A shrink grabbing device

Abstract

The present invention provides a contraction grasping device, comprising a support part and a grasping group on the uniform support part, the grasping group is composed of a plurality of claws, a mechanical arm is connected to the middle of the support part, an elastic mechanism is provided between adjacent claws, the grasping group in the middle of the support part is connected to the mechanical arm, and the support part is provided with a retracting device for retracting the claws. The present invention has the following beneficial effects: the claws are used to achieve clamping, the contraction device is used to achieve contraction and proximity, and the elastic mechanism is used to achieve positioning of the claws during grasping and positioning during contraction, which solves the technical problem in the prior art that the stacking conveying device for transporting egg tart crusts, biscuits, puffed foods, baked semi-finished products, etc. needs to be manually removed and then packaged.

Description

Technical Field

[0001] The invention relates to the technical field of food transportation packaging, and in particular to a shrinking grabbing device. Background Art

[0002] Egg tarts are a kind of food that is deeply loved by modern people. Most of the egg tarts on the market are made by secondary processing after purchasing egg tart crusts. The egg tart crusts, biscuits, puffed foods, baked semi-finished products, etc. produced in existing food processing factories are transported to the packaging place through stacking and conveying devices, such as a food stacking and conveying device and a conveying method thereof recorded in publication number CN110203448B.

[0003] After being transported to the packaging site, the food can only be taken down manually and then packed, which is very time-consuming. In addition, it is not easy for workers to ensure the hygiene and safety of the food when packing. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a shrinking grabbing device, which solves the technical problem in the prior art that the stacking conveying device for transporting egg tart crusts, biscuits, puffed foods, baked semi-finished products, etc. needs to be manually removed and then packaged.

[0005] A contraction grasping device according to an embodiment of the present invention includes a support portion and a grasping group on the uniformly distributed support portion, wherein the grasping group is composed of a plurality of claws, a mechanical arm is connected to the middle portion of the support portion, an elastic mechanism is provided between adjacent claws, the grasping group in the middle portion of the support portion is connected to the mechanical arm, and the support portion is provided with a retracting device for retracting the claws.

[0006] Furthermore, the claw part includes a connecting part, a parallel slide cylinder, a positioning rod and a claw. The connecting part is movably mounted on the supporting part, the parallel slide cylinder is mounted on the bottom of the connecting part, and the two claws are respectively fixed on the two piston rods of the parallel slide cylinder through the positioning rod.

[0007] Furthermore, the gripping group is odd in number, and the elastic mechanism includes a maximum limiting mechanism and a minimum limiting mechanism; the minimum limiting mechanism is arranged on the supporting portion and is located between the connecting portions of the two claws; the maximum limiting mechanism is arranged between the connecting portions of the two claws, and a minimum limiting mechanism is also provided between adjacent gripping groups.

[0008] Furthermore, a fixing block is provided in the middle of the support part, the fixing block is connected to the mechanical arm, the fixing block is connected to the gripping group in the middle of the support part, and the maximum limiting mechanism includes a limit rod and a maximum limiting spring;

[0009] One end of the limit rod of the elastic mechanism at both ends of the support part is fixed to the connecting part close to the center of the support part, the other end of the limit rod passes through the connecting part away from the center of the support part and is installed with a limit nut, and the maximum limit spring is sleeved on the limit rod between the two connecting parts;

[0010] The middle part of the limit rod of the elastic mechanism at the middle position of the support part is fixed to the fixed block, and the two ends of the limit rod pass through the connecting parts on both sides respectively and are installed with limit nuts, and the two maximum limit springs are respectively sleeved on the limit rod between the two connecting parts and the fixed block.

[0011] Furthermore, the folding device includes a pen-shaped cylinder and a mounting block, the two pen-shaped cylinders are arranged on the mounting block in opposite directions, the mounting block is fixed on the support part, and the piston rods of the two pen-shaped cylinders are respectively connected to the connecting parts of the outermost claws at both ends of the support part.

[0012] Furthermore, the support part is an isosceles triangular prism structure formed by three support rods whose ends are respectively fixed on the end panel, the middle parts of the three support rods are fixed to the fixing block, the mounting block is fixed on a support rod at the top of the support part, and the connecting part is installed on the two support rods at the bottom of the support part.

[0013] Furthermore, the minimum limiting mechanism includes a minimum limiting spring and a spacer sleeve; the minimum limiting springs are respectively sleeved on the two support rods at the bottom of the support part, and the minimum limiting springs are respectively arranged between the two connecting parts at the two ends of the support part, between the two connecting parts and the fixed block at the middle position of the support part, and between the adjacent grasping groups, and each of the minimum limiting springs is sleeved with a spacer sleeve.

[0014] Furthermore, the thickness of the spacers between adjacent gripping groups is greater than the effective moving stroke of the claws of the gripping groups located near the inner side of the support portion.

[0015] Furthermore, the thickness of the spacer sleeve of the minimum limiting mechanism at both ends of the support portion is equal to the thickness of the spacer sleeve between adjacent gripping groups, and the thickness of the spacer sleeve of the minimum limiting mechanism at the middle position of the support portion is greater than the thickness of the spacer sleeve between adjacent gripping groups.

[0016] Furthermore, the gripping groups are divided into three groups, and the thickness of the spacer of the minimum limiting mechanism at both ends of the support part is equal to the sum of the thickness of the two spacers at the middle position of the support part and the thickness of the position where the fixed block is close to the two spacers, and the thickness of the spacer between adjacent gripping groups is greater than the thickness of the spacer of the minimum limiting mechanism at both ends of the support part.

[0017] The technical principle of the present invention is as follows: the two claws of each gripping group are used to grip the stacked products at one time, and a contraction device is used to compress the distance between the claws so that the gripped stacked products are close to each other, which is convenient for subsequent packaging; and the elastic mechanism is used to return each claw to its original position when the contraction device is reset, so as to continue to clamp the stacked products.

[0018] Compared with the prior art, the present invention has the following beneficial effects: adopting claws to achieve clamping, adopting a contraction device to achieve contraction and proximity, and adopting an elastic mechanism to achieve positioning of the claws during grasping and contraction, which solves the technical problem in the prior art that the stacking conveying device for transporting egg tart crusts, biscuits, puffed foods, baked semi-finished products, etc. needs to be manually removed and then packaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the structure of the shrinking grasping device of Example 1 of the present invention.

[0020] Figure 2 This is a schematic diagram of the claw structure of Example 1 of the present invention.

[0021] Figure 3 This is a schematic diagram of the structure of the folding device according to Example 1 of the present invention.

[0022] Figure 4 This is a schematic diagram of the support structure of Example 1 of the present invention.

[0023] Figure 5 It is a schematic structural diagram of the elastic mechanism at both ends of the support part of Example 1 of the present invention.

[0024] Figure 6 This is a schematic structural diagram of the elastic mechanism in the middle position of the support part of Example 1 of the present invention.

[0025] Figure 7 This is a schematic diagram of the structure of the shrinking grasping device of Example 2 of the present invention.

[0026] Figure 8 This is a schematic diagram of the structure of the shrinking grasping device of Example 3 of the present invention.

[0027] Fig. 9 Schematic diagram of the spacer structure of embodiment 1 of the present invention

[0028] In the above drawings: 100, support part; 101, fixed block; 110, support rod; 120, end panel; 200, gripping group; 210, claw part; 211, connecting part; 212, parallel slide cylinder; 213, positioning rod; 214, claw; 300, elastic mechanism; 310, maximum limiting mechanism; 311, limiting rod; 312, maximum limiting spring; 313, limiting nut; 320, minimum limiting mechanism; 321, minimum limiting spring; 322, spacer; 323, recess; 400, retracting device; 410, pen-shaped cylinder; 420, mounting block.

[0029] X. The thickness of the spacer of the minimum limiting mechanism at both ends of the support;

[0030] Y, the sum of the thickness of the two spacers in the middle of the support part and the thickness of the fixed block close to the two spacers;

[0031] Z, the thickness of the spacer between adjacent grip groups;

[0032] N. Effective moving range. DETAILED DESCRIPTION

[0033] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0034] Example 1

[0035] like Figure 1 The shrinking grasping device shown includes a support portion 100 and a grasping group 200 evenly distributed on the support portion 100, wherein the grasping group 200 is odd, and the grasping group 200 is composed of a plurality of claws 210. In this embodiment, there are two claws 210. A fixed block 101 is provided in the middle of the support portion 100. The fixed block 101 is screwed to a mechanical arm. The mechanical arm is an existing mechanical arm that can drive the entire shrinking grasping device to move and rotate. An elastic mechanism 300 is installed between the two claws 210. The fixed block 101 is connected to the elastic mechanism 300 of the grasping group 200 in the middle of the support portion 100, and the support portion 100 is provided with a folding device 400 for folding the claws 210.

[0036] like Figure 2 As shown, the claw portion 210 includes a connecting portion 211, a parallel slide cylinder 212, a positioning rod 213 and a claw 214, wherein the connecting portion 211 is movably mounted on the support portion 100 so that the connecting portion 211 can move along the length direction of the support portion 100, the parallel slide cylinder 212 is screwed on the bottom of the connecting portion 211, and the two claws 214 are respectively fixed on the two piston rods of the parallel slide cylinder 212 through the positioning rod 213, so that the parallel slide cylinder 212 can control the two claws 214 to clamp and release, and the positioning rod 213 prevents the stacked products from collapsing during the movement.

[0037] like Figure 3 As shown, the folding device 400 includes a pen-shaped cylinder 410 and a mounting block 420. The two pen-shaped cylinders 410 are screwed to the mounting block 420 in opposite directions. The mounting block 420 is screwed to the support part 100. The piston rods of the two pen-shaped cylinders 410 are respectively threadedly connected to the connecting parts 211 of the outermost claws 210 at both ends of the support part 100, so that the operation of the two pen-shaped cylinders 410 can drive the grasping group 200 to move along the length direction of the support part 100.

[0038] like Figure 2 , 4 As shown, the support portion 100 is an isosceles triangular prism structure formed by three support rods 110 whose two ends are respectively fixed on the end panel 120, the middle parts of the three support rods 110 are screwed to the fixing block 101, the mounting block 420 is screwed to a support rod 110 at the top of the support portion 100, and the connecting portion 211 is sleeved on the two support rods 110 at the bottom of the support portion 100, so that the connecting portion 211 can move along the length direction of the two support rods 110.

[0039] like Figure 1 , 5 As shown, the elastic mechanism 300 includes a maximum limiting mechanism 310 and a minimum limiting mechanism 320; wherein the minimum limiting mechanism 320 is arranged on the support portion 100 and is located between the connecting portions 211 of the two claws 210; the maximum limiting mechanism 310 is arranged between the connecting portions 211 of the two claws 210, and the minimum limiting mechanism 320 is also arranged between adjacent grasping groups 200, the maximum limiting mechanism 310 between the connecting portions 211 plays a role in controlling the position of the claws 210 during grasping, and the minimum limiting mechanism 320 between the connecting portions 211 plays a role in controlling the distance between the claws 210 during contraction; and the minimum limiting mechanism 320 between the grasping groups 200 controls the position of the grasping groups 200 during grasping, and controls the distance between the grasping groups 200 during contraction.

[0040] like Figure 5-6 As shown, the maximum limiting mechanism 310 includes a limiting rod 311 and a maximum limiting spring 312;

[0041] like Figure 5As shown, one end of the limiting rod 311 of the elastic mechanism 300 at both ends of the support part 100 is screwed to the connecting part 211 close to the center of the support part 100, so that the limiting rod 311 cannot extend from this end to avoid affecting the claw part 210 on the inner side. The other end of the limiting rod 311 passes through the connecting part 211 away from the center of the support part 100 and is installed with a limiting nut 313. The limiting nut 313 is used to prevent the limiting rod 311 from detaching from the connecting part 211. When shrinking, the limiting rod 311 will extend out at this end position. The maximum limiting spring 312 is sleeved on the limiting rod 311 between the two connecting parts 211, so that after the pen-shaped cylinder 410 is reset, the two claws 210 return to their original positions.

[0042] like Figure 6 As shown, the middle part of the limiting rod 311 of the elastic mechanism 300 in the middle position of the support part 100 is fixed with screws to the fixing block 101, and the two ends of the limiting rod 311 respectively pass through the connecting parts 211 on both sides and are installed with limiting nuts 313, so that when shrinking, the limiting rod 311 will extend at both ends, and the two maximum limiting springs 312 are respectively mounted on the limiting rod 311 between the two connecting parts 211 and the fixing block 101, so that after the pen-shaped cylinder 410 is reset, the two claws 210 return to their original positions.

[0043] like Figure 1 , 5 -6, the minimum limiting mechanism 320 includes a minimum limiting spring 321 and a spacer sleeve 322; wherein the minimum limiting spring 321 is respectively sleeved on the two support rods 110 at the bottom of the support part 100, and the minimum limiting spring 321 is respectively arranged between the two connecting parts 211 at the two ends of the support part 100, between the two connecting parts 211 at the middle position of the support part 100 and the fixed block 101, and between the adjacent gripping groups 200, and each minimum limiting spring 321 is sleeved with a spacer sleeve 322, the spacer sleeve 322 is used to limit the distance between the claws 210 when contracting, and the minimum limiting spring 321 is used for rebounding, wherein when the gripping groups 200 are three groups, the minimum limiting spring 321 may not be arranged between the adjacent gripping groups 200, and only one spacer sleeve 322 is sleeved.

[0044] like Figure 1 , 6 As shown, the thickness Z of the spacer 322 between adjacent gripping groups 200 is greater than the effective moving stroke N of the claw 210 of the gripping group near the inner side of the support portion 100. The effective stroke refers to the moving distance between the outermost claw and the innermost claw in a gripping group, which can prevent the limiting rod 311 from interfering with the adjacent claw 210 when extending.

[0045] like Figure 1 , 5-6, the thickness X of the spacer 322 of the minimum limiting mechanism 320 at both ends of the support part 100 is equal to the sum Y of the thickness of the two spacers 322 at the middle position of the support part 100 and the thickness of the position where the fixing block 101 is close to the two spacers 322, and the thickness Z of the spacer 322 between adjacent gripping groups 200 is greater than the thickness X of the spacer 322 of the minimum limiting mechanism 320 at both ends of the support part 100, so that the stacked products after shrinkage will be divided into several groups, and two piles are one group, and then they are packaged in units of two piles.

[0046] Specific as Fig. 9 As shown, all the spacers 322 are provided with a recess 323 at one end in contact with the minimum limiting spring 321 , and the minimum limiting spring 321 completely enters the recess 323 when it is contracted to the minimum.

[0047] Example 2

[0048] like Figure 7 As shown, the difference between this embodiment and embodiment 1 is that the gripping groups 200 are divided into three groups, the thickness of the spacers 322 of the minimum limiting mechanism 320 at both ends of the support portion 100 is equal to the thickness of the spacers 322 between adjacent gripping groups 200, and the thickness of the spacers 322 of the minimum limiting mechanism at the middle position of the support portion 100 is greater than the thickness of the spacers 322 between adjacent gripping groups 200, so that the egg tarts are divided into several groups when shrinking, and three piles are in one group, which are subsequently packaged in units of three piles.

[0049] Example 3

[0050] like Figure 8 As shown, the difference between this embodiment and embodiment 1 is that the number of the gripping groups 200 is even, there is no gripping group 200 in the middle of the support portion 100 , and the claw portion 210 close to the fixing block 101 is fixed to the fixing block 101 by bolts.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A shrinking grabbing device, characterized in that: It includes a support part and a gripping group on the uniform support part, the gripping group is composed of a plurality of claws, a mechanical arm is connected to the middle of the support part, an elastic mechanism is provided between adjacent claws, the gripping group in the middle of the support part is connected to the mechanical arm, and the support part is provided with a retracting device for retracting the claws; The claw portion includes a connecting portion, and the connecting portion is movably mounted on the supporting portion; The elastic mechanism includes a maximum limiting mechanism and a minimum limiting mechanism; the minimum limiting mechanism is arranged on the support portion and is located between the connecting portions of the two claws; the maximum limiting mechanism is arranged between the connecting portions of the two claws, and the minimum limiting mechanism is also arranged between the adjacent gripping groups; The folding device includes a pen-shaped cylinder and a mounting block. The two pen-shaped cylinders are arranged on the mounting block in opposite directions. The mounting block is fixed on the support part. The piston rods of the two pen-shaped cylinders are respectively connected to the connecting parts of the outermost claws at both ends of the support part.

2. A shrinking gripping device according to claim 1, characterized in that: The claw part also includes a parallel slide cylinder, a positioning rod and a claw. The parallel slide cylinder is installed at the bottom of the connecting part, and the two claws are respectively fixed on the two piston rods of the parallel slide cylinder through the positioning rod.

3. A shrinking gripping device according to claim 2, characterized in that: The gripping group is odd, a fixed block is provided in the middle of the support part, the fixed block is connected to the mechanical arm, the fixed block is connected to the gripping group in the middle of the support part, and the maximum limiting mechanism includes a limit rod and a maximum limiting spring; One end of the limit rod of the elastic mechanism at both ends of the support part is fixed to the connecting part close to the center of the support part, the other end of the limit rod passes through the connecting part away from the center of the support part and is installed with a limit nut, and the maximum limit spring is sleeved on the limit rod between the two connecting parts; The middle part of the limit rod of the elastic mechanism at the middle position of the support part is fixed to the fixed block, and the two ends of the limit rod pass through the connecting parts on both sides respectively and are installed with limit nuts, and the two maximum limit springs are respectively sleeved on the limit rod between the two connecting parts and the fixed block.

4. A shrinking gripping device as claimed in claim 3, characterized in that: The support part is an isosceles triangular prism structure formed by three support rods whose ends are respectively fixed on the end panel, the middle parts of the three support rods are fixed to the fixing block, the mounting block is fixed on a support rod at the top of the support part, and the connecting part is installed on the two support rods at the bottom of the support part.

5. A shrinking gripping device as claimed in claim 4, characterized in that: The minimum limiting mechanism includes a minimum limiting spring and a spacer sleeve; the minimum limiting springs are respectively sleeved on the two support rods at the bottom of the support part, and the minimum limiting springs are respectively arranged between the two connecting parts at the two ends of the support part, between the two connecting parts and the fixed block at the middle position of the support part, and between the adjacent gripping groups, and each of the minimum limiting springs is sleeved with a spacer sleeve.

6. A shrinking gripping device according to claim 5, characterized in that: The thickness of the spacers between the adjacent gripping groups is greater than the effective moving stroke of the claws of the gripping groups located near the inner side of the supporting part.

7. A shrinking gripping device according to claim 6, characterized in that: The thickness of the spacer sleeve of the minimum limiting mechanism at both ends of the support portion is equal to the thickness of the spacer sleeve between adjacent gripping groups, and the thickness of the spacer sleeve of the minimum limiting mechanism at the middle position of the support portion is greater than the thickness of the spacer sleeve between adjacent gripping groups.

8. A shrinking gripping device according to claim 6, characterized in that: There are three gripping groups, and the thickness of the spacer sleeve of the minimum limiting mechanism at both ends of the support part is equal to the sum of the thickness of the two spacers at the middle position of the support part and the thickness of the position where the fixed block is close to the two spacers. The thickness of the spacer sleeves between adjacent gripping groups is greater than the thickness of the spacer sleeves of the minimum limiting mechanism at both ends of the support part.

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