CN110203456A - A kind of food follows sorting grabbing device and follows sorting grasping means - Google Patents
A kind of food follows sorting grabbing device and follows sorting grasping means Download PDFInfo
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- CN110203456A CN110203456A CN201910413345.2A CN201910413345A CN110203456A CN 110203456 A CN110203456 A CN 110203456A CN 201910413345 A CN201910413345 A CN 201910413345A CN 110203456 A CN110203456 A CN 110203456A
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- food
- sorting
- crawl
- motor
- grabbing device
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- 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
- B65B35/38—Arranging and feeding articles in groups by grippers by suction-operated grippers
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- 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
- B65B35/50—Stacking one article, or group of articles, upon another before packaging
- B65B35/52—Stacking one article, or group of articles, upon another before packaging building-up the stack from the bottom
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- Mechanical Engineering (AREA)
- Architecture (AREA)
- Structural Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Manipulator (AREA)
Abstract
Sorting grabbing device is followed the invention discloses a kind of food and follows sorting grasping means, the device includes that food sorting follows conveying device, food sorts grabbing device and controller, the sighting device that the food sorting follows the input terminal of conveying device to be equipped with shooting food location information, the food sorting grabbing device is one or more groups of middle part sides that conveying device is followed set on food sorting, it includes base assembly that food, which sorts grabbing device, lifting sorting crawl or the catching robot component for putting down food, driving catching robot component does the mechanical arm close to or far from base assembly；The catching robot component carries out sorting crawl by external gas source or puts down food.The single food normally placed can be carried out sorting crawl by the present invention, and the work launched that is stacked, and replace the working method manually picked by hand.
Description
Technical field
The present invention relates to food processing packaging facilities field, specifically a kind of food follow sorting grabbing device and with
With sorting grasping means.
Background technique
Because its Egg Tarts is crisp, Egg Tarts core is soft and smooth fragrant and sweet to be favored by people Egg Tarts.But the production method of Egg Tarts is more multiple
It is miscellaneous, so the amateurish fan either eating and drinking establishment that bakes can all select purchase Egg Tarts semi-finished product.But existing food processing factory,
When producing Egg Tarts semi-finished product, the automatic stacking package equipment that is not equipped with specially.Not just Egg Tarts, in food service industry,
Many food, such as biscuit, dilated food, baking semi-finished product etc., are all the automatically stacking packaging facilities not being equipped with it.
It all uses and manually semi-finished product is stacked and packed.Typically more than ten workers are one class, work in three shifts and take turns to operate,
That there have been production automation degrees is low for such case, and production efficiency is not high, and the long-term work load of worker is relatively high, is easy labor
It is tired, it may appear that miswork, the high labor cost of production, and artificial stack not can guarantee the safe and healthy of food.It is most main
The problem of wanting is existing baking semi-finished product, such as egg tart skin, biscuit semi-finished product, sends skin, tower casing, and crisp skin manufacturing process is all
Using -45 DEG C of freeze cuttings, when discharging, the temperature of semi-finished product is very low.It needs manually to be picked with hand after discharging
And stacking package, the case where worker often will appear low temperature injury, need automatically processing device.
And finished product food, though the case where low temperature injury is not present, manually picks with stacking package, still can not
Avoid food hygiene and safety hidden danger and the high problem of worker's workload.
Summary of the invention
Sorting grabbing device is followed the object of the present invention is to provide a kind of food and follows sorting grasping means.
The invention solves after the completion of the discharging production of existing food, need manually to be picked and stacking package, worker
Great work intensity, Yi Fasheng low temperature injury lack and carry out automatic the problem of stacking sorting device to food to be packaged.
The technical scheme is that a kind of food follows sorting grabbing device, the device include food sorting follow it is defeated
Device, food sorting grabbing device and controller are sent, the food sorting follows the input terminal of conveying device to be equipped with shooting food
The sighting device of product location information, the food sorting grabbing device are that one or more groups of sort set on food follows conveying to fill
Beside the middle part set, food sorting grabbing device includes base assembly, lifting sorting crawl or the catching robot for putting down food
Component, driving catching robot component do the mechanical arm close to or far from base assembly；The catching robot component passes through outer
Gas source is connect to carry out sorting crawl or put down food.
Preferably, the mechanical arm includes principal arm, auxiliary, in the central axis and base assembly of described principal arm one end
Mandrel is overlapped to be connected by spindle motor, and principal arm can make rotating motion around the central axis of the base assembly；The other end of principal arm
Central axis connect with the center overlapping of axles of auxiliary one end by vice axle motor, and auxiliary can be around the other end central axis of the principal arm
It makes rotating motion；The catching robot component is set to the other end of auxiliary；The spindle motor is set in base assembly,
And spindle motor is fixed with base assembly, spindle motor output end is fixedly connected with one end of principal arm；The vice axle motor with
One end of the auxiliary is fixedly connected, and the output end of vice axle motor is fixedly connected with the other end of principal arm.
Preferably, the catching robot component include sorting absorption food suction tub assembly, driving inhale tub assembly into
The manipulator driving device of row rotation and lifting, the gas blow pipe for putting down food.
As it is further preferred that the manipulator driving device includes Z axis lead screw assembly, rotating shaft electric motor and lifting electricity
Machine, the Z axis lead screw assembly include lead screw shaft, upper rotating seat, lower rotating seat, are axially arranged with bearing groove in lead screw shaft, described
The through-hole passed through for lead screw shaft is designed on upper rotating seat and lower rotating seat, upper rotating seat engages connection, lower rotation with lead screw shaft
Linear bearing is equipped between seat and the bearing groove of lead screw shaft；It is additionally provided with shaft belt wheel and lifting belt wheel in the lead screw shaft, turns
Shaft pulley is fixedly connected with lower rotating seat, and rotating shaft electric motor drive shaft belt wheel drives lower rotating seat rotation, and awards lead screw shaft phase
For the thrust of lower rotating seat rotation, the lifting belt wheel is fixedly connected with upper rotating seat, lifting motor driving lifting belt wheel
Rotating seat rotates in drive, and driving lead screw shaft is gone up and down, the lower end inhaled tub assembly and be set to the lead screw shaft.
As still more preferably, the rotating shaft electric motor is fixed on the auxiliary, the output end of rotating shaft electric motor
It is connect with the shaft belt wheel transmission；The lifting motor is fixed on the auxiliary, the output end of lifting motor with
The lifting belt wheel transmission connection；The upper end of the lead screw shaft is equipped with upper leading screw flange, and the lower end of lead screw shaft is equipped with lower leading screw
Flange.
As still further preferably, the lead screw shaft is additionally provided with upper mounting plate and lower installation board, the upper installation
Plate is set to the lower section of upper rotating seat, and upper mounting plate is fixedly connected with mechanical arm auxiliary, and the top of upper mounting plate is equipped with upper fixed seat,
Upper swivel is located on mechanical arm auxiliary, can be freely rotated；The lower installation board is bearing cover, with mechanical arm
The lower end surface of auxiliary connects, and is set to the lower outer of lower rotating seat, and the top of the lower installation version is equipped with lower fixed seat, will
Lower swivel is empty, can be freely rotated；The lifting belt wheel and shaft belt wheel is set in lead screw shaft, and is set to upper rotation
Between swivel base and lower rotating seat.
As it is further preferred that the suction tub assembly includes inhaling bucket fixing seat, inhaling bucket, Air suction pipe joint and sucker,
The bucket of inhaling is set to the lower section for inhaling bucket fixing seat, and the Air suction pipe joint is set to the side for inhaling bucket fixing seat,
And connect with external negative pressure straw, the center of the suction bucket fixing seat is equipped with bracket fixed column, and the gas blow pipe is set to machine
In the lead screw shaft of tool hand driving device, and the upper end of gas blow pipe is connect with external blowning installation, and the lower end of gas blow pipe and bracket are solid
Fixed column connection, the sucker are set to the lower section of the bracket fixed column, bracket fixed column, sucker stand by sucker stand
Center with sucker is hollow structure that can be for gas to pass through.
As still more preferably, the sucker is silicon rubber suction cup；It inhales bucket fixing seat and driving is inhaled tub assembly and carried out
Lead screw axis connection in the manipulator driving device of rotation and lifting, the lower end of the gas blow pipe and the bracket for inhaling bucket fixing seat
The center of fixed column is connected by gas-tpe fitting, and the outside of junction is cased with capping.
Preferably, which further includes control system, the system include food sorting follow in conveying device follow it is defeated
Send band driving motor, spindle motor, vice axle motor in mechanical arm, rotating shaft electric motor, lifting motor in catching robot component,
Set on the negative-pressure detection device inhaled in tub assembly, controller；In the system, conveyer belt driving motor, spindle motor, countershaft are followed
Motor, rotating shaft electric motor and lifting motor are all connected with encoder, are counted, controller and conveyer belt driving motor, main shaft electricity
It is electrically connected between machine, vice axle motor, rotating shaft electric motor and lifting motor, the encoder on these motors electrically connects with controller
It connects, negative-pressure detection device and controller are electrically connected；Gas blow pipe ball valve, external negative is equipped between gas blow pipe and external blowning installation
Suction pipe is pressed to be equipped with negative pressure straw ball valve, the two ball valves are connect with controller.
A kind of food follows sorting grasping means, method includes the following steps:
A, controller transmit a signal to food sorting follow conveying device follow conveyer belt driving motor rotate, food sorting with
The supplied materials conveying of food is carried out with the input terminal of conveying device；
B, the input terminal of conveying device is followed to be equipped with the sighting device of shooting food location information in food sorting, when food passes through
The co-ordinate position information of food can be subjected to shooting record, and send data to controller；Meanwhile it being driven with conveyer belt is followed
The encoder to count of motor connection, real-time Data Transmission to controller；
C, controller is calculated, and obtains the crawl coordinate information for the food to be grabbed；
D, after calculating, the crawl coordinate information for the food for needing to grab distributes to each group food and sorts grabbing device, guidance
Food sorting grabbing device carries out crawl work；Crawl work divides two methods:
D1: orderly the case where crawl, food conveying comes, for being equipped with 3 food sorting grabbing devices, by what is arrived first at
N food is one group, and crawl task is distributed to follows the 1st food of conveying device input terminal to sort crawl close to food sorting
Device, the device only grab 1~n that conveying comes；N+1~2n food of arrival is one group, and crawl task is distributed to
The 2nd food of conveying device input terminal is followed to sort grabbing device close to food sorting, which only grabs what conveying came
(n+1)th~2n；2n+1~3n food of arrival is one group, and crawl task, which is distributed to from food sorting, follows conveying device defeated
The 3rd food for entering end arrangement sorts grabbing device, which only grabs 2n+1~3n that conveying comes, and so on；
When last food sorting grabbing device has been assigned crawl task and 3 food sorting grabbing devices completion crawl dispensing works
After work, controller gives the 1st food sorting grabbing device to distribute new crawl task again, and distribution crawl task is recycled with this；
D2: the case where unordered crawl, food conveying comes, for being equipped with 3 food sorting grabbing devices, by what is arrived first at
N food is one group, and crawl task is distributed to follows the 1st food of conveying device input terminal to sort crawl close to food sorting
Device, the device only grab 1~n that conveying comes；The food of (n+1)th beginning sorts grabbing device by the 2nd food
It is grabbed, it is n which, which at most grabs quantity,；At this time if the 1st food sorting grabbing device completes the 1~n food
After the crawl delivery device of product, directly starts to distribute second of new crawl task, default first meet the 1st food point at this time
The crawl task for picking grabbing device has the crawl task of the extra food not being crawled to sort grabbing device by the 2nd food again
It is grabbed；When the 1st food sorting grabbing device and the 2nd food sort grabbing device all when being launched, food divides
The food for following and having crawl in conveying device or not is picked, crawl is carried out by the 3rd food sorting grabbing device and launches work；With
This circulation；
E, after every food sorting grabbing device receives crawl task, spindle motor and vice axle motor rotation drive mechanical arm
It is flexible, suction tub assembly is extended to the top for needing the food position grabbed；Spindle motor and vice axle motor are connection coding
Device counts, and motor rotation finishes, and signal feeds back to controller；Controller issues instructions to lifting motor and rotating shaft electric motor rotation,
Driving Z axis lead screw, which drives, inhales the fixation position top that tub assembly drops to conveyer belt, and lifting motor and rotating shaft electric motor equally connect
Encoder to count, motor rotation finish, and signal feeds back to controller；Controller sends a signal to negative pressure straw ball valve, and negative pressure is inhaled
Pipe ball valve is opened, and external negative pressure straw is evacuated, and food is sucked and is inhaled in tub assembly；
F, after completing a food sucking, the air pressure inhaled in bucket can change, and inhale the negative-pressure detection device detection in tub assembly
To air pressure change, controller is fed back to, indicates that food is successfully pulled into；
G, controller, which issues, instructs, and rotates to lifting motor and rotating shaft electric motor, driving Z axis lead screw drives suction tub assembly to lift, so
E and F-step are repeated afterwards, carry out the absorption work of next food；
H, after n food is fully entrained, controller issues instruction, rotates to lifting motor and rotating shaft electric motor, drives Z axis lead screw
Suction tub assembly is driven to lift completely, controller issues signal control spindle motor and vice axle motor rotation, will inhale tub assembly extension
To the position for launching food；Spindle motor and vice axle motor rotate in place, and controller sends a signal to negative pressure straw ball valve, bear
It presses suction pipe ball valve to close, stops pumping work；Controller sends a signal to gas blow pipe ball valve, and gas blow pipe ball valve is opened, gas blow pipe
It blows, the food inhaled in bucket is launched；
I, food sorting grabbing device receives the task of controller distribution again, repeats E~H step.
The invention has the benefit that the single food normally placed can be carried out sorting crawl, and heap by the present invention
The work launched is stacked, the working method manually picked by hand is replaced.Reduce the workload and error rate of worker,
And it can effectively prevent during manually picking, the incidence of low temperature injury.The security performance in production process is improved, is improved
Production automation and production efficiency.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is the external structure schematic diagram of food sorting grabbing device of the invention.
Fig. 3 is the attachment structure schematic diagram inside the auxiliary of food sorting grabbing device of the invention.
Fig. 4 is the main view of catching robot component of the invention.
Fig. 5 is the top view of catching robot component of the invention.
Fig. 6 is the B-B cross-sectional view of catching robot component of the invention.
Fig. 7 is control system block diagram of the invention.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment the invention will be further described.
As shown in Figure 1, a kind of food follows sorting grabbing device, which includes that food sorting follows conveying device 9, food
Product sort grabbing device 8 and controller, and the food sorting follows the input terminal of conveying device 9 to be equipped with shooting 7 position of food
The sighting device 10 of information, the food sorting grabbing device 8 are that one or more groups of sort set on food follows conveying device 9
Middle part beside, food sorting grabbing device 8 includes base assembly 6, lifting sorting crawl or puts down the catching robot of food 7
Component 1, driving catching robot component 1 do the mechanical arm close to or far from base assembly 6；The catching robot component 1 is logical
External gas source is crossed to carry out sorting crawl or put down food 7.
As Figure 2-3, in the present embodiment, the mechanical arm includes principal arm 5, auxiliary 4, described 5 one end of principal arm
Central axis is connect with the center overlapping of axles of base assembly 6 by spindle motor 11, and principal arm 5 can be around the center of the base assembly 6
Axis makes rotating motion；The central axis of the other end of principal arm 5 is connect with the center overlapping of axles of 4 one end of auxiliary by vice axle motor 12,
And auxiliary 4 can make rotating motion around the other end central axis of the principal arm 5；The catching robot component 1 is set to the another of auxiliary 4
One end；The spindle motor 11 is set in base assembly 6, and spindle motor 11 and base assembly 6 are fixed, and spindle motor 11 is defeated
Outlet is fixedly connected with one end of principal arm 5；The vice axle motor 12 is fixedly connected with one end of the auxiliary 4, vice axle motor
12 output end is fixedly connected with the other end of principal arm 5.
As Figure 4-Figure 6, in the present embodiment, the catching robot component 1 includes the suction bucket group of sorting absorption food 7
Part, driving suction tub assembly is rotated and the manipulator driving device gone up and down, the gas blow pipe 24 for putting down food 7.
In the present embodiment, the manipulator driving device includes Z axis lead screw assembly, rotating shaft electric motor 13 and lifting motor
14, the Z axis lead screw assembly includes lead screw shaft 16, upper rotating seat 34, lower rotating seat 32, is axially arranged with bearing groove in lead screw shaft 16
17, the through-hole passed through for lead screw shaft 16, upper rotating seat 34 and lead screw are designed on the upper rotating seat 34 and lower rotating seat 32
The engagement connection of axis 16, is equipped with linear bearing between lower rotating seat 32 and the bearing groove 17 of lead screw shaft 16；In the lead screw shaft 16
It is additionally provided with shaft belt wheel 19 and lifting belt wheel 18, shaft belt wheel 19 is fixedly connected with lower rotating seat 32, and the driving of rotating shaft electric motor 13 turns
Shaft pulley 19 drives lower rotating seat 32 to rotate, and awards the thrust that lead screw shaft 16 is rotated relative to lower rotating seat 32, the liter
Drop belt wheel 18 is fixedly connected with upper rotating seat 34, and the driving lifting belt wheel 18 of lifting motor 14 drives upper rotating seat 34 to rotate, driving
Lead screw shaft 16 is gone up and down, the lower end inhaled 23 component of bucket and be set to the lead screw shaft 16.Shaft belt wheel 19, lower rotating seat 32,
The setting of rotating shaft electric motor 13 is the case where shaft belt wheel 19 follows lead screw shaft 16 to carry out high speed rotation in order to prevent, such case one
Denier occurs, then rotor shaft direction is unable to control, sorting crawl work will be uncontrollable, unstable.
In the present embodiment, the rotating shaft electric motor 13 is fixed on the auxiliary 4, the output end of rotating shaft electric motor 13 and institute
The shaft belt wheel 19 stated is sequentially connected；The lifting motor 14 is fixed on the auxiliary 4, the output end of lifting motor 14
It is sequentially connected with the lifting belt wheel 18；The upper end of the lead screw shaft 16 is equipped with upper leading screw flange 15, the lower end of lead screw shaft 16
Equipped with lower leading screw flange 20.The setting of upper lower leading screw flange 20 is limited to the up and down motion of lead screw.
In the present embodiment, the lead screw shaft 16 is additionally provided with upper mounting plate 25 and lower installation board, the upper mounting plate 25
Set on the lower section of upper rotating seat 34, upper mounting plate 25 is fixedly connected with mechanical arm auxiliary 4, and the top of upper mounting plate 25 is equipped with upper solid
Upper rotating seat 34 is erected on mechanical arm auxiliary 4, can be freely rotated by reservation 33；The lower installation board is outside bearing
Lid 31 is connect with the lower end surface of mechanical arm auxiliary 4, and be set to lower rotating seat 32 lower outer, the lower installation version it is upper
Side is equipped with lower fixed seat 35, and lower rotating seat 32 is maked somebody a mere figurehead, can be freely rotated；The lifting belt wheel 18 and shaft belt wheel 19
It is set in lead screw shaft 16, and is set between upper rotating seat 34 and lower rotating seat 32.
In the present embodiment, 23 component of suction bucket includes inhaling bucket fixing seat 21, inhaling bucket 23, Air suction pipe joint 22 and sucker
28, the bucket 23 of inhaling is set to the lower section for inhaling bucket fixing seat 21, and the Air suction pipe joint 22 is set to the suction bucket and fixes
The side of seat 21, and connect with external negative pressure straw, the center of the suction bucket fixing seat 21 is equipped with bracket fixed column 29, described
Gas blow pipe 24 be set in the lead screw shaft 16 of manipulator driving device, and the upper end of gas blow pipe 24 is connect with external blowning installation,
The lower end of gas blow pipe 24 is connect with bracket fixed column 29, and the sucker 28 is set to the bracket by sucker stand 27 and fixes
The lower section of column 29, the center of bracket fixed column 29, sucker stand 27 and sucker 28 are hollow structure that can be for gas to pass through.
In the present embodiment, the sucker 28 is silicon rubber suction cup 28；It inhales bucket fixing seat 21 and driving is inhaled 23 component of bucket and carried out
Lead screw shaft 16 in the manipulator driving device of rotation and lifting connects, the lower end of the gas blow pipe 24 and suction bucket fixing seat 21
Bracket fixed column 29 center by gas-tpe fitting connect, the outside of junction is cased with capping 30.Silicon rubber suction cup 28 can be to prevent
High velocity impact leads to damage of product to bucket fixing seat 21 is inhaled when only food 7 is quickly sucked.
As shown in fig. 7, the device further includes control system in the present embodiment, which includes that food sorting follows conveying
Conveyer belt driving motor is followed in device 9, spindle motor 11, vice axle motor 12 in mechanical arm, in catching robot component 1
Rotating shaft electric motor 13, lifting motor 14, set on inhale 23 component of bucket in negative-pressure detection device, controller；In the system, follow defeated
It send band driving motor, spindle motor 11, vice axle motor 12, rotating shaft electric motor 13 and lifting motor 14 to be all connected with encoder, carries out
It counts, between controller and conveyer belt driving motor, spindle motor 11, vice axle motor 12, rotating shaft electric motor 13 and lifting motor 14
It is electrically connected, the encoder and controller on these motors are electrically connected, and negative-pressure detection device and controller are electrically connected；It blows
It is equipped with negative pressure straw ball valve equipped with 24 ball valve of gas blow pipe, external negative pressure straw between pipe 24 and external blowning installation, the two
Ball valve is connect with controller.
Motor uses alternating current asynchronous decelerating motor, with reference to the vertical reduction ratio 30 of the bright nation 400w 200W of model, encoder ginseng
Model Omron E6B2-CWZ5B 2000r/p is examined, sighting device 10 regards MV-CA013-20GM, control with reference to model Haikang prestige
Device processed refers to model KEBA CP265/X, and negative-pressure detection device refers to model Hangzhou Ai Kang Industrial Equipment Co., Ltd
KP25C-03-F3 or suitable product.
In the present embodiment, only the example using egg tart skin as food is illustrated the working principle of the present apparatus, other finished products
Biscuit, potato chips, dilated food bake semi-finished product, such as egg tart skin, biscuit semi-finished product, send skin, and tower casing, crisp skin semi-finished product etc. are equal
It is applicable in the device.
A kind of food follows sorting grasping means, method includes the following steps:
A, controller transmit a signal to food sorting follow conveying device 9 follow conveyer belt driving motor rotate, food sorting
The input terminal of conveying device 9 is followed to carry out the supplied materials conveying of egg tart skin 7；When 7 supplied materials of egg tart skin, carry out being inverted rejecting and stacking
Weeding is the egg tart skin 7 normally placed；
B, the input terminal of conveying device 9 is followed to be equipped with the sighting device 10 of shooting 7 location information of egg tart skin, Egg Tarts in food sorting
The co-ordinate position information of egg tart skin 7 can be carried out shooting record when passing through by skin 7, and send data to controller；Meanwhile with
With the encoder to count that conveyer belt driving motor connects, real-time Data Transmission to controller；
C, controller is calculated, and obtains the crawl coordinate information for the egg tart skin 7 to be grabbed；
D, after calculating, the crawl coordinate information for the egg tart skin 7 for needing to grab distributes to each group food and sorts grabbing device 8, draws
It leads a food sorting grabbing device 8 and carries out crawl work；Crawl work divides two methods:
D1: orderly the case where crawl, the conveying of egg tart skin 7 comes, and for being equipped with 3 food sorting grabbing devices 8, will arrive first
The n egg tart skin reached is one group, and crawl task distributes to the 1st food that 9 input terminal of conveying device is followed close to food sorting
Grabbing device 81 is sorted, which only grabs 1~n that conveying comes；N+1~2n egg tart skin of arrival is one group, is grabbed
Take task to distribute to follows the 2nd food of 9 input terminal of conveying device to sort grabbing device 82 close to food sorting, and the device is only
(n+1)th~2n that crawl conveying comes is a；2n+1~3n egg tart skin of arrival is one group, and crawl task is distributed to from food point
The 3rd food sorting grabbing device 83 for following 9 input terminal of conveying device to arrange is picked, which only grabs the 2n that conveying comes
+ 1~3n, and so on；When last food sorting grabbing device has been assigned crawl task and 3 food sorting crawls
After device 8 completes crawl dispensing work, controller gives the 1st food sorting grabbing device 81 to distribute new crawl task again,
Distribution crawl task is recycled with this；
D2: the case where unordered crawl, the conveying of egg tart skin 7 comes, and for being equipped with 3 food sorting grabbing devices 8, will arrive first
The n egg tart skin reached is one group, and crawl task distributes to the 1st food that 9 input terminal of conveying device is followed close to food sorting
Grabbing device 81 is sorted, which only grabs 1~n that conveying comes；The egg tart skin of (n+1)th beginning is by the 2nd food
Sorting grabbing device 82 is grabbed, and it is n which, which at most grabs quantity,；At this time if the 1st food sorts grabbing device
After 81 complete the crawl delivery device of the 1~n egg tart skin, directly starts to distribute second of new crawl task, write from memory at this time
Recognize the crawl task for first meeting the 1st food sorting grabbing device 81, has the crawl task of the extra egg tart skin 7 not being crawled again
It is grabbed by the 2nd food sorting grabbing device 82；When the 1st food sorting grabbing device 81 and the 2nd food sorting are grabbed
Take device 82 all when being launched, food sorting follows the egg tart skin 7 for having crawl in conveying device 9 or not, is eaten by the 3rd
Product sorting grabbing device 83 carries out crawl and launches work；It is recycled with this；
In the work of this crawl, grabbing the food being stacked every time is equivalent, and the number of n is true according to actual use situation
Fixed, D1 is orderly grabbed and the unordered crawl of D2 is the mode of two kinds of distribution tasks, can realize the function that crawl stacks.But D1 has
The advantages of sequence grabs is, can in time launch the egg tart skin of crawl 7, and the work of each food sorting grabbing device 8
It is the same as amount, is not in the different situation of 3 food sorting 8 workloads of grabbing device in the unordered crawl of D2.D2 without
In the method for salary distribution of sequence crawl, it may appear that, the 1st food sorting grabbing device 81 is very busy, the 2nd food sorting crawl dress
The workload for setting 82 understands opposite 1st less, and the crawl workload of the 3rd food sorting grabbing device 83 is seldom, is constantly in and stops
The state of machine.Because egg tart skin 7 is the food by freeze cutting, prolonged shutdown status is easy to cause egg tart skin 7 to change
Fall.It is all using unordered crawl when more sorting devices work together in general existing many food processing process
Situation.So in this set equipment, the case where D2 unordered crawl, can be operated, it is preferred that D1 is orderly grabbed；
E, after every food sorting grabbing device 8 receives crawl task, spindle motor 11 and vice axle motor 12 are rotated, driving machine
Tool arm is flexible, and suction tub assembly is extended to the top for needing the food position grabbed；Spindle motor 11 and vice axle motor 12 are
Encoder to count is connected, motor rotation finishes, and signal feeds back to controller；Controller issues instructions to lifting motor 14 and shaft
Motor 13 rotates, and driving Z axis lead screw, which drives, inhales the fixation position top that tub assembly drops to conveyer belt, lifting motor 14 and shaft
The equally connection encoder to count of motor 13, motor rotation finish, and signal feeds back to controller；Controller sends a signal to negative pressure suction
Pipe ball valve, negative pressure straw ball valve are opened, and external negative pressure straw is evacuated, and egg tart skin 7 is sucked and is inhaled in 23 component of bucket；Driving machine
Tool arm is flexible, when will inhale tub assembly and extend to the top for needing the food position grabbed, as the egg tart skin 7 inhaled in bucket 23 is more next
More, suction will be smaller and smaller, then inhaling the distance between bucket 23 and conveyer belt when suction tub assembly is dropped on conveyer belt
Can be smaller and smaller to realize its function of sucking egg tart skin 7, it inhales bucket 23 and the limitation point of the distance between conveyer belt is,
When inhaling the specified egg tart skin of the sucking of bucket 23, the case where will not influence the food on side causes it to be subjected to displacement, because if suction
It is excessive, the egg tart skin on side will be sucked away from origin-location, then the position that this egg tart skin is grabbed will deviate,
The case where leading to crawl failure；
F, after completing a sucking of egg tart skin 7, the air pressure inhaled in bucket 23 can change, and inhale the detection of negative pressure dress in 23 component of bucket
It sets and detects air pressure change, feed back to controller, indicate that egg tart skin 7 is successfully pulled into；
G, controller issues instruction, rotates to lifting motor 14 and rotating shaft electric motor 13, and driving Z axis lead screw, which drives, inhales the lift of 23 component of bucket
It rises, then repeatedly E and F-step, carries out the absorption work of next egg tart skin 7；
H, after n egg tart skin 7 is fully entrained, controller issues instruction, rotates to lifting motor 14 and rotating shaft electric motor 13, driving
Z axis lead screw drives suction tub assembly to lift completely, and controller issues signal control spindle motor 11 and vice axle motor 12 rotates, and will inhale
Tub assembly extends on the position for launching egg tart skin 7；Spindle motor 11 and vice axle motor 12 rotate in place, and controller issues signal
Negative pressure straw ball valve is given, negative pressure straw ball valve is closed, and pumping work is stopped；Controller sends a signal to gas blow pipe ball valve, blows
Pipe ball valve is opened, and gas blow pipe is blown, and the egg tart skin 7 inhaled in bucket 23 is launched；
I, food sorting grabbing device 8 receives the task of controller distribution again, repeats E~H step.
In the description of description of the invention, it is to be understood that term " on ", "lower" " input terminal ", " output end ",
The orientation or positional relationship of the instructions such as " input ", " output " is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore be not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, the terms such as term " connection " shall be understood in a broad sense, example
Such as, it may be a fixed connection, may be a detachable connection, or is integral；It can be directly connected, intermediate matchmaker can also be passed through
Jie is indirectly connected；Can be directly connected to, be electrically connected or tracheae connection.For the ordinary skill in the art,
The specific meanings of the above terms in the present invention can be understood according to specific conditions.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of food follows sorting grabbing device, it is characterised in that the device includes that food sorting follows conveying device, food
Grabbing device and controller are sorted, the food sorting follows the input terminal of conveying device to be equipped with shooting food location information
Sighting device, the food sorting grabbing device are one or more groups of sorted by the middle part for following conveying device set on food
Side, food sorting grabbing device include base assembly, lifting sorting crawl or put down the catching robot component of food, drive and grab
Mechanical arm assembly is taken to do the mechanical arm close to or far from base assembly；The catching robot component is divided by external gas source
It picks crawl or puts down food.
2. a kind of food according to claim 1 follows sorting grabbing device, it is characterised in that the mechanical arm includes
Principal arm, auxiliary, the central axis of described principal arm one end and the center overlapping of axles of base assembly are connected by spindle motor, and principal arm
It can make rotating motion around the central axis of the base assembly；The central axis of the other end of principal arm and the center overlapping of axles of auxiliary one end are logical
Vice axle motor connection is crossed, and auxiliary can make rotating motion around the other end central axis of the principal arm；The catching robot component
Set on the other end of auxiliary；The spindle motor is set in base assembly, and spindle motor is fixed with base assembly, main shaft electricity
Machine output end is fixedly connected with one end of principal arm；The vice axle motor is fixedly connected with one end of the auxiliary, vice axle motor
Output end be fixedly connected with the other end of principal arm.
3. a kind of food according to claim 1 follows sorting grabbing device, it is characterised in that the catching robot
Component includes the suction tub assembly of sorting absorption food, drives the manipulator driving device for inhaling tub assembly and being rotated and being gone up and down, puts
The gas blow pipe of lower food.
4. a kind of food according to claim 3 follows sorting grabbing device, it is characterised in that the robot drives
Device includes Z axis lead screw assembly, rotating shaft electric motor and lifting motor, the Z axis lead screw assembly include lead screw shaft, upper rotating seat, under
Rotating seat is axially arranged with bearing groove in lead screw shaft, is designed on the upper rotating seat and lower rotating seat and passes through for lead screw shaft
Through-hole, upper rotating seat engage connection with lead screw shaft, and linear bearing is equipped between lower rotating seat and the bearing groove of lead screw shaft；Described
Shaft belt wheel and lifting belt wheel are additionally provided in lead screw shaft, shaft belt wheel is fixedly connected with lower rotating seat, rotating shaft electric motor drive shaft
Belt wheel drives lower rotating seat rotation, and awards the thrust that lead screw shaft is rotated relative to lower rotating seat, the lifting belt wheel with it is upper
Rotating seat is fixedly connected, and lifting motor drives lifting belt wheel to drive upper rotating seat rotation, and driving lead screw shaft is gone up and down, described
Inhale the lower end that tub assembly is set to the lead screw shaft.
5. a kind of food according to claim 4 follows sorting grabbing device, it is characterised in that the rotating shaft electric motor is solid
Due on the auxiliary, the output end of rotating shaft electric motor is connect with the shaft belt wheel transmission；The lifting motor is fixed
In on the auxiliary, the output end of lifting motor and the lifting belt wheel are sequentially connected；The upper end of the lead screw shaft is equipped with
The lower end of upper leading screw flange, lead screw shaft is equipped with lower leading screw flange.
6. a kind of food according to claim 5 follows sorting grabbing device, it is characterised in that it is characterized in that described
Lead screw shaft is additionally provided with upper mounting plate and lower installation board, and the upper mounting plate is set to the lower section of upper rotating seat, upper mounting plate and machine
Tool arm auxiliary is fixedly connected, and the top of upper mounting plate is equipped with upper fixed seat, and upper swivel is located on mechanical arm auxiliary, it is made
It can be freely rotated；The lower installation board is bearing cover, is connect with the lower end surface of mechanical arm auxiliary, and is set to lower rotating seat
The top of lower outer, the lower installation version is equipped with lower fixed seat, and lower swivel is empty, can be freely rotated；It is described
Lifting belt wheel and shaft belt wheel be set in lead screw shaft, and be set between upper rotating seat and lower rotating seat.
7. a kind of food according to claim 3 follows sorting grabbing device, it is characterised in that the suction tub assembly packet
It includes and inhales bucket fixing seat, inhales bucket, Air suction pipe joint and sucker, the bucket of inhaling is set to the lower section for inhaling bucket fixing seat, described
Air suction pipe joint is set to the side for inhaling bucket fixing seat, and connect with external negative pressure straw, in the suction bucket fixing seat
The heart is equipped with bracket fixed column, and the gas blow pipe is set in the lead screw shaft of manipulator driving device, and the upper end of gas blow pipe and outer
Blowning installation connection is connect, the lower end of gas blow pipe is connect with bracket fixed column, and the sucker is set to described by sucker stand
The lower section of bracket fixed column, the center of bracket fixed column, sucker stand and sucker are hollow structure that can be for gas to pass through.
8. a kind of food according to claim 7 follows sorting grabbing device, it is characterised in that the sucker is silica gel
Sucker；Inhale the lead screw axis connection in the manipulator driving device that bucket fixing seat is rotated and gone up and down with driving suction tub assembly, institute
The lower end for the gas blow pipe stated is connect with the center for the bracket fixed column for inhaling bucket fixing seat by gas-tpe fitting, the outer cover of junction
There is capping.
9. a kind of food according to claim 1 follows sorting grabbing device, which is characterized in that the device further includes control
System, the system include that food sorting follows in conveying device and follows conveyer belt driving motor, spindle motor in mechanical arm,
Vice axle motor, rotating shaft electric motor, lifting motor in catching robot component, set on the negative-pressure detection device inhaled in tub assembly, control
Device processed；In the system, conveyer belt driving motor, spindle motor, vice axle motor, rotating shaft electric motor and lifting motor is followed all to be connected with
Encoder is counted, controller and conveyer belt driving motor, spindle motor, vice axle motor, rotating shaft electric motor and lifting motor it
Between be electrically connected, the encoder on these motors and controller are electrically connected, and negative-pressure detection device and controller are electrically connected；It blows
Gas blow pipe ball valve is equipped between tracheae and external blowning installation, external negative pressure straw is equipped with negative pressure straw ball valve, the two balls
Valve is connect with controller.
10. a kind of food follows sorting grasping means, it is characterised in that method includes the following steps:
Controller transmit a signal to food sorting follow conveying device follow conveyer belt driving motor rotate, food sorting follow
The input terminal of conveying device carries out the supplied materials conveying of food；
The input terminal of conveying device is followed to be equipped with the sighting device of shooting food location information, meeting when food passes through in food sorting
The co-ordinate position information of food is subjected to shooting record, and sends data to controller；Meanwhile electricity is driven with conveyer belt is followed
The encoder to count of machine connection, real-time Data Transmission to controller；
Controller is calculated, and obtains the crawl coordinate information for the food to be grabbed；
After calculating, the crawl coordinate information for the food for needing to grab distributes to each group food and sorts grabbing device, guides a food
Product sorting grabbing device carries out crawl work；Crawl work divides two methods:
D1: orderly the case where crawl, food conveying comes, for being equipped with 3 food sorting grabbing devices, by what is arrived first at
N food is one group, and crawl task is distributed to follows the 1st food of conveying device input terminal to sort crawl close to food sorting
Device, the device only grab 1~n that conveying comes；N+1~2n food of arrival is one group, and crawl task is distributed to
The 2nd food of conveying device input terminal is followed to sort grabbing device close to food sorting, which only grabs what conveying came
(n+1)th~2n；2n+1~3n food of arrival is one group, and crawl task, which is distributed to from food sorting, follows conveying device defeated
The 3rd food for entering end arrangement sorts grabbing device, which only grabs 2n+1~3n that conveying comes, and so on；
When last food sorting grabbing device has been assigned crawl task and 3 food sorting grabbing devices completion crawl dispensing works
After work, controller gives the 1st food sorting grabbing device to distribute new crawl task again, and distribution crawl task is recycled with this；
D2: the case where unordered crawl, food conveying comes, for being equipped with 3 food sorting grabbing devices, by what is arrived first at
N food is one group, and crawl task is distributed to follows the 1st food of conveying device input terminal to sort crawl close to food sorting
Device, the device only grab 1~n that conveying comes；The food of (n+1)th beginning sorts grabbing device by the 2nd food
It is grabbed, it is n which, which at most grabs quantity,；At this time if the 1st food sorting grabbing device completes the 1~n food
After the crawl delivery device of product, directly starts to distribute second of new crawl task, default first meet the 1st food point at this time
The crawl task for picking grabbing device has the crawl task of the extra food not being crawled to sort grabbing device by the 2nd food again
It is grabbed；When the 1st food sorting grabbing device and the 2nd food sort grabbing device all when being launched, food divides
The food for following and having crawl in conveying device or not is picked, crawl is carried out by the 3rd food sorting grabbing device and launches work；With
This circulation；
After every food sorting grabbing device receives crawl task, spindle motor and vice axle motor rotation, driving mechanical arm are stretched
Suction tub assembly is extended to the top for needing the food position grabbed by contracting；Spindle motor and vice axle motor are connection encoder
It counts, motor rotation finishes, and signal feeds back to controller；Controller issues instructions to lifting motor and rotating shaft electric motor rotation, drives
Dynamic Z axis lead screw, which drives, inhales the fixation position top that tub assembly drops to conveyer belt, and lifting motor and rotating shaft electric motor equally connect volume
Code device counts, and motor rotation finishes, and signal feeds back to controller；Controller sends a signal to negative pressure straw ball valve, negative pressure straw
Ball valve is opened, and external negative pressure straw is evacuated, and food is sucked and is inhaled in tub assembly；
After completing a food sucking, the air pressure inhaled in bucket can change, and the negative-pressure detection device inhaled in tub assembly detects
Air pressure change feeds back to controller, indicates that food is successfully pulled into；
Controller, which issues, to be instructed, and is rotated to lifting motor and rotating shaft electric motor, and driving Z axis lead screw drives suction tub assembly to lift, then
E and F-step are repeated, the absorption work of next food is carried out；
After n food is fully entrained, controller issues instruction, rotates to lifting motor and rotating shaft electric motor, drives Z axis lead screw band
Dynamic tub assembly of inhaling lifts completely, and controller issues signal control spindle motor and vice axle motor rotation, will inhale tub assembly and extends to
On the position for launching food；Spindle motor and vice axle motor rotate in place, and controller sends a signal to negative pressure straw ball valve, negative pressure
Suction pipe ball valve is closed, and pumping work is stopped；Controller sends a signal to gas blow pipe ball valve, and gas blow pipe ball valve is opened, and gas blow pipe is blown
Gas launches the food inhaled in bucket；
Food sorting grabbing device receives the task of controller distribution again, repeats E~H step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910413345.2A CN110203456B (en) | 2019-05-17 | 2019-05-17 | Food following sorting and grabbing device and following sorting and grabbing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910413345.2A CN110203456B (en) | 2019-05-17 | 2019-05-17 | Food following sorting and grabbing device and following sorting and grabbing method |
Publications (2)
| Publication Number | Publication Date |
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| CN110203456A true CN110203456A (en) | 2019-09-06 |
| CN110203456B CN110203456B (en) | 2021-04-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910413345.2A Active CN110203456B (en) | 2019-05-17 | 2019-05-17 | Food following sorting and grabbing device and following sorting and grabbing method |
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| DE102016203171B3 (en) * | 2016-02-29 | 2017-06-29 | Festo Ag & Co. Kg | suction holding |
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| CN204295682U (en) * | 2014-11-24 | 2015-04-29 | 东莞市智赢智能装备有限公司 | Integrated cabling four axle robot |
| DE102016203171B3 (en) * | 2016-02-29 | 2017-06-29 | Festo Ag & Co. Kg | suction holding |
| CN106240931A (en) * | 2016-09-08 | 2016-12-21 | 东莞市李群自动化技术有限公司 | A kind of automatic clip loading system using robot |
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|---|---|
| CN110203456B (en) | 2021-04-13 |
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