CN215964874U

CN215964874U - Tableware sorting machine based on manipulator

Info

Publication number: CN215964874U
Application number: CN202121967951.8U
Authority: CN
Inventors: 肖大放; 周家新
Original assignee: Huaxi Intelligent Technology Guangdong Co ltd; Dongguan Dayan Automation Equipment Co ltd
Current assignee: Huaxi Intelligent Technology Guangdong Co ltd; Dongguan Dayan Automation Equipment Co ltd
Priority date: 2021-08-20
Filing date: 2021-08-20
Publication date: 2022-03-08
Anticipated expiration: 2031-08-20

Abstract

A tableware sorting machine based on a mechanical arm is provided with an elongated frame, comprising: the tableware conveying belt conveys tableware consisting of dishes, bowls, soup bowls, tea cups and wine cups along the length direction of the rack; the sorting devices are provided with a plurality of same structures and are used for classifying and sorting the tableware on the tableware conveying belt; and the collecting and conveying device is provided with a plurality of recovery conveying belts matched with the sorting devices in number. In the embodiment of the utility model, after the disordered tableware on the tableware conveying belt is sorted and selected by the sorting device, the tableware is conveyed by the collecting and conveying device according to the type of the tableware, so that the tableware is simply, conveniently and quickly sorted and classified, the sorting efficiency is improved, and the manual labor intensity is reduced.

Description

Tableware sorting machine based on manipulator

Technical Field

The utility model belongs to the technical field of tableware sorting and classifying, and particularly relates to a sorting machine for sorting and classifying various mixed tableware.

Background

At present, the catering industry is always the mainstream industry of people consumption, most of the whole set of tableware at present comprises dishes, bowls, soup bowls, tea cups and wine cups, and in order to improve the efficiency, the used tableware is subjected to concentrated cleaning and disinfection treatment by a production center, and is assembled into complete tableware again and packaged for use again.

In the process of washing and sterilizing the tableware, all the tableware are mixed together to carry out uniform washing and sterilizing work, and the treated tableware is uniformly assembled and packed, but because the tableware is washed and sterilized under the mixed state, the tableware after being washed and sterilized is still in the mixed state, so that the workload of assembling and packing in the state is very large, and the tableware in the mixed state needs to be sorted in advance and sorted and collected in a classified manner, thereby facilitating the subsequent assembling and packing work.

Present letter sorting work is realized through the manual work room mostly still to increased tableware processing's overall cost, simultaneously owing to the condition that destroys the tableware probably appears in the in-process of washing and disinfection, just so greatly increased the operative employee at the work risk of carrying out the letter sorting.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a tableware sorting machine which can automatically sort and classify mixed tableware, thereby reducing the labor input and improving the production efficiency.

The technical scheme adopted by the utility model for solving the technical problem is as follows:

the utility model provides a tableware sorting machine based on manipulator, has long frame, still including:

the tableware conveying belt is arranged at the top of the rack along the length direction of the rack and conveys tableware consisting of dishes, bowls, soup bowls, tea cups and wine cups along the length direction of the rack;

the sorting device is provided with a plurality of sorting devices with the same structure, the sorting devices are arranged on the rack side by side along the conveying direction of the tableware conveying belt and are positioned above the tableware conveying belt so as to sort and sort the tableware positioned on the tableware conveying belt, and the sorting devices comprise a plurality of sorting devices

A sorting assembly located above the tableware conveying belt for sorting and carrying the tableware located above the tableware conveying belt,

a transfer rail for receiving sorted dishes, the transfer rail having an outflow end for the dishes to flow out;

collect conveyor, collect conveyor have a plurality of with sorting device quantity assorted retrieve the conveyer belt and constitute, retrieve conveyer belt one end respectively with the orbital outflow end intercommunication of transporting.

Preferably, the sorting assembly comprises a portal frame which spans the tableware conveying belt and is fixedly arranged on the rack, and a sorting manipulator which is fixedly arranged on a cross beam of the portal frame, the tail end of the sorting manipulator is provided with a mounting plate in the vertical direction, a sliding block which is in sliding fit with the mounting plate is arranged on the side surface of the mounting plate, and a transmission screw rod, a nut which forms threaded fit with the transmission screw rod and moves back and forth along with the rotation of the transmission screw rod and a motor which is fixed at the end part of the mounting plate and drives the transmission screw rod to rotate are also vertically arranged on the side surface, the nut is fixedly connected with the sliding block, a sorting rod extending downwards is also fixedly connected on the sliding block, and a suction nozzle is fixedly arranged at the lower end of the sorting rod, one end of the suction nozzle is connected with an external air compressor, and the other end of the suction nozzle is used for sucking the tableware on the tableware conveying belt.

Preferably, sorting device still be configured with the middle conveyer belt that the tableware conveyer belt set up side by side, the middle conveyer belt have an exit end, the exit end with transfer track side overlap joint, and be located middle conveyer belt side is provided with the curb plate, disposes the stirring board that a plurality of equidistant settings were on middle conveyer belt on its opposite side, stir the board and keep away from transfer orbital one end be with the backplate portion that the curb plate is parallel to each other, stir the orientation of board transfer track one end constitute with backplate portion is connected and to middle conveyer belt inside bends and extends stirring portion simultaneously.

Preferably, the recycling conveyor belts are gathered at one end far away from the sorting device and arranged side by side to form a gathering area, the gathering area is provided with output ends for outputting tableware respectively positioned above the recycling conveyor belts, transfer conveyor belts positioned below the recycling conveyor belts are arranged at the output ends, the conveying direction of the transfer conveyor belts is the same as the conveying direction of the recycling conveyor belts, a plurality of partition plates along the transmission direction of the conveyor belts are arranged on the transfer conveyor belts, the upper surfaces of the transfer conveyor belts are divided into conveying areas matched with the recycling conveyor belts in number direction by the partition plates, and the conveying areas correspond to the recycling conveyor belts one by one so that the tableware positioned on the recycling conveyor belts can flow into the conveying areas.

Preferably, both sides of the recovery conveyer belt are provided with side walls, and the side walls seal both side edges of the recovery conveyer belt.

Compared with the prior art, the utility model has the beneficial effects that:

a plurality of letter sorting manipulator carries out corresponding selection to the mixed unordered tableware of intermixture that is located on the tableware conveyer belt, every letter sorting manipulator sorts a tableware wherein, and place it on transporting the track, carry it and go out, wherein, constitute a plurality of recovery conveyer belts that collect conveyor respectively with the transport track connection on the sorting device, make, be located the tableware of being sorted out on transporting the track and transport to on retrieving the conveyer belt, carry out carrying out respectively according to the type of tableware by it and carry away, and then the realization is with the categorised clarity of the multiple tableware letter sorting of mixing together. Sorting work realizes that equipment is automatic to be realized, greatly reduced artificial input, snatchs the tableware by the letter sorting manipulator to sort, greatly reduced operative employee's factor of safety, many the one end of keeping away from sorting device at the recovery conveyer belt simultaneously retrieve carry the bag and set up side by side each other, thereby the realization is in the same place the tableware collection of different grade type, so that next work flow carries out processing to it.

The utility model is further described with reference to the drawings and embodiments in the following description.

Drawings

FIG. 1 is a schematic diagram of the present invention.

Fig. 2 is a schematic structural view of the sorting device of the present invention.

Fig. 3 is a schematic structural view of a sorting manipulator in the utility model.

Fig. 4 is a top view of the intermediate conveyor belt of the present invention.

FIG. 5 is a schematic view of the collective transfer device of the present invention.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

It should be noted that all directional indicators (such as up, down, left, right, front, and back) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions of "first", "second", and the like provided in the embodiments of the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

Referring to fig. 1 to 5, an embodiment of the present invention provides a tableware sorting machine based on a robot, which includes a rack 100 capable of being placed on a plane, the rack 100 is long, a tableware conveyor 101 is installed on a top surface of the rack 100 along a length direction of the rack, the tableware conveyor 101 conveys tableware including dishes, bowls, soup bowls, tea cups and wine cups along the length direction of the rack 100, the tableware is uniformly conveyed onto the tableware conveyor 101 after being cleaned and sterilized, and the tableware is not convenient to assemble into a complete set of tableware because the tableware is messy and disordered, so that the tableware needs to be sorted, and the dishes, the bowls, the soup bowls, the tea cups and the wine cups are separated from each other and conveyed respectively, so that subsequent processes can operate the tableware respectively.

As shown in fig. 2, a plurality of sorting devices 200 having the same structure are disposed above the tableware conveyor 101, the sorting devices 200 are disposed side by side on the rack 100 along the conveying direction of the tableware conveyor 101, and the sorting devices 200 are respectively used for sorting and classifying disordered tableware on the tableware conveyor 101. In this embodiment, the tableware conveyed by the tableware conveyor 101 is composed of a plurality of dishes, bowls, soup bowls, tea cups and wine cups, and for sorting and classifying the tableware, the number of the sorting devices 200 is 5, so as to adapt to the type and number of the tableware, and when the number of the components of the set of tableware is small, the number of the sorting devices 200 can be correspondingly reduced. The sorting device 200 comprises a sorting assembly 210 located above the tableware conveyor belt 101, the sorting assembly 210 is used for sorting and carrying the tableware on the tableware conveyor belt 101 after the tableware is picked, and the sorting device also comprises a transferring track 201 used for receiving the tableware picked by the sorting assembly 210, and an outflow end 202 for the tableware to flow out is arranged at the tail end of the transferring track 201 along the conveying direction of the transferring track 201.

Meanwhile, as shown in fig. 5, the sorting machine according to the embodiment of the present invention further includes a collecting and conveying device 300, the collecting and conveying device is composed of a plurality of recovering conveyor belts 310 whose number matches the number of the sorting devices 200, and one end of each of the recovering conveyor belts 310 is respectively communicated with the outflow end 202 of the transfer track 201, so that the sorting assembly 210 sorts the tableware on the tableware conveyor belt 101, and then flows into the recovering conveyor belts 310 through the transfer track 201, and further sorts the disordered tableware on the tableware conveyor belt 101 to the recovering conveyor belts 310 according to the type of the tableware, thereby realizing the sorting and separating operation of the tableware, so as to facilitate the subsequent processing and treatment.

In an embodiment, as shown in fig. 3, the sorting assembly 210 includes a gantry 211 crossing the tableware conveying belt 101 and fixedly mounted on the rack 100, and a sorting robot 212 fixedly mounted on a beam of the gantry 211, the sorting robot 212 may be a three-axis scara robot, and a vertical mounting plate 213 is disposed at an end of the sorting robot 212, a sliding block 214 configured to slide with the mounting plate 213 is disposed on a side surface of the mounting plate 213, a transmission screw 215 is vertically disposed on the side surface, a nut 216 configured to screw with the transmission screw 215 and linearly reciprocate along the transmission screw 215 as the transmission screw 215 rotates, and a motor (not shown) fixedly mounted on a top of the mounting plate 213 for driving the transmission screw 215 to rotate, wherein the nut 216 is fixedly connected to the sliding block 214, so that the motor drives the transmission screw 215 to rotate and the nut 216 drives the sliding block 214 to move up and down, a sorting rod 218 extending downward is fixedly mounted on the sliding block 214, and a suction nozzle 219 is fixedly mounted at the lower end of the sorting rod 218, wherein one section of the suction nozzle 219 is connected with an external air compressor, and the other end of the suction nozzle 219 is used for sucking the tableware on the tableware conveying belt 101. Meanwhile, each sorting device 200 is suspended with a ccd camera (not shown in the figure) which is arranged at the front end of the sorting manipulator 212 along the conveying direction of the tableware conveying belt 101 and is electrically connected with the sorting manipulator 212 for taking pictures of disordered tableware on the tableware conveying belt 101 so as to be accurately grabbed by the sorting manipulator 212.

In use, a plurality of dishes, bowls, soup bowls, tea cups and wine cups are placed on the tableware conveying belt 101 to be conveyed after the previous process, and the plurality of tableware are disordered after being processed by the previous process, so that the disordered tableware is required to be sorted and classified to be conveyed independently according to the type of the tableware in order to be convenient for assembly and packaging of the tableware, and the tableware can be processed by the subsequent process conveniently. Wherein, the tableware of various types and more quantity on the tableware conveyer belt 101 is conveyed, at this time, one of the tableware is selected and sorted in any one sorting device 200 on the tableware conveyer belt 101, and the ccd camera on the sorting device 200 photographs the tableware on the tableware conveyer belt 101, thereby determining the type of the tableware to be selected and sorted and the corresponding position information, the sorting manipulator 212 rotates and rotates under the driving of a motor (not shown), the transmission screw 215 rotates, further the sorting rod 218 is driven to move up and down along the direction of the screw and sucks the tableware on the tableware conveyer belt 101 through the suction nozzle 219, meanwhile, the sorting manipulator 212 transmits and places the tableware on the transfer track 201 for transfer, at this time, the recovery conveyer belt 310 of the collection conveyer 300 is communicated with the outflow end 202 of the transfer track 201, therefore, the tableware flowing out through the transfer track 201 is transferred to the recovery conveyer belt 310, and the recovery conveyer belt 310 is a plurality of belts with the number matched with the number of the sorting devices 200, so that the tableware sorted and classified by the sorting devices 200 is respectively recovered and conveyed by the corresponding recovery conveyer belts 310, and then the sorting and classifying work of the disordered tableware on the tableware conveyer belt 101 is completed.

In an embodiment, as shown in fig. 4, the sorting apparatus 200 further has an intermediate conveyor belt 220, the intermediate conveyor belt 220 is used for storing a plurality of tableware which has been sucked by the sorting robot in advance, and the tableware is conveyed onto the transfer track 201 by the intermediate conveyor belt 220, so as to reduce the conveying pressure of the transfer track 201, and the overall efficiency of the apparatus is not reduced due to the lower transferring efficiency of the transfer track 201 caused by the faster sorting speed of the sorting robot 212, at this time, the intermediate conveyor belt 220 acts as an intermediate pre-storage device, so that the tableware is transferred on the intermediate conveyor belt 220 and then on the transfer track 201, the conveying pressure of the transfer track 201 is greatly reduced, the intermediate conveyor belt 220 is arranged side by side with the tableware conveyor belt 101, and has an outlet end 221 for the tableware to flow out, the outlet end 221 is overlapped with the side edge of the transfer track 201, so that the tableware flowing out through the outlet end 221 can fall into the transfer track 201, and a side plate for blocking the tableware is arranged on one side surface of the intermediate conveying belt 220, a plurality of pulse stirring plates 223 are arranged on the intermediate conveying belt 220 at equal intervals on the other side edge, one end of each stirring plate 223, far away from the transfer track 201, is a protection plate part 224 parallel to the side plate, one end of each stirring plate 223, facing the transfer track 201, is a stirring part 225 which is connected with the protection plate part 224 and extends while bending towards the central axis of the intermediate conveying plate, a spacing space for the conveyed tableware to pass is formed between the end part of each stirring part 225 and the side plate, wherein a clamping foot formed between each stirring part 225 and the corresponding protection plate part 224 is larger than 90 degrees and smaller than 180 degrees, so that the tableware can slide towards the side plate direction along the side surface of each stirring part 225 after being blocked by the stirring parts 225, and further, under the action of the stirring parts 225, the tableware can move towards the side plate direction of the intermediate conveying plate, and is conveyed by the middle conveying belt 220 in the interval space formed by the side plate and the shifting part 225 under the conveying of the middle conveying belt 220, namely, the tableware is conveyed to the transfer track 201 in parallel in the interval space formed by the shifting part 225 and the side plate for transmission, so that the tableware is sequentially conveyed to the transfer track 201 in sequence, and meanwhile, the quantity of the tableware passing through the interval space formed by the tableware is less through the limitation of the shifting plate 223 and the side plate, thereby greatly reducing the conveying pressure of the transfer track 201, and simultaneously improving the precision of conveying the tableware to the transfer track 201 by the middle conveying belt 220.

In the embodiment, a plurality of reclaiming conveyer belts 310 are gathered at one end far away from the sorting device 200 and arranged side by side to form a gathering area 301, wherein an output end 302 for outputting the food is arranged above the collecting area 301, and a transfer conveyor 320 is arranged below the output end 302, the transfer conveyor 320 has the same conveying direction as the recovery conveyor 310, and a plurality of partitions 321 are disposed on the transfer conveyor 320 along the conveying direction, the partition boards 321 divide the upper surface of the transfer conveyor 320 into conveying areas 322 with the number matching with that of the recovery conveyor 310, and the conveying areas 322 correspond to the recovery conveyor 310 one by one, so that the output end 302 of the tableware on the recovery conveyer 310 flows out and falls into the corresponding conveying area 322, and is transferred to the next processing station by the transfer conveyer 320. Meanwhile, the side walls 311 are disposed on both sides of the recycling conveyor belt 310, and the side walls 311 close both sides of the recycling conveyor belt 310, so that the tableware will not fall off the recycling conveyor belt 310 during the transportation of the tableware by the recycling conveyor belt 310, and will not be mixed with the tableware on the adjacent recycling conveyor belt 310 during the transportation.

Various other modifications and alterations of the disclosed structure and principles of the utility model will become apparent to those skilled in the art from this disclosure, and all such modifications and alterations are intended to be within the scope of the utility model.

Claims

1. The utility model provides a tableware sorting machine based on manipulator, has long frame, its characterized in that, including:

the collecting and conveying device is provided with a plurality of recovery conveying belts matched with the sorting devices in number, one end parts of the recovery conveying belts are respectively communicated with the outflow ends of the transfer tracks, and the other ends of the recovery conveying belts extend to the next procedure.

2. The manipulator-based tableware sorting machine according to claim 1, wherein the sorting assembly comprises a portal frame crossing the tableware conveying belt and fixedly mounted on the rack, and a sorting manipulator fixedly mounted on a cross beam of the portal frame, a mounting plate in a vertical direction is arranged at the end of the sorting manipulator, a slide block forming a sliding fit with the mounting plate is arranged on a side surface of the mounting plate, a transmission screw rod, a nut forming a threaded fit with the transmission screw rod and reciprocating along with the rotation of the transmission screw rod, and a motor fixed at the end of the mounting plate for driving the transmission screw rod to rotate are vertically arranged on the side surface of the mounting plate, the nut is fixedly connected with the slide block, a sorting rod extending downwards is fixedly connected to the slide block, and a suction nozzle is fixedly mounted at the lower end of the sorting rod, one end of the suction nozzle is connected with an external air compressor, and the other end of the suction nozzle is used for sucking the tableware on the tableware conveying belt.

3. The manipulator-based tableware sorting machine according to claim 1, wherein the sorting device further comprises an intermediate conveyor arranged side by side with the tableware conveyor, the intermediate conveyor has an outlet end overlapping the side of the transfer track, a side plate is arranged on one side of the intermediate conveyor, a plurality of toggle plates are arranged on the other side of the intermediate conveyor at equal intervals on the intermediate conveyor, one end of the toggle plate away from the transfer track is a guard plate parallel to the side plate, and one end of the toggle plate facing the transfer track is connected with the guard plate and is bent into the intermediate conveyor while extending the toggle part.

4. The robot-based utensil sorter of claim 1 wherein a plurality of said reclaim conveyor belts are brought together at an end remote from said sorter and arranged side by side to form a collection area, the collecting area is provided with an output end for outputting the tableware respectively positioned on the recovery conveyer belt, and a transfer conveyor belt positioned below the recovery conveyor belt is arranged at the output end, the conveying direction of the transfer conveyor belt is the same as that of the recovery conveyor belt, a plurality of partition plates along the transmission direction of the conveyor belt are arranged on the transfer conveyor belt, the plurality of clapboards divide the upper surface of the transfer conveyor belt into conveying areas which are matched with the number of the recovery conveyor belts in the direction, the conveying areas correspond to the recovery conveying belts one by one, so that the tableware on the recovery conveying belts can flow into the conveying areas.

5. The robot-based plate sorter of claim 1 wherein the recovery conveyor has side walls on both sides that enclose both sides of the recovery conveyor.

6. The robot-based tableware sorter of claim 3 wherein the included angle between said toggle portion and said guard portion is greater than 90 degrees.