An automatic mechanical gripper for processing crispy ice cream cones

Abstract

The present invention relates to the technical field of manipulators, and in particular to an automatic mechanical gripper for processing ice cream cones, comprising a mounting base, a moving assembly, a control panel, a clamping arm, a holding mechanism and a collecting block; the mounting base can rotate, and the moving assembly is mounted on the mounting base; the control panel is mounted at one end of the moving assembly, the control panel is set to be horizontal, and the clamping arm is mounted in front of the control panel; the holding mechanism is mounted on the inner side of the clamping arm, and a protective sleeve in the holding mechanism forms a sealed environment when the clamping arms are close to each other, and the telescopic assembly extends a telescopic plate driven by a driving cylinder to clamp and fix the ice cream cone; a protective ring is provided in the holding mechanism to prevent ice cream from overflowing during filling, and a guide groove and a drainage groove collect ice cream overflowing outside the ice cream cone; the collecting block is mounted under one of the holding mechanisms.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical arms, and in particular to an automatic mechanical gripper for processing crisp cone ice cream. Background Art

[0002] A manipulator is an automated device that mimics the functions of a human hand and completes various tasks through actuators, sensors, and control systems. It is usually composed of a mechanical structure (such as joints, fingers), a drive device (such as a motor or hydraulic system), and a control system (such as a PLC or computer). The manipulator can move within a specific trajectory or free space to complete operations such as grasping, handling, assembly, and welding. Manipulators play an important role in the industrial field, mainly used to improve production efficiency, reduce labor costs, and ensure operational safety. The following are several main functions of manipulators: The manipulator can work continuously on the assembly line to automate the production process and reduce human intervention. It is widely used in industries such as automobile manufacturing, electronic assembly, and food processing. The manipulator has a repeatability accuracy of up to ±0.02mm, ensuring product consistency and reducing the defective rate. It is suitable for precision welding, spraying, and assembly of microelectronic components. The manipulator can quickly carry heavy objects or delicate parts, avoid manual fatigue and errors, and improve production efficiency. In warehousing and logistics, manipulators are used for palletizing, sorting, and automatic loading and unloading. In high temperature, toxic or radiation environments, manipulators replace humans to complete tasks and ensure the safety of operators. Such as the chemical industry, high-temperature smelting and nuclear industry. The robot can work for a long time without rest, reducing the company's dependence on manpower and reducing employment costs. The robot can quickly adjust the program and path to adapt to the production needs of different products and realize flexible manufacturing. It is particularly suitable for small batch and multi-variety production mode.

[0003] In the processing line of ice cream cones, automatic grippers play a key role to ensure efficient, precise and hygienic production. Automatic grippers can grab the cones during the processing of ice cream cones: The gripper locates and grabs the cones on the conveyor belt or in the stacking tray, ensuring that the cones are in the correct position and orientation. The gripper places the cones precisely in the filling station of the ice cream, ensuring that the filling opening is aligned with the cone opening. The gripper runs synchronously with the ice cream filling device to ensure that the cones are stable and do not shake during filling. Some processing lines use multiple grippers to work together to grab and fill multiple cones at the same time to increase production capacity.

[0004] Flexible gripping: The texture of the brittle tube is fragile, and the mechanical gripper usually uses a flexible material gripper or vacuum adsorption to ensure that the surface of the brittle tube is not damaged during the gripping process. The mechanical gripper can operate at high speed for a long time, avoiding the fatigue problem of manual operation, and significantly improving the output and consistency of the production line.

[0005] The existing automatic mechanical gripper used for processing ice cream cones can easily damage the cones and cause the crust to fall off during the process of grabbing the cones for transportation and filling the ice cream. When filling the ice cream, the ice cream may overflow to the outside of the cone. On the one hand, the crust crumbs and ice cream liquid will affect the entire sterile production environment. On the other hand, the mechanical gripper is relatively fragile, and the crust crumbs and ice cream liquid may get stuck in the movable joints of the mechanical gripper, causing jamming and damage.

[0006] In view of the above situation, in order to overcome the above technical problems, the present invention designs an automatic mechanical gripper for processing crisp cone ice cream, which solves the above technical problems. Summary of the invention

[0007] The technical purpose to be achieved by the present invention is to design an automatic mechanical gripper for processing crispy cone ice cream. During the transportation and filling of ice cream, the crispy cone is placed in a relatively sealed environment for operation, and the crispy cone is floated and fixed, thereby reducing the generation of crispy crumbs, and when filling ice cream, the overflowed ice cream liquid is collected, thereby reducing the impact of the ice cream liquid on the mechanical gripper.

[0008] In order to achieve the above technical objectives, the present invention provides the following technical solutions:

[0009] An automatic mechanical gripper for processing crisp cone ice cream, comprising a mounting base, a moving assembly, a control panel, a clamping arm, a holding mechanism and a collecting block;

[0010] The mounting base can be rotated by an external motor or other device, and the moving component is installed on the mounting base, and the moving component can control the entire mechanical gripper to perform various position changes;

[0011] The control panel is mounted at one end of the moving assembly, and the control panel is kept horizontally, so as to ensure that the clamping arm and the holding mechanism are kept horizontally, thereby reducing the overflow of the ice cream during filling, and the clamping arm is mounted in front of the control panel;

[0012] The holding mechanism is installed on the inner side of the clamping arm, and the protective sleeve in the holding mechanism forms a sealed environment when the clamping arms are close to each other. The telescopic assembly extends the telescopic plate under the drive of the driving cylinder to clamp and fix the ice cream cone;

[0013] A protective ring is provided in the holding mechanism to prevent the ice cream from overflowing during the filling process, and the guide groove and the drainage groove collect the ice cream overflowing outside the ice cream cone;

[0014] The collecting block is installed under one of the holding mechanisms. The collecting block is hollow. Crumbs generated when the mechanical gripper moves the crisp cone and ice cream liquid overflowed when filling the ice cream will be collected in the collecting block for unified treatment.

[0015] Preferably, the moving assembly includes a drive motor and a mechanical arm; the mechanical arms are provided with 2-4, the mechanical arms are interconnected, the lowest mechanical arm is installed on the mounting base, the highest mechanical arm is installed on the side of the control panel, and the drive motor is installed at one end of the mechanical arm. A signal receiver is installed inside the drive motor, which is automatically and uniformly adjusted under the control of PLC or software programming, so as to realize the flexible change of the mechanical gripper and ensure the completion of tasks in various situations.

[0016] Preferably, the holding mechanism comprises a mounting plate, a driving cylinder, a telescopic assembly, a protective assembly and a protective ring;

[0017] The mounting plate is mounted on the inner side of the clamping arm, the driving cylinder is mounted on the back side of the mounting plate, the driving cylinder is used to push the telescopic assembly to perform telescopic movement, the telescopic assembly is mounted on the output end of the driving cylinder, the telescopic assembly is used to telescope to achieve floating fixation of the crispy cone, the protection assembly is mounted on the side of the mounting plate, the two protection assemblies form a relatively sealed environment under the adhesion of the clamping arm, to ensure that crispy crumbs and ice cream liquid do not overflow, the protection ring is arranged at the upper end of the protection assembly, the protection ring is used to prevent overflow during ice cream filling.

[0018] Preferably, the telescopic assembly includes a telescopic plate, a guide groove, a mounting hole, a support spring and a fixing ball;

[0019] The telescopic plate is installed at the output end of the driving cylinder, and the guide groove is provided on the outer end of the telescopic plate. The guide groove is used to drain the ice cream liquid downward into the collecting block. The mounting hole is provided on the inner side of the telescopic plate, and the support spring is installed inside the mounting hole. The fixed ball is clamped on the outer end of the support spring. In the process of clamping the crisp cone, multiple fixed balls are clamped on the side of the crisp cone through the telescopic plate, thereby forming a corresponding radial force to ensure balance, and stabilizing it through the support spring when shaking occurs. This process is called floating fixation, that is, the crisp cone is fixed when there is no external force, and the force is dispersed by multiple support springs under the influence of external force, so as to minimize the impact on the crisp cone.

[0020] Preferably, the side of the telescopic plate is set to a concave arc structure, which conforms to the conical structure of the crisp tube for fixation, the mounting holes are arranged in a circular array on the arc surface, and the material of the fixing ball is set to food-grade rubber.

[0021] Preferably, the guide groove is configured as an arc-shaped groove, and the depth values ​​at both ends of the guide groove are configured to be greater than the depth value in the middle, so that the overflowed ice cream liquid can flow downward through the guide groove.

[0022] Preferably, the protection assembly includes a protection sleeve, a matching groove, a matching strip and a drainage groove;

[0023] The protective sleeve is installed on the side of the mounting plate, the matching groove and the matching strip are arranged on both sides of the inner side of the protective sleeve, and the drainage groove is opened on the inner side of the protective sleeve.

[0024] Preferably, the protective sleeve is configured to be conical, and an electric heating wire is disposed inside the protective sleeve, and the electric heating wire is used to heat and melt the remaining ice cream into liquid so that it can be better collected by the collecting block.

[0025] Preferably, the cross-sectional shapes of the mating groove and the mating strip are set to be the same semicircle, and the surfaces of the mating groove and the mating strip are coated with magnetic materials with opposite magnetic poles, so that the two protective sleeves fit more closely when they are close to each other.

[0026] Preferably, the cross section of the protective ring is configured to be an L-shape inclined outward.

[0027] The beneficial effects of the present invention are as follows:

[0028] (1) The present invention places the crispy tube in a relatively sealed environment by providing a holding device during transportation and filling, and adopts a floating fixing method to effectively reduce the generation of crispy debris. The floating fixing mechanism avoids the problem of crispy tube rupture caused by the traditional clamping method, so that the crispy tube remains intact during transportation and filling, improving the yield rate and production efficiency. The stability of the crispy tube is guaranteed, reducing the loss of raw materials, while avoiding pollution or blockage of the equipment caused by debris accumulation, and reducing the frequency of equipment cleaning and maintenance.

[0029] (2) When filling ice cream, the overflowing ice cream liquid will be collected in time to prevent it from adhering to the mechanical gripper, ensuring the continuous and efficient operation of the equipment. This design not only avoids the corrosion and contamination of the gripper by the ice cream liquid, but also effectively prolongs the service life of the equipment and reduces production interruptions caused by equipment failure or shutdown for cleaning. Through this improvement, the production environment is cleaner, meets the hygiene standards of food processing, and ensures product quality and the stability of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] The above and other aspects of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 It is a schematic diagram of the structure of the mobile assembly of the present invention;

[0034] Figure 3 It is a schematic diagram of the structure of the holding mechanism of the present invention;

[0035] Figure 4 It is a schematic diagram of the positions of the mounting plate and the driving cylinder of the present invention;

[0036] Figure 5 It is a schematic diagram of the structure of the protection component of the present invention;

[0037] Figure 6 It is a schematic diagram of the structure of the telescopic assembly of the present invention;

[0038] Figure 7 It is a schematic diagram of the structure of the protection ring of the present invention;

[0039] Figure 8 is a vertical cross-sectional view of the gripping mechanism of the present invention;

[0040] Fig. 9 It is a horizontal cross-sectional view of the present invention.

[0041] In the figure: 1. Mounting base; 2. Moving assembly; 21. Driving motor; 22. Robotic arm; 3. Control panel; 4. Clamping arm; 5. Holding mechanism; 51. Mounting plate; 52. Driving cylinder; 53. Telescopic assembly; 531. Telescopic plate; 532. Guide groove; 533. Mounting hole; 534. Support spring; 535. Fixed ball; 54. Protective assembly; 541. Protective sleeve; 542. Matching groove; 543. Matching strip; 544. Drainage groove; 55. Protective ring; 6. Collecting block. DETAILED DESCRIPTION

[0042] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0043] like Figure 1-9 As shown, an automatic mechanical gripper for processing crisp cone ice cream is a highly efficient automated equipment specially designed for ice cream production lines. It has a sophisticated structure and comprehensive functions, and can greatly improve production efficiency and yield rate during ice cream filling and transportation, while reducing the damage of crisp cones and the waste of ice cream liquid. The equipment is mainly composed of a mounting base 1, a moving component 2, a control panel 3, a clamping arm 4, a gripping mechanism 5, and a collecting block 6. Each component works together to achieve accurate grasping and filling of the crisp cone.

[0044] The mounting base 1 of the mechanical gripper can be rotated by an external motor or other driving device. This design allows the entire gripper to be flexibly rotated according to the different needs of the production line to adapt to different workstations or operating angles. The moving component 2 installed on the base is responsible for controlling the overall position change of the gripper, allowing the equipment to be flexibly moved between different positions and heights to meet a variety of filling needs. This flexibility not only improves the applicability of the equipment, but also greatly reduces the adjustment time of the production line, further improving production efficiency.

[0045] As an important part of the gripper, the control panel 3 is located at one end of the moving assembly 2 and is kept horizontal. This horizontal placement ensures that the clamping arm 4 and the holding mechanism 5 remain stable during the filling process, thereby effectively reducing the possibility of ice cream overflowing during filling. The clamping arm 4 is installed at the front of the control panel 3 as the main clamping device, providing stable support and fixing when filling or carrying the crisp cone. The design of the clamping arm 4 fully considers the fragile characteristics of the crisp cone, and through reasonable pressure distribution, it prevents the crisp cone from being broken due to excessive force during the clamping process.

[0046] A gripping mechanism 5 is provided on the inner side of the clamping arm 4. The gripping mechanism 5 is equipped with a protective sleeve 541. When the clamping arms 4 are close to each other, the protective sleeve 541 can form a relatively sealed environment. This sealing design effectively reduces the overflow of ice cream liquid during filling, making the filling process neater and more efficient. At the same time, under the action of the driving cylinder 52, the telescopic component 53 in the gripping mechanism 5 can extend the telescopic plate 531 to clamp and fix the crisp cone in a suitable position, ensuring that the crisp cone remains stable and does not shake during the filling process, thereby further improving the filling accuracy and yield rate.

[0047] In addition, a protective ring 55, a guide groove 532 and a drainage groove 544 are designed in the gripping mechanism 5 to further improve the cleanliness and stability of the filling process. The protective ring 55 is arranged around the crispy tube to prevent the ice cream liquid from overflowing to the outside of the crispy tube during filling, while the guide groove 532 and the drainage groove 544 are responsible for quickly collecting the overflowed ice cream liquid and guiding it to the collection block 6 to prevent the ice cream liquid from contaminating the mechanical gripper or other equipment on the production line. This liquid collection system not only improves the sanitary conditions of the equipment, but also reduces the frequency of equipment cleaning and maintenance, and extends the service life of the equipment.

[0048] The collecting block 6 is installed under the gripping mechanism 5 and has a hollow structure. It is mainly used to collect the debris and overflowed ice cream liquid generated during the transportation and filling of the crisp cone. Through this collection system, the mechanical gripper can remain clean and tidy during the operation, reducing the impact of debris and liquid accumulation on the equipment, further improving the automation level and production efficiency of the production line. At the same time, this design also meets the strict requirements of the food processing industry for hygiene standards and ensures the quality and safety of ice cream products.

[0049] like Figure 2 As shown, the mobile assembly 2 is composed of a drive motor 21 and a three-section mechanical arm 22. This design ensures that the mechanical gripper has higher flexibility and operating range. The three-section mechanical arm 22 is interconnected to form a multi-degree-of-freedom structure, so that the gripper can move flexibly at different heights and angles to meet complex production needs. The lower end of the mechanical arm 22 is fixed to the mounting base 1 to provide stable support, while the uppermost mechanical arm 22 is directly connected to the side of the control panel 3 to ensure that the various actuators of the gripper can operate synchronously under the guidance of the control panel 3.

[0050] The drive motor 21 is located at one end of the robot arm 22 and provides power for the entire system. The motor has an integrated signal receiver that can receive real-time instructions from a PLC (programmable logic controller) or dedicated software. Through precise software programming and signal feedback systems, the drive motor 21 can quickly adjust the movement path and angle of the robot arm 22, allowing the gripper to switch smoothly between different workstations to complete various complex grasping, handling and filling tasks. This automated operation not only improves production efficiency, but also reduces human intervention, ensuring that the equipment can operate stably and efficiently in a variety of environments.

[0051] like Figure 3-4 As shown, the holding mechanism 5 includes a mounting plate 51, a driving cylinder 52, a telescopic component 53, a protective component 54 and a protective ring 55; the mounting plate 51 is mounted on the inner side of the clamping arm 4, the driving cylinder 52 is mounted on the back of the mounting plate 51, the driving cylinder 52 is used to push the telescopic component 53 to perform telescopic movement, the telescopic component 53 is mounted on the output end of the driving cylinder 52, the telescopic component 53 is used to telescope to achieve floating fixation of the crispy cone, the protective component 54 is mounted on the side of the mounting plate 51, the two protective components 54 form a relatively sealed environment under the fit of the clamping arm 4, to ensure that crispy crumbs and ice cream liquid do not overflow, the protective ring 55 is arranged at the upper end of the protective component 54, the protective ring 55 is used to prevent overflow during ice cream filling.

[0052] like Figure 5-6As shown, the telescopic assembly 53 is composed of key components such as a telescopic plate 531, a guide groove 532, a mounting hole 533, a support spring 534 and a fixed ball 535. The overall structure is precise and multifunctional, and is intended to achieve stable clamping and floating fixation of the ice cream cone, and ensure the integrity of the cone during filling and handling. The telescopic plate 531 is the core component of the assembly, which is installed at the output end of the driving cylinder 52 and can perform forward and backward telescopic movements under the drive of the cylinder, thereby achieving the clamping and release of the cone. A guide groove 532 is provided above the outer end of the telescopic plate 531, and the guide groove 532 assumes an important liquid drainage function during the filling process. When the ice cream liquid overflows during the filling process, the guide groove 532 can quickly drain the excess liquid to the collection block 6 below, avoiding the overflow of the ice cream liquid to contaminate the mechanical gripper and the production line, keeping the equipment clean, and reducing downtime for cleaning.

[0053] A mounting hole 533 is provided on the inner side of the telescopic plate 531 to accommodate a support spring 534, which is a key component in the telescopic assembly 53 responsible for buffering and stability. The inner side of the spring is fixed through the mounting hole 533, and the outer end is connected to a fixing ball 535. The fixing balls 535 are clamped on the outer end of the support spring 534 and are distributed around the side wall of the crisp tube, forming a uniform radial force when clamping the crisp tube, ensuring that the crisp tube does not deviate or slide during the clamping process, thereby maintaining a stable fixed state. The contact between the fixing balls 535 and the crisp tube not only effectively disperses the clamping force, but also reduces the pressure concentration caused by the direct contact when the robot arm 22 clamps the crisp tube, further reducing the risk of the crisp tube breaking.

[0054] When the equipment or crisp tube shakes due to vibration or external impact during transportation and filling, the support spring 534 can play a buffering role and absorb part of the external force through elastic deformation, thereby maintaining the stability of the crisp tube. This design implements the so-called "floating fixation" principle, that is, when there is no external force, the crisp tube is firmly fixed, and under the action of external force, the support spring 534 allows the crisp tube to move slightly, disperse the pressure, and minimize the risk of damage caused by external force. The floating fixation mechanism improves the adaptability of the equipment in complex production environments, ensures that the production line can operate stably, and keeps the crisp tube intact even during high-speed filling.

[0055] The side of the telescopic plate 531 is designed as a concave arc structure, which is highly consistent with the conical profile of the ice cream cone, and can better fit the surface of the cone during the clamping process, achieving a stable and precise fixing effect. This concave design not only enhances the stability of the grip, but also effectively prevents the cone from sliding or being damaged due to the uneven clamping surface. The mounting holes 533 are distributed in a circular array around the arc surface, so that the fixing balls 535 can be evenly distributed around the surface of the cone, providing multi-point support, and ensuring that the cone is not affected by external forces and deflected during the clamping process. The fixing balls 535 are made of food-grade rubber material, which has good elasticity and softness. While ensuring stable clamping, they can protect the cone from being crushed or scratched to the greatest extent, ensuring food safety and product integrity during the production process.

[0056] like Figure 6 As shown, the guide groove 532 adopts an arc-shaped design, and the overall structural layout is deep at both ends and shallow in the middle. This design allows the liquid overflowing during the ice cream filling process to quickly flow to the two ends along the arc direction of the guide groove 532, and finally flow out to the collection area below. The design that the depth at both ends is greater than the middle effectively utilizes gravity and liquid flow characteristics, and avoids liquid accumulation in the groove or overflowing onto the surface of the external equipment. Through this diversion method, not only the neatness and efficiency of the filling process are guaranteed, but also the possibility of equipment contamination due to ice cream liquid overflow is reduced, and the hygiene standards of the production line and the stability of equipment operation are improved.

[0057] like Figure 5 As shown, the protection component 54 is composed of a protection sleeve 541, a matching groove 542, a matching strip 543 and a drainage groove 544. The structures of each part are closely matched to ensure that the crisp cone is fully protected during the filling and transportation process. The protection sleeve 541 is fixedly mounted on the side of the mounting plate 51. As a core protection mechanism, it wraps the crisp cone inside to reduce the risk of damage caused by external vibration or collision. Matching grooves 542 and matching strips 543 are respectively arranged on both sides of the inner side of the protection sleeve 541. Through mutual interlocking, precise alignment and stable clamping are achieved to prevent the crisp cone from sliding or shifting during the clamping process. In addition, a drainage groove 544 is also provided on the inner side of the protection sleeve 541, which is specifically used to guide the overflowed ice cream liquid to be quickly discharged to the collection block 6 to prevent the accumulation of liquid from affecting the operation of the equipment, and effectively maintain the cleanliness of the production environment and the stability of the equipment.

[0058] The protective sleeve 541 adopts a conical design, and an electric heating wire is cleverly embedded inside, providing more efficient protection and cleaning functions for ice cream processing. The conical structure is highly matched with the shape of the crisp cone, which can ensure that the crisp cone fits stably during the filling process and reduce the risk of shaking or displacement. The electric heating wires are evenly distributed inside the protective sleeve 541. When the ice cream liquid accidentally overflows or remains on the inner wall, the heating wires can quickly melt it, turning it into a liquid state and flowing smoothly into the collection block 6 below. This design not only effectively prevents the ice cream from solidifying and adhering to the inner wall of the equipment, reducing the difficulty of cleaning, but also significantly improves the production efficiency and the convenience of cleaning and maintenance of the equipment, ensuring the continuous and efficient operation of the production line.

[0059] The cross-sectional shape of the matching groove 542 and the matching strip 543 is designed to be the same semicircle to ensure precise docking and stable connection between the protective sleeves 541. In order to enhance the fit between the protective sleeves 541, the surfaces of the matching groove 542 and the matching strip 543 are coated with magnetic material with opposite magnetic poles, so that when the two protective sleeves 541 are close, a tighter combination can be achieved through the attraction of magnetic force. This magnetic connection design not only improves the stability of the protective sleeve 541, but also ensures the safety of the crisp cone during the clamping process. At the same time, the cross-sectional design of the protective ring 55 is an L-shape that is tilted outward. This shape helps to better guide the overflowing ice cream liquid and prevent the liquid from flowing to unnecessary areas when it overflows, further improving the protection performance and liquid handling efficiency of the equipment.

[0060] During the working process of the present invention, the mounting base 1 and the moving assembly 2 move according to the pre-programmed automatic control system, and when the clamping arm 4 is transported to both sides of the crisp tube, the control panel 3 controls the clamping arm 4 to clamp inwards;

[0061] At this time, the two protection components 54 are combined with each other, and the matching groove 542 on the protection sleeve 541 and the matching strip 543 on the opposite protection sleeve 541 are magnetically attracted to ensure sealing, and the driving cylinder 52 is started to push the telescopic plate 531 to the side of the crisp cone and fix it by multiple fixing balls 535; if overflow occurs during filling of ice cream, the overflowed ice cream is intercepted by the protection ring 55, and the ice cream liquid falling on the telescopic plate 531 falls into the protection sleeve 541 under the action of the guide groove 532, and remains in liquid state under the heating of the heating wire, and then is drained by the drainage groove 544 to the collection block 6 for centralized treatment.

[0062] Various modifications to the present disclosure will be apparent to those of ordinary skill in the art, and the general principles defined herein may be applied to other variations without departing from the scope of the present disclosure. Therefore, the present disclosure is not limited to the examples and designs described herein, but should be given the widest scope consistent with the principles and novel features disclosed herein. Although one or more exemplary embodiments of the present disclosure have been described with reference to the accompanying drawings, it will be understood by those of ordinary skill in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the present disclosure as defined in the appended claims.

Claims

1. An automatic mechanical gripper for processing crispy ice cream cones, characterized in that: It comprises a mounting base (1), a moving assembly (2), a control panel (3), a clamping arm (4), a holding mechanism (5) and a collecting block (6); The mounting base (1) is rotatable, and the moving component (2) is mounted on the mounting base (1); The control panel (3) is mounted on one end of the moving assembly (2), the control panel (3) is arranged horizontally, and the clamping arm (4) is mounted in front of the control panel (3); The holding mechanism (5) is mounted on the inner side of the clamping arm (4); the protective sleeve (541) in the holding mechanism (5) forms a sealed environment when the clamping arms (4) are brought close to each other; the telescopic assembly (53) is driven by the driving cylinder (52) to extend the telescopic plate (531) to clamp and fix the ice cream cone; A protective ring (55) is provided in the holding mechanism (5) to prevent the ice cream from overflowing during the filling process, and the guide groove (532) and the drainage groove (544) collect the ice cream overflowing outside the ice cream cone; The protective sleeve (541) is configured to be conical, and an electric heating wire is disposed inside the protective sleeve (541); The collecting block (6) is installed below one of the holding mechanisms (5); The holding mechanism (5) comprises a mounting plate (51), a driving cylinder (52), a telescopic component (53), a protective component (54) and a protective ring (55); The mounting plate (51) is mounted on the inner side of the clamping arm (4), the driving cylinder (52) is mounted on the back side of the mounting plate (51), the telescopic assembly (53) is mounted on the output end of the driving cylinder (52), the protective assembly (54) is mounted on the side of the mounting plate (51), and the protective ring (55) is arranged on the upper end of the protective assembly (54); The telescopic assembly (53) comprises a telescopic plate (531), a guide groove (532), a mounting hole (533), a supporting spring (534) and a fixing ball (535); The telescopic plate (531) is mounted on the output end of the driving cylinder (52); the guide groove (532) is formed on the outer end of the telescopic plate (531); the mounting hole (533) is formed on the inner side of the telescopic plate (531); the support spring (534) is mounted inside the mounting hole (533); and the fixing ball (535) is clamped on the outer end of the support spring (534); The protection assembly (54) comprises a protection sleeve (541), a matching groove (542), a matching strip (543) and a drainage groove (544); The protective sleeve (541) is mounted on a side surface of the mounting plate (51); the matching groove (542) and the matching strip (543) are arranged on both sides of the inner side surface of the protective sleeve (541); and the drainage groove (544) is opened on the inner side surface of the protective sleeve (541).

2. The automatic mechanical gripper for processing crispy ice cream cones according to claim 1, characterized in that: The moving component (2) comprises a driving motor (21) and a mechanical arm (22); The number of the mechanical arms (22) is 2 to 4. The mechanical arms (22) are connected to each other. The lowest mechanical arm (22) is mounted on the mounting base (1), and the highest mechanical arm (22) is mounted on the side of the control panel (3). The drive motor (21) is mounted on one end of the mechanical arm (22).

3. The automatic mechanical gripper for processing crisp cone ice cream according to claim 1, characterized in that: The side surface of the telescopic plate (531) is configured as an inwardly concave arc structure, the mounting holes (533) are arranged in a circular array on the arc surface, and the material of the fixing ball (535) is configured as food-grade rubber.

4. The automatic mechanical gripper for processing crisp cone ice cream according to claim 1, characterized in that: The guide groove (532) is configured as an arc-shaped groove, and the depth values ​​at both ends of the guide groove (532) are configured to be greater than the depth value in the middle.

5. The automatic mechanical gripper for processing crispy ice cream cones according to claim 1, characterized in that: The cross-sectional shapes of the matching groove (542) and the matching strip (543) are set to be the same semicircle, and the surfaces of the matching groove (542) and the matching strip (543) are coated with magnetic materials with opposite magnetic poles.

6. The automatic mechanical gripper for processing crisp cone ice cream according to claim 1, characterized in that: The cross section of the protective ring (55) is arranged to be an L-shape inclined outward.

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