CN111846813A

CN111846813A - Automatic food tray carrying and feeding and discharging system

Info

Publication number: CN111846813A
Application number: CN202010737123.9A
Authority: CN
Inventors: 高明作; 任雷; 高玉奎; 于华淞; 姜超
Original assignee: QINGDAO BAOJIA AUTOMATION EQUIPMENT CO Ltd
Current assignee: QINGDAO BAOJIA AUTOMATION EQUIPMENT CO Ltd
Priority date: 2020-07-28
Filing date: 2020-07-28
Publication date: 2020-10-30

Abstract

The invention discloses an automatic food tray carrying and feeding and discharging system which comprises a conveying line body, wherein a robot automatic grabbing device is arranged on the inner side of the conveying line body, a protective guard is arranged on the periphery of the conveying line body, a top rail device is further arranged on the outer side of the protective guard, a top rail trolley is suspended below the top rail device to move, and a lower positioning device is further arranged below the top rail trolley. The invention has the beneficial effects that: the food tray can be grabbed and placed in +/-360 degrees by the upper positioning device and the lower positioning device in cooperation with the robot; the food tray is quickly and flexibly transported, and the transportation space is adapted to the maximum extent; the whole process is safe, reliable, rapid and efficient, and can be widely popularized and used in the food production industry with narrow carrying space, high requirement on the sanitation and cleanliness of the working environment and heavy workload.

Description

Automatic food tray carrying and feeding and discharging system

Technical Field

The invention relates to the technical field of food production and processing, in particular to an automatic food tray carrying and loading and unloading system.

Background

In modern industries, automation in the production process has become a subject of much attention, the automation level of all industries is higher and higher, and modern food production and processing workshops are often equipped with automation equipment to improve production efficiency and complete work which is difficult to complete by workers or dangerous. In the traditional food tray carrying and loading and unloading processes, most production lines mainly carry by manpower, the labor intensity of workers is high, the accident rate of industrial injury is high, the efficiency is low, and the production management cost of the food production industry is increased. In view of this, an automatic food tray carrying and loading and unloading system is needed to be designed to overcome the defects of labor intensity, low efficiency and the like of the traditional manual food tray carrying, and realize the function of carrying, loading and unloading the food tray by the system continuously and stably for a long time, so that the manual labor amount is greatly reduced, the production efficiency is improved, the production cost is reduced, and the occurrence of industrial accidents is reduced.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the defects of the prior art are overcome, and the automatic food tray carrying and feeding and discharging system is provided.

The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides an automatic change food tray transport and go up unloading system, includes a transfer line body, its characterized in that: the robot automatic gripping device is arranged on the inner side of the conveying line body, a protective guard is arranged on the periphery of the conveying line body, a top rail device is further arranged on the outer side of the protective guard, a top rail trolley is suspended below the top rail device to move, and a lower positioning device is further arranged below the top rail trolley;

the sky rail device comprises a rail and a rotary table, wherein the upper part of the rotary table is connected to the rail through a connecting column, the rotary table is further provided with an upper positioning device, the upper part of the sky rail trolley is movably connected with the upper positioning device, and the lower part of the sky rail trolley is movably connected with the lower positioning device.

Preferably, the revolving stage includes a set of mutually perpendicular's crossbeam, be equipped with the carousel on the crossbeam, at the both ends of every crossbeam, all there is the pulley through leg joint, the carousel can along the pulley is rotatory.

Preferably, go up positioner and be in through the upper bracket setting on the crossbeam of revolving stage, it is including fixing to go up positioner location cylinder on the upper bracket, location cylinder lower extreme is connected with the baffle through unsteady joint, the baffle is n shape, and its upper end is opened there is the notch, unsteady joint lower extreme card is in the notch, and the upper end is connected on the location cylinder, the baffle is used for blocking the sky rail dolly.

Preferably, lower positioner includes support body subassembly, gyration subassembly and clamping component, the gyration subassembly sets up support body subassembly middle part, clamping component sets up gyration subassembly one side gyration subassembly top the clamping component left and right sides still is equipped with the flange of mutual symmetry.

Preferably, the automatic grabbing device of robot includes from up robot base, robot body, the robot tongs that sets gradually down, the robot body lower part sets up on the robot base, upper portion movably connects the robot tongs.

Preferably, the conveyor line body is a U-shaped structure, the guard rail is arranged on the outer side of the U-shaped structure, a notch is arranged at the opening end of the U-shaped structure, and the lower positioning device is arranged at the notch.

Preferably, a robot control cabinet and an electric control cabinet are further arranged on the outer side of the protective guard, a wire slot is further formed between the protective guard and the conveying line body, and a pneumatic panel is further arranged on the outer side of the bottom of the conveying line body.

Compared with the prior art, the invention has the beneficial effects that: the food tray can be grabbed and placed in +/-360 degrees by the aid of the upper positioning device and the lower positioning device and the robot; the food tray is fast and flexibly carried, the carrying space is adapted to the maximum degree, and manual carrying is completely replaced. The problems of labor intensity, difficulty in ensuring sanitary cleanliness, low efficiency and the like in the traditional manual food tray carrying and feeding and discharging mode can be solved, and the automation of the food tray carrying and feeding and discharging process is realized. The whole process is safe, reliable, rapid and efficient, and can be widely popularized and used in the food production industry with narrow carrying space, high requirement on the sanitation and cleanliness of the working environment and heavy workload.

Drawings

FIG. 1 is an overall perspective view of the present invention;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a structural diagram of the head rail trolley, head rail device and lower positioning device of FIG. 1;

FIG. 4 is an enlarged view of a portion of the day rail apparatus of FIG. 3;

FIG. 5 is an enlarged view of the positioning device of FIG. 4;

FIG. 6 is a view of the upper positioning device;

FIG. 7 is a view showing the structure of the lower positioning device;

FIG. 8 is a view of the rotary assembly of the lower positioning device;

FIG. 9 is a view showing an internal structure of the lower positioning device;

fig. 10 is a structural view of an automatic robot gripper.

Labeled as:

1. a robotic automatic gripping device; 11. a robot base; 12. a robot body; 13. a robot gripper;

2. a lower positioning device; 21. a frame assembly; 22. a swivel assembly; 23. a clamping assembly; 24. blocking edges;

25. a limiting component; 3. an upper positioning device; 31. an upper bracket; 32. positioning the air cylinder; 33. a floating joint;

34. a baffle plate; 341. a notch; 4. a conveyor line body; 41. a notch; 5. a robot control cabinet; 6. an electric control cabinet; 7. a head rail trolley; 8. a head rail device; 81. a track; 82. a rotating table; 821. a cross beam; 822. a turntable; 823. a support; 824. a pulley; 9. a pneumatic panel; 10. protecting the fence; 100. a wire slot.

Detailed Description

The invention will be further described with reference to the following examples:

example one

As shown in fig. 1-10:

an automatic food tray carrying and loading and unloading system comprises a conveying line body 4, wherein a robot automatic gripping device 1 is arranged on the inner side of the conveying line body 4, a protective guard 10 is arranged on the periphery of the conveying line body 4, a top rail device 8 is further arranged on the outer side of the protective guard 10, a top rail trolley 7 is suspended below the top rail device 8 to move, and a lower positioning device 2 is further arranged below the top rail trolley 7;

the sky rail device 8 comprises a rail 81 and a rotating platform 82, the upper part of the rotating platform 82 is connected with the rail through a connecting column, the rotating platform 82 is further provided with an upper positioning device 3, the upper part of the sky rail trolley 7 is movably connected with the upper positioning device 3, and the lower part of the sky rail trolley 7 is movably connected with the lower positioning device 2.

The rotating platform 82 includes a set of beams 821 perpendicular to each other, each beam is provided with a rotating disc 822, two ends of each beam 821 are connected with pulleys 824 through a bracket 823, and the rotating discs 822 can rotate along the pulleys 824.

The upper positioning device 3 is arranged on the cross beam 821 of the rotating platform 82 through the upper support 31, the upper positioning device 3 comprises a positioning cylinder 32 fixed on the upper support 31, the lower end of the positioning cylinder 32 is connected with a baffle plate 34 through a floating joint 33, the baffle plate is n-shaped, the upper end of the baffle plate is provided with a notch 341, the lower end of the floating joint 33 is clamped in the notch, the upper end of the floating joint 33 is connected on the positioning cylinder 32, and the n-shaped baffle plate 34 extends downwards and is used for clamping a head rail trolley.

Lower positioner 2 includes support body subassembly 21, gyration subassembly 22 and clamping component 23, and gyration subassembly 22 sets up in support body subassembly 21 middle part, and clamping component 21 sets up in gyration subassembly 22 one side, in gyration subassembly 22 top, the clamping component 23 left and right sides, still is equipped with flange 24 of mutual symmetry.

Automatic grabbing device 1 of robot includes from up robot base 11, robot 12, the robot tongs 13 that sets gradually down, robot 12 lower part sets up on robot base 11, upper portion movably connects robot tongs 13 makes things convenient for the installation of automatic grabbing device 1 of robot and dismantles.

The conveying line body 4 is the U-shaped structure, and rail guard 10 sets up in the outside of U-shaped structure to set up breach 41 at the open end of U-shaped structure, lower positioner 2 sets up in breach 41 department, and positioner 2 fixes near conveying line body 4 with sky rail dolly 7 under the convenience, and the automatic grabbing device 1 of robot of being convenient for gets on sky rail dolly 7 and puts article.

A robot control cabinet 5 and an electric control cabinet 6 are further arranged on the outer side of the protective guard 10, a wire slot 100 is further arranged between the protective guard 10 and the conveying line body 4, and a pneumatic panel 9 is further arranged on the outer side of the bottom of the conveying line body 4.

The working principle and the working process of the invention are as follows:

after the overhead rail trolley 7 moves to a designated position along the overhead rail device 8, the positioning cylinder 32 of the upper positioning device 3 extends downwards to drive the floating joint 33 to push the baffle plate 34 to move downwards, the baffle plate 34 blocks the overhead rail trolley 7, then the lower positioning device 2 limits the overhead rail trolley 7 through the flanges 24 on the left side and the right side of the frame body component 21 so that the overhead rail trolley 7 cannot shake left and right, the clamping component 23 of the lower positioning device 2 clamps the overhead rail trolley 7 tightly, the positioning of the overhead rail trolley 7 is completed at the moment, the clamping component 23 is of an open-close type structure driven by a cylinder, and as shown in fig. 3, an opening of the clamping component is used for clamping a bottom frame of the overhead rail trolley 7 and fixing the overhead.

The robot body 12 of the robot automatic gripping device 1 puts the tray on the conveying line body 4 to the appointed position of the overhead rail trolley 7 through the robot gripper 13, after one side of the overhead rail trolley 7 is put, the electric control cabinet 6 enables the lower limit positioning component 25 on the front side of the lower positioning device 2 to release the revolving component 22, then the electric control cabinet 6 drives the overhead rail device 8, so that the overhead rail trolley 7 rotates 180 degrees along the overhead rail device 8, at the moment, the clamping component 23 of the lower positioning device 2 keeps the state of clamping the overhead rail trolley, namely, the clamping component 23 and the revolving component 22 of the lower positioning device 2 synchronously rotate 180 degrees along with the overhead rail trolley 7, and the tray on the other side of the overhead rail trolley 7 is aligned with the robot automatic gripping device 1; subsequently, the rear lower limit component 25 of the lower positioning device 2 clamps the rotating component 22, and the overhead rail trolley 7 is positioned again; a robot body 12 of the automatic robot gripping device 1 puts a tray on the conveying line body 4 to a designated position of the overhead rail trolley 7 through a robot gripper 13, and the other side of the overhead rail trolley 7 is also filled with the tray.

Then through automatically controlled cabinet 6, make the lower limit subassembly 25 of the rear side of lower positioner 2 release gyration subassembly 22, later through automatically controlled cabinet 6 drive sky rail device 8 for sky rail dolly 7 rotates 180 degrees along sky rail device 8 and gets back to initial condition, and the front side lower limit subassembly 25 of lower positioner 2 presss from both sides gyration subassembly 22 tightly, and sky rail dolly 7 is rotated back initial position and is accomplished the reposition this moment. Since the rotation is driven by the overhead rail device 8, the overhead rail trolley 7 and the clamping assembly 23 and the rotating assembly 22 of the lower positioning device 2 need to be rotated back to the initial position by the overhead rail device 8.

Then the positioning cylinder 32 of the upper positioning device 3 retracts to drive the baffle 34 to move upwards, so that the upper part of the overhead rail trolley 7 is retracted to block; the clamping component 23 is opened to release the overhead rail trolley 7, and the overhead rail trolley 7 is driven by a person to move continuously to the next procedure.

The system may also be used with other equipment to perform other processes, such as pouring the food in the tray into another container for the next process; the food trays on the conveying line body 4 can be sequentially and stably placed on the food tray trolley to carry out the next food processing procedure or be used for recycling empty trays. The food tray can be grabbed and placed in +/-360 degrees by the aid of the upper positioning device and the lower positioning device and the robot; the food tray is fast and flexibly carried, the carrying space is adapted to the maximum degree, and manual carrying is completely replaced. The automatic carrying device is not limited by space and position, adapts to carrying space to the greatest extent, can completely replace manual carrying, is safe, reliable, rapid and efficient in the whole process, and can be widely popularized and used in industries with narrow carrying space, high requirement on sanitation and cleanliness of working environment and heavy carrying workload.

The foregoing is directed to preferred embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the protection scope of the technical solution of the present invention.

Claims

1. The utility model provides an automatic change food tray transport and go up unloading system, includes a transfer line body, its characterized in that: a robot automatic gripping device is arranged on the inner side of the conveying line body, and a protective guard is arranged on the periphery of the conveying line body; a sky rail device is further arranged on the outer side of the protective guard, a sky rail trolley is suspended below the sky rail device, and a lower positioning device is further arranged below the sky rail trolley;

the sky rail device comprises a track and a rotating platform, the upper part of the rotating platform is connected to the track through a connecting column, an upper positioning device is further arranged on the rotating platform, the upper part of the sky rail trolley is movably connected with the upper positioning device, and the lower part of the sky rail trolley is movably connected with the lower positioning device;

the rotary table comprises a group of mutually vertical cross beams, rotary tables are arranged on the cross beams, pulleys are connected to two ends of each cross beam through supports, and the rotary tables can rotate along the pulleys;

the upper positioning device is arranged on a cross beam of the rotating table through an upper support and comprises a positioning cylinder fixed on the upper support, the lower end of the positioning cylinder is connected with a baffle through a floating joint, the baffle is n-shaped, the upper end of the baffle is provided with a notch, the lower end of the floating joint is clamped in the notch, the upper end of the floating joint is connected to the positioning cylinder, and the baffle is used for clamping the overhead rail trolley;

the lower positioning device comprises a frame body assembly, a rotary assembly and clamping assemblies, wherein the rotary assembly is arranged in the middle of the frame body assembly, the clamping assemblies are arranged on one side of the rotary assembly, and flanges which are symmetrical to each other are further arranged on the left side and the right side of the clamping assemblies.

2. The automated food tray handling and feeding and discharging system of claim 1, wherein: the automatic grabbing device of robot includes robot base, robot body, the robot tongs that up set gradually from the bottom, robot body lower part sets up on the robot base, upper portion movably connects the robot tongs.

3. The automated food tray handling and feeding and discharging system of claim 2, wherein: the conveying line body is of a U-shaped structure, the guard rail is arranged on the outer side of the U-shaped structure, a notch is formed in the opening end of the U-shaped structure, and the lower positioning device is arranged at the notch.

4. The automated food tray handling and feeding and discharging system of claim 3, wherein: the outer side of the guard rail is further provided with a robot control cabinet and an electric control cabinet, a wire groove is further formed between the guard rail and the conveying line body, and the outer side of the bottom of the conveying line body is further provided with a pneumatic panel.