Automatic grabbing, dip-coating and discharging device for umbrella-shaped ice cream

Abstract

The invention discloses an automatic grabbing, dip-coating and discharging device for umbrella-shaped ice cream, which comprises an ice cream conveying line, and two rows of umbrella-shaped ice cream filled with ice cream are conveyed on the ice cream conveying line; the first grabbing conveying line and the second grabbing conveying line are arranged on the two sides of the ice cream conveying line correspondingly, and a first conveying assembly and a second conveying assembly which operate circularly are arranged in the middle of the first grabbing conveying line and the middle of the second grabbing conveying line correspondingly. The first grabbing conveying line and the second grabbing conveying line each comprise a conveying chain and a conveying plate laid on the conveying chain. Unloading grabbing assemblies are mounted at the ends, away from the ice cream conveying line, of the first grabbing conveying line and the second grabbing conveying line; and at least one dip-coating groove is arranged below the first conveying assembly and the second conveying assembly so as to dip-coat the outer part of the umbrella-shaped ice cream on the conveying plate passing through the dip-coating groove. The umbrella-shaped ice cream production equipment can solve the problem that existing production equipment cannot meet the requirements of efficient production and personalized production of umbrella-shaped ice cream.

Description

Technical Field

[0001] This invention relates to the field of ice cream production equipment technology, specifically to an automatic gripping, coating, and unloading device for umbrella-shaped ice cream. Background Technology

[0002] Ice cream is a product with many categories and styles that is rapidly updated. Therefore, different equipment is often required for different types of ice cream. For example, there is an umbrella-shaped ice cream. Its characteristic is that the inside of the umbrella-shaped biscuit shell needs to be filled with ice cream, while the outside of the biscuit shell needs to be coated with chocolate and other ingredients. Due to its small size and large production volume, how to coat the outside of the umbrella-shaped ice cream in large quantities and efficiently and automatically unload it requires the design of a highly automated equipment that can be adjusted according to different requirements to meet the requirements of high-efficiency production. Summary of the Invention

[0003] This invention provides an automatic gripping, coating, and unloading device for umbrella-shaped ice cream, which can solve the problem that existing production equipment cannot meet the needs of efficient and personalized production of umbrella-shaped ice cream.

[0004] To achieve the above objectives, the present invention provides the following technical solution: an automatic gripping, coating, and unloading device for umbrella-shaped ice cream, comprising an ice cream conveyor line, wherein two rows of umbrella-shaped ice cream that have been filled with ice cream are conveyed on the ice cream conveyor line; a first gripping conveyor line and a second gripping conveyor line are respectively arranged on both sides of the ice cream conveyor line; a first conveying component and a second conveying component that operate in a cycle are respectively arranged in the middle of the first gripping conveyor line and the second gripping conveyor line; a rotating gripping component is arranged at one end of the first gripping conveyor line near the ice cream conveyor line to grip the umbrella-shaped ice cream located in the first row on the ice cream conveyor line; a vertical gripping component is arranged at one end of the second gripping conveyor line near the ice cream conveyor line to grip the umbrella-shaped ice cream located in the second row on the ice cream conveyor line; both the first gripping conveyor line and the second gripping conveyor line include a conveyor chain and a conveyor plate laid on the conveyor chain; a plurality of ice cream clamps for clamping umbrella-shaped ice cream are evenly arranged laterally on the conveyor plate; and both ends of the first gripping conveyor line and the second gripping conveyor line are provided with... An intermittent clamping and releasing mechanism is provided to press open the ice cream clamps on the conveyor plate at a designated position. Unloading gripping components are installed at the ends of the first and second gripping conveyors away from the ice cream conveyor line to grab and unload the umbrella-shaped ice cream after the clamps on the first and second conveyor components have opened. At least one dipping tank is provided below the first and second conveyor components to dip the umbrella-shaped ice cream on the conveyor plate passing through the dipping tank. By setting up the first and second gripping conveyors, umbrella-shaped ice cream on the ice cream conveyor line can be grabbed in batches simultaneously. The first and second conveyor components, in conjunction with the corresponding gripping components, achieve batch transportation of umbrella-shaped ice cream. During transportation, the external ingredients are dipped in the dipping tank. The arrangement of the dipping tank can be adjusted as needed. Automatic unloading of umbrella-shaped ice cream is achieved by setting up unloading gripping components, resulting in high production efficiency and convenient production line adjustment, meeting the needs of efficient and personalized production of umbrella-shaped ice cream.

[0005] Preferably, the intermittent clamping linkage mechanism includes a drive swing arm, one end of which is rotatably connected to a first connecting rod, the end of which is rotatably connected to a second connecting rod, and the end of which is connected to a central rotating shaft. The central rotating shaft is rotatably connected to the first ends of at least two limiting connecting rods, the second ends of which are sleeved with laterally arranged limiting posts via rings, and both ends of the central rotating shaft are fixedly connected to the first ends of a third connecting rod. The second ends of the third connecting rod are connected to an ice cream clamp handle. Correspondingly, the intermittent clamping linkage mechanism drives the swing arm to swing back and forth, thereby sequentially driving the first and second links to move in tandem. At the same time, the central rotating shaft can move within a small range under the restriction of the limiting link. Then, through the third link, it drives the pressing rod to move towards the ice cream handle. Pressing the ice cream handle can open the ice cream handle, allowing the stick on the umbrella-shaped ice cream to be clamped by the ice cream handle. After the pressing rod retracts, it will not interfere with the conveying movement of the ice cream handle, thus realizing that the ice cream handle opens in a fixed position, with a high degree of automation.

[0006] Preferably, the vertical gripping component includes a first horizontal frame, on which a first slide rail is provided, and a gripping slide plate is mounted on the first slide rail. The gripping slide plate is driven to move horizontally by a first transmission belt assembly. At least one lifting cylinder is installed on the gripping slide plate, and a first gripping cylinder is arranged at the lower end of the lifting cylinder. The lower end of the first gripping cylinder is provided with a gripper to vertically grip the umbrella-shaped ice cream. The gripping slide plate can move between the ice cream conveyor line and the second conveying assembly to convey the umbrella-shaped ice cream to the corresponding ice cream handle position where it is gripped, resulting in a high level of automation.

[0007] Preferably, a transition conveying component is provided below the second conveying component, near the vertical gripping component. The transition conveying component includes a base and a transverse slide rail on the upper side of the base. A slide block driven by a screw and nut transmission mechanism is slidably mounted on the transverse slide rail. A receiving cylinder is vertically raised and lowered on the slide block. A receiving seat is provided on the upper extension rod of the receiving cylinder. The receiving seat slides laterally with the slide block to receive the umbrella-shaped ice cream gripped by the first gripping cylinder and raise the umbrella-shaped ice cream so that it is clamped by the ice cream clamp on the conveyor plate below the second conveying component. In order to ensure that the vertically gripped umbrella-shaped ice cream can be smoothly clamped onto the conveyor plate below the second conveying component, the transition conveying component plays a transfer role. It receives the umbrella-shaped ice cream gripped by the vertical gripping component and then conveys it to the corresponding conveyor plate. In conjunction with the intermittent clamping and releasing linkage mechanism, the ice cream clamp on the conveyor plate can vertically clamp the umbrella-shaped ice cream, preparing for the subsequent dipping and coating process.

[0008] Preferably, the dip coating tank located below the second conveying component is provided with a built-in lifting groove. The built-in lifting groove is submerged in the dip coating tank or raised under the drive of the corresponding cylinder so that the umbrella-shaped ice cream on the conveyor plate is submerged in it. The use of a built-in lifting groove can avoid the umbrella-shaped ice cream on the conveyor plate from lifting and lowering, simplifying the structure of the second conveying component. Moreover, the lifting and lowering of the built-in lifting groove can make the slurry in the dip coating tank more uniform.

[0009] Preferably, the conveyor plate on the first conveying assembly has end blocks inserted laterally at both ends. Each end block has a vertically opening insertion hole. A rubber insertion post is vertically installed on the conveyor chain corresponding to the end block, and the rubber insertion post is inserted into the corresponding insertion hole on the end block. A vertical guide groove is provided on the side wall of the first conveying assembly at a position corresponding to the dipping tank. Grasping and lifting assemblies are provided on both side walls of the first conveying assembly at positions corresponding to the vertical guide grooves. The grasping and lifting assemblies grasp the end blocks that have moved above the vertical guide grooves and drive the conveyor plate and the umbrella-shaped ice cream along the vertical... The guide chute descends, immersing the umbrella-shaped ice cream in the corresponding coating tank. Multiple vertical guide chute and gripping lifting components can be used to correspond to multiple coating tanks. Different coating tanks can hold different slurries. The gripping lifting components can flexibly drive the designated conveyor plate to rise and fall. The first conveyor component is more flexible and can be used for different styles of umbrella-shaped ice cream. The fit between the rubber plug and the plug hole has a relatively high friction force, so after the rubber plug is inserted into the plug hole, the conveyor plate and the end block will not fall off. Only when the end block is detached from the rubber plug under the action of the gripping lifting components.

[0010] Preferably, the gripping and lifting assembly includes a second lifting cylinder installed inside the side wall of the first conveying assembly and a transverse cylinder installed on the extension rod at the lower end of the lifting cylinder. The extension end of the transverse cylinder is equipped with an insert plate facing the end block. The insert plate can be inserted into a slot on the side of the end block. The gripping and lifting assembly can drive the end blocks and the conveying plate at both ends to descend and rise rapidly together. The transverse cylinder can drive the insert plate to quickly connect and disconnect from the end block.

[0011] Preferably, the upper end of the vertical guide groove is provided with a guide side plate that opens to both sides, which can guide the movement of the end block and improve smoothness.

[0012] Preferably, the rotating gripping assembly includes a second transverse frame and a second slide rail disposed on the second transverse frame. A sliding seat is slidably disposed on the second slide rail. The sliding seat is driven to translate by a second transmission belt assembly. A vertical slide rail assembly is disposed on the sliding seat. A horizontal mounting bracket is connected to the lower end of the vertical slide rail assembly. A flipping shaft is mounted on the lower side of the horizontal mounting bracket. A row of second gripping cylinders is mounted on the flipping shaft. The flipping shaft is driven by a rotating cylinder at one end to flip the second gripping cylinders. The second gripping cylinders can grip the umbrella-shaped ice cream on the ice cream conveyor line when rotated to a horizontal state, and then rotate downwards by ° so that the insert plate on the umbrella-shaped ice cream is horizontally facing the ice cream clamp handle on the first conveyor assembly. With the movement of the sliding seat, the ice cream clamp handle can clamp the umbrella-shaped ice cream on the second gripping cylinder.

[0013] Preferably, the ice cream handle comprises a fixed clamp and an extended clamp, with a coil spring provided between the fixed clamp and the extended clamp. The intermittent clamp release linkage mechanism presses on the extended clamp to open the ice cream handle, and the extended clamp facilitates the intermittent clamp release linkage mechanism to press and open the ice cream handle.

[0014] Compared with the prior art, the beneficial effects of the present invention are: By setting up a first gripping conveyor line and a second gripping conveyor line, umbrella-shaped ice cream can be gripped in batches on the ice cream conveyor line simultaneously. The first and second conveyor components work in conjunction with the corresponding gripping components to achieve batch transportation of umbrella-shaped ice cream. During transportation, it works with the dipping tank to perform external food coating. The arrangement of the dipping tank can be adjusted as needed. By setting up a discharge gripping component, the umbrella-shaped ice cream can be automatically unloaded. The production efficiency is high, the production line is easy to adjust, and it can meet the needs of efficient and personalized production of umbrella-shaped ice cream. Attached Figure Description

[0015] Figure 1 This is a top view of the structure of the present invention; Figure 2 This is a three-dimensional structural diagram of the present invention; Figure 3 For the present invention Figure 1 AA-direction sectional view of the structure; Figure 4 For the present invention Figure 3 Enlarged structural diagram at point A; Figure 5 For the present invention Figure 3 Enlarged structural diagram at point B; Figure 6 For the present invention Figure 3 Enlarged structural diagram at point C; Figure 7This is a front view structural diagram of the second gripping conveyor line of the present invention; Figure 8 This is a three-dimensional structural diagram of the vertical gripping component of the present invention.

[0016] Figure label: 1. First gripping conveyor line; 11. Unloading gripping assembly; 12. Rotary gripping assembly; 13. First conveying assembly; 14. Dipping tank; 16. Built-in lifting trough; 2. Ice cream conveyor line; 3. Second gripping conveyor line; 31. Transition conveying assembly; 32. Second conveying assembly; 34. Vertical gripping assembly; 4. Umbrella-shaped ice cream; 41. Lifting cylinder; 42. First transverse frame; 43. Gripping slide plate; 44. First transmission belt assembly; 45. First slide rail; 47. First gripping cylinder; 5. Intermittent clamping and releasing linkage mechanism; 51. Drive swing arm; 52. First connecting rod; 53. 54. Limiting post, 55. Limiting link, 56. Second link, 57. Pressing rod, 58. Third link, 69. Transfer shaft, 60. Ice cream handle, 61. Rubber insert post, 62. Conveyor chain, 63. End block, 64. Conveyor plate, 65. Vertical guide chute, 71. Base, 72. Receiving cylinder, 73. Horizontal slide rail, 74. Slide seat, 75. Receiving seat, 81. Vertical slide rail assembly, 82. Second horizontal frame, 83. Second transmission belt assembly, 84. Sliding seat, 85. Tilting shaft, 86. Horizontal mounting bracket, 87. Second gripping cylinder, 88. Second slide rail. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0018] To address the issue that existing production equipment cannot meet the needs of efficient and personalized production of umbrella-shaped ice cream, such as... Figure 1-8As shown, this invention provides an automatic gripping, coating, and unloading device for umbrella-shaped ice cream, including an ice cream conveyor line 2. Two rows of umbrella-shaped ice cream 4 that have already been filled with ice cream are conveyed on the ice cream conveyor line 2. A first gripping conveyor line 1 and a second gripping conveyor line 3 are respectively arranged on both sides of the ice cream conveyor line 2. A first conveying component 13 and a second conveying component 32, which operate in a cyclic manner, are respectively arranged in the middle of the first gripping conveyor line 1 and the second gripping conveyor line 3. A rotating gripping component 12 is arranged at the end of the first gripping conveyor line 1 near the ice cream conveyor line 2 to grip the umbrella-shaped ice cream 4 located in the first row on the ice cream conveyor line 2. The second gripping conveyor line 3 is equipped with a vertical gripping component 34 at one end near the ice cream conveyor line 2 to grip the umbrella-shaped ice cream 4 located in the second row on the ice cream conveyor line 2; both the first gripping conveyor line 1 and the second gripping conveyor line 3 include a conveyor chain 62 and a conveyor plate 64 laid on the conveyor chain 62. The conveyor plate 64 has several ice cream clamps 6 evenly arranged laterally for clamping the umbrella-shaped ice cream 4. Both ends of the inner sides of the first gripping conveyor line 1 and the second gripping conveyor line 3 are equipped with an intermittent clamping and releasing linkage mechanism 5 that matches the ice cream clamps 6 on the conveyor plate 64 at a designated position to press open the ice cream clamps 6; Both the first gripping conveyor line 1 and the second gripping conveyor line 3 are equipped with unloading gripping components 11 at their ends away from the ice cream conveyor line 2 to grip and unload the umbrella-shaped ice cream 4 after the ice cream clamps 6 on the first conveyor component 13 and the second conveyor component 32 have been opened. At least one dipping tank 14 is provided below the first conveyor component 13 and the second conveyor component 32 to dip and coat the exterior of the umbrella-shaped ice cream 4 on the conveyor plate 64 passing through the dipping tank 14. The technical solution in this embodiment solves the problem of low capacity of traditional single-row conveyor equipment through the symmetrical layout of two rows of conveyors and dual-sided synchronous gripping conveyor. When operating synchronously on both sides, it can process 25 ice creams per minute. -30 umbrella-shaped ice creams 4, significantly increasing production capacity; and through the cooperation of the circulating conveyor components and the intermittent loosening and clamping linkage mechanism, the entire process of ice cream grabbing, conveying, dipping, and unloading is automated, avoiding the risk of contamination caused by manual intervention; the dipping tank 14 supports modular arrangement, such as setting 1-3, which can hold different pastes, such as dark chocolate, white chocolate, and strawberry jam. Personalized dipping can be achieved simply by changing the paste, with short switching time, solving the limitation of traditional equipment that is used for one machine at a time; the standardized design of the ice cream clamp 6 is adapted to umbrella-shaped ice creams with a diameter of 30-50mm, without the need to change the core components, thus improving versatility.

[0019] Specifically, the ice cream conveyor line 2 is made of 304 stainless steel, with an overall length of 6000mm and a width of 800mm. The distance between the two rows of conveyor channels is 150mm, and the conveying speed is 0.5m / s. The first gripping conveyor line 1 and the second gripping conveyor line 3 are both 3000mm long. The conveyor chain 62 is made of RS40-2 stainless steel. The conveyor plate 64 is made of food-grade PP material. Each conveyor plate has 10-12 ice cream clamps 6 evenly arranged horizontally with a spacing of 150mm. The dipping tank 14 is made of 304 stainless steel. A micro stirrer of model SH-100 is installed at the bottom of the tank, with a speed of 300r / min to prevent the slurry from settling.

[0020] The entire working process is roughly as follows: the ice cream conveyor line 2 conveys one set of umbrella-shaped ice cream 4 to the gripping station every 5 seconds; the rotating gripping component 12 of the first gripping conveyor line 1 and the vertical gripping component 34 of the second gripping conveyor line 3 move synchronously, completing one gripping cycle every 5 seconds; the conveyor plate 64 moves with the conveyor chain 62 at the same speed as the gripping rhythm, ensuring that when each conveyor plate arrives at the gripping station, the intermittent release and clamping linkage mechanism 5 opens the ice cream clamp handle 6 synchronously.

[0021] In this embodiment, as Figure 4As shown, the intermittent release-clamp linkage mechanism 5 includes a drive swing arm 51. One end of the drive swing arm 51 is rotatably connected to a first connecting rod 52. The end of the first connecting rod 52 is rotatably connected to a second connecting rod 55. The end of the second connecting rod 55 is connected to a central rotating shaft 58. The central rotating shaft 58 is rotatably connected to the first ends of at least two limiting connecting rods 54. The second ends of the limiting connecting rods 54 are sleeved with a horizontally arranged limiting post 53 via a ring. The two ends of the central rotating shaft 58 are fixedly connected to the first ends of a third connecting rod 57. A pressing rod 56 corresponding to the ice cream handle 6 is connected between the second ends of the third connecting rod 57. The intermittent release-clamp linkage mechanism 5 drives the first connecting rod 52 and the second connecting rod 55 to move in sequence by the back-and-forth swing of the drive swing arm 51. At the same time, the central rotating shaft 58 can move within a small range under the restriction of the limiting connecting rods 54, and then drives the pressing rod 56 through the third connecting rod 57. Moving towards the ice cream handle 6, pressing the ice cream handle 6 opens it, allowing the stick on the umbrella-shaped ice cream 4 to be clamped by the ice cream handle 6. After the pressing rod 56 retracts, it does not interfere with the conveying movement of the ice cream handle 6, thus realizing that the ice cream handle 6 opens in a fixed position. The degree of automation is high. Therefore, the mechanism in this embodiment solves the problems of easy jamming and poor synchronization of traditional clamping mechanisms through multi-link linkage and limit column guidance design: when the drive swing arm 51 drives the linkage, the movement range of the transfer shaft 58 is precisely constrained by the limit link 54, ensuring that the 6 pressing rods 56 move synchronously and avoiding missed grabs caused by a single handle not opening; the pressing rod 56 adopts an intermittent action of "pressing-retracting", with a retraction distance of ≥10mm, completely avoiding the movement path of the conveyor plate 64 and eliminating the risk of scratching; the cooperation between the coil spring on the ice cream handle 6 and the pressing rod 56 makes the opening and closing force of the handle stable, which can clamp the ice cream firmly without damaging the biscuit shell. Specifically, the drive arm 51 is made of 45# steel and is driven by a motor or rotary cylinder; the first link 52, the second link 55, and the third link 57 are all made of 6061 aluminum alloy; the limit post 53 is made of 304 stainless steel, and the limit link 54 is made of nylon; the pressing rod 56 is a stainless steel rod wrapped with food-grade silicone, and the contact end with the extended clamp plate of the ice cream handle 6 is provided with an R3mm rounded corner; the transfer shaft 58 is made of 45# steel. Specifically, when the conveyor plate 64 reaches the gripping station, the drive arm 51 swings clockwise by 30°, which drives the second link 55 to push the transfer shaft 58 through the first link 52. The limiting link 54 slides along the limiting post 53 to constrain the movement trajectory of the transfer shaft 58. Finally, the third link 57 drives the pressing rod 56 to move towards the ice cream clamp 6, pressing the extended clamping plate to open the clamp. After the ice cream is placed in, the drive arm 51 resets counterclockwise, the pressing rod 56 retracts, and the coil spring drives the clamp to close, completing the clamping.

[0022] In this embodiment, as Figure 8As shown, the vertical gripping component 34 includes a first horizontal frame 42, on which a first slide rail 45 is provided. A gripping slide plate 43 is mounted on the first slide rail 45. The gripping slide plate 43 is driven to move horizontally by a first transmission belt assembly 44. At least one lifting cylinder 41 is installed on the gripping slide plate 43. A first gripping cylinder 47 is arranged at the lower end of the lifting cylinder 41. A gripper is provided at the lower end of the first gripping cylinder 47 to vertically grip the umbrella-shaped ice cream 4. The technical solution in this embodiment solves the problem that traditional gripping mechanisms cannot adapt to the spacing between two rows of ice cream by using a two-dimensional motion design of horizontal translation and vertical lifting. The positioning error of the gripping slide plate 43 along the first slide rail 45 is relatively small, ensuring that the gripper is accurately aligned with the ice cream. The uniform lifting speed of the lifting cylinder 41 prevents the ice cream from falling due to impact. The gripper of the first gripping cylinder 47 is made of flexible material, and the gripping force is adjustable. Specifically, the first transverse frame 42 is made of 40×40mm aluminum alloy profile; the first slide rail 45 is a linear slide rail of model HGR20; the first transmission belt assembly 44 is driven by a 5M synchronous belt and a stepper motor (model 42HS40-1704, speed 1500r / min), and the translating speed of the gripping slide 43 is 0.3m / s; the lifting cylinder 41 is a standard cylinder of model SC20×80, and two are installed on each gripping slide 43; the first gripping cylinder 47 is a finger cylinder of model MHC2-10D (gripper stroke 20-50mm, gripping force 5-8N adjustable), and 10-12 are arranged at the lower end of each lifting cylinder 41, and the gripper material is food-grade nitrile rubber. When the ice cream arrives at the second row of gripping stations, the first transmission belt assembly 44 drives the gripping slide plate 43 to move horizontally above the ice cream; the lifting cylinder 41 descends 80mm, the gripper of the first gripping cylinder 47 closes, and grips the ice cream; the lifting cylinder 41 rises 80mm, and the gripping slide plate 43 moves horizontally above the conveyor plate of the second conveying assembly 32, waiting for the transition conveying assembly 31 to receive the material.

[0023] In this embodiment, as Figure 7As shown, a transition conveying assembly 31 is provided below the second conveying assembly 32, near the vertical gripping assembly 34. The transition conveying assembly 31 includes a base 71 and a transverse slide rail 73 disposed on the upper side of the base 71. A slide block 74 driven by a screw and nut transmission mechanism is slidably disposed on the transverse slide rail 73. A receiving cylinder 72 is vertically raised and lowered on the slide block 74. A receiving seat 75 is disposed on the upper extension rod of the receiving cylinder 72. The receiving seat 75 slides and moves laterally with the slide block 74 to receive the material gripped by the first gripping cylinder 47. The umbrella-shaped ice cream 4 is lifted and raised, so that the umbrella-shaped ice cream 4 is clamped by the ice cream handle 6 on the conveyor plate 64 below the second conveyor assembly 32. In order to ensure that the vertically gripped umbrella-shaped ice cream 4 can be smoothly clamped onto the conveyor plate 64 below the second conveyor assembly 32, the transition conveyor assembly 31 plays a transfer role. It receives the umbrella-shaped ice cream 4 gripped by the vertical gripping assembly 34 and then conveys it to the corresponding conveyor plate 64. In conjunction with the intermittent release and clamping linkage mechanism 5, the ice cream handle 6 on the conveyor plate 64 can vertically clamp the umbrella-shaped ice cream 4. Therefore, in this embodiment, the transition conveying component 31 serves as a transfer and connection mechanism between the vertical gripping component 34 and the second conveying component 32, solving the problem of docking the vertically gripped ice cream with the horizontally gripped handle on the conveyor plate 64: the screw and nut transmission of the slide 74 ensures a small lateral displacement positioning, and the receiving seat 75 can accurately dock with the first gripping cylinder 47; the lifting action of the receiving cylinder 72 matches the timing of the gripping component and the handle action, with no waiting time; the groove design of the receiving seat 75 prevents the ice cream from tilting and ensures accurate clamping of the handle. Specifically, the base 71 is made of cast iron, the transverse slide rail 73 is a linear slide rail of model HGR15; the lead screw of the lead screw and nut transmission mechanism is a ball screw of model SFU1605, driven by a stepper motor (model 42HS34-1304); the receiving cylinder 72 is a cylinder of model SC16×100; the receiving seat 75 is made of food-grade PP material, with 10-12 of them installed on each slide 74, aligned with the first gripping cylinder 47. During operation, when the vertical gripping component 34 moves horizontally above the transition conveying component, the slide 74 moves along the transverse slide rail 73 to the receiving position; the receiving cylinder 72 rises 60mm, and the receiving seat 75 receives the ice cream; the first gripping cylinder 47 releases, and the receiving cylinder 72 falls 60mm; the slide 74 moves to below the conveyor plate 64 of the second conveying component 32, and the receiving cylinder 72 rises 60mm, delivering the ice cream to the clamp handle, and the intermittent clamping mechanism completes the clamping.

[0024] In this embodiment, as Figure 7As shown, the dip coating tank 14 located below the second conveying assembly 32 is equipped with a built-in lifting groove 16. Driven by a corresponding cylinder, the built-in lifting groove 16 is either submerged in the dip coating tank 14 or rises to submerge the umbrella-shaped ice cream 4 on the conveyor plate 64. Using the built-in lifting groove 16 avoids the umbrella-shaped ice cream 4 on the conveyor plate 64 from having to lift, simplifying the structure of the second conveying assembly 32. Furthermore, the lifting of the built-in lifting groove 16 allows for more uniform distribution of the slurry in the dip coating tank 14. Therefore, the design of this invention solves the problem of the second conveying assembly by replacing the lifting of the conveyor plate with a lifting mechanism within the dip coating tank. The structural complexity arises from the need for lifting; the uniform lifting speed of the built-in lifting groove 16 ensures even immersion time for the ice cream, reaching 2-3 seconds, resulting in minimal coating thickness error; the slurry is agitated during lifting, preventing bottom sedimentation and eliminating localized coating defects. Specifically, the built-in lifting groove 16 is made of 304 stainless steel, with a gap greater than 5mm between it and the inner wall of the coating tank 14; the drive cylinder is a standard SC32×80 cylinder, installed at the center of the bottom of the coating tank 14; three 5mm diameter guide holes are opened at the bottom of the built-in lifting groove 16 to ensure smooth slurry flow during lifting. During operation, when the conveyor plate 64 carries the ice cream to the top of the coating tank, the built-in lifting groove 16 rises 80mm under the cylinder drive, completely immersing the ice cream in the slurry, pausing for 2.5 seconds to ensure a coating thickness of 0.8-1.0mm; subsequently, the built-in lifting groove descends 80mm, and the conveyor plate 64 continues to move to the next station.

[0025] In this embodiment, as Figure 5As shown, end blocks 63 are horizontally inserted into both ends of the conveyor plate 64 on the first conveying assembly 13. Each end block 63 has a vertically opening insertion hole. A rubber insertion post 61 is vertically installed on the conveyor chain 62 corresponding to the end block 63. The rubber insertion post 61 is inserted into the corresponding insertion hole on the end block 63. A vertical guide groove 65 is provided on the side wall of the first conveying assembly 13 at a position corresponding to the dipping tank 14. Grasping and lifting assemblies are provided on both side walls of the first conveying assembly 13 at positions corresponding to the vertical guide groove 65. The grasping and lifting assemblies grasp the end block 63 that has moved above the vertical guide groove 65 and drive the conveyor plate 64 and the umbrella-shaped ice cream 4 along... The vertical guide chute 65 descends, immersing the umbrella-shaped ice cream 4 into the corresponding coating tank 14. By setting multiple vertical guide chute 65s and gripping lifting components, multiple coating tanks 14 can be corresponding to each other. Different coating tanks 14 can hold different slurries. The gripping lifting components can flexibly drive the designated conveyor plate 64 to rise and fall. The first conveying component 13 is more flexible in use and can be used for different styles of umbrella-shaped ice cream 4. The fit between the rubber plug 61 and the plug-in through hole has a relatively high friction force, so after the rubber plug 61 is inserted into the plug-in through hole, the conveyor plate 64 and the end block 63 will not fall off. Only when the end block 63 is detached from the rubber plug 61 under the action of the gripping lifting components. Therefore, the technical solution in this embodiment solves the difficulty of replacement caused by the fixed connection between the traditional conveyor plate 64 and the chain through the detachable connection of the rubber plug-in post 61 and the end block 63; the cooperation between the vertical guide slide 65 and the gripping lifting assembly supports continuous operation of multiple dipping tanks, such as dipping chocolate, coating nut pieces, and drizzling sauce in three tanks in sequence, without the need to adjust the conveying path; the precise lifting of the gripping lifting assembly ensures that the ice cream is completely submerged, and the separation / reset of the conveyor plate and the chain is reliable, such as a separation force of 30N and a friction force of 20N after reset, with no risk of falling off. Specifically, the end block 63 is made of ABS plastic, with one installed at each end of each conveyor plate 64, and a 12mm diameter plug-in through hole is opened on the end block 63; the rubber plug-in post 61 is made of silicone rubber, with two installed on each section of the conveyor chain 62; the vertical guide slide 65 is made of 304 stainless steel, with two sets of slides set on the first conveyor assembly 13 corresponding to the two dipping tanks 14; the mounting plate of the gripping lifting assembly is made of 304 stainless steel. During operation, when the conveyor plate 64 moves with the chain to above the vertical guide chute 65, the end block 63 is aligned with the chute under the guidance of the guide side plate 66; the horizontal cylinder of the grab lifting assembly extends the insert plate and inserts into the end block slot to a depth of 10mm; the second lifting cylinder drives the conveyor plate to descend 100mm, and the ice cream is immersed in the coating tank; after the coating is completed, the second lifting cylinder rises 100mm, the horizontal cylinder retracts the insert plate, and the conveyor plate continues to move with the chain.

[0026] According to the above embodiment, the gripping and lifting assembly includes a second lifting cylinder installed in the side wall of the first conveying assembly 13 and a transverse cylinder installed on the extension rod at the lower end of the lifting cylinder. The extension end of the transverse cylinder is equipped with an insert plate facing the end block 63. The insert plate can be inserted into the slot on the side of the end block 63. The gripping and lifting assembly can drive the end blocks 63 and the conveying plate 64 at both ends to descend and rise rapidly together. The transverse cylinder can drive the insert plate to quickly connect and disconnect from the end block 63. The above technical solution solves the problem of unstable gripping in traditional lifting mechanisms by combining the positioning of the transverse insert plate and the lifting action of the vertical cylinder: the fit gap between the insert plate and the slot of the end block 63 is only 0.1mm, the conveying plate does not shake during lifting, and the ice cream is prevented from colliding with the groove wall; the action sequence of the transverse cylinder and the vertical cylinder is linked, and the lifting efficiency is improved; the insert plate is made of wear-resistant material. Specifically, the second lifting cylinder is a standard SC20×100 cylinder; the horizontal cylinder is a SC16×20 cylinder; the insert plate is made of 45# steel; and the control solenoid valve for the cylinders is model 4V210-08. During operation, when end block 63 reaches the gripping position, the controller sends a signal, the horizontal cylinder extends first, and the insert plate inserts into the end block slot; after the insert plate is in place, the second lifting cylinder begins to descend; after the coating is completed, the second lifting cylinder rises first, and after it reaches its position, the horizontal cylinder retracts. The entire operation is precisely controlled by the PLC without interference.

[0027] In this embodiment, the upper end of the vertical guide groove 65 is provided with a guide side plate 66 that opens to both sides, which can guide the movement of the end block 63 and improve smoothness. The opening design of the guide side plate 66 solves the alignment problem when the end block 63 enters the vertical guide groove 65. The 15° opening angle forms a "trumpet mouth" guide, which improves the success rate of the end block entering and avoids jamming. The rounded transition of the guide side plate reduces the friction between the end block and the groove and extends the service life of the component.

[0028] In this embodiment, as Figure 6As shown, the rotating gripping assembly 12 includes a second transverse frame 82 and a second slide rail 88 disposed on the second transverse frame 82. A sliding seat 84 is slidably disposed on the second slide rail 88. The sliding seat 84 is driven to translate by the second transmission belt assembly 83. A vertical slide rail assembly 81 is disposed on the sliding seat 84. A horizontal mounting bracket 86 is connected to the lower end of the vertical slide rail assembly 81. A flipping shaft 85 is mounted on the lower side of the horizontal mounting bracket 86. A row of second gripping cylinders 87 is mounted on the flipping shaft 85. The flipping shaft 85 is driven by a rotating cylinder at one end to rotate the second gripping cylinders 87 to flip. The second gripping cylinders 87 can grip the ice cream conveyor when rotated to a horizontal state. The umbrella-shaped ice cream 4 on line 2 is then rotated downwards by 90° so that the insert plate on the umbrella-shaped ice cream 4 is horizontally facing the ice cream clamp 6 on the first conveying component 13. With the movement of the sliding seat 84, the ice cream clamp 6 can clamp the umbrella-shaped ice cream 4 on the second gripping cylinder 87. Therefore, the technical solution in this embodiment solves the problem of posture matching between the first row of ice cream and the clamp of the first conveying component through the three-dimensional motion design of translation, lifting and flipping: the 90° flipping of the flipping shaft 85 ensures that the posture of the ice cream is accurate when it changes from vertical gripping to horizontal clamping, and the clamping success rate is high; the adjustable stroke of the vertical slide rail component 81 is adapted to ice cream of different heights and has strong versatility; the synchronous belt drive of the second transmission belt component 83 ensures smooth translation and avoids ice cream overflow due to vibration. During operation, the sliding seat 84 moves horizontally above the first row of ice cream; the vertical slide rail assembly 81 descends 70mm, and the second gripping cylinder 87 grips the ice cream; the vertical slide rail rises 70mm, and the flipping shaft 85 flips 90°, turning the ice cream from vertical to horizontal; the sliding seat 84 moves horizontally above the conveyor plate of the first conveying assembly, the vertical slide rail descends 70mm, the second gripping cylinder releases, and the intermittent clamping and releasing mechanism 5 completes the clamping, after which all components reset.

[0029] In this embodiment, as Figure 5 As shown, the ice cream handle 6 comprises a fixed clamp plate and an extended clamp plate. A coil spring is provided between the fixed clamp plate and the extended clamp plate. The intermittent clamp release linkage mechanism 5 presses on the extended clamp plate to open the ice cream handle 6. The extended clamp plate facilitates the intermittent clamp release linkage mechanism 5 to press and open the ice cream handle 6.

[0030] As a specific implementation scheme in this embodiment: Step 1: Feeding the ice cream: The umbrella-shaped ice cream 4, which has been filled with ice cream, is transported from the upstream equipment to the ice cream conveyor line 2. It is evenly distributed in two rows with a spacing of 150mm between each row. One group is conveyed every 5 seconds at a conveying speed of 0.5m / s. After the photoelectric sensor (model E3F-DS30C4) of the ice cream conveyor line detects that the ice cream has arrived at the gripping station, it sends a signal to the PLC controller.

[0031] Step 2, Simultaneous grasping from both sides: Rotary gripping of the first gripping conveyor line 1: The PLC controls the second drive belt assembly 83 to drive the sliding seat 84 to move horizontally along the second slide rail 88 to above the first row of ice creams; the vertical slide rail assembly 81 descends 70mm under the drive of the cylinder, the gripper of the second gripping cylinder 87 closes, and clamps the umbrella-shaped ice cream 4; the vertical slide rail rises 70mm, the flipping shaft 85 flips 90° under the drive of the rotary cylinder, and the umbrella-shaped ice cream 4 changes from vertical to horizontal; the sliding seat 84 moves horizontally to above the conveyor plate 64 of the first conveying assembly 13, waiting to be clamped.

[0032] Vertical gripping and transition of the second gripping conveyor line 3: Synchronously, the first transmission belt assembly 44 drives the gripping slide plate 43 to move horizontally along the first slide rail 45 to above the second row of ice cream; the lifting cylinder 41 descends 80mm, and the first gripping cylinder 47 clamps the ice cream; the lifting cylinder rises 80mm, and the gripping slide plate moves horizontally above the transition conveying assembly 31; the slide seat 74 of the transition conveying assembly moves along the transverse slide rail 73 to the receiving position, the receiving cylinder 72 rises 60mm, and the receiving seat 75 receives the umbrella-shaped ice cream 4; the first gripping cylinder 47 releases, the receiving cylinder 72 descends 60mm, the slide seat moves to below the conveyor plate of the second conveying assembly 32, and the receiving cylinder 72 rises 60mm, waiting to be clamped.

[0033] Step 3, Intermittent clamping and re-clamping: First conveyor assembly clamping: The intermittent clamping linkage mechanism 5 of the first gripping conveyor operates as follows: the drive arm 51 swings 30°, and through the linkage, drives the pressing rod 56 to press the extended clamping plate of the ice cream clamping handle 6, opening the handle with an opening width of 12mm; the vertical slide rail assembly 81 descends 70mm, the second gripping cylinder 87 releases, and the ice cream stick falls into the clamping handle; the drive arm resets, the pressing rod retracts, and the coil spring drives the clamping handle to close, completing the clamping.

[0034] Second conveyor assembly clamping: The second gripping conveyor's intermittent clamping linkage mechanism 5 operates synchronously, pressing the lever to open the clamp handle; receiving cylinder 72 rises 60mm, sending the umbrella-shaped ice cream 4 to the ice cream clamp handle 6; receiving cylinder 72 descends 60mm, the slide returns to its original position, the pressing lever retracts, the clamp handle closes, and the clamping is completed.

[0035] Step 4, Conveying and Dipping: First conveying component dip coating (dark chocolate): The conveyor chain 62 drives the conveyor plate 64 to move at a speed of 0.2 m / s to the top of the first dipping tank; the horizontal cylinder of the grab lifting assembly extends the insert plate and inserts into the slot of the end block 63; the second lifting cylinder drives the conveyor plate to descend 100 mm, and the ice cream is completely immersed in the dark chocolate syrup for 2.5 seconds; the second lifting cylinder rises 100 mm, the horizontal cylinder retracts, and the conveyor plate continues to move to the next station. If a second dipping is required, the above actions are repeated.

[0036] Second conveying component dip coating (white chocolate): The conveyor chain 62 drives the conveyor plate 64 to move above the dipping tank 14; the built-in lifting tank (16) rises 80mm under the drive of the cylinder, and the ice cream is immersed in the white chocolate syrup for 2.5 seconds; the built-in lifting tank 16 falls 80mm, and the conveyor plate continues to move.

[0037] Step 5: Automatic unloading: The conveyor plate 64 moves the coated ice cream to the unloading station; the intermittent clamping linkage mechanism 5 operates again to open the ice cream clamp handle; the unloading gripping component 11, whose structure is the same as the rotating gripping component, adjusts the flipping angle to 90°, grips the ice cream, and transports the ice cream to the downstream packaging line; the conveyor plate 64 returns to the gripping station with the conveyor chain and enters the next work cycle.

[0038] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0039] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly and specifically defined.

[0040] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0041] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

Claims

1. An automatic gripping, coating, and unloading device for umbrella-shaped ice cream, characterized in that, include: Ice cream conveyor line (2), on which two rows of umbrella-shaped ice cream (4) that have been filled with ice cream are conveyed; The first gripping conveyor line (1) and the second gripping conveyor line (3) are respectively set on both sides of the ice cream conveyor line (2). The first gripping conveyor line (1) and the second gripping conveyor line (3) are respectively set with a first conveying component (13) and a second conveying component (32) running in a cycle. The first gripping conveyor line (1) is provided with a rotating gripping component (12) at one end near the ice cream conveyor line (2) to grip the umbrella-shaped ice cream (4) located in the first row on the ice cream conveyor line (2). The second gripping conveyor line (3) is provided with a vertical gripping component (34) at one end near the ice cream conveyor line (2) to grip the umbrella-shaped ice cream (4) located in the second row on the ice cream conveyor line (2). The first gripping conveyor line (1) and the second gripping conveyor line (3) both include a conveyor chain (62) and a conveyor plate (64) laid on the conveyor chain (62). Several ice cream clamps (6) for clamping umbrella-shaped ice cream (4) are evenly arranged horizontally on the conveyor plate (64). The inner ends of the first gripping conveyor line (1) and the second gripping conveyor line (3) are provided with an intermittent clamping linkage mechanism (5) that matches the ice cream clamps (6) on the conveyor plate (64) at a designated position to press open the ice cream clamps (6). The first gripping conveyor line (1) and the second gripping conveyor line (3) are each equipped with a discharge gripping assembly (11) at the end away from the ice cream conveyor line (2) to grip and discharge the umbrella-shaped ice cream (4) after the ice cream clamp (6) on the first conveyor assembly (13) and the second conveyor assembly (32) is opened; At least one dip coating tank (14) is provided below the first conveying assembly (13) and the second conveying assembly (32) to dip the outside of the umbrella-shaped ice cream (4) on the conveyor plate (64) passing through the dip coating tank (14).

2. The automatic gripping, coating, and unloading device for umbrella-shaped ice cream according to claim 1, characterized in that: The intermittent release and release linkage mechanism (5) includes a drive swing arm (51), one end of which is rotatably connected to a first connecting rod (52), the end of which is rotatably connected to a second connecting rod (55), the end of which is connected to a central rotating shaft (58), the central rotating shaft (58) being rotatably connected to the first ends of at least two limiting connecting rods (54), the second end of which is sleeved with a horizontally arranged limiting post (53) through a ring sleeve, the two ends of which are fixedly connected to the first end of a third connecting rod (57), and the second ends of which are connected to a pressing rod (56) corresponding to the ice cream handle (6).

3. The automatic gripping, coating, and unloading device for umbrella-shaped ice cream according to claim 1, characterized in that: The vertical gripping component (34) includes a first horizontal frame (42), on which a first slide rail (45) is provided, and a gripping slide plate (43) is mounted on the first slide rail (45). The gripping slide plate (43) is driven to move horizontally by a first transmission belt assembly (44). At least one lifting cylinder (41) is installed on the gripping slide plate (43). A first gripping cylinder (47) is arranged at the lower end of the lifting cylinder (41). The lower end of the first gripping cylinder (47) is provided with a gripper to vertically grip the umbrella-shaped ice cream (4).

4. The automatic gripping, coating, and unloading device for umbrella-shaped ice cream according to claim 3, characterized in that: A transition conveying assembly (31) is provided below the second conveying assembly (32) near the vertical gripping assembly (34). The transition conveying assembly (31) includes a base (71) and a transverse slide rail (73) on the upper side of the base (71). A slide block (74) driven by a screw nut transmission mechanism is slidably provided on the transverse slide rail (73). A receiving cylinder (72) is vertically raised and lowered on the slide block (74). A receiving seat (75) is provided on the upper end of the receiving cylinder (72). The receiving seat (75) slides and moves laterally with the slide block (74) to receive the umbrella-shaped ice cream (4) gripped by the first gripping cylinder (47) and raise the umbrella-shaped ice cream (4) so ​​that the umbrella-shaped ice cream (4) is clamped by the ice cream clamp (6) on the conveyor plate (64) moved to the lower side of the second conveying assembly (32).

5. The automatic gripping, coating, and unloading device for umbrella-shaped ice cream according to claim 4, characterized in that: The dip coating tank (14) located below the second conveying assembly (32) is provided with a built-in lifting groove (16). The built-in lifting groove (16) is immersed in the dip coating tank (14) or raised to allow the umbrella-shaped ice cream (4) on the conveyor plate (64) to be immersed in it under the drive of the corresponding cylinder.

6. The automatic gripping, coating, and unloading device for umbrella-shaped ice cream according to claim 1, characterized in that: The first conveying assembly (13) has end blocks (63) inserted horizontally at both ends of the conveying plate (64). The end blocks (63) have vertical insertion holes. The conveying chain (62) corresponding to the end blocks (63) has rubber insertion posts (61) installed vertically. The rubber insertion posts (61) are inserted into the corresponding insertion holes on the end blocks (63). The side wall of the first conveying assembly (13) has a vertical guide groove (65) at a position corresponding to the dipping tank (14). The two side walls of the first conveying assembly (13) have gripping and lifting assemblies at positions corresponding to the vertical guide grooves (65). The gripping and lifting assemblies grip the end blocks (63) that have moved to the top of the vertical guide grooves (65) and drive the conveying plate (64) and the umbrella-shaped ice cream (4) to descend along the vertical guide grooves (65) so that the umbrella-shaped ice cream (4) is immersed in the corresponding dipping tank (14).

7. The automatic gripping, coating, and unloading device for umbrella-shaped ice cream according to claim 6, characterized in that: The gripping and lifting assembly includes a second lifting cylinder installed in the side wall of the first conveying assembly (13) and a transverse cylinder installed on the extension rod at the lower end of the lifting cylinder. The extension end of the transverse cylinder is equipped with an insert plate facing the end block (63), and the insert plate can be inserted into the slot on the side of the end block (63).

8. The automatic gripping, coating, and unloading device for umbrella-shaped ice cream according to claim 6, characterized in that: The upper end of the vertical guide groove (65) is provided with a guide side plate (66) that opens to both sides.

9. The automatic gripping, coating, and unloading device for umbrella-shaped ice cream according to claim 1, characterized in that: The rotating gripping assembly (12) includes a second transverse frame (82) and a second slide rail (88) disposed on the second transverse frame (82). A sliding seat (84) is slidably disposed on the second slide rail (88). The sliding seat (84) is driven to translate by the second transmission belt assembly (83). A vertical slide rail assembly (81) is disposed on the sliding seat (84). A horizontal mounting bracket (86) is connected to the lower end of the vertical slide rail assembly (81). A flipping shaft (85) is mounted on the lower side of the horizontal mounting bracket (86). A row of second gripping cylinders (87) is mounted on the flipping shaft (85). The flipping shaft (85) is driven by a rotating cylinder at one end to rotate the second gripping cylinders (87).

10. The automatic gripping, coating, and unloading device for umbrella-shaped ice cream according to any one of claims 1-9, characterized in that: The ice cream handle (6) consists of a fixed clamp and an extended clamp. A coil spring is provided between the fixed clamp and the extended clamp. The intermittent clamp release linkage mechanism (5) presses on the extended clamp to open the ice cream handle (6).

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