CN113200346A - Automatic discernment is corrected and is snatched charging equipment - Google Patents
Automatic discernment is corrected and is snatched charging equipment Download PDFInfo
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- CN113200346A CN113200346A CN202110505363.0A CN202110505363A CN113200346A CN 113200346 A CN113200346 A CN 113200346A CN 202110505363 A CN202110505363 A CN 202110505363A CN 113200346 A CN113200346 A CN 113200346A
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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
- 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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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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
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/10—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface
- B65G15/12—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts
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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
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/30—Belts or like endless load-carriers
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/02—Devices for feeding articles or materials to conveyors
- B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/34—Devices for discharging articles or materials from conveyor
-
- 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
- B65G2201/0202—Agricultural and processed food products
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
Abstract
An automatic identification, correction, grabbing and feeding device comprises a linear sliding group, a supporting frame, a hand-grabbing support arm assembly, a transmission group, a material distribution assembly and a visual detection assembly, wherein the linear sliding group is positioned at the upper part of the supporting frame, and the lower part of the linear sliding group is connected with the hand-grabbing support arm assembly; a visual detection assembly is arranged at the bottom of the linear sliding group above the hand-holding support arm assembly, and a light source of the visual detection assembly faces downwards; the hand is grabbed and is held arm assembly below and is equipped with transmission group and vision bottom plate, transmission group one side is fixed with detecting element for detect whether the driven material reaches the assigned position on the transmission group, the transmission group is kept away from detecting element one end and is connected and divides the material subassembly, and the material falls on the transmission group one by one after dividing the material subassembly, then moves to detecting element direction. According to the feeding equipment disclosed by the invention, the materials automatically fall into the conveying line at a specified angle, the yield of the gizzards is ensured, the efficiency of the gizzards is improved, and the labor cost and the labor intensity are further reduced.
Description
Technical Field
The invention relates to the technical field of intelligent automatic deviation correction feeding equipment, in particular to automatic recognition, correction and grabbing feeding equipment.
Background
The applicant has applied before an automatic gizzard opening, cleaning and gizzard grinding production device for duck gizzards, the patent number is 201811259050.6, the automatic duck gizzard cutting, automatic cleaning and automatic gizzard yellow skin grinding operations can be automatically completed, the duck gizzard yellow skin placing operations of 8 normal people on the assembly line are improved to be reserved for 2 people, and the labor cost is greatly reduced. The applicant improves this post of putting the duck gizzard that now remains once more, through borrowing from triaxial truss manipulator and visual detection system, is directed against the special shape of duck gizzard simultaneously, and the duck gizzard divides the positive and negative face promptly, and duck gizzard both sides have two bellied muscle, has carried out redesign to the material loading formula of current production line, only remain alone to dividing in the material subassembly directly pour the duck gizzard into can, do not need the one manipulator of workman to put the transfer chain to grab, human cost has obtained further reduction. Meanwhile, the feeding equipment can also be applied to other assembly lines with requirements on feeding positions to be popularized and applied, and the market application value is high.
Disclosure of Invention
The invention aims to further reduce the cost of manual feeding and provides automatic recognition, correction, grabbing and feeding equipment.
The technical scheme of the invention is as follows:
the utility model provides an automatic discernment is corrected and is snatched charging equipment, includes that the smooth group of straight line, braced frame, hand hold trailing arm subassembly, transmission group, branch material subassembly and visual detection subassembly, the smooth group of straight line is located braced frame's upper portion, and its sub-unit connection has the trailing arm subassembly of hand hold, the trailing arm subassembly of hand hold including snatching the fixed plate and snatching the finger, snatch the fixed plate and slide the group with the straight line and be connected, the trailing arm subassembly of hand hold can realize multi-directional removal under the drive of the smooth group of straight line. The linear sliding group can adopt a three-axis truss manipulator and can move freely in three coordinate systems, the grabbing fingers are connected with the grabbing fixing plate through rotating shafts, the grabbing fingers can freely rotate around the rotating shafts and are matched with the linear sliding group, and the grabbing fingers can reach any position to grab materials and rotate the materials.
Furthermore, a visual detection assembly is arranged at the bottom of the linear sliding group above the hand-holding support arm assembly, and a light source of the visual detection assembly faces downwards. Whether visual detection subassembly is used for detecting the duck gizzard on the one hand openly up, and on the other hand is used for detecting the position of two protruding muscle in duck gizzard both sides, conveniently snatchs the finger and rotates the duck gizzard to the manipulator of transfer chain is placed to the correct position and is grabbed.
Further, a transmission group and a visual bottom plate are arranged below the hand-holding support arm assembly, a detection unit is fixed on one side of the transmission group and comprises a photoelectric sensor and is used for detecting whether the transmission material reaches a designated position on the transmission group, the visual bottom plate comprises a light color bottom plate and is convenient for the visual detection assembly to capture the material on the transmission group, one end of the transmission group, which is far away from the detection unit, is connected with the material distribution assembly, the material falls on the transmission group one by one after passing through the material distribution assembly and then moves towards the detection unit, the linear sliding group, the hand-holding support arm assembly, the visual detection assembly and the transmission group are all connected with a control system, the visual detection assembly captures the material information on the transmission group, if the gizzards are reverse, the gizzards are transmitted forwards, a storage box is arranged at the end of the transmission group, all the reverse gizzards temporarily fall into the storage box, and the temporary storage box is full, workers pour the duck gizzards in the temporary storage box into the material distribution assembly; if the duck gizzard is forward, then after the duck gizzard arrived the detection unit position, control system control transmission group stopped, and the angle information of material on the transmission group was caught to the visual detection subassembly, and the snatching finger of hand grasp support arm subassembly moves down and snatchs the material and place the material on the transfer link of one side behind the angle of adjustment. After the duck gizzards leave the transmission group, the detection unit detects that the current position of the transmission group does not have the duck gizzards, and the control system controls the transmission group to continuously move forwards.
According to the automatic identification is corrected and is snatched charging apparatus, transmission group is including conveying driving shaft, conveying driven shaft and conveyer belt, the conveyer belt rotates between conveying driving shaft and conveying driven shaft, and the rotation direction is only, all rotates towards detecting element one side.
Further, the conveyor belt comprises at least two conveyor belts which are arranged in parallel, and the vision bottom plate is positioned at the lower part of the conveyor belt. The area of the visual bottom plate is larger than that of the conveying belt, so that the visual detection assembly is convenient to identify.
As another embodiment, the conveyor belt and the vision bottom plate are of an integrated structure, the vision bottom plate is an annular belt, the conveyor belt is an annular bulge on the outer surface of the vision bottom plate, the direction of the annular bulge is consistent with the length direction of the vision bottom plate, and the number of the conveyor belts at least comprises two.
Above-mentioned conveyer belt quantity all includes two at least, is to consider that duck gizzard both sides have two bellied muscle, and interval between two conveyer belts is unanimous with the protruding muscle size in duck gizzard both sides, makes the protruding muscle in duck gizzard both sides just in time fall into and carry forward between two conveyer belts, has both accorded with the follow-up angle of predetermineeing that gets into the transfer chain of duck gizzard like this, also can make things convenient for the hand to grab the support arm subassembly and snatch the duck gizzard.
The automatic recognition, correction and grabbing loading equipment comprises a material distribution frame, a material distribution roller, a material distribution funnel and a slide way, wherein the material distribution funnel is located on the upper portion of the material distribution frame, the lower opening of the material distribution funnel is connected with the material distribution roller, the material distribution roller is provided with the material distribution barrel, the outer wall of the material distribution barrel is provided with a plurality of partition bins, the partition bins are located at the lower opening of the material distribution funnel, the lower end of the material distribution roller is provided with the slide way, and the bottom end of the slide way is located above a transmission group.
Preferably, the two separation bins are oppositely arranged on the opposite sides of the distributing cylinder, so that the gliding time of two adjacent duck gizzards is controlled conveniently.
As a further optimization, the opening size of the separation bin is larger than the inner size, so that the duck gizzards falling from the separation hopper can be conveniently caught and can be conveniently poured onto the slideway.
Furthermore, the slideway is a non-smooth curved surface, the middle position of the slideway is downwards sunken, and the middle sunken width is larger than the diameter of the raised tendons at the two sides of the duck gizzard. The middle position of the slide way faces to the position between the adjacent conveyor belts.
Preferably, the sunken width diminishes gradually in the middle of the slide top-down, makes the duck gizzard slide down the back from the slide, and the protruding muscle in both sides just in time vertically falls into between two conveyer belts downwards.
According to the automatic identification, correction and grabbing feeding device, the light source of the visual detection assembly faces one side of the detection unit.
Furthermore, the visual detection assembly comprises a supporting piece connected with the linear sliding group, a probe is connected onto the supporting piece through a probe fixing rod, and the lower ends of the supporting pieces on two sides of the probe fixing rod are connected with light sources irradiating downwards.
The invention has the beneficial effects that:
1. the automatic identification, correction and grabbing feeding equipment disclosed by the invention realizes that materials automatically fall into a conveying line according to a specified angle, ensures the gizzard qualification rate, improves the gizzard efficiency, further reduces the labor cost and the labor intensity, and can be used for pouring a duck gizzard whole basket into a material distribution assembly without using the gizzards one by one.
2. According to the automatic identification, correction, grabbing and feeding equipment disclosed by the invention, the duck gizzards can fall into the transmission group one by one through the special design of the special material distributing roller and the special design of the special slideway, and are spaced at a certain distance from each other, so that the grabbing and grabbing of fingers are facilitated.
3. The automatic identification, correction, grabbing and feeding equipment disclosed by the invention is high in integral integration level, can be conveniently arranged beside a gizzard opening assembly line or other material conveying assembly lines, is wide in application range, and is suitable for popularization and use in the industry.
Drawings
The aspects and advantages of the present application will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention.
In the drawings:
FIG. 1 is a schematic view of an overall structure of an automatic recognition, correction, grabbing and feeding device according to embodiment 1;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a left side view of FIG. 1;
FIG. 4 is a schematic view of the construction of the hand gripping arm assembly;
FIG. 5 is a schematic view of the material dispensing assembly;
FIG. 6 is a left side view of FIG. 5;
FIG. 7 is a top view of FIG. 5;
FIG. 8 is a schematic view of a feed roller;
FIG. 9 is a cross-sectional view of the intermediate position of FIG. 8;
FIG. 10 is a schematic view of a visual inspection assembly;
FIG. 11 is a schematic view showing the construction of a transmission set according to embodiment 2;
the components represented by the reference numerals in the figures are:
1. the device comprises a linear sliding group, a supporting frame, a manual grasping supporting arm assembly, a gripping fixing plate, a gripping finger, a transmission group, a conveyor belt, a material distributing assembly, a material distributing frame 51, a material distributing frame 52, a material distributing rolling shaft 521, a material distributing cylinder 522, a separating bin 53, a material distributing hopper 54, a slide way 6, a visual detection assembly 61, a supporting piece 62, a probe fixing rod 63, a probe 64, a light source 65, a light source fixing plate 7, a speed reducer 8, a visual bottom plate 9, a switch supporting plate 10 and a photoelectric sensor.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. It should be noted that these embodiments are provided so that this disclosure can be more completely understood and fully conveyed to those skilled in the art, and the present disclosure may be implemented in various forms without being limited to the embodiments set forth herein.
The directions "front and back", "left and right", etc. mentioned in the present invention are only used to express the relative positional relationship, and are not restricted by any specific directional references in practical application.
Example 1
Referring to fig. 1-3, fig. 1-3 are schematic structural diagrams of an automatic recognition, correction, grabbing and feeding apparatus according to this embodiment, which is arranged beside a conveying line to facilitate feeding directly to the conveying line. Specifically including smooth group 1 of straight line, braced frame 2, the trailing arm subassembly 3 of grabbing, transmission group 4, divide material subassembly 5 and visual detection subassembly 6, smooth group 1 of straight line is located braced frame 2's upper portion, and its sub-unit connection has the trailing arm subassembly 3 of grabbing, the trailing arm subassembly 3 of grabbing is including grabbing fixed plate 31 and grabbing finger 32, see fig. 4 and show, it is L type structure to grab fixed plate 31, vertical face and the smooth group 1 fixed connection of straight line, and the terminal finger 32 of grabbing through rotation axis connection of surface of water. Specifically, the linear sliding group 1 in this embodiment adopts a three-axis truss manipulator, which can move freely in three coordinate systems, and in addition, the grabbing fingers 32 can rotate freely around the rotating shaft, so that the grabbing fingers 32 can move in multiple directions under the driving of the linear sliding group 1, and can reach any position to grab materials and rotate the materials.
Further, the bottom of the linear sliding group 1 above the hand-holding support arm assembly 3 is provided with a visual detection assembly 6, and a light source of the visual detection assembly 6 faces downwards. Whether visual detection subassembly 6 is used for detecting the duck gizzard on the one hand openly up, and on the other hand is used for detecting the position of two protruding muscle in duck gizzard both sides, conveniently snatchs finger 32 and rotates the duck gizzard to the manipulator of transfer chain is placed to the correct position and grabs.
Further, a transmission group 4 and a vision bottom plate 8 are arranged below the hand-holding support arm assembly 3, a detection unit is fixed on one side of the transmission group 4 and is a photoelectric sensor 10 and used for detecting whether the transmission material on the transmission group 4 reaches a designated position or not, the vision bottom plate 8 adopts a light-color bottom plate, so that the vision detection assembly 6 can capture the material on the transmission group 4, one end of the transmission group 4, which is far away from the detection unit, is connected with a material distribution assembly 5, the material falls on the transmission group 4 one by one after passing through the material distribution assembly 5 and then moves towards the detection unit direction, the linear sliding group 1, the hand-holding support arm assembly 3, the vision detection assembly 6 and the transmission group 4 are all connected with a control system, the vision detection assembly 6 captures the material information on the transmission group 4, if the gizzard is reversed, the gizzard is transmitted forwards, a temporary storage box is arranged at the end of the transmission group 4, all the inverted duck gizzards fall into a temporary storage box, and after the temporary storage box is full, workers pour the duck gizzards in the temporary storage box into a material distributing assembly 5; if the duck gizzard is forward, then after the duck gizzard arrived the detection unit position, control system control transmission group 4 stopped, and visual detection subassembly 6 catches the angle information of material on transmission group 4, and the grabbing finger 32 of hand grasping arm subassembly 3 moves down and snatchs the material and place the material on the conveyer line of one side after the angle of adjustment. After the duck gizzards leave the transmission group 4, the detection unit detects that the current position of the transmission group 4 is free of duck gizzards, and the control system controls the transmission group 4 to continuously move forwards.
In this embodiment, the transmission set 4 includes a transmission driving shaft, a transmission driven shaft, and a transmission belt 41, and the transmission belt 41 rotates between the transmission driving shaft and the transmission driven shaft, and the rotation directions are unique and all rotate toward the detection unit side.
Further, the conveyor belt 41 includes two belts, which are arranged in parallel, and the vision base plate 8 is located at the lower part of the conveyor belt 41. The area of the visual bottom plate 8 is larger than that of the conveying belt 41, so that the duck gizzards can be conveniently photographed and identified by the visual detection assembly 6. A switch supporting plate 9 is fixed on one side of the vision bottom plate 8, a photoelectric sensor 10 is arranged on the switch supporting plate 9, and the direction of the photoelectric sensor 10 is perpendicular to the transmission direction of the transmission set.
Further, the distance between the switch supporting plate 9 and one end of the material distributing assembly 5 is greater than half of the length of the conveyor belt 41.
Referring to fig. 5-7, the distributing assembly 5 comprises a distributing frame 51, a distributing roller 52, a distributing funnel 53 and a slideway 54, wherein the distributing funnel 53 is positioned on the upper part of the distributing frame 51, the upper end of the distributing funnel is a big opening for the duck gizzard to pour in, and the lower small opening of the distributing funnel is connected with the distributing roller 52, which is shown in fig. 8 and 9. Divide material roller 52 to go up the intermediate position and be equipped with and divide feed cylinder 521, divide feed cylinder 521 outer wall to set up two partition bins 522, partition bin 522 is located material separating funnel 53 lower part opening position, and divides the size of bin 522 and material separating funnel 53 lower part opening size all slightly to be greater than the size of a duck gizzard to control only one duck gizzard at every turn and fall into in the partition bin 522 from material separating funnel 53. One end of the material separating roller 52 is provided with a chain wheel, the lower part of the material separating frame 51 is also fixed with a speed reducer 7, the material separating roller 52 can be driven to rotate by the speed reducer 7, the lower end of the material separating roller 52 is provided with a slideway 54, and the bottom end of the slideway 54 is positioned above the conveyor belt 41 of the transmission group 4.
Preferably, two separating bins 522 are oppositely arranged on the opposite sides of the distributing cylinder 521, so that the time for controlling the gliding of two adjacent duck gizzards is the same. Moreover, the opening size of the separation bin 522 is larger than the inner size, so that the duck gizzards falling from the separation hopper 53 can be conveniently caught and can be conveniently poured onto the slideway 54.
Further, the slideway 54 is a non-smooth curved surface, the middle position is recessed downwards, and the width of the recessed middle part is larger than the diameter of the raised tendons at the two sides of the duck gizzard. The intermediate position of the chute 54 is toward a position between adjacent conveyor belts 41.
Preferably, the sunken width in the middle of slide 54 top-down diminishes gradually, makes the duck gizzard slide down the back from slide 54, and the protruding muscle in both sides just in time falls into between two conveyer belts 41 vertically downwards.
Referring to fig. 10, the light source of the visual inspection unit 6 in the present embodiment faces the side of the inspection unit, which facilitates photographing. The visual detection assembly 6 comprises a supporting piece 61 connected with the linear sliding group 1, the front end of the supporting piece 61 is of a U-shaped opening structure, and the rear end of the supporting piece 61 is of a support and is used for being connected to the linear sliding group 1. A probe 63 is connected between the U-shaped openings at the front ends of the supporting members 61 through a probe fixing rod 62, and the probe 63 is positioned in the middle of the probe fixing rod 62 and can rotate around the probe fixing rod 62. The lower ends of the supporting members 61 at both sides of the probe fixing rod 62 are connected with a light source 64 irradiating downward through a light source fixing plate 65, and the irradiation direction of the light source 64 is toward the middle position of the transferring group 4 at the position of the photoelectric sensor 10.
Example 2
Referring to fig. 11, as another embodiment, in this embodiment, the conveyor belt 41 and the vision base plate 8 are designed as an integral structure, the vision base plate 8 is an annular belt, the width of the annular belt is larger than that of the transmission driving shaft and the transmission driven shaft on the two sides below, and the conveyor belt 41 is two annular protrusions on the outer surface of the vision base plate 8, and the direction of the two annular protrusions is the same as the length direction of the vision base plate 8. The integrated structure facilitates the arrangement of the vision bottom plate 8.
The conveyer belt 41 quantity in above-mentioned two embodiments all designs to two, is to consider that the duck gizzard both sides have two bellied muscle, and interval between two conveyer belts 41 is unanimous with the protruding muscle size in duck gizzard both sides, makes the protruding muscle in duck gizzard both sides just in time fall into and carry forward between two conveyer belts 41, has both accorded with the follow-up angle of predetermineeing that gets into the transfer chain of duck gizzard like this, also can make things convenient for hand to grab support arm subassembly 3 and snatch the duck gizzard.
Other features not mentioned in this embodiment can be the same as those in embodiment 1, and are not described again.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or additions or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. The automatic identification, correction, grabbing and feeding equipment is characterized by comprising a linear sliding group (1), a supporting frame (2), a hand-grabbing supporting arm assembly (3), a transmission group (4), a material distribution assembly (5) and a visual detection assembly (6), wherein the linear sliding group (1) is located on the upper portion of the supporting frame (2), the lower portion of the linear sliding group is connected with the hand-grabbing supporting arm assembly (3), the hand-grabbing supporting arm assembly (3) comprises a grabbing fixing plate (31) and grabbing fingers (32), the grabbing fixing plate (31) is connected with the linear sliding group (1), and the hand-grabbing supporting arm assembly (3) can be driven by the linear sliding group (1) to move in multiple directions;
a visual detection assembly (6) is arranged at the bottom of the linear sliding group (1) above the hand-holding support arm assembly (3), and a light source of the visual detection assembly (6) faces downwards;
the utility model discloses a material conveying device, including support arm subassembly (3), transmission group (4) and vision bottom plate (8) are equipped with to the support arm subassembly (3) below of grabbing, transmission group (4) one side is fixed with detecting element for whether the driven material arrives the assigned position on detecting transmission group (4), vision bottom plate (8) include the light colour bottom plate, detecting element one end connection branch material subassembly (5) is kept away from to the transmission group, and the material falls on transmission group (4) one by one after dividing material subassembly (5), then removes to the detecting element direction.
2. The automatic identification, correction and grabbing feeding device according to claim 1, characterized in that said transmission group (4) comprises a transmission driving shaft, a transmission driven shaft and a transmission belt (41), said transmission belt (41) rotates between the transmission driving shaft and the transmission driven shaft.
3. An automatic identification, correction and gripping and feeding device according to claim 2, characterized in that said conveyor belts (41) comprise at least two, arranged in parallel, said vision mat (8) being located under the conveyor belts (41).
4. The automatic identification, correction and grabbing feeding device according to claim 2 is characterized in that the conveyor belt (41) and the vision bottom plate (8) are of an integral structure, the vision bottom plate (8) is an annular belt, the conveyor belt (41) is an annular protrusion on the outer surface of the vision bottom plate (8), and the number of the conveyor belts (41) at least comprises two.
5. The automatic identification, correction and grabbing feeding device according to claim 3 or 4 is characterized in that the material distributing assembly (5) comprises a material distributing frame (51), a material distributing roller (52), a material distributing hopper (53) and a slide way (54), the material distributing hopper (53) is located on the upper portion of the material distributing frame (51), the material distributing roller (52) is connected to an opening of the lower portion of the material distributing hopper (53), a material distributing barrel (521) is arranged on the material distributing roller (52), a plurality of partition bins (522) are arranged on the outer wall of the material distributing barrel (521), the partition bins (522) are located at the opening of the lower portion of the material distributing hopper (53), the slide way (54) is arranged at the lower end of the material distributing roller (54), and the bottom end of the slide way (54) is located above the transmission group (4).
6. The automatic identification and correction grabbing and feeding device according to claim 5, wherein the separation chamber (522) comprises two separation chambers which are oppositely arranged on opposite sides of the separation cylinder (521).
7. The automatic identification, correction and grabbing and feeding device according to claim 5, characterized in that the chute (54) is non-smooth curved, with a downward concavity in the middle.
8. An automatic identification correction grabbing and feeding device according to claim 7, characterized in that the middle position of the chute (54) is towards the position between the adjacent conveyor belts (41).
9. The automatic identification correction grabbing and feeding device according to claim 1, wherein the light source of the visual inspection assembly (6) faces the side of the inspection unit.
10. The automatic identification, correction and grabbing feeding device according to claim 9, wherein the vision inspection assembly (6) comprises a support member (61) connected to the linear sliding group (1), the support member (61) is connected to a probe (63) through a probe fixing rod (62), and the lower ends of the support members (61) on both sides of the probe fixing rod (62) are connected to a light source (64) which irradiates downwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110505363.0A CN113200346B (en) | 2021-05-10 | 2021-05-10 | Automatic discernment is corrected and is snatched charging equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110505363.0A CN113200346B (en) | 2021-05-10 | 2021-05-10 | Automatic discernment is corrected and is snatched charging equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113200346A true CN113200346A (en) | 2021-08-03 |
| CN113200346B CN113200346B (en) | 2022-12-02 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN202110505363.0A Active CN113200346B (en) | 2021-05-10 | 2021-05-10 | Automatic discernment is corrected and is snatched charging equipment |
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| CN114571227A (en) * | 2022-04-07 | 2022-06-03 | 湖南瑞都模具技术有限公司 | Assembly equipment for cam and clamp spring in automobile gearbox |
| CN115231192A (en) * | 2022-06-25 | 2022-10-25 | 深圳市优达智控技术有限公司 | New energy battery snatchs and transport mechanism based on servo module |
| CN114571227B (en) * | 2022-04-07 | 2024-05-03 | 湖南瑞都模具技术有限公司 | Assembly equipment for cam and clamp spring in automobile gearbox |
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| CN113200346B (en) | 2022-12-02 |
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