An ice cream cone clamping and conveying mechanism

Abstract

This invention relates to the field of clamping and conveying technology, and more specifically discloses an ice cream cone clamping and conveying mechanism, including a support plate, a plurality of arrayed outer shells mounted on the upper part of the support plate, an elastic force-bearing component slidably connected inside the outer shells, an elastic seal mounted on the upper part of the elastic force-bearing component, a negative pressure chamber on one side of the elastic force-bearing component and the elastic seal, and a negative pressure source component through-sealed connection at the tail of the negative pressure chamber. This invention, by incorporating the elastic force-bearing component, the elastic seal, and the negative pressure chamber, utilizes the weight of the ice cream cone to drive the sliding plate to move, thereby controlling the opening size of the negative pressure chamber and achieving adaptive matching between the clamping force and the weight of the ice cream cone. This effectively solves the problem of large stability differences of ice cream cones of different weights during conveyor line start-up, shutdown, or vibration, and achieves reliable clamping of lightweight ice cream cones and low-damage conveying of heavy ice cream cones.

Description

Technical Field

[0001] This invention relates to the field of clamping and conveying technology, and more specifically to an ice cream cone clamping and conveying mechanism. Background Technology

[0002] Ice cream cones undergo multiple processes during production, such as spraying, cooling, and packaging. The switching between these processes is achieved through a clamping and conveying mechanism. Traditional clamping methods often use rigid clamps or ordinary negative suction structures, which can easily damage the surface of the cone and are difficult to adapt to the stable clamping requirements of cones of different weights and postures.

[0003] Existing clamping and conveying mechanisms often cause the brittle cylinders to sway or tilt due to inertial torque when the conveyor line starts, stops, or vibrates. This is especially true for lighter brittle cylinders, where stability is even worse, and they are prone to falling off or shifting in position, affecting the processing accuracy of subsequent processes and the quality of finished products. In addition, the lack of real-time monitoring and active correction capabilities for the tilting state of the brittle cylinders limits production efficiency and yield.

[0004] Therefore, it is necessary to develop a clamping and conveying mechanism that can adaptively adjust the clamping force according to the weight of the brittle tube and has an active straightening function, so as to improve clamping stability, reduce the breakage rate, and achieve full-process automated control. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides an ice cream cone clamping and conveying mechanism to solve the problems existing in the background art.

[0006] This invention provides the following technical solution: an ice cream cone clamping and conveying mechanism, comprising a support plate, an array of outer shells mounted on the top of the support plate, an elastic force-bearing component slidably connected inside the outer shells, an elastic seal mounted above the elastic force-bearing component, a negative pressure chamber on one side of the elastic force-bearing component and the elastic seal, a negative pressure source component being sealed and connected through the tail of the negative pressure chamber, a rotating component fixedly connected to the top of the support plate, an array of straightening components mounted above the rotating component, an array of cameras and a blower fixedly connected to the top of the straightening components, a robotic arm fixedly connected to the top of the support plate, a conveyor belt fixedly connected to one side of the robotic arm, the elastic force-bearing component driving the elastic seal to move under the weight of the cone to adjust the opening size of the negative pressure chamber, achieving adaptive matching between the clamping force and the weight of the cone, the cameras being used to monitor the tilt state of the cone, and the straightening components pneumatically straightening the cone according to the tilt state;

[0007] Furthermore, the elastic force-bearing component includes a support clamping plate, the surface of which has multiple airflow holes. A connecting diagonal rod is fixedly connected to one side of the support clamping plate, a sliding plate is fixedly connected to one side of the connecting diagonal rod, and one end of a first telescopic rod is fixedly connected to the other side of the sliding plate. A first spring is sleeved on the outside of the first telescopic rod, one end of the first spring is fixedly connected to the sliding plate, and the other ends of the first spring and the first telescopic rod are fixedly connected to a negative pressure chamber. A top plate is fixedly connected to the top of the sliding plate, and a first T-shaped block is fixedly connected to the bottom of the sliding plate.

[0008] Furthermore, the elastic seal includes a baffle plate that is fitted and connected to the top plate. A second telescopic rod is fixedly connected to the top of the baffle plate. A second spring is sleeved on the outside of the second telescopic rod. The two ends of the second spring and the second telescopic rod are fixedly connected to the baffle plate and the negative pressure chamber component, respectively. A second T-shaped block is fixedly connected to the side of the baffle plate near the negative pressure chamber component.

[0009] Furthermore, the rotating assembly includes a motor, the motor housing is fixedly connected to a support plate, the motor shaft is fixedly connected to a rotating disk, the outer ring of the rotating disk is fixedly connected to a plurality of arrays of straightening components, the outer shell is located at the bottom of the straightening component, and the outer shell is fixedly connected to the straightening component.

[0010] Furthermore, the straightening component includes a ventilation ring with a ventilation cavity inside. The inner ring of the ventilation ring has a plurality of circumferentially arrayed straightening air holes, which communicate with the ventilation cavity. The top of the ventilation ring has a plurality of sliding sealing holes corresponding to the straightening air holes, which communicate with the ventilation cavity. A baffle plate is slidably sealed inside the sliding sealing hole. The top of the baffle plate is fixedly connected to the piston rod of a hydraulic cylinder. The cylinder body of the hydraulic cylinder is fixedly connected to the ventilation ring. The bottom of the ventilation ring is fixedly connected to a plurality of connecting brackets, which are fixedly connected to the negative pressure chamber.

[0011] Furthermore, the outer casing includes an elastic inclined ring, the end of which is fixedly connected to a covering shell. The elastic inclined ring is slidably and sealingly connected to the support clamping plate, and the covering shell is fixedly and sealingly connected to the negative pressure chamber.

[0012] Furthermore, the negative pressure chamber includes a negative pressure shell, a vertical plate fixedly connected to the top of the negative pressure shell, a horizontal plate fixedly connected to one side of the vertical plate, a second T-shaped groove provided on the inner side of the vertical plate, the second T-shaped groove being slidably and sealingly connected to a second T-shaped block, a first T-shaped groove provided on the bottom inner wall of the negative pressure shell, the first T-shaped groove being slidably and sealingly connected to a first T-shaped block, a negative pressure hole being connected through the outer wall of the negative pressure shell, the negative pressure hole being fixedly and sealingly connected to a negative pressure source component, the negative pressure shell being fixedly connected to the air vent ring via a connecting bracket, the negative pressure shell being fixedly and sealingly connected to the covering shell, and the opening of the negative pressure shell being sealed by a baffle and a sliding plate.

[0013] Furthermore, the camera has a built-in tilt sensor to monitor the tilt angle of the crispy tube, the blower is connected to the air passage to provide a straightening air source, the robotic arm is used to grab the crispy tube onto the conveyor belt, and the negative pressure source is connected to an external negative pressure air source to provide controllable negative pressure to the negative pressure chamber.

[0014] The technical effects and advantages of this invention are as follows:

[0015] 1. This invention, by incorporating an elastic force-bearing component, an elastic sealing component, and a negative pressure chamber component, utilizes the weight of the brittle cylinder itself to drive the sliding plate to move, thereby controlling the opening size of the negative pressure chamber and achieving adaptive matching between the clamping force and the weight of the brittle cylinder. This effectively solves the problem of large stability differences of brittle cylinders of different weights when the conveyor line starts, stops, or vibrates, and realizes reliable clamping of lightweight brittle cylinders and low-damage conveying of heavy brittle cylinders.

[0016] 2. This invention incorporates a straightening component and a camera. The camera monitors the tilt angle and direction of the crispy tube in real time. A blower supplies air to the air passage, and a hydraulic cylinder controls the baffle plate to selectively open the straightening air holes on the tilted side, achieving directional pneumatic straightening of the crispy tube. When the tilt angle exceeds a threshold, the negative pressure source on the corresponding tilted side is shut off, releasing the suction force on that side. Simultaneously, the corresponding side is opened for air blowing, forming a coordinated straightening method of "one side pushing, one side loosening." This significantly improves the correction efficiency and success rate, avoids damage to the crispy tube caused by mechanical contact, and ensures the processing accuracy and quality of subsequent processes. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 This is a schematic diagram of the overall assembly structure of the elastic force-bearing component, the straightening component, the outer shell, and the blower of the present invention.

[0019] Figure 3 This is a schematic diagram of the assembly structure of the elastic force-bearing component, the outer shell, the elastic seal, and the negative pressure cavity of the present invention.

[0020] Figure 4 This is a half-sectional structural diagram of the straightening component of the present invention.

[0021] Figure 5 This is the overall flowchart of the present invention.

[0022] Figure 6 This is a flowchart of the negative pressure adaptive clamping process of the present invention.

[0023] Figure 7 This is a flowchart of the visual detection and decision-making process of the present invention.

[0024] Figure 8 This is a flowchart of the active collaborative correction process of the present invention.

[0025] Figure 9 This is a flowchart of the state recovery and transport process of the present invention.

[0026] The attached figures are labeled as follows: 1. Support plate; 2. Rotating assembly; 201. Motor; 202. Rotating disk; 3. Elastic force-bearing assembly; 301. Support clamping plate; 302. Airflow hole; 303. Connecting diagonal rod; 304. Sliding plate; 305. First telescopic rod; 306. First spring; 307. Top plate; 308. First T-block; 4. Straightening assembly; 401. Airflow ring; 402. Straightening airflow hole group; 403. Baffle plate; 404. Hydraulic cylinder; 405. Sliding sealing hole; 406. 407. Air cavity; 5. Connecting bracket; 6. Outer shell; 7. Elastic inclined ring; 8. Cover shell; 9. Elastic sealing element; 10. Baffle; 11. Second telescopic rod; 12. Second T-shaped block; 13. Negative pressure chamber; 14. Negative pressure outer shell; 15. Vertical plate; 16. First T-shaped groove; 17. Horizontal plate; 18. Second T-shaped groove; 19. Negative pressure hole; 20. Robotic arm; 21. Conveyor belt; 22. Camera; 33. Blower; 44. Negative pressure source. Detailed Implementation

[0027] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. In addition, the forms of the various structures described in the following embodiments are merely illustrative. The ice cream cone clamping and conveying mechanism of the present invention is not limited to the structures described in the following embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Reference Figures 1-3The present invention provides an ice cream cone clamping and conveying mechanism, including a support plate 1, a plurality of arrayed outer shells 5 are mounted on the upper part of the support plate 1, an elastic force-bearing component 3 is slidably connected inside the outer shells 5, an elastic sealing component 6 is mounted on the upper part of the elastic force-bearing component 3, a negative pressure chamber 7 is provided on one side of the elastic force-bearing component 3 and the elastic sealing component 6, and a negative pressure source component 12 is connected through and sealed at the tail of the negative pressure chamber 7.

[0029] The elastic force-bearing component 3 includes a support clamping plate 301. The surface of the support clamping plate 301 has multiple airflow holes 302. A connecting diagonal rod 303 is fixedly connected to one side of the support clamping plate 301. A sliding plate 304 is fixedly connected to one side of the connecting diagonal rod 303. One end of a first telescopic rod 305 is fixedly connected to the other side of the sliding plate 304. A first spring 306 is sleeved on the outside of the first telescopic rod 305. One end of the first spring 306 is fixedly connected to the sliding plate 304. The other ends of the first spring 306 and the first telescopic rod 305 are fixedly connected to the negative pressure chamber 7. A top plate 307 is fixedly connected to the top of the sliding plate 304. A first T-shaped block 308 is fixedly connected to the bottom of the sliding plate 304.

[0030] The elastic sealing element 6 includes a baffle 601, which is fitted and connected to the top plate 307. The baffle 601 can completely seal the negative pressure chamber 7 with the sliding plate 304. A second telescopic rod 602 is fixedly connected to the top of the baffle 601. A second spring 603 is sleeved on the outside of the second telescopic rod 602. The two ends of the second spring 603 and the second telescopic rod 602 are fixedly connected to the baffle 601 and the negative pressure chamber 7, respectively. A second T-shaped block 604 is fixedly connected to the side of the baffle 601 near the negative pressure chamber 7.

[0031] In this embodiment, it should be specifically noted that: the negative pressure source 12 is connected to an external negative pressure air source and is used to provide controllable negative pressure to the negative pressure chamber 7, thereby realizing the adsorption and clamping of the crispy tube; the support clamp 301 is made of food-grade PP material.

[0032] The main difference between this embodiment and the prior art is that this embodiment utilizes the initiative of the negative pressure source component 12 and the fluidity of the gas to perform different negative pressure clamping on the brittle tube according to its weight. Specifically, it includes the elastic force-bearing component 3, the elastic sealing component 6, and the negative pressure source component 12.

[0033] The above structure is the main structure of this embodiment, which solves the problem that the lighter the brittle cylinder, the more prone it is to vibration when the entire conveyor line starts, stops or vibrates and generates inertial torque. The negative pressure source 12 is an existing structure, and the specific structure and connection method of the negative pressure source 12 will not be described in detail in this embodiment.

[0034] Reference Figures 1-3A rotating component 2 is fixedly connected to the top of the support plate 1. Multiple arrays of straightening components 4 are installed above the rotating component 2. A robotic arm 8 is fixedly connected to the top of the support plate 1. A conveyor belt 9 is fixedly connected to one side of the robotic arm 8. Multiple cameras 10 are fixedly connected to the top of the straightening component 4. A blower 11 is fixedly connected to the top of the straightening component 4.

[0035] In this embodiment, it should be specifically explained that: the rotating component 2 is used to drive the crispy shell tube to switch work stations, the robotic arm 8 is used to grab the crispy shell tube that has completed the process and put it onto the conveyor belt 9, the camera 10 is used to monitor the tilt state of the crispy shell tube, and the blower 11 is used to provide the straightening air source.

[0036] Reference Figure 1 The rotating component 2 includes a motor 201, the housing of the motor 201 is fixedly connected to the support plate 1, the rotating shaft of the motor 201 is fixedly connected to a rotating disk 202, the outer ring of the rotating disk 202 is fixedly connected to a plurality of arrays of straightening components 4, and the outer shell 5 is located at the bottom of the straightening component 4 and is fixedly connected to the straightening component 4.

[0037] In this embodiment, it should be specifically explained that: the motor 201 drives the rotating disk 202 to drive the straightening component 4 and the outer shell 5 to rotate synchronously, so as to realize the intermittent conveying of the crispy tube between different work stations.

[0038] Reference Figure 2 and Figure 4 The straightening component 4 includes an air circulation ring 401, an air circulation chamber 406 inside the air circulation ring 401, and a plurality of circumferentially arrayed straightening air blowing holes 402 on the inner ring of the air circulation ring 401. The straightening air blowing holes 402 and the air circulation chamber 406 are interconnected. The top of the air circulation ring 401 is provided with a plurality of sliding sealing holes 405 corresponding to the straightening air blowing holes 402. The sliding sealing holes 405 are interconnected with the air circulation chamber 406. A baffle plate 403 is slidably and sealingly connected inside the sliding sealing holes 405. The baffle plate 403 can completely seal and block the straightening air blowing holes 402. The top of the baffle plate 403 is fixedly connected to the piston rod of the hydraulic cylinder 404. The cylinder body of the hydraulic cylinder 404 is fixedly connected to the air circulation ring 401. A plurality of connecting brackets 407 are fixedly connected to the bottom of the air circulation ring 401. The connecting brackets 407 are fixedly connected to the negative pressure chamber component 7.

[0039] In this embodiment, it should be specifically explained that: the straightening component 4 supplies air to the air passage 406 through the blower 11, and the oil cylinder 404 controls the raising and lowering of the baffle plate 403, selectively opening the straightening air hole group 402 to achieve directional pneumatic straightening of the brittle cylinder in the tilt direction.

[0040] Reference Figure 2 and Figure 3The outer casing 5 includes an elastic inclined ring 501, the end of which is fixedly connected to a covering shell 502, and the elastic inclined ring 501 is slidably and sealingly connected to the support clamping plate 301.

[0041] In this embodiment, it should be specifically noted that: the elastic oblique ring 501 is made of food-grade silicone. The elastic oblique ring 501 in the outer shell 5 is used to slide and seal with the elastic force-bearing component 3. The covering shell 502 is fixedly and sealed with the negative pressure chamber component 7 to ensure the sealing of the negative pressure chamber.

[0042] Reference Figure 2 and Figure 3 The negative pressure chamber component 7 includes a negative pressure outer shell 701. A vertical plate 702 is fixedly connected to the top of the negative pressure outer shell 701. A horizontal plate 704 is fixedly connected to one side of the vertical plate 702. A second T-shaped groove 705 is provided on the inner side of the vertical plate 702. The second T-shaped groove 705 is slidably and sealedly connected to a second T-shaped block 604. A first T-shaped groove 703 is provided on the inner wall of the bottom side of the negative pressure outer shell 701. The first T-shaped groove 703 is slidably and sealedly connected to a first T-shaped block 308. A negative pressure hole 706 is provided through the outer wall of the negative pressure outer shell 701. The negative pressure hole 706 is fixedly and sealedly connected to the negative pressure source component 12. The negative pressure outer shell 701 is fixedly connected to the air vent ring 401 through a connecting bracket 407. The negative pressure outer shell 701 is fixedly and sealedly connected to the covering shell 502. The opening of the negative pressure outer shell 701 is sealed by a baffle 601 and a sliding plate 304.

[0043] In this embodiment, it should be specifically noted that: the negative pressure chamber 7 is connected to an external negative pressure source through a negative pressure hole 706, and a first T-groove 703 and a second T-groove 705 are provided inside, which are respectively slidably sealed with the first T-block 308 and the second T-block 604 to ensure the negative pressure stability of the negative pressure chamber under dynamic sealing conditions.

[0044] Reference Figures 5-7 The camera 10 has a built-in tilt sensor that can monitor the real-time tilt angle of the crispy tube.

[0045] In this embodiment, it should be specifically noted that: the camera 10 is used to capture images of the crispy rice tube, and the built-in tilt sensor is used to determine whether the tilt angle of the crispy rice tube exceeds the set threshold, providing data support for the decision to straighten it.

[0046] Reference Figure 8 The difference between Mode A and Mode B is whether the negative pressure source component 12 is turned on.

[0047] In this embodiment, it is necessary to specifically explain the control logic and execution steps of mode A and mode B as follows:

[0048] The present invention sets a tilt threshold θ0 (e.g., θ0) based on the tilt angle θ detected by the tilt sensor built into the camera (10) of the brittle tube. (5°), and select one of the following two straightening modes accordingly:

[0049] Mode A: Small-angle tilt and straightening mode (0 < )

[0050] Triggering condition: The tilt angle θ of the crispy tube is greater than 0° and less than or equal to the set threshold θ0.

[0051] Control logic: Keep all negative pressure source components (12) open, maintain the suction clamping of the negative pressure chamber component (7) on the bottom of the crispy tube, start the blower (11) to provide positive pressure air source to the air outlet chamber (406), and control the hydraulic cylinder (404) on the corresponding tilt side to move according to the tilt direction identified by the camera (10).

[0052] Execution steps: The hydraulic cylinder (404) drives the baffle plate (403) on the corresponding side to rise, so that the straightening air blowing hole group (402) on that side is connected to the air passage (406); the positive pressure airflow blows in a direction through the straightening air blowing hole group (402) to the tilted side of the crispy tube, generating a pneumatic straightening torque. The size of the straightening airflow is controlled by adjusting the rising height of the baffle plate (403) or the number of opening holes; when the camera (10) detects that the crispy tube has returned to a vertical state, the hydraulic cylinder (404) resets and the baffle plate (403) closes the air blowing hole group.

[0053] Mode B: Large-angle tilt emergency righting mode ( )

[0054] Triggering condition: The tilt angle θ of the crispy tube is greater than the set threshold θ0.

[0055] Control logic: Close the negative pressure source (12) corresponding to the tilted side of the crispy shell, release the adsorption force on that side, keep the negative pressure source (12) open in other directions to prevent the crispy shell from falling off as a whole, start the blower (11), and control the oil cylinder (404) on the tilted side to open the corresponding straightening blow hole group (402).

[0056] Execution steps: The controller identifies the tilt direction and immediately sends a command to shut down the negative pressure source (12) on that side, so that the crispy tube loses its adsorption constraint on that side. At the same time, it controls the oil cylinder (404) on the same side to drive the baffle (403) to rise, opening the straightening air blowing hole group (402). The positive pressure airflow blows from the tilted side to the crispy tube, forming a synergistic straightening effect of single-sided thrust and no suction on the opposite side. The camera (10) monitors the straightening process in real time. After the crispy tube is completely straightened, the negative pressure source (12) on that side is reopened to restore full-circumference adsorption, and the baffle (403) is closed.

[0057] Mode switching and recovery logic: The system automatically switches between mode A and mode B according to the initial tilt angle. In any mode, if the brittle tube fails to return to a vertical state within a set time, the controller will issue an alarm signal and suspend the operation of the conveying mechanism, which will be handled by manual or robotic arm (8).

[0058] Mode A is the normal negative pressure clamping state, with the negative pressure source 12 turned on. Mode B is the straightening state when the tilt angle exceeds the threshold, with the negative pressure source 12 on the tilted side turned off, and the straightening blower is used to achieve single-sided thrust straightening.

[0059] Reference Figure 9 The controller is connected to the motor 201, the robotic arm 8, the camera 10, and the blower 11, and the control system operates in an orderly manner.

[0060] In this embodiment, it should be specifically explained that: the controller controls the start and stop of the motor 201, the movement of the robotic arm 8, the start and stop of the blower 11, and the extension and retraction of each hydraulic cylinder 404 according to the monitoring results of the camera 10, so as to realize the automated control of the entire process of clamping, straightening, and conveying.

[0061] Working principle of the invention:

[0062] The main problem solved in this embodiment is: using the initiative of the negative pressure source 12 and the fluidity of the gas to clamp the brittle tube with different negative pressures according to its weight, and using the positive force of the gas to straighten the skewed brittle tube, thus achieving non-destructive correction of the brittle tube.

[0063] The specific steps are as follows:

[0064] First, the crispy tube is placed between the four support clamps 301. Under the weight of the crispy tube, the four support clamps 301 move horizontally under the guidance of the negative pressure shell 701 via the first T-block 308. The elastic inclined ring 501 also contracts horizontally as a result. When the sliding plate 304 moves inward, it compresses the first telescopic rod 305 and the first spring 306, causing them to contract. The top plate 307 compresses the baffle 601, causing it to rise. At this time, the negative pressure source 12 has been opened, generating negative pressure. The rise of the baffle 601 opens the opening portion of the negative pressure shell 701 that was previously closed by the baffle 601, allowing negative pressure airflow to flow from... The movement of the baffle 601 through the partially opened gap causes negative pressure to be generated at the opening of the airflow hole 302. At this time, the support clamp 301 holds the crispy tube more tightly. The greater the weight of the crispy tube, the more the sliding plate 304 moves, and the greater the distance the baffle 601 rises. Subsequently, the negative pressure opening of the baffle 601 is larger, and the negative pressure generated is smaller. When the entire conveyor line starts, stops, or vibrates, it generates an inertial torque. The heavy crispy tube has a large mass and good self-stability, generating a smaller adsorption negative pressure. Only a smaller negative pressure is needed to counteract the disturbance. The light crispy tube is easy to shake, generating a larger adsorption negative pressure. On the contrary, a larger negative pressure can be used to hold it in place.

[0065] When camera 10 detects that the crispy cone is tilted, camera 10 acquires the tilt direction and angle of the crispy cone, and selects the straightening mode according to the set tilt threshold θ0 (e.g., θ0 = 5°): if the tilt angle θ < In execution mode A (small angle tilt and straightening mode), all negative pressure source components 12 are kept open, and the blower 11 is started, creating positive pressure inside the air passage 406. This activates the hydraulic cylinder 404 on the tilted side of the crispy cylinder, causing the corresponding baffle plate 403 to rise. This allows the straightening air hole group 402 to connect with the positive pressure airflow inside the air passage 406. The magnitude of the corresponding positive pressure airflow can be adjusted by changing the number of connections between the straightening air hole group 402 and the air passage 406 until the crispy cylinder is straightened. If the tilt angle... In execution mode B (large angle tilt emergency straightening mode), the negative pressure source component 12 corresponding to the tilted side of the crispy tube is immediately shut off to release the adsorption force on that side. At the same time, the hydraulic cylinder 404 on the same side is activated to open the straightening air blowing hole group 402. The positive pressure airflow blows from the tilted side to the crispy tube, forming a coordinated straightening effect of pushing on one side and loosening on the other. The camera 10 monitors the straightening process in real time. After the crispy tube is completely straightened, the negative pressure source component 12 on that side is reopened to restore full circumference adsorption, and the wind deflector 403 is closed.

[0066] When the camera 10 monitors that the crispy tube has been straightened, the baffle plate 403 closes the straightening air hole group 402 and restarts all the negative pressure source components 12. After the crispy tube is completed at this station, the motor 201 drives the crispy tube to the next station. When the crispy tube process is completed, the robot arm 8 is started to place the completed crispy tube on the conveyor belt 9 for transportation.

[0067] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An ice cream cone clamping and conveying mechanism, comprising a support plate (1), characterized in that: Multiple arrays of housing components (5) are mounted on top of the support plate (1). An elastic force-bearing component (3) is slidably connected inside the housing component (5). An elastic seal (6) is mounted above the elastic force-bearing component (3). A negative pressure chamber (7) is provided on one side of the elastic force-bearing component (3) and the elastic seal (6). A negative pressure source component (12) is permeated and sealed at the tail of the negative pressure chamber (7). A rotating component (2) is fixedly connected to the top of the support plate (1). Multiple arrays of straightening components (4) are mounted above the rotating component (2). The top of the straightening component (4) is fixedly connected to multiple cameras (10) and a blower (11). The top of the support plate (1) is fixedly connected to a robot (8). A conveyor belt (9) is fixedly connected to one side of the robot (8). The elastic force-bearing component (3) drives the elastic sealing component (6) to move under the gravity of the crispy tube, so as to adjust the opening size of the negative pressure chamber component (7) and realize the adaptive matching between the clamping force and the weight of the crispy tube. The camera (10) is used to monitor the tilt state of the crispy tube. The straightening component (4) performs pneumatic straightening of the crispy tube according to the tilt state.

2. The ice cream cone clamping and conveying mechanism according to claim 1, characterized in that: The elastic force-bearing component (3) includes a support clamping plate (301), the surface of which has multiple airflow holes (302), a connecting diagonal rod (303) is fixedly connected to one side of the support clamping plate (301), a sliding plate (304) is fixedly connected to one side of the connecting diagonal rod (303), and a first telescopic rod (305) is fixedly connected to the other side of the sliding plate (304). A first spring (306) is sleeved on the outside of the first telescopic rod (305), one end of the first spring (306) is fixedly connected to the sliding plate (304), and the other ends of the first spring (306) and the first telescopic rod (305) are fixedly connected to the negative pressure chamber component (7). A top plate (307) is fixedly connected to the top of the sliding plate (304), and a first T-shaped block (308) is fixedly connected to the bottom of the sliding plate (304).

3. The ice cream cone clamping and conveying mechanism according to claim 1, characterized in that: The elastic sealing element (6) includes a baffle (601), which is fitted and connected to the top plate (307). A second telescopic rod (602) is fixedly connected to the top of the baffle (601). A second spring (603) is sleeved on the outside of the second telescopic rod (602). The two ends of the second spring (603) and the second telescopic rod (602) are fixedly connected to the baffle (601) and the negative pressure chamber (7) respectively. A second T-shaped block (604) is fixedly connected to the side of the baffle (601) near the negative pressure chamber (7).

4. The ice cream cone clamping and conveying mechanism according to claim 1, characterized in that: The rotating component (2) includes a motor (201), the housing of the motor (201) is fixedly connected to the support plate (1), the rotating shaft of the motor (201) is fixedly connected to a rotating disk (202), the outer ring of the rotating disk (202) is fixedly connected to a plurality of arrays of straightening components (4), the outer shell (5) is located at the bottom of the straightening component (4), and the outer shell (5) is fixedly connected to the straightening component (4).

5. The ice cream cone clamping and conveying mechanism according to claim 1, characterized in that: The straightening component (4) includes a ventilation ring (401), the ventilation ring (401) has a ventilation cavity (406) inside, the inner ring of the ventilation ring (401) has a plurality of circumferentially arrayed straightening air blowing holes (402), the straightening air blowing holes (402) are interconnected with the ventilation cavity (406), the top of the ventilation ring (401) has a plurality of sliding sealing holes (405) corresponding to the straightening air blowing holes (402), the sliding sealing holes ( 405) is connected to the air passage (406). The sliding sealing hole (405) is connected to the air baffle (403) in a sliding sealing connection. The top of the air baffle (403) is fixedly connected to the piston rod of the oil cylinder (404). The cylinder body of the oil cylinder (404) is fixedly connected to the air passage ring (401). The bottom of the air passage ring (401) is fixedly connected to multiple connecting brackets (407). The connecting brackets (407) are fixedly connected to the negative pressure chamber (7).

6. The ice cream cone clamping and conveying mechanism according to claim 1, characterized in that: The outer casing (5) includes an elastic inclined ring (501), the end of which is fixedly connected to a covering shell (502). The elastic inclined ring (501) is slidably and sealed to the support clamping plate (301), and the covering shell (502) is fixedly and sealed to the negative pressure chamber (7).

7. The ice cream cone clamping and conveying mechanism according to claim 1, characterized in that: The negative pressure chamber (7) includes a negative pressure outer shell (701), a vertical plate (702) is fixedly connected to the top of the negative pressure outer shell (701), a horizontal plate (704) is fixedly connected to one side of the vertical plate (702), a second T-slot (705) is provided on the inner side of the vertical plate (702), the second T-slot (705) is slidably sealed to a second T-block (604), and a first T-slot (703) is provided on the inner wall of the bottom side of the negative pressure outer shell (701). The negative pressure housing (701) is slidably and sealed to the first T-block (308). The outer wall of the negative pressure housing (701) is connected to a negative pressure hole (706). The negative pressure hole (706) is fixedly and sealed to the negative pressure source component (12). The negative pressure housing (701) is fixedly and sealed to the air vent ring (401) through the connecting bracket (407). The negative pressure housing (701) is fixedly and sealed to the covering shell (502). The opening of the negative pressure housing (701) is sealed by the baffle (601) and the sliding plate (304).

8. The ice cream cone clamping and conveying mechanism according to claim 1, characterized in that: The camera (10) has a built-in tilt sensor to monitor the tilt angle of the crispy tube. The blower (11) is connected to the air passage (406) to provide a straightening air source. The robotic arm (8) is used to grab the crispy tube onto the conveyor belt (9). The negative pressure source (12) is connected to an external negative pressure air source to provide controllable negative pressure to the negative pressure chamber (7).

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