CN107352079A - A kind of branched intestines put intestines machine with robot - Google Patents
A kind of branched intestines put intestines machine with robot Download PDFInfo
- Publication number
- CN107352079A CN107352079A CN201710671783.XA CN201710671783A CN107352079A CN 107352079 A CN107352079 A CN 107352079A CN 201710671783 A CN201710671783 A CN 201710671783A CN 107352079 A CN107352079 A CN 107352079A
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- CN
- China
- Prior art keywords
- charging tray
- robot
- intestines
- branched
- sausage
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses a kind of branched intestines intestines machine is put with robot, including frame, vibration feeder, alignment feeder, step feeding device, feeding conveyer and robot are set in frame, vibration feeder, alignment feeder, step feeding device and feeding conveyer are sequentially connected with, and robot is arranged on the upside of feeding conveyer；Step feeding device includes fixed charging tray and mobile charging tray, the groove that fixed charging tray is provided with, and the groove part runs through fixed charging tray；Mobile charging tray is provided with raised pusher bar, and pusher bar is provided with expeller；The pusher bar of the mobile charging tray and thereon expeller insertion correspondence position fixation charging tray on groove；The mobile charging tray is provided with the vertical drive for driving its vertical displacement and the horizontal drive apparatus for driving its horizontal displacement.The branched intestines of the present invention can carry out the crawl and arrangement of branched intestines with robot pendulum intestines machine, increase production efficiency, eliminate food sanitation safe hidden danger, avoid the occurrence of sausage accumulation, superposition, disorder phenomenon.
Description
Technical field
Intestines machine is put with robot the present invention relates to a kind of branched intestines, belongs to food processing machinery field.
Background technology
There is substantial amounts of sorting, pickup and packing work, at present these work to have mainly by being accomplished manually for food service industry
There are big labor intensity, low production efficiency, easily pollute.With the development of science and technology, the automation equipment such as robot
Introduce the development trend as industry.Existing small size sausage and a small number of large scale sausages use the form of branched packaging,
And the pendulum intestines of branched intestines packaging are more difficult to realize automation than single branch packaging, thus at present the pendulum intestines form of branched intestines at present or with
Based on artificial pendulum intestines, mechanical pendulum intestines fail to realize always.
Published application before this department（Application number：2016207871031）In disclose a kind of robot pendulum intestines machine, its
Technical scheme includes batcher, straight line permutation arranges induction system and sequence is drawn away from conveyer and robot.It is straight by setting
Line permutation arrangement induction system carries out vibrations to the sausage by batcher and shakeout, and prevents sausage from existing two layers in the height direction
And more than two layers, and the spacing before and after increase between sausage, by setting robot, clamping jaw and vision guide can to pass through
Vibrations are shakeout and drawn the sausage away from after to pick up and are sent into sealed in unit, carry out sorting pendulum intestines without worker, increase production efficiency,
Food sanitation safe hidden danger is eliminated, and by increasing vision measurement system, automation regulation feeding transfer efficiency can be realized.
But it does not solve the problems, such as the mechanical pendulum intestines of branched intestines.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of robot that branched intestines can be put with mechanization to put intestines machine.
The present invention is to be achieved through the following technical solutions：
A kind of branched intestines put intestines machine, including frame with robot, and frame is provided with the vibration feeder for being used for storing and conveying, energy
Enough stacked states to sausage destroyed and by row arrangement alignment feeder and sausage longitudinal separation can be drawn away from
Step feeding device, convey the feeding conveyer of sausage and the robot of sausage on the feeding conveyer can be moved, vibration
Feed appliance, alignment feeder, step feeding device and feeding conveyer are sequentially connected with, and robot is arranged on the upside of feeding conveyer；
Sausage is sent into the vibration feeder by external conveyor, and stacked is arranged through vibration feeder vibrating transportation to alignment feeder
State and step feeding device are drawn away from rear feeding feeding conveyer, most grip the sealed in unit for being sent into peripheral hardware respectively through multiple robots afterwards
It is interior；
The step feeding device includes fixed charging tray and mobile charging tray, and the mobile charging tray is located at below fixed charging tray, described solid
Determine charging tray provided with some rows it is horizontal it is parallel, for accommodating the groove of length direction sausage, the groove part runs through
Fixed charging tray；The mobile charging tray is provided with the raised pusher bar corresponding with fixed charging tray number of recesses and position, the pusher
Bar is more than or equal to sausage length and equidistant expeller provided with some spacing；The pusher bar of the mobile charging tray and pushing away thereon
Expect the groove on the fixation charging tray of block insertion correspondence position；The mobile charging tray is provided with the vertical drive for driving its vertical displacement
Device and the horizontal drive apparatus for driving its horizontal displacement.
Preferably, two facing guide rails consistent with pusher bar length direction are provided with below the mobile charging tray；Institute
Stating vertical drive includes base, and the guide groove to match with guide rail, the shifting are respectively equipped with the both sides side wall of the base
Dynamic charging tray is slidably connected by guide rail and the guide groove on base.
Preferably, the base bottom is coated with two groups of cam mechanisms, and the cam mechanism includes the vertical position of control base
The camshaft and motor of shifting, the camshaft two ends are rotatablely connected on the supporting leg being provided with fixed charging tray bottom respectively,
Wherein a termination is connected to the output end of motor.
Preferably, the horizontal drive apparatus includes horizontal motor and is arranged on the fixing nut of mobile charging tray front end, institute
State horizontal motor output end and be connected with leading screw, and the mobile charging tray horizontal displacement of control is coordinated by screw mandrel and fixing nut.
As the improvement of above-mentioned technical proposal, the robot includes robot body, two groups of screw mandrels, two groups of slide rails and one
Group pick device, the screw mandrel and slide rail are fixedly installed in the robot pendulum intestines machine frame, solid in robot body X-axis
Surely a pick device is provided with, pick device can do X-axis freedom under the driving of X-axis motor on the robot body
Motion；The bottom of the robot body is fixed on two groups of slide rails, and makes the robot by two y-axis motor drive screws
Body does Y direction motion.
Preferably, the screw mandrel and slide rail Heterogeneous Permutation of two adjacent robots.
Preferably, the pick device includes multigroup air cylinder group, and every group of air cylinder group fixes one by a telescopic cylinder lower end
Individual clamping jaw cylinder composition, clamping jaw cylinder head portions set clamping jaw.
Preferably, the robot also include be used for guided robot carry out capture positioning First look measuring system and
The second vision measurement system of sausage quantity in induction system, the First look measuring system are arranged for monitoring the permutation
It is controlled with second vision measurement by the control system being arranged in frame.
Compared with prior art, branched intestines of the invention can carry out crawl and the row of branched intestines with robot pendulum intestines machine
Row, additionally by setting vibration feeder to carry out controllability feed, shakeout by setting alignment feeder to carry out vibrations to sausage,
Prevent sausage from existing two layers and more than two layers in the height direction, by setting step feeding device, before and after increase between sausage
Spacing, by set robot, pick device and vision guide can will shakeout and draw by vibrations away from after enter feeding it is defeated
Send the sausage of machine to pick up and be sent into sealed in unit, be full-automatic process in whole process, sorted without worker, moreover,
It by alignment feeder, can fix holotype shape sausage, that is, ensure that position is constant, be easy to robot to be gripped, increase life
Efficiency is produced, eliminates food sanitation safe hidden danger.
Brief description of the drawings
Intestines machine structural representation is put by the branched intestines robot that Fig. 1 is the present invention.
Fig. 2 is the step feeding device structural scheme of mechanism of the present invention.
Fig. 3 is the fixation material tray structure schematic diagram of the step feeding device of the present invention.
Fig. 4 is the mobile material tray structure schematic diagram of the step feeding device of the present invention.
Fig. 5 is the understructure schematic diagram of the step feeding device of the present invention.
Fig. 6 is the robot monomer structural representation of the present invention.
Fig. 7 is multiple robot architecture's schematic diagrames on feeding conveyer of the present invention.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings：
As shown in figure 1, a kind of branched intestines put intestines machine, including frame 1 with robot, frame 1 is provided with what is be used for storing and convey
Vibration feeder 2, the stacked state of sausage can be destroyed and by row arrangement alignment feeder 3 and can be to sausage before
Afterwards distance drawn away from step feeding device 4, convey sausage feeding conveyer 5 and can move on the feeding conveyer 5
The robot 6 of sausage, vibration feeder 2, alignment feeder 3, step feeding device 4 and feeding conveyer 5 are sequentially connected with, robot
6 are arranged at the upside of feeding conveyer 5；Sausage is sent into the vibration feeder 2 by external conveyor, is vibrated through vibration feeder 2
It is delivered to the arrangement stacked state of alignment feeder 3 and step feeding device 4 is drawn away from rear feeding feeding conveyer 5, most afterwards through multiple machines
Device people 6 grips respectively to be sent into the sealed in unit of peripheral hardware.
The patent that vibration feeder 2 and alignment feeder 3 described in the present embodiment have been applied in our company
It has been disclosed in CN201620787103.1 and CN201610590012.3, therefore has not stated carefully hereafter.
As Figure 2-Figure 5, the step feeding device 4 includes fixed charging tray 401 and mobile charging tray 402, the mobile material
Disk 402 is located at the lower section of fixed charging tray 401, the fixed charging tray 401 be provided with some rows it is horizontal it is parallel, for accommodating length
The groove 4011 of direction sausage is spent, fixed charging tray 401 is run through in the part of groove 4011；The mobile charging tray 402 is provided with consolidating
Determine the corresponding raised pusher bar 4021 of the quantity of charging tray groove 4011 and position, it is big that the pusher bar 4021 is provided with some spacing
In equal to sausage length and equidistant expeller 4022；The pusher bar 4021 of the mobile charging tray 402 and expeller thereon
Groove 4011 on the fixation charging tray of 4022 insertion correspondence positions；The mobile charging tray 402, which is provided with, drives its vertical displacement
Vertical drive 403 and the horizontal drive apparatus 404 for driving its horizontal displacement.
The lower section of mobile charging tray 402 is provided with two facing guide rails consistent with the length direction of pusher bar 4021
4023；The vertical drive includes base 4031, is respectively equipped with and guide rail 4023 in the both sides side wall of the base 4031
The guide groove 4032 to match, the mobile charging tray 402 are slidably connected by guide rail 4023 and the guide groove 4032 on base 4031.
The bottom of base 4031 is coated with two groups of cam mechanisms, and the cam mechanism includes control base vertical displacement
Camshaft and motor, the camshaft two ends are rotatablely connected the supporting leg 4012 being provided with the fixed bottom of charging tray 401 respectively
On, wherein a termination is connected to the output end of motor.
The horizontal drive apparatus 404 includes horizontal motor and is arranged on the fixing nut 4041 of the mobile front end of charging tray 402,
The horizontal motor output end is connected with leading screw, and coordinates the mobile charging tray 402 of control horizontal by screw mandrel and fixing nut 4041
Displacement.
Robot 6 includes 601, two groups of robot body, 602, two groups of screw mandrel slide rail 603 and one group of pick device 604, institute
State screw mandrel 602 and slide rail 603 is fixedly installed in the robot pendulum intestines machine frame 1, it is fixed on robot body 601X axles
A pick device 604 is provided with, pick device 604 can be under the driving of X-axis motor 605 in the robot body 601
On do X-axis free movement；The bottom of the robot body 601 is fixed on two groups of slide rails 603, and by two y-axis motors 606
Drive screw 602 makes the robot body 601 do Y direction motion.The screw mandrel 602 and slide rail of two adjacent robots 6
603 Heterogeneous Permutations.
Pick device 604 includes multigroup air cylinder group, and every group of air cylinder group fixes a clamping jaw gas by a telescopic cylinder lower end
Cylinder forms, and clamping jaw cylinder head portions set clamping jaw.The flexible drive clamping jaw cylinder of affiliated telescopic cylinder moves up and down, the folder
The folding of pawl cylinder drives the clamping jaw folding.
Robot 6 also includes carrying out capturing the First look measuring system 7 of positioning and for monitoring for guided robot 6
The permutation arranges the second vision measurement system 8 of sausage quantity in induction system, the First look measuring system 7 with it is described
Second vision measurement 8 is controlled by the control system being arranged in frame 1.
In actual use, sausage is sent into the vibration feeder 2, passes through the vibration feeder 2 and permutation feeding
The vibrating disc of device 3 produces vibration along its length, and sausage is fallen to and the vibration after the vibration of the vibration feeder 2
Sending for step feeding device 4 described in next stage is sequentially entered in the vibrating disc of alignment feeder 3 that feed appliance 2 connects and by vibration influence
In charging tray, eventually enter into feeding conveyer 5, sausage is the reason for the vibration feeder 2 and the internal cause of alignment feeder 3 are vibrated
It is its flat presentation that can be moved from stacked state, finally all sausages can be made to be laid in groove, when the shape of sausage is not
During strip, i.e., sausage is that bending locally can be also fixed in groove, and then the purpose of separation and fixed sausage,
In sausage, sausage is opened spacing in groove after the stepping of step feeding device 4 push, when entering feeding conveyer 5,
Because the transfer rate of feeding conveyer 5 is more than the speed of step feeding device 4, therefore, sausage energy on the feeding conveyer 5
It is enough again to pull open longitudinal separation, to facilitate the identification of First look measuring system 7 of rear end and the crawl of robot.It is described
By the pick device 604, the sausage that will be delivered on the feeding conveyer 5 grips and is sent into next step for robot 6
In equipment.
Claims (8)
1. a kind of branched intestines put intestines machine, including frame with robot, it is characterised in that：Frame is provided with what is be used for storing and convey
Vibration feeder, the stacked state of sausage can be destroyed and by row arrangement alignment feeder and can be to sausage before and after
Distance drawn away from step feeding device, convey sausage feeding conveyer and sausage on the feeding conveyer can be moved
Robot, vibration feeder, alignment feeder, step feeding device and feeding conveyer are sequentially connected with, and robot is arranged at feeding
On the upside of conveyer；Sausage is sent into the vibration feeder by external conveyor, through vibration feeder vibrating transportation to permutation feeding
Device arranges stacked state and step feeding device is drawn away from rear feeding feeding conveyer, is most gripped respectively outside feeding through multiple robots afterwards
If sealed in unit in；
The step feeding device includes fixed charging tray and mobile charging tray, and the mobile charging tray is located at below fixed charging tray, described solid
Determine charging tray provided with some rows it is horizontal it is parallel, for accommodating the groove of length direction sausage, the groove part runs through
Fixed charging tray；The mobile charging tray is provided with the raised pusher bar corresponding with fixed charging tray number of recesses and position, the pusher
Bar is more than or equal to sausage length and equidistant expeller provided with some spacing；The pusher bar of the mobile charging tray and pushing away thereon
Expect the groove on the fixation charging tray of block insertion correspondence position；The mobile charging tray is provided with the vertical drive for driving its vertical displacement
Device and the horizontal drive apparatus for driving its horizontal displacement.
2. branched intestines according to claim 1 put intestines machine with robot, it is characterised in that：It is provided with below the mobile charging tray
Two facing guide rails consistent with pusher bar length direction；The vertical drive includes base, and the two of the base
The guide groove to match with guide rail is respectively equipped with the side wall of side, the mobile charging tray is slided by the guide groove on guide rail and base to be connected
Connect.
3. branched intestines according to claim 2 put intestines machine with robot, it is characterised in that：The base bottom is coated with two
Group cam mechanism, the cam mechanism include the camshaft and motor of control base vertical displacement, the camshaft both ends
On the head supporting leg that rotation connection is provided with fixed charging tray bottom respectively, wherein a termination is connected to the output end of motor.
4. branched intestines according to claim 3 put intestines machine with robot, it is characterised in that：The horizontal drive apparatus includes
Horizontal motor and the fixing nut for being arranged on mobile charging tray front end, the horizontal motor output end is connected with leading screw, and passes through silk
Bar coordinates the mobile charging tray horizontal displacement of control with fixing nut.
5. branched intestines according to claim 1 put intestines machine with robot, it is characterised in that：The robot includes robot
Body, two groups of screw mandrels, two groups of slide rails and one group of pick device, the screw mandrel and slide rail are fixedly installed on the robot pendulum intestines
In machine frame, a pick device is fixedly installed in robot body X-axis, pick device can be under the driving of X-axis motor
X-axis free movement is done on the robot body；The bottom of the robot body is fixed on two groups of slide rails, and by two
Y-axis motor drive screw makes the robot body do Y direction motion.
6. branched intestines according to claim 5 put intestines machine with robot, it is characterised in that：The silk of two adjacent robots
Bar and slide rail Heterogeneous Permutation.
7. branched intestines according to claim 5 put intestines machine with robot, it is characterised in that：The pick device includes multigroup
Air cylinder group, every group of air cylinder group are fixed a clamping jaw cylinder by a telescopic cylinder lower end and formed, and clamping jaw cylinder head portions set clamping jaw.
8. the branched intestines according to claim any one of 5-7 put intestines machine with robot, it is characterised in that：The robot is also
Including for guided robot capture the First look measuring system of positioning and arranging delivery system for monitoring the permutation
Second vision measurement system of sausage quantity on system, the First look measuring system is with second vision measurement by being arranged on
Control system in frame is controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710671783.XA CN107352079B (en) | 2017-08-08 | 2017-08-08 | Robot sausage placing machine for multiple sausages |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710671783.XA CN107352079B (en) | 2017-08-08 | 2017-08-08 | Robot sausage placing machine for multiple sausages |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107352079A true CN107352079A (en) | 2017-11-17 |
| CN107352079B CN107352079B (en) | 2023-04-25 |
Family
ID=60286559
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710671783.XA Active CN107352079B (en) | 2017-08-08 | 2017-08-08 | Robot sausage placing machine for multiple sausages |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107352079B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112640944A (en) * | 2021-01-11 | 2021-04-13 | 汤子旋 | Food packaging preprocessing device to crooked type sausage |
| CN114261566A (en) * | 2022-01-07 | 2022-04-01 | 无锡市川烨精工科技有限公司 | Sausage packaging-based line body device and method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1981001126A1 (en) * | 1979-10-25 | 1981-04-30 | Jestec Inc | Collating and packaging machine |
| CN1846509A (en) * | 2005-04-11 | 2006-10-18 | 艾伯特·汉德特曼机器制造有限责任两合公司 | Device and method for the ordered deposition of parted sausage portions |
| CN103144944A (en) * | 2013-03-08 | 2013-06-12 | 厦门蓝冠自动化科技有限公司 | Bar conveyor |
| CN106081578A (en) * | 2016-07-25 | 2016-11-09 | 郑州润华智能设备有限公司 | Sausage straight line permutation arranges induction system |
| CN206050194U (en) * | 2016-07-25 | 2017-03-29 | 郑州润华智能设备有限公司 | Intestinal machine is put by robot |
-
2017
- 2017-08-08 CN CN201710671783.XA patent/CN107352079B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1981001126A1 (en) * | 1979-10-25 | 1981-04-30 | Jestec Inc | Collating and packaging machine |
| CN1846509A (en) * | 2005-04-11 | 2006-10-18 | 艾伯特·汉德特曼机器制造有限责任两合公司 | Device and method for the ordered deposition of parted sausage portions |
| CN103144944A (en) * | 2013-03-08 | 2013-06-12 | 厦门蓝冠自动化科技有限公司 | Bar conveyor |
| CN106081578A (en) * | 2016-07-25 | 2016-11-09 | 郑州润华智能设备有限公司 | Sausage straight line permutation arranges induction system |
| CN206050194U (en) * | 2016-07-25 | 2017-03-29 | 郑州润华智能设备有限公司 | Intestinal machine is put by robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112640944A (en) * | 2021-01-11 | 2021-04-13 | 汤子旋 | Food packaging preprocessing device to crooked type sausage |
| CN114261566A (en) * | 2022-01-07 | 2022-04-01 | 无锡市川烨精工科技有限公司 | Sausage packaging-based line body device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107352079B (en) | 2023-04-25 |
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