Automatic carrying device for dry ice production line

Abstract

The utility model provides an automatic carrying device for a dry ice production line, and aims to solve the problems of manual carrying and stacking. The automatic carrying device comprises a carrying robot set, and at least one material storage area is arranged in the moving range of the carrying robot set. The carrying robot set comprises a mechanical arm and a clamp assembly arranged at the driving end of the mechanical arm, the clamp assembly comprises a clamping piece and a bottom supporting piece, the clamping piece is used for clamping materials, and the bottom supporting piece is used for being supported at the bottoms of the materials; the material storage area comprises a heat preservation box fixing frame and a pallet fixing frame. The heat preservation box fixing frame is used for placing a heat preservation box, the heat preservation box is used for placing a dry ice bag, the pallet fixing frame is used for placing a pallet, the pallet is used for placing a packaging box, and the dry ice bag is placed in the packaging box; the materials comprise dry ice bags or packaging boxes.

Description

Technical Field

[0001] The utility model relates to equipment for a dry ice production line, in particular to an automatic handling device for a dry ice production line. Background Art

[0002] As an efficient refrigeration medium, dry ice has been widely used in the fields of food refrigeration, cold chain transportation, medicine, and fresh-keeping transportation of biological products due to its low temperature, non-toxic, and odorless characteristics. However, the existing dry ice packaging process mainly relies on manual operation, which is not only inefficient but also has a high labor cost.

[0003] For the automated application of the dry ice packaging process, currently, through automated packaging equipment, processes such as the automatic filling, weighing, and sealing of dry ice are completed automatically. However, after the dry ice is packed on the production line, it still needs to be placed in a cold chain transportation insulation box, and currently, this step still relies on manual labor. Or the dry ice needs to be packed into a packaging box, and after palletizing, it is transported by a cold chain vehicle. Currently, the palletizing of the packaging boxes mostly relies on manual operation for handling and stacking. Summary of the Utility Model

[0004] The utility model provides an automatic handling device for a dry ice production line, aiming to solve the problems of manual handling and stacking.

[0005] To solve the above technical problems, the utility model provides an automatic handling device for a dry ice production line, which includes a handling robot group, and at least one set of material storage areas is arranged within the moving range of the handling robot group;

[0006] The handling robot group includes a robotic arm and a fixture assembly arranged at the driving end of the robotic arm. The fixture assembly includes a clamping member and a bottom support member. The clamping member is used for clamping the material, and the bottom support member is used for supporting the bottom of the material.

[0007] The material storage area includes an insulation box fixing frame and a pallet fixing frame; the insulation box fixing frame is used for placing the insulation box, the insulation box is used for placing dry ice bags, the pallet fixing frame is used for placing pallets, the pallets are used for placing packaging boxes, and dry ice bags are placed in the packaging boxes; the material includes dry ice bags or packaging boxes.

[0008] In a preferred embodiment, the clamping member includes an upper plate and a first clamping plate and a second clamping plate arranged at the bottom of the upper plate; the first clamping plate and the second clamping plate are arranged opposite to each other, and one or both of the first clamping plate and the second clamping plate are movably arranged; the first clamping plate and the second clamping plate cooperate to clamp the material.

[0009] In a preferred embodiment, the clamping member further includes a clamping cylinder, and the clamping cylinder is used to drive one or both of the first clamping plate and the second clamping plate to move.

[0010] In a preferred embodiment, a slide rail is provided at the bottom of the upper plate, and a slider is provided at the top of one or both of the first clamping plate and the second clamping plate, and the slider is slidably installed in the slide rail.

[0011] In a preferred embodiment, a slider stop is provided at the end of the slide rail.

[0012] In a preferred embodiment, reinforcing ribs are provided on the first clamping plate and the second clamping plate; the reinforcing ribs are provided on the outer sides of the first clamping plate and the second clamping plate.

[0013] In a preferred embodiment, the bottom support member includes a bottom support seat, a hook and a driving cylinder; a plurality of the hooks are provided at intervals along the width direction of the second clamping plate on the bottom support seat, and the bottom support seat is rotatably installed on the second clamping plate through a rotating shaft;

[0014] The driving end of the driving cylinder is connected to the bottom support seat for driving the bottom support seat to rotate; the hook can rotate to support or move away from the bottom of the material.

[0015] In a preferred embodiment, the clamping member further includes a solenoid valve group, and the solenoid valve group is fixed on the upper plate; a material detection sensor is provided on the first clamping plate or the second clamping plate;

[0016] The material detection sensor is used to identify the material and feedback it to the solenoid valve group, and the solenoid valve group controls the start and stop of the clamping cylinder and the driving cylinder.

[0017] In a preferred embodiment, both the fixed frame of the insulation box and the fixed frame of the pallet are provided with an entrance and an exit for the insulation box or the pallet to enter and exit;

[0018] Pneumatic clamps are provided on both sides of the entrance and exit of the fixed frame of the insulation box, and the pneumatic clamps are used to prevent the insulation line from detaching from the fixed frame of the insulation box.

[0019] In a preferred embodiment, one side of the automatic handling device is connected to a transport conveyor belt, and protective fences are provided on the other three sides except the transport conveyor belt;

[0020] An access door is provided on the protective fence on the side opposite to the transport conveyor belt.

[0021] Compared with the prior art, the technical solution of the present utility model has the following beneficial effects:

[0022] 1. By providing a handling robot group, automatic material handling and automatic material palletizing operations are realized, and it can cooperate with the insulation box to stack different numbers of dry ice bags at one time, realizing the boxing of dry ice bags, and having the advantages of strong adaptability and flexible operation.

[0023] 2. At the same time, an incubator and a pallet are provided, which are convenient for storage and use, improve the material efficiency, and can be flexibly applied. The dry ice production line can produce dry ice particles and blocks of different sizes and thicknesses to meet the requirements of different application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is an overall view of the automatic handling device in the preferred embodiment of the present utility model;

[0025] Figure 2 It is a structural diagram of the handling robot group in the preferred embodiment of the present utility model;

[0026] Figure 3 It is a structural diagram of the fixture assembly in the preferred embodiment of the present utility model;

[0027] Figure 4 It is a structural diagram of the clamping member drive in the preferred embodiment of the present utility model;

[0028] Figure 5 It is a structural diagram of the material storage area in the preferred embodiment of the present utility model;

[0029] Figure 6 It is a structural diagram of the incubator fixing frame in the preferred embodiment of the present utility model.

[0030] Description of the reference numerals: 1. Handling robot group; 11. Robot arm; 12. Clamping member; 121. Upper plate; 122. First clamping plate; 123. Second clamping plate; 124. Clamping cylinder; 125. Slide rail; 126. Slide block; 127. Slide block stop; 128. Reinforcing rib; 129. Mounting plate; 13. Bottom support member; 131. Bottom support seat; 132. Hook; 133. Driving cylinder; 134. Rotating shaft; 14. Solenoid valve group; 15. Material detection sensor; 2. Material storage area; 21. Incubator fixing frame; 22. Pallet fixing frame; 23. Incubator; 24. Pallet; 25. Packaging box; 26. Entrance and exit; 27. Pneumatic fixture; 3. Protective fence; 31. Entrance and exit door. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the drawings in the embodiments of the present utility model; obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0032] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "top / bottom end", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0033] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "provided with", "sheathed / connected", "connection", etc. should be understood in a broad sense. For example, "connection" can be a wall-mounted connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the communication inside two elements. 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.

[0034] Reference Figures 1-6 , this embodiment provides an automatic handling device for a dry ice production line. This automatic handling device is designed specifically for a dry ice production line, aiming to realize the handling and stacking of dry ice bags and the cartons for packing them, greatly improving the operation efficiency and reducing the manual labor intensity.

[0035] The automatic handling device includes a protective fence and a handling robot group 1. Two sets of material storage areas 2 are arranged within the moving range of the handling robot group 1, and the two sets of material storage areas 2 are respectively arranged on both sides of the handling robot group 1. One side of the automatic handling device is connected to a transport conveyor belt, and the same two sets of material storage areas 2 are arranged on the side of the transport conveyor belt.

[0036] With the setting of the protective fence, protective fences 3 are arranged on the other three sides except the transport conveyor belt. The protective fences 3 enclose the handling robot group 1 and the material storage areas 2 completely, and access doors 31 are opened on the side of the protective fence 3 opposite to the transport conveyor belt. Two access doors 31 are opened corresponding to the two sets of material storage areas 2, improving operation safety and at the same time facilitating the entry and exit of operators.

[0037] With the setting of the handling robot group 1, it includes a robotic arm 11 and a fixture assembly arranged at the driving end of the robotic arm 11. The robotic arm 11 is an industrial robotic arm 11, integrating the robotic arm 11 and the fixture assembly to achieve precise handling.

[0038] The setting of the material storage area 2 includes an insulated box fixing frame 21 and a pallet fixing frame 22. Among them, the insulated box 23 is used to place dry ice bags, the pallet fixing frame 22 is used to place pallets 24, and the pallets 24 are used to place packaging boxes 25, and dry ice bags are placed in the packaging boxes 25.

[0039] To facilitate the replacement of the insulated box 23 and the pallet 24, an entrance and exit 26 is provided in both the insulated box fixing frame 21 and the pallet fixing frame 22 for the insulated box 23 or the pallet 24 to enter and exit. The insulated box 23 is a box with driving wheels at the bottom. Therefore, to prevent the insulated box 23 from sliding in the insulated box fixing frame 21 and affecting the handling and stacking of materials, in this embodiment, pneumatic clamps 27 are provided on both sides of the entrance and exit 26 of the insulated box fixing frame 21. When the insulated box 23 is placed in the insulated box fixing frame 21, the pneumatic clamps 27 on both sides are used to clamp and fix the insulated box 23 in the insulated box fixing frame 21, and the pneumatic clamps 27 are used to prevent the insulated line from detaching from the insulated box fixing frame 21. The pneumatic clamps 27 are arranged at the entrance and exit 26 of the insulated box fixing frame 21 to ensure the safety and stability of the insulated box 23.

[0040] The specific structure of the clamp assembly is as follows:

[0041] The clamp assembly includes a clamping member 12 and a bottom support member 13. The clamping member 12 realizes the basic functions of clamping and handling materials, and the bottom support member 13 realizes that when the material is clamped by the clamping member 12 and transported, it supports the bottom of the material to prevent the material from detaching from the clamping member 12 and causing high-altitude falling objects. The material refers to a dry ice bag or a packaging box 25.

[0042] The clamping member 12 is composed of an upper plate 121, a first clamping plate 122, and a second clamping plate 123, and the clamping of the material is realized through a clamping cylinder 124. A connecting plate is arranged on the upper end surface of the upper plate 121, and the connecting plate is used to be fixedly connected to the driving end of the robotic arm 11. The first clamping plate 122 and the second clamping plate 123 are arranged at the bottom of the upper plate 121, and the first clamping plate 122 and the second clamping plate 123 are oppositely arranged on both sides of the upper plate 121. Among them, the first clamping plate 122 is fixed on the upper plate 121, and the second clamping plate 123 is movably installed on the upper plate 121. The second clamping plate 123 can move relatively away from or close to the first clamping plate 122, and the movement of the second clamping plate 123 cooperates with the first clamping plate 122 to form the clamping and acquisition of the material.

[0043] The clamping cylinder 124 is fixed on the first clamping plate 122, and the driving end of the clamping cylinder 124 is connected to the second clamping plate 123. A slide rail 125 is provided at the bottom of the upper plate 121, a mounting plate 129 is provided at the top of the second clamping plate 123, and a slider 126 is provided on the mounting plate 129. The slider 126 is provided with a chute for sliding connection with the slide rail 125. Driven by the clamping cylinder 124, the slider 126 can move back and forth along the length direction of the slide rail 125, so as to clamp or release the material.

[0044] When the material is clamped, since the material is placed between the first clamping plate 122 and the second clamping plate 123, a sliding limit is formed on the second clamping plate 123 through the material. When the second clamping plate 123 abuts against the material and cannot continue to slide, it is the material clamping state at this time. When it is necessary to loosen and lower the material, the second clamping plate 123 needs to slide away from the material. If the sliding stroke cannot be controlled, resulting in the second clamping plate 123 opening too far outwards, the slider 126 will be disengaged from the slide rail 125, thus causing the clamping member 12 to lose its function. Therefore, in this embodiment, a slider stop 127 is provided on the side of the slide rail 125 away from the first clamping plate 122 to limit the sliding movement of the slider 126 disengaging from the slide rail 125.

[0045] It should be noted that the first clamping plate 122 and the second clamping plate 123 can be set such that one is fixed and the other is movably arranged driven by the clamping cylinder 124, or both are driven by the clamping cylinder 124 to move relatively closer or farther away. As long as the first clamping plate 122 and the second clamping plate 123 have an active cooperation of inward clamping.

[0046] In order to stably clamp the material and be able to form a greater clamping force, reinforcing ribs 128 are provided on both the first clamping plate 122 and the second clamping plate 123. The reinforcing rib 128 of the first clamping plate 122 is provided at the position where the first clamping plate 122 is connected to the bottom of the upper plate 121, and the reinforcing rib 128 of the second clamping plate 123 is provided at the position where the second clamping plate 123 is connected to the mounting plate 129. By the reinforcing ribs 128, the stiffness of the first clamping plate 122 and the second clamping plate 123 is enhanced, facilitating the second clamping plate 123 to form a greater clamping force inward and firmly clamping the material.

[0047] The bottom support member 13 is composed of a bottom support seat 131 and a hook 132, and realizes the bottom support of the material through a driving cylinder 133. A mounting seat is provided outside the second clamping plate 123. The mounting seat is provided at the lower end of the second clamping plate 123, and two mounting seats are oppositely arranged. A rotating shaft is inserted through the two mounting seats, and the bottom support seat 131 is rotatably connected to the second clamping plate 123 through the rotating shaft 134.

[0048] A number of supporting hooks 132 are arranged at intervals along the lower edge of the bottom support base 131, and the supporting hooks 132 are arranged along the width direction of the second clamping plate 123. A driving seat is arranged on the bottom support base 131, and the driving end of the driving cylinder 133 is fixed on the driving seat. The bottom support base 131 can be rotated relative to the second clamping plate 123 by the driving of the driving cylinder 133. When rotating, the supporting hook 132 can rotate counterclockwise inward to the bottom of the second clamping plate 123, and the hook part of the supporting hook 132 is used to hook the bottom of the material to form a bottom support; or the support can rotate clockwise outward to the outer side position of the second clamping plate 123, and the supporting hook 132 is far away from the bottom of the material, which is used for the release of the material or the clamping of the material by the clamping member 12.

[0049] In order to better identify the material and control the automatic clamping of the material by the clamping member 12, in this embodiment, a material detection sensor 15 is arranged on the side edge of the first clamping plate 122 or the second clamping plate 123, and the material sensor is used to identify whether there is a material on the side edge of the first clamping plate or the second clamping plate. An electromagnetic valve group 14 is fixedly arranged at the upper end of the upper plate 121, and the electromagnetic valve group 14 is connected to the clamping cylinder 124 and the driving cylinder 133 for driving the clamping cylinder 124 and the driving cylinder 133 to work.

[0050] Through the arrangement of the electromagnetic valve group 14 and the material detection sensor 15, automatic control is realized, and automatic detection of the material and control of the clamping cylinder 124 and the driving cylinder 133 are realized. When the first clamping plate 122 and the second clamping plate 123 move to both sides of the material, the material detection sensor 15 recognizes the material, and the electromagnetic valve group 14 controls the clamping cylinder 124 to drive the second clamping plate 123 to move to realize the clamping of the material. Then, the manipulator 11 drives to lift the material. At this time, the electromagnetic valve group 14 controls the driving cylinder 133 to drive the supporting hook 132 to rotate to the bottom of the material for bottom support, and the manipulator 11 transports and picks up the material to the material storage area 2 for storage.

[0051] The beneficial effects of this embodiment are as follows:

[0052] 1. Automated operation: Automatically complete material handling and stacking, improve operation efficiency, and reduce labor costs.

[0053] 2. Strong adaptability: It can adapt to the handling and boxing requirements of different numbers and sizes of dry ice bags.

[0054] 3. Flexible application: The setting of the insulation box 23 and the pallet 24 is convenient for the storage, use of materials and adaptation to different application scenarios.

[0055] As described above, it is only the preferred specific embodiment of the present utility model. However, the design concept of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model who makes non-substantive changes to the present utility model using this concept shall fall within the scope of infringement of the protection scope of the present utility model.

Claims

1. An automatic handling device for a dry ice production line, characterized in that: It includes a group of handling robots, and at least one set of material storage areas is arranged within the activity range of the group of handling robots; The group of handling robots includes a robotic arm and a fixture assembly arranged at the driving end of the robotic arm. The fixture assembly includes a clamping member and a bottom support member. The clamping member is used for clamping materials, and the bottom support member is used for supporting the bottom of the materials; The material storage areas include an insulated box fixing frame and a pallet fixing frame; the insulated box fixing frame is used for placing insulated boxes, the insulated boxes are used for placing dry ice bags, the pallet fixing frame is used for placing pallets, the pallets are used for placing packing boxes, and dry ice bags are placed in the packing boxes; the materials include dry ice bags or packing boxes.

2. The automatic handling device for a dry ice production line according to claim 1, wherein: The clamping member includes an upper plate and a first clamping plate and a second clamping plate arranged at the bottom of the upper plate; the first clamping plate and the second clamping plate are arranged oppositely, and one or both of the first clamping plate and the second clamping plate are movably arranged; the first clamping plate and the second clamping plate cooperate to clamp materials.

3. The automatic handling device for a dry ice production line according to claim 2, wherein: The clamping member further includes a clamping cylinder, and the clamping cylinder is used for driving one or both of the first clamping plate and the second clamping plate to move.

4. The automatic handling device for a dry ice production line according to claim 3, characterized in that: A slide rail is arranged at the bottom of the upper plate, and a slide block is arranged at the top of one or both of the first clamping plate and the second clamping plate. The slide block is slidably installed in the slide rail.

5. The automatic handling device for a dry ice production line according to claim 4, characterized in that: A slide block stop edge is arranged at the end of the slide rail.

6. The automatic handling device for a dry ice production line according to claim 2, wherein: Reinforcing ribs are arranged on the first clamping plate and the second clamping plate; the reinforcing ribs are arranged on the outer sides of the first clamping plate and the second clamping plate.

7. The automatic handling device for a dry ice production line according to claim 3, characterized in that: The bottom support member includes a bottom support seat, a hook and a driving cylinder; a plurality of the hooks are arranged at intervals along the width direction of the second clamping plate on the bottom support seat, and the bottom support seat is rotatably installed on the second clamping plate through a rotating shaft; The driving end of the driving cylinder is connected to the bottom support seat and is used for driving the bottom support seat to rotate; the hook can rotate to hold or move away from the bottom of the material.

8. The automatic handling device for a dry ice production line according to claim 7, wherein: The clamping member further includes a solenoid valve group, and the solenoid valve group is fixed on the upper plate; a material detection sensor is arranged on the first clamping plate or the second clamping plate; The material detection sensor is used for identifying materials and feeding back to the solenoid valve group, and the solenoid valve group controls the start and stop of the clamping cylinder and the driving cylinder.

9. An automatic handling device for a dry ice production line according to claim 1, characterized in that: Both the insulated box fixing frame and the pallet fixing frame are provided with an entrance and an exit for the insulated box or the pallet to enter and exit; Pneumatic clamps are arranged on both sides of the entrance and exit of the insulated box fixing frame, and the pneumatic clamps are used for restricting the insulated box from detaching from the insulated box fixing frame.

10. The automatic handling device for a dry ice production line according to claim 1, characterized in that: One side of this automatic handling device is docked with a transport conveyor belt, and protective fences are arranged on the other three sides except the transport conveyor belt; An access door is opened on the protective fence on the side opposite to the transport conveyor belt.

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