Rotary arm of food-grade robot

Abstract

The utility model relates to the field of machine arms, and discloses a rotating arm of a food-grade robot, which comprises a mounting fixing module, a rotating main arm, a middle connecting rod, a lifting sleeve, a lifting arm, a clamping driving module, a manipulator mounting module, a detachable food plate clamping plate and a pull ring device, one side of the middle connecting rod is fixedly connected to a lifting sleeve, a lifting arm is movably connected to the interior of the lifting sleeve, the lower portion of the lifting arm is fixedly connected to a clamping driving module, and the lower portion of a mechanical arm mounting module is fixedly connected to a detachable food dinner plate clamping plate. According to the detachable food dinner plate clamping device, the detachable food dinner plate clamping plate can be conveniently replaced according to dinner plates of different sizes through the arranged mechanical arm mounting module, the detachable food dinner plate clamping device is suitable for different use scenes, the situation that a large dinner plate cannot be clamped due to the fact that the clamping size of a mechanical arm is too small is avoided, the operation of replacing the detachable food dinner plate clamping plate is simple and convenient, and the practicability is high. Good use prospects are realized.

Description

Technical Field

[0001] The utility model relates to the field of robotic arms, in particular to a rotating arm of a food-grade robot. Background Art

[0002] A robotic arm is a complex system with high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion protection, and other fields. The robotic arm is a complex system with uncertainties such as parameter perturbations, external interference, and unmodeled dynamics. Therefore, the modeling model of the robotic arm also has uncertainties. For different tasks, it is necessary to plan the motion trajectory of the robotic arm joint space, thereby cascading to form the end posture.

[0003] However, it still has some shortcomings. For example, the rotating arm used for general food is used in some rotating hot pot restaurants. The food is transported to the track by the rotating arm. If it is necessary to replace the plates of other sizes, the clamping tools need to be adjusted. The disassembly and installation are not simple enough, which will also affect the work efficiency.

[0004] To solve the above problems, this application proposes a rotating arm of a food-grade robot. Utility Model Content

[0005] The purpose of the present invention is to provide a rotating arm of a food-grade robot to solve the problem of inconvenient installation and replacement of the gripping tools of the rotating arm proposed in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a rotating arm of a food-grade robot, including an installation and fixing module, a rotating main arm, a middle connecting rod, a lifting sleeve, a lifting arm, a clamping drive module, a manipulator installation module, a detachable food tray clamping plate and a pull ring device, a rotating main arm is movably provided above the installation and fixing module, one side of the rotating main arm is fixedly connected to the middle connecting rod, and a manipulator installation module is movably connected below the clamping drive module, the manipulator installation module is convenient for replacing the detachable food tray clamping plate according to different sizes of trays, adapting to different usage scenarios, avoiding the inability of the manipulator arm to clamp larger trays because the clamping size is too small, and the operation of replacing the detachable food tray clamping plate is simple and convenient, and has good usage prospects.

[0007] Preferably, one side of the mounting and fixing module is fixedly connected to the side wing mounting plate, the bottom of the mounting and fixing module is fixedly connected to the bottom mounting plate, and an auxiliary support frame is fixedly connected between the rotating main arm and the middle connecting rod.

[0008] Preferably, one side of the middle connecting rod is fixedly connected to the lifting sleeve, and a lifting arm is movably connected inside the lifting sleeve. The lower part of the lifting arm is fixedly connected to the clamping drive module, and the clamping drive module is provided with two groups.

[0009] Preferably, the bottom of the manipulator mounting module is fixedly connected to the detachable food tray clamping plate, and the manipulator mounting module and the detachable food tray clamping plate are each provided with two groups, a clamping groove is provided inside the detachable food tray clamping plate, and a pull ring device is installed on one side of the manipulator mounting module.

[0010] Preferably, an installation slot is provided inside the manipulator mounting module, and the top of the detachable food tray clamping plate is fixedly connected to an auxiliary installation T-shaped block, and a limiting slot is provided inside the auxiliary installation T-shaped block, and the auxiliary installation T-shaped block is detachable inside the installation slot.

[0011] Preferably, one side of the pull ring device is fixedly connected to the pull rod, and one side of the pull rod is fixedly connected to the limit block, the pull rod is movable inside the manipulator mounting module, and a return spring is movable on the surface of the pull rod, and the limit block is removable inside the limit groove, and the pull ring device is provided with two groups, and when the manipulator mounting module is running, the clamping drive module rotates the two groups of manipulator mounting modules inward, thereby driving the two groups of detachable food tray clamping plates to rotate, and clamp the food trays into the clamping grooves of the two groups of detachable food tray clamping plates for movement and use. When replacing the detachable food tray clamping plates, pull the pull ring device outward so that the limit block leaves the limit groove. At this time, the auxiliary installation T-shaped block can be slid out of the installation slot. After releasing the hand, the return spring restores the position of the pull ring device, and then replaces the new detachable food tray clamping plate.

[0012] Compared with the prior art, the beneficial effects of the present invention are:

[0013] The utility model provides a robot installation module, which is convenient for replacing the detachable food plate clamping plate according to plates of different sizes, and is adapted to different usage scenarios, avoiding the problem that the robot arm cannot clamp larger plates because the clamping size is too small. In addition, the operation of replacing the detachable food plate clamping plate is simple and convenient, and has good usage prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the overall structure of the rotating arm of a food-grade robot of the present invention;

[0015] Figure 2 This is a schematic structural diagram of a gripping drive module of a rotating arm of a food-grade robot according to the present invention;

[0016] Figure 3This is a schematic diagram of the structure of the manipulator installation module of the rotating arm of a food-grade robot in the utility model;

[0017] Figure 4 This is a schematic structural diagram of a pull ring device for a rotating arm of a food-grade robot according to the present invention.

[0018] In the figure: 1. Installation and fixing module; 11. Side wing mounting plate; 12. Bottom mounting plate; 2. Rotating main arm; 21. Auxiliary support frame; 3. Middle connecting rod; 4. Lifting sleeve; 5. Lifting arm; 6. Clamping drive module; 7. Manipulator mounting module; 71. Mounting slot; 8. Removable food tray clamping plate; 81. Clamping slot; 82. Auxiliary mounting T-block; 83. Limiting slot; 9. Pull ring device; 91. Pull rod; 92. Limiting block; 93. Return spring. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0020] See also Figure 1-Figure 4 , a rotating arm of a food-grade robot, including an installation and fixing module 1, a rotating main arm 2, a middle connecting rod 3, a lifting sleeve 4, a lifting arm 5, a clamping drive module 6, a manipulator mounting module 7, a detachable food tray clamping plate 8 and a pull ring device 9. A rotating main arm 2 is movably provided above the installation and fixing module 1, and one side of the rotating main arm 2 is fixedly connected to the middle connecting rod 3. A manipulator mounting module 7 is movably connected to the lower part of the clamping drive module 6. The manipulator mounting module 7 is convenient for replacing the detachable food tray clamping plate 8 according to trays of different sizes, adapting to different usage scenarios, avoiding the inability of the robot arm to clamp a larger tray because the clamping size is too small, and the operation of replacing the detachable food tray clamping plate 8 is simple and convenient, and has good usage prospects.

[0021] In this embodiment, Figure 1-2 As shown, one side of the mounting and fixing module 1 is fixedly connected to the side mounting plate 11, and the lower part of the mounting and fixing module 1 is fixedly connected to the bottom mounting plate 12. An auxiliary support frame 21 is fixedly connected between the rotating main arm 2 and the middle connecting rod 3. One side of the middle connecting rod 3 is fixedly connected to the lifting sleeve 4. The lifting sleeve 4 is movably connected with a lifting arm 5. The lower part of the lifting arm 5 is fixedly connected to the clamping drive module 6, and the clamping drive module 6 is provided with two groups. The lower part of the manipulator mounting module 7 is fixedly connected to the detachable food tray clamping plate 8, and the manipulator mounting module 7 and the detachable food tray clamping plate 8 are both provided with two groups. A clamping groove 81 is provided inside the detachable food tray clamping plate 8, and a pull ring device 9 is installed on one side of the manipulator mounting module 7.

[0022] In this embodiment, Figure 3-4 As shown, a mounting slot 71 is provided inside the manipulator mounting module 7, and the top of the detachable food tray clamping plate 8 is fixedly connected to the auxiliary mounting T-shaped block 82, and a limiting slot 83 is provided inside the auxiliary mounting T-shaped block 82. The auxiliary mounting T-shaped block 82 is detachable inside the mounting slot 71, and one side of the pull ring device 9 is fixedly connected to the pull rod 91, and one side of the pull rod 91 is fixedly connected to the limiting block 92. The pull rod 91 is movable inside the manipulator mounting module 7, and a return spring 93 is movable on the surface of the pull rod 91. The limiting block 92 is detachable inside the limiting slot 83. The pull ring device 9 is provided with two groups, and the pull ring device 9 is provided with two groups in the manipulator mounting module. When the two sets of manipulator mounting modules 7 are in operation, the clamping drive module 6 rotates the two sets of manipulator mounting modules 7 inward, thereby driving the two sets of detachable food tray clamping plates 8 to rotate, and the food trays are clamped into the clamping grooves 81 of the two sets of detachable food tray clamping plates 8 for movement and use. When replacing the detachable food tray clamping plates 8, the pull ring device 9 is pulled outward to make the limit block 92 leave the limit groove 83. At this time, the auxiliary mounting T-shaped block 82 can be slid out of the mounting groove 71. After releasing the hand, the return spring 93 restores the position of the pull ring device 9, and then a new detachable food tray clamping plate 8 can be replaced.

[0023] How it works

[0024] The robot arm mounting module 7 of the rotating arm of a food-grade robot is convenient for replacing the detachable food tray clamping plate 8 according to trays of different sizes, adapting to different usage scenarios, avoiding the problem that the robot arm cannot clamp larger trays because the clamping size is too small, and the operation of replacing the detachable food tray clamping plate 8 is simple and convenient, and has good usage prospects. When the robot arm mounting module 7 is running, the clamping drive module 6 rotates the two sets of robot arm mounting modules 7 inward, thereby driving the two sets of detachable food tray clamping plates 8 to rotate, and clamping the food trays into the clamping grooves 81 of the two sets of detachable food tray clamping plates 8 for mobile use. When replacing the detachable food tray clamping plate 8, the pull ring device 9 is pulled outward to make the limit block 92 leave the limit groove 83. At this time, the auxiliary installation T-shaped block 82 can be slid out of the installation slot 71. After releasing the hand, the return spring 93 restores the position of the pull ring device 9, and then a new detachable food tray clamping plate 8 is replaced.

[0025] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of the present invention.

Claims

1. A rotating arm of a food-grade robot, comprising a mounting module (1), a rotating main arm (2), a middle connecting rod (3), a lifting sleeve (4), a lifting arm (5), a gripping drive module (6), a manipulator mounting module (7), a detachable food tray gripping plate (8) and a pull ring device (9), characterized in that: A rotating main arm (2) is movably provided above the installation and fixing module (1), one side of the rotating main arm (2) is fixedly connected to a middle connecting rod (3), and a manipulator installation module (7) is movably connected below the clamping drive module (6).

2. The rotating arm of a food-grade robot according to claim 1, characterized in that: One side of the mounting and fixing module (1) is fixedly connected to the side wing mounting plate (11), and the bottom of the mounting and fixing module (1) is fixedly connected to the bottom mounting plate (12). An auxiliary support frame (21) is fixedly connected between the rotating main arm (2) and the middle connecting rod (3).

3. The rotating arm of a food-grade robot according to claim 2, characterized in that: One side of the middle connecting rod (3) is fixedly connected to the lifting sleeve (4), and a lifting arm (5) is movably connected inside the lifting sleeve (4). The lower part of the lifting arm (5) is fixedly connected to a clamping drive module (6), and the clamping drive module (6) is provided with two groups.

4. The rotating arm of a food-grade robot according to claim 3, characterized in that: The manipulator mounting module (7) is fixedly connected to a detachable food tray clamping plate (8) at its lower side, and the manipulator mounting module (7) and the detachable food tray clamping plate (8) are each provided with two groups, a clamping groove (81) is provided inside the detachable food tray clamping plate (8), and a pull ring device (9) is installed on one side of the manipulator mounting module (7).

5. The rotating arm of a food-grade robot according to claim 4, characterized in that: The manipulator mounting module (7) has an installation slot (71) formed inside, and the detachable food tray clamping plate (8) is fixedly connected to an auxiliary installation T-shaped block (82) above, and a limiting slot (83) is formed inside the auxiliary installation T-shaped block (82), and the auxiliary installation T-shaped block (82) is detachable inside the installation slot (71).

6. The rotating arm of a food-grade robot according to claim 5, characterized in that: One side of the pull ring device (9) is fixedly connected to the pull rod (91), and one side of the pull rod (91) is fixedly connected to the limit block (92). The pull rod (91) is movable inside the manipulator mounting module (7). A return spring (93) is movable on the surface of the pull rod (91). The limit block (92) is detachable inside the limit groove (83). The pull ring device (9) is provided with two groups.

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