Grabbing mechanism and automatic roast sausage vending machine

Abstract

The utility model relates to the technical field of automatic food processing and selling equipment, in particular to a material grabbing mechanism and an automatic roast sausage vending machine, the material grabbing mechanism comprises a clamping jaw and a clamping jaw moving device, and the clamping jaw moving device comprises an XY plane moving frame and a Z-axis driving mechanism. The Z-axis driving mechanism is installed below the XY plane moving frame and can be driven by the Z-axis driving mechanism to move in the XY plane, the clamping jaw is installed at the lower end of the Z-axis driving mechanism and can be driven by the Z-axis driving mechanism to move up and down in the Z-axis direction, a clamping jaw driving device capable of driving the clamping jaw to close to grab materials or open to release the materials is further arranged on the clamping jaw, and a sensor is arranged in the clamping jaw. A penetrating hole is formed in the inner side wall of the clamping jaw, and a contact of the sensor extends out of the penetrating hole so that the contact can be triggered when the clamping jaw grabs materials. The grabbing mechanism is compact and reasonable in layout, small in occupied space during application, large in moving range, better in structural strength and stability, capable of detecting whether materials are grabbed successfully or not in real time, and stable and reliable in work.

Description

Technical Field

[0001] The utility model relates to the technical field of automated food processing and selling equipment, in particular to a material grabbing mechanism and an automatic grilled sausage vending machine. Background Art

[0002] Grilled sausage is a very popular snack food. Grilled sausages sold on the market are basically processed by grilling machines. Traditional grilling machines require manual operation. They need to manually put the sausages on the grill for grilling, manually judge whether the grilled sausages are baked, and manually take out the baked sausages. The labor cost is high and the efficiency is low. The manual operation process will also increase the risk of food contamination. In order to solve the above problems, the Chinese utility model patent with announcement number CN210295282U discloses a mechanical arm and an automatic grilling sausage system, a vending system, and a vending machine. The basic principle is that the mechanical arm takes out the skewered sausages from the low-temperature storage room and transfers them to the baking room. When the sausages are baked, the mechanical arm transfers the sausages for shipment. The robotic arm in the patent includes a primary movable arm and a secondary movable arm along the depth direction of the machine body, a screw rod along the Y-axis direction (the height direction of the machine body), a screw rod along the X-axis direction (the width direction of the machine body) and a bottom mounting platform, which are arranged on one side of the low-temperature storage room. Therefore, the robotic arm will occupy a large space in the depth direction, height direction and width direction of the machine body, which will cause the overall size of the grilled sausage vending machine to be too large; moreover, when the robotic arm takes the material, it uses two forks to support the skewers exposed at both ends of the sausage, so it is necessary to manually insert the skewers into the raw sausages in advance and then put them into the cold storage room, which will increase labor costs and reduce the speed of replenishment. In addition, manual stringing will also increase the risk of food contamination and safety hazards. Utility Model Content

[0003] In order to overcome the defects existing in the prior art, the purpose of the utility model is to provide a material grabbing mechanism and an automatic grilled sausage vending machine which occupy little space and can detect in real time whether the material is successfully grabbed.

[0004] One of the purposes of the utility model is achieved through the following technical solutions:

[0005] A material gripping mechanism comprises a clamping jaw and a clamping jaw moving device, wherein the clamping jaw moving device comprises an XY plane moving frame and a Z axis driving mechanism, wherein the Z axis driving mechanism is installed below the XY plane moving frame and can move within the XY plane under the drive of the XY plane moving frame, and the clamping jaw is installed at the lower end of the Z axis driving mechanism and can move up and down along the Z axis under the drive of the Z axis driving mechanism.

[0006] As a preferred technical solution, the clamp is also provided with a clamp driving device capable of driving the clamp to close and grasp materials or to open and release materials. A sensor is provided inside the clamp, and a perforation is provided on the inner wall of the clamp. The contacts of the sensor extend from the perforation so that they can be triggered when the clamp grasps materials.

[0007] As a preferred technical solution, the XY plane moving frame includes two sets of X-axis guide rails arranged in parallel, two sliders respectively slidably connected to the two sets of X-axis guide rails, a Y-axis guide rail arranged on the slider, two X-axis transmission belts respectively arranged along the two sets of X-axis guide rails and respectively connected to the two sliders, an X-axis driving motor for driving the two X-axis transmission belts to rotate synchronously, a Y-axis transmission belt arranged along the Y-axis guide rail, and a Y-axis driving motor for driving the Y-axis transmission belt, and the upper end of the Z-axis driving mechanism is slidably connected to the Y-axis guide rail and fixedly connected to the Y-axis transmission belt.

[0008] As a preferred technical solution, the Z-axis drive mechanism includes a vertical telescopic arm, the telescopic arm includes an upper arm and a lower arm that are slidably connected, the upper arm is provided with a second Z-axis guide rail, a Z-axis transmission belt arranged along the second Z-axis guide rail, and a Z-axis drive motor for driving the Z-axis transmission belt, the lower arm is movably inserted in the upper arm, the lower arm is slidably connected to the second Z-axis guide rail and fixedly connected to the Z-axis transmission belt, so that it can perform up and down telescopic movement relative to the upper arm under the drive of the second Z-axis guide rail.

[0009] As a preferred technical solution, the clamp includes two claws, the upper ends of the two claws are respectively hinged to the lower end of the lower arm, and the hinge shafts of the two claws are respectively provided with mutually meshing gears, and the clamp driving device includes a clamp motor fixedly installed in the lower arm, and the driving shaft of the clamp motor is connected to any gear so as to drive the two claws to grasp or open.

[0010] As a preferred technical solution, the XY plane moving frame, the Z axis driving mechanism and the clamping jaws are also provided with a plurality of travel switches for controlling the travel range.

[0011] The second purpose of the utility model is achieved through the following technical solutions:

[0012] An automatic grilled sausage vending machine comprises a cabinet, an electric grill, a refrigerating cabinet and the above-mentioned material grabbing mechanism arranged in the cabinet, wherein the refrigerating cabinet is arranged in the lower part of the cabinet, the electric grill is placed flat above the refrigerating cabinet, and the material grabbing mechanism is arranged above the electric grill.

[0013] Compared with the prior art, this patent has the following beneficial effects:

[0014] 1. The material grabbing mechanism uses an XY plane moving frame in conjunction with a Z-axis driving mechanism to drive the gripper. The structural design is simple and ingenious. The XY plane moving frame, the electric grill and the refrigerator can be arranged in sequence from top to bottom in the cabinet, so that the XY plane moving frame overlaps with the refrigerator and the electric grill in the width direction (X-axis direction) and the depth direction (Y-axis direction), and the space occupied in the cabinet in the height direction is also small, so that the space utilization rate in the cabinet is higher, the overall structural layout of the sausage vending machine is more compact, and the space occupied is smaller. Moreover, the Z-axis driving mechanism and the gripper can be driven by the XY plane moving frame to move arbitrarily within the XY plane range, with a large range of activity and better structural strength and stability.

[0015] 2. A sensor is set inside the clamp, and the contact of the sensor is protruding from the inside of the clamp. It can be triggered when the clamp grabs the material, so that the clamp can detect in real time whether the material is successfully grabbed and feedback to the controller of the sausage roasting machine to avoid misoperation. The structural design is ingenious.

[0016] The concept, specific structure and effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, features and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a structural schematic diagram of the material grabbing mechanism in Example 1;

[0018] Figure 2 is a schematic cross-sectional structure diagram of the material grabbing mechanism in Example 1;

[0019] Figure 3 is a schematic diagram of the external structure of the automatic sausage vending machine in Example 2;

[0020] Figure 4 It is a schematic diagram of the internal structure of the automatic sausage vending machine in Example 2 after the cabinet is omitted.

[0021] Among them: grabbing mechanism 3, clamping claw 31, claw 311, gear 312, clamping claw motor 313, XY plane moving frame 32, X-axis guide rail 321, slider 322, Y-axis guide rail 323, X-axis transmission belt 324, X-axis drive motor 325, Y-axis transmission belt 326, Y-axis drive motor 327, Z-axis drive mechanism 33, upper arm 331, lower arm 332, Z-axis transmission belt 333, Z-axis drive motor 334, refrigerator 1, material taking mechanism 2, electric grill 4, stick supply mechanism 5, shipping mechanism 6, cabinet 7. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0023] Embodiment 1:

[0024] like Figure 1-2 As shown, this embodiment provides a material grabbing mechanism, including a clamping jaw 31 and a clamping jaw moving device, the clamping jaw moving device includes an XY plane moving frame 32 and a Z-axis driving mechanism 33, the Z-axis driving mechanism 33 is installed below the XY plane moving frame 32 and can move in the XY plane driven by the XY plane moving frame 32, the clamping jaw 31 is installed at the lower end of the Z-axis driving mechanism 33 and can move up and down along the Z-axis direction driven by the Z-axis driving mechanism 33, and the clamping jaw 31 is also provided with a clamping jaw driving device that can drive the clamping jaw 31 to close to grab materials or open to release materials.

[0025] As a preferred solution of this embodiment, a sensor (not shown in the drawings) is provided in the clamp 31, and the inner wall of the clamp 31 is provided with a perforation, and the contact of the sensor extends from the perforation so that it can be triggered when the clamp 31 grabs the material.

[0026] As a preferred solution of this embodiment, the XY plane moving frame 32 includes two groups of X-axis guide rails 321 arranged in parallel, two sliders 322 respectively slidably connected to the two groups of X-axis guide rails 321, a Y-axis guide rail 323 arranged on the slider 322, two X-axis transmission belts 324 respectively arranged along the two groups of X-axis guide rails 321 and respectively connected to the two sliders 322, an X-axis driving motor 325 for driving the two X-axis transmission belts 324 to rotate synchronously, a Y-axis transmission belt 326 arranged along the Y-axis guide rail 323, and a Y-axis driving motor 327 for driving the Y-axis transmission belt 326, and the upper end of the Z-axis driving mechanism 33 is slidably connected to the Y-axis guide rail 323 and fixedly connected to the Y-axis transmission belt 326.

[0027] As a preferred solution of this embodiment, the Z-axis driving mechanism 33 includes a vertical telescopic arm, the telescopic arm includes an upper arm 331 and a lower arm 332 that are slidably connected, the upper arm 331 is provided with a second Z-axis guide rail, a Z-axis transmission belt 333 arranged along the second Z-axis guide rail, and a Z-axis driving motor 334 for driving the Z-axis transmission belt 333, the lower arm 332 is movably inserted in the upper arm 331, the lower arm 332 is slidably connected to the second Z-axis guide rail and is fixedly connected to the Z-axis transmission belt 333, so that it can perform up and down telescopic movement relative to the upper arm 331 under the drive of the second Z-axis guide rail.

[0028] As a preferred solution of this embodiment, the clamp 31 includes two claws 311, the upper ends of the two claws 311 are respectively hinged to the lower end of the lower arm 332, and the hinge shafts of the two claws 311 are respectively provided with mutually meshing gears 312, and the clamp driving device includes a clamp motor 313 fixedly installed in the lower arm 332, and the driving shaft of the clamp motor 313 is connected to any gear 312 so as to drive the two claws 311 to clamp or open.

[0029] As a preferred solution of this embodiment, the XY plane moving frame 32, the Z axis driving mechanism 33, and the clamping jaw 31 are also provided with a plurality of travel switches (not shown in the drawings) for controlling the travel range.

[0030] Embodiment 2:

[0031] like Figure 3-4 As shown, this embodiment provides an automatic grilled sausage vending machine, including a cabinet 7, and a material taking mechanism 2, an electric grill 4, a refrigerator 1, a stick supply mechanism 5, a delivery mechanism 6 and a material grabbing mechanism 3 in Embodiment 1 arranged in the cabinet 7, the refrigerator 1 is arranged in the lower part of the cabinet 7, the electric grill 4 is placed flat on the refrigerator 1, the stick supply mechanism 5 and the delivery mechanism 6 are located on the side of the electric grill 4, the material grabbing mechanism 3 is arranged on the electric grill, and the sensor and the travel switch are connected to the controller of the automatic grilled sausage vending machine. When working, the material taking mechanism 2 is used to take out sausages from the refrigerator 1, the material grabbing mechanism 3 is used to grab the sausages on the material taking mechanism 2 and transfer them to any position of the electric grill 4 for grilling, then grab the grilled sausages to the stick supply mechanism 5 for sticking, and then send the sausages with sticking to the delivery mechanism 6.

[0032] This patent adopts XY plane moving frame 32 to cooperate with Z axis driving mechanism 33 to drive clamp 31, the structural design is simple and ingenious, XY plane moving frame 32 is horizontally arranged above electric grill 4, so that the space occupied by XY plane moving frame 32 and refrigerator 1 and electric grill 4 in width direction (X axis direction) and depth direction (Y axis direction) overlap, and the space occupied in cabinet 7 in height direction is also small, so that the space utilization rate in cabinet is high, the overall structural layout of sausage vending machine is more compact, and the space occupied is smaller, and the Z axis driving mechanism 33 and clamp 31 are driven by XY plane moving frame 32 to move arbitrarily within the XY plane range, the range of movement is large, and the structural strength and stability are better. By arranging a sensor in the clamp 31, and making the contact of the sensor protrude from the inner side of the clamp 31, it can be triggered when the clamp 31 grabs the sausage, so that the clamp 31 can detect whether the sausage is successfully grabbed in real time, and feedback to the controller of the sausage machine, avoiding misoperation, and the structural design is ingenious. In addition, the sausages are directly grasped by the clamping claws 31, so there is no need to insert skewers into the raw sausages in advance, thereby avoiding various problems caused by inserting skewers in advance.

[0033] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the utility model involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the concept of the utility model. For example, the above features are replaced with the technical features with similar functions disclosed in the present application (but not limited to) by each other to form a technical solution.

Claims

1. A material grabbing mechanism, characterized in that: The invention comprises a clamp and a clamp moving device, wherein the clamp moving device comprises an XY plane moving frame and a Z axis driving mechanism, wherein the Z axis driving mechanism is installed below the XY plane moving frame and can move in the XY plane under the drive of the XY plane moving frame, wherein the clamp is installed at the lower end of the Z axis driving mechanism and can move up and down along the Z axis under the drive of the Z axis, and the clamp is also provided with a clamp driving device capable of driving the clamp to close and grasp materials or to open and release materials; the clamp is also provided with a sensor, wherein the inner side wall of the clamp is provided with a through hole, and the contact of the sensor extends from the through hole so that it can be triggered when the clamp grasps materials.

2. The material grabbing mechanism according to claim 1, characterized in that: The XY plane moving frame includes two sets of X-axis guide rails arranged in parallel, two sliders respectively slidably connected to the two sets of X-axis guide rails, a Y-axis guide rail arranged on the slider, two X-axis transmission belts respectively arranged along the two sets of X-axis guide rails and respectively connected to the two sliders, an X-axis driving motor for driving the two X-axis transmission belts to rotate synchronously, a Y-axis transmission belt arranged along the Y-axis guide rail, and a Y-axis driving motor for driving the Y-axis transmission belt, and the upper end of the Z-axis driving mechanism is slidably connected to the Y-axis guide rail and fixedly connected to the Y-axis transmission belt.

3. The material grabbing mechanism according to claim 2, characterized in that: The Z-axis driving mechanism includes a vertical telescopic arm, which includes an upper arm and a lower arm that are slidably connected. The upper arm is provided with a second Z-axis guide rail, a Z-axis transmission belt arranged along the second Z-axis guide rail, and a Z-axis driving motor for driving the Z-axis transmission belt. The lower arm is movably inserted in the upper arm, and the lower arm is slidably connected to the second Z-axis guide rail and fixedly connected to the Z-axis transmission belt, so that the lower arm can perform up and down telescopic movement relative to the upper arm under the drive of the second Z-axis guide rail.

4. The material grabbing mechanism according to claim 3, characterized in that: The clamp includes two claws, the upper ends of the two claws are respectively hinged to the lower end of the lower arm, and the hinge shafts of the two claws are respectively provided with mutually meshing gears. The clamp driving device includes a clamp motor fixedly installed in the lower arm, and the driving shaft of the clamp motor is connected to any gear so as to drive the two claws to grasp or open.

5. The material grabbing mechanism according to claim 1, characterized in that: The XY plane moving frame, the Z axis driving mechanism and the clamping jaws are also provided with a plurality of travel switches for controlling the travel range.

6. An automatic sausage vending machine, characterized in that: The invention comprises a cabinet, an electric grill, a refrigerator and a material grabbing mechanism as described in any one of claims 1 to 5, wherein the refrigerator is arranged at the lower part of the cabinet, the electric grill is placed flat above the refrigerator, and the material grabbing mechanism is arranged above the electric grill.

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