CN114770530A

CN114770530A - Self-balancing universal manipulator

Info

Publication number: CN114770530A
Application number: CN202210335790.3A
Authority: CN
Inventors: 束增武
Original assignee: Nanjing Wanhe Measurement & Control Instrument Co ltd
Current assignee: Nanjing Wanhe Measurement & Control Instrument Co ltd
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2022-07-22

Abstract

The invention provides a self-balancing universal manipulator. The self-balancing universal manipulator comprises: support, smooth bar guide rail, balancer, operating handle, rodless cylinder, universal pneumatic manipulator, mounting panel and disinfection mechanism, the smooth bar guide rail sets up on the support, the balancer sets up on the support, operating handle sets up on the support, rodless cylinder sets up on the support and is connected with operating handle, universal pneumatic manipulator sets up on rodless cylinder, the mounting panel sets up on the support, disinfection mechanism sets up on the mounting panel. The self-balancing universal manipulator provided by the invention is simple and easy to operate, has no any charged structure, solves the problem of dampness of slaughtering sites, can improve the working efficiency, and has the advantages of greatly improving the working efficiency and reducing the labor intensity on a pig carcass slaughtering production line.

Description

Self-balancing universal manipulator

Technical Field

The invention belongs to the technical field of manipulator equipment, and particularly relates to a self-balancing universal manipulator.

Background

In a live pig processing enterprise, most of fat of pig carcasses is manually finished, the labor intensity of manual fat pulling is high, the labor efficiency is reduced along with the prolonging of time, the fat pulling effect is different from person to person, the fat pulling is not clean, and the effect is not uniform.

Therefore, there is a need to provide a new self-balancing universal manipulator to solve the above problems.

Disclosure of Invention

The invention solves the technical problem of providing the self-balancing universal manipulator which is simple and easy to use, has no any charged structure, solves the problem of dampness of slaughtering sites, can improve the working efficiency, can greatly improve the working efficiency and reduce the labor intensity when being arranged on a pig carcass slaughtering production line.

In order to solve the technical problem, the invention provides a self-balancing universal manipulator, which comprises: the device comprises a support, a sliding bar guide rail, a balancer, an operating handle, a rodless cylinder, a universal pneumatic manipulator, a mounting plate and a disinfection mechanism, wherein the sliding bar guide rail is arranged on the support;

disinfection mechanism is including disinfect box, driving motor, puddler, a plurality of stirring leaf, water pump, liquid suction pipe, fluid-discharge tube, installation sleeve, two arc clamp splices, a plurality of expanding spring, connecting pipe, hose, shower nozzle, valve and handle, disinfect box fixed mounting is on one side outer wall of mounting panel, driving motor fixed mounting is on the top of disinfect box, the puddler rotates and installs on the top inner wall of disinfect box, the top of puddler extend to the top of disinfect box and with driving motor's output shaft fixed connection, a plurality of stirring leaves all set up in the disinfect box, the equal fixed mounting of a plurality of stirring leaves is on the outer wall of puddler, water pump fixed mounting is on one side outer wall of disinfect box.

As a further scheme of the invention, the liquid pumping pipe is fixedly arranged on a water pumping port of the water pump, one end of the liquid pumping pipe, which is far away from the water pump, extends into the disinfection box, the liquid discharge pipe is fixedly arranged on a water discharge port of the water pump, and the mounting sleeve is arranged on the support.

According to a further scheme of the invention, the two arc-shaped clamping blocks are arranged in the mounting sleeve and are matched, the plurality of telescopic springs are fixedly arranged on the inner wall of the mounting sleeve respectively, one ends of the plurality of telescopic springs, far away from the mounting sleeve, are fixedly connected with the outer walls of the two arc-shaped clamping blocks respectively, the connecting pipe is arranged on the mounting sleeve and is matched with the two arc-shaped clamping blocks, and one end of the liquid discharge pipe, far away from the water pump, is fixedly connected with one end of the connecting pipe.

As a further scheme of the invention, the hose is fixedly arranged at one end of the connecting pipe far away from the liquid discharge pipe, the spray head is fixedly arranged at the bottom end of the hose, the valve is arranged on the hose, and the handle is arranged on the spray head.

As a further scheme of the invention, a PLC controller is arranged on the outer wall of one side of the disinfection box, a first photoelectric liquid level sensor is arranged on the inner wall of the top of the disinfection box, a second photoelectric liquid level sensor is arranged on the inner wall of one side of the disinfection box, an alarm is arranged on the top of the disinfection box, and the PLC controller is connected with a driving motor, a water pump, the first photoelectric liquid level sensor, the second photoelectric liquid level sensor and the alarm.

As a further scheme of the invention, a feeding pipe is fixedly arranged on the sterilizing box, and a sealing cover is arranged at the top of the feeding pipe.

Compared with the related art, the self-balancing universal manipulator provided by the invention has the following beneficial effects:

1. according to the invention, through the structure of the sliding bar guide rail, the upper power and the lower power of the manipulator are provided with the power by the rodless cylinder, and no charged structure exists, so that the problems of dampness in a slaughtering site and easy electric leakage after long service life are solved, meanwhile, the rodless cylinder is small in size, light in weight, easy to operate and capable of saving working space, the universal manipulator is designed according to the shape of the fat of the pig carcass, the gripping force is strong, the fat is completely torn and unloaded, the integrated operating handle is designed according to the structure of a human body, the operation is simple and easy to use, the palm is comfortably attached, the working efficiency is improved, and the working efficiency is improved and the labor intensity is reduced when the universal manipulator is arranged on a pig carcass slaughtering production line;

2. the universal pneumatic manipulator disinfection device is simple to operate by arranging the disinfection mechanism, and can disinfect the universal pneumatic manipulator, so that convenience can be brought to subsequent work.

Drawings

To facilitate understanding for those skilled in the art, the invention is further described below with reference to the accompanying drawings.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of a sterilization mechanism according to the present invention;

FIG. 3 is an enlarged schematic view of portion A of FIG. 1;

FIG. 4 is an enlarged schematic view of the portion B in FIG. 1;

FIG. 5 is an assembly view of the mounting sleeve, the arcuate clamp blocks, the extension springs and the connecting tube of the present invention;

fig. 6 is an assembly schematic diagram of the middle bracket, the slide bar guide rail, the balancer, the operating handle, the rodless cylinder and the universal pneumatic manipulator of the invention.

In the figure: 1. a support; 2. a slide rail; 3. a balancer; 4. an operating handle; 5. a rodless cylinder; 6. a universal pneumatic manipulator; 7. mounting a plate; 8. a sterilizing box; 9. a drive motor; 10. a stirring rod; 11. stirring blades; 12. a water pump; 13. a liquid pumping pipe; 14. a liquid discharge pipe; 15. Installing a sleeve; 16. an arc-shaped clamping block; 17. a tension spring; 18. a connecting pipe; 20. a hose; 21. a spray head; 22. a valve; 23. a handle.

Detailed Description

Please refer to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5 and fig. 6 in combination, wherein fig. 1 is a schematic structural diagram of the present invention; FIG. 2 is a schematic structural view of a sterilization mechanism according to the present invention; FIG. 3 is an enlarged schematic view of portion A of FIG. 1; FIG. 4 is an enlarged schematic view of portion B of FIG. 1; FIG. 5 is an assembly view of the mounting sleeve, the arcuate clamping blocks, the extension springs and the connecting tube of the present invention; fig. 6 is an assembly diagram of the bracket, the slide bar guide rail, the balancer, the operating handle, the rodless cylinder and the universal pneumatic manipulator of the present invention. The self-balancing universal manipulator includes: the device comprises a support 1, a sliding bar guide rail 2, a balancer 3, an operating handle 4, a rodless cylinder 5, a universal pneumatic manipulator 6, a mounting plate 7 and a disinfection mechanism, wherein the sliding bar guide rail 2 is arranged on the support 1, the balancer 3 is arranged on the support 1, the operating handle 4 is arranged on the support 1, the rodless cylinder 5 is arranged on the support 1 and connected with the operating handle 4, the universal pneumatic manipulator 6 is arranged on the rodless cylinder 5, the mounting plate 7 is arranged on the support 1, and the disinfection mechanism is arranged on the mounting plate 7;

disinfection mechanism is including disinfect box 8, driving motor 9, puddler 10, a plurality of stirring leaf 11, water pump 12, liquid suction pipe 13, fluid-discharge tube 14, installation sleeve 15, two arc clamp splices 16, a plurality of expanding spring 17, connecting pipe 18, hose 20, shower nozzle 21, valve 22 and handle 23, disinfect box 8 fixed mounting is on one side outer wall of mounting panel 7, driving motor 9 fixed mounting is on the top of disinfect box 8, puddler 10 rotates and installs on the top inner wall of disinfect box 8, the top of puddler 10 extend to the top of disinfect box 8 and with driving motor 9's output shaft fixed connection, a plurality of stirring leaves 11 all set up in disinfect box 8, the equal fixed mounting of a plurality of stirring leaves 11 is on the outer wall of puddler 10, water pump 12 fixed mounting is on one side outer wall of disinfect box 8.

As shown in fig. 2 and 3, the liquid suction pipe 13 is fixedly installed on a water suction port of the water pump 12, one end of the liquid suction pipe 13, which is far away from the water pump 12, extends into the disinfection box 8, the liquid discharge pipe 14 is fixedly installed on a water discharge port of the water pump 12, and the installation sleeve 15 is arranged on the bracket 1.

As shown in fig. 3 and 5, two arc-shaped clamping blocks 16 are all arranged in the installation sleeve 15, the two arc-shaped clamping blocks 16 are adapted to each other, the plurality of extension springs 17 are respectively and fixedly installed on the inner wall of the installation sleeve 15, one ends of the plurality of extension springs 17 far away from the installation sleeve 15 are respectively and fixedly connected with the outer walls of the two arc-shaped clamping blocks 16, the connection pipe 18 is arranged on the installation sleeve 15, the connection pipe 18 is adapted to the two arc-shaped clamping blocks 16, and one end of the drainage pipe 14 far away from the water pump 12 is fixedly connected with one end of the connection pipe 18.

As shown in FIG. 4, hose 20 is fixedly attached to the end of connecting tube 18 remote from discharge pipe 14, spray head 21 is fixedly attached to the bottom end of hose 20, valve 22 is disposed on hose 20, and handle 23 is disposed on spray head 21.

As shown in fig. 2, one side outer wall of disinfect box 8 is equipped with the PLC controller, the top inner wall of disinfect box 8 is equipped with first photoelectric level sensor, one side inner wall of disinfect box 8 is equipped with the second photoelectric level sensor, the top of disinfect box 8 is equipped with the alarm, the PLC controller is connected with driving motor 9, water pump 12, first photoelectric level sensor, second photoelectric level sensor and alarm.

As shown in FIG. 1, a feeding pipe is fixedly installed on the sterilizing box 8, and a sealing cover is arranged at the top of the feeding pipe.

The working principle of the self-balancing universal manipulator provided by the invention is as follows:

the first step is as follows: through the structure of the sliding bar guide rail 2, the upper power and the lower power of the manipulator are provided with power by the rodless cylinder 5, no electrified structure exists, the problems of dampness in a slaughtering site and easy electric leakage after long service life are solved, meanwhile, the rodless cylinder 5 is small in size, light in weight, easy to operate and capable of saving working space, the universal manipulator is designed according to the shape of the fat of the pig carcass in a matching mode, the gripping force is strong, the fat is pulled and unloaded cleanly, the integrated operating handle 4 is designed according to the structure of a human body, the operation is simple and easy to use, the palm is attached comfortably, the working efficiency is improved, and the working efficiency can be greatly improved and the labor intensity is reduced when the operating handle is arranged on a pig carcass slaughtering production line;

the second step: the sealing cover on the feeding pipe is opened, then disinfectant can be poured into the disinfection box 8 through the feeding pipe, then the sealing cover is covered, then the water pump 12 is started to operate, disinfectant in the disinfection box 8 can be pumped out through the liquid pumping pipe 13, then the disinfectant can be discharged into the connecting pipe 18 through the liquid discharge pipe 14, the disinfectant can be discharged into the hose 20 through the connecting pipe 18, then the valve 22 is opened, the disinfectant can be sprayed out through the spray head 21, the universal pneumatic manipulator 6 can be disinfected, convenience can be provided for later work of the universal pneumatic manipulator 6, the effect of the disinfectant caused by precipitation of the disinfectant in the disinfection box 8 is reduced, the motor 9 can be periodically driven to operate, the stirring rod 10 can be driven to rotate through the output shaft of the driving motor 9, and then the stirring blades 11 can be driven to rotate through the stirring rod 10, make it can stir the sterile water in disinfect box 8 to can avoid the sterile water in disinfect box 8 to deposit and lead to the disinfection effect to descend, and when the water level in disinfect box 8 descends and crosses lowly, can sense through second photoelectricity level sensor, and transmit the result in the PLC controller, make it start the alarm through the PLC controller and operate, make it remind the staff to add water.

It should be noted that, the inventive device structure and the accompanying drawings mainly describe the inventive principle, and in the technology of the design principle, the arrangement of the power mechanism, the power supply system, the control system, and the like of the device is not completely described, but on the premise that the skilled person understands the inventive principle, the details of the power mechanism, the power supply system, and the control system can be clearly known, the control mode of the application document is automatically controlled by the controller, and the control circuit of the controller can be implemented by simple programming of the skilled person;

the standard parts used in the method can be purchased from the market, and can be customized according to the description of the specification and the accompanying drawings, the specific connection mode of each part adopts conventional means such as mature bolts, rivets, welding and the like in the prior art, the machines, parts and equipment adopt conventional models in the prior art, and the structure and the principle of the parts known by the skilled person can be known by technical manuals or conventional experimental methods.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made herein without departing from the spirit and scope of the invention, which is defined in the appended claims and their equivalents as expressed in the claims which follow, and are intended to be covered by the claims.

Claims

1. A self-balancing universal manipulator, comprising:

the device comprises a support, a sliding bar guide rail, a balancer, an operating handle, a rodless cylinder, a universal pneumatic manipulator, a mounting plate and a disinfection mechanism, wherein the sliding bar guide rail is arranged on the support;

disinfection mechanism is including disinfect box, driving motor, puddler, a plurality of stirring leaf, water pump, liquid suction pipe, fluid-discharge tube, installation sleeve, two arc clamp blocks, a plurality of expanding spring, connecting pipe, hose, shower nozzle, valve and handle, disinfect box fixed mounting is on one side outer wall of mounting panel, driving motor fixed mounting is on the top of disinfect box, the puddler rotates and installs on the top inner wall of disinfect box, the top of puddler extend to the top of disinfect box and with driving motor's output shaft fixed connection, a plurality of stirring leaves all set up in the disinfect box, the equal fixed mounting of a plurality of stirring leaves is on the outer wall of puddler, water pump fixed mounting is on one side outer wall of disinfect box.

2. The self-balancing gimbal robot of claim 1, wherein: liquid suction pipe fixed mounting is on the mouth that draws water of water pump, the one end that the water pump was kept away from to the liquid suction pipe extends to in the disinfect box, fluid-discharge tube fixed mounting is on the outlet of water pump, the setting sleeve sets up on the support.

3. The self-balancing gimbal robot of claim 1, wherein: two arc clamp splice all set up in the installation sleeve, two arc clamp splice looks adaptations, and a plurality of expanding spring fixed mounting respectively is on the inner wall of installation sleeve, and a plurality of expanding spring keep away from the telescopic one end respectively with the outer wall fixed connection of two arc clamp splice, the connecting pipe sets up on the installation sleeve, just connecting pipe and two arc clamp splice looks adaptations, the one end that the water pump was kept away from to the fluid-discharge tube and the one end fixed connection of connecting pipe.

4. The self-balancing gimbal robot of claim 1, wherein: the hose is fixedly installed at one end, far away from the liquid discharge pipe, of the connecting pipe, the spray head is fixedly installed at the bottom end of the hose, the valve is arranged on the hose, and the handle is arranged on the spray head.

5. The self-balancing gimbal robot of claim 1, wherein: the utility model discloses a disinfection cabinet, including disinfect box, PLC controller, drive motor, water pump, first photoelectricity level sensor, second photoelectricity level sensor and alarm, the one side outer wall of disinfect box is equipped with the PLC controller, the top inner wall of disinfect box is equipped with first photoelectricity level sensor, the one side inner wall of disinfect box is equipped with the second photoelectricity level sensor, the top of disinfect box is equipped with the alarm, the PLC controller is connected with drive motor, water pump, first photoelectricity level sensor, second photoelectricity level sensor and alarm.

6. The self-balancing universal manipulator of claim 1, wherein: the last fixed mounting of disinfect box has the inlet pipe, the top of inlet pipe is equipped with sealed lid.