Dried fruit processing device with automatic posture adjusting and grabbing functions

Abstract

The utility model discloses a dried fruit processing device capable of automatically adjusting postures and grabbing, which belongs to the technical field of grabbing devices and comprises a moving device and a clamping device, the clamping device is mounted on the moving device, and the moving device is used for moving the clamping device; the clamping device comprises a clamping jaw, a posture adjusting pressing block is arranged in the clamping jaw, and the posture adjusting pressing block is used for abutting against a clamped object, so that the clamped object is pressed to move to the upper portion of the clamped object to be matched with the bottom face of the posture adjusting pressing block; the inclined dried fruits can be automatically and accurately grabbed, the posture of the inclined dried fruits can be adjusted, and follow-up processes can be conveniently carried out on a production line.

Description

Technical Field

[0001] The utility model belongs to the technical field of grasping devices, and specifically belongs to a dried fruit processing device with automatic attitude adjustment and grasping. Background Art

[0002] Equipment such as dried fruit core extractors and dried fruit transplanting machines grasp the sliced dried fruits. The subsequent production process requires the cut surface of the dried fruits to be kept horizontal. However, because the back of the dried fruits is an irregular curved surface, it is difficult for the dried fruits to maintain a horizontal state when being grasped, which limits their own state. Therefore, during the production process of dried fruits, the dried fruits are often affected in the subsequent processing due to the cut surface not being kept horizontal after grasping, resulting in uneven quality of the produced dried fruits. Content of the Utility Model

[0003] In view of this, the purpose of the utility model is to overcome the deficiencies in the prior art and provide a dried fruit processing device with automatic attitude adjustment and grasping. The present application provides the following technical solutions:

[0004] It includes a moving device and a clamping device. The clamping device is installed on the moving device, and the moving device is used to move the clamping device; the clamping device includes clamping jaws, and an attitude adjustment pressing block is arranged inside the clamping jaws. The attitude adjustment pressing block is used to abut against the object to be clamped, so that the object to be clamped is pressed to move until the upper part of the object to be clamped fits with the bottom surface of the attitude adjustment pressing block.

[0005] The moving device includes a lifting driving structure and a lifting connecting plate installed on the working part of the lifting driving structure; the clamping device is installed on the lifting connecting plate.

[0006] A plurality of the clamping devices are installed on the lifting connecting plate.

[0007] An attitude adjustment fixing seat is fixedly installed on the lifting connecting plate. An attitude adjustment connecting rod is connected to the attitude adjustment fixing seat. A pressing block mounting seat is arranged at the bottom of the attitude adjustment connecting rod, and the attitude adjustment pressing block is installed at the bottom of the pressing block mounting seat.

[0008] The attitude adjustment connecting rod is installed on the attitude adjustment fixing seat in a lifting and sliding manner, and a limiting ring for preventing it from slipping is arranged at the top of the attitude adjustment connecting rod.

[0009] A return spring is sleeved on the attitude adjustment connecting rod, and the two ends of the return spring abut against the attitude adjustment fixing seat and the pressing block mounting seat respectively.

[0010] By setting the attitude adjustment connecting rod that can move up and down and the return spring, after the attitude adjustment pressing block abuts against the object to be clamped, the attitude adjustment pressing block can move up and down under force and will not damage the object to be clamped. After one clamping is completed, the elastic force of the return spring enables the attitude adjustment pressing block to return to the initial state to prepare for the next clamping.

[0011] The clamping device includes a jaw driving structure and the jaws. The jaw driving structure is installed on the lifting connecting plate, and the jaws are installed on the jaw driving structure.

[0012] The jaws are arc-shaped. When the jaws tighten and clamp, the clamping force makes the object to be clamped approach the attitude adjustment pressing block; when the object to be clamped is picked up, its upper part always abuts against and fits with the bottom surface of the attitude adjustment pressing block, and its attitude does not change during the clamping and moving process.

[0013] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present utility model are as follows:

[0014] It can automatically and accurately grasp and adjust the attitude of the skew dried fruits, facilitating the subsequent processes of the production line.

[0015] To make the above objects, features, and advantages of the present application more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, makes the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the accompanying drawings required for the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present utility model and should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 It is a structural diagram of a dried fruit processing device for automatic attitude adjustment and grasping.

[0018] Figure 2 It is a schematic diagram before the dried fruit processing device for automatic attitude adjustment and grasping clamps the dried fruit.

[0019] Figure 3 It is a schematic diagram after the dried fruit processing device for automatic attitude adjustment and grasping clamps the dried fruit.

[0020] Reference numerals: 1, lifting drive structure; 2, lifting connecting plate; 3, jaw drive structure; 4, attitude adjustment connecting rod; 5, attitude adjustment fixed seat; 6, return spring; 7, pressing block mounting seat; 8, attitude adjustment pressing block; 9, jaws; 10, dried fruit. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present application and should not be construed as a limitation to the present application.

[0022] In the present application, unless otherwise clearly defined and limited, terms such as "installed", "connected", "connected to", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0023] In the present application, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0024] Please refer to Figure 1 As shown, it is a dried fruit processing device for automatic attitude adjustment and grasping provided by the present utility model; it includes a moving device and a clamping device. The clamping device is installed on the moving device, and the moving device is used to move the clamping device; the clamping device includes a clamping jaw 9, and an attitude adjustment pressing block 8 is arranged inside the clamping jaw 9. The attitude adjustment pressing block 8 is used to abut against the object to be clamped, so that the object to be clamped is pressed and moves until the upper part of the object to be clamped fits with the bottom surface of the attitude adjustment pressing block 8.

[0025] It is worth noting that the moving device can adopt an existing robotic arm, and the clamping device can adopt an existing electric clamping jaw. The electric clamping jaw is installed on the robotic arm, and the robotic arm drives the electric clamping jaw to move. Then, the attitude adjustment pressing block 8 is installed between multiple fingers of the electric clamping jaw, in the shape of the "palm" of the electric clamping jaw. When the electric clamping jaw clamps the object to be clamped, the bottom of the attitude adjustment pressing block 8 first presses down on the object to be clamped, so that the object to be clamped is pressed to adjust its attitude, and then the fingers of the electric clamping jaw clamp the object to be clamped; the grasping device made in the above manner can be used as an embodiment of the present utility model.

[0026] The mobile device includes a lifting drive structure 1 and a lifting connecting plate 2 installed on the working part of the lifting drive structure 1; the clamping device is installed on the lifting connecting plate 2.

[0027] Among them, the lifting drive structure 1 includes, but is not limited to, an electric cylinder, a pneumatic cylinder, a hydraulic cylinder, and an electric linear guide. The lifting connecting plate 2 is fixed to the telescopic rod of the cylinder or the slider of the linear guide; it moves up and down with the telescopic rod or the slider.

[0028] There are multiple clamping devices installed on the lifting connecting plate 2.

[0029] A posture adjustment fixing seat 5 is fixedly installed on the lifting connecting plate 2. A posture adjustment connecting rod 4 is connected to the posture adjustment fixing seat 5. A pressing block mounting seat 7 is provided at the bottom of the posture adjustment connecting rod 4. The posture adjustment pressing block 8 is installed at the bottom of the pressing block mounting seat 7.

[0030] The posture adjustment connecting rod 4 is installed on the posture adjustment fixing seat 5 in a lifting and sliding manner. A guide groove is provided on the posture adjustment fixing seat 5. The posture adjustment connecting rod 4 is slidably inserted into the guide groove; a limiting ring for preventing it from slipping is provided at the top of the posture adjustment connecting rod 4.

[0031] A return spring 6 is sleeved on the posture adjustment connecting rod 4. The two ends of the return spring 6 are respectively abutted against the posture adjustment fixing seat 5 and the pressing block mounting seat 7.

[0032] The above structure is a preferred setting method for the posture adjustment pressing block 8, which is applicable to the posture adjustment pressing block 8 made of hard materials, such as metal materials; this setting method has a simple structure, is convenient for maintenance, and has a long service life; in another embodiment, the posture adjustment pressing block 8 is made of elastic materials, such as rubber materials and silicone materials. When using the posture adjustment pressing block 8 made of this material, it is directly installed and fixed in the middle of the jaw 9, and the structure is simpler; however, when used for a long time, the posture adjustment pressing block 8 will deform under continuous force and needs to be replaced.

[0033] The clamping device includes a jaw drive structure 3 and jaws 9. The jaw drive structure 3 is installed on the lifting connecting plate 2, and the jaws 9 are installed on the jaw drive structure 3.

[0034] Among them, the jaw device adopts the clip-type jaws in the prior art. The clip-type jaws include pneumatic jaws, electric jaws, etc. The jaw drive structure 3 is a corresponding cylinder or electric cylinder, etc.

[0035] The jaws 9 are arc-shaped. When the jaws 9 are tightened and clamped, the clamping force makes the object to be clamped approach the posture adjustment pressing block 8.

[0036] During specific implementation, such as Figures 2-3As shown in the figure, the lifting drive structure 1 drives the attitude adjustment pressing block 8 to move downward through the lifting connection plate 2. When the bottom surface of the attitude adjustment pressing block 8 contacts the cut surface of the upper part of the skew dried fruit and continues to descend, since the back side of the dried fruit is a curved arc, the downward pressure of the attitude adjustment pressing block 8 is decomposed into component forces in the vertical and horizontal directions; the horizontal component force causes the dried fruit to rotate around the contact point between the arc and the placement surface until the cut surface of the dried fruit reaches a horizontal attitude. At this time, the bottom surface of the attitude adjustment pressing block 8 is in full contact with the cut surface of the dried fruit, and the dried fruit stops rotating, completing the attitude adjustment.

[0037] After the attitude adjustment of the dried fruit is completed, the jaw drive structure 3 is activated to drive the jaws 9 to clamp the dried fruit. Subsequently, the lifting drive structure 1 drives the jaw device and the dried fruit to rise to the discharging position through the lifting connection plate 2 for discharging.

[0038] After discharging is completed, the jaws 9 are loosened. After the jaws 9 are loosened, the return spring 6 acts between the attitude adjustment fixed seat 5 and the pressing block mounting seat 7, and the attitude adjustment connection 4 descends, so that the attitude adjustment pressing block 8 automatically returns to the initial position to prepare for the next attitude adjustment.

[0039] It should be noted that in the above embodiment, the clamped dried fruit is a cut dried fruit, and its top cut surface is a plane, so the bottom surface of the attitude adjustment pressing block 8 is a flat surface corresponding to the cut surface; when this device is applied to clamp uncut dried fruits, the whole dried fruit is olive-shaped. An elliptical groove corresponding to its shape and size is provided on the bottom surface of the attitude adjustment pressing block 8. When the attitude adjustment pressing block 8 contacts and presses the dried fruit, the groove shape on the bottom surface of the attitude adjustment pressing block 8 and the acting force on the top of the dried fruit change the attitude position of the dried fruit, so that the top of the dried fruit fits with the elliptical groove, and its longer direction is also consistent with the long axis direction of the elliptical groove, realizing the attitude adjustment of the whole dried fruit; the clamping method is also carried out by the jaws 9.

[0040] Therefore, it is easy to know that the present utility model can also be applied to the attitude adjustment and clamping of other objects with similar shapes.

[0041] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A dried fruit processing device for automatic attitude adjustment and grasping, comprising a moving device and a clamping device, wherein the clamping device is installed on the moving device, and the moving device is used to move the clamping device; characterized in that: The clamping device includes a jaw (9), and an attitude adjustment pressing block (8) is arranged inside the jaw (9). The attitude adjustment pressing block (8) is used to abut against the object to be clamped, so that the object to be clamped is pressed to move until the upper part of the object to be clamped fits with the bottom surface of the attitude adjustment pressing block (8).

2. The automatic attitude adjustment and grasping dried fruit processing device according to claim 1, wherein: The moving device includes a lifting drive structure (1) and a lifting connection plate (2) mounted on the working part of the lifting drive structure (1); the clamping device is mounted on the lifting connection plate (2).

3. The automatic attitude adjustment and grasping dried fruit processing device according to claim 2, characterized in that: A plurality of the clamping devices mounted on the lifting connection plate (2) are provided.

4. The automatic attitude adjustment and grasping dried fruit processing device according to claim 2, wherein: An attitude adjustment fixed seat (5) is fixedly mounted on the lifting connection plate (2). An attitude adjustment connecting rod (4) is connected to the attitude adjustment fixed seat (5). A pressing block mounting seat (7) is arranged at the bottom of the attitude adjustment connecting rod (4), and the attitude adjustment pressing block (8) is mounted at the bottom of the pressing block mounting seat (7).

5. The automatic attitude adjustment and grasping dried fruit processing device according to claim 4, wherein: The attitude adjustment connecting rod (4) is installed on the attitude adjustment fixed seat (5) in a lifting and sliding manner, and a limiting ring for preventing it from slipping is arranged at the top of the attitude adjustment connecting rod (4).

6. The automatic attitude adjustment and grasping dried fruit processing device according to claim 5, characterized in that: A return spring (6) is sleeved on the attitude adjustment connecting rod (4), and two ends of the return spring (6) respectively abut against the attitude adjustment fixed seat (5) and the pressing block mounting seat (7).

7. The automatic attitude adjustment and grasping dried fruit processing device according to claim 2, wherein: The clamping device includes a jaw drive structure (3) and the jaw (9). The jaw drive structure (3) is mounted on the lifting connection plate (2), and the jaw (9) is mounted on the jaw drive structure (3).

8. The automatic attitude adjustment and grasping dried fruit processing device according to claim 1, characterized in that; The jaw (9) is arc-shaped. When the jaw (9) tightens and clamps, the clamping force makes the object to be clamped approach the attitude adjustment pressing block (8).

Images