A soybean product gauze placing mechanical hand unit
By designing a soy product gauze placement robot unit and using electromagnets and cylinders to automatically grab, lay and press the gauze, the problems of low automation and high cost caused by manual operation in the existing technology are solved, and production efficiency is improved.
Patent Information
- Application Number
- CN201811464091.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2018-12-03
- Publication Date
- 2025-10-17
- Estimated Expiration
- 2038-12-03
AI Technical Summary
In the existing soy product production line, the two steps of placing the gauze into the basket and pulling up the four corners of the gauze to wrap it mainly rely on manual operation, resulting in a low degree of automation, high cost and low production efficiency.
A soy product gauze placement robot unit is designed, which includes a platform, a quilting frame, a horizontal moving mechanism, a robot mechanism, a lifting structure, a grasping structure and a pressing structure. Electromagnets and cylinders are used to realize automatic grasping, laying and pressing of gauze, and each action is controlled by a controller.
The automated operation of gauze is realized, production efficiency is improved, manpower and material costs are reduced, and machine replacement is achieved.
Smart Images
Figure CN109502338B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of bean product processing equipment, and in particular to a bean product gauze placing mechanical hand unit. BACKGROUND
[0002] China is the world's largest producer and consumer of bean products, however, the domestic bean product production equipment is not highly automated and intelligent, which directly affects the quality and production efficiency of bean products. At present, the typical way of bean product processing plant to make bean products is to place gauze into a basket by manual method (referred to as gauze placement), then pour or place the bean milk with the point of pulp into the basket with gauze during or after the coagulation process, and then according to the requirements of making bean curd, dried tofu and other bean products, the four corners of the gauze are pulled up and wrapped by manual method (referred to as gauze folding), and then the gauze is pressed and kept for a certain period of time. Among them, placing gauze into a basket and pulling up and wrapping the four corners of the gauze are two necessary links in the process of making bean products. With the development of bean product industry, in order to improve the production efficiency of bean products, a batch of enterprises have developed various forms of automatic bean product production lines, which basically meet the market demand, but the current various automatic production lines for producing bean products all have a common bottleneck, that is, the two links of placing gauze into a basket and pulling up and wrapping the four corners of the gauze are basically completed by manual operation of on-site operators, and how to realize machine replacement for these two links with low cost is a difficult problem urgently needed to be solved in the industry. SUMMARY
[0003] The present application provides a bean product gauze placing mechanical hand unit, which has simple structure, replaces manual operation, is convenient to use, has low cost and high production efficiency.
[0004] The present application adopts the following technical scheme: a bean product gauze placing mechanical hand unit, comprising a platform, a quilting frame is arranged above the platform, characterized in that a basket and gauze are arranged on the platform respectively, a horizontal moving mechanism is arranged on the quilting frame, a mechanical hand mechanism is arranged on the horizontal moving mechanism, the mechanical hand mechanism comprises a lifting structure, a grabbing structure and a pressing strip structure, the lifting structure is driven by a motor, the grabbing structure comprises an outer frame, grabbing points are arranged on four corners of the outer frame respectively, and electromagnets are arranged on the grabbing points.
[0005] The pressing strip structure is arranged in the outer frame, the pressing strip structure is controlled to lift by a cylinder, metal sheets are arranged on the four corners of the gauze, and a controller is further included, the controller controls the actions of the horizontal moving mechanism and the lifting structure, and the controller controls the switch of the power supply of the electromagnet coil and the lifting of the pressing strip structure.
[0006] The pressing strip structure comprises at least two pressing strips, which are symmetrically arranged.
[0007] The manipulator structure further comprises a proximity sensor, which is connected to a controller and detects the distance between the gripping point and the emery cloth or the basket.
[0008] The sleeve frame and gauze are respectively positioned on the platform through positioning brackets.
[0009] Cloth bags are arranged at the four corners of the gauze, and metal sheets are arranged in the cloth bags.
[0010] The invention has a simple structure and can quickly complete the actions of taking gauze, laying gauze and pressing through the manipulator structure, thereby fully realizing automated operation, improving production efficiency, reducing manpower and material resources, and achieving the goal of replacing people with machines. BRIEF DESCRIPTION OF THE DRAWINGS
[0011] Figure 1 Schematic diagram of the manipulator structure of the present invention.
[0012] Figure 2 It is a schematic diagram of the overall three-dimensional structure of the robot unit of the present invention.
[0013] Figure 3 for Figure 2 Schematic diagram of the local enlarged structure.
[0014] Figure 4 It is a front view schematic diagram of the robot unit of the present invention.
[0015] Figure 5 for Figure 4 DD cross-section diagram. DETAILED DESCRIPTION
[0016] The present invention will be further described below with reference to specific embodiments.
[0017] like Figures 1-5 The soy product gauze placing robot unit shown includes a platform, a quilting frame beam structure 6 is arranged above the platform, the quilting frame beam structure 6 is supported by a quilting frame bracket 9, a sleeve frame 2 and gauze 8 are respectively arranged on the platform, a horizontal moving mechanism is arranged on the quilting frame, and a robot mechanism is arranged on the horizontal moving mechanism. The robot mechanism includes a lifting structure 4, a grabbing structure 3, a proximity sensor 15 and a pressure strip structure 5. The lifting structure is driven by a motor, and the grabbing structure includes an outer frame, and electromagnets are respectively arranged on the four corners of the outer frame. The pressure strip structure is arranged in the outer frame, and the pressure strip structure is controlled to rise and fall by a cylinder 10. Cloth bags are arranged at the four corners of the gauze, and metal sheets 7 are arranged in the cloth bags. It also includes a controller, which controls the actions of the horizontal moving mechanism and the lifting structure. The controller controls the switch of the electromagnet coil power supply and the lifting and lowering of the pressure strip structure.
[0018] The pressing structure comprises at least two pressing strips arranged symmetrically. The mechanical hand structure further comprises a proximity sensor connected to the controller, which detects the distance between the gripping points and the sand cloth or the basket. The basket is placed on the basket support 11 and fixed by the basket fixing mechanism 1, and the gauze is placed on the gauze stacking support 12.
[0019] The production process of the present application is as follows: the basket is transported to the basket support by the production line and placed in the fixed position, the control signal is sent by the unit controller to control the placing mechanical hand to move above the gauze stack of the gauze stacking support to prepare for grabbing the gauze, then the placing mechanical hand is controlled to move down, after the unit controller receives the signal that the proximity sensor detects that the four gripping points of the placing mechanical hand approach the four corners of the gauze, the processed control signal is output, the power supply of the coils of the electromagnets of the four gripping points is turned on, the gripping points generate magnetism, and the metal sheet at the four corners of the four cloth bags is directly attracted, that is, the gauze is grabbed.
[0020] Then, the unit controller controls the placing mechanical hand to rise to a certain height and move horizontally above the basket, and then controls the placing mechanical hand to move down, when the proximity sensor detects that the gripping points of the placing mechanical hand approach the basket, two control signals are output, one controls the placing mechanical hand to stop moving down, and the other cuts off the power supply of the electromagnet coils, the gripping points lose magnetism, and the gauze falls on the basket relying on its own gravity, the delay of 20 ms controls the pressing cylinder to press the gauze against the basket edge and keep for a short time, so that the gauze is in close contact with the four edges of the basket, then the pressing cylinder is de-energized, and the pressing strip returns to the original position naturally, the basket with gauze is transported to the next station by the production line, and the next basket is transported to the basket support and placed in the fixed position. The present application automatically completes the actions of taking gauze, laying gauze and pressing by the mechanical hand unit, which is practical and efficient.
[0021] It should be understood that the embodiments are only used to illustrate but not to limit the scope of the present application. Furthermore, it should be understood that after reading the content taught by the present application, those skilled in the art can make various modifications or changes to the present application, and these equivalent forms also fall within the scope defined by the appended claims of the present application.
Claims
1. A soy product gauze placing robot unit, comprising a platform, a gauze rack is arranged above the platform, characterized in that The platform is respectively provided with a sleeve frame and gauze, a horizontal moving mechanism is provided on the quilting frame, a manipulator mechanism is provided on the horizontal moving mechanism, the manipulator mechanism includes a lifting structure, a grabbing structure and a pressure strip structure, the lifting structure is driven by a motor, the grabbing structure includes an outer frame, grabbing points are respectively provided on the four corners of the outer frame, an electromagnet is provided on the grabbing point, the pressure strip structure is provided in the outer frame, the pressure strip structure is controlled to rise and fall by a cylinder, metal sheets are provided at the four corners of the gauze, and a controller is also included, the controller controls the action of the horizontal moving mechanism and the lifting structure, the controller controls the switch of the power supply of the electromagnet coil and the lifting and lowering of the pressure strip structure, the pressure strip structure includes at least two pressure strips, which are symmetrically arranged, the manipulator structure also includes a proximity sensor, the proximity sensor is connected to the controller, the proximity sensor detects the distance between the grabbing point and the emery cloth or the sleeve basket, the sleeve frame and gauze are respectively positioned on the platform by positioning brackets, cloth bags are provided at the four corners of the gauze, and metal sheets are provided in the cloth bags. The method for using the soy product gauze placing robot unit is as follows: a basket is transported to a basket support through a production line and placed in a fixed position; a unit controller sends a control signal to control the placing robot to move to the top of the gauze stack on the gauze stacking support to prepare to grab the gauze; then the placing robot is controlled to move downward; when the unit controller receives a signal from a proximity sensor detecting that the four grabbing points of the placing robot are close to the four corners of the gauze, the control signal is output after processing, and the coil power of the electromagnets of the four grabbing points is turned on, so that the grabbing points generate magnetism and directly attract the metal sheets at the four corners of the four bags, thereby achieving gauze grabbing; Then, the unit controller controls the placement robot to rise to a certain height, and move horizontally to the top of the basket, and then controls the placement robot to move downward. When the proximity sensor detects that the grasping point of the placement robot is close to the basket, it outputs two control signals, one to control the placement robot to stop moving downward, and the other to cut off the power supply of the electromagnet coil. The grasping point loses its magnetism, and the gauze falls on the basket by its own gravity. The delay of 20ms controls the pressure bar cylinder to let the pressure bar press the gauze down against the edge of the basket and keep it for a short time, so that the gauze is in contact with the four sides of the basket. After that, the pressure bar cylinder loses power, and the pressure bar naturally returns to its original position. The basket with gauze is transferred to the next workstation through the production line, and the next basket is transported to the basket bracket and placed in a fixed position.
Citation Information
Patent Citations
Locating type gauze laying device for green body compacting of new dried bean curd making machine
CN107912539A
Automatic cloth-laying device
CN201980788U
Bean product gauze placing manipulator unit
CN209651395U