Lightweight variable-pitch gripper for food processing production line

Abstract

The utility model discloses a light-weight variable-pitch gripper for a food processing production line, belongs to the technical field of mechanical arm application, and solves the problems that the clamping force of the existing mechanical arm gripper for food processing is uncontrollable, clamped food is easily flattened or falls off, the distance between clamping jaws cannot be adjusted, the size of the clamping jaws is too large, and the working efficiency is high. The utility model solves the problems in the prior art, and comprises a shell, the shell adopts a box-shaped cavity type structure, mounting racks are arranged on an outer side back plate and a right side plate of the shell through mounting pieces, and the mounting racks adopt hollow metal connecting rack structures; two electric control sliding rails are arranged on the top of an inner cavity of the shell, movable sliding blocks are installed on the electric control sliding rails in a meshed mode through I-shaped structures, two clamping jaw arms are fixedly installed on the tops of the sliding blocks through installation pieces, and the clamping jaw arms extend to the outer side of the bottom of the shell. The position adjusting capacity of the gripper is greatly improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical arm application, and in particular relates to a lightweight variable-pitch gripper for a food processing production line. Background Art

[0002] A mechanical gripper is an automatic device that can imitate certain movements and functions of human hands and arms, and is used to grasp, move objects or operate tools according to a fixed program. Its characteristic is that it can be programmed to complete various expected operations, and its structure and performance combine the advantages of both human and mechanical machines. The manipulator is the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in production and processing, machinery manufacturing, metallurgy, electronics, light industry and atomic energy departments.

[0003] Mechanical grippers often use a nozzle structure to implement the gripper. The nozzle is connected to a vacuum pump through a pipeline. When working, the vacuum pump draws out the gas between the nozzle and the surface of the object, forming a negative pressure in the space between the nozzle and the surface of the object, so that the nozzle is firmly adsorbed on the surface of the object. Compared with other mechanical handling methods, the vacuum nozzle can complete the entire transportation process without damaging the product or raw materials. Therefore, vacuum nozzles are often used in the manufacture of paper and foam plastic products.

[0004] In existing technologies, mechanical grippers have the following problems: first, the clamping force is uncontrollable. Too much or too little clamping force can easily cause the clamped object to be flattened or fall. Second, the opening and closing angles of the jaws remain fixed, and the distance between the jaws cannot be adjusted. Finally, the size of the jaws is too large, which makes the jaws inconvenient to install or use. Utility Model Content

[0005] In view of the above-mentioned deficiencies in the prior art, the purpose of the utility model is to provide a lightweight variable-distance gripper for a food processing production line, which has controllable clamping force, adjustable distance between jaws, a rectangular box-shaped jaw size, a small size and is easy to install.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A lightweight variable-pitch gripper for a food processing production line comprises a shell, the shell adopts a box-shaped hollow structure, a mounting frame is provided on the outer back plate and the right side plate of the shell through mounting parts, and the mounting frame adopts a hollow metal connecting frame structure; two electrically controlled slide rails are provided on the top of the inner cavity of the shell, and a movable slider is mounted on the electrically controlled slide rail through an I-shaped frame engagement, and two clamping claw arms are fixedly mounted on the top of the slider through mounting parts, and the clamping claw arms extend to the outer side of the bottom of the shell; an airtight component is provided between the electrically controlled slide rails, and the airtight component is welded and mounted on the back plate and the top of the inner cavity of the shell, and the output end face of the airtight component is connected with a suction hole through a conduit, and the suction hole is fixedly mounted on the bottom of the shell, and the suction hole passes through the outer wall of the shell; movable grooves are provided on both sides of the suction hole, and the clamping claw arms extend to the outer side of the shell through the movable grooves.

[0008] As a further description of the above scenario:

[0009] An auxiliary battery is arranged inside the shell, and the output port of the auxiliary battery is connected to the electric control slide rail and the airtight component through a wire; a power port is arranged at the bottom of the back plate of the shell, and the power port is connected to a DC power supply through a power line, and the power port is connected to the electric control slide rail and the airtight component through a wire; the power port and the auxiliary battery increase the operating power for the electric control slide rail and the airtight component.

[0010] As a further description of the above scenario:

[0011] The electric control slide rail and the slider are engaged and connected to form two groups of motion components. The motion components are installed obliquely inside the shell. The motion components are respectively connected to the left plate and top plate and the right plate and top plate inside the shell. The top of the slider is opposite to the bottom of the shell. The connecting end of the clamping arm is fixedly installed on the top of the slider through a mounting piece, and the clamping end of the clamping arm is installed downward relative to the shell.

[0012] As a further description of the above scenario:

[0013] A buffer pad is arranged on the clamping end surface of the clamping arm, and the buffer pad is made of soft nylon and is bonded and installed on the clamping end surface of the clamping arm. A clamping groove is arranged on the top of the clamping end surface of the clamping arm, and the clamping groove is a trapezoidal notch.

[0014] As a further description of the above scenario:

[0015] The airtight component includes a cylinder, an air pipe, a sealing ring, a sealing valve and an air inlet; the cylinder is fixedly installed inside the shell through a mounting piece, the telescopic rod of the cylinder is connected to the air pipe, the end of the air pipe away from the cylinder is connected to the suction hole, the sealing ring is arranged at the position where the air pipe is connected to the suction hole, and the sealing ring covers the suction hole; the sealing valve is arranged at the connection position between the air pipe and the cylinder; the air inlet is arranged at the tail of the cylinder, and the air inlet passes through the top plate of the shell.

[0016] As a further description of the above scenario:

[0017] A filter screen is arranged inside the suction hole, and the filter screen is mounted inside the suction hole by snap-fitting; a buffer layer is arranged inside the movable groove, and the buffer layer is bonded, fixed and wraps the inner wall of the movable groove.

[0018] As a further description of the above scenario:

[0019] The shell is connected to a control computer on a food production line through a wire, and the electric control slide rail and the airtight component are operated and controlled by the control computer; the mounting parts are long screws and matching threaded holes.

[0020] In summary, due to the adoption of the above technical solution, the beneficial effects of the utility model are:

[0021] 1. In the utility model, the suction nozzle structure is provided to drive the clamping claw to realize the adsorption and clamping of the object, so as to prevent the clamped object from being flattened by the robot arm; the suction force of the clamping claw is controlled by adjusting the negative pressure of the suction nozzle structure, so as to prevent the clamping claw from damaging or losing the clamped object;

[0022] 2. In the utility model, the distance between the gripper arms is adjusted by setting an electric control slide rail and a matching slider, so as to control the gripper to change the pitch; by setting a variable pitch gripper, the gripper's compatibility, stability and versatility are improved, the clamping adjustment process and time consumption are simplified, and the gripper's working efficiency is improved;

[0023] 3. In the utility model, by providing a box inner cavity, a built-in slide rail, a mounting mechanical arm and a driving cylinder, the moving parts are assembled and installed inside the shell, so as to reduce the occupied space of the gripper and facilitate the mobile installation of the gripper;

[0024] 4. In the utility model, by providing a grooved mechanical clamp, when a pneumatic clamping device fails, the object can be clamped by the clamping arm, so as to improve the durability, stability and versatility of the gripper and greatly increase the service life of the gripper. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1It is a schematic diagram of the cross-sectional structure of a lightweight variable-pitch gripper for a food processing production line;

[0026] Figure 2 It is a three-dimensional structural schematic diagram of a lightweight variable-pitch gripper for a food processing production line;

[0027] Among them, 1 is a shell, 101 is a mounting frame, 102 is an auxiliary battery, 103 is a power port, 2 is an electric control slide rail, 3 is a slider, 30 is a motion component, 4 is a clamping arm, 401 is a buffer pad, 402 is a clamping groove, 5 is an airtight component, 501 is a cylinder, 502 is an air pipe, 503 is a sealing ring, 504 is a sealing valve, 505 is an air inlet, 6 is a suction hole, 601 is a filter screen, 7 is a movable groove, and 701 is a buffer layer. Specific implementation plan

[0028] 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.

[0029] See also Figure 1 - Figure 2 As shown, a lightweight variable-pitch gripper for a food processing production line comprises a shell 1, the shell 1 adopts a box-shaped hollow structure, a mounting frame 101 is provided on the outer back plate and the right side plate of the shell 1 through a mounting piece, and the mounting frame 101 adopts a hollow metal connecting frame structure; two electric control slide rails 2 are provided on the top of the inner cavity of the shell 1, and a movable slider 3 is mounted on the electric control slide rail 2 through an I-shaped frame engagement, and two clamping claw arms 4 are fixedly mounted on the top of the slider 3 through a mounting piece, and the clamping claw arms 4 extend to the outer side of the bottom of the shell 1; an airtight component 5 is provided between the electric control slide rails 2, and the airtight component 5 is welded and mounted on the back plate and the top of the inner cavity of the shell 1, and the output end face of the airtight component 5 is connected with a suction hole 6 through a conduit, and the suction hole 6 is fixedly mounted on the bottom of the shell 1, and the suction hole 6 passes through the outer wall of the shell 1; movable grooves 7 are provided on both sides of the suction hole 6, and the clamping claw arms 4 extend to the outer side of the shell 1 through the movable grooves 7.

[0030] In the above embodiment: an auxiliary battery 102 is arranged inside the outer shell 1, and the output port of the auxiliary battery 102 is connected to the electric control slide rail 2 and the airtight component 5 through a wire; a power port 103 is arranged at the bottom of the back plate of the outer shell 1, and the power port 103 is connected to a DC power supply through a power line, and the power port 103 is connected to the electric control slide rail 2 and the airtight component 5 through a wire; the power port 103 and the auxiliary battery 102 increase the operating power for the electric control slide rail 2 and the airtight component 5.

[0031] In a specific embodiment: a mounting frame 101 is provided on the outer shell 1 to realize convenient installation and disassembly of the gripper, and the auxiliary battery 102 realizes auxiliary power distribution by connecting the electric control slide rail 2 and the airtight component 5, so as to prevent the power port 103 from suddenly losing power and causing a fuse failure of the electric control slide rail 2 and the airtight component 5; the power port 103 connects the gripper to the production line circuit by connecting a DC power supply, and the power port 103 configures the operating power of the gripper through the electric control slide rail 2 and the airtight component 5; the outer shell 1 realizes the installation of the gripper inside the outer shell 1 through the box cavity structure, so as to reduce the space occupied by the gripper and protect the moving components of the gripper.

[0032] In the above embodiment: the electric control slide rail 2 and the slider 3 are engaged and connected to form two groups of motion components 30, and the motion components 30 are installed obliquely inside the shell 1. The motion components 30 are respectively connected to the left plate and top plate and the right plate and top plate inside the shell 1. The top of the slider 3 is opposite to the bottom of the shell 1, and the connecting end of the clamping arm 4 is fixedly installed on the top of the slider 3 through a mounting piece, and the clamping end of the clamping arm 4 is installed downward relative to the shell 1.

[0033] In a specific embodiment: the electric control slide rail 2 drives the slider 3 to move on the slide bar of the electric control slide rail 2 through the slide rail operation principle, the electric control slide rail 2 is controlled by connecting to a control computer of a production line, and the electric control slide rail 2 is configured for electric operation by connecting to a DC power supply and an auxiliary battery 102; the slider 3 is mounted on the top of the slide bar of the electric control slide rail 2 by splicing and engaging with an I-type base, a mounting surface is provided on the top of the slider 3, a plurality of screw holes are provided on the mounting surface, and the clamping arm 4 is installed on the mounting surface through a screw hole structure; the motion component 30 drives the clamping arm 4 installed on the slider 3 to move along the direction of the electric control slide rail 4 through electric operation and control by the control computer.

[0034] In the above embodiment: a buffer pad 401 is provided on the clamping end surface of the clamping arm 4, and the buffer pad 401 is bonded and installed on the clamping end surface of the clamping arm 4 using soft nylon material, and a clamping groove 402 is provided on the top of the clamping end surface of the clamping arm 4, and the clamping groove 402 is a trapezoidal groove.

[0035] In a specific embodiment: the clamping arm 4 uses a manipulator mechanism to assist in clamping the food adsorbed and clamped by the airtight component 5; the buffer pad 401 uses the soft nylon material to prevent the clamping arm 402 from being damaged by a violent collision when clamping and the clamping groove 402 uses a trapezoidal structure to assist in clamping the food; when the airtight component 5 fails and the clamping force is too weak, the clamping arm 4 uses the clamping groove 402 to mechanically clamp the food.

[0036] In the above embodiment: the airtight component 5 includes a cylinder 501, an air pipe 502, a sealing ring 503, a sealing valve 504 and an air inlet 505; the cylinder 501 is fixedly installed inside the shell 1 through a mounting piece, the telescopic rod of the cylinder 501 is connected to the air pipe 502, the end of the air pipe 502 away from the cylinder 501 is connected to the suction hole 6, the sealing ring 503 is arranged at the position where the air pipe 502 is connected to the suction hole 6, and the sealing ring 503 covers the suction hole 6; the sealing valve 504 is arranged at the connection position between the air pipe 502 and the cylinder 501; the air inlet 505 is arranged at the tail of the cylinder 501, and the air inlet 505 passes through the top plate of the shell 1.

[0037] In a specific embodiment: the airtight component 5 realizes load adsorption of food through the suction nozzle adsorption principle; the working principle of the suction nozzle adsorption is: the gas between the suction nozzle and the surface of the object is extracted to form a negative pressure in the space between the suction nozzle and the surface of the object, so that the suction nozzle is firmly adsorbed on the surface of the object; the cylinder 501 realizes the extraction of air in the air pipe 502 through a telescopic rod structure to realize the adsorption of food; the air pipe 502 realizes the connection between the airtight component 5 and the suction hole 6 by connecting the cylinder 501 and the suction hole 6; the sealing ring 503 realizes the prevention of air leakage at the connection position between the air pipe 502 and the suction hole 6 by compression and sealing; the sealing valve 504 realizes the adsorption work of the auxiliary airtight component 5 through the airtight valve structure; the air inlet 505 is kept in a normally closed state, and the air inlet 505 realizes the inflation of the cylinder 501 after the clamping work is completed by connecting the cylinder 501 to realize the relaxed clamping state.

[0038] In the above embodiment: a filter screen 601 is disposed inside the suction hole 6 , and the filter screen 601 is snap-fitted inside the suction hole 6 ; a buffer layer 701 is disposed inside the movable groove 7 , and the buffer layer 701 is bonded, fixed and wraps the inner wall of the movable groove 7 .

[0039] In a specific embodiment: the suction hole 6 realizes the adsorption and mounting of the object to be clamped to the bottom of the suction hole 6 through the suction nozzle adsorption principle and the connection with the airtight component 5; the filter screen 601 realizes the screening of abnormal debris in the adsorption and clamping process through a fine filter screen structure, so as to improve the adsorption accuracy of the suction hole 6; the movable groove 7 realizes the provision of movement space and trajectory position for the clamping arm 4 through a groove structure; the buffer layer 701 reduces the friction damage between the clamping arm 4 and the movable groove 7 by wrapping the inner wall of the movable groove 7.

[0040] In the above embodiment: the housing 1 is connected to a control computer on a food production line through a wire, and the electric control slide rail 2 and the airtight component 5 are operated and controlled by the control computer; the mounting parts are long screws and matching threaded holes.

[0041] In a specific embodiment: the opening and closing and the clamping force of the gripper are intelligently controlled by connecting to a control computer; the control system of the gripper is installed inside the control computer, and the control computer controls the operation and clamping of the gripper by controlling the electric control slide rail 2 and the airtight component 5; the mounting piece is fixedly installed by penetrating both sides of the plate.

[0042] A specific implementation scheme for a lightweight variable-pitch gripper for a food processing production line is as follows: the variable-pitch gripper is installed on the production line through a mounting frame 101, and the gripper is installed in a suspended manner. When the video to be clamped passes through the production line and moves to the bottom of the gripper, the control computer controls the gripper to start working, and the telescopic rod of the cylinder 501 moves into the cylinder to extract the air in the air pipe 502. The suction hole 6, driven by the air pipe 502, adsorbs the food to the top of the suction hole to complete the adsorption and clamping of the food; after the clamping is completed, the control computer controls the movement of the electric control slide rail 2 to drive the clamping arm 4 to complete the auxiliary clamping; after the clamping work is completed, the cylinder 501 is inflated through the air inlet 505 to achieve a relaxed clamping state, and the control computer controls the electric control slide rail 2 to release the clamping arm; when the airtight component 5 fails and the clamping force is too weak, the mechanical clamping of the food is achieved through the clamping groove 402 of the clamping claw arm 4.

[0043] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0044] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A lightweight variable-pitch gripper for a food processing production line, characterized in that: The invention comprises a shell (1), wherein the shell (1) adopts a box-shaped hollow cavity structure, and a mounting frame (101) is arranged on the outer back plate and the right side plate of the shell (1) through a mounting piece, and the mounting frame (101) adopts a hollow metal connecting frame structure; two electric control slide rails (2) are arranged on the top of the inner cavity of the shell (1), and a movable slider (3) is mounted on the electric control slide rail (2) through an I-shaped frame, and two clamping claw arms (4) are fixedly mounted on the top of the slider (3) through a mounting piece, and the clamping claw arms (4) extend to the shell. (1) at the bottom outer side; an airtight component (5) is arranged between the electric control slide rails (2), the airtight component (5) is welded and installed on the back plate and the top of the inner cavity of the shell (1), the output end face of the airtight component (5) is connected to a suction hole (6) through a conduit, the suction hole (6) is fixedly installed at the bottom of the shell (1), and the suction hole (6) passes through the outer wall of the shell (1); movable grooves (7) are arranged on both sides of the suction hole (6), and the clamping claw arm (4) extends to the outer side of the shell (1) through the movable grooves (7).

2. A lightweight variable-pitch gripper for a food processing production line according to claim 1, characterized in that: An auxiliary battery (102) is arranged inside the housing (1), and an output port of the auxiliary battery (102) is connected to the electric control slide rail (2) and the airtight component (5) through a wire; a power port (103) is arranged at the bottom of the back plate of the housing (1), and the power port (103) is connected to a direct current power source through a power line, and the power port (103) is connected to the electric control slide rail (2) and the airtight component (5) through a wire; the power port (103) and the auxiliary battery (102) increase the operating power for the electric control slide rail (2) and the airtight component (5).

3. The lightweight variable-pitch gripper for a food processing production line according to claim 1, characterized in that: The electric control slide rail (2) and the slider (3) are engaged and connected to form two groups of motion components (30). The motion components (30) are installed obliquely inside the shell (1). The motion components (30) are respectively connected to the left plate and top plate and the right plate and top plate inside the shell (1). The top of the slider (3) is opposite to the bottom of the shell (1). The connecting end of the clamping arm (4) is fixedly installed on the top of the slider (3) through a mounting piece, and the clamping end of the clamping arm (4) is installed downward relative to the shell (1).

4. The lightweight variable-pitch gripper for a food processing production line according to claim 1, characterized in that: A buffer pad (401) is arranged on the clamping end surface of the clamping arm (4), and the buffer pad (401) is made of soft nylon material and is bonded and mounted on the clamping end surface of the clamping arm (4). A clamping groove (402) is arranged on the top of the clamping end surface of the clamping arm (4), and the clamping groove (402) is a trapezoidal groove.

5. The lightweight variable-pitch gripper for a food processing production line according to claim 1, characterized in that: The airtight component (5) comprises a cylinder (501), an air pipe (502), a sealing ring (503), a sealing valve (504) and an air inlet (505); the cylinder (501) is fixedly mounted inside the housing (1) via a mounting member; the telescopic rod of the cylinder (501) is connected to the air pipe (502); one end of the air pipe (502) away from the cylinder (501) is connected to the suction hole (6); the sealing ring (503) is arranged at the position where the air pipe (502) and the suction hole (6) are connected, and the sealing ring (503) covers the suction hole (6); the sealing valve (504) is arranged at the position where the air pipe (502) and the cylinder (501) are connected; the air inlet (505) is arranged at the tail of the cylinder (501), and the air inlet (505) passes through the top plate of the housing (1).

6. The lightweight variable-pitch gripper for a food processing production line according to claim 1, characterized in that: A filter screen (601) is provided inside the suction hole (6), and the filter screen (601) is snap-fitted and installed inside the suction hole (6); a buffer layer (701) is provided inside the movable groove (7), and the buffer layer (701) is bonded and fixed to and wraps the inner wall of the movable groove (7).

7. The lightweight variable-pitch gripper for a food processing production line according to claim 1, characterized in that: The housing (1) is connected to a control computer on a food production line via a wire, and the electric control slide rail (2) and the airtight component (5) are operated and controlled by the control computer; the mounting parts are long screws and matching threaded holes.

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