rocker arm are respectively positioned on two sides of the inner fixing plate, and a driven roller A which corresponds to the outer lock cover cam to form a cam mechanism is arranged at the free end of the driving rocker arm;
the inner plug pressing mechanism comprises an inner plug pressing cam and a lever rocker arm, the inner plug pressing cam is fixed on a transmission shaft through a cam hub B and is positioned on the inner side of an outer fixing plate, the middle position of the lever rocker arm is fixed on a rocker arm shaft horizontally extending out of the inner side of the outer fixing plate through a revolute pair, one end of the lever rocker arm is provided with a driven roller B which corresponds to the inner plug pressing cam to form a cam mechanism, the rotating shaft and the rocker arm shaft are parallel to the transmission shaft and are respectively positioned on two sides of the transmission shaft, and the indexing box and the outer fixing plate are fixed in a box seat;
the conveying belt assembly is provided with a conveying belt,
the conveyor belt assembly comprises a support shell horizontally fixed on the upper surface of the machine box seat, the support shell is arranged along the length direction of the upper surface of the machine box seat, a conveyor belt which is matched with the support shell and is horizontally driven is arranged in the support shell, and a protection rod is fixed on the side surface of the support shell;
the rotating disc assembly is provided with a rotating disc,
the rotary table assembly comprises a station rotary table, a bottle supporting bottom plate and a guard plate, wherein the station rotary table is disc-shaped, bottle poking notches which are uniformly distributed along the periphery of the station rotary table are correspondingly matched with bottle bodies of bottles, a main shaft which is coaxial with the bottle poking notches and extends downwards vertically is fixed on the station rotary table, the lower end of the main shaft is coaxially fixed with an output shaft of an indexing box, the station rotary table is positioned above a conveying belt and covers the conveying belt with a certain length, the guard plate and the bottle supporting bottom plate are arc-shaped strip-shaped plates, the guard plate and the bottle supporting bottom plate are horizontally fixed on the upper surface of a machine box and are positioned at the inner side of a supporting shell, the axes corresponding to the guard plate and the bottle supporting bottom plate are collinear with the axes of the station rotary table, the diameter corresponding to the inner arc surface of the guard plate is larger than the diameter of the station rotary table and the upper surface of the station rotary table is coplanar, the bottle supporting bottom plate is positioned below the station rotary table and is flush with the conveying belt and vertically covers the bottle poking notches, and the lengths of the guard plate and the bottle supporting bottom plate are corresponding to the length of the station rotary table at the inner side of the supporting shell;
the outer cover assembly of the lock,
the outer lock cover assembly comprises a fixed upright post, a sliding shaft, a motor and a lock cover device, wherein the fixed upright post is vertically fixed on the upper surface of the machine box seat, the sliding shaft vertically penetrates through the fixed upright post and stretches into the machine box seat, the motor and the lock cover device which are connected through belt transmission are fixed at the upper end of the sliding shaft, the lock cover device corresponds to a rotating path of a bottle poking notch on a station tray, the lower end of the sliding shaft is hinged with a lock cover connecting rod, the free end of the lock cover connecting rod is hinged on the free end of a driven rocker arm on the transmission assembly, a reset tension spring is further fixed on the free end of the driven rocker arm, and the other end of the reset tension spring is vertically fixed on the top surface inside the machine box seat and exerts upward tension on the lock cover connecting rod;
the inner plug assembly is pressed down, so that the inner plug assembly is pressed down,
the inner plug pressing assembly comprises a self-adaptive supporting mechanism, an inner plug pressing mechanism and a plug pressing connecting rod;
the self-adaptive supporting mechanism comprises an inner sleeve, an outer sleeve matched with the inner sleeve and a locking positioning device, wherein the inner sleeve is cylindrical and is vertically fixed on the upper surface of a machine box seat through a fixed seat at the lower end of the inner sleeve, at least two circles of same circular positioning grooves are formed in the outer circumferential surface of the inner sleeve, the cross section of each positioning groove is arc-shaped, two symmetrical rotating arms are hinged on the outer circumferential surface of one end, close to the fixed seat, of the inner sleeve, the hinge shafts of the two rotating arms are coaxial and extend outwards along the radial direction of the inner sleeve, and the two rotating arms are connected through an arc-shaped plate and are provided with rotating handles; the outer sleeve is coaxially sleeved outside the inner sleeve, two lifting connecting rods which correspond to the rotating arms respectively are hinged on the outer circumferential surface of the outer sleeve, and the free ends of the lifting connecting rods are correspondingly hinged with the free ends of the rotating arms to form a connecting rod mechanism;
the locking positioning device comprises a nut insert, a locking screw, a guide screw and a positioning steel ball matched with a positioning groove, wherein the nut insert is vertically fixed on the outer surface of the outer sleeve, the locking screw penetrates through the nut insert and the outer sleeve wall along the radial direction of the outer sleeve through threaded connection and is propped against the outer surface of the inner sleeve, the guide screw penetrates through the nut insert and the outer sleeve wall along the radial direction of the outer sleeve through threaded connection and stretches into a guide groove arranged on the inner sleeve along the direction of a bus, a through hole penetrating through the outer sleeve wall and the nut insert is formed in the radial direction of the outer sleeve, the positioning steel ball is arranged in the through hole and is propped against the positioning groove through a positioning spring, the other end of the positioning spring is supported on a pressing plate fixed on the outer surface of the nut insert, and the pressing plate is fixed on the nut insert through a fastening screw;
the inner plug pressing mechanism comprises a fan-shaped rotating arm and a finger type plug holding device, the fan-shaped rotating arm is in a fan shape with a central angle not smaller than 90 degrees, the thickness of the fan-shaped rotating arm is not smaller than the diameter of a corresponding bottle plug, a shaft hole penetrating in the thickness direction of the fan-shaped rotating arm is formed in the position of the shaft center corresponding to the fan-shaped rotating arm, the shaft hole is coaxial with the circumferential surface corresponding to the arc surface of the fan-shaped rotating arm, a transversely extending hinge lug is formed in the end face of the fan-shaped rotating arm, a hinge hole parallel to the shaft hole is formed in the tail end of the hinge lug, a negative pressure plug holding hole is formed in the other end face of the fan-shaped rotating arm and close to the arc surface, the negative pressure plug holding hole is communicated with the negative pressure connecting hole on the side face of the fan-shaped rotating arm in the fan-shaped rotating arm, the fan-shaped rotating arm is hinged to the upper end of the outer sleeve through the shaft hole and rotates in the vertical surface, and the negative pressure plug holding hole on the fan-shaped rotating arm corresponds to the rotating path of a bottle poking notch on a station tray;
the finger type plug holding device is arranged on the end face where the negative pressure plug holding hole is arranged on the fan-shaped rotating arm, the finger type plug holding device comprises bottle plug chucks, clamping bent arms and driving sliding plates, two supporting plates extending out of the end face of the fan-shaped rotating arm are respectively and correspondingly fixed on two sides of the end face of the fan-shaped rotating arm, two guide sliding rods parallel to the rotating shaft are fixed between the supporting plates, two symmetrical and horizontal bottle plug chucks freely sliding along the axial direction of the bottle plug chucks are arranged on the guide sliding rods, a U-shaped clamping shape is formed below the negative pressure plug holding hole between the free ends of the two bottle plug chucks, the upper surface of each bottle plug chuck is attached to the end face of the fan-shaped rotating arm, a baffle plate extending inwards is fixed on the lower surface of the bottle plug chuck, a long round hole extending vertically is arranged on each bottle plug chuck, two clamping bent arms are coaxially and horizontally hinged to the end face of the fan-shaped rotating arm and are in a scissor shape, pins are fixed on the end face of the bottle plug chuck, the pins extend into the long round holes on the corresponding bottle plug chuck, the free ends are hinged to one end face of the bottle plug chuck, a U-shaped clamping plate is formed below the negative pressure plug holding hole, a clamping plate is formed on the free end of the bottle plug chuck, a cylindrical key is hinged to the end face of the bottle plug chuck, a reset key is arranged on the end of the bottle plug chuck is vertically and is vertically connected to the cylindrical key is vertically arranged on the end of the bottle plug chuck, the bottle plug clamping device, the bottle plug is vertically and the bottle-shaped, the bottle plug is vertically and the bottle, the upper end of the ejector pin is provided with a chamfer;
the lower end of the plug pressing connecting rod is hinged to the free end of the lever rocker arm, the upper end of the plug pressing connecting rod is fixedly provided with a multi-station connecting block, the multi-station connecting block is provided with at least two mounting holes which are axially distributed, the plug pressing connecting rod passes through the inside of the outer sleeve and is hinged with the hinge hole on the fan-shaped rotating arm through the mounting hole on the multi-station connecting block, the distance between the two positioning grooves in the axial direction, the vertical distance between the two mounting holes on the multi-station connecting block and the length of the guide groove are corresponding, the lower end of the plug pressing connecting rod is fixedly provided with a plug taking tension spring, and the other end of the plug taking tension spring is vertically fixed on the bottom surface inside the machine box seat and applies downward tension to the plug pressing connecting rod;
a vibration plate assembly, wherein the vibration plate assembly comprises a vibration plate,
the vibration disc assembly comprises a lifting square column, a vibration disc and a bottle plug runner, wherein the lifting square column is vertically fixed on the upper surface of the machine box seat, the vibration disc for leveling the bottle plug is fixed at the upper end of the lifting square column, the bottle plug runner, the upper end of which is communicated with the vibration disc and the lower end of which vertically corresponds to the shaft hole of the fan-shaped rotating arm, is arranged at the edge of the vibration disc, the cross section of the bottle plug runner is matched with the bottle plug, and the lower end of the bottle plug runner is close to the arc surface of the fan-shaped rotating arm;
a reinforcing arm is hinged between the shaft hole and the hinge hole, and the multi-station connecting block is positioned between the fan-shaped rotating arm and the reinforcing arm;
the negative pressure connecting hole is provided with a pipe joint communicated with the negative pressure connecting hole and fixed on the fan-shaped rotating arm.
2. The bottle plug press robot of claim 1, wherein: a cover plate covering the groove is fixed on the fan-shaped rotating arm, and a sliding groove matched with the sliding mechanism is arranged on the cover plate.
3. The bottle plug press robot of claim 1, wherein: the outer side surface of the driving sliding plate is provided with an arc-shaped notch with the corresponding radius being the same as the radius of the ejector pin.
4. The bottle plug press robot of claim 1, wherein: the outer end of the locking screw is provided with a locking hand wheel fixed with the locking screw.
5. The bottle plug press robot of claim 1, wherein: the lower end of the outer sleeve is provided with a yielding gap corresponding to the position of the hinge shaft.
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| CN201910344289.1A CN109928344B (en) | 2019-04-26 | 2019-04-26 | Bottle inner plug press-loading robot |
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| CN201910344289.1A CN109928344B (en) | 2019-04-26 | 2019-04-26 | Bottle inner plug press-loading robot |
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| CN109928344B true CN109928344B (en) | 2024-01-02 |
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| CN111152946B (en) * | 2020-03-16 | 2024-08-27 | 郑州奥特智能设备股份有限公司 | Disc type powder bottling machine |
| CN111646402B (en) * | 2020-06-22 | 2022-01-07 | 滨州职业学院 | Glass medicine bottle seals rubber plug device |
| CN113523147B (en) * | 2021-07-14 | 2024-06-18 | 广东远钢管材有限责任公司 | Clamping table for flattening tubular beams |
| CN114056619B (en) * | 2021-11-29 | 2023-12-26 | 珠海格力智能装备有限公司 | Container filling apparatus for producing |
| CN114955955A (en) * | 2022-07-29 | 2022-08-30 | 江苏佰思曼医疗器械有限公司 | Be applied to medical instrument's assembly quality |
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