CN110900584A

CN110900584A - Food tongs mechanism

Info

Publication number: CN110900584A
Application number: CN201911265603.3A
Authority: CN
Inventors: 李进强; 司军伟
Original assignee: Kang He Machinery And Equipment Co Ltd Chengdu
Current assignee: Kang He Machinery And Equipment Co Ltd Chengdu
Priority date: 2019-12-11
Filing date: 2019-12-11
Publication date: 2020-03-24

Abstract

The invention relates to the technical field of food processing equipment, and provides a food gripper mechanism which comprises a base and a connecting seat; the connecting seat is connected with the base through a sliding assembly, so that the connecting seat can move in the X direction and the Y direction in the first reference plane; the base is provided with a fixed plate positioned on one side of the connecting seat, and the surface of the fixed plate is parallel to the first reference surface; a cam groove is formed in the first surface of the fixing plate; the driving shaft is fixedly connected with the connecting seat at one end, and the other end of the driving shaft is arranged in the cam groove and can move in the cam groove; a pneumatic finger is arranged on the connecting seat; and the two clamping jaws of the pneumatic finger are respectively provided with a positioning gripper. The food gripper mechanism provided by the embodiment of the invention changes the traditional manual food carrying mode, can greatly reduce the workload of workers by adopting a mechanical mode, improves the working efficiency, and can ensure the sanitation of food.

Description

Food tongs mechanism

Technical Field

The invention relates to the technical field of food processing equipment, in particular to a food gripper mechanism.

Background

In the existing food processing field, after the food processing is finished, the tray loading operation is usually required to be executed, but at present, the food is basically put into the tray from the food forming machine directly by hand, so that the workload of workers is increased, and the working efficiency is low; and because of the need of manual participation, the food hygiene problem is easily caused.

Disclosure of Invention

The invention aims to provide a food gripping mechanism capable of reducing the workload of workers.

The technical scheme adopted by the invention for solving the technical problems is as follows: the food gripper mechanism comprises a base and a connecting seat; the connecting seat is connected with the base through a sliding assembly, so that the connecting seat can move in the X direction and the Y direction in the first reference plane;

the base is provided with a fixed plate positioned on one side of the connecting seat, and the surface of the fixed plate is parallel to the first reference surface; a cam groove is formed in the first surface of the fixing plate; the driving shaft is fixedly connected with the connecting seat at one end, and the other end of the driving shaft is arranged in the cam groove and can move in the cam groove;

a pneumatic finger is arranged on the connecting seat; and the two clamping jaws of the pneumatic finger are respectively provided with a positioning gripper.

Furthermore, the sliding assembly comprises an X-direction sliding rail fixed on the base, an X-direction sliding block arranged on the X-direction sliding rail, a Y-direction sliding rail fixed on the connecting seat and a Y-direction sliding block arranged on the Y-direction sliding rail; the X-direction sliding block is fixedly connected with the Y-direction sliding block.

Further, the X direction and the Y direction are perpendicular to each other.

Further, a first roller which is in rolling fit with the cam groove is mounted on the driving shaft.

Further, the device also comprises a driving mechanism; the driving mechanism comprises a driving motor arranged on the second surface of the fixing plate, an output shaft of the driving motor penetrates through the fixing plate, and a driving arm fixed at the end part of the output shaft of the driving motor;

a through hole for an output shaft of the driving motor to pass through is formed in the fixing plate; the driving arm is provided with a driving groove, and the driving shaft penetrates through the driving groove and can move in the driving groove.

Furthermore, a second roller which is matched with the driving groove in a rolling mode is installed on the driving shaft.

Furthermore, the cam groove comprises two Y-direction sections arranged in parallel, an X-direction section arranged between the two Y-direction sections, and an arc section connected between the upper end of the Y-direction section and the end part of the X-direction section.

Furthermore, a ring of stop bars are arranged on the first surface of the fixing plate; the inner side surface of the barrier strip and the first surface of the fixing plate jointly enclose the cam groove.

Further, the base includes the bottom plate, sets up the roof above the bottom plate, fixes the backup pad between bottom plate and roof.

Further, the connecting seat comprises a first connecting plate and a second connecting plate which are fixedly connected with each other.

The invention has the beneficial effects that: the food gripper mechanism provided by the embodiment of the invention changes the traditional manual food carrying mode, can greatly reduce the workload of workers by adopting a mechanical mode, improves the working efficiency, and can ensure the sanitation of food.

Drawings

FIG. 1 is a perspective view of a food gripping mechanism according to an embodiment of the present invention;

FIG. 2 is a side view of a food gripping mechanism according to an embodiment of the present invention;

FIG. 3 is a cross-sectional view A-A of FIG. 2;

fig. 4 is a schematic structural view of a cam groove of an embodiment of the present invention.

The reference numbers in the figures are: 1-base, 2-connecting seat, 3-sliding component, 4-fixing plate, 5-driving shaft, 6-pneumatic finger, 7-positioning gripper, 8-driving motor, 9-driving arm, 11-bottom plate, 12-top plate, 13-supporting plate, 21-first connecting plate, 22-second connecting plate, 31-X-direction sliding rail, 32-X-direction sliding block, 33-Y-direction sliding rail, 34-Y-direction sliding block, 35-sliding rail seat, 41-first surface, 42-cam groove, 43-second surface, 44-stopping strip, 45-mounting plate, 51-first roller, 52-second roller, 81-output shaft, 91-driving groove, 422-Y-direction segment, 422-X-direction segment, and 423-circular arc segment.

Detailed Description

The invention is further illustrated with reference to the following figures and examples.

As shown in fig. 1 to 3, the food gripping mechanism of the embodiment of the present invention includes a base 1 and a connecting seat 2; the connecting seat 2 is connected with the base 1 through a sliding component 3, so that the connecting seat 2 can move in the X direction and the Y direction in a first reference plane; a fixing plate 4 positioned on one side of the connecting seat 2 is arranged on the base 1, and the surface of the fixing plate 4 is parallel to a first reference surface; a cam groove 42 is arranged on the first surface 41 of the fixing plate 4; the driving shaft 5 is fixedly connected with the connecting seat 2 at one end and arranged in the cam groove 42 at the other end and can move in the cam groove 42; a pneumatic finger 6 is arranged on the connecting seat 2; and two clamping jaws of the pneumatic finger 6 are respectively provided with a positioning gripper 7.

As shown in fig. 1, the connecting base 2 is connected with the base 1 through a sliding assembly 3; the sliding component 3 has the following functions: firstly, the connecting device is used for connecting the connecting seat 2 with the base 1 and supporting the connecting seat 2; secondly, the degree of freedom of the connecting base 2 is limited, so that the connecting base 2 moves in the X direction and the Y direction in the first reference plane, and further the connecting base 2 is prevented from rotating in the moving process. During the use, can set for connecting seat 2 and remove the removal orbit to the terminal point from the starting point in first reference surface, then just accessible sliding assembly 3 decomposes into the displacement along X to any one removal orbit of connecting seat 2 and along the displacement of Y to, and then guarantees that connecting seat 2 can move to the terminal point from the starting point smoothly to avoid connecting seat 2 to take place to rotate simultaneously. The first reference surface is a virtual plane, which is not shown in fig. 1 for simplicity.

As shown in fig. 1, a fixing plate 4 is mounted on the base 1 at one side of the connecting socket 2, and a surface of the fixing plate 4 is parallel to a first reference surface. The fixing plate 4 has a first surface 41 and a second surface 43, wherein the first surface 41 refers to a surface facing the connecting socket 2, and the second surface 43 refers to a surface facing away from the connecting socket 2. The first surface 41 of the fixing plate 4 is provided with a cam groove 42, one end of the driving shaft 5 is fixedly connected with the connecting seat 2, and the other end is positioned in the cam groove 42. The driving shaft 5 can move in the cam groove 42, and the moving track of the connecting seat 2 in the first reference plane can be controlled by the matching of the driving shaft 5 and the cam groove 42. When the device is used, a driving force is applied to the connecting seat 2 or the driving shaft 5, so that the driving shaft 5 moves along the cam groove 42, and the moving track of the connecting seat 2 in the first reference plane can be controlled.

As shown in fig. 1, the connecting base 2 is provided with a pneumatic finger 6, and two clamping jaws of the pneumatic finger 6 are respectively provided with a positioning gripper 7. The pneumatic finger 6 is also called a pneumatic clamping jaw or a pneumatic clamping finger, is an actuating device for clamping or grabbing objects by using compressed air as power, can replace grabbing work of people, and can effectively improve the production efficiency and the safety of the work. The pneumatic finger 6 of the embodiment of the present invention may be a product of the prior art, and is directly purchased from the market, and is preferably an MSC type pneumatic finger. The positioning hand grips 7 are used for gripping food, and two positioning hand grips 7 can grip one food or a plurality of foods at a time; the shape and size of the positioning grip 7 should be set according to the shape and size of the food items and the number of food items to be gripped at a time, and are not particularly limited herein. During operation, two clamping jaws on the pneumatic finger 6 are close to each other, and then drive two location tongs 7 to be close to each other and grab food, then through the removal of connecting seat 2, just can drive the removal that location tongs 7 realized food.

The working principle of placing food into the tray from the food forming machine by adopting the food gripper mechanism provided by the embodiment of the invention is as follows:

1. and installing a food gripping mechanism and adjusting the position of the food gripping mechanism. Setting one end of the cam groove 42 as a starting point A and the other end as an end point B; when the driving shaft 5 is positioned at the starting point A, the food on the food forming machine can be grabbed by the positioning hand 7; when the drive shaft 5 is located at the end point B, the food item can be placed on the tray by positioning the hand grip 7.

2. Adjusting the pneumatic fingers 6 to enable the two positioning grippers 7 to be in an open state, and applying driving force to the driving shaft 5 through a driving piece matched with the food gripper mechanism to enable the driving shaft 5 to move to the starting point A of the cam groove 42; the two positioning fingers 7 are closed by the pneumatic fingers 6, and the food is gripped.

3. The driving piece applies a driving force in the opposite direction to the driving shaft 5, so that the driving shaft 5 moves from the starting point A to the end point B in the cam groove 42, and the food is moved from the food forming machine to the position above the tray; the two positioning fingers 7 are then opened by the pneumatic fingers 6 and the food falls under the action of gravity in the tray.

The food gripper mechanism provided by the embodiment of the invention changes the traditional manual food carrying mode, can greatly reduce the workload of workers by adopting a mechanical mode, improves the working efficiency, and can ensure the sanitation of food.

Fig. 1 to 3 show a structure of a sliding assembly 3, where the sliding assembly 3 includes an X-direction sliding rail 31 fixed on the base 1, an X-direction sliding block 32 arranged on the X-direction sliding rail 31, a Y-direction sliding rail 33 fixed on the connecting seat 2, and a Y-direction sliding block 34 arranged on the Y-direction sliding rail 33; the X-direction slide block 32 is fixedly connected with the Y-direction slide block 34. As shown in fig. 3, the X-direction slide rail 31 is disposed along the X-direction and fixed on the base 1 through a slide rail seat 35; the X-direction slider 32 is disposed on the X-direction slide rail 31 and can slide on the X-direction slide rail 31. The Y-direction slide rail 33 is fixed on the connecting base 2, and the Y-direction slider 34 is arranged on the Y-direction slide rail 33 and can slide on the Y-direction slide rail 33. By fixedly connecting the X-direction slider 32 and the Y-direction slider 34, the connecting seat 2 can move in the X direction and the Y direction in the first reference plane, thereby preventing the connecting seat 2 from rotating during the movement.

Of course, the X-direction slide rail 31, the X-direction slide block 32, the Y-direction slide rail 33, and the Y-direction slide block 34 in the slide assembly 3 may have other mounting manners as long as the connection seat 2 can be ensured to move along the X-direction and the Y-direction in the first reference plane, which is not specifically limited herein; for example: the X-direction sliding block 32 is arranged on the X-direction sliding rail 31, the Y-direction sliding block 34 is arranged on the Y-direction sliding rail 33, the X-direction sliding block 32 is fixedly connected with the base 1, the Y-direction sliding block 34 is fixedly connected with the connecting base 2, and the X-direction sliding rail 31 is fixedly connected with the Y-direction sliding rail 33.

In the embodiment of the present invention, an included angle between the X direction and the Y direction in the first reference plane may be set according to actual needs, and preferably, the X direction and the Y direction are perpendicular to each other. As shown in fig. 3, the X-direction slide rail 31 is horizontally disposed, the Y-direction slide rail 33 is vertically disposed, and the first reference surface is a vertical surface.

In the above embodiment, in the process that the driving shaft 5 moves in the cam groove 42, the driving shaft 5 and the cam groove 42 have sliding friction therebetween, and in order to reduce the friction therebetween, preferably, the driving shaft 5 is provided with the first roller 51 which is in rolling fit with the cam groove 42. The first roller 51 is mounted on the drive shaft 5, and the first roller 51 is rotatable about the center line of the drive shaft 5. When the drive shaft 5 moves in the cam groove 42, the frictional resistance between the first roller 51 and the cam groove 42 is reduced by the rolling engagement of the first roller 51 with the cam groove 42, so that the drive shaft 5 can be moved with a small driving force.

As a preferable scheme, the food gripping mechanism of the embodiment of the invention further comprises a driving mechanism; the driving mechanism comprises a driving motor 8 arranged on the second surface 43 of the fixing plate 4, an output shaft 81 of the driving motor 8 penetrates through the fixing plate 4, and a driving arm 9 fixed at the end part of the output shaft 81 of the driving motor 8; a through hole for the output shaft 81 of the driving motor 8 to pass through is formed in the fixing plate 4; the driving arm 9 is provided with a driving groove 91, and the driving shaft 5 passes through the driving groove 91 and is movable in the driving groove 91. As shown in fig. 1 and 3, in operation, the driving motor 8 is started to drive the driving arm 9 to rotate through the output shaft 81, and when the side wall of the driving groove 91 of the driving arm 9 contacts with the driving shaft 5, a driving force is further applied to the driving shaft 5, so that the driving shaft 5 moves along the cam groove 42, and the driving shaft 5 moves in the driving groove 91. By changing the direction of rotation of the drive motor 8, the direction of rotation of the drive arm 9, and hence the direction of the drive force applied by the drive slot 91 to the drive shaft 5, can be changed. Preferably, as shown in fig. 3, the driving shaft 5 is provided with a second roller 52 which is in rolling engagement with the driving groove 91. The second roller 52 is mounted on the drive shaft 5, and the second roller 52 is rotatable about the center line of the drive shaft 5. When the drive shaft 5 moves within the drive groove 91, the frictional resistance between the second roller 52 and the drive groove 91 is reduced by the rolling engagement of the second roller 52 with the drive groove 91.

Fig. 4 shows a structure of the cam groove 42, and the cam groove 42 includes two Y-direction segments 421 arranged in parallel, an X-direction segment 422 arranged between the two Y-direction segments 421, and a circular arc segment 423 connected between an upper end of the Y-direction segment 421 and an end of the X-direction segment 422. As shown in fig. 4, the Y-direction segments 421 are vertically arranged, the X-direction segments 422 are horizontally arranged, and the lower ends of the two Y-direction segments 421 are at the same height; the cam groove 42 of this configuration is suitable for placing food items from a food forming machine into a tray disposed at the same elevation. Of course, the lower ends of the two Y-sections 421 may also be at different heights to accommodate placement of food products from the food forming machine into trays of different heights.

The following describes the moving process of the food product with reference to fig. 4: setting the lower end of the left Y-directional section 421 as a starting point A and the lower end of the right Y-directional section 421 as an end point B; when the food forming machine works, the positioning gripper 7 grabs the food on the food forming machine; then the food moves upwards to separate the food from the food forming machine; then the food horizontally moves to the right and moves to the upper part of the tray; then, after the food is moved downwards to the end point, the positioning hand grip 7 is opened, and the food falls on the tray under the action of gravity.

The cam groove 42 may be formed on the first surface 41 of the fixing plate 4; preferably, as shown in fig. 1 to 4, a ring of stop strips 44 is mounted on the first surface 41 of the fixing plate 4; the inner side surface of the stop strip 44 and the first surface 41 of the fixing plate 4 together enclose the cam groove 42. Preferably, the stop strips 44 are mounted on the first surface 41 of the fixing plate 4 through bolts, so that the stop strips 44 with different shapes can be conveniently replaced according to different movement tracks, and the application range of the food gripping mechanism is widened.

Fig. 1 to 3 show a structure of a base 1, the base 1 including a bottom plate 11, a top plate 12 disposed above the bottom plate 11, and a support plate 13 fixed between the bottom plate 11 and the top plate 12. Bottom plate 11 and roof 12 all level set up, are fixed with two backup pads 13 between bottom plate 11 and the roof 12. The base 1 may have other structures, and is not limited in particular.

As shown in fig. 3, the fixing plate 4 is vertically arranged, and the fixing plate 4 is installed above the top plate 12; preferably, the fixing plate 4 is connected to the top plate 12 through a mounting plate 45, the mounting plate 45 is horizontally disposed, one side of the mounting plate 45 is fixedly connected to the second surface 43 of the fixing plate 4, and a rib plate for reinforcing is further disposed between the mounting plate 45 and the fixing plate 4.

Fig. 1 to 3 show a structure of the connector holder 2, and the connector holder 2 includes a first connecting plate 21 and a second connecting plate 22 fixedly connected to each other. As shown in fig. 3, the first connecting plate 21 is vertically arranged, and the Y-directional slide rail 33 is fixedly connected with the first connecting plate 21; the second connecting plate 22 is horizontally arranged, and the top of the pneumatic finger 6 is fixedly connected with the lower surface of the second connecting plate 22; the driving shaft 5 is connected with a first connecting plate 21; a rib plate for reinforcing is arranged between the first connecting plate 21 and the second connecting plate 22. The connecting seat 2 may also have other structures, which are not limited herein.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected or detachably connected or integrated; either directly or indirectly through an intermediary.

Claims

1. The food gripper mechanism is characterized by comprising a base (1) and a connecting seat (2); the connecting seat (2) is connected with the base (1) through the sliding assembly (3) so that the connecting seat (2) can move in the X direction and the Y direction in a first reference plane;

a fixing plate (4) positioned on one side of the connecting seat (2) is arranged on the base (1), and the surface of the fixing plate (4) is parallel to a first reference surface; a cam groove (42) is arranged on the first surface (41) of the fixed plate (4); the driving shaft (5) is fixedly connected with the connecting seat (2) at one end and is arranged in the cam groove (42) at the other end and can move in the cam groove (42);

a pneumatic finger (6) is arranged on the connecting seat (2); and two clamping jaws of the pneumatic finger (6) are respectively provided with a positioning gripper (7).

2. The food gripper mechanism according to claim 1, wherein the sliding assembly (3) comprises an X-direction sliding rail (31) fixed on the base (1), an X-direction sliding block (32) arranged on the X-direction sliding rail (31), a Y-direction sliding rail (33) fixed on the connecting base (2), and a Y-direction sliding block (34) arranged on the Y-direction sliding rail (33); the X-direction sliding block (32) is fixedly connected with the Y-direction sliding block (34).

3. The food gripper mechanism of claim 1, wherein the X-direction and the Y-direction are perpendicular to each other.

4. Food gripper mechanism according to claim 1, characterized in that the drive shaft (5) is provided with a first roller (51) which is in rolling engagement with the cam groove (42).

5. The food gripper mechanism of claim 1, further comprising a drive mechanism; the driving mechanism comprises a driving motor (8) arranged on the second surface (43) of the fixing plate (4), an output shaft (81) of the driving motor (8) penetrates through the fixing plate (4), and a driving arm (9) fixed at the end part of the output shaft (81) of the driving motor (8);

a through hole for an output shaft (81) of the driving motor (8) to pass through is formed in the fixing plate (4); the driving arm (9) is provided with a driving groove (91), and the driving shaft (5) penetrates through the driving groove (91) and can move in the driving groove (91).

6. Food gripper mechanism according to claim 5, characterized in that the drive shaft (5) is provided with a second roller (52) which is in rolling engagement with the drive groove (91).

7. The food gripper mechanism according to claim 1, 2, 3, 4, 5 or 6, wherein the cam groove (42) comprises two Y-direction segments (421) arranged in parallel, an X-direction segment (422) arranged between the two Y-direction segments (421), and a circular arc segment (423) connected between the upper end of the Y-direction segment (421) and the end of the X-direction segment (422).

8. The food gripping mechanism according to claim 1, 2, 3, 4, 5 or 6, wherein a ring of stop bars (44) are mounted on the first surface (41) of the stationary plate (4); the inner side surface of the stop strip (44) and the first surface (41) of the fixing plate (4) jointly enclose the cam groove (42).

9. Food hand grip mechanism according to claim 1, 2, 3, 4, 5 or 6, characterized in that the base (1) comprises a bottom plate (11), a top plate (12) arranged above the bottom plate (11), a support plate (13) fixed between the bottom plate (11) and the top plate (12).

10. Food hand grip mechanism according to claim 1, 2, 3, 4, 5 or 6, characterized in that the attachment sockets (2) comprise a first attachment plate (21) and a second attachment plate (22) fixedly attached to each other.