CN111846813B - An automated food tray handling and loading and unloading system - Google Patents
An automated food tray handling and loading and unloading system Download PDFInfo
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- CN111846813B CN111846813B CN202010737123.9A CN202010737123A CN111846813B CN 111846813 B CN111846813 B CN 111846813B CN 202010737123 A CN202010737123 A CN 202010737123A CN 111846813 B CN111846813 B CN 111846813B
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- robot
- rail
- positioning device
- assembly
- trolley
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- 235000013305 food Nutrition 0.000 title claims abstract description 34
- 230000001681 protective effect Effects 0.000 claims description 13
- 238000007599 discharging Methods 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 11
- 238000000034 method Methods 0.000 abstract description 10
- 230000003749 cleanliness Effects 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 206010000372 Accident at work Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 235000021404 traditional food Nutrition 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
本发明公开了一种自动化食品托盘搬运与上下料系统，包括一输送线体，在所述输送线体内侧设有机器人自动抓取装置，外围设有防护栏，在所述防护栏外侧还设有天轨装置，所述天轨装置下方悬挂天轨小车移动，在所述天轨小车下方还设有下定位装置。本发明的有益效果是：通过上、下定位装置，配合机器人，可实现±360°抓取、放置食品托盘；实现了食品托盘的快速灵活搬运，最大程度的适应搬运空间；整个过程安全可靠、快速高效，对于搬运空间狭小、工作环境卫生清洁度要求高、工作量繁重的食品生产行业，可广泛推广使用。
The present invention discloses an automated food pallet handling and loading and unloading system, including a conveyor line body, a robot automatic grasping device is provided inside the conveyor line body, a guardrail is provided on the periphery, a ceiling rail device is also provided on the outside of the guardrail, a ceiling rail trolley is suspended below the ceiling rail device for movement, and a lower positioning device is also provided below the ceiling rail trolley. The beneficial effects of the present invention are: through the upper and lower positioning devices, in conjunction with the robot, ±360° grasping and placing of food pallets can be achieved; fast and flexible handling of food pallets is achieved, and the handling space can be adapted to the greatest extent; the entire process is safe, reliable, fast and efficient, and can be widely promoted and used in the food production industry with small handling space, high requirements for hygiene and cleanliness of the working environment, and heavy workload.
Description
Technical Field
The invention relates to the technical field of food production and processing, in particular to an automatic food tray conveying and feeding and discharging system.
Background
In modern industry, automation in the production process has become a subject of great attention, the automation level of each industry 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 be completed or dangerous for workers. In the traditional food tray carrying and feeding and discharging processes, most production lines mainly adopt manual carrying, so that 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 the above, it is necessary to design an automatic food tray conveying and loading and unloading system to solve the drawbacks of labor intensity, low efficiency and the like of the traditional manual conveying food trays, and to realize the function of continuously and stably conveying and loading and unloading food trays for a long time by the system, thereby greatly reducing the manual labor amount, improving the production efficiency, reducing the production cost and reducing the occurrence of industrial accidents.
Disclosure of Invention
The invention aims to solve the technical problems of overcoming the defects of the prior art and providing an automatic food tray conveying and loading and unloading system.
The technical scheme adopted by the invention for solving the technical problems is that the automatic food tray conveying and loading and unloading system comprises a conveying line body and is characterized in that a robot automatic grabbing device is arranged on the inner side of the conveying line body, a protective fence is arranged on the periphery of the conveying line body, a rail device is further arranged on the outer side of the protective fence, a rail trolley is hung below the rail device to move, and a lower positioning device is further arranged below the rail trolley;
The overhead rail device comprises a rail and a rotary table, the upper side of the rotary table is connected to the rail through a connecting column, an upper positioning device is further arranged on the rotary table, the upper portion of the overhead rail trolley is movably connected with the upper positioning device, and the lower portion of the overhead rail trolley is movably connected with the lower positioning device.
Preferably, the rotary table comprises a group of cross beams which are perpendicular to each other, a rotary table is arranged on each cross beam, pulleys are connected to the two ends of each cross beam through brackets, and the rotary table can rotate along the pulleys.
Preferably, the upper positioning device is arranged on the cross beam of the rotary table through an upper bracket, the upper positioning device comprises a positioning cylinder fixed on the upper bracket, 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.
Preferably, the lower positioning device comprises a frame assembly, a rotary assembly and a clamping assembly, wherein the rotary assembly is arranged in the middle of the frame assembly, the clamping assembly is arranged on one side of the rotary assembly, and flanges which are symmetrical to each other are further arranged above the rotary assembly and on the left side and the right side of the clamping assembly.
Preferably, the automatic grabbing device of robot includes from down up robot base, robot body, robot tongs that set gradually, robot body lower part sets up on the robot base, upper portion movably connects the robot tongs.
Preferably, 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.
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 arranged 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 food tray grabbing and placing device has the beneficial effects that the grabbing and placing device can grab and place the food tray at an angle of +/-360 degrees through the upper and lower positioning devices and the robot, the rapid and flexible carrying of the food tray is realized, the carrying space is adapted to the maximum extent, and the manual carrying is completely replaced. The automatic food tray feeding and discharging device can solve the problems that the traditional manual food tray conveying and feeding and discharging modes are labor-intensive, sanitary cleanliness is difficult to guarantee, efficiency is low and the like, and achieves automation of food tray conveying and feeding and discharging processes. The whole process is safe, reliable, quick and efficient, has high requirements on the sanitation and cleanliness of the working environment and has heavy workload for the food production industry with narrow carrying space, and can be widely popularized and used.
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 block diagram of the overhead rail trolley, overhead rail assembly and lower positioning assembly 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 block diagram of an upper positioning device;
FIG. 7 is a block diagram of a lower positioning device;
FIG. 8 is a block diagram of a lower positioning device swivel assembly;
FIG. 9 is a view showing the internal structure of the lower positioning device;
fig. 10 is a structural view of the robot gripping device.
Marked in the figure as:
1. an automatic robot gripping device; the robot comprises a robot base, a robot body, a robot gripper, a robot hand and a robot hand;
2. a lower positioning device; 21, a frame assembly, 22, a rotary assembly, 23, a clamping assembly, 24 and a flange;
25. a limit component; 3, an upper positioning device, 31, an upper bracket, 32, a positioning cylinder, 33 and a floating joint;
34. Baffle plate 341, notch, 4, conveying line body 41, notch 5, robot control cabinet 6, electric control cabinet 7, overhead rail trolley 8, overhead rail device 81, rail 82, rotary table 821, beam 822, rotary table 823, bracket 824, pulley 9, pneumatic panel 10, guard rail 100, wire slot.
Detailed Description
The invention is further described below with reference to the accompanying examples:
Example 1
As shown in fig. 1-10:
An automatic food tray conveying and feeding and discharging system comprises a conveying line body 4, wherein a robot automatic grabbing device 1 is arranged on the inner side of the conveying line body 4, a protective fence 10 is arranged on the periphery of the conveying line body 4, a day rail device 8 is further arranged on the outer side of the protective fence 10, a day rail trolley 7 is hung below the day rail device 8 to move, and a lower positioning device 2 is further arranged below the day rail trolley 7;
The overhead rail device 8 comprises a rail 81 and a rotary table 82, wherein the upper side of the rotary table 82 is connected to the rail through a connecting column, an upper positioning device 3 is further arranged on the rotary table 82, the upper part of the overhead rail trolley 7 is movably connected with the upper positioning device 3, and the lower part of the overhead rail trolley 7 is movably connected with the lower positioning device 2.
The rotary table 82 comprises a set of cross beams 821 perpendicular to each other, a rotary table 822 is arranged on each cross beam, two ends of each cross beam 821 are connected with a pulley 824 through a bracket 823, and the rotary table 822 can rotate along the pulleys 824.
The upper positioning device 3 is arranged on the cross beam 821 of the rotary table 82 through the upper bracket 31, the upper positioning device 3 comprises a positioning air cylinder 32 fixed on the upper bracket 31, the lower end of the positioning air cylinder 32 is connected with a baffle 34 through a floating joint 33, the baffle is n-shaped, the upper end of the baffle 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 is connected to the positioning air cylinder 32, and the n-shaped baffle 34 extends downwards and is used for clamping the trolley.
The lower positioning device 2 comprises a frame body assembly 21, a rotary assembly 22 and a clamping assembly 23, wherein the rotary assembly 22 is arranged in the middle of the frame body assembly 21, the clamping assembly 21 is arranged on one side of the rotary assembly 22, and flanges 24 which are symmetrical to each other are arranged above the rotary assembly 22 and on the left side and the right side of the clamping assembly 23.
The robot automatic grabbing device 1 comprises a robot base 11, a robot body 12 and a robot gripper 13 which are sequentially arranged from bottom to top, wherein the lower part of the robot body 12 is arranged on the robot base 11, and the upper part of the robot body is movably connected with the robot gripper 13, so that the robot automatic grabbing device 1 is convenient to install and detach.
The conveying line body 4 is of a U-shaped structure, the protective guard 10 is arranged on the outer side of the U-shaped structure, a notch 41 is formed in the opening end of the U-shaped structure, the lower positioning device 2 is arranged at the notch 41, the lower positioning device 2 is convenient to fix the overhead rail trolley 7 near the conveying line body 4, and the robot automatic grabbing device 1 is convenient to pick and place articles on the overhead rail trolley 7.
The robot control cabinet 5 and the electric control cabinet 6 are further arranged on the outer side of the protective guard 10, the wire slot 100 is further arranged between the protective guard 10 and the conveying line body 4, and the pneumatic panel 9 is further arranged on the outer side of the bottom of the conveying line body 4.
The working principle and working process of the invention are as follows:
After the head rail trolley 7 moves to a designated position along the head 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 34 to move downwards, the baffle 34 blocks the head rail trolley 7, then the lower positioning device 2 limits the head rail trolley 7 to prevent the head rail trolley 7 from shaking left and right through the flanges 24 on the left side and the right side of the frame body assembly 21, the clamping assembly 23 of the lower positioning device 2 clamps the head rail trolley 7, the positioning of the head rail trolley 7 is completed at the moment, the clamping assembly 23 is of an open-close type structure driven by the cylinder, and an opening part of the clamping assembly is used for clamping the bottom frame of the head rail trolley 7 to fix the head rail trolley 7 as shown in fig. 3.
The robot body 12 of the robot automatic grabbing device 1 puts the tray on the conveying line body 4 to the appointed position of the trolley 7 through the robot gripper 13, after one side of the trolley 7 is put, the lower limiting component 25 on the front side of the lower locating device 2 is used for releasing the rotary component 22 through the electric control cabinet 6, then the trolley 8 is driven through the electric control cabinet 6 to enable the trolley 7 to rotate 180 degrees along the trolley 8, at the moment, the clamping component 23 of the lower locating device 2 keeps a state of clamping the trolley, namely, the clamping component 23 of the lower locating device 2 and the rotary component 22 synchronously rotate 180 degrees along with the trolley 7, the tray on the other side of the trolley 7 is aligned with the robot automatic grabbing device 1, then the lower limiting component 25 on the rear side of the lower locating device 2 clamps the rotary component 22, at the moment, the trolley 7 is positioned again, and the robot body 12 of the robot automatic grabbing device 1 puts the tray on the conveying line body 4 to the appointed position of the trolley 7 through the robot gripper 13, and fully fills the tray on the other side of the trolley 7.
The lower limit component 25 at the rear side of the lower positioning device 2 releases the rotary component 22 through the electric control cabinet 6, and the overhead rail device 8 is driven through the electric control cabinet 6, so that the overhead rail trolley 7 rotates 180 degrees along the overhead rail device 8 to return to the initial state, the front side lower limit component 25 of the lower positioning device 2 clamps the rotary component 22, and the overhead rail trolley 7 rotates back to the initial position to finish repositioning. Since the rotation is driven by the headrail device 8, it is necessary to rotate the headrail trolley 7 and the clamping assembly 23 and the swivel assembly 22 of the lower positioning device 2 back to the initial positions by the headrail device 8.
Then the upper positioning device 3 is retracted to position the air cylinder 32, the baffle 34 is driven to move upwards, so that the upper part of the trolley 7 is blocked, the clamping assembly 23 is opened to release the trolley 7, and the trolley 7 is driven by a person to continue to move to the next process.
The system can be matched with other equipment to perform other processes, such as pouring the food in the tray into another container to perform the next process, or can be used for sequentially and stably placing the food trays on the conveying line body 4 on a food tray trolley to perform the next food processing process or to recycle empty trays. According to the invention, the upper and lower positioning devices are matched with the robot, so that the food tray can be grabbed and placed at an angle of +/-360 degrees, the rapid and flexible transportation of the food tray is realized, the food tray is adapted to the transportation space to the greatest extent, and the manual transportation is completely replaced. The device is not limited by space and position, is suitable for carrying space to the greatest extent, can completely replace manual carrying, ensures that the whole process is safe, reliable, quick and efficient, has narrow carrying space, high requirements on sanitation and cleanliness of working environment and heavy carrying workload, and can be widely popularized and used.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the invention in any way, and any person skilled in the art may make modifications or alterations to the disclosed technical content to the equivalent embodiments. However, any simple modification, equivalent variation and variation of the above embodiments according to the technical substance of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (4)
1. An automatic food tray conveying and feeding and discharging system comprises a conveying line body and is characterized in that a robot automatic grabbing device is arranged on the inner side of the conveying line body, a protective fence is arranged on the periphery of the conveying line body, a rail device is further arranged on the outer side of the protective fence, a rail trolley is suspended below the rail device, and a lower positioning device is further arranged below the rail trolley;
The overhead rail device comprises a rail and a rotary table, the upper part of the rotary table is connected to the rail through a connecting column, an upper positioning device is further arranged on the rotary table, the upper part of the overhead rail trolley is movably connected with the upper positioning device, and the lower part of the overhead rail trolley is movably connected with the lower positioning device;
The rotary tables comprise a group of cross beams which are mutually perpendicular, rotary tables are arranged on the cross beams, pulleys are connected to two ends of each cross beam through brackets, and the rotary tables can rotate along the pulleys;
The upper positioning device is arranged on a cross beam of the rotary table through an upper bracket and comprises a positioning cylinder fixed on the upper bracket, 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 a trolley of a head rail;
the lower positioning device comprises a frame body assembly, a rotary assembly and a clamping assembly, wherein the rotary assembly is arranged in the middle of the frame body assembly, the clamping assembly is arranged on one side of the rotary assembly, and flanges which are symmetrical to each other are further arranged above the rotary assembly and on the left side and the right side of the clamping assembly.
2. The automated food tray handling and loading and unloading system according to claim 1, wherein the automatic robot gripping device comprises a robot base, a robot body and a robot gripper which are sequentially arranged from bottom to top, the lower part of the robot body is arranged on the robot base, and the upper part of the robot body is movably connected with the robot gripper.
3. The automated food tray handling and loading and unloading system according to claim 2, wherein the conveyor 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 arranged at 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 loading and unloading system according to claim 3, wherein 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 arranged 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010737123.9A CN111846813B (en) | 2020-07-28 | 2020-07-28 | An automated food tray handling and loading and unloading system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010737123.9A CN111846813B (en) | 2020-07-28 | 2020-07-28 | An automated food tray handling and loading and unloading system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111846813A CN111846813A (en) | 2020-10-30 |
| CN111846813B true CN111846813B (en) | 2024-12-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010737123.9A Active CN111846813B (en) | 2020-07-28 | 2020-07-28 | An automated food tray handling and loading and unloading system |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212374269U (en) * | 2020-07-28 | 2021-01-19 | 青岛宝佳自动化设备有限公司 | An automatic food tray handling and loading and unloading system |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06277882A (en) * | 1993-03-31 | 1994-10-04 | Mazda Motor Corp | Welding equipment for car body |
| CN2419187Y (en) * | 1999-12-08 | 2001-02-14 | 太原刚玉仓储设备有限公司 | Switching device for stacker in volumetric warehouses |
| CN110893613B (en) * | 2018-09-13 | 2023-03-21 | 沈阳新松机器人自动化股份有限公司 | Upper and lower stick robot capable of running on S-shaped track |
| CN209988763U (en) * | 2019-05-29 | 2020-01-24 | 郑州纬达自动化科技有限公司 | Loading system for batch box type goods |
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2020
- 2020-07-28 CN CN202010737123.9A patent/CN111846813B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212374269U (en) * | 2020-07-28 | 2021-01-19 | 青岛宝佳自动化设备有限公司 | An automatic food tray handling and loading and unloading system |
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| CN111846813A (en) | 2020-10-30 |
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Address after: 266111 north side of Xinyue Road, east side of torch Branch Road, high tech Industrial Development Zone, Qingdao City, Shandong Province Applicant after: Qingdao Baojia Intelligent Equipment Co.,Ltd. Address before: 266111 north side of Xinyue Road, east side of torch Branch Road, high tech Industrial Development Zone, Qingdao City, Shandong Province Applicant before: QINGDAO BAOJIA AUTOMATION EQUIPMENT Co.,Ltd. |
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