A food industry processing handling and stacking robot

Abstract

The present application relates to the field of food stacking device, in particular to a carrying and stacking robot for food industrial processing. It comprises a mechanical arm, a bearing frame, a guide ring, a limiting plate, a conveying roller mechanism and a switching mechanism. The mechanical arm has a control end. The bearing frame is connected at the control end. Two guide rings are symmetrically arranged horizontally on the bearing frame. The conveying roller mechanism comprises multiple groups of conveying roller assemblies distributed side by side along the outer contour of the guide ring. Each conveying roller assembly comprises a roller group and two groups of moving assemblies symmetrically distributed about the roller group. Each moving assembly comprises a moving frame for the roller group to rotate and a roller assembly to roll on the guide ring. The roller assembly is rotatably arranged on the moving frame. The switching mechanism comprises three sprockets rotatably arranged on the guide ring and respectively distributed at the three corners of a triangle. The present application can carry and stack a whole layer of goods at a time, with high stacking efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of food stacking devices, in particular to a carrying and stacking robot for food industrial processing. BACKGROUND

[0002] In the food industrial processing and production industry, a carrying and stacking robot can be used for stacking packaged food, which can save labor and improve the efficiency of carrying and stacking. For example, in the production of drinking water, after the drinking water is processed, it needs to be packaged in cartons or plastic films, and then stacked into boxes or bundles for subsequent transportation. In addition, other types of bottled beverages can also be stacked using a carrying and stacking robot after being packaged into cartons or bundles.

[0003] Chinese Patent No. CN213801963U discloses a four-axis carrying and stacking robot, which includes a four-axis stacking robot body, a rectangular frame rotatably installed on the four-axis stacking robot body, a clamping mechanism fixedly installed on the rectangular frame, the clamping mechanism including a box body, the box body penetrating the rectangular frame and fixedly connected with the inner wall of the rectangular frame, two slide holes being formed in the inner wall of the side of the box body away from the four-axis stacking robot body, two horizontal rods being slidably installed in the two slide holes, the two horizontal rods penetrating the corresponding slide holes, two connecting rods being hingedly connected to the horizontal rods, a same clamping plate being hingedly connected to the ends of the two connecting rods away from the horizontal rods, two mounting plates being fixedly installed on the sides of the two horizontal rods away from each other, and two air cylinders being hingedly connected to the two mounting plates. The carrying and stacking robot is simple to operate, convenient to use, can adapt to different sizes of boxes, has high stability, good clamping effect, and wide applicability.

[0004] However, the above technical solution has the following disadvantages: only one cargo can be carried at a time, and then the cargo is placed on the same layer. When a layer of cargo is stacked, the cargo is carried and placed on the upper layer multiple times, which is low in stacking efficiency. SUMMARY

[0005] The present application aims to solve the problems in the background art and provides a carrying and stacking robot for food industrial processing, which can carry and stack a whole layer of cargo at a time, and has high stacking efficiency.

[0006] The technical scheme of the present application is a food industrial processing carrying and stacking robot, which comprises a mechanical arm, a bearing frame, a guide ring, a limiting plate, a conveying roller mechanism and a switching mechanism; the mechanical arm has a control end; the bearing frame is connected at the control end of the mechanical arm; two guide rings are symmetrically arranged horizontally on the bearing frame; the conveying roller mechanism comprises multiple groups of conveying roller assemblies arranged side by side along the outer contour of the guide ring, each conveying roller assembly comprises a roller group and two groups of moving assemblies symmetrically arranged about the roller group, each moving assembly comprises a moving frame for rotating installation of the roller group and a roller assembly rolling on the guide ring, and the roller assembly is rotatably arranged on the moving frame; the switching mechanism is arranged on each of the two guide rings, and drives the moving frame to move, comprising three sprockets rotatably arranged on the guide ring and respectively arranged at the three corners of a triangle, two of the three sprockets are at the same height, and the remaining one sprocket is higher than the two sprockets; when the switching mechanism adjusts the conveying roller mechanism to be horizontally arranged between the two sprockets, the conveying roller mechanism is in a supporting state; when the switching mechanism moves the conveying roller mechanism away from the two sprockets, the conveying roller mechanism is in a discharging state; the limiting plate is arranged on the bearing frame, and limits the collection range of goods when the conveying roller mechanism is in the supporting state, and blocks the goods when the conveying roller mechanism is in the discharging state.

[0007] Preferably, the guide ring is a triangular ring structure, and the corners of the triangular ring structure are rounded, and the inner side and the outer side are both provided with a guide boss along the contour, and the roller assembly comprises a roller one and a roller two rolling on the two side guide bosses respectively, and the roller one and the roller two both have an annular rolling groove for the guide boss to extend into.

[0008] Preferably, the switching mechanism further comprises a chain engaged with the three sprockets and a speed reducer motor one arranged on the guide ring, the speed reducer motor one is drivingly connected with one sprocket, the chain comprises multiple chain links hingedly connected in a ring shape, the moving assembly further comprises a connecting frame connected with the chain link, a rod connected with the outer end of the connecting frame, and a cylinder arranged on the moving frame and allowing the rod to slide.

[0009] Preferably, the roller group comprises a rotating shaft rotatably arranged on the moving frame and a roller coaxially arranged on the rotating shaft.

[0010] Preferably, the driving mechanism further comprises a power assembly arranged on one moving frame and driving one rotating shaft to rotate, and a linkage assembly drivingly connecting multiple rotating shafts, the linkage assembly comprises a gear one arranged on each of the multiple rotating shafts and a linkage assembly connecting adjacent two gears one, the linkage assembly comprises a plate one and a plate two arranged on adjacent two rotating shafts, an intermediate shaft drivingly connected with the plate one and the plate two, and a gear two arranged on the intermediate shaft, the gear two is engaged with the two adjacent gears one.

[0011] Preferably, the roller rotating device is arranged on a rotating shaft, the roller shaft is provided with a stop table at the axial end face, the rotating shaft is provided with a mounting sleeve, a sliding rod is arranged on the mounting sleeve in a sliding mode, the outer end of the sliding rod is connected with a pushing table, a spring is arranged on the outer periphery of the sliding rod and connected between the mounting sleeve and the pushing table, and the pushing table is provided with an inclined surface one and the stop table is provided with an inclined surface two for pushing and extruding the inclined surface one of the pushing table.

[0012] Preferably, the limiting plate is a horizontally distributed U-shaped plate, the opening is in a flared distribution, and the bearing frame is vertically provided with an electric push rod, and the bottom moving end of the electric push rod is provided with a stop plate which can move downward to the opening of the limiting plate or move upward away from the opening.

[0013] Preferably, the three sprockets are respectively arranged at the vertices of an equilateral triangle.

[0014] Compared with the prior art, the present application has the following beneficial technical effects:

[0015] The present application can carry and stack a whole layer of goods at a time, and has high stacking efficiency. The food industrial processing carrying and stacking robot adjusts the conveying roller mechanism to a supporting state and aligns and connects with the terminal end of the conveyor. The conveyor sequentially conveys multiple goods to the conveying roller mechanism. Then, the carrying and stacking robot moves the conveying roller mechanism above the position to be stacked, switches the conveying roller mechanism to a discharging state, gradually releases the support of the multiple goods, and the multiple goods automatically fall down to realize whole layer stacking. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 The figure is a structural schematic diagram of an embodiment of the present application;

[0017] Figure 2 The figure is a structural schematic diagram of the structure when multiple rollers are moved away to make the goods fall off;

[0018] Figure 3 The figure is a distribution schematic diagram of the connecting frame and the roller one;

[0019] Figure 4 The figure is a partial structural sectional view of an embodiment of the present application;

[0020] Figure 5 The figure is Figure 4 The figure is an enlarged view of the structure at A in the middle;

[0021] Reference numerals: 1. Robotic arm; 2. Counterweight; 3. Bearing frame; 4. Guide ring; 5. Gear motor one; 6. Sprocket; 7. Chain; 71. Chain link; 8. Moving frame; 9. Cylinder; 10. Rod; 11. Connecting frame; 12. Roller one; 13. Roller two; 14. Shaft; 15. Roller; 16. Mounting sleeve; 17. Slide rod; 18. Push table; 19. Spring; 20. Stop; 21. Mounting base; 22. Gear motor two; 23. Drive gear; 24. Driven gear; 25. Gear one; 26. Gear two; 27. Plate one; 28. Plate two; 29. ​​Limiting plate; 30. Baffle; 31. Electric push rod; 32. Shield. Detailed Implementation

[0022] Example 1, as Figures 1-5 As shown in the figure, the food industrial processing palletizing robot proposed in this embodiment includes a robotic arm 1, a support frame 3, a guide ring 4, a limiting plate 29, a conveying roller mechanism, and a switching mechanism.

[0023] like Figure 1 As shown, the robotic arm 1 has a control end that can move the carrier 3 to the desired position. The carrier 3 is connected to the control end of the robotic arm 1. A counterweight 2 is provided on the rear side of the robotic arm 1. The counterweight 2 and the carrier 3 are located on opposite sides of the robotic arm 1. The counterweight 2 serves as a counterweight to prevent the entire robot from tipping over due to the heavier load on one side of the carrier 3.

[0024] Two guide rings 4 are horizontally symmetrically arranged on the support frame 3. The guide rings 4 are triangular ring structures with rounded corners at the turning points of the triangular ring structure. Guide bosses are provided on both the inner and outer sides along the contour, and the guide bosses also have rounded corners at the structural turning points. The outer guide bosses and the inner guide bosses are equidistantly offset.

[0025] The conveyor roller mechanism includes multiple sets of conveyor roller assemblies arranged side-by-side along the outer contour of the guide ring 4. Each conveyor roller assembly includes a roller group and two sets of movable assemblies symmetrically distributed about the roller group. The roller group includes a rotating shaft 14 rotatably mounted on a movable frame 8 and rollers 15 coaxially mounted on the rotating shaft 14; rollers 15 support goods. The movable assemblies include a connecting frame 11, a movable frame 8 for rotatably mounting the roller group, a roller assembly that rolls on the guide ring 4, a rod 10 connected to the outer end of the connecting frame 11, and a cylinder 9 mounted on the movable frame 8 for sliding the rod 10. The roller assembly is rotatably mounted on the movable frame 8. Specifically, the roller assembly includes a first roller 12 and a second roller 13 that roll at guide bosses on both sides, respectively. Both rollers 12 and 13 have annular grooves into which the guide bosses extend. Rollers 12 and 13 can roll accurately along the guide bosses on the guide ring 4 without falling off.

[0026] like Figures 2-4As shown, the switching mechanism is provided with a set of each of the two guide rings 4, and the switching mechanism can drive the moving frame 8 to move. The switching mechanism comprises three sprockets 6 rotatably arranged on the guide ring 4 and respectively distributed at the three corners of the triangle, a chain 7 engagedly connected with the three sprockets 6, and a speed reducer motor I 5 arranged on the guide ring 4. Specifically, the three sprockets 6 are distributed at the three corners of the equilateral triangle. Two of the three sprockets 6 are of the same height, and the remaining one sprocket 6 is higher than the two sprockets 6, and the speed reducer motor I 5 is drivingly connected with the higher one sprocket 6. The positions where the sprockets 6 are rotatably arranged on the guide ring 4 are located between the inner guide boss and the outer guide boss. The chain 7 comprises a plurality of chain links 71 sequentially hingedly connected in a ring shape, and a single chain link 71 is connected with a single connecting frame 11. When the chain link 71 drives the connecting frame 11 to move to the vicinity of the sprocket 6, the rod 10 will extend into the inner side of the cylinder 9 to adapt to the change of the distance, but it can ensure that the moving assembly is still driven by the chain link 71, and no structural interference will occur.

[0027] A shielding cover 32 can be additionally arranged on the outer side of the bearing frame 3, and a passage for the cylinder 9 and the rod 10 to pass through is left between the shielding cover 32 and the guide ring 4, and the shielding cover 32 can protect the sprocket 6 and the chain 7 to a certain extent.

[0028] When the switching mechanism adjusts the conveying roller mechanism to be horizontally distributed between the two sprockets 6, the conveying roller mechanism is in a supporting state, a plurality of conveying roller assemblies are horizontally and side by side distributed, and a plurality of goods can be conveyed to the plurality of conveying roller assemblies. The conveying roller mechanism can most heavily load 1000kg of goods. When the switching mechanism moves the conveying roller mechanism away from between the two sprockets 6, the conveying roller mechanism is in a discharging state, and the plurality of conveying roller assemblies bypass the rear side of the limiting plate 29 in sequence, and the plurality of goods (bottled beverages in boxes or in lifts) are sequentially released from being supported, and the plurality of goods will sequentially fall due to their own gravity, realizing the stacking of the whole layer.

[0029] The limiting plate 29 is arranged on the bearing frame 3, and limits the collection range of the goods when the conveying roller mechanism is in the supporting state, preventing the goods from falling off the conveying roller mechanism. When the conveying roller mechanism is in the discharging state, the goods are blocked, and specifically, for the plurality of goods that have been regularly collected on the conveying roller mechanism, after the conveying roller mechanism is moved away, the plurality of goods are not supported and will automatically fall down, and the limiting plate 29 is used to prevent the goods from moving with the conveying roller mechanism, and limits the goods to fall in a fixed area.

[0030] The embodiment can carry and stack a whole layer of goods at a time, and has high stacking efficiency. The food industrial processing carrying and stacking robot is arranged at one side of an existing conveyor terminal end for conveying goods. When carrying the goods, the conveying roller mechanism is adjusted to a supporting state and aligned with the conveyor terminal end for connection. The conveyor sequentially conveys a plurality of goods to the conveying roller mechanism. Then, the carrying and stacking robot moves the conveying roller mechanism to above the position to be stacked, switches the conveying roller mechanism to a discharging state, gradually releases the support of the plurality of goods, and the plurality of goods automatically falls down to realize whole layer stacking.

[0031] When receiving a plurality of goods conveyed by the conveyor by using the food industrial processing carrying and stacking robot, two receiving modes are adopted.

[0032] Receiving mode one: the plurality of goods are regularly and regularly distributed on the conveyor according to the required stacking rule. The conveying roller mechanism is aligned with the conveyor terminal end and remains unchanged. The conveyor directly and regularly conveys the plurality of goods to the conveying roller mechanism.

[0033] Receiving mode two: the plurality of goods are distributed side by side on the conveyor. The conveyor sequentially and intervally conveys in one direction. After receiving one good, the food industrial processing carrying and stacking robot adjusts the transverse position of the conveying roller mechanism (adjusts in the transverse direction perpendicular to the conveying direction of the conveyor), and regularly receives the plurality of goods in the form of rows and columns.

[0034] In the embodiment two, as shown in the drawings, the food industrial processing carrying and stacking robot comprises a conveying roller assembly, a moving frame 8, a driving mechanism, a control mechanism and a plurality of conveying rollers 1. Figures 1-5 The driving mechanism comprises a power assembly arranged on the moving frame 8 and driving a rotating shaft 14 to rotate, and a linkage assembly connecting the plurality of rotating shafts 14. The power assembly comprises a mounting seat 21 arranged on the moving frame 8, a second speed reduction motor 22 arranged on the mounting seat 21, a driving gear 23 connected with the output end of the second speed reduction motor 22, and a driven gear 24 engaged with the driving gear 23. The driven gear 24 is coaxially arranged on the rotating shaft 14 in the conveying roller assembly to which the moving frame 8 belongs.

[0035] The deceleration motor 22 can drive the driving gear 23 to rotate, and the driving gear 23 drives the driven gear 24 to rotate, thereby driving the rotating shaft 14 to rotate. The linkage assembly includes a gear 25 arranged on each of the rotating shafts 14 and a linkage assembly connecting the adjacent two gears 25, the linkage assembly including a plate 27 and a plate 28 arranged on the adjacent two rotating shafts 14, an intermediate shaft rotatably connected with the plate 27 and the plate 28, and a gear 26 arranged on the intermediate shaft, the gear 26 being meshed with the two adjacent gears 25. When the plurality of conveying roller assemblies are arranged side by side, the plurality of rotating shafts 14 are linked through the gears 25 and the linkage assembly, and can rotate in the same direction. Specifically, when one rotating shaft 14 rotates, the gear 25 on the rotating shaft 14 is driven to rotate, the gear 26 is driven to rotate, and the other adjacent gear 25 is driven to rotate, thereby driving the other adjacent rotating shaft 14 to rotate. When the plurality of rotating shafts 14 rotate synchronously, the plurality of rollers 15 are driven to rotate synchronously, and the plurality of rollers 15 can continue to convey the goods conveyed by the conveyor inward until the plurality of goods are regularly collected on the conveying roller mechanism. At this time, the limiting plate 29 at the rear side can prevent the plurality of goods from falling.

[0036] During the switching of the conveying roller mechanism to the discharging state, when the conveying roller assembly passes through the chain wheel 6, because the chain 7 is not distributed equidistantly offset from the guide bosses on the inner and outer sides of the guide ring 4, the distance between the two adjacent gears 25 is reduced, and the gear 26 is driven to move through the plate 27 and the plate 28. The plate 27 and the plate 28 are designed to be rotatably connected through the intermediate shaft, so as to avoid the jamming between the structures during the movement of the conveying roller assembly.

[0037] The embodiment can drive the plurality of rollers 15 to rotate through the driving mechanism, and can convey the plurality of goods to the conveying roller mechanism in the supporting state.

[0038] As shown in FIG. 3, the conveying roller mechanism according to the embodiment is provided with a plurality of conveying roller assemblies arranged side by side, each of the conveying roller assemblies including a rotating shaft 14, a roller 15 rotatably arranged on the rotating shaft 14, and a limiting plate 29 arranged on the rotating shaft 14 and located at the rear side of the roller 15. Figures 1-5 As shown in FIG. 3, the conveying roller mechanism according to the embodiment is provided with a plurality of conveying roller assemblies arranged side by side, each of the conveying roller assemblies including a rotating shaft 14, a roller 15 rotatably arranged on the rotating shaft 14, and a limiting plate 29 arranged on the rotating shaft 14 and located at the rear side of the roller 15.

[0039] In this embodiment, when the rotating shaft 14 rotates clockwise, it can push the stop 20 through the mounting sleeve 16, slide rod 17, and pusher 18, thereby driving the roller 15 to rotate and transport the goods. When it is necessary to unload the goods for stacking, the conveying roller mechanism moves away from under the goods. Due to the friction between the roller 15 and the goods, the roller 15 will roll at the bottom of the goods. The roller 15 pushes the pusher 18 inward through the second inclined plane and the first inclined plane. The pusher 18 compresses the spring 19. That is to say, when unloading the goods, the roller 15 and the goods are in rolling contact, which reduces the wear of the roller 15 and the goods.

[0040] Example 4, as Figures 1-5 As shown in the figure, the palletizing robot for industrial food processing proposed in this embodiment has the following features compared to the first embodiment: the limiting plate 29 is a horizontally distributed U-shaped plate with an flared opening; an electric push rod 31 is vertically arranged on the support frame 3; and a baffle 30 is provided at the bottom moving end of the electric push rod 31, which can move down to the opening of the limiting plate 29 or move up from the opening.

[0041] In this embodiment, when the food industrial processing palletizing robot collects goods conveyed from the conveyor, the baffle 30 moves upward from the opening of the limiting plate 29. After the goods are collected, the electric push rod 31 pushes the baffle 30 downward, and the baffle 30 blocks the opening of the limiting plate 29. The palletizing robot transfers the goods to the palletizing position. During this process, the limiting plate 29 and the baffle 30 effectively limit the range of the goods, preventing them from being thrown off.

[0042] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A palletizing robot for industrial food processing, comprising a robotic arm (1) with a control end, characterized in that, Also includes: The support frame (3) is connected to the operating end of the robotic arm (1); Two guide rings (4) are horizontally symmetrically arranged on the support frame (3); The conveying roller mechanism includes multiple sets of conveying roller assemblies arranged side by side along the outer contour of the guide ring (4). The conveying roller assembly includes a roller group and two sets of moving assemblies symmetrically distributed about the roller group. The moving assemblies include a moving frame (8) for the roller group to be rotatably mounted and a roller assembly that rolls on the guide ring (4). The roller assembly is rotatably mounted on the moving frame (8). The switching mechanism is set on each of the two guide rings (4) to drive the moving frame (8) to move. It includes three sprockets (6) that are rotatably set on the guide rings (4) and distributed at the triangles. Two of the three sprockets (6) are at the same height, and the remaining sprocket (6) is higher than the two sprockets (6). When the switching mechanism adjusts the conveying roller mechanism to be horizontally distributed between the two sprockets (6), the conveying roller mechanism is in the supporting state. When the switching mechanism moves the conveying roller mechanism away from between the two sprockets (6), the conveying roller mechanism is in the discharging state. The limiting plate (29) is set on the support frame (3). When the conveyor roller mechanism is in the supporting state, it limits the range of goods collection. When the conveyor roller mechanism is in the discharging state, it blocks the goods. Multiple sets of conveyor roller assemblies pass around the back of the limiting plate (29) in sequence and release the support of multiple goods in sequence. Multiple goods will fall in sequence due to their own weight, realizing the stacking of the whole layer. The switching mechanism also includes a chain (7) meshing with three sprockets (6) and a geared motor (5) set on the guide ring (4). The geared motor (5) is driven to a sprocket (6). The chain (7) includes multiple chain links (71) that are hinged in a ring. The moving component also includes a connecting frame (11) connected to the chain links (71), a rod (10) connected to the outer end of the connecting frame (11), and a cylinder (9) set on the moving frame (8) for the rod (10) to slide. The roller assembly includes a rotating shaft (14) rotatably mounted on a movable frame (8) and rollers (15) coaxially mounted on the rotating shaft (14); It also includes a drive mechanism, which includes a power component that is mounted on a movable frame (8) and drives a rotating shaft (14) to rotate, and a linkage component that drives multiple rotating shafts (14) to connect. The linkage component includes a gear 1 (25) mounted on each of the multiple rotating shafts (14) and a connecting component that connects two adjacent gear 1 (25). The connecting component includes a plate 1 (27) and a plate 2 (28) mounted on two adjacent rotating shafts (14), an intermediate shaft that is rotatably connected to the plate 1 (27) and the plate 2 (28), and a gear 2 (26) mounted on the intermediate shaft. The gear 2 (26) meshes with two adjacent gear 1 (25).

2. The food industrial processing palletizing robot according to claim 1, characterized in that, The guide ring (4) is a triangular ring structure with rounded corners at the turning point of the triangular ring structure. Guide bosses are provided on both the inner and outer sides along the contour. The roller assembly includes roller one (12) and roller two (13) that roll on the guide bosses on both sides respectively. Both roller one (12) and roller two (13) have annular grooves into which the guide bosses can extend.

3. The food industrial processing palletizing robot according to claim 1, characterized in that, The roller (15) is rotatably mounted on the rotating shaft (14). A stop (20) is provided at the axial end face of the roller (15). An mounting sleeve (16) is provided on the rotating shaft (14). A slide rod (17) is slidably mounted on the mounting sleeve (16). A push table (18) is connected to the outer end of the slide rod (17). A spring (19) sleeved on the outer periphery of the slide rod (17) is connected between the mounting sleeve (16) and the push table (18). The push table (18) has an inclined surface one, and the stop (20) has an inclined surface two for the push table (18) to push.

4. The food industrial processing palletizing robot according to claim 1, characterized in that, The limiting plate (29) is a horizontally distributed U-shaped plate with an flared opening. An electric push rod (31) is vertically installed on the support frame (3). The bottom moving end of the electric push rod (31) is equipped with a baffle (30) that can move down to the opening of the limiting plate (29) or move up from the opening.

5. A palletizing robot for industrial food processing according to claim 1, characterized in that, The three sprockets (6) are located at the triangular part of the equilateral triangle.

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