A self-balancing universal manipulator

Abstract

The present invention provides a self-balancing universal manipulator. The self-balancing universal manipulator comprises: a bracket, a slide rail, a balancer, an operating handle, a rodless cylinder, a universal pneumatic manipulator, a mounting plate and a disinfection mechanism, wherein the slide rail is arranged on the bracket, the balancer is arranged on the bracket, the operating handle is arranged on the bracket, the rodless cylinder is arranged on the bracket and connected with the operating handle, the universal pneumatic manipulator is arranged on the rodless cylinder, the mounting plate is arranged on the bracket, and the disinfection mechanism is arranged on the mounting plate. The self-balancing universal manipulator provided by the invention is simple and easy to operate, has no electrical structure, solves the problem of humidity at the slaughtering site, and can improve work efficiency, so that it can greatly improve work efficiency and reduce labor intensity on the pig carcass slaughtering line.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulator equipment, and in particular relates to a self-balancing universal manipulator. Background Art

[0002] In pig processing enterprises, most of the fat pulling from pig carcasses is done manually. Manual fat pulling is labor-intensive, and labor efficiency decreases over time. The fat pulling results vary from person to person, and the fat pulling is not clean and the results are not uniform.

[0003] Therefore, it is necessary to provide a new self-balancing universal manipulator to solve the above-mentioned technical problems. Summary of the invention

[0004] The technical problem solved by the invention is to provide a self-balancing universal manipulator that is simple to operate and use, has no electrical structure, solves the problem of moisture at the slaughtering site, thereby improving work efficiency and greatly improving work efficiency and reducing labor intensity on the pig carcass slaughtering line.

[0005] In order to solve the above technical problems, the invention provides a self-balancing universal manipulator comprising: a bracket, a slide rail, a balancer, an operating handle, a rodless cylinder, a universal pneumatic manipulator, a mounting plate and a disinfection mechanism, wherein the slide rail is arranged on the bracket, the balancer is arranged on the bracket, the operating handle is arranged on the bracket, the rodless cylinder is arranged on the bracket and connected to the operating handle, the universal pneumatic manipulator is arranged on the rodless cylinder, the mounting plate is arranged on the bracket, and the disinfection mechanism is arranged on the mounting plate;

[0006] The disinfection mechanism includes a disinfection box, a drive motor, a stirring rod, a plurality of stirring blades, a water pump, a liquid suction pipe, a liquid discharge pipe, a mounting sleeve, two arc-shaped clamping blocks, a plurality of telescopic springs, a connecting pipe, a hose, a nozzle, a valve and a handle. The disinfection box is fixedly mounted on an outer wall of one side of a mounting plate, the drive motor is fixedly mounted on the top of the disinfection box, the stirring rod is rotatably mounted on the top inner wall of the disinfection box, the top end of the stirring rod extends to above the top of the disinfection box and is fixedly connected to the output shaft of the drive motor, a plurality of stirring blades are arranged in the disinfection box, a plurality of stirring blades are fixedly mounted on the outer wall of the stirring rod, and the water pump is fixedly mounted on an outer wall of one side of the disinfection box.

[0007] As a further solution of the invention, the liquid extraction pipe is fixedly installed on the water suction port of the water pump, one end of the liquid extraction pipe away from the water pump extends into the disinfection box, the liquid discharge pipe is fixedly installed on the water discharge port of the water pump, and the mounting sleeve is arranged on the bracket.

[0008] As a further solution of the invention, two arc-shaped clamping blocks are arranged in the mounting sleeve, the two arc-shaped clamping blocks are adapted to each other, a plurality of telescopic springs are respectively fixedly mounted on the inner wall of the mounting sleeve, one end of the plurality of telescopic springs away from the mounting sleeve is respectively fixedly connected to the outer walls of the two arc-shaped clamping blocks, the connecting pipe is arranged on the mounting sleeve, and the connecting pipe is adapted to the two arc-shaped clamping blocks, and one end of the drain pipe away from the water pump is fixedly connected to one end of the connecting pipe.

[0009] As a further solution of the invention, the hose is fixedly mounted on one end of the connecting pipe away from the discharge pipe, the spray head is fixedly mounted on the bottom end of the hose, the valve is arranged on the hose, and the handle is arranged on the spray head.

[0010] As a further solution of the invention, a PLC controller is provided on one outer wall of the disinfection box, a first photoelectric liquid level sensor is provided on the top inner wall of the disinfection box, a second photoelectric liquid level sensor is provided on one inner wall of the disinfection box, and an alarm is provided on the top of the disinfection box. The PLC controller is connected to the drive motor, the water pump, the first photoelectric liquid level sensor, the second photoelectric liquid level sensor and the alarm.

[0011] As a further solution of the invention, a feed pipe is fixedly installed on the disinfection box, and a sealing cover is provided on the top of the feed pipe.

[0012] Compared with the related art, the self-balancing universal manipulator provided by the invention has the following beneficial effects:

[0013] 1. The invention uses a sliding bar guide structure, and the rodless cylinder provides power for the upper and lower power of the manipulator. There is no live structure, which solves the problem of easy leakage of electricity after long-term use due to humidity at the slaughter site. At the same time, the rodless cylinder is small in size, light in weight, easy to operate, and saves working space. The universal manipulator is designed according to the shape of pig carcass fat, has strong gripping power, and can pull off fat cleanly. The integrated operating handle is designed according to the human body structure, is simple and easy to operate, fits the palm comfortably, and improves work efficiency, so that it can greatly improve work efficiency and reduce labor intensity on the pig carcass slaughtering line;

[0014] 2. The invention provides a disinfection mechanism, which makes the operation simple and can be used to disinfect the universal pneumatic manipulator, thereby facilitating subsequent work. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to facilitate understanding by those skilled in the art, the invention is further described below with reference to the accompanying drawings.

[0016] Figure 1 A schematic diagram of the structure of the invention;

[0017] Figure 2 It is a structural schematic diagram of the disinfection mechanism in the invention;

[0018] Figure 3 for Figure 1 A schematic diagram of the enlarged structure of part A;

[0019] Figure 4 for Figure 1 A schematic diagram of the enlarged structure of part B;

[0020] Figure 5 It is a schematic diagram of the assembly of the sleeve, arc-shaped clamping block, telescopic spring and connecting pipe in the invention;

[0021] Figure 6 The figure is a schematic diagram of the assembly of the bracket, slide rail, balancer, operating handle, rodless cylinder and universal pneumatic manipulator in the invention.

[0022] In the figure: 1. bracket; 2. slide rail; 3. balancer; 4. operating handle; 5. rodless cylinder; 6. universal pneumatic manipulator; 7. mounting plate; 8. disinfection box; 9. drive motor; 10. stirring rod; 11. stirring blade; 12. water pump; 13. suction pipe; 14. discharge pipe; 15. installation sleeve; 16. arc clamp block; 17. telescopic spring; 18. connecting pipe; 20. hose; 21. nozzle; 22. valve; 23. handle. DETAILED DESCRIPTION

[0023] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 ,in, Figure 1 A schematic diagram of the structure of the invention; Figure 2 It is a structural schematic diagram of the disinfection mechanism in the invention; Figure 3 It is a schematic diagram of the enlarged structure of part A in Figure 1; Figure 4 for Figure 1 A schematic diagram of the enlarged structure of part B; Figure 5 It is a schematic diagram of the assembly of the sleeve, arc-shaped clamping block, telescopic spring and connecting pipe in the invention; Figure 6 The figure is an assembly diagram of the bracket, slide rail, balancer, operating handle, rodless cylinder and universal pneumatic manipulator in the invention. The self-balancing universal manipulator includes: a bracket 1, a slide rail 2, a balancer 3, an operating handle 4, a rodless cylinder 5, a universal pneumatic manipulator 6, a mounting plate 7 and a disinfection mechanism, wherein the slide rail 2 is arranged on the bracket 1, the balancer 3 is arranged on the bracket 1, the operating handle 4 is arranged on the bracket 1, the rodless cylinder 5 is arranged on the bracket 1 and connected to the operating handle 4, the universal pneumatic manipulator 6 is arranged on the rodless cylinder 5, the mounting plate 7 is arranged on the bracket 1, and the disinfection mechanism is arranged on the mounting plate 7;

[0024] The disinfection mechanism includes a disinfection box 8, a drive motor 9, a stirring rod 10, a plurality of stirring blades 11, a water pump 12, a liquid suction pipe 13, a liquid discharge pipe 14, a mounting sleeve 15, two arc-shaped clamping blocks 16, a plurality of telescopic springs 17, a connecting pipe 18, a hose 20, a nozzle 21, a valve 22 and a handle 23. The disinfection box 8 is fixedly mounted on an outer wall of one side of the mounting plate 7, the drive motor 9 is fixedly mounted on the top of the disinfection box 8, the stirring rod 10 is rotatably mounted on the top inner wall of the disinfection box 8, the top end of the stirring rod 10 extends to above the top of the disinfection box 8 and is fixedly connected to the output shaft of the drive motor 9, the plurality of stirring blades 11 are all arranged in the disinfection box 8, the plurality of stirring blades 11 are all fixedly mounted on the outer wall of the stirring rod 10, and the water pump 12 is fixedly mounted on an outer wall of one side of the disinfection box 8.

[0025] like Figure 2 and Figure 3 As shown, the liquid extraction pipe 13 is fixedly installed on the water suction port of the water pump 12, and one end of the liquid extraction pipe 13 away from the water pump 12 extends into the disinfection box 8. The liquid discharge pipe 14 is fixedly installed on the discharge port of the water pump 12, and the mounting sleeve 15 is arranged on the bracket 1.

[0026] like Figure 3 and Figure 5 As shown, two arc-shaped clamping blocks 16 are both arranged in the mounting sleeve 15, the two arc-shaped clamping blocks 16 are adapted to each other, and a plurality of telescopic springs 17 are respectively fixedly mounted on the inner wall of the mounting sleeve 15, and one end of the plurality of telescopic springs 17 away from the mounting sleeve 15 is respectively fixedly connected to the outer walls of the two arc-shaped clamping blocks 16, the connecting pipe 18 is arranged on the mounting sleeve 15, and the connecting pipe 18 is adapted to the two arc-shaped clamping blocks 16, and one end of the drain pipe 14 away from the water pump 12 is fixedly connected to one end of the connecting pipe 18.

[0027] like Figure 4 As shown, the hose 20 is fixedly mounted on one end of the connecting pipe 18 away from the discharge pipe 14 , the spray head 21 is fixedly mounted on the bottom end of the hose 20 , the valve 22 is arranged on the hose 20 , and the handle 23 is arranged on the spray head 21 .

[0028] like Figure 2 As shown, a PLC controller is provided on one outer wall of the disinfection box 8, a first photoelectric liquid level sensor is provided on the top inner wall of the disinfection box 8, a second photoelectric liquid level sensor is provided on one inner wall of the disinfection box 8, and an alarm is provided on the top of the disinfection box 8. The PLC controller is connected to the drive motor 9, the water pump 12, the first photoelectric liquid level sensor, the second photoelectric liquid level sensor and the alarm.

[0029] like Figure 1As shown, a feed pipe is fixedly mounted on the disinfection box 8, and a sealing cover is provided on the top of the feed pipe.

[0030] The working principle of the self-balancing universal manipulator provided by the invention is as follows:

[0031] The first step: through the structure of the slide rail 2, the rodless cylinder 5 provides power for the manipulator to move up and down, without any live structure, which solves the problem of easy leakage of electricity after long-term use due to humidity at the slaughtering site. At the same time, the rodless cylinder 5 is small in size, light in weight, easy to operate, and saves working space. The universal manipulator is designed according to the shape of the pig carcass fat, has strong gripping power, and can pull and unload fat cleanly. The integrated operating handle 4 is designed according to the human body structure, is simple and easy to operate, fits the palm comfortably, and improves work efficiency, so that it can greatly improve work efficiency and reduce labor intensity on the pig carcass slaughtering line;

[0032] Step 2: Open the sealing cover on the feed pipe, and then pour the disinfectant into the disinfection box 8 through the feed pipe, and then cover the sealing cover, and then start the water pump 12 to operate, and the disinfectant water in the disinfection box 8 can be pumped out through the liquid extraction pipe 13, and then discharged through the liquid discharge pipe 14. The disinfectant water can be discharged into the connecting pipe 18 and then discharged into the hose 20 through the connecting pipe 18. Then, the valve 22 is opened to spray the disinfectant water through the nozzle 21, so that it can be used to disinfect the universal pneumatic manipulator 6, thereby facilitating the later work of the universal pneumatic manipulator 6. In order to avoid the precipitation of the disinfectant water in the disinfection box 8 and the reduction of the effect of the disinfectant water, the motor 9 can be driven to operate regularly, so that the stirring rod 10 can be driven to rotate through the output shaft of the driving motor 9, and then the stirring rod 10 can be driven to drive multiple stirring blades 11 to rotate, so that the disinfectant water in the disinfection box 8 can be stirred, thereby avoiding the precipitation of the disinfectant water in the disinfection box 8 and the reduction of the disinfection effect. When the water level in the disinfection box 8 drops too low, it can be sensed by the second photoelectric liquid level sensor, and the result can be transmitted to the PLC controller, so that the alarm can be started through the PLC controller to remind employees to add water.

[0033] It should be noted that the device structure and drawings of the invention mainly describe the principle of the invention. In terms of the technology of the design principle, the settings of the power mechanism, power supply system and control system of the device are not fully described. On the premise that the technical personnel in this field understand the principle of the above invention, the details of the power mechanism, power supply system and control system can be clearly known. The control method of the application document is automatic control through a controller, and the control circuit of the controller can be realized by simple programming by the technical personnel in this field.

[0034] The standard parts used therein can all be purchased from the market and can be customized according to the instructions and drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art, and the structures and principles of the components known to technical personnel in this field can be known by these technical personnel through technical manuals or through conventional experimental methods.

[0035] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments or applied directly or indirectly without departing from the principles and spirit of the invention. In other related technical fields, the scope of the invention is defined by the appended claims and their equivalents, which are equally included in the scope of patent protection for the invention.

Claims

1. A self-balancing universal manipulator, characterized in that: include: A bracket, a slide rail, a balancer, an operating handle, a rodless cylinder, a universal pneumatic manipulator, a mounting plate and a disinfection mechanism, wherein the slide rail is arranged on the bracket, the balancer is arranged on the bracket, and the output end of the balancer is connected to the front end of the slide rail; the operating handle is arranged on the bracket, the rodless cylinder is arranged on the bracket and connected to the operating handle, the universal pneumatic manipulator is arranged on the rodless cylinder, and the rodless cylinder drives the manipulator to move; the mounting plate is arranged on the bracket, and the disinfection mechanism is arranged on the mounting plate; The disinfection mechanism includes a disinfection box, a drive motor, a stirring rod, a plurality of stirring blades, a water pump, a liquid suction pipe, a liquid discharge pipe, a mounting sleeve, two arc-shaped clamping blocks, a plurality of telescopic springs, a connecting pipe, a hose, a nozzle, a valve and a handle. The disinfection box is fixedly mounted on an outer wall of one side of a mounting plate, the drive motor is fixedly mounted on the top of the disinfection box, the stirring rod is rotatably mounted on the top inner wall of the disinfection box, the top end of the stirring rod extends to above the top of the disinfection box and is fixedly connected to the output shaft of the drive motor, a plurality of stirring blades are arranged in the disinfection box, a plurality of stirring blades are fixedly mounted on the outer wall of the stirring rod, and the water pump is fixedly mounted on an outer wall of one side of the disinfection box.

2. The self-balancing universal manipulator according to claim 1, characterized in that: The liquid extraction pipe is fixedly mounted on the water suction port of the water pump, one end of the liquid extraction pipe away from the water pump extends into the disinfection box, the liquid discharge pipe is fixedly mounted on the water discharge port of the water pump, and the mounting sleeve is arranged on the bracket.

3. The self-balancing universal manipulator according to claim 1, characterized in that: The two arc-shaped clamping blocks are both arranged in the mounting sleeve, the two arc-shaped clamping blocks are adapted to each other, and a plurality of telescopic springs are respectively fixedly mounted on the inner wall of the mounting sleeve, and the ends of the plurality of telescopic springs away from the mounting sleeve are respectively fixedly connected to the outer walls of the two arc-shaped clamping blocks, the connecting pipe is arranged on the mounting sleeve, and the connecting pipe is adapted to the two arc-shaped clamping blocks, and the end of the drain pipe away from the water pump is fixedly connected to one end of the connecting pipe.

4. The self-balancing universal manipulator according to claim 1, characterized in that: The hose is fixedly mounted on one end of the connecting pipe away from the discharge pipe, the spray head is fixedly mounted on the bottom end of the hose, the valve is arranged on the hose, and the handle is arranged on the spray head.

5. The self-balancing universal manipulator according to claim 1, characterized in that: A PLC controller is provided on one outer wall of the disinfection box, a first photoelectric liquid level sensor is provided on the top inner wall of the disinfection box, a second photoelectric liquid level sensor is provided on one inner wall of the disinfection box, and an alarm is provided on the top of the disinfection box. The PLC controller is connected to the drive motor, the water pump, the first photoelectric liquid level sensor, the second photoelectric liquid level sensor and the alarm.

6. The self-balancing universal manipulator according to claim 1, characterized in that: A feeding pipe is fixedly mounted on the disinfection box, and a sealing cover is disposed on the top of the feeding pipe.

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