CN111374543A - Manipulator of dumpling machine - Google Patents
Manipulator of dumpling machine Download PDFInfo
- Publication number
- CN111374543A CN111374543A CN201811614346.5A CN201811614346A CN111374543A CN 111374543 A CN111374543 A CN 111374543A CN 201811614346 A CN201811614346 A CN 201811614346A CN 111374543 A CN111374543 A CN 111374543A
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- Prior art keywords
- manipulator
- dumpling
- box
- dumplings
- outer frame
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J27/00—Cooking-vessels
- A47J27/14—Cooking-vessels for use in hotels, restaurants, or canteens
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J36/00—Parts, details or accessories of cooking-vessels
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- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Manufacturing And Processing Devices For Dough (AREA)
Abstract
The invention discloses a manipulator of a dumpling machine, which comprises a horizontal conveying mechanism, wherein the horizontal conveying mechanism can move up and down through a vertical conveying mechanism; the horizontal conveying mechanism is provided with a fixed frame which can horizontally move through the horizontal conveying mechanism; the containing device comprises an inner box, an outer frame and a material pushing mechanism; the outer frame is fixedly connected with the fixed frame; the inner box is provided with a containing cavity for containing dumplings, and the front side of the inner box is provided with a feed inlet and a discharge outlet; the inner box can move downwards to be separated from the outer frame through the first driving mechanism; the material pushing mechanism is used for pushing the dumplings in the inner box out of the material inlet and outlet; and the box taking device is connected with the fixing frame, is arranged above the containing device, and can grab the dumpling box onto the outer frame and grab the box cover to cover the dumpling box. The manipulator of the dumpling machine comprises the containing device and the box taking device, is set according to the requirements of the operation flow of steaming and boiling dumplings of the dumpling machine, has reasonable structure and simple and convenient operation, and can finish the operations of taking and placing the dumplings and sealing the boxes of the boiled dumplings.
Description
Technical Field
The invention relates to the technical field of cooking equipment, in particular to a manipulator of a dumpling machine.
Background
The boiled dumplings are traditional special food which is popular among Chinese people, but the making process is complicated, so that some boiled dumpling machines appear on the market, can assist in making the boiled dumplings to produce finished dumplings, and is applied to industries such as restaurants, canteens, fast food, dumpling processing and the like, but the making process of the boiled dumplings still needs a certain time, and cooking equipment is additionally needed for cooking, so that the boiled dumplings are difficult to adapt to the fast-paced life needs of modern people. In addition, in order to adapt to fast-paced life, the quick-frozen dumplings are produced as soon as possible, the dumplings are quickly frozen at low temperature, the original nutrition and flavor can be maintained, and the dumplings can be preserved for a long time, so the quick-frozen dumplings are developed quickly, but still need to be cooked manually when being eaten, and time and labor are wasted. At present, no dumpling machine for automatically steaming and boiling dumplings is available in the market, and the demand of people for quickly and conveniently eating the dumplings cannot be met.
Disclosure of Invention
Based on the technical problem, the invention provides the manipulator of the dumpling machine, which is matched with the cooking operation flow of the dumpling machine and is convenient and fast to operate.
In order to solve the technical problems, the invention adopts the following technical scheme:
a manipulator of a dumpling machine comprises:
the horizontal conveying mechanism can move up and down through the vertical conveying mechanism; the horizontal conveying mechanism is provided with a fixed frame, and the fixed frame can horizontally move through the horizontal conveying mechanism;
the containing device comprises an inner box, an outer frame sleeved on the periphery of the inner box and a material pushing mechanism; the outer frame is fixedly connected with the fixing frame; the inner box is provided with a containing cavity for containing dumplings, and the front side of the inner box is provided with a feed inlet and a discharge outlet; the inner box can move downwards to be separated from the outer frame through a first driving mechanism; the material pushing mechanism is used for pushing the dumplings in the inner box out of the material inlet and outlet; and
the box taking device is connected with the fixing frame and arranged above the containing device, and the box taking device can grab the dumpling boxes to the outer frame.
In one embodiment, the box taking device comprises a grabbing mechanism and a second driving mechanism, wherein the second driving mechanism is used for driving the grabbing mechanism to move horizontally and linearly along the fixed frame.
In one embodiment, the gripping mechanism includes a connecting plate and two corner cylinders disposed on a first end and a second end of the connecting plate, respectively.
In one embodiment, the second driving mechanism includes a first rodless cylinder and a second rodless cylinder, a first sliding block of the first rodless cylinder is fixedly connected with a first end of a cylinder body of the second rodless cylinder, and a second sliding block of the second rodless cylinder is fixedly connected with a second end of the connecting plate.
In one embodiment, the pushing mechanism comprises a push plate arranged at the rear side of the accommodating cavity and a third driving mechanism for driving the push plate to move forwards.
In one embodiment, the third drive mechanism is a third rodless cylinder.
In one embodiment, the accommodating cavity of the inner box comprises a first accommodating space, a second accommodating space and an installation space, the installation space is arranged between the first accommodating space and the second accommodating space, the first accommodating space and the second accommodating space are used for containing dumplings, and the third driving mechanism is arranged in the installation space.
In one embodiment, the push plate comprises a first push plate and a second push plate which are respectively arranged at the rear sides of the first accommodating space and the second accommodating space, the first push plate and the second push plate are connected through a fixing plate, and the fixing plate is connected with the third driving mechanism.
In one embodiment, the first driving mechanism is a first linear air cylinder, and the first linear air cylinder is fixedly connected with the fixed frame.
In one embodiment, the top end of the front plate of the outer frame is provided with an extension part higher than two side plates of the outer frame, and the extension part is used for positioning the front side of the dumpling box.
In one embodiment, a second linear cylinder is further arranged in the mounting space, a through hole is formed in the front plate of the outer frame, and a piston rod of the second linear cylinder can extend out of the through hole.
Compared with the prior art, the invention has the advantages and positive effects that:
the manipulator of the dumpling machine comprises the containing device and the box taking device, is set according to the requirements of the operation flow of steaming and boiling dumplings of the dumpling machine, has reasonable structure and simple and convenient operation, and can finish the operations of taking and placing the dumplings and sealing the boxes of the boiled dumplings.
Drawings
FIG. 1 is a schematic structural view of a manipulator of the dumpling machine of the present invention;
fig. 2 is a rear view structure schematic diagram of a manipulator of the dumpling machine of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2;
FIG. 4 is a schematic structural view of a containing device and a box-taking device in a manipulator of the dumpling machine;
FIG. 5 is a schematic structural view of a loading device and a box-taking device in a manipulator of the dumpling machine of the present invention, the loading device is not shown with an outer frame;
FIG. 6 is a schematic structural view of a push plate in a manipulator of the dumpling machine of the present invention;
description of reference numerals:
a vertical conveyance mechanism 100;
a horizontal transfer mechanism 200; a fixed frame 210;
a holding device 300;
an inner case 310; a feed/discharge port 311; the first accommodation space 312; the second accommodation space 313; an installation space 314;
an outer frame 320; a front plate 321; a through hole 3211; an extension 3212;
a first linear cylinder 330;
a material pushing mechanism 340; a push plate 341; the first push plate 3411; a second push plate 3412; a third rodless cylinder 342; a fixed plate 343;
a box taking device 400; a corner cylinder 410; a pressing arm 411; a positioning block 4111; a second drive mechanism 420; a first rodless cylinder 421; a second rodless cylinder 422; a connecting plate 430;
a second linear cylinder 500;
Detailed Description
Reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings, but which can be embodied in many different forms and varied in the manner defined and covered by the claims.
The manipulator of the dumpling machine is applied to the dumpling machine and is used for taking, placing, conveying and other operations of dumplings. The dumpling machine comprises a dumpling discharging device, a conveying device, a mechanical arm, a box discharging device, a cover discharging device and a cooking device. Referring to fig. 1 and 2, the manipulator of the dumpling machine in one embodiment of the present invention includes a vertical transfer mechanism 100, a horizontal transfer mechanism 200, a container 300, and a box-taking device 400. The horizontal transfer mechanism 200 is movable up and down by the vertical transfer mechanism 100. The vertical transfer mechanism 100 and the horizontal transfer mechanism 200 are preferably belt transmission mechanisms. In other embodiments, a screw transmission mechanism, a slide transmission mechanism, or other transmission mechanisms may be used. Wherein, the horizontal transmission mechanism 200 is provided with a fixed frame 210, and the fixed frame 210 can horizontally reciprocate through the transmission of the horizontal transmission mechanism 200.
As shown in fig. 4-6, the container 300 includes an inner case 310, an outer case 320 disposed around the inner case 310, and a pushing mechanism 340. The outer frame 320 is fixedly connected with the fixing frame 210, the outer frame 320 has peripheral side plates, and a bottom plate and a top plate of the outer frame are absent. The inner box 310 has a receiving cavity for receiving the quick-frozen dumplings, and the front side of the inner box 310 has a feed/discharge opening 311 for loading and discharging the dumplings. The outer frame 320 is sleeved outside the inner box 310 to close the material inlet/outlet 311, and referring to fig. 4, a gap can be left at the bottom of the material inlet/outlet 311, and the size of the gap can ensure that the dumplings can not fall out. The inner box 310 can move downward to be separated from the outer frame 320 by the first driving mechanism, so that the material inlet and outlet 311 of the inner box 310 is opened, and at this time, dumplings can be put into the inner box 310 by other conveying mechanisms of the dumpling machine. The first driving mechanism is preferably a first linear cylinder 330, the first linear cylinder 330 is fixed on the fixing frame 210, a piston rod of the first linear cylinder 330 is fixed to the outer frame 320, and the outer frame 320 is driven by the first linear cylinder 330 and can move up and down. The filling device 300 is further provided with a material pushing mechanism 340, when the manipulator transports the dumplings to a cooking device of a dumpling machine and reaches a preset position, the material pushing mechanism 340 can push the dumplings in the inner box 310 out of the material inlet/outlet 311 into the dumpling cooking device.
The box fetching device 400 is used for fetching and placing a dumpling box 600 containing dumplings and a box cover (not shown), the box fetching device 400 is connected with the fixing frame 210 and is arranged above the containing device 300, and as shown in fig. 3, the box fetching device 400 can grab the dumpling box 600 onto the outer frame 320. After the dumplings are cooked and boxed, the mechanical arm conveys the dumpling box 600 to a cache area for temporary storage, and after the dumplings are cooled slightly, the operation of closing the cover is carried out.
The manipulator of the dumpling machine comprises the containing device 300 and the box taking device 400, is arranged according to the requirements of the operation flow of cooking dumplings by the dumpling machine, has a reasonable structure, is simple and convenient to operate, and can finish the taking and placing of the dumplings and the boxing operation of the cooked dumplings.
Specifically, the cassette taking device 400 includes a grasping mechanism and a second driving mechanism 420. The second driving mechanism 420 is used for driving the grabbing mechanism to move horizontally and linearly along the fixed frame 210.
Wherein the grasping mechanism includes a connecting plate 430 and two corner cylinders 410 disposed on a first end and a second end of the connecting plate 430, respectively. The two corner cylinders 410 may be hydraulically or pneumatically actuated, preferably pneumatically actuated in this embodiment. The corner cylinders 410 are horizontally symmetrically disposed. The piston of the angle cylinder 410 completes a rotation stroke first, and the pressing arm 411 presses inward and rotates to a predetermined position and angle, and then completes a clamping stroke, that is, linearly presses inward and clamps the workpiece. When the dumpling box 600 is released, the pressing arm 411 automatically returns to the original position to be separated from the dumpling box 600 according to the pressing route.
In order to ensure the grasping range of the cassette taking device 400, grasping can be performed from both the left and right sides, the second driving mechanism 420 is provided with a first rodless cylinder 421 and a second rodless cylinder 422, and the strokes of the first rodless cylinder 421 and the second rodless cylinder 422 are equal. The first slider of the first rodless cylinder 421 is fixedly connected with the first end of the cylinder body of the second rodless cylinder 422, and the second slider of the second rodless cylinder 422 is fixedly connected with the second end of the connecting plate. This ensures that the stroke of the right and left movement of the corner cylinder 410 is equal.
The pushing mechanism 340 includes a pushing plate 341 disposed at the rear side of the accommodating chamber, and a third driving mechanism for driving the pushing plate 341 to move forward. Preferably, the third drive mechanism is a third rodless cylinder 342. The pushing mechanism 340 is used for pushing out the quick-frozen dumplings in the inner box 310. The manipulator transports the quick-frozen dumplings to the cooking device through the inner box 310, pushes the push plate 341 to move forward through the third rodless cylinder 342, pushes the dumplings out of the cooking device, and performs the next cooking operation.
In the present embodiment, as shown in fig. 5, the receiving chamber of the inner case 310 includes a first receiving space 312, a second receiving space 313 and a mounting space 314, the mounting space 314 is provided between the first receiving space 312 and the second receiving space 313, the first receiving space 312 and the second receiving space 313 are used for receiving dumplings, and the third driving mechanism is provided in the mounting space 314. Correspondingly, as shown in fig. 6, the push plate 341 includes a first push plate 3411 and a second push plate 3412 respectively disposed at the rear side of the first accommodating space 312 and the second accommodating space 313, the first push plate 3411 and the second push plate 3412 are connected through a fixing plate 343, the fixing plate 343 is connected to the third rodless cylinder 342, and the push plate 341 is pushed to move by pushing the fixing plate 343.
As shown in fig. 4 and 5, a second linear cylinder 500 is further disposed in the mounting space 314, a through hole 3211 is formed in the front plate 321 of the outer frame 320, and a piston rod of the second linear cylinder 500 can extend out of the through hole 3211. The second linear cylinder 500 is used to link with a material poking shovel on the cooking device. When the manipulator conveys dumplings to the cooking device, the piston rod of the second linear cylinder 500 extends out of the through hole 3211 and can be connected with a material stirring shovel on the cooking device, and specifically, the piston rod of the second linear cylinder 500 is inserted into an insertion hole on the material stirring shovel. When the cooking device cooks the dumplings, the manipulator moves horizontally to make the inner box 310 correspond to the corresponding cooking bin, and meanwhile, the stirring shovel is driven to move to the corresponding cooking bin. The material stirring shovel stirs the cooked dumplings in the cooking bin into the dumpling box 600 above the inner box 310, and then the mechanical arm finishes the operation of storing the dumpling box in the cache region.
In order to position the dumpling box 600 placed on the inner box 310, the top end of the front plate 321 of the outer frame 320 is provided with an extension 3212 which is higher than the two side plates of the outer frame 320, and the extension 3212 is used for positioning the front side of the dumpling box 600. The pressing arms 411 of the two corner cylinders 410 are provided with positioning blocks 4111, the positioning blocks 4111 are used for positioning the rear sides of the dumpling boxes 600, and the two sides of the dumpling boxes 600 are positioned through the inner sides of the pressing arms 411 of the two corner cylinders 410.
The work flow of the manipulator of the dumpling machine is as follows:
firstly, the quick-frozen dumplings discharged from the dumpling discharging device are transported to the position of the manipulator through the conveying device, the inner box of the containing device 300 moves downwards under the driving of the first linear cylinder 330, so that the material inlet and outlet 311 is opened, the conveying device pushes the dumplings into the containing cavity of the inner box, and the inner box moves upwards again to close the material inlet and outlet 311. Then, the corner cylinder 410 moves to the left or right side to the box discharging device under the driving of the first rodless cylinder 421 and the second rodless cylinder 422, and returns to the initial position after the dumpling box is picked up, and the dumpling box 600 is placed on the top of the outer frame 320. The manipulator moves to the cooking device under the driving of the horizontal conveying mechanism 200 and the vertical conveying mechanism 100; under the driving of the horizontal conveying mechanism, the containing device 300 is driven to a preset cooking bin, the pushing mechanism 340 pushes the dumplings in the inner box 310 into the cooking bin, and the cooking device performs cooking operation. After the operation of cooking, the manipulator moves to group material shovel position, and the piston rod of second straight line cylinder 500 stretches out and links with group material shovel on the boiling device, will dial in the material shovel drives this predetermined storehouse of cooking, will cook the dumpling through group material shovel and dial in dumpling box 600 thoroughly. During or after filling of the dumplings into the dumpling box 600, the manipulator can swing left and right through the horizontal conveying mechanism 200, so that the dumplings are flatly laid in the dumpling box. And finally, the mechanical arm conveys the dumpling box 600 containing the dumplings to a cache region, and after the dumplings are cooled slightly, the dumplings are conveyed to a cover outlet device from the cache region to be sealed.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. A manipulator of a dumpling machine is characterized by comprising:
the horizontal conveying mechanism can move up and down through the vertical conveying mechanism; the horizontal conveying mechanism is provided with a fixed frame, and the fixed frame can horizontally move through the horizontal conveying mechanism;
the containing device comprises an inner box, an outer frame sleeved on the periphery of the inner box and a material pushing mechanism; the outer frame is fixedly connected with the fixing frame; the inner box is provided with a containing cavity for containing dumplings, and the front side of the inner box is provided with a feed inlet and a discharge outlet; the inner box can move downwards to be separated from the outer frame through a first driving mechanism; the material pushing mechanism is used for pushing the dumplings in the inner box out of the material inlet and outlet; and
the box taking device is connected with the fixing frame and arranged above the containing device, and the box taking device can grab the dumpling boxes to the outer frame.
2. The manipulator of the dumpling machine as claimed in claim 1, wherein the box taking device comprises a grabbing mechanism and a second driving mechanism, and the second driving mechanism is used for driving the grabbing mechanism to move horizontally and linearly along the fixed frame.
3. The manipulator of the dumpling machine as claimed in claim 2, wherein the grabbing mechanism comprises a connecting plate and two corner cylinders respectively arranged at a first end and a second end of the connecting plate.
4. The manipulator of the dumpling machine as claimed in claim 3, wherein the second driving mechanism comprises a first rodless cylinder and a second rodless cylinder, a first sliding block of the first rodless cylinder is fixedly connected with a first end of a cylinder body of the second rodless cylinder, and a second sliding block of the second rodless cylinder is fixedly connected with a second end of the connecting plate.
5. The manipulator of the dumpling machine as claimed in claim 1, wherein the pushing mechanism comprises a push plate arranged at the rear side of the accommodating cavity and a third driving mechanism for driving the push plate to move forward.
6. The manipulator of dumpling machine of claim 5, wherein the third driving mechanism is a third rodless cylinder.
7. The manipulator of the dumpling machine as claimed in claim 5, wherein the accommodating cavity of the inner box comprises a first accommodating space, a second accommodating space and an installation space, the installation space is arranged between the first accommodating space and the second accommodating space, the first accommodating space and the second accommodating space are used for accommodating dumplings, and the third driving mechanism is arranged in the installation space.
8. The manipulator of the dumpling machine according to claim 7, wherein the push plate comprises a first push plate and a second push plate which are respectively arranged at the rear sides of the first accommodating space and the second accommodating space, the first push plate and the second push plate are connected through a fixing plate, and the fixing plate is connected with the third driving mechanism.
9. The manipulator of dumpling making machine according to any one of claims 1-8, wherein the first driving mechanism is a first linear air cylinder, and the first linear air cylinder is fixedly connected with the fixing frame.
10. The manipulator of dumpling making machine according to any one of claims 1 to 8, wherein the top end of the front plate of the outer frame is provided with an extension part higher than the two side plates of the outer frame, and the extension part is used for positioning the front side of the dumpling box.
11. The manipulator of the dumpling machine as claimed in claim 7, wherein a second linear cylinder is further disposed in the mounting space, a through hole is formed in the front plate of the outer frame, and a piston rod of the second linear cylinder can extend out of the through hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811614346.5A CN111374543A (en) | 2018-12-27 | 2018-12-27 | Manipulator of dumpling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811614346.5A CN111374543A (en) | 2018-12-27 | 2018-12-27 | Manipulator of dumpling machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111374543A true CN111374543A (en) | 2020-07-07 |
Family
ID=71222357
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811614346.5A Pending CN111374543A (en) | 2018-12-27 | 2018-12-27 | Manipulator of dumpling machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111374543A (en) |
-
2018
- 2018-12-27 CN CN201811614346.5A patent/CN111374543A/en active Pending
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