Batch grabbing and discharging mechanism for strip meat products and food processing equipment

Abstract

The utility model provides a kind of batch grabbing unloading mechanism and food processing equipment for strip meat product, including mechanical arm and the multiple point unloading end of installation in the execution end of mechanical arm;Mechanical arm is arranged in the side of feeding platform, and multiple side-by-side strip raw materials are placed on feeding platform;Multiple point unloading end includes mounting plate and multiple unloading grabbing mechanism, mounting plate is fixedly installed on the execution end of mechanical arm, and multiple unloading grabbing mechanism is installed on mounting plate in arc staggered manner;When mechanical arm is in the grabbing pose, in multiple unloading grabbing mechanism, only the end of one unloading grabbing mechanism is in the grabbing plane.The utility model sets up multiple point unloading end, simultaneously grabbing and placing multiple side-by-side meat product raw materials in one action, significantly improve the number of single unloading, so that raw material is more closely, neatly and side-by-side placed on receiving platform, and by unloading gripper staggered installation, avoid the situation that remaining unloading gripper and raw material interfere when grabbing.

Description

Technical Field

[0001] This utility model relates to the field of food processing equipment technology, specifically to a batch gripping and feeding mechanism for strip-shaped meat products and food processing equipment. Background Technology

[0002] In food processing production lines, processed strips of meat (such as crispy pork) often need to be picked up from the processing station and transferred to subsequent stations. Current technology generally uses a structure with a single feeding gripper installed at the end of a robotic arm. This single-point feeding method can only pick up and place one set of raw materials per cycle, which is inefficient for scenarios requiring continuous, large-volume feeding and is difficult to match with high-speed production. To increase the feeding speed, it is usually necessary to significantly increase the robotic arm's movement speed or increase the number of robotic arms. Furthermore, with single-point feeding, the raw materials are relatively scattered on the feeding platform, resulting in poor space utilization.

[0003] Patent document CN212221651U discloses an automatic feeding machine, including a feeding mechanism and a conveying mechanism. The feeding mechanism includes a workbench, a storage cabinet fixedly installed on one side of the workbench, a computer host on the other side, a display screen installed on one side of the top of the workbench, a base fixedly installed on the other side of the top of the workbench, and a robotic arm fixedly installed on the top of the base. The conveying mechanism includes a base plate, symmetrically arranged supports fixedly installed on the top of the base plate, and a conveyor belt fixedly installed on the top of the supports, with the conveyor belt located below the robotic arm. This invention controls the robotic arm through the computer host, enabling the robotic arm to grab food from different conveyor belts and then place it onto another conveyor belt, thus achieving automatic food feeding. However, this feeding machine cannot simultaneously grab and place multiple sets of raw materials that are strip-shaped and can be processed side by side in one operation, which is insufficient in improving feeding efficiency and increasing material placement density. Utility Model Content

[0004] In view of the deficiencies in the prior art, the purpose of this utility model is to provide a batch gripping and feeding mechanism and food processing equipment for strip-shaped meat products.

[0005] The batch gripping and feeding mechanism for strip-shaped meat products provided by this utility model includes a robotic arm and a multi-point feeding end installed at the execution end of the robotic arm;

[0006] The robotic arm is located on one side of the loading platform, on which multiple strip-shaped raw materials are placed side by side;

[0007] The multi-point unloading end includes a mounting plate and multiple unloading gripping mechanisms. The mounting plate is fixedly mounted on the execution end of the robotic arm, and the multiple unloading gripping mechanisms are mounted on the mounting plate in an arc-shaped staggered manner.

[0008] When the robotic arm is in the grasping position, among the multiple unloading grasping mechanisms, only the end of one unloading grasping mechanism is in the grasping plane.

[0009] Preferably, the mounting plate includes a robotic arm connecting surface and a gripping mechanism mounting surface that are perpendicular to each other;

[0010] The connecting surface of the robotic arm is fixedly connected to the execution end of the robotic arm, and multiple feeding and gripping mechanisms are installed on the gripping mechanism mounting surface in an arc-shaped staggered manner.

[0011] Preferably, the feeding and gripping mechanism includes a rotary motor, a motor support base, a bearing housing, and a gripper assembly;

[0012] The motor support and bearing housing are fixedly mounted on the mounting plate in sequence. The rotary motor is mounted on the motor support, and the output shaft of the rotary motor passes through the bearing inside the bearing housing and is fixedly connected to the gripper assembly.

[0013] Preferably, the gripper assembly includes a cylinder seat, a feeding cylinder, and feeding grippers;

[0014] The cylinder base is fixedly connected to the output shaft of the rotary motor. One end of the feeding cylinder is fixedly installed on the cylinder base, and the feeding gripper is installed on the other end of the feeding cylinder. The feeding cylinder is used to drive the feeding gripper to open and close.

[0015] Preferably, one end of the unloading gripper is provided with an assembly hole, and is fixedly mounted on the unloading cylinder through the assembly hole;

[0016] The other end of the feeding gripper is provided with a gripping part, which has a toothed surface and multiple vertically extending toothed protrusions arranged side by side on the toothed surface for direct contact with the raw material.

[0017] Preferably, a waist-shaped countersunk hole is provided in the middle of the toothed surface to accommodate part of the raw material that is deformed under stress.

[0018] Preferably, the axes of the plurality of feeding and gripping mechanisms all point to the rotating shaft of the robotic arm's execution end.

[0019] Preferably, all of the aforementioned feeding and gripping mechanisms are installed on the same side of the mounting plate.

[0020] The food processing equipment provided by this utility model includes a workbench and the batch gripping and feeding mechanism for strip-shaped meat products. The workbench is provided with a feeding area and a feeding area.

[0021] The feeding platform is installed in the feeding area, and the batch grabbing and feeding mechanism for strip-shaped meat products is installed in the feeding area to grab and feed the strip-shaped raw materials placed side by side on the feeding platform.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] This invention features a multi-point feeding end with multiple parallel feeding claws at the end of a robotic arm. This allows for the simultaneous gripping and placement of multiple parallel meat raw materials in a single operation, significantly increasing the quantity of raw materials fed at one time. This results in the raw materials being placed more closely and neatly side by side on the receiving platform, fully utilizing the characteristic that strip-shaped raw materials can be processed side by side. Furthermore, the staggered installation of the feeding claws avoids interference between the other feeding claws and the raw materials during gripping. Attached Figure Description

[0024] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0025] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0026] Figure 2 This is a schematic diagram of the structure of the multi-point feeding end in this utility model;

[0027] Figure 3 This is a schematic diagram of the material feeding gripper in this utility model;

[0028] Figure 4 This is a schematic diagram of the food processing equipment in this utility model.

[0029] The diagram shows:

[0030] Detailed Implementation

[0031] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0032] This utility model discloses a batch gripping and feeding mechanism and food processing equipment for strip-shaped meat products. By setting a multi-point feeding end with multiple feeding claws arranged side by side at the end of the robotic arm, multiple strips of meat raw materials can be gripped and placed simultaneously in one action, which significantly increases the feeding quantity per operation. This allows the raw materials to be placed more closely and neatly side by side on the receiving platform, making full use of the characteristic that strip-shaped raw materials can be processed side by side. Furthermore, by installing the feeding claws in a staggered manner, interference between the other feeding claws and the raw materials is avoided during gripping.

[0033] According to the batch gripping and feeding mechanism for strip-shaped meat products provided by this utility model, such as Figure 1 As shown, it includes a robotic arm 8 and a multi-point feeding end 7 installed at the execution end of the robotic arm 8; the robotic arm 8 is set on one side of the feeding platform 3, on which multiple strip-shaped raw materials are placed side by side; wherein, the multi-point feeding end 7 is used to complete the gripping of multiple strip-shaped raw materials in one motion cycle, thereby improving the feeding efficiency.

[0034] like Figure 2 As shown, the multi-point unloading end 7 includes a mounting plate and multiple unloading gripping mechanisms. The mounting plate is fixedly mounted on the execution end of the robotic arm 8, and the multiple unloading gripping mechanisms are mounted on the mounting plate in an arc-shaped staggered arrangement. When the robotic arm 8 is in the gripping position, only one of the multiple unloading gripping mechanisms has its end on the gripping plane. Specifically, the axes of the multiple unloading gripping mechanisms all point to the rotation axis of the execution end of the robotic arm 8. By installing the multiple unloading gripping mechanisms in an arc-shaped staggered arrangement, each time raw materials are gripped, the robotic arm 8 rotates the corresponding unloading gripping mechanism to the lowest position. At this time, the other unloading gripping mechanisms will be in a higher position, with a height difference from the gripping plane. This avoids interference between other unloading gripping mechanisms and other raw materials on the platform when one unloading gripping mechanism is gripping raw materials on the loading platform 3. That is, each time a gripping mechanism is gripped, only one unloading gripping mechanism will be present on the gripping plane.

[0035] In a preferred embodiment, the mounting plate includes a robotic arm connecting surface 701 and a gripping mechanism mounting surface 708 that are perpendicular to each other; the robotic arm connecting surface 701 is fixedly connected to the execution end of the robotic arm 8, and a plurality of the unloading gripping mechanisms are mounted on the gripping mechanism mounting surface 708 in an arc-shaped staggered manner. Specifically, the connecting surface 701 of the robotic arm is designed with holes for connection to the end flange of the robotic arm 8. Multiple unloading gripping mechanisms are installed on the same side of the mounting plate. Each unloading gripping mechanism includes a rotary motor 702, a motor support 703, a bearing seat 704, and a gripper assembly. The motor support 703 and the bearing seat 704 are sequentially fixedly installed on the mounting plate. The rotary motor 702 is installed on the motor support 703. The output shaft of the rotary motor 702 passes through the bearing inside the bearing seat 704 and is fixedly connected to the gripper assembly. The function of the rotary motor 702 is to ensure that the gripping posture of the gripper assembly is consistent with the gripping point given by the posture detection camera after detecting the posture of the raw material on the loading platform 3, thereby ensuring the gripping success rate of the gripper assembly.

[0036] Specifically, the gripper assembly includes a cylinder base 705, a feeding cylinder 706, and a feeding gripper 707; the cylinder base 705 is fixedly connected to the output shaft of the rotary motor 702, one end of the feeding cylinder 706 is fixedly mounted on the cylinder base 705, and the feeding gripper 707 is mounted on the other end of the feeding cylinder 706. The feeding cylinder 706 is used to drive the feeding gripper 707 to open and close.

[0037] In a preferred example, such as Figure 3 As shown, one end of the feeding gripper 707 is provided with an assembly hole 7071, and is fixedly mounted on the feeding cylinder 706 through the assembly hole 7071; the other end of the feeding gripper 707 is provided with a gripping part, and the gripping part is provided with a toothed surface 7072. Multiple vertically extending toothed protrusions are arranged side-by-side on the toothed surface 7072 for direct contact with the raw material. A waist-shaped countersunk hole 7073 is provided in the middle of the toothed surface 7072 to accommodate part of the raw material that is deformed under pressure. Since the texture of the meat strip is horizontal, the design of the vertical toothed surface 7072 ensures the clamping force and avoids weakening the clamping effect due to the same direction as the texture. Due to the flexibility of the meat strip, it will be squeezed and deformed during clamping. The design of the waist-shaped countersunk hole 7073 can accommodate part of the squeezed and deformed meat strip, forming an overall uneven clamping effect, preventing excessive deformation of the clamped part of the meat strip and displacement.

[0038] The food processing equipment provided by this utility model includes a workbench 9 and a batch gripping and feeding mechanism for strip-shaped meat products. The workbench 9 is provided with a feeding area and a feeding area. The feeding platform 3 is installed in the feeding area, and the batch gripping and feeding mechanism for strip-shaped meat products is installed in the feeding area for gripping and feeding the strip-shaped raw materials placed side by side on the feeding platform 3. In a preferred embodiment, such as... Figure 4 As shown, it includes a cabinet 1, a workbench 9 on top of the cabinet 1, a gripping and unloading mechanism on top of the workbench 9, and a loading platform 3. A pose detection camera is set on top of the loading platform 3 to collect images of the raw materials and obtain the gripping point. The gripping pose of the robotic arm 8 is consistent with the gripping point, so as to realize the individual gripping and batch unloading of multiple sets of raw materials.

[0039] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0040] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the substantive content of this utility model. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A batch gripping and feeding mechanism for strip-shaped meat products, characterized in that, Includes a robotic arm (8) and a multi-point unloading end (7) installed at the execution end of the robotic arm (8); The robotic arm (8) is set on one side of the loading platform (3), on which multiple strip-shaped raw materials are placed side by side; The multi-point unloading end (7) includes a mounting plate and multiple unloading gripping mechanisms. The mounting plate is fixedly mounted on the execution end of the robotic arm (8), and the multiple unloading gripping mechanisms are mounted on the mounting plate in an arc-shaped staggered manner. When the robotic arm (8) is in the gripping position, among the multiple unloading gripping mechanisms, only the end of one unloading gripping mechanism is in the gripping plane.

2. The batch gripping and feeding mechanism for strip-shaped meat products according to claim 1, characterized in that, The mounting plate includes a robotic arm connecting surface (701) and a gripping mechanism mounting surface (708) that are perpendicular to each other; The robotic arm connecting surface (701) is fixedly connected to the execution end of the robotic arm (8), and multiple feeding and gripping mechanisms are installed in an arc-shaped staggered manner on the gripping mechanism mounting surface (708).

3. The batch gripping and feeding mechanism for strip-shaped meat products according to claim 1, characterized in that, The feeding and gripping mechanism includes a rotary motor (702), a motor support base (703), a bearing base (704), and a gripper assembly; The motor support base (703) and bearing housing (704) are fixedly mounted on the mounting plate in sequence. The rotary motor (702) is mounted on the motor support base (703). The output shaft of the rotary motor (702) passes through the bearing inside the bearing housing (704) and is fixedly connected to the gripper assembly.

4. The batch gripping and feeding mechanism for strip-shaped meat products according to claim 3, characterized in that, The gripper assembly includes a cylinder seat (705), a feeding cylinder (706), and a feeding gripper (707); The cylinder seat (705) is fixedly connected to the output shaft of the rotary motor (702). One end of the feeding cylinder (706) is fixedly installed on the cylinder seat (705), and the feeding gripper (707) is installed on the other end of the feeding cylinder (706). The feeding cylinder (706) is used to drive the feeding gripper (707) to open and close.

5. The batch gripping and feeding mechanism for strip-shaped meat products according to claim 4, characterized in that, One end of the unloading gripper (707) is provided with an assembly hole (7071), and is fixedly installed on the unloading cylinder (706) through the assembly hole (7071); The other end of the feeding gripper (707) is provided with a gripping part, and the gripping part is provided with a toothed surface (7072). Multiple vertically extending toothed protrusions are arranged side by side on the toothed surface (7072) for direct contact with the raw material.

6. The batch gripping and feeding mechanism for strip-shaped meat products according to claim 1, characterized in that, The toothed surface (7072) has a waist-shaped countersunk hole (7073) in the middle, which is used to accommodate some of the raw materials that are deformed under stress.

7. The batch gripping and feeding mechanism for strip-shaped meat products according to claim 1, characterized in that, The axes of all the feeding and gripping mechanisms point to the rotating shaft of the actuator of the robotic arm (8).

8. The batch gripping and feeding mechanism for strip-shaped meat products according to claim 1, characterized in that, All of the aforementioned feeding and gripping mechanisms are installed on the same side of the mounting plate.

9. A food processing equipment, characterized in that, Includes a workbench (9) and a batch gripping and unloading mechanism for strip-shaped meat products as described in any one of claims 1-8, wherein the workbench (9) is provided with a loading area and a unloading area; The feeding platform (3) is installed in the feeding area, and the batch grabbing and feeding mechanism for strip-shaped meat products is installed in the feeding area to grab and feed the strip-shaped raw materials placed side by side on the feeding platform (3).

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