Comb-fork type collaborative transfer device

Abstract

The invention discloses a comb-fork type collaborative transfer device which is suitable for efficient transfer of easily-deformed articles (such as flour cakes) in food processing (such as a baked cake production line). The device comprises a comb-fork type conveying device, a comb-fork type transfer device and a control system, and is characterized in that comb-fork staggered design is adopted, horizontal projections of conveying comb tooth rods and transfer comb tooth rods are staggered and not overlapped, the transfer comb tooth rods can be inserted into gaps of conveying comb teeth without interference, articles are stably lifted from bottom to top, and deformation is avoided. The horizontal rotating shaft drives the comb forks to turn over by 180 degrees to achieve double-face machining, and the vertical rotating shaft adjusts the direction of objects to be matched with transferring. According to the modular driving system, a linear driving module supports single-axis linear, double-axis two-dimensional or three-axis three-dimensional space movement, and complex path transfer is achieved by combining rotation driving. Multi-dimensional and accurate transfer is achieved through cooperative control, and the multi-dimensional transfer system is suitable for the fields of food processing, logistics sorting and the like, and is especially good at treating easily-deformed, sheet-shaped and light objects.

Description

Technical Field

[0001] The invention relates to the field of food processing machinery, in particular to a comb-fork type coordinated transport device for transporting cake blanks on a cake production line. Background Art

[0002] Most of the work on the pancake production line is processed by corresponding mechanical equipment, such as automatic pancake wrapping, automatic pancake rolling, automatic transmission, and automatic pancake baking. However, after the pancake is rolled and automatically transmitted to the vicinity of the oven, the pancake transfer process still needs to be done manually. Due to site limitations or production capacity ratios, one pancake rolling and conveying device often needs to correspond to multiple ovens in different locations. The complex transfer process and the easy deformation of pancakes make many robotic sorting devices not suitable.

[0003] Purpose of the invention: To provide a comb-fork type cooperative transport device, which cooperates with each other, is multifunctional and efficient in transport. Summary of the invention

[0004] The present invention provides a comb-fork coordinated transport device, which is particularly suitable for the efficient transport of easily deformable objects (such as flatbreads) in the field of food processing (such as a pancake production line). The device realizes multi-dimensional, interference-free transport of objects through the coordinated cooperation of the comb-fork transport device and the comb-fork conveying device. The specific technical solution is as follows.

[0005] Comb fork conveyor device It includes a long strip conveying comb back frame and a plurality of conveying comb tooth rods fixed vertically along its long axis to form a conveying comb fork surface. A gap is provided between the free ends of adjacent conveying comb tooth rods for the conveying comb tooth rods to be inserted; Optional power version: add drive device, side frame, transmission wheel, driven wheel and conveyor bar to form a closed-loop conveying system; Optional non-powered version: through the guide structure and gravity sliding structure, with the stop bar to limit the position of the object.

[0006] Comb fork transfer device Comb fork module: It includes a long transfer comb back frame and a number of transfer comb tooth rods fixed vertically along its long axis to form a transfer comb fork surface. The vertical projections of the transfer comb fork surface and the conveying comb fork surface on the horizontal plane are staggered and non-overlapping, ensuring that the transfer comb tooth rods are inserted into the gap between the conveying comb fork rods without interference.

[0007] Rotary drive: Horizontal flip axis: drives the comb fork to flip 180° around the horizontal axis to turn the object over; Vertical rotation axis: drives the comb fork to rotate in the horizontal plane to adjust the direction of the object.

[0008] Linear drive module: It includes a linear drive, a fixed block, and a sliding block, and a comb fork module is fixed on the sliding block; The first drive module realizes single-axis linear motion; The second and third driving modules are expanded into two-dimensional or three-dimensional space movement to adapt to complex path requirements.

[0009] Anti-falling baffle rod set: It is located on the edges of the transfer comb fork and extends upward to prevent irregular objects from falling off.

[0010] Control System Control the linear drive module to move the comb fork module so that the transfer comb tooth rod is accurately inserted into the gap between the conveying comb tooth rods; The cooperative rotating drive device adjusts the angle of the comb fork surface to achieve the functions of flipping and turning; Linked with the sensing device, the drive device start / stop and transfer rhythm are dynamically adjusted according to the location of the items. Beneficial Effects Reasonable structure and efficient collaboration

[0011] The comb-fork transfer device and the comb-fork conveying device are staggered in design to achieve interference-free insertion and stable lifting, avoiding deformation or damage of objects (such as bread); Flipping function: The horizontal flip axis drives the comb fork to flip 180° to meet the needs of double-sided processing (such as baking pancakes); Direction adjustment: The vertical rotation axis rotates the comb fork mouth in the horizontal plane, which is suitable for multi-directional comb fork conveying device; By adding the second and third drive modules, it can be expanded to two-dimensional or three-dimensional space movement to adapt to complex production line layouts; Anti-fall design: The barrier rod set prevents irregular batches of items from falling during transportation; The conveying device supports both powered and unpowered versions, and is compatible with both automated and semi-automated scenarios; The sensing device monitors the location of items in real time, and the control system dynamically adjusts the transfer rhythm to improve efficiency; The guide anti-slip structure (concave groove or gear) of the driving wheel and the driven wheel cooperates with the flexible conveying strip to ensure the synchronization and stability of conveying.

[0012] Wide applicability It is suitable for food processing (such as bread and cakes), logistics sorting and other fields, and is particularly good at transporting sheet-shaped and light items. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the coordination structure of the comb-fork type cooperative transport device in Example 1.

[0014] Figure 2 This is a schematic diagram of the structure of the comb-fork type transfer device of Example 1.

[0015] Figure 3This is a schematic diagram of the structure of the comb-fork type conveying device of Example 1.

[0016] Figure 4 This is a schematic diagram of the comb-fork type coordinated transport device of Example 1.

[0017] Figure 5 This is a schematic diagram of the comb-fork type coordinated transport device of Example 2.

[0018] Figure 6 This is a schematic diagram of the comb-fork type coordinated transport device of Example 3.

[0019] Figure 7 This is a schematic diagram of the comb-fork type coordinated transport device of Example 3.

[0020] Figure 8 This is a schematic diagram of the comb-fork type coordinated transport device of Example 4.

[0021] Fig. 9 This is a schematic diagram of the comb-fork type coordinated transport device of Example 4.

[0022] Figure 2 Figure 3 In Example 1, 1 is a transfer back frame, 1.1 is a transfer comb rod, 1.2 is a turning shaft, 2 is a flat gear, 2.1 is an output end flat gear, 3 is a fixed frame, 4 is an articulated seat, 5 is a rotating motor, 6 is a fixed block, 6.1 is a sliding block, 6.2 is a linear drive motor, 7 is a conveying comb back frame, 7.1 is a side frame, 7.2 is a conveying comb rod, 8 is a driven wheel, 9 is a transmission wheel, 10 is a conveying bar, 11 is a conveying motor, and 12 is a photoelectric switch In order to make the purpose, technical solution and advantages of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples of implementation. It should be understood that the description of the specific embodiments is only used to explain the present invention and is not intended to limit the scope of the present invention. Example 1 (reference Figure 1 , Figure 2 , Figure 3 , Figure 4 )

[0023] This embodiment takes the example of transferring cakes from a comb fork type conveying device to a close-range upper and lower multi-layer conveying oven to explain in detail the working process of the comb fork type cooperative transfer device (the motor mentioned below is a stepper motor; the control system uses a single-chip microcomputer to control the first drive module, the comb fork module and the comb fork type conveying device to achieve the coordinated work of each component).

[0024] Comb fork module The comb fork is welded with food contact grade stainless steel, including a rectangular hollow tube constituting a transfer comb back frame (1), and a plurality of hollow square tubes vertically welded on the long axis of the transfer comb back frame (1) as transfer comb tooth rods (1.1), which together form a horizontal transfer comb fork surface. The transfer comb fork surface is finely polished with 0.25 micron abrasive paste to effectively reduce dough sticking. A circular flip shaft (1.2) is welded at both ends of the long axis of the transfer comb back frame (1), which is parallel to the long axis of the transfer comb back frame (1), and a flat gear (2) is assembled at one end of the flip shaft (1.2). The fixed frame (3) is L-shaped, and two hinge seats (4) are symmetrically fixed at its long end. The horizontal flip shaft (1.2) passes through the hinge seat (4) and is hinged and fixed. A through hole is formed at the lower end of the flat gear (2) of the horizontal turning shaft (1.2) on the fixed frame (3). The flat gear is meshed with the flat gear (2.1) at the driving end of the rotating motor (5) below the fixed frame (3) through the through hole. When the rotating motor (5) is started, the transfer comb fork surface can be rotated 180 degrees around the axis of the hinge point through gear transmission, thereby realizing the turning operation of the object.

[0025] Linear drive module The linear drive module includes a first drive module, which is a Z-axis ball screw guide rail slide module, and is composed of a first fixed block (6), a first sliding block (6.1) and a first linear drive motor (6.2). The Z-axis is arranged vertically, the first linear drive motor (6.2) is installed at the upper end, and the fixed block at the lower end is fixed to the ground by expansion screws to ensure the vertical stability of the entire module. The first sliding block (6.1) is connected to the short end of the L-shaped fixing frame (3) by screws. When the first linear drive motor (6.2) is running, it can drive the first sliding block (6.1) to move up and down along the Z-axis direction, thereby driving the entire comb fork module to move in the vertical direction.

[0026] Comb fork conveyor device (In the entire production line, ordinary conveying devices account for a relatively large proportion, while the comb fork type conveying device, as a matching part with the comb fork type transfer device, accounts for a relatively small proportion. In practical applications, the comb fork type transfer device is usually fixed on the support frame of the ordinary conveying device, and the two preferably share a conveying motor to achieve unified deceleration and start-stop control of the entire conveyor line. However, in order to facilitate the understanding and explanation of this embodiment, a conveying motor is configured separately for the comb fork type conveying device here).

[0027] The comb fork type conveying device is mainly composed of a rectangular hollow tube to form a conveying comb back frame (7), and a plurality of hollow square tubes are vertically welded on the long axis of the conveying comb back frame (7) to serve as a conveying comb tooth rod (7.2). Two side frames (7.1) are located in the opposite direction of the conveying comb tooth rod (7.2) and are vertically fixed at both ends of the conveying comb back frame (7). The length of the side frame (7.1) is greater than the radius of the transmission wheel (9), otherwise it will interfere with the rotation of the transmission wheel (9). The other end of the plurality of conveying comb tooth rods (7.2) is a free end, and the free end is provided with a U-shaped groove, and the two side walls of each U-shaped groove are provided with a through hole. A bearing is installed at the center of the driven wheel (8), and the center hole of the bearing is consistent in size with the through hole on the U-shaped groove. The two holes are coaxially penetrated through the pin shaft, and the driven wheel (8) can rotate freely. A plurality of transmission wheels (9) are sleeved on a hollow tube and fixed by welding. A bearing is installed at each end of the hollow tube. The two bearings are sleeved on a round shaft slightly longer than the hollow tube. The two ends of the round shaft are fixed on the two side frames (7.1) to ensure that the transmission wheel (9) can rotate freely as a whole. The surfaces of the transmission wheel (9) and the driven wheel (8) are designed to be circular grooves. The conveying bar (10) is made of food contact grade circular silicone material. Its cross-sectional shape matches the groove. This material can not only meet the hygienic requirements of food production, but also has good flexibility and wear resistance, which is conducive to the stable conveying of noodles. The conveying motor (11) is fixed to the lower end of the conveying comb back frame (7) through a bracket extending in the gap of the conveying bar (10). Its driving end is connected to the transmission wheel (9). When the conveying motor (11) is started, the transmission wheel (9) is driven to rotate. Through the transmission of the conveying bar (10), all the driven wheels (8) are driven to rotate synchronously, thereby realizing the transmission of noodles. A photoelectric switch (12) is fixedly installed at a position of a conveying comb tooth rod (7.2) at the edge of the conveying comb fork surface near the driven wheel (8). Its function is to accurately sense the position of the dough and provide signal feedback for the subsequent production process to ensure the continuity and accuracy of production.

[0028] 2. Working Process After the dough is rolled out at the front end of the production line, it is transported to the comb-fork type conveyor device through a common conveying device. At this time, the conveying motor (11) is running, which drives the transmission wheel (9) to rotate, and the transmission wheel (9) drives the driven wheel (8) to rotate synchronously through the conveying bar (10). Under this series of transmission actions, the dough continues to move forward on the comb-fork type conveyor device.

[0029] When the dough reaches one end of the driven wheel (8), a photoelectric switch (12) installed nearby senses the position of the dough and sends the sensing signal to the single-chip microcomputer. After receiving the signal, the single-chip microcomputer performs precise control according to the following process: The single chip microcomputer issues a command to stop the comb-fork conveying device and enter the waiting state: Control the comb fork module to flip the comb fork head upward 90° to prepare for the subsequent descending action: Driven by the linear drive module, the comb fork module descends to the lower end of the comb fork conveying device: After the comb fork head has finished descending, it will reset to 0° horizontally and return to the horizontal initial state: The linear drive module is used to raise the comb fork module again. During the rising process, the comb fork module is inserted into the gap between the comb teeth of the comb fork conveyor without interference until the dough is lifted and raised to the level of oven No. 1: The single chip microcomputer controls the comb-fork conveying device to restart the conveying so as to continuously convey the subsequent dough cakes: The comb fork module flips 180° and accurately delivers the lifted dough into oven No. 1. After the feeding of oven No. 1 is completed, the above process is repeated, rising to the level of ovens No. 2 and 3 in turn and completing the 180° flip feeding action, so as to achieve the delivery of dough to multiple ovens.

[0030] 3. Advantages and Disadvantages Advantages: low cost, simple structure, the z-axis only supports vertical lifting, there is no other displacement to avoid collision, and the simple structure facilitates daily maintenance and troubleshooting.

[0031] Disadvantages: The distance between the conveyor and the oven needs to be strictly controlled, otherwise the dough may not be accurately put into the oven; and it only supports upward transfer, which has certain limitations in application scenarios and cannot meet some special transfer requirements, such as downward or horizontal transfer. Example 2 (reference Figure 5 )

[0032] Based on Example 1, the following structural improvements were made to the comb-fork type transfer device.

[0033] 1. Motion module replacement and expansion The original ball screw guide slide module is replaced with a synchronous belt guide slide module. The first linear drive module is a horizontally arranged X-axis linear drive module, and the second linear drive module is two vertically arranged Z-axis linear drive modules. The two Z-axis slide blocks are respectively fixed to the fixed blocks at both ends of the X-axis by bolts, and the bottom of the Z-axis is fixed to the ground by expansion bolts, thus forming a portal frame structure. This structural adjustment optimizes the motion performance and stability of the device. Compared with the original ball screw guide slide module, the synchronous belt guide slide module runs faster and with lower noise, which is more in line with the needs of the equipment to quickly transport noodles.

[0034] 2. Reconstruction of the fixed frame The fixed frame is changed to a rectangular frame structure, with solid steel plates on both the upper and lower surfaces. The upper surface is used to install the comb fork module, and the lower surface is connected to the X-axis sliding block through bolts. The horizontal flip axis is hinged to the upper surface of the fixed frame through a hinge seat, and the rotating motor is fixed inside the frame. This reconstruction makes the structural strength of the fixed frame higher and can carry the comb fork module more stably.

[0035] 3. Expansion of Transshipment Scope The X-axis drives the fixed frame to achieve lateral movement, while the Z-axis can rise and fall synchronously, which enables the movement range of the comb fork module to cover the comb fork conveyor and the oven group in the XZ plane. Compared with the pure vertical transfer in Example 1, the transfer range is greatly expanded and the working efficiency of the oven group is significantly improved. The equipment can feed multiple ovens at the same time, reduce the waiting time of the equipment, effectively improve the overall production capacity, and break through the limitations of the transfer method in Example 1. Example 3 (reference Figure 6 , Figure 7 )

[0036] On the basis of Example 1, the comb-fork type transfer device is improved as follows: This embodiment describes in detail the working process of transferring boxes from the comb-fork conveyor device to the long-distance upper and lower multi-layer comb-fork conveyor device. (The motor in this device adopts a servo motor, which is matched with an encoder to realize closed-loop control; the control system uses a plc to connect the servo driver to control the first drive module, the second drive module, the comb-fork module and the comb-fork conveyor device).

[0037] 1. Device composition Comb fork transfer device Comb fork module: The comb fork is made of aluminum alloy one-piece molding process, and consists of a transfer comb back frame and a number of transfer comb tooth rods vertically fixed on the long axis of the transfer comb back frame. The transfer comb tooth rods are provided with serrated protrusions to increase the friction with the box. A vertical rotating shaft is provided at the center of the transfer comb back frame, and a bevel gear is installed on the shaft. The fixed frame is designed to be L-shaped, and a through hole is opened at one end. The vertical rotating shaft passes through the through hole and meshes with the bevel gear at the output end of the rotating motor at the lower end of the fixed frame. When the rotating motor starts to run, the transmission between the bevel gears drives the comb fork surface to turn the fork mouth direction 180° in the horizontal plane.

[0038] The first linear drive module is a vertical Z-axis module, which is composed of a first fixed block, a first sliding block and a first linear drive motor. The other end of the fixed frame is firmly connected to the first sliding block with screws, so that the comb fork module can move up and down along the Z-axis under the drive of the first linear drive motor.

[0039] The second linear drive module is a horizontal Y-axis module, which consists of two parallel Y-axis guide rails. A crossbar is fixedly installed on the sliding blocks of the two Y-axis guide rails, and the fixed block at the lower end of the Z-axis is installed on this crossbar, so that the entire Z-axis module can be translated in the Y-axis direction.

[0040] Comb fork type conveying device.

[0041] Frame: The frame is manufactured by integrally forming the side frame, the conveying comb back frame and several conveying comb tooth frames. Bearing holes are set on both side frames. The front end of each conveying comb tooth frame is designed as a U-shaped groove. The two groove walls of the U-shaped groove are also provided with bearing holes. The groove wall is milled to form a gap with the same width as the central axis of the driven wheel, so as to facilitate the installation of the driven wheel.

[0042] Driven wheel and transmission wheel: The driven wheel and its center axis adopt an integrally formed structure, which is inserted into the bearing hole through the gap of the U-shaped groove wall, and the bearing is installed, so that the driven wheel can rotate freely. Several transmission wheels are also integrally formed, and their two end shafts are fixed in the bearing holes of the side frame through bearings. The surfaces of the transmission wheel and the driven wheel are designed as raised chain wheels to cooperate with the conveyor chain.

[0043] Conveyor bar and drive: The conveyor bar uses a chain, and the gap of the chain meshes with the raised chain wheels on the surface of the driving wheel and the driven wheel. In order to increase the friction when contacting with the box and effectively prevent the box from slipping during transportation, the chain links are specially designed with serrated protrusions. When the conveying motor starts, the driving wheel, the driven wheel, and the conveyor bar rotate synchronously to achieve smooth transportation of the box on the comb-fork conveyor device.

[0044] 2. Workflow Take the case of transferring to the multi-layer comb-fork conveyor on the opposite side as an example: 1. The box is on the comb-fork conveyor device and is smoothly conveyed to the driven wheel end as the conveyor chain runs. At this time, the photoelectric switch senses the position signal of the box and quickly sends the signal to the PLC; 2. After receiving the signal, the PLC immediately issues a command to control the conveying motor to stop running, so that the box stops moving at the correct position; 3. The sliders of the Y-axis and Z-axis are in the middle initial position, ready for the next operation; 4. The comb fork module on the Z-axis sliding block is driven by the first linear drive motor and slowly descends until it is lower than the height of the box; 5. The Y-axis sliding block moves forward under the action of the driving device, and moves the combing fork module to the bottom of the box and stops moving; 6. The Z-axis module rises under the drive of the first linear drive motor, steadily lifts the box, and makes it leave the conveying surface of the comb-fork conveyor. At this time, because the box leaves, the photoelectric switch senses that the item has disappeared, and this signal is fed back to the PLC, which then controls the conveying motor to restart and continue the conveying of subsequent items; 7.PLC adjusts the conveying speed of the comb-fork conveying device to match the conveying time of the comb-fork transfer device; 8. The sliding block of the Y-axis guide rail slide drives the Z-axis module and the box to move in the opposite direction; 9. Driven by the first linear drive motor, the Z-axis module rises synchronously to a height above the first layer of comb-fork conveying device on the opposite side; 10. At the same time, the rotary motor starts to work, driving the bevel gear set to drive the vertical rotating shaft in the center of the transfer comb back frame to rotate, so that the comb fork fork mouth rotates 180°, so that the fork mouth turns accurately to the comb fork conveying device on the opposite side; 11. The sliding block of the Y-axis guide rail slide moves the comb fork and the box to the top of the conveying device on the opposite side and stops moving; 12. The Z-axis module is driven down by the first linear drive motor, and the transfer comb rod passes through the conveying comb rod, placing the box accurately on the conveying bar of the comb fork conveyor device on the opposite side; 13. The conveying motor of the comb-fork conveying device on the opposite side starts, and the boxes placed in place are sent out of the work area, completing this transfer task; 14. The sliding blocks of the Y-axis and Z-axis return to their initial positions. At the same time, the rotary motor starts to work again, driving the comb fork to rotate and reset, returning to its initial state. 14. The photoelectric switch senses the new box position signal, triggering the next round of transfer process, repeating the above transfer action, and transferring it to the second and third comb-fork conveyor devices on the opposite side in turn.

[0045] 3. Advantages and Disadvantages Advantages: Through the coordinated movement of the Y-Z axis and the rotation function of the comb fork, the device can realize vertical cross-layer transfer on the same side, as well as vertical multi-layer transfer on the opposite side over a long distance, greatly expanding the scope and flexibility of transfer. The use of chain wheels and chain transmission effectively improves the synchronization of transmission, and the sawtooth structure reduces the risk of box slipping during transportation and transfer, ensuring the stability and accuracy of the entire transfer process;

[0046] Disadvantages: Since there is no fixed support structure on the upper end of the Z-axis, when carrying heavy objects or when rapid transportation is required, the Z-axis is prone to shaking, resulting in an unstable transportation process. Therefore, this device is only suitable for work situations where lighter objects do not require rapid transportation. Example 4 (reference Figure 8 , Fig. 9 )

[0047] On the basis of Example 3, in order to meet the demand of conveying batches of round objects, the comb-fork type transfer device is improved in structure as follows.

[0048] 1. Three-axis structure Z-axis: Arranged in the vertical direction, the upper and lower ends are firmly connected to the two X-axis sliding blocks, thus forming an I-shaped structure. This allows the Z-axis to translate as a whole under the drive of the X-axis.

[0049] X-axis: It is composed of two horizontal rails, and the sliders on the two rails can move synchronously. During the movement, it drives the Z-axis to move horizontally as a whole, and ensures that the Z-axis always maintains a vertical posture to provide a guarantee for stable transportation.

[0050] Y-axis: It includes four horizontal longitudinal rails, and the front and rear ends of the rails are fixed to the ground in a rigid connection through four support rods, thereby forming a cubic frame structure. The four Y-axis sliding blocks are respectively connected to the four corners of the I-shaped structure formed by the X-axis and the Z-axis, and synchronous movement is achieved through synchronous control, providing longitudinal movement capability for the entire transfer device.

[0051] . 2. Comb fork module Installation method: The two comb fork modules are symmetrically fixed on the left and right sides of the Z-axis slide block. Each comb fork is equipped with an independent rotation motor, which can be driven by the motor to achieve independent rotation of 180°. The two comb forks work together to cover 360° directions, greatly improving the flexibility of transportation.

[0052] Anti-drop design: There are four rows of gear levers on the fork surface of the transfer comb, which are located at the fork head, fork tail and left and right sides. The fork head gear lever is tilted 15° toward the front end of the fork head (it can be fine-tuned according to the actual item size and transfer requirements). This design can not only effectively prevent round items from falling off during transfer, but also expand the capacity of a single transfer. At the same time, the upper fork opening is enlarged to make it more convenient to fork batches of round items.

[0053] 3. Non-powered comb fork conveying device The waiting place is a storage comb fork conveyor with vertical bars around the conveying comb fork surface, which continuously conveys round objects to the storage device by ordinary conveying devices. The delivery place is a comb fork conveyor with vertical bars on three sides and a guide rail inclined to the lower side.

[0054] 4. Anti-collision machine settings A slightly wider comb tooth rod is set on the left or right side of the transfer comb fork surface, and a through hole is drilled vertically on it. When the clearance between the transfer comb tooth rod and the conveying comb tooth rod is most suitable, laser beam sensors are installed vertically above and below the through hole. Each time the transfer comb fork surface moves to the upper or lower end of the conveying comb fork surface to prepare to drag or put down items, the control system first identifies the on and off of the laser beam sensor. If it can shoot normally, there will be no collision. Otherwise, the xy axis will be controlled to fine-tune until the laser sensor can shoot. If not, the machine will be stopped and wait for manual intervention to avoid heavy losses caused by collision.

[0055] 5. Workflow 1. The ordinary conveying device continues to work, conveying the spherical objects to the storage comb-fork conveying device until it is full; 2. The photoelectric switch on the storage comb-fork conveyor senses the position signal of the full items and quickly sends it to the PLC; 3. After receiving the signal, the PLC performs the following control according to the preset program: First, the fork angle of the comb fork module is aligned with the fork of the storage comb fork conveyor. Then the drive motors of the X-axis and Y-axis are controlled to work and move to the lower end of the storage comb fork conveyor; 4. The PLC recognizes the laser beam sensor, the beam is successful, and then proceeds to the next step; 5. Then, the Z-axis drive motor starts, the Z-axis rises, and the comb fork module picks up the spherical objects in batches; 6. According to the target placement position, the PLC controls the rotation motor of the corresponding comb fork module to rotate the comb fork mouth to the direction of the corresponding guide rail comb fork conveyor; 7. The drive motors of the X-axis and Y-axis work together again to move the comb fork module to the top of the guide rail comb fork conveyor; 8. The PLC recognizes the laser beam sensor, the beam is successful, and then proceeds to the next step; 9. The Z-axis drive motor drives the Z-axis to descend, and the spherical object rolls out smoothly along the guide rail and leaves the work area, completing a transfer process; 10. The xyz axis sliding block resets to the middle empty position and waits for the next photoelectric switch signal.

[0056] V. Technical Features Stability advantage: The upper and lower ends of the Z axis are fixedly connected, and the overall cube frame structure greatly suppresses the swing phenomenon during the transfer process, making the device suitable for fast operation and ensuring the efficiency and stability of the transfer; Functional coverage: The double comb fork can rotate 360°, and combined with the translation function of the X-Y-Z axis, it can cover any position in the space, meet complex transportation needs, and greatly expand the application scenarios of the device.

[0057] Embodiment 5 is basically the same as Embodiment 1, except that Embodiment 5 is a single-layer oven, and the linear drive module can be driven by a cylinder during one-to-one reciprocating motion, which is more cost-effective.

[0058] All the above embodiments are only examples. The implementation schemes obtained by those skilled in the art based on the above core features through equivalent replacement or conventional parameter adjustment all fall within the scope of protection of this patent.

Claims

1. A comb-fork type coordinated transport device, comprising a control system, a comb-fork type transport device and a comb-fork type conveying device, characterized in that: The comb fork type conveying device comprises a long strip conveying comb back frame and a plurality of conveying comb tooth rods vertically fixed along the long axis direction of the conveying comb back frame, the other end of the conveying comb tooth rod is a free end, a gap is provided between the free ends of adjacent conveying comb tooth rods, and the plurality of conveying comb tooth rods are arranged in parallel to form a conveying comb fork surface; The comb-fork type transfer device comprises a comb-fork module and a linear drive module; The comb fork module includes a comb fork, a rotation drive device and a fixed frame; the comb fork includes a long strip transport comb back frame and a plurality of transport comb tooth rods vertically fixed along the long axis direction of the transport comb back frame, the other end of the transport comb tooth rod is a free end, and the plurality of transport comb tooth rods are arranged in parallel to form a transport comb fork surface; The comb fork is connected to the rotation drive device through the fixing frame, and the rotation drive force is transmitted to the comb fork, so that the comb fork rotates around the rotation axis to adjust the comb fork angle; The free end of the transfer comb fork surface is inserted into the free end of the conveying comb fork surface, and the vertical projections of the two on the horizontal plane are staggered and non-overlapping, and the gap between the transfer comb tooth rod and the conveying comb tooth rod matches, so that the transfer comb tooth rod can be inserted without interference during the transfer process, and the items can be dragged from bottom to top; The linear drive module includes a first drive module, which includes a first fixed block, a first sliding block and a first linear driver, wherein the first linear driver is fixed to the first fixed block, and a driving end thereof is connected to the first sliding block, and the first sliding block is fixedly connected to the comb fork module via a fixed frame; The control system is configured to: control the first linear drive to drive the comb fork module to move so that the transfer comb tooth rod is inserted into the gap of the conveying comb tooth rod to hold up the items, and control the rotary drive device to adjust the comb fork angle.

2. The comb-fork type coordinated transport device according to claim 1, characterized in that: The comb-fork type conveying device also includes a driving device, a side frame, a plurality of conveying bars, a plurality of transmission wheels and a plurality of driven wheels; The conveying comb back frame is fixed with a side frame at each of the two end points along the long axis. The side frames are perpendicular to the long axis and extend in the same direction. The extension length of the two side frames is greater than the radius of the transmission wheel, forming a U-shaped structure. The plurality of transmission wheels are coaxial and rotate synchronously, and are rotationally connected to the side frame through bearings; The plurality of driven wheels are rotatably connected to the free end of the conveying comb tooth rod through bearings; The surfaces of the plurality of driving wheels and the plurality of driven wheels are provided with guide anti-slip structures; The plurality of conveying strips independently surround the corresponding driving wheel and driven wheel to form a closed loop, and the conveying strips are matched with the guide anti-slip structures on the surfaces of the driving wheel and the driven wheel, and the three cooperate to realize synchronous transmission; The driving device is in driving connection with the transmission wheel to drive the transmission wheel to rotate.

3. The comb-fork type coordinated transport device according to claim 2, characterized in that: The free end of the conveying comb fork surface is provided with a sensing device for sensing the position of the object and sending a signal to the control system. The control system controls the driving device to slow down or start and stop according to the signal, and synchronously controls the linear driving module of the comb fork type transfer device and the comb fork module to cooperate in transfer.

4. The comb-fork type coordinated transport device according to claim 2, characterized in that: The guiding anti-slip structures on the surfaces of the driving wheel and the driven wheel are concave grooves, and the conveying strip is a food contact grade rubber strip, the cross-sectional shape of which matches the concave grooves.

5. The comb-fork type coordinated transport device according to claim 1, characterized in that: The linear drive module further includes a second drive module, the second drive module includes a second fixed block, a second sliding block and a second linear drive, the second sliding block is fixedly connected to the first fixed block, and the second linear drive is perpendicular to the driving direction of the first linear drive in the plane; The control system cooperatively controls the first driving module and the second driving module to drive the comb fork module to transfer objects in a two-dimensional plane.

6. The comb-fork type coordinated transport device according to claim 5, characterized in that: The linear drive module further includes a third drive module, the third drive module includes a third fixed block, a third sliding block and a third linear drive, the third sliding block is fixedly connected to the second fixed block, and the driving directions of the third, first and second linear drives are perpendicular to each other; The control system cooperatively controls the three driving modules to drive the comb fork module to transport objects in a three-dimensional space.

7. The comb-fork type coordinated transport device according to claim 1, characterized in that: The rotation axis is in the horizontal direction, and the fixing frame includes a horizontal bracket and two hinged seats; The horizontal bracket is fixed to the sliding block of the linear drive module, and the hinged seats are arranged at both ends above the horizontal bracket; The two ends of the long axis of the transfer comb back frame are respectively provided with a horizontal flip axis parallel to the long axis, and the horizontal flip axis is hinged to the hinge seat; The rotary drive device is connected to the horizontal flip shaft, driving the horizontal flip shaft to rotate 180 degrees around the horizontal axis, driving the transfer comb fork surface to flip up and down to realize the turning of the items.

8. The comb-fork type co-transport device according to claim 1, characterized in that: The rotation axis is in a vertical direction, and the fixing frame includes a horizontal bracket, and the horizontal bracket is provided with a vertical through hole; A vertical rotating shaft is provided at the center of the transfer comb back frame. The vertical rotating shaft and the transfer comb fork surface are perpendicular to each other, and the vertical rotating shaft passes through the through hole and is connected to the rotation driving device to drive the vertical rotating shaft to rotate around the vertical axis, driving the transfer comb fork surface to rotate in the horizontal plane to adjust the direction of the free end fork.

9. The comb-fork type coordinated transport device according to claim 1, characterized in that: The edges of the transport comb fork surface are provided with an anti-falling baffle rod assembly, including a fork head baffle rod, a fork tail baffle rod, a left baffle rod and a right baffle rod; The blocking rod extends upward to prevent objects from falling off, and its width is smaller than the spacing between the conveying comb teeth rods.

10. The comb-fork co-transport device according to claim 1, characterized in that: The comb fork type conveying device is a non-powered conveying device, comprising a guide structure and a conveying comb fork surface; The conveying comb fork surface is provided with blocking rods extending upward on at least three sides to prevent objects from falling off.

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