Pick-up structure facilitating boxing of cup-packed yoghurt

Abstract

The utility model discloses a pick-up structure convenient for cupped yoghurt boxing, which comprises a parallel robot, driving arms of the parallel robot are hinged and matched with a mobile platform through hinge pieces, a fastening mechanism is detachably arranged in the middle of the mobile platform, a mounting block is detachably arranged at the bottom of the fastening mechanism, and the mounting block is connected with the parallel robot. And a plurality of suction cup mechanisms are detachably arranged on the mounting block, the suction cup mechanisms are arranged at equal intervals in the long edge direction of the mounting block, and the suction cup ends of the suction cup mechanisms are located at the bottom of the mounting block and face the side away from the moving platform, so that picking is convenient, and the probability of cup explosion is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of dairy product processing, in particular to a picking structure which is convenient for packing cup yogurt into boxes. Background Art

[0002] In the dairy product production process, the prepared cup yogurt needs to be packed into boxes. The boxes are made of plastic and look like beer boxes. They are equipped with multiple storage compartments arranged in square arrays. The picking process is usually carried out using a parallel robot with a vacuum adsorption device. The following problems exist during operation:

[0003] 1. The vacuum adsorption device has only one vacuum adsorption end. When transferring, it needs to be transferred one by one, and the transfer efficiency is low;

[0004] 2. Later, it was improved to arrange multiple vacuum adsorption devices in a row. During use, it was found that as time went by, the storage compartments of the boxes would deform, resulting in placement failure and possible cup explosion. Secondly, if the deformed storage compartment was the first one in the row, the subsequent vacuum adsorption devices would be affected and difficult to align, resulting in a greatly increased probability of cup explosion and even continuous explosion. On the one hand, it affected the box loading efficiency, and on the other hand, it affected the quality of the product and caused too high a product waste rate. Utility Model Content

[0005] The utility model provides a picking structure for convenient boxing of cup yogurt, aiming to solve the problems of low vacuum adsorption efficiency, difficulty in alignment and high cup bursting rate in the boxing process.

[0006] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0007] A picking structure for packing cup yogurt into boxes comprises a parallel robot, wherein the driving arms of the parallel robot are hingedly connected to a mobile platform through hinges, a fastening mechanism is detachably provided at the middle position of the mobile platform, a mounting block is detachably provided at the bottom of the fastening mechanism, a plurality of suction cup mechanisms are detachably provided on the mounting block, the suction cup mechanisms are arranged at equal intervals along the long side direction of the mounting block, and the suction cup ends of the suction cup mechanisms are all located at the bottom of the mounting block and face away from the mobile platform.

[0008] Preferably, the mobile platform includes an integrally formed mounting portion and a plurality of connecting portions, wherein the connecting portions are arranged at equal intervals around an axis on an outer wall of the mounting portion, the connecting portions correspond one-to-one to the driving arms of the parallel robot, and the connecting portions are hingedly connected to the corresponding driving arms through hinges.

[0009] As a more preferred embodiment, a mounting hole is provided at a middle position of the mounting portion, and the top of the fastening mechanism is detachably disposed in the mounting hole.

[0010] Furthermore, the fastening mechanism includes a fixing rod, a threaded portion is provided on the top of the fixing rod, and two first clamping nuts arranged opposite to each other are threadedly matched on the threaded portion. After the threaded portion passes through the mounting hole, the two first clamping nuts form a clamping and fixing fit with the mounting portion.

[0011] Furthermore, a fixing seat is coaxially and concentrically provided at the bottom of the fixing rod, and the four corners of the fixing seat are detachably fixedly matched with the top of the mounting block by fastening screws, and the fixing seat and the mounting block are coaxially and concentrically arranged.

[0012] Specifically, a plurality of suction cup holes are provided at equal intervals in the middle position of the mounting block along the long side direction, and a suction cup mechanism is provided in each suction cup hole.

[0013] More specifically, the number of the suction cup holes is equal to the number of a row of yogurt storage compartments in the storage box, and a row of yogurt storage compartments corresponds to the suction cup holes one by one, and the yogurt storage compartments are concentric and coaxial with the corresponding suction cup holes.

[0014] In detail, the suction cup mechanism includes a connecting tube, an outer wall of which is provided with a thread, and the outer wall thread of the connecting tube is matched with two second clamping nuts arranged relatively to each other, and after the connecting tube passes through the corresponding suction cup holes, the two second clamping nuts form a clamping and fixed fit with the mounting block, and the two ends of the connecting tube respectively extend from the corresponding suction cup holes, a vacuum extraction joint is provided at one end of the connecting tube close to the mobile platform, and a vacuum suction cup is provided at the other end of the connecting tube away from the mobile platform, and the vacuum suction cup is connected to the vacuum extraction joint through the connecting tube to form an extraction fit.

[0015] Beneficial effects of the utility model:

[0016] The utility model fixes the mounting block on the mobile platform through a fastening mechanism, and arranges a plurality of suction cup mechanisms on the mounting block, so that the yogurt of a row of storage grids can be sucked at one time, thereby improving the suction efficiency;

[0017] The suction cup mechanism is fixedly installed on the mounting block to ensure that the position of the suction cup mechanism corresponds to the storage box. Even if a cup in the middle explodes due to filling failure, because the position of the suction cup mechanism 5 is determined and the mounting block is a whole, other suction cup mechanisms are not affected and the others can also complete the filling, thereby improving the filling efficiency and reducing the probability of cup explosion. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional schematic diagram of the utility model;

[0019] Figure 2 This is a three-dimensional schematic diagram of the main viewing angle of the utility model;

[0020] Figure 3 This is a disassembly diagram of the suction cup mechanism of the utility model;

[0021] Figure 4 It is a top disassembly schematic diagram of the fastening mechanism of the utility model;

[0022] Figure 5 This is a schematic diagram of the installation of the utility model and the parallel robot;

[0023] In the figure: 1. Parallel robot;

[0024] 2. Mobile platform; 201. Mounting part; 202. Connecting part; 203. Mounting hole;

[0025] 3. Fastening mechanism; 301. Fixing rod; 302. Threaded portion; 303. First clamping nut; 304. Fixing seat; 305. Fastening screw;

[0026] 4. Mounting block; 401. Suction cup hole;

[0027] 5. Suction cup mechanism; 501. Vacuum suction cup; 502. Connecting pipe; 503. Second clamping nut; 504. Vacuum exhaust connector. DETAILED DESCRIPTION

[0028] As follows, embodiments are further described with reference to the accompanying drawings.

[0029] like Figure 1~Figure 5 As shown, as a preferred embodiment 1, a picking structure for packing cup yogurt boxes includes a parallel robot 1, wherein the driving arms of the parallel robot 1 are hingedly connected to the mobile platform 2 through hinges, and a fastening mechanism 3 is detachably provided at the middle position of the mobile platform 2, and a mounting block 4 is detachably provided at the bottom of the fastening mechanism 3, and a plurality of suction cup mechanisms 5 are detachably provided on the mounting block 4, and the suction cup mechanisms 5 are arranged at equal intervals along the long side direction of the mounting block 4, and the suction cup ends of the suction cup mechanisms 5 are all located at the bottom of the mounting block 4 and facing away from the mobile platform 2.

[0030] Embodiment 1 provides a picking structure for convenient boxing of cup yogurt, which is used to pick up a row of cup yogurts corresponding to the number of cups in the yogurt storage compartments at one time, and transfer the picked yogurts to the yogurt storage compartments, and repeat the above steps until all the yogurt storage compartments in the yogurt storage box are filled, thereby completing the boxing operation. The action and movement of this boxing operation are all realized by the parallel robot 1. The driving arm of the parallel robot 1 drives the mobile platform 2 to move during the movement, and the mobile platform 2 drives the fastening mechanism 3 to move, and the fastening mechanism 3 drives the mounting block 4 to move. Multiple cups of cup yogurt are vacuum-adsorbed on the mounting block 4 through multiple suction cup mechanisms 5, thereby realizing the simultaneous movement and transfer of multiple yogurts.

[0031] As a preferred embodiment 2, the mobile platform 2 includes an integrally formed mounting portion 201 and a plurality of connecting portions 202, the connecting portions 202 being arranged at equal intervals around the axis on the outer wall of the mounting portion 201, the connecting portions 202 corresponding one-to-one with the driving arms of the parallel robot 1, and the connecting portions 202 being hingedly connected to the corresponding driving arms through hinges.

[0032] Embodiment 2 provides the structure of the mobile platform 2 and the connection relationship with the parallel robot 1. The driving arm of the parallel robot 1 corresponds to the connecting part 202 one by one, and the driving arm and the corresponding connecting part 202 are both hingedly matched through a hinge. The connecting part 202 and the mounting part 201 are integrally formed to achieve following. The mounting part 201 also serves as an installation platform for installing the fastening mechanism 3, and the mounting block 4 and the suction cup mechanism 5 are fixed by the fastening mechanism 3.

[0033] As a preferred embodiment 3, the parallel robot 1 can be any one of a three-axis parallel robot or a four-axis parallel robot. This embodiment uses a three-axis parallel robot, and there are also three corresponding connecting parts 202, which are arranged on the outside of the mounting part 201 at equal intervals around the axis.

[0034] As a preferred embodiment 4, a mounting hole 203 is provided in the middle of the mounting portion 201, and the top of the fastening mechanism 3 is detachably arranged in the mounting hole 203. This facilitates the installation of the fastening mechanism 3 and ensures the stability of the installation.

[0035] As a preferred embodiment 5, the fastening mechanism 3 includes a fixing rod 301, a threaded portion 302 is provided on the top of the fixing rod 301, and two first clamping nuts 303 arranged opposite to each other are threadedly matched on the threaded portion 302. After the threaded portion 302 passes through the mounting hole 203, the two first clamping nuts 303 form a clamping and fixing fit with the mounting portion 201.

[0036] Embodiment 5 provides a top mounting structure of a fastening mechanism 3, wherein the top of a fixing rod 301 of the fastening mechanism 3 is a threaded portion 302, and the threaded portion 302 is embedded in a mounting hole 203, and first clamping nuts 303 are provided above and below the mounting portion 201, and the first clamping nuts 303 are threadedly matched with the threaded portion 302, thereby clamping and fixing the mounting portion 201, and the position of the fixing threaded portion 302 is fixed to determine the position of the fixing rod 301, and the distance between the fixing seat 304 and the mounting portion 201 can be changed by adjusting the relative position of the threaded portion 302 and the mounting portion 201, thereby ensuring the stability of the fixation and facilitating adjustment.

[0037] As a preferred embodiment 6, a fixing seat 304 is coaxially and concentrically provided at the bottom of the fixing rod 301, and the four corners of the fixing seat 304 are detachably fixedly fitted with the top of the mounting block 4 by fastening screws 305, and the fixing seat 304 and the mounting block 4 are coaxially and concentrically arranged.

[0038] Embodiment 6 provides a mounting structure at the bottom of the fastening mechanism 3, and the mounting block 4 and the fixing seat 304 are fixed by fastening screws 305. The fixing seat 304 and the fixing rod 301 are coaxially formed as one piece to ensure the stability of the fixed connection.

[0039] As a preferred embodiment 7, a plurality of suction cup holes 401 are provided at equal intervals along the long side direction in the middle position of the mounting block 4, and a suction cup mechanism 5 is provided in each suction cup hole 401, so as to facilitate the installation of the suction cup mechanism 5 and facilitate alignment.

[0040] As a preferred embodiment 8, the number of the suction cup holes 401 is equal to the number of a row of yogurt storage compartments in the storage box, and a row of yogurt storage compartments corresponds to the suction cup holes 401 one by one, and the yogurt storage compartments are concentric and coaxial with the corresponding suction cup holes 401, which facilitates alignment, ensuring that each suction cup just absorbs a cup of yogurt, and this cup of yogurt corresponds to one yogurt storage compartment.

[0041] As a preferred embodiment 9, the suction cup mechanism 5 includes a connecting tube 502, the outer wall of which is provided with a thread, and the outer wall thread of the connecting tube 502 is matched with two second clamping nuts 503 arranged relatively, and after the connecting tube 502 passes through the corresponding suction cup hole 401, the two second clamping nuts 503 form a clamping and fixing fit with the mounting block 4, and the two ends of the connecting tube 502 respectively extend from the corresponding suction cup holes 401, and a vacuum suction connector 504 is provided at one end of the connecting tube 502 close to the mobile platform 2, and a vacuum suction cup 501 is provided at the other end of the connecting tube 502 away from the mobile platform 2, and the vacuum suction cup 501 is connected to the vacuum suction connector 504 through the connecting tube 502 to form a suction fit.

[0042] Example 9 provides the specific structure of the suction cup mechanism 5. During installation, the vacuum suction cup 501 and the second clamping nut 503 are first installed at one end of the connecting tube 502, and the other end of the connecting tube 502 is passed through the suction cup hole 401 from bottom to top, and the second clamping nut 503 is arranged above the mounting block 4 to form a threaded fit with the thread of the outer wall of the connecting tube. The second clamping nuts 503 on the upper and lower sides of the mounting block 4 form a clamping and fixing fit with the mounting block 4, thereby fixing the position of the connecting tube 502. Then, the vacuum suction connector 504 is installed, and the external vacuum suction pipe is connected through the vacuum suction connector 504 to realize vacuum adsorption of the vacuum suction cup 501, thereby completing the picking up of the cup yogurt.

[0043] The working principle of this utility model:

[0044] The utility model provides a picking structure for convenient boxing of cup yogurt, which is used for picking up a row of cup yogurts corresponding to the number of cups in the yogurt storage compartments at one time, and transferring the picked up yogurts into the yogurt storage compartments, and repeating the above steps until all the yogurt storage compartments in the yogurt storage box are filled, thus completing the boxing operation. The action and movement of the boxing operation are all realized by a parallel robot 1, and the driving arm of the parallel robot 1 drives a moving platform 2 to move during the movement, and the moving platform 2 drives a fastening mechanism 3 to move, and the fastening mechanism 3 drives a mounting block 4 to move, and a plurality of cup yogurts are vacuum-adsorbed on the mounting block 4 through a plurality of suction cup mechanisms 5, thereby realizing the simultaneous movement and transfer of multiple yogurts.

Claims

1. A picking structure for packing cup yogurt, comprising a parallel robot (1), characterized in that: The driving arms of the parallel robot (1) are hingedly connected to the mobile platform (2) via hinged parts; a fastening mechanism (3) is detachably provided at the middle position of the mobile platform (2); a mounting block (4) is detachably provided at the bottom of the fastening mechanism (3); a plurality of suction cup mechanisms (5) are detachably provided on the mounting block (4); the suction cup mechanisms (5) are arranged at equal intervals along the long side direction of the mounting block (4); and the suction cup ends of the suction cup mechanisms (5) are all located at the bottom of the mounting block (4) and face away from the mobile platform (2).

2. The pick-up structure for convenient packaging of cup yogurt according to claim 1, characterized in that: The mobile platform (2) comprises an integrally formed mounting portion (201) and a plurality of connecting portions (202), the connecting portions (202) being arranged at equal intervals around an axis on an outer wall of the mounting portion (201), the connecting portions (202) corresponding one-to-one to the driving arms of the parallel robot (1), and the connecting portions (202) being articulated with the corresponding driving arms via articulated members.

3. The pick-up structure for convenient packaging of cup yogurt according to claim 2, characterized in that: A mounting hole (203) is provided at a middle position of the mounting portion (201), and the top of the fastening mechanism (3) is detachably disposed in the mounting hole (203).

4. The pick-up structure for convenient packaging of cup yogurt according to claim 3, characterized in that: The fastening mechanism (3) comprises a fixing rod (301), the top of the fixing rod (301) being provided with a threaded portion (302), the threaded portion (302) being threadedly matched with two first clamping nuts (303) arranged opposite to each other, and after the threaded portion (302) passes through the mounting hole (203), the two first clamping nuts (303) and the mounting portion (201) are clamped and fixedly matched.

5. The pick-up structure for convenient packaging of cup yogurt according to claim 4, characterized in that: A fixing seat (304) is coaxially and concentrically disposed at the bottom of the fixing rod (301); the four corners of the fixing seat (304) are detachably fixedly matched with the top of the mounting block (4) through fastening screws (305); and the fixing seat (304) and the mounting block (4) are coaxially and concentrically arranged.

6. The pick-up structure for convenient packaging of cup yogurt according to claim 5, characterized in that: A plurality of suction cup holes (401) are provided at equal intervals in the middle position of the mounting block (4) along the long side direction, and a suction cup mechanism (5) is provided in each suction cup hole (401).

7. The pick-up structure for convenient packaging of cup yogurt according to claim 6, characterized in that: The number of the suction cup holes (401) is equal to the number of a row of yogurt storage compartments in the storage box, and a row of yogurt storage compartments corresponds to the suction cup holes (401) one by one, and the yogurt storage compartments and the corresponding suction cup holes (401) are concentric and coaxial.

8. The pick-up structure for convenient packaging of cup yogurt according to claim 7, characterized in that: The suction cup mechanism (5) comprises a connecting tube (502), the outer wall of which is provided with a thread, and the outer wall thread of the connecting tube (502) is matched with two second clamping nuts (503) arranged opposite to each other, and after the connecting tube (502) passes through the corresponding suction cup hole (401), the two second clamping nuts (503) are clamped and fixedly matched with the mounting block (4), and the two ends of the connecting tube (502) respectively extend from the corresponding suction cup hole (401), and a vacuum suction joint (504) is provided at one end of the connecting tube (502) close to the mobile platform (2), and a vacuum suction cup (501) is provided at the other end of the connecting tube (502) away from the mobile platform (2), and the vacuum suction cup (501) is connected to the vacuum suction joint (504) through the connecting tube (502) to form a suction match.

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