Clamshell assisted loading robotic arm
By designing a clamp-type assisted loading robotic arm, and utilizing the cooperation of a rotating base, support arm, and clamping components, the problems of appearance damage and difficulty in picking up pork during loading have been solved, achieving efficient and damage-free loading operations.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- JINING XINGLONG FOOD MASCH MFG CO LTD
- Filing Date
- 2025-07-17
- Publication Date
- 2026-07-14
AI Technical Summary
Existing technologies are prone to damaging the appearance of pork during loading and are difficult to hold efficiently, resulting in damage to the appearance of the pork and difficulty in removing it from the equipment.
A clamping-type assisted loading robotic arm was designed, including a fixed base, a rotating base, a support arm, and a clamping assembly. The rotating base and the support arm work together to achieve free rotation and sway in the horizontal and vertical directions. Combined with the clamping cylinder and the fixed frame, it can flexibly clamp pig slices.
It enables fast and convenient loading operations, avoids damage to the appearance of pork, and is simple to operate and easy to remove from the equipment.
Smart Images
Figure CN224492789U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of slaughtering equipment technology, and in particular to a clamp-type assisted loading robotic arm. Background Technology
[0002] During the process of transporting pork slices from the production line to the truck, single-fork or double-fork structures are generally used to insert into the pork before loading. This process can damage the pork, causing not only damage to its appearance but also making it difficult to remove the equipment.
[0003] Therefore, to address this shortcoming, a convenient, efficient, and non-damaging clamp-type assisted loading robotic arm is provided. Utility Model Content
[0004] This application provides a clamping-type assisted loading robotic arm, which can quickly clamp pig pieces, facilitating loading operations, and is less likely to damage the pig's appearance.
[0005] This application provides a clamp-type assisted loading robotic arm, including a fixed base, a rotating base, a support arm, and a clamping assembly. The rotating base is rotatably mounted on top of the fixed base, and a lifting cylinder is installed inside the rotating base. The support arm is hinged to the top of the rotating base and connected to the output end of the lifting cylinder in a driveable manner to swing up and down. The clamping assembly includes an operating arm, a clamping cylinder, and a fixed frame. One end of the operating arm is connected to the outer end of the support arm, and the clamping cylinder and the fixed frame are mounted on the other end of the operating arm. The piston rod of the clamping cylinder is hinged to a clamping plate, which is hinged to the operating arm and cooperates with the fixed frame so that the clamping plate can be driven to move relatively closer to or away from the fixed frame when the piston rod extends or retracts.
[0006] In one possible implementation, the fixed base has a limiting cavity extending in a vertical direction, and a rotating seat is provided in the limiting cavity. The rotating seat has a bearing, the rotating base cooperates with the limiting cavity, and a rotating shaft is provided at the bottom to cooperate with the bearing.
[0007] In one possible implementation, the support arm includes an upper support arm and a lower support arm that are distributed in parallel. One end of the upper support arm and the lower support arm are sequentially hinged to the top of the rotating base, and the other end of the upper support arm and the lower support arm are sequentially hinged to the operating arm. The bottom of the lower support arm is connected to the output end of the lifting cylinder.
[0008] In one possible implementation, the manipulator includes a main arm, a connecting frame, and a joint arm. The main arm is connected to the joint arm via the connecting frame. The upper support arm and the lower support arm are connected to the end of the joint arm away from the main arm. The main arm has an operating gripper at the bottom of the end away from the joint arm.
[0009] In one possible implementation, the main arm is connected to a mounting housing at the top of the end away from the joint arm, the clamping cylinder is located inside the mounting housing, the fixing frame is connected to the side of the mounting housing away from the joint arm, and the mounting housing is also equipped with a clamping cylinder operating handle and a lifting cylinder operating handle, which are used to control the clamping cylinder and the lifting cylinder, respectively.
[0010] In one possible implementation, the mounting housing is horizontally distributed in a V-shape, and there are two clamping cylinders, which are respectively close to the two inclined outer walls of the mounting housing, with the fixing frame facing the center line of the two clamping cylinders.
[0011] In one possible implementation, the connecting frame has a rotating shaft at each end, and the main arm and the joint arm are each provided with a connecting sleeve that slides vertically with the corresponding rotating shaft.
[0012] Beneficial effects: Compared with the prior art, the clamping-type assisted loading robotic arm provided in this application, by setting a fixed base, a rotating base, a support arm and a clamping assembly, can rotate freely in the horizontal direction based on the cooperation of the rotating base and the fixed base, can swing in the vertical direction based on the cooperation of the support arm and the lifting cylinder, and can flexibly clamp or release the pig slices based on the cooperation of the clamping cylinder and the fixed frame in the clamping assembly. Thus, it can flexibly clamp and transport pig slices for loading, and is not easy to damage the appearance of the pig slices, and is easy to operate.
[0013] These and other objects, features and advantages of this utility model will be fully realized through the following detailed description. Attached Figure Description
[0014] Fig. 1 A three-dimensional structural schematic diagram of the clamp-type assisted loading robotic arm of this application is shown.
[0015] Fig. 2 The diagram shows a front view of the clamp-type assisted loading robot arm of this application, where only a partial structure of the mounting shell is shown.
[0016] Fig. 3 A partial top view of the clamping assembly in this application is shown.
[0017] Fig. 4 A partial three-dimensional structural schematic diagram of the clamping component in this application is shown. Detailed Implementation
[0018] The following description is intended to disclose the present invention so that those skilled in the art can implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the present invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.
[0019] Those skilled in the art should understand that, in the disclosure of this specification, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and 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. Therefore, the above terms should not be construed as limitations on this utility model.
[0020] It is understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple, and the term "a" should not be understood as a limitation on the number.
[0021] refer to Figs. 1 to 4This application provides a clamp-type assisted loading robotic arm, including a fixed base 10, a rotating base 20, a support arm 30, and a clamping assembly 40. The rotating base 20 is rotatably mounted on top of the fixed base 10, and a lifting cylinder 21 is installed within the rotating base 20. The support arm 30 is hinged to the top of the rotating base 20 and connected to the output end of the lifting cylinder 21 in a driveable manner. The clamping assembly 40 includes an operating arm 41, a clamping cylinder 42, and a fixing frame 43. One end of the operating arm 41 is connected to the outer end of the support arm 30, while the clamping cylinder 42 and the fixing frame 43 are mounted on the other end of the operating arm 41. The piston rod of the clamping cylinder 42 is hinged to a clamping plate 44. The clamping plate 44 is hinged to the operating arm 41 and cooperates with the fixed frame 43. When the piston rod extends or retracts, the clamping plate 44 can be driven to move closer to or away from the fixed frame 43, thereby clamping or releasing the pig slices. In this way, based on the cooperation between the rotating base 20 and the fixed base 10, the clamping assembly 40 can rotate freely in the horizontal direction, and based on the cooperation between the lifting cylinder 21 and the support arm 30, the clamping assembly 40 can swing up and down in the vertical direction. This allows for flexible movement of the clamping assembly 40. Furthermore, through the cooperation between the clamping plate 44 and the fixed frame 43, the pig slices can be flexibly clamped and transported for loading operations without easily damaging the surface of the pig slices. After loading, the clamping plate 44 can be directly moved away from the fixed frame 43, avoiding difficulties in removing the equipment and making operation very convenient.
[0022] In one embodiment, the fixed base 10 is provided with a limiting cavity 101 extending in the vertical direction, and a rotating seat is provided in the limiting cavity 101. The rotating seat is provided with a bearing. In addition, the rotating base 20 cooperates with the limiting cavity 101 and has a rotating shaft at the bottom that cooperates with the bearing. This allows the rotating base 20 to rotate freely in the limiting cavity 101, and the limiting cavity 101 can form a good vertical limiting effect and good rotational stability.
[0023] In one embodiment, the support arm 30 includes an upper support arm 31 and a lower support arm 32 that are distributed in parallel. One end of the upper support arm 31 and the lower support arm 32 are sequentially hinged to the top of the rotating base 20, while the other end of the upper support arm 31 and the lower support arm 32 are sequentially hinged to the operating arm 41. The bottom of the lower support arm 32 is connected to the output end of the lifting cylinder 21, so that the upper support arm 31 and the lower support arm 32 form a parallelogram linkage structure, which can enhance the structural stability and structural strength of the support arm 30.
[0024] In one embodiment, the operating arm 41 includes a main arm 411, a connecting frame 412, and a joint arm 413. The main arm 411 is connected to the joint arm 413 via the connecting frame 412. The connection between the main arm 411 and the connecting frame 412 can be hinged, connected by a connecting sleeve at the end of the main arm 411 and a rotating shaft on the connecting frame 412 that slides vertically with the connecting sleeve. This allows the main arm 411 to swing horizontally, enabling more flexible operation during work. Alternatively, the joint arm 413 and the connecting frame 412 can also be hinged using the same structure, i.e., the connecting sleeve and the rotating shaft slide vertically together, further improving operational flexibility. The upper support arm 31 and the lower support arm 32 are connected to the end of the joint arm 413 away from the main arm 411, and the main arm 411 has an operating gripper 414 at the bottom of the end away from the joint arm 413 for easy gripping and operation by the operator.
[0025] In one embodiment, the main arm 411 is connected to a mounting housing 45 at the top of the end away from the joint arm 413, wherein the clamping cylinder 42 is located inside the mounting housing 45, wherein the clamping plate 44 is hinged to the mounting housing 45, wherein the fixing bracket 46 is connected to the side of the mounting housing 45 away from the joint arm 413, and the mounting housing 45 is also equipped with a clamping cylinder operating handle 46 and a lifting cylinder operating handle 47, which are used to control (via wire connection) the clamping cylinder 42 and the lifting cylinder 21, respectively, making operation more convenient.
[0026] In one embodiment, the mounting shell 45 is horizontally distributed in a V-shape, and there are two clamping cylinders 42, which are respectively close to the two inclined outer walls of the mounting shell 45. Meanwhile, the fixing frame 43 is directly opposite the center line of the two clamping cylinders 42. In this way, two pig slices can be clamped and transported for loading at the same time, which can further improve work efficiency. Alternatively, one clamping cylinder 42 can be controlled individually to operate loading one pig slice.
[0027] It should be noted that the terms "first" and "second" used in this application are for descriptive purposes only and do not indicate any order. They should not be construed as indicating or implying relative importance, and can be interpreted as names.
[0028] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are merely examples and do not limit the present invention. The advantages of the present invention have been fully and effectively realized. The functions and structural principles of the present invention have been shown and explained in the embodiments, and any modifications or variations may be made to the implementation of the present invention without departing from the stated principles.
Claims
1. A clamp-type assisted loading robotic arm, characterized in that, The device includes a fixed base, a rotating base, a support arm, and a clamping assembly. The rotating base is rotatably mounted on top of the fixed base. A lifting cylinder is installed inside the rotating base. The support arm is hinged to the top of the rotating base and connected to the output end of the lifting cylinder in a driveable manner to swing up and down. The clamping assembly includes an operating arm, a clamping cylinder, and a fixing frame. One end of the operating arm is connected to the outer end of the support arm. The clamping cylinder and the fixing frame are mounted on the other end of the operating arm. The piston rod of the clamping cylinder is hinged to a clamping plate. The clamping plate is hinged to the operating arm and cooperates with the fixing frame so that the clamping plate can be driven to move relatively closer to or away from the fixing frame when the piston rod extends or retracts.
2. The clamp-type assisted loading robotic arm as described in claim 1, characterized in that, The fixed base has a limiting cavity extending in a vertical direction, and a rotating seat is provided in the limiting cavity. The rotating seat is provided with a bearing. The rotating base cooperates with the limiting cavity, and a rotating shaft is provided at the bottom to cooperate with the bearing.
3. The clamp-type assisted loading robotic arm as described in claim 1, characterized in that, The support arm includes an upper support arm and a lower support arm that are distributed in parallel. One end of the upper support arm and the lower support arm are sequentially hinged to the top of the rotating base, and the other end of the upper support arm and the lower support arm are sequentially hinged to the operating arm. The bottom of the lower support arm is connected to the output end of the lifting cylinder.
4. The clamp-type assisted loading robotic arm as described in claim 1, characterized in that, The operating arm includes a main arm, a connecting frame, and a joint arm. The main arm is connected to the joint arm through the connecting frame. The upper support arm and the lower support arm are connected to the end of the joint arm away from the main arm. The main arm has an operating gripper at the bottom of the end away from the joint arm.
5. The clamp-type assisted loading robotic arm as described in claim 4, characterized in that, The main arm is connected to a mounting shell at the top of the end away from the joint arm. The clamping cylinder is located inside the mounting shell. The fixing frame is connected to the side of the mounting shell away from the joint arm. The mounting shell is also equipped with a clamping cylinder operating handle and a lifting cylinder operating handle, which are used to control the clamping cylinder and the lifting cylinder, respectively.
6. The clamp-type assisted loading robotic arm as described in claim 5, characterized in that, The mounting housing is horizontally distributed in a V-shape. There are two clamping cylinders, which are respectively close to the two inclined outer walls of the mounting housing. The fixing frame is directly opposite the center line of the two clamping cylinders.
7. The clamp-type assisted loading robotic arm as described in claim 4, characterized in that, The connecting frame has a rotating shaft at each end, and the main arm and the joint arm are respectively provided with a connecting sleeve that slides vertically with the corresponding rotating shaft.