The manipulator of a dumpling machine

Abstract

The present invention discloses a manipulator of a dumpling machine, which comprises a horizontal conveying mechanism that can move up and down through a vertical conveying mechanism; a fixing frame is arranged on the horizontal conveying mechanism and can move horizontally through the horizontal conveying mechanism; the loading device comprises an inner box, an outer frame and a material pushing mechanism; the outer frame is fixedly connected with the fixing frame; the inner box has a containing cavity for containing dumplings, and a feeding and discharging port is arranged on the front side of the inner box; the inner box can move downward to separate from the outer frame through a first driving mechanism; the material pushing mechanism is used for pushing the dumplings in the inner box out from the feeding and discharging port; and a box taking device, which is connected with the fixing frame, is arranged above the loading device and can grab a dumpling box onto the outer frame and grab a box cover to seal the dumpling box. The manipulator of the above-mentioned dumpling machine, which comprises a loading device and a box taking device, is arranged according to the operation process requirements of cooking dumplings by the dumpling machine, has a reasonable structure and is easy to operate, and can complete the operations of taking and placing dumplings and loading and sealing the cooked dumplings into the box.

Description

Technical Field

[0001] The present invention relates to the technical field of cooking equipment, and particularly to a manipulator of a dumpling machine. Background Art

[0002] Dumplings are a traditional special food deeply loved by the Chinese people. However, their production process is cumbersome. Therefore, some dumpling machines have emerged on the market, which can assist in making dumplings and produce finished dumplings, and are applied in industries such as restaurants, canteens, fast food, and dumpling processing. However, the dumpling wrapping process still takes a certain amount of time, and additional steaming equipment is required for steaming, making it difficult to meet the needs of modern people's fast-paced life. In addition, in order to adapt to the fast-paced life, frozen dumplings have emerged. The dumplings are quickly frozen at low temperatures, and the original nutrients and flavors can be maintained and they can be preserved for a long time, so they have developed rapidly. However, manual steaming is still required when eating, which is time-consuming and laborious. At present, there is no dumpling machine on the market that can automatically steam dumplings, which cannot meet people's needs for quickly and conveniently eating dumplings. Summary of the Invention

[0003] Based on this, the technical problem to be solved by the present invention is to provide a manipulator of a dumpling machine that is used to cooperate with the steaming operation process of the dumpling machine and is convenient to operate.

[0004] To solve the above technical problem, the present invention adopts the following technical solutions to achieve:

[0005] A manipulator of a dumpling machine, comprising:

[0006] A horizontal conveying mechanism, which can move up and down through a vertical conveying mechanism; a fixing frame is arranged on the horizontal conveying mechanism, and the fixing frame can move horizontally through the horizontal conveying mechanism;

[0007] A loading device, including an inner box, an outer frame sleeved around the inner box, and a pushing mechanism; the outer frame is fixedly connected to the fixing frame; the inner box has a receiving cavity for loading dumplings, and the front side of the inner box has a feeding and discharging opening; the inner box can move downward away from the outer frame through a first driving mechanism; the pushing mechanism is used to push the dumplings in the inner box out from the feeding and discharging opening; and

[0008] A box taking device, which is connected to the fixing frame and is arranged above the loading device, and the box taking device can grab a dumpling box onto the outer frame.

[0009] In one embodiment, the box taking device includes a grabbing mechanism and a second driving mechanism, and the second driving mechanism is used to drive the grabbing mechanism to move horizontally and linearly along the fixing frame.

[0010] In one embodiment, the grasping mechanism includes a connecting plate and two corner cylinders respectively arranged at the first end and the second end of the connecting plate.

[0011] In one embodiment, the second driving mechanism includes a first rodless cylinder and a second rodless cylinder. The first slider of the first rodless cylinder is fixedly connected to the first end of the cylinder body of the second rodless cylinder, and the second slider of the second rodless cylinder is fixedly connected to the second end of the connecting plate.

[0012] In one embodiment, the pushing mechanism includes a push plate arranged at the rear side of the accommodating cavity and a third driving mechanism for driving the push plate to move forward.

[0013] In one embodiment, the third driving mechanism is a third rodless cylinder.

[0014] In one embodiment, the accommodating cavity of the inner box includes a first accommodating space, a second accommodating space and an installation space. The installation space is arranged between the first accommodating space and the second accommodating space. The first accommodating space and the second accommodating space are used for containing dumplings, and the third driving mechanism is arranged in the installation space.

[0015] In one embodiment, the push plate includes a first push plate and a second push plate respectively arranged at the rear sides of the first accommodating space and the second accommodating space. The first push plate and the second push plate are connected by a fixing plate, and the fixing plate is connected to the third driving mechanism.

[0016] In one embodiment, the first driving mechanism is a first linear cylinder, and the first linear cylinder is fixedly connected to the fixed frame.

[0017] In one embodiment, an extension part higher than the two side plates of the outer frame is arranged at the top end of the front plate of the outer frame, and the extension part is used for front-side positioning of the dumpling box.

[0018] In one embodiment, a second linear cylinder is further arranged in the installation space, and a through hole is formed in the front plate of the outer frame. The piston rod of the second linear cylinder can extend out of the through hole.

[0019] Compared with the prior art, the advantages and positive effects of the present invention are:

[0020] The manipulator of the above-mentioned dumpling machine includes a loading device and a box-taking device, which are arranged according to the operation process requirements of the dumpling machine for cooking dumplings. The structure is reasonable, the operation is simple, and it can complete the operations of taking and placing dumplings and packing and capping the cooked dumplings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic structural diagram of the manipulator of the dumpling machine of the present invention;

[0022] Figure 2 This is a schematic rear view structure diagram of the manipulator of the dumpling machine of the present invention;

[0023] Figure 3 is Figure 2 a partial enlarged view in

[0024] Figure 4 This is a schematic structure diagram of the loading device and the box-taking device in the manipulator of the dumpling machine of the present invention;

[0025] Figure 5 This is a schematic structure diagram of the loading device and the box-taking device in the manipulator of the dumpling machine of the present invention. The outer frame of the illustrated loading device is not shown;

[0026] Figure 6 This is a schematic structure diagram of the push plate in the manipulator of the dumpling machine of the present invention;

[0027] Description of the reference numerals:

[0028] Vertical transmission mechanism 100;

[0029] Horizontal transmission mechanism 200; Fixed frame 210;

[0030] Loading device 300;

[0031] Inner box 310; Feeding and discharging port 311; First accommodation space 312; Second accommodation space 313; Installation space 314;

[0032] Outer frame 320; Front plate 321; Through hole 3211; Extension part 3212;

[0033] First linear cylinder 330;

[0034] Pushing mechanism 340; Push plate 341; First push plate 3411; Second push plate 3412; Third rodless cylinder 342; Fixed plate 343;

[0035] Box-taking device 400; Rotary cylinder 410; Pressing arm 411; Positioning block 4111; Second driving mechanism 420; First rodless cylinder 421; Second rodless cylinder 422; Connecting plate 430;

[0036] Second linear cylinder 500;

[0037] Dumpling box 600. Detailed implementation manners

[0038] The following will elaborate on the specific implementation manners of the present invention in conjunction with the accompanying drawings of the specification. However, the present invention can be implemented in many different ways defined and covered by the claims.

[0039] The manipulator of the dumpling machine of the present invention is applied to the dumpling machine and is used for operations such as taking, placing, and transporting dumplings. The dumpling machine includes a dumpling discharging device, a conveying device, a manipulator, a box discharging device, a lid discharging device, and a steaming device. Refer to Figure 1 and Figure 2 , the manipulator of the dumpling machine in an embodiment of the present invention includes a vertical conveying mechanism 100, a horizontal conveying mechanism 200, a loading device 300, and a box taking device 400. The horizontal conveying mechanism 200 can move up and down through the vertical conveying mechanism 100. The vertical conveying mechanism 100 and the horizontal conveying mechanism 200 are preferably belt transmission mechanisms. In other embodiments, a lead screw transmission mechanism, a slide rail transmission mechanism, or other transmission mechanisms can also be selected. Among them, a fixing frame 210 is provided on the horizontal conveying mechanism 200, and the fixing frame 210 can reciprocate horizontally through the transmission of the horizontal conveying mechanism 200.

[0040] As Figures 4 - 6 shown, the loading device 300 includes an inner box 310, an outer frame 320 sleeved around the inner box 310, and a pushing mechanism 340. The outer frame 320 is fixedly connected to the fixing frame 210. The outer frame 320 has side plates on all four sides, and its bottom plate and top plate are missing. The inner box 310 has a receiving cavity for loading frozen dumplings. The front side of the inner box 310 has a feeding and discharging opening 311 for loading and pouring out dumplings. The outer frame 320 is sleeved outside the inner box 310 to close the feeding and discharging opening 311. Refer to Figure 4 , a gap can be left at the bottom of the feeding and discharging opening 311, and the size of the gap can ensure that the dumplings do not fall out. The inner box 310 can move downward through the first driving mechanism to disengage from the outer frame 320, so that the feeding and discharging opening 311 of the inner box 310 is opened. At this time, dumplings can be put into the inner box 310 through other conveying mechanisms of the dumpling machine. The first driving mechanism is preferably a first linear cylinder 330. The fixed seat of the first linear cylinder 330 is on the fixing frame 210. The piston rod of the first linear cylinder 330 is fixed to the outer frame 320. The outer frame 320 can move up and down through the drive of the first linear cylinder 330. A pushing mechanism 340 is also provided on the loading device 300. When the manipulator transports the dumplings to the steaming device of the dumpling machine and reaches the predetermined position, the pushing mechanism 340 can push the dumplings in the inner box 310 out of the feeding and discharging opening 311 into the dumpling steaming device.

[0041] The box taking device 400 is used for taking and placing the dumpling box 600 for holding dumplings and the box lid (not shown). The box taking device 400 is connected to the fixing frame 210 and is arranged above the loading device 300. As Figure 3 shown, the box taking device 400 can grab the dumpling box 600 onto the outer frame 320. After the dumplings are cooked and put into the box, the manipulator transports the dumpling box 600 to the buffer area for temporary storage. After the dumplings are slightly cooled, the capping operation is performed.

[0042] The manipulator of the above-mentioned dumpling machine includes a loading device 300 and a box-taking device 400, which are set according to the operation process requirements of steaming dumplings by the dumpling machine. It has a reasonable structure and is easy to operate, and can complete the operations of taking and placing dumplings and loading cooked dumplings into boxes.

[0043] Specifically, the box-taking device 400 includes a grasping mechanism and a second driving mechanism 420. The second driving mechanism 420 is used to drive the grasping mechanism to move horizontally and linearly along the fixed frame 210.

[0044] Among them, the grasping mechanism includes a connecting plate 430 and two rotary cylinders 410 respectively arranged at the first end and the second end of the connecting plate 430. The two rotary cylinders 410 can be driven by hydraulic pressure or air pressure, and are preferably driven by air pressure in this embodiment. The rotary cylinders 410 are placed horizontally and symmetrically. The pistons of the rotary cylinders 410 first complete the rotary stroke, the pressing arms 411 press inward and rotate to the specified position and angle, and then complete the clamping stroke, that is, press linearly inward and clamp the workpiece. When releasing the dumpling box 600, the pressing arms 411 return to the original position along the pressing route and disengage from the dumpling box 600.

[0045] In order to ensure the grasping range of the box-taking device 400 and enable grasping from both the left and right sides, the second driving mechanism 420 is provided with a first rodless cylinder 421 and a second rodless cylinder 422, and the strokes of the first rodless cylinder 421 and the second rodless cylinder 422 are equal. The first slider of the first rodless cylinder 421 is fixedly connected to the first end of the cylinder body of the second rodless cylinder 422, and the second slider of the second rodless cylinder 422 is fixedly connected to the second end of the connecting plate. This can ensure that the strokes of the rotary cylinders 410 moving to the left and right sides are equal.

[0046] The pushing mechanism 340 includes a push plate 341 arranged at the rear side of the accommodating cavity and a third driving mechanism for driving the push plate 341 to move forward. Preferably, the third driving mechanism is a third rodless cylinder 342. The pushing mechanism 340 is used to push out the frozen dumplings in the inner box 310. The manipulator transports the frozen dumplings to the steaming device through the inner box 310, and the third rodless cylinder 342 is used to push the push plate 341 forward to push the dumplings into the steaming device for the next steaming operation.

[0047] In this embodiment, as Figure 5 shown, the accommodating cavity of the inner box 310 includes a first accommodating space 312, a second accommodating space 313 and an installation space 314. The installation space 314 is arranged between the first accommodating space 312 and the second accommodating space 313. The first accommodating space 312 and the second accommodating space 313 are used to hold dumplings, and the third driving mechanism is arranged in the installation space 314. Correspondingly, as Figure 6The push plate 341 includes a first push plate 3411 and a second push plate 3412 respectively arranged at the rear sides of the first accommodating space 312 and the second accommodating space 313. The first push plate 3411 and the second push plate 3412 are connected by a fixed plate 343. The fixed plate 343 is connected to the third rodless cylinder 342, and the push plate 341 is pushed to move by pushing the fixed plate 343.

[0048] like Figure 4 and Figure 5 As shown, a second linear cylinder 500 is also provided in the installation space 314, and a through hole 3211 is provided on the front plate 321 of the outer frame 320, and the piston rod of the second linear cylinder 500 can extend out of the through hole 3211. The second linear cylinder 500 is used to be linked with the material shovel on the cooking device. When the robot conveys dumplings to the cooking device, the piston rod of the second linear cylinder 500 extends out of the through hole 3211 and can be connected with the material shovel on the cooking device. Specifically, the piston rod of the second linear cylinder 500 is inserted into the insertion hole on the material shovel. When the cooking device cooks the dumplings, the robot moves horizontally, so that the inner box 310 corresponds to the corresponding cooking bin, and at the same time drives the material shovel to move to the corresponding cooking bin. The material shovel moves the cooked dumplings in the cooking bin to the dumpling box 600 above the inner box 310, and then the robot completes the operation of storing the dumpling box in the buffer area.

[0049] In order to position the dumpling box 600 placed on the inner box 310, the top of the front plate 321 of the outer frame 320 is provided with an extension 3212 that is higher than the two side plates of the outer frame 320, and the extension 3212 is used to position the front side of the dumpling box 600. Positioning blocks 4111 are provided on the pressing arms 411 of the two corner cylinders 410, and the positioning blocks 4111 are used to position the back side of the dumpling box 600. The two sides of the dumpling box 600 are positioned by the inner sides of the pressing arms 411 of the two corner cylinders 410.

[0050] The working process of the robot of the dumpling machine of the present invention is as follows:

[0051] First, the quick-frozen dumplings discharged from the dumpling discharging device are transported to the position of the manipulator through the conveying device. The inner box of the loading device 300 moves downward under the drive of the first linear cylinder 330, so that the feeding and discharging port 311 is opened. The conveying device pushes the dumplings into the accommodating cavity of the inner box, and then the inner box moves upward to close the feeding and discharging port 311. Then, the corner cylinder 410 moves to the left or right to the box discharging device under the drive of the first rodless cylinder 421 and the second rodless cylinder 422. After clamping the dumpling box, it returns to the initial position and places the dumpling box 600 on the top of the outer frame 320. Subsequently, the manipulator moves to the steaming device under the drive of the horizontal conveying mechanism 200 and the vertical conveying mechanism 100. Driven by the horizontal conveying mechanism, it drives the loading device 300 to the preset steaming chamber, and the pushing mechanism 340 pushes the dumplings in the inner box 310 into the steaming chamber for steaming operation by the steaming device. When the steaming operation is completed, the manipulator moves to the position of the pusher shovel. The piston rod of the second linear cylinder 500 extends and is linked with the pusher shovel on the steaming device, driving the pusher shovel into the preset steaming chamber, and the cooked dumplings are pushed into the dumpling box 600 through the pusher shovel. During the process of loading the dumplings into the dumpling box 600 or after the loading is completed, the manipulator can perform the operation of shaking left and right through the horizontal conveying mechanism 200 to make the dumplings lie flat in the dumpling box. Finally, the manipulator transports the dumpling box 600 filled with dumplings to the buffer area. After the dumplings are slightly cooled, they are transported from the buffer area to the capping device for capping.

[0052] The above-described embodiments merely represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the appended claims.

Claims

1. A manipulator of a dumpling machine, characterized in that, it includes: A horizontal conveying mechanism, which can move up and down through a vertical conveying mechanism; a fixing frame is arranged on the horizontal conveying mechanism, and the fixing frame can move horizontally through the horizontal conveying mechanism; A loading device, including an inner box, an outer frame sleeved around the inner box, and a material pushing mechanism; the outer frame is fixedly connected to the fixing frame; the inner box has a receiving cavity for loading dumplings, and the front side of the inner box has a feeding and discharging opening; the inner box can move downward through a first driving mechanism to disengage from the outer frame; the material pushing mechanism is used to push the dumplings in the inner box out from the feeding and discharging opening; and A box taking device, the box taking device is connected to the fixing frame and is arranged above the loading device, and the box taking device can grab a dumpling box onto the outer frame.

2. The manipulator of the dumpling machine according to claim 1, characterized in that, The box taking device includes a grabbing mechanism and a second driving mechanism, and the second driving mechanism is used to drive the grabbing mechanism to move horizontally along the fixing frame in a straight line.

3. The manipulator of the dumpling machine according to claim 2, characterized in that, The grabbing mechanism includes a connecting plate and two corner cylinders respectively arranged at the first end and the second end of the connecting plate.

4. The manipulator of the dumpling machine according to claim 3, characterized in that, The second driving mechanism includes a first rodless cylinder and a second rodless cylinder. The first slider of the first rodless cylinder is fixedly connected to the first end of the cylinder body of the second rodless cylinder, and the second slider of the second rodless cylinder is fixedly connected to the second end of the connecting plate.

5. The manipulator of the dumpling machine according to claim 1, characterized in that, The material pushing mechanism includes a push plate arranged at the rear side of the receiving cavity and a third driving mechanism for driving the push plate to move forward.

6. The manipulator of the dumpling machine according to claim 5, characterized in that, The third driving mechanism is a third rodless cylinder.

7. The manipulator of the dumpling machine according to claim 5, characterized in that, The receiving cavity of the inner box includes a first receiving space, a second receiving space and an installation space. The installation space is arranged between the first receiving space and the second receiving space. The first receiving space and the second receiving space are used to load dumplings, and the third driving mechanism is arranged in the installation space.

8. The manipulator of the dumpling machine according to claim 7, characterized in that, The push plate includes a first push plate and a second push plate respectively arranged at the rear sides of the first receiving space and the second receiving space. The first push plate and the second push plate are connected by a fixing plate, and the fixing plate is connected to the third driving mechanism.

9. The manipulator of the dumpling machine according to any one of claims 1-8, characterized in that, The first driving mechanism is a first linear cylinder, and the first linear cylinder is fixedly connected to the fixing frame.

10. The manipulator of the dumpling machine according to any one of claims 1-8, characterized in that, The top of the front plate of the outer frame is provided with an extension part that is higher than the side plates on both sides of the outer frame, and the extension part is used for the front side positioning of the dumpling box.

11. The manipulator of the dumpling machine according to claim 7, characterized in that, a second linear cylinder is further arranged in the installation space, a through hole is formed in the front plate of the outer frame, and the piston rod of the second linear cylinder can extend out of the through hole.

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