Design of eccentric bunghole cap screwing-pressing machine based on robot vision technique

To solve the problem of slow speed, low efficiency, and poor reliability on bunghole positioning and cap screwing-pressing, A cap screwing-pressing device was designed, which fixed robot flange together with CCD plane. The uncertain bunghole center is positioned and coordinate conversion, and the end-executor is led to the position at the eccentric bunghole center accurately and rapidity through TCP/IP communications. The bunghole was positioned quickly and precisely, error of within 0.8mm. Simultaneously, the two processes of screwing cap and pressing cap are finished at one localization. The practical application shows that the equipment is reliable and high sealing efficiency.