CN209814402U - Combined robot intestine placing machine - Google Patents

Abstract

A combined robot sausage placement machine comprises a rack, wherein a vibration feeder, an array feeder and a subpackaging feeder are sequentially and fixedly connected to the rack, and steering assemblies convenient for sausage steering and fixing to the rack are arranged above the vibration feeder and the array feeder; the frame is close to partial shipment feeder department and is equipped with the robot that is used for removing sausage to closing device, the first belt of driving shaft and driven shaft is located including the driving motor who is fixed in the frame, the driving shaft of being connected with the driving motor electricity, the driven shaft that is fixed in the frame, cover to the permutation feeder, first belt lateral surface is the raised grain shape along the belt direction of motion. The problem of current pendulum intestines machine regulation intestines class food overlap the problem inefficiency, and the horizontal or vertical unordered range of intestines class food leads to the unable accurate of follow-up robot jack catch to snatch is solved.

Description

Combined robot intestine placing machine

Technical Field

The utility model relates to a sausage processing field, concretely relates to modular robot pendulum intestines machine.

Background

Food, usually including processed food, unprocessed food, semi-manufactured goods etc. these food need just can carry out the processing operation to its letter sorting when assembling together simultaneously, and the food letter sorting on the reality is mostly manual sorting mode, distributes food on the desk or screens one by one on the workstation by operating personnel, then the classification, and whole process is consuming time and is laboured, and long-time work will strengthen operating personnel's intensity of labour, and is comparatively not convenient. But also to match different sorting equipment for different types of food.

The sausage placing machine is a sorting device for ham sausages and sausage foods, and generally comprises a device for transporting and adjusting the positions of the sausage foods and a robot claw for clamping the sausage foods. Intestines class food is rectangular form usually, piles up the stromatolite easily in the transportation, and transversely, vertically places the nonconformity, and is unordered, and the clamp of follow-up robot jack catch of being not convenient for gets, and current pendulum intestines machine is with horizontal conveyer slope slightly, avoids intestines class food overlap and places, but above-mentioned mode, sausage downward slippage also can appear simultaneously, the condition that conveying efficiency reduces.

SUMMERY OF THE UTILITY MODEL

The utility model provides a modular intestines machine is put to robot solves the overlapping problem inefficiency of current intestines machine regulation intestines class food, and the horizontal or fore-and-aft unordered range of intestines class food leads to the unable accurate problem that snatchs of follow-up robot jack catch.

The utility model adopts the technical scheme as follows:

a combined robot sausage placement machine comprises a rack, wherein a vibration feeder, an array feeder and a subpackaging feeder are sequentially and fixedly connected to the rack, and steering assemblies convenient for sausage steering and fixing to the rack are arranged above the vibration feeder and the array feeder; the frame is close to partial shipment feeder department and is equipped with the robot that is used for removing sausage to closing device, the first belt of driving shaft and driven shaft is located including the driving motor who is fixed in the frame, the driving shaft of being connected with the driving motor electricity, the driven shaft that is fixed in the frame, cover to the permutation feeder, first belt lateral surface is the raised grain shape along the belt direction of motion.

The working principle and the process of the technical scheme are as follows:

the method comprises the following steps that the pretreated sausages are conveyed to a vibration feeder, the sausages are placed in a disordered state when being placed on the vibration feeder, transversely and vertically overlapped in a disordered mode, the overlapped and transversely and vertically disordered states of the sausages are improved in the vibration process of the vibration feeder, most sausages are placed transversely and parallelly, a small number of sausages are placed vertically above the transverse sausages, the sausages pretreated and shaped by the vibration feeder are conveyed to an alignment feeder, a driving motor of the alignment conveyor is electrically connected with a driving shaft of the alignment conveyor, and the driving motor is fixed to a shell of the alignment conveyor; when the driving motor drives the driving shaft to rotate, the belt sleeved on the outer walls of the driving shaft and the driven shaft is driven to rotate, the belt drives the driven shaft to rotate, and the continuous conveying process of the belt is realized; although the steering assembly is also provided on the vibrating feeder, when the sausage is conveyed from the vibrating feeder to the aligning feeder, the vibrating feeder and the aligning feeder have a certain height gap, so that the sausage may be overlapped. The vibration feeder is an auxiliary feeding equipment for automatic assembling or automatic processing machine, and can form ordered arrangement of various materials for conveying.

Further, the vibrating feeder comprises a second belt and a motor assembly for driving the second belt; first belt with the second belt is the bilayer structure of raised grain form, and the inlayer is for laminating in the smooth lateral wall of driving shaft and driven shaft, and the outer smooth bellied raised grain form that is intermittent type nature, the raised grain height of first belt is two fifths of sausage diameter. The belt lateral surface of wavy line form for the belt outside is equipped with intermittent type nature sunken, and horizontal sausage can be placed to these horizontal caves, makes cylindric sausage arrange more stably neatly on the belt, is convenient for subsequent letter sorting and packing. The sunken height of first belt is two fifths of sausage diameter for first belt does not wrap the sausage completely, and when the follow-up belt of being convenient for rotated, the sausage fell into the partial shipment feeder more smoothly on.

Further, the corrugation height of the second belt is equal to one-half of the corrugation height of the first belt. The depressions of the second belt are smaller than the depressions of the first belt, the vibration feeder vibrates during transportation, if the height of the depressions is designed to be large, sausages fall after vibration and possibly collide with the protrusions between the adjacent depressions to possibly damage the sausages, and therefore the heights are designed to be small, and the completeness of the sausages is guaranteed while the sausages are shaped.

Further, the alignment feeder further comprises a frame plate fixed on the frame and arranged on the periphery of the first belt. The sausage can be placed on the shelf board to slide down.

Furthermore, the steering assembly comprises cross rods, two ends of each cross rod are fixed to two sides of the rack respectively, and the distance from the lowest position of each cross rod to the belt is equal to the diameter of five sixths of sausage. The transverse rod is a smooth cylindrical body, and the sausage in the vertical direction or the inclined direction is pushed to the transverse direction until the sausage falls into the recess of the belt. The height of the cross bar is set to be smaller than the diameter of the sausage, and the vertical or horizontal sausage is placed and directly transported to the rear without turning.

Further, the vibrating feeder, the arraying feeder and the split charging feeder are sequentially arranged from high to low in vertical height.

Further, the partial shipment feeder is including the bottom plate that is fixed in the frame, be equipped with the recess on the bottom plate, the bottom plate top is equipped with latticed slide, the slide bottom be equipped with the sliding block of recess adaptation, the sliding block wears to be equipped with the lead screw along the slide moving direction, be equipped with on the bottom plate with lead screw fixed connection drive lead screw rotates and then drives the horizontal motor that the slide slided. The horizontal motor drives the screw rod to rotate, and then the sliding block slides in the groove to drive the sliding plate to move. The latticed sliding plates can receive sausages conveyed by the arraying feeder, the sausages are conveyed to the lower part of the robot by the sliding plates under the action of the horizontal motor, the robot jaws clamp the sausages, and the subsequent packaging process is completed. The sausage feeding machine is characterized in that a gravity sensor electrically connected with a horizontal motor is arranged at the bottom of the sliding plate, before the sausage placing machine runs, frame plates of the whole feeder are fixed on the rack, a gap is formed between the lower side of the first belt and the rack, the sliding plate can be arranged in the gap, only one or two grids are exposed at the leftmost end of the sliding plate below the whole feeder, when a sausage falls into the sliding plate, the gravity sensor receives information and transmits the information to the horizontal motor, the horizontal motor is started, the conveying speed of the sliding plate and the first belt is consistent, the sausage is conveyed to the position below the robot, after the robot finishes clamping, the gravity sensor receives the information of the unloaded sliding plate and transmits the information to the horizontal motor, the horizontal motor drives the lead screw to rotate reversely, the sliding plate continues to be conveyed to the rightmost end of the groove, and the sausage; meanwhile, the time gap of the rotating frequency of the vibrating feeder and the rotating frequency of the whole-column feeder are equal to the time gap of the sliding plate in the subpackaging feeder, wherein the sliding plate completes the robot sorting from right to left and then moves to the right side back and forth.

Further, when the subpackaging feeder is conveyed to the tail end of the rack, the subpackaging feeder is arranged below the robot for clamping the sausages.

To sum up, the utility model discloses compare in prior art's beneficial effect and be:

(1) the first belt and the second belt in the utility model are designed with the outer side waves, so that sausages can be automatically shaped to be uniformly and transversely placed in the conveying process and are perpendicular to the conveying direction, and the sausages are arranged in the middle of the wavy gap in the conveying process, so that the sausage position is fixed, and the sausages are prevented from colliding with each other in the conveying process to influence the sausage appearance; meanwhile, sausages which are arranged and formed in advance can be automatically conveyed into the grids of the sliding plate after being conveyed, so that the subsequent robot can clamp the sausages smoothly, the design greatly improves the working efficiency of the sausage placing machine, reduces the workload of operators and improves the working efficiency;

(2) the design of the steering assembly in the utility model leads the sausages stacked on the wavy clearance of the first belt and the second belt to be steered under the pushing of the steering assembly until the sausages horizontally and transversely fall into the wavy clearance, the design leads a small number of sausage assemblies to be capable of automatically steering in the transportation process, the sausages are not damaged, and simultaneously, the work efficiency of operators is improved;

(3) the utility model discloses simple structure, convenient to use, application range is wide, and stability is excellent, and the degree of accuracy is high, is suitable for sausage production technology to and all can use in rectangular cylindric product packaging technology.

Drawings

FIG. 1 is a schematic structural view of a combined robot intestine-placing machine of the present invention

FIG. 2 is a schematic view of the structure of the first belt in the feeder of the present invention

FIG. 3 is a schematic view of the structure of the vibration feeder of the present invention

FIG. 4 is a schematic view of the structure of the feeder in the present invention

FIG. 5 is a schematic view of the structure of the middle split charging feeder of the present invention

FIG. 6 is a schematic structural view of the middle slide plate and the sliding block of the present invention

Labeled as: 1-frame, 2-vibration feeder, 3-array feeder, 4-split charging feeder, 5-robot, 6-driving shaft, 7-driven shaft, 8-first belt, 9-second belt, 10-frame plate, 11-cross bar, 12-bottom plate, 13-groove, 14-sliding plate, 15-sliding block, 16-lead screw and 17-horizontal motor.

Detailed Description

All features disclosed in this specification may be combined in any combination, except features and/or steps that are mutually exclusive.

In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to fig. 1 to 6 and specific examples.

Example 1

A combined robot sausage placing machine comprises a rack 1, wherein a vibration feeder 2, an array feeder 3 and a subpackage feeder 4 are sequentially and fixedly connected to the rack 1, and steering assemblies convenient for sausage steering and fixing to the rack 1 are arranged above the vibration feeder 2 and the array feeder 3; frame 1 is close to partial shipment feeder 4 department and is equipped with robot 5 that is used for removing sausage to closing device, the first belt 8 of driving shaft 6 and driven shaft 7 is located including the driving motor that is fixed in frame 1, the driving shaft 6 of being connected with the driving motor electricity, the driven shaft 7 that is fixed in frame 1, cover to permutation feeder 3, 8 lateral surfaces of first belt are the raised grain shape along the belt direction of motion.

The method comprises the following steps of conveying pretreated sausages to a vibration feeder 2, wherein the sausages are placed in a disordered state when being placed on the vibration feeder 2, transversely and vertically overlapped in a disordered manner, the overlapped and transversely and vertically disordered states of the sausages are improved in the vibration process of the vibration feeder 2, most sausages are transversely placed in parallel, a small number of sausages are vertically placed above the transverse sausages, the sausages pretreated and shaped by the vibration feeder 2 are conveyed to an alignment feeder 3, a driving motor of the alignment conveyor is electrically connected with a driving shaft 6 of the alignment conveyor, and the driving motor is fixed to a shell of the alignment conveyor; when the driving motor drives the driving shaft 6 to rotate, the belt sleeved on the outer walls of the driving shaft 6 and the driven shaft 7 is driven to rotate, the driven shaft 7 is driven to rotate by the belt, the continuous conveying process of the belt is realized, the inner side and the outer side of the belt are arranged differently, the inner side of the belt is smoothly attached to the outer sides of the driving shaft 6 and the driven shaft 7, and the outer side of the belt is wavy, at the moment, transverse sausages which are conveyed from the vibration feeder 2 and are perpendicular to the conveying direction just enter a sunken part on the outer side wall of the wavy belt, and a small amount of vertical or oblique sausages cannot be in the sunken part but are above the sunken or transverse sausages, so that under the action of a steering assembly on the whole-column feeder 3, the rotating direction is up to the sunken part on the belt, and then the sausages are continuously conveyed to; although the steering unit is provided in the vibrating feeder 2, the sausage may overlap because the vibrating feeder 2 and the aligning feeder 3 have a certain height gap when the sausage is transferred from the vibrating feeder 2 to the aligning feeder 3. The vibration feeder 2 is an auxiliary feeding device of an automatic assembly or automatic processing machine, which can form various materials into ordered arrangement for conveying, and the vibration feeder 2 can be a Sichuan-GZV/GZVK miniature electromagnetic vibration feeder of a Sichuan-Sichuan vibration machinery factory in New rural areas.

Example 2

According to embodiment 1, the vibrating feeder 2 comprises a second belt 9 and a motor assembly for driving the second belt 9; first belt 8 with second belt 9 is the bilayer structure of raised grain form, and the inlayer is for laminating in the smooth lateral wall of driving shaft 6 and driven shaft 7, and the outer smooth bellied raised grain form of intermittent type nature, the raised grain height of first belt 8 is two fifths of sausage diameter. The belt lateral surface of wavy line form for the belt outside is equipped with intermittent type nature sunken, and horizontal sausage can be placed to these horizontal caves, makes cylindric sausage arrange more stably neatly on the belt, is convenient for subsequent letter sorting and packing. The sunken height of first belt 8 is two fifths of sausage diameter for first belt 8 does not wrap the sausage completely, and when the follow-up belt of being convenient for rotated, the sausage fell into on partial shipment feeder 4 more smoothly.

Example 3

According to embodiment 2, the height of the corrugations of the second belt 9 is equal to half the height of the corrugations of the first belt 8. The depressions of the second belt 9 are smaller than the depressions of the first belt 8, the vibrating feeder 2 vibrates during transportation, if the height of the depressions is designed to be large, sausages fall after vibrating and may collide with the protrusions between adjacent depressions to damage the sausages, and therefore the heights are designed to be small, and the integrity of the sausages is guaranteed while the sausages are shaped.

Example 4

Based on embodiment 1, the alignment feeder 3 further includes a frame plate 10 fixed to the frame 1 and disposed on the periphery of the first belt 8. The frame plate 10 is designed to prevent the sausage from slipping off.

Example 5

Based on embodiment 1, the steering assembly comprises a cross rod 11, two ends of the cross rod are respectively fixed on two sides of the rack 1, and the distance from the lowest position of the cross rod 11 to the belt is equal to five sixths of sausage diameter. The cross bar 11 is a smooth cylindrical body and pushes the sausages which are vertical or inclined to the transverse direction until the sausages fall into the concave of the belt. The height of the cross bar 11 is set to be smaller than the diameter of the sausage, and the vertical or horizontal sausage is placed and directly transported to the rear without turning.

Example 6

Based on example 1, the vibrating feeder 2, the aligning feeder 3, and the sorting feeder 4 are arranged in the vertical height order from the top to the bottom.

Example 7

Based on embodiment 1, partial shipment feeder 4 is including being fixed in bottom plate 12 of frame 1, be equipped with recess 13 on bottom plate 12, bottom plate 12 top is equipped with latticed slide 14, slide 14 bottom be equipped with the sliding block 15 of recess 13 adaptation, sliding block 15 wears to be equipped with lead screw 16 in the slide 14 moving direction, be equipped with on bottom plate 12 with lead screw 16 fixed connection drive lead screw 16 rotates and then drives the horizontal motor 17 that slide 14 slided. The horizontal motor 17 drives the screw rod 16 to rotate, and the sliding block 15 slides in the groove 13, so as to drive the sliding plate 14 to move. The latticed sliding plate 14 can receive sausages conveyed by the arraying feeder 3, the sausages are conveyed to the lower part of the robot 5 by the sliding plate 14 under the action of the horizontal motor 17, and the robot 5 clamps the sausages by claws to finish the subsequent packaging process. The bottom of the sliding plate 14 is provided with a gravity sensor which is electrically connected with the horizontal motor 17, before the intestine swinging machine runs, the frame plates 10 of the whole feeder 3 are fixed on the frame 1, so that a gap is arranged between the lower part of the first belt 8 and the frame 1, and the slide 14 can be placed in the gap, the leftmost end of the slide 14 is placed under the entire row of feeders 3 to expose only one or two grids outside, when a sausage falls into the slide plate 14, the gravity sensor receives information and transmits the information to the horizontal motor 17, and then the horizontal motor 17 is started, the conveying speed of the sliding plate 14 is consistent with that of the first belt 8, the sausage is conveyed to the position below the robot 5, after the robot 5 finishes clamping, the gravity sensor receives information of the unloaded sliding plate 14 and transmits the information to the horizontal motor 17, the horizontal motor 17 drives the screw rod 16 to rotate reversely, the sliding plate 14 is continuously transported to the rightmost end of the groove 13, and sausages are continuously delivered; while the time gap of the rotation frequency of the vibrating feeder 2 and the aligning feeder 3 is equal to the time gap of the slide 14 in the separate feeder 4 from the right to the left to complete the sorting by the robot 5 and then to move to the right one round. The gravity sensor can be selected from a Japanese MTO import S-shaped load cell LRD (the range of measurement is selected to be 0-10kg, 10-20kg, 30-50kg and the like). The robot 5 for sorting the sausages can adopt a two-shaft parallel spider-hand robot 5 with the German BLIZX model number BX 2-800/1000/1500.

Example 8

Based on the embodiment 1, the subpackaging feeder 4 is arranged below the robot 5 for clamping the sausages when being transported to the tail end of the frame 1.

The above-mentioned embodiments only express the specific embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for those skilled in the art, without departing from the technical idea of the present application, several changes and modifications can be made, which are all within the protection scope of the present application.

Claims (8)

1. The utility model provides a modular robot pendulum intestines machine, includes frame (1), its characterized in that: the sausage filling machine is characterized in that a vibration feeder (2), an alignment feeder (3) and a subpackaging feeder (4) are sequentially and fixedly connected to the rack (1), and steering assemblies convenient for sausage steering and fixing to the rack (1) are arranged above the vibration feeder (2) and the alignment feeder (3); frame (1) is close to partial shipment feeder (4) department and is equipped with robot (5) that are used for removing sausage to closing device, permutation feeder (3) are including being fixed in driving motor of frame (1), driving shaft (6) be connected with the driving motor electricity, driven shaft (7) that are fixed in frame (1), first belt (8) of driving shaft (6) and driven shaft (7) are located to the cover, first belt (8) lateral surface is the raised grain shape along first belt (8) direction of motion.

2. The combined robotic intestine swinging machine according to claim 1, wherein: the vibrating feeder (2) comprises a second belt (9) and a motor assembly for driving the second belt (9); first belt (8) with second belt (9) are the bilayer structure of raised grain form, and the inlayer is for laminating in the smooth lateral wall of driving shaft (6) and driven shaft (7), and the outer smooth bellied raised grain form of intermittent type nature, the raised grain height of first belt (8) is two fifths of sausage diameter.

3. The combined robotic intestine swinging machine according to claim 2, wherein: the height of the corrugations of the second belt (9) is equal to one half of the height of the corrugations of the first belt (8).

4. The combined robotic intestine swinging machine according to claim 1, wherein: the whole-row feeder (3) also comprises a frame plate (10) which is fixed on the frame (1) and is arranged on the periphery of the first belt (8).

5. The combined robotic intestine swinging machine according to claim 1, wherein: the steering assembly comprises cross rods (11) with two ends respectively fixed to two sides of the rack (1), and the distance from the lowest position of each cross rod (11) to the belt is equal to five sixths of sausage diameter.

6. The combined robotic intestine swinging machine according to claim 1, wherein: the vibrating feeder (2), the arraying feeder (3) and the split charging feeder (4) are sequentially arranged from high to low in vertical height.

7. The combined robotic intestine swinging machine according to claim 1, wherein: partial shipment feeder (4) is including bottom plate (12) that are fixed in frame (1), be equipped with recess (13) on bottom plate (12), bottom plate (12) top is equipped with latticed slide (14), slide (14) bottom be equipped with sliding block (15) of recess (13) adaptation, wearing to be equipped with lead screw (16) in slide (14) moving direction in sliding block (15), be equipped with on bottom plate (12) with lead screw (16) fixed connection drive lead screw (16) rotate and then drive horizontal motor (17) that slide (14) slided.

8. The combined robotic intestine swinging machine according to claim 1, wherein: the subpackaging feeder (4) is arranged below the robot (5) for clamping the sausages when being transported to the tail end of the rack (1).