CN110589466A - Gripping device for frozen product production line - Google Patents
Gripping device for frozen product production line Download PDFInfo
- Publication number
- CN110589466A CN110589466A CN201910660316.6A CN201910660316A CN110589466A CN 110589466 A CN110589466 A CN 110589466A CN 201910660316 A CN201910660316 A CN 201910660316A CN 110589466 A CN110589466 A CN 110589466A
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- Prior art keywords
- longitudinal
- clamping jaw
- transverse
- seat
- swing arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
Abstract
The invention belongs to the technical field of mechanical automation equipment, and particularly relates to a gripping device for a frozen product production line. It has solved the material and has shifted the in-process and remove asynchronous scheduling problem with the production line, including the mount pad that two mutual correspondences set up, the activity is equipped with two at least swing arms that correspond the setting each other between the mount pad, the activity is equipped with the clamping jaw seat that is the frame form between two adjacent swing arm one end, a plurality of clamping jaw components have in the clamping jaw seat, be equipped with clamping jaw position adjustment mechanism between clamping jaw component and the clamping jaw seat, be equipped with synchronous swing actuating mechanism between mount pad and the swing arm, the mount pad lower extreme is equipped with two supporting seats that correspond the setting each other, be equipped with translation drive structure between supporting seat and the mount pad. Has the advantages that: the claw clamp assembly can keep synchronous motion with the production line, so that the phenomenon that the claw clamp assembly is staggered with the production line to cause collision damage or toppling of materials during material transfer is avoided; can adjust clamping jaw subassembly spacing, realize snatching the accuracy of material.
Description
Technical Field
The invention belongs to the technical field of mechanical automation equipment, and particularly relates to a gripping device for a frozen product production line.
Background
In the modern machining production process, in order to accelerate the production rhythm and improve the production efficiency, materials are often required to be grabbed and operated to another adjacent production line for reprocessing, at present, when filling products are produced on the existing production line, frozen product cones or cup foods are usually picked from a production line tray by a swing arm device and placed on another conveyor belt, so that although the production efficiency is improved, the defects also exist, for example, after materials are transported, the position and direction of the material relative to the production line are changed, the orientation of the material needs to be frequently adjusted, the movement tracks of the material are synchronous, the production efficiency is reduced, simultaneously, because the material is along with the drive belt moves together in the transportation, when clamping jaw direct contact material, relative displacement can take place for both, and static snatching damages the material easily or causes the material to lodge. Present swing arm device transports the transmission in-process to daily production in using, except foretell easy damage material or lodging, still exists: poor stability of the swing arm in the swing process and the like.
In order to solve the problems of the prior art, people have long searched for and put forward various solutions. For example, chinese patent literature discloses a transfer device and a production line [ application No.: cn201721790519.x ], it includes long support, rocking arm, tray and slewing mechanism, there is the rotatable driving shaft on the support, the rocking arm includes relative first end and second end that sets up, first end and driving shaft are connected, the second end is equipped with the fixed axle, the tray is articulated with the fixed axle, slewing mechanism is used for driving the tray to rotate relative to the axis of the fixed axle, and can make the rotational speed of tray and the rotational speed of rocking arm the same, the rotation direction is opposite, the rotation angle equals. Above-mentioned scheme has solved the poor problem of current swing arm device stability in the transportation to a certain extent, still exists in this scheme: unable material that makes on swing arm and the transmission band keeps synchronous motion, can take place relative displacement between clamping jaw and the material, and static snatching damages the material easily or causes the material to lodge the scheduling problem.
Disclosure of Invention
The invention aims to solve the problems and provides a gripping device which is reasonable in design and can synchronously move a clamping jaw with a production line and is used for a frozen product production line.
In order to achieve the purpose, the invention adopts the following technical scheme: the gripping device for the frozen product production line comprises two mounting seats which are arranged correspondingly with each other, at least two swing arms which are arranged correspondingly are movably arranged between the mounting seats, a clamping jaw seat which is in a frame shape is movably arranged between one ends of two adjacent swing arms, a plurality of clamping jaw components are arranged in the clamping jaw seat, it is characterized in that a clamping jaw position adjusting mechanism for adjusting the position of the clamping jaw assembly is arranged between the clamping jaw assembly and the clamping jaw seat, a synchronous swing driving mechanism which can drive the swing arm to swing circumferentially and can enable the clamping jaw seat to keep horizontal in the circumferential swing process of the swing arm is arranged between the mounting seat and the swing arm, two supporting seats which are arranged correspondingly with each other are arranged at the lower end of the mounting seat, and a translation driving structure capable of driving the mounting seat to reciprocate between the two supporting seats is arranged between the supporting seats and the mounting seat. The swing arm on the mounting seat is driven to move back and forth between the two supporting seats through the translation driving structure, so that the jaw clamping assembly can keep synchronous motion with the production line, and the collision damage caused by dislocation of the jaw clamping assembly with the production line when materials are transferred is avoided.
In the above gripping device for a frozen product production line, the translational driving structure comprises two transverse shafts which are arranged between two supporting seats and are arranged in parallel, the end parts of the transverse shafts are fixedly arranged on one side of the upper ends of the supporting seats, the mounting seats are provided with sliding cylinders which penetrate through the mounting seats and are sleeved on the transverse shafts, the circumferential inner sides of the sliding cylinders are provided with graphite copper sleeves which are sleeved on the transverse shafts in a sliding manner, any one of the two mounting seats is provided with a mounting hole, a screw nut is fixedly arranged in the mounting hole, a translational driving screw rod in threaded connection with the screw nut is arranged in the screw nut in a penetrating manner, and one end of the translational driving screw rod is connected with a screw rod driving assembly which is arranged on the supporting seats and can drive the translational driving screw rod to rotate circumferentially; and the screw rod driving assembly comprises a screw rod motor mounting seat which is arranged on one side of the supporting seat far away from the mounting seat, a screw rod driving motor is arranged on the screw rod motor mounting seat, and a motor shaft of the screw rod driving motor is connected with the end part of the translation driving screw rod. The mounting base can be guided by two transverse shafts to perform axial horizontal movement. Wherein, set up the graphite copper sheathing in the slip barrel and reduced the friction of slip barrel with horizontal axle, prolonged the life of slip direction subassembly. Through the relative rotation of the feed screw nut and the translation driving feed screw, the mounting seat can move axially along with the feed screw nut.
In foretell grabbing device for freezing goods production line, synchronous swing actuating mechanism include the transmission shaft that sets up between two mount pads through rotating mounting structure, swing arm one end all fixed the setting on the transmission shaft, the swing arm be close to at least one side of transverse axis and be equipped with the nylon stopper that corresponds with the transverse axis, just the nylon stopper on have with the spacing portion of transverse axis circumference outer wall assorted arc, mount pad and transmission shaft between be equipped with and drive transmission shaft circumferential direction's rotation drive structure, just clamping jaw seat and swing arm between be equipped with and enable clamping jaw seat to keep the horizontal state's horizontal synchronization retaining mechanism when swing arm circumferential direction swings. Can ensure through horizontal synchronization retaining mechanism that swing arm circumference swing in-process, the clamping jaw seat remains the horizontality throughout, can prevent like this that each clamping jaw subassembly from taking place the slope or collision phenomenon each other when getting the material.
In the above gripping device for a frozen product production line, the rotary mounting structure includes a swing arm hole disposed at one end of the swing arm away from the jaw seat, the transmission shaft is fixedly inserted into the swing arm hole and extends to the mounting seat, a flange seat sleeved on the transmission shaft is disposed at one side of the swing hole away from the mounting seat, and the flange seat is respectively connected with the swing arm and the transmission shaft; the rotation driving structure comprises a rotation driving motor arranged on the mounting seat, and a motor shaft of the rotation driving motor is connected with one end of the transmission shaft.
In foretell grabbing device for freezing goods production line, horizontal synchronization hold mechanism including setting up the hinge hole at the one end that swing arm and gripper seat link to each other, the hinge hole in be equipped with swing arm graphite copper sheathing, swing arm graphite copper sheathing in wear to be equipped with swing arm axle and swing arm graphite copper sheathing rotate and link to each other, just swing arm axle one end link firmly with gripper seat, the other end is fixed and is equipped with first band pulley, the transmission shaft on the cover be equipped with be located between swing arm and the mount pad and with the corresponding second band pulley of first band pulley, first band pulley and second band pulley size, the size the same just second band pulley fixed set up in mount pad one side, and first band pulley and second band pulley around being equipped with annular hold-in range, the swing arm on be equipped with at least one and the pinch roller that annular hold-in range offseted and lean on. Because the second belt wheel can not swing along with the swing arm, when the swing arm swings in the circumferential direction, the annular synchronous belt can generate a displacement phenomenon, so that the first belt wheel rotates in the circumferential direction opposite to the rotating direction of the swing arm, and the horizontal position of the clamping jaw seat is always kept.
In the above gripping device for frozen product production line, the clamping jaw position adjusting mechanism comprises a plurality of sliding block sets longitudinally distributed along the clamping jaw seat, and each sliding block set comprises a plurality of sliding block bodies which are sequentially transversely arranged along the clamping jaw seat and are provided with clamping jaw components, and is characterized in that a plurality of transverse clamping jaw linear shafts arranged in parallel are sequentially transversely arranged in the clamping jaw seat, the sliding block body in each sliding block set sequentially penetrates through one transverse clamping jaw linear shaft, the sliding block bodies are respectively connected with the transverse clamping jaw linear shafts in a sliding way through an upper sliding mounting structure, a clamping jaw longitudinal adjusting component capable of adjusting the distance between the two transverse clamping jaw linear shafts is arranged between at least two transverse clamping jaw linear shafts, a plurality of longitudinal clamping jaw linear shafts arranged in parallel are longitudinally arranged in the clamping jaw seat, the vertical clamping jaw linear shafts penetrate through the lower ends of the sliding block bodies of the two adjacent sliding block groups in sequence, the sliding block bodies are connected with the vertical clamping jaw linear shafts in a sliding mode through lower sliding installation structures, and clamping jaw transverse adjustment assemblies capable of adjusting the distance between the two vertical clamping jaw linear shafts are arranged between at least two vertical clamping jaw linear shafts in the vertical clamping jaw linear shafts. The position adjustment of each sliding block body can be realized through the clamping jaw longitudinal adjusting assembly and the clamping jaw transverse adjusting assembly, so that the position adjustment of the clamping jaw assembly is realized.
In the above gripping device for the frozen product production line, the transverse clamping jaw linear shaft and the longitudinal clamping jaw linear shaft are respectively and vertically arranged, and the sliding block bodies in two adjacent sliding block groups are arranged in one-to-one correspondence; the clamping jaw seat comprises two transverse side plates which are arranged in parallel, the end parts of the two transverse side plates are connected through longitudinal side plates which are parallel to each other, and the transverse side plates and the longitudinal side plates are sequentially butted to form a rectangular frame-shaped structure; two ends of at least one of the transverse clamping jaw linear shafts are respectively and fixedly arranged on the longitudinal side plates, and two ends of at least one of the longitudinal clamping jaw linear shafts are respectively and fixedly arranged on the transverse side plates.
In the above gripping device for a frozen product production line, the clamping jaw longitudinal adjusting assembly comprises a plurality of longitudinal strip-shaped holes respectively and correspondingly arranged on two longitudinal side plates, the longitudinal strip-shaped holes are respectively arranged along the axial extension of the longitudinal side plates, longitudinal cushion blocks are respectively arranged in the longitudinal strip-shaped holes in a sliding way, the end parts of the linear shafts of the transverse clamping jaws are respectively connected with the longitudinal cushion blocks, a longitudinal support is arranged on any one of the two longitudinal side plates, a support strip-shaped hole is axially arranged on the longitudinal support, a longitudinal sliding sleeve component connected with the longitudinal side plate is arranged in the support strip-shaped hole, one end of the longitudinal support is connected with a longitudinal cushion block in one of the longitudinal strip-shaped holes, the other end of the longitudinal support is provided with a longitudinal adjusting cylinder axially extending along the longitudinal side plate, and the output shaft of the longitudinal adjusting cylinder is connected with a longitudinal cushion block in another longitudinal strip-shaped hole in the plurality of longitudinal strip-shaped holes.
In the above gripping device for a frozen product production line, the clamping jaw lateral adjustment assembly comprises a plurality of lateral bar holes respectively and correspondingly arranged on two lateral side plates, the lateral bar holes are respectively arranged along the axial extension of the lateral side plates, lateral cushion blocks are respectively arranged in the lateral bar holes in a sliding manner, the end parts of the linear axes of the longitudinal clamping jaws are respectively connected with the lateral cushion blocks, a lateral bracket is arranged on any one of the two lateral side plates, a lateral adjustment cylinder axially extending along the lateral side plates is arranged on the lateral bracket, an output shaft of the lateral adjustment cylinder is connected with a lateral connection block, one end of the lateral connection block is connected with the lateral cushion block in one of the lateral bar holes, the other end of the lateral connection block is provided with a connection bar hole axially extending along the lateral connection block and corresponding to the other lateral bar hole in the lateral bar holes, and the end part of the linear shaft of the longitudinal clamping jaw sequentially passes through the transverse strip-shaped hole and the connecting strip-shaped hole, and the linear shaft of the longitudinal clamping jaw is positioned in the connecting strip-shaped hole through the positioning bolt.
In the above gripping device for a frozen product production line, the upper sliding mounting structure includes upper through holes respectively disposed at the upper ends of the slider bodies, an upper sliding sleeve is disposed on the inner side of the circumference of the upper through hole, and the horizontal clamping jaw linear shaft is inserted into the upper sliding sleeve; the lower sliding installation structure comprises lower through holes respectively arranged at the lower end of the sliding block body, lower sliding sleeves are arranged on the inner sides of the peripheries of the lower through holes, and the longitudinal clamping jaw linear shaft penetrates through the lower sliding sleeves.
Compared with the prior art, the invention has the advantages that:
1. through the guide of the translation driving structure and the transverse shaft, the jaw clamping assembly can keep synchronous motion with the production line, so that the phenomenon that the jaw clamping assembly is staggered with the production line to cause collision damage or toppling of materials during material transfer is avoided;
2. can ensure through horizontal synchronization retaining mechanism that swing arm circumference swing in-process, the clamping jaw seat remains the horizontality throughout, can prevent like this that each clamping jaw subassembly from taking place the slope or collision phenomenon each other when getting the material.
3. The air cylinder outside the clamping jaw seat drives the transverse linear shaft and the longitudinal linear shaft to move in the clamping jaw seat in all directions, so that the clamping jaw assemblies on the linear shafts are controlled to adjust the distance, materials are accurately grabbed, and the production efficiency is improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of another aspect of the present invention;
FIG. 3 is a front view of the present invention;
FIG. 4 is a schematic view of the swing arm of the present invention;
FIG. 5 is a schematic view of the jaw position adjustment mechanism of the present invention;
in the figure, a supporting seat 1, a transverse shaft 2, a mounting seat 3, a sliding guide assembly 31, a sliding cylinder 311, a graphite copper sleeve 312, a mounting hole 32, a translation driving structure 4, a lead screw nut 41, a translation driving lead screw 42, a lead screw driving assembly 43, a lead screw motor mounting seat 431, a lead screw driving motor 432, a clamping jaw assembly 5, a positioning bolt 51, a transverse side plate 511, a transverse strip-shaped hole 5111, a transverse cushion block 5112, a transverse support 5113, a transverse adjusting cylinder 5114, a transverse connecting block 5115, a connecting strip-shaped hole 5116, a longitudinal side plate 512, a longitudinal strip-shaped hole 5121, a longitudinal cushion block 5122, a longitudinal support 5123, a support strip-shaped hole 51231, a longitudinal adjusting cylinder 5124, a longitudinal sliding sleeve assembly cylinder 5125, a sliding block group 52, a sliding block body 521, an upper through hole 5211, an upper sliding sleeve 5212, a lower through hole 5213, a lower sliding sleeve 5214, a transverse clamping jaw shaft 53, Clamping jaw lateral adjustment subassembly 56, rotate drive structure 6, driving motor 61, transmission shaft 7, rotate mounting structure 8, flange seat 81, swing arm 9, clamping jaw seat 91, horizontal synchronization retaining mechanism 92, swing arm graphite copper sheathing 921, swing arm axle 922, first band pulley 923, second band pulley 924, annular synchronous belt 925, swing arm hole 93, hinge hole 94, nylon stopper 95, the spacing portion 951 of arc.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-4, the gripping device for a frozen product production line comprises two mounting bases 3 arranged corresponding to each other, at least two swing arms 9 arranged corresponding to each other are movably arranged between the mounting bases 3, a frame-shaped jaw base 91 is movably arranged between one ends of two adjacent swing arms 9, a plurality of jaw assemblies 5 are arranged in the jaw base 91, a jaw position adjusting mechanism for adjusting the positions of the jaw assemblies 5 is arranged between the jaw assemblies 5 and the jaw base 91, a synchronous swing driving mechanism capable of driving the swing arms 9 to swing circumferentially and keeping the jaw base 91 horizontal in the circumferential swing process of the swing arms 9 is arranged between the mounting bases 3 and the swing arms 9, two supporting bases 1 arranged corresponding to each other are arranged at the lower ends of the mounting bases 3, and a translation driving structure 4 capable of driving the mounting seat 3 to reciprocate between the two supporting seats 1 is arranged between the supporting seats 1 and the mounting seat 3. The swing arm 9 on the mounting seat 3 is driven to reciprocate between the two supporting seats 1 through the translation driving structure 4, so that the jaw clamping assembly 5 can keep synchronous motion with a production line, and the collision damage caused by dislocation of the material with the production line during transfer is avoided.
Furthermore, the translation driving structure 4 comprises two transverse shafts 2 which are arranged between two supporting seats 1 and are parallel to each other, the end parts of the transverse shafts 2 are fixedly arranged on one side of the upper ends of the supporting seats 1, a sliding cylinder 311 which penetrates through the mounting seat 3 and is sleeved on the transverse shaft 2 is arranged on the mounting seat 3, a graphite copper sleeve 312 which is sleeved on the transverse shaft 2 in a sliding manner is arranged on the circumferential inner side of the sliding cylinder 311, a mounting hole 32 is arranged on any one of the two mounting seats 3, a screw nut 41 is fixedly arranged in the mounting hole 32, a translation driving screw rod 42 which is in threaded connection with the screw nut 41 is arranged in the screw nut 41 in a penetrating manner, and one end of the translation driving screw rod 42 is connected with a screw rod driving component 43 which is arranged on the supporting seat 1 and can drive the translation driving screw rod 42 to rotate; and lead screw drive assembly 43 is including setting up the lead screw motor mount 431 that keeps away from mount 3 one side at supporting seat 1, is equipped with lead screw drive motor 432 on the lead screw motor mount 431, and the motor shaft of lead screw drive motor 432 and the tip of translation drive lead screw 42 link to each other. The mounting 3 can be guided by two transverse shafts 2 in an axial horizontal movement. The graphite copper sleeve 312 is arranged in the sliding cylinder 311, so that friction between the sliding cylinder 311 and the transverse shaft 2 is reduced, and the service life of the sliding guide assembly is prolonged. The mounting base 3 is axially displaced following the spindle nut 41 by a relative rotation of the spindle nut 41 and the translation drive screw 42.
Wherein, synchronous swing actuating mechanism here includes and sets up transmission shaft 7 between two mount pads 3 through rotating mounting structure 8, 9 one end of swing arm is all fixed to be set up on transmission shaft 7, at least one side that swing arm 9 is close to transverse shaft 2 is equipped with the nylon stopper 95 corresponding with transverse shaft 2, and have on the nylon stopper 95 with the spacing portion 951 of 2 circumference outer wall assorted arcs of transverse shaft, avoided swing arm 9 excessive motion and 2 direct collisions of transverse shaft through increasing nylon stopper 95, play the effect of protection swing arm 9 and transverse shaft 2. Wherein, be equipped with between mount pad 3 and the transmission shaft 7 and drive transmission shaft 7 circumferential direction's rotation drive structure 6, and be equipped with between clamping jaw seat 91 and the swing arm 9 and enable clamping jaw seat 91 to keep the horizontal synchronization retaining mechanism 92 of horizontal state when swing arm 9 circumferential direction swing. The horizontal synchronous holding mechanism 92 can ensure that the clamping jaw seat 91 is always kept in a horizontal state in the circumferential swinging process of the swinging arm 9, so that the phenomenon that materials incline or collide with each other when the clamping jaw assemblies 5 clamp the materials can be prevented.
Furthermore, the rotating mounting structure 8 here includes a swing arm hole 93 disposed at one end of the swing arm 9 away from the clamping jaw seat 91, the transmission shaft 7 is fixedly disposed through the swing arm hole 93 and extends to the mounting seat 3, a flange seat 81 sleeved on the transmission shaft 7 is disposed at one side of the swing hole away from the mounting seat 3, and the flange seat 81 is respectively connected with the swing arm 9 and the transmission shaft 7; the rotation driving structure 6 comprises a rotation driving motor 61 arranged on the mounting base 3, and a motor shaft of the rotation driving motor 61 is connected with one end of the transmission shaft 7.
Preferably, the horizontal synchronization maintaining mechanism 92 includes a hinge hole 94 disposed at one end of the swing arm 9 connected to the jaw base 91, a swing arm graphite copper sleeve 921 is disposed in the hinge hole 94, a swing arm shaft 922 is disposed in the swing arm graphite copper sleeve 921 in a penetrating manner and rotatably connected to the swing arm graphite copper sleeve 921, one end of the swing arm shaft 922 is fixedly connected to the jaw base 91, a first pulley 923 is fixedly disposed at the other end of the swing arm graphite copper sleeve, a second pulley 924 located between the swing arm 9 and the mounting base 3 and corresponding to the first pulley 923 is sleeved on the transmission shaft 7, the first pulley 923 and the second pulley 924 are the same in size and fixedly disposed on one side of the mounting base 3, an annular synchronous belt 925 is disposed around the first pulley 923 and the second pulley 924, and at least one pressing wheel abutting against the annular synchronous belt 925 is disposed on the swing arm 9. Since the second pulley 924 does not swing together with the swing arm 9, when the swing arm 9 swings circumferentially, the annular timing belt 925 is displaced, so that the first pulley 923 rotates circumferentially in the opposite direction to the direction of rotation of the swing arm 9, and the gripper seat 91 is always kept horizontal.
As shown in fig. 1 and 5, the clamping jaw position adjusting mechanism in this embodiment includes a plurality of sliding block sets 52 distributed longitudinally along the clamping jaw seat 91, and each sliding block set 52 includes a plurality of sliding block bodies 521 arranged laterally along the clamping jaw seat 91 in sequence and having clamping jaw assemblies 5, and is characterized in that a plurality of lateral clamping jaw linear shafts 53 arranged in parallel are arranged laterally in sequence in the clamping jaw seat 91, the sliding block body 521 in each sliding block set 52 is arranged on one lateral clamping jaw linear shaft 53 in sequence, and the sliding block bodies 521 are connected with the lateral clamping jaw linear shafts 53 in a sliding manner through an upper sliding mounting structure respectively, a clamping jaw longitudinal adjusting assembly 55 capable of adjusting the space between the two lateral clamping jaw linear shafts 53 is arranged between at least two lateral clamping jaw linear shafts 53 in the lateral clamping jaw linear shafts 53, a plurality of longitudinal clamping jaw shafts 54 arranged in parallel are arranged longitudinally in sequence in the clamping jaw seat 91, the longitudinal clamping jaw linear shafts 54 sequentially penetrate through the lower ends of the sliding block bodies 521 of the two adjacent sliding block groups 52, the sliding block bodies 521 are respectively connected with the longitudinal clamping jaw linear shafts 54 in a sliding mode through lower sliding installation structures, and a clamping jaw transverse adjusting assembly 56 capable of adjusting the distance between the two longitudinal clamping jaw linear shafts 54 is arranged between at least two longitudinal clamping jaw linear shafts 54 in the longitudinal clamping jaw linear shafts 54. Namely, the position adjustment of each slide block 521 can be realized through the clamping jaw longitudinal adjusting assembly 55 and the clamping jaw transverse adjusting assembly 56, so that the position adjustment of the clamping jaw assembly 5 is realized.
Further, the transverse jaw linear shaft 53 and the longitudinal jaw linear shaft 54 are respectively arranged perpendicular to each other, and the slider bodies 521 in two adjacent slider groups 52 are arranged in one-to-one correspondence; the jaw seat 91 comprises two transverse side plates 511 which are arranged in parallel, the end parts of the two transverse side plates 511 are respectively connected through longitudinal side plates 512 which are arranged in parallel, and the transverse side plates 511 and the longitudinal side plates 512 are sequentially butted to form a rectangular frame-shaped structure; two ends of at least one transverse clamping jaw linear shaft 53 in the transverse clamping jaw linear shafts 53 are respectively and fixedly arranged on the longitudinal side plates 512, and two ends of at least one longitudinal clamping jaw linear shaft 54 in the longitudinal clamping jaw linear shafts 54 are respectively and fixedly arranged on the transverse side plates 511.
Wherein, the clamping jaw longitudinal adjusting component 55 comprises a plurality of longitudinal strip-shaped holes 5121 respectively and correspondingly arranged on two longitudinal side plates 512, the longitudinal strip-shaped holes 5121 respectively extend along the axial direction of the longitudinal side plates 512, longitudinal cushion blocks 5122 are respectively arranged in the longitudinal strip-shaped holes 5121 in a sliding manner, the end part of the transverse clamping jaw linear shaft 53 is respectively connected with a longitudinal cushion block 5122, a longitudinal support 5123 is arranged on any one longitudinal side plate 512 of the two longitudinal side plates 512, a support strip-shaped hole 51231 is axially arranged on the longitudinal support 5123, a longitudinal sliding sleeve assembly cylinder 5125 connected with the longitudinal side plate 512 is arranged in the support strip-shaped hole 51231, one end of the longitudinal support 5123 is connected with the longitudinal cushion block 5122 in one longitudinal strip-shaped hole 5121 of the plurality of longitudinal strip-shaped holes 5121, and the other end is provided with a longitudinal adjusting cylinder 5124 axially extending along the longitudinal side plate 512, and the output shaft of the longitudinal adjusting cylinder 5124 is connected with the longitudinal cushion block 5122 in another longitudinal bar-shaped hole 5121 of the plurality of longitudinal bar-shaped holes 5121.
Wherein, the clamping jaw transverse adjusting component 56 comprises a plurality of transverse bar-shaped holes 5111 correspondingly arranged on two transverse side plates 511 respectively, the transverse bar-shaped holes 5111 are respectively arranged along the axial extension of the transverse side plates 511 in a sliding manner, transverse cushion blocks 5112 are respectively arranged in the transverse bar-shaped holes 5111 in a sliding manner, the end parts of the longitudinal clamping jaw linear shafts 54 are respectively connected with the transverse cushion blocks 5112, a transverse bracket 5113 is arranged on any one transverse side plate 511 of the two transverse side plates 511, a transverse adjusting cylinder 5114 axially extending along the transverse side plate 511 is arranged on the transverse bracket 5113, the output shaft of the transverse adjusting cylinder 5114 is connected with a transverse connecting block 5115, one end of the transverse connecting block 5115 is connected with the transverse cushion block 5112 in one transverse bar-shaped hole 5111 of the plurality of transverse bar-shaped holes 5111, the other end of the transverse connecting block 5115 is provided with a bar-shaped connecting hole 5116 axially extending along the transverse connecting block 5115, and the end of the longitudinal jaw linear shaft 54 passes through the transverse strip-shaped hole 5111 and the connecting strip-shaped hole 5116 in sequence, and the longitudinal jaw linear shaft 54 is positioned in the connecting strip-shaped hole 5116 through the positioning bolt 51.
Preferably, the upper sliding mounting structure here includes upper through holes 5211 respectively disposed at the upper ends of the slider bodies 521, an upper sliding sleeve 5212 is disposed at the circumferential inner side of the upper through hole 5211, and the lateral clamping jaw linear shaft 53 is inserted into the upper sliding sleeve 5212; the lower sliding mounting structure includes lower through holes 5213 respectively disposed at the lower end of the slider body 521, lower sliding sleeves 5214 are disposed on the circumferential inner sides of the lower through holes 5213, and the longitudinal jaw linear shafts 54 are inserted into the lower sliding sleeves 5214.
The principle of the embodiment is that in actual processing, by arranging the gripping device for the frozen product production line between two conveyor belts, when one of the conveyor belts drives the frozen product, such as ice cream, ice cream bar, etc., to be conveyed, the screw rod driving motor 432 drives the translation driving screw rod 42 to rotate circumferentially to drive the two mounting bases 3 to move synchronously and in the same direction along the conveyor belt between the two supporting bases 1, the driving motor 61 drives the transmission shaft 7 to rotate circumferentially to realize the swing arm 9 to swing back and forth between the two conveyor belts, because the clamping jaw assembly 5 on the clamping jaw base 91 can move synchronously and in the same direction as the conveyor belt in the process of clamping the frozen product, i.e. the clamping jaw assembly 5 can keep mutually static with the frozen product in the clamping process, when the swing arm 9 swings from one conveyor belt to the other conveyor belt, because the second belt wheel 924 cannot swing together with the swing arm, when swing arm 9 circumference swing, the displacement phenomenon can appear in annular hold-in range 925, make first band pulley 923 to the opposite direction circumferential direction for swing arm 9 rotation direction like this, thereby keep the level of gripper seat 91 throughout, gripper seat 91 remains the horizontality throughout, can prevent like this that each gripper assembly 5 from when pressing from both sides the material, the material takes place the slope or collision phenomenon each other, when swing arm 9 swings to another conveyer belt top, thereby lead screw driving motor 432 drives translation drive lead screw 42 circumferential direction once more and drives two mount pads 3 once more and follow another conveyer belt synchronous and syntropy removal between two supporting seats 1, realize like this that can make gripper assembly 5 and another conveyer belt keep static at gripper assembly 5 release frozen goods in-process, prevent that frozen goods from taking place to topple the phenomenon at the release in-process.
Although the support seat 1, the transverse shaft 2, the mounting seat 3, the sliding guide assembly 31, the sliding cylinder 311, the graphite copper sleeve 312, the mounting hole 32, the translation driving structure 4, the lead screw nut 41, the translation driving lead screw 42, the lead screw driving assembly 43, the lead screw motor mounting seat 431, the lead screw driving motor 432, the jaw assembly 5, the positioning bolt 51, the transverse side plate 511, the transverse strip-shaped hole 5111, the transverse cushion block 5112, the transverse bracket 5113, the transverse adjusting cylinder 5114, the transverse connecting block 5115, the connecting strip-shaped hole 5116, the longitudinal side plate 512, the longitudinal strip-shaped hole 5121, the longitudinal cushion block 5122, the longitudinal bracket 5123, the bracket strip-shaped hole 51231, the longitudinal adjusting cylinder 5124, the longitudinal sliding sleeve assembly cylinder 5125, the slider group 52, the slider body 521, the upper through hole 5211, the upper sliding sleeve 5212, the lower through hole 5213, the lower sliding sleeve 5214, the transverse jaw linear shaft 53, the longitudinal jaw linear shaft 54, the, Clamping jaw transverse adjustment subassembly 56, rotation drive structure 6, driving motor 61, transmission shaft 7, rotation mounting structure 8, flange seat 81, swing arm 9, clamping jaw seat 91, horizontal synchronization holding mechanism 92, swing arm graphite copper sheathing 921, swing arm axle 922, first pulley 923, second pulley 924, annular synchronous belt 925, swing arm hole 93, hinge hole 94, nylon stopper 95, arc spacing portion 951, but does not exclude the possibility of using other terms. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
Claims (10)
1. A gripping device for a frozen product production line comprises two mounting seats (3) which are arranged in a corresponding mode, at least two swing arms (9) which are arranged in a corresponding mode are movably arranged between the mounting seats (3), a clamping jaw seat (91) which is in a frame shape is movably arranged between one ends of two adjacent swing arms (9), a plurality of clamping jaw assemblies (5) are arranged in the clamping jaw seat (91), the gripping device is characterized in that a clamping jaw position adjusting mechanism used for adjusting the positions of the clamping jaw assemblies (5) is arranged between the clamping jaw assemblies (5) and the clamping jaw seat (91), a synchronous swinging driving mechanism capable of driving the swing arms (9) to swing circumferentially and enabling the clamping jaw seat (91) to keep horizontal in the circumferential swinging process of the swing arms (9) is arranged between the mounting seats (3) and the swing arms (9), two supporting seats (1) which are arranged in a corresponding mode are arranged at the lower end of the mounting seats (3), and a translation driving structure (4) capable of driving the mounting seat (3) to reciprocate between the two supporting seats (1) is arranged between the supporting seats (1) and the mounting seat (3).
2. The gripping device for the frozen product production line as claimed in claim 1, wherein the translation driving structure (4) comprises two transverse shafts (2) disposed between the two supporting seats (1) and parallel to each other, the ends of the transverse shafts (2) are fixedly disposed on one side of the upper ends of the supporting seats (1), the mounting seat (3) is provided with a sliding cylinder (311) penetrating through the mounting seat (3) and sleeved on the transverse shafts (2), the circumferential inner side of the sliding cylinder (311) is provided with a graphite copper sleeve (312) slidably sleeved on the transverse shafts (2), any one of the two mounting seats (3) is provided with a mounting hole (32), the mounting hole (32) is internally and fixedly provided with a lead screw nut (41), the lead screw nut (41) is internally provided with a translation driving lead screw (42) in a penetrating manner and in threaded connection with the lead screw nut (41), one end of the translation driving screw rod (42) is connected with a screw rod driving component (43) which is arranged on the supporting seat (1) and can drive the translation driving screw rod (42) to rotate circumferentially; and the screw rod driving assembly (43) comprises a screw rod motor mounting seat (431) which is arranged on one side of the supporting seat (1) far away from the mounting seat (3), a screw rod driving motor (432) is arranged on the screw rod motor mounting seat (431), and a motor shaft of the screw rod driving motor (432) is connected with the end part of the translation driving screw rod (42).
3. The grabbing device for frozen product production line as claimed in claim 2, wherein said synchronous swing driving mechanism comprises a transmission shaft (7) disposed between two mounting bases (3) through a rotation mounting structure (8), one end of said swing arm (9) is fixedly disposed on said transmission shaft (7), at least one side of said swing arm (9) near said transverse shaft (2) is provided with a nylon stopper (95) corresponding to said transverse shaft (2), said nylon stopper (95) is provided with an arc-shaped stopper (951) matching with the circumferential outer wall of said transverse shaft (2), a rotation driving structure (6) capable of driving said transmission shaft (7) to rotate circumferentially is disposed between said mounting bases (3) and said transmission shaft (7), and a horizontal synchronization maintaining mechanism (92) capable of maintaining said jaw base (91) in a horizontal state when said swing arm (9) swings circumferentially is disposed between said jaw base (91) and said swing arm (9) .
4. The grabbing device for a frozen product production line as claimed in claim 3, wherein said rotary mounting structure (8) comprises a swing arm hole (93) disposed at an end of the swing arm (9) far from the jaw seat (91), said transmission shaft (7) is fixedly inserted into the swing arm hole (93) and extends to the mounting seat (3), and a flange seat (81) disposed on the transmission shaft (7) is disposed at a side of the swing arm hole far from the mounting seat (3), and said flange seats (81) are respectively connected to the swing arm (9) and the transmission shaft (7); the rotation driving structure (6) comprises a rotation driving motor (61) arranged on the mounting seat (3), and a motor shaft of the rotation driving motor (61) is connected with one end of the transmission shaft (7).
5. The grabbing device for frozen product production line of claim 3, characterized in that, horizontal synchronization hold mechanism (92) including set up at hinge hole (94) of the one end that swing arm (9) and clamping jaw seat (91) link to each other, hinge hole (94) in be equipped with swing arm graphite copper sheathing (921), swing arm graphite copper sheathing (921) in wear to be equipped with swing arm axle (922) and swing arm graphite copper sheathing (921) and rotate and link to each other, just swing arm axle (922) one end link firmly with clamping jaw seat (91), the other end is fixed and is equipped with first band pulley (923), transmission shaft (7) go up the cover and be equipped with and be located between swing arm (9) and mount pad (3) and with first band pulley (923) corresponding second band pulley (924), first band pulley (923) and second band pulley (924) size, size the same and second band pulley (924) fixed and set up in mount pad (3) one side, and first band pulley (923) and second band pulley (924) are around being equipped with annular synchronous belt (925), swing arm (9) on be equipped with at least one and the pinch roller that annular synchronous belt (925) counterbalance leaned on.
6. The grabbing device for a frozen product production line according to any one of claims 1 to 5, wherein the jaw position adjusting mechanism comprises a plurality of slider groups (52) longitudinally distributed along the jaw seat (91), and each slider group (52) comprises a plurality of slider bodies (521) which are sequentially transversely arranged along the jaw seat (91) and are provided with the jaw assembly (5), wherein the jaw seat (91) is internally and transversely provided with a plurality of transverse jaw linear shafts (53) which are arranged in parallel, the slider body (521) in each slider group (52) is sequentially arranged on one transverse jaw linear shaft (53) in a penetrating manner, the slider bodies (521) are respectively connected with the transverse jaw linear shafts (53) in a sliding manner through an upper sliding mounting structure, and a clamp capable of adjusting the distance between the two transverse jaw linear shafts (53) is arranged between at least two transverse jaw linear shafts (53) in the transverse jaw linear shafts (53) The clamping jaw longitudinal adjusting assembly comprises a jaw longitudinal adjusting assembly (55), a plurality of longitudinal clamping jaw linear shafts (54) which are arranged in parallel are longitudinally and sequentially arranged in a clamping jaw seat (91), the longitudinal clamping jaw linear shafts (54) sequentially penetrate through the lower ends of sliding block bodies (521) of two adjacent sliding block groups (52), the sliding block bodies (521) are respectively connected with the longitudinal clamping jaw linear shafts (54) in a sliding mode through a lower sliding installation structure, and a clamping jaw transverse adjusting assembly (56) capable of adjusting the distance between the two longitudinal clamping jaw linear shafts (54) is arranged between at least two longitudinal clamping jaw linear shafts (54) in the longitudinal clamping jaw linear shafts (54).
7. The gripping device for frozen product production line according to claim 6, characterized in that the transverse jaw linear axes (53) and the longitudinal jaw linear axes (54) are respectively arranged perpendicularly to each other, and the slider bodies (521) in two adjacent slider groups (52) are arranged in one-to-one correspondence; the clamping jaw seat (91) comprises two transverse side plates (511) which are arranged in parallel, the end parts of the two transverse side plates (511) are respectively connected through longitudinal side plates (512) which are arranged in parallel, and the transverse side plates (511) and the longitudinal side plates (512) are sequentially butted to form a rectangular frame-shaped structure; two ends of at least one transverse clamping jaw linear shaft (53) in the transverse clamping jaw linear shafts (53) are respectively and fixedly arranged on the longitudinal side plates (512), and two ends of at least one longitudinal clamping jaw linear shaft (54) in the longitudinal clamping jaw linear shafts (54) are respectively and fixedly arranged on the transverse side plates (511).
8. The grabbing device for a frozen product production line as claimed in claim 7, wherein the clamping jaw longitudinal adjustment assembly (55) comprises a plurality of longitudinal bar-shaped holes (5121) respectively correspondingly disposed on two longitudinal side plates (512), the longitudinal bar-shaped holes (5121) are respectively disposed along the longitudinal side plates (512) in an axially extending manner, longitudinal spacers (5122) are respectively disposed in the longitudinal bar-shaped holes (5121) in a sliding manner, the ends of the transverse clamping jaw linear shafts (53) are respectively connected with the longitudinal spacers (5122), a longitudinal bracket (5123) is disposed on any one longitudinal side plate (512) of the two longitudinal side plates (512), a bracket bar-shaped hole (51231) is axially disposed on the longitudinal bracket (5123), a longitudinal sliding sleeve assembly cylinder (5125) connected with the longitudinal side plate (512) is disposed in the bracket bar-shaped hole (51231), and one end of the longitudinal bracket (5123) is connected with one longitudinal bar-shaped hole (5121) of the plurality of longitudinal bar-shaped holes (5121) ) The inner longitudinal cushion block (5122) is connected, the other end of the inner longitudinal cushion block is provided with a longitudinal adjusting cylinder (5124) which axially extends along the longitudinal side plate (512), and the output shaft of the longitudinal adjusting cylinder (5124) is connected with the longitudinal cushion block (5122) in another longitudinal bar-shaped hole (5121) in the longitudinal bar-shaped holes (5121).
9. The grabbing device for a frozen product production line according to claim 7, wherein the lateral jaw adjusting assembly (56) comprises a plurality of lateral bar-shaped holes (5111) respectively correspondingly disposed on two lateral side plates (511), the lateral bar-shaped holes (5111) are respectively disposed along the axial direction of the lateral side plates (511) in an extending manner, lateral pads (5112) are respectively disposed in the lateral bar-shaped holes (5111) in a sliding manner, the end portions of the linear shafts (54) of the longitudinal jaws are respectively connected with the lateral pads (5112), a lateral bracket (5113) is disposed on any one lateral side plate (511) of the two lateral side plates (511), a lateral adjusting cylinder (5114) axially extending along the lateral side plate (511) is disposed on the lateral bracket (5113), and a lateral connecting block (5115) is connected to an output shaft of the lateral adjusting cylinder (5114), and one end of the transverse connecting block (5115) is connected with a transverse cushion block (5112) in one transverse strip-shaped hole (5111) in the transverse connecting block (5115) and the transverse strip-shaped holes (5111), the other end of the transverse connecting block (5115) is provided with a connecting strip-shaped hole (5116) which extends along the axial direction of the transverse connecting block (5115) and corresponds to the other transverse strip-shaped hole (5111) in the transverse strip-shaped holes (5111), the end part of the longitudinal clamping jaw linear shaft (54) sequentially penetrates through the transverse strip-shaped holes (5111) and the connecting strip-shaped holes (5116), and the longitudinal clamping jaw linear shaft (54) is positioned in the connecting strip-shaped holes (5116) through a positioning bolt (51).
10. The grabbing device for a frozen product production line as claimed in claim 9, wherein the upper sliding installation structure comprises upper through holes (5211) respectively formed in the upper ends of the slider bodies (521), an upper sliding sleeve (5212) is arranged on the circumferential inner side of each upper through hole (5211), and the transverse clamping jaw linear shaft (53) is arranged in the upper sliding sleeve (5212) in a penetrating manner; the lower sliding installation structure comprises lower through holes (5213) respectively formed in the lower end of the sliding block body (521), lower sliding sleeves (5214) are arranged on the circumferential inner sides of the lower through holes (5213), and the longitudinal clamping jaw linear shafts (54) penetrate through the lower sliding sleeves (5214).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910660316.6A CN110589466A (en) | 2019-07-22 | 2019-07-22 | Gripping device for frozen product production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910660316.6A CN110589466A (en) | 2019-07-22 | 2019-07-22 | Gripping device for frozen product production line |
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| Publication Number | Publication Date |
|---|---|
| CN110589466A true CN110589466A (en) | 2019-12-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910660316.6A Pending CN110589466A (en) | 2019-07-22 | 2019-07-22 | Gripping device for frozen product production line |
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| Country | Link |
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| CN (1) | CN110589466A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111620104A (en) * | 2020-06-12 | 2020-09-04 | 东莞市金隆机械设备有限公司 | Online material taking and placing device |
| CN112495818A (en) * | 2020-11-13 | 2021-03-16 | 苏州农业职业技术学院 | Agricultural product sorting device based on machine vision technology |
| CN115676235A (en) * | 2021-07-30 | 2023-02-03 | 宁德时代新能源科技股份有限公司 | Material feeding unit and battery production facility |
-
2019
- 2019-07-22 CN CN201910660316.6A patent/CN110589466A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111620104A (en) * | 2020-06-12 | 2020-09-04 | 东莞市金隆机械设备有限公司 | Online material taking and placing device |
| CN112495818A (en) * | 2020-11-13 | 2021-03-16 | 苏州农业职业技术学院 | Agricultural product sorting device based on machine vision technology |
| CN112495818B (en) * | 2020-11-13 | 2022-11-11 | 苏州农业职业技术学院 | Agricultural product sorting device based on machine vision technology |
| CN115676235A (en) * | 2021-07-30 | 2023-02-03 | 宁德时代新能源科技股份有限公司 | Material feeding unit and battery production facility |
| CN115676235B (en) * | 2021-07-30 | 2023-09-22 | 宁德时代新能源科技股份有限公司 | Material feeding unit and battery production facility |
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