Mechanical arm clamping hand applied to food processing

Abstract

The invention relates to the technical field of mechanical equipment, in particular to a mechanical arm clamping hand applied to food processing, which comprises a workbench, four connecting frames are fixedly connected to the top of the workbench, the four connecting frames are symmetrically distributed, and two transmission frames are jointly and fixedly connected to one sides of the four connecting frames; and the two transmission frames are symmetrically distributed. According to the mechanical arm clamping hand applied to food processing, a stepping motor is arranged below a conveying platform, a support is arranged at the upper end of the stepping motor and used for supporting the conveying platform to move up and down, a fixing frame is arranged at the lower end of the stepping motor, and after the stepping motor is started, the conveying platform moves downwards by a certain distance and moves to the designated product parameter position; the stepping motor is reset again, the next round of reciprocating motion is carried out again, the mechanical arm cooperates with the clamping hand to place products in order, the mechanical arm cake picking mechanism and the bionic hand are used for automatically picking cakes, the labor cost is reduced, the production efficiency is improved, and manual intervention is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment, in particular to a mechanical arm gripper used in food processing. Background Art

[0002] The robot gripper is a kind of automation equipment widely used in the food processing industry. It is the end effector of the robot arm, and its main function is to grab, carry and place food raw materials, semi-finished products or finished products. For example, on the bread production line, the robot gripper can accurately grab the baked bread and place it in the packaging area.

[0003] In order to enable the robotic arm to cooperate with the gripper to place the products neatly, we proposed a robotic arm cake picking mechanism that can automatically pick up cakes by imitating human hands, reduce labor costs, improve production efficiency, and is a robotic arm cake picking mechanism without human intervention. Summary of the invention

[0004] The purpose of the present invention is to provide a mechanical arm gripper for food processing, so as to solve the problem proposed in the above background technology that in order to make the mechanical arm cooperate with the gripper to place the products neatly, we propose a mechanical arm cake picking mechanism, which can automatically pick up cakes by bionic human hands, reduce labor costs, improve production efficiency, and have no human intervention. To achieve the above purpose, the present invention provides the following technical solutions: a mechanical arm gripper for food processing, comprising a workbench, the top of which is fixedly connected with four connecting frames, and the four connecting frames are symmetrically distributed, one side of the four connecting frames is commonly fixedly connected with two transmission frames, and the two transmission frames are symmetrically distributed, and the interior of each transmission frame is respectively fixedly connected with two sliding rods, and the two sliding rods are distributed in a linear array, and the top of each transmission frame is fixedly connected with a first servo motor, and the side surface of the sliding rod is movably connected with a slider, and one side of the slider is fixedly connected with a mechanical arm body, and the slider is adapted to the two sliding rods, and the top of the transmission frame is fixedly connected with a connecting rod, and the top side of the mechanical arm body is fixedly connected with a photoelectric sensor, A gripper is fixedly connected to the bottom of the robotic arm body, the photoelectric sensor is electrically connected to the first servo motor, and the gripper is electrically connected to the photoelectric sensor and the first servo motor respectively. The robotic arm body, the slide bar and the gripper form an automatic gripping structure, and a stepper motor is arranged under the conveying platform. A bracket is arranged at the upper end of the stepper motor to support the up and down movement of the conveying platform. A fixed frame is arranged at the lower end of the stepper motor. After the stepper motor is started, the conveying platform moves downward a certain distance to the specified product parameter position, and the stepper motor is reset and restarts a round of reciprocating motion. The robotic arm cooperates with the gripper to arrange the products neatly. The robotic arm picks up the cake mechanism, and the bionic human hand automatically picks up the cake, which reduces labor costs, improves production efficiency, and is a robotic arm picking up cake mechanism without human intervention.

[0005] Further preferably, the top of the workbench is movably connected to a driving shaft, and the top of the workbench is movably connected to a driven shaft.

[0006] Further preferably, the side surfaces of the driving shaft and the driven shaft are jointly transmission-connected with a conveying platform, and the conveying platform is movably connected to the workbench.

[0007] Further preferably, one end of the driven shaft is fixedly connected to the motor 2, and the bottom of the workbench is fixedly connected to a bracket.

[0008] Further preferably, a stepper motor is fixedly connected to the top of the bracket, a fixing frame is fixedly connected to the top of the stepper motor, and the fixing frame is connected to the workbench.

[0009] Further preferably, four universal wheels are fixedly connected to the bottom of the workbench, and the four universal wheels are symmetrically distributed on the bottom of the workbench.

[0010] Compared with the prior art, the present invention has the following beneficial effects:

[0011] In the present invention, a stepper motor is arranged below the conveying platform, and a bracket is arranged at the upper end of the stepper motor for supporting the up and down movement of the conveying platform, and a fixed bracket is arranged at the lower end of the stepper motor. After the stepper motor is started, the conveying platform is moved downward for a certain distance to the specified product parameter position, and the stepper motor is reset and restarts the next round of reciprocating motion. The mechanical arm cooperates with the gripper to place the products neatly, the mechanical arm picks up the cake mechanism, and the bionic human hand automatically picks up the cake, thereby reducing labor costs, improving production efficiency, and providing a mechanical arm cake picking mechanism without human intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the three-dimensional main structure of the present invention;

[0013] Figure 2 For the present invention Figure 1 The enlarged structural diagram at A in the middle;

[0014] Figure 3 It is a schematic diagram of the three-dimensional structure of the present invention from a side view;

[0015] Figure 4 It is a schematic diagram of the cross-sectional structure of the present invention;

[0016] Figure 5 It is a bottom-up three-dimensional structural schematic diagram of the present invention;

[0017] Figure 6 It is a schematic diagram of the front view three-dimensional structure of the present invention.

[0018] In the figure: 1. workbench; 2. connecting frame; 3. transmission frame; 4. sliding rod; 5. first servo motor; 6. connecting rod; 7. photoelectric sensor; 8. robot arm body; 9. gripper; 10. second motor; 11. bracket; 12. driving shaft; 13. conveying platform; 14. driven shaft; 15. stepping motor; 16. fixing frame; 17. universal wheel; 401, slider. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technical personnel in this field without creative work are within the scope of protection of the present invention.

[0020] See also Figure 1-Figure 6The present invention provides a technical solution: a mechanical arm gripper used for food processing, comprising a workbench 1, the top of the workbench 1 is fixedly connected with four connecting frames 2, and the four connecting frames 2 are symmetrically distributed, one side of the four connecting frames 2 is commonly fixedly connected with two transmission frames 3, the two transmission frames 3 are symmetrically distributed, the interior of each transmission frame 3 is respectively fixedly connected with two sliding bars 4, and the two sliding bars 4 are distributed in a linear array, the top of each transmission frame 3 is fixedly connected with a first servo motor 5, the side surface of the sliding bar 4 is movably connected with a sliding block 401, one side of the sliding block 401 is fixedly connected with a mechanical arm body 8, the sliding block 401 is adapted to the two sliding bars 4, the top of the transmission frame 3 is fixedly connected with a connecting rod 6, the top side of the mechanical arm body 8 is fixedly connected with a photoelectric sensor 7, the bottom of the mechanical arm body 8 is fixedly connected with a gripper 9, the photoelectric sensor 7 is electrically connected to the first servo motor 5, the gripper 9 is respectively electrically connected to the photoelectric sensor 7 and the first servo motor 5, the mechanical arm body 8, the sliding bar 4 and the gripper 9 form an automatic gripping structure, when the product is running The photoelectric position when the front end of the gripper 9 is reached under the arm, the photoelectric is set at the front of the finger to replace the device vision, the photoelectric sensor 7 at the front end of the gripper 9 gives a signal to the first servo motor 5, the first servo motor 5 is started, and the gripper 9 clamps the product and pulls it backwards, the first servo motor 5 stops according to the moving distance of the electronic control parameters, releases the gripper 9 and falls on the conveying platform 13, and then the mechanical arm drives the gripper 9 back to the front end to prepare for the next product, a conveying platform 13 is provided under the mechanical arm for catching the product and transportation functions, the conveying platform 13 is provided with a motor 2 10, a driving shaft 12 and a driven shaft 14, the driving shaft 12 drives the conveying platform 13 to move backward, after the motor 2 10 stops moving, a stepper motor 15 is provided under the conveying platform 13, a bracket 11 is provided at the upper end of the stepper motor 15 for supporting the stepping conveying platform 13 to move up and down, a fixed frame 16 is provided at the lower end of the stepper motor 15, after the stepper motor 15 is started, the conveying platform 13 moves a certain distance downward to the specified product parameter position, the stepper motor 15 is reset, and the next round of reciprocating motion is restarted.

[0021] In this embodiment, Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the top of the workbench 1 is movably connected to a driving shaft 12, the top of the workbench 1 is movably connected to a driven shaft 14, the side surfaces of the driving shaft 12 and the driven shaft 14 are commonly connected to a conveying platform 13 by transmission, the conveying platform 13 is movably connected to the workbench 1, one end of the driven shaft 14 is fixedly connected to a motor 10, the bottom of the workbench 1 is fixedly connected to a bracket 11, and the top of the bracket 11 is fixedly connected to a stepping motor 15.

[0022] In this embodiment, Figure 1 , Figure 2, Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, a fixing frame 16 is fixedly connected to the top of the stepper motor 15 , and the fixing frame 16 is connected to the workbench 1 . Four universal wheels 17 are fixedly connected to the bottom of the workbench 1 , and the four universal wheels 17 are symmetrically distributed at the bottom of the workbench 1 .

[0023] The use method and advantages of the present invention: When the mechanical arm gripper applied to food processing is used, the working process is as follows:

[0024] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, when the product runs to the photoelectric position of the front end of the gripper 9 under the arm, the photoelectric is set at the front of the finger to replace the device vision. The photoelectric sensor 7 at the front end of the gripper 9 gives a signal to the first servo motor 5, and the first servo motor 5 is started. At the same time, the gripper 9 clamps the product and pulls it backwards. The first servo motor 5 stops according to the moving distance of the electronic control parameter, releases the gripper 9 and falls on the conveying platform 13, and then the mechanical arm drives the gripper 9 back to the front end to prepare for the next product. A conveying platform 13 is provided under the mechanical arm to receive the product and transport functions. The conveying platform 13 is provided with a motor 2 10, a driving shaft 12 and a driven shaft 14. The driving shaft 12 drives the conveying platform 13 to move backward. After the motor 2 10 stops moving, a stepper motor 15 is provided under the conveying platform 13. A bracket 11 is provided at the upper end of the stepper motor 15 to support the up and down movement of the stepper conveying platform 13. A fixed frame 16 is provided at the lower end of the stepper motor 15. After the stepper motor 15 is started, the conveying platform 13 moves a certain distance downward to the specified product parameter position. The stepper motor 15 is reset and the next round of reciprocating motion is restarted.

[0025] The above shows and describes the basic principles, main features and advantages of the present invention. Technical personnel in this industry should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A mechanical arm gripper for food processing, comprising a workbench (1), characterized in that: The top of the workbench (1) is fixedly connected to four connecting frames (2), and the four connecting frames (2) are symmetrically distributed; one side of the four connecting frames (2) is commonly fixedly connected to two transmission frames (3), and the two transmission frames (3) are symmetrically distributed; the interior of each transmission frame (3) is respectively fixedly connected to two sliding bars (4), and the two sliding bars (4) are distributed in a linear array; the top of each transmission frame (3) is fixedly connected to a first servo motor (5); the side surface of the sliding bar (4) is movably connected to a sliding block (401), and one side of the sliding block (401) is fixedly connected to A mechanical arm body (8) is connected, the slider (401) is adapted to the two slide bars (4), the top of the transmission frame (3) is fixedly connected to a connecting rod (6), the top side of the mechanical arm body (8) is fixedly connected to a photoelectric sensor (7), the bottom of the mechanical arm body (8) is fixedly connected to a gripper (9), the photoelectric sensor (7) is electrically connected to a first servo motor (5), the gripper (9) is electrically connected to the photoelectric sensor (7) and the first servo motor (5), respectively, and the mechanical arm body (8), the slide bar (4) and the gripper (9) form an automatic gripping structure.

2. The mechanical arm gripper for food processing according to claim 1, characterized in that: The top of the workbench (1) is movably connected to a driving shaft (12), and the top of the workbench (1) is movably connected to a driven shaft (14).

3. The mechanical arm gripper for food processing according to claim 2, characterized in that: The side surfaces of the driving shaft (12) and the driven shaft (14) are jointly transmission-connected with a conveying platform (13), and the conveying platform (13) is movably connected to the workbench (1).

4. The mechanical arm gripper for food processing according to claim 3, characterized in that: One end of the driven shaft (14) is fixedly connected to the second motor (10), and the bottom of the workbench (1) is fixedly connected to a bracket (11).

5. The mechanical arm gripper for food processing according to claim 4, characterized in that: The top of the bracket (11) is fixedly connected to a stepper motor (15), the top of the stepper motor (15) is fixedly connected to a fixing frame (16), and the fixing frame (16) is connected to the workbench (1).

6. The mechanical arm gripper for food processing according to claim 5, characterized in that: Four universal wheels (17) are fixedly connected to the bottom of the workbench (1), and the four universal wheels (17) are symmetrically distributed on the bottom of the workbench (1).

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