CN213057689U - Food vanning device and spider manipulator thereof - Google Patents
Food vanning device and spider manipulator thereof Download PDFInfo
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- CN213057689U CN213057689U CN202021556473.7U CN202021556473U CN213057689U CN 213057689 U CN213057689 U CN 213057689U CN 202021556473 U CN202021556473 U CN 202021556473U CN 213057689 U CN213057689 U CN 213057689U
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- 241000239290 Araneae Species 0.000 title claims abstract description 29
- 235000013305 food Nutrition 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims description 29
- 230000000149 penetrating effect Effects 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 15
- 235000015243 ice cream Nutrition 0.000 description 5
- 230000000903 blocking effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model relates to a food vanning device and spider manipulator thereof, spider manipulator includes the fixed plate, installs in the motor support of every limit edge of fixed plate, is fixed in the servo motor of motor support, connects in the swinging boom of servo motor output, connect in the terminal connecting rod of swinging boom, set up in the terminal dish that bears of connecting rod, be fixed in the subassembly that snatchs of bearing the dish bottom, be located a plurality of regulation poles at a plurality of connecting rod centers, set up in the rod cover at a plurality of regulation pole both ends and control the cylinder that a plurality of regulation poles removed, the connecting rod is the elastic component structure, the connecting rod both ends are connected with the swinging boom, bear the dish through ball joint bearing respectively. The spider manipulator of the utility model realizes the accurate positioning of the grabbed materials by arranging the adjusting rod, and avoids the generation of the grabbing deviation condition; the connecting rod is the elastic component structure, is convenient for carry the material of snatching to other places, realizes the flexible regulation.
Description
Technical Field
The utility model relates to a packing vanning technical field, in particular to food vanning device and spider manipulator thereof.
Background
The current case packer that is used for food vanning is of a great variety, and traditional case packer can not remove the object to other positions fast, and traditional case packer's work efficiency is low, relatively accounts for the space moreover.
Chinese patent No. CN104943904A discloses an ice cream arranging and boxing system, wherein a transverse sorting mechanism is arranged to arrange ice cream in order, and a spider manipulator is used to grab the ice cream and place the ice cream in order in an ice cream box, and the spider manipulator is not accurate enough in material grabbing and positioning, and is easy to generate the situations of partial grabbing and weak grabbing.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems, the utility model aims at providing a snatch food vanning device and spider manipulator that handling efficiency is high, the regulation mode is nimble.
In order to achieve the above object, the utility model provides a following technical scheme: a food boxing device comprises a feeding conveyor belt, a spider manipulator fixed above the feeding conveyor belt and box conveying conveyor belts arranged on two sides of the feeding conveyor belt, wherein the spider manipulator comprises a fixed plate, a motor support arranged at the edge of each edge of the fixed plate, a servo motor fixed on the motor support, a rotating arm connected to the output end of the servo motor, a connecting rod connected to the tail end of the rotating arm, a bearing disc arranged at the tail end of the connecting rod, a grabbing component fixed at the bottom of the bearing disc, a plurality of adjusting rods positioned at the centers of the plurality of connecting rods, rod sleeves arranged at two ends of the plurality of adjusting rods and an air cylinder for controlling the plurality of adjusting rods to move, two ends of the connecting rod are respectively connected with the rotating arm and the bearing disc through ball joint bearings, and the rod sleeves at the upper ends of the plurality of the adjusting rods are, and the lower end rod sleeves of the plurality of adjusting rods are connected with the grabbing assembly through universal joints.
The fixing plate is roughly triangular, a first through hole penetrating through the upper surface and the lower surface of the fixing plate is formed in the center of the fixing plate, a connecting seat is fixed on the upper surface of the fixing plate, and the first through hole is located in the connecting seat.
3 the motor support is close to respectively in proper order 3 apex angles of fixed plate, 3 motor support inboard sets up an inner panel, the inner panel with the fixed plate is parallel, the inner panel has the second through-hole that runs through its upper and lower surface.
The spider manipulator further comprises a shaft sleeve fixed on the upper surface of the inner plate, an adjusting shaft is arranged in the shaft sleeve, the air cylinder is fixed at the upper end of the shaft sleeve, the adjusting rods are connected to the lower end of the shaft sleeve, a plurality of rod sleeves at the upper ends of the adjusting rods are connected with the adjusting shaft in the shaft sleeve through universal joints, and a plurality of rod sleeves at the lower ends of the adjusting rods are connected with the grabbing assembly through universal joints.
Two sets of send the case conveyer belt outside all to be equipped with a grade lever mechanism, a grade lever mechanism is including being fixed in send a plurality of supporting seats in the case conveyer belt outside, be fixed in every the cylindrical cover body, the level of supporting seat pass the regulation post of the cover body, be fixed in adjust terminal shelves pole fixing base and the shelves pole of post, a plurality of shelves pole fixing bases are located same water flat line, a grade pole is by a plurality of shelves pole fixing base is fixed.
The sleeve body is provided with a fourth through hole penetrating through the front surface and the rear surface of the sleeve body, the sleeve body is further provided with a screw hole which is inwards sunken from the upper end and communicated with the fourth through hole, and a bolt is installed in the screw hole.
And the outer sides of the box conveying conveyor belts are provided with deviation rectifying mechanisms, and the deviation rectifying mechanisms comprise deviation rectifying cylinders fixed on the outer sides of the box conveying conveyor belts and flat plates connected to the output ends of the deviation rectifying cylinders.
In order to achieve the above object, the utility model also provides the following technical scheme: a spider manipulator comprises a fixed plate, a motor support arranged at the edge of each edge of the fixed plate, a servo motor fixed on the motor support, a rotating arm connected to the output end of the servo motor, a connecting rod connected to the tail end of the rotating arm, a bearing disc arranged at the tail end of the connecting rod, a grabbing assembly fixed at the bottom of the bearing disc, a plurality of adjusting rods positioned at the centers of the plurality of adjusting rods, rod sleeves arranged at the two ends of the plurality of adjusting rods and an air cylinder for controlling the plurality of adjusting rods to move, wherein the two ends of the connecting rod are respectively connected with the rotating arm and the bearing disc through ball joint bearings, the rod sleeves at the upper ends of the plurality of adjusting rods are connected below the air cylinder through universal joints, and the rod sleeves at the lower ends of the plurality of adjusting rods.
Compared with the prior art, the beneficial effects of the utility model are that: the spider manipulators are arranged, so that the material can be alternately discharged into the boxes on the left side and the right side, and the working efficiency is high; the spider manipulator realizes accurate positioning of the grabbed materials by arranging the adjusting rod, so that the grabbing deviation condition is avoided; the connecting rod is the elastic component structure, is convenient for carry the material of snatching to other places, realizes the flexible regulation.
Drawings
FIG. 1 is a schematic view of the overall structure of the food boxing apparatus of the present invention;
FIG. 2 is a schematic structural diagram of the spider manipulator of FIG. 1;
FIG. 3 is another angle view of the spider manipulator of FIG. 1;
FIG. 4 is a schematic structural view of a spider manipulator assembly;
FIG. 5 is a rear view of the food container shown in FIG. 1 with the housing concealed;
FIG. 6 is a schematic view of the pushing mechanism shown in FIG. 5;
FIG. 7 is a schematic structural view of the gearshift lever mechanism of FIG. 5;
FIG. 8 is a schematic structural diagram of the deviation correcting mechanism in FIG. 5;
fig. 9 is a schematic structural view of the steering mechanism in fig. 5.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1 to 9, the present invention relates to a food boxing apparatus, which comprises a housing 1, a spider manipulator 2 fixed in the housing 1, a feeding conveyor belt 3 passing through the inside of the housing 1, box conveying conveyor belts 4 disposed at two sides of the feeding conveyor belt 3, and a steering mechanism 5 disposed at the end of one of the box conveying conveyor belts 4.
Referring to fig. 1, the housing 1 has a top rod 11, the upper end of the spider manipulator 2 is fixed with the top rod, and the lower end of the spider manipulator 2 is located above the feeding conveyor 3.
Referring to fig. 2, the spider robot 2 includes a fixing plate 21, a motor support 22 installed at each edge of the fixing plate 21, a servo motor 23 fixed to the motor support 22, a rotating arm 24 connected to an output end of the servo motor 23, a connecting rod 25 connected to a distal end of the rotating arm 24, a bearing tray 26 disposed at a distal end of the connecting rod 25, and a gripping assembly 27 fixed to a bottom of the bearing tray 26. Wherein, the connecting rod 25 is an elastic structure, so that the grabbed materials can be conveniently carried to other places, and the flexible adjustment is realized.
Referring to fig. 3, the fixing plate 21 is substantially triangular, and has a first through hole 211 penetrating through the upper and lower surfaces thereof at the center thereof, the connecting seat 28 is fixed on the upper surface of the fixing plate 21, and the first through hole 211 is located in the connecting seat 28. The 3 motor holders 22 are sequentially and respectively close to the 3 top corners of the fixing plate 21, an inner plate 221 is arranged on the inner side of the 3 motor holders 22, the inner plate 221 is parallel to the fixing plate 21, and the inner plate 221 has a second through hole (not shown) penetrating through the upper and lower surfaces of the inner plate. Two ends of the connecting rod 25 are respectively connected with the rotating arm 24 and the bearing disc 26 through ball joint bearings.
Referring to fig. 4, the spider robot 2 further includes a bushing 201 fixed to an upper surface of the inner plate 221, a cylinder 202 fixed to an upper end of the bushing 201, and a plurality of adjustment rods 203 connected to a lower end of the bushing 201. The sleeve 201 has an adjustment shaft (not shown) therein.
Referring to fig. 5, the feeding conveyor belt 3 is located between two sets of box conveying conveyor belts 4, the two sets of box conveying conveyor belts 4 comprise a left box conveying conveyor belt 41 and a right box conveying conveyor belt 42 which are arranged in parallel, and the length of the right box conveying conveyor belt 42 is greater than that of the left box conveying conveyor belt 41. The length of the feeding conveyor belt 3 is less than that of the left box conveying belt 41. A box body output conveyor belt 6 is arranged between the left box conveying conveyor belt 41 and the right box conveying conveyor belt 42, and the box body output conveyor belt 6 is positioned at the tail end of the feeding conveyor belt 3.
Referring to fig. 5, a pushing mechanism 411 is arranged outside the end of the left box conveying belt 41 and used for pushing the box filled with the materials to the right box conveying belt 42 through the box output conveying belt 6. Referring to fig. 6, the pushing mechanism 411 includes a cylinder fixing plate 4111 fixed outside the left box conveying belt 41, a side pushing cylinder 4112 fixed outside the cylinder fixing plate 4111, an L-shaped pushing plate 4113 fixed at an end of the pushing cylinder 4112, and a guide rod 4114 connected to the pushing plate 4113. A through hole is formed in the center of the cylinder fixing plate 4111, a piston rod of the side material pushing cylinder 4112 penetrates through the central through hole to be fixed with the material pushing plate 4113, guide sleeves 4115 are arranged on two sides of the through hole of the cylinder fixing plate 4111, and a guide rod 4114 penetrates through the guide sleeves to be fixed with the material pushing plate 4113.
Referring to fig. 7, in order to prevent the deviation of the box conveying process, a blocking lever mechanism 412 is arranged outside each of the left box conveying belt 41 and the right box conveying belt 42, and the blocking lever mechanism 412 comprises a plurality of supporting seats 4121 fixed outside the left box conveying belt 41, a cylindrical sleeve 4122 fixed on each supporting seat 4121, an adjusting column 4123 horizontally penetrating through the cylindrical sleeve 4122, a blocking lever fixing seat 4124 fixed at the tail end of the adjusting column 4123, and a blocking lever 4215.
Referring to fig. 7, the housing body 4122 has a fourth through-hole 41221 formed through front and rear surfaces thereof, and the housing body 4122 further has a screw hole recessed inward from an upper end thereof and communicating with the fourth through-hole 41221, and a bolt 41222 is installed in the screw hole for defining the adjusting cylinder 4123 in the fourth through-hole 41221. The plurality of lever fixing seats 4124 are located on the same horizontal line, and the lever 4215 is fixed by the plurality of lever fixing seats 4124.
Referring to fig. 8, the outer sides of the left box conveying belt 41 and the right box conveying belt 42 are further provided with a deviation rectifying mechanism 413, and the deviation rectifying mechanism 413 comprises a deviation rectifying cylinder 4131 fixed on the outer side of the left box conveying belt 41 and a flat plate 4132 connected to the output end of the deviation rectifying cylinder 4131. The deviation rectifying cylinder 4132 adjusts the deviated box by pushing the plate 4132.
The outer side of the tail end of the right box conveying belt 42 is also provided with a material pushing mechanism which is used for pushing the box body with the steering adjustment to the box body output conveying belt 6.
Referring to fig. 9, the steering mechanism 5 is fixed outside the right box conveying belt 42 and close to the material pushing mechanism, and the steering mechanism 5 includes a fixing frame 51, a driver 52 fixed on the upper end of the fixing frame 51, and a steering plate 53 fixed on the end of the driver 51. The deflector 53 includes a horizontal plate 531 connected to the actuator 52 and a vertical plate 532 vertically connected to both ends of the horizontal plate 531, and the vertical plate 532 has side plates 533 folded outward on both sides. The driver 52 controls the turning plate 53 to rotate, and the turning plate 53 covers the two sides of the box body to adjust the turning direction of the box body.
The utility model discloses a theory of operation: the empty boxes are conveyed to the spider manipulator 2 through the left box conveying belt 41 and the right box conveying belt 42, the spider manipulator 2 grabs materials and alternately discharges the materials into boxes on the left side and the right side, the filled boxes are continuously conveyed forwards, the boxes of the right box conveying belt 42 are conveyed to the steering mechanism 5, after the direction is adjusted, the boxes are pushed to the box output conveying belt 6 by the pushing mechanism, then the boxes of the left box conveying belt 41 are pushed to the right box conveying belt 42 by the pushing mechanism, and after the boxes are steered and adjusted by the steering mechanism 5, the boxes are pushed to the box output conveying belt 6 by the pushing mechanism.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A food vanning device which characterized in that: the automatic feeding device comprises a feeding conveyor belt, a spider manipulator fixed above the feeding conveyor belt and box conveying conveyor belts arranged on two sides of the feeding conveyor belt, wherein the spider manipulator comprises a fixed plate, a motor support arranged on the edge of each side of the fixed plate, a servo motor fixed on the motor support, a rotating arm connected to the output end of the servo motor, a connecting rod connected to the tail end of the rotating arm, a bearing disc arranged at the tail end of the connecting rod, a grabbing assembly fixed at the bottom of the bearing disc, a plurality of adjusting rods positioned at the centers of the plurality of connecting rods, rod sleeves arranged at two ends of the plurality of adjusting rods and an air cylinder for controlling the plurality of adjusting rods to move, the connecting rod is of an elastic piece structure, two ends of the connecting rod are respectively connected with the rotating arm and the bearing disc through ball joint bearings, and the rod sleeves at the upper ends, and the lower end rod sleeves of the plurality of adjusting rods are connected with the grabbing assembly through universal joints.
2. The food product boxing apparatus in accordance with claim 1, wherein: the fixing plate is roughly triangular, a first through hole penetrating through the upper surface and the lower surface of the fixing plate is formed in the center of the fixing plate, a connecting seat is fixed on the upper surface of the fixing plate, and the first through hole is located in the connecting seat.
3. The food product boxing apparatus in accordance with claim 2, wherein: 3 the motor support is close to respectively in proper order 3 apex angles of fixed plate, 3 motor support inboard sets up an inner panel, the inner panel with the fixed plate is parallel, the inner panel has the second through-hole that runs through its upper and lower surface.
4. The food product boxing apparatus in accordance with claim 3, wherein: the spider manipulator further comprises a shaft sleeve fixed on the upper surface of the inner plate, an adjusting shaft is arranged in the shaft sleeve, the air cylinder is fixed at the upper end of the shaft sleeve, the adjusting rods are connected to the lower end of the shaft sleeve, and rod sleeves at the upper ends of the adjusting rods are connected with the adjusting shaft in the shaft sleeve through universal joints.
5. The food product boxing apparatus in accordance with claim 1, wherein: two sets of send the case conveyer belt outside all to be equipped with a grade lever mechanism, a grade lever mechanism is including being fixed in send a plurality of supporting seats in the case conveyer belt outside, be fixed in every the cylindrical cover body, the level of supporting seat pass the regulation post of the cover body, be fixed in adjust terminal shelves pole fixing base and the shelves pole of post, a plurality of shelves pole fixing bases are located same water flat line, a grade pole is by a plurality of shelves pole fixing base is fixed.
6. The food product boxing apparatus in accordance with claim 5, wherein: the sleeve body is provided with a fourth through hole penetrating through the front surface and the rear surface of the sleeve body, the sleeve body is further provided with a screw hole which is inwards sunken from the upper end and communicated with the fourth through hole, and a bolt is installed in the screw hole.
7. The food product boxing apparatus in accordance with claim 1, wherein: and the outer sides of the box conveying conveyor belts are provided with deviation rectifying mechanisms, and the deviation rectifying mechanisms comprise deviation rectifying cylinders fixed on the outer sides of the box conveying conveyor belts and flat plates connected to the output ends of the deviation rectifying cylinders.
8. A spider manipulator which is characterized in that: the device comprises a fixed plate, a motor support arranged at the edge of each edge of the fixed plate, a servo motor fixed on the motor support, a rotating arm connected to the output end of the servo motor, a connecting rod connected to the tail end of the rotating arm, a bearing disc arranged at the tail end of the connecting rod, a grabbing assembly fixed at the bottom of the bearing disc, a plurality of adjusting rods positioned at the centers of the plurality of connecting rods, rod sleeves arranged at two ends of the plurality of adjusting rods and an air cylinder for controlling the plurality of adjusting rods to move, wherein the connecting rod is of an elastic piece structure, two ends of the connecting rod are respectively connected with the rotating arm and the bearing disc through ball joint bearings, the rod sleeves at the upper ends of the plurality of adjusting rods are connected below the air cylinder through universal joints, and the rod sleeves at the lower ends of the.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021556473.7U CN213057689U (en) | 2020-07-31 | 2020-07-31 | Food vanning device and spider manipulator thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021556473.7U CN213057689U (en) | 2020-07-31 | 2020-07-31 | Food vanning device and spider manipulator thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213057689U true CN213057689U (en) | 2021-04-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021556473.7U Active CN213057689U (en) | 2020-07-31 | 2020-07-31 | Food vanning device and spider manipulator thereof |
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| CN (1) | CN213057689U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113859646A (en) * | 2021-09-09 | 2021-12-31 | 泉州中国兵器装备集团特种机器人研发中心 | Automatic sorting and bagging equipment |
| CN114655494A (en) * | 2022-02-08 | 2022-06-24 | 红云红河烟草(集团)有限责任公司 | Special-shaped cigarette packaging production line |
| CN115140340A (en) * | 2022-06-06 | 2022-10-04 | 河南省烟草公司许昌市公司 | Automatic tobacco leaf sucking and supplementing device |
-
2020
- 2020-07-31 CN CN202021556473.7U patent/CN213057689U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113859646A (en) * | 2021-09-09 | 2021-12-31 | 泉州中国兵器装备集团特种机器人研发中心 | Automatic sorting and bagging equipment |
| CN114655494A (en) * | 2022-02-08 | 2022-06-24 | 红云红河烟草(集团)有限责任公司 | Special-shaped cigarette packaging production line |
| CN115140340A (en) * | 2022-06-06 | 2022-10-04 | 河南省烟草公司许昌市公司 | Automatic tobacco leaf sucking and supplementing device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Food packaging device and its spider manipulator Granted publication date: 20210427 Pledgee: Zhejiang Tailong Commercial Bank Co.,Ltd. Taicang Branch Pledgor: Suzhou shell Automation Technology Co.,Ltd. Registration number: Y2024980005506 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |