Manipulator disc winding and unwinding machine

Abstract

The utility model relates to the technical field of food processing, in particular to a mechanical arm tray collecting and releasing machine which comprises a mechanical arm body which is mainly used for collecting and releasing baking trays. The two positioning mechanisms are arranged on the two sides of the mechanical arm body respectively, each positioning mechanism comprises a bottom plate and a longitudinal rod arranged on the bottom plate in parallel, a transverse rod is connected between the two longitudinal rods, a guide plate is arranged on each longitudinal rod, and the transverse rod is connected with the transverse rod. A diagonal plane for guiding is arranged on the inner side of the end, away from the transverse rod, of the guide plate, and a limiting mechanism is arranged at the end, away from the transverse rod, of the longitudinal rod. The device has the advantages of being simple in structure, reasonable in design, high in efficiency, suitable for large-scale and high-rhythm production, free of scalding of workers, good in safety, capable of replacing manual work, reducing the labor intensity of the workers and saving the labor cost, and worthy of vigorous popularization and application.

Description

Technical Field

[0001] This utility model relates to the field of food processing technology, specifically to a robotic arm tray handling machine. Background Technology

[0002] In the modern food industry, bread, as a widely consumed staple food, is driven by huge market demand, leading to continuous expansion of production scale. Bread production encompasses multiple stages, including dough preparation, shaping, baking, and subsequent packaging. The efficient operation of each stage plays a crucial role in improving overall production efficiency and ensuring product quality. Among these, the handling of bread baking pans before and after baking serves as a vital link between the baking process and other stages, and its efficiency and quality significantly impact the continuity of bread production and product quality.

[0003] In bread baking, when products need to be changed, the loading and unloading of baking trays mainly relies on manual operation. Workers need to frequently take high-temperature baking trays out of the production line and then send the new product baking trays into the forming machine for shaping. The speed of manual operation is limited. When handling a large number of baking trays, workers are prone to fatigue due to long hours of repetitive labor, resulting in slow movements. This makes it difficult to meet the needs of large-scale, high-paced production. In addition, the temperature of the baking trays taken out of the oven is extremely high, reaching 100°C or even higher. Workers may be burned if they are not careful during the handling process, posing a significant safety risk. At the same time, the labor cost is high, the labor intensity is high, and the efficiency is low. To address this, the inventor designed a robotic arm tray loading and unloading machine. Utility Model Content

[0004] The purpose of this utility model is to provide a robotic arm tray loading and unloading machine, which has the advantages of simple structure, reasonable design, high efficiency, suitability for large-scale, high-paced production, no risk of worker burns, good safety, and the ability to replace manual labor, reduce labor intensity, and save labor costs, thus solving the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a robotic arm tray handling machine, comprising: a robotic arm body, which is mainly used for handling baking trays;

[0006] The positioning mechanism includes two positioning mechanisms, which are respectively placed on both sides of the robot body. Each positioning mechanism includes a base plate and a vertical rod parallel to the base plate. A horizontal rod connects the two vertical rods. Each vertical rod is provided with a guide plate. The inner side of the guide plate away from the horizontal rod is provided with a chamfered surface for guiding. A limit mechanism is provided at the end of the vertical rod away from the horizontal rod.

[0007] The baking tray mechanism is mainly used to place the baking tray, and the baking tray mechanism is set on the positioning mechanism and limited by the limiting mechanism.

[0008] Preferably, the robotic arm body includes a base, on which a first connecting part is movably disposed, and a first arm is rotatably connected to the side of the first connecting part. A second connecting part is disposed at the end of the first arm away from the first connecting part, on the same side as the first connecting part, and a second arm is rotatably connected to the second connecting part.

[0009] Preferably, a third connecting part is provided at the end of the second arm away from the second connecting part, and a bracket is provided at the bottom end of the third connecting part. The bracket is shaped like a cross, and suction cups are provided at the four corners of the bottom end of the bracket.

[0010] Preferably, two buffer pads are symmetrically arranged on the inner side of the crossbar.

[0011] Preferably, the limiting mechanism includes a base, on which a cylinder fixing plate is vertically arranged. A telescopic cylinder is fixedly installed on the cylinder fixing plate. The output end of the telescopic cylinder is connected to a drive connecting rod. The end of the drive connecting rod away from the telescopic cylinder is connected to a collar, which is sleeved on the outside of the rotating shaft.

[0012] Preferably, a limiting plate is provided on the rotating shaft above the collar.

[0013] Preferably, the baking tray mechanism includes a support plate, with rollers at the four corners of the lower end face of the support plate and a plurality of limiting rods on the upper end face. The plurality of limiting rods are spaced apart along the circumference of the support plate and form a baking tray placement area for placing the material tray. Each limiting rod has a guide block integrally formed at its top end. The guide block is inclined from top to bottom and forms a beveled surface. A grip is provided between any two adjacent guide blocks.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0015] 1. This utility model provides a robotic tray handling machine, which includes a robotic arm, a positioning mechanism, a limiting mechanism, and a baking tray mechanism. The overall structure is simple and reasonably designed. The baking tray is adsorbed by four suction cups at the bottom of the cross-shaped support of the third connecting part, and placed in one of the two baking tray mechanisms. After placing the baking tray, the baking tray mechanism is moved to the next process of bread production. When the process is completed, it is moved to the positioning mechanism, and the hot baking tray is removed by the suction cups. This replaces manual tray handling, has high operating efficiency, is suitable for large-scale, high-paced production, and will not cause worker burns. It replaces manual tray handling, reduces labor intensity, and saves labor costs.

[0016] 2. This utility model provides a robotic tray handling machine, which includes a limiting mechanism. The limiting mechanism includes a base, on which a vertical plate is provided. A telescopic electric cylinder is rotatably connected to the side of the vertical plate. The telescopic electric cylinder extends and retracts, driving a drive rod and one end of the drive rod to rotate around a rotating shaft. When the first ring rotates, it drives the second ring at its top to rotate. The limiting plate on the outer edge of the second ring fits against the side of the support plate, thus limiting the baking tray mechanism and preventing displacement of the baking tray mechanism when picking up or placing the tray. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the main structure of this utility model;

[0018] Figure 2 This utility model Figure 1 A schematic diagram of the structure of the robotic arm;

[0019] Figure 3 This utility model Figure 1 A schematic diagram of the positioning mechanism;

[0020] Figure 4 This utility model Figure 3 Schematic diagram of the middle limit mechanism;

[0021] Figure 5 This utility model Figure 1 A schematic diagram of the structure of the middle baking pan mechanism.

[0022] The reference numerals and names in the figure are as follows:

[0023] 1. Robotic arm body; 11. Base; 12. First connecting part; 13. First arm; 14. Second connecting part; 15. Second arm; 16. Third connecting part; 17. Bracket; 18. Suction cup; 2. Positioning mechanism; 21. Base plate; 22. Horizontal bar; 23. Vertical bar; 24. Buffer pad; 25. Guide plate; 26. Limiting mechanism; 261. Base; 262. Cylinder fixing plate; 263. Telescopic cylinder; 264. Drive linkage; 265. Collar; 266. Rotating shaft; 267. Limiting plate; 3. Baking tray mechanism; 31. Support plate; 32. Roller; 33. Limiting rod; 34. Guide block; 35. Grip bar; 36. Baking tray placement area. 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 of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] In the description of the embodiments of this utility model, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing the embodiments of this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this utility model, "multiple" means two or more, unless otherwise explicitly specified.

[0026] In this embodiment of the invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment of the invention according to the specific circumstances.

[0027] Please see Figures 1 to 5 This utility model provides an embodiment of a robotic arm tray handling machine, comprising: a robotic arm body 1, mainly used for handling baking trays; and two positioning mechanisms 2, which are respectively located on both sides of the robotic arm body 1. Each positioning mechanism 2 includes a base plate 21 and a longitudinal rod 23 parallel to the base plate 21. A crossbar 22 connects the two longitudinal rods 23. Each longitudinal rod 23 is provided with a guide plate 25, and the inner side of the guide plate 25 away from the crossbar 22 has a beveled surface for guiding. A limiting mechanism 26 is provided at one end away from the crossbar 22; a baking tray mechanism 3 is mainly used to place the baking tray, and the baking tray mechanism 3 is set on the positioning mechanism 2 and limited by the limiting mechanism 26. The robot body 1 includes a base 11, a first connecting part 12 is movably provided on the base 11, a first support arm 13 is rotatably connected to the side of the first connecting part 12, and a second connecting part 14 is provided at one end of the first support arm 13 away from the first connecting part 12 on the same side as the first connecting part 12. A second support arm 15 is rotatably connected to the second connecting part 14.

[0028] The second arm 15 has a third connecting part 16 at the end away from the second connecting part 14. A bracket 17 is located at the bottom of the third connecting part 16. The bracket 17 is cross-shaped, and suction cups 18 are located at each of the four corners of its bottom. Two buffer pads 24 are symmetrically arranged on the inner side of the crossbar 22. The limiting mechanism 26 includes a base 261, on which a cylinder fixing plate 262 is vertically mounted. A telescopic cylinder 263 is fixedly installed on the cylinder fixing plate 262. The output end of the telescopic cylinder 263 is connected to a drive connecting rod 264. A collar 265 is connected to the end of the drive connecting rod 264 away from the telescopic cylinder 263. The collar 265 is sleeved on the outside of the rotating shaft 266. A limiting plate 267 is located on the rotating shaft 266 above the collar 265. In specific implementation... The telescopic cylinder 263 extends and retracts, causing the collar 265 at the end of the drive linkage 264 to rotate around the rotating shaft 266. When the collar 265 rotates, the limiting plate 267 at the top of the other side of its outer edge rotates around the axis of the rotating shaft 266. The rotation of the limiting plate 267 completes the limiting of the baking tray mechanism 3. The baking tray mechanism 3 includes a support plate 31. Rollers 32 are provided at the four corners of the lower end face of the support plate 31, and several limiting rods 33 are provided on the upper end face. The several limiting rods 33 are distributed at intervals along the circumference of the support plate 31 and form a baking tray placement area 36 for placing the material tray. Each limiting rod 33 has a guide block 34 integrally formed at its top. The guide block 34 is inclined from top to bottom and forms a beveled surface. A gripping rod 35 is provided between any two adjacent guide blocks 34.

[0029] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A robot magazine, characterized in that include: The robotic arm body (1) is mainly used for placing and receiving baking trays; Positioning mechanism (2), two positioning mechanisms (2) are provided, and the two positioning mechanisms (2) are respectively placed on both sides of the robot body (1). Each positioning mechanism (2) includes a base plate (21) and a vertical rod (23) arranged parallel to the base plate (21). A crossbar (22) is connected between the two vertical rods (23). A guide plate (25) is provided on each vertical rod (23). A chamfered surface for guiding is provided on the inner side of the end of the guide plate (25) away from the crossbar (22). A limit mechanism (26) is provided on the end of the vertical rod (23) away from the crossbar (22). The baking tray mechanism (3) is mainly used to place the baking tray, and the baking tray mechanism (3) is set on the positioning mechanism (2) and is limited by the limiting mechanism (26).

2. The robot cassette changer according to claim 1, characterized in that: The robotic arm body (1) includes a base (11), on which a first connecting part (12) is movably disposed. A first arm (13) is rotatably connected to the side of the first connecting part (12). A second connecting part (14) is disposed at the end of the first arm (13) away from the first connecting part (12) on the same side as the first connecting part (12). A second arm (15) is rotatably connected to the second connecting part (14).

3. The robot cassette changer of claim 2 wherein: The second arm (15) is provided with a third connecting part (16) at one end away from the second connecting part (14). The bottom end of the third connecting part (16) is provided with a bracket (17), which is arranged in a cross shape, and suction cups (18) are provided at the four corners of the bottom end of the bracket (17).

4. The robot cassette changer of claim 1 wherein: Two buffer pads (24) are symmetrically arranged on the inner side of the crossbar (22).

5. The robot cassette of claim 1 wherein: The limiting mechanism (26) includes a base (261), on which a cylinder fixing plate (262) is vertically arranged. A telescopic cylinder (263) is fixedly installed on the cylinder fixing plate (262). The output end of the telescopic cylinder (263) is connected to a drive connecting rod (264). The end of the drive connecting rod (264) away from the telescopic cylinder (263) is connected to a collar (265). The collar (265) is sleeved on the outside of the rotating shaft (266).

6. The robot cassette changer of claim 5 wherein: A limiting plate (267) is provided on the rotating shaft (266) above the collar (265).

7. The robot cassette of claim 1 wherein: The baking tray mechanism (3) includes a support plate (31). Rollers (32) are provided at the four corners of the lower end face of the support plate (31), and a number of limiting rods (33) are provided on the upper end face. The number of limiting rods (33) are distributed at intervals along the circumference of the support plate (31) and form a baking tray placement area (36) for placing the tray. Each limiting rod (33) has a guide block (34) integrally formed at its top. The guide block (34) is inclined from top to bottom and forms a beveled surface. A gripping rod (35) is provided between any two adjacent guide blocks (34).

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