Mechanical hand device for transporting halogen eggs

Abstract

This invention discloses a robotic arm device for handling hard-boiled eggs, comprising: a rotating base; a robotic arm rotatably mounted on the rotating base; and a clamping assembly mounted on the end of the robotic arm away from the rotating base. The clamping assembly includes a connecting assembly for detachable connection with the robotic arm. The connecting assembly includes a connecting plate with a mounting cavity. A drive unit, an execution unit, and a clamping unit are disposed within the mounting cavity. The drive unit extends into the mounting cavity from one side of the connecting plate and is threadedly connected to the connecting plate. There are two execution units located on opposite sides of the drive unit. Each execution unit has a clamping unit connected to one side. Under the action of the clamping unit, the end of the execution unit can contact the side of the drive unit. After operating the drive unit, it can push the two execution units away to engage in locking grooves on the mounting plate of the robotic arm, or move them closer to each other to remove the connecting plate from the mounting plate.

Description

Technical Field

[0001] This invention belongs to the technical field of equipment for handling hard-boiled eggs, and specifically relates to a robotic arm device for handling hard-boiled eggs. Background Technology

[0002] The main steps in the production process of braised eggs are as follows: egg selection, cleaning, ingredient preparation, braising, cooling, packaging, sterilization, and cooling.

[0003] During the packaging process, the processed braised eggs are placed on fixed transfer racks, and then transported by a robotic arm. This robotic arm mainly consists of the following parts: Figure 1 As shown, a rotating base rotates a robotic arm mounted on the rotating base. A clamping assembly is installed at the end of the robotic arm away from the rotating base. In the prior art, the upper part of the clamping assembly has a connecting plate, which is fixedly connected to the plate at the end of the robotic arm. Specifically, threaded holes are opened near the four corners of the plate and the connecting plate, and washers are placed at the threaded holes. The clamping assembly and the robotic arm are fixed by threaded connection.

[0004] The drawback of the aforementioned fixed structure is that when producing different sizes of braised eggs (with different quantities of braised eggs packaged), different clamping components need to be replaced. The clamping components, which are fixed by four bolts, require a lot of time to remove from the robotic arm. Therefore, there is an urgent need for a robotic arm device for handling braised eggs that can easily remove the clamping components from the robotic arm while ensuring the connection strength between the clamping components and the robotic arm. Summary of the Invention

[0005] In view of the problem in the prior art that the clamping components of the robotic arm are fixed by four bolts and require a lot of time to be removed from the robotic arm, the present invention provides a robotic arm device for handling hard-boiled eggs. It can easily remove the clamping components from the robotic arm and can firmly connect the clamping components to the robotic arm. Compared with the prior art, the robotic arm device for handling hard-boiled eggs provided by the present invention can effectively reduce the time required to replace the clamping components.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A robotic arm device for handling hard-boiled eggs includes,

[0008] Rotate the base;

[0009] A robotic arm, which is rotatably mounted on a rotating base; and

[0010] A clamping assembly is installed at the end of a robotic arm away from the rotating base. The clamping assembly includes a connecting assembly for detachable connection with the robotic arm. The connecting assembly includes a connecting plate with a mounting cavity. A drive unit, an execution unit, and a clamping unit are disposed within the mounting cavity. The drive unit extends into the mounting cavity from one side of the connecting plate and is threadedly connected to the connecting plate. There are two execution units, located on opposite sides of the drive unit. Each execution unit has a clamping unit connected to one side. Under the action of the clamping unit, the end of the execution unit can contact the side of the drive unit. After operating the drive unit, it can push the two execution units away to engage in locking grooves on the mounting plate of the robotic arm, or bring them closer together to remove the connecting plate from the mounting plate.

[0011] Furthermore, the driving unit includes a driving screw, a driving block, and a first limiting plate and a second limiting plate respectively fixed at both ends of the driving block. One end of the driving screw located in the mounting cavity abuts against the first limiting plate. The two sides of the driving block are configured as inclined surfaces that cooperate with the ends of the execution unit, and the driving screw is located at the large end of the driving block, so that the driving block can move along the axis of the driving screw after rotating the end of the driving screw located outside the mounting cavity.

[0012] Furthermore, a connecting nut is fixed to the outer wall of the connecting plate, and the driving screw is threadedly connected to the connecting nut.

[0013] Furthermore, the execution unit includes a moving block and a locking plate. The locking plate is fixed to one side of the moving block away from the drive screw. A limited release structure is formed on one side of the locking plate. The limited release structure is located on the side of the locking plates that are opposite to each other. The moving direction of the moving block is perpendicular to the axis of the drive screw.

[0014] Furthermore, a shock-absorbing structure is installed on the side of the connecting plate facing the mounting plate.

[0015] Furthermore, the clamping unit is a first spring connected to one side of the execution unit, and the first spring applies a force to the first spring connected to it, pushing it toward the drive block.

[0016] Furthermore, a mechanical switch unit is also installed inside the mounting plate. The mechanical switch unit includes a first switch block, a second switch block, and a second spring. A switch slot is formed in the locking groove of the mounting plate. The switch slot is located on the inner wall of the locking groove away from the connecting plate. The first switch block and the second switch block are both made of conductive material and are respectively electrically connected to the power supply of the robotic arm and the power components of the clamping assembly. The first switch block is fixed in the switch slot. The second switch block is disposed on one side of the first switch block and is slidably connected to the inner wall of the switch slot. A spring mounting part is fixed on the side of the second switch block. One end of the second spring abuts against the spring mounting part, and the other end is connected to the inner wall of the switch slot. Under the action of the second spring, the second switch block can tend to move away from the first switch block.

[0017] The second switch block extends out of the switch slot and into the locking slot. When the end of the locking plate is located in the locking slot, the limiting structure can press the second switch block against the first switch block so that the power supply and the electrical component circuit of the gripping assembly of the robotic arm can be closed.

[0018] Furthermore, a connector is fixed on one side of the second switch, and a sliding groove corresponding to the connector is formed on the inner wall of the switch slot, and the connector is slidably connected to the sliding groove.

[0019] Furthermore, the mounting plate has two parallel positioning grooves on one side near the connecting plate. The positioning grooves are correspondingly provided with the locking plate. The locking groove is located in the middle of the mounting plate, and the positioning grooves extend from the middle of the mounting plate to the edge.

[0020] Compared with existing technologies, the beneficial effects of this solution are:

[0021] The robotic arm device for handling hard-boiled eggs provided by this invention has a clamping assembly mounted on one end of a robotic arm via a connecting assembly. By operating the portion of the drive unit located outside the connecting plate, the execution unit can be driven to operate, thereby engaging with the locking groove on the mounting plate to fix the connecting plate to the mounting plate on the robotic arm, thus simplifying the connection process between the clamping assembly and the robotic arm. Conversely, when the drive unit is operated in the opposite direction outside the connecting plate, it can also act on the execution unit, causing the portion of the execution unit located within the locking groove to disengage from the locking groove, ultimately detaching the clamping assembly from the robotic arm. Compared to existing structures using four bolts for fixing, this invention allows for faster removal of the clamping assembly from the end of the robotic arm, significantly saving time spent replacing the clamping assembly. Attached Figure Description

[0022] Figure 1 A schematic diagram of an existing robotic arm device for handling hard-boiled eggs;

[0023] Figure 2This is a schematic diagram of the robotic arm device for handling hard-boiled eggs according to the present invention;

[0024] Figure 3 This is a cross-sectional view of the connecting component of the present invention;

[0025] Figure 4 for Figure 3 Enlarged view of point A in the middle;

[0026] Figure 5 Top view of the mounting plate;

[0027] Figure 6 This is a schematic diagram of the execution unit structure.

[0028] The reference numerals in the attached drawings are as follows: rotating base 1, robotic arm 2, mounting plate 21, switch slot 211, locking slot 212, sliding groove 213, positioning slot 214, mechanical switch unit 22, first switch block 221, second switch block 222, spring mounting part 223, second spring 224, connector head 225, clamping assembly 3, connecting assembly 31, connecting plate 32, shock absorption structure 321, mounting cavity 322, drive screw 33, drive block 34, first limiting plate 341, second limiting plate 342, moving block 35, locking plate 351, release structure 352, first spring 36, wire 4. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings.

[0030] Robotic arms for handling hard-boiled eggs, such as Figure 2 As shown, including,

[0031] Rotate base 1;

[0032] Robotic arm 2, rotatably mounted on rotating base 1, can rotate relative to rotating base 1, thereby transferring the placed marinated eggs to another location; and

[0033] A clamping assembly 3 is installed at the end of the robotic arm 2 away from the rotating base 1. The clamping assembly 3 includes a connecting assembly 31 for detachable connection with the robotic arm 2. The connecting assembly 31 includes a connecting plate 32 with a mounting cavity 322. A drive unit, an execution unit, and a clamping unit are disposed in the mounting cavity 322. The drive unit extends into the mounting cavity 322 from one side of the connecting plate 32 and is threadedly connected to the connecting plate 32. There are two execution units, located on both sides of the drive unit. Each execution unit is connected to a clamping unit on one side. Under the action of the clamping unit, the end of the execution unit can contact the side of the drive unit. After operating the drive unit, it can push the two execution units away to engage in the locking groove 212 on the mounting plate 21 of the robotic arm 2, or move closer to each other to remove the connecting plate 32 from the mounting plate 21.

[0034] In this invention, other parts of the clamping assembly 3 can be achieved using existing technology. This invention improves the connection structure between the clamping assembly 3 and the robotic arm. By connecting and fixing the connecting assembly 31 to the mounting plate 21, the operation drive unit can remove and install the clamping assembly 3 from the mounting plate 21. The steps are simple, and the fixation is stable and reliable. Specifically, a mounting cavity 322 can be opened in the middle of the connecting plate 32. One end of the drive unit extends from the side of the clamping assembly 3 away from the mounting plate 21, and the other end faces the mounting plate 21, allowing the user to easily operate the drive unit. In this embodiment, the clamping unit acts on the execution unit, enabling the execution unit to connect and cooperate with the drive unit. The clamping unit is a first spring 36 connected to one side of the execution unit. The first spring 36 applies a force to the respective connected first spring 36, pushing it towards the drive block 34. The first spring 36 is a compression spring.

[0035] Furthermore, such as Figure 3 As shown, the driving unit includes a driving screw 33, a driving block 34, and a first limiting plate 341 and a second limiting plate 342 respectively fixed at both ends of the driving block 34. One end of the driving screw 33 located in the mounting cavity 322 abuts against the first limiting plate 341. The two sides of the driving block 34 are configured as inclined surfaces that cooperate with the ends of the execution unit, and the driving screw 33 is located at the large end of the driving block 34, so that the driving block 34 can move along the axial direction of the driving screw 33 after rotating the end of the driving screw 33 located outside the mounting cavity 322.

[0036] According to a specific embodiment of the present invention, a drive screw 33 is disposed perpendicular to the surface of a connecting plate 32. A connecting nut is welded and fixed to the outer wall of the connecting plate 32. The drive screw 33 is threadedly connected to the connecting nut. A drive block 34 is located inside a mounting cavity 322. A first limiting plate 341 and a second limiting plate 342 are fixed at both ends of the drive block 34. An execution unit is located between the first limiting plate 341 and the second limiting plate 342. The width of the first limiting plate 341 and the second limiting plate 342 is greater than the width of the fixed drive block 34, so that the execution unit will not detach from the inclined surface on the side of the drive block 34. The drive screw 33 is located at the large end of the drive block 34, and the small end of the drive block 34 is away from the drive screw 33. Thus, during operation, the user can rotate the drive screw 33, and the rotation of the drive screw 33 pushes the drive block 34 to move, thereby driving the execution unit to operate.

[0037] Furthermore, such as Figure 6 As shown, the execution unit includes a moving block 35 and a locking plate 351. A locking plate 351 is fixed to one side of the moving block 35 away from the drive screw 33. A limited release structure 352 is formed on one side of each locking plate 351, located on the opposite side of the locking plates 351. The moving direction of the moving block 35 is perpendicular to the axis of the drive screw 33. The moving block 35 and the locking plate 351 together form an L-shaped structure.

[0038] According to a specific embodiment of the present invention, there are two execution units, which are symmetrically mirrored on both sides with respect to the axis of the drive screw 33. The locking plate 351 is fixed perpendicular to the moving block 35. The locking plate 351 has a certain width so that when the locking plate 351 extends into the locking groove 212, it can firmly fix the mounting plate 21 and the connecting plate 32, thereby preventing relative movement between the mounting plate 21 and the connecting plate 32. The limiting structure 352 can also limit the mounting plate 21 from disengaging from the locking plate 351. Thus, when the drive screw 33 is operated, the moving plates move away from each other under the movement of the drive block 34, and the limiting structure on the locking plate 351 can be engaged in the locking groove 212. By operating the drive screw 33 in the reverse direction, the above process is reversed, and the mounting plate 21 and the connecting plate 32 can be disengaged. The rotation of the drive screw 33 can be performed using a tool, so only one screw needs to be rotated.

[0039] Furthermore, a shock-absorbing structure 321 is installed on the side of the connecting plate 32 facing the mounting plate 21. Specifically, the shock-absorbing structure 321 can be made of rubber sheet to prevent direct contact between the connecting plate 32 and the mounting plate 21, and at the same time, to prevent the connecting plate 32 from colliding with the mounting plate 21 during operation and causing damage.

[0040] Furthermore, Figure 4As shown, a mechanical switch unit 22 is also installed in the mounting plate 21. The mechanical switch unit 22 includes a first switch block 221, a second switch block 222, and a second spring 224. A switch groove 211 is provided in the locking groove 212 on the mounting plate 21. The switch groove 211 is located on the inner wall of the locking groove 212 away from the connecting plate 32. The first switch block 221 and the second switch block 222 are both made of conductive material and are respectively connected to the power supply of the robotic arm 2 and the power components of the clamping assembly 3 (not shown in the figure) through wires 4. The first switch block 221 is fixed in the switch groove 211. The second switch block 222 is disposed on one side of the first switch block 221 and is slidably connected to the inner wall of the switch groove 211. A spring mounting part 223 is fixed on the side of the second switch block 222. One end of the second spring 224 abuts against the spring mounting part 223, and the other end is connected to the inner wall of the switch groove 211. Under the action of the second spring 224, the second switch block 222 can tend to move away from the first switch block 221.

[0041] The second switch block 222 has a portion extending out of the switch groove 211 and into the locking groove 212. When the end of the locking plate 351 is located in the locking groove 212, the limiting release structure 352 can press the second switch block 222 against the first switch block 221 so that the power supply of the robotic arm 2 and the electrical component circuit of the clamping assembly 3 can be closed.

[0042] According to a specific embodiment of the present invention, the inventors discovered during implementation that, since the connecting plate 32 and the mounting plate 21 are made of non-transparent materials, the positions of the locking plate 351 and the limiting structure of the connecting component 31 in the locking groove 212 cannot be directly seen, that is, it cannot be confirmed whether the clamping component 3 and the robotic arm 2 are firmly fixed. Therefore, this embodiment provides a mechanical switch unit 22, which cooperates with the connecting component 31 to confirm that the clamping component 3 and the robotic arm 2 are fixedly connected, thereby ensuring the safety of the robotic arm device for handling hard-boiled eggs during operation.

[0043] Specifically, the locking groove 212 of the mounting plate 21 is hollowed out to form a switch groove 211. The switch groove 211 is located at the end of the locking groove 212, so that the second switch block 222 can only contact the first switch block 221 after one side of the limiting structure can be fully inserted into the locking groove 212. Since the execution unit is set on both sides of the drive unit, this embodiment does not limit the specific setting position of the switch groove 211, as long as it is opened at the end of the locking plate 351 of the execution unit. Of course, the present invention can also set two mechanical switch units 22, each corresponding to one locking plate 351.

[0044] In this embodiment, the first switch block 221 can be a conductive structure disposed inside the switch slot 211, located on the side of the second switch block 222 away from the locking plate 351. A connector 225 is disposed on one side of the second switch block 222, and the sliding direction of the second switch block 222 is parallel to the direction of the drive screw 33. A second spring 224 is disposed on the other side of the second switch block 222. The second spring 224 is also a compression spring. Under the action of the second spring 224, the second switch block 222 can be moved away from the first switch block 221. In this way, even if the power supply of the robotic arm 2 and the electrical component circuit of the clamping assembly 3 are connected, the circuit cannot be closed as long as the clamping assembly 3 is not fixedly connected to the robotic arm 2, thus playing a protective role. When the user rotates the drive screw 33, the limiting structure at the end of the locking plate 351 moves and presses the second switch block 222 into the switch slot 211 and into contact with the first switch block 221, closing the circuit and enabling the electrical part of the clamping assembly 3 to work. To facilitate the limiting structure pressing the second switch block 222 into the switch slot 211, both the limiting structure and the side of the second switch block 222 that are close to each other are chamfered.

[0045] Furthermore, a connector 225 is fixed on one side of the second switch, and a sliding groove 213 corresponding to the connector 225 is provided on the inner wall of the switch groove 211, and the connector 225 is slidably connected to the sliding groove 213.

[0046] Furthermore, such as Figure 5 As shown, the mounting plate 21 has two parallel positioning grooves 214 on the side near the connecting plate 32. These positioning grooves 214 correspond to the locking plate 351. The locking groove 212 is located in the middle of the mounting plate 21, and the positioning grooves 214 extend from the middle of the mounting plate 21 to its edge. In use, the end of the locking plate 351 corresponds to the positioning groove 214, and the connecting plate is slid relative to the mounting plate 21 until the end of the locking plate 351 engages in the locking groove 212. This allows the user to clamp and fix the assembly 3 to the robotic arm 2 without constantly observing the relative positions of the mounting plate 21 and the connecting plate 32.

[0047] Finally, it should be noted that in the description of this invention, the terms "vertical," "upper," "lower," "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0048] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0049] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robotic arm device for handling hard-boiled eggs, characterized in that: include, Rotate the base; A robotic arm, which is rotatably mounted on a rotating base; as well as A clamping assembly is installed at the end of a robotic arm away from the rotating base. The clamping assembly includes a connecting assembly for detachable connection with the robotic arm. The connecting assembly includes a connecting plate with a mounting cavity. A drive unit, an execution unit, and a clamping unit are disposed in the mounting cavity. The drive unit extends into the mounting cavity from one side of the connecting plate and is threadedly connected to the connecting plate. There are two execution units located on both sides of the drive unit. Each execution unit is connected to a clamping unit on one side. Under the action of the clamping unit, the end of the execution unit can contact the side of the drive unit. After operating the drive unit, it can push the two execution units away to engage in the locking groove on the mounting plate of the robotic arm, or move them closer to each other to remove the connecting plate from the mounting plate. The drive unit includes a drive screw, a drive block, and a first limiting plate and a second limiting plate fixed at both ends of the drive block. The end of the drive screw located in the mounting cavity abuts against the first limiting plate. The two sides of the drive block are set as inclined surfaces that cooperate with the end of the execution unit, and the drive screw is located at the large end of the drive block, so that the drive block can move along the axis of the drive screw after rotating the end of the drive screw located outside the mounting cavity. The execution unit includes a moving block and a locking plate. The locking plate is fixed to one side of the moving block away from the drive screw. A limited release structure is formed on one side of the locking plate. The limited release structure is located on the side of the locking plates that are opposite to each other. The moving direction of the moving block is perpendicular to the axis of the drive screw. The clamping unit is a first spring connected to one side of the execution unit, and the first spring applies a force to the first spring connected to it, pushing it toward the drive block; The mounting plate also houses a mechanical switch unit, which includes a first switch block, a second switch block, and a second spring. A switch slot is formed in the locking groove of the mounting plate. The switch slot is located on the inner wall of the locking groove away from the connecting plate. The first switch block and the second switch block are both made of conductive material and are electrically connected to the power supply of the robotic arm and the power components of the gripping assembly, respectively. The first switch block is fixed in the switch slot, and the second switch block is disposed on one side of the first switch block and slidably connected to the inner wall of the switch slot. A spring mounting part is fixed on the side of the second switch block. One end of the second spring abuts against the spring mounting part, and the other end is connected to the inner wall of the switch slot. Under the action of the second spring, the second switch block tends to move away from the first switch block. The second switch block extends out of the switch slot and into the locking slot. When the end of the locking plate is located in the locking slot, the limiting structure can press the second switch block against the first switch block so that the power supply and the electrical component circuit of the gripping assembly of the robotic arm can be closed.

2. The robotic arm device for handling hard-boiled eggs as described in claim 1, characterized in that: A connecting nut is fixed to the outer wall of the connecting plate, and the driving screw is threadedly connected to the connecting nut.

3. The robotic arm device for handling hard-boiled eggs as described in claim 1, characterized in that: A shock-absorbing structure is installed on the side of the connecting plate facing the mounting plate.

4. The robotic arm device for handling hard-boiled eggs as described in claim 1, characterized in that: A connector is fixed on one side of the second switch, and a sliding groove corresponding to the connector is opened on the inner wall of the switch slot, and the connector is slidably connected to the sliding groove.

5. The robotic arm device for handling hard-boiled eggs as described in claim 1, characterized in that: The mounting plate has two parallel positioning grooves on one side near the connecting plate. The positioning grooves are corresponding to the locking plate. The locking groove is located in the middle of the mounting plate, and the positioning grooves extend from the middle of the mounting plate to the edge.

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