CN114653609A

CN114653609A - Cheese pre-sorting device

Info

Publication number: CN114653609A
Application number: CN202011540079.9A
Authority: CN
Inventors: 吕汉明; 周鹏飞; 王家纯
Original assignee: Tianjin Tongqi Technology Co ltd
Current assignee: Tianjin Tongqi Technology Co ltd
Priority date: 2020-12-23
Filing date: 2020-12-23
Publication date: 2022-06-24

Abstract

The invention relates to automatic weight screening before package of cheese produced by a spinning factory, in particular to a cheese pre-sorting device, which comprises an input conveying device, a mobile manipulator device and an output conveying device, wherein the input conveying device is provided with a weighing part for weighing the weight of the cheese, the tail end of the input conveying device is provided with an overweight sorting part, the overweight sorting part comprises a sorting driving part and a sorting executing part, the mobile manipulator device transfers the cheese meeting the weight requirement to the output conveying device from the input conveying device, the overweight or ultralight cheese falls down from the input conveying device and is guided to an overweight or ultralight station by the overweight sorting executing part in the falling process, and the technology is used for an automatic cheese packaging machine to effectively improve the successful counterweight probability of an automatic counterweight system of the automatic cheese packaging machine, thereby improving the working efficiency of the automatic cheese packaging machine.

Description

Cheese pre-sorting device

Technical Field

Background

Cheese is the final product of a spinning mill, the weight of unit package needs to be controlled in the packaging process, for example, the weight of the cheese packaged by woven bags is often required to be controlled to be 12 yarns per bag, the deviation of the total weight is 25kg plus or minus 50g, the package of the cheese is mainly finished by manpower at present, and the labor intensity is very high. Automatic cheese packaging machines are increasingly being used in spinning mills as a new product. In the development and use process of the automatic cheese packaging machine, the counterweight problem of unit packaging needs to be solved, the weight difference of single cheese is sometimes larger due to the difference of production processes and equipment of different spinning mills, and the condition that a counterweight system of the automatic cheese packaging machine cannot be matched easily occurs due to the fact that the whole batch of positive deviation or negative deviation is easy to occur. In view of the situation, the invention discloses a cheese pre-sorting device which is used for an automatic cheese packaging machine, can remove and classify the cheese with the weight exceeding a certain range in advance, and can effectively reduce the probability that a counterweight system cannot distribute the weight compared with the conventional non-advanced screening or manual screening, thereby improving the working efficiency of the automatic cheese packaging machine.

Disclosure of Invention

To overcome the defects in the prior art, the invention provides a cheese pre-sorting device, and the technical problem to be solved is that:

a cheese pre-sorting device is characterized by comprising an input conveying device, a mobile manipulator device and an output conveying device,

the input conveying device is provided with a weighing component for weighing the weight of the cheese, the input conveying device comprises two parallel and separated conveying components which move synchronously, a bobbin of the cheese placed on the input conveying device is positioned between the two conveying components, a weighing component is arranged between the two conveying components on the input conveying device, the weighing component comprises a weighing sensor, a scale pan and a weighing lifting driving and guiding component arranged on a frame of the input conveying device, the scale pan is arranged on the weighing sensor, the weighing lifting driving component drives the weighing sensor to move up and down, the scale pan has two different working positions, namely a high working position and a low working position, the upper surface of the scale pan is higher than the upper surface of the conveying component when the scale pan is in the high working position, and the upper surface of the scale pan is lower than the lower surface of a cheese bobbin placed on the input conveying device when the scale pan is in the low working position;

the machine frame at the tail end of the input conveying device is provided with an overweight classification component, the overweight classification component comprises a classification driving component and a classification execution component, the classification driving component drives the classification execution component to move, the cheese falling from the input conveying device is classified according to weight deviation, and the ultra-light cheese and the overweight cheese are guided to different positions.

The mobile manipulator device comprises a manipulator frame and a manipulator, wherein the manipulator comprises a clamping hand, a horizontal driving and guiding component, a clamping hand rotating component, a clamping hand opening and closing driving guiding component and a clamping hand lifting driving and guiding component, the clamping hand is used for clamping cheese, the clamping hand has a horizontal movement freedom degree, a lifting movement freedom degree, a rotation freedom degree and a clamping freedom degree, and the rotation freedom degree of the clamping hand can at least rotate 180 degrees in a reciprocating manner around the center of the clamping hand for clamping the cheese or can rotate continuously; the movement range of the manipulator of the mobile manipulator device in the horizontal direction can cover one end of the input conveying device and one end of the output conveying device.

The input conveying device and the output conveying device are conveying belts, conveying rollers, conveying chains or conveying chain plates.

The yarn pushing device is installed on the output conveying device and comprises a yarn pushing driving guide mechanism installed on the output conveying device rack and a yarn pushing plate installed on the yarn pushing driving guide mechanism, a yarn pushing pressing plate is installed on the yarn pushing plate at a position corresponding to the center of the yarn pushed by the cheese, and the yarn pushing pressing plate is slightly higher than the top surface of the cheese and used for preventing the cheese from tilting in the pushing process.

When the cheese pre-sorting device is applied, the cheese is placed on a conveying part of an input conveying device, the conveying part drives the cheese to move to a weighing position above a weighing plate and stops moving, a weighing sensor jacks up the cheese to weigh the weight of the cheese, a manipulator transfers the cheese with the weight within an allowable deviation range to an output conveying device from the input conveying device, the cheese with the over-weight difference continuously moves to the tail end on the input conveying device and then falls off, a classification execution part of an over-weight classification part guides the cheese to fall into a positive deviation over-difference (over-weight) or negative deviation over-difference (over-light) station, the cheese with the weight deviation meeting the requirement is placed at an output position of the output conveying device, and the output conveying device drives the cheese to move to a yarn pushing position, and the yarn pushing device pushes the cheese to a cheese packaging machine. The cheese pre-sorting device can be arranged in front of an automatic cheese packaging machine, occupies a small area, is easy to be connected with the automatic cheese packaging machine, and improves the counterweight efficiency of the automatic cheese packaging machine.

Drawings

FIG. 1 is a front view of a structure of a cheese pre-sorting device according to the present invention.

FIG. 2 is a left side view of the structure of a cheese pre-sorting device according to the present invention.

FIG. 3 is a top view of a package pre-sorting device according to the present invention.

FIG. 4 is a structural diagram of a mechanical arm of a cheese pre-sorting device.

In the figure: 1. the automatic yarn feeding device comprises an input conveyor belt 10, a belt 11, an input motor 12, a weighing cylinder 13, a weighing pan 14, a weighing sensor 15, an overweight classification cylinder 16, an overweight classification swing plate 17, an overweight partition plate 2, a mobile manipulator device 20, a manipulator frame 21, a manipulator mounting plate 22, a horizontal moving plate sliding block 23, a horizontal moving plate guide rail 25, a manipulator horizontal moving cylinder 26, a manipulator 260, an up-down moving cylinder 261, a clamping cylinder 262, a rotating cylinder 263, a clamping roller 264, a rotating cylinder connecting plate 265, a rotating cylinder mounting plate 3, an output conveyor belt 40, a yarn pushing plate 41, a yarn pushing guide shaft 42, a yarn pushing cylinder 43, a yarn pushing plate 44 and a yarn pushing mounting plate

Detailed Description

The following provides an embodiment of a cheese pre-sorting device according to the present invention, which is provided by way of illustration only and is not to be construed as a limitation of the claims, and the invention is not described as being applicable to the prior art.

An embodiment of a cheese pre-sorting device of the present invention (as shown in fig. 1-3):

the cheese pre-sorting device of the embodiment comprises an input conveyor belt 1 (serving as an input conveying device), a moving manipulator device 2, an output conveyor belt 3 (serving as an output conveying device) and a yarn pushing device,

the belt of the input conveyor belt 1 comprises two separated belts 10 (as conveying components), the two belts 10 are driven by the same input motor 11 to move synchronously, a gap between the two belts 10 is used for accommodating a bobbin of cheese, namely the cheese moves under the support of the two belts 10, one end of the input conveyor belt 1 is provided with a strain type weighing sensor 14 (without excluding a weighing sensor adopting other principles) for weighing the weight of the cheese as a weighing component, a scale 13 is arranged on the weighing sensor, the weighing sensor 14 is arranged at the tail end of a cylinder rod of a weighing cylinder 12, the weighing cylinder 12 is a three-rod cylinder or a two-rod cylinder, the weighing cylinder 12 is arranged on a frame of the input conveyor belt 1, when the cylinder rod of the weighing cylinder extends out, the scale is driven to rise to the height that the upper surface of the scale 13 is higher than the upper surface of the belt 10, and when the cylinder rod of the weighing cylinder retracts, the scale is driven to fall to the height that the upper surface of the scale 13 is lower than the lower surface of the bobbin of the lower surface of the bobbin placed on the belt 10 And (4) degree. It is not excluded that the weighing sensor is mounted at the other end or in the middle of the input conveyor belt or at other positions, and the computer of the control system records the weight and the position of the cheese on the input conveyor belt.

An overweight classification cylinder 15 is installed on a rack at the tail end of an input conveyor belt as a classification driving part, the overweight classification cylinder is a corner cylinder, the rotation angle is 90 degrees (or not 90 degrees), an overweight classification swinging plate 16 (as a classification executing part) is a plate-shaped part installed on a rotating disk of the overweight classification cylinder 15, the overweight classification cylinder 15 controls the swinging direction of the overweight classification swinging plate, the uppermost end of the overweight classification swinging plate 16 is lower than the upper surface of the input conveyor belt, an overweight partition plate 17 is arranged below the overweight classification swinging plate 16, the overweight partition plate 17 is positioned in the middle of the overweight classification cylinder 15, the overweight classification swinging plate 16 swings to different directions, cheese falling from the tail end of the input conveyor belt during the rotation of the input conveyor belt is controlled to fall on different sides of the overweight partition plate 17, for example, the cheese falling on the input conveyor belt falls on the right side of the overweight partition plate 17 at the position of 'ten-point three-tenth' in FIG. 2 where the overweight classification swinging plate 16 is positioned, if the super-heavy sorting swing plate 16 swings to the "one-point-three-tenth" position, the cheese dropped on the input conveyor will fall to the left of the super-heavy separation plate 17. The linear cylinder is not excluded as a classification driving component or a motor is taken as a classification driving component, for example, a herringbone or splayed overweight classification moving plate is fixedly arranged at the tail end of a cylinder rod of the double-rod cylinder, the double-rod cylinder drives the overweight classification moving plate to move at the tail end of the input conveying belt, the cheese can also be guided to two different positions, and a linear cylinder and rocker mechanism or a crank and rocker mechanism can be adopted to realize the same function.

The mobile manipulator device comprises a manipulator frame 20 and a manipulator 26, the manipulator 26 comprises a clamping hand, a horizontal driving and guiding device, a clamping hand rotating part, a clamping hand opening and closing driving and guiding device and a clamping hand lifting driving and guiding device,

the manipulator 26 is suspended and installed below the manipulator mounting plate 21 through a guide rail and a slide block (serving as a horizontal driving and guiding device) below the manipulator mounting plate 21, the manipulator mounting plate 21 is installed on the manipulator rack 20, and the manipulator horizontal moving cylinder 25 pushes the manipulator 26 to move along the horizontal direction vertical to the input conveyor belt;

the mechanical arm 26 clamps cheese by using 4 clamping rollers 263 as clamping hands, the 4 clamping rollers 263 are divided into two groups and are respectively arranged on rotating parts of two rotating cylinders 262, the rotating cylinders 262 are arranged on a rotating cylinder mounting plate 265, the rotating cylinder mounting plate 265 is arranged on a clamping cylinder 261 through a rotating cylinder connecting plate 264, the clamping cylinder 261 is arranged on a cylinder rod of an up-down moving cylinder 260, and the up-down moving cylinder 260 is a double-rod cylinder and is arranged on a sliding block pushed by a mechanical arm horizontal moving cylinder 25;

the clamping cylinder 261 drives the two groups of clamping rollers 263 to approach or separate from each other, the two groups of clamping rollers 263 are used for clamping cheese when approaching to each other, and the cheese is released when separating from each other, although the clamping cylinder 261 is used for driving the clamping rollers to horizontally clamp the cheese in the embodiment, the scheme of swinging and clamping the cheese is not checked, the rotating cylinder 262 rotates to enable the cheese clamped by the clamping rollers 263 to rotate in the rotating direction, the directions of the big end and the small end of the conical cheese are adjusted, the up-down moving cylinder 260 drives the clamping rollers 263 to move in the plumb direction, and the manipulator horizontal moving cylinder 25 drives the clamping rollers 263 to move in the horizontal orthogonal direction, so that the manipulator has 4 degrees of freedom which are respectively clamping motion driven by the clamping cylinder 261, rotating motion driven by the rotating cylinder 262, lifting motion in the plumb direction and movement in 1 horizontal direction. As long as the robot can have the 4 degrees of freedom, the mounting order between the respective kinematic freedom mechanisms is not necessarily the mounting order in the present embodiment, and for example, it is also possible to mount the up-down moving cylinder 260 on the clamp cylinder 261, attach the driving elevation degree of freedom to the back of the clamp movement, have no influence on the function, and replace the cylinder driving with the motor and the screw rod.

The output conveyor belt 3 is a conveyor belt arranged in parallel with the input conveyor belt, the movement range of the manipulator 26 of the mobile manipulator device can cover one end of the input conveyor belt 1 and one end of the output conveyor belt, the output conveyor belt and the input conveyor belt are not arranged perpendicularly or arranged at other angles, and the space and the position for moving the overweight cheese and the ultralight cheese can be left.

The yarn pushing device 4 is a device which is located at the other end of the moving manipulator device and used for pushing the cheese away from the output conveyor belt, the yarn pushing device comprises a driving guide mechanism consisting of a yarn pushing guide shaft 41 and a yarn pushing cylinder 42, a yarn pushing plate 40 and a yarn pushing mounting plate 44 mounted on a rack of the output conveyor belt, the yarn pushing guide shaft 41 and the yarn pushing cylinder 42 are mounted on the yarn pushing mounting plate 44, the yarn pushing plate 40 is mounted at the tail ends of cylinder rods of the yarn pushing guide shaft 41 and the yarn pushing cylinder 42, the yarn pushing pressing plate 43 is mounted on the yarn pushing plate 40, when the yarn pushing plate 40 pushes the conical cheese with a small diameter, the cheese is prone to toppling, and the yarn pushing pressing plate 43 can press the top of the cheese to prevent the cheese from toppling in the pushing process.

When the cheese pre-sorting device is applied, the cheese is placed on the input conveyor belt 1, the belt 10 stops moving when the belt 10 drives the cheese to move (from right to left in the figure 1) to a weighing position above the weighing disc 13, and the weighing cylinder 12 lifts the weighing disc 13 together with the cheese to weigh the weight of the cheese. And judging whether the weight of the currently weighed cheese is within the allowable deviation range or whether the weight of the currently weighed cheese is out of tolerance (overweight) or out of tolerance (ultralight) in a positive deviation according to the weight of the cheese, the standard weight of the cheese and the allowable weight deviation of the single cheese. If the weight of the cheese weighed currently is within the allowable deviation range, the manipulator 26 is driven by the manipulator horizontal moving cylinder 25 to move to the position above the cheese at the tail end of the input conveyor belt, the clamping cylinder 261 drives the clamping rollers 263 to separate, the clamping cylinder 260 moves up and down to drive the clamping rollers 263 to descend to the height capable of clamping the cheese, the clamping rollers 263 are driven by the clamping cylinder 261 to clamp the cheese, the clamping roller 263 is driven by the up and down moving cylinder 260 to ascend, the manipulator horizontal moving cylinder 25 drives the manipulator 26 to move to the position above one end of the output conveyor belt, the clamping cylinder 260 moves up and down to drive the clamping rollers 263 to descend, the clamping cylinder 261 drives the clamping rollers 263 to separate, and the cheese is placed at one end of the output conveyor belt. If the weight of the bobbin yarn currently weighed exceeds the allowable deviation, the input conveyor belt continues to rotate, if the weight of the bobbin yarn currently weighed exceeds the allowable deviation, the overweight classification swinging plate 16 is located at a ten-point-three-tenth position in the figure 2, so that the weight of the bobbin yarn falling on the input conveyor belt with the positive deviation falls on the right side of the overweight partition plate 17, and if the weight of the bobbin yarn falling on the input conveyor belt with the positive deviation is negative deviation (overweight), the overweight classification swinging plate 16 swings to the one-point-three-tenth position, so that the overweight bobbin yarn falling on the input conveyor belt falls on the left side of the overweight partition plate 17. Containers for containing ultra-light and ultra-heavy cheese can be placed on two sides of the ultra-heavy partition plate 17, the cheese can fall into the related containers for being used for adjusting the balance weight during rework or subsequent weight distribution, and the cheese is respectively placed in the two containers at the position, so that the ultra-light and ultra-heavy cheese can be conveniently used in subsequent processes. After cheese with weight deviation meeting the requirement is placed on the output conveying belt, the output conveying belt 3 drives the cheese to move (from left to right in figures 1 and 3), when the cheese moves to be aligned with a yarn pushing plate yarn pushing pressing plate 43, a yarn pushing cylinder 42 drives the yarn pushing plate 40 to push the cheese out of the output conveying belt to a cheese packaging machine, the yarn pushing plate 40 pushes a plurality of cheeses at a time according to the specification and the requirement of the packaging machine, and generally, the number of the cheeses at a time is 1-4.

In the embodiment, only one weighing component is arranged on the input conveying device, but 2-4 weighing components are not arranged along the length direction of the input conveying device, so that the weight of 4 cheese at most can be weighed at one time; similarly, the manipulator of the embodiment can only clamp one cheese, and a maximum of 4 manipulators can be configured to simultaneously clamp and transfer a maximum of 4 cheeses, and a yarn clamping manipulator with a maximum of 4 groups of clamping heads can also be adopted, and a manipulator can simultaneously clamp and transfer a maximum of 4 cheeses. The at most 4 cheese of once weighing is because the braided bag packing of cheese is 4 cheese at most under the general condition, and when installing 2 ~4 weighing parts, each weighing part is arranged along input conveyer equidistant, and the interval is greater than maximum cheese diameter.

The weighing component is arranged at the tail end of the input conveyor belt in the embodiment, but the weighing component can also be arranged in the middle of the input conveyor belt or at other positions, and the cheese is classified and processed according to the weight deviation condition when moving to the tail end of the input conveyor belt after being weighed, so that the weighing and the processing can be completed simultaneously.

The driving guide components in the embodiments may be replaced by components with the same functions, for example, a motor and a lead screw may be used instead of a cylinder, and a conveying chain, a conveying roller, a conveying chain plate, etc. may be used instead of a conveying belt as the input conveying device and the output conveying device, and these common substitutions are not described again.

Claims

1. The cheese pre-sorting device is used for pre-sorting cheese in a cheese packaging machine before packaging and is characterized by comprising an input conveying device, a mobile manipulator device and an output conveying device, wherein the input conveying device and the output conveying device are conveying belts, conveying chains, conveying rollers or conveying chain plates, the input conveying device is provided with 1-4 weighing components for weighing the weight of the cheese, the input conveying device comprises two parallel and separated conveying components, the weighing components are arranged between the two conveying components, the tail end of the input conveying device is provided with an overweight classification component, the overweight classification component comprises a classification driving component and a classification execution component, the mobile manipulator device comprises a manipulator frame and a manipulator, and the manipulator comprises a clamping hand, a horizontal driving and guiding component, a clamping hand rotating component, a clamping arm rotating component and a classification executing component, The device comprises a clamping hand opening and closing driving guide component and a clamping hand lifting driving and guiding component, wherein the clamping hand is used for clamping cheese and has a horizontal movement freedom degree, a lifting movement freedom degree, a rotation freedom degree and an opening and closing freedom degree.

2. The package pre-sorting device as claimed in claim 1, wherein the sorting drive member drives the sorting actuator to move, and the sorting actuator guides the dropped package from the input conveyor to different positions according to the weight deviation.

3. The cheese pre-sorting apparatus according to claim 1, wherein the weighing member comprises a weighing sensor, a scale pan and a weighing elevation driving and guiding member mounted on the frame of the input conveyer, the scale pan is mounted on the weighing sensor, the weighing elevation driving member drives the weighing sensor to move up and down, the scale pan has two different working positions, i.e., a high working position in which the upper surface of the scale pan is higher than the upper surface of the conveying member, and a low working position in which the upper surface of the scale pan is lower than the lower surface of the bobbin placed on the input conveyer.

4. The cheese pre-sorting apparatus according to claim 1, wherein the rotational degree of freedom of the gripping arm is at least 180 degrees around the center of the gripping arm for gripping the cheese.

5. The package pre-sorting apparatus as recited in claim 1, wherein the range of horizontal robot movement of the moving robot means covers at least one end of the input and output conveyors.

6. The cheese pre-sorting apparatus according to claim 1, wherein the output conveyer is provided with a yarn pushing device, and the yarn pushing device comprises a yarn pushing driving guide mechanism arranged on the output conveyer frame and a yarn pushing plate arranged on the yarn pushing driving guide mechanism.

7. The cheese pre-sorting apparatus according to claim 1, wherein the yarn pushing plate is provided with a yarn pushing pressure plate at a position corresponding to the center of the yarn to be pushed, the yarn pushing pressure plate is slightly higher than the top surface of the cheese for preventing the cheese from falling during pushing.