A grabbing device

Abstract

The present invention discloses a grasping device, comprising a frame body and a plurality of grasping units, wherein the frame body is used for carrying a first transmission system and a second transmission system, and the plurality of grasping units are connected to the first transmission system and the second transmission system; each grasping unit comprises a plurality of grasping mechanisms, and the grasping mechanisms are used for grasping workpieces; the first transmission system drives each grasping mechanism in the plurality of grasping units to move left and right in a horizontal direction, and the second transmission system drives each grasping mechanism in the plurality of grasping units to move forward and backward in a horizontal direction; the grasping device of the present invention is connected to the plurality of grasping units through the first transmission system and the second transmission system, and each grasping unit comprises a plurality of grasping devices, which can grasp a plurality of ice cream cones at the same time, thereby improving grasping efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of ice cream production and packaging, and in particular to a grabbing device. Background Art

[0002] In order to improve the efficiency of ice cream production, most existing ice cream manufacturers will introduce production lines. This includes ice cream cone grabbing production lines. After the ice cream is put into the ice cream cone, the ice cream cone on the conveyor line needs to be grabbed and sent into the packaging box. The introduction of the grabbing production line can improve the efficiency of packaging.

[0003] The grabbing production line in the existing technology can grab a small number of ice cream cones at one time. How to grab a large number of ice cream cones and ensure the grabbing quality is a problem that our researchers are concerned about. Summary of the invention

[0004] The object of the present invention is to provide a gripping device to solve the problem that the gripping device in the prior art can grip a small number of cups and has low gripping quality.

[0005] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0006] A grabbing device comprises a frame body and a plurality of grabbing units, wherein the frame body is used to carry a first transmission system and a second transmission system, and the plurality of grabbing units are connected to the first transmission system and the second transmission system; the first transmission system comprises a transmission device, an original transmission plate and a plurality of first transmission units, and each of the first transmission units drives each of the grabbing units to move left and right; the transmission device is connected to the original transmission plate, and the plurality of first transmission units are evenly distributed on the original transmission plate; the first transmission unit comprises a transmission connecting plate, a first rotating rod and a first connecting plate, wherein one end of the transmission connecting plate is connected to the original transmission plate, and the other end is connected to the first rotating rod, and the first connecting plate is connected to the first transmission plate. The first connecting plate is connected to both sides of the first rotating rod, the transmission connecting plate drives the first rotating rod to rotate, and the rotation of the first rotating rod drives the first connecting plate to rotate; a plurality of grab connecting units are connected to the first connecting plates on both sides, and each of the grab connecting units is connected to a grab mechanism; the grab connecting unit includes a connecting plate, a slider and a connecting rod, one end of the connecting plate is rotatably connected to the first connecting plates on both sides, and the other end is connected to the slider, and the connecting rod is connected between the sliders on both sides; the slider is slidably connected in the slide groove in the frame body, the rotation of the first connecting plate drives the connecting plate to move, and the connecting plate drives the slider to slide in the slide groove of the frame body;

[0007] The second transmission system comprises a main transmission rod, a main connecting plate, a first auxiliary connecting plate, a second auxiliary connecting plate, a fifth connecting rod and a sixth connecting rod;

[0008] The transmission device drives the main transmission rod to rotate, and the main connecting plate is connected to the left and right sides of the main transmission rod, one end of the first secondary connecting plate is connected to the main connecting plate, and the other end is connected to the sixth connecting rod; one end of the second secondary connecting plate is connected to the main connecting plate, and the other end is connected to the fifth connecting rod; a plurality of grabbing mechanisms are connected to the fifth connecting rod and the sixth connecting rod; the main transmission rod rotates to drive the main connecting plate to rotate, and the main connecting plate drives the sixth connecting rod to move forward and backward through the first secondary connecting plate, and drives the fifth connecting rod to move forward and backward through the second secondary connecting plate; the second transmission system also includes a slider, which is respectively connected to the two ends of the fifth connecting rod and the two ends of the sixth connecting rod, and the slider is slidably connected in the slide groove of the frame body;

[0009] The first transmission system and the second transmission system are both servo-driven;

[0010] Each of the grabbing units includes a plurality of grabbing mechanisms, and the grabbing mechanisms are used to grab workpieces; the first transmission system drives each of the grabbing mechanisms in the plurality of grabbing units to move left and right in the horizontal direction, and the second transmission system drives each of the grabbing mechanisms in the plurality of grabbing units to move forward and backward in the horizontal direction; the grabbing mechanisms include a connecting block and a telescopic cylinder, and the connecting block is used to be connected to the first transmission system and the second transmission system, and the telescopic cylinder is connected to a gripper and a telescopic rod; the telescopic cylinder drives the gripper to grab the workpiece and drives the telescopic rod to extend, or drives the gripper to release the workpiece and drives the telescopic rod to shorten.

[0011] Preferably, the frame body comprises a front frame plate, a rear frame plate, a left side plate and a right side plate, the left side plate is connected to the left sides of the front frame plate and the rear frame plate, and the right side plate is connected to the right sides of the front frame plate and the rear frame plate.

[0012] Preferably, the frame body further comprises a mounting plate, wherein the mounting plate is connected to the top surfaces of the front frame plate and the rear frame plate; the mounting plate is used for connecting the manipulator.

[0013] According to the above technical solution, the embodiments of the present invention have at least the following effects:

[0014] 1. The grabbing device of the present invention is connected to a plurality of grabbing units through the first transmission system and the second transmission system, each grabbing unit includes a plurality of grabbing devices, and the grabbing devices grab the ice cream cones; the device has 8 grabbing units, each grabbing unit has 8 grabbing devices, and can grab 64 ice cream cones at the same time, thereby improving the grabbing efficiency;

[0015] 2. The grabbing mechanism in the device contacts the side of the ice cream cone through the gripper, and contacts the top surface of the ice cream cone through the telescopic rod. The two work together to ensure the grabbing effect and improve the grabbing quality;

[0016] 3. The first transmission system and the second transmission system in the device are both servo-driven. The servo motor has the advantage of high precision and can drive the grasping unit to accurately position. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of a grabbing device according to a specific embodiment of the present invention;

[0018] Figure 2 for Figure 1 Schematic diagrams from different viewing angles;

[0019] Figure 3 It is a schematic diagram of the connection between the grabbing device and the first transmission system and the second transmission system in a specific embodiment of the present invention;

[0020] Figure 4 for Figure 3 Schematic diagrams from different viewing angles;

[0021] Figure 5 for Figure 3 Schematic diagrams from different viewing angles;

[0022] Figure 6 A specific schematic diagram of the first transmission system and the second transmission system in a specific implementation manner of the present invention;

[0023] Figure 7 It is a schematic diagram of the specific structure of the grabbing device in a specific implementation manner of the present invention.

[0024] Among them: 1. frame body; 11. rear frame plate; 12. front frame plate; 13. left side plate; 14. right side plate; 15. mounting plate; 2. first transmission system; 21. original transmission plate; 22. transmission connecting plate; 23. first rotating rod; 24. first connecting plate; 25. second connecting plate; 26. third connecting plate; 27. fourth connecting plate; 28. fifth connecting plate; 251. first slider; 252. first connecting rod; 261. second slider; 262. second connecting rod ; 271. third slider; 272. third connecting rod; 281. fourth slider; 282. fourth connecting rod; 3. second transmission system; 32. main transmission rod; 33. main connecting plate; 34. first sub-connecting plate; 35. second sub-connecting plate; 36. fifth connecting rod; 37. sixth connecting rod; 4. grabbing mechanism; 41. connecting block; 411. first mounting hole; 412. second mounting hole; 42. telescopic cylinder; 421. gripper; 422. telescopic rod. DETAILED DESCRIPTION

[0025] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0026] It should be noted that in the description of the present invention, the directions or positional relationships indicated by the terms "front", "rear", "left", "right", "up", "down", "inside", "outside", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention rather than requiring the present invention to be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. The terms "front", "rear", "left", "right", "up", and "down" used in the description of the present invention refer to the directions in the accompanying drawings, and the terms "inside" and "outside" refer to the directions toward or away from the geometric center of a specific component, respectively.

[0027] like Figure 1 and Figure 2 As shown, the present invention includes a frame body 1, a first transmission system 2, a second transmission system 3 and a gripping mechanism 4. The frame body 1 is used to connect the first transmission system 2 and the second transmission system 3, and the frame body 1 can also be used to connect with a manipulator to drive the gripping device to move through the manipulator. The first transmission system 2 is connected to the gripping unit to drive the gripping mechanism 4 in the gripping unit to move left and right. The second transmission system 3 is connected to the gripping unit to drive the gripping mechanism 4 in the gripping unit to move forward and backward.

[0028] When grabbing, the first transmission system 2 and the second transmission system 3 drive the grabbing mechanism 4 in the grabbing unit to spread out front, back, left, and right to grab the ice cream cones on the production line; after grabbing the ice cream cones, the first transmission system 2 and the second transmission system 3 drive the grabbing mechanism 4 in the grabbing unit to concentrate and put the grabbed ice cream cones into the packaging box. The device includes 8 grabbing units, each of which has 8 grabbing mechanisms 4, and can grab 64 ice cream cones at the same time, thereby improving the efficiency of grabbing.

[0029] The structure of the frame 1 is as follows: Figure 1-2 As shown, the frame body 1 includes a rear frame plate 11, a front frame plate 12, a left side plate 13, a right side plate 14 and a mounting plate 15. The rear frame plate 11 and the front frame plate 12 have the same structure, and the front frame plate 12 and the rear frame plate 11 are symmetrically arranged, the left side plate 13 is connected to the left side of the two, and the right side plate 14 is connected to the right side of the two. The front frame plate 12 and the rear frame plate 11 are both provided with weight-reducing holes to reduce their own weight. And the front frame plate 12 and the rear frame plate 11 are both provided with 8 groups of slide grooves, each group includes four slide grooves in the left and right directions, and a total of 64 slide grooves. The slide groove is used to connect the slider in the first transmission system 2. The left side plate 13 and the right side plate 14 are both provided with two front and rear direction slide grooves, which are used to connect the slider in the second transmission system 3.

[0030] Figure 3-5 FIG. 1 is a schematic diagram of the connection between the first transmission system 2, the second transmission system 3 and the gripping mechanism 4 of the present invention. The structures of the first transmission system 2 and the second transmission system 3 are as follows: Figure 6 shown.

[0031] The first transmission system 2 includes a transmission device, an original transmission plate 21, a transmission connecting plate 22, a first rotating rod 23, a first connecting plate 24, a second connecting plate 25, a third connecting plate 26, a fourth connecting plate 27 and a fifth connecting plate 28. The transmission device can be a motor, which is connected to the original transmission plate 21 through a coupling, and the motor drives the original transmission plate 21 to move left and right. Eight transmission connecting plates 22 are connected to the original transmission plate 21, and each transmission connecting plate 22 is connected to a first rotating rod 23. Specifically, one end of the transmission connecting plate 22 is connected to the original transmission plate 21 by a bolt, and the other end is sleeved on the first rotating rod 23, so that its left and right swing can drive the first rotating rod 23 to rotate.

[0032] The first connecting plate 24 is connected with bolts on both sides of the first rotating rod 23. The first connecting plate 24 plays the role of transmitting motion. Four screw holes are provided on the first connecting plates 24 on both sides. Each screw hole is connected to a connecting rod, and each connecting rod is connected to two grabbing mechanisms 4. Specifically, two screw holes are symmetrically provided on the upper and lower sides of the first connecting plate 24, which are used to connect the second connecting plate 25, the third connecting plate 26, the fourth connecting plate 27 and the fifth connecting plate 28 respectively, and the other end of the second connecting plate 25 is connected to the first slider 251, the other end of the third connecting plate 26 is connected to the second slider 261, the other end of the fourth connecting plate 27 is connected to the third slider 271, and the other end of the fifth connecting plate 28 is connected to the fourth slider 281. The rotation of the first rotating rod 23 drives the first connecting plates 24 on both sides to rotate. The rotation of the first connecting plate 24 drives the first slider 251 to slide through the second connecting plate 25, drives the second slider 261 to slide through the third connecting plate 26, drives the third slider 271 to slide through the fourth connecting plate 27, and drives the fourth slider 281 to slide through the fifth connecting plate 28.

[0033] The first slider 251, the second slider 261, the third slider 271 and the fourth slider 281 are all slidably connected in the slide grooves of the front frame plate 12 and the rear frame plate 11, and the slide grooves limit the left and right movement of the sliders. A first connecting rod 252 is connected between the first sliders 251 on both sides, and two grabbing mechanisms 4 are installed on the first connecting rod 252. Similarly, the second connecting rod 262 is connected between the second sliders 261 on both sides, the third connecting rod 272 is connected between the third sliders 271 on both sides, and the fourth connecting rod 282 is connected between the fourth sliders 281 on both sides. Two grabbing mechanisms 4 are connected to each connecting rod, and there are eight grabbing mechanisms 4 in total.

[0034] The second transmission system 3 includes a transmission device, a main transmission rod 32, a main connecting plate 33, a first auxiliary connecting plate 34, a second auxiliary connecting plate 35, a fifth connecting rod 36 and a sixth connecting rod 37. The transmission device can be a conventional motor, and the output shaft of the motor is connected to the main transmission rod 32 through a coupling to drive the main transmission rod 32 to rotate.

[0035] The main connecting plate 33 is bolted to the left and right sides of the main transmission rod 32, and the rotation of the main transmission rod 32 drives the main connecting plate 33 to rotate forward and backward. One end of the first auxiliary connecting plate 34 is bolted to the main connecting plate 33, and the other end is bolted to the sixth connecting rod 37. The sixth connecting rod 37 is connected to four grabbing mechanisms in each group of grabbing units, a total of 32 grabbing mechanisms 4. One end of the second auxiliary connecting plate 35 is bolted to the main connecting plate 33, and the other end is bolted to the fifth connecting rod 36. The fifth connecting rod 36 is connected to four grabbing mechanisms in each group of grabbing units, a total of 32 grabbing mechanisms 4.

[0036] Furthermore, in order to ensure the forward and backward movement of the fifth connecting rod 36 and the sixth connecting rod 37, sliders are connected to the left and right ends of the fifth connecting rod 36 and the sixth connecting rod 37. The sliders are slidably connected in the sliding grooves on the left plate 13 and the right plate 14. The direction of the sliding grooves limits the moving direction of the fifth connecting rod 36 and the sixth connecting rod 37.

[0037] The specific structure of the grabbing mechanism 4 is as follows: Figure 7 As shown, the gripping mechanism 4 includes a connecting block 41 and a gripping assembly. The connecting block 41 is provided with a first mounting hole 411 and a second mounting hole 412. The first mounting hole 411 and the second mounting hole 412 are perpendicular to each other. The two mounting holes are used to connect with the two transmission systems respectively. The first mounting hole 411 is connected to the connecting rod in the first transmission system 2. Specifically, the eight gripping mechanisms 4 in each group of gripping units are connected to four connecting rods respectively. That is, the first mounting hole 411 is respectively installed on the first connecting rod 252, the second connecting rod 262, the third connecting rod 272 and the fourth connecting rod 282. The second mounting hole 412 is used to connect with the fifth connecting rod 36 and the sixth connecting rod 37.

[0038] The grabbing assembly includes a telescopic cylinder 42, a gripper 421 and a telescopic rod 422. The gripper 421 has four grippers, which can ensure multi-point contact with the ice cream cone and improve the grabbing effect. The top of the gripper 421 is connected to the output end of the telescopic cylinder 42, and the telescopic rod 422 is connected to the output end of the telescopic cylinder 42. When the output end of the telescopic cylinder 42 is extended, the bottom end of the gripper 421 is driven to contact the outer cylindrical surface of the ice cream cone; at the same time, the telescopic rod 422 descends and contacts the top surface of the ice cream cone, and the two work together to ensure the grabbing effect.

[0039] The working principles of the above two transmission systems are further explained below by grabbing the ice cream cones on the production line and placing the ice cream cones into the packaging box.

[0040] When grabbing an ice cream cone, the motor in the first transmission system 2 rotates forward, driving the original transmission plate 21 to move to the left, the original transmission plate 21 drives the transmission connecting plate 22 to move to the left, the transmission connecting plate 22 drives the first rotating rod 23 to rotate clockwise, and the first rotating rod 23 drives the first connecting plate 24 to rotate clockwise. The first connecting plate 24 drives the grabbing mechanism 4 to move away from the first rotating rod 23, and disperses the grabbing mechanism 4 in each group of grabbing units in the left and right directions. The motor in the second transmission system 3 rotates forward, driving the main transmission rod 32 to rotate clockwise, and the rotation of the main transmission rod 32 drives the main connecting plate 33 to rotate clockwise, further driving the fifth connecting rod 36 and the sixth connecting rod 37 to move away from the main transmission rod 32, that is, the grabbing mechanism 4 is dispersed in the front and back directions. The process of putting in an ice cream cone is the opposite.

[0041] It is known from common technical knowledge that the present invention can be implemented by other embodiments that do not deviate from its spirit or essential features. Therefore, the above disclosed embodiments are only illustrative in all respects and are not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.

Claims

1. A gripping device, characterized in that: It comprises a frame body (1) and a plurality of grabbing units, the frame body (1) being used to carry a first transmission system (2) and a second transmission system (3), and the plurality of grabbing units being connected to the first transmission system (2) and the second transmission system (3); Each of the gripping units comprises a plurality of gripping mechanisms (4), wherein the gripping mechanisms (4) are used to grip workpieces; The first transmission system (2) drives each of the grasping mechanisms (4) in the plurality of grasping units to move left and right in a horizontal direction, and the second transmission system (3) drives each of the grasping mechanisms (4) in the plurality of grasping units to move forward and backward in a horizontal direction; The first transmission system (2) comprises a transmission device, an original transmission plate (21), and a plurality of first transmission units, each of the first transmission units driving each of the grabbing units to move left and right; the transmission device is connected to the original transmission plate (21), and the plurality of first transmission units are evenly distributed on the original transmission plate (21); The first transmission unit comprises a transmission connecting plate (22), a first rotating rod (23) and a first connecting plate (24); one end of the transmission connecting plate (22) is connected to the original transmission plate (21), and the other end is connected to the first rotating rod (23); the first connecting plate (24) is symmetrically connected to both sides of the first rotating rod (23); the transmission connecting plate (22) drives the first rotating rod (23) to rotate, and the rotation of the first rotating rod (23) drives the first connecting plate (24) to rotate; a plurality of grabbing connecting units are connected to the first connecting plates (24) on both sides, and each of the grabbing connecting units is connected to one of the grabbing mechanisms (4); The grabbing connection unit comprises a connection plate, a slider and a connection rod, one end of the connection plate is rotatably connected to the first connection plates (24) on both sides, and the other end is connected to the slider, and the connection rod is connected between the sliders on both sides; the slider is slidably connected in a slide groove in the frame body (1), the first connection plate (24) rotates to drive the connection plate to move, and the connection plate drives the slider to slide in the slide groove of the frame body (1); The second transmission system (3) comprises a main transmission rod (32), a main connecting plate (33), a first auxiliary connecting plate (34), a second auxiliary connecting plate (35), a fifth connecting rod (36) and a sixth connecting rod (37); The transmission device drives the main transmission rod (32) to rotate; the main connecting plate (33) is connected to the left and right sides of the main transmission rod (32); one end of the first auxiliary connecting plate (34) is connected to the main connecting plate (33), and the other end is connected to the sixth connecting rod (37); one end of the second auxiliary connecting plate (35) is connected to the main connecting plate (33), and the other end is connected to the fifth connecting rod (36); a plurality of gripping mechanisms (4) are connected to the fifth connecting rod (36) and the sixth connecting rod (37); the main transmission rod (32) rotates to drive the main connecting plate (33) to rotate; the main connecting plate (33) drives the sixth connecting rod (37) to move forward and backward through the first auxiliary connecting plate (34), and drives the fifth connecting rod (36) to move forward and backward through the second auxiliary connecting plate (35); The second transmission system (3) further comprises a sliding block, the sliding block being respectively connected to two ends of the fifth connecting rod (36) and two ends of the sixth connecting rod (37), and the sliding block being slidably connected in a sliding groove of the frame body (1); The first transmission system (2) and the second transmission system (3) are both servo-driven; The gripping mechanism (4) comprises a connecting block (41) and a telescopic cylinder (42); the connecting block (41) is used to be connected to the first transmission system (2) and the second transmission system (3); the telescopic cylinder (42) is connected to a gripper (421) and a telescopic rod (422); when the telescopic cylinder (42) works, it drives the gripper (421) to grip a workpiece and drives the telescopic rod (422) to extend, or drives the gripper (421) to release the workpiece and drives the telescopic rod (422) to shorten.

2. The gripping device according to claim 1, characterized in that: The frame body (1) comprises a front frame plate (12), a rear frame plate (11), a left side plate (13) and a right side plate (14); the left side plate (13) is connected to the left sides of the front frame plate (12) and the rear frame plate (11); and the right side plate (14) is connected to the right sides of the front frame plate (12) and the rear frame plate (11).

3. The gripping device according to claim 2, characterized in that: The frame body (1) further comprises a mounting plate (15), wherein the mounting plate (15) is connected to the top surfaces of the front frame plate (12) and the rear frame plate (11); the mounting plate (15) is used for connecting a manipulator.

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