Catching and positioning device for a can after its overturning

Abstract

The utility model provides a be used for catching positioning device after caterpillar grass box overturning, including conveyer belt and material frame, material frame includes a plurality of small frame, be equipped with a plurality of caterpillar grass box in small frame, be equipped with a plurality of positioning device on small frame, and positioning device includes outer sleeve, is equipped with cylinder on outer sleeve, is equipped with the rolling ball of rotation on cylinder, is equipped with the adjusting nut of movement in cylinder, positioning device is used for fixed caterpillar grass box. When material frame carries out overturning operation, because caterpillar grass box is positioned by the positioning of two layers, to avoid a plurality of caterpillar grass boxes from material frame overturns. The cylinder can be telescopic sliding relative to the small frame in material frame, so that the size of caterpillar grass box can be adjusted, avoid when moving material frame, caterpillar grass box will appear to shake, lead to the deviation of caterpillar grass box position, thereby avoid the phenomenon of the damage of robot and product to occur when grabbing because of the deviation of one position, when grabbing, the collision of machine occurs.

Description

Technical Field

[0001] This utility model relates to the field of cordyceps box production, and in particular to a gripping and positioning device for cordyceps boxes after they are flipped over. Background Technology

[0002] During the production process of cordyceps boxes, a series of processes such as coating, cleaning, and sterilization are required on the conveyor line. Multiple cordyceps boxes need to be picked up by the front-end robot and placed in the material frame, and then undergo a series of processes such as coating, cleaning, and sterilization. The material frame needs to be picked up by the robot first and then undergo these processes. After the previous process is completed, the robot of the previous process places the material frame on the material frame conveyor line, and the conveyor line transports it to the next process position. The next robot picks up the material frame or cordyceps box again to perform the operation. Finally, the robot at the rear takes the cordyceps box out of the material frame and places it in the recycling bin.

[0003] In these processes, the material crates need to be frequently flipped, and the cordyceps boxes inside are removed and then returned after each process. With existing material crates, if the flipping angle exceeds a certain range, the cordyceps boxes are prone to falling out, damaging the product. Furthermore, during flipping or moving, the cordyceps boxes tend to wobble within the crate, causing positional deviations. This deviation in one position can lead to a "collision" during grasping, damaging both the robot and the product. Utility Model Content

[0004] This utility model provides a gripping and positioning device for Cordyceps boxes after flipping, which solves the problem that when Cordyceps boxes are coated, cleaned and sterilized, they are prone to falling off the material frame during the flipping operation, damaging the product. At the same time, Cordyceps boxes are prone to shaking in the material frame, causing the position of the Cordyceps boxes to deviate and causing collisions during gripping.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: a gripping and positioning device for flipping cordyceps boxes, including a conveyor belt and a material frame. The material frame includes multiple small frames, and multiple cordyceps boxes are provided in the small frames. Multiple positioning devices are provided on the small frames. The positioning device includes an outer sleeve, a column on the outer sleeve, a rotating ball on the column, and a movable adjusting nut inside the column. The positioning device is used to secure the cordyceps box.

[0006] In the preferred embodiment, the material box moves on a conveyor belt, and multiple robots are installed on one side of the conveyor belt. The robots grab the material box and flip or translate it.

[0007] In a preferred embodiment, the small frame includes a frame body, with multiple positioning grooves around the frame body and multiple through holes around the frame body. The small frame has a placement groove, and the cordyceps box is located inside the placement groove.

[0008] In the preferred embodiment, the through hole passes through the positioning groove, the adjacent frames are connected by a connecting plate, the bottom cordyceps box abuts against the bottom of the small frame, and the remaining cordyceps boxes are located between the upper and lower positioning devices.

[0009] In a preferred embodiment, the outer sleeve includes a cylinder with a groove, a first internal thread at one end of the cylinder, and multiple locking plates at the other end of the cylinder, each locking plate having a tapered thread.

[0010] In the preferred embodiment, the locking plate is connected to the nut, and the bottom of the cylinder is provided with bolt holes, and the cylinder is connected to the small frame by bolts.

[0011] In a preferred embodiment, the cylinder includes a cylindrical body with a ball groove at one end, a ball sliding against the ball groove, an external thread on the cylinder, and a connecting rod at one end of the cylinder.

[0012] In the preferred embodiment, the external thread is connected to the first internal thread, the other end of the cylinder is provided with a rounded corner, and the cylinder abuts against multiple locking plates.

[0013] In the preferred embodiment, the cylinder has a hollow structure and a second internal thread inside the cylinder. The adjusting nut is connected to the second internal thread, and a rotating rod is provided at one end of the adjusting nut.

[0014] In the preferred embodiment, the top positioning device is installed on the top of the frame, the remaining positioning devices are installed on the positioning slots of the frame, the material frame abuts against the conveyor belt, and multiple robots are provided on one side of the conveyor belt.

[0015] The beneficial effects of this utility model are as follows: When it is necessary to operate on the cordyceps boxes in the material frame, the robot at the front grabs the cordyceps boxes and puts them into the material frame. The side of the cordyceps box first passes through the top positioning device, so that the roller ball of the top positioning device compresses the spring. When the roller ball is compressed, the cordyceps box passes through the positioning device of this layer, and the roller ball rebounds. Then it passes through multiple layers of positioning devices in sequence until the bottom cordyceps box abuts against the bottom of the small frame. The top of the bottom cordyceps box abuts against the positioning device, and the cordyceps boxes of the remaining layers abut between the upper and lower positioning devices.

[0016] By rotating the adjusting nut, the initial compression distance of the springs is adjusted so that the spring extension force of the multiple positioning devices is greater than the weight of the cordyceps box, allowing the cordyceps box to be positioned between the upper and lower positioning devices. Simultaneously, the robot's gripping force is greater than the spring extension force of the multiple positioning devices, enabling the robot to remove the cordyceps box from the material box.

[0017] When the material frame is flipped, the cordyceps boxes are positioned by the upper and lower positioning devices to prevent multiple boxes from falling out. The column can extend and slide relative to the smaller frames inside the material frame, allowing adjustment of the size of the cordyceps boxes. This prevents the boxes from shaking when the material frame is moved, thus avoiding misalignment and collisions during grasping, which could damage the robot and the product.

[0018] The cordyceps box is located between the rolling balls of the positioning devices on the upper and lower layers. The side of the cordyceps box abuts against one end of the cylinder. Multiple positioning devices limit the cordyceps box so that the robot can accurately grasp it. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments; Figure 1 This is a side view of the overall structure of this utility model; Figure 2 This is an axonometric view of a partial structure of this utility model; Figure 3 This is an axonometric view of the small frame of this utility model; Figure 4 This is an axonometric view of the positioning device of this utility model; Figure 5 This is a cross-sectional view of the positioning device of this utility model; Figure 6 This is an exploded view of the positioning device of this utility model; Figure 7 This is a schematic diagram of the positioning device for positioning the cordyceps box in the upper and lower layers of this utility model. In the diagram: Material frame 1; Small frame 2; Frame body 201; Positioning groove 202; Through hole 203; Placement groove 204; Connecting plate 205; Positioning device 3; Outer sleeve 4; Cylinder body 401; Hole groove 402; First internal thread 403; Bolt hole 405; Locking plate 406; Column 5; Cylinder 501; External thread 502; Ball groove 503; Connecting rod 504; Second internal thread 505; Ball 6; Adjusting nut 7; Rotating rod 701; Nut 8; Spring 9; Robot 10; Conveyor belt 11. Detailed Implementation

[0020] Example 1: like Figures 1-7 In the middle, a gripping and positioning device for flipping cordyceps boxes includes a conveyor belt 11 and a material frame 1. The material frame 1 includes multiple small frames 2, each containing multiple cordyceps boxes. Multiple positioning devices 3 are provided on each small frame 2. The positioning device 3 includes an outer sleeve 4, a column 5 on the outer sleeve 4, a rotating ball 6 on the column 5, and a movable adjusting nut 7 inside the column 5. The positioning device 3 is used to fix the cordyceps boxes. With this structure, when it is necessary to operate on the cordyceps boxes in the material frame 1, the front robot grabs the cordyceps boxes and puts them into the material frame 1. The side of the cordyceps box first passes through the top positioning device 3, so that the ball 6 of the top positioning device 3 compresses the spring 9. When the ball 6 is compressed, the cordyceps box passes through this layer of positioning device 3, and the ball 6 rebounds. Then it passes through multiple layers of positioning devices 3 in sequence until the bottom cordyceps box abuts against the bottom of the small frame 2, and the top of the bottom cordyceps box abuts against the positioning device 3. The cordyceps boxes of the remaining layers abut between the upper and lower positioning devices 3.

[0021] By rotating the adjusting nut 7, the initial compression distance of the spring 9 is adjusted so that the extension force of the spring 9 of the multiple positioning devices 3 is greater than the weight of the cordyceps box, allowing the cordyceps box to be positioned between the upper and lower positioning devices 3. At the same time, the robot's gripping force is greater than the extension force of the spring 9 of the multiple positioning devices 3, enabling the robot to remove the cordyceps box from the material frame 1.

[0022] When the material frame 1 is flipped, the cordyceps boxes are positioned by the upper and lower positioning devices 3 to prevent multiple cordyceps boxes from falling out of the material frame 1. The column 5 can extend and slide relative to the small frame 2 inside the material frame 1 to adjust the size of the cordyceps boxes. This prevents the cordyceps boxes from shaking when the material frame 1 is moved, which could cause the cordyceps boxes to deviate in position. This avoids collisions during grasping due to deviation in one position, which could damage the robot and the product.

[0023] The cordyceps box is located between the rolling balls 6 of the positioning devices 3 on the upper and lower layers. The side of the cordyceps box abuts against one end of the cylinder 501. Multiple positioning devices 3 limit the cordyceps box so that the robot can accurately grasp it.

[0024] In the preferred embodiment, the material box 1 moves on the conveyor belt 11, and multiple robots 10 are provided on one side of the conveyor belt 11. The robots 10 grasp the material box 1 and flip or translate it. With this structure, when the robots 10 grasp the material box 1 and flip or translate it, some robots will remove the cordyceps box from the material box 1 when it is necessary to spray it. After the spraying is completed, the cordyceps box is put back into the material box 1.

[0025] In a preferred embodiment, the small frame 2 includes a frame body 201, with multiple positioning grooves 202 and multiple through holes 203 around its perimeter. The small frame 2 has a placement groove 204, and the cordyceps box is located inside the placement groove 204. With this structure, the cordyceps box has a container structure with multiple small compartments inside, facilitating robot gripping and placement. The material frame 1 has a cylindrical external structure, also facilitating robot gripping and placement.

[0026] In the preferred embodiment, the through hole 203 penetrates the positioning groove 202, adjacent frames 201 are connected by a connecting plate 205, the bottom cordyceps box abuts against the bottom of the small frame 2, and the remaining cordyceps boxes are located between the upper and lower positioning devices 3. With this structure, the through hole 203 is used for positioning the outer sleeve 4 of the positioning device 3. When installing the positioning device 3, the top positioning device 3 is installed first, so that the bolt enters the bolt hole 405 of the top positioning device 3 from the bottom of the through hole 203. Then, the devices are installed sequentially from top to bottom, so that multiple layers of positioning devices 3 are installed on the material frame 1.

[0027] The material box 1 includes multiple small boxes 2, and adjacent small boxes 2 are connected by a connecting plate 205.

[0028] In a preferred embodiment, the outer sleeve 4 includes a cylindrical body 401 with a groove 402, a first internal thread 403 at one end, and multiple locking plates 406 with tapered threads at the other end. With this structure, the bolt holes 405 of the outer sleeve 4 are used for mounting and positioning the positioning device 3. The column 5 abuts against the groove 402, and the extension length of the column 5 is adjusted by rotating the connecting rod 504 to allow rotation.

[0029] After the extension length of the column 5 is adjusted, rotate the nut 8 to lock the column 5 with multiple locking plates 406 to prevent the column 5 from sliding. The locking plates 406 are provided with tapered threads, and there are slots between adjacent locking plates 406. The nut 8 is provided with threads. When the nut 8 is rotated, the multiple locking plates 406 clamp the column 5.

[0030] In the preferred embodiment, the locking plate 406 is connected to the nut 8, the bottom of the cylinder 401 is provided with bolt holes 405, and the cylinder 401 is connected to the small frame 2 by bolts.

[0031] In a preferred embodiment, the cylinder 5 includes a cylinder 501, one end of which has a ball groove 503. A ball 6 slides against the ball groove 503. The cylinder 501 has an external thread 502, and one end of the cylinder 501 has a connecting rod 504. With this structure, the ball 6 slides against the ball groove 503, the cordyceps box rests against one end of the cylinder 501, and the upper and lower balls 6 lock the cordyceps box in place.

[0032] In the preferred embodiment, the external thread 502 is connected to the first internal thread 403, and the other end of the cylinder 501 is rounded. The cylinder 501 abuts against multiple locking pieces 406. With this structure, when the material frame 1 is flipped, the cordyceps boxes are positioned by the upper and lower positioning devices 3, preventing multiple cordyceps boxes from flipping out of the material frame 1. The cylinder 5 can slide telescopically relative to the small frame 2 inside the material frame 1, allowing adjustment of the size of the cordyceps boxes. This prevents the cordyceps boxes from shaking when the material frame 1 is moved, thus avoiding positional deviations and preventing collisions during grasping due to deviations in one position, which could damage the robot and the product.

[0033] In the preferred embodiment, the cylinder 501 has a hollow structure and a second internal thread 505 inside. The adjusting nut 7 is connected to the second internal thread 505, and one end of the adjusting nut 7 has a rotating rod 701. With this structure, rotating the rotating rod 701 causes the adjusting nut 7 to rotate, thereby adjusting the position of the adjusting nut 7, which in turn compresses or extends the spring 9, thereby adjusting the force output by the spring 9 on the ball 6.

[0034] In the preferred embodiment, the top positioning device 3 is installed on the top of the frame 201, and the remaining positioning devices 3 are installed on the positioning grooves 202 of the frame 201. The material box 1 rests against the conveyor belt 11, and multiple robots 10 are provided on one side of the conveyor belt 11. In this structure, the robot 10 is existing technology, and the cordyceps box is a container structure. The gripping and placement of the cordyceps box and the material box by the robot 10 will not be described in detail again.

[0035] The above embodiments are merely preferred technical solutions of this utility model and should not be considered as limitations on this utility model. The protection scope of this utility model should be the technical solution described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the protection scope of this utility model.

Claims

1. A device for gripping and positioning cordyceps boxes after they are flipped over, characterized in that: Includes a conveyor belt (11) and a material box (1). The material box (1) includes multiple small boxes (2). Multiple cordyceps boxes are provided in the small boxes (2). Multiple positioning devices (3) are provided on the small boxes (2). The positioning device (3) includes an outer sleeve (4). A column (5) is provided on the outer sleeve (4). A rotating ball (6) is provided on the column (5). A movable adjusting nut (7) is provided inside the column (5). The positioning device (3) is used to fix the cordyceps box.

2. The device for gripping and positioning after flipping a cordyceps box according to claim 1, characterized in that: The material box (1) moves on the conveyor belt (11). Multiple robots (10) are provided on one side of the conveyor belt (11). The robots (10) grab the material box (1) and flip or translate it.

3. The device for gripping and positioning after flipping a cordyceps box according to claim 1, characterized in that: The small frame (2) includes a frame body (201), with multiple positioning grooves (202) around the frame body (201) and multiple through holes (203) around the frame body (201). The small frame (2) has a placement groove (204), and the cordyceps box is located inside the placement groove (204).

4. The device for gripping and positioning after flipping a cordyceps box according to claim 3, characterized in that: The through hole (203) passes through the positioning groove (202), and the adjacent frames (201) are connected by the connecting plate (205). The bottom cordyceps box abuts against the bottom of the small frame (2), and the rest cordyceps boxes are located between the upper and lower positioning devices (3).

5. The device for gripping and positioning after flipping a cordyceps box according to claim 1, characterized in that: The outer sleeve (4) includes a cylinder (401), a groove (402) is provided on the cylinder (401), a first internal thread (403) is provided at one end of the cylinder (401), and multiple locking plates (406) are provided at the other end of the cylinder (401), with tapered threads on the locking plates (406).

6. The device for gripping and positioning after flipping a cordyceps box according to claim 5, characterized in that: The locking plate (406) is connected to the nut (8), and the bottom of the cylinder (401) is provided with bolt holes (405). The cylinder (401) is connected to the small frame (2) by bolts.

7. The device for gripping and positioning cordyceps boxes after flipping as described in claim 1, characterized in that: The cylinder (5) includes a cylinder (501), one end of which is provided with a ball groove (503), and a ball (6) slides against the ball groove (503). The cylinder (501) is provided with an external thread (502), and one end of the cylinder (501) is provided with a connecting rod (504).

8. The device for gripping and positioning after flipping a cordyceps box according to claim 7, characterized in that: The external thread (502) is connected to the first internal thread (403), and the other end of the cylinder (501) is provided with a rounded corner. The cylinder (501) abuts against multiple locking pieces (406).

9. The device for gripping and positioning after flipping a cordyceps box according to claim 7, characterized in that: The cylinder (501) has a hollow structure and a second internal thread (505) is provided inside the cylinder (501). The adjusting nut (7) is connected to the second internal thread (505), and a rotating rod (701) is provided at one end of the adjusting nut (7).

10. The device for gripping and positioning after flipping a cordyceps box according to claim 1, characterized in that: The top positioning device (3) is installed on the top of the frame (201), and the remaining positioning devices (3) are installed on the positioning slots (202) of the frame (201). The material box (1) abuts against the conveyor belt (11), and multiple robots (10) are provided on one side of the conveyor belt (11).

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