Manipulator position adjusting mechanism for ice cream making

Abstract

The utility model belongs to the field of position adjusting mechanisms, and particularly relates to a manipulator position adjusting mechanism for ice cream making, which comprises a manipulator and a movable adjusting device, the movable adjusting device is provided with a base, a first servo motor is fixedly installed on one side of the base, a worm is fixedly installed at the output end of the first servo motor, one side of the worm is in transmission connection with a worm gear, one side of the worm gear penetrates through and is fixedly connected with a rotating disc, and a rotating arm is fixedly connected to the top of the rotating disc. Through the cooperation of the worm and the worm gear, the rotating power of the worm is transmitted to the worm gear and the rotating disc to drive the rotating arm to move, and the claw hook is linked by the movable arm to circumferentially move around the rotating arm, so that the function of rotating and positioning is realized, and the problem that the positioning position cannot be properly guided is solved; and the limitation of position adjusting work is improved.

Description

Technical Field

[0001] The utility model relates to the field of position adjustment mechanisms, in particular to a position adjustment mechanism for a manipulator used for making ice cream. Background Art

[0002] Ice cream is a volume-expanded frozen food made from drinking water, milk, milk powder, cream (or vegetable oil), sugar and other raw materials, with appropriate amount of food additives added, and processed through mixing, sterilization, homogenization, aging, freezing, hardening and other processes. In the ice cream production process, mechanical grippers are needed to achieve its handling.

[0003] Chinese patent number CN202221822411.5 discloses a positioning mechanism for a robot for making ice cream, including grippers hinged at equal intervals along a ring around a support plate, an electric cylinder is provided in the middle of the upper side of the support plate, the driving end of the electric cylinder extends to the lower end of the support plate through a bearing and is fixedly connected to the driving plate, the peripheral ends of the lower side of the driving plate are respectively hinged with support plates with the same number as the grippers, and the other end of the support plate is hinged to the surface of each gripper corresponding thereto.

[0004] From the above, it can be seen that the gripper can be opened to the maximum extent, thereby increasing the number of objects that can be grasped at one time, reducing the number of times the mechanical gripper is used, and at the same time saving existing resources and reducing the production cost of ice cream. However, this case still has the following shortcomings: the robot needs to provide appropriate position guidance for adjusting the position of the ice cream, and the grasped object should be accurately placed in the required adjustment position during use. At present, the existing technology cannot provide appropriate guidance for the grasping position and the adjustment position.

[0005] Therefore, in view of the above problems, a robot position adjustment mechanism for ice cream making is proposed. Utility Model Content

[0006] In order to make up for the shortcomings of the prior art, such as the problem that the adjustment position cannot be properly guided and the grasping position cannot be properly guided, the utility model proposes a positioning mechanism for an ice cream making robot.

[0007] The technical solution adopted by the utility model to solve its technical problem is: the utility model describes an ice cream making robot positioning mechanism, comprising a robot and a movable adjusting device; the movable adjusting device is installed with a base, a first servo motor is fixedly installed on one side of the base, a worm is fixedly installed on the output end of the first servo motor, one side of the worm is transmission-connected with a worm wheel, one side of the worm wheel penetrates and is fixedly connected with a rotating disk, and the top of the rotating disk is fixedly connected with a rotating arm.

[0008] Preferably, the manipulator is equipped with a cylinder, a push rod is movably installed at the output end of the cylinder, four connecting rods are fixedly installed around the push rod, and grab hooks with guide grooves are movably installed on the other side of the four connecting rods, and the tops of the four grab hooks are hinged to the cylinder.

[0009] Preferably, a second fixed bearing is movably mounted on the bottom of the rotating disk, a base is fixedly mounted on one side of the second fixed bearing, a first fixed bearing is fixedly mounted on one side of the base, and a worm is penetrated and movably mounted on one side of the first fixed bearing.

[0010] Preferably, a movable arm is movably mounted on one side of the rotating arm, a second servo motor is fixedly mounted on one side of the rotating arm, and an output end of the second servo motor is the rotating arm.

[0011] Preferably, a third servo motor is fixedly mounted on one side of the rotating arm, a linkage arm is fixedly mounted on the output end of the third servo motor, a connecting arm is movably mounted on the other end of the linkage arm, and a mounting plate is movably mounted on the other end of the connecting arm.

[0012] Preferably, a movable arm is movably connected to one side of the mounting plate, and a cylinder is fixedly mounted on the other side of the mounting plate.

[0013] The utility model is beneficial in that:

[0014] 1. The utility model adopts the structural design of the movable adjustment device, and cooperates with the worm and the worm wheel to transmit the rotating power of the worm to the worm wheel and the rotating disk to drive the rotating arm to move, so that the grab hook is linked by the movable arm to move in a circle around the rotating arm, realizing the function of rotation adjustment, solving the problem that the adjustment position cannot be properly guided, and improving the limitation of the adjustment work;

[0015] 2. The utility model adopts the structural design of the movable adjustment device. The second servo motor drives the movable arm to rotate. The movable arm performs circular movement at the connection of the rotating arm to realize the lifting and lowering of the grab hook. When the grabbing position is not suitable, the third servo motor is driven to rotate the linkage arm at the output end, so that the linkage arm produces linkage with the connecting arm, so that the connecting arm performs relative displacement with the rotation. The connecting arm is connected to the grab hook through the mounting plate to adjust the grabbing position front and back, thereby realizing the function of adaptive grabbing, solving the problem that the grabbing position cannot be properly guided, and improving the adaptability of the grabbing work. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 It is an exploded schematic diagram of the overall structure of the utility model;

[0019] Figure 3 This is a schematic diagram of the structure of the movable adjustment device of the utility model;

[0020] Figure 4 For this utility model Figure 3 A schematic diagram of the structure enlargement in the middle;

[0021] Figure 5 This is a schematic diagram of the structure of the robot arm of the present utility model.

[0022] In the figure: 1. manipulator; 2. movable adjusting device; 11. cylinder; 12. push rod; 13. connecting rod; 14. grab hook; 21. base; 22. first servo motor; 23. worm; 24. first fixed bearing; 25. worm gear; 26. rotating disk; 27. second fixed bearing; 28. rotating arm; 29. ​​movable arm; 31. second servo motor; 32. third servo motor; 33. linkage arm; 34. connecting arm; 35. mounting plate. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] See also Figure 1 - Figure 5 As shown, a manipulator position adjustment mechanism for ice cream making comprises a manipulator 1 and a movable adjustment device 2; the movable adjustment device 2 is provided with a base 21, a first servo motor 22 is fixedly installed on one side of the base 21, a worm 23 is fixedly installed on the output end of the first servo motor 22, a worm gear 25 is transmission-connected to one side of the worm 23, a rotating disk 26 is passed through and fixedly connected to one side of the worm gear 25, and a rotating arm 28 is fixedly connected to the top of the rotating disk 26;

[0025] During operation, the first servo motor 22 is driven to rotate the worm 23 in different directions, and the worm 23 transmits the rotational power to the worm wheel 25 to drive the rotating disk 26 to rotate synchronously. The rotating arm 28 performs a circular motion with the rotating disk 26 to link the movable arm 29 to move accordingly.

[0026] Furthermore, the manipulator 1 is equipped with a cylinder 11, a push rod 12 is movably installed at the output end of the cylinder 11, four connecting rods 13 are fixedly installed around the push rod 12, and the other sides of the four connecting rods 13 are movably installed with grab hooks 14 with guide grooves, and the tops of the four grab hooks 14 are hinged to the cylinder 11;

[0027] During operation, the cylinder 11 is driven to cause the push rod 12 to extend and retract inside the cylinder. During the movement, one end of the push rod 12 drives the connecting rod 13 to move in the guide groove provided by the grab hook 14. Through the movable position and the articulation of the grab hook 14 to the cylinder 11, the four grab hooks 14 are linked to synchronously grab or place.

[0028] Furthermore, a second fixed bearing 27 is movably mounted on the bottom of the rotating disk 26, a base 21 is fixedly mounted on one side of the second fixed bearing 27, a first fixed bearing 24 is fixedly mounted on one side of the base 21, and a worm 23 is penetrated and movably mounted on one side of the first fixed bearing 24;

[0029] During operation, when the worm 23 and the rotating disk 26 are performing transmission work to form a rotational motion, in order to prevent movement during operation, the worm 23 and the rotating disk 26 are connected by the first fixed bearing 24 and the second fixed bearing 27 to fix them in a limited manner, while not affecting the rotational motion of the worm 23 and the rotating disk 26.

[0030] Furthermore, a movable arm 29 is movably mounted on one side of the rotating arm 28, and a second servo motor 31 is fixedly mounted on one side of the rotating arm 28, and the output end of the second servo motor 31 is the rotating arm 28;

[0031] During operation, the second servo motor 31 drives the movable arm 29 to make it move in a circle around the connection with the rotating arm 28, which is beneficial to ensure that the grab hook 14 is lifted and grasped.

[0032] Furthermore, a third servo motor 32 is fixedly mounted on one side of the rotating arm 28, a linkage arm 33 is fixedly mounted on the output end of the third servo motor 32, a connecting arm 34 is movably mounted on the other end of the linkage arm 33, and a mounting plate 35 is movably mounted on the other end of the connecting arm 34;

[0033] During operation, the third servo motor 32 is driven to rotate the linkage arm 33 at the output end, and the linkage arm 33 links the mounting plate 35 with the connecting arm 34 to perform corresponding activities.

[0034] Further, a movable arm 29 is movably connected to one side of the mounting plate 35, and a cylinder 11 is fixedly mounted on the other side of the mounting plate 35;

[0035] During operation, if the grab hook 14 is in an inappropriate position when grabbing, the mounting plate 35 moves in a circle with the connection of the movable arm 29 as the axis, thereby driving the grab hook 14 to adjust the grabbing position forward and backward through the connecting arm 34.

[0036] Working principle: By driving the first servo motor 22 to transmit power to the worm 23, the worm 23 cooperates with the worm wheel 25 when rotating, so that the rotation of the worm 23 is transmitted to the worm wheel 25 to drive the fixed rotating disk 26 and the rotating arm 28 to move, so that the grab hook 14 is linked by the movable arm 29 to move in a circle around the rotating arm 28, so as to move the position of the grab hook 14 left and right. When the grab hook 14 is adjusted to a suitable position, the second servo motor 31 is driven to rotate the movable arm 29 at the output end, and the movable arm 29 rotates The connection of the rotating arm 28 moves in a circular motion, and the lifting and lowering of the grab hook 14 is achieved by rotating the movable arm 29 in different directions. When the vertical grabbing position is not suitable, the output end linkage arm 33 is driven to rotate around the output shaft by the third servo motor 32. During the rotation, the linkage arm 33 is used to link the connecting arm 34, so that the connecting arm 34 is relatively displaced with the rotation. At the same time, the connecting arm 34 drives the mounting plate 35 to flip over at the connection with the movable arm 29. When the mounting plate 35 moves, it drives the grab hook 14 to adjust the grabbing position forward and backward.

[0037] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, and these changes and improvements fall within the scope of the utility model to be protected.

Claims

1. A robot positioning mechanism for ice cream making, characterized in that: The invention comprises a manipulator (1) and a movable adjustment device (2); the movable adjustment device (2) is installed with a base (21); a first servo motor (22) is fixedly installed on one side of the base (21); a worm (23) is fixedly installed on the output end of the first servo motor (22); a worm gear (25) is drivingly connected to one side of the worm gear (23); a rotating disk (26) is penetrated and fixedly connected to one side of the worm gear (25); and a rotating arm (28) is fixedly connected to the top of the rotating disk (26).

2. The ice cream making robot positioning mechanism according to claim 1, characterized in that: The manipulator (1) is provided with a cylinder (11), a push rod (12) is movably provided at the output end of the cylinder (11), four connecting rods (13) are fixedly provided around the push rod (12), and grab hooks (14) with guide grooves are movably provided on the other side of the four connecting rods (13), and the tops of the four grab hooks (14) are hinged to the cylinder (11).

3. The ice cream making robot positioning mechanism according to claim 1, characterized in that: A second fixed bearing (27) is movably mounted on the bottom of the rotating disk (26); a base (21) is fixedly mounted on one side of the second fixed bearing (27); a first fixed bearing (24) is fixedly mounted on one side of the base (21); and a worm (23) penetrates and is movably mounted on one side of the first fixed bearing (24).

4. The ice cream making robot positioning mechanism according to claim 1, characterized in that: A movable arm (29) is movably mounted on one side of the rotating arm (28), a second servo motor (31) is fixedly mounted on one side of the rotating arm (28), and an output end of the second servo motor (31) is the rotating arm (28).

5. The ice cream making robot positioning mechanism according to claim 4, characterized in that: A third servo motor (32) is fixedly mounted on one side of the rotating arm (28), a linkage arm (33) is fixedly mounted on the output end of the third servo motor (32), a connecting arm (34) is movably mounted on the other end of the linkage arm (33), and a mounting plate (35) is movably mounted on the other end of the connecting arm (34).

6. The ice cream making robot position adjustment mechanism according to claim 5, characterized in that: A movable arm (29) is movably connected to one side of the mounting plate (35), and a cylinder (11) is fixedly mounted to the other side of the mounting plate (35).

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