Six-axis robot hair-burning machine

Abstract

The application discloses a six-axis robot hair-burning machine's fire gun, which comprises a fire gun support, the inside of the fire gun support is provided with a hollow sealing structure, one end of the fire gun support is provided with single fire guns through a mounting mechanism, the single fire guns are three, the three single fire guns are distributed in a triangular structure to form a fire gun assembly of the hair-burning machine, the mounting mechanism comprises a gas mounting pipe and a fire gun connecting plate, the single fire gun comprises a fire gun barrel, an electronic ignition needle, a combustion detection needle, a gas supply system and a compressed air system, one side of the inside of the fire gun barrel is provided with the electronic ignition needle, and the other side of the inside of the fire gun barrel is provided with the combustion detection needle. The application is provided with a series of structures, the hair-burning fire gun has a large fire range, sufficient air injection is achieved, gas is fully combusted, fuel cost is reduced, fire and extinguishing control of the hair-burning operation of the fire gun is accurate, fire combustion waste is reduced, the length of the flame is flexibly adjusted by adjusting the gas supply pressure.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fire guns, in particular to a fire gun for a six-axis robot singeing machine. BACKGROUND

[0002] Singeing is a process of burning the residual hair and loose skin on the carcass before the final cleaning. After slaughtering, the live pig is soaked or sprayed with water to remove the hair, but there are still some down on the carcass, which needs to be singed. Since manual operation is inefficient and labor costs are high, it cannot meet the needs of engineering operations, so corresponding singeing equipment such as singeing ovens has appeared.

[0003] The current fire gun for fire singeing has a time control deviation in fire and extinguishing control and whether there is a singeing object in the operation area, which leads to waste of fire during fire singeing, and the gas used for fire singeing is not fully combusted due to insufficient air content in the fire gun, resulting in high energy consumption and high cost of the singeing fire gun. SUMMARY

[0004] The present application aims to provide a fire gun for a six-axis robot singeing machine to solve the problems raised in the background.

[0005] In order to achieve the above object, the present application provides the following technical scheme: a six-axis robot singeing machine's flame gun, comprising a flame support, the inside of the flame support is provided with a hollow sealing structure, one end of the flame support is provided with a single flame gun through a mounting mechanism, the single flame gun is three, the three single flame guns are distributed in a triangular structure to form a flame gun assembly of the singeing machine, the mounting mechanism comprises a gas mounting pipe and a flame gun connecting plate, the single flame gun comprises a flame gun barrel, an electronic ignition needle, a combustion detection needle, a gas supply system and a compressed air system, one side of the inside of the flame gun barrel is provided with an electronic ignition needle, the other side of the inside of the flame gun barrel is provided with a combustion detection needle, the middle of the inside of the flame gun barrel is provided with a gas inlet, one side of the inside of the flame gun barrel of the gas inlet is provided with a compressed air inlet, the gas inlet is connected with the gas supply system, the compressed air inlet is connected with the compressed air system, the flame support is provided with a mounting bracket, the mounting bracket is provided with a combustion controller, the combustion controller is provided with a flame control system, one end of the flame support away from the flame gun assembly is provided with a mounting flange, the flame support is fixedly installed with the mechanical arm end of the right robot and the left robot through the mounting flange, the flame gun assemblies on the right robot and the left robot are symmetrically arranged, the right robot and the left robot adopt a six-axis robot, one side of the right robot and the left robot is provided with a grating sensor, one end of the electronic ignition needle and the combustion detection needle penetrates the flame gun connecting plate and is connected with the combustion controller through a controller connector, the combustion controller is electrically connected with a PLC; the gas supply system comprises a gas connection connector, a gas mounting pipe, a gas guide pipe, a gas connector, a two-position two-way reversing valve, a gas storage bag, a one-way valve, a pressure reducing valve and a natural gas pipeline, the flame gun barrel is provided with a gas connection connector, one end of the gas inlet is provided with a gas mounting pipe, the gas mounting pipe is fixedly installed with the flame gun barrel through the gas connection connector, the gas mounting pipe on one side of the flame gun barrel is connected with the flame gun connecting plate, the gas mounting pipe penetrates the flame gun connecting plate and is connected with the gas guide pipe, the gas guide pipe is arranged in the inside of the flame support, one end of the gas guide pipe away from the gas mounting pipe penetrates the flame support and is connected with the gas connector, the gas connector is connected with the gas storage bag through a gas pipeline, a two-position two-way reversing valve is arranged on the pipeline between the gas storage bag and the gas connector, the gas storage bag is connected with the natural gas pipeline, and a one-way valve and a pressure reducing valve are arranged on the natural gas pipeline; the compressed air system comprises a compressed air mounting pipe, a compressed air adjusting valve, a compressed air connector and a compressed air pipeline, the compressed air mounting pipe is communicated and arranged on the flame support on one side of the flame gun barrel, one end of the compressed air mounting pipe penetrates the flame gun connecting plate, the flame gun barrel and is connected with the compressed air inlet, the compressed air adjusting valve is arranged on the compressed air mounting pipe, the compressed air connector is arranged at one end of the flame support away from the flame gun barrel, and the compressed air connector is connected with the compressed air pipeline.

[0006] Preferably, the combustion controller comprises a controller panel, a control module and a fixing frame, the control module is arranged on the controller panel, and one side of the controller panel is fixedly installed with the fixing frame and the mounting frame.

[0007] Preferably, the flame spraying control system comprises a collection module, a processing module, a control module and an execution unit, the output end of the collection module is electrically connected with the input end of the control module through the processing module, and the output end of the control module is electrically connected with the input end of the execution unit.

[0008] Preferably, the end of the electronic ignition needle is inclined towards the side of the combustion detection needle, the compressed air inlet is arranged in the interior of the flame spraying gun barrel body away from the side of the flame spraying gun connecting plate, and the flame spraying gun barrel body is in a cylindrical structure.

[0009] Preferably, the gas installation pipe, the gas guide pipe, the gas joint and the two-position two-way reversing valve are all provided with three.

[0010] Preferably, one side of the top of the gas storage bag is provided with a safety valve and a pressure gauge.

[0011] Compared with the prior art, the present application has the following beneficial effects:

[0012] 1. The flame spraying gun of the six-axis robot singeing machine is composed of three single flame spraying guns arranged in a triangular structure, the gas supply system and the compressed air system arranged on the single flame spraying gun are matched, sufficient air is injected into the flame spraying gun during the gas combustion process, the gas is fully combusted, and the fuel cost is reduced.

[0013] 2. The flame spraying gun of the six-axis robot singeing machine is provided with a flame spraying control system, an electronic ignition needle and a combustion detection needle arranged on the single flame spraying gun, and a grating inductor and a compressed air regulating valve, so that the flame spraying gun can accurately spray and extinguish during the singeing operation, the waste of flame spraying is reduced, and the length of the flame can be flexibly adjusted by adjusting the pressure of the gas supply. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0015] Figure 2 It is a schematic diagram of the barrel body of the flame spraying gun in the present application;

[0016] Figure 3 It is a schematic diagram of the structure of the single flame spraying gun in the present application;

[0017] Figure 4 It is a schematic diagram of the structure of the flame spraying gun connecting plate in the present application;

[0018] Figure 5 Figure 1 is a schematic diagram of the structure of the fire spraying support in the present application;

[0019] Figure 6 Figure 2 is a schematic diagram of the structure of the single fire spraying gun in the present application;

[0020] Figure 7 Figure 3 is a schematic diagram of the working principle of the fire spraying control system of the fire spraying gun in the present application.

[0021] In the figure: 1, fire spraying support; 2, single fire spraying gun; 21, fire spraying gun barrel; 22, electronic ignition needle; 23, combustion detection needle; 24, compressed air inlet; 25, fuel gas inlet; 251, fuel gas connecting joint; 26, fuel gas installation pipe; 27, fuel gas guide pipe; 28, fuel gas interface; 29, compressed air installation pipe; 210, compressed air regulating valve; 211, compressed air joint; 212, two-position two-way reversing valve; 213, gas storage bag; 2131, safety valve; 2132, pressure gauge; 214, check valve; 215, pressure reducing valve; 216, natural gas pipeline; 217, compressed air pipeline; 3, fire spraying gun connecting plate; 4, combustion controller; 41, controller panel; 42, control module; 43, fixing frame; 5, installation frame; 6, right robot; 7, left robot; 8, grating sensor; 9, installation flange. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0023] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0024] In the description of the present application, it should be noted that unless otherwise expressly specified and limited, the terms "mounting", "provided with", "connected" and the like should be interpreted broadly, for example, "connected" can be fixedly connected, or detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0025] Embodiment

[0026] As Figures 1 to 7 shown, the six-axis robot hair burning machine of the present embodiment includes a flame spraying bracket 1, the inside of the flame spraying bracket 1 is provided with a hollow sealing structure, one end of the flame spraying bracket 1 is provided with a single flame spraying gun 2 through a mounting mechanism, the single flame spraying gun 2 is provided with three, the three single flame spraying guns 2 are distributed in a triangular structure to form a flame spraying gun assembly of the hair burning machine, the mounting mechanism includes a gas mounting pipe 26 and a flame spraying gun connecting plate 3, the single flame spraying gun 2 includes a flame spraying gun barrel 21, an electronic ignition needle 22, a combustion detection needle 23, a gas supply system and a compressed air system, one side of the inside of the flame spraying gun barrel 21 is provided with the electronic ignition needle 22, the other side of the inside of the flame spraying gun barrel 21 is provided with the combustion detection needle 23, the middle of the inside of the flame spraying gun barrel 21 is provided with a gas inlet 25, the inside of the flame spraying gun barrel 21 on one side of the gas inlet 25 is provided with a compressed air inlet 24, the gas inlet 25 is connected with the gas supply system, the compressed air inlet 24 is connected with the compressed air system, the flame spraying bracket 1 is provided with a mounting frame 5, the mounting frame 5 is provided with a combustion controller 4, the combustion controller 4 is provided with a flame spraying control system, one end of the flame spraying bracket 1 away from the flame spraying gun assembly is provided with a mounting flange 9, the flame spraying bracket 1 is fixedly mounted with the mechanical arm end of a right robot 6 and a left robot 7 through the mounting flange 9, the flame spraying gun assemblies on the right robot 6 and the left robot 7 are symmetrically arranged, the right robot 6 and the left robot 7 adopt a six-axis robot, one side of the right robot 6 and the left robot 7 is provided with a grating sensor 8, one end of the electronic ignition needle 22 and the combustion detection needle 23 penetrates through the flame spraying gun connecting plate 3 and is connected with the combustion controller 4 through a controller connector 218, the combustion controller 4 is electrically connected with a PLC, the PLC controls the electrical control of the entire flame spraying gun and even the robot, the hair burning flame spraying range is large, the flame spraying gun is fully injected with air during the gas combustion process, so that the gas is fully burned, the fuel cost is reduced, the hair burning operation of the flame spraying gun can be accurately controlled, the waste of flame spraying and combustion is reduced, and the length of the flame can be flexibly adjusted by adjusting the pressure of the gas supply.

[0027] Specifically, the gas supply system includes a gas connection joint 251, a gas installation pipe 26, a gas guide pipe 27, a gas joint 28, a two-position two-way reversing valve 212, a gas storage bag 213, a one-way valve 214, a pressure reducing valve 215 and a natural gas pipeline 216, the gas connection joint 251 is arranged on the spray gun barrel 21, one end of the gas inlet 25 is provided with the gas installation pipe 26, the gas installation pipe 26 is fixedly installed with the spray gun barrel 21 through the gas connection joint 251, the gas installation pipe 26 on one side of the spray gun barrel 21 is connected with the spray gun connecting plate 3, the gas installation pipe 26 penetrates through the spray gun connecting plate 3 and is connected with the gas guide pipe 27, the gas guide pipe 27 is arranged in the interior of the spray gun support 1, one end of the gas guide pipe 27 away from the gas installation pipe 26 penetrates through the spray gun support 1 and is connected with the gas joint 28, the gas joint 28 is connected with the gas storage bag 213 through the gas pipeline, the two-position two-way reversing valve 212 is arranged on the pipeline between the gas storage bag 213 and the gas joint 28, the gas storage bag 213 is connected with the natural gas pipeline 216, the one-way valve 214 and the pressure reducing valve 215 are arranged on the natural gas pipeline 216, and the gas supply system is used for supplying the combustion gas of the spray gun.

[0028] Further, the compressed air system includes a compressed air installation pipe 29, a compressed air adjusting valve 210, a compressed air joint 211 and a compressed air pipeline 217, the compressed air installation pipe 29 is arranged in communication on the spray gun support 1 on one side of the spray gun barrel 21, one end of the compressed air installation pipe 29 penetrates through the spray gun connecting plate 3, the spray gun barrel 21 and is connected with the compressed air inlet 24, the compressed air adjusting valve 210 is arranged on the compressed air installation pipe 29, the compressed air joint 211 is arranged on one end of the spray gun support 1 away from the spray gun barrel 21, the compressed air joint 211 is connected with the compressed air pipeline 217, and the compressed air system is used for supplying the injected air of the spray gun.

[0029] Further, the combustion controller 4 includes a controller panel 41, a control module 42 and a fixing frame 43, the control module 42 is arranged on the controller panel 41, one side of the controller panel 41 is fixedly installed with the mounting frame 5 through the fixing frame 43, and the combustion controller 4 is convenient to install.

[0030] Further, the spray gun control system includes a collection module, a processing module, the control module 42 and an execution unit, the output end of the collection module is electrically connected with the input end of the control module 42 through the processing module, and the output end of the control module 42 is electrically connected with the input end of the execution unit, the collection module includes the grating sensor 8 and the combustion detection needle 23, and the execution unit includes the electronic ignition needle 22 and the compressed air adjusting valve 210, so that the control of the spray gun is facilitated.

[0031] Further, the end of the electronic ignition needle 22 is obliquely arranged towards the side of the combustion detection needle 23, the compressed air inlet 24 is arranged inside the flame gun barrel 21 on the side away from the flame gun connecting plate 3, the flame gun barrel 21 is arranged in a cylindrical structure, and the flame combustion is more sufficient.

[0032] Further, the gas installation pipe 26, the gas guide pipe 27, and the two-position two-way reversing valve 212 are all provided with three, which are respectively corresponding to the three single flame guns 2 of the robot upper flame gun assembly, and the gas supply between the three single flame guns 2 on the flame gun assembly is independent.

[0033] Further, the top of the gas storage bag 213 is provided with a safety valve 2131 and a pressure gauge 2132, which improves the safety of the gas storage bag 213.

[0034] The use method of the embodiment is: based on the grating sensor 8 sensing whether there is a flamed object entering the operation range of the flame gun assembly on the right robot 6 and the left robot 7, starting the equipment, moving the right robot 6 and the left robot 7 to the ignition position, and the flame gun is ready to ignite, when the grating sensor 8 detects the carcass, the signal is fed back to the flame control system of the combustion controller 4, according to the real-time speed of the current conveying line, the time when the carcass reaches the start flamed area is calculated, the flame control system issues an instruction, the controller drives the right robot 6 and the left robot 7 to drive the flame gun to move and flamed according to the set program for each part of the carcass, after the work is finished, the robot returns to the initial position and waits for the next operation instruction, when the grating sensor 8 continuously detects no carcass within the set time, the flame gun is extinguished and in standby state, when the signal is detected, the ignition starts the next cycle, the flame gun assembly is installed on the right robot 6 and the left robot 7, the right robot 6 and the left robot 7 adopt a six-axis robot, three single flame guns 2 are arranged in a triangular structure to form the flame gun assembly of the flamed machine, the single flame gun 2 is composed of a flame gun barrel 21, an electronic ignition needle 22, a combustion detection needle 23, a gas supply system and a compressed air system, under the operation control of the six-axis robot, the flamed carcass is realized quickly and comprehensively, the flame gun uses natural gas, the gas supply system is composed of a gas connection joint 251, a gas installation pipe 26, a gas guide pipe 27, a gas joint 28, a two-position two-way reversing valve 212, a gas storage bag 213, a one-way valve 214, a pressure reducing valve 215 and a natural gas pipeline 216, the connection between the natural gas and the flame gun joint is designed carefully to ensure the safety and reliability of the gas, after the gas enters the flame gun barrel 21, the electronic ignition needle 22 ignites and burns, the flame is detected in real time through the combustion detection needle 23, the detected combustion signal is fed back to the flame control system to form a closed loop control circuit, which ensures the normal work of the system, the compressed air system is composed of a compressed air installation pipe 29, a compressed air adjusting valve 210, a compressed air joint 211 and a compressed air pipeline 217, which realizes sufficient air injection during the gas combustion process of the flame gun, so that the gas is fully burned, the fuel cost is reduced, the single flame gun 2 is based on the flame control system, the electronic ignition needle 22 and the combustion detection needle 23 on the single flame gun 2 cooperate with the grating sensor 8 and the compressed air adjusting valve 210 to accurately control the ignition and extinguishing of the flamed operation of the flame gun, reduce the time deviation of the operation control of the flame gun, reduce the waste of flame burning, and adjust the length of the flame by adjusting the pressure of the gas supply.

[0035] Finally, it should be noted that the above only describes the preferred embodiments of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art will appreciate that the technical solutions described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalent ones. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A flamethrower for a six-axis robotic singeing machine, comprising a flamethrower bracket (1), characterized in that: The flame-spraying bracket (1) has a hollow sealed structure inside. One end of the flame-spraying bracket (1) is equipped with a single flame-spraying gun (2) through an installation mechanism. There are three single flame-spraying guns (2), which are arranged in a triangular shape to form the flame-spraying gun assembly of the singeing machine. The installation mechanism includes a gas installation pipe (26) and a flame-spraying gun connecting plate (3). The single flame-spraying gun (2) includes a flame-spraying gun body (21), an electronic ignition needle (22), a combustion detection needle (23), a gas supply system, and a compressed air system. An electronic ignition needle (22) is provided on one side of the inside of the flame-spraying gun body (21), and a combustion detection needle (23) is provided on the other side of the inside of the flame-spraying gun body (21). A gas inlet (25) is provided in the middle of the inside of the flame-spraying gun body (21), and a compressed air inlet (24) is provided inside the flame-spraying gun body (21) on one side of the gas inlet (25). 5) Connected to the air supply system, the compressed air inlet (24) is connected to the compressed air system, the flame-spraying bracket (1) is provided with a mounting bracket (5), the mounting bracket (5) is provided with a combustion controller (4), the combustion controller (4) is provided with a flame-spraying control system, the flame-spraying bracket (1) is provided with a mounting flange (9) at one end away from the flame-spraying gun assembly, the flame-spraying bracket (1) is fixedly installed to the end of the robotic arm of the right robot (6) and the left robot (7) through the mounting flange (9), the flame-spraying gun assemblies on the right robot (6) and the left robot (7) are symmetrically arranged, the right robot (6) and the left robot (7) are six-axis robots, a grating sensor (8) is provided on one side of the right robot (6) and the left robot (7), one end of the electronic ignition needle (22) and the combustion detection needle (23) both penetrate the flame-spraying gun connecting plate (3) and are connected to the combustion controller (4) through the controller connector (218); The gas supply system includes a gas connection connector (251), a gas installation pipe (26), a gas conduit (27), a gas connector (28), a two-position two-way reversing valve (212), a gas storage tank (213), a one-way valve (214), a pressure reducing valve (215), and a natural gas pipeline (216). The flame gun barrel (21) is provided with a gas connection connector (251), and one end of the gas inlet (25) is provided with a gas installation pipe (26). The gas installation pipe (26) is fixedly installed to the flame gun barrel (21) through the gas connection connector (251). The gas installation pipe (26) on one side of the flame gun barrel (21) is connected to the flame gun connecting plate (3). The gas installation pipe (26) passes through the flame gun connection plate (3) and is connected to the gas conduit (27). The gas conduit (27) is located inside the flame gun bracket (1). The end of the gas conduit (27) away from the gas installation pipe (26) passes through the flame gun bracket (1) and is connected to the gas connector (28). The gas connector (28) is connected to the gas storage tank (213) through the gas pipeline. A two-position two-way reversing valve (212) is provided on the pipeline between the gas storage tank (213) and the gas connector (28). The gas storage tank (213) is connected to the natural gas pipeline (216). A one-way valve (214) and a pressure reducing valve (215) are provided on the natural gas pipeline (216). The compressed air system includes a compressed air installation pipe (29), a compressed air regulating valve (210), a compressed air connector (211), and a compressed air pipeline (217). The compressed air installation pipe (29) is connected to the flame support (1) on one side of the flame gun barrel (21). One end of the compressed air installation pipe (29) passes through the flame gun connecting plate (3), the flame gun barrel (21), and is connected to the compressed air inlet (24). The compressed air installation pipe (29) is equipped with a compressed air regulating valve (210). The end of the flame support (1) away from the flame gun barrel (21) is equipped with a compressed air connector (211), which is connected to the compressed air pipeline (217). The flame control system includes a data acquisition module, a processing module, a control module (42), and an execution unit. The output of the data acquisition module is electrically connected to the input of the control module (42) through the processing module. The output of the control module (42) is electrically connected to the input of the execution unit. The data acquisition module includes a grating sensor (8) and a combustion detection needle (23). The execution unit includes an electronic ignition needle (22) and a compressed air regulating valve (210). The gas installation pipe (26), gas conduit (27), gas connector (28), and two-position two-way reversing valve (212) are each provided in three parts, which correspond one-to-one with the three individual flame guns (2) of the flame gun assembly on the robot. The three individual flame guns (2) on the flame gun assembly are supplied with gas independently.

2. The flamethrower of the six-axis robotic singeing machine according to claim 1, characterized in that: The combustion controller (4) includes a controller panel (41), a control module (42) and a mounting bracket (43). The controller panel (41) is equipped with the control module (42), and one side of the controller panel (41) is fixedly installed to the mounting bracket (5) through the mounting bracket (43).

3. The flamethrower of the six-axis robotic singeing machine according to claim 1, characterized in that: The end of the electronic ignition needle (22) is inclined toward the combustion detection needle (23). The compressed air inlet (24) is located inside the flame gun barrel (21) on the side of the gas inlet (25) away from the flame gun connecting plate (3). The flame gun barrel (21) is cylindrical.

4. The flamethrower of the six-axis robotic singeing machine according to claim 1, characterized in that: A safety valve (2131) and a pressure gauge (2132) are provided on one side of the top of the gas storage tank (213).

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