CN111673783A - Snatch mechanism and food making devices - Google Patents
Snatch mechanism and food making devices Download PDFInfo
- Publication number
- CN111673783A CN111673783A CN202010564377.5A CN202010564377A CN111673783A CN 111673783 A CN111673783 A CN 111673783A CN 202010564377 A CN202010564377 A CN 202010564377A CN 111673783 A CN111673783 A CN 111673783A
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- China
- Prior art keywords
- hook plate
- plate
- assembly
- clamping
- fixed
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- A—HUMAN NECESSITIES
- A21—BAKING; EDIBLE DOUGHS
- A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
- A21C15/00—Apparatus for handling baked articles
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- A—HUMAN NECESSITIES
- A21—BAKING; EDIBLE DOUGHS
- A21D—TREATMENT, e.g. PRESERVATION, OF FLOUR OR DOUGH, e.g. BY ADDITION OF MATERIALS; BAKING; BAKERY PRODUCTS; PRESERVATION THEREOF
- A21D13/00—Finished or partly finished bakery products
- A21D13/30—Filled, to be filled or stuffed products
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The invention discloses a grabbing mechanism, and also discloses a food manufacturing device comprising the grabbing mechanism, wherein the grabbing mechanism comprises a fixing component, a power component and a clamping component, the power component is fixed on the fixing component, the clamping component comprises a plurality of clamping jaws, each clamping jaw comprises a first hook plate and a second hook plate, the end parts of the first hook plate and the second hook plate are provided with puncture parts for puncturing the surface of a material, and the power component drives the puncture parts of the first hook plate and the second hook plate to move in opposite directions or in reverse directions, so that the puncture parts of the first hook plate and the second hook plate puncture the surface of the material to clamp or loosen the material, the requirement on food materials is low, the failure rate is greatly reduced in the grabbing process, and the stability of equipment is improved.
Description
Technical Field
The invention relates to the technical field of mechanical clamping jaws, in particular to a grabbing mechanism and a food making device.
Background
Food making devices need to get the edible material to put to each station, realize snatching the action, need an actuating mechanism.
At present, articles which can be used on the actuating mechanism in the market comprise a sucker, but the sucker has the problems of high air consumption, high noise, difficulty in cleaning, high requirement on food materials and the like.
Disclosure of Invention
The invention aims to solve at least one technical problem in the prior art, and provides a grabbing mechanism which can reduce the failure rate and improve the stability of equipment.
The invention also provides a food making device comprising the grabbing mechanism.
According to an embodiment of the first aspect of the present invention, a grabbing mechanism is provided, which includes a fixing component, a power component and a grabbing component, wherein the power component is fixed on the fixing component, the grabbing component includes a plurality of clamping jaws, each clamping jaw includes a first hook plate and a second hook plate, end portions of the first hook plate and the second hook plate are provided with a puncturing portion for puncturing a surface of a material, and the power component drives the puncturing portion of the first hook plate and the puncturing portion of the second hook plate to move in an opposite direction or a reverse direction.
Has the advantages that: this snatchs mechanism, including fixed subassembly, power component and clamp are got the subassembly, power component fixes on fixed subassembly, it includes a plurality of clamping jaw to press from both sides the subassembly, the clamping jaw includes first board and the second board that colludes, the tip of first board and the second board that colludes is provided with the puncture portion that is used for piercing the material surface, the puncture portion of first board and the puncture portion subtend or the motion dorsad of second board that colludes of power component drive, make the puncture portion of first board and the puncture portion of second board that colludes pierce the material surface and get or loosen the material, require lowly to eat the material, in the process of snatching, greatly reduced the fault rate, the stability of equipment has been improved.
According to the gripping mechanism provided by the embodiment of the first aspect of the invention, the power assembly comprises a power source and two guide plates, the power source drives the two guide plates to move oppositely or oppositely, and power is transmitted to the gripping assembly through the two guide plates.
According to the grabbing mechanism provided by the embodiment of the first aspect of the present invention, the grabbing component further includes a central shaft and two rotating shafts, the two rotating shafts are parallel to the central shaft and are respectively located at two sides of the central shaft, the central shaft and the fixing component are relatively fixed, each guide plate is respectively connected to one rotating shaft, one end of the first hook plate and one end of the second hook plate are respectively connected to different rotating shafts, and the first hook plate and the second hook plate are respectively rotatably connected to the central shaft.
According to the grabbing mechanism of the embodiment of the first aspect of the present invention, the guide plate includes guide grooves arranged oppositely, and the rotating shaft is located in the guide grooves and movably arranged along the guide grooves.
According to the grabbing mechanism provided by the embodiment of the first aspect of the invention, the fixing assembly comprises an upper bottom plate and a lower bottom plate which are arranged at intervals, a plurality of through holes are formed in the lower bottom plate, and the puncturing part of the first hook plate and the puncturing part of the second hook plate can retract or extend along the through holes.
According to the grabbing mechanism of the embodiment of the first aspect of the present invention, the fixing assembly further includes a pillar and a supporting seat, the upper base plate and the lower base plate are connected through the pillar, and the supporting seat is fixed on the lower base plate.
According to the gripping mechanism in the embodiment of the first aspect of the present invention, the gripping mechanism further includes a distance detection component, the distance detection component is fixed on the lower bottom plate, and the distance detection component is used for detecting the distance between the lower bottom plate and the surface of the material.
According to the grabbing mechanism provided by the embodiment of the first aspect of the invention, the distance detection assembly comprises a fixed seat and a sensor, the fixed seat is fixed on the lower bottom plate, and the sensor is fixed on the fixed seat.
According to a second aspect of the embodiment of the invention, a food making device is provided, which comprises the grabbing mechanism as described above, the failure rate of the food making device is reduced, and the stability of the equipment is improved.
Drawings
The invention is further described below with reference to the accompanying drawings and examples;
FIG. 1 is a schematic view of the overall structure of a grasping mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic view of a fixing assembly according to an embodiment of the present invention;
FIG. 3 is a schematic view of a power assembly according to an embodiment of the present invention;
FIG. 4 is a schematic view of a grasping assembly according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a distance detecting assembly according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
A grabbing mechanism comprises a fixing component 100, a power component 200 and a clamping component 300, wherein the power component 200 is fixed on the fixing component 100, the clamping component 300 comprises a plurality of clamping jaws 310, each clamping jaw 310 comprises a first hook plate 311 and a second hook plate 312, the end parts of the first hook plate 311 and the second hook plate 312 are provided with puncturing parts 311a and 312a used for puncturing the surface of a material, and the power component 200 drives the puncturing parts 311a of the first hook plate 311 and the puncturing parts 312a of the second hook plate 312 to move oppositely or reversely.
Referring to fig. 1, a grabbing mechanism comprises a fixing assembly 100, a power assembly 200 and a grabbing assembly 300, wherein the grabbing assembly 300 comprises 3 clamping jaws 310, each clamping jaw 310 comprises a first hook plate 311 and a second hook plate 312 which are symmetrically arranged, and the end parts of the first hook plate 311 and the second hook plate 312 are provided with puncturing parts 311a and 312a for puncturing the surface of a material. The first hook plate 311 and the second hook plate 312 are symmetrically arranged, so that the grabbing mechanism is more stable when clamping materials. Of course, it is understood that the first hook plate 311 and the second hook plate 312 may be disposed asymmetrically.
Further, the piercing part 311a of the first hook plate 311 and the piercing part 312a of the second hook plate 312 move in an arc-shaped trajectory in opposite directions or in opposite directions. The first hook plate 311 and the second hook plate 312 are clamped in a radian opposite manner, and the puncturing part 311a and the puncturing part 312a penetrate the surface of the material along an arc-shaped track, particularly towards the surface of the main body part of the grabbing mechanism, so that the first hook plate 311 and the second hook plate 312 can clamp the material. Compared with the mode of clamping food materials and materials from the side and the side edge, the clamping mechanism has the advantages that the occupied transverse space is smaller, and therefore, the clamping mechanism can be designed to be smaller.
Therein, the power assembly 200 includes a power source 210 and two guide plates 220. The power source 210 drives the two guide plates 220 to move in opposite directions or in opposite directions, and transmits power to the clamping assembly 300 through the two guide plates 220, so that the first hook plate 311 and the second hook plate 312 of the clamping jaw 310 move in opposite directions or in opposite directions along with the guide plates 220 to perform clamping and releasing actions, and the food materials are taken and placed at each station.
Referring to fig. 3, in the present embodiment, the power source 210 is a clamp cylinder 211. The clamping cylinder 211 is provided with two air pipe connectors 212, the air pipe connectors 212 are respectively arranged at air inlet and air outlet of the clamping cylinder 211, air sources of the two air pipe connectors 212 are respectively switched on and off, and the two sliding blocks on the clamping cylinder 211 can be controlled to move left and right in opposite directions or in back directions, so that the two guide plates 220 are driven to move left and right in opposite directions or in back directions respectively, and the guide plates 220 transmit power to the clamping assembly 300. The power source 210 adopts the clamping cylinder 211 with small cylinder diameter, so that the air consumption is small, almost no sound is generated when the power source is used, and the noise is low.
Of course, it is understood that the power source 210 may also be an electric motor. When the motor is adopted, the output end of the motor is connected with the gear rack, the guide plates 220 are connected with the gear rack, the motor drives the gear to rotate, so that the gear rack is driven to move, the two guide plates 220 are driven to move leftwards and rightwards or backwards respectively, and the two guide plates 220 transmit power to the clamping assembly 300. When the power source 210 employs an electric motor, no air supply is required.
Referring to fig. 1 and 4, a grasping mechanism includes a fixing assembly 100, a power assembly 200, and a grasping assembly 300. The grasping assembly 300 includes a jaw 310, a central shaft 320, and two rotational shafts 330. The clamping jaw 310 includes a first hook plate 311 and a second hook plate 312, and piercing parts 311a and 312a for piercing the surface of the material are provided at the ends of the first hook plate 311 and the second hook plate 312. The two rotating shafts 330 are disposed in parallel with respect to the central shaft 320, the two rotating shafts 330 are respectively disposed on two sides of the central shaft 320, two ends of the central shaft 320 are fixed on the fixing assembly 100, each guiding plate 220 is respectively connected to one rotating shaft 330, one end of the first hook plate 311 and one end of the second hook plate 312 are respectively connected to different rotating shafts 330, and the first hook plate 311 and the second hook plate 312 are respectively rotatably connected to the central shaft 320.
Referring to fig. 4, the first hooking plate 311 includes a first connecting plate and a first clamping part, and two circular holes are respectively formed at both ends of the first connecting plate. The rotation shaft 330 and the central shaft 320 pass through circular holes at both ends of the first connection plate, respectively. The first clamping part is C-shaped as a whole, one end of the first clamping part is arranged at an acute angle with the first connecting plate, and the puncture part 311a is arranged at the other end of the first clamping part. It is understood that the second hook plate 312 includes a second connecting plate and a second clamping portion, and two circular holes are respectively disposed at two ends of the second connecting plate. The rotation shaft 330 and the central shaft 320 pass through circular holes at both ends of the second connection plate, respectively. The second clamping part is C-shaped as a whole, one end of the second clamping part is arranged at an acute angle with the second connecting plate, and the puncture part 312a is arranged at the other end of the second clamping part. The first hook plate 311 and the second hook plate 312 are clamped by the first clamping part and the second clamping part having an arc, so that the puncturing part 311a of the first hook plate 311 and the puncturing part 312a of the second hook plate 312 penetrate the surface of the material to be clamped.
The puncturing part 311a of the first hook plate 311 and the puncturing part 312a of the second hook plate 312 are inserted into the food to be grabbed according to the circular arc track, and the insertion opening of the food can be controlled to be as small as possible by controlling the structures of the puncturing part 311a and the puncturing part 312a, so that the appearance is not influenced.
Referring to fig. 3, the power assembly 200 includes a power source 210 and a guide plate 220. The guide plate 220 includes guide grooves 221 facing each other, and the rotation shaft 330 is disposed in the guide grooves 221 and movably disposed along the guide grooves 221. Specifically, the guide plate 220 includes a connecting plate connected to the clamping cylinder 211, a top plate connected to the connecting plate, and side plates located at two sides of the top plate, two guide grooves 221 are formed in two side plates of the guide plate 220, the guide grooves 221 are perpendicular to the top plate, and the two rotating shafts 330 are respectively clamped in the guide grooves 221. When the clamping cylinder 211 drives the two guide plates 220 to slide left and right, the piercing part 311a of the first hook plate 311 and the piercing part 312a of the second hook plate 312 are pushed to pierce the surface of the material or loosen the material, so as to clamp the material. It is understood that one end of the guide groove 221 is provided in an open shape, and the rotation shaft 330 can be quickly mounted into the guide groove 221 through the opening.
Referring to fig. 2, the fixing assembly 100 includes an upper plate 110, a lower plate 120, a pillar 130, and a support base 140. The upper plate 110 and the lower plate 120 are spaced from each other vertically, the upper plate 110 and the lower plate 120 are connected by four pillars 130, and the support base 140 is fixed on the lower plate 120. Specifically, the upper plate 110 and the lower plate 120 are circular, and the power assembly 200 is mounted on the lower end surface of the upper plate 110. The power assembly 200 can be fixed on the upper base plate 110 by screws, so that the power assembly is convenient to disassemble. Four columns 130 are fixed to the upper plate 110 and the lower plate 120 by screws. The fixing component 100 is fixed through screw connection, and assembly is convenient.
As shown in fig. 1, when the power source 210 is a clamping cylinder, a notch is formed in the upper base plate 110, and the air pipe joint is located in the notch, so that the overall structure and appearance are good.
Referring to fig. 2, the fixing assembly 100 includes an upper plate 110, a lower plate 120, a pillar 130, and a support base 140. Wherein, the supporting base 140 is oppositely disposed at two ends of the lower plate 120. Two opposite small holes are formed in the supporting seat 140, and two ends of the central shaft 320 penetrate through the small holes and are fixed on the supporting seat 140. The lower base plate 120 is provided with a plurality of through holes 121, and the piercing part 311a of the first hook plate 311 and the piercing part 312a of the second hook plate 312 can retract or extend along the through holes 121. When the food material is picked up, the puncturing part 311a of the first hook plate 311 and the puncturing part 312a of the second hook plate 312 respectively extend out of the through hole 121 of the lower base plate 120, the puncturing part 311a and the puncturing part 312a penetrate through the surface of the material to pick up the food material, when the food material is loosened by the picking mechanism, the puncturing part 311a of the first hook plate 311 and the puncturing part 312a of the second hook plate 312 retract from the through hole 121 of the lower base plate 120, the lower base plate 120 ejects the food material, and the food material is prevented from being stuck on the first hook plate 311 and the second hook plate 312.
Referring to fig. 1, in some embodiments, the grasping mechanism includes a fixing assembly 100, a power assembly 200, a gripping assembly 300 and a distance detecting assembly 400, the power assembly 200 is fixed on the fixing assembly 100, the gripping assembly 300 includes a plurality of gripping jaws 310, the gripping jaws 310 include a first hook plate 311 and a second hook plate 312 which are symmetrically arranged, the distance detecting assembly 400 is fixed in the middle of a lower base plate 120 of the fixing assembly 100, and the distance detecting assembly 400 is used for controlling the gripping assembly 300 to grip the material and detect the gripping state. When the grabbing mechanism reaches a position above the food materials to be grabbed, the distance detection assembly 400 detects a distance signal and sends the signal to the power assembly 200, and after the power assembly 200 receives the signal, the puncturing part 311a of the first hook plate 311 and the puncturing part 312a of the second hook plate 312 are driven to puncture the surface of the materials to be grabbed.
Referring to fig. 5, further, the distance detecting assembly 400 includes a fixing base 410 and a sensor 420, wherein the fixing base 410 is fixed in the middle of the lower plate 120 of the fixing assembly 100, and the sensor 420 is fixed on the fixing base 410. A slot is formed in the middle of the lower plate 120, the sensor 420 of the distance detection assembly 400 corresponds to the slot, and the sensor 420 is used for detecting the distance between the lower plate 120 and the surface of the material. The fixing base 410 is fixed on the lower plate 120 by a screw, and when the grabbing mechanism grabs the food material, the distance between the lower plate 120 and the food material and the state during the grabbing process are detected by the sensor 420.
In this embodiment, the inductor 420 is a miniature photoelectric inductor. When the grabbing mechanism reaches a position above the food materials to be grabbed, the micro photoelectric sensor gives a signal, and after the power assembly 200 receives the signal, the power assembly controls and drives the puncturing part 311a of the first hook plate 311 and the puncturing part 312a of the second hook plate 312 to puncture the surface of the materials to be grabbed. Snatch the in-process of mechanism clamp getting edible material, miniature photoelectric sensor can detect edible material equally and whether drop, snatchs the in-process, greatly reduced the fault rate, improved the stability of equipment.
Of course, it is understood that the micro-photoelectric sensor can be replaced by a mechanical micro-switch.
The grabbing mechanism comprises a fixing component 100, a power component 200 and a clamping component 300, wherein the power component 200 is fixed on the fixing component 100, the clamping component 300 comprises a plurality of clamping jaws 310, each clamping jaw 310 comprises a first hook plate 311 and a second hook plate 312, the end parts of the first hook plate 311 and the second hook plate 312 are provided with puncture parts 311a and 312a used for puncturing the surface of a material, the power component 200 drives the puncture parts 311a of the first hook plate 311 and the puncture parts 312a of the second hook plates 312 to move oppositely or reversely so that the puncture parts 311a of the first hook plate 311 and the puncture parts 312a of the second hook plates 312 puncture the surface of the material to clamp or loosen the material, and the grabbing mechanism adopts a small-cylinder-diameter clamping cylinder, compared with a sucker in the prior art, the air consumption is extremely low, the used sound is low, the overall structure adopts stainless steel, the cleaning is convenient, the requirement on food materials is low, the structure is novel and has mechanical feeling, can attract customers.
A food preparation device according to an embodiment of the second aspect of the embodiment of the invention comprises a gripping mechanism as described above. The food making device has low requirement on food materials and can grab various food materials.
In one embodiment, the food preparation device is a hamburger machine, and the gripping mechanism can be used for gripping food materials with certain thickness such as bread, meat pie, meat chop and the like.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. Snatch mechanism, its characterized in that includes:
a fixing assembly;
the power assembly is fixed on the fixing assembly; and
the clamping assembly comprises a plurality of clamping jaws, each clamping jaw comprises a first hook plate and a second hook plate, the end portions of the first hook plate and the second hook plate are provided with puncturing portions used for puncturing the surface of a material, and the power assembly drives the puncturing portions of the first hook plate and the puncturing portions of the second hook plate to move oppositely or reversely.
2. The grasping mechanism according to claim 1, characterized in that: the puncture part of the first hook plate and the puncture part of the second hook plate move oppositely or reversely along an arc-shaped track.
3. The grasping mechanism according to claim 1, characterized in that: the power assembly comprises a power source and two guide plates, the power source drives the two guide plates to move oppositely or oppositely, and power is transmitted to the clamping assembly through the two guide plates.
4. The grasping mechanism according to claim 3, wherein: the clamping assembly further comprises a central shaft and two rotating shafts, the two rotating shafts are parallel to the central shaft and are respectively located on two sides of the central shaft, the central shaft and the fixing assembly are fixed relatively, each guide plate is respectively connected with one rotating shaft, one end of the first hook plate and one end of the second hook plate are respectively connected to different rotating shafts, and the first hook plate and the second hook plate are respectively connected with the central shaft in a rotating mode.
5. The grasping mechanism according to claim 4, wherein: the guide plate comprises two guide grooves which are oppositely arranged, and the rotating shaft is positioned in the guide grooves and movably arranged along the guide grooves.
6. The grasping mechanism according to any one of claims 1 to 5, wherein: the fixing assembly comprises an upper base plate and a lower base plate which are arranged at intervals, a plurality of through holes are formed in the lower base plate, and the puncture part of the first hook plate and the puncture part of the second hook plate can retract or extend along the through holes.
7. The grasping mechanism according to claim 6, wherein: the fixing assembly further comprises a support column and a supporting seat, the upper base plate and the lower base plate are connected through the support column, and the supporting seat is fixed on the lower base plate.
8. The grasping mechanism according to claim 6, wherein: the grabbing mechanism further comprises a distance detection assembly, the distance detection assembly is fixed on the lower bottom plate, and the distance detection assembly is used for detecting the distance between the lower bottom plate and the surface of the material.
9. The grasping mechanism according to claim 8, wherein: the distance detection assembly comprises a fixed seat and an inductor, the fixed seat is fixed on the lower bottom plate, and the inductor is fixed on the fixed seat.
10. Food making devices, its characterized in that: comprising a gripping mechanism according to any of claims 1-9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010564377.5A CN111673783B (en) | 2020-06-19 | 2020-06-19 | Grabbing mechanism and food manufacturing device |
| PCT/CN2020/114487 WO2021253650A1 (en) | 2020-06-19 | 2020-09-10 | Grasping mechanism and food preparation apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010564377.5A CN111673783B (en) | 2020-06-19 | 2020-06-19 | Grabbing mechanism and food manufacturing device |
Publications (2)
| Publication Number | Publication Date |
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| CN111673783A true CN111673783A (en) | 2020-09-18 |
| CN111673783B CN111673783B (en) | 2023-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010564377.5A Active CN111673783B (en) | 2020-06-19 | 2020-06-19 | Grabbing mechanism and food manufacturing device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111673783B (en) |
| WO (1) | WO2021253650A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112168014A (en) * | 2020-11-04 | 2021-01-05 | 广东智源机器人科技有限公司 | Food snatchs mechanism and food cooking equipment |
| CN112167295A (en) * | 2020-09-25 | 2021-01-05 | 北京三快在线科技有限公司 | Hamburger feeding device and hamburger machine |
| CN112757328A (en) * | 2020-12-25 | 2021-05-07 | 广东智源机器人科技有限公司 | Clamping device and food making equipment |
| CN114589725A (en) * | 2022-03-16 | 2022-06-07 | 苏迈特智能科技(江苏)有限公司 | Metal net gripping device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117383245B (en) * | 2023-12-12 | 2024-03-08 | 河南科技学院 | Clamping device and method for square meat in pig carcass strip |
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| EP1064847A1 (en) * | 1999-07-01 | 2001-01-03 | Pierre Adelin Jean René de Longree | Gripper for gripping at least one dough ball |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112167295A (en) * | 2020-09-25 | 2021-01-05 | 北京三快在线科技有限公司 | Hamburger feeding device and hamburger machine |
| CN112168014A (en) * | 2020-11-04 | 2021-01-05 | 广东智源机器人科技有限公司 | Food snatchs mechanism and food cooking equipment |
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| CN114589725A (en) * | 2022-03-16 | 2022-06-07 | 苏迈特智能科技(江苏)有限公司 | Metal net gripping device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111673783B (en) | 2023-06-16 |
| WO2021253650A1 (en) | 2021-12-23 |
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