Tableware handling robot and surface polishing equipment

Abstract

The utility model relates to the technical field of tableware processing equipment, and more specifically, it relates to a tableware handling robot and plane polishing equipment, comprising a machine platform, a clamping member, a clamping mechanism for driving the clamping member to clamp the tableware, and a driving mechanism assembled on the machine platform for moving the clamping mechanism, wherein the driving mechanism comprises a sliding bracket, and the clamping mechanism comprises a swing arm, a transmission arm, a pushing cylinder, a clamping bracket, and a guide rod, one end of the swing arm is connected to the clamping member, and the two ends of the transmission arm are respectively rotatably assembled between a push rod of the pushing cylinder and the other end of the swing arm, the clamping bracket is assembled on the sliding bracket, and the fixed end of the pushing cylinder is assembled with the clamping bracket, the swing arm is provided with a transversely penetrating guide hole, and the guide rod is penetrated through the guide hole and assembled with the clamping bracket, so as to reduce the force required for the pushing cylinder, reduce energy consumption, reduce production and maintenance costs, make the tableware loosened or clamped more smoothly, improve the clamping efficiency, and improve the flexibility and adaptability of the robot.

Description

Technical Field

[0001] The utility model relates to the technical field of tableware processing equipment, in particular to a tableware transporting manipulator and plane polishing equipment. Background Art

[0002] Tableware is the tableware used by people in daily life. Stainless steel has become an ideal material for making tableware because of its corrosion resistance, high temperature resistance, easy cleaning and good hygiene performance. Stainless steel tableware usually includes table knives, forks, table knives and table spoons;

[0003] The processing procedures of stainless steel tableware are usually raw material forming, surface polishing, surface treatment and packaging. The semi-finished tableware is processed by manual handling between different processes, which is time-consuming and labor-intensive, with low automation and production efficiency. Especially in the tableware surface polishing process, manual handling of tableware for polishing is prone to accidental damage by the high-speed rotating polishing wheel, and the processing accuracy is difficult to control;

[0004] By adopting a tableware handling manipulator for clamping and conveying tableware and kitchenware, the clamped tableware and kitchenware are transmitted to a polishing machine for polishing, and the processed tableware is taken out of the polishing machine for unloading. The prior art discloses a clamping mechanism and a conveyor for tableware and kitchenware processing, comprising an upper clamping plate, a lower clamping plate, and a clamping mechanism cylinder. A first connecting portion is provided on a side of the upper clamping plate facing the lower clamping plate, and a second connecting portion corresponding to the first connecting portion is provided on a side of the lower clamping plate facing the upper clamping plate. A rotating shaft passes through the first connecting portion and the second connecting portion so that the upper clamping plate and the lower clamping plate can be rotatably assembled on the rotating shaft. The clamping mechanism cylinder is connected to the rotating shaft, and the clamping mechanism cylinder drives the upper clamping plate and the lower clamping plate to be clamped or released.

[0005] In view of the above-mentioned related technologies, the inventor believes that the following defects exist: the clamping mechanism cylinder directly drives the upper and lower clamping plates, and the clamping mechanism cylinder is connected to the rotating shaft, so the required driving force is large, and it is necessary to select a cylinder model with a large clamping force to ensure the stability of the upper and lower clamping plates in clamping the tableware, which has higher requirements for the air source and a large amount of air consumption, resulting in increased energy consumption, thereby increasing production costs; secondly, the clamping force of the upper and lower clamping plates on the tableware is uneven, that is, the clamping force of the area close to the clamping mechanism cylinder is large, and the clamping force of the area close to the clamping mechanism cylinder is small, which easily causes the tableware to fall during the process of transporting the tableware, affecting the processing quality; thirdly, it is impossible to fine-tune the clamping position of the upper and lower clamping plates, the applicability is poor, and the compatibility is low. When replacing tableware of different specifications, it is necessary to reset the processing origin coordinates, which is difficult to adjust and has a long downtime, affecting production efficiency;

[0006] Therefore, it is necessary to further improve and upgrade the existing technology. Utility Model Content

[0007] In order to solve the problem of high energy consumption of driving the clamping parts and increased production costs in the prior art, the present application provides a tableware handling robot and a surface polishing device.

[0008] In the first aspect, the utility model provides a tableware handling robot adopting the following technical solution:

[0009] A tableware handling robot comprises a machine platform, a clamping member, a clamping mechanism for driving the clamping member to clamp the tableware, and a driving mechanism assembled on the machine platform for moving the clamping mechanism, wherein the driving mechanism comprises a sliding bracket, and the clamping mechanism comprises a swing arm, a transmission arm, a pushing cylinder, a clamping bracket, and a guide rod, one end of the swing arm is connected to the clamping member, and the two ends of the transmission arm are respectively rotatably assembled between the push rod of the pushing cylinder and the other end of the swing arm, the clamping bracket is assembled on the sliding bracket, the fixed end of the pushing cylinder is assembled with the clamping bracket, the swing arm is provided with a guide hole which passes through horizontally, the axis of the guide rod is perpendicularly arranged to the axis of the push rod of the pushing cylinder, and the guide rod is penetrated through the guide hole and assembled with the clamping bracket.

[0010] Preferably, the clamping mechanism includes a T-block, and the swing arm, clamping member, transmission arm and guide rod are each provided in two groups, the two vertical ends of the T-block are respectively rotatably assembled with the two groups of swing arms, the longitudinal end of the T-block is connected to the push rod of the pushing cylinder, and the two groups of guide rods are arranged up and down.

[0011] Preferably, the clamping mechanism also includes an inner plate and a longitudinal adjustment screw, one end of the inner plate is vertically connected to the guide rod, the other end of the inner plate is connected to the fixed end of the pushing cylinder, one end of the longitudinal adjustment screw is threadedly connected to the clamping bracket, and the other end of the longitudinal adjustment screw is connected to one end of the inner plate connected to the pushing cylinder.

[0012] Preferably, the clamping mechanism also includes a connecting rod, a vertical adjustment screw, and a vertical adjustment bracket. The clamping bracket is provided with an outer plate along its longitudinal protrusion. One end of the vertical adjustment screw is connected to the outer plate. The connecting rod is used to connect the other end of the vertical adjustment screw to the inner plate. The vertical adjustment screw and the outer plate can be vertically slidably assembled. The two ends of the vertical adjustment bracket are respectively connected to the vertical adjustment screw at the fixed end of the pushing cylinder.

[0013] Preferably, one group of the swing arms is provided with a raised arc portion facing the other group of the swing arms, the center of the arc portion is coaxially arranged with the center of the guide hole, and the arc portion of one group of the swing arms is abutted against the arc portion of the other group of the swing arms.

[0014] Preferably, the straight-line distance from the connection point between the swing arm and the transmission arm to the center of the guide hole is L1, and the straight-line distance from the connection point between the swing arm and the clamping member to the center of the guide hole is L2, and L1 / L2=2.5-3.

[0015] Preferably, the clamping mechanisms are provided in a plurality of groups, and the plurality of groups of the clamping mechanisms are arranged at intervals along the axis of the guide rod.

[0016] Preferably, the driving mechanism is used to drive the clamping mechanism to move horizontally and / or vertically and / or rotate in a circle.

[0017] In the second aspect, the utility model provides a tableware surface polishing device adopts the following technical solution:

[0018] A tableware surface polishing device comprises a base, two groups of polishing rollers, and the above-mentioned tableware handling robot, wherein the polishing rollers are rotatably assembled with the base, and the two groups of polishing rollers are arranged up and down to form a polishing station. The tableware handling robot also comprises a transfer mechanism, and the transfer mechanism is arranged at an angle to the polishing station. The tableware handling robot is used to move the tableware from the previous station to the polishing station for barrel processing and then move it to the transfer mechanism.

[0019] Preferably, the transfer mechanism includes a base and two groups of jaws, the two groups of jaws are vertically slidably assembled with the base, the two groups of jaws are arranged up and down to form a clamping station, and the clamping station and the polishing station are on the same horizontal line.

[0020] The beneficial effects of the utility model are:

[0021] By providing a swing arm, a transmission arm, a guide rod, a push cylinder, and a fulcrum design, the force required to push the cylinder is reduced, thereby reducing energy consumption, reducing production and maintenance costs, and the telescopic movement of the push cylinder realizes the clamping or loosening of the clamping member, making the tableware loosening or clamping smoother, thereby improving the clamping efficiency;

[0022] By providing longitudinal adjustment screws and vertical bar screws, micro-adjustments can be made, which reduces the difficulty of adjustment, simplifies the operation process, reduces downtime caused by equipment mismatch, improves production efficiency, improves the flexibility and adaptability of the manipulator, and enables the tableware handling manipulator to adapt to different processing equipment, reduces the risk of interference between equipment, and improves production safety;

[0023] By arranging multiple groups of the clamping mechanisms at intervals along the axis of the guide rod, the clamping force is evenly distributed, ensuring that the clamping force is evenly distributed over the entire length of the clamping member. The equidistant arrangement of the multiple groups of clamping mechanisms provides multi-point clamping, which increases the stability of the tableware, reduces the risk of shaking and falling of the tableware during transportation, and the damage of the tableware caused by uneven clamping force, thereby improving the quality of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is the first stereogram in Example 1 of the present application;

[0025] Figure 2 yes Figure 1 A partial enlarged view of the middle A;

[0026] Figure 3 It is the second stereogram in Example 1 of the present application;

[0027] Figure 4 yes Figure 3 A partial enlarged view of point B in the middle;

[0028] Figure 5 This is a partially split main view in Example 1 of the present application;

[0029] Figure 6 It is the third stereogram in Example 1 of the present application;

[0030] Figure 7 is a schematic diagram of the clamping member in the embodiment 1 of the present application in an open state;

[0031] Figure 8 is a schematic diagram of the closed state of the clamping member in Example 1 of the present application;

[0032] Fig. 9 is a stereogram of Example 2 of the present application;

[0033] Fig.10 yes Fig. 9 A partial enlarged view of point C in the middle.

[0034] Description of the accompanying drawings: 1, machine; 2, clamping member; 201, anti-slip layer; 3, clamping mechanism; 301, swing arm; 3011, guide hole; 3012, arc portion; 302, transmission arm; 303, push cylinder; 304, clamping bracket; 3041, outer plate; 305, guide rod; 306, T-block; 307, inner plate; 308, longitudinal adjustment screw; 309, connecting rod; 310, vertical adjustment screw; 311, vertical adjustment bracket; 3111, the first Two long holes; 4. Driving mechanism; 401. Sliding bracket; 402. Support seat; 412. Active pulley; 413. Driven pulley; 414. Synchronous belt; 421. Longitudinal bracket; 422. Longitudinal motor; 431. Transverse motor; 432. Active gear; 433. Driven rack; 441. Baffle; 5. Transfer mechanism; 501. Base; 502. Clamp; 503. Transfer cylinder; 6. Base; 601. Polishing roller; 602. Wax roller. DETAILED DESCRIPTION

[0035] This section will describe in detail the specific embodiments of the utility model. The preferred embodiments of the utility model are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that each technical feature and the overall technical solution of the utility model can be understood intuitively and vividly, but it cannot be understood as a limitation on the protection scope of the utility model.

[0036] In the description of the present invention, if there is a description of orientation, for example, the orientation or position relationship indicated by "upper", "lower", "front", "back", "left", "right", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. When a feature is referred to as "set", "fixed", or "connected" to another feature, it can be directly set, fixed, or connected to the other feature, or it can be indirectly set, fixed, or connected to the other feature.

[0037] In the description of the present utility model, if "several" is involved, it means one or more, if "multiple" is involved, it means more than two, if "greater than", "less than" or "exceed" is involved, it should be understood as not including the number itself, if "above", "below" or "within" is involved, it should be understood as including the number itself. If "first" or "second" is involved, it should be understood as being used to distinguish technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0038] In the description of the present utility model, if the orientation description is involved, for example, the orientation or position relationship indicated by "horizontal", "longitudinal" or "vertical" is based on the attached description. Figure 1 In the orientation shown, the X-axis is horizontal, the Y-axis is vertical, and the Z-axis is slightly vertical.

[0039] In addition, unless otherwise defined, the technical terms and scientific terms used in the present invention have the same meanings as those generally understood by those skilled in the art. The terms used in the present invention are only for describing specific embodiments, not for limiting the present invention. It should be understood that when used in this specification and the appended claims, the terms "include" and "comprise" indicate the presence of the described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their collections.

[0040] Example 1: Figure 1-8As shown, a tableware handling robot comprises a machine platform 1, a clamping member 2, a clamping mechanism 3 for driving the clamping member 2 to clamp the tableware, and a driving mechanism 4 mounted on the machine platform 1 for moving the clamping mechanism 3, wherein the driving mechanism 4 comprises a sliding bracket 401, and the clamping mechanism 3 comprises a swing arm 301, a transmission arm 302, a pushing cylinder 303, a clamping bracket 304, and a guide rod 305, wherein one end of the swing arm 301 is connected to the clamping member 2, and both ends of the transmission arm 302 are respectively rotatably mounted between a push rod of the pushing cylinder 303 and the other end of the swing arm 301, and the clamping bracket 304 is mounted on the sliding bracket 401, and the fixed end of the pushing cylinder 303 is connected to the clamping bracket 304. 04 assembly, the swing arm 301 is provided with a guide hole 3011 which runs horizontally therethrough, the axis of the guide rod 305 is perpendicularly arranged to the axis of the push rod of the pushing cylinder 303, and the guide rod 305 is penetrated through the guide hole 3011 and assembled with the clamping bracket 304, the guide rod 305 is penetrated through the guide hole 3011, forming a fulcrum of the transmission arm 302, when the push rod of the pushing cylinder 303 is extended or retracted, the swing arm 301 is driven to rotate around the fulcrum through the transmission arm 302, so that the clamping member 2 rotates with the fulcrum as the center of the circle, thereby realizing the opening and closing of the new clamping mechanism 3, completing the loosening or clamping of the tableware, and the tableware handling robot is suitable for the transportation of stainless steel spoons, such as stainless steel table knives.

[0041] Through the design of the swing arm 301 and the transmission arm 302, force transmission and amplification are achieved, and the force required to push the cylinder 303 is reduced, thereby reducing energy consumption, reducing production and maintenance costs, and reducing carbon emissions in the production process, meeting the requirements of green production. In addition, the telescopic movement of the cylinder 303 is used to clamp or release the clamping member 2, making the release or clamping of the tableware smoother and improving the clamping efficiency. Secondly, due to the design of the swing arm 301, the clamping member 2 rotates with the fulcrum as the center of the circle, thereby achieving uniform clamping of the tableware by the clamping member 2, avoiding the problem of tableware falling due to uneven clamping force, and the situation of tableware damage due to uneven clamping force, thereby improving the quality of the product.

[0042] Through a group of swing arms 301, clamping member 2, transmission arm 302 and guide rod 305, the clamping member 2 can be moved back and forth toward the clamping bracket 304, thereby realizing the clamping effect of the new clamping mechanism 3 on the tableware. However, in order to increase the opening and closing angle of the clamping mechanism 3, thereby clamping tableware with thicker thickness, the clamping mechanism 3 includes a T-block 306, and the swing arm 301, the clamping member 2, the transmission arm 302 and the guide rod 305 are each provided with two groups. The two vertical ends of the T-block 306 are rotatably assembled with the two groups of swing arms 301 respectively, and the longitudinal end of the T-block 306 is connected to the push rod of the push cylinder 303. The two groups of guide rods 305 are arranged up and down and the axes of the two groups of guide rods 305 are arranged in the same plane. The two groups of transmission arms 302 are arranged up and down, and the guide hole 3011 of the upward group of transmission arms 302 It is rotatably assembled with the guide rod 305 at the upper end, and the guide hole 3011 of a group of transmission arms 302 facing downward is rotatably assembled with the guide rod 305 at the lower end. The two groups of clamping members 2 are arranged up and down. When the push rod of the push cylinder 303 is extended to push the T-block 306 to move, the two groups of clamping members 2 are away from each other and in an open state, releasing the tableware. When the push rod of the push cylinder 303 is retracted to pull the T-block 306 to move, the two groups of clamping members 2 are close to each other and in a closed state, clamping the tableware, increasing the opening and closing angle of the clamping mechanism 3, so that it can clamp tableware with larger thickness, thereby improving the applicability and compatibility of the manipulator. Secondly, the design of the T-block 306 enables the two groups of clamping members 2 to act simultaneously, ensuring stability when clamping tableware and avoiding damage to tableware caused by unstable clamping.

[0043] In order to fine-tune the longitudinal distance between the clamping member 2 and the sliding bracket 401, so as to adapt to different conveying scenarios and reduce the risk of interference between the clamping member and other equipment when the driving mechanism 4 drives the clamping mechanism 3 to move, the clamping mechanism 3 also includes an inner plate 307 and a longitudinal adjustment screw 308. One end of the inner plate 307 is vertically connected to the guide rod 305, and the other end of the inner plate 307 is connected to the fixed end of the pushing cylinder 303. One end of the longitudinal adjustment screw 308 is threadedly connected to the clamping bracket 304, and the other end of the longitudinal adjustment screw 308 is connected to one end of the pushing cylinder 303 connected to the inner plate 307. When the longitudinal adjustment screw 308 rotates, the longitudinal adjustment screw 308 moves along its axis. The line moves back and forth toward the clamping bracket 304, thereby pushing the clamping part 2 to move longitudinally to adapt to the handling work of different processing equipment. Through the design of the longitudinal adjustment screw 308, the longitudinal distance between the clamping part 2 and the sliding bracket 401 is fine-tuned, so that the tableware handling robot can adapt to different processing equipment, reducing the risk of interference between equipment, reducing the occurrence of failures and accidents during the robot's transportation process, and improving production safety. Secondly, by adjusting the stroke of the longitudinal screw to change the clamping position of the clamping part 2, the adjustment difficulty is reduced, the operation process is simplified, the downtime caused by equipment mismatch is reduced, the production efficiency is improved, and the flexibility and adaptability of the robot are improved.

[0044] In order to fine-tune the clamping position of the clamping member 2, the clamping mechanism 3 also includes a connecting rod 309, a vertical adjustment screw rod 310, and a vertical adjustment bracket 311. The clamping bracket 304 is provided with an outer plate 3041 along its longitudinal protrusion. One end of the vertical adjustment screw rod 310 is connected to the outer plate 3041. The connecting rod 309 is used to connect the other end of the vertical adjustment screw rod 310 to the inner plate 307. The vertical adjustment screw rod 310 and the outer plate 3041 can be vertically slidably assembled. The two ends of the vertical adjustment bracket 311 are respectively connected to the vertical adjustment screw rod 310 at the fixed end of the push cylinder 303. The design of 10 and the connecting rod 309 can fine-tune the vertical position of the clamping member 2 to ensure the precise positioning of the tableware during transportation, improve the processing accuracy, enhance the stability of the tableware during transportation, and avoid the shaking or falling of the tableware. Secondly, the fine-tuning function enables the tableware handling robot to adapt to tableware of different sizes and shapes, thereby improving the adaptability of the robot to different production tasks. Furthermore, the setting of the vertical adjustment screw 310 makes the adjustment of the clamping position simple and quick, reduces the time and labor required for maintenance and adjustment, and helps to improve production efficiency and production quality.

[0045] Specifically, the outer plate 3041 is provided with a first long hole in the longitudinal direction, and one end of the vertical adjustment screw 310 is screwed through the first long hole to achieve longitudinal sliding adjustment. The vertical adjustment bracket 311 is an inverted L-shape, and the vertical adjustment bracket 311 is provided with a second long hole 3111 in the longitudinal direction. The vertical adjustment screw 310 is penetrated through the second long hole 3111, and is assembled on the vertical adjustment screw 310 through two sets of locking nuts and located on the upper and lower sides of the vertical adjustment bracket 311, thereby achieving the connection between the vertical adjustment bracket 311 and the vertical adjustment screw 310. The purpose of providing the second long hole 3111 is that when the vertical adjustment screw 310 slides along the first long hole, the adjustment of the second long hole 3111 can change the pitch angle of the push cylinder 303, thereby improving the automaticity of adjustment of the clamping member 2 to adapt to different processing requirements.

[0046] In order to improve the supporting stability of the inner plate 307 and the outer plate 3041 for the pushing cylinder 303, the clamping bracket 304 is provided with two groups of outer plates 3041 at its two lateral ends, and the inner plate 307 is provided with two groups and respectively connected to the lateral sides of the pushing cylinder 303. The connecting rod 309 is passed through the two groups of swing arms 301 and is used to connect the outer plate 3041 and the inner plate 307 to improve the rationality of the force. It is passed between the upper and lower groups of swing arms 301 to improve the compactness of the structure and improve the stability of the entire clamping mechanism 3, so that the tableware handling robot is more stable and reliable when clamping and carrying tableware, thereby improving the working performance and efficiency of the robot.

[0047] In order to improve the stability of the opening and closing of the clamping member 2, one group of swing arms 301 is provided with a raised arc portion 3012 facing the other group of swing arms 301, and the center of the arc portion 3012 is coaxially arranged with the center of the guide hole 3011. The arc portion 3012 of one group of swing arms 301 abuts against the arc portion 3012 of the other group of swing arms 301. When the clamping member 2 is opened and closed, the arc portion 3012 of one group of swing arms 301 abuts against the arc portion 3012 of the other group of swing arms 301 and rotates, providing stable support when the clamping member 2 is opened and closed, reducing shaking, improving the stability of operation, playing a supporting role, reducing assembly clearance, and improving the opening and closing accuracy of the clamping member 2. Due to the arc-shaped setting, the smoothness of rotation is improved.

[0048] It is worth mentioning that, in order to ensure that the arc portion 3012 between the two groups of swing arms 301 can always be in contact during the opening and closing of the clamping member 2, the arc length angle of the arc portion 3012 is 120-130°, and the bisector of the angle passes through the center of the two groups of guide rods 305 arranged above and below. Since the surface of the tableware is relatively smooth after polishing, the friction force is relatively small. In order to improve the stability of the tableware clamped by the clamping member 2, one side of the clamping member 2 facing the other group of clamping members 2 is provided with an anti-skid layer 201. The anti-skid layer 201 is located at the end of the clamping member 2 away from the swing arm 301. The anti-skid layer 201 is made of rubber. It is worth mentioning that, in order to increase the difficulty of replacing the anti-skid rubber, the clamping member 2 is provided with an assembly groove for assembling the anti-skid rubber. The anti-skid rubber is bonded to the inner wall of the assembly groove to form the anti-skid layer 201, which is convenient for replacing the anti-skid rubber and restoring the proper clamping force.

[0049] In order to reduce the driving force of the push cylinder 303, thereby reducing the gas consumption of the push cylinder 303, reducing energy consumption, and increasing the service life of the push cylinder 303, the straight-line distance from the connection between the swing arm 301 and the transmission arm 302 to the center of the guide hole 3011 is L1, and the straight-line distance from the connection between the swing arm 301 and the clamping member 2 to the center of the guide hole 3011 is L2, L1 / L2=2.5~3. Through the lever principle, the fulcrum position of the swing arm 301, that is, the center of the guide hole 3011, is designed so that the force arm close to the push cylinder 303 side is long, and the required The force acting on the cylinder 303 is small, thereby reducing the driving force for pushing the cylinder 303, reducing the gas consumption for pushing the cylinder 303, reducing energy consumption, and helping to save energy. Since the driving force is reduced, the possibility of the cylinder's life being reduced when it is loaded for a long time is also reduced, thereby improving the service life and reliability of the cylinder, thereby reducing the frequency and cost of maintenance and replacement of the cylinder. Secondly, by optimizing the design of the force arms L1 and L2, the opening and closing of the clamping member 2 is made more stable, reducing the risk of damage to tableware due to uneven clamping force, and improving the stability of the tableware transportation process.

[0050] In order to clamp multiple pieces of tableware, the clamping member 2 is usually set in a long strip shape. However, the clamping member 2 with a long strip shape will have insufficient clamping force at the two ends away from the rocker arm, which may cause the tableware to fall. In order to improve the stability of the clamping member 2 in clamping the tableware, multiple groups of clamping mechanisms 3 are provided. The multiple groups of clamping mechanisms 3 are equidistantly arranged along the axis of the guide rod 305, and two groups of clamping mechanisms 3 are located at both ends of the clamping member 2 to evenly distribute the clamping force, thereby ensuring that the clamping force is evenly distributed over the entire length of the clamping member 2 and avoiding the problem of insufficient clamping force in the area of ​​the pressure-pushing cylinder 303. Secondly, the equidistant arrangement of the multiple groups of clamping mechanisms 3 provides multi-point clamping, which increases the stability of the tableware and reduces the risk of shaking and falling of the tableware during transportation.

[0051] The driving mechanism 4 is used to drive the clamping mechanism 3 to move horizontally and / or vertically and / or rotate in a circle.

[0052] Specifically, the driving mechanism 4 also includes a support seat 402, the driving mechanism 4 includes a rotating assembly, the rotating assembly includes a rotating motor, a driving pulley 412, a driven pulley 413 and a synchronous belt 414, the fixed end of the rotating motor is connected to the machine 1 and the rotating end of the rotating motor is used to drive the driving pulley 412 to rotate, the axis of the driven pulley 413 is parallel to the vertical setting and the driven pulley 413 is connected to the bottom surface of the support seat 402, the synchronous belt 414 is sleeved between the driving pulley 412 and the driven pulley 413 and is used to transmit the torque of the rotating motor, and the clamping mechanism 3 is assembled on the support seat 402.

[0053] The driving mechanism 4 also includes a longitudinal movement component, which includes a longitudinal movement bracket 421, a longitudinal movement motor 422, a driving wheel, a driven wheel, and a transmission belt. The driving wheel is rotatably assembled with the support seat 402 and is located at one end of the longitudinal direction of the support seat 402. The driven pulley 413 is rotatably assembled with the support seat 402 and is located at the other end of the longitudinal direction of the support seat 402. The fixed end of the longitudinal movement motor 422 is connected to the support seat 402 and the movable end of the longitudinal movement motor 422 is connected to the driving wheel. The transmission belt is arranged between the driving wheel and the driven wheel and is used to transmit the torque of the longitudinal movement motor 422. The bottom of the longitudinal movement bracket 421 is connected to the upper belt of the transmission belt. When the longitudinal movement motor 422 rotates, the longitudinal movement bracket 421 moves in the longitudinal direction. The clamping mechanism 3 is assembled on the longitudinal movement bracket 421.

[0054] The driving mechanism 4 also includes a transverse movement component, which includes a transverse movement motor 431, a driving gear 432, and a driven rack 433. The driven rack 433 is connected to the transverse movement bracket along the transverse direction of the sliding bracket 401. The bottom of the sliding bracket 401 can be assembled with the longitudinal movement bracket 421 for transverse sliding. The fixed end of the transverse movement motor 431 is connected to the longitudinal movement bracket 421, and the movable end of the transverse movement motor 431 is axially connected to the driving gear 432. The driving gear 432 and the driven rack 433 are meshed for transmission and are used to transmit the torque of the transverse movement motor 431. When the transverse movement motor 431 rotates, the driving gear 432 is active, thereby causing the sliding bracket 401 to move laterally. The clamping mechanism 3 is assembled on the sliding bracket 401.

[0055] In order to reduce the risk of metal powder after cutting entering the drive mechanism 4 and affecting the movement of movable parts when the handling robot transports the tableware to the polishing machine for polishing, the drive mechanism 4 also includes a baffle 441, which is connected to the transverse bracket and is located between the clamping mechanism 3 and the driven rack 433.

[0056] Example 2: Figure 1-10 As shown, a tableware surface polishing device includes a base 6, two groups of polishing rollers 601, and a tableware handling robot of Example 1. The polishing rollers 601 are rotatably assembled with the base 6, and the two groups of polishing rollers 601 are arranged up and down to form a polishing station. The tableware handling robot also includes a transfer mechanism 5, and the transfer mechanism 5 is set at an angle to the polishing station. The tableware handling robot is used to move the tableware from the previous station to the polishing station for barrel processing and then move it to the transfer mechanism 5. By combining the tableware handling robot with the surface polishing equipment, the tableware can be automatically polished, the tableware polishing efficiency can be improved, and manual intervention can be reduced. In particular, in the polishing process that may have safety risks, the safety of the tableware polishing process can be improved. Secondly, the setting of the transfer mechanism 5 allows the tableware to be flexibly transferred between different stations to meet different production needs.

[0057] In order to improve the processing diversity of the tableware surface polishing equipment, the present embodiment also includes two groups of wax rollers 602, which are rotatably assembled with the base 6 and are located between the polishing roller 601 and the clamping mechanism 3. The two groups of wax rollers 602 can move toward each other. After the polishing roller 601 has processed the tableware, the driving mechanism 4 drives the clamping structure back to the position of the wax roller 602. The two groups of wax rollers 602 move toward each other to polish and wax the surface of the tableware. The polishing and waxing steps can further improve the smoothness and aesthetics of the tableware surface and enhance the overall quality and grade of the product.

[0058] In terms of the specific structure of the transfer mechanism 5, the transfer mechanism 5 includes a base 501 and two sets of jaws 502. The two sets of jaws 502 can be vertically slidably assembled with the base 501. The two sets of jaws 502 are arranged up and down to form a clamping station, and the clamping station and the polishing station are on the same horizontal line.

[0059] The transfer mechanism 5 further includes a transfer cylinder 503 , which is connected to the base 501 and is used to push the clamp to slide vertically along the base 501 , so that the two groups of clamps 502 are close to each other to clamp the tableware.

[0060] It should be noted that the polishing station refers to the position where two sets of polishing rollers 601 approach each other to process the upper and lower surfaces of the tableware, and the clamping station refers to the position where two sets of clamping jaws 502 approach each other to clamp the upper and lower surfaces of the tableware. In order to improve the conveying accuracy of the conveying robot, the center of the polishing station and the center of the clamping station are on the same horizontal line.

[0061] In order to improve the uniformity of tableware polishing, multiple groups of tableware surface polishing equipment are arranged at equal intervals. The clamping mechanism 3 of the first group of tableware handling manipulators clamps the head of the tableware. After the head of the tableware is polished by the first group of polishing stations, when the clamping mechanism 3 of the first group of tableware handling manipulators is clamped to the first transfer mechanism 5, the transfer mechanism 5 clamps the middle part of the tableware. Then, after transfer by the transfer mechanism 5, the clamping mechanism 3 of the second group of tableware handling manipulators clamps the tail of the tableware. The tail of the tableware is polished by the second group of polishing stations. When the clamping mechanism 3 of the second group of tableware handling manipulators is clamped to the second transfer mechanism 5, the transfer mechanism 5 clamps the middle part of the tableware for unloading or polishing of the third group, and so on. By setting up multiple groups of tableware surface polishing equipment, the polishing accuracy of the tableware is improved, different parts of the tableware are polished separately, the polishing uniformity of the entire tableware surface is ensured, and the product quality is improved. Secondly, through automated assembly line operations, manual intervention and conversion time are reduced, and the production efficiency and output of tableware are improved.

[0062] In order to optimize the transport path of the transport robot and facilitate the design of the robot, the axis of the polishing roller 601 and the axis of the clamping jaw 502 are set at 90° with the driven pulley 413 as the center, making the spatial layout of the polishing equipment more compact and improving the space utilization of the production workshop.

[0063] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the utility model, and these modifications or replacements should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A tableware handling robot, characterized in that: It includes a machine, a clamping member, a clamping mechanism for driving the clamping member to clamp the tableware, and a driving mechanism installed on the machine for moving the clamping mechanism, the driving mechanism includes a sliding bracket, the clamping mechanism includes a swing arm, a transmission arm, a pushing cylinder, a clamping bracket, and a guide rod, one end of the swing arm is connected to the clamping member, the two ends of the transmission arm are respectively rotatably assembled between the push rod of the pushing cylinder and the other end of the swing arm, the clamping bracket is assembled on the sliding bracket, the fixed end of the pushing cylinder is assembled with the clamping bracket, the swing arm is provided with a guide hole that passes through horizontally, the axis of the guide rod is perpendicular to the axis of the push rod of the pushing cylinder, and the guide rod is penetrated through the guide hole and assembled with the clamping bracket.

2. A tableware handling robot according to claim 1, characterized in that: The clamping mechanism includes a T-block, and the swing arm, clamping member, transmission arm and guide rod are each provided in two groups. The two vertical ends of the T-block are rotatably assembled with the two groups of swing arms respectively, and the longitudinal end of the T-block is connected to the push rod of the pushing cylinder, and the two groups of guide rods are arranged up and down.

3. A tableware handling robot according to claim 1, characterized in that: The clamping mechanism also includes an inner plate and a longitudinal adjustment screw. One end of the inner plate is vertically connected to the guide rod, and the other end of the inner plate is connected to the fixed end of the pushing cylinder. One end of the longitudinal adjustment screw is threadedly connected to the clamping bracket, and the other end of the longitudinal adjustment screw is connected to one end of the inner plate connected to the pushing cylinder.

4. A tableware handling robot according to claim 3, characterized in that: The clamping mechanism also includes a connecting rod, a vertical adjustment screw, and a vertical adjustment bracket. The clamping bracket is provided with an outer plate along its longitudinal protrusion. One end of the vertical adjustment screw is connected to the outer plate. The connecting rod is used to connect the other end of the vertical adjustment screw to the inner plate. The vertical adjustment screw and the outer plate can be vertically slidably assembled. The two ends of the vertical adjustment bracket are respectively connected to the vertical adjustment screw at the fixed end of the pushing cylinder.

5. The tableware handling robot according to claim 2, characterized in that: One group of the swing arms is provided with a raised arc portion facing the other group of the swing arms, the center of the arc portion is coaxially arranged with the center of the guide hole, and the arc portion of one group of the swing arms is in contact with the arc portion of the other group of the swing arms.

6. The tableware handling robot according to claim 1, characterized in that: The straight-line distance from the connection point between the swing arm and the transmission arm to the center of the guide hole is L1, and the straight-line distance from the connection point between the swing arm and the clamping member to the center of the guide hole is L2, and L1 / L2=2.5-3.

7. The tableware handling robot according to claim 1, characterized in that: The clamping mechanisms are provided in multiple groups, and the multiple groups of clamping mechanisms are arranged at intervals along the axis of the guide rod.

8. The tableware handling robot according to claim 1, characterized in that: The driving mechanism is used to drive the clamping mechanism to move horizontally and / or vertically and / or rotate in a circle.

9. A tableware surface polishing device, characterized in that: The tableware handling robot comprises a base, two groups of polishing rollers, and a tableware handling robot as described in any one of claims 1 to 8, wherein the polishing rollers are rotatably assembled with the base, and the two groups of polishing rollers are arranged up and down to form a polishing station. The tableware handling robot also comprises a transfer mechanism, and the transfer mechanism is arranged at an angle to the polishing station. The tableware handling robot is used to move the tableware from the previous station to the polishing station for barrel processing and then move it to the transfer mechanism.

10. The tableware surface polishing device according to claim 9, characterized in that: The transfer mechanism comprises a base and two groups of clamping jaws. The two groups of clamping jaws can be vertically slidably assembled with the base. The two groups of clamping jaws are arranged up and down to form a clamping station. The clamping station and the polishing station are on the same horizontal line.

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