CN114788531B - Bionic dumpling clamping mechanism - Google Patents
Bionic dumpling clamping mechanism Download PDFInfo
- Publication number
- CN114788531B CN114788531B CN202210589398.1A CN202210589398A CN114788531B CN 114788531 B CN114788531 B CN 114788531B CN 202210589398 A CN202210589398 A CN 202210589398A CN 114788531 B CN114788531 B CN 114788531B
- Authority
- CN
- China
- Prior art keywords
- gear
- claw
- frame
- clamp
- movable clamp
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A21—BAKING; EDIBLE DOUGHS
- A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
- A21C9/00—Other apparatus for handling dough or dough pieces
- A21C9/06—Apparatus for filling pieces of dough such as doughnuts
-
- A—HUMAN NECESSITIES
- A21—BAKING; EDIBLE DOUGHS
- A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
- A21C9/00—Other apparatus for handling dough or dough pieces
- A21C9/08—Depositing, arranging and conveying apparatus for handling pieces, e.g. sheets of dough
-
- 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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Food Science & Technology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Clamps And Clips (AREA)
Abstract
The invention belongs to the field of food processing machinery, and particularly relates to a bionic dumpling clamping mechanism, which adopts the following technical scheme: the claw fixing device comprises a claw fixing frame, wherein two sliding shafts are arranged on the claw fixing frame side by side, a movable clamp and a fixed clamp are sleeved on the sliding shafts, and the movable clamp is connected with a driving module and slides left and right along the sliding shafts under the action of the driving module; the movable clamp comprises a left gear claw and a right gear claw which are meshed with each other, the left gear claw and the right gear claw are meshed with each other through a head gear, the fixed clamp has the same structure as the movable clamp, a steering engine is arranged on the fixed frame, a main shaft of the steering engine is connected with a main transmission shaft, the main transmission shaft sequentially penetrates through the right gear claws of the movable clamp and the fixed clamp, the main transmission shaft is connected with the two right gear claws through keys, and driven shafts are arranged in the two left gear claws; the clamping mechanism can clamp and transport dumplings, and can plasticity the dumplings again in the transportation process, so that the dumplings can be in the form of common manual dumplings.
Description
Technical Field
The invention belongs to the field of food processing machinery, and particularly relates to a bionic dumpling clamping mechanism.
Background
The dumplings are traditional food in China and have long history in China. The dumpling is a requisite food in holidays of Chinese people with exquisite appearance and unique taste. There are many devices for making dumplings on the market, which mainly carry out the forming process of dumplings by pressing films, but the dumplings cannot be shaped like manual dumplings.
In addition, in the existing automatic production process of dumplings, the dumplings are manufactured by a film pressing mechanism and then conveyed to a conveyor belt, and are placed into a packaging box through a claw clamping mechanism in the next link. The existing clamping mechanism only can realize the clamping function, cannot carry out secondary shaping on dumplings, and has a single function.
Disclosure of Invention
The invention overcomes the defects existing in the prior art, and aims to provide a bionic dumpling clamping mechanism. The clamping mechanism can clamp and transport dumplings, and can plasticity the dumplings again in the transportation process, so that the dumplings can be in the form of common manual dumplings.
In order to solve the technical problems, the invention adopts the technical scheme that: a bionic dumpling clamping mechanism comprises a claw fixing frame, wherein two sliding shafts are arranged on the claw fixing frame side by side, a movable clamp and a fixed clamp are sleeved on the sliding shafts, the fixed clamp is fixedly connected with one end of the claw fixing frame, and the movable clamp is connected with a driving module and slides left and right along the sliding shafts under the action of the driving module;
the movable clamp comprises a left gear claw and a right gear claw which are meshed with each other, the left gear claw and the right gear claw are meshed with each other through a head gear, the fixed clamp is identical to the movable clamp in structure, a steering engine is arranged on the fixed frame, a main shaft of the steering engine is connected with a main transmission shaft, the main transmission shaft sequentially penetrates through the right gear claws of the movable clamp and the fixed clamp, the main transmission shaft is connected with the two right gear claws through keys, and driven shafts are arranged in the two left gear claws.
Further, the left gear claw and the right gear claw are symmetrical in structure and comprise a main pressing finger and a side pressing finger, the head gear is arranged on the main pressing finger, the front end of the side pressing finger is fixedly connected with the front end of the main pressing finger, and rubber finger sleeves are sleeved on the main pressing finger and the side pressing finger.
Further, the driving module comprises a driving motor, a main shaft of the driving motor is connected with a main synchronous pulley, a secondary synchronous pulley is arranged at the other end of the claw fixing frame, synchronous belts are arranged on the main synchronous pulley and the secondary synchronous pulley, and the synchronous belts are fixedly connected with the movable clamp through belt clamping plates.
Further, the fixing clamp is fixedly connected with the claw fixing frame through a first gear frame, a sliding shaft mounting hole, a main transmission shaft mounting hole and a driven shaft mounting hole are preset in the first gear frame, and a mounting seat of a slave synchronous pulley mounting shaft is arranged at the top of the first gear frame.
Further, the movable clamp is sleeved with the sliding shaft through a second gear frame, and a sliding shaft mounting hole, a main transmission shaft mounting hole and a driven shaft mounting hole are preset in the second gear frame.
Further, a self-lubricating graphite copper sleeve is sleeved between the movable clamp and the sliding shaft.
Further, steering wheel is fixed to be set up on motor mounting bracket, and driving motor is fixed to be set up at motor mounting bracket's top, and the one end of sliding shaft is also fixed to be set up on motor mounting bracket, and motor mounting bracket is fixed to be set up in claw fixing bracket's one end.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, the movable clamp and the fixed clamp are designed into the modes of thumb and index finger when the dumplings are manually kneaded, and the steering engine is utilized to drive the left gear claw and the right gear claw to move so as to simulate the kneading process of the manual dumplings, thereby completing the secondary shaping of the dumplings. The dumpling clamping mechanism is arranged on the existing mechanical arm or other moving devices, so that the secondary shaping of the dumplings can be finished, and the function of transferring and boxing the dumplings can be realized.
Drawings
The invention is further described below with reference to the accompanying drawings.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic top view.
Fig. 3 is a schematic diagram of a synchronous belt-free structure.
Fig. 4 is a schematic diagram of a connection structure of the movable month-clamping sliding axle.
Fig. 5 is a schematic view of the moving clamp with the left gear pawl removed from the rubber finger cuff.
In the figure, 1 is a claw fixing frame, 2 is a sliding shaft, 3 is a movable clamp, 31 is a left gear claw, 311 is a main pressing finger, 312 is a side pressing finger, 313 is a rubber finger sleeve, 32 is a right gear claw, 33 is a head gear, 4 is a fixing clamp, 5 is a driving module, 51 is a driving motor, 52 is a main synchronous pulley, 53 is a secondary synchronous pulley, 54 is a synchronous belt, 55 is a belt clamping plate, 6 is a steering engine, 7 is a main transmission shaft, 8 is a driven shaft, 9 is a first gear frame, 10 is a second gear frame, 11 is a self-lubricating graphite copper sleeve, and 12 is a motor mounting frame.
Detailed Description
As shown in fig. 1, a bionic dumpling clamping mechanism comprises a claw fixing frame 1 and two sliding shafts 2, wherein one side of the claw fixing frame 1 is provided with a sliding shaft 2 mounting hole in advance, the other side of the claw fixing frame is fixedly provided with a motor mounting frame 12, the motor mounting frame 12 is also provided with a sliding shaft mounting hole in advance, and two ends of the sliding shaft 2 are respectively fixedly connected with the claw fixing frame 1 and the motor mounting frame 12.
As shown in fig. 4, two sliding shafts 2 are sleeved with a movable clamp 3 and a fixed clamp 4, the fixed clamp 4 is fixedly arranged, and the movable clamp 3 is connected with a driving module 5 and can slide left and right along the sliding shafts 2 under the action of the driving module 5. The fixed clamp 4 has the same structure as the movable clamp 3. The structure is as follows: comprising a left gear pawl 31 and a right gear pawl 32 which are intermeshed, the left gear pawl 31 and the right gear pawl 32 being intermeshed by a head gear 33.
As shown in fig. 5, the left and right gear claws 31 and 32 are symmetrical to each other in structure, and include a main pressing finger 311 and a side pressing finger 312, and the main pressing finger 311 and the side pressing finger 312 are shaped in such a manner that a human finger kneads the dumpling. The head gear 33 is arranged on the main pressing finger 311, the front end of the side pressing finger 312 is fixedly connected with the front end of the main pressing finger 311, and the main pressing finger 311 and the side pressing finger 312 are sleeved with a rubber finger sleeve 313. The rubber finger sleeve 313 can increase the contact area with the dumplings, and the rubber material has strong plasticity and can be better close to the style of the dumplings kneaded by fingers.
The movable clamp 3 and the fixed clamp 4 are sleeved with the sliding shaft 2 through a first gear frame 9 and a second gear frame 10 respectively. The first gear frame 9 is sleeved with the sliding shaft 2 through a preset mounting hole of the sliding shaft 2, a left gear claw 31 of the movable clamp 3 is mounted on the first gear frame 9 through a driven shaft 8, and a right gear claw 32 is mounted on the first gear frame 9 through a main transmission shaft 7. The second gear frame 10 is sleeved with the sliding shaft 2 through a preset mounting hole of the sliding shaft 2, the left gear claw 31 of the fixed clamp 4 is mounted on the second gear frame 10 through the driven shaft 8, and the right gear claw 32 is mounted on the second gear frame 10 through the main transmission shaft 7.
In order to simulate the process of kneading dumplings by fingers, a steering engine 6 is arranged on the fixing frame, a main shaft of the steering engine 6 is connected with a main transmission shaft 7, the main transmission shaft 7 sequentially penetrates through right gear claws 32 of the movable clamp 3 and the fixed clamp 4, and the main transmission shaft 7 is connected with the two right gear claws 32 through keys and drives the two right gear claws to rotate.
The working process of the invention is as follows: after the dumpling pressing die is manufactured, a conveyor belt is utilized to reach a specified position, a mechanical arm or other moving mechanisms loaded with the simulation dumpling clamping mechanism start to work, and a driving module 5 drives a moving clamp 3 to move on a sliding shaft 2, so that the moving clamp 3 and a fixed clamp 4 are closed and clamped to clamp the dumplings, and the dumplings are transferred to a packaging box. In the process of transferring the dumplings to the packaging box, the steering engine 6 starts to rotate, drives the right gear claw 32 and the left gear claw 31 to start to rotate, enables the claw parts to start to shrink to shape the dumplings, and enables the dumplings to be deformed into imitation handmade dumpling patterns in the claw extrusion process. After the shaping is finished, the steering engine 6 reversely rotates to drive the right gear claw 32 and the left gear claw 31 to reversely rotate, so that the claw parts are loosened to two sides and become an initial position state.
The specific structure of the driving module 5 is not particularly limited in the above embodiment, as long as the moving clip 3 can be driven to reciprocate on the sliding shaft 2. In order to better understand the working process of the present invention, in the present embodiment, a structure of the driving module 5 is specifically described. As shown in fig. 3, the driving module 5 includes a driving motor 51 fixedly disposed on a motor fixing frame, a main shaft of the driving motor 51 is connected with a main synchronous pulley 52, the other end of the claw fixing frame 1 is provided with a secondary synchronous pulley 53, the main synchronous pulley 52 and the secondary synchronous pulley 53 are provided with a synchronous belt 54, and the synchronous belt 54 is fixedly connected with the moving clamp 3 through a belt clamping plate 55. The synchronous belt 54 is driven to rotate forward or reversely by utilizing the forward or reverse rotation of the driving motor 51, so that the reciprocating motion of the movable clamp 3 on the sliding shaft 2 is realized, and the clamping process of the fixed clamp 4 and the movable clamp 3 on the dumplings is completed.
The two ends of the installation shaft of the synchronous belt wheel 53 are arranged on the first gear frame 9, and the fixed positions of the synchronous belt 54 and the movable clamp 3 are close to the middle part of the second gear frame 10 as much as possible, so that side shifting can not occur in the process of driving the second gear frame 10 to move, and the sliding is smoother.
In order to make the movement of the movable clamp 3 on the sliding shaft 2 smoother, a self-lubricating graphite copper sleeve 11 is sleeved between the movable clamp 3 and the sliding shaft 2. Because of the small size of the mechanism, the size of the mechanism is increased if a linear bearing is arranged at the sliding part of the movable clamp 3. Therefore, the self-lubricating graphite copper sleeve 11 is used as a movable lubricating sleeve of the movable clamp 3.
The mechanical arm and other moving devices in the invention only need to adopt the existing structure, so long as the position movement of the dumplings can be completed, and the invention is not limited by the protection scope.
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 spirit of the present invention.
Claims (6)
1. A bionics dumpling fixture, its characterized in that: the claw fixing device comprises a claw fixing frame (1), wherein two sliding shafts (2) are arranged on the claw fixing frame (1) side by side, a movable clamp (3) and a fixed clamp (4) are sleeved on the sliding shafts (2), the fixed clamp (4) is fixedly connected with one end of the claw fixing frame (1), and the movable clamp (3) is connected with a driving module (5) and slides left and right along the sliding shafts (2) under the action of the driving module (5);
the movable clamp (3) comprises a left gear claw (31) and a right gear claw (32) which are meshed with each other, the left gear claw (31) and the right gear claw (32) are meshed with each other through a head gear (33), the fixed clamp (4) is identical to the movable clamp (3) in structure, a steering engine (6) is arranged on the fixed frame, a main shaft of the steering engine (6) is connected with a main transmission shaft (7), the main transmission shaft (7) sequentially penetrates through the right gear claws (32) of the movable clamp (3) and the fixed clamp (4), the main transmission shaft (7) is connected with the two right gear claws (32) through keys, and driven shafts (8) are arranged in the two left gear claws (31);
the left gear claw (31) and the right gear claw (32) are symmetrical in structure and comprise a main pressing finger (311) and a side pressing finger (312), a head gear (33) is arranged on the main pressing finger (311), the front end of the side pressing finger (312) is fixedly connected with the front end of the main pressing finger (311), and rubber finger sleeves (313) are sleeved on the main pressing finger (311) and the side pressing finger (312).
2. A bionics dumpling holding mechanism in accordance with claim 1 in which: the driving module (5) comprises a driving motor (51), a main shaft of the driving motor (51) is connected with a main synchronous pulley (52), a secondary synchronous pulley (53) is arranged at the other end of the claw fixing frame (1), a synchronous belt (54) is arranged on the main synchronous pulley (52) and the secondary synchronous pulley (53), and the synchronous belt (54) is fixedly connected with the movable clamp (3) through a belt clamping plate (55).
3. A bionics dumpling holding mechanism as claimed in claim 2 characterised in that: the fixed clamp (4) is fixedly connected with the claw fixing frame (1) through a first gear frame (9), a sliding shaft mounting hole, a main transmission shaft mounting hole and a driven shaft mounting hole are preset on the first gear frame (9), and a mounting seat of a slave synchronous pulley mounting shaft is arranged at the top of the first gear frame (9).
4. A bionics dumpling holding mechanism as claimed in claim 3 characterised in that: the movable clamp (3) is sleeved with the sliding shaft (2) through a second gear frame (10), and a sliding shaft mounting hole, a main transmission shaft mounting hole and a driven shaft mounting hole are preset on the second gear frame (10).
5. A bionics dumpling holding mechanism in accordance with claim 1 in which: a self-lubricating graphite copper sleeve (11) is sleeved between the movable clamp (3) and the sliding shaft (2).
6. A bionics dumpling holding mechanism in accordance with claim 1 in which: the steering engine (6) is fixedly arranged on the motor mounting frame (12), the driving motor (51) is fixedly arranged at the top of the motor mounting frame (12), one end of the sliding shaft (2) is also fixedly arranged on the motor mounting frame (12), and the motor mounting frame (12) is fixedly arranged at one end of the claw fixing frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210589398.1A CN114788531B (en) | 2022-05-27 | 2022-05-27 | Bionic dumpling clamping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210589398.1A CN114788531B (en) | 2022-05-27 | 2022-05-27 | Bionic dumpling clamping mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114788531A CN114788531A (en) | 2022-07-26 |
| CN114788531B true CN114788531B (en) | 2023-04-25 |
Family
ID=82462796
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210589398.1A Active CN114788531B (en) | 2022-05-27 | 2022-05-27 | Bionic dumpling clamping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114788531B (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3652117A (en) * | 1966-05-14 | 1972-03-28 | Herbert Schroder | Equipment for manufacturing bakery products |
| CN202535995U (en) * | 2012-04-17 | 2012-11-21 | 新乡县中博机械有限公司 | Handmade dumpling forming-simulating die assembly for dumpling maker |
| CN203636821U (en) * | 2013-12-26 | 2014-06-11 | 浙江工贸职业技术学院 | Mechanical arm driven by motor |
| CN203709136U (en) * | 2014-01-07 | 2014-07-16 | 成都松川雷博机械设备有限公司 | Novel grabbing and placing device with secondary reshaping and clamping components for stuffed food forming machine |
| CN107378996A (en) * | 2017-08-24 | 2017-11-24 | 广东利元亨智能装备有限公司 | A kind of revolving mechanical gripper |
| CN209890088U (en) * | 2019-04-20 | 2020-01-03 | 晋永泉 | Clamping claw for hoisting plate in engineering construction |
| CN111941452A (en) * | 2020-07-30 | 2020-11-17 | 江门市华彬科技有限公司 | Manipulator that can adjust in a flexible way |
| CN112091996B (en) * | 2020-08-31 | 2023-04-18 | 上海大学 | Bionic robot gripper based on particle shaping |
| CN215189053U (en) * | 2021-07-17 | 2021-12-17 | 河南中博食品机械有限公司 | Positioning structure of wonton forming device |
-
2022
- 2022-05-27 CN CN202210589398.1A patent/CN114788531B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114788531A (en) | 2022-07-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109997887B (en) | Pressurization cutting all-in-one | |
| CN114788531B (en) | Bionic dumpling clamping mechanism | |
| CN108481354A (en) | Disk tooth shifting multi-mode formula merges adaptive robot finger apparatus | |
| CN113580118A (en) | Injection molding machine operation manipulator and telescoping device thereof | |
| CN106671113B (en) | Translational idle stroke transmission coupling self-adaptive robot finger device | |
| CN218200457U (en) | Conveying device for glove production inspection | |
| CN205321037U (en) | Automatic cut trapezoidal crisp coat of triangle and turn to and reciprocal device that snatchs | |
| CN211218392U (en) | Stamping equipment for nonstandard parts of small building material stirring machinery | |
| CN216031998U (en) | Demoulding device for processing butyronitrile gloves | |
| TW201808106A (en) | Device and method for automatically cutting, turning, and reciprocally grabbing triangular trapezoid pastry capable of realizing fast replacing mold set and increasing the yield and the production efficiency, so as to greatly reduce production cost and meet market demands | |
| CN202760136U (en) | Separated flexible molding device for imitating manual stuffing food | |
| CN208305082U (en) | Disk tooth shifting multi-mode formula merges adaptive robot finger apparatus | |
| CN203015737U (en) | Secondary flexible forming device for imitated artificial stuffed food | |
| CN102805128A (en) | Imitation hand-made farci food forming method | |
| CN208417423U (en) | A kind of deceleration mechanism | |
| CN111298455B (en) | Abreaction ball picture eye device based on toy manufacturing | |
| CN215905409U (en) | Glass adhesion device is used in production of car windshield sandwich glass | |
| CN220966219U (en) | Multi-station imitation handmade egg tart continuous production equipment | |
| CN211591277U (en) | Material supporting device for plastic uptake machine | |
| CN216036944U (en) | Abnormal-shaped annular conveying line based on material transportation | |
| CN210590414U (en) | Plastic workpiece taking manipulator | |
| CN218245400U (en) | Dumpling making is with face skin machine-shaping machine | |
| CN211306497U (en) | Conveying device for automatic material cutting machine | |
| CN202918918U (en) | Manual encrusting food-simulating flexible forming device for three-way machine | |
| CN211812200U (en) | Bevel gear blank manipulator feeding device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |