CN209498463U - Four bearings of one kind connect transfer device - Google Patents

Abstract

The utility model discloses four bearings of one kind to connect transfer device, low for solving existing ice cream vending machine operating efficiency, not unified and beautiful enough the technical problem of the moulding of ice cream.It includes rack that four bearings, which connect transfer device, and the guide rail of X-direction is provided in rack, and sliding module is provided on guide rail, and the first driving mechanism is provided in rack, and driving sliding module is moved along guide rail；Holding arm is provided in sliding module, holding arm includes support rod and undertaking ring, the container for accepting material, which is placed on, to be accepted on ring, support rod and the central axis for accepting ring are that Z-direction is parallel to each other, it accepts and is provided with the driving undertaking ring rotation of the 4th driving mechanism in ring, and then drive the container rotation for accepting material；The second driving mechanism and third driving mechanism are provided in sliding module, the second driving mechanism drives support rod to go up and down along Z-direction, and third driving mechanism drives support rod to rotate around the central axis of oneself.

Description

Four bearings of one kind connect transfer device

Technical field

The utility model relates to a kind of food automatic vending equipment, and in particular to one kind can accept the four of ice cream automatically Bearing connects transfer device.

Background technique

Currently, common ice cream vending machine is sales force's manual operation when accepting ice cream, accepted with egg cylinder The ice cream of whereabouts, and the horizontal position of micro adjustment egg cylinder and the height manually in dropping process, allow ice cream in egg cylinder The moulding of oral area formation helicon.

Such operation beats that ice cream efficiency is lower, depending on the moulding of ice cream relies on the technology of sales force, accomplishes fluently Ice cream moulding is not unified enough, also not beautiful enough.

Utility model content

In view of the above-mentioned problems, the purpose of this utility model is to provide a kind of four bearings to connect transfer device, can hold automatically Ice cream is connect, and does moulding automatically for ice cream, improves the operating efficiency for buying ice cream, the moulding of ice cream realizes system One, beautiful.

To achieve the goals above, the utility model uses following technical scheme:

The utility model provides four bearings of one kind and connects transfer device, including rack, is provided with X-direction in the rack Guide rail is provided with sliding module on the guide rail, the first driving mechanism is provided in the rack, drives the sliding module edge The guide rail moves back and forth；

Holding arm is provided in the sliding module, the holding arm includes support rod and accepts ring, and the undertaking ring is set It sets and accepts the container of material in the support bar top and be placed on the undertaking ring, the support rod and the ring of accepting Central axis is that Z-direction is parallel to each other, and the 4th driving mechanism is provided in the undertaking ring, and the undertaking ring is driven to surround The central axis rotation of oneself, and then drive the container rotation for accepting material；

The second driving mechanism and third driving mechanism are provided in the sliding module, second driving mechanism drives institute It states support rod to go up and down along Z-direction, the third driving mechanism drives the support rod to rotate around the central axis of oneself.

Optionally, 90 degree of the top bending of the support rod, bending part are fixedly connected with the undertaking ring.

Optionally, it is provided with the 4th motor in the undertaking ring, the container for accepting material is put into accept and can be driven in ring Rotation.

Optionally, sensor is provided on the undertaking ring, the container that material is accepted in induction is placed into and takes away.

Optionally, coaxial inner barrel and outer barrel is provided in the undertaking ring.

Optionally, the continuing surface radially extended, the top of the outer cylinder and the support rod are provided at the top of the inner cylinder End is fixedly connected.

Optionally, the 4th motor includes cricoid rotor and stator, and the stator is fixedly connected with the outer cylinder, institute State and be inserted in the inner cylinder in the ring of rotor, rotor rotation drives the inner cylinder rotating, accept material container be put into it is described It can be driven to rotate in inner cylinder.

Optionally, the rack includes top plate, backboard and side plate, and the guide rail is arranged on the backboard, the guide rail On be provided with sliding block, the sliding block is fixedly connected with the sliding module, and first driving mechanism is arranged on the backboard, First driving mechanism includes first motor, the first driving pulley, the first passive belt wheel and the first synchronous belt, and described first is same Step band is connect with the sliding module.

Optionally, second driving mechanism includes that the second motor, the second driving pulley, the second passive belt wheel and second are same Band is walked, the third driving mechanism includes third motor, third driving pulley, the passive belt wheel of third and third synchronous belt.

Optionally, screw rod and pair of nut are additionally provided in the sliding module, the screw rod and pair of nut include screw rod, rolling Pearl nut and ball spline sleeve, the screw rod are arranged along Z-direction, and top is fixedly connected with the support rod of the holding arm, institute It states ball nut to be arranged in the screw rod upper end, be fixedly connected with the described second passive belt wheel, the ball spline is set on The screw lower end is fixedly connected with the passive belt wheel of the third.

Optionally, second electric motor starting passes through second driving pulley, the second passive belt wheel, the second synchronous belt The screw rod is driven to go up and down along Z-direction with ball nut.

Optionally, the third electric motor starting passes through the third driving pulley, the passive belt wheel of third, third synchronous belt The screw rod is driven to rotate around the central axis of oneself with ball spline sleeve.

Optionally, the sliding module includes top plate and bottom plate, and second motor is mounted on the top plate lower surface, institute It states third motor and is mounted on the plate upper surface.

Optionally, two pieces of vertical connecting plates, the connecting plate and the guide rail are provided between the top plate and bottom plate The sliding block of upper setting is fixedly connected, and the screw rod and pair of nut are arranged between two pieces of connecting plates.

Optionally, first driving mechanism includes first motor, the first screw rod and the first ball that are arranged along the x axis Nut, the first motor drive first screw rod to rotate around the central axis of oneself, first ball nut and institute It states sliding module to be fixedly connected, the first motor starting, first ball nut is moved back and forth along first screw rod, driven The sliding module is moved to move back and forth along the guide rail.

Optionally, the guide rail uses pneumatic sliding rail, and first driving mechanism is the pneumatic driving in the automatic sliding rail Component is moved, is provided with sliding block on the pneumatic sliding rail, the sliding block is fixedly connected with the sliding module, first driving machine Structure drives the sliding block to move back and forth along the pneumatic sliding rail, and then the sliding module is driven back and forth to move along the pneumatic sliding rail It is dynamic.

Optionally, sliding slot is provided on the top plate of the rack, the support rod of the holding arm slides in the sliding slot.

Optionally, it is provided with mounting hole on the top plate of the rack, hopper is provided in the mounting hole, the hopper is held Connect the material fallen from the undertaking ring.

Optionally, the guide rail uses two parallel linear guides, is provided with two pieces of cunnings on the every guide rail Block.

The advantages of the utility model and beneficial effect are:

The utility model can replace manual operation, accept ice cream automatically, and do moulding automatically for ice cream, improve Beat the operating efficiency of ice cream.

The utility model is completed to accept the spinning of the egg cylinder of ice cream using four axis driving mechanisms, be moved left and right, up and down It moves and is rotated around other axis, form the ice cream of appearance looks elegant.

The utility model can also realize that the more complicated ice of shape swashs by adjusting separately the amount of movements of four axis driving mechanisms Moulding is drenched, there is significant difference with traditional ice cream moulding.

Detailed description of the invention

Fig. 1 is the main view that four bearings connect transfer device in the utility model embodiment；

Fig. 2 is the top view that four bearings connect transfer device in the utility model embodiment；

Fig. 3 is the bottom view that four bearings connect transfer device in the utility model embodiment；

Fig. 4 is the rearview that four bearings connect transfer device in the utility model embodiment；

Fig. 5 is the right view that four bearings connect transfer device in the utility model embodiment；

Fig. 6 is the perspective view of holding arm in the utility model embodiment；

Fig. 7 is the perspective view that ring is accepted in the utility model embodiment；

Fig. 8 is the cross-sectional view that ring is accepted in the utility model embodiment；

Fig. 9 is the exploded view that four bearings connect transfer device in the utility model embodiment；

Figure 10 is the main view of rack in the utility model embodiment；

Figure 11 is the rearview of rack in the utility model embodiment；

Figure 12 is the perspective view of sliding module in the utility model embodiment；

Figure 13 is the main view of sliding module in the utility model embodiment；

Figure 14 is the rearview of sliding module in the utility model embodiment；

Figure 15 is the left view of sliding module in the utility model embodiment；

Figure 16 is the flow chart that method is accepted in the utility model embodiment.

In figure: 1. holding arms；1-1. accepts ring；1-1-1. inner cylinder；1-1-2. outer cylinder；1-1-3. continuing surface；1-1-4. turning Son；1-1-5. stator；1-2. support rod；2. hopper；3. the first driving pulley；4. first motor；5. rack；5-1. sliding slot；5- 2. mounting hole；5-3. side plate；5-4. backboard；6. sliding module；The second motor of 6-1.；6-2. third motor；6-3. second is actively Belt wheel；The second synchronous belt of 6-4.；6-5. screw rod；The passive belt wheel of 6-6. second；6-7. top plate；6-8. bottom plate；6-9. connecting plate；6- 10. link block；6-11. third driving pulley；The passive belt wheel of 6-12. third；6-13. connector sleeve；7. the first synchronous belt；8. leading Rail；9. the first passive belt wheel；10. sliding block.

Specific embodiment

The design concept of the utility model is:

For defect present in ice cream vending machine in the prior art, the utility model provides four bearings of one kind and switches through Telephone-moving structure is provided with four axis driving mechanisms, can replace manual operation, automatic to accept ice cream and do moulding for ice cream, The operating efficiency for buying ice cream is improved, the moulding of ice cream realizes unified, beautiful.The utility model also provides one kind and passes through Four bearings connect the undertaking method of transfer device implementation.

It is practical new to this below in conjunction with attached drawing to keep the purpose of this utility model, technical solution and advantage clearer Type embodiment is described in further detail.

Embodiment 1

As shown in figure 1, figure 2, figure 3, figure 4 and figure 5 it is the utility model embodiment 1, provides one kind four in this embodiment Bearing connects transfer device, is mainly used for accepting ice cream, which, which connects transfer device, may be mounted at ice cream manufacturing equipment On, it is located at below discharge port.When ice cream is from discharge port output, four bearings, which connect transfer device, can accept ice cream, and Auxiliary is to ice cream moulding, such as is formed relatively beautiful tower-shaped.

Four bearing connects transfer device and specifically includes rack 5, and the guide rail 8 of X-direction is provided in rack 5, is set on guide rail 8 It is equipped with sliding module 6, the first driving mechanism is provided in rack 5, driving sliding module 6 is moved back and forth along guide rail 8.The operation The container for accepting material (such as egg cylinder) can be mainly transferred to the discharge port of ice cream manufacturing equipment by journey role Near, it waits and accepts ice cream, the discharge port of ice cream manufacturing equipment may have multiple, the ice cream of corresponding different taste, root It is controlled according to computer program, the container for accepting material (such as egg cylinder) can be transferred to corresponding discharge port by the first driving mechanism Near.After completing to accept ice cream, container and ice cream are transferred to sales force or customer by the side of together, waited for sale Personnel or customer's removal container and ice cream.

In addition, it is micro- that the first driving mechanism can also drive sliding module 6 to do along guide rail 8 during accepting ice cream The reciprocating movement of amount, the operation process can assist accepting the container of material to ice cream moulding in ice cream dropping process Moving left and right can allow the layer-by-layer diameter change of the ice cream of whereabouts to be bent.

Holding arm 1 is provided in sliding module 6, holding arm 1 includes support rod 1-2, is provided with undertaking at the top of support rod 1-2 Ring 1-1, the container for accepting material, which is placed on, to be accepted on ring 1-1, the central axis of support rod 1-2 and the central axis for accepting ring 1-1 Line is that Z-direction is parallel to each other, accepts and is provided with the 4th driving mechanism in ring 1-1, and driving accepts ring 1-1 in oneself The rotation of mandrel line, and then drive the container rotation for accepting material.The operation process role mainly can be in ice cream For auxiliary to ice cream moulding, the container rotation for accepting material can allow the ice cream of whereabouts to form helical form in dropping process.

The second driving mechanism and third driving mechanism are provided in sliding module 6, the second driving mechanism drives support rod 1-2 It is gone up and down along Z-direction, third driving mechanism drives support rod 1-2 to rotate around the central axis of oneself.

The operation process role of second driving mechanism mainly allows container that can effectively accept ice cream, at the beginning It drives support rod 1-2 to rise to highest point along Z-direction, accepts discharging of the container of material apart from ice cream manufacturing equipment at this time Recently, with the output drop of ice cream, the ice cream in container is more and more, finally emerges from vessel port, drives at this time for mouth Support rod 1-2 declines along Z-direction, until ice cream accumulates certain height at vessel port.

After the container for accepting material is transferred near the discharge port of ice cream manufacturing equipment by the first driving mechanism, the The container for accepting material (such as egg cylinder) can be mainly transferred to ice and swashed by the operation process role of three driving mechanisms The directly below the discharge opening of manufacturing equipment is drenched, waits and accepts ice cream.After completing to accept ice cream, by container and ice cream from Directly below the discharge opening call away to waits the first driving mechanism to continue subsequent operation.

It is connect by the first driving mechanism of setting, the second driving mechanism, third driving mechanism and the 4th driving mechanism, four bearings Transfer device forms the driving of four axis, and the ice cream of appearance looks elegant can be made.

The detailed structure for connecing transfer device to four bearing below does illustrated in greater detail.

As shown in Figure 1, Figure 4, Figure 5,90 degree of the top support rod 1-2 bending, bending part are fixedly connected with ring 1-1 is accepted, this Sample support rod 1-2 can keep vertical state, and horizontality can be kept by accepting ring 1-1, and accepting ring 1-1 can be with larger Diameter is rotated around the central axis of support rod 1-2.

It accepts in ring 1-1 and is provided with the 4th motor, the container for accepting material is put into accept and can be driven to rotate in ring 1-1.

It accepts and is provided with sensor on ring 1-1, the container that material is accepted in induction is placed into and takes away.Sensor can use Infrared sensor can perceive the container for accepting material.

As shown in Fig. 6, Fig. 7, Fig. 8, accepts in ring 1-1 and be provided with coaxial inner cylinder 1-1-1 and outer cylinder 1-1-2, inner cylinder 1- The continuing surface 1-1-3 radially extended is provided at the top of 1-1, outer cylinder 1-1-2 is fixedly connected with the bending part of support rod 1-2, the Four motors include cricoid rotor 1-1-4 and stator 1-1-5, and stator 1-1-5 is fixedly connected with outer cylinder 1-1-2, rotor 1-1-4's Inner cylinder 1-1-1, rotor 1-1-4 rotation driving inner cylinder 1-1-1 rotation are inserted in ring, the container for accepting material is put into inner cylinder 1-1-1 In can be driven to rotate.

Rotor 1-1-4 can be rotated clockwise or be rotated counterclockwise, and driving inner cylinder 1-1-1 is rotated clockwise or revolved counterclockwise Turn, this gets the ice cream for rotating clockwise or rotating counterclockwise also for ice cream moulding.

Stator 1-1-5 and outer cylinder 1-1-2 are detachable, and rotor 1-1-4 and inner cylinder 1-1-1 are detachable, specifically can be using card The quick-disassembly structure of form is connect, design in this way facilitates the assembling and maintenance, maintenance for accepting ring 1-1.

Continuing surface 1-1-3 expands the undertaking area of inner cylinder 1-1-1, is conducive to support the container for accepting material.

The bending part of outer cylinder 1-1-2 and support rod 1-2 can be used and is threadedly coupled, such as in the bending part of support rod 1-2 Screw rod is set, radial threaded hole is provided on the side wall of outer cylinder 1-1-2, the two, which is realized, to be threadedly coupled.

Preferably, the boss of radially protruding can be set on the side wall of outer cylinder 1-1-2, threaded hole setting boss it In.

4th motor can be arranged using such specific structure: rotor 1-1-4 has iron core, and stator 1-1-5 has iron Core and coil.Iron core and the coil setting of stator 1-1-5 is arranged in outer layer, the iron core of rotor 1-1-4 in internal layer, stator 1-1-5 Iron core and the iron core of rotor 1-1-4 be uniformly distributed a certain number of small teeth on pole-face circumference, the coil of stator 1-1-5 can be with Both direction is powered.The iron core of stator 1-1-5 and the iron core of rotor 1-1-4 are two-part gear pieces, the iron core of rotor 1-1-4 Two-part gear piece mutually staggers half tooth away from two sections of gear pieces are sandwiched between the annular permanent-magnet steel an of axial charging.Same section The institute of rotor tooth on piece is with teeth all to have identical polar, and the polarity of the rotor gear piece of different sections is opposite.The iron core of rotor 1-1-4 For hollow annular, inner cylinder 1-1-1 is removably disposed on annular inner wall.When the coil of stator 1-1-5 is powered, rotor 1-1- 4 realize rotation forward or backwards, and inner cylinder 1-1-1 and continuing surface 1-1-3 is driven to rotate synchronously.

As shown in Fig. 9, Figure 10, Figure 11, rack 5 includes top plate, backboard 5-4 and side plate 5-3, and guide rail 8 is arranged in backboard 5-4 On, sliding block 10 is provided on guide rail 8, sliding block 10 is fixedly connected with sliding module 6, and the first driving mechanism is arranged on backboard 5-4, First driving mechanism includes first motor 4, the first driving pulley 3, the first passive belt wheel 9 and the first synchronous belt 7, the first synchronous belt 7 connect with sliding module 6.First driving pulley 3 has been sheltered from invisible, the first driving pulley 3 by first motor 4 in attached drawing 1 It is mounted on 4 output shaft end of first motor, is connect with the first synchronous belt 7, can see that the first driving pulley 3 from attached drawing 11.

The right side of sliding module 6 is provided with link block 6-10, and a horizontal gap is provided in link block 6-10, between being somebody's turn to do It is arranged with teeth on the bottom surface of gap, is adapted to the tooth on the first synchronous belt 7, the first synchronous belt 7 is inserted into can be with sliding in the gap Mould group 6 realizes connection.First synchronous belt 7, which rotates clockwise or counter-clockwise, can drive sliding module 6.

Second driving mechanism is synchronous including the second motor 6-1, the second driving pulley 6-3, the second passive belt wheel 6-6 and second Band 6-4, third driving mechanism include third motor 6-2, third driving pulley 6-11, the passive belt wheel 6-12 of third synchronous with third (third synchronous belt is not shown band in attached drawing, is connected to third driving pulley 6-11 and the passive belt wheel 6-12 of third, and structure is similar Second synchronous belt 6-4).

As shown in Figure 12, Figure 13, Figure 14, Figure 15, screw rod and pair of nut, screw rod and nut are additionally provided in sliding module 6 Pair includes screw rod 6-5, ball nut and ball spline sleeve, and ball nut and ball spline sleeve are located at connector sleeve 6-13 in attached drawing In, connected set 6-13 has sheltered from invisible.

Screw rod 6-5 is arranged along Z-direction, and top is fixedly connected with the support rod 1-2 of holding arm 1, can specifically use spiral shell Line connection.Such as screw rod or threaded hole are set in the lower end support rod 1-2, threaded hole or spiral shell correspondingly are set on the top screw rod 6-5 Bar, the two, which is realized, to be threadedly coupled.

Ball nut is arranged in the upper end screw rod 6-5, is fixedly connected with the second passive belt wheel 6-6, ball spline is set on The lower end screw rod 6-5 is fixedly connected with the passive belt wheel 6-12 of third.

Second motor 6-1 starting, passes through the second driving pulley 6-3, the second passive belt wheel 6-6, the second synchronous belt 6-4 and rolling Pearl nut drives screw rod 6-5 to go up and down along Z-direction.

Third motor 6-2 starting, passes through third driving pulley 6-11, the passive belt wheel 6-12 of third, third synchronous belt and rolling Spline set driving screw rod 6-5 is rotated around the central axis of oneself.

Sliding module 6 is mounted on the lower surface top plate 6-7, third motor including top plate 6-7, bottom plate 6-8, the second motor 6-1 6-2 is mounted on the upper surface bottom plate 6-8.

Two pieces of vertical connecting plate 6-9, connecting plate 6-9 and the fixed company of sliding block 10 are provided between top plate 6-7 and bottom plate 6-8 Connect, can by the combination of connecting hole and bolt realize connect, above-mentioned screw rod and pair of nut setting two pieces of connecting plate 6-9 it Between.

As shown in Fig. 2, Fig. 3, Fig. 9, sliding slot 5-1 is provided on the top plate of rack 5, the support rod 1-2 of holding arm 1 is in sliding slot It is slided in 5-1.The main function of sliding slot 5-1 is to horizontally slip and go up and down slot milling to holding arm 1.

It is provided with mounting hole 5-2 on the top plate of rack 5, hopper 2 is provided in mounting hole 5-2, hopper 2 is accepted from undertaking ring The material fallen on 1-1, the drippage for avoiding ice cream milk from starching.Hopper 2 can take out from mounting hole 5-2 carries out periodic cleaning.

In the present embodiment, guide rail 8 uses two parallel linear guides, is provided with two pieces of sliding blocks 10 on every guide rail 8.

In the present embodiment four bearings connect transfer device the operation process for buying ice cream it is as shown in figure 16, pass through the work of Figure 16 Beautiful tower-shaped ice cream can be got by making process.

By the movement for adjusting separately the first driving mechanism, the second driving mechanism, third driving mechanism, the 4th driving mechanism It measures, four bearings in the present embodiment connect transfer device, can also realize the more complicated ice cream moulding of shape, such as successively reciprocal Bending fold shape, horizontal cross-section be elliptoid helicon, etc., with traditional ice cream moulding have significant difference.

Embodiment 2

In the present embodiment, it with embodiment 1 the difference is that the first driving mechanism does not use synchronous band forms, uses The form of screw rod and pair of nut.

The first screw rod and the first ball nut for specifically including first motor, being arranged along the x axis, first motor driving the One screw rod is rotated around the central axis of oneself, and the first ball nut is fixedly connected with sliding module 6, first motor starting, the One ball nut is moved back and forth along the first screw rod, and driving sliding module 6 is moved back and forth along guide rail 8.

Four bearings connect identical in the other structures and embodiment 1 of transfer device in the present embodiment, are not repeated to describe herein.

Embodiment 3

In the present embodiment, it with embodiment 1 the difference is that the first driving mechanism does not use synchronous band forms, uses Automatic sliding rail form.

Specifically, guide rail 8 uses pneumatic sliding rail, not only has guide function, also has driving function, the first driving mechanism For the pneumatic actuation component in automatic sliding rail, it is provided with sliding block on pneumatic sliding rail, sliding block is fixedly connected with sliding module 6, and first Driving mechanism driving sliding block is moved back and forth along pneumatic sliding rail, and then sliding module 6 is driven to move back and forth along pneumatic sliding rail.

Four bearings connect identical in the other structures and embodiment 1 of transfer device in the present embodiment, are not repeated to describe herein.

Embodiment 4

A kind of undertaking method of material is provided in the present embodiment, is included the following steps,

Step 1: the container for accepting material being placed on and is accepted on ring 1-1, the first driving mechanism of starting drives holding arm 1 to move It moves to material outlet, starts third driving mechanism, container is rotated to the underface of material outlet；

Step 2: container is risen to highest point, the position nearest apart from material outlet by the second driving mechanism of starting；

Step 3: starting to accept material, until the material accepted in container reaches predetermined amount；

Step 4: starting third driving mechanism rotates container to user side；

Step 5: after container is removed from undertaking ring 1-1, the first driving mechanism of starting, the second driving mechanism, third are driven Motivation structure makes to accept ring 1-1 reset.

Specifically, step 3 may include following two step,

Step 31: ring 1-1 rotation is accepted in starting the 4th driving mechanism driving, while starting the first driving mechanism, will be accepted Arm 1 is micro to be moved left and right, and the second driving mechanism of starting drives undertaking ring 1-1 to do micro decline；

Step 32: after the material accepted in container reaches predetermined altitude, it is micro- first that ring 1-1 is accepted in the driving of the second driving mechanism Amount rises, then declines, and completes molding at the top of material, then the first driving mechanism, the second driving mechanism, the 4th driving mechanism are stopped Only.

As shown in figure 16, implement undertaking side if it is by four bearing connection mechanisms described in embodiment 1 or embodiment 2 Method then comprises the following specific steps that,

Step 1: the container for accepting material being placed on and is accepted on ring 1-1, starting first motor 4 drives holding arm 1 mobile To material outlet, starts third motor 6-2, container is rotated to the underface of material outlet；

Step 2: container is risen to highest point, the position nearest apart from material outlet by the second motor 6-1 of starting；

Step 3: starting to accept material, until the ice cream accepted in container reaches predetermined amount；

Step 4: starting third motor 6-2 rotates container to user side；

Step 5: after container is removed from undertaking ring 1-1, starting first motor 4, the second motor 6-1, third motor 6-2 Make to accept ring 1-1 reset.

Specifically, step 3 may include following two step,

Step 31: the 4th motor driven of starting accepts ring 1-1 rotation, while starting first motor 4, and holding arm 1 is micro It moves left and right, the second motor 6-1 of starting drives undertaking ring 1-1 to do micro decline；

Step 32: after the ice cream accepted in container reaches predetermined altitude, the second motor 6-1 driving accepts ring 1-1 first Micro rising, then decline, molding at the top of ice cream is completed, then first motor 4, the second motor 6-1, the 4th motor stop.

The above is only the embodiments of the present invention, are not intended to limit the protection scope of the utility model.It is all this Any modification, equivalent replacement, improvement, extension etc. within the spirit and principle of utility model, it is practical new to be all contained in this In the protection scope of type.

Claims (13)

1. a kind of four bearings connect transfer device, which is characterized in that including rack, the guide rail of X-direction is provided in the rack, It is provided with sliding module on the guide rail, the first driving mechanism is provided in the rack, drives the sliding module described in Guide rail moves back and forth；

Holding arm is provided in the sliding module, the holding arm includes support rod and accepts ring, and the undertaking ring setting exists The support bar top, the container for accepting material are placed on the undertaking ring, the support rod and the center for accepting ring Axis is that Z-direction is parallel to each other, and the 4th driving mechanism is provided in the holding arm, and the undertaking ring is driven to surround oneself Central axis rotation, and then drive accept material container rotation；

The second driving mechanism and third driving mechanism are provided in the sliding module, second driving mechanism drives the branch Strut is gone up and down along Z-direction, and the third driving mechanism drives the support rod to rotate around the central axis of oneself.

2. four bearing according to claim 1 connects transfer device, which is characterized in that held with described on the top of the support rod Ring is connect to be fixedly connected；

It is provided with the 4th motor in the undertaking ring, the container for accepting material is put into accept and can be driven to rotate in ring.

3. four bearing according to claim 2 connects transfer device, which is characterized in that be provided with sensing on the undertaking ring Device, the container that material is accepted in induction are placed into and take away.

4. four bearing according to claim 2 connects transfer device, which is characterized in that be provided in the undertaking ring coaxial Inner barrel and outer barrel.

5. four bearing according to claim 4 connects transfer device, which is characterized in that be provided with radial direction at the top of the inner cylinder The continuing surface of extension, the outer cylinder are fixedly connected with the top of the support rod.

6. four bearing according to claim 4 or 5 connects transfer device, which is characterized in that the 4th motor includes ring-type Rotor and stator, the stator is fixedly connected with the outer cylinder, and the inner cylinder, the rotor rotation are inserted in the ring of the rotor Turn the driving inner cylinder rotating, the container for accepting material is put into the inner cylinder and can be driven to rotate.

7. four bearing according to claim 1 connects transfer device, which is characterized in that the rack include top plate, backboard and Side plate, the guide rail are arranged on the backboard, sliding block are provided on the guide rail, the sliding block is fixed with the sliding module Connection, first driving mechanism are arranged on the backboard, and first driving mechanism includes first motor, the first main belt Wheel, the first passive belt wheel and the first synchronous belt, first synchronous belt are connect with the sliding module.

8. four bearing according to claim 1 connects transfer device, which is characterized in that second driving mechanism includes second Motor, the second driving pulley, the second passive belt wheel and the second synchronous belt, the third driving mechanism include third motor, third The passive belt wheel of driving pulley, third and third synchronous belt；

Screw rod and pair of nut are additionally provided in the sliding module, the screw rod and pair of nut include screw rod, ball nut and rolling Spline set, the screw rod are arranged along Z-direction, and top is fixedly connected with the support rod of the holding arm, the ball nut It is arranged in the screw rod upper end, is fixedly connected with the described second passive belt wheel, the ball spline is set under the screw rod End, is fixedly connected with the passive belt wheel of the third；

Second electric motor starting is driven by second driving pulley, the second passive belt wheel, the second synchronous belt and ball nut The screw rod is moved to go up and down along Z-direction；

The third electric motor starting passes through the third driving pulley, the passive belt wheel of third, third synchronous belt and ball spline sleeve The screw rod is driven to rotate around the central axis of oneself.

9. four bearing according to claim 8 connects transfer device, which is characterized in that the sliding module includes top plate, bottom Plate, second motor are mounted on the top plate lower surface, and the third motor is mounted on the plate upper surface.

10. four bearing according to claim 9 connects transfer device, which is characterized in that be arranged between the top plate and bottom plate There are two pieces of vertical connecting plates, the sliding block being arranged on the connecting plate and the guide rail is fixedly connected, the screw rod and pair of nut It is arranged between two pieces of connecting plates.

11. four bearing according to claim 1 connects transfer device, which is characterized in that first driving mechanism includes the One motor, the first screw rod being arranged along the x axis and the first ball nut, the first motor drive first screw rod to surround The central axis rotation of oneself, first ball nut are fixedly connected with the sliding module, the first motor starting, institute It states the first ball nut to move back and forth along first screw rod, the sliding module is driven to move back and forth along the guide rail.

12. four bearing according to claim 1 connects transfer device, which is characterized in that the guide rail uses pneumatic sliding rail, institute Stating the first driving mechanism is the pneumatic actuation component in the automatic sliding rail, is provided with sliding block, the cunning on the pneumatic sliding rail Block is fixedly connected with the sliding module, and first driving mechanism drives the sliding block to move back and forth along the pneumatic sliding rail, And then the sliding module is driven to move back and forth along the pneumatic sliding rail.

13. four bearing according to claim 7 connects transfer device, which is characterized in that be provided on the top plate of the rack The support rod of sliding slot, the holding arm slides in the sliding slot；

It is provided with mounting hole on the top plate of the rack, hopper is provided in the mounting hole, the hopper undertaking is held from described Connect the material fallen on ring；

The guide rail uses two parallel linear guides, is provided with two pieces of sliding blocks on the every guide rail.