Translation unloading manipulator

Abstract

The invention relates to the technical field of cold drink processing equipment, in particular to a translation unloading manipulator which comprises a quick-freezing tunnel machine, a production machine is arranged at the feeding end of the quick-freezing tunnel machine, a stripping machine is arranged at the discharging end of the quick-freezing tunnel machine, a packaging machine is arranged at the discharging end of the quick-freezing tunnel machine, and a chain plate type conveyor is arranged at the feeding end of the packaging machine. A discharging frame is arranged between the chain plate type conveyor and the quick-freezing tunnel machine, a clamping rod base is arranged on a batten of the chain plate type conveyor, a material taking base is arranged on the discharging frame in a sliding mode, a clamping air cylinder and a camera are arranged on the material taking base, the clamping air cylinder is used for clamping wooden handles on ice cream, and the clamping air cylinder and the camera are both electrically connected to a control system. A driving assembly for driving the material taking seat to move freely in a three-dimensional space is arranged on the discharging frame, and a clamping assembly is arranged on the clamping rod seat and used for clamping wooden handles on ice cream on the clamping air cylinder. The material clamping device has the effect of improving the material clamping precision and clamping efficiency.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of cold drink processing equipment, and in particular to a translation unloading manipulator. BACKGROUND

[0002] A quick-freezing tunnel machine is a commonly used cooling device for producing cold drink products such as ice cream and ice cream, and in the environment of mass production, the quick-freezing tunnel machine is usually matched with an unloading manipulator and a packaging device to improve production efficiency, and the core function of the unloading manipulator is to transfer the food, food materials and other materials in the tunnel to the subsequent packaging, storage and other stations, so as to solve the problems of low efficiency, easy freezing injury and material damage of manual unloading.

[0003] However, the traditional general mechanical unloading device adopts a single push plate or clamping structure, and in the clamping process, there are problems such as poor positioning accuracy and material deviation. SUMMARY

[0004] In order to improve the clamping problem of the traditional general mechanical unloading device, the application provides a translation unloading manipulator.

[0005] The translation unloading manipulator provided by the application adopts the following technical scheme: A translation unloading manipulator, comprising a quick-freezing tunnel machine, a production machine is arranged at the feeding end of the quick-freezing tunnel machine, a material removing machine is arranged at the discharging end of the quick-freezing tunnel machine, a packaging machine is arranged at the discharging end of the quick-freezing tunnel machine, a chain plate conveyor is arranged at the feeding end of the packaging machine, a discharging rack is arranged between the chain plate conveyor and the quick-freezing tunnel machine, a clamping rod seat is arranged on the slat of the chain plate conveyor, a material taking seat is slidably arranged on the discharging rack, a clamping cylinder and a camera are arranged on the material taking seat, the clamping cylinder is used for clamping a wooden handle on an ice cream, the clamping cylinder and the camera are electrically connected to a control system, a driving assembly for driving the material taking seat to move in three-dimensional space is arranged on the discharging rack, a clamping assembly is arranged on the clamping rod seat, and the clamping assembly is used for clamping the wooden handle on the ice cream on the clamping cylinder.

[0006] By adopting the above technical solution, the production machine produces ice cream on the circulating conveyor belt of the quick-freezing tunnel machine. As the ice cream is rapidly frozen and conveyed to the unloading machine, the unloading machine separates the bottom of the quick-frozen ice cream from the circulating conveyor belt of the quick-freezing tunnel machine. As the separated ice cream moves to the unloading rack, under the visual guidance of the camera, the drive component drives the picking seat to approach the ice cream, so that the clamping cylinder can accurately clamp the wooden handle of the ice cream. Then, the drive component drives the picking seat to bring the ice cream closer to the clamping rod seat on the chain plate conveyor, so that the clamping component can clamp the wooden handle of the ice cream, thus completing the unloading process of the ice cream. Through the visual guidance function of the camera, the randomness of the position movement of the ice cream during the unloading process is solved, and the accuracy of the clamping process is greatly improved.

[0007] Optionally, the drive assembly includes a horizontal slide rail mounted on the unloading rack, a transfer plate slidably mounted on the horizontal slide rail, a reciprocating component mounted on the unloading rack for driving the transfer plate to slide back and forth, a lifting plate slidably mounted vertically on the transfer plate, a lifting cylinder mounted on the transfer plate, the lifting plate mounted on the piston rod of the lifting cylinder, a transverse plate slidably mounted on the lifting plate, a transverse cylinder mounted on the lifting plate, the transverse plate mounted on the piston rod of the transverse cylinder, a picking seat slidably mounted on the transverse plate, a longitudinal cylinder mounted on the transverse plate, and the picking seat mounted on the piston rod of the longitudinal cylinder. The lifting cylinder, the transverse cylinder, and the longitudinal cylinder are all electrically connected to the control system.

[0008] By adopting the above technical solution, when the position of the ice cream captured by the camera deviates, the control system activates the horizontal and vertical cylinders. The piston rods of the horizontal and vertical cylinders extend or retract, causing the clamping cylinder on the picking seat to move directly above the wooden handle of the ice cream. Subsequently, the control system activates the lifting cylinder, whose piston rod extends to bring the clamping cylinder closer to the ice cream, thereby enabling the clamping cylinder to clamp the wooden handle of the ice cream. In addition, when there is a small probability that the ice cream being detached will deviate too much, the control system can coordinate the lifting cylinder, the horizontal cylinder, and the vertical cylinder to make the clamping cylinder first straighten the position of the ice cream before clamping it, thereby achieving a precise clamping effect.

[0009] Optionally, the reciprocating component includes a forward and reverse motor mounted on the unloading rack. The forward and reverse motor is electrically connected to the control system. A first synchronous pulley is mounted on the output shaft of the forward and reverse motor. Second synchronous pulleys are rotatably mounted at both ends of the horizontal slide rail along its length. The first and second synchronous pulleys have the same structure. A synchronous belt is wound around both the first and second synchronous pulleys. The transfer plate is mounted on the synchronous belt.

[0010] By adopting the above technical solution, the control system starts the forward and reverse motor. The output shaft of the forward and reverse motor drives the first synchronous wheel to rotate in the forward direction. The first synchronous wheel drives the transfer plate to slide in the forward direction along the length of the horizontal slide rail through the synchronous belt. The reciprocating sliding effect of the transfer plate is achieved by the forward and reverse rotation of the output shaft of the forward and reverse motor.

[0011] Optionally, the clamping assembly includes a base plate disposed on the clamping rod seat, a rotating shaft rotatably disposed on the clamping rod seat, a pressure plate sleeved on the rotating shaft, a tension spring disposed between one end of the pressure plate and the clamping rod seat, the other end of the pressure plate abutting against the base plate, and an opening and closing component for driving the pressure plate to rotate on the chain conveyor.

[0012] By adopting the above technical solution, the opening and closing component first drives the pressure plate to rotate in the forward direction around the rotating shaft, thereby separating the end of the pressure plate near the bottom plate from the bottom plate. During this process, the tension spring is stretched. After the wooden handle of the ice cream is placed on the bottom plate, the opening and closing component drives the pressure plate to rotate in the reverse direction around the rotating shaft, and the tension spring returns to its deformation, thereby pressing the wooden handle of the ice cream tightly onto the bottom plate, thus realizing the transfer of the ice cream between the clamping cylinder and the clamping rod seat.

[0013] Optionally, the opening and closing component includes a rocker seat tube rotatably mounted on the chain conveyor, a rocker arm and a trigger rod are provided on the rocker seat tube, there is an included angle between the rocker arm and the trigger rod, an opening and closing cylinder is hinged between the end of the rocker arm away from the rocker seat tube and the chain conveyor, the opening and closing cylinder is electrically connected to the control system, and a pressing block is provided on the trigger rod, the pressing block is used to abut against and push the end of the pressure plate away from the base plate.

[0014] By adopting the above technical solution, the control system starts the opening and closing cylinder. The piston rod of the opening and closing cylinder extends and pushes the rocker arm to rotate, thereby causing the rocker arm to rotate and the trigger rod to rotate. The rotating trigger rod will drive the pressing block to push the pressure plate away from the bottom plate, thereby causing the pressure plate to rotate in the forward direction, which in turn stretches the tension spring. When the pressing block moves away from the pressure plate, the tension on the tension spring will clamp and fix the wooden handle of the ice cream.

[0015] Optionally, a material collection frame is provided directly below the unloading frame, and a feeding roller is rotatably provided at both ends of the material collection frame in the length direction. A feeding belt is wound on the feeding roller, and a material collection motor electrically connected to the control system is provided on the material collection frame. One of the feeding rollers is coaxially provided on the output shaft of the material collection motor.

[0016] By adopting the above technical solution, the control system starts the collecting motor, and the output shaft of the collecting motor drives the conveyor belt to rotate through the conveyor roller. At this time, the ice cream crumbs that accidentally fall during the transfer of ice cream by the clamping cylinder will be transported by the conveyor belt to the designated location for collection, reducing the possibility of ice cream crumbs polluting the entire production environment.

[0017] Optionally, multiple clamping rod seats are provided on the slats of the chain conveyor, and the multiple clamping rod seats are evenly arranged along the length direction of the slats of the chain conveyor. Multiple transverse cylinders are provided on the lifting plate. The number of clamping rod seats on a single slat of the chain conveyor is the same as the number of transverse cylinders on the lifting plate. All the pressure plates on a single slat of the chain conveyor are collectively mounted on a rotating shaft.

[0018] By adopting the above technical solution, multiple ice creams in different positions can be clamped at the same time, which helps to improve the efficiency of ice cream transfer.

[0019] Optionally, a pressure sensor is provided between the clamping cylinder and the material handling seat, and the pressure sensor is electrically connected to the control system.

[0020] By adopting the above technical solution, when the pressure value fed back by the pressure sensor is much lower than the pressure value when the clamping cylinder picks up the standard ice cream, it indicates that the production quality of the ice cream is substandard or the ice cream has broken. The control system will report this situation to the staff, who will then check the production machine or clean up the remaining ice cream fragments on the quick-freezing tunnel machine.

[0021] In summary, this application includes at least one of the following beneficial technical effects: 1. The production machine produces ice cream on the circulating conveyor belt of the quick-freezing tunnel machine. As the ice cream is rapidly frozen and conveyed to the unloading machine, the unloading machine separates the bottom of the quick-frozen ice cream from the circulating conveyor belt of the quick-freezing tunnel machine. As the separated ice cream moves to the unloading rack, under the visual guidance of the camera, the drive component drives the picking seat to approach the ice cream, so that the clamping cylinder can accurately clamp the wooden handle of the ice cream. Then, the drive component drives the picking seat to bring the ice cream closer to the clamping rod seat on the chain plate conveyor, so that the clamping component can clamp the wooden handle of the ice cream, thus completing the unloading process of the ice cream. The visual guidance function of the camera solves the randomness of the position movement of the ice cream during the unloading process and greatly improves the accuracy of the clamping process. 2. When the position of the ice cream captured by the camera shifts, the control system activates the horizontal and vertical cylinders. The piston rods of the horizontal and vertical cylinders extend or retract, causing the clamping cylinder on the picking seat to move directly above the wooden handle of the ice cream. Subsequently, the control system activates the lifting cylinder. The piston rod of the lifting cylinder extends, bringing the clamping cylinder closer to the ice cream, thus enabling the clamping cylinder to grip the wooden handle of the ice cream. In addition, when there is a small probability that the ice cream being detached will deviate too much, the control system can coordinate the work of the lifting cylinder, the horizontal cylinder, and the vertical cylinder to make the clamping cylinder first straighten the position of the ice cream before clamping it, thereby achieving a precise clamping effect. 3. When the pressure value fed back by the pressure sensor is much lower than the pressure value when the clamping cylinder picks up the standard ice cream, it indicates that the production quality of the ice cream is substandard or the ice cream has broken. The control system will report this situation to the staff, who will then check the production machine or clean up the remaining ice cream fragments on the quick-freezing tunnel machine. Attached Figure Description

[0022] Figure 1 This is a structural schematic diagram of an embodiment of this application.

[0023] Figure 2 This is a structural diagram illustrating the positional relationship between the chain conveyor, the unloading machine, and the packaging machine in the embodiments of this application.

[0024] Figure 3 This is a cross-sectional view used in the embodiments of this application to illustrate the positional relationship between the chain conveyor, the quick-freezing tunnel machine, and the packaging machine.

[0025] Figure 4 This is a cross-sectional view used in the embodiments of this application to illustrate the positional relationship between the lifting cylinder, the clamping cylinder, and the pressure plate.

[0026] Explanation of reference numerals in the attached diagram: 0. Ice cream; 1. Quick-freezing tunnel machine; 2. Production machine; 3. Unloading machine; 4. Packaging machine; 5. Chain conveyor; 6. Unloading rack; 7. Clamping rod seat; 8. Picking seat; 9. Clamping cylinder; 10. Camera; 11. Drive assembly; 111. Horizontal slide rail; 112. Transfer plate; 113. Lifting plate; 114. Lifting cylinder; 115. Transverse plate; 116. Transverse cylinder; 117. Longitudinal cylinder; 12. Clamping assembly; 1 21. Base plate; 122. Rotating shaft; 123. Pressure plate; 124. Tension spring; 13. Reciprocating component; 131. Forward and reverse motor; 132. First synchronous pulley; 133. Second synchronous pulley; 134. Synchronous belt; 14. Opening and closing component; 141. Rocker seat tube; 142. Rocker arm; 143. Trigger rod; 144. Opening and closing cylinder; 145. Pressing block; 15. Material collection rack; 16. Feeding roller; 17. Feeding belt; 18. Material collection motor; 19. Pressure sensor. Detailed Implementation

[0027] The following is in conjunction with the appendix Figures 1-4 This application will be described in further detail.

[0028] This application discloses a translational unloading robot.

[0029] Reference Figure 1 , Figure 2 and Figure 3A translational unloading robot includes a quick-freezing tunnel machine 1. A production machine 2 is arranged at the feeding end of the quick-freezing tunnel machine 1, a desiccant 3 is arranged at the discharging end of the quick-freezing tunnel machine 1, a packaging machine 4 is arranged at the discharging end of the quick-freezing tunnel machine 1, a chain conveyor 5 is arranged at the feeding end of the packaging machine 4, and an unloading rack 6 is arranged between the chain conveyor 5 and the quick-freezing tunnel machine 1.

[0030] Production machine 2 produces ice cream 0 on the circulating conveyor belt of quick-freezing tunnel machine 1. During the conveying process, ice cream 0 is quick-frozen and conveyed to unloading machine 3. Unloading machine 3 separates the bottom of quick-frozen ice cream 0 from the circulating conveyor belt of quick-freezing tunnel machine 1. After separation, ice cream 0 will continue to move to unloading rack 6.

[0031] Reference Figure 2 , Figure 3 and Figure 4 Clamping rod seats 7 are bolted to the slats of the chain conveyor 5. Multiple clamping rod seats 7 are bolted to the slats of the chain conveyor 5. Multiple clamping rod seats 7 are evenly arranged along the length of the slats of the chain conveyor 5. A material picking seat 8 is slidably arranged on the unloading rack 6.

[0032] Reference Figure 2 , Figure 3 and Figure 4 The material handling seat 8 is equipped with a clamping cylinder 9 and a camera 10. The clamping cylinder 9 is used to clamp the wooden handle on the ice cream 0. A pressure sensor 19 is arranged between the clamping cylinder 9 and the material handling seat 8. The pressure sensor 19, the clamping cylinder 9 and the camera 10 are all electrically connected to the control system. The unloading rack 6 is equipped with a drive component 11 that drives the material handling seat 8 to move arbitrarily in three-dimensional space.

[0033] Reference Figure 3 and Figure 4 The drive assembly 11 includes a horizontal slide rail 111 bolted to the unloading rack 6, a transfer plate 112 slidably connected to the horizontal slide rail 111, and a reciprocating component 13 for driving the transfer plate 112 to slide back and forth on the unloading rack 6.

[0034] Reference Figure 3 and Figure 4 The reciprocating component 13 includes a forward and reverse motor 131 bolted to the unloading rack 6. The forward and reverse motor 131 can be a forward and reverse geared motor in the prior art. The forward and reverse motor 131 is electrically connected to the control system. A first synchronous pulley 132 is bolted to the output shaft of the forward and reverse motor 131. Both ends of the horizontal slide rail 111 in the length direction are rotatably connected to a second synchronous pulley 133.

[0035] Reference Figure 3 and Figure 4The first synchronous pulley 132 and the second synchronous pulley 133 have the same structure. The first synchronous pulley 132 and the second synchronous pulley 133 are wound together with a synchronous belt 134. The transfer plate 112 is bolted to the synchronous belt 134. The lifting plate 113 is vertically slidably arranged on the transfer plate 112. The lifting cylinder 114, which is electrically connected to the control system, is bolted to the transfer plate 112. The lifting plate 113 is bolted to the piston rod of the lifting cylinder 114. Multiple horizontal plates 115 are horizontally slidably arranged on the lifting plate 113.

[0036] Reference Figure 3 and Figure 4 Multiple horizontal cylinders 116, which are electrically connected to the control system, are bolted to the lifting plate 113. The horizontal plate 115 and the horizontal cylinders 116 correspond one-to-one. The multiple horizontal cylinders 116 are evenly arranged along the length of the chain conveyor 5. The horizontal plate 115 is bolted to the piston rod of the horizontal cylinder 116.

[0037] Reference Figure 3 and Figure 4 The number of clamping rod seats 7 on a single slat of the chain conveyor 5 is the same as the number of transverse cylinders 116 on the lifting plate 113. The material taking seat 8 is slidably arranged on the transverse plate 115. A longitudinal cylinder 117 electrically connected to the control system is bolted on the transverse plate 115. The material taking seat 8 is bolted to the piston rod of the longitudinal cylinder 117.

[0038] The camera 10 feeds back the position status of the ice cream 0 below it to the control system. The control system activates the horizontal cylinder 116 and the vertical cylinder 117. The piston rod of the horizontal cylinder 116 extends or retracts to move the horizontal plate 115. The piston rod of the vertical cylinder 117 extends or retracts to move the material-picking seat 8, so that the clamping cylinder 9 on the material-picking seat 8 can move to directly above the wooden handle of the ice cream 0.

[0039] Subsequently, the control system activates the lifting cylinder 114. The piston rod of the lifting cylinder 114 extends, causing the clamping cylinder 9 to descend and gradually approach the ice cream 0, thereby enabling the clamping cylinder 9 to clamp the wooden handle of the ice cream 0. In addition, when the ice cream 0 is deflected at too large an angle during the conveying process, the control system can coordinate the lifting cylinder 114, the horizontal cylinder 116, and the vertical cylinder 117 to enable the clamping cylinder 9 to first straighten the position of the ice cream 0 before accurately clamping it.

[0040] Subsequently, the control system restarts the lifting cylinder 114, and the piston rod of the lifting cylinder 114 retracts. At the same time, the control system starts the forward and reverse motor 131. The output shaft of the forward and reverse motor 131 drives the first synchronous wheel 132 to rotate in the forward direction. The first synchronous wheel 132 drives the transfer plate 112 to slide along the length of the horizontal slide rail 111 towards the chain plate conveyor 5 via the synchronous belt 134.

[0041] Reference Figure 4 A clamping assembly 12 is arranged on the clamping rod seat 7. The clamping assembly 12 is used to clamp the wooden handle of the ice cream 0 coming from the clamping cylinder 9.

[0042] Reference Figure 3 and Figure 4 The clamping assembly 12 includes a base plate 121 bolted to the clamping rod seat 7. A rotating shaft 122 is rotatably connected to multiple clamping rod seats 7. Multiple pressure plates 123 are sleeved on the rotating shaft 122. The pressure plates 123 are bolted to the rotating shaft 122. Each pressure plate 123 corresponds to one of the clamping rod seats 7. A tension spring 124 is arranged between one end of the pressure plate 123 and the clamping rod seat 7. The other end of the pressure plate 123 abuts against the base plate 121. An opening and closing component 14 for driving the pressure plate 123 to rotate is arranged on the chain plate conveyor 5.

[0043] Reference Figure 3 and Figure 4 The opening and closing component 14 includes a rocker tube 141 rotatably connected to the side of the chain conveyor 5. A rocker arm 142 and a trigger rod 143 are welded onto the rocker tube 141. The axis of the rocker arm 142 and the axis of the trigger rod 143 are both perpendicular to the axis of the rocker tube 141, and there is an included angle between the rocker arm 142 and the trigger rod 143.

[0044] Reference Figure 3 and Figure 4 The end of the rocker arm 142 away from the rocker seat tube 141 is hinged to the side wall of the chain conveyor 5 with an opening and closing cylinder 144. The opening and closing cylinder 144 is electrically connected to the control system. A pressing block 145 is bolted to the trigger rod 143. The pressing block 145 is used to abut and push the end of the pressure plate 123 away from the bottom plate 121.

[0045] Reference Figure 3 and Figure 4 A material collection frame 15 is arranged directly below the unloading frame 6. Both ends of the material collection frame 15 are rotatably connected to the material conveying rollers 16. A material conveying belt 17 is wound around the two material conveying rollers 16. A material collection motor 18, which is electrically connected to the control system, is bolted to the material collection frame 15. One of the material conveying rollers 16 is coaxially bolted to the output shaft of the material collection motor 18.

[0046] During the process of the clamping cylinder 9 clamping the ice cream 0 and moving it to the chain conveyor 5, the control system starts the opening and closing cylinder 144. The piston rod of the opening and closing cylinder 144 extends and pushes the rocker arm 142 to rotate, thereby causing the rocker seat tube 141 to drive the trigger rod 143 to rotate. The rotating trigger rod 143 will drive the pressing block 145 to push the pressure plate 123 away from the end of the base plate 121, thereby causing the pressure plate 123 to rotate in the forward direction. At this time, the tension spring 124 is stretched.

[0047] Under the feedback of the camera 10, the clamping cylinder 9 clamps the ice cream 0 and moves it to the top of the base plate 121. Then, the control system activates the lifting cylinder 114, and the piston rod of the lifting cylinder 114 extends, so that the wooden handle of the ice cream 0 abuts against the base plate 121.

[0048] Subsequently, the control system activates the opening and closing cylinder 144, the piston rod of the opening and closing cylinder 144 retracts, the trigger rod 143 rotates in the opposite direction and gradually moves the pressing block 145 away from the pressure plate 123. At this time, the restoring deformation force on the tension spring 124 will cause the pressure plate 123 to press the wooden handle of the ice cream 0 tightly onto the base plate 121. Then, the control system activates the clamping cylinder 9, and the clamping cylinder 9 releases the clamp on the wooden handle of the ice cream 0.

[0049] Then, the control system controls the forward and reverse motor 131 and the lifting cylinder 114 to reset the clamping cylinder 9. At the same time, the slats on the chain conveyor 5 rotate at a certain angle, so that the clamping rod seat 7 on the next slat moves to that position. Meanwhile, the ice cream 0 on the clamping rod seat 7 at the end of the chain conveyor 5 near the packaging machine 4 will be removed by the packaging machine 4 for packaging. This operation can be repeated.

[0050] The implementation principle of a translational unloading robot in this application embodiment is as follows: the production machine 2 produces ice cream 0 on the circulating conveyor belt of the quick-freezing tunnel machine 1. During the conveying process, the ice cream 0 is quick-frozen and conveyed to the unloading machine 3. The unloading machine 3 separates the bottom of the quick-frozen ice cream 0 from the circulating conveyor belt of the quick-freezing tunnel machine 1. The separated ice cream 0 will continue to move to the unloading rack 6.

[0051] The camera 10 feeds back the position status of the ice cream 0 below it to the control system. The control system activates the horizontal cylinder 116 and the vertical cylinder 117. The piston rod of the horizontal cylinder 116 extends or retracts to move the horizontal plate 115. The piston rod of the vertical cylinder 117 extends or retracts to move the material-picking seat 8, so that the clamping cylinder 9 on the material-picking seat 8 can move to directly above the wooden handle of the ice cream 0.

[0052] Subsequently, the control system activates the lifting cylinder 114. The piston rod of the lifting cylinder 114 extends, causing the clamping cylinder 9 to descend and gradually approach the ice cream 0, thereby enabling the clamping cylinder 9 to clamp the wooden handle of the ice cream 0. In addition, when the ice cream 0 is deflected at too large an angle during the conveying process, the control system can coordinate the lifting cylinder 114, the horizontal cylinder 116, and the vertical cylinder 117 to enable the clamping cylinder 9 to first straighten the position of the ice cream 0 before accurately clamping it.

[0053] Subsequently, the control system restarts the lifting cylinder 114, and the piston rod of the lifting cylinder 114 retracts. At the same time, the control system starts the forward and reverse motor 131. The output shaft of the forward and reverse motor 131 drives the first synchronous wheel 132 to rotate in the forward direction. The first synchronous wheel 132 drives the transfer plate 112 to slide along the length of the horizontal slide rail 111 towards the chain plate conveyor 5 via the synchronous belt 134.

[0054] During the process of the clamping cylinder 9 clamping the ice cream 0 and moving it to the chain conveyor 5, the control system starts the opening and closing cylinder 144. The piston rod of the opening and closing cylinder 144 extends and pushes the rocker arm 142 to rotate, thereby causing the rocker seat tube 141 to drive the trigger rod 143 to rotate. The rotating trigger rod 143 will drive the pressing block 145 to push the pressure plate 123 away from the end of the base plate 121, thereby causing the pressure plate 123 to rotate in the forward direction. At this time, the tension spring 124 is stretched.

[0055] Under the feedback of the camera 10, the clamping cylinder 9 clamps the ice cream 0 and moves it to the top of the base plate 121. Then, the control system activates the lifting cylinder 114, and the piston rod of the lifting cylinder 114 extends, so that the wooden handle of the ice cream 0 abuts against the base plate 121.

[0056] Subsequently, the control system activates the opening and closing cylinder 144, the piston rod of the opening and closing cylinder 144 retracts, the trigger rod 143 rotates in the opposite direction and gradually moves the pressing block 145 away from the pressure plate 123. At this time, the restoring deformation force on the tension spring 124 will cause the pressure plate 123 to press the wooden handle of the ice cream 0 tightly onto the base plate 121. Then, the control system activates the clamping cylinder 9, and the clamping cylinder 9 releases the clamp on the wooden handle of the ice cream 0.

[0057] Then, the control system controls the forward and reverse motor 131 and the lifting cylinder 114 to reset the clamping cylinder 9. At the same time, the slats on the chain conveyor 5 rotate at a certain angle, so that the clamping rod seat 7 on the next slat moves to that position. Meanwhile, the ice cream 0 on the clamping rod seat 7 at the end of the chain conveyor 5 near the packaging machine 4 will be removed by the packaging machine 4 for packaging. This operation can be repeated.

[0058] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A translational unloading robot, comprising a quick-freezing tunnel machine (1), wherein a production machine (2) is provided at the feeding end of the quick-freezing tunnel machine (1), a descrambling machine (3) is provided at the discharging end of the quick-freezing tunnel machine (1), a packaging machine (4) is arranged at the discharging end of the quick-freezing tunnel machine (1), and a chain conveyor (5) is provided at the feeding end of the packaging machine (4), characterized in that: A discharge rack (6) is provided between the chain conveyor (5) and the quick-freezing tunnel machine (1). A clamping rod seat (7) is provided on the slats of the chain conveyor (5). A picking seat (8) is slidably provided on the discharge rack (6). A clamping cylinder (9) and a camera (10) are provided on the picking seat (8). The clamping cylinder (9) is used to clamp the wooden handle on the ice cream (0). The clamping cylinder (9) and the camera (10) are electrically connected to the control system. A driving component (11) is provided on the discharge rack (6) to drive the picking seat (8) to move arbitrarily in three-dimensional space. A clamping component (12) is provided on the clamping rod seat (7). The clamping component (12) is used to clamp the wooden handle on the ice cream (0) coming from the clamping cylinder (9).

2. The translational unloading robot according to claim 1, characterized in that: The drive assembly (11) includes a horizontal slide rail (111) disposed on the unloading rack (6), a transfer plate (112) slidably disposed on the horizontal slide rail (111), a reciprocating component (13) for driving the transfer plate (112) to slide back and forth on the unloading rack (6), a lifting plate (113) slidably disposed vertically on the transfer plate (112), a lifting cylinder (114) disposed on the transfer plate (112), the lifting plate (113) being disposed on the piston rod of the lifting cylinder (114), and the lifting plate (113) being horizontally disposed on the lifting plate (113). A transverse plate (115) is slidably arranged, and a transverse cylinder (116) is arranged on the lifting plate (113). The transverse plate (115) is arranged on the piston rod of the transverse cylinder (116). The material taking seat (8) is slidably arranged on the transverse plate (115). A longitudinal cylinder (117) is arranged on the transverse plate (115). The material taking seat (8) is arranged on the piston rod of the longitudinal cylinder (117). The lifting cylinder (114), the transverse cylinder (116), and the longitudinal cylinder (117) are all electrically connected to the control system.

3. The translational unloading robot according to claim 2, characterized in that: The reciprocating component (13) includes a forward and reverse motor (131) mounted on the unloading rack (6). The forward and reverse motor (131) is electrically connected to the control system. A first synchronous pulley (132) is mounted on the output shaft of the forward and reverse motor (131). A second synchronous pulley (133) is rotatably mounted on both ends of the horizontal slide rail (111) in the length direction. The first synchronous pulley (132) and the second synchronous pulley (133) have the same structure. A synchronous belt (134) is wound around the first synchronous pulley (132) and the second synchronous pulley (133). The transfer plate (112) is mounted on the synchronous belt (134).

4. The translational unloading robot according to claim 3, characterized in that: The clamping assembly (12) includes a base plate (121) disposed on the clamping rod seat (7), a rotating shaft (122) is rotatably disposed on the clamping rod seat (7), a pressure plate (123) is sleeved on the rotating shaft (122), a tension spring (124) is disposed between one end of the pressure plate (123) and the clamping rod seat (7), and the other end of the pressure plate (123) abuts against the base plate (121). The chain conveyor (5) is provided with an opening and closing component (14) for driving the pressure plate (123) to rotate.

5. A translational unloading robot according to claim 4, characterized in that: The opening and closing component (14) includes a rocker seat tube (141) rotatably mounted on the chain conveyor (5). The rocker seat tube (141) is provided with a rocker arm (142) and a trigger rod (143). There is an angle between the rocker arm (142) and the trigger rod (143). An opening and closing cylinder (144) is hinged between the end of the rocker arm (142) away from the rocker seat tube (141) and the chain conveyor (5). The opening and closing cylinder (144) is electrically connected to the control system. A pressing block (145) is provided on the trigger rod (143). The pressing block (145) is used to abut against and push the pressure plate (123) away from the end of the base plate (121).

6. The translational unloading robot according to claim 5, characterized in that: A material collection frame (15) is provided directly below the unloading frame (6). Both ends of the material collection frame (15) are rotatably equipped with conveying rollers (16). A conveying belt (17) is wound around the conveying rollers (16). A material collection motor (18) electrically connected to the control system is provided on the material collection frame (15). One of the conveying rollers (16) is coaxially arranged on the output shaft of the material collection motor (18).

7. A translational unloading robot according to claim 4, characterized in that: Multiple clamping rod seats (7) are provided on the slats of the chain conveyor (5). The multiple clamping rod seats (7) are evenly arranged along the length direction of the slats of the chain conveyor (5). Multiple transverse cylinders (116) are provided on the lifting plate (113). The number of clamping rod seats (7) on a single slat of the chain conveyor (5) is the same as the number of transverse cylinders (116) on the lifting plate (113). All the pressure plates (123) on a single slat of the chain conveyor (5) are together mounted on a rotating shaft (122).

8. A translational unloading robot according to claim 1, characterized in that: A pressure sensor (19) is provided between the clamping cylinder (9) and the material handling seat (8), and the pressure sensor (19) is electrically connected to the control system.

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