Grabbing hook device and lifting food delivery equipment

Abstract

The application provides a grabbing hook device and a lifting food delivery equipment. The grabbing hook device comprises a driving motor, a first transmission structure, a second transmission structure, a first connecting structure, a second connecting structure, a first cable, a second cable, a third connecting structure, a fourth connecting structure and a plurality of claw structures. The driving motor can drive the first transmission structure and the second transmission structure, and then drive the claw structures to move through the first cable and the second cable through multi-stage transmission. The first cable and the second cable are arranged in an up-down manner, and the movement directions of the first transmission structure and the second transmission structure are opposite. The application can realize the inward movement of the plurality of claw structures at the same time, and can realize the stable clamping of external materials by using the synchronous movement of the plurality of claw structures. Furthermore, the setting of the buffer structure can provide a certain buffer, and further improve the stability of the grabbing hook device.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics transmission equipment, and in particular to a grabbing hook device and a lifting and delivering food device. Background Art

[0002] With the rapid development of industrial intelligence, various intelligent robot systems are being used more and more widely in various fields. Robots are getting closer and closer to people's lives, especially in the field of logistics and transportation. The use of robots has become very common. In particular, the emergence of logistics and transportation robot systems based on elevated rails has saved manpower, material resources, financial resources and site space to a great extent, and has also realized the separation of human and logistics flows, reducing the danger or harm caused by close contact between people and materials during transportation. It is an important direction for the development of robots.

[0003] Currently, when transferring materials in overhead logistics transmission systems, a spreader needs to be lowered to grab the material and then transport it. However, traditional spreaders are not stable enough when transporting containers containing liquids.

[0004] A sling that lacks stability is likely to cause the liquid in the container to overturn. Summary of the Invention

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide a grabbing hook device and a lifting and delivering food equipment.

[0006] According to the present invention, a grabbing hook device is provided, comprising a driving motor, a first transmission structure, a second transmission structure, a first connecting structure, a second connecting structure, a first cable, a second cable, a third connecting structure, a fourth connecting structure and a plurality of claw structures;

[0007] The first transmission structure and the second transmission structure are both connected to the drive motor; the first transmission structure is connected to the first cable via the first connecting structure; the second transmission structure is connected to the second cable via the second connecting structure; the first cable is connected to the claw structure via a third connecting structure; and the second cable is connected to the claw structure via a fourth connecting structure.

[0008] The driving motor can drive the first transmission structure to move the first cable through the first connecting structure, and the first cable can drive the claw structure to move through the third connecting structure;

[0009] The driving motor can drive the second transmission structure to move the second cable through the second connecting structure, and the second cable can drive the claw structure to move through the fourth connecting structure;

[0010] The first cable and the second cable are arranged vertically, and the movement directions of the first transmission structure and the second transmission structure are opposite.

[0011] Preferably, the first transmission structure and the second transmission structure are both screw slide structures or ball screw nut structures;

[0012] Preferably, it further comprises a plurality of slide rails, wherein the slide rails correspond to the claw structures one by one; the claw structures are mounted on the slide rails and can move along the length direction of the slide rails.

[0013] Preferably, it also includes a reversing structure;

[0014] The number of claw structures is 8;

[0015] The number of the slide rails is 8;

[0016] The number of the third connection structures is 4, and the number of the fourth connection structures is 4;

[0017] The first cable is reversed by the reversing structure to achieve connection between the first cable and the third connection structure located at a different position;

[0018] The second cable is reversed by the reversing structure to achieve connection between the second cable and the fourth connecting structure located at a different position;

[0019] Preferably, the eight claw structures are respectively a first claw structure, a second claw structure, a third claw structure, a fourth claw structure, a fifth claw structure, a sixth claw structure, a seventh claw structure, and an eighth claw structure;

[0020] 8 claw structures are arranged along a ring;

[0021] The first cable can drive the first claw structure, the third claw structure, the fifth claw structure and the seventh claw structure to move respectively through different third connection structures;

[0022] The second cable can drive the second claw structure, the fourth claw structure, the sixth claw structure and the eighth claw structure to move respectively through different fourth connection structures;

[0023] The movement directions of the first claw structure, the second claw structure, the third claw structure, the fourth claw structure, the fifth claw structure, the sixth claw structure, the seventh claw structure, and the eighth claw structure are consistent; the movement direction is movement toward the inside of the ring or movement toward the outside of the ring.

[0024] Preferably, the third connecting structure is firmly connected to the claw structure; the third connecting structure comprises a top plate, a middle plate and a bottom plate arranged in a stacked manner;

[0025] The top plate and the middle plate press the first cable tightly, a through hole is provided between the middle plate and the bottom plate, and the second cable passes through the through hole;

[0026] The fourth connecting structure is fastened to the claw structure; the fourth connecting structure includes a top plate, a middle plate and a bottom plate arranged in a stacked manner;

[0027] The bottom plate and the middle plate press the second cable tightly. A through hole is provided between the top plate and the middle plate, and the first cable passes through the through hole.

[0028] Preferably, the first connection structure includes a connecting plate and two stud structures, the connecting plate is directly or indirectly connected to the first transmission structure; the two stud structures are respectively provided at both ends of the connecting plate, and the two ends of the first cable are respectively connected to the two stud structures;

[0029] The second connection structure includes a connecting plate and two stud structures, and the connecting plate is directly or indirectly connected to the second transmission structure; the two stud structures are respectively arranged at both ends of the connecting plate, and the two ends of the second cable are respectively connected to the two stud structures.

[0030] Preferably, the connecting plate is connected to the first transmission structure via a buffer structure;

[0031] The buffer structure includes a buffer spring, one end of which abuts against the slide in the screw slide structure, and the other end of which abuts against the connecting plate.

[0032] Preferably, the reversing structure is a fixed pulley structure.

[0033] The present invention also provides a lifting food delivery device, which adopts the grabbing hook device.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. The present invention can realize the simultaneous inward movement of multiple claw structures through the design of the first cable and the second cable, and can achieve stable clamping of external materials by utilizing the synchronous movement of multiple claw structures.

[0036] 2. The buffer structure of the present invention can provide a certain buffer when the grabbing hook device grabs external materials, further improving the stability of the grabbing hook device. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0038] Figure 1 It is a top view schematic diagram of the present invention;

[0039] Figure 2 It is a front view structural schematic diagram of the present invention;

[0040] Figure 3 It is a rear view structural schematic diagram of the present invention;

[0041] Figure 4 It is a side structural schematic diagram of the present invention;

[0042] Figure 5 is a structural schematic diagram of a first connection structure;

[0043] Figure 6 is a structural schematic diagram of a third connection structure;

[0044] Figure 7 Schematic diagram of the buffer structure.

[0045] The figure shows:

[0046] DETAILED DESCRIPTION

[0047] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0048] The present invention provides a grab hook device, such as Figures 1 to 7 As shown, it includes a drive motor 1, a first transmission structure, a second transmission structure, a first connection structure 2, a second connection structure 3, a first cable 4, a second cable 5, a third connection structure 6, a fourth connection structure 7 and a plurality of claw structures;

[0049] The first transmission structure and the second transmission structure are both connected to the drive motor 1; the first transmission structure is connected to the first cable 4 via the first connecting structure; the second transmission structure is connected to the second cable 5 via the second connecting structure; the first cable 4 is connected to the claw structure via a third connecting structure 6; the second cable 5 is connected to the claw structure via a fourth connecting structure 7; in a preferred embodiment, the first transmission structure and the second transmission structure are both screw slide structures 44 or ball screw nut structures;

[0050] The driving motor 1 can drive the first transmission structure to move the first cable 4 through the first connecting structure 2, and the first cable 4 can drive the claw structure to move through the third connecting structure 6; the driving motor 1 can drive the second transmission structure to move the second cable 5 through the second connecting structure 3, and the second cable 5 can drive the claw structure to move through the fourth connecting structure 7; the first cable 4 and the second cable 5 are arranged up and down, and the movement directions of the first transmission structure and the second transmission structure are opposite.

[0051] The grabbing hook device further includes a plurality of slide rails, wherein the slide rails correspond to the claw structures one by one, and the claw structures are mounted on the slide rails and can move along the length direction of the slide rails.

[0052] The grab hook device further includes a reversing structure 24; the number of claw structures is 8; the number of slide rails is 8; the number of third connecting structures 6 is 4, and the number of fourth connecting structures 7 is 4;

[0053] The first cable 4 is reversed by the reversing structure 24 to connect the first cable 4 to the third connecting structure 6 located at a different position; the second cable 5 is reversed by the reversing structure 24 to connect the second cable 5 to the fourth connecting structure 7 located at a different position; in a preferred example, the reversing structure 24 is a fixed pulley structure.

[0054] The eight slide rails are a first slide rail structure 16, a second slide rail structure 17, a third slide rail structure 18, a fourth slide rail structure 19, a fifth slide rail structure 20, a sixth slide rail structure 21, a seventh slide rail structure 22, and an eighth slide rail structure 23. The first slide rail structure 16 and the second slide rail structure 17 are perpendicular to each other, the second slide rail structure 17 and the third slide rail structure 18 are parallel to each other, and the third slide rail structure 18 and the fourth slide rail structure 19 are perpendicular to each other. The first slide rail structure 16 and the eighth slide rail structure 23 are symmetrically arranged; the second slide rail structure 17 and the seventh slide rail structure 22 are symmetrically arranged; the third slide rail structure 18 and the sixth slide rail structure 21 are symmetrically arranged; and the fourth slide rail structure 19 and the fifth slide rail structure 20 are symmetrically arranged.

[0055] The eight claw structures are respectively a first claw structure 8, a second claw structure 9, a third claw structure 10, a fourth claw structure 11, a fifth claw structure 12, a sixth claw structure 13, a seventh claw structure 14, and an eighth claw structure 15; the eight claw structures are arranged in a ring shape;

[0056] The first cable 4 can drive the first claw structure 8, the third claw structure 10, the fifth claw structure 12, and the seventh claw structure 14 to move respectively through different third connecting structures 6. The second cable 5 can drive the second claw structure 9, the fourth claw structure 11, the sixth claw structure 13, and the eighth claw structure 15 to move respectively through different fourth connecting structures 7. The first claw structure 8, the second claw structure 9, the third claw structure 10, the fourth claw structure 11, the fifth claw structure 12, the sixth claw structure 13, the seventh claw structure 14, and the eighth claw structure 15 move in the same direction, either inward or outward of the ring.

[0057] The third connecting structure 6 is securely connected to the claw structure. The third connecting structure 6 comprises a stacked top plate 61, a middle plate 62, and a bottom plate 63. Specifically, the middle plate 62 is securely connected to the claw structure via screws. The top plate 61, the middle plate 62, and the bottom plate 63 are securely connected via screws. The top plate 61 and the middle plate 62 compress the first cable 4. A through hole 64 is provided between the middle plate 62 and the bottom plate 63, through which the second cable 5 passes.

[0058] The fourth connecting structure 7 is securely connected to the claw structure. It comprises a stacked top plate 61, a middle plate 62, and a bottom plate 63. The middle plate 62 is secured to the claw structure via screws. The top, middle, and bottom plates 61, 62, and 63 are secured together by screws. The bottom plate 63 and middle plate 62 compress the second cable 5. A through hole 64 is provided between the top and middle plates 61, 62, through which the first cable 4 passes.

[0059] The first connecting structure 2 includes a connecting plate 41 and two stud structures 42. In a preferred embodiment, the cross-sectional shape of the connecting plate 41 is an I-shaped. The connecting plate 41 is directly or indirectly connected to the first transmission structure; specifically, the connecting plate 41 is offset against the sliding seat or ball nut structure in the first transmission structure. The two stud structures 42 are respectively arranged at both ends of the connecting plate 41, and the two ends of the first cable 4 are respectively connected to the two stud structures 42. One end of the first cable 4 is connected to a stud structure 42, and the other end alternately passes through the third connecting structure 6, the fourth connecting structure 7, and then passes through the second connecting structure 3, and finally connects to another stud structure 42. More specifically, the connection between the stud structure 42 and the first cable 4 is to punch a hole in the stud structure 42 and install the first cable 4 in the hole by welding, gluing, etc.

[0060] The second connection structure 3 includes a connection plate 41 and two stud structures 42. The connection plate 41 is directly or indirectly connected to the second transmission structure. Specifically, the connection plate 41 is offset against the slide or ball nut structure in the second transmission structure. The two stud structures 42 are respectively arranged at both ends of the connection plate 41, and the two ends of the second cable 5 are respectively connected to the two stud structures 42. Specifically, one end of the second cable 5 is connected to a stud structure 42, and the other end first passes through the first connection structure 2, and then alternately passes through the third connection structure 6, the fourth connection structure 7, and finally connects to another stud structure 42. More specifically, the connection between the stud structure 42 and the second cable 5 is in the form of punching a hole in the stud structure 42, and installing the second cable 5 in the hole by welding, gluing, etc.

[0061] In a preferred example, the connecting plate 41 is connected to the first transmission structure through a buffer structure; the buffer structure includes a buffer spring 43, one end of the buffer spring 43 is against the slide in the screw slide structure 44, and the other end is against the connecting plate 41.

[0062] The working principle of the present invention is as follows: start the drive motor 1, when the drive motor 1 rotates forward, Figure 1 As shown, the driving motor 1 drives the slider in the first transmission structure to move leftward, and the first connecting structure 2 drives the first cable 4 along Figure 1 At this time, the first cable 4 drives the first claw structure 8, the third claw structure 10, the fifth claw structure 12 and the seventh claw structure 14 to move toward the inner side of the ring, that is, the first claw structure 8 moves upward, the third claw structure 10 moves rightward, the fifth claw structure 12 moves downward, and the seventh claw structure 14 moves leftward. At the same time, the driving motor 1 drives the slider in the second transmission structure to move rightward, and the second connecting structure 3 drives the second cable 5 along Figure 1 The second cable 5 drives the second claw structure 9, the fourth claw structure 11, the sixth claw structure 13, and the eighth claw structure 15 to move toward the inside of the ring. That is, the second claw structure 9 moves rightward, the fourth claw structure 11 moves downward, the sixth claw structure 13 moves leftward, and the eighth claw structure 15 moves upward. The eight claw structures move toward the inside of the ring simultaneously, achieving stable gripping of external materials.

[0063] When the driving motor 1 rotates in the reverse direction, the eight claw structures simultaneously move toward the outer side of the ring to release the external material clamped.

[0064] The present invention also provides a lifting and delivery device that utilizes the aforementioned grabbing hook device to achieve lifting and delivery of plated dishes or hot pots, etc. Preferably, the lifting mechanism, adjustment mechanism, locking device, lifting and deceleration mechanism, etc. in the lifting and delivery device can all adopt the structure of the prior art CN113277433B, and the grabbing hook device is used to grab plated dishes or hot pots.

[0065] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0066] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A grab hook device, characterized in that: It comprises a driving motor (1), a first transmission structure, a second transmission structure, a first connecting structure (2), a second connecting structure (3), a first cable (4), a second cable (5), a third connecting structure (6), a fourth connecting structure (7), and a plurality of claw structures; The first transmission structure and the second transmission structure are both connected to the drive motor (1); the first transmission structure is connected to the first cable (4) via the first connection structure (2); the second transmission structure is connected to the second cable (5) via the second connection structure (3); the first cable (4) is connected to the claw structure via the third connection structure (6); and the second cable (5) is connected to the claw structure via the fourth connection structure (7); The driving motor (1) is capable of driving the first transmission structure to move the first cable (4) via the first connecting structure (2), and the first cable (4) is capable of driving the claw structure to move via the third connecting structure (6); At the same time, the driving motor (1) can drive the second transmission structure to move the second cable (5) through the second connecting structure (3), and the second cable (5) can drive the claw structure to move through the fourth connecting structure (7); The first cable (4) and the second cable (5) are arranged vertically, and the movement directions of the first transmission structure and the second transmission structure are opposite; the first transmission structure and the second transmission structure are both screw slide structures (44) or ball screw nut structures; It also includes a plurality of slide rails, each of which corresponds to the claw structure; the claw structure is mounted on the slide rail and can move along the length direction of the slide rail; Also included is a switching structure (24); The number of claw structures is 8; The number of the slide rails is 8; The number of the third connecting structures (6) is 4, and the number of the fourth connecting structures (7) is 4; The first cable (4) is reversed by the reversing structure (24) to achieve connection between the first cable (4) and the third connection structure (6) located at a different position; The second cable (5) is reversed by the reversing structure (24) to achieve connection between the second cable (5) and the fourth connecting structure (7) located at a different position; The first connecting structure (2) and the second connecting structure (3) have the same structure and both include a connecting plate (41), and the connecting plate (41) is connected to the first transmission structure via a buffer structure; The buffer structure comprises a buffer spring (43), one end of the buffer spring (43) abuts against the slide in the screw slide structure (44), and the other end abuts against the connecting plate (41).

2. The grab hook device according to claim 1, characterized in that: The eight claw structures are respectively a first claw structure (8), a second claw structure (9), a third claw structure (10), a fourth claw structure (11), a fifth claw structure (12), a sixth claw structure (13), a seventh claw structure (14), and an eighth claw structure (15); 8 claw structures are arranged along a ring; The first cable (4) can drive the first claw structure (8), the third claw structure (10), the fifth claw structure (12) and the seventh claw structure (14) to move respectively through different third connection structures (6). The second cable (5) can respectively drive the second claw structure (9), the fourth claw structure (11), the sixth claw structure (13) and the eighth claw structure (15) to move through different fourth connection structures (7); The movement directions of the first claw structure (8), the second claw structure (9), the third claw structure (10), the fourth claw structure (11), the fifth claw structure (12), the sixth claw structure (13), the seventh claw structure (14), and the eighth claw structure (15) are consistent; the movement direction is movement toward the inside of the ring or movement toward the outside of the ring.

3. The grab hook device according to claim 1, characterized in that: The third connecting structure (6) is tightly connected to the claw structure; the third connecting structure (6) comprises a top plate (61), a middle plate (62), and a bottom plate (63) arranged in layers; The top plate (61) and the middle plate (62) press the first cable (4); a through hole (64) is provided between the middle plate (62) and the bottom plate (63); and the second cable (5) passes through the through hole (64); The fourth connecting structure (7) is firmly connected to the claw structure; the fourth connecting structure (7) comprises a top plate (61), an intermediate plate (62) and a bottom plate (63) arranged in a stacked manner, The bottom plate (63) and the middle plate (62) compress the second cable (5); a through hole (64) is provided between the top plate (61) and the middle plate (62); and the first cable (4) passes through the through hole (64).

4. The grab hook device according to claim 1, characterized in that: The first connection structure (2) and the second connection structure (3) further include two stud structures (42); the connection plate (41) on the first connection structure (2) is directly or indirectly connected to the first transmission structure; the two stud structures (42) on the first connection structure (2) are respectively arranged at two ends of the connection plate (41); and the two ends of the first cable (4) are respectively connected to the two stud structures (42) on the first connection structure (2); The connecting plate (41) on the second connecting structure (3) is directly or indirectly connected to the second transmission structure; the two stud structures (42) on the second connecting structure (3) are respectively arranged at two ends of the connecting plate (41), and the two ends of the second cable (5) are respectively connected to the two stud structures (42) on the second connecting structure (3).

5. The grab hook device according to claim 1, characterized in that: The reversing structure (24) is a fixed pulley structure.

6. A lifting food delivery device, characterized in that: The grabbing hook device according to any one of claims 1 to 5 is used.

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