Two-shaft manipulator for grabbing rice noodles

Abstract

The utility model discloses a two-shaft manipulator for grabbing rice noodles, which comprises a vertical frame, a transverse support, a transverse guide rail, a longitudinal mounting plate, a longitudinal guide rail, a longitudinal power device, a transverse pushing device and a claw, one end of the transverse support is fixedly connected with the vertical frame, and the transverse guide rail extending along the length direction of the transverse support is fixed on the transverse support; the upper side of the longitudinal mounting plate is matched with the transverse guide rail through a first sliding block, and a longitudinal guide rail is arranged on the lower side of the longitudinal mounting plate. The extending direction of the longitudinal guide rail is perpendicular to the extending direction of the transverse guide rail. The claws are installed on the longitudinal guide rail through a second sliding block in a matched mode, the two claws are installed at the two ends of the longitudinal guide rail respectively, and the two claws are controlled by a longitudinal power device to move on the stroke of the longitudinal guide rail. And the transverse pushing device is connected with the longitudinal mounting plate. The device has the advantages of being high in automation degree, capable of reducing the labor intensity of workers, improving the working efficiency and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a two-axis manipulator for grasping rice noodles. Background Art

[0002] Rice noodles are foods produced after deep processing of rice. They are widely loved in China and many Southeast Asian countries and have a large demand. However, due to the restriction of the efficiency of processing equipment, the production efficiency is low, and the processing output of rice noodles is greatly affected. In the process of making rice noodles, processes such as rice washing - soaking - pulverizing - mixing - cooking - cutting - drying - packing are required for rice. At present, after the finished rice noodles are made, they are transported to a designated position by a conveyor belt and packed by workers. The workers have a high labor intensity and low efficiency.

[0003] The existing patent document CN108557196A discloses an automatic packaging device for fresh rice noodles of snail powder, which uses a manipulator to grasp the rice noodle packets to a designated position.

[0004] The disclosure of the above background art content is only used to assist in understanding the concept and technical solution of the present utility model, and it does not necessarily belong to the prior art of this patent application. Without clear evidence indicating that the above content was publicly available on the filing date of this patent application, the above background art should not be used to evaluate the novelty and creativity of this application. Content of the Utility Model

[0005] The main purpose of the present utility model is to propose a two-axis manipulator for grasping rice noodles with a compact structure and high automation degree.

[0006] Therefore, the present utility model proposes a two-axis manipulator for grasping rice noodles.

[0007] Preferably, the present utility model may further have the following technical features:

[0008] A two-axis manipulator for grasping rice noodles includes an upright frame, a transverse bracket, a transverse guide rail, a longitudinal mounting plate, a longitudinal guide rail, a longitudinal power device, a transverse pushing device, and a claw hand. One end of the transverse bracket is fixedly connected to the upright frame, and the transverse guide rail extending along its length direction is fixed on the transverse bracket; the upper side of the longitudinal mounting plate is installed in cooperation with the transverse guide rail through a first slider, and the lower side is provided with a longitudinal guide rail; the extending direction of the longitudinal guide rail is perpendicular to the extending direction of the transverse guide rail; the claw hand is installed on the longitudinal guide rail in cooperation with a second slider, and two claw hands are respectively installed at both ends of the longitudinal guide rail, and the two claw hands are controlled by the longitudinal power device to move on the stroke of the longitudinal guide rail, so that the two claw hands approach or move away from each other; the transverse pushing device controls the longitudinal mounting plate to move on the stroke of the transverse guide rail.

[0009] Further, the lateral pushing device is a cylinder.

[0010] Further, an N-shaped bracket is fixed to the upper side of the longitudinal mounting plate. A plurality of the first sliders are mounted inside the N-shaped bracket. A handle is further provided at the upper part of the N-shaped bracket for connecting the lateral pushing device.

[0011] Further, two longitudinal guide rails are mounted on the lower side of the longitudinal mounting plate. A nylon cable carrier is also mounted between the two longitudinal guide rails.

[0012] Further, two grippers are controlled to approach or move away from each other by driving the cylinder.

[0013] Further, the longitudinal power device includes a left and right hand double lead screw and a motor. A left nut and a right nut are respectively provided on the left-handed thread section and the right-handed thread section of the left and right hand double lead screw. The two grippers are respectively connected and fixed to the left nut and the right nut; the left and right hand double lead screw is rotated by driving the motor.

[0014] Further, the longitudinal power device further includes a transmission mechanism. The transmission mechanism includes a pulley and a belt. Pulleys are respectively mounted on the driving shaft of the motor and the left and right hand double lead screw, and then the two pulleys are tensioned and connected by the belt to achieve transmission.

[0015] Further, the gripper includes at least two concave plates, and a connecting plate for connecting the concave plates together. The second slider is fixed to the upper side of the connecting plate, and the concave surfaces of the two concave plates face each other.

[0016] Further, the gripper further includes a second cylinder and a pressing claw. The pressing claw is mounted between two adjacent concave plates and is rotatably connected to the concave plates through a pin shaft; the end of the telescopic rod of the second cylinder is hinged to the upper part of the pressing claw, and its base is rotatably connected to the concave plate.

[0017] Further, the side of the pressing claw facing the rice noodles is concave.

[0018] The beneficial effects of the present utility model compared with the prior art include: through the combined application of components such as a lateral pushing device, a longitudinal power device, a lateral guide rail, a longitudinal guide rail, a slider, etc., a simple two-axis manipulator is formed, which can gather the scattered rice noodles and transfer them to the target location for discharging and scattering. After the two grippers approach each other and clamp and gather the rice noodles, the second cylinder is started. The telescopic rod of the second cylinder extends to drive the pressing claw to flip towards the rice noodle side, and the pressing claw is gently pressed on the upper side of the rice noodles, thereby avoiding the rice noodles slipping out of the gripper during the process of moving the rice noodles. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic structural diagram of the present utility model.

[0020] Figure 2 It is a schematic diagram of the installation of the gripper of the present utility model.

[0021] Figure 3 It is a schematic diagram of the structure of the longitudinal mounting plate of the present utility model.

[0022] Figure 4 It is a schematic diagram of the structure of the longitudinal power device of the present utility model.

[0023] Figure 5 and Figure 6 It is a structural diagram of the gripper part of the present utility model.

[0024] Figure 7 It is a schematic three-dimensional diagram of the gripper of the present utility model.

[0025] Figure 8 It is the front view of the gripper of the present utility model.

[0026] Figure 9 It is a schematic diagram of the application of the present utility model. Detailed implementation manners

[0027] The present utility model will be further described in detail below in conjunction with the detailed implementation manners and with reference to the accompanying drawings. It should be emphasized that the following description is merely exemplary and not intended to limit the scope and application of the present utility model.

[0028] Referring to the following drawings, non-limiting and non-exclusive embodiments will be described, where the same reference numerals represent the same components, unless otherwise specifically stated.

[0029] As Figures 1-9A two-axis manipulator for grasping rice noodles as shown includes a vertical frame 1, a horizontal bracket 5, a horizontal guide rail 4, a longitudinal mounting plate 3, a longitudinal guide rail 7, a longitudinal power device, a horizontal pushing device, and a gripper 6. One end of the horizontal bracket 5 is fixed to the upper end of the vertical frame 1, making the horizontal bracket 5 in a horizontally suspended state. During operation, the horizontal bracket 5 is located directly above the conveying roller path and its extending direction is the same as the feeding direction of the conveying roller path 10. The upper side of the horizontal bracket 5 is fixed with the horizontal guide rail 4 extending along its length direction. The longitudinal mounting plate 3 is horizontally arranged and located below the horizontal bracket 5. Its upper side is installed in cooperation with the horizontal guide rail 4 through a first slider 39, and the lower side is provided with a longitudinal guide rail 7. The extending direction of the longitudinal guide rail 7 is perpendicular to the extending direction of the horizontal guide rail 4. The gripper 6 is installed on the longitudinal guide rail 7 in cooperation with a second slider 61. Two grippers 6 are respectively installed at both ends of the longitudinal guide rail 7. The longitudinal power device controls the movement of the two grippers 6 on the stroke of the longitudinal guide rail 7, so that when the two grippers 6 approach each other, they grasp the rice noodles, and when they move away from each other, they spread out the grasped rice noodles. Then, the horizontal pushing device controls the movement of the longitudinal mounting plate 3 on the stroke of the horizontal guide rail 4, so that after the gripper 6 grabs the material, the horizontal pushing device is started to drive the gripper 6 to move to the unloading area 11 for unloading and spreading out the rice noodles; the longitudinal mounting plate 3 returns to its original position, that is, returns to the position where it grasps the rice noodles. In this way, through the combined application of components such as the horizontal pushing device, the longitudinal power device, the horizontal guide rail 4, the longitudinal guide rail 7, and the slider, a simple two-axis manipulator is formed, which can gather and transfer the scattered rice noodles to the target location for unloading and spreading, improving the degree of automation and reducing the labor intensity of workers. Preferably, the horizontal pushing device is a cylinder 2, and the telescopic movement of the cylinder 2 is used to push the longitudinal mounting plate 3 to move on the horizontal guide rail 4, so that the longitudinal mounting plate 3 reciprocates between the position where it grasps the rice noodles and the unloading area. Optionally, the front end of the telescopic rod of the cylinder 2 is hinged to the longitudinal mounting plate 3 to eliminate the pulling force of the cylinder 2 caused by micro-deformation.

[0030] One of the preferred embodiments, in combination with Figure 2 , the longitudinal mounting plate 3 is a square plate structure, and a number of weight-reducing holes 12 are also opened on its plate body. The upper side of the longitudinal mounting plate 3 is fixed with an n-shaped bracket 31. Inside the n-shaped bracket 31, 2 - 4 of the first sliders 39 are installed. The upper part of the n-shaped bracket 31 is also provided with a handle 32 for connecting the horizontal pushing device.

[0031] Combined with Figure 3, two longitudinal guide rails 7 are installed on the lower side of the longitudinal mounting plate 3 to improve the stability of movement. Preferably, a nylon cable carrier 71 is further included. The nylon cable carrier 71 is installed between the two longitudinal guide rails 7 and is parallel to the longitudinal guide rails 7. For example, signal lines, air pipes and other pipelines can be arranged on the nylon cable carrier 71 to move with the gripper 6, which can arrange the pipelines in an orderly manner, facilitate maintenance, and avoid pipeline interference with the movement of the gripper 6.

[0032] In actual work, two grippers 6 can be driven to move away from or close to each other in various ways. For example, driving cylinders are respectively arranged to control the movement of the two grippers 6. In this embodiment, a lead screw is used to control the two grippers 6 to move away from or close to each other. Specifically, combined with Figure 4 , the longitudinal power device includes a left - hand and right - hand double - thread lead screw 75 and a motor 35. The left - hand and right - hand double - thread lead screw 75 includes a left - hand thread section and a right - hand thread section. Its two ends are installed on the longitudinal mounting plate 3 through bearings, and a left nut 36 and a right nut 37 are respectively arranged on the left - hand thread section and the right - hand thread section. The upper parts of the two grippers 6 are respectively connected and fixed to the left nut 36 and the right nut 37. The drive shaft of the motor 35 is linked with the left - hand and right - hand double - thread lead screw 75. By driving the left - hand and right - hand double - thread lead screw 75 to rotate through the motor 35, at the same time, because the left nut 36 and the right nut 37 are respectively fixed to the two grippers 6, the left nut 36 and the right nut 37 can drive the two grippers 6 to move closer to or away from each other when the left - hand and right - hand double - thread lead screw 75 rotates. The left - hand and right - hand double - thread lead screw 75 is parallel to the longitudinal guide rails 7.

[0033] Continue to refer to Figure 4 , the above - mentioned longitudinal power device further includes a transmission mechanism. The transmission mechanism includes a pulley 33 and a belt 34. Pulleys 33 are respectively installed on the drive shaft of the motor 35 and the left - hand and right - hand double - thread lead screw 75, and the two pulleys 33 are tightly connected by the belt 34 to achieve transmission. When the motor 35 and the left - hand and right - hand double - thread lead screw 75 are in the same straight line, it occupies a large space. In this embodiment, by adding a transmission mechanism and changing the installation position of the motor 35, the motor 35 is installed parallel to the longitudinal guide rails 7, which can reduce the space occupied by the motor 35. Preferably, connecting pieces 38 are fixed to the left nut 36 and the right nut 37, and are connected to the two grippers 6 through the connecting pieces 38, which is convenient for disassembly, assembly and maintenance.

[0034] Combined with Figures 5-8 , first refer to Figure 5 , the gripper 6 includes at least two concave - surface plates 66 and a connecting plate 67 for connecting the concave - surface plates 66 together. A second slider 61 is fixed on the upper side of the connecting plate 67, and the concave surfaces 69 of the two concave - surface plates 66 face each other. When the two grippers 6 move closer to each other, the concave surfaces 69 of each gripper 6 intersect to form a space for accommodating nano - powder in an approximate elliptical shape. In this embodiment, three concave - surface plates 66 are provided. Then refer to Figure 6 and7 The claw hand 6 further includes a second cylinder 62 and a pressing claw 72. The pressing claw 72 is installed between two adjacent concave surface plates 66 and is rotatably connected to the concave surface plates 66 through a pin shaft 64, so that the pressing claw 72 can be turned over around the pin shaft 64. The end of the telescopic rod of the second cylinder 62 is hinged to the upper part of the pressing claw 72, and the base 63 of the second cylinder 62 is rotatably connected to the concave surface plate 66. In this way, after two claw hands 6 approach each other and clamp and gather the rice noodles, the second cylinder 72 is started. The telescopic rod of the second cylinder 72 extends to drive the pressing claw 72 to turn towards the rice noodle side, and the pressing claw 72 is gently pressed on the upper side of the rice noodles, so as to avoid the rice noodles slipping out of the claw hand 6 during the process of moving the rice noodles. Specifically, the side of the pressing claw 72 facing the rice noodles is a concave surface, and the structure is similar to that of the concave surface plate 66. Preferably, there are two concave surface plates 70 on the pressing claw. The upper parts of the two concave surface plates 70 are connected by a flat plate, and the lower parts are respectively rotatably connected to the concave surface plates 66 through a pin shaft 64. When installing the second cylinder 62, the rotating shaft 65 passes through the concave surface plates 66 on both sides of the second cylinder 62 and is fixed, and the base 63 of the second cylinder 62 is rotatably connected to the rotating shaft 65.

[0035] Those skilled in the art will recognize that numerous variations to the above description are possible, so the embodiments and the accompanying drawings are only used to describe one or more specific embodiments.

[0036] Although the exemplary embodiments that are regarded as the present invention have been described and recited, those skilled in the art will understand that various changes and substitutions can be made thereto without departing from the spirit of the present invention. Additionally, many modifications can be made to adapt a particular situation to the teachings of the present invention without departing from the central concept described herein. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but the present invention may also include all embodiments within the scope of the present invention and their equivalents.

Claims

1. A two-axis manipulator for grasping rice noodles, characterized in that: It includes an upright frame, a transverse bracket, a transverse guide rail, a longitudinal mounting plate, a longitudinal guide rail, a longitudinal power device, a transverse pushing device and a claw hand. One end of the transverse bracket is fixedly connected to the upright frame, and the transverse guide rail extending along its length direction is fixed on the transverse bracket; the upper side of the longitudinal mounting plate is installed in cooperation with the transverse guide rail through a first slider, and a longitudinal guide rail is provided on the lower side; the extending direction of the longitudinal guide rail is perpendicular to the extending direction of the transverse guide rail; the claw hand is installed on the longitudinal guide rail in cooperation with a second slider, and two claw hands are respectively installed at both ends of the longitudinal guide rail, and the two claw hands are controlled by the longitudinal power device to move on the stroke of the longitudinal guide rail, so that the two claw hands approach or move away from each other; the transverse pushing device controls the longitudinal mounting plate to move on the stroke of the transverse guide rail.

2. The two-axis manipulator for grasping rice noodles according to claim 1, wherein: The transverse pushing device is a cylinder.

3. The two-axis manipulator for grasping rice noodles according to claim 1, characterized in that: An n-shaped bracket is fixed on the upper side of the longitudinal mounting plate, several of the first sliders are installed inside the n-shaped bracket, and a handle is further provided on the upper part of the n-shaped bracket for connecting the transverse pushing device.

4. The two-axis manipulator for grasping rice noodles according to claim 1, wherein: Two longitudinal guide rails are installed on the lower side of the longitudinal mounting plate, and a nylon cable carrier is also installed between the two longitudinal guide rails.

5. The two-axis manipulator for grasping rice noodles according to claim 1, characterized in that: The two claw hands are controlled to approach or move away from each other by driving the cylinder.

6. The two-axis manipulator for grasping rice noodles according to claim 1, wherein: The longitudinal power device includes a left-right hand double lead screw and a motor. A left nut and a right nut are respectively provided on the left-handed thread section and the right-handed thread section of the left-right hand double lead screw, and the two claw hands are respectively fixedly connected to the left nut and the right nut; the left-right hand double lead screw is driven to rotate by the motor.

7. The two-axis manipulator for grasping rice noodles according to claim 6, characterized in that: The longitudinal power device further includes a transmission mechanism. The transmission mechanism includes a pulley and a belt. Pulleys are respectively installed on the driving shaft of the motor and the left-right hand double lead screw, and the two pulleys are tensioned and connected by the belt to achieve transmission.

8. The two-axis manipulator for grasping rice noodles according to claim 1, characterized in that: The claw hand includes at least two concave pieces, and a connecting plate for connecting the concave pieces together. The second slider is fixed on the upper side of the connecting plate, and the concave surfaces of the two concave pieces face each other.

9. The two-axis manipulator for grasping rice noodles according to claim 8, wherein: The claw hand further includes a second cylinder and a pressing claw. The pressing claw is installed between two adjacent concave pieces and is rotatably connected to the concave pieces through a pin shaft; the end of the telescopic rod of the second cylinder is hinged to the upper part of the pressing claw, and its base is rotatably connected to the concave piece.

10. The two-axis manipulator for grasping rice noodles according to claim 9, characterized in that: The side of the pressing claw facing the rice noodles is concave.

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