Detection line manipulator

Abstract

The utility model discloses a detection line manipulator, and belongs to the technical field of machinery. According to the structure of the mechanical arm, a driven gear is rotationally connected to a bottom plate, the driven gear is matched with a first driving gear, a support is fixedly arranged on the driven gear, cantilevers are rotationally connected to the support, the multiple cantilevers are in butt joint end to end, butt joint is rotary connection, an auxiliary motor is arranged at the rotary connection position, and the auxiliary motor is driven by the driven gear to rotate. An electric cylinder is fixedly arranged on the cantilever, a mounting disc is arranged on a moving part of the electric cylinder, the root part of the arm rod is rotationally connected to the mounting disc, a claw groove is formed in the end part of the arm rod, the root part of the limiting rod is rotationally connected to a fixed part of the electric cylinder, and the end part of the limiting rod is rotationally connected to the arm rod. The manipulator has a multi-degree-of-freedom movement function, can flexibly execute positioning and grabbing actions, is expected to realize automatic feeding and discharging by being matched with a stepping conveying mechanism, and is particularly suitable for continuous detection lines or production lines for food foreign matter detection and the like.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical technology, specifically a robotic arm for a testing line. Background Technology

[0002] A food testing line refers to the process of analyzing and testing the quality, nutritional components, and safety of food using professional technical means and methods. It covers all stages from raw material procurement to food processing, storage, and sales, aiming to ensure that food meets relevant national standards and regulations and protect consumers' food safety.

[0003] Foreign object detection is a crucial component of food inspection. Common methods for foreign object detection in food include manual sorting, sieve inspection, magnetic separation, metal detection, and X-ray inspection. X-ray food foreign object detection machines are automated foreign object detection equipment that has seen widespread adoption in recent years. Utilizing the penetrating power of X-rays, they can detect not only foreign objects in food (such as various meat products, seafood, fruits and vegetables, additives, milk powder, chocolate, etc.), including metals, glass, ceramics, stones, bones, and plastics, but also product defects such as packaging cracks and bubbles, and missing contents, achieving complete finished product inspection. Currently, foreign object detection for batch products is generally accomplished using continuous inspection lines. These lines use belt conveyors to carry the samples sequentially through the inspection stations, offering advantages such as continuous, rapid, and uniform inspection conditions. However, conventional inspection lines typically require manual loading and unloading. In such cases, the use of mechanical gripping mechanisms in conjunction with stepping conveyor mechanisms could potentially achieve automated loading and unloading. Summary of the Invention

[0004] The technical problem this invention aims to solve is that ordinary testing lines cannot achieve mechanized loading and unloading.

[0005] To achieve the above technical objectives, the present invention adopts the following technical solution:

[0006] A robotic arm for an inspection line includes a base plate, a receiving basket, a material trough, a main motor, a first driving gear, a driven gear, a support, a cantilever, an auxiliary motor, an electric cylinder, a mounting plate, an arm, a claw groove, and a limiting rod. The receiving basket is fixedly mounted on the base plate, and the material trough is placed in the receiving basket. The main motor is fixedly mounted on the underside of the base plate, and the first driving gear is connected to the output shaft of the main motor. The driven gear is rotatably connected to the base plate and meshes with the first driving gear. The support is fixedly mounted on the driven gear, and the cantilever is rotatably connected to the support. Multiple segments of the cantilever are joined end-to-end in a rotatable connection. An auxiliary motor is located at the rotatable connection position. An electric cylinder is fixedly mounted on the cantilever, and a mounting plate is located on the moving part of the electric cylinder. The root of the arm is rotatably connected to the mounting plate, and a claw groove is located at the end of the arm. The root of the limiting rod is rotatably connected to the fixed part of the electric cylinder, and the end of the limiting rod is rotatably connected to the arm.

[0007] Preferably, there are multiple material troughs, which are inserted and fixed in the receiving basket, and the height of the side frame of the receiving basket is not less than 1 / 2 of the height of the material trough.

[0008] Preferably, a controller is provided on the base plate, and the controller communicates with the main motor, the auxiliary motor and the electric cylinder respectively.

[0009] Preferably, the receiving basket is provided with multiple first holes and the cantilever is provided with multiple second holes.

[0010] Preferably, the connection structure of the support, cantilever, and auxiliary motor includes: the auxiliary motor is fixedly mounted on the cantilever, a second drive gear is connected to the output shaft of the auxiliary motor, a support plate is fixedly mounted on the support, and an internal tooth hole is provided on the support plate, the internal tooth hole being inserted into the second drive gear.

[0011] Preferably, the driven gear has a hole and the support has a mounting hole, and the bolt passes through the mounting hole and the hole and is connected and fixed with the nut.

[0012] Preferably, a worm gear replaces the first driving gear, and a worm wheel replaces the driven gear.

[0013] Preferably, the receiving basket is provided with a trough, and the bottom of the trough is fitted into the trough.

[0014] In the structure of this utility model, the base plate is the basic support structure; the receiving basket is used to place the material trough, which can hold the sample to be tested or the sample after testing; the main motor drives the first driving gear, and since the first driving gear and the driven gear cooperate, the driven gear can be driven to rotate, and the rotational motion of the driven gear provides the rotational motion function for the robot arm; the support on the driven gear is used to support the multi-segment cantilever, and the multi-segment cantilever is rotatably connected and equipped with an auxiliary motor, so that the gripping component at the end of the cantilever can be positioned to the target. In the above gripping component, the electric cylinder pushes the mounting plate forward or backward. When it moves forward, the front end of the arm opens; when it moves backward, the front end of the arm closes, so that the claw groove grips the object; the limiting rod limits the middle part of the arm. The controller can be used to send and receive control commands. The first hole and the second hole can achieve a certain degree of weight reduction. In the connection structure of the support, cantilever, and auxiliary motor, the support plate fixed on the support has an internal toothed hole. Since the second driving gear of the auxiliary motor is inserted into the internal toothed hole, when the auxiliary motor starts, the second driving gear is restricted by the internal toothed hole and does not rotate; instead, the auxiliary motor itself rotates. Because the auxiliary motor is fixed on the cantilever, it can drive the cantilever to rotate. The holes on the driven gear and the mounting holes on the support can be used with bolts and nuts to fix the support and the driven gear.

[0015] This utility model discloses a robotic arm for an inspection line. The robotic arm has multi-degree-of-freedom motion capabilities, enabling it to perform positioning and gripping actions with relative flexibility. Combined with a stepping conveyor mechanism, it is expected to achieve automated loading and unloading, and is particularly suitable for continuous inspection lines or production lines such as those for detecting foreign objects in food. Attached Figure Description

[0016] Figure 1 This is the first overall drawing of this utility model;

[0017] Figure 2 This is the second overall drawing of this utility model;

[0018] Figure 3 This is a partial view of the end of the present invention;

[0019] Figure 4 This is a structural diagram of the receiving basket;

[0020] Figure 5 This is a structural diagram of the controller;

[0021] Figure 6 This is a structural diagram of the main motor, the first driving gear, and the driven gear;

[0022] Figure 7 It is an assembly structure diagram of the support and auxiliary motor;

[0023] Figure 8This is a breakdown diagram of the support and auxiliary motor;

[0024] Figure 9 This is a breakdown diagram of the support and driven gear;

[0025] in:

[0026] , Detailed Implementation

[0027] The specific embodiments of this utility model will be described in detail below. To avoid excessive and unnecessary details, well-known structures or functions will not be described in detail in the following embodiments. The approximate language used in the following embodiments can be used for quantitative descriptions, indicating that a certain degree of variation in quantity is permissible without changing the basic function. Unless otherwise defined, the technical and scientific terms used in the following embodiments have the same meaning as commonly understood by those skilled in the art to which this utility model pertains.

[0028] Example 1

[0029] A robotic arm for a testing line, see Figures 1-9The system includes a base plate 1, a receiving basket 2, a trough 3, a main motor 4, a first driving gear 5, a driven gear 6, a support 7, a cantilever 8, an auxiliary motor 9, an electric cylinder 10, a mounting plate 11, an arm 12, a claw groove 13, and a limiting rod 14. The receiving basket 2 is fixedly mounted on the base plate 1, and the trough 3 is placed inside the receiving basket 2. The main motor 4 is fixedly mounted on the underside of the base plate 1, and the first driving gear 5 is connected to the output shaft of the main motor 4. The driven gear 6 is rotatably connected to the base plate 1, and the driven gear 6 cooperates with the first driving gear 5. The support 7 is fixedly mounted on the driven gear 6. A cantilever 8 is rotatably connected to the support 7. The multiple cantilever segments are connected end to end in a rotatable connection. An auxiliary motor 9 is provided at the rotatable connection position. An electric cylinder 10 is fixedly mounted on the cantilever 8. A mounting plate 11 is provided on the moving part of the electric cylinder 10. The root of the arm 12 is rotatably connected to the mounting plate 11. A claw groove 13 is provided at the end of the arm 12. The root of the limiting rod 14 is rotatably connected to the fixed part of the electric cylinder 10. The end of the limiting rod 14 is rotatably connected to the arm 12. The base plate 1 is the basic support structure; the receiving basket 2 is used to place the material trough 3, which can hold the sample to be tested or the sample after testing; the main motor 4 drives the first driving gear 5, and since the first driving gear 5 and the driven gear 6 cooperate, the driven gear 6 can be driven to rotate, and the rotation of the driven gear 6 provides the rotation function for the robot arm; the support 7 on the driven gear 6 is used to support the multi-segment cantilever 8, which is rotatably connected and equipped with an auxiliary motor 9, so that the gripping component at the end of the cantilever 8 can be positioned to the target. In the gripping component, the electric cylinder 10 pushes the mounting plate 11 forward or backward. When it moves forward, the front end of the arm 12 opens, and when it moves backward, the front end of the arm 12 closes, so that the claw groove 13 grips the object; the limiting rod 14 limits the middle part of the arm 12.

[0030] Example 2

[0031] A robotic arm for a testing line, see Figures 1-9The system includes a base plate 1, a receiving basket 2, a trough 3, a main motor 4, a first driving gear 5, a driven gear 6, a support 7, a cantilever 8, an auxiliary motor 9, an electric cylinder 10, a mounting plate 11, an arm 12, a claw groove 13, and a limiting rod 14. The receiving basket 2 is fixedly mounted on the base plate 1, and the trough 3 is placed inside the receiving basket 2. The main motor 4 is fixedly mounted on the underside of the base plate 1, and the first driving gear 5 is connected to the output shaft of the main motor 4. The driven gear 6 is rotatably connected to the base plate 1, and the driven gear 6 cooperates with the first driving gear 5. A support 7 is fixedly mounted on a driven gear 6. A cantilever 8 is rotatably connected to the support 7. Multiple cantilever segments are joined end-to-end in a rotatable connection. An auxiliary motor 9 is located at the rotatable connection position. An electric cylinder 10 is fixedly mounted on the cantilever 8. A mounting plate 11 is located on the moving part of the electric cylinder 10. The root of the arm 12 is rotatably connected to the mounting plate 11. A claw groove 13 is located at the end of the arm 12. The root of a limiting rod 14 is rotatably connected to the fixed part of the electric cylinder 10, and the end of the limiting rod 14 is rotatably connected to the arm 12. Multiple material troughs 3 are provided and inserted and fixed in the receiving basket 2. The height of the frame of the receiving basket 2 is not less than 1 / 2 of the height of the material trough 3. A controller 15 is located on the base plate 1. The controller 15 communicates with the main motor 4, the auxiliary motor 9, and the electric cylinder 10. Multiple first holes 16 are provided on the receiving basket 2, and multiple second holes 17 are provided on the cantilever 8. The connection structure of the support 7, cantilever 8, and auxiliary motor 9 includes: the auxiliary motor 9 is fixedly mounted on the cantilever 8; a second driving gear 18 is connected to the output shaft of the auxiliary motor 9; a support plate 19 is fixedly mounted on the support 7; the support plate 19 has an internal gear hole 20, which is inserted into the second driving gear 18. A hole 21 is provided on the driven gear 6; a mounting hole 22 is provided on the support 7; bolts pass through the mounting hole 22 and the hole 21 and are connected and fixed with a nut. A worm gear replaces the first driving gear 5, and a worm wheel replaces the driven gear 6. A trough is provided in the receiving basket 2, and the bottom of the material trough 3 fits into this trough. The controller 15 can be used to send and receive control commands. The first hole 16 and the second hole 17 can achieve a certain degree of weight reduction. In the connection structure of support 7, cantilever 8, and auxiliary motor 9, the support plate 19 fixed on support 7 is provided with an internal toothed hole 20. Since the second driving gear 18 on auxiliary motor 9 is inserted into the internal toothed hole 20, when auxiliary motor 9 starts, the second driving gear 18 is restricted by the internal toothed hole 20 and does not rotate. Instead, auxiliary motor 9 rotates on its own. Since auxiliary motor 9 is fixed on cantilever 8, it can drive cantilever 8 to rotate. The hole 21 on driven gear 6 and the mounting hole 22 on support 7 can be used with bolts and nuts to fix support 7 and driven gear 6.

[0032] The embodiments of this utility model have been described in detail above, but the content described is only a preferred embodiment of this utility model and is not intended to limit this utility model. Any modifications, equivalent substitutions, and improvements made within the scope of this utility model application should be included within the protection scope of this utility model.

Claims

1. A detection line robot characterized by, The utility model relates to a material collecting device, including bottom plate (1), material collecting basket (2), material groove (3), main motor (4), first driving gear (5), driven gear (6), support (7), cantilever (8), auxiliary motor (9), electric cylinder (10), mounting disc (11), arm lever (12), claw groove (13), limiting rod (14), wherein, the material collecting basket (2) is fixedly arranged on the bottom plate (1), the material groove (3) is placed in the material collecting basket (2), the main motor (4) is fixedly arranged on the bottom plate (1) downside, the first driving gear (5) is connected on the output shaft of main motor (4), the driven gear (6) is rotatably connected on the bottom plate (1), the driven gear (6) is matched with the first driving gear (5), the support (7) is fixedly arranged on the driven gear (6), the cantilever (8) is rotatably connected on the support (7), the cantilever is butt jointed at the head and tail, the butt joint is rotatable connection, the auxiliary motor (9) is arranged at the rotatable connection position, the electric cylinder (10) is fixedly arranged on the cantilever (8), the mounting disc (11) is arranged on the moving part of electric cylinder (10), the root of arm lever (12) is rotatably connected on the mounting disc (11), the claw groove (13) is arranged on the end of arm lever (12), the root of limiting rod (14) is rotatably connected on the fixed part of electric cylinder (10), the end of limiting rod (14) is rotatably connected on arm lever (12).

2. The detection line robot according to claim 1, wherein The material groove (3) is provided with a plurality of material grooves (3), and the plurality of material grooves (3) are inserted and fixed in the material collecting basket (2), and the frame height of the material collecting basket (2) is not less than 1 / 2 of the height of the material groove (3).

3. The detection line robot according to claim 1, wherein The controller (15) is arranged on the bottom plate (1), and the controller (15) is in communication with the main motor (4), the auxiliary motor (9) and the electric cylinder (10) respectively.

4. The detection line robot according to claim 1, wherein A plurality of first hole portions (16) are arranged on the material collecting basket (2), and a plurality of second hole portions (17) are arranged on the cantilever (8).

5. The test strip handler of claim 1, wherein, The connecting structure of the support (7), the cantilever (8) and the auxiliary motor (9) comprises that the auxiliary motor (9) is fixedly arranged on the cantilever (8), a second driving gear (18) is connected on the output shaft of the auxiliary motor (9), a supporting plate (19) is fixedly arranged on the support (7), an internal tooth hole (20) is arranged on the supporting plate (19), and the internal tooth hole (20) is inserted with the second driving gear (18).

6. The test strip handler of claim 1, wherein, A hole position (21) is arranged on the driven gear (6), a mounting hole (22) is arranged on the support (7), a bolt passes through the mounting hole (22) and the hole position (21) and is connected and fixed with a nut.

7. The test strip handler of claim 1, wherein, The first driving gear (5) is replaced by a worm, and the driven gear (6) is replaced by a worm wheel.

8. The test strip handler of claim 1, wherein, A groove is arranged in the material collecting basket (2), and the bottom of the material groove (3) is embedded in the groove.

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