Casing classifying and collecting device
By designing a casing classification and collection device, using robotic hands and finger cylinders to pick up the casing and automatically classify it according to quality signals, the problem of low manual classification efficiency is solved, automatic collection is realized, and cost is reduced.
Patent Information
- Application Number
- CN202422149189.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-02
- Publication Date
- 2025-07-29
- Estimated Expiration
- 2034-09-02
AI Technical Summary
After the edible collagen casing is constricted, the artificial classification and collection efficiency is low and the cost is high.
A casing classification and collection device is designed, including a robot, a casing pinch assembly and a casing collection assembly, which is used to clip the casing with a robot and a finger cylinder, and automatically sorts it into a collection container with an inclined setting according to the mass signal.
The automatic classification and collection of casings is realized, which improves efficiency and reduces manual operation costs.
Smart Images
Figure CN223162709U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of casing classification and collection after shrinkage, and in particular relates to a casing classification and collection device. Background Art
[0002] After the edible collagen casings are shrunk into rods by a casing shrinking machine, they are manually sorted according to different qualities and placed into collection boxes. The casing shrinking machine produces a large amount of casings every day, and manual collection is inefficient and costly. Utility Model Content
[0003] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a casing classification and collection device that can automatically collect shrunken casings, improve collection efficiency, and reduce production costs.
[0004] To achieve this purpose, the present invention adopts the following technical solutions:
[0005] A casing classification and collection device, comprising:
[0006] A robot arm is provided on one side of the casing shrinking machine;
[0007] The casing clamping assembly comprises two sets of clips, a connector and a finger cylinder, wherein the connector is connected to the output end of the manipulator, the finger cylinder is arranged on the connector, and the two sets of clips are connected to the output end of the finger cylinder;
[0008] A casing collection assembly is arranged on one side of the manipulator, and includes a workbench and a collection container placed on the workbench. A first preset angle is formed between the bottom surface of the collection container and the horizontal plane, and the range of the first preset angle is 10-45°.
[0009] Preferably, the first preset angle is 10°, 20°, 30°, 40°, or 45°.
[0010] Preferably, the collecting container is a collecting basket, and a plurality of the collecting baskets are arranged in a row.
[0011] Preferably, the plurality of collecting baskets are respectively a first collecting basket for placing high-quality casings, a second collecting basket for placing good casings, and a third collecting basket for placing inferior casings.
[0012] Preferably, the clip is fixed to the output end of the finger cylinder by bolts.
[0013] Preferably, the mounting hole of the clip is a slotted hole.
[0014] Preferably, the clip is provided with a weight-reducing hole.
[0015] Preferably, the tooling table includes a frame base and an inclined bracket. The inclined bracket is disposed on the frame base, and the collection and accommodation member is placed on the inclined bracket. The upper plane of the inclined bracket forms a first preset angle with the horizontal plane.
[0016] Preferably, the manipulator includes a manipulator base, a manipulator body disposed on the manipulator base, and a pneumatic control box disposed on the manipulator body. The pneumatic control box is used to control the operation of the finger cylinder and detect whether the gripper clip holds a casing.
[0017] Preferably, the pneumatic control unit includes a cylinder solenoid valve and a detection photoelectric sensor. The cylinder solenoid valve is connected to the finger cylinder, and the detection photoelectric sensor is used to detect whether the gripper clip holds a casing.
[0018] Compared with the prior art, the present utility model has the following beneficial effects: In the present utility model, the manipulator drives the finger cylinder to move to the casing shrinking machine, uses the finger cylinder to drive the gripper clip to hold the casing at the casing shrinking machine, and receives the casing quality classification signal from the shrinking machine. The robot calculates the position where it needs to be placed in the classification collection device according to the program. The manipulator drives the casing held by the gripper clip to move to the collection and accommodation member, the finger cylinder drives the gripper clip to open, and the casing drops into the set collection and accommodation member, and the manipulator returns to the initial position.
[0019] From the discharge of the casing shrinking machine to the position of the classification collection and accommodation member, the whole process does not require manual operation, saving manpower and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1 It is a schematic structural view of the casing classification collection device in the present utility model;
[0021] Figure 2 It is a schematic structural view of the casing clamping assembly in the present utility model;
[0022] Figure 3 It is a schematic structural view of the first angle of the casing collection assembly in the present utility model;
[0023] Figure 4 It is a side view of the casing collection assembly in the present utility model.
[0024] Among them, 100, manipulator body; 103, manipulator base; 101, casing clamping assembly; 105, gripper clip; 108, connecting member; 107, finger cylinder; 102, tooling table; 110, first collection basket; 111, second collection basket; 112, third collection basket. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are some, but not all, of the embodiments of the present utility model. The components of the embodiments of the present utility model described and illustrated herein generally may be arranged and designed in a variety of different configurations.
[0026] Therefore, the following detailed description of the embodiments of the present utility model provided in the drawings is not intended to limit the scope of the claimed present utility model, but merely represents selected embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts fall within the scope of protection of the present utility model.
[0027] It should be noted that: like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.
[0028] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present utility model is usually placed during use. 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, and thus should not be construed as a limitation of the present utility model. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and should not be construed as indicating or implying relative importance. In the description of the present utility model, unless otherwise stated, the meaning of "a plurality of" is two or more.
[0029] In the description of the present utility model, it should also be noted that, unless otherwise clearly defined and limited, the terms "set" and "connect" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection. 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 circumstances.
[0030] In the present utility model, unless otherwise clearly specified and defined, 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 additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" 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.
[0031] Embodiments of the present utility model will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for explaining the present utility model and should not be construed as a limitation to the present utility model.
[0032] As Figures 1 - 4 shown, to solve the problems existing in the background art, a casing classification and collection device is provided in this embodiment, which includes a manipulator, a casing clamping assembly 101 and a casing collection assembly. The casing clamping assembly 101 includes two groups of clamping pieces 105, a connecting member 108 and a finger cylinder 107. The connecting member 108 is connected to the output end of the manipulator, the finger cylinder 107 is arranged on the connecting member 108, and the two groups of clamping pieces 105 are connected to the output end of a group of finger cylinders 107; the manipulator drives the finger cylinder 107 and the clamping pieces 105 to move synchronously through the connecting member 108 to achieve the movement in the X, Y, and Z directions and the three-way rotation. The finger cylinder 107 can drive the two groups of clamping pieces 105 to move in the same or opposite directions to clamp or release the telescoped casing. The casing clamping assembly 101 is installed on the sixth axis joint of the industrial manipulator. Preferably, the connecting member 108 is a connecting rod.
[0033] The casing collection assembly is arranged on one side of the manipulator. The casing collection assembly includes a tooling table 102 and a collection and accommodation member placed on the tooling table 102. There is a first preset angle between the bottom surface of the collection and accommodation member and the horizontal plane of the tooling table 102. The range of the first preset angle is 10 - 45°, and the collection and accommodation member can place casings of different grades.
[0034] In this embodiment, the manipulator drives the finger cylinder 107 to move to the casing shrinking machine, uses the finger cylinder 107 to drive the clamping piece 105 to clamp the casing at the casing shrinking machine, and receives the casing quality classification signal from the shrinking machine. The robot calculates the position where it needs to be placed into the classification collection device according to the program. The manipulator drives the casing clamped by the clamping piece 105 to move to the collection and accommodation part. The finger cylinder 107 drives the clamping piece 105 to open, and the casing falls into the set collection and accommodation part. Then the manipulator returns to the initial position.
[0035] From the discharging of the casing from the casing shrinking machine to the position of the classification collection and accommodation part, no manual operation is required throughout the process, saving manpower and improving work efficiency.
[0036] The bottom surface of the above-mentioned collection and accommodation part forms a first preset angle with the horizontal plane of the tooling table 102. The range of the first preset angle is 10° - 45°, so as to ensure that the collection and accommodation part has a certain inclination, so that the placed casing rolls towards one side under the influence of gravity, avoiding the irregular scattering of the casing to both sides inside the collection and accommodation part after being put in, and avoiding manual re-arrangement of the casing again.
[0037] Preferably, the first preset angles are 10°, 20°, 30°, 40°, 45°.
[0038] Preferably, the above-mentioned collection and accommodation part is a collection basket. A plurality of collection baskets are arranged in a row side by side. The collection baskets are respectively the first collection basket 110 for placing high-quality casings, the second collection basket 111 for placing good-quality casings, and the third collection basket 112 for placing defective casings.
[0039] Preferably, the clamping piece 105 is fixed to the output end of the finger cylinder 107 by bolts.
[0040] Preferably, the mounting hole of the clamping piece 105 is a slot-shaped hole. The slot-shaped hole enables the clamping piece 105 to have a certain adjustment space. By adjusting the mounting position of the screw in the slot-shaped hole, the mounting position of the clamping piece 105 can be adjusted to adapt to casings with different outer diameters.
[0041] Preferably, a weight-reducing hole is provided on the clamping piece 105. The weight-reducing hole is arranged at the middle position of the clamping piece 105 to facilitate reducing the weight of the clamping piece 105 and making the movement of the manipulator more flexible. The weight-reducing hole in this embodiment is square. In other embodiments, the number of weight-reducing holes on each clamping piece is one.
[0042] Preferably, the tooling table 102 includes a frame base and an inclined bracket. The inclined bracket is arranged on the frame base. The collection and accommodation part is placed on the inclined bracket. The upper plane of the inclined bracket forms a first preset angle with the horizontal plane.
[0043] Preferably, the manipulator includes a manipulator base 103, a manipulator body 100 disposed on the manipulator base 103, and a pneumatic control box disposed on the manipulator body 100. The pneumatic control box is used to control the operation of the finger cylinder and detect whether the gripper holds the casing.
[0044] The pneumatic control includes a cylinder solenoid valve and a detection photoelectric sensor. The cylinder solenoid valve is connected to the finger cylinder 107, and the detection photoelectric sensor is used to detect whether the gripper 105 holds the casing.
[0045] The working principle of the casing classification and collection device in this embodiment is as follows: The manipulator moves to the feeding position of the casing shrinking machine, and the casing clamping device is docked with the dropping position of the casing of the casing shrinking machine. The distance between the grippers 105 of the casing clamping device is adjusted to meet the size of the casing diameter. When the casing falls onto the grippers 105, the finger cylinder 107 closes the grippers 105, and the grippers 105 clamp the casing. The manipulator simultaneously captures the casing quality classification signal fed back by the shrinking machine. The manipulator moves to directly above the casing classification and collection device, and the manipulator simultaneously captures the casing quality classification signal fed back by the casing shrinking machine. The manipulator performs actions to move to the working table position, classifies the quality of the casing installed by the manipulator, places it into the corresponding collection container, and opens the finger cylinder 107. Subsequently, the manipulator returns to the waiting position and continues to wait for the feeding signal of the next casing from the shrinking machine.
[0046] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.
Claims
1. An intestinal casing classification and collection device, characterized in that, Including: A manipulator, which is arranged on one side of the casing shrinking machine; A casing clamping component (101), which includes two groups of clamping pieces (105), a connecting piece (108) and a finger cylinder (107). The connecting piece (108) is connected to the output end of the manipulator, the finger cylinder (107) is arranged on the connecting piece (108), and the two groups of clamping pieces (105) are connected to the output end of the finger cylinder (107); A casing collecting component, which is arranged on one side of the manipulator. The casing collecting component includes a tooling table (102) and a collecting and accommodating piece placed on the tooling table (102). The bottom surface of the collecting and accommodating piece forms a first preset angle with the horizontal plane, and the range of the first preset angle is 10 - 45°.
2. The casing classification and collection device according to claim 1, wherein, The first preset angle is 10°, 20°, 30°, 40°, 45°.
3. The casing classification and collection device according to claim 1, characterized in that The collecting and accommodating piece is a collecting basket, and a plurality of the collecting baskets are arranged side by side in a row.
4. The casing classification and collection device according to claim 3, characterized in that The plurality of collecting baskets are respectively a first collecting basket (110) for placing high-quality casings, a second collecting basket (111) for placing good-quality casings, and a third collecting basket (112) for placing defective casings in sequence.
5. The casing classification and collection device according to any one of claims 1-4, characterized in that, The clamping piece (105) is fixed to the output end of the finger cylinder (107) by bolts.
6. The casing classification and collection device according to claim 5, wherein, The mounting hole of the clamping piece (105) is a slot-shaped hole.
7. The casing classification and collection device according to any one of claims 1-4, characterized in that The clamping piece (105) is provided with a weight-reducing hole.
8. The casing classification and collection device according to any one of claims 1-4, characterized in that, The tooling table (102) includes a frame base and an inclined bracket. The inclined bracket is arranged on the frame base, the collecting and accommodating piece is placed on the inclined bracket, and the upper plane of the inclined bracket forms a first preset angle with the horizontal plane.
9. The casing classification and collection device according to any one of claims 1-4, characterized in that, The manipulator includes a manipulator base (103), a manipulator body (100) arranged on the manipulator base (103), and a pneumatic control box arranged on the manipulator body (100); the pneumatic control box is used to control the finger cylinder (107) to work and detect whether the clamping piece (105) clamps a casing.
10. The casing classification and collection device according to claim 9, characterized in that, The pneumatic control includes a cylinder solenoid valve and a detection photoelectric sensor. The cylinder solenoid valve is connected to the finger cylinder (107), and the detection photoelectric sensor is used to detect whether the clamping piece (105) clamps a casing.