A feeding structure

Abstract

This application relates to a feeding structure for use in the material production field. It includes a mounting frame mounted on a turntable, a support frame slidably connected to the mounting frame, and a connecting frame slidably connected to the support frame. The connecting frame is equipped with a feeding device for picking up fruit halves. The mounting frame has a first driving device for driving the support frame to slide, and the support frame has a second driving device for driving the connecting frame to slide. The technical advantages of this application are: It employs a two-stage sliding structure, requiring only control of displacement in two linear directions to complete the picking and feeding of fruit halves. The movement trajectory is a simple planar straight line, fundamentally reducing the risk of collisions. The complexity of path planning and control is significantly reduced, the system response speed is faster, and the overall feeding efficiency is significantly improved.

Description

Technical Field

[0001] This application relates to the field of material production technology, and in particular to a feeding structure. Background Technology

[0002] Materials refer to all kinds of raw materials required in the production, manufacturing or service process. In the production of food materials, it is a common step to cut a whole fruit in half and remove the pit, such as betel nuts, dried apples, and dried apricots.

[0003] A turntable is installed on the turntable frame. Half of the fruit is fed onto the turntable station via the feeding process. The turntable rotates, transferring the half of the fruit to the pitting process. The pitting process removes the pit from the inner cavity of the half of the fruit. Finally, the turntable rotates again, transferring the pitted half of the fruit to the unloading process. In related technologies, the unloading process uses a six-axis robot arm separately installed on one side of the turntable unloading station. The six-axis robot arm achieves displacement of the gripping end through the rotation between joints, gripping and unloading the half of the fruit from the turntable station.

[0004] The above-mentioned method of material handling and unloading by a robotic arm has a relatively complex motion path design because the workstation on the turntable is tilted. The robotic arm is also at risk of colliding with other parts on the turntable, resulting in low efficiency in unloading half of the fruit from the turntable. Summary of the Invention

[0005] To address the issue of inefficient fruit half-dispensing due to the tilted position of the workstation on the turntable, this application provides a dispensing structure with the following technical solution: It includes a mounting frame mounted on a turntable frame, a support frame slidably connected to the mounting frame, a connecting frame slidably connected to the support frame, a picking device for picking up fruit half-dispensing on the connecting frame, a first driving device for driving the support frame to slide, and a second driving device for driving the connecting frame to slide on the support frame.

[0006] In one specific implementation, the material handling device includes a parallel finger cylinder mounted on a connecting frame. The two slides of the parallel finger cylinder are respectively provided with material handling blocks. The parallel finger cylinder synchronously drives the two slides to move towards or away from each other.

[0007] In one specific implementation, the first drive device includes a first linear module disposed on the mounting bracket, and the support frame is disposed on the slide of the first linear module.

[0008] In one specific implementation, the second drive device includes a second linear module disposed on the support frame, and the connecting frame is disposed on the slide of the second linear module.

[0009] In one specific implementation, a mounting plate is rotatably connected to the support frame, the second linear module is disposed on the mounting plate, and the support frame is provided with a fixing unit for connecting the mounting plate to the support frame.

[0010] In one specific implementation, the fixing unit includes a mounting bolt passing through the mounting plate, the support frame has a mounting hole, the mounting bolt is threaded into the mounting hole, and the support frame is provided with a limiting component for limiting the position of the mounting plate.

[0011] In one specific implementation, the limiting component includes a limiting block disposed on a mounting plate, a limiting seat disposed on a support frame, a limiting rod threaded through and connected to the limiting seat, and one end of the limiting rod facing the limiting block contacting the limiting block.

[0012] In one specific implementation, the mounting plate is provided with an angle gauge, and the support frame is provided with an indicator that matches the angle gauge, the end of the indicator corresponding to the angle gauge.

[0013] In one specific implementation, the connecting frame is provided with a telescopic part, and the output end of the telescopic part is provided with a push block, which is located between the two material picking blocks.

[0014] In one specific implementation scheme, a qualified bin and a non-qualified bin are provided between the mounting frame and the turntable. The qualified bin and the non-qualified bin are respectively provided with a receiving port, which is located on the sliding path of the connecting frame.

[0015] In summary, this application has the following beneficial technical effects: When it is necessary to transport and unload the fruit half on the turntable, the picking device is activated to pick up the fruit half on the turntable, and then the second drive device is activated to drive the connecting frame to slide along the support frame. The first drive device is activated to drive the support frame to slide along the mounting frame. The displacement and unloading of the fruit half on the picking device is achieved through two-stage sliding. In the prior art, a six-axis robot needs to achieve complex spatial displacement through multi-joint rotation, and path planning needs to consider multi-degree-of-freedom coordination, resulting in complex calculation and control logic. However, this application adopts a two-stage sliding structure, which only needs to control the displacement in two linear directions to complete the picking, placing and unloading of the fruit half. The motion trajectory is a simple planar straight line, which fundamentally reduces the risk of collision, significantly reduces the complexity of path planning and control, increases the system response speed, and significantly improves the overall unloading efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application.

[0017] Figure 2 This is a schematic diagram illustrating the structure of the pusher block in the embodiments of this application.

[0018] Figure 3 yes Figure 1 Enlarged diagram of point A in the middle.

[0019] Figure 4 This is a structural schematic diagram used to illustrate the qualified bucket in the embodiments of this application.

[0020] Reference numerals: 1. Mounting bracket; 2. Support bracket; 3. Connecting bracket; 4. Parallel finger cylinder; 5. Material picking block; 6. First linear module; 7. Second linear module; 8. Mounting bolt; 9. Mounting hole; 10. Mounting plate; 11. Limiting block; 12. Limiting seat; 13. Limiting rod; 14. Angle ruler; 15. Indicator; 16. Telescopic part; 17. Push block; 18. Qualified bucket; 19. Unqualified bucket; 20. Guide tube. Detailed Implementation

[0021] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0022] This application discloses a material feeding structure.

[0023] Reference Figure 1 and Figure 2 The feeding structure includes a mounting frame 1 mounted on a turntable. In this embodiment, the feeding structure can be located on the top of the turntable. A support frame 2 is slidably connected to the mounting frame 1, and a connecting frame 3 is slidably connected to the support frame 2. A feeding device for picking up fruit halves is provided on the connecting frame 3. A first driving device for driving the support frame 2 to slide is provided on the mounting frame 1, and a second driving device for driving the connecting frame 3 to slide is provided on the support frame 2. The feeding structure in this embodiment can be applied to food materials, such as yellow peaches and areca nuts. In this embodiment, areca nuts are cut into two areca nut pieces by a cutting process, and the areca nut pieces are placed on the processing station of the turntable as an example. Therefore, when it is necessary to transport and feed the fruit halves on the turntable, the feeding device is activated to pick up the fruit halves on the turntable. Then, the second driving device is activated to drive the connecting frame 3 to slide along the support frame 2, and the first driving device is activated to drive the support frame 2 to slide along the mounting frame 1. The displacement and feeding of the fruit halves on the feeding device are achieved through two stages of sliding.

[0024] Existing six-axis robotic arms require multi-joint rotation to achieve complex spatial displacements, and path planning needs to consider multi-degree-of-freedom coordination, resulting in complex calculation and control logic. In contrast, this application employs a two-stage sliding structure, requiring only control of displacement in two linear directions to complete the picking, placing, and unloading of the fruit half. The motion trajectory is a simple planar straight line, fundamentally reducing the risk of collisions. The complexity of path planning and control is significantly reduced, the system response speed is faster, and the overall unloading efficiency is significantly improved. For scenarios with tilted turntable stations, this application can flexibly adapt to turntable station layouts with different tilt angles by adjusting the direction of the two-stage sliding or optimizing the sliding stroke.

[0025] Reference Figure 1 and Figure 2 The material handling device includes a parallel finger cylinder 4 bolted to a connecting frame 3. Material handling blocks 5 are bolted to two slides of the parallel finger cylinder 4. The parallel finger cylinder 4 synchronously drives the two slides to move towards or away from each other. In this embodiment, two parallel finger cylinders 4 are used as an example, thus allowing for the simultaneous handling of two areca nut pieces at a time. Therefore, when it is necessary to handle half of the fruit on the turntable, the parallel finger cylinder 4 is activated, causing the two material handling blocks 5 to move relative to each other to clamp and fix the areca nut pieces, reducing the possibility of positional displacement of the areca nut pieces during the feeding process.

[0026] Reference Figure 1 and Figure 2 A telescopic part 16 is installed on the connecting frame 3, and a push block 17 is provided at the output end of the telescopic part 16. The push block 17 is located between the two material picking blocks 5. In this embodiment, the telescopic part 16 is a telescopic cylinder, and the push block 17 is installed at the output end of the telescopic cylinder. Therefore, if the areca nut pieces stick to the material picking block 5 during feeding, the telescopic cylinder is activated, which drives the push block 17 at the output end of the telescopic cylinder to extend. The push block 17 applies force to the areca nut pieces, causing them to fall off the material picking block 5, thus reducing the possibility of the areca nut pieces sticking to the material picking block 5. In addition, since the betel nut slices may have uneven thickness or slight deformation, the clamping surface of the material taking block 5 may have slight misalignment due to wear after long-term use, resulting in uneven gaps. The push block 17 located between the two material taking blocks 5 also plays a role in pre-positioning and can be used as a real-time detection of the gap uniformity. If the push block 17 can move smoothly between the two material taking blocks 5 when it extends and retracts, it means that the minimum gap for clamping the betel nut slices meets the actual requirements. If the push block 17 is obstructed from moving, it means that the gap between the material taking blocks 5 is abnormal or there is a deviation, and the position of the parallel finger cylinder 4 or the material taking block 5 needs to be finely adjusted.

[0027] Reference Figure 1 and Figure 2The first driving device includes a first linear module 6 mounted on the mounting frame 1, and a support frame 2 mounted on the slide of the first linear module 6. The second driving device includes a second linear module 7 mounted on the support frame 2, and a connecting frame 3 bolted to the slide of the second linear module 7. In this embodiment, the second linear module 7 is set in an inclined state according to the actual situation of the turntable station. Therefore, when it is necessary to transport and unload the fruit half on the turntable, the parallel finger cylinder 4 is activated, which drives the two picking blocks 5 to move relative to each other to clamp and fix the areca nut pieces. Then, the second linear module 7 is activated to drive the connecting frame 3 to slide along the support frame 2, and the first linear module 6 is activated to drive the support frame 2 to slide along the mounting frame 1. The displacement and unloading of the fruit half on the picking block 5 is achieved through two-stage sliding.

[0028] Reference Figure 1 and Figure 3 A mounting plate 10 is rotatably connected to the support frame 2. The second linear module 7 is mounted on the mounting plate 10. A fixing unit is provided on the support frame 2 to connect the mounting plate 10 to the support frame 2. The fixing unit includes several mounting bolts 8 that pass through the mounting plate 10. Several mounting holes 9 are provided on the support frame 2. Several mounting bolts 8 are threaded into several mounting holes 9 respectively. A limiting component for limiting the position of the mounting plate 10 is provided on the support frame 2. The limiting component includes a limiting block 11 bolted to the mounting plate 10. A limiting seat 12 is bolted to the support frame 2. A limiting rod 13 passes through and is threaded to the limiting seat 12. One end of the limiting rod 13 facing the limiting block 11 contacts the limiting block 11. In this embodiment, the number of limiting seats 12 and limiting rods 13 mounted on the limiting seats 12 is set to two, and the limiting block 11 is located between the two limiting seats 12.

[0029] Reference Figure 1 and Figure 3 An angle ruler 14 is engraved on the mounting plate 10, and an indicator 15 matching the angle ruler 14 is engraved on the support frame 2. The end of the indicator 15 corresponds to the angle ruler 14. In this embodiment, according to the tilt angle of the station on the turntable, when the end of the indicator 15 is aligned with 90 degrees of the angle ruler 14, the two material picking blocks 5 at the moving end of the parallel finger cylinder 4 have the best clamping accuracy for the areca nut slices on the turntable. The angle ruler 14 and the indicator 15 make it easy for the operator to clearly and intuitively know the tilt of the second straight module 7 on the mounting plate 10.

[0030] Therefore, the mounting plate 10 can rotate relative to the support frame 2, thereby adjusting the tilt angle of the second linear module 7 on the mounting plate 10. When the end of the indicator 15 on the support frame 2 is aligned with 90 degrees of the angle ruler 14 on the mounting plate 10, it indicates that the tilt of the second linear module 7 on the mounting plate 10 is optimal. The operator installs the mounting plate 10 on the support frame 2 by bolt connection. At the same time, the two limit rods 13 limit the vertical position of the limit block 11 on the mounting plate 10, further improving the stability of the mounting plate 10 on the support frame 2.

[0031] Reference Figure 1 and Figure 4 A qualified bin 18 and a defective bin 19 are provided between the mounting frame 1 and the turntable. Each of the qualified bins 18 and 19 has a receiving port located on the sliding path of the connecting frame 3. In this embodiment, the mounting frame 1 is also equipped with an image unit, which includes an image acquisition unit and a data processing unit. The image acquisition unit can be an image acquisition device such as a camera or webcam. In this embodiment, a camera is used. The camera acquires image information of the areca nut slices and transmits this image information to the data processing unit. The data processing unit compares this image information with a standard template to determine whether the areca nut slices have defects. If defects are present, the slices are defective; otherwise, they are qualified. The qualified bin 18 and the unqualified bin 19 are each equipped with a guide pipe 20. The design of the guide pipe 20 further optimizes the spatial layout and improves the compactness of the structure. Qualified areca nut pieces fall into the qualified bin 18 from the receiving port and are separated by the guide pipe 20. Unqualified areca nut pieces fall into the unqualified bin 19 from the receiving port and are separated by the guide pipe 20. This realizes the automated sorting of areca nut pieces, improves production efficiency, and reduces labor costs.

[0032] The implementation principle of this application embodiment is as follows: When it is necessary to transport and unload the fruit half on the turntable, the parallel finger cylinder 4 is activated, which drives the two picking blocks 5 to move relative to each other to clamp and fix the areca nut pieces on the turntable station. Then, the second linear module 7 is activated, which drives the connecting frame 3 on the slide of the second linear module 7 to slide along the support frame 2. The first linear module 6 is activated, which drives the support frame 2 on the slide of the first linear module 6 to slide along the mounting frame 1, thereby realizing the displacement of the areca nut pieces. The qualified areca nut pieces held by the picking blocks 5 are moved to the qualified bucket 18, and the unqualified areca nut pieces held by the picking blocks 5 are moved to the unqualified bucket 19. The parallel finger cylinder 4 is activated again, which drives the two picking blocks 5 to move in opposite directions to release the clamping of the areca nut pieces, thereby realizing the automatic unloading of the areca nut pieces.

[0033] This application employs a two-stage sliding structure, requiring only the control of displacement in two linear directions to complete the picking, placing, and unloading of the fruit half. The movement trajectory is a simple planar straight line, fundamentally reducing the risk of collisions. The complexity of path planning and control is significantly reduced, the system response speed is faster, and the overall unloading efficiency is significantly improved. For scenarios where the turntable station is tilted, this application can flexibly adapt to turntable station layouts with different tilt angles by adjusting the direction of the two-stage sliding or optimizing the sliding stroke.

[0034] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A feeding structure, characterized in that: It includes a mounting frame (1) set on a turntable frame, a support frame (2) slidably connected to the mounting frame (1), a connecting frame (3) slidably connected to the support frame (2), a material taking device for taking half of the fruit on the connecting frame (3), a first driving device for driving the support frame (2) to slide on the mounting frame (1), and a second driving device for driving the connecting frame (3) to slide on the support frame (2).

2. The feeding structure according to claim 1, characterized in that: The material handling device includes a parallel finger cylinder (4) mounted on a connecting frame (3). The two slides of the parallel finger cylinder (4) are respectively provided with material handling blocks (5). The parallel finger cylinder (4) synchronously drives the two slides to move towards or away from each other.

3. The feeding structure according to claim 1, characterized in that: The first driving device includes a first linear module (6) disposed on the mounting frame (1), and the support frame (2) is disposed on the slide of the first linear module (6).

4. The feeding structure according to claim 1, characterized in that: The second driving device includes a second linear module (7) disposed on the support frame (2), and the connecting frame (3) is disposed on the slide of the second linear module (7).

5. The feeding structure according to claim 4, characterized in that: The support frame (2) is rotatably connected to the mounting plate (10), the second linear module (7) is disposed on the mounting plate (10), and the support frame (2) is provided with a fixing unit for connecting the mounting plate (10) to the support frame (2).

6. The feeding structure according to claim 5, characterized in that: The fixing unit includes a mounting bolt (8) that passes through the mounting plate (10), the support frame (2) has a mounting hole (9), the mounting bolt (8) is threaded into the mounting hole (9), and the support frame (2) is provided with a limiting component for limiting the position of the mounting plate (10).

7. The feeding structure according to claim 6, characterized in that: The limiting component includes a limiting block (11) disposed on the mounting plate (10), a limiting seat (12) disposed on the support frame (2), a limiting rod (13) threaded through and connected to the limiting seat (12), and one end of the limiting rod (13) facing the limiting block (11) in contact with the limiting block (11).

8. The feeding structure according to claim 5, characterized in that: An angle ruler (14) is provided on the mounting plate (10), and an indicator (15) matching the angle ruler (14) is provided on the support frame (2), with the end of the indicator (15) corresponding to the angle ruler (14).

9. The feeding structure according to claim 2, characterized in that: The connecting frame (3) is provided with a telescopic part (16), and the output end of the telescopic part (16) is provided with a push block (17), which is located between the two material picking blocks (5).

10. The feeding structure according to claim 1, characterized in that: A qualified bucket (18) and an unqualified bucket (19) are provided between the mounting frame (1) and the turntable. The qualified bucket (18) and the unqualified bucket (19) are respectively provided with receiving ports, which are located on the sliding path of the connecting frame (3).

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