Dual-drive automatic feeding robot

Abstract

The utility model discloses a dual-drive automatic feeding robot which is mainly used for basket type extraction systems in the industries of food, pharmacy, drinks, cosmetics and the like. The problems of labor waste, low production efficiency, incapability of large-scale production and the like in the existing extraction technology are mainly solved. The dual-drive automatic feeding robot is mainly composed of a double-stand-column machine frame, a walking mechanism, a lifting mechanism, a suspension arm, a suspension rod walking mechanism, a suspension rod, a water receiving disc, a ground rail, a sky rail and the like. During feeding, the dual-drive automatic feeding robot moves along the tracks of the sky rail and the ground rail to grab the extraction basket group on the temporary storage station, and then the basket group is automatically fed into the extraction tank; and when a discharging task is received, the basket group in the extraction tank is automatically grabbed and conveyed to a basket disassembling and deslagging station. The device has the advantages of being high in automation degree, compact in structure, low in manufacturing cost, stable in operation, capable of effectively reducing the labor intensity of personnel, and suitable for the requirements of large-scale batch production of informatization and digitization factories.

Description

Technical Field

[0001] This utility model relates to the field of extraction equipment technology, and in particular to a dual-drive automatic feeding robot. Background Technology

[0002] In the traditional Chinese medicine, food, beverage, and cosmetic industries, most raw material extraction processes involve manually placing bulk materials into extraction tanks. This extraction process is time-consuming, labor-intensive, and has low production efficiency. With industrial upgrading, some companies have begun to use extraction baskets to hold raw materials, placing different raw materials into different baskets to form basket groups. Then, electric hoists, overhead cranes, and other equipment are used to put the basket groups into the extraction tanks. Although this can save some labor costs, it is time-consuming, has low precision, and is difficult to scale up for production. Utility Model Content

[0003] The purpose of this invention is to propose a dual-drive automatic feeding robot to solve the problems of time-consuming and labor-intensive extraction processes and low production efficiency of existing extraction equipment.

[0004] To achieve the above objectives, the present invention employs the following technology: a dual-drive automatic feeding robot, comprising a dual-column frame 1, the dual-column frame 1 being composed of a top beam 9 and two side columns 10, the bottom of the dual-column frame 1 moving on a ground rail 7 via a traveling mechanism 2, and a mechanical limit baffle 21 for limiting the movement of the dual-column frame 1 being provided on the ground rail 7, the top of the dual-column frame 1 moving on a ceiling rail 8 via limit wheels 20, a longitudinally movable boom 4 being provided on the dual-column frame 1 near its top via a lifting mechanism 3, and a laterally movable boom 34 being provided on the boom 4 via a boom traveling mechanism 5, and a water receiving tray 6 being provided at the bottom of the dual-column frame 1 below the boom 34 and capable of moving laterally synchronously with the boom 34.

[0005] As a further description of the above technical solution: the traveling mechanism includes a mounting frame set at the bottom of the double column frame, a traveling drive shaft is set inside the mounting frame, traveling wheels are set at both ends of the traveling drive shaft, the traveling drive shaft is connected to the output end of the traveling drive motor through a traveling drive bevel gear, ground rail guide wheels and top screws are set on both sides of the traveling wheels on the mounting frame, and brushes that abut against the ground rail are set at both ends of the mounting frame.

[0006] As a further description of the above technical solution: the lifting mechanism includes a lifting drive motor fixed to the top of the double column frame, and a guide rail set on the inner side of the double column frame. A lifting transmission shaft is fixedly connected to the output end of the lifting drive motor, and a chain is set on the lifting transmission shaft through a first sprocket.

[0007] The boom is slidably mounted on the double-column frame via guide rails and is connected to the chain via a plate-type adjusting screw. The double-column frame is also equipped with a bottom sprocket near the bottom to cooperate with the chain.

[0008] As a further description of the above technical solution: the boom is equipped with eight sets of symmetrically distributed balance wheels and eight sets of lifting guide wheels, which cooperate with the guide rails on the double-column frame.

[0009] As a further description of the above technical solution: the boom traveling mechanism includes a fixed frame, on which a boom traveling reduction motor is installed. A gear is installed on the output end of the traveling reduction motor. A rack that meshes with the gear of the traveling reduction motor is installed on the lower side of the boom. Sliding guide rails and boom guide wheels that cooperate with the boom are respectively installed at both ends of the fixed frame.

[0010] As a further description of the above technical solution: the boom has a hollow structure, a cylinder is installed in the hollow cavity of the boom, a toothed gear reducer motor is installed at the top of the cylinder, a rotating drive shaft is installed in the middle of the cylinder, a toothed gear is installed at the bottom of the rotating drive shaft, and the upper end of the rotating drive shaft is connected to the toothed gear reducer motor.

[0011] As a further description of the above technical solution: the water receiving tray includes a base frame, on which a water receiving box is slidably connected via a movable guide rail, and a drive reduction motor is provided on the base frame, with a drive chain provided between the output end of the drive reduction motor and the water receiving box.

[0012] As a further description of the above technical solution: a scanning dock is installed on the boom, and a two-dimensional barcode that cooperates with the scanning dock is installed on the double column frame;

[0013] The double-column frame is equipped with a magnetic induction proximity switch, and the two ends of the ceiling track are equipped with limit sensor plates that cooperate with the magnetic induction proximity switch.

[0014] In summary, due to the adoption of the above technical solution, the beneficial effects of this utility model are:

[0015] The dual-drive automatic feeding robot is positioned at the center line of the extraction tank. When it receives a feeding task, the tank lid opens, and the robot moves along the overhead and ground tracks to grab the extraction baskets from the temporary storage station and automatically feed them into the extraction tank. If the extraction process requires, the feeding robot can evenly distribute the previously fed baskets into different extraction tanks. After extraction, when slag removal is needed, the robot receives a slag removal signal, automatically grabs the baskets from the extraction tank, and places them at the basket removal and slag dumping station. This dual-drive automatic feeding robot features a high degree of automation, compact structure, low cost, and stable operation. It effectively reduces the labor intensity of personnel and meets the requirements of large-scale mass production in information-based and digital factories. Attached Figure Description

[0016] Figure 1 A front view according to an embodiment of the present utility model is shown;

[0017] Figure 2 A left view according to an embodiment of the present invention is shown;

[0018] Figure 3 An enlarged front view of the traveling mechanism provided according to an embodiment of the present utility model is shown;

[0019] Figure 4 An enlarged side view of the traveling mechanism provided according to an embodiment of the present invention is shown;

[0020] Figure 5 An enlarged front view of the boom provided according to an embodiment of the present invention is shown;

[0021] Figure 6 An enlarged side view of the boom provided according to an embodiment of the present invention is shown.

[0022] Legend:

[0023] 1. Double-column frame; 2. Traveling mechanism; 3. Lifting mechanism; 4. Boom; 5. Boom traveling mechanism; 6. Water receiving tray; 7. Ground rail; 8. Ceiling rail; 9. Top beam; 10. Double-sided columns; 11. Travel drive motor; 12. Travel transmission shaft; 13. Travel drive bevel gear; 14. Travel wheel; 15. Lifting drive motor; 16. Lifting transmission shaft; 17. First sprocket; 18. Chain; 19. Guide rail; 20. Limit wheel; 21. Mechanical limit baffle; 22. 23. Ground rail guide wheel; 24. Top screw; 25. Brush; 26. Moving guide rail; 27. Drive geared motor; 28. Water receiving box; 29. ​​Sweeping dock; 30. Two-dimensional barcode; 31. Balance wheel; 32. Lifting guide wheel; 33. Magnetic induction proximity switch; 34. Limit sensor; 35. Hoisting rod traveling geared motor; 36. Sliding guide rail; 37. Hoisting rod guide wheel; 38. Cylinder; 39. Gear geared motor; 40. Rotary transmission shaft; 41. Gear. Detailed Implementation

[0024] 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 skilled in the art without creative effort are within the protection scope of the present utility model.

[0025] Reference Figures 1-6This embodiment provides a dual-drive automatic feeding robot, including a double-column frame 1. The double-column frame 1 is composed of a top beam 9 and two side columns 10. The bottom of the double-column frame 1 moves on a ground rail 7 via a traveling mechanism 2. The ground rail 7 is provided with a mechanical limit baffle 21 for limiting the movement of the double-column frame 1. The top of the double-column frame 1 moves on a ceiling rail 8 via limit wheels 20. A longitudinally movable boom 4 is provided on the double-column frame 1 near its top via a lifting mechanism 3. A laterally movable boom 34 is provided on the boom 4 via a boom traveling mechanism 5. A water receiving tray 6 is provided at the bottom of the double-column frame 1 below the boom 34 and can move laterally synchronously with the boom 34.

[0026] In this utility model, when a feeding task is received, the lid of the extraction tank is opened, the traveling mechanism 2 drives the double column frame 1 to move, the robot moves along the trajectory of the overhead track 8 and the ground track 7, the lifting mechanism 3 on the double column frame 1 drives the boom 4 to move up and down, and then the boom traveling mechanism 5 drives the boom 34 to move longitudinally on the boom 4, so that the gripping mechanism at the lower end of the boom 34 grabs the extraction basket group on the temporary storage station and automatically puts the basket group into the extraction tank. The water receiving tray 6 is located below the boom 34 and can move laterally synchronously with the boom 34 to catch the dripping water and slag from the basket group.

[0027] Specifically, refer to Figures 1-4 The traveling mechanism 2 includes a mounting frame installed at the bottom of the double column frame 1 via a set screw 23. A traveling drive shaft 12 is installed inside the mounting frame. Traveling wheels 14 are installed at both ends of the traveling drive shaft 12. The traveling drive shaft 12 is connected to the output end of the traveling drive motor 11 via a traveling drive bevel gear 13. Ground rail guide wheels 22 are installed on both sides of the traveling wheels 14 on the mounting frame. Brushes 24 that abut against the ground rail 7 are installed at both ends of the mounting frame. The travel drive motor 11 is mounted on one side of the mounting frame and directly connected to the shaft of the travel wheel 14. The shaft of the front travel wheel 14 is equipped with a travel drive bevel gear 13, which cooperates with the travel transmission shaft 12, which is equipped with bevel gears at both ends, to transmit power to the rear travel wheel 14, forming a dual-drive travel device. Ground rail guide wheels 22 are provided on both sides of the front and rear travel wheels 14. The guide wheels vertically clamp the ground rail 7 in the middle, mainly for guidance and providing anti-overturning torque. Brushes 24 are installed at both ends of the travel mechanism 2 to clean dust and clumps on the ground rail 7. Four set screws 23 are symmetrically arranged on both sides for equipment installation and maintenance.

[0028] Specifically, refer to Figure 1 and Figure 2 The lifting mechanism 3 includes a lifting drive motor 15 fixed to the top of the double column frame 1, and a guide rail 19 set on the inner side of the double column frame 1. A lifting transmission shaft 16 is fixedly connected to the output end of the lifting drive motor 15, and a chain 18 is set on the lifting transmission shaft 16 through the first sprocket 17.

[0029] The boom 4 is slidably mounted on the double-column frame 1 via guide rail 19. The boom 4 is connected to the chain 18 via a plate chain screw, and a bottom sprocket that cooperates with the chain 18 is provided near the bottom of the double-column frame 1. The lifting drive motor 15 is mounted on the right column and is connected to the lifting transmission shaft 16. First sprockets 17 are installed on both sides of the lifting transmission shaft 16. The chain 18 connects to the boom 4. The lifting drive motor 15 rotates forward and backward to raise and lower the boom 4.

[0030] The boom 4 is equipped with eight symmetrically distributed sets of balance wheels 30 and eight sets of lifting guide wheels 31, which cooperate with the guide rails 19 on the double-column frame 1. The boom 4 has an inverted triangular frame structure, and the eight symmetrically positioned sets of balance wheels 30 and eight sets of lifting guide wheels 31 cooperate with the guide rails 19 mounted on the double-column frame 1 to restrict the boom 4 to move only along the axial direction of the guide rails.

[0031] Specifically, refer to Figures 1-2 , Figure 6 The boom traveling mechanism 5 includes a fixed frame, on which a boom traveling reduction motor 35 is mounted. A gear is mounted on the output end of the boom traveling reduction motor 35. A rack is mounted on the lower side of the boom 4, meshing with the gear of the boom traveling reduction motor 35. Sliding guide rails 36 and boom guide wheels 37, which cooperate with the boom 4, are respectively mounted at both ends of the fixed frame. The boom traveling mechanism 5 cooperates with the boom 4 through four sets of pulleys. One side of the boom traveling mechanism 5 cooperates with the boom 4 through the boom guide wheel 37, and the other side cooperates with the boom 4 through the sliding guide rail 36. The reciprocating motion of the boom traveling mechanism 5 is achieved by the meshing of the boom traveling reduction motor 35 on the boom 5 and the rack on the boom 4.

[0032] Specifically, refer to Figure 2 The boom 34 has a hollow structure, and a cylinder 38 is installed inside the hollow cavity of the boom 34. A toothed gear reducer motor 39 is installed at the top of the cylinder 38, and a rotating drive shaft 40 is installed in the middle of the cylinder 38. A toothed claw 41 is installed at the bottom of the rotating drive shaft 40, and the upper end of the rotating drive shaft 40 is connected to the toothed claw reducer motor 39. The toothed claw reducer motor 39 drives the toothed claw 41 to open and close. When it is necessary to lift the extraction basket assembly, the toothed claw 41 opens; when it is necessary to place the extraction basket assembly, the toothed claw 41 closes. After the lifting mechanism 3 descends, the boom 34 inserts into the central cavity of the extraction basket and opens the toothed claw 41 to hook the extraction basket. At this time, the lifting mechanism 3 drives the boom 34 to rise together to lift the extraction basket, and then moves it to the basket placement position through the boom traveling mechanism 5 to perform the basket placement action.

[0033] Specifically, the water receiving tray 6 includes a base frame, on which a water receiving box 27 is slidably connected via a movable guide rail 25. A drive reduction motor 26 is mounted on the base frame, and a drive chain is provided between the output end of the drive reduction motor 26 and the water receiving box 27. The drive reduction motor 26 drives the water receiving box 27, and its forward and reverse rotation enables the water receiving box 27 to move left and right. A magnetic induction switch is installed on the water receiving box 27 to detect whether the left and right movement of the water receiving box 27 is complete. The water receiving box 27 is used to catch dripping water and debris from the basket assembly.

[0034] Specifically, a scanning dock 28 is installed on the boom 4, and a two-dimensional barcode 29 that cooperates with the scanning dock 28 is installed on the double column frame 1. The scanning dock 28 is used to scan the two-dimensional barcode 29 installed on the double column frame 1 for accurate positioning.

[0035] A magnetic induction proximity switch 32 is installed on the double column frame 1, and limit sensing plates 33 that cooperate with the magnetic induction proximity switch 32 are installed at both ends of the ceiling rail 8. When the magnetic induction proximity switch 32 on the double column frame 1 approaches the limit sensing plate 33, the equipment alarms and stops.

[0036] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A dual-drive automatic feeding robot, characterized in that, The double-column frame (1) is composed of a top beam (9) and two side columns (10). The bottom of the double-column frame (1) moves on the ground rail (7) via a traveling mechanism (2), and the ground rail (7) is provided with a mechanical limit baffle (21) for limiting the movement of the double-column frame (1). The top of the double-column frame (1) moves on the ceiling rail (8) via limit wheels (20). A vertically movable boom (4) is provided on the double-column frame (1) near its top via a lifting mechanism (3), and a horizontally movable boom (34) is provided on the boom (4) via a boom traveling mechanism (5). A water receiving tray (6) that can move horizontally synchronously with the boom (34) is provided at the bottom of the double-column frame (1) below the boom (34).

2. The dual-drive automatic feeding robot according to claim 1, characterized in that, The traveling mechanism (2) includes a mounting frame at the bottom of the double column frame (1). The mounting frame is equipped with a traveling wheel (14) that cooperates with the ground rail (7) via a traveling drive shaft (12). The traveling drive shaft (12) is connected to the output end of the traveling drive motor (11) via a traveling drive bevel gear (13). The mounting frame is equipped with a ground rail guide wheel (22) and a set screw (23) on both sides of the traveling wheel (14). The two ends of the mounting frame are equipped with brushes (24) that abut against the ground rail (7).

3. The dual-drive automatic feeding robot according to claim 1, characterized in that, The lifting mechanism (3) includes a lifting drive motor (15) fixed on the top of the double column frame (1) and a guide rail (19) set on the inner side of the double column frame (1). A lifting transmission shaft (16) is fixedly connected to the output end of the lifting drive motor (15), and a chain (18) is set on the lifting transmission shaft (16) through the first sprocket (17). The boom (4) is slidably mounted on the double column frame (1) via guide rail (19). The boom (4) is connected to the chain (18) via plate adjusting screw. The double column frame (1) is provided with a bottom sprocket that cooperates with the chain (18) near the bottom.

4. The dual-drive automatic feeding robot according to claim 3, characterized in that, The boom (4) is provided with eight sets of symmetrically distributed balance wheels (30) and eight sets of lifting guide wheels (31), which cooperate with the guide rails (19) on the double column frame (1).

5. The dual-drive automatic feeding robot according to claim 1, characterized in that, The boom traveling mechanism (5) includes a fixed frame, on which a boom traveling speed reduction motor (35) is installed. A gear is installed on the output end of the boom traveling speed reduction motor (35). A rack that meshes with the gear of the boom traveling speed reduction motor (35) is installed on the lower side of the boom (4). A slider guide rail (36) and a boom guide wheel (37) that cooperate with the boom (4) are respectively installed at both ends of the fixed frame.

6. The dual-drive automatic feeding robot according to claim 1, characterized in that, The boom (34) has a hollow structure. A cylinder (38) is installed in the hollow cavity of the boom (34). A toothed gear reducer motor (39) is installed at the top of the cylinder (38). A rotating transmission shaft (40) is installed in the middle of the cylinder (38). A toothed claw (41) is installed at the bottom of the rotating transmission shaft (40). The upper end of the rotating transmission shaft (40) is connected to the toothed gear reducer motor (39).

7. The dual-drive automatic feeding robot according to claim 1, characterized in that, The water receiving tray (6) includes a base frame, on which a water receiving box (27) is slidably connected via a movable guide rail (25), and a drive reduction motor (26) is provided on the base frame. A drive chain is provided between the output end of the drive reduction motor (26) and the water receiving box (27).

8. The dual-drive automatic feeding robot according to claim 1, characterized in that, The boom (4) is equipped with a scanning dock (28), and the double column frame (1) is equipped with a two-dimensional barcode (29) that cooperates with the scanning dock (28). The double-column frame (1) is equipped with a magnetic induction proximity switch (32), and the two ends of the ceiling rail (8) are equipped with limit sensing plates (33) that cooperate with the magnetic induction proximity switch (32).

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