Charging tray recovery device

Abstract

The utility model discloses a material tray recovery device, which belongs to the technical field of material tray recovery and comprises a material tray input conveying belt device, a material tray output conveying belt device and a material tray output conveying belt device, the recovery conveying belt device is used for receiving the trays input by the tray input conveying belt device, and a clean tray collecting frame and a to-be-cleaned tray collecting frame are arranged on the two sides of the recovery conveying belt device correspondingly; the charging tray detection device is used for detecting whether the charging trays input by the recovery conveying belt device are clean or not; the pushing device is used for pushing the unclean trays into the to-be-cleaned tray collecting frame; and the grabbing device is used for grabbing the clean charging trays into the clean charging tray collecting frame. And clean trays can be automatically separated out, manpower is reduced, and waste of water is reduced.

Description

Technical Field

[0001] This utility model belongs to the field of material tray recycling technology, and specifically relates to a material tray recycling device. Background Technology

[0002] Pu'er tea is a representative brand and distinctive industry of Yunnan, and a key component of the Yunnan tea industry. In recent years, based on its abundant germplasm resources, superior ecological environment, and profound cultural heritage, the Pu'er tea industry has developed rapidly. Despite its resource advantages, it still faces many challenges in the intensive processing of Pu'er tea.

[0003] Currently, Pu-erh tea is usually placed in a tray, and then foreign objects are removed from the tray. After the foreign objects are removed, the clean Pu-erh tea is poured into a collection box. However, after pouring out the Pu-erh tea, there are clean trays and trays with tea leaves left. Manually sorting and collecting these is time-consuming and laborious. Washing each tray would also be a huge waste of water resources. Utility Model Content

[0004] The purpose of this invention is to provide a tray recycling device that can automatically sort clean and unclean trays.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a material tray recycling device, comprising:

[0006] A tray input conveyor belt device is used to input trays from which tea leaves are poured out;

[0007] A recycling conveyor belt device is used to receive the material trays input by the material tray input conveyor belt device. Clean material tray collection frames and material tray collection frames to be cleaned are respectively provided on both sides of the recycling conveyor belt device.

[0008] A material tray detection device is used to detect whether the material tray input by the recycling conveyor belt device is clean;

[0009] A pushing device for pushing an unclean tray into the tray collection frame to be cleaned;

[0010] A gripping device for gripping a clean tray into a clean tray collection frame.

[0011] Furthermore, it also includes a recycling support, and the tray detection device includes:

[0012] A detection bracket is fixed inside the recycling bracket, and a detection cavity is provided inside the detection bracket, with a detection substrate fixed inside the detection cavity;

[0013] An industrial inspection camera is fixed on the inspection substrate and positioned above the material tray input conveyor belt device.

[0014] Furthermore, arc-shaped guide rails are fixed to the inner walls of the opposite sides of the detection cavity, and arc-shaped sliders are installed on the arc-shaped guide rails. The two ends of the detection substrate are respectively fixedly connected to the two arc-shaped sliders. A rotating guide rail is fixed to the side of the detection substrate facing away from the detection industrial camera. A rotating groove is provided in the rotating guide rail, and a rotating slider is installed in the rotating groove. A rotating push rod is hinged to the rotating slider. A rotating support is fixed in the detection cavity. A rotating through hole is provided on the rotating support for the rotating push rod to pass through. A rotating linear push rod is fixed on the rotating support. The end of the rotating push rod away from the rotating slider is fixedly connected to the end of the rotating linear push rod.

[0015] Furthermore, two industrial inspection cameras are provided, and the two industrial inspection cameras are symmetrically arranged on the inspection substrate.

[0016] Furthermore, the pushing device includes a linear drive motor and a push rod. The linear drive motor is fixed on the recycling bracket, and the push rod is fixedly connected to the output end of the linear drive motor. The push rod is positioned above the recycling conveyor belt device, and the linear drive motor drives the push rod to move toward or away from the collection frame of the material tray to be cleaned.

[0017] Furthermore, an inclined plate is fixed on the recycling support, and the inclined plate is disposed between the recycling conveyor belt device and the collection frame of the material tray to be cleaned.

[0018] Furthermore, the gripping device includes:

[0019] A gripping X-axis drive device is fixed on the recovery bracket;

[0020] A gripping Z-axis drive device, wherein the gripping Z-axis drive device is mounted on the gripping X-axis drive device;

[0021] A gripping bracket is fixed to the output end of the gripping Z-axis drive device, and a gripping suction cup is fixed on the gripping bracket.

[0022] Furthermore, it also includes a frame Z-axis drive device, which is fixed on the recycling bracket. A frame support frame is installed on the frame Z-axis drive device, and the clean material tray collection frame is placed on the frame support frame.

[0023] Furthermore, four gripping suction cups are provided, and the four gripping suction cups extend along the conveying direction of the recycling conveyor belt device.

[0024] Compared with the prior art, the beneficial effects of this utility model are:

[0025] (1) The material tray input conveyor belt device transports the material tray to the front end of the recycling conveyor belt device. The front end of the recycling conveyor belt device is located below the material tray detection device. Then the material tray detection device detects whether the material tray at the front end of the recycling conveyor belt device is clean. If it is determined to be unclean, the pushing device pushes the material tray into the material tray collection box to be cleaned. The material tray needs to be cleaned before it can be returned to the production line for reuse. If it is determined to be clean, the grabbing device grabs the material tray into the clean material tray collection box. The material tray at this point can be used directly, thereby automatically separating the clean material tray, reducing manpower and water waste.

[0026] (2) The push rod of the rotating linear push rod can drive the rotating push rod to move in the rotating perforation. The rotating push rod can drive the rotating slider to move in the rotating groove. Since the arc slider can move relative to the arc guide rail, the detection industrial camera can perform all-round identification and detection of whether there is tea foam, tea residue, or fine tea powder in the empty tray.

[0027] (3) There are four gripping suction cups. The four gripping suction cups extend along the conveying direction of the recycling conveyor belt, which can increase work efficiency. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the recycling device.

[0029] Figure 2 A schematic diagram of the structure of the recycling device when the material tray input conveyor belt device is removed;

[0030] Figure 3 This is a schematic diagram of the material tray detection device;

[0031] Figure 4 for Figure 3 A magnified view of a section at point I;

[0032] Figure 5 This is a schematic diagram of the material tray detection device from another angle.

[0033] Figure 6 This is a schematic diagram of the gripping device.

[0034] Figure 7 This is a schematic diagram of the Z-axis drive device for the frame.

[0035] In the diagram: 1. Tray input conveyor belt device; 2. Recycling conveyor belt device; 3. Clean tray collection frame; 4. Tray collection frame to be cleaned; 5. Z-axis drive device for the frame; 6. Recycling bracket; 7. Robotic arm; 8. Tea collection frame; 500. Tray detection device; 501. Detection bracket; 502. Detection cavity; 503. Detection substrate; 504. Detection industrial camera; 505. Arc-shaped guide rail; 506. Arc-shaped slider; 507. 508. Rotating guide rail; 509. Rotating slide rail; 510. Rotating push rod; 511. Rotating support; 512. Rotating through hole; 513. Rotating linear push rod; 600. Pushing device; 601. Linear push motor; 602. Push rod; 603. Inclined plate; 700. Gripping device; 701. Gripping X-axis drive device; 702. Gripping Z-axis drive device; 703. Gripping bracket; 704. Gripping suction cup. Detailed Implementation

[0036] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0037] Please see Figures 1-7 This utility model provides a technical solution for a material tray recycling device.

[0038] A tray recycling device, comprising:

[0039] Material tray input conveyor belt device 1, material tray input conveyor belt device 1 is used to input the material tray from which tea leaves are poured out;

[0040] The recycling conveyor belt device 2 is used to receive the material trays input by the material tray input conveyor belt device 1. Clean material tray collection frame 3 and clean material tray collection frame 4 are respectively provided on both sides of the recycling conveyor belt device 2.

[0041] The material tray detection device 500 is used to detect whether the material tray input by the recycling conveyor belt device 2 is clean.

[0042] Pushing device 600, used to push the unclean tray into the tray collection box 4 to be cleaned;

[0043] The gripping device 700 is used to grip the clean tray into the clean tray collection frame 3.

[0044] After foreign matter is detected and sorted from the tea leaves, the robotic arm 7 pours the clean tea leaves from the tray into the tea collection box 8. Then, the tray is placed on the tray input conveyor belt device 1. Since the tray may still contain tea dust, tea dregs, and fine tea powder, the tray input conveyor belt device 1 transports the tray to the front end of the recycling conveyor belt device. The front end of the recycling conveyor belt device is located below the tray detection device 500. The tray detection device 500 then checks whether the tray at the front end of the recycling conveyor belt device is clean. If it is determined to be unclean, the pushing device 600 pushes the tray into the tray collection box 4 to be cleaned. The tray needs to be cleaned before it can be returned to the production line for reuse. If it is determined to be clean, the gripping device 700 grips the tray into the clean tray collection box 3. The tray in this box can be used directly, thus automatically separating the clean tray and reducing manpower.

[0045] like Figures 2-5 As shown, the tray recycling device also includes a recycling bracket 6, and the tray detection device 500 includes:

[0046] The detection bracket 501 is fixed inside the recycling bracket 6. The detection bracket 501 is provided with a detection cavity 502, and the detection substrate 503 is fixed inside the detection cavity 502.

[0047] An industrial camera 504 is installed on a detection substrate 503 and is located above the material tray input conveyor belt device 1.

[0048] Arc-shaped guide rails 505 are fixed on the inner walls of opposite sides of the detection cavity 502. Arc-shaped sliders 506 are installed on the arc-shaped guide rails 505. The two ends of the detection substrate 503 are fixedly connected to the two arc-shaped sliders 506 respectively. A rotating guide rail 507 is fixed on the side of the detection substrate 503 facing away from the detection industrial camera 504. A rotating groove 508 is provided in the rotating guide rail 507. A rotating slider 509 is installed in the rotating groove 508. A rotating push rod 510 is hinged on the rotating slider 509. A rotating support 511 is fixed in the detection cavity 502. A rotating through hole 512 for the rotating push rod 510 to pass through is provided on the rotating support 511. A rotating linear push rod 513 is fixed on the rotating support 511. The end of the rotating push rod 510 away from the rotating slider 509 is fixedly connected to the end of the rotating linear push rod 513.

[0049] The push rod of the rotating linear push rod 513 can drive the rotating push rod 510 to move in the rotating through hole 512. The rotating push rod 510 can drive the rotating slider 509 to move in the rotating groove 508. Since the arc slider 506 can move relative to the arc guide rail 505, the industrial camera can perform all-round identification and detection of whether there is tea foam, tea residue, or fine tea powder in the empty tray.

[0050] Two industrial cameras 504 are symmetrically arranged on the detection substrate 503. The two industrial cameras perform cross-identification detection. When one industrial camera detects no residual foreign matter such as tea foam, tea dregs, or fine tea powder, and the other industrial camera also detects no residual foreign matter, the tray is determined to be clean.

[0051] like Figure 2 As shown, the pushing device 600 includes a linear drive motor 601 and a push rod 602. The linear drive motor 601 is fixed on the recycling bracket 6, and the push rod 602 is fixedly connected to the output end of the linear drive motor 601. The push rod 602 is located above the recycling conveyor belt device 2. The linear drive motor 601 drives the push rod 602 to move toward or away from the material collection box 4 to be cleaned.

[0052] If the tray is determined to be unclean, the linear drive motor 601 drives the tray located above the recycling conveyor belt device 2 to move towards the moving side of the tray collection frame 4 to be cleaned, and pushes it into the tray collection frame 4 to be cleaned.

[0053] like Figure 2 As shown, an inclined plate 603 is fixed on the recycling bracket 6. The inclined plate 603 is set between the recycling conveyor belt device 2 and the cleaning tray collection frame 4. The cleaning tray slides into the cleaning tray collection frame 4 through the inclined plate 603.

[0054] like Figure 2 and Figure 6 As shown, the gripping device 700 includes:

[0055] The X-axis gripping drive device 701 is fixed on the recovery bracket 6.

[0056] A gripping Z-axis drive device 702 is mounted on a gripping X-axis drive device 701.

[0057] The gripping bracket 703 is fixed to the output end of the gripping Z-axis drive device 702, and a gripping suction cup 704 is fixed on the gripping bracket 703.

[0058] The X-axis gripping drive 701 moves the gripping suction cup 704 above the recycling conveyor belt device 2. Then, the Z-axis gripping drive 702 drives the gripping suction cup 704 downward to grab the clean suction cup. Next, the X-axis gripping drive 701 moves the gripping suction cup 704 above the clean material tray collection frame 3 and puts it into the clean material tray collection frame 3.

[0059] Both the X-axis gripping drive 701 and the Z-axis gripping drive 702 are conventional linear drive modules, and their specific structures will not be described in detail. The tray input conveyor belt device 1 and the recycle conveyor belt device 2 are existing conveyor belt conveying devices, and their specific structures will not be described in detail. In addition, using an industrial camera 504 to identify whether the tray is clean is also existing technology; the tray is a conventional circular shape.

[0060] like Figure 7 As shown, the tray recycling method also includes a frame Z-axis drive device 5, which is fixed on the recycling bracket 6. A frame support frame is mounted on the frame Z-axis drive device 5, and the clean tray collection frame 3 is placed on the frame support frame. The frame Z-axis drive device 5 can drive the clean tray collection frame 3 to move up and down to adapt to the tray stacking height.

[0061] A method for recycling a material tray is also disclosed, based on the aforementioned material tray recycling device, comprising the following steps:

[0062] The material tray input conveyor belt device 1 transports the material tray from which the tea leaves are poured to the front end of the recycling conveyor belt device 2. At this time, the material tray is located below the material tray detection device 500.

[0063] The tray detection device 500 detects whether the tray is clean and determines whether the tray is clean or unclean.

[0064] If it is determined to be unclean, the recycling conveyor belt device 2 continues to drive the material tray to the pushing position, and the pushing device 600 pushes the material tray into the material tray collection box 4 to be cleaned.

[0065] If the material is determined to be clean, the recycling conveyor belt device 2 continues to move the material tray to the gripping position, and the gripping device 700 grips the material tray into the clean material tray collection frame 3.

[0066] Furthermore, four gripping suction cups 704 are provided, and the four gripping suction cups 704 extend along the conveying direction of the recycling conveyor belt device 2.

[0067] The first tray enters the recycling conveyor belt device 2. If it's clean, the next tray enters, and so on. If the second tray is clean, the third tray enters, and so on, until all four are clean. All four are then collected at once. If the first tray enters the recycling conveyor belt device 2 clean, the second tray follows (at this point, the first tray is positioned within reach of the foremost gripping suction cup 704). If the second tray is found to be unclean, the first clean tray (using the foremost gripping suction cup 704) is collected, and the second unclean tray is discharged. If the first tray is clean and the second tray is also found to be clean, the third tray enters the recycling conveyor belt device 2. If the third tray is found to be unclean, the first two gripping suction cups 704 collect the first two clean trays, and the third unclean tray is discharged. This process continues. Note: Generally, there are more clean tea leaves and trays than unclean tea leaves and trays containing foreign objects. Washing all of them would waste water resources.

[0068] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A tray recycling device, characterized by, The utility model relates to a tea tray cleaning device, including: Tray input conveyor belt device for inputting tea tray pouring tea; Recycling conveyor belt device for receiving the tray input by the tray input conveyor belt device, both sides of the recycling conveyor belt device are respectively provided with a clean tray collection frame and a tray to be cleaned collection frame; Tray detection device for detecting whether the tray input by the recycling conveyor belt device is clean; Pushing device for pushing the unclean tray into the tray to be cleaned collection frame; Grabbing device for grabbing the clean tray into the clean tray collection frame.

2. A tray recycling device according to claim 1, wherein, Further comprising a recycling support, the tray detection device comprises: Detection support fixed in the recycling support, a detection cavity is arranged in the detection support, and a detection substrate is fixed in the detection cavity; Detection industrial camera fixed on the detection substrate, the detection industrial camera is located above the tray input conveyor belt device.

3. A tray recycling device according to claim 2, wherein, The opposite two side walls of the detection cavity are fixed with arc-shaped guide rails, arc-shaped sliding blocks are installed on the arc-shaped guide rails, both ends of the detection substrate are fixedly connected with two arc-shaped sliding blocks, a rotating guide rail is fixed on the side of the detection substrate away from the detection industrial camera, a rotating sliding groove is arranged in the rotating guide rail, a rotating sliding block is installed in the rotating sliding groove, a rotating push rod is hinged to the rotating sliding block, a rotating support is fixed in the detection cavity, a rotating through hole is arranged on the rotating support for the rotating push rod to pass through, a rotating linear push rod is fixed on the rotating support, and one end of the rotating push rod away from the rotating sliding block is fixedly connected with the end of the rotating linear push rod.

4. A tray recycling device according to claim 3, wherein The detection industrial camera is provided with two detection industrial cameras which are symmetrically arranged on the detection substrate.

5. A tray recycling device according to claim 2, wherein The pushing device comprises a linear pushing motor and a pushing rod, the linear pushing motor is fixed on the recycling support, the pushing rod is fixedly connected with the output end of the linear pushing motor, the pushing rod is arranged above the recycling conveyor belt device, and the linear pushing motor drives the pushing rod to move towards or away from the tray to be cleaned collection frame.

6. A tray recycling device according to claim 2, wherein An inclined plate is fixed on the recycling support, and the inclined plate is arranged between the recycling conveyor belt device and the tray to be cleaned collection frame.

7. A tray recycling device according to claim 2, wherein The grabbing device comprises: Grabbing X-axis driving device fixed on the recycling support; Grabbing Z-axis driving device installed on the grabbing X-axis driving device; Grabbing support fixed on the output end of the grabbing Z-axis driving device, and a grabbing suction cup is fixed on the grabbing support.

8. A tray recycling device according to claim 7, wherein, Further comprising a frame Z-axis driving device fixed on the recycling support, a frame support frame is installed on the frame Z-axis driving device, and the clean tray collection frame is placed on the frame support frame.

9. A tray recycling device according to claim 7, wherein, The grabbing suction cup is provided with four grabbing suction cups which extend along the conveying direction of the recycling conveyor belt device.

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