A food industry processing handling and stacking robot device

Abstract

The application discloses a carrying and stacking robot equipment for food industrial processing, and relates to the technical field of carrying, which comprises a fixing frame, a rotary disc, a mechanical arm, a connecting seat, a fixing disc and a suction disc.

Description

Technical Field

[0001] This invention relates to the field of material handling technology, specifically to a material handling and palletizing robot for industrial food processing. Background Technology

[0002] Robotic palletizing and handling equipment is a highly automated industrial robot mainly used to neatly stack items onto pallets or other loading equipment.

[0003] Patent publication number CN223328590U relates to a robotic palletizing and handling device, including a fixed plate mounting head. A stepper motor is fixedly mounted on one side inside the fixed plate mounting head. The output shaft of the stepper motor is connected to a transmission shaft via a coupling. A circular roller bearing block, mounted on the inner wall of the fixed plate mounting head via roller bearings, is connected to the front end face of the transmission shaft. An internal thread groove is provided in front of the circular roller bearing block. A fixed plate is provided in front of the internal thread groove. A fixed plate threaded fixing rod located inside the internal thread groove is fixed at the middle position of the rear end face of the fixed plate. An external threaded post, also located inside the internal thread groove, is provided behind the fixed plate threaded fixing rod. This patent enables automatic assembly and disassembly of different types of fixed plates. When different types of fixed plates need to be installed according to different items being handled, manual replacement is no longer required. This technical solution improves the convenience of the equipment.

[0004] The aforementioned patent allows for the automatic disassembly and assembly of different types of fixed trays. When different types of fixed trays need to be installed depending on the items being transported, manual replacement is no longer required. This technical solution improves the convenience of the equipment. However, during transport, the weight of the items themselves may cause them to slide down, resulting in them falling to the ground and affecting normal transport. Additionally, inaccurate placement of items during transport may cause the fixed trays to shift, affecting transport efficiency. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a handling and palletizing robot for industrial food processing, which solves the problems mentioned in the background section.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a palletizing robot for industrial food processing, comprising: a fixed frame; a rotating disk, the rotating disk being disposed on top of the fixed frame; a robotic arm, the robotic arm being fixedly mounted on top of the rotating disk; a connecting seat, the connecting seat being fixedly mounted on the surface of the robotic arm; a fixed disk, the fixed disk being fixedly mounted on the bottom of the connecting seat; an electric telescopic column is disposed on top of the fixed disk, the electric telescopic column having two output ends, a clamping plate being fixedly mounted on the output end of the electric telescopic column, a sliding groove being formed in the inner wall of the clamping plate; a suction cup being fixedly mounted on the bottom of the fixed disk; a sliding plate being slidably mounted on the inner wall of the sliding groove; a fixed frame being fixedly mounted on the bottom of the sliding plate; a sliding frame being slidably mounted on the inner wall of the fixed frame; and a pulley being rotatably mounted on the inner wall of the sliding frame. When the clamping plate moves towards the box body, it causes the sliding plate, the fixed frame, and the sliding frame to move towards the box body; when the sliding frame moves towards the box body, it causes the pulley to move towards the box body.

[0007] According to the above technical solution, a first spring is provided between the slide groove and the sliding plate, and the sliding plate is reset by the elastic force of the first spring. A second spring is provided between the fixed frame and the sliding frame, and the sliding frame is reset by the elastic force of the second spring.

[0008] According to the above technical solution, the fixed plate is equipped with an anti-detachment device and an anti-deviation device for preventing the box from falling off. The anti-detachment device includes a sliding plate, a slider, a push plate, and a trapezoidal plate. The slider moves towards the box by moving the clamping plate. When the slider contacts the box, the reverse force pushes the slider away from the box. The sliding plate is slidably mounted on the surface of the clamping plate, the slider is slidably mounted on the surface of the clamping plate, the push plate is fixedly mounted on the top of the slider, and the trapezoidal plate is fixedly mounted on the surface of the sliding plate.

[0009] According to the above technical solution, a pusher is fixedly installed on the surface of the clamping plate, a trapezoidal frame is slidably installed on the inner wall of the fixed plate, a rotating plate is rotatably installed on the surface of the fixed plate, and a connecting plate is fixedly installed on the circumferential surface of the rotating plate. When the connecting plate rotates downward, it will drive the rotating plate to rotate downward, and when the rotating plate rotates downward, it will push the box to move towards the center of the fixed plate.

[0010] According to the above technical solution, a No. 3 spring is provided between the slide plate and the clamping plate, and the slide plate is reset by the elastic force of the No. 3 spring. A No. 4 spring is provided between the slider and the clamping plate, and the slider is reset by the elastic force of the No. 4 spring. A No. 5 spring is provided between the fixed plate and the trapezoidal frame, and the trapezoidal frame is reset by the elastic force of the No. 5 spring. A No. 1 torsion spring is provided between the fixed plate and the rotating plate, and the rotating plate is reset by the elastic force of the No. 1 torsion spring.

[0011] According to the above technical solution, the anti-deviation device includes a connecting frame, rollers, a trapezoidal block, a connecting rod, and a sealing slider. Moving the trapezoidal frame away from the pushing frame causes the connecting frame to move away from the pushing frame. This movement of the connecting frame away from the pushing frame causes the rollers to move away from the pushing frame. The rollers moving away from the pushing frame push the trapezoidal block upwards. The connecting frame is fixedly mounted on the surface of the trapezoidal frame, the rollers are rotatably mounted on the inner wall of the connecting frame, the sealing slider is slidably mounted on the inner wall of the suction cup, the connecting rod is fixedly mounted on the top of the sealing slider, and the trapezoidal block is fixedly mounted on the top of the connecting rod.

[0012] According to the above technical solution, a groove is provided at the bottom of the fixed plate, and a rotating frame is rotatably installed on the inner wall of the groove. A sliding wheel is rotatably installed on the surface of the rotating frame. When the sliding wheel moves upward continuously, it will slide along the surface of the box. At the same time as the sliding wheel slides, the rotating frame will rotate upward. The sliding wheel slides along the box to push away the impurities on the top of the box.

[0013] According to the above technical solution, a No. 6 spring is provided between the sealing slider and the suction cup, and the sealing slider is reset by the elastic force of the No. 6 spring itself. A No. 2 torsion spring is provided between the groove and the rotating frame, and the rotating frame is reset by the elastic force of the No. 2 torsion spring itself.

[0014] This invention provides a handling and palletizing robot for industrial food processing. It has the following advantages: (1) In this invention, the sliding plate will contact the ground when it moves downward, and the reverse force will push the sliding plate to slide upward. Then the output end of the electric telescopic column will retract. The retraction of the output end of the electric telescopic column will drive the clamp to support the two sides of the box, ensuring that the box will not fall when it is grabbed. At the same time, the sliding frame will disengage from the box when it moves downward. Then the elastic force of the second spring will drive the sliding frame to reset. The reset of the sliding frame will support the bottom of the box, preventing the box from slipping during the handling process, which would damage the food inside the box and affect the handling efficiency.

[0015] (2) In this invention, the box is pushed upward by the upward movement of the sliding plate, so that the box is tightly attached to the suction cup, while preventing the box from sliding down and affecting the handling efficiency. When the connecting plate rotates downward, it will drive the rotating plate to rotate downward. The downward rotation of the rotating plate will push the box to move towards the center of the fixed plate, preventing the box from shifting position, which would cause the clamping plate to be unable to effectively clamp the box, resulting in the box tilting during the handling process and affecting the handling effect.

[0016] (3) In this invention, the air inside the suction cup is drawn upward by the upward movement of the sealing slider, so that the suction cup is tightly attached to the box and the suction cup is prevented from detaching and affecting the adsorption effect. When the clamp is opened after the transport is completed, the sealing slider will squeeze the air inside back into the suction cup, so that the suction cup is detached from the adsorption of the box and the adsorption is prevented from being too tight, so that the suction cup is still attached to the box after the transport is completed and the detachment effect is affected. At the same time, the rotating frame will rotate upward while the sliding wheel slides. The sliding wheel slides along the box and pushes away the impurities on the top of the box, so that when the suction cup moves downward, there are impurities on the top of the box, which will prevent the suction cup from being tightly attached to the box and affecting the adsorption effect. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the fixed disk structure of the present invention; Figure 3 This is a schematic diagram of the clamping plate and sliding plate structure of the present invention; Figure 4 This is a schematic diagram of the cross-sectional structure of the fixed disk of the present invention; Figure 5 This is a schematic diagram of the fixed disk and suction cup structure of the present invention; Figure 6 This is a schematic diagram of the cross-sectional structure of the suction cup of the present invention; Figure 7 This is a schematic diagram of the electric telescopic column and clamping plate structure of the present invention.

[0018] In the diagram: 1. Fixed frame; 2. Rotary disk; 3. Robotic arm; 4. Connecting seat; 5. Fixed disk; 6. Electric telescopic column; 7. Clamping plate; 8. Suction cup; 9. Sliding plate; 10. Fixed frame; 11. Sliding frame; 12. Pulley; 131. Slide plate; 132. Slider; 133. Push plate; 134. Trapezoidal plate; 135. Pushing frame; 136. Trapezoidal frame; 137. Rotating plate; 138. Connecting plate; 141. Connecting frame; 142. Roller; 143. Trapezoidal block; 144. Connecting rod; 145. Sealing slider; 146. Groove; 147. Rotating frame; 148. Sliding wheel. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figure 1 - Figure 7One embodiment of the present invention is a palletizing robot for industrial food processing, comprising: a fixed frame 1, a rotating disk 2, the rotating disk 2 being disposed on the top of the fixed frame 1; a robotic arm 3, the robotic arm 3 being fixedly mounted on the top of the rotating disk 2; a connecting seat 4, the connecting seat 4 being fixedly mounted on the surface of the robotic arm 3; a fixed disk 5, the fixed disk 5 being fixedly mounted on the bottom of the connecting seat 4; an electric telescopic column 6 being disposed on the top of the fixed disk 5, the electric telescopic column 6 having two output ends, a clamping plate 7 being fixedly mounted on the output end of the electric telescopic column 6, a sliding groove being formed on the inner wall of the clamping plate 7; a suction cup 8 being fixedly mounted on the bottom of the fixed disk 5, a sliding plate 9 being slidably mounted on the inner wall of the sliding groove, a fixed frame 10 being fixedly mounted on the bottom of the sliding plate 9, a sliding frame 11 being slidably mounted on the inner wall of the fixed frame 10, and a pulley 12 being rotatably mounted on the inner wall of the sliding frame 11. The sliding frame 11, when reset, will support the bottom of the box, preventing the box from slipping during handling, which would damage the food inside the box and affect handling efficiency.

[0021] A first spring is provided between the slide groove and the sliding plate 9. The sliding plate 9 is reset by the elastic force of the first spring. A second spring is provided between the fixed frame 10 and the sliding frame 11. The sliding frame 11 is reset by the elastic force of the second spring.

[0022] In this embodiment, during operation: the robotic arm 3 moves the connecting seat 4 and the fixed plate 5 to the bottom of the box. Then, the suction cup 8 below the fixed plate 5 will adhere to the top of the box, improving stability during gripping. Simultaneously, the downward movement of the fixed plate 5 will cause the electric telescopic column 6, clamping plate 7, and sliding plate 9 to move downwards. As the sliding plate 9 moves downwards and contacts the ground, the opposing force will push it upwards. Then, the output end of the electric telescopic column 6 will retract, causing the clamping plate 7 to support both sides of the box, ensuring the box does not fall during gripping. The clamping plate 7 moving closer to the box will cause the sliding plate 9, the fixed frame 10, and the sliding bracket 11 to move closer to the box. As the sliding frame 11 moves closer to the box, it causes the pulley 12 to move closer to the box. When the pulley 12 contacts the box, the reverse force compresses the pulley 12 and the sliding frame 11, causing them to move away from the box. When the clamping plate 7 clamps the box and moves upward, the elastic force of the first spring causes the sliding plate 9 to move downward. The downward movement of the sliding plate 9 causes the fixing frame 10 and the sliding frame 11 to move downward. The downward movement of the sliding frame 11 disengages from the box. Then, the elastic force of the second spring causes the sliding frame 11 to return to its original position. The return of the sliding frame 11 supports the bottom of the box, preventing the box from slipping during handling, which could damage the food inside the box and affect handling efficiency.

[0023] Please see Figure 1 - Figure 7Based on the above embodiments, in another embodiment of the present invention, the fixed plate 5 is provided with an anti-detachment device and an anti-deviation device for preventing the box from falling off. The anti-detachment device includes a sliding plate 131, a slider 132, a push plate 133 and a trapezoidal plate 134. The sliding plate 131 is slidably mounted on the surface of the clamping plate 7, the slider 132 is slidably mounted on the surface of the clamping plate 7, the push plate 133 is fixedly mounted on the top of the slider 132, and the trapezoidal plate 134 is fixedly mounted on the surface of the sliding plate 131. The box is pushed upward by the upward movement of the sliding plate 131, so that the box is tightly attached to the suction cup 8, while preventing the box from sliding downward and affecting the handling efficiency.

[0024] A pusher frame 135 is fixedly installed on the surface of the clamping plate 7, a trapezoidal frame 136 is slidably installed on the inner wall of the fixed plate 5, a rotating plate 137 is rotatably installed on the surface of the fixed plate 5, and a connecting plate 138 is fixedly installed on the circumference of the rotating plate 137 to prevent the box from shifting position, which would cause the clamping plate 7 to be unable to effectively clamp the box, resulting in the box tilting during transportation and affecting the transportation effect.

[0025] In this embodiment, during operation: the clamping plate 7 moves towards the box, causing the slider 132 to move towards the box. When the slider 132 contacts the box, the reverse force pushes it away from the box. This movement of the slider 132 away from the box causes the push plate 133 to move away from the box. This movement of the push plate 133 away from the box pushes the trapezoidal plate 134 upward. This upward movement of the trapezoidal plate 134 causes the sliding plate 131 to move upward. The upward movement of the sliding plate 131 pushes the box upward, ensuring a tight fit between the box and the suction cup 8, while preventing the box from sliding downward and affecting handling efficiency. When the clamping plate 7 moves towards the box... Moving the box closer to the box will cause the pusher 135 to move closer to the box. The pusher 135 will contact the trapezoidal frame 136 as it moves closer to the box. The pusher 135 will then push the trapezoidal frame 136 away from the pusher 135. The movement of the trapezoidal frame 136 away from the pusher 135 will push the connecting plate 138 to rotate downwards. The downward rotation of the connecting plate 138 will cause the rotating plate 137 to rotate downwards. The downward rotation of the rotating plate 137 will push the box to move towards the center of the fixed plate 5 to prevent the box from shifting position. This would prevent the clamping plate 7 from effectively clamping the box, causing the box to tilt during transport and affecting the transport effect.

[0026] A No. 3 spring is installed between the slide plate 131 and the clamping plate 7. The slide plate 131 is reset by the elastic force of the No. 3 spring. A No. 4 spring is installed between the slider 132 and the clamping plate 7. The slider 132 is reset by the elastic force of the No. 4 spring. A No. 5 spring is installed between the fixed plate 5 and the trapezoidal frame 136. The trapezoidal frame 136 is reset by the elastic force of the No. 5 spring. A No. 1 torsion spring is installed between the fixed plate 5 and the rotating plate 137. The rotating plate 137 is reset by the elastic force of the No. 1 torsion spring.

[0027] The anti-deviation device includes a connecting frame 141, a roller 142, a trapezoidal block 143, a connecting rod 144, and a sealing slider 145. The connecting frame 141 is fixedly installed on the surface of the trapezoidal frame 136, the roller 142 is rotatably installed on the inner wall of the connecting frame 141, the sealing slider 145 is slidably installed on the inner wall of the suction cup 8, the connecting rod 144 is fixedly installed on the top of the sealing slider 145, and the trapezoidal block 143 is fixedly installed on the top of the connecting rod 144. By moving the sealing slider 145 upward, the air inside the suction cup 8 is sucked upward, so that the suction cup 8 is tightly attached to the box, preventing the suction cup 8 from detaching and affecting the adsorption effect.

[0028] The bottom of the fixed plate 5 has a groove 146, and a rotating frame 147 is rotatably installed on the inner wall of the groove 146. A sliding wheel 148 is rotatably installed on the surface of the rotating frame 147 to prevent impurities on the top of the box from causing the suction cup 8 to fail to adhere tightly to the box when it moves downward, thus affecting the adsorption effect.

[0029] A No. 6 spring is provided between the sealing slider 145 and the suction cup 8. The sealing slider 145 is reset by the elastic force of the No. 6 spring. A No. 2 torsion spring is provided between the groove 146 and the rotating frame 147. The rotating frame 147 is reset by the elastic force of the No. 2 torsion spring.

[0030] The movement of the trapezoidal frame 136 away from the push frame 135 causes the connecting frame 141 to move away from the push frame 135. This movement of the connecting frame 141 causes the roller 142 to move away from the push frame 135, which in turn pushes the trapezoidal block 143 upwards. This upward movement of the trapezoidal block 143 causes the connecting rod 144 to move upwards, which in turn causes the sealing slider 145 to move upwards. This upward movement of the sealing slider 145 draws air upwards from the suction cup 8, ensuring a tight seal between the suction cup 8 and the housing, preventing it from detaching and affecting the suction effect. When the clamping plate 7 is opened after handling, the sealing slider 145 will... The compressed air re-enters the suction cup 8, causing it to detach from the box. This prevents the suction cup 8 from remaining attached to the box after handling, which would affect the detachment effect. Simultaneously, as the fixed plate 5 moves downward, it drives the rotating frame 147 downward. The downward movement of the rotating frame 147 drives the sliding wheel 148 downward. During its downward movement, the sliding wheel 148 contacts the box. As the sliding wheel 148 continues to move upward, it slides along the surface of the box. While the sliding wheel 148 slides, the rotating frame 147 rotates upward. The sliding wheel 148 pushes away impurities on the top of the box, preventing impurities from remaining on the top of the box when the suction cup 8 moves downward, thus ensuring a tight adhesion and improving the suction effect.

[0031] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A handling and palletizing robot for industrial food processing, comprising: The fixing frame (1) is characterized by: A rotating disk (2) is mounted on top of a fixed frame (1); Robotic arm (3), which is fixedly mounted on top of rotary disk (2); Connecting seat (4), the connecting seat (4) is fixedly installed on the surface of the robotic arm (3); Fixed plate (5), the fixed plate (5) is fixedly installed at the bottom of the connecting seat (4); The top of the fixed plate (5) is provided with an electric telescopic column (6), the electric telescopic column (6) is provided with two output ends, the output end of the electric telescopic column (6) is fixedly installed with a clamp (7), the inner wall of the clamp (7) is provided with a sliding groove, the bottom of the fixed plate (5) is fixedly installed with a suction cup (8), the inner wall of the sliding groove is slidably installed with a sliding plate (9), the bottom of the sliding plate (9) is fixedly installed with a fixed frame (10), the inner wall of the fixed frame (10) is slidably installed with a sliding frame (11), the inner wall of the sliding frame (11) is rotatably installed with a pulley (12), and the fixed plate (5) is provided with an anti-detachment device and an anti-deviation device for preventing the box from falling off.

2. The food industrial processing palletizing robot equipment according to claim 1, characterized in that: A first spring is provided between the slide groove and the sliding plate (9), and a second spring is provided between the fixed frame (10) and the sliding frame (11).

3. The food industrial processing handling and palletizing robot equipment according to claim 2, characterized in that: The anti-detachment device includes a sliding plate (131), a slider (132), a push plate (133), and a trapezoidal plate (134). The sliding plate (131) is slidably mounted on the surface of the clamping plate (7), the slider (132) is slidably mounted on the surface of the clamping plate (7), the push plate (133) is fixedly mounted on the top of the slider (132), and the trapezoidal plate (134) is fixedly mounted on the surface of the sliding plate (131).

4. The food industrial processing handling and palletizing robot equipment according to claim 3, characterized in that: A pusher (135) is fixedly installed on the surface of the clamping plate (7), a trapezoidal frame (136) is slidably installed on the inner wall of the fixed plate (5), a rotating plate (137) is rotatably installed on the surface of the fixed plate (5), and a connecting plate (138) is fixedly installed on the circumferential surface of the rotating plate (137).

5. The food industrial processing handling and palletizing robot equipment according to claim 4, characterized in that: A No. 3 spring is provided between the slide plate (131) and the clamping plate (7), a No. 4 spring is provided between the slider (132) and the clamping plate (7), a No. 5 spring is provided between the fixed plate (5) and the trapezoidal frame (136), and a No. 1 torsion spring is provided between the fixed plate (5) and the rotating plate (137).

6. The food industrial processing palletizing robot equipment according to claim 5, characterized in that: The anti-deviation device includes a connecting frame (141), a roller (142), a trapezoidal block (143), a connecting rod (144), and a sealing slider (145). The connecting frame (141) is fixedly installed on the surface of the trapezoidal frame (136). The roller (142) is rotatably installed on the inner wall of the connecting frame (141). The sealing slider (145) is slidably installed on the inner wall of the suction cup (8). The connecting rod (144) is fixedly installed on the top of the sealing slider (145). The trapezoidal block (143) is fixedly installed on the top of the connecting rod (144).

7. The food industrial processing handling and palletizing robot equipment according to claim 6, characterized in that: The bottom of the fixed plate (5) is provided with a groove (146), and a rotating frame (147) is rotatably installed on the inner wall of the groove (146). A sliding wheel (148) is rotatably installed on the surface of the rotating frame (147).

8. The food industrial processing palletizing robot equipment according to claim 7, characterized in that: A No. 6 spring is provided between the sealing slider (145) and the suction cup (8), and a No. 2 torsion spring is provided between the groove and the rotating frame (147).

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