Spiral mechanical arm for steaming and baking conveying

Abstract

The invention discloses a spiral steaming and baking conveying mechanical arm, relates to the technical field of mechanical arms, and aims to solve the problems that an existing spiral steaming and baking conveying mechanical arm is prominent in problem, tedious in operation process, capable of achieving multi-step independent object fixing operation, poor in adjustment precision, multiple in reset object taking step, lack of flexible adaptability, difficult to cope with various use conditions due to a single fixing mode and poor in practicability. The mechanical arm comprises a machine body mechanism, a suspension mechanism and a mechanical arm mechanism. The winding drum and the rotating shaft are driven to rotate through pulling of the steel cable, and by means of complex linkage among the pulley, the extrusion block, the first push block, the friction block, the second push block and the shifting plate, the winding drum can continuously rotate during pulling and can be automatically locked when pulling is stopped; and locking can be unlocked through short-distance pulling again, the winding drum can smoothly wind the steel cable to reset under the action of the first coil spring, operation is convenient and fast, fixing is stable, the using difficulty of the device is lowered, and the using flexibility of the device is improved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more specifically, to a robotic arm for spiral steaming and baking conveying. Background Technology

[0002] Spiral steaming and baking equipment is widely used in industries such as food processing and catering services because it can operate continuously and efficiently. However, the accompanying robotic arms have many problems in operation, which affect production efficiency and quality.

[0003] The primary problem is the cumbersome operation process. Existing robotic arms often require multiple independent operations when fixing objects to be steamed or baked. For example, adjusting the opening and closing of the robotic arm to grasp objects of different sizes requires manually rotating multiple knobs or operating multiple control levers. The adjustment accuracy is difficult to guarantee, and it is easy to cause problems such as insecure fixing or inaccurate grasping. Moving the object to the steaming or baking position is also complicated, requiring the use of an additional power system, such as an electric slide rail or hydraulic device. Operators must precisely control the movement speed and position through the control panel. This not only requires professional skills, but is also prone to abnormal movement or collisions of the robotic arm due to control errors. Resetting and retrieving the object after steaming or baking is also not easy. The reverse operation steps are numerous, time-consuming, and prone to oversight. In addition, existing robotic arms lack flexibility and adaptability. Different objects have different sizes, shapes, and weights, and different fixing methods and operation requirements. However, many robotic arms only have a single fixing method. For objects with special shapes, such as steaming or baking racks with hanging holes or smooth plates, they cannot provide a suitable solution. It is necessary to replace the robotic arm or use auxiliary tools, which increases the difficulty of operation and workload, and reduces the versatility of equipment and production efficiency.

[0004] In view of this, we propose a robotic arm for spiral steaming and baking conveying. Summary of the Invention

[0005] The purpose of this invention is to provide a spiral steaming and baking conveyor robot to solve the problems of existing spiral steaming and baking conveyor robots, such as cumbersome operation process, multiple independent operations for fixing objects, poor adjustment accuracy, many reset and picking steps, lack of flexibility and adaptability, and difficulty in dealing with various usage situations with a single fixing method, which reduces efficiency.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a spiral steaming and baking conveying robot, comprising a body mechanism, a suspension mechanism and a robot arm mechanism, wherein the inner wall of the body mechanism is connected to two suspension mechanisms, and the two suspension mechanisms are respectively connected to a plurality of robot arm mechanisms;

[0007] The machine body includes a base, a steam oven located above the base, two cabinet doors on the front of the steam oven, a control module, and a vent. The control module is connected to the steam oven, and the vent is located outside the steam oven.

[0008] The suspension mechanism includes a positioning plate, a mounting bracket connected to the positioning plate, several protective components disposed above the positioning plate, two bearings located inside the protective components, two first coil springs located outside the two bearings, an adjustment component disposed inside the two bearings, a limiting component, a winding drum, and a steel cable located outside the winding drum, wherein the limiting component is disposed inside the protective components, and the winding drum is fixedly connected to the outside of the adjustment component;

[0009] The robotic arm mechanism includes a top frame, two connecting frames disposed below the top frame, a limiting sleeve disposed outside the two connecting frames, a toothed plate located inside the limiting sleeve, a synchronization component connected to the toothed plate, a clamping component, and an elastic telescopic rod, wherein the elastic telescopic rod is disposed below the top frame, the elastic telescopic rod is connected to the synchronization component, and the clamping component engages with the toothed plate;

[0010] The mounting bracket is used to connect to an external driver and drive the positioning disk to rotate; the bottom end of the steel cable is used to connect to the top frame to adjust the position and height of the clamping assembly; and the toothed plate is used to adjust the angle of the clamping assembly.

[0011] This invention uses a steel cable to pull a winding drum and a rotating shaft to rotate. By utilizing the complex linkage between pulleys, extrusion blocks, a first push block, a friction block, a second push block, and a turntable, the winding drum can rotate continuously during pulling and automatically lock when pulling stops. A short pull can unlock the drum, allowing it to smoothly wind the steel cable back to its original position under the action of a first coil spring. This invention is easy to operate and provides a stable fix, reducing the difficulty of using the device and improving its flexibility.

[0012] Preferably, the upper part of the base is fixedly connected to the steam oven, the front of the steam oven is fixedly connected to the control module, and several ventilation ports are respectively opened on both sides and the bottom of the steam oven. The front of the steam oven is hinged to two cabinet doors.

[0013] The inner wall of the positioning disk is fixedly connected to the mounting bracket. The upper part of the positioning disk is fixedly connected to several protective components. The two sides of the inner walls of the several protective components are respectively engaged with several bearings. Two bearings located in the same protective component are connected to the same adjusting component. The first coil spring is sleeved on the outside of the bearing. The adjusting component overlaps with the limiting component. The limiting component is fixedly connected inside the protective component. The winding drum is fixedly connected outside the adjusting component. The steel cable is wound around the outside of the winding drum.

[0014] Preferably, the top frame is fixedly connected to two connecting frames at its lower part, one side of each of the two connecting frames is fixedly connected to two limiting sleeves, the four limiting sleeves are slidably connected to four toothed plates, the four toothed plates are fixedly connected by a synchronization assembly, one side of each of the two connecting frames is rotatably connected to a clamping assembly, and an elastic telescopic rod is fixedly connected to the lower part of the top frame, the bottom end of the elastic telescopic rod being fixedly connected to the synchronization assembly.

[0015] The top of the top frame is fixedly connected to the bottom of the steel cable.

[0016] Preferably, the protective component includes a protective shell, and a base is fixedly connected to the lower part of the protective shell. Both the base and the lower part of the protective shell are provided with through holes.

[0017] The steel cable is located inside the through hole, and the two sides of the inner wall of the protective shell are respectively engaged with two bearings. The base is fixedly connected above the positioning plate, and the adjustment component is fixedly connected to one side of the inner wall of the protective shell.

[0018] Preferably, the adjusting assembly includes a rotating shaft, six limiters are fixedly connected to the outside of the rotating shaft, and three extruders are fixedly connected to the outside of the rotating shaft, with the six limiters and three extruders evenly distributed outside the rotating shaft;

[0019] The two ends of the rotating shaft are respectively sleeved in two bearings, and the outer wall of the rotating shaft is fixedly connected to the winding drum. One of the limiters overlaps with the limit assembly.

[0020] Preferably, the limiting component includes a mounting plate, one side of which has two sliding grooves, each of which has a slider slidably connected to it. The slider is fixedly connected to an extrusion block. One side of the extrusion block is fixedly connected to a first push block. The front and top of the extrusion block have inclined grooves. The front of the mounting plate is fixedly connected to a second push block via a telescopic rod. The rear of the second push block has a groove, the inner wall of which is fixedly connected to a friction block. The first push block is located within the groove.

[0021] The mounting plate is fixedly connected inside the protective shell, and the limiter overlaps with the lower part of the extrusion block.

[0022] Preferably, the synchronization component includes two synchronization rods, which are fixedly connected by a crossbar, and a buckle is fixedly connected to the lower part of the crossbar.

[0023] The buckle is used to place the hook, the two synchronizing rods are fixedly connected to the bottom ends of the four toothed plates respectively, and the top of the two synchronizing rods are fixedly connected to the bottom ends of the two elastic telescopic rods respectively.

[0024] Preferably, the clamping assembly includes two mechanical claws, which are connected by the same rotating rod. A toothed ring is fixedly connected to the outside of each mechanical claw, and the other end of each mechanical claw is fixedly connected to the same placement plate.

[0025] The toothed ring meshes with the toothed plate, and the rotating rod is engaged in the connecting frame.

[0026] Preferably, the limiter includes a base plate, and guide grooves are provided on both sides of the base plate. Guide blocks are slidably connected in both guide grooves. The guide blocks are fixedly connected to one side of the inner wall of the guide groove by springs, and pulleys are fixedly connected to the other side of the guide blocks.

[0027] The base plate is fixedly connected to the outside of the rotating shaft, and the pulley is engaged below the extrusion block.

[0028] Preferably, the extruder includes a connecting plate, two pins are fixedly connected to the upper part of the connecting plate, the connecting plate is hinged to the dial plate through the pins, a second coil spring is provided outside the pins, and a baffle is fixedly connected to the upper part of the connecting plate, one side of the baffle overlaps with the dial plate;

[0029] The connecting plate is fixedly connected to the outside of the rotating shaft.

[0030] Compared with the prior art, the beneficial effects of the present invention are:

[0031] 1. This invention, through the design of adjustment and limiting components, ensures that during the pulling process, the steel cable drives the winding drum to rotate, causing the winding drum to synchronously drive the rotating shaft to rotate clockwise. At this time, the pulley outside the rotating shaft continuously presses the inclined groove above the compression block, causing the two compression blocks to move towards each other and press the friction block through the first push block, causing the second push block to slide out. As the rotating shaft rotates, the deflector plate also presses against the second push block and pushes the second push block and compression blocks back to their original positions. This process repeats, ensuring that the winding drum can continue to rotate when the steel cable is being pulled. When pulling stops, the deflector plate pushes the second push block, causing the compression blocks to reset. When the first coil spring winds up the steel cable, causing the rotating shaft to rotate in the opposite direction, the pulley is locked under the compression block, completing the fixation. For recovery, the steel cable needs to be pulled a short distance again, causing the rotating shaft to rotate clockwise again. The slider pushes the two pressing blocks on both sides to move towards each other again, and then releases the tension on the steel cable. When the first coil spring drives the steel cable to reset through the winding drum, the pressing blocks on both sides have entered the grooves of the second push block, making it difficult for the pressing blocks to affect the counterclockwise rotation of the shaft. This allows the winding drum to smoothly wind up the steel cable under the action of the first coil spring. The device drives the winding drum and shaft to rotate by the tension of the steel cable. By using the complex linkage between the pulley, pressing block, first push block, friction block, second push block, and lever plate, the winding drum can be continuously rotated when tension is applied and automatically locked when tension stops. A short pull can unlock the lock and allow the winding drum to smoothly wind up the steel cable to reset under the action of the first coil spring. The operation is convenient and the device is stable, which reduces the difficulty of using the device and improves the flexibility of its use.

[0032] 2. This invention also incorporates a synchronization component and a clamping component. The hook mode allows the hook to be directly attached to the outside of the robotic arm, facilitating the quick and easy hanging of items with hanging holes or rings. The robotic gripper can adapt to steamed and baked objects of different shapes and structures, expanding its application range. The hook operation is simple; simply attaching or removing the hook completes the fixing and release of the item without the need for complex adjustment or fixing devices, saving operation time and effort. The gripping state can easily fix items such as plates. The gripping force of the robotic arm ensures that the plate will not slide or tip over during steaming and baking, guaranteeing the uniformity and stability of the steaming and baking effect. Compared to some sharp or hard fixing methods, the gripping state is relatively gentle and will not damage items such as plates, making it especially suitable for some fragile or smooth-surfaced items. Furthermore, the two usage states can be quickly switched, further reducing the difficulty of using the device.

[0033] 3. The present invention also designs steel cables and limiting components, and controls the up and down movement of the robot by manually pulling the steel cables. Operators can get started without complicated training, which reduces the difficulty of operation and training costs. For most production sites, this simple and direct operation method is very convenient and reduces the difficulty of using the device. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0035] Figure 2 This is a schematic diagram of the body structure of the present invention;

[0036] Figure 3 This is a schematic diagram of the suspension mechanism structure of the present invention;

[0037] Figure 4 This is a schematic cross-sectional view of the protective component of the present invention;

[0038] Figure 5 This is an exploded view of the limiting component of the present invention;

[0039] Figure 6 This is a schematic diagram of the adjustment component structure of the present invention;

[0040] Figure 7 For the present invention Figure 6 Enlarged structural diagram at point A in the middle;

[0041] Figure 8 This is a schematic diagram of the gripping state structure of the robotic arm mechanism of the present invention;

[0042] Figure 9 This is a schematic diagram of the hook mode structure of the robotic arm mechanism of the present invention.

[0043] Explanation of the labels in the diagram:

[0044] 1. Body structure; 2. Suspension mechanism; 3. Robotic arm mechanism;

[0045] 11. Base of the unit; 12. Steam oven; 13. Cabinet door; 14. Control module; 15. Vent;

[0046] 21. Positioning plate; 22. Mounting bracket; 23. Protective components; 24. Bearing; 25. First coil spring; 26. Adjustment components; 27. Limiting components; 28. Rewind drum; 29. ​​Steel cable;

[0047] 31. Top frame; 32. Connecting frame; 33. Limiting sleeve; 34. Toothed plate; 35. Synchronization assembly; 36. Clamping assembly; 37. Elastic telescopic rod;

[0048] 231. Protective shell; 232. Base; 233. Through hole;

[0049] 261. Rotating shaft; 262. Limiter; 263. Extruder;

[0050] 271. Mounting plate; 272. Slide groove; 273. Slider; 274. Extrusion block; 275. Inclined groove; 276. First push block; 277. Second push block; 278. Groove; 279. Friction block;

[0051] 351. Synchronizing rod; 352. Crossbar; 353. Buckle;

[0052] 361. Mechanical gripper; 362. Rotating rod; 363. Gear ring; 364. Placement plate;

[0053] 2621, substrate; 2622, guide groove; 2623, guide block; 2624, spring; 2625, pulley;

[0054] 2631. Connecting plate; 2632. Pin; 2633. Dial plate; 2634. Second coil spring; 2635. Baffle. Detailed Implementation

[0055] like Figures 1 to 9As shown, the present invention relates to a spiral steam oven conveyor robot, comprising a body mechanism 1, a suspension mechanism 2, and a robot arm mechanism 3. The inner wall of the body mechanism 1 is connected to two suspension mechanisms 2, and the two suspension mechanisms 2 are respectively connected to several robot arm mechanisms 3. The body mechanism 1 includes a body base 11, a steam oven 12 located above the body base 11, two cabinet doors 13 located on the front of the steam oven 12, a control module 14, and a ventilation port 15. The control module 14 is connected to the steam oven 12, and the ventilation port 15 is located outside the steam oven 12. The suspension mechanism 2 includes a positioning plate 21, a mounting bracket 22 connected to the positioning plate 21, several protective components 23 located above the positioning plate 21, and two bearings 24 located within the protective components 23. The system includes two first coil springs 25 located outside the two bearings 24, an adjusting assembly 26 disposed within the two bearings 24, a limiting assembly 27, a winding drum 28, and a steel cable 29 located outside the winding drum 28. The limiting assembly 27 is disposed within the protective assembly 23, and the winding drum 28 is fixedly connected to the adjusting assembly 26. The robotic arm mechanism 3 includes a top frame 31, two connecting frames 32 disposed below the top frame 31, a limiting sleeve 33 disposed outside the two connecting frames 32, a toothed plate 34 disposed within the limiting sleeve 33, a synchronization assembly 35 connected to the toothed plate 34, a clamping assembly 36, and an elastic telescopic rod 37. The elastic telescopic rod 37 is disposed below the top frame 31 and is connected to the synchronization assembly 35. The clamping assembly 36 engages with the toothed plate 34. The frame 22 is used to connect to an external driver and drive the positioning disk 21 to rotate. The bottom end of the steel cable 29 is used to connect to the top frame 31 to adjust the position and height of the clamping assembly 36. The toothed plate 34 is used to adjust the angle of the clamping assembly 36. By designing the adjusting assembly 26 and the limiting assembly 27, the steel cable 29 drives the winding drum 28 to rotate during the pulling process, so that the winding drum 28 synchronously drives the rotating shaft 261 to rotate clockwise. At this time, the pulley 2625 outside the rotating shaft 261 continuously squeezes the inclined groove 275 above the squeezing block 274, so that the two squeezing blocks 274 move towards each other and squeeze the friction block 279 through the first push block 276, so that the second push block 277 slides out. As the rotating shaft 261 rotates, the lever 2633 will also squeeze and push the second push block 277. 277 and the compression block 274 reset, and this process repeats to ensure that the winding drum 28 can continue to rotate when the steel cable 29 is pulled. When the pulling stops, the second push block 277 is pushed by the lever 2633, causing the compression block 274 to reset. This causes the first coil spring 25 to wind the steel cable 29, causing the shaft 261 to rotate in the opposite direction. The pulley 2625 is then locked under the compression block 274, completing the fixation. When it is necessary to retract the cable 29, the steel cable 29 needs to be pulled again over a short distance, causing the shaft 261 to rotate clockwise again. The slider 273 pushes the compression blocks 274 on both sides to move towards each other again, and then releases the pull on the steel cable 29. When the first coil spring 25 drives the steel cable 29 to reset through the winding drum 28, the compression blocks 274 on both sides have entered the groove 278 of the second push block 277.This design makes it difficult for the compression block 274 to affect the counterclockwise rotation of the shaft 261, allowing the winding drum 28 to smoothly wind up the steel cable 29 under the action of the first coil spring 25. The device rotates the winding drum 28 and the shaft 261 by pulling the steel cable 29. Utilizing the complex linkage between the pulley 2625, compression block 274, first push block 276, friction block 279, second push block 277, and lever plate 2633, the device achieves continuous rotation of the winding drum 28 during pulling, automatic locking when pulling stops, and unlocking by a short pull, allowing the winding drum 28 to smoothly wind up the steel cable 29 and return to its original position under the action of the first coil spring 25. The device is easy to operate and securely fixed, reducing the difficulty of use and increasing its flexibility.

[0056] In an embodiment of the present invention, the upper part of the base 11 is fixedly connected to the steam oven 12, the front of the steam oven 12 is fixedly connected to the control module 14, several ventilation ports 15 are respectively opened on both sides and the bottom of the steam oven 12, the front of the steam oven 12 is hinged to two cabinet doors 13, the inner wall of the positioning plate 21 is fixedly connected to the mounting bracket 22, the upper part of the positioning plate 21 is fixedly connected to several protective components 23, and the two sides of the inner walls of the several protective components 23 are respectively engaged with several bearings 24, and two bearings 24 located in the same protective component 23 are engaged with the same bearing 24. An adjusting component 26 is connected, a first coil spring 25 is sleeved on the outside of the bearing 24, the adjusting component 26 overlaps with the limiting component 27, the limiting component 27 is fixedly connected inside the protective component 23, the winding drum 28 is fixedly connected outside the adjusting component 26, the steel cable 29 is wound around the outside of the winding drum 28, the bottom of the top frame 31 is fixedly connected to two connecting frames 32, one side of the two connecting frames 32 is fixedly connected to two limiting sleeves 33 respectively, the four limiting sleeves 33 are slidably connected to four toothed plates 34 respectively, the four toothed plates 34 are fixedly connected through a synchronization component 35, the two connecting frames 3 One side of the top frame 31 is rotatably connected to the clamping assembly 36. An elastic telescopic rod 37 is fixedly connected to the bottom of the top frame 31. The bottom end of the elastic telescopic rod 37 is fixedly connected to the synchronization assembly 35. The top of the top frame 31 is fixedly connected to the bottom end of the steel cable 29. Through the design of the synchronization assembly 35 and the clamping assembly 36, the hook mode allows the hook to be directly attached to the outside of the robotic arm, facilitating the quick and easy hanging of items with hanging holes or rings. The robotic gripper 361 can adapt to steaming and baking objects of different shapes and structures, expanding its application range. Furthermore, the hook operation is simple; just hang the hook or... Simply remove the device to secure and release items without the need for complex adjustments or fixing devices, saving operation time and effort. The gripping mode can easily secure items such as plates, and the gripping force of the robotic arm ensures that the plates will not slide or tip over during steaming and baking, guaranteeing the uniformity and stability of the steaming and baking effect. Compared with some sharp or hard fixing methods, the gripping mode is relatively gentle and will not damage the plates or other items. It is especially suitable for some fragile or smooth-surfaced items, and the two usage modes can be quickly switched, further reducing the difficulty of using the device.

[0057] In an embodiment of the present invention, the protective component 23 includes a protective shell 231, a base 232 fixedly connected to the lower part of the protective shell 231, and through holes 233 opened on the lower parts of both the base 232 and the protective shell 231. A steel cable 29 is located within the through holes 233. Two bearings 24 are respectively engaged on both sides of the inner wall of the protective shell 231. The base 232 is fixedly connected above the positioning plate 21. An adjusting component 26 is fixedly connected to one side of the inner wall of the protective shell 231. The adjusting component 26 includes a rotating shaft 261, and six... Six limiters 262 and three extruders 263 are fixedly connected to the outside of the rotating shaft 261, and the six limiters 262 and three extruders 263 are evenly distributed outside the rotating shaft 261. The two ends of the rotating shaft 261 are respectively sleeved in two bearings 24. The outer wall of the rotating shaft 261 is fixedly connected to the winding drum 28. One of the limiters 262 overlaps with a limiting assembly 27. The limiting assembly 27 includes a mounting plate 271. Two sliding grooves 272 are formed on one side of the mounting plate 271, and sliders 273 are slidably connected in each of the two sliding grooves 272. Block 273 is fixedly connected to extrusion block 274. A first push block 276 is fixedly connected to one side of extrusion block 274. Sloping grooves 275 are provided on the front and top of extrusion block 274. A second push block 277 is fixedly connected to the front of mounting plate 271 via a telescopic rod. A groove 278 is provided behind the second push block 277. A friction block 279 is fixedly connected to the inner wall of groove 278. The first push block 276 is located in groove 278. Mounting plate 271 is fixedly connected to protective shell 231. Limiter 262 is connected to extrusion block 274. The lower part overlaps, and the manual pulling of the steel cable 29 controls the movement of the mechanical claw 361. This combination of two usage modes forms a complete operating procedure. The operator can first pull the steel cable 29 to move the mechanical claw 361 down to a suitable position, select the hook mode or grip mode to fix it according to the type of object to be steamed or baked, and then stop pulling to lock the mechanical claw 361 and start the steaming and baking process. After steaming and baking is completed, a short pull of the steel cable 29 releases the lock and the mechanical claw 361 resets. The entire operating procedure is clear and smooth, improving work efficiency.

[0058] By designing the steel cable 29 and the limiting component 27, the up and down movement of the robot can be controlled by manually pulling the steel cable 29. Operators can get started without complicated training, which reduces the difficulty of operation and training costs. For most production sites, this simple and direct operation method is very convenient and reduces the difficulty of using the device.

[0059] In another embodiment of the present invention, the synchronization component 35 includes two synchronization rods 351, which are fixedly connected by a crossbar 352. A retaining ring 353 is fixedly connected to the lower part of the crossbar 352 for placing a hook. The two synchronization rods 351 are respectively fixedly connected to the bottom ends of four toothed plates 34, and the upper parts of the two synchronization rods 351 are respectively fixedly connected to the bottom ends of two elastic telescopic rods 37. The clamping component 36 includes two mechanical claws 361, which are connected by a common rotating rod 362. Teeth are fixedly connected to the outside of each mechanical claw 361. The ring 363 and the other ends of the two mechanical claws 361 are fixedly connected to the same placement plate 364. The toothed ring 363 meshes with the toothed plate 34. The rotating rod 362 is snapped into the connecting frame 32. The manual operation mode of the steel cable 29 and the winding drum 28 cooperates with the two usage modes of the mechanical claws 361, so that the device can adapt to a variety of different steaming and baking scenarios and object types. Whether it is a suspended steaming and baking object or an object placed on a plate, it can be fixed and transported through simple operation, which greatly improves the versatility and practicality of the equipment and reduces the cost for enterprises to purchase multiple devices for different steaming and baking needs.

[0060] In another embodiment of the present invention, the limiter 262 includes a base plate 2621, with guide grooves 2622 on both sides of the base plate 2621. Guide blocks 2623 are slidably connected within each guide groove 2622. The guide blocks 2623 are fixedly connected to one side of the inner wall of the guide groove 2622 via springs 2624. A pulley 2625 is fixedly connected to the other side of the guide block 2623. The base plate 2621 is fixedly connected to the outside of the rotating shaft 261. The pulley 2625 is engaged below the pressing block 274. The presser 263 includes a connecting plate 2631, with two... A pin 2632 is used to hinge the connecting plate 2631 to the lever plate 2633. A second coil spring 2634 is provided outside the pin 2632. A baffle 2635 is fixedly connected above the connecting plate 2631. One side of the baffle 2635 overlaps with the lever plate 2633. The connecting plate 2631 is fixedly connected to the outside of the rotating shaft 261. Because a pulley 2625 is provided, the friction between the pulley 2625 and the inclined groove 275 above the extrusion block 274 is reduced, ensuring that the pulley 2625 can stably push the two extrusion blocks 274 to move towards each other when rotating clockwise along the rotating shaft 261.

[0061] Working principle: This embodiment provides a spiral steam oven conveyor robot. In use, the steel cable 29 is manually pulled to rotate the winding drum 28, causing the mechanical claw 361 to move down to the target pick-up / placement position. During the pulling process, the steel cable 29 drives the winding drum 28 to rotate, causing the winding drum 28 to synchronously drive the rotating shaft 261 to rotate clockwise. At this time, the pulley 2625 outside the rotating shaft 261 continuously presses the inclined groove 275 above the pressing block 274, causing the two pressing blocks 274 to move towards each other and press the friction block 279 through the first push block 276, thus... The second push block 277 slides out, and as the rotating shaft 261 rotates, the lever 2633 will also press against the second push block 277 and push the second push block 277 and the pressing block 274 to reset. This process is repeated to ensure that the winding drum 28 can continue to rotate when the steel cable 29 is pulled. When the pulling stops, the lever 2633 pushes the second push block 277, causing the pressing block 274 to reset. When the first coil spring 25 winds up the steel cable 29 and the rotating shaft 261 rotates in the opposite direction, the pulley 2625 is stuck under the pressing block 274, thus completing the fixation.

[0062] If the hook mode is used, the hook of the item to be steamed or baked is hung on the buckle 353 of the synchronization component 35. The elastic telescopic rod 37 is stretched under tension, and the synchronization component 35 drives the toothed plate 34 to slide along the limiting sleeve 33. The toothed plate 34 engages with the toothed ring 363 of the clamping component 36, causing the mechanical claw 361 to open and securely hang the item. If the gripping mode is used, the plate or other items are placed directly on the placement plate 364 of the mechanical claw 361. After the hook is removed, the elastic telescopic rod 37 returns to its original position and retracts. The synchronization component 35 drives the toothed plate 34 to slide in the opposite direction, and the toothed ring 363 drives the mechanical claw 361 to close and clamp the item. When it is time to recycle... The steel cable 29 needs to be pulled again over a short distance to make the rotating shaft 261 rotate clockwise again. The slider 273 pushes the pressing blocks 274 on both sides to move towards each other again, and then releases the pull on the steel cable 29. When the first coil spring 25 drives the steel cable 29 to reset through the winding drum 28, the pressing blocks 274 on both sides have entered the groove 278 of the second push block 277, making it difficult for the pressing blocks 274 to affect the counterclockwise rotation of the rotating shaft 261. This allows the winding drum 28 to smoothly wind up the steel cable 29 under the action of the first coil spring 25, pulling the robot back to the spiral conveyor position inside the steam oven 12.

[0063] When the shaft 261 rotates counterclockwise, the lever 2633 will not be blocked by the baffle 2635, so the lever 2633 will continue to press down on the second push block 277 and flip along the pin 2632, thus not affecting the position of the second pin 2632. When the shaft 261 rotates clockwise, it will be difficult to flip along the pin 2632 due to the obstruction of the baffle 2635, thus ensuring the pressing effect on the second push block 277 and ensuring that the pressing block 274 can block the pulley 2625 when the steel cable 29 stops being pulled.

[0064] The steam oven 12 is started by setting parameters such as steaming and baking temperature and time through the control module 14. The cabinet door 13 is closed and the ventilation vent 15 continuously adjusts the internal temperature and humidity. After steaming and baking is completed, the steel cable 29 is pulled again to move the robotic arm down. After the finished product is removed, the above steps are repeated to carry out the next batch of operations.

[0065] The embodiments disclosed in this invention are preferred embodiments, but are not limited thereto. Those skilled in the art can easily understand the spirit of this invention based on the above embodiments and make different extensions and variations, but as long as they do not depart from the spirit of this invention, they are all within the protection scope of this invention.

Claims

1. A robotic arm for spiral steaming and baking conveying, characterized in that, It includes a body mechanism (1), a suspension mechanism (2) and a robotic arm mechanism (3), wherein the inner wall of the body mechanism (1) is connected to two suspension mechanisms (2), and the two suspension mechanisms (2) are respectively connected to several robotic arm mechanisms (3); The machine body (1) includes a machine body base (11), a steam oven (12) located above the machine body base (11), two cabinet doors (13) located on the front of the steam oven (12), a control module (14) and a ventilation port (15), wherein the control module (14) is connected to the steam oven (12), and the ventilation port (15) is located outside the steam oven (12); The suspension mechanism (2) includes a positioning plate (21), a mounting bracket (22) connected to the positioning plate (21), a plurality of protective components (23) disposed above the positioning plate (21), two bearings (24) located inside the protective components (23), two first coil springs (25) located outside the two bearings (24), an adjustment component (26) disposed inside the two bearings (24), a limiting component (27), a winding drum (28), and a steel cable (29) located outside the winding drum (28), wherein the limiting component (27) is disposed inside the protective components (23), and the winding drum (28) is fixedly connected to the outside of the adjustment component (26); The robotic arm mechanism (3) includes a top frame (31), two connecting frames (32) disposed below the top frame (31), a limiting sleeve (33) disposed outside the two connecting frames (32), a toothed plate (34) located inside the limiting sleeve (33), a synchronization component (35) connected to the toothed plate (34), a clamping component (36) and an elastic telescopic rod (37), wherein the elastic telescopic rod (37) is disposed below the top frame (31), the elastic telescopic rod (37) is connected to the synchronization component (35), and the clamping component (36) engages with the toothed plate (34); The mounting bracket (22) is used to connect to an external driver and drive the positioning disk (21) to rotate. The bottom end of the steel cable (29) is used to connect to the top frame (31) to adjust the position height of the clamping assembly (36). The toothed plate (34) is used to adjust the angle of the clamping assembly (36).

2. The spiral steaming and baking conveyor robot according to claim 1, characterized in that, The upper part of the base (11) is fixedly connected to the steam oven (12), the front of the steam oven (12) is fixedly connected to the control module (14), and several ventilation ports (15) are respectively opened on both sides and the bottom of the steam oven (12). The front of the steam oven (12) is hinged to two cabinet doors (13). The inner wall of the positioning disk (21) is fixedly connected to the mounting bracket (22). The upper part of the positioning disk (21) is fixedly connected to several protective components (23). The two sides of the inner walls of the several protective components (23) are respectively engaged with several bearings (24). Two bearings (24) located in the same protective component (23) are connected to the same adjusting component (26). The first coil spring (25) is sleeved on the outside of the bearing (24). The adjusting component (26) overlaps with the limiting component (27). The limiting component (27) is fixedly connected inside the protective component (23). The winding drum (28) is fixedly connected outside the adjusting component (26). The steel cable (29) is wound around the outside of the winding drum (28).

3. The spiral steaming and baking conveyor robot according to claim 2, characterized in that, The top frame (31) is fixedly connected to two connecting frames (32) at its bottom. One side of each of the two connecting frames (32) is fixedly connected to two limiting sleeves (33). The four limiting sleeves (33) are slidably connected to four toothed plates (34). The four toothed plates (34) are fixedly connected through a synchronization assembly (35). One side of each of the two connecting frames (32) is rotatably connected to a clamping assembly (36). An elastic telescopic rod (37) is fixedly connected to the bottom of the top frame (31). The bottom end of the elastic telescopic rod (37) is fixedly connected to the synchronization assembly (35). The top of the top frame (31) is fixedly connected to the bottom of the steel cable (29).

4. The spiral steaming and baking conveyor robot according to claim 3, characterized in that, The protective component (23) includes a protective shell (231), and a base (232) is fixedly connected to the lower part of the protective shell (231). Both the base (232) and the protective shell (231) have through holes (233) at their lower parts. The steel cable (29) is located inside the through hole (233), and the two sides of the inner wall of the protective shell (231) are respectively engaged with two bearings (24). The base (232) is fixedly connected above the positioning plate (21), and the adjustment component (26) is fixedly connected to one side of the inner wall of the protective shell (231).

5. The spiral steaming and baking conveyor robot according to claim 4, characterized in that, The adjustment assembly (26) includes a rotating shaft (261), six limiters (262) are fixedly connected to the outside of the rotating shaft (261), and three extruders (263) are fixedly connected to the outside of the rotating shaft (261), and the six limiters (262) and three extruders (263) are evenly distributed outside the rotating shaft (261); The two ends of the rotating shaft (261) are respectively sleeved in two bearings (24), and the outer wall of the rotating shaft (261) is fixedly connected to the winding drum (28). One of the limiters (262) overlaps with the limit assembly (27).

6. The robotic arm for spiral steaming and baking conveying according to claim 5, characterized in that, The limiting component (27) includes a mounting plate (271). Two sliding grooves (272) are provided on one side of the mounting plate (271). A slider (273) is slidably connected in each of the two sliding grooves (272). The slider (273) is fixedly connected to the extrusion block (274). A first push block (276) is fixedly connected to one side of the extrusion block (274). An inclined groove (275) is provided on the front and top of the extrusion block (274). A second push block (277) is fixedly connected to the front of the mounting plate (271) through a telescopic rod. A groove (278) is provided behind the second push block (277). A friction block (279) is fixedly connected to the inner wall of the groove (278). The first push block (276) is located in the groove (278). The mounting plate (271) is fixedly connected inside the protective shell (231), and the limiter (262) overlaps with the lower part of the compression block (274).

7. The spiral steaming and baking conveyor robot according to claim 6, characterized in that, The synchronization component (35) includes a synchronization rod (351), and there are two synchronization rods (351). The two synchronization rods (351) are fixedly connected by a crossbar (352), and a buckle (353) is fixedly connected to the bottom of the crossbar (352). The buckle (353) is used to place the hook, the two synchronizing rods (351) are fixedly connected to the bottom ends of the four toothed plates (34) respectively, and the top of the two synchronizing rods (351) are fixedly connected to the bottom ends of the two elastic telescopic rods (37) respectively.

8. The robotic arm for spiral steaming and baking conveying according to claim 7, characterized in that, The clamping assembly (36) includes two mechanical claws (361), which are connected by the same rotating rod (362). A toothed ring (363) is fixedly connected to the outside of each mechanical claw (361), and the other end of each mechanical claw (361) is fixedly connected to the same placement plate (364). The toothed ring (363) meshes with the toothed plate (34), and the rotating rod (362) is engaged in the connecting frame (32).

9. The spiral steaming and baking conveyor robot according to claim 8, characterized in that, The limiter (262) includes a base plate (2621), and guide grooves (2622) are provided on both sides of the base plate (2621). Guide blocks (2623) are slidably connected in both guide grooves (2622). The guide blocks (2623) are fixedly connected to one side of the inner wall of the guide groove (2622) by springs (2624). A pulley (2625) is fixedly connected to the other side of the guide blocks (2623). The base plate (2621) is fixedly connected to the outside of the rotating shaft (261), and the pulley (2625) is engaged below the pressing block (274).

10. The robotic arm for spiral steaming and baking conveying according to claim 9, characterized in that, The extruder (263) includes a connecting plate (2631), two pins (2632) are fixedly connected to the top of the connecting plate (2631), the connecting plate (2631) is hinged to the lever plate (2633) through the pins (2632), a second coil spring (2634) is provided outside the pins (2632), a baffle (2635) is fixedly connected to the top of the connecting plate (2631), and one side of the baffle (2635) overlaps with the lever plate (2633); The connecting plate (2631) is fixedly connected to the outside of the rotating shaft (261).

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