CN217995719U

CN217995719U - Automatic transfer system of carcass line

Info

Publication number: CN217995719U
Application number: CN202221249788.6U
Authority: CN
Inventors: 秦牧原; 嵇相辉; 汪轩; 王赞
Original assignee: Muyuan Meat Food Co ltd
Current assignee: Muyuan Meat Food Co ltd
Priority date: 2022-05-20
Filing date: 2022-05-20
Publication date: 2022-12-09
Anticipated expiration: 2032-05-20

Abstract

The utility model relates to the technical field of carcass line transfer, and discloses an automatic carcass line transfer system, which comprises a conveying track, a limiting component, a transfer mechanical arm and a control device, wherein the conveying track, the limiting component and the transfer mechanical arm are connected with a return line and are in signal connection with the control device; the limiting assembly is connected to the conveying track, and the free end of the limiting assembly can be relatively close to or far away from the conveying track so as to limit whether the shoulder pole hook can move along the conveying track; the transfer mechanical arm comprises a mounting seat, a clamping jaw assembly used for clamping or releasing the carcass and a motion assembly connected with the clamping jaw assembly and the mounting seat, wherein the motion assembly is used for driving the clamping jaw assembly to move between the conveying track and the cold chain carriage. Therefore, the automatic transfer of the carcasses and the automatic emptying of the shoulder pole hooks are realized, and the automation degree and the transfer efficiency are high.

Description

Automatic transfer system of carcass line

Technical Field

The utility model relates to a trunk line transports technical field, more specifically says, relates to an automatic transfer system of trunk line.

Background

The traditional carcass loading and transferring process is as follows: the carcass is conveyed to the tail end of a delivery track through a carcass line conveying mechanism by a delivery temporary storage room, a hook supporting person supports a shoulder pole hook on which the carcass is stably hung, an operating person operates a mechanical arm to insert the shoulder pole hook into the position of back leg meat of the carcass and transfers the back leg meat to a cold chain carriage, and an auxiliary person positioned in the cold chain carriage hangs the carcass forked on the mechanical arm on a hook in the cold chain carriage. After the mechanical arm forks the trunk, the hook holding personnel take the shoulder pole hook down and place the shoulder pole hook into the return wire for reuse.

Therefore, 3 persons are needed for the cooperation operation of a single delivery port, the manual demand is large, and the loading efficiency is low; the carcass is precooled before delivery, the overall temperature of a delivery port is low, the working environment is severe, and the carcass delivery is not suitable for long-term work of workers.

In conclusion, how to improve the efficiency and automation degree of carcass line transportation is an urgent problem to be solved by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing an automatic transfer system of carcass line has realized the automatic transportation of carcass and the automatic empty back of shoulder pole hook, and degree of automation and transportation are efficient.

In order to achieve the above object, the present invention provides the following technical solutions:

an automatic carcass line transferring system comprises a conveying track, a limiting assembly, a transferring mechanical arm and a control device, wherein the conveying track, the limiting assembly, the transferring mechanical arm and the control device are connected with a return line;

the limiting assembly is connected to the conveying track, and the free end of the limiting assembly can be relatively close to or far away from the conveying track so as to limit whether the shoulder pole hook can move along the conveying track;

the transfer arm includes the mount pad, is used for pressing from both sides the clamping jaw subassembly that presss from both sides tight or release the body and connects the clamping jaw subassembly with the motion subassembly of mount pad, the motion subassembly is used for driving the clamping jaw subassembly is in remove between delivery track and the cold chain carriage.

Preferably, the motion assembly includes at least one horizontal rotation assembly capable of rotating in a horizontal plane, at least one vertical rotation assembly capable of rotating in a vertical plane, and at least one lifting assembly capable of moving in a vertical direction, the fixing portion of the lifting assembly is connected with the mounting base, the fixing portion of the vertical rotation assembly is connected with the moving portion of the lifting assembly, the fixing portion of the horizontal rotation assembly is connected with the moving portion of the vertical rotation assembly, and the clamping jaw assembly is connected with the moving portion of the horizontal rotation assembly.

Preferably, horizontal rotating assembly includes wrist joint and elbow joint, wrist joint's removal portion with clamping jaw assembly connects, wrist joint's fixed part with elbow joint's removal portion is connected, elbow joint's fixed part with vertical rotating assembly's removal portion is connected.

Preferably, the conveying track comprises a horizontally arranged cross beam, a horizontally arranged straight rail and an inclined rail which is obliquely and downwardly arranged are sequentially arranged right below the cross beam along the conveying direction of the carcasses, and the tail end of the inclined rail is connected with the air return line;

the straight rail with the juncture of ramp is equipped with and is used for promoting the carrying pole hook carry the hook subassembly and be used for promoting the carrying pole hook is followed the gliding hook component that pushes away of ramp, carry the hook subassembly with push away the hook subassembly all install in on the crossbeam, just carry the hook subassembly with push away the hook subassembly all with controlling means signal connection.

Preferably, the limiting assembly comprises a first limiting part connected with the cross beam, the first limiting part can move in the vertical direction perpendicular to the extending direction of the cross beam, and when the first limiting part moves in the direction close to the inclined rail, the first limiting part can limit the shoulder pole hook from continuously sliding downwards along the inclined rail.

Preferably, the limiting assembly further includes a second limiting member connected to the cross beam, the second limiting member is movable in a vertical direction perpendicular to the extending direction of the cross beam, and a distance from the second limiting member to the front end of the ramp is smaller than a distance from the first limiting member to the front end of the ramp.

Preferably, the lifting hook assembly comprises a lifting hook cylinder and a lifting hook cylinder mounting plate connected with the cross beam, the lifting hook cylinder is mounted on the lifting hook cylinder mounting plate, and the axis direction of the lifting hook cylinder is perpendicular to the extending direction of the cross beam.

Preferably, push away the hook subassembly including push away the hook cylinder and with push away hook cylinder mounting bracket that the crossbeam is connected, push away the hook cylinder install in push away on the hook cylinder mounting bracket, push away the axis direction of hook cylinder with the extending direction of crossbeam is parallel.

The utility model provides an automatic conveying system for carcass lines, when in work, the carrying pole hook for hanging and carrying carcasses is conveyed along the conveying track, the control device controls the free end of the limiting assembly to be close to the conveying track so as to limit the carrying pole hook to continuously move along the conveying track, and the carrying pole hook is fixed at the grabbing point of the conveying track; the control device controls the movement assembly of the transfer mechanical arm to move to the grabbing point, controls the clamping jaw assembly to clamp the trunk, controls the movement assembly to move to enable the trunk to be separated from the shoulder pole hook, drives the clamping jaw assembly to move to the cold chain carriage, and finishes loading and transferring of the trunk.

Meanwhile, the control device controls the limiting assembly to be far away from the conveying track, so that the no-load shoulder pole hook for unloading the trunk can continuously move to the return line along the conveying track.

Therefore, the utility model discloses an automatic positioning of the shoulder pole hook of carry the body, the automatic transportation of the body and the automatic empty return of unloaded shoulder pole hook compare in traditional body loading transportation flow, need not manual operation, have improved the degree of automation that the body loading was transported, have greatly reduced artifical intensity of labour and artifical demand to transport efficiency has been improved effectively.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is an assembly schematic diagram of a conveying track and a limiting component of an embodiment of the automatic carcass line transferring system provided by the present invention;

fig. 2 is a schematic structural view of the transferring mechanical arm according to the embodiment of the automatic transferring system for carcass line provided by the present invention.

In fig. 1-2:

01 is a shoulder pole hook, 1 is a conveying track, 11 is a cross beam, 12 is a straight rail, 13 is an inclined rail, 2 is a hook lifting cylinder, 3 is a hook pushing cylinder, 41 is a first limiting cylinder, 42 is a second limiting cylinder, 5 is a shoulder pole hook limiter, 6 is a transfer mechanical arm, 61 is a clamping jaw, 62 is a tensioning assembly, 63 is a wrist joint, 64 is an elbow joint, 65 is a shoulder joint, 66 is a lifting assembly, and 67 is a balance weight.

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 efforts all belong to the protection scope of the present invention.

The core of the utility model is to provide an automatic transportation system of carcass line, realized the automatic transportation of carcass and the automatic back empty of shoulder pole hook, degree of automation is with transport efficiently.

Referring to fig. 1-2, fig. 1 is a schematic view illustrating an assembly of a conveying track and a limiting component of an embodiment of an automatic carcass line transferring system according to the present invention; fig. 2 is a schematic structural view of the transferring mechanical arm according to the embodiment of the automatic transferring system for carcass line provided by the present invention.

Note that, the straight rail 12 or the inclined rail 13 mentioned in this document has a front end located relatively upstream in the conveying direction of the carcass and a rear end located relatively downstream in the conveying direction of the carcass.

The automatic carcass line transferring system comprises a conveying track 1, a limiting assembly, a transferring mechanical arm 6 and a control device, wherein the conveying track 1, the limiting assembly, the transferring mechanical arm 6 and the control device are connected with an air return line;

the limiting assembly is connected to the conveying track 1, and the free end of the limiting assembly can be relatively close to or far away from the conveying track 1 so as to limit whether the shoulder pole hook 01 can move along the conveying track 1;

the transferring mechanical arm 6 comprises a mounting seat, a clamping jaw assembly used for clamping or releasing the carcass and a moving assembly connected with the clamping jaw assembly and the mounting seat, wherein the moving assembly is used for driving the clamping jaw assembly to move between the conveying track 1 and the cold chain carriage.

Referring to fig. 1, the conveying track 1 is used for hanging a carrying pole hook 01 for hanging a trunk, and the carrying pole hook 01 can move along the extending direction of the conveying track 1; the tail end of the conveying track 1 is connected with the return line, so that the unloaded shoulder pole hook 01 can move to the return line along the conveying track 1, and automatic return of the shoulder pole hook 01 is realized; the specific structure, shape and size of the conveying track 1 are determined according to the shape and size of the delivery buffer in actual production, and are not described in detail herein.

The limiting assembly is arranged on the conveying track 1, the free end of the limiting assembly can be relatively close to or far away from the conveying track 1, and the movement of the shoulder pole hook 01 along the conveying track 1 is limited by changing the relative position relation of the limiting assembly and the conveying track 1.

When the free end of the limiting assembly is close to the conveying track 1, the limiting assembly can block the shoulder pole hook 01 from continuously moving along the extending direction of the conveying track 1, so that the position of the shoulder pole hook 01 on the conveying track 1 is fixed, and the clamping jaw assembly of the transferring mechanical arm 6 clamps the carcass.

On the contrary, when the free end of the limiting component is far away from the conveying track 1, the limiting component no longer blocks the movement of the shoulder pole hook 01 along the extending direction of the conveying track 1, the unloaded shoulder pole hook 01 which unloads the trunk can move to the emptying line through the conveying track 1, and the automatic emptying of the shoulder pole hook 01 is realized.

The free end of the limiting component can be lifted along the vertical direction and also can rotate in the vertical surface vertical to the conveying direction of the carcass; the limiting assembly can be specifically set as a power element with linear displacement capacity such as an air cylinder and an electric cylinder, and can also be set as a rotating piece such as a swing arm driven by a motor and the like.

The transferring mechanical arm 6 is used for clamping the carcasses carried by the shoulder pole hooks 01 and transferring the carcasses into the cold chain carriage. Referring to fig. 2, the transfer robot 6 includes a mounting base, a clamping jaw assembly for clamping or releasing the carcasses, and a moving assembly, wherein the mounting base is used for supporting the moving assembly and can be fixedly connected with the top surface of the shipping temporary storage room.

The jaw assembly is used for clamping or releasing the carcass, and referring to fig. 2, the jaw assembly comprises a tensioning assembly 62 and a pair of jaws 61 for clamping the two-piece carcass, the jaws 61 are rotatably connected with the tensioning assembly 62, so that the pair of jaws 61 are controlled to be relatively far away or relatively close by the extension or contraction of the tensioning assembly 62. The specific structure, shape, size and connection mode of the clamping jaw 61 and the tensioning assembly 62 are determined according to actual production requirements, and are not described in detail herein.

One end of the movement assembly is connected with the mounting seat, and the other end of the movement assembly is connected with the clamping jaw assembly and used for driving the clamping jaw assembly and the carcass to move between the grabbing point of the conveying track 1 and the cold chain carriage. The specific structure and transfer path of the moving assembly need to be determined according to the relative positions of the pick-up point and the delivery port of the conveying track 1 in actual production so as to ensure smooth transfer of the carcasses.

The carcass conveying direction of the conveying track 1 is an X axis, the direction perpendicular to the carcass conveying direction in the horizontal plane is a Y axis, the vertical direction is a Z axis, the movement assembly can be arranged to move along the X axis, the Y axis, the Z axis and the like, and the movement assembly can also be arranged to rotate around the X axis, the Y axis, the Z axis and the like.

It should be noted that, considering the way that the trunk body is hung on the trunk body hooks arranged on both sides of the shoulder pole hook 01, in order to reduce the damage to the trunk body when the trunk body is forked, the moving assembly is usually arranged to move along the vertical direction so as to lift the trunk body and facilitate the separation of the trunk body from the shoulder pole hook 01.

When the carrying pole hook 01 carrying the carcass is conveyed along the conveying track 1, the control device can move the component to drive the clamping jaw component to move to a grabbing point and control the clamping jaw 61 to open; when the clamping jaw assembly and the shoulder pole hook 01 move to the grabbing point, the control device controls the clamping jaw 61 to clamp the body, and then controls the movement assembly to drive the clamping jaw 61 and the body to move upwards; when the moving assembly rises to a preset height, the control device controls the tensioning assembly 62 to extend, so that the clamping jaw 61 is outwards opened in a clamping state, and the trunk body is separated from the shoulder pole hook 01; finally, the control device controls the movement of the moving assembly to the delivery port, loading the carcass into the cold chain car using the gripper 61.

When the device works, the shoulder pole hook 01 for hanging the carcasses is conveyed along the conveying track 1, and the control device controls the free end of the limiting component to be close to the conveying track 1 so as to limit the shoulder pole hook 01 to continuously move along the conveying track 1 and fix the shoulder pole hook 01 at a grabbing point of the conveying track 1; the control device controls the motion assembly of the transfer mechanical arm 6 to move to a grabbing point, controls the clamping jaw assembly to clamp the trunk, controls the motion assembly to move to enable the trunk to be separated from the shoulder pole hook 01, drives the clamping jaw assembly to move to the cold chain carriage, and finishes loading and transferring of the trunk.

Meanwhile, the control device controls the limiting assembly to be far away from the conveying track 1, so that the unloaded shoulder pole hook 01 for unloading the trunk can continue to move to the return line along the conveying track 1.

In this embodiment, realized the automatic positioning of carrying the shoulder pole hook 01 of trunk, the automatic transportation of trunk and empty load's the automatic empty of shoulder pole hook 01, compared in traditional trunk loading transportation flow, need not manual operation, improved the degree of automation that the trunk loading was transported, greatly reduced artifical intensity of labour and artifical demand to transport efficiency has been improved effectively.

On the basis of the above embodiment, the motion assembly of the transfer robot 6 is defined, the motion assembly may include at least one horizontal rotation assembly capable of rotating in a horizontal plane, at least one vertical rotation assembly capable of rotating in a vertical plane, and at least one lifting assembly 66 capable of moving in a vertical direction, the fixing portion of the lifting assembly 66 is connected with the mounting base, the fixing portion of the vertical rotation assembly is connected with the moving portion of the lifting assembly 66, the fixing portion of the horizontal rotation assembly is connected with the moving portion of the vertical rotation assembly, and the clamping jaw assembly is connected with the moving portion of the horizontal rotation assembly.

Wherein, horizontal rotating assembly can rotate around the Z axle, and vertical rotating assembly can rotate around the X axle, and lift assembly 66 can go up and down along the Z axle.

Because the conveying track 1 is located at the side of the delivery port, the clamping jaw assembly moves from the grabbing point to the cold chain carriage outside the delivery port, and the horizontal rotating assembly needs to be controlled to rotate in the horizontal plane so as to realize the rotation of the clamping jaw assembly and the body in the horizontal plane.

Preferably, the horizontal rotation assembly may include a wrist joint 63 and an elbow joint 64, a moving portion of the wrist joint 63 being connected to the jaw assembly, a fixed portion of the wrist joint 63 being connected to a moving portion of the elbow joint 64, and a fixed portion of the elbow joint 64 being connected to a moving portion of the vertical rotation assembly.

Considering that the height of the grabbing point and the height of the carcass loading point in the cold chain carriage are possibly different, a vertical rotating assembly capable of rotating in a vertical surface is arranged in the moving assembly, the vertical rotating assembly rotates by a small angle to realize the height adjustment of the clamping jaw assembly in a large range, and the maximum stroke of the lifting assembly 66 can be effectively reduced, so that the structure of the moving assembly is more compact, and the whole mass and the size of the transferring mechanical arm 6 are favorably reduced.

It should be noted that, the movement of the vertical rotating assembly may cause the movement of the position of the center of gravity of the transferring mechanical arm 6, in order to prevent the instability of the transferring mechanical arm 6 in the vertical rotating process, a counterweight 67 for balancing the center of gravity is arranged in the transferring mechanical arm 6, and the rotating range of the vertical rotating assembly is not too large.

The lifting assembly 66 is used for vertically lifting the clamping jaw assembly so as to assist the opening action of the clamping jaw assembly and separate the trunk from the shoulder pole hook 01. Therefore, the maximum stroke of the lifting assembly 66 is required to be greater than or equal to the unhooking height (preset height) required for the trunk body to be detached from the shoulder pole hook 01, and the size of the preset height is required to be determined according to factors such as the structure and the shape of the shoulder pole hook 01 in actual production.

The number, structure, shape, maximum stroke, etc. of the horizontal rotating assembly, the vertical rotating assembly, and the lifting assembly 66 can be determined according to the actual production requirements with reference to the prior art.

In one embodiment, referring to fig. 2, the motion components of the transfer robot 6 include a wrist joint 63 and an elbow joint 64, a shoulder joint 65, and a lift component 66, wherein the wrist joint 63 and the elbow joint 64 can rotate in a horizontal plane, the shoulder joint 65 can rotate in a vertical plane, and the lift component 66 can move in a vertical direction;

the jaw assembly is connected to a moving part of a wrist joint 63, a fixed part of the wrist joint 63 is connected to a moving part of an elbow joint 64, a fixed part of the elbow joint 64 is connected to a moving part of a shoulder joint 65, a fixed part of the shoulder joint 65 is connected to a moving part of a lifting assembly 66, and a fixed part of the lifting assembly 66 is connected to the mounting base.

When the device works, the control device controls the shoulder joint 65, the elbow joint 64 and the wrist joint 63 to move towards the direction of a grabbing point and controls the clamping jaw 61 to open; when the clamping jaw 61 moves to a grabbing point, the control device controls the clamping jaw 61 to clamp the body, controls the lifting assembly 66 to enable the body to reach a preset height upwards, and controls the tensioning assembly 62 to enable the clamping jaw 61 to be away from each other and outwards opened in a clamping state, so that the body is separated from the shoulder pole hook 01; after the trunk body is separated from the shoulder pole hook 01, the control device controls the shoulder joint 65, the elbow joint 64 and the wrist joint 63 to move into the delivery port, and the trunk body is loaded into the cold chain carriage.

It should be noted that when the transfer robot 6 moves between the pick-up point and the delivery port, the shoulder joint 65, the elbow joint 64 and the wrist joint 63 may be adjusted in sequence from far to near, and the control device sequentially controls the wrist joint 63, the elbow joint 64 and the shoulder joint 65 to rotate; or the control device controls the shoulder joint 65, the elbow joint 64 and the wrist joint 63 to rotate in turn from near to far.

The rotation ranges of the shoulder joint 65, the elbow joint 64 and the wrist joint 63 and the elevation of the lifting assembly 66 are determined according to actual production requirements, and are not described in detail herein.

On the basis of the above embodiment, the structure of the conveying track 1 is defined, the conveying track 1 comprises a horizontally arranged beam 11, a horizontally arranged straight rail 12 and an inclined rail 13 which is obliquely arranged downwards are sequentially arranged right below the beam 11 along the conveying direction of the carcass, and the tail end of the inclined rail 13 is connected with a return line;

the juncture of the straight rail 12 and the inclined rail 13 is provided with a lifting hook component for lifting the shoulder pole hook 01 and a push hook component for pushing the shoulder pole hook 01 to slide along the inclined rail 13, the lifting hook component and the push hook component are both arranged on the cross beam 11, and the lifting hook component and the push hook component are both in signal connection with the control device.

Referring to fig. 1, a cross beam 11 is a secondary beam at the top of the shipping temporary storage room, and is often provided as an i-beam, so that the lifting hook assembly and the pushing hook assembly are connected to the cross beam 11; the material, size and installation manner of the beam 11 are determined according to actual production requirements by referring to the prior art, and are not described herein again.

A straight rail 12 and an inclined rail 13 are arranged below the cross beam 11, and both the straight rail 12 and the inclined rail 13 can be used for hanging a shoulder pole hook 01 so as to convey the carcasses; in order to better fix the straight rail 12 and the inclined rail 13, the lower end surface of the beam 11 is uniformly provided with a plurality of L-shaped connecting plates, and the lower ends of the connecting plates are provided with mounting grooves for mounting the straight rail 12 or the inclined rail 13.

Note that, in order to prevent the mounting groove from obstructing the passage of the shoulder pole hook 01, the mounting groove is usually provided as an arc-shaped groove, and the upper end surfaces of the connecting plate and the mounting groove are not in contact with the hanging lug of the shoulder pole hook 01.

The specific structure, shape and size of the connecting plates and the distance between two adjacent connecting plates are determined according to the requirements in actual production, and are not described in detail herein.

The lifting hook assembly is arranged at the junction of the straight rail 12 and the inclined rail 13, and the lifting hook assembly can be abutted against the shoulder pole hook 01 to further drive the shoulder pole hook 01 to move upwards along the height direction, so that the shoulder pole hook 01 can be hung at the front end of the inclined rail 13.

The push hook component is used for pushing the shoulder pole hook 01 to be hung at the front end of the inclined rail 13 and enabling the shoulder pole hook 01 to slide downwards along the inclined rail 13 under the action of the body weight. To better urge the shoulder pole hook 01 to move along the ramp 13, the push hook assembly is located at the forward end of the carcass conveying direction compared to the lift hook assembly.

The lifting hook assembly and the pushing hook assembly can be provided with power elements with linear displacement capacity, such as an air cylinder, an electric cylinder and the like, and the specific structures, the arrangement positions and the connection mode of the lifting hook assembly and the pushing hook assembly and the cross beam 11 are determined according to the requirements of actual production by referring to the prior art.

When the lifting mechanism works, after the carrying pole hook 01 with the trunk is conveyed to the tail end of the straight rail 12 along the straight rail 12, the control device controls the lifting hook assembly to lift the carrying pole hook 01 to a height which can be hung at the front end of the inclined rail 13, and controls the pushing hook assembly to push the carrying pole hook 01 to the inclined rail 13; the shoulder pole hook 01 slides downwards along the inclined rail 13 under the action of gravity of the body until the body moves to the position of the limiting assembly and stops, the control device controls the transferring mechanical arm 6 to grab the body hung by the shoulder pole hook 01 and separate the body and the shoulder pole hook 01; after the shoulder pole hook 01 is separated from the trunk body, the control device controls the limiting assembly, so that the shoulder pole hook 01 can continuously slide down to the return wire along the inclined rail 13.

In this embodiment, the inclined rail 13 is arranged obliquely downwards, and the tail end of the inclined rail 13 is connected with the emptying line, so that the shoulder pole hook 01 can be emptied to the emptying line along the inclined rail 13 under the action of gravity, compared with the manual operation of taking down and putting the shoulder pole hook 01 from the conveying rail 1, the labor demand and the labor intensity of workers are reduced, and meanwhile, the emptying efficiency of the shoulder pole hook 01 is improved.

Preferably, the lifting hook assembly may include a lifting hook cylinder 2 and a lifting hook cylinder mounting plate connected to the cross beam 11, the lifting hook cylinder 2 is mounted on the lifting hook cylinder mounting plate, and an axial direction of the lifting hook cylinder 2 is perpendicular to an extending direction of the cross beam 11.

Referring to fig. 1, a cylinder body of a lifting hook cylinder 2 is connected with a lifting cylinder mounting plate through a bolt, and the lifting hook cylinder mounting plate is connected with an upper end face of a cross beam 11 through a bolt; the bottom of the push rod of the lifting hook cylinder 2 is provided with an L-shaped limiting block, and the L-shaped limiting block can be abutted against a hanging lug of the shoulder pole hook 01 to drive the shoulder pole hook 01 to lift.

Preferably, push away the hook subassembly including push away hook cylinder 3 and with the push away hook cylinder mounting bracket that crossbeam 11 is connected, push away hook cylinder 3 and install on pushing away hook cylinder mounting bracket, push away the axis direction of hook cylinder 3 and be parallel with the extending direction of crossbeam 11.

Since the moving direction of the hook lifting cylinder 2 is perpendicular to the extending direction of the cross beam 11, in order to reduce the loss of thrust, please refer to fig. 1, the axial direction of the hook pushing cylinder 3 is parallel to the extending direction of the cross beam 11; in order to reduce the impact when the push hook cylinder 3 contacts the shoulder pole hook 01, the end of the push rod of the push hook cylinder 3 is provided with an elastic collision block for buffering and absorbing shock.

The elastic collision block is usually made of buffering and shock-absorbing materials such as rubber pads and buffering cotton, and the shape and the size of the elastic collision block are determined according to the size of the push rod of the lifting hook cylinder 2; the elastic collision block may be connected to the end surface of the push rod by means of bonding, welding, or the like, or may be provided so as to cover the end portion of the push rod.

On the basis of the above embodiment, the limiting component may include a first limiting member connected to the cross beam 11, the first limiting member may move in a vertical direction perpendicular to an extending direction of the cross beam 11, and when the first limiting member moves toward a direction close to the inclined rail 13, the first limiting member may limit the shoulder pole hook 01 from continuously sliding downward along the inclined rail 13.

The first limiting part can be specifically set as a power element with linear displacement capability such as an air cylinder and an electric cylinder, a moving part of the power element is provided with a first limiting block, and the first limiting block is lower than the conveying guide rail 1 so as to prevent the shoulder pole hook 01 from continuously moving along the inclined rail 13 when the first limiting block is abutted against the lower end face of the inclined rail 13.

Referring to fig. 1, the first limiting member is disposed at the middle section of the inclined rail 13 and is used for limiting the position of the shoulder pole hook 01 and fixing the position of the shoulder pole hook 01 on the inclined rail 13, so that the transferring mechanical arm 6 can grasp the trunk; the first limiting part is a first limiting cylinder 41, a push rod of the first limiting cylinder 41 is connected with the first limiting block, and the first limiting block is lower than the lower end face of the inclined rail 13.

When the control device controls the push rod of the first limit cylinder 41 to contract, the first limit block moves towards the direction close to the lower end face of the inclined rail 13 and finally abuts against the lower end face of the inclined rail 13, so that the shoulder pole hook 01 is limited to move along the inclined rail 13.

On the contrary, when the control device controls the push rod of the first limiting cylinder 41 to extend, the first limiting block moves in the direction away from the lower end surface of the inclined rail 13, so that the shoulder pole hook 01 can continuously move along the inclined rail 13.

Of course, the first limiting member may also be provided with a swing arm rotatably connected with the cross beam 11, and the swing arm 1 is fixedly connected with the top surface of the workshop and the like through an extensible electric push rod, an air cylinder and the like; when the swing arm rotates towards the direction close to the inclined rail 13, the swing arm can limit the shoulder pole hook 01 to continue to move along the inclined rail 13.

In this embodiment, the automatic positioning of shoulder pole hook 01 on ramp 13 has been realized in the setting of first locating part, consequently transports when arm 6 snatchs the body, need not the manual work and hold up steady shoulder pole hook 01 in order to prevent 01 drunkenness of shoulder pole hook, and degree of automation is high, has not only saved a large amount of human costs, also is favorable to improving the transport efficiency that transports arm 6 and snatch the body of transporting.

On the basis of the above embodiment, in order to prevent the shoulder pole hook 01 from sliding backward after being blocked by the first limiting member, the limiting assembly further includes a second limiting member connected to the cross beam 11, the second limiting member can move in a vertical direction perpendicular to the extending direction of the cross beam 11, and the distance from the second limiting member to the front end of the inclined rail 13 is smaller than the distance from the first limiting member to the front end of the inclined rail 13.

The second limiting part can be specifically set as a power element with linear displacement capability such as an air cylinder and an electric cylinder, a moving part of the power element is provided with a second limiting block, and the second limiting block is lower than the conveying guide rail 1 so as to prevent the shoulder pole hook 01 from continuously moving along the inclined rail 13 when the second limiting block is abutted against the lower end face of the inclined rail 13.

In order to reduce the number of accessories, the second limiting member and the first limiting member are generally provided in the same type and model. Referring to fig. 1, the second limiting member is a second limiting cylinder 42, and the first limiting cylinder 41 and the second limiting cylinder 42 are connected to the cross beam 11 through a limiting cylinder mounting plate; the push rod of the second limiting cylinder 42 is connected with a second limiting block, and the second limiting block is lower than the lower end face of the inclined rail 13.

When shoulder pole hook 01 gliding to first spacing cylinder 41, controlling means control second spacing cylinder 42's push rod shrink, make the second stopper to the direction motion of the lower terminal surface that is close to ramp 13, second spacing cylinder 42 can cooperate first spacing cylinder 41 to be fixed in shoulder pole hook 01 between the two, conveniently transports arm 6 and snatchs the body.

After the carcass grabbing is finished, the control device controls the push rod of the first limiting cylinder 41 to extend, so that the first limiting block moves towards the direction far away from the lower end face of the inclined rail 13, and the shoulder pole hook 01 automatically empties along the inclined rail 13 to an emptying line; meanwhile, the push rod of the second limiting cylinder 42 is controlled to extend, so that the second limiting block moves towards the direction far away from the lower end face of the inclined rail 13, and other subsequent shoulder pole hooks 01 can conveniently pass through.

In this embodiment, the second locating part can cooperate with the first locating part to form a clamping groove for clamping the shoulder pole hook 01, so that the shoulder pole hook 01 is prevented from moving reversely along the inclined rail 13 after contacting with the first locating part, the accurate spacing of the shoulder pole hook 01 is realized, and the mechanical arm 6 is favorable for transferring to grab the trunk.

Preferably, in order to prevent the transferring mechanical arm 6 from grabbing the trunk, the trunk drives the shoulder pole hook 01 to separate from the inclined rail 13, the upper portion of the push rod of the second limiting cylinder 42 may be provided with a limiting plate to limit the position of the hanging lug of the shoulder pole hook 01 and prevent the shoulder pole hook 01 from moving up and down.

In order to better control the action time of the second limiting part, preferably, the limiting assembly includes an in-place detection sensor, the in-place detection sensor is disposed between the first limiting part and the second limiting part, when the shoulder pole hook 01 slides down to contact with the first limiting part, the in-place detection sensor transmits an in-place signal to the control device, and the control device controls the second limiting part to limit the shoulder pole hook 01.

The in-place sensor can be specifically set as a light spot sensor, a proximity switch and the like, and the specific type, structure, setting position, connection mode and the like of the in-place sensor are determined according to the actual production needs by referring to the prior art, and are not described herein again.

On the basis of the embodiment, in order to prevent the rotation of the shoulder pole hook 01 in the process of picking and placing the trunk body, a shoulder pole hook limiter 5 can be arranged under the cross beam 11, the shoulder pole hook limiter 5 comprises a limiting beam horizontally arranged and at least one limiting rod connected with the limiting beam and the cross beam 11, the limiting beam is lower than the inclined rail 13 and higher than the trunk body hook used for hanging the trunk body of the shoulder pole hook 01, and the limiting rod is tangent to the outer surface of the inclined rail 13.

Referring to fig. 1, a distance from a front end of the limit beam to a front end of the inclined rail 13 is smaller than a distance from the second limit piece to the front end of the inclined rail 13, and a distance from a rear end of the limit beam to the front end of the inclined rail 13 is larger than a distance from the first limit piece to the front end of the inclined rail 13.

Because the shoulder pole hook limiter 5 is arranged under the cross beam 11, and the limiting rod is tangent to the inclined rail 13, the limiting beam and the limiting rod of the shoulder pole hook limiter 5 form a vertical surface tangent to the inclined rail 13, so that the swinging of the shoulder pole hook 01 when the transferring mechanical arm 6 grabs the body is limited.

Preferably, both ends of spacing roof beam all are equipped with the section of bending to lead shoulder pole hook 01.

It should be noted that, in the present specification, the first and second limiting members, and the first and second limiting

cylinders

41 and 42 are only used to distinguish the difference of the positions, and do not include any limitation on the sequence.

In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

It is right above that the utility model provides an automatic transfer system of carcass line has carried out detailed introduction. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.

Claims

1. The automatic carcass line transferring system is characterized by comprising a conveying track (1) connected with a return line, a limiting assembly, a transferring mechanical arm (6) and a control device, wherein the conveying track (1), the limiting assembly and the transferring mechanical arm (6) are in signal connection with the control device;

the limiting component is connected to the conveying track (1), and the free end of the limiting component can be relatively close to or far away from the conveying track (1) so as to limit whether the shoulder pole hook (01) can move along the conveying track (1) or not;

the transfer mechanical arm (6) comprises a mounting seat, a clamping jaw assembly used for clamping or releasing the carcass and a motion assembly connected with the clamping jaw assembly and the mounting seat, wherein the motion assembly is used for driving the clamping jaw assembly to move between the conveying track (1) and the cold chain carriage.

2. The automatic carcass line transfer system according to claim 1, wherein the motion assembly comprises at least one horizontal rotation assembly rotatable in a horizontal plane, at least one vertical rotation assembly rotatable in a vertical plane, and at least one lifting assembly (66) movable in a vertical direction, a fixed portion of the lifting assembly (66) is connected to the mounting base, a fixed portion of the vertical rotation assembly is connected to a movable portion of the lifting assembly (66), a fixed portion of the horizontal rotation assembly is connected to a movable portion of the vertical rotation assembly, and the clamping jaw assembly is connected to a movable portion of the horizontal rotation assembly.

3. The automatic carcass line transfer system according to claim 2, wherein the horizontal rotation assembly comprises a wrist joint (63) and an elbow joint (64), the moving part of the wrist joint (63) is connected with the jaw assembly, the fixed part of the wrist joint (63) is connected with the moving part of the elbow joint (64), and the fixed part of the elbow joint (64) is connected with the moving part of the vertical rotation assembly.

4. A system for the automatic transfer of a carcass line according to any one of claims 1 to 3, wherein the conveying track (1) comprises a horizontally arranged crossbeam (11), a horizontally arranged straight rail (12) and an inclined rail (13) arranged obliquely downwards are arranged below the crossbeam (11) in the conveying direction of the carcass in sequence, and the tail end of the inclined rail (13) is connected with the empty return line;

the straight rail (12) with the juncture of ramp (13) is equipped with and is used for promoting shoulder pole hook (01) carry the hook subassembly with be used for promoting shoulder pole hook (01) are followed ramp (13) gliding push hook subassembly, carry the hook subassembly with push hook subassembly all install in on crossbeam (11), just carry the hook subassembly with push hook subassembly all with controlling means signal connection.

5. The automatic carcass line transfer system according to claim 4, wherein the limiting assembly comprises a first limiting member connected to the cross beam (11), the first limiting member is movable in a vertical direction perpendicular to the extending direction of the cross beam (11), and when the first limiting member moves to a direction close to the inclined rail (13), the first limiting member can limit the shoulder pole hook (01) from further sliding downwards along the inclined rail (13).

6. The automatic carcass line transfer system according to claim 5, wherein the stop assembly further comprises a second stop connected to the cross beam (11), the second stop being movable in a vertical direction perpendicular to the extension direction of the cross beam (11), the second stop being located at a smaller distance from the front end of the ramp (13) than the first stop.

7. The automatic carcass line transfer system according to claim 4, wherein the lifting hook assembly comprises a lifting hook cylinder (2) and a lifting hook cylinder mounting plate connected with the cross beam (11), the lifting hook cylinder (2) is mounted on the lifting hook cylinder mounting plate, and the axial direction of the lifting hook cylinder (2) is perpendicular to the extending direction of the cross beam (11).

8. The automatic carcass line transfer system according to claim 4, wherein the push hook assembly comprises a push hook cylinder (3) and a push hook cylinder mounting rack connected with the cross beam (11), the push hook cylinder (3) is mounted on the push hook cylinder mounting rack, and the axial direction of the push hook cylinder (3) is parallel to the extending direction of the cross beam (11).