Intelligent robot collagen filtering production line

Abstract

The utility model relates to an intelligent robot collagen filtering production line, which comprises a grabbing robot, a pre-set area roller line, a control system and a control system, the grabbing robot body grabs the collagen turnover baskets on the preset area roller line through the grabbing clamp and places the collagen turnover baskets on the roller conveying line; the roller conveying line comprises a plurality of branch roller lines and a gathering roller line, and the gathering roller line is used for gathering the collagen turnover baskets conveyed by the plurality of branch roller lines and then conveying the collagen turnover baskets to the tail end of the gathering roller line; the filtering machine is arranged on one side of the branch roller line and is used for loading collagen into the collagen turnover basket; the stacking robot comprises a stacking robot body, a stacking clamp, a pallet limiting frame and a pallet arranged at the tail end of the gathering roller line, and the stacking robot body stacks the collagen turnover baskets to the pallet limiting frame through the stacking clamp. According to the utility model, the working efficiency of collagen filtering production can be improved, and manpower reduction and efficiency improvement are realized.

Description

Technical Field

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

[0002] On a collagen filtration production line, generally, empty collagen turnover baskets need to be transported to the station for loading collagen. After loading the collagen into the collagen turnover baskets, the full collagen turnover baskets are centralized for transportation away.

[0003] This requires the collagen filtration production line to have a conveyor line for sending empty collagen turnover baskets to the loading station, and a conveyor line for sending the collagen turnover baskets after loading collagen to a centralized position. Generally, multiple empty collagen turnover baskets are stacked together and sent to the front end of the production line. The empty collagen turnover baskets need to be placed on the conveyor line in sequence and transported to the position for loading collagen. Then, the full collagen turnover baskets after loading collagen generally also need to be collected and stacked together for easy transportation. To improve the efficiency of the production line, it is necessary to improve the efficiency of empty basket unstacking and full basket stacking. Summary of the Utility Model

[0004] The purpose of the utility model is to provide an intelligent robot collagen filtration production line, which can automatically unstack collagen turnover baskets, load the filtered collagen, and stack the full collagen turnover baskets onto a pallet.

[0005] To achieve the above purpose, the utility model provides an intelligent robot collagen filtration production line, including:

[0006] A grasping robot, including a grasping robot body, a grasping fixture, and a pre-set area roller line. The end of the grasping robot body is connected to the grasping fixture, and is configured to place the collagen turnover basket on the pre-set area roller line grasped by the grasping fixture onto the roller conveyor line through the grasping fixture;

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

[0008] A filter, arranged on one side of the sub-roller line, and configured to load collagen into the collagen turnover basket;

[0009] A palletizing robot includes a palletizing robot body, a palletizing fixture, and a pallet limiting frame, and is arranged at the end of the summary roller line, and is configured to palletize the collagen turnover basket onto the pallet on the pallet limiting frame through the palletizing fixture.

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

[0011] Optionally, the pre-set area roller line includes 4 collagen turnover basket roller lines, and the 4 collagen turnover basket roller lines are arranged around the grasping robot body.

[0012] Optionally, the collagen turnover basket roller line can accommodate at least 2 stacks of collagen turnover baskets, and a first detection sensor is arranged at the end of the collagen turnover basket roller line to detect whether there is material.

[0013] Optionally, the sub-roller line is sequentially provided with 3 workstations, namely the basket placing position of the grasping robot, the loading work position of the filter, and the full-load basket discharging position; a second detection sensor is arranged at each workstation to detect whether there is material.

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

[0015] Optionally, the palletizing fixture includes a second mounting flange, a second square pipe support, two fixture cylinders, and a buckle part; the two fixture cylinders are respectively connected to two ends of the second square pipe support, the second mounting flange is connected to the middle of the second square pipe support, and the fixture cylinder is connected to the corresponding buckle part.

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

[0017] Optionally, the number of the sub-roller lines is 2, which are arranged in parallel and at intervals.

[0018] As can be seen from the above, the technical solution provided by the present invention can automatically place the collagen basket at the loading collagen work position and automatically palletize the collagen turnover basket full of collagen onto the pallet by using the grasping robot to unstack the empty collagen turnover basket, transporting it to the loading collagen work position through the roller conveyor line, and palletizing the full-load collagen turnover basket by the palletizing robot, improving work efficiency and realizing labor reduction and efficiency increase. Description of the Drawings

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

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

[0021] Figure 3 It is a schematic structural diagram of the grasping fixture (palletizing fixture) according to an embodiment of the present utility model;

[0022] Figure 4 It is a schematic structural diagram of the collagen turnover basket roller line according to an embodiment of the present utility model;

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

[0024] Figure 6 It is a schematic structural diagram of the palletizing robot according to an embodiment of the present utility model. Detailed implementation manners

[0025] The technical solution of the present utility model will be further described below in conjunction with the drawings and through specific implementation manners. It can be understood that the specific embodiments described herein are only used to explain the present utility model, rather than limiting the present utility model. Additionally, it should be noted that for the convenience of description, only the parts related to the present utility model are shown in the drawings rather than all of them.

[0026] Some orientation words are defined in the present utility model. Without contrary explanations, the orientation words such as "upper", "lower", "left", "right", "inner", and "outer" are used for the convenience of understanding and thus do not constitute a limitation to the protection scope of the present utility model.

[0027] In the present utility model, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over", and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "under", and "beneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0028] In the description of the present utility model, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0029] This embodiment provides an intelligent robot collagen filtration production line. As shown in Figure 1 the schematic structural diagram of the intelligent robot collagen filtration production line from a top-down perspective, the intelligent robot collagen filtration production line includes:

[0030] A grasping robot 100, as shown in Figure 2 , which includes a grasping robot body 102, a grasping fixture 103, and a pre-set area roller line 101. The end of the grasping robot body 102 is connected to the grasping fixture 103, and it is set that the grasping robot body 102 grabs the collagen turnover basket on the pre-set area roller line 101 through the grasping fixture 103 and places it on the roller conveyor line 104.

[0031] The roller conveyor line 104 includes multiple sub-roller lines 105 ( Figure 1 taking 2 as an example in the figure, the 2 sub-roller lines are parallel to each other and arranged at intervals) and a summary roller line 106. The summary roller line 106 is set to collect the collagen turnover baskets transported by the multiple sub-roller lines 105 and send them to the end of the summary roller line 106. Among them, the sub-roller line 105 can be perpendicular to the summary roller line 106, and the sub-roller line 105 can send the collagen turnover basket onto the summary roller line 106.

[0032] A filter, which is arranged on one side of the sub-roller line 105 ( Figure 1 omitted in the figure), and is set to load collagen into the collagen turnover basket. Among them, the filter can extrude the collagen mass and load it into the collagen turnover basket.

[0033] A palletizing robot 107, as shown in Figure 6 , which includes a palletizing robot body 109, a palletizing fixture 110, and a pallet limiting frame 108. It is arranged at the end of the summary roller line 106, and it is set that the palletizing robot body 109 palletizes the collagen turnover basket onto the pallet on the pallet limiting frame 108 through the palletizing fixture 110.

[0034] Optionally, as shown in Figure 3 , the grasping fixture 103 includes a first mounting flange 1031, a first square pipe bracket 1032, two clamping cylinders 1033, and a clamping plate part 1034. The two clamping cylinders 1033 are respectively connected to both ends of the first square pipe bracket 1032. The first mounting flange 1031 is connected to the middle of the first square pipe bracket 1032, and the clamping cylinder 1033 is connected to the corresponding clamping plate part 1034. When the clamping cylinders 1033 installed on both sides are closed, they can drive the clamping plate part 1034 to buckle into the gap of the collagen turnover basket handle, realizing the handling of the collagen turnover basket.

[0035] Optionally, the pre-set area roller line 101 includes 4 collagen turnover basket roller lines, and the 4 collagen turnover basket roller lines are arranged around the grasping robot body.

[0036] Optionally, as Figure 4 , the collagen turnover basket roller line can accommodate at least 2 collagen turnover baskets, and a first detection sensor 204 is arranged at the end of the collagen turnover basket roller line to detect whether there is any material. The driving motor 205 drives the roller 206 to rotate through a driving structure to convey the collagen turnover basket. The first detection sensor 204 can be a photoelectric detection sensor.

[0037] Optionally, as Figure 5 , the sub-roller line 105 is sequentially provided with 3 work stations, namely a grasping robot basket placing position 200, a filter loading work position 201, and a full-load basket discharging position 202; each work station is provided with a second detection sensor to detect whether there is any material. Among them, the second detection sensor is the same as the first detection sensor.

[0038] Optionally, the end of the total roller line 106 is a palletizing grasping position 203, and a third sensor is arranged for detecting whether there is any material. Among them, the third detection sensor is the same as the first detection sensor.

[0039] Optionally, as Figure 3 , the palletizing jig includes a second mounting flange 1101, a second square pipe bracket 1102, two jig cylinders 1103, and a buckle part 1104; the two jig cylinders 1103 are respectively connected to both ends of the second square pipe bracket 1102, the second mounting flange 1101 is connected to the middle of the second square pipe bracket 1102, and the jig cylinder 1103 is connected to the corresponding buckle part 1104. In this implementation manner, the structure of the palletizing jig is the same as that of the grasping jig, and is used to pick up the collagen turnover basket at the palletizing grasping position 203 and stack it on the pallet limiting frame.

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

[0041] The working process of the intelligent robot collagen filtration production line provided by the present utility model is as follows. When an operator pushes in a stack of neatly arranged collagen turnover baskets (for example, 10 stacked collagen turnover baskets) onto the roller 206, the driving motor 205 is started to drive the roller 206 to rotate, sending the collagen turnover baskets forward to the end position of the collagen turnover basket roller line, where they are detected by the first detection sensor 204. At this time, a signal is sent to the grasping robot body 102. After the end of the grasping robot body 102 moves to the position of the collagen turnover basket on the collagen turnover basket roller line, the grasping fixture 103 is started to clamp the collagen turnover basket. The grasping robot body 102 determines whether there are collagen turnover baskets on the two sub-roller lines 105. When there is no basket at the basket placing position 200 of one of the sub-roller lines 105, the grasping robot body 102 places the basket at the basket placing position 200 of the grasping robot, opens the grasping fixture 103, and the sub-roller line 105 transports the collagen turnover basket to the filtration machine loading working position 201. The second detection sensor at the filtration machine loading working position 201 sends a signal to the filtration machine to extrude the collagen mass. When the collagen turnover basket is full, the sub-roller line 105 sends the collagen basket to the full basket discharging position 202, and then sends it to the summary roller line 106 depending on whether there is a basket on the conveyor belt. Finally, it is transported to the palletizing grasping position 203 at the end of the summary roller line 106. After the third detection sensor detects a basket, a signal is sent to the palletizing robot 107. After the end of the palletizing robot body 109 reaches the palletizing grasping position 203, the palletizing fixture 110 is triggered, and the full collagen turnover basket is picked up and placed on the pallet of the pallet limiting frame 108. When the palletizing reaches the specified quantity (for example, 6 layers), a completion signal is sent to prompt the employee to pull away the pallet goods with a forklift.

[0042] In the present utility model, after the first detection sensor 204 on the pre-set area roller line 101 fails to detect the collagen turnover basket, it will send a basket entering prompt and start the driving motor 205 to drive the roller 206 to send the subsequently placed collagen turnover basket to the position and then stop the driving motor 205.

[0043] With the above technical solution provided by the present utility model, the empty collagen turnover baskets are unstacked by the grasping robot, transported to the working position for loading collagen through the roller conveyor line, and the full collagen turnover baskets are centrally palletized by the palletizing robot. It can automatically place the collagen baskets at the loading collagen working position, and the full collagen turnover baskets after being loaded with collagen are automatically palletized onto the pallet, improving work efficiency and achieving the reduction of personnel and increase of efficiency.

[0044] Although the present utility model has been described in detail above with general descriptions, specific embodiments and experiments, based on the present utility model, some modifications or improvements can be made, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present utility model all fall within the scope of protection required by the present utility model.

Claims

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

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

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

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

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

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

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

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

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

Images