Ice cream discharging and clamping mechanism

Abstract

The utility model relates to the technical field of clamping mechanisms, and discloses an ice cream discharging clamping mechanism which comprises a first supporting plate, a thumb air cylinder, a second supporting plate, an elastic clamping arm, a supporting rod, a third supporting plate, an air cylinder with a guide rod, a fourth supporting plate, a pneumatic suction cup and a linear driving piece. In the use process, when the elastic clamping arms on the two sides clamp ice cream, the multiple starting suction cups abut against the surface of the ice cream. And then the linear driving piece is controlled to work, and the ice cream can be carried to the position above the packaging box. And then the plurality of starting suckers are subjected to air exhaust operation, so that the starting suckers can be adsorbed on the surface of the ice cream. At the moment, the elastic clamping arms on the two sides loosen the ice cream, the air cylinder with the guide rod is controlled to work, the pneumatic suction cups can move to the positions below the elastic clamping arms on the two sides, and then the ice cream is moved into the packaging box. And moreover, the plurality of pneumatic suction cups are adsorbed on the top surfaces of the ice cream, so that collision with the inner wall of the packaging box can be avoided, and the ice cream can be tidily placed in the packaging box.

Description

Technical Field

[0001] The present application relates to the technical field of clamping mechanisms, for example, to an ice cream feeding clamping mechanism. Background Art

[0002] The related art (Announcement No.: CN218431868U) discloses an automated ice cream grabbing and placing device, including a workbench, a gantry frame is provided on the workbench, a motor is provided on the front side of the top of the gantry frame, a screw rod is connected to the output end of the motor, a moving block is provided on the screw rod, a lifting cylinder is provided on the front side of the moving block, the piston rod of the lifting cylinder faces downward and is connected to a support plate, and a clamping mechanism is provided on the front side of the support plate. The clamping mechanism includes a fixed seat connected to the support plate, and a plurality of groups of pneumatic flexible clamps are provided below the fixed seat, and the plurality of groups of pneumatic flexible clamps are evenly spaced along the longitudinal direction.

[0003] In the process of implementing the above embodiments, it is found that there are at least the following problems in the related art:

[0004] The automatic ice cream grabbing and placing equipment uses several sets of pneumatic flexible grippers to hold the ice cream, and then moves longitudinally and transversely under the drive of the lifting cylinder and the motor, and finally stacks the block-shaped ice cream into the inside of the square packaging box. However, when the ice cream is stacked into the packaging box, the pneumatic flexible grippers will collide with the inner wall of the packaging box, making it difficult to neatly place the ice cream inside the packaging box.

[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Utility Model Content

[0006] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical components or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0007] The disclosed embodiment provides an ice cream feeding and clamping mechanism so that the ice cream can be neatly placed inside a packaging box.

[0008] In some embodiments, the ice cream feeding and clamping mechanism comprises: a first support plate; a thumb cylinder mounted on the first support plate; a second support plate mounted on both sides of the moving ends of the thumb cylinder, the second support plates on both sides each comprising a strip hole opened along the direction of movement of the moving end of the thumb cylinder; an elastic clamping arm connected to the second support plates on both sides, each for resisting against the ice cream; a support rod connected to the first support plate and located on both sides of the thumb cylinder, the support rods on both sides respectively passing through the strip holes on both sides; a third support plate connected to the support plates on both sides Rod, and located between the elastic clamping arms on both sides; a cylinder with a guide rod, installed on the third support plate, and the movement direction of the moving end of the cylinder with a guide rod and the movement direction of the moving end of the thumb cylinder are perpendicular to each other; a fourth support plate, installed on the moving end of the cylinder with a guide rod; pneumatic suction cups, evenly installed on the fourth support plate, are all used to absorb ice cream; a linear drive component, connected to the first support plate, used to drive the first support plate to make lateral and longitudinal movements; wherein, under the drive of the cylinder with a guide rod, a plurality of pneumatic suction cups can be moved to the bottom of the elastic clamping arms on both sides.

[0009] Optionally, the elastic clamping arm includes: clamping blocks, respectively connected to the second support plates on both sides; ball guide shafts, which are slidably arranged in the clamping blocks on both sides along the movement direction of the moving end of the thumb cylinder; fixing rings, respectively installed at the opposite ends of the ball guide shafts on both sides; springs, respectively mounted on the ball guide shafts on both sides, and respectively located between the fixing rings and the clamping blocks on the same side; clamping plates, respectively installed at the separated ends of the ball guide shafts on both sides, and both are used to resist the ice cream.

[0010] Optionally, the elastic clamping arm further comprises: ball linear bearings, which are respectively mounted on the ball guide shafts on both sides and are respectively installed on the clamping blocks on both sides.

[0011] Optionally, the elastic clamping arm further includes: a first metal gasket, which is respectively mounted on the ball guide shafts on both sides and is respectively located between the spring and the clamping block on the same side.

[0012] Optionally, the elastic clamping arm further includes: a second metal gasket, which is respectively mounted on the ball guide shafts on both sides and is respectively located between the spring and the fixing ring on the same side.

[0013] Optionally, the linear drive member includes: an electric telescopic rod, the movement direction of the moving end of the electric telescopic rod is the same as the movement direction of the moving end of the guide rod cylinder; wherein the first support plate is installed on the moving end of the electric telescopic rod.

[0014] Optionally, the linear drive component also includes: a single-axis robot, the movement direction of the mobile end of the single-axis robot is perpendicular to the movement direction of the mobile end of the electric telescopic rod; a bending plate installed on the mobile end of the single-axis robot; wherein the electric telescopic rod is installed on the bending plate.

[0015] Optionally, the linear drive component further includes: a support shaft, used to abut against the ground or be connected to a device; and a mounting plate, mounted on the support shaft; wherein the single-axis robot is mounted on the mounting plate.

[0016] Optionally, the linear drive component further includes: a reinforcing plate installed at the bending position of the bending plate.

[0017] The ice cream feeding and clamping mechanism provided in the embodiments of the present disclosure can achieve the following technical effects:

[0018] The present disclosure provides an ice cream feeding and clamping mechanism, comprising a first support plate, a thumb cylinder, a second support plate, an elastic clamping arm, a support rod, a third support plate, a cylinder with a guide rod, a fourth support plate, a pneumatic suction cup and a linear drive. The thumb cylinder is mounted on the first support plate to provide a driving force. The second support plates are mounted on both sides of the moving end of the thumb cylinder, and the second support plates on both sides move toward or in the opposite direction under the drive of the thumb cylinder. The second support plates on both sides include strip holes opened along the direction of movement of the moving end of the thumb cylinder, and the strip holes on both sides are respectively used to pass the support rods on both sides to avoid interference between the support rods on both sides when the second support plates on both sides move. The elastic clamping arms are respectively connected to the second support plates on both sides, and are used to abut against the ice cream to clamp or loosen the ice cream. The support rod is connected to the first support plate and is located on both sides of the thumb cylinder. The support rods on both sides are respectively penetrated through the strip holes on both sides to support and install the third support plate. The third support plate is connected to the support rods on both sides and is located between the elastic clamping arms on both sides to support and install the cylinder with a guide rod. The cylinder with a guide rod is installed on the third support plate, and the movement direction of the mobile end of the cylinder with a guide rod is perpendicular to the movement direction of the mobile end of the thumb cylinder, so as to provide driving force. The fourth support plate is installed on the mobile end of the cylinder with a guide rod, and performs linear movement under the drive of the cylinder with a guide rod. Pneumatic suction cups are evenly installed on the fourth support plate, and are all used to absorb ice cream to grab or put down the ice cream. The linear drive is connected to the first support plate, and is used to drive the first support plate to perform lateral and longitudinal movements to move the ice cream to the inside of the packaging box. Among them, under the drive of the cylinder with a guide rod, multiple pneumatic suction cups can be moved to the bottom of the elastic clamping arms on both sides.

[0019] The present disclosure provides an ice cream feeding and clamping mechanism. By controlling the thumb cylinder to work, the first support plates on both sides can be driven to move toward or in the opposite direction, thereby driving the elastic clamping arms on both sides to clamp or release the ice cream. When the elastic clamping arms on both sides clamp the ice cream, multiple start suction cups are against the surface of the ice cream. Then the linear drive member is controlled to work, and the first support plate can be driven to move horizontally and vertically. Finally, the ice cream is driven to move horizontally and vertically to move the ice cream to the top of the packaging box. Subsequently, the multiple start suction cups are evacuated to make them adsorbed on the surface of the ice cream. At this time, the elastic clamping arms on both sides are released, and the guide rod cylinder is controlled to work, and multiple pneumatic suction cups can be moved to the bottom of the elastic clamping arms on both sides, thereby moving the ice cream to the inside of the packaging box. In addition, since multiple pneumatic suction cups are adsorbed on the top surface of the ice cream, collision with the inner wall of the packaging box can be avoided, and the ice cream can be neatly placed inside the packaging box.

[0020] The above general description and the following description are exemplary and explanatory only and are not intended to limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] One or more embodiments are exemplarily described by corresponding drawings, and these exemplary descriptions and drawings do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are considered similar elements, and the drawings do not constitute a scale limitation, and wherein:

[0022] Figure 1 It is a cross-sectional structural schematic diagram of an ice cream feeding and clamping mechanism provided by an embodiment of the present disclosure;

[0023] Figure 2 yes Figure 1 A schematic diagram of the enlarged structure at A in the middle;

[0024] Figure 3 It is a schematic diagram of the main structure of an ice cream feeding and clamping mechanism provided by an embodiment of the present disclosure;

[0025] Figure 4 It is another cross-sectional structural schematic diagram of an ice cream feeding and clamping mechanism provided in an embodiment of the present disclosure.

[0026] Reference numerals:

[0027] 10: first support plate; 20: thumb cylinder; 30: second support plate; 40: elastic clamping arm; 41: clamping block; 42: ball guide shaft; 43: fixing ring; 44: spring; 45: clamping plate; 46: ball linear bearing; 50: support rod; 60: third support plate; 70: cylinder with guide rod; 80: fourth support plate; 90: pneumatic suction cup; 100: linear drive; 101: electric telescopic rod; 102: single-axis robot; 103: bending plate; 104: support shaft; 105: mounting plate. DETAILED DESCRIPTION

[0028] In order to be able to understand the features and technical contents of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.

[0029] The terms "first", "second", etc. in the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of the present disclosure described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0030] In the embodiments of the present disclosure, the terms "upper", "lower", "inside", "middle", "outside", "front", "back" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. These terms are mainly intended to better describe the embodiments of the present disclosure and their embodiments, and are not intended to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction. Moreover, in addition to being used to indicate directions or positional relationships, some of the above terms may also be used to indicate other meanings. For example, the term "upper" may also be used to indicate a certain dependency or connection relationship in certain circumstances. For those of ordinary skill in the art, the specific meanings of these terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0031] In addition, the terms "disposed", "connected", and "fixed" should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0032] Unless otherwise specified, the term "plurality" means two or more than two sides.

[0033] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B indicates: A or B.

[0034] The term "and / or" is a description of the association relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or, A and B.

[0035] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other.

[0036] Combination Figures 1 to 4 As shown, the embodiment of the present disclosure provides an ice cream feeding and clamping mechanism, including a first support plate 10, a thumb cylinder 20, a second support plate 30, an elastic clamping arm 40, a support rod 50, a third support plate 60, a cylinder with a guide rod 70, a fourth support plate 80, a pneumatic suction cup 90 and a linear drive 100. The thumb cylinder 20 is mounted on the first support plate 10 to provide a driving force. The second support plates 30 are respectively mounted on the two moving ends of the thumb cylinder 20, and the second support plates 30 on both sides move toward or in the opposite direction under the drive of the thumb cylinder 20. The second support plates 30 on both sides include strip holes opened along the direction of movement of the moving end of the thumb cylinder 20, and the strip holes on both sides are respectively used to pass the support rods 50 on both sides to avoid interference between the second support plates 30 on both sides and the support rods 50 on both sides when they move. The elastic clamping arms 40 are respectively connected to the second support plates 30 on both sides, and are used to abut against the ice cream to clamp or loosen the ice cream. The support rod 50 is connected to the first support plate 10 and is located on both sides of the thumb cylinder 20. The support rods 50 on both sides are respectively penetrated in the strip holes on both sides for supporting and installing the third support plate 60. The third support plate 60 is connected to the support rods 50 on both sides and is located between the elastic clamping arms 40 on both sides for supporting and installing the guide rod cylinder 70. The guide rod cylinder 70 is installed on the third support plate 60. The movement direction of the mobile end of the guide rod cylinder 70 is perpendicular to the movement direction of the mobile end of the thumb cylinder 20, and is used to provide driving force. The fourth support plate 80 is installed on the mobile end of the guide rod cylinder 70 and performs linear movement under the drive of the guide rod cylinder 70. The pneumatic suction cup 90 is evenly installed on the fourth support plate 80, and is used to absorb the ice cream to grab or put down the ice cream. The linear drive 100 is connected to the first support plate 10, and is used to drive the first support plate 10 to do lateral and longitudinal movement to carry the ice cream to the inside of the packaging box. Wherein, driven by the guide rod cylinder 70 , the plurality of pneumatic suction cups 90 can be moved to the bottom of the elastic clamping arms 40 on both sides.

[0037] The present disclosure provides an ice cream feeding and clamping mechanism, which controls the thumb cylinder 20 to work, and can drive the first support plates 10 on both sides to move in opposite directions, thereby driving the elastic clamping arms 40 on both sides to clamp or release the ice cream. When the elastic clamping arms 40 on both sides clamp the ice cream, multiple start suction cups are against the surface of the ice cream. Then the linear drive 100 is controlled to work, and the first support plate 10 can be driven to move horizontally and vertically. Finally, the ice cream is driven to move horizontally and vertically to move the ice cream to the top of the packaging box. Subsequently, the multiple start suction cups are evacuated to make them adsorbed on the surface of the ice cream. At this time, the elastic clamping arms 40 on both sides are released, and the guide rod cylinder 70 is controlled to work, and multiple pneumatic suction cups 90 can be moved to the bottom of the elastic clamping arms 40 on both sides, thereby moving the ice cream to the inside of the packaging box. In addition, since multiple pneumatic suction cups 90 are adsorbed on the top surface of the ice cream, collision with the inner wall of the packaging box can be avoided, and the ice cream can be neatly placed inside the packaging box.

[0038] Optionally, combined Figures 1 to 4 As shown, the elastic clamping arm 40 includes a clamping block 41, a ball guide shaft 42, a fixing ring 43, a spring 44 and a clamping plate 45. The clamping blocks 41 are respectively connected to the second support plates 30 on both sides, and move synchronously with the second support plates 30 on both sides. The ball guide shaft 42 is slidably arranged in the clamping blocks 41 on both sides along the movement direction of the moving end of the thumb cylinder 20, and is used to play the role of guiding support. The fixing ring 43 is respectively installed at the opposite end of the ball guide shaft 42 on both sides, and is used to play the role of limiting. The spring 44 is respectively sleeved on the ball guide shaft 42 on both sides, and is respectively located between the fixing ring 43 and the clamping block 41 on the same side, and is used to provide elastic force to play a buffering role. The clamping plates 45 are respectively installed at the separated ends of the ball guide shaft 42 on both sides, and are used to resist the ice cream to clamp or loosen the ice cream.

[0039] In the disclosed embodiment, the thumb cylinder 20 is controlled to work, which can drive the first support plates 10 on both sides to move toward or in opposite directions, thereby driving the clamping blocks 41 on both sides to move toward or in opposite directions. Under the elastic force of the springs 44 on both sides, the clamping plates 45 on both sides can move accordingly. When the clamping plates 45 on both sides collide with the ice cream, the springs 44 on both sides will deform, thereby playing a buffering role to prevent the ice cream surface from being deformed or broken due to excessive instantaneous impact force.

[0040] Optionally, combined Figures 1 to 4 As shown, the elastic clamping arm 40 further includes a ball linear bearing 46. The ball linear bearing 46 is respectively sleeved on the ball guide shafts 42 at both sides, and is respectively installed on the clamping blocks 41 at both sides.

[0041] In the disclosed embodiment, the elastic clamping arm 40 further includes ball linear bearings 46 respectively mounted on the ball guide shafts 42 on both sides and respectively installed on the clamping blocks 41 on both sides. The ball linear bearings 46 on both sides are respectively used to reduce the friction between the ball guide shafts 42 on both sides and the clamping blocks 41 on both sides, and to improve the accuracy of the ball guide shafts 42 on both sides when sliding relative to the clamping blocks 41 on both sides.

[0042] Optionally, combined Figures 1 to 4 As shown, the elastic clamping arm 40 further includes a first metal gasket. The first metal gaskets are respectively sleeved on the ball guide shafts 42 at both sides and are respectively located between the spring 44 and the clamping block 41 at the same side.

[0043] In the disclosed embodiment, the elastic clamping arm 40 further comprises first metal washers respectively mounted on the ball guide shafts 42 on both sides. The first metal washers on both sides are respectively located between the springs 44 and the clamping block 41 on the same side to prevent the surfaces of the clamping blocks 41 on both sides from being worn and damaged by the springs 44 on both sides.

[0044] Optionally, combined Figures 1 to 4 As shown, the elastic clamping arm 40 further includes a second metal gasket. The second metal gasket is respectively sleeved on the ball guide shafts 42 at both sides and is respectively located between the spring 44 and the fixing ring 43 at the same side.

[0045] In the disclosed embodiment, the elastic clamping arm 40 further includes second metal washers respectively mounted on the two side ball guide shafts 42. The two side second metal washers are respectively located between the spring 44 and the fixing ring 43 on the same side to prevent the surfaces of the two side fixing rings 43 from being damaged by dark yellow wear on both sides.

[0046] Optionally, combined Figure 1 , Figure 3 and Figure 4 As shown, the linear drive 100 includes an electric telescopic rod 101. The moving direction of the moving end of the electric telescopic rod 101 is the same as the moving direction of the moving end of the guide rod cylinder 70, which is used to achieve the longitudinal movement function. Among them, the first support plate 10 is installed on the moving end of the electric telescopic rod 101.

[0047] In the disclosed embodiment, the electric telescopic rod 101 is controlled to work, so as to drive the first support plate 10 to move longitudinally, and finally drive the clamped or adsorbed ice cream to move longitudinally, thus realizing the longitudinal movement function.

[0048] Optionally, combined Figure 1 , Figure 3 and Figure 4As shown, the linear drive member 100 includes a single-axis robot 102 and a bending plate 103. The movement direction of the moving end of the single-axis robot 102 is perpendicular to the movement direction of the moving end of the electric telescopic rod 101, so as to realize the lateral movement function. The bending plate 103 is installed at the moving end of the single-axis robot 102, and is used to support and install the electric telescopic rod 101. Among them, the electric telescopic rod 101 is installed on the bending plate 103.

[0049] In the disclosed embodiment, the single-axis robot 102 is controlled to work, so as to drive the bending plate 103 to move horizontally, thereby driving the single-axis robot 102 to move horizontally, and finally driving the clamped or adsorbed ice cream to move horizontally, thus realizing the horizontal movement function.

[0050] Optionally, combined Figure 1 , Figure 3 and Figure 4 As shown, the linear drive 100 further includes a support shaft 104 and a mounting plate 105. The support shaft 104 is used to abut against the ground or be connected to other equipment to support the entire device. The mounting plate 105 is mounted on the support shaft 104 and is used to support and install the single-axis robot 102. The single-axis robot 102 is mounted on the mounting plate 105.

[0051] In the disclosed embodiment, the device can be placed on the ground and can be connected to other equipment so that the device is located between the conveyor line of ice cream and the conveyor line of packaging boxes, so as to grab and discharge the ice cream and then stack it inside the packaging box.

[0052] Optionally, combined Figure 1 , Figure 3 and Figure 4 As shown, the linear drive member 100 further includes a reinforcing plate. The reinforcing plate is installed at the bending position of the bending plate 103.

[0053] In the disclosed embodiment, the linear drive member 100 further comprises a reinforcing plate installed at the bend of the bending plate 103. The reinforcing plate is used to improve the structural strength to prevent the bend of the bending plate 103 from being deformed or broken under the action of external force.

[0054] The above description and the accompanying drawings sufficiently illustrate the embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Unless explicitly required, individual components and functions are optional, and the order of operations may vary. Portions and features of some embodiments may be included in or replace portions and features of other embodiments. The embodiments of the present disclosure are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. An ice cream feeding and clamping mechanism, characterized in that: include: a first support plate; A thumb cylinder, mounted on the first support plate; A second support plate, mounted on both sides of the moving end of the thumb cylinder, wherein the second support plates on both sides include a strip hole opened along the moving direction of the moving end of the thumb cylinder; Elastic clamping arms, respectively connected to the second supporting plates on both sides, and both used to resist against the ice cream; A support rod connected to the first support plate and located at two sides of the thumb cylinder, wherein the support rods at both sides are respectively inserted into the strip holes at both sides; A third support plate, connected to the support rods on both sides and located between the elastic clamping arms on both sides; A cylinder with a guide rod, mounted on the third support plate, wherein the moving direction of the moving end of the cylinder with a guide rod and the moving direction of the moving end of the thumb cylinder are perpendicular to each other; A fourth support plate, mounted on the moving end of the cylinder with guide rod; Pneumatic suction cups are evenly mounted on the fourth support plate and are used to absorb ice cream; A linear drive member connected to the first support plate, and used to drive the first support plate to move horizontally and vertically; Wherein, driven by the cylinder with guide rod, the plurality of pneumatic suction cups can be moved to below the elastic clamping arms on both sides.

2. The ice cream feeding and clamping mechanism according to claim 1, characterized in that: The elastic clamping arm comprises: Clamping blocks, respectively connected to the second supporting plates on both sides; A ball guide shaft is slidably disposed through the clamping blocks on both sides along the moving direction of the moving end of the thumb cylinder; A fixing ring is installed at the opposite end of the ball guide shaft on both sides; Springs are respectively mounted on the ball guide shafts at both sides and are respectively located between the fixing ring and the clamping block on the same side; The clamping plates are respectively installed on the separated ends of the ball guide shafts on both sides and are used to resist the ice cream.

3. The ice cream feeding and clamping mechanism according to claim 2, characterized in that: The elastic clamping arm also includes: The ball linear bearings are respectively mounted on the ball guide shafts at both sides and are respectively installed on the clamping blocks at both sides.

4. The ice cream feeding and clamping mechanism according to claim 3, characterized in that: The elastic clamping arm also includes: The first metal gaskets are respectively mounted on the ball guide shafts at both sides and are respectively located between the spring and the clamping block on the same side.

5. The ice cream feeding and clamping mechanism according to claim 3, characterized in that: The elastic clamping arm also includes: The second metal gaskets are respectively mounted on the ball guide shafts at both sides and are respectively located between the spring and the fixing ring on the same side.

6. An ice cream feeding and clamping mechanism according to any one of claims 1 to 5, characterized in that: The linear drive comprises: An electric telescopic rod, wherein the moving direction of the moving end of the electric telescopic rod is the same as the moving direction of the moving end of the guide rod cylinder; Wherein, the first support plate is installed on the moving end of the electric telescopic rod.

7. The ice cream feeding and clamping mechanism according to claim 6, characterized in that: The linear drive also includes: A single-axis robot, wherein the movement direction of the moving end of the single-axis robot and the movement direction of the moving end of the electric telescopic rod are perpendicular to each other; A bending plate, mounted on the moving end of the single-axis robot; Wherein, the electric telescopic rod is installed on the bending plate.

8. The ice cream feeding and clamping mechanism according to claim 7, characterized in that: The linear drive also includes: A support shaft, used to abut against the ground or connect to equipment; A mounting plate mounted on the support shaft; Wherein, the single-axis robot is installed on the mounting plate.

9. The ice cream feeding and clamping mechanism according to claim 7, characterized in that: The linear drive also includes: The reinforcing plate is installed at the bending position of the bending plate.

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