Fish product palletizing apparatus

Abstract

The utility model discloses a kind of fish product stacking equipment, including conveying assembly, top support mechanism and multi-axis movement mechanism.Conveying assembly has the length along the first direction extension and the width along the second direction extension, conveying assembly is suitable for conveying fish product to target position along the first direction, top support mechanism is equipped with first top support part and second top support part, first top support part and second top support part are distributed in the opposite sides of conveying assembly along the second direction in target position, first top support part and second top support part all have multiple supporting fingers, supporting gap is equipped between adjacent supporting fingers, multi-axis movement mechanism is installed in the adjacent side of conveying assembly, the end of multi-axis movement mechanism is installed with clamping assembly, stacking area is equipped in the working range of multi-axis movement mechanism, clamping assembly is equipped with multiple clamping fingers, clamping finger is suitable for inserting or separating from first top support part and second top support part from supporting gap.The utility model can realize the automatic stacking of fish product.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, and in particular to a fish product palletizing equipment. Background Technology

[0002] With advancements in fish farming and marine fishing techniques, the scale of fish product processing is gradually expanding. After sorting, fish products need to be stacked, a process traditionally done manually, requiring significant manpower and not allowing for extended periods of work. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a fish product palletizing device capable of automating the palletizing of fish products.

[0004] This utility model embodiment provides a fish product palletizing device, including: A conveying assembly having a length extending in a first direction and a width extending in a second direction, the conveying assembly being adapted to convey fish products in the first direction to a target location; The top support mechanism is provided with a first top support part and a second top support part that cooperate with each other. The first top support part and the second top support part are distributed on opposite sides of the conveying assembly along the second direction at the target position. The first top support part and the second top support part each have multiple supporting fingers, and a supporting gap is provided between adjacent supporting fingers. A multi-axis motion mechanism is installed on the adjacent side of the conveying assembly. A clamping assembly is installed at the end of the multi-axis motion mechanism. A stacking area is provided within the working range of the multi-axis motion mechanism. The clamping assembly is provided with multiple clamping fingers. The clamping fingers are adapted to insert into or detach from the first top support and the second top support from the support gap.

[0005] According to some embodiments of the present invention, the end of the finger support is provided with a guide slope.

[0006] According to some embodiments of the present invention, the finger support is provided with a first flexible pad, and the guide slope is disposed on the first flexible pad.

[0007] According to some embodiments of the present invention, the first flexible pad is a pad made of a combination of silicone and waterproof cotton.

[0008] According to some embodiments of this utility model, the supporting finger is equipped with a protective band, and the protective band and the supporting finger are loosely coupled.

[0009] According to some embodiments of the present invention, at least one of the plurality of supporting fingers is provided with a positioning detection sensor.

[0010] According to some embodiments of the present invention, the top support mechanism further includes a top support power component and a first clamping power component. The first clamping power component is installed on the power end of the top support power component, and the power end of the first clamping power component is respectively connected to the first top support portion and the second top support portion.

[0011] According to some embodiments of this utility model, the multi-axis motion mechanism is a multi-axis robotic arm.

[0012] According to some embodiments of the present invention, the clamping assembly includes a second clamping power member, a first clamping jaw, and a second clamping jaw. The first clamping jaw and the second clamping jaw are both connected to the second clamping power member, and at least one of the first clamping jaw and the second clamping jaw is provided with the clamping finger.

[0013] According to some embodiments of the present invention, both the first gripper and the second gripper are provided with a second flexible pad.

[0014] The embodiments of this utility model have at least the following beneficial effects: In use, the conveying assembly transports the fish products to the target location. The first and second supporting parts of the supporting mechanism are inserted from the bottom sides of the fish products and lift them to detach from the conveying assembly. The multi-axis motion mechanism controls the clamping assembly to clamp the fish products. There are supporting gaps between adjacent supporting fingers. The clamping fingers can be inserted into the first and second supporting parts through the supporting gaps to clamp the fish products, and the clamping fingers can also be disengaged from the first and second supporting parts through the supporting gaps to remove the fish products from the supporting mechanism. The multi-axis motion mechanism controls the clamping assembly to transfer the fish products to the palletizing area for palletizing, thereby realizing automated palletizing of the fish products.

[0015] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the structure of the fish product palletizing equipment according to an embodiment of the present utility model; Figure 2 for Figure 1 The diagram shows the structure of the top support mechanism of the fish product palletizing equipment; Figure 3 for Figure 2 The diagram shows the structure of the top support mechanism that supports the fingers.

[0017] Figure label: Conveying assembly 100, top support mechanism 200, first top support part 210, second top support part 220, supporting finger 201, supporting gap 202, guide slope 203, first flexible pad 204, protective belt 205, movable gap 206, top support power component 230, first clamping power component 240, multi-axis motion mechanism 300, clamping assembly 310, clamping finger 311, stacking area 320, second clamping power component 312, first gripper 313, second gripper 314. Detailed Implementation

[0018] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0019] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional 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, they should not be construed as limitations on this utility model.

[0020] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first," "second," etc., are used in the description, they are only for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the sequential relationship of the indicated technical features.

[0021] In the description of this utility model, unless otherwise explicitly defined, the terms "setting", "installation", "connection", etc. should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in combination with the specific content of the technical solution.

[0022] Please refer to Figure 1 and Figure 2This embodiment discloses a fish product palletizing device, including a conveying assembly 100, a top support mechanism 200, and a multi-axis motion mechanism 300. The conveying assembly 100 has a length extending along a first direction and a width extending along a second direction, such as... Figure 1 The left and right directions are shown, and the second direction is as follows. Figure 1 As shown in the front-back direction, the conveying assembly 100 is adapted to convey fish products along the first direction to a target position, which is a preset position that can be set according to actual application requirements. The conveying assembly 100 can be a synchronous belt conveying structure or a moving plate conveying structure (e.g., a moving plate that is driven or pushed by a motor to move back and forth). The top support mechanism 200 is provided with a first top support portion 210 and a second top support portion 220 that cooperate with each other. The first top support portion 210 and the second top support portion 220 are distributed on opposite sides of the conveying assembly 100 along a second direction at the target position. Both the first top support portion 210 and the second top support portion 220 have multiple supporting fingers 201. A supporting gap 202 is provided between adjacent supporting fingers 201. A multi-axis motion mechanism 300 is installed on the adjacent side of the conveying assembly 100. A clamping assembly 310 is installed at the end of the multi-axis motion mechanism 300. A stacking area 320 is provided within the working range of the multi-axis motion mechanism 300. A container is placed in the stacking area 320. The container can be a box or a pallet, etc. The clamping assembly 310 is provided with multiple clamping fingers 311. The clamping fingers 311 are adapted to insert into or detach from the first top support portion 210 and the second top support portion 220 through the supporting gap 202.

[0023] In some application examples, the fish products can be pre-processed live fish products. This pre-processing can involve using freezing technology to temporarily deactivate the fish products, preserving their life and shape while preventing excessive movement during transport and palletizing, thus reducing the difficulty of these processes. Alternatively, in other application examples, the fish products can be frozen products.

[0024] In use, the conveying assembly 100 conveys the fish product to the target position. The first supporting part 210 and the second supporting part 220 of the supporting mechanism 200 are inserted from the bottom sides of the fish product to support it and lift it to detach from the conveying assembly 100. The multi-axis motion mechanism 300 controls the clamping assembly 310 to clamp the fish product. A supporting gap 202 is provided between adjacent supporting fingers 201. The clamping fingers 311 can be inserted into the first supporting part 210 and the second supporting part 220 through the supporting gap 202 to clamp the fish product. The clamping fingers 311 can also be disengaged from the first supporting part 210 and the second supporting part 220 through the supporting gap 202 to remove the fish product from the supporting mechanism 200. The multi-axis motion mechanism 300 controls the clamping assembly 310 to transfer the fish product to the palletizing area 320 for palletizing, thereby realizing automated palletizing of the fish product. During palletizing, the palletizing posture of fish products can be adjusted according to actual palletizing needs. For example, in some applications, fish products are packed belly-up to avoid excrement being squeezed out due to the weight of the fish products during subsequent transportation, thus keeping the products and boxes clean.

[0025] Because fish products are shape-sensitive, meaning damage to their appearance significantly affects product quality, damaging the appearance of fish products during transport and palletizing will reduce their economic value. Therefore, please refer to... Figure 2 and Figure 3 The supporting fingers 201 are provided with guide slopes 203 at their ends. The thickness of the first end of the guide slope 203 is less than the thickness of the second end. When the first support portion 210 and the second support portion 220 are inserted into the bottom of the fish product, the contact area between the first end of the guide slope 203 and the fish product is smaller, which can reduce damage to the surface of the fish product. The guide slope 203 can gradually penetrate from both sides of the fish product into the middle of the bottom of the fish product, thereby supporting the fish product. The supporting fingers 201 of the first support portion 210 and the second support portion 220 can be mirror-symmetrically distributed or staggered. For example, the supporting fingers 201 of the first support portion 210 correspond to the supporting gaps 202 of the second support portion 220.

[0026] Please continue to refer to Figure 2 and Figure 3In some application examples, the finger support 201 is equipped with a first flexible pad 204, and the guide slope 203 is disposed on the first flexible pad 204. The first flexible pad 204 has a slight elasticity, and the contact between it and the fish product is a flexible contact, which can avoid damage to the surface of the fish product caused by hard contact, such as scaling or scratches. The first flexible pad 204 is a pad made of a combination of silicone and waterproof cotton. The silicone material is a flexible material with slight deformation, which can achieve flexible contact and has a certain degree of waterproof and corrosion resistance, while the waterproof cotton can enhance the waterproof effect, reduce the corrosion effect, and improve the service life of the first flexible pad 204.

[0027] Please refer to Figure 2 and Figure 3 In some application examples, the supporting finger 201 is equipped with a protective strip 205, and the protective strip 205 and the supporting finger 201 are loosely coupled. The protective strip 205 is a flexible strip structure, such as a silicone strip or a rubber strip. The first end of the protective strip 205 is fixed to the supporting finger 201, the middle part of the protective strip 205 covers the supporting finger 201 and wraps around the end of the supporting finger 201, so that the second end of the protective strip 205 is fixed to the bottom of the supporting finger 201. Note that the protective strip 205 shown in the figure is only a schematic diagram and not an actual structural diagram. The protective strip 205 is not fixed to the end of the supporting finger 201, and there is a certain movable gap 206 between the protective strip 205 and the supporting finger 201, thus resulting in a loose coupling between the protective strip 205 and the supporting finger 201. During the process of inserting the support finger 201 into the bottom of the fish product, the protective strip 205 comes into contact with the surface of the fish product, and the support finger 201 moves toward the middle of the bottom of the fish product. During this process, the first frictional force between the protective strip 205 and the fish product is greater than the second frictional force between the protective strip 205 and the support finger 201, and the protective strip 205 and the support finger 201 are loosely coupled. The end of the support finger 201 abuts against the protective strip 205 and moves (which can be understood as the protective strip 205 rolling relative to the support finger 201), avoiding direct contact between the support finger 201 and the fish product, thereby reducing damage to the surface of the fish product.

[0028] At least one of the multiple supporting fingers 201 is provided with a position detection sensor (not shown). The position detection sensor is used to detect the position of the fish product placed on the conveying assembly 100. When the fish product is conveyed to the target position, the position detection sensor sends a control signal to stop the conveying assembly 100, so that the fish product can stop at the target position so that the supporting mechanism 200 can support the fish product.

[0029] Please refer to Figure 2The supporting mechanism 200 also includes a supporting power component 230 and a first clamping power component 240. The first clamping power component 240 is installed at the power end of the supporting power component 230, and the power end of the first clamping power component 240 is connected to the first supporting portion 210 and the second supporting portion 220 respectively. The supporting power component 230 can move up or down in the vertical direction, thereby driving the first clamping power component 240, the first supporting portion 210 and the second supporting portion 220 to simultaneously support or reset. The first clamping power component 240 controls the first supporting portion 210 and the second supporting portion 220 to move closer or further apart from each other, thereby controlling the supporting fingers 201 to insert into the middle of the bottom from both sides of the fish product, or controlling the supporting fingers 201 to reset. The supporting power component 230 and the first clamping power component 240 can be cylinders or motors.

[0030] Please refer to Figure 1 The multi-axis motion mechanism 300 is a multi-axis robotic arm. The multi-axis robotic arm has multiple degrees of freedom and can move flexibly to effectively meet different palletizing posture requirements.

[0031] Please continue to refer to Figure 1 The clamping assembly 310 includes a second clamping power member 312, a first gripper 313 and a second gripper 314. The first gripper 313 and the second gripper 314 are both connected to the second clamping power member 312. At least one of the first gripper 313 and the second gripper 314 is provided with a gripping finger 311. For example, in some applications, the first gripper 313 is equipped with gripping fingers 311. When the fish product needs to be gripped, the first gripper 313 and the second gripper 314 open, with the first gripper 313 located at the bottom of the fish product and the second gripper 314 located above it. The first gripper 313 inserts into the first support portion 210 and the second support portion 220 through the support gap 202. When the fish product moves to the target position, the first support portion 210 and the second support portion 220 lift the fish product, and the first gripper 313 and the second gripper 314 close to clamp the fish product. The multi-axis motion mechanism 300 controls the movement of the gripping assembly 310, and the first gripper 313 disengages from the first support portion 210 and the second support portion 220 through the support gap 202. In other applications, both the first gripper 313 and the second gripper 314 are equipped with gripping fingers 311.

[0032] Both the first gripper 313 and the second gripper 314 are provided with a second flexible pad (not shown). The second flexible pad makes flexible contact with the fish product to avoid damaging the surface of the fish product. The material of the second flexible pad is the same as that of the first flexible pad 204.

[0033] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A fish product palletizing equipment, characterized in that, include: A conveying assembly (100) has a length extending in a first direction and a width extending in a second direction, the conveying assembly (100) being adapted to convey fish products to a target location in the first direction; The top support mechanism (200) is provided with a first top support part (210) and a second top support part (220) that cooperate with each other. The first top support part (210) and the second top support part (220) are distributed on opposite sides of the conveying assembly (100) along the second direction at the target position. The first top support part (210) and the second top support part (220) each have multiple supporting fingers (201), and a supporting gap (202) is provided between adjacent supporting fingers (201). A multi-axis motion mechanism (300) is installed on the adjacent side of the conveying assembly (100). A clamping assembly (310) is installed at the end of the multi-axis motion mechanism (300). A palletizing area (320) is provided within the working range of the multi-axis motion mechanism (300). The clamping assembly (310) is provided with a plurality of clamping fingers (311). The clamping fingers (311) are adapted to insert into or detach from the first top support (210) and the second top support (220) from the support gap (202).

2. The fish product palletizing equipment according to claim 1, characterized in that, The end of the supporting finger (201) is provided with a guide slope (203).

3. The fish product palletizing equipment according to claim 2, characterized in that, The supporting finger (201) is equipped with a first flexible pad (204), and the guide slope (203) is disposed on the first flexible pad (204).

4. The fish product palletizing equipment according to claim 3, characterized in that, The first flexible pad (204) is a pad made of a combination of silicone and waterproof cotton.

5. The fish product palletizing equipment according to any one of claims 1 to 4, characterized in that, The supporting finger (201) is equipped with a protective band (205), and the protective band (205) and the supporting finger (201) are loosely coupled.

6. The fish product palletizing equipment according to claim 1, characterized in that, At least one of the plurality of supporting fingers (201) is provided with a positioning detection sensor.

7. The fish product palletizing equipment according to claim 1, characterized in that, The top support mechanism (200) further includes a top support power member (230) and a first clamping power member (240). The first clamping power member (240) is installed on the power end of the top support power member (230). The power end of the first clamping power member (240) is connected to the first top support part (210) and the second top support part (220) respectively.

8. The fish product palletizing equipment according to claim 1, characterized in that, The multi-axis motion mechanism (300) is a multi-axis robotic arm.

9. The fish product palletizing equipment according to claim 1, characterized in that, The clamping assembly (310) includes a second clamping power member (312), a first jaw (313) and a second jaw (314), both the first jaw (313) and the second jaw (314) being connected to the second clamping power member (312), and at least one of the first jaw (313) and the second jaw (314) being provided with the clamping finger (311).

10. The fish product palletizing equipment according to claim 9, characterized in that, Both the first gripper (313) and the second gripper (314) are provided with a second flexible pad.

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