An automatic processing robot device

Abstract

The application relates to the technical field of automatic mechanical hand devices for food processing, and particularly provides an automatic processing mechanical hand device which comprises a rack, a mechanical arm arranged on the rack, a mechanical claw connected to the mechanical arm, two clamping blocks connected to the mechanical arm, two clamping arms rotatably connected to the two clamping blocks, and an auxiliary clamping assembly. When the auxiliary clamping assembly is not started, the soft food such as tofu and cakes is clamped only by relying on the power assembly, so that the food materials are prevented from being squeezed and damaged. When the auxiliary clamping assembly is started, the hardness threshold value food such as frozen meat and hard rhizome is clamped, the clamping friction is improved, and the rotation degree of freedom of the clamping arm is locked, so that the hard food is prevented from slipping and falling during the cutting process. The single device is compatible with the soft and hard food processing, and the clamping claw tooling does not need to be replaced.

Description

Technical Field

[0001] This invention relates to the field of automated food processing robots, and in particular to an automated processing robot device. Background Technology

[0002] In automated food processing production lines, robotic arms are the core execution components for completing processes such as food transfer, loading, and cutting. Currently, food materials are diverse, ranging from soft, easily broken ingredients like cakes, tofu, and pastries, to harder ingredients like frozen meat products and root vegetables that require further cutting and processing. Production lines generally require a single robotic arm capable of handling multiple food categories. Currently, the mainstream food processing robotic arms in the industry are mainly divided into two categories: rigid grippers and flexible grippers, both of which have significant shortcomings in actual production.

[0003] Traditional rigid mechanical grippers use a fixed clamping force design, which cannot adaptively adjust the clamping force according to the texture of the food. When gripping soft and fragile foods, the constant clamping force can easily crush and damage the food body, resulting in material loss and unqualified finished products. If the clamping force is reduced to suit soft ingredients, when gripping frozen hard foods and cooperating with the cutting process, the cutting reaction force applied by the cutting blade will cause relative slippage between the food and the gripper. The food is easy to fall out of the gripper, which not only interrupts the processing flow, but also poses safety hazards such as equipment collision and material contamination. Summary of the Invention

[0004] Therefore, it is necessary to provide an automated processing robot to address the problem that current mechanical grippers cannot adjust their gripping force according to the softness or hardness of food.

[0005] The above objectives are achieved through the following technical solutions:

[0006] An automated processing robot device includes:

[0007] A frame, on which a robotic arm is mounted, and on which a robotic hand is mounted;

[0008] The robotic arm includes two gripping blocks and two gripping arms. The two gripping blocks are connected to the robotic arm, and the two gripping arms are rotatably connected to the two gripping blocks respectively. The robotic arm is equipped with a power assembly, which is used to drive the gripping parts of the two gripping arms to move closer or further apart from each other.

[0009] An auxiliary clamping assembly is configured to drive the two clamping arms to move closer to each other and lock the two clamping arms to rotate around a rotation center when the hardness of the food clamped by the clamping parts of the two clamping arms is greater than a preset value.

[0010] Furthermore, the auxiliary clamping assembly includes a sensing element, a locking element, and two telescopic cylinders. The sensing element is used to sense the hardness of the food, and the locking element is used to lock the two clamping arms to rotate around the rotation center. The two telescopic cylinders are horizontally arranged and their telescopic ends are respectively fixedly connected to two clamping blocks. When the telescopic ends of the two telescopic cylinders extend, they drive the two clamping blocks to move closer to each other, thereby driving the two clamping arms to move closer to each other.

[0011] Furthermore, the sensing element includes a sensing contact and an elastic contact. The elastic contact is telescopically disposed on the clamping portion of the two clamping arms, and the sensing contact is disposed between the elastic contact and the clamping portion of the clamping arms.

[0012] Furthermore, a sliding groove is provided on the clamping part of the clamping arm, one end of the elastic contact is slidably disposed in the sliding groove, an elastic element is disposed in the sliding groove, the elastic element causes the elastic contact to have a tendency to extend outward, and the sensing contact is disposed at the bottom of the sliding groove.

[0013] Furthermore, the locking element includes a locking gear and a locking block. The locking block is fixedly mounted on the clamping block, the locking gear is rotatably mounted on the clamping block, and a locking plate is slidably mounted on the locking block. The locking plate is configured to extend the locking block to lock the locking gear when the sensing element detects that the food hardness exceeds a preset value.

[0014] Furthermore, a magnet is fixedly installed on the locking plate, and an induction coil is installed inside the locking block. When the induction coil is energized, it generates a magnetic field, thereby pushing the magnet.

[0015] Furthermore, the power assembly includes a drive motor and a drive shaft, the drive motor's rotating shaft is coaxial with and fixedly connected to the drive shaft, and the drive shaft is kinetically connected to the rotation center of the clamping arm.

[0016] Furthermore, the robotic arm is provided with a clamping frame, and a support component is provided on the inner wall of the clamping frame. The support component is used to support the drive motor and the drive shaft.

[0017] Furthermore, the support assembly includes a support block and a support plate. The support block is fixedly mounted on the inner wall of the clamping frame. A guide rail is provided on the support block. The support plate is slidably mounted in the guide rail. The upper end of the support plate is fixed to the drive motor. A through hole is provided on the support plate, allowing the shaft of the drive motor to pass through.

[0018] Furthermore, a bottom support assembly is provided at the lower end of the clamping part of the clamping arm, which is used to support the bottom of the food.

[0019] The beneficial effects of this invention are:

[0020] This invention incorporates an auxiliary clamping component. When gripping soft foods such as tofu and cakes, the auxiliary clamping component remains inactive, relying solely on the power component for basic clamping to prevent the food from being squeezed and damaged. When gripping foods with a hardness exceeding the threshold, such as frozen meat and hard root vegetables, the auxiliary clamping component activates, increasing clamping friction and locking the rotational freedom of the clamping arm. This prevents hard foods from slipping and falling off during the cutting process. A single device is compatible with processing various foods, both soft and hard, without the need to change the gripper fixtures.

[0021] This invention achieves hardness discrimination by setting up elastic and inductive contacts with the elastic contacts in mechanical contact. It does not require high-precision electronic tactile sensors, is not affected by the high humidity, oil, and low temperature environment of food workshops, and does not have the problem of short circuits or malfunctions of electronic components due to moisture. The overall component structure is simple, and the manufacturing, assembly and subsequent maintenance costs are lower. It is suitable for batch use in small and medium-sized food processing plants.

[0022] This invention features a support assembly that supports the drive motor and drive shaft. The support block of the assembly contains a guide rail with symmetrically arranged compression springs for cushioning. An elastic protrusion on the support plate engages with the multi-position grooves of the guide rail to form a positioning and locking structure. During the translation of the clamping block by the telescopic cylinder, the support plate slides synchronously with the motor to buffer vibrations, preventing slippage and misalignment of the motor, drive shaft, and transmission gears. This ensures smooth, precise positioning during long-term operation, reduces gear wear, and extends the equipment's lifespan.

[0023] This invention provides a bottom support component at the lower end of the gripping arm. When the mechanical claw grasps food, the bottom support component can adaptively slide and fit the bottom according to the size of the food. The rubber support plate of the bottom support component is made of high-friction rubber material, which not only protects the bottom of the food from being scratched, but also increases the friction of the bottom surface. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of an automated processing robot device provided in an embodiment of the present invention;

[0025] Figure 2 for Figure 1 A schematic diagram of the robotic arm structure of an automated processing robotic arm device provided in one embodiment;

[0026] Figure 3 This is a top view of the robotic arm of an automated processing robot device provided in an embodiment of the present invention;

[0027] Figure 4 A cross-sectional view of the robotic arm of an automated processing robot device provided in an embodiment of the present invention;

[0028] Figure 5This is a schematic diagram of the clamping part of the clamping arm of an automatic processing robot device provided in an embodiment of the present invention;

[0029] Figure 6 for Figure 5 A partial enlarged view of the X portion of an automated processing robot device provided in one embodiment;

[0030] Figure 7 This is a partial structural diagram of the gripping block, gripping arm, locking component, and power assembly of an automatic processing robot device provided in an embodiment of the present invention.

[0031] Figure 8 for Figure 7 A schematic diagram of the structure of the locking component of an automated processing robot device provided in one embodiment;

[0032] Figure 9 This is a schematic diagram of the internal structure of the support assembly of an automated processing robot device according to an embodiment of the present invention;

[0033] Figure 10 for Figure 9 A partial enlarged view of the Y portion of an automated processing robot device provided in one embodiment.

[0034] in:

[0035] 100. Frame; 110. Robotic arm;

[0036] 200. Robotic arm; 210. Gripping block; 220. Gripping arm; 221. Gripping part; 222. Sliding groove; 223. Elastic element; 230. Elastic contact; 240. Sensing contact; 250. Telescopic cylinder;

[0037] 300. Locking gear; 310. Locking block; 311. Slide groove; 320. Locking plate; 330. Magnet; 340. Induction coil;

[0038] 400. Drive motor; 410. Drive shaft; 420. First transmission gear; 430. Second transmission gear;

[0039] 500. Clamping frame; 510. Support block; 520. Guide rail; 521. Groove; 530. Support plate; 531. Elastic protrusion;

[0040] 600. Rubber support plate; 610. Guide rail. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0042] The component designations used in this document, such as "first" and "second," are merely for distinguishing the described objects and do not have any sequential or technical meaning. The terms "connection" and "linkage" used in this invention, unless otherwise specified, include both direct and indirect connections (linkages). It should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0043] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "beneath" of the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0044] The following reference Figures 1-10 This invention describes an automated processing robot device.

[0045] An automated processing robot device, suitable for food processing, includes a frame 100, a robotic arm 110 mounted on the frame 100, and a robotic hand 200 mounted on the robotic arm 110. The robotic hand 200 includes two gripping blocks 210 and two gripping arms 220. The two gripping blocks 210 are connected to the robotic arm 110, and the two gripping arms 220 are rotatably connected to the robotic arm 110. A power assembly is mounted on the robotic arm 110 to drive the two gripping arms 220 to rotate around a rotation center, thereby causing the gripping portions 221 of the two gripping arms 220 to move closer to or further away from each other. When the gripping portions 221 of the two gripping arms 220 are close to each other, they can grip food; when the gripping portions 221 of the two gripping arms 220 are far apart, they release the gripping of the food.

[0046] To address the shortcomings of existing robotic arms 200, such as their inability to adaptively adjust clamping force according to food texture, easy slippage during cutting of hard foods, and susceptibility of clamping arms 220 to deflection due to cutting torque, this device adds an auxiliary clamping component. This auxiliary clamping component is configured to simultaneously perform two actions when the hardness of the food held by the clamping arms 220 exceeds a preset hardness threshold. On one hand, it drives the two clamping arms 220 to further converge towards each other, increasing the clamping friction between the clamping part 221 and the food. On the other hand, it locks the rotational freedom of the two clamping arms 220 around their own rotation center, resisting torsional deviation caused by cutting forces. This dual action prevents hard foods from falling off during processing. When the hardness of the food held by the clamping arms 220 is below the preset threshold, the auxiliary clamping component does not function, and the two clamping arms 220 operate normally, allowing for basic gentle clamping of soft foods, preventing them from being crushed.

[0047] Specifically, the auxiliary clamping assembly in this embodiment includes a sensing element, a locking element, and two telescopic cylinders 250. The sensing element is used to sense the hardness of the food, and the locking element is used to lock the two clamping arms 220 to rotate around the rotation center. The two telescopic cylinders 250 are horizontally arranged and their telescopic ends are respectively fixedly connected to two clamping blocks 210. When the telescopic ends of the two telescopic cylinders 250 are extended, they can drive the two clamping blocks 210 to move closer to each other, thereby driving the two clamping arms 220 to move closer to each other.

[0048] The sensor is in real-time contact with the surface of the food to be clamped, distinguishing the hardness of the food based on the amount of compression generated by the food being squeezed. When the hardness of the food exceeds a preset threshold, a trigger signal is output synchronously, controlling the locking component and the telescopic cylinder 250 to start simultaneously. The two telescopic cylinders 250 are arranged symmetrically horizontally. When the telescopic cylinders 250 extend synchronously, they pull the clamping blocks 210 on both sides to move towards each other, causing the clamping arms 220 to further retract, thereby increasing the contact pressure and friction between the clamping part 221 and the food, and strengthening the clamping effect on hard foods. The locking component immediately limits and locks the rotational movement of the clamping arm 220 after the sensor is triggered, restricting the clamping arm 220 from continuing to rotate. Together with the extension and retraction of the telescopic cylinders 250, the two clamping arms 220 are brought closer together to increase the clamping force on the food. When the food is released, the sensor detaches from the food surface, the trigger signal disappears, the telescopic cylinder 250 retracts synchronously, pulling the two clamping blocks 210 apart, and the locking component releases its locking constraint on the clamping arm 220. The clamping arm 220 can rotate and open freely under the drive of the power component to complete the food unloading. The overall action is smooth and coordinated, realizing differentiated clamping control for soft and hard ingredients.

[0049] More specifically, in this embodiment, the sensing element includes a sensing contact 240 and an elastic contact 230. The elastic contact 230 is telescopically disposed on the clamping portion 221 of the two clamping arms 220, and the sensing contact 240 is disposed between the elastic contact 230 and the clamping portion 221 of the clamping arms 220. To facilitate the placement of the elastic contact 230 and the sensing contact 240 on the clamping arms 220, in this embodiment, an inwardly recessed sliding groove 222 is provided on the inner side of the clamping portion 221 of the clamping arms 220. One end of the elastic contact 230 is slidably fitted inside the sliding groove 222. An elastic element 223 is installed in the sliding groove 222. The elastic element 223 continuously applies an outward pushing force to the elastic contact 230. Under normal conditions, the elastic contact 230 protrudes outward and protrudes from the clamping surface of the clamping arms 220. The sensing contact 240 is fixedly embedded at the bottom of the sliding groove 222 and is electrically connected to the device control circuit.

[0050] When the gripping arm 220 grasps soft food, the food itself has low hardness and will only slightly compress the elastic contact 230. The compression stroke of the elastic contact 230 is limited and cannot contact the sensing contact 240 at the bottom of the sliding groove 222. The control circuit does not output a trigger signal, and the auxiliary clamping component remains in standby and does not start. When gripping frozen meat products, hard root vegetables, or other foods with higher hardness, the rigid food will squeeze the elastic contact 230 inward significantly, overcoming the elastic force of the elastic element 223 and sliding deeper into the sliding groove 222 until the tail of the elastic contact 230 contacts the sensing contact 240 at the bottom of the groove. The circuit is then turned on and a start command is sent to the locking element and the telescopic cylinder 250 simultaneously. This completes the mechanical judgment of food hardness without the need for additional electronic tactile sensors. The structure is simple and resistant to humid and oily environments, making it suitable for use in food processing workshops.

[0051] In a further embodiment, the locking member of the present invention includes a locking gear 300 and a locking block 310, such as... Figure 8 As shown, the locking block 310 is fixedly mounted on the clamping block 210, and the locking gear 300 is rotatably mounted on the clamping block 210. The locking gear 300 is used to drive the clamping arm 220 to rotate around the rotation center. A locking plate 320 is slidably mounted on the locking block 310. The locking plate 320 is configured to extend out of the locking block 310 when the elastic contact 230 pushes the sensing contact 240, thereby locking the locking gear 300. At this time, the locking gear 300 can no longer drive the clamping arm 220 to rotate around the rotation center, thus locking the clamping arm 220.

[0052] The locking gear 300 and the clamping arm 220 are coaxially linked and rotate synchronously. The outer circumference of the locking gear 300 is uniformly machined with meshing teeth. The end of the locking plate 320 facing the locking gear 300 can cooperate with the meshing teeth to restrict the rotation of the locking gear 300. The locking plate 320 slides horizontally back and forth along the inside of the locking block 310. When the elastic contact 230 is pressed and touches the sensing contact 240, and the hardness of the food exceeds the preset value, the locking plate 320 slides outward quickly, and its end is embedded in the tooth groove of the locking gear 300. The locking gear 300 is restricted from circumferential rotation by the tooth surface engagement, cutting off the rotational freedom of the clamping arm 220. When the robot arm 200 releases the material, the elastic contact 230 loses the pressure of the food and resets under the action of the elastic element 223. The sensing contact 240 disconnects the trigger signal, and the locking plate 320 retracts synchronously and disengages from the locking gear 300. The locking gear 300 returns to a free rotation state, and the power component can then normally drive the clamping arm 220 to open and unload the material.

[0053] Specifically, to allow the locking plate 320 to extend out of the locking block 310, a groove 311 is provided on the locking block 310 in this embodiment. The locking plate 320 slides within the groove 311. A tension spring is provided within the groove 311, with one end fixedly connected to the groove 311 and the other end fixedly connected to the locking plate 320. The tension spring enables the locking plate 320 to retract into the groove 311. Furthermore, an induction coil 340 is provided within the locking block 310, and a magnet 330 is fixedly provided on the locking plate 320. When the induction contact 240 sends a signal, the induction coil 340 is powered on, generating a magnetic field to push the magnet 330 to move. The magnet 330 then drives the locking plate 320 to move synchronously, thereby extending out of the locking block 310 to restrict the rotation of the locking gear 300. Figure 8As shown, the slide groove 311 is horizontally arranged along the direction towards the locking gear 300. The inner wall of the slide groove 311 is smooth, which can reduce the frictional resistance when the locking plate 320 slides back and forth, ensuring a rapid response to the locking action. The induction coil 340 is installed at the end of the slide groove 311 away from the locking gear 300, and the magnet 330 is arranged coaxially opposite to the induction coil 340. When the induction contact 240 and the elastic contact 230 make contact and conduct, and output a signal that the food hardness exceeds the preset value, the control system immediately supplies power to the induction coil 340. The induction coil 340 generates a magnetic field that repels the magnet 330 at the moment the coil is energized. The repulsive force directly pushes the magnet 330 to move to one side against the force of the tension spring towards the locking gear 300, causing the locking plate 320 to slide outward along the slide groove 311 and out of the locking block 310. The end of the locking plate 320 is embedded between the teeth of the locking gear 300 to complete the locking. When processing is complete and the robotic arm 200 releases the food, the elastic contact 230 resets under the action of the internal elastic element 223, the sensing contact 240 disconnects the signal, the induction coil 340 is simultaneously de-energized, the magnetic field disappears, the tension spring pulls the locking plate 320 back into the slide groove 311, the locking plate 320 separates from the locking gear 300, the locking gear 300 resumes free rotation, and the clamping arm 220 can then open and close normally under the drive of the power component.

[0054] In a further embodiment, the power assembly of the present invention includes a drive motor 400 and a drive shaft 410. The rotating shaft of the drive motor 400 is coaxial with and fixedly connected to the drive shaft 410. The drive shaft 410 is connected to the rotation center of the clamping arm 220. The drive motor 400 drives the drive shaft 410 to rotate, thereby driving the clamping arm 220 to rotate around the rotation center.

[0055] Specifically, to facilitate the transmission connection between the drive shaft 410 and the rotation center of the clamping arm 220, the rotation center of the clamping arm 220 in this embodiment is coaxially and fixedly provided with a first transmission gear 420, and a second transmission gear 430 is coaxially and fixedly provided on the drive shaft 410. The first transmission gear 420 and the second transmission gear 430 mesh. When the drive motor 400 rotates, it drives the drive shaft 410 to rotate synchronously. The drive shaft 410 drives the clamping arm 220 to rotate around the rotation center through the first transmission gear 420 and the second transmission gear 430.

[0056] It should be noted that in this embodiment, the locking gear 300 and the second transmission gear 430 are coaxial and fixedly connected. When the locking plate 320 locks the locking gear 300, the second transmission gear 430 is locked simultaneously. At this time, the second transmission wheel will lock the first transmission wheel, so that the clamping arm 220 cannot rotate around the rotation center.

[0057] In a further embodiment, to facilitate the connection of the drive motor 400, the robotic arm 110 of the present invention is provided with a clamping frame 500, and a support component is provided on the inner wall of the clamping frame 500. The support component is used to support the drive motor 400 and the drive shaft 410.

[0058] Specifically, the support assembly includes a support block 510 and a support plate 530. The support block 510 is fixedly mounted on the inner wall of the clamping frame 500. A guide rail 520 is provided on the support block 510. The support plate 530 is slidably mounted within the guide rail 520. The upper end of the support plate 530 is fixedly connected to the drive motor 400. A through hole is provided at the upper end of the support plate 530, allowing the rotating shaft of the drive motor 400 to pass through and connect to the drive shaft 410. When the two clamping blocks 210 approach or move away from each other, they can drive the support plate 530 to slide within the guide rail 520.

[0059] It should be noted that in this embodiment, there are two pairs of support blocks 510, with two support blocks 510 in each pair. The two support blocks 510 in each pair are respectively arranged on both sides of the drive motor 400, so as to support the drive motor 400 more stably.

[0060] It should also be noted that the support plate 530 in this embodiment is provided with an elastic protrusion 531 and the guide rail 520 is provided with a groove 521. The edge of the elastic protrusion 531 is a smooth bevel. When the telescopic cylinder 250 extends and retracts to move the clamping block 210, the support plate 530 can move within the guide rail 520, so that the elastic protrusion 531 can enter into different grooves 521. When the support plate 530 stops moving, the elastic protrusion 531 and the groove 521 on the support plate 530 cooperate to provide a certain positioning and locking force, restricting the support plate 530 from sliding and shifting freely without external force.

[0061] In a further embodiment, the lower end of the clamping portion 221 of the clamping arm 220 in this embodiment is provided with a bottom support assembly. The bottom support assembly is used to form a support from the bottom of the food, thereby supporting the bottom of the food. This works in conjunction with the lateral clamping of the clamping arm 220 to achieve upper and lower limit engagement, preventing the food from sliding down due to its own weight or cutting force. The bottom support assembly includes a slidable rubber plate 600 and a guide rail 610. The guide rail 610 is arranged laterally along the lower surface of the clamping portion 221 of the clamping arm 220, and the rubber plate 600 is slidably fitted inside the guide rail 610. The rubber plate 600 is made of high-friction flexible rubber material, which can both prevent the bottom of hard food from being scratched and damaged, and increase the friction with the bottom surface of the food.

[0062] When the gripping arm 220 closes to grasp the food, the rubber pallets 600 on both sides simultaneously slide and extend towards the center of the food, forming a support structure against the bottom of the food. For soft and fragile foods such as cakes and tofu, the lateral gripping and bottom support work together to limit the movement, providing stable gripping without the need to activate auxiliary clamping components, preventing single-point compression from causing the food to break. For frozen hard foods, the bottom support component works in conjunction with the secondary clamping and gear locking structure to restrain the food from the side and bottom, preventing it from falling off during transport and further improving the gripping stability throughout the food processing process. When processing is complete and the gripping arm 220 opens to unload, the rubber pallets 600 automatically retract along the guide rail 610 to the bottom of the gripping arm 220, without interfering with the robot arm 200's picking and unloading actions.

[0063] The specific working process of the automated processing robot device provided by the present invention will be described in conjunction with the above embodiments:

[0064] After the equipment is powered on, the robotic arm 110 mounted on the frame 100 moves to the food gripping station, and the device is in the initial standby state: the drive motor 400 is not started, the two gripping arms 220 remain open, the elastic contact 230 protrudes outward under the action of the elastic element 223 in the sliding groove 222, the locking plate 320 is stored in the sliding groove 311 of the locking block 310 under the pull of the tension spring, completely separated from the locking gear 300, the telescopic cylinder 250 is in the retracted state, the two gripping blocks 210 are far apart from each other, and the rubber support plate 600 of the bottom support assembly is kept in the slide rail and extends towards the gripping center; the elastic protrusion 531 of the support plate 530 below the drive motor 400 is inserted into the initial groove 521 of the guide rail 520, completing the motor positioning support.

[0065] The first step is basic clamping and material handling. The control system starts the drive motor 400 in the power assembly. The drive motor 400 drives the drive shaft 410 to rotate synchronously. The second transmission gear 430 on the drive shaft 410 meshes with the first transmission gear 420 at the rotation center of the clamping arm 220, causing the two clamping arms 220 to rotate inward and retract synchronously. The clamping part 221 gradually fits against the two sides of the food surface. At the same time, the rubber support plate 600 of the bottom support assembly on the lower side of the clamping part 221 first contacts the bottom of the food. Under the pressure of the food, it slides slightly outward along the guide rail 610 to adapt to the size of the food and supports the bottom of the food with its own flexible rubber bottom surface.

[0066] The second step involves automatic determination of the food's hardness. The clamping arm 220 continuously retracts until the elastic contact 230 is fully in contact with the food's sidewall. This process is divided into two working conditions based on the food's hardness:

[0067] Working Condition 1: Grabbing soft foods such as tofu and cakes. The food is relatively soft, and only the elastic contact 230 is slightly squeezed. The elastic contact 230 has a short compression stroke, and its tail cannot contact the sensing contact 240 at the bottom of the sliding groove 222. The control circuit has no trigger signal output, and the auxiliary clamping component does not start throughout the process. Only the drive motor 400 maintains the basic clamping force of the clamping arm 220. With the bottom rubber tray 600 supporting the food, the low clamping force combined with the bottom support can prevent the soft food from being squeezed and broken. The robotic arm 110 can directly transfer the soft food to complete the non-cutting processes such as plating and sorting. Throughout the transfer, the locking gear 300 remains in a free rotation state, and the clamping arm 220 can slightly adaptively adjust its posture to prevent the food from being crushed by rigid locking. After the process is completed, the drive motor 400 reverses, the clamping arm 220 opens, and the rubber tray 600 automatically returns to the center after the food is no longer squeezed, completing the unloading.

[0068] Operating Condition 2: When grabbing frozen meat, hard root vegetables, or other foods with a hardness exceeding the threshold, the hard food rigidly squeezes the elastic contact 230, overcoming the elastic force of the elastic element 223 in the sliding groove 222 and sliding to the bottom of the groove. The tail of the elastic contact 230 contacts the sensing contact 240 to conduct the control circuit, and simultaneously sends a start command to the telescopic cylinder 250 and the locking element.

[0069] On the one hand, the telescopic cylinders 250 arranged horizontally on both sides extend synchronously, pulling the two clamping blocks 210 to move towards each other, causing the clamping arm 220 to further retract inward, increasing the clamping pressure and contact friction between the clamping part 221 and the hard food; on the other hand, the induction coil 340 inside the locking block 310 is powered on, and the coil generates a magnetic field that repels the magnet 330, pushing the locking plate 320 to slide outward along the slide groove 311. The end of the locking plate 320 is embedded in the tooth groove of the locking gear 300, and the locking gear 300 and the rotation center of the clamping arm 220 are locked synchronously, completely restricting the circumferential deflection of the clamping arm 220.

[0070] Meanwhile, the rubber support plate 600 of the bottom support component continuously adheres to the bottom of hard food, forming a dual constraint on the side and bottom with the secondary clamping and gear locking structure, preventing hard food from slipping or falling off.

[0071] After the food is transported to the designated location, the gripping arm 220 opens, the food is separated from the elastic contact 230, the elastic element 223 in the sliding groove 222 pushes the elastic contact 230 to reset outward, and the sensing contact 240 disconnects the conduction signal; the bottom support assembly rubber tray 600 is not squeezed by food, and automatically returns to its position along the guide rail 610, ready for the next gripping.

[0072] During the entire process of the telescopic cylinder 250 driving the clamping block 210 to move horizontally and the clamping arm 220 to retract or open, the support block 510 and support plate 530 inside the clamping frame 500 of the robotic arm 110 move synchronously with the clamping block 210. The support plate 530 slides along the guide rail 520 of the support block 510, and the compression springs on both sides of the support plate 530 continuously provide buffering preload. During the sliding process, the elastic protrusion 531 on the smooth inclined surface of the upper edge of the support plate 530 slides over the grooves 521 of different positions of the guide rail 520. After moving into place, the elastic protrusion 531 is engaged in the corresponding groove 521. The position of the support plate 530 is fixed by the positioning and locking force generated by the engagement, so as to prevent the drive motor 400 and drive shaft 410 from slipping or shifting when the clamping block 210 moves horizontally or the equipment vibrates, ensuring that the gear transmission is always accurately meshed and extending the service life of the equipment.

[0073] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0074] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. An automated processing robot device, characterized in that, include: A frame, on which a robotic arm is mounted, and on which a robotic hand is mounted; The robotic arm includes two gripping blocks and two gripping arms. The two gripping blocks are connected to the robotic arm, and the two gripping arms are rotatably connected to the two gripping blocks respectively. The robotic arm is equipped with a power assembly, which is used to drive the gripping parts of the two gripping arms to move closer or further apart from each other. An auxiliary clamping assembly is configured to drive the two clamping arms to move closer to each other and lock the two clamping arms to rotate around a rotation center when the hardness of the food clamped by the clamping parts of the two clamping arms is greater than a preset value.

2. The automated processing robot device according to claim 1, characterized in that, The auxiliary clamping assembly includes a sensing element, a locking element, and two telescopic cylinders. The sensing element is used to sense the hardness of the food, and the locking element is used to lock the two clamping arms to rotate around the rotation center. The two telescopic cylinders are horizontally arranged and their telescopic ends are respectively fixedly connected to two clamping blocks. When the telescopic ends of the two telescopic cylinders extend, they drive the two clamping blocks to move closer to each other, thereby driving the two clamping arms to move closer to each other.

3. The automated processing robot device according to claim 2, characterized in that, The sensing element includes a sensing contact and a resilient contact. The resilient contact is telescopically disposed on the clamping portion of two clamping arms, and the sensing contact is disposed between the resilient contact and the clamping portion of the clamping arms.

4. The automated processing robot device according to claim 3, characterized in that, The clamping arm has a sliding groove on its clamping part. One end of the elastic contact is slidably disposed in the sliding groove. An elastic element is disposed in the sliding groove, which causes the elastic contact to have a tendency to extend outward. The sensing contact is disposed at the bottom of the sliding groove.

5. The automated processing robot device according to claim 2, characterized in that, The locking element includes a locking gear and a locking block. The locking block is fixedly mounted on the clamping block, and the locking gear is rotatably mounted on the clamping block. A locking plate is slidably mounted on the locking block. The locking plate is configured to extend the locking block to lock the locking gear when the sensor detects that the food hardness exceeds a preset value.

6. The automated processing robot device according to claim 5, characterized in that, A magnet is fixedly installed on the locking plate, and an induction coil is installed inside the locking block. When the induction coil is energized, it generates a magnetic field, thereby pushing the magnet.

7. The automated processing robot device according to claim 1, characterized in that, The power assembly includes a drive motor and a drive shaft. The rotating shaft of the drive motor is coaxial with and fixedly connected to the drive shaft. The drive shaft is transmittedly connected to the rotation center of the clamping arm.

8. The automated processing robot device according to claim 2, characterized in that, The robotic arm is equipped with a clamping frame, and a support assembly is provided on the inner wall of the clamping frame. The support assembly is used to support the drive motor and the drive shaft.

9. The automated processing robot device according to claim 8, characterized in that, The support assembly includes a support block and a support plate. The support block is fixedly mounted on the inner wall of the clamping frame. A guide rail is provided on the support block. The support plate is slidably mounted in the guide rail. The upper end of the support plate is fixed to the drive motor. A through hole is provided on the support plate, which allows the shaft of the drive motor to pass through.

10. The automated processing robot device according to claim 1, characterized in that, The lower end of the clamping part of the clamping arm is provided with a bottom support component, which is used to support the bottom of the food.

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