Intelligent robot collagen filtering production line

Abstract

The invention relates to an intelligent robot collagen filtering production line, which comprises a grabbing robot, which comprises a grabbing robot body, a grabbing clamp and a preset area roller line, and is characterized in that the tail end of the grabbing robot body is connected with the grabbing clamp; the grabbing robot body grabs the collagen turnover baskets on the preset area roller line through the grabbing clamp and places the collagen turnover baskets on the roller conveying line; the roller conveying line comprises a plurality of branch roller lines and a gathering roller line, and the gathering roller line is used for gathering the collagen turnover baskets conveyed by the plurality of branch roller lines and then conveying the collagen turnover baskets to the tail end of the gathering roller line; the filtering machine is arranged on one side of the branch roller line and is used for loading collagen into the collagen turnover basket; the stacking robot comprises a stacking robot body, a stacking clamp, a pallet limiting frame and a pallet arranged at the tail end of the gathering roller line, and the stacking robot body stacks the collagen turnover baskets to the pallet limiting frame through the stacking clamp. The working efficiency of collagen filtering production can be improved, and the effects of reducing people and improving efficiency are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of collagen filtration production, and in particular to an intelligent robot collagen filtration production line. Background Art

[0002] On the collagen filtration production line, it is generally necessary to transport the empty collagen turnover baskets to the collagen loading station. After the collagen is loaded into the collagen turnover baskets, the full collagen turnover baskets are gathered for transportation and removal.

[0003] This requires the collagen filtration production line to have a conveyor line that delivers empty collagen turnover baskets to the collagen loading station, as well as a conveyor line that delivers collagen turnover baskets after loading to a centralized location. Generally, multiple empty collagen turnover baskets will be stacked together and sent to the front end of the production line. The empty collagen turnover baskets need to be placed on the conveyor line in turn and transported to the collagen loading position. Then, the full collagen turnover baskets after loading collagen are generally collected and stacked together for easy transportation. In order to improve the efficiency of the production line, it is necessary to improve the efficiency of destacking empty baskets and stacking full baskets. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent robot collagen filtration production line so as to automatically unstack collagen turnover baskets, load filtered collagen, and stack the fully loaded collagen turnover baskets onto pallets.

[0005] To achieve the above object, the present invention provides an intelligent robot collagen filtration production line, comprising:

[0006] The grabbing robot comprises a grabbing robot body, a grabbing fixture and a preset area roller line, wherein the end of the grabbing robot body is connected to the grabbing fixture, and the grabbing robot body is configured to grab the collagen turnover basket on the preset area roller line through the grabbing fixture and place it on the roller transport line;

[0007] The roller conveyor line includes a plurality of sub-roller lines and a collection roller line, and the collection roller line is configured to collect the collagen turnover baskets transported by the plurality of sub-roller lines and then send them to the end of the collection roller line;

[0008] A filter, arranged on one side of the drum dividing line, configured to load collagen into a collagen turnover basket;

[0009] The palletizing robot comprises a palletizing robot body, a palletizing fixture and a pallet limiting frame, which is arranged at the end of the aggregation roller line, and is configured such that the palletizing robot body palletizes the collagen turnover basket onto the pallet on the pallet limiting frame through the palletizing fixture.

[0010] Optionally, the grabbing fixture includes a first mounting flange, a first square bracket, two clamping cylinders and a clamping plate part; the two clamping cylinders are respectively connected to the two ends of the first square bracket, the first mounting flange is connected to the middle part of the first square bracket, and the clamping cylinders are connected to the corresponding clamping plate parts.

[0011] Optionally, the preset area roller line includes four collagen turnover basket roller lines, and the four collagen turnover basket roller lines are arranged around the grasping robot body.

[0012] Optionally, the collagen turnover basket drum line can accommodate at least two collagen turnover baskets, and a first detection sensor is provided at the end of the collagen turnover basket drum line for detecting whether there is material.

[0013] Optionally, the drum line is provided with three workstations in sequence, namely, a grasping robot basket placing position, a filter loading work position and a fully loaded basket unloading position; each workstation is provided with a second detection sensor for detecting whether there is material.

[0014] Optionally, the end of the total roller line is a palletizing grabbing position, and a third sensor is provided to detect whether there is material.

[0015] Optionally, the palletizing fixture includes a second mounting flange, a second square bracket, two fixture cylinders and snap-fit ​​parts; the two fixture cylinders are respectively connected to the two ends of the second square bracket, the second mounting flange is connected to the middle part of the second square bracket, and the fixture cylinders are connected to the corresponding snap-fit ​​parts.

[0016] Optionally, the pallet limiting frame includes a limiting square frame and a detection travel switch, the limiting square frame is used to limit the pallet to a set position, and the detection travel switch is used to detect the position of the pallet.

[0017] Optionally, the number of the sub-roller lines is 2, which are parallel to each other and spaced apart.

[0018] As can be seen from the above, the technical solution provided by the present invention is to depalletize the empty collagen turnover baskets through a grasping robot, transport them to the collagen loading station through a roller conveyor line, and have the fully loaded collagen turnover baskets centrally stacked by a stacking robot. The collagen baskets can be automatically placed at the collagen loading station, and the collagen turnover baskets fully loaded with collagen can be automatically stacked on the pallet, thereby improving work efficiency and achieving the goal of reducing manpower and increasing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a structural schematic diagram of an intelligent robot collagen filtration production line according to an embodiment of the present invention;

[0020] Figure 2is a schematic structural diagram of a grasping robot according to an embodiment of the present invention;

[0021] Figure 3 Schematic diagram of the structure of a grabbing fixture (palletizing fixture) according to an embodiment of the present invention;

[0022] Figure 4 is a schematic structural diagram of a collagen turnover basket drum line according to an embodiment of the present invention;

[0023] Figure 5 is a schematic structural diagram of a roller conveyor line according to an embodiment of the present invention;

[0024] Figure 6 Schematic diagram of the structure of the palletizing robot according to the embodiment of the present invention. DETAILED DESCRIPTION

[0025] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and through specific implementation methods. It is understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It is also necessary to explain that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings, rather than all.

[0026] Some directional words are defined in the present invention. Unless otherwise specified, the directional words used, such as "up", "down", "left", "right", "inside" and "outside", are used to facilitate understanding and therefore do not constitute a limitation on the scope of protection of the present invention.

[0027] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0028] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] This embodiment provides an intelligent robot collagen filtration production line, such as Figure 1 The structure diagram of the intelligent robot collagen filtration production line from a top view is shown. The intelligent robot collagen filtration production line includes:

[0030] The grasping robot 100, such as Figure 2 , comprising a grabbing robot body 102, a grabbing fixture 103 and a pre-set area roller line 101, wherein the end of the grabbing robot body 102 is connected to the grabbing fixture 103, and is configured such that the grabbing robot body 102 grabs the collagen turnover basket on the pre-set area roller line 101 through the grabbing fixture 103 and places it on the roller transport line 104;

[0031] The roller conveyor line 104 includes a plurality of sub-roller lines 105 ( Figure 1 Taking two as an example, the two sub-roller lines are parallel to each other and arranged at intervals) and a collecting roller line 106, the collecting roller line 106 is configured to collect the collagen turnover baskets transported by multiple sub-roller lines 105 and then send them to the end of the collecting roller line 106; wherein the sub-roller lines 105 can be arranged perpendicular to the collecting roller line 106, and the sub-roller lines 105 can send the collagen turnover baskets to the collecting roller line 106.

[0032] The filter is arranged on one side of the drum line 105 ( Figure 1 Omitted), configured to load collagen into a collagen turnover basket; wherein the filter can extrude the collagen mass and load it into the collagen turnover basket.

[0033] Palletizing robot 107, such as Figure 6 , including a palletizing robot body 109, a palletizing fixture 110 and a pallet limiting frame 108, which is arranged at the end of the aggregation roller line 106, and is configured such that the palletizing robot body 109 palletizes the collagen turnover basket onto the pallet on the pallet limiting frame 108 through the palletizing fixture 110.

[0034] Optional, such as Figure 3 The grabbing fixture 103 includes a first mounting flange 1031, a first square bracket 1032, two clamping cylinders 1033 and a clamping plate part 1034; the two clamping cylinders 1033 are respectively connected to the two ends of the first square bracket 1032, the first mounting flange 1031 is connected to the middle of the first square bracket 1032, and the clamping cylinders 1033 are connected to the corresponding clamping plate parts 1034. When the clamping cylinders 1033 installed on both sides are closed, the clamping plate parts 1034 can be driven to buckle into the gap between the handles of the collagen turnover basket to realize the transportation of the collagen turnover basket.

[0035] Optionally, the preset area roller line 101 includes four collagen turnover basket roller lines, and the four collagen turnover basket roller lines are arranged around the grasping robot body.

[0036] Optional, such as Figure 4 The collagen turnover basket roller line can accommodate at least two collagen turnover baskets, and a first detection sensor 204 is provided at the end of the collagen turnover basket roller line to detect whether there is material. The drive motor 205 drives the roller 206 to rotate through the drive structure to transport the collagen turnover basket. The first detection sensor 204 can be a photoelectric detection sensor.

[0037] Optional, such as Figure 5 The drum line 105 is provided with three stations in sequence, namely, the basket placing station 200 for the grabbing robot, the filter loading station 201 and the fully loaded basket discharging station 202; each station is provided with a second detection sensor for detecting whether there is material. The second detection sensor is the same as the first detection sensor.

[0038] Optionally, the end of the total roller line 106 is a palletizing grabbing position 203, which is provided with a third sensor for detecting whether there is material, wherein the third detection sensor is the same as the first detection sensor.

[0039] Optional, such as Figure 3 The stacking fixture includes a second mounting flange 1101, a second square bracket 1102, two fixture cylinders 1103 and a snap-on part 1104; the two fixture cylinders 1103 are respectively connected to the two ends of the second square bracket 1102, the second mounting flange 1101 is connected to the middle of the second square bracket 1102, and the fixture cylinders 1103 are connected to the corresponding snap-on parts 1104. In this implementation, the stacking fixture has the same structure as the grabbing fixture, and is used to clamp the collagen turnover basket on the stacking grabbing position 203 and stack it on the pallet limit frame.

[0040] Optionally, the pallet limit frame 108 includes a limit square frame and a detection travel switch, wherein the limit square frame is used to limit the pallet to a set position, and the detection travel switch is used to detect the position of the pallet. The detection travel switch can only be triggered when the pallet is placed at the end of the limit square frame.

[0041] The working process of the intelligent robot collagen filtration production line provided by the present invention is that when neatly stacked collagen turnover baskets (for example, 10 stacked collagen turnover baskets) are manually pushed into the drum 206, the drive motor 205 is started to drive the drum 206 to rotate and send the collagen turnover basket forward to the end of the collagen turnover basket drum line and be detected by the first detection sensor 204. At this time, a signal is sent to the grasping robot body 102, and the end of the grasping robot body 102 moves to the position of the collagen turnover basket on the collagen turnover basket drum line and then starts the grasping clamp 103 to clamp the collagen turnover basket. The grasping robot body 102 determines whether there is a collagen turnover basket on the two sub-drum lines 105. When there is no basket at the grasping robot basket placement position 200 of one of the sub-drum lines 105, the grasping robot body 102 places the basket at the grasping robot basket placement position 20 0, open the grabbing clamp 103, the sub-drum line 105 transports the collagen turnover basket to the filter loading workstation 201, the second detection sensor of the filter loading workstation 201 sends a signal to the filter to extrude the collagen mass, when the collagen turnover basket is fully loaded, the sub-drum line 105 sends the collagen basket to the fully loaded basket position 202, and then sends it to the aggregation drum line 106 depending on whether there is a basket on the conveyor belt, and finally transports it to the stacking grabbing position 203 at the end of the aggregation drum line 106, the third detection sensor detects the presence of the basket and sends a signal to the stacking robot 107, the stacking robot body 109 reaches the stacking grabbing position 203 at the end, triggers the stacking clamp 110, picks up the fully loaded collagen turnover basket and places it on the pallet of the pallet limit frame 108, and sends a completion signal when the stacking reaches the specified number (for example, 6 layers), prompting the employee to use a forklift to pull away the pallet goods.

[0042] In the present invention, when the first detection sensor 204 of the preset area roller line 101 fails to detect the collagen turnover basket, it will issue a basket entry prompt, and start the drive motor 205 to drive the roller 206 to deliver the collagen turnover basket that is subsequently placed into place, and then stop the drive motor 205.

[0043] The above-mentioned technical solution provided by the present invention can automatically place the collagen baskets at the collagen loading station by means of a grabbing robot, and transport them to the collagen loading station through a roller conveyor line. The fully loaded collagen turnover baskets can then be automatically stacked on a pallet, thereby improving work efficiency and achieving the goal of reducing manpower and increasing efficiency.

[0044] Although the present invention has been described in detail above by means of general description, specific implementation methods and tests, it is obvious to those skilled in the art that some modifications or improvements may be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all fall within the scope of protection claimed by the present invention.

Claims

1. An intelligent robot collagen filtration production line, characterized in that: include: The grabbing robot comprises a grabbing robot body, a grabbing fixture and a preset area roller line, wherein the end of the grabbing robot body is connected to the grabbing fixture, and the grabbing robot body is configured to grab the collagen turnover basket on the preset area roller line through the grabbing fixture and place it on the roller transport line; The roller conveyor line includes a plurality of sub-roller lines and a collection roller line, and the collection roller line is configured to collect the collagen turnover baskets transported by the plurality of sub-roller lines and then send them to the end of the collection roller line; A filter, arranged on one side of the drum dividing line, configured to load collagen into a collagen turnover basket; The palletizing robot comprises a palletizing robot body, a palletizing fixture and a pallet limiting frame, which is arranged at the end of the aggregation roller line, and is configured such that the palletizing robot body palletizes the collagen turnover basket onto the pallet on the pallet limiting frame through the palletizing fixture.

2. The intelligent robot collagen filtration production line according to claim 1 is characterized by: The grabbing fixture includes a first mounting flange, a first square bracket, two clamping cylinders and a clamping plate part; the two clamping cylinders are respectively connected to the two ends of the first square bracket, the first mounting flange is connected to the middle part of the first square bracket, and the clamping cylinders are connected to the corresponding clamping plate parts.

3. The intelligent robot collagen filtration production line according to claim 1 is characterized by: The preset area roller line includes four collagen turnover basket roller lines, and the four collagen turnover basket roller lines are arranged around the grasping robot body.

4. The intelligent robot collagen filtration production line according to claim 3 is characterized by: The collagen turnover basket drum line can accommodate at least two collagen turnover baskets, and a first detection sensor is provided at the end of the collagen turnover basket drum line for detecting whether there is material.

5. The intelligent robot collagen filtration production line according to claim 1 is characterized by: The drum line is provided with three workstations in sequence, namely, the basket placing position of the grabbing robot, the filter loading position and the fully loaded basket unloading position; each workstation is provided with a second detection sensor for detecting whether there is material.

6. The intelligent robot collagen filtration production line according to claim 1 is characterized by: The end of the total roller line is a palletizing grabbing position, and a third sensor is provided to detect whether there is material.

7. The intelligent robot collagen filtration production line according to claim 1 is characterized by: The stacking fixture includes a second mounting flange, a second square bracket, two fixture cylinders and snap-on parts; the two fixture cylinders are respectively connected to the two ends of the second square bracket, the second mounting flange is connected to the middle part of the second square bracket, and the fixture cylinders are connected to the corresponding snap-on parts.

8. The intelligent robot collagen filtration production line according to claim 1 is characterized by: The pallet limiting frame comprises a limiting square through frame and a detection travel switch, wherein the limiting square through frame is used to limit the pallet to a set position, and the detection travel switch is used to detect the position of the pallet.

9. The intelligent robot collagen filtration production line according to claim 1, characterized in that: The number of the sub-drum lines is 2, which are parallel to each other and arranged at intervals.

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