Flat plate quick-freezing grabbing device

Abstract

The utility model provides a flat plate quick-freezing grabbing device which comprises a mechanical clamping jaw mechanism and a tray, two tray inserting holes are formed in the bottoms of the two side edges of the tray respectively, and the flat plate quick-freezing grabbing device is characterized in that the mechanical clamping jaw mechanism comprises an overall frame, a translation module and a clamping module; the translation module is used for driving the clamping module on the translation module to translate back and forth on the integral frame; and the clamping module comprises a clamping module motor and a clamping chain transmission mechanism which are mounted on the translation module. When the clamping module motor rotates forwards and backwards, the clamping chain transmission mechanism drives the clamping jaws of the two clamping modules to synchronously translate in the opposite direction or the reverse direction, so that the clamping jaws on the clamping chain transmission mechanism are inserted into or withdrawn from the corresponding tray insertion holes in the tray, and the tray is clamped or released. The tray grabbing mechanism is reasonable and compact in structural design, suitable for grabbing trays for storing frozen articles in the flat plate instant freezer, and capable of rapidly, accurately and reliably transferring the quick-frozen articles on the trays to a packaging link or refrigerated transport equipment.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of automation, and relates to the improvement of a flat plate quick freezer grabbing device, in particular to a flat plate quick freezer grabbing device. BACKGROUND

[0002] The temperature range of the existing flat plate quick freezer is generally -25 to -80 DEG C, and the flat plate quick freezer belongs to an ultralow-temperature freezing device. When a large flat plate quick freezer processes a large quantity of products at one time, the tray is large in size and heavy in weight, and manual transfer is difficult. At present, the automation degree of the flat plate quick freezer is low, and the flat plate quick freezer is mainly operated manually, and the operation is not convenient, the work efficiency is low, and there is a risk of being frozen, which limits the further promotion and application of the flat plate quick freezer.

[0003] Chinese patent (patent number: 201620664528.3) discloses a device for automatically storing and taking out articles in an ultralow-temperature (-80 DEG C) environment, and particularly discloses an ultralow-temperature freezer article automatic storing and taking out device. The ultralow-temperature freezer article automatic storing and taking out device comprises a freezer body, and the freezer body is characterized in that: a rotating shelf is fixed in the freezer body, a mechanical hand, a scanning mechanism and a goods conveying belt are fixed on one side of a freezer door, a refrigeration system is arranged on the top of the freezer body, and the scanning mechanism is fixed on the middle upper part of the goods conveying belt. The rotating shelf system is added, and the mechanical hand control system works in a normal-temperature environment outside the freezer, does not need to enter the freezer, avoids the problem of mechanical hand failure caused by the fact that the working environment temperature is too low, and can adapt to the working environment in the ultralow-temperature storage temperature. However, the structure of the patent technology is complex, the volume is large, the cost is high, and the goods conveying belt is adopted to drive the frozen articles, so the device is not suitable for grabbing the tray used for storing frozen articles in the flat plate quick freezer.

[0004] Therefore, it is necessary to design a flat plate quick freezer grabbing device, which is reasonable and compact in structure design, is suitable for grabbing the tray for storing frozen articles in the flat plate quick freezer, can quickly, accurately and reliably transfer the frozen articles on the tray to a packaging link or a refrigerated transportation device, reduces the exposure time of the frozen articles in a non-optimal refrigeration environment, and thus guarantees the quality of the frozen articles, which is a technical problem to be solved in the field. UTILITY MODEL CONTENTS

[0005] The utility model discloses a flat plate quick freezer grabbing device, which is reasonable and compact in structure design, is suitable for grabbing the tray for storing frozen articles in the flat plate quick freezer, can quickly, accurately and reliably transfer the frozen articles on the tray to a packaging link or a refrigerated transportation device, reduces the exposure time of the frozen articles in a non-optimal refrigeration environment, and thus guarantees the quality of the frozen articles.

[0006] The utility model discloses a flat plate quick freezer grabbing device, which is reasonable and compact in structure design, is suitable for grabbing the tray for storing frozen articles in the flat plate quick freezer, can quickly, accurately and reliably transfer the frozen articles on the tray to a packaging link or a refrigerated transportation device, reduces the exposure time of the frozen articles in a non-optimal refrigeration environment, and thus guarantees the quality of the frozen articles.

[0007] A flat plate quick freezing grabbing device, comprising a mechanical gripper mechanism and a tray, two tray insertion holes are arranged on the bottom of the two side edges of the tray, characterized in that the mechanical gripper mechanism comprises a whole frame, a translation module and a clamping module, the translation module is used to drive the clamping module on it to move forward and backward on the whole frame, the clamping module comprises a clamping module motor, a clamping module driving sprocket, a clamping module chain, a clamping module driven sprocket, a clamping module guide rail, a clamping module slider and a clamping module gripper, the clamping module motor is arranged at the middle part, the clamping module driving sprocket arranged on the driving shaft of the clamping module motor and the clamping module chain and the clamping module driven sprocket constitute a clamping chain transmission mechanism, the clamping module guide rail and the clamping module chain are arranged transversely, the clamping module chain is arranged in a ring shape, two clamping module sliders are slidingly arranged on the clamping module guide rail, each clamping module slider is connected with a clamping module gripper, among the two clamping module sliders, one is connected with the lower layer of the clamping module chain, and the other is connected with the upper layer of the clamping module chain, when the clamping module motor runs in forward and reverse directions, the two clamping module grippers synchronously move towards or move away from each other, so that the clamping module grippers on the two clamping module grippers are inserted into or withdrawn from the corresponding tray insertion holes of the tray, and the clamping or release of the tray is realized.

[0008] The improvement of the above technical solution is that the translation module comprises a translation module guide rail, a translation module slider, a translation module frame, a translation module reducer motor, a translation module driving sprocket A, a translation module chain A, a translation module driven sprocket A, a transmission shaft, a translation module driving sprocket B, a translation module chain B and a translation module driven sprocket B, one translation module guide rail is longitudinally arranged on each side of the whole frame, a translation module slider is slidingly arranged on the translation module guide rail, the translation module frame is installed between the two translation module sliders, the translation module reducer motor is arranged at the middle position of the rear part of the whole frame, the transmission shaft driven by the translation module reducer motor is transversely arranged, the translation module driving sprocket A and the translation module driving sprocket B are respectively installed on the two ends of the transmission shaft, the translation module driven sprocket A and the translation module driven sprocket B are respectively arranged on the inner sides of the front part of the whole frame, the translation module driving sprocket A, the translation module chain A and the translation module constitute a chain transmission mechanism A, the translation module driving sprocket B, the translation module chain B and the translation module driven sprocket A and B constitute a chain transmission mechanism B, and the translation module chain B is connected with the translation module frame; when the translation module reducer motor runs in forward and reverse directions, power is transmitted to the translation module frame through the chain transmission mechanism A and the chain transmission mechanism B, and the translation module frame is driven to move forward or backward.

[0009] Further improvement of the above technical solution: the overall frame is square-shaped, two flow bars are longitudinally arranged on the upper surface of the overall frame, the flow bar comprises a long strip-shaped base and a plurality of rotating rollers transversely arranged thereon, and is used for supporting the tray to move forward and backward smoothly, the top surface height of the rotating rollers on the flow bar is lower than the clamping jaw of the clamping module.

[0010] Further improvement of the above technical solution: the tray is rectangular, one tray insertion hole is transversely arranged on each of the front and rear ends of the two sides of the bottom of the tray, the clamping jaw of the clamping module comprises a T-shaped connecting portion and an L-shaped clamping jaw arranged on each of the two ends of the top of the T-shaped connecting portion, and the tail end of the L-shaped clamping jaw is transversely arranged and used for being inserted into the corresponding tray insertion hole on the tray.

[0011] Further improvement of the above technical solution: the top of the sliding block of the clamping module is transversely provided with a connecting plate, and the tail end of the connecting plate is connected with the lower end of the T-shaped connecting portion of the clamping jaw of the clamping module.

[0012] Further improvement of the above technical solution: the bottom of the tray is transversely provided with a hollow square tube or a hollow circular tube at each of the front and rear ends, and the two ports of the hollow square tube or the hollow circular tube are used as the tray insertion hole, and the hole diameter of the tray insertion hole is greater than the diameter of the tail end of the L-shaped clamping jaw.

[0013] The advantages and positive effects of the utility model are:

[0014] 1. The utility model can quickly, accurately and reliably transfer the frozen articles on the tray to the packaging link or the refrigerated transport equipment, reduces the exposure time of the frozen articles in the non-optimal refrigeration environment, and thus guarantees the quality of the frozen articles.

[0015] 2. The structure of the utility model is reasonable and compact, and is suitable for grabbing the tray storing the frozen articles in the flat plate quick freezer. When the clamping jaw of the clamping module takes and places the tray, the two clamping jaws in front can be used to grab the two tray insertion holes at the rear of the two trays, the two clamping jaws at the rear can be used to grab the two tray insertion holes at the front of the two trays after pushing and taking a distance, and the tray is grabbed into the inside of the flat plate quick freezing grabbing device, so that the moving range of the clamping jaw of the clamping module does not need to be larger than the total stroke of the tray to make the tray take and place in place, the moving range of the mechanical clamping jaw can be reduced, and the structure is more compact. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a perspective view of a flat plate quick freezing grabbing device of the utility model;

[0017] Figure 2 is a front view of a flat plate quick freezing grabbing device of the utility model;

[0018] Figure 3 is Figure 2A-A direction sectional view in the figure;

[0019] Figure 4 is a planar rapid freezing grabbing device of the utility model, and the top view is as follows:

[0020] Figure 5 is Figure 4 B-B direction sectional view in the figure.

[0021] In the figure, the number is: 1, tray; 2, overall frame; 201, fluent strip; 3, translation module; 301, translation module guide rail; 302, translation module slider; 303, translation module frame; 304, translation module reducer motor; 305, translation module driving sprocket A; 306, translation module chain A; 307, translation module driven sprocket A; 308, transmission shaft; 309, translation module driving sprocket B; 310, translation module chain B; 311, translation module driven sprocket B; 4, clamping module; 401, clamping module motor; 402, clamping module driving sprocket; 403, clamping module chain; 404, clamping module driven sprocket; 405, clamping module guide rail; 406, clamping module slider; 407, clamping module clamping jaw. DETAILED DESCRIPTION

[0022] The utility model is further explained in detail in connection with the drawings as follows:

[0023] Referring to Figures 1-5The utility model discloses a flat plate quick freezing grabbing device's embodiment, including mechanical clamping jaw mechanism and tray 1, two side edges's bottom on tray 1 is provided with two tray jack respectively. The mechanical clamping jaw mechanism includes integral frame 2, translation module 3 and clamping module 4, and translation module 3 is used to drive the clamping module 4 on it and moves forward and backward on integral frame 2. The clamping module 4 includes clamping module motor 401, clamping module driving sprocket 402, clamping module chain 403, clamping module driven sprocket 404, clamping module guide rail 405, clamping module slider 406 and clamping module clamping jaw 407 that are installed on translation module 3. Clamping module motor 401 sets up in the middle part, and the clamping module driving sprocket 402 that sets up on its drive shaft and clamping module chain 403 and clamping module driven sprocket 404 constitute clamping chain transmission mechanism. Clamping module guide rail 405 and clamping module chain 403 are transversely set up, and clamping module chain 403 is annularly set up, and two clamping module sliders 406 are slidably set up on clamping module guide rail 405, and each clamping module slider 406 is connected with a clamping module clamping jaw 407, and in two clamping module sliders 406, one is connected with the lower layer of clamping module chain 403, and another is connected with the upper layer of clamping module chain 403. When clamping module motor 401 runs reversely, drives two clamping module clamping jaws 407 synchronous translation towards or reverse, makes the clamping jaw on two clamping module clamping jaws 407 insert or exit tray 1 corresponding tray jack, realizes the clamping or separation of tray 1.

[0024] Specifically: the above translation module 3 includes translation module guide rail 301, translation module slider 302, translation module frame 303, translation module reducer motor 304, translation module drive sprocket A 305, translation module chain A 306, translation module driven sprocket A 307, transmission shaft 308, translation module drive sprocket B 309, translation module chain B 310 and translation module driven sprocket B 311. One translation module guide rail 301 is longitudinally arranged on both sides of the overall frame 2, and the translation module slider 302 is slidably arranged on the translation module guide rail 301. The translation module frame 303 is installed in the middle of the two translation module sliders 302. The translation module reducer motor 304 is arranged at the middle position of the rear part of the overall frame 2. The transmission shaft 308 driven by the translation module reducer motor 304 is arranged transversely, and the translation module drive sprocket A 305 and the translation module drive sprocket B 309 are respectively installed on both ends of the transmission shaft 308. The translation module driven sprocket A 307 and the translation module driven sprocket B 311 are respectively arranged on both sides of the front part of the overall frame 2. The translation module drive sprocket A 305, the translation module chain A 306 and the translation module driven sprocket A form a chain transmission mechanism A, and the translation module drive sprocket B 309, the translation module chain B 310 and the translation module driven sprocket B 311 form a chain transmission mechanism B. The translation module chain B 310 is connected with the translation module frame 303. When the translation module reducer motor 304 operates in forward and reverse directions, power is transmitted to the translation module frame 303 through the chain transmission mechanism A and the chain transmission mechanism B, driving the translation module frame 303 to move forward or backward.

[0025] Further, the overall frame 2 is a square frame, and two flow bars 201 are longitudinally arranged symmetrically on the top of the overall frame 2. The flow bar 201 includes a long strip-shaped base and a plurality of rotating rollers arranged transversely thereon, for supporting the tray 1 to move smoothly forward and backward. The top surface height of the rotating rollers on the flow bar 201 is lower than that of the clamping module jaw 407.

[0026] Further, the tray 1 is rectangular, and one tray insertion hole is arranged transversely on each of the front and rear ends of the two sides of the bottom of the tray 1. The clamping module jaw 407 includes a T-shaped connecting part and L-shaped jaws arranged transversely on both ends of the top of the T-shaped connecting part. The L-shaped jaws are used to be inserted into the corresponding tray insertion holes on the tray 1.

[0027] Further, the top of the clamping module slider 406 is transversely provided with a connecting plate, and the ends of the connecting plate are vertically connected with the lower ends of the T-shaped connecting parts of the clamping module jaws 407.

[0028] Preferably, a hollow square tube or a hollow circular tube is arranged transversely at the front and rear ends of the bottom of the tray 1, two ports of the hollow square tube or the hollow circular tube serve as the tray insertion holes, and the diameter of the tray insertion holes is greater than the diameter of the end of the L-shaped clamping jaw in the clamping module clamping jaw 407.

[0029] The working principle of the utility model is as follows: during grabbing, the clamping module 4 drives the two clamping module clamping jaws 407 to move reversely and then to be in the loosening state, and the translation module 3 translates to the tray 1. When the clamping jaws in the clamping module clamping jaws 407 are aligned with the tray insertion holes on both sides of the tray 1, the clamping module 4 drives the two clamping module clamping jaws 407 to move towards each other, so that the clamping jaws in the clamping module clamping jaws 407 are clamped, the translation module 3 reversely translates, and the tray 1 is dragged back to the fluent strip 201 of the flat plate quick-freezing grabbing device, thereby completing the grabbing action.

[0030] Of course, the above description is not a limitation of the utility model, and the utility model is not limited to the above examples. Changes, modifications, additions or replacements made by ordinary skilled in the art within the essential scope of the utility model should also belong to the protection scope of the utility model.

Claims

1. A flat-plate quick-freezing gripping device, comprising a mechanical gripper mechanism and a tray, wherein two tray insertion holes are respectively provided on the bottom of two sides of the tray, characterized in that, The mechanical gripper mechanism includes an overall frame, a translation module, and a gripping module. The translation module drives the gripping module to move back and forth on the overall frame. The gripping module includes a gripping module motor, a gripping module drive sprocket, a gripping module chain, a gripping module driven sprocket, a gripping module guide rail, a gripping module slider, and gripping module grippers, all mounted on the translation module. The gripping module motor is located in the middle, and the gripping module drive sprocket, the gripping module chain, and the gripping module driven sprocket on its drive shaft form a gripping chain transmission mechanism. The gripping module guide rail and... The clamping module chain is arranged horizontally in a ring. Two clamping module sliders are slidably mounted on the clamping module guide rail. Each clamping module slider is connected to a clamping module claw. One of the two clamping module sliders is connected to the lower layer of the clamping module chain, and the other is connected to the upper layer of the clamping module chain. When the clamping module motor runs in both forward and reverse directions, the two clamping module claws move synchronously towards or away from each other, so that the claws on the two clamping module claws insert into or exit from the corresponding tray insertion holes on the tray, thereby clamping or releasing the tray.

2. The plate quick-freezing gripping device according to claim 1, characterized in that, The translation module includes a translation module guide rail, a translation module slider, a translation module frame, a translation module reducer motor, a translation module drive sprocket A, a translation module chain A, a translation module driven sprocket A, a drive shaft, a translation module drive sprocket B, a translation module chain B, and a translation module driven sprocket B. A translation module guide rail is longitudinally arranged on each side of the overall frame. The translation module slider is slidably mounted on the translation module guide rail. The translation module frame is installed between the two translation module sliders. The translation module reducer motor is located at the rear center of the overall frame. The drive shaft, driven by the translation module reducer motor, is horizontally arranged. The drive shaft has... The system is equipped with a translation module drive sprocket A and a translation module drive sprocket B, respectively. The front inner sides of the overall frame are respectively equipped with the translation module driven sprocket A and the translation module driven sprocket B. The translation module drive sprocket A, the translation module chain A, and the translation module driven sprocket A form a chain drive mechanism A. The translation module drive sprocket B, the translation module chain B, and the translation module driven sprocket B form a chain drive mechanism chain B. The translation module chain B is connected to the translation module frame. When the translation module reducer motor runs in both forward and reverse directions, power is transmitted to the translation module frame through the chain drive mechanism chain A and the chain drive mechanism chain B, causing the translation module frame to move forward or backward.

3. The plate quick-freezing gripping device according to claim 1 or 2, characterized in that, The overall frame is square, and two flow bars are symmetrically arranged longitudinally on the overall frame. Each flow bar includes a long strip base and several horizontally arranged rotating rollers on it, which are used to support the tray to move smoothly back and forth. The top surface of the rotating rollers on the flow bar is lower than the gripper of the clamping module.

4. The plate quick-freezing gripping device according to claim 1 or 2, characterized in that, The tray is rectangular, and a tray insertion hole is provided horizontally at the front and rear ends on both sides of the bottom of the tray. The clamping module claws include a T-shaped connecting part and L-shaped claws provided at the top two ends of the T-shaped connecting part. The ends of the L-shaped claws are arranged horizontally for insertion into the corresponding tray insertion holes on the tray.

5. The plate quick-freezing gripping device according to claim 3, characterized in that, The tray is rectangular, and a tray insertion hole is provided horizontally at the front and rear ends on both sides of the bottom of the tray. The clamping module claws include a T-shaped connecting part and L-shaped claws provided at the top two ends of the T-shaped connecting part. The ends of the L-shaped claws are arranged horizontally for insertion into the corresponding tray insertion holes on the tray.

6. The plate quick-freezing gripping device according to claim 4, characterized in that, A connecting plate is horizontally arranged at the top of the slider of the clamping module, and the end of the connecting plate is connected to the lower end of the T-shaped connecting part in the clamping jaw of the clamping module.

7. The plate quick-freezing gripping device according to claim 5, characterized in that, A connecting plate is horizontally arranged at the top of the slider of the clamping module, and the end of the connecting plate is connected to the lower end of the T-shaped connecting part in the clamping jaw of the clamping module.

8. The plate quick-freezing gripping device according to claim 4, characterized in that, A hollow square or round tube is horizontally arranged at the front and rear ends of the bottom of the tray. The two ends of the hollow square or round tube serve as tray insertion holes, and the diameter of the tray insertion holes is larger than the diameter of the end of the L-shaped gripper.

9. The plate quick-freezing gripping device according to claim 5, characterized in that, A hollow square or round tube is horizontally arranged at the front and rear ends of the bottom of the tray. The two ends of the hollow square or round tube serve as tray insertion holes, and the diameter of the tray insertion holes is larger than the diameter of the end of the L-shaped gripper.

10. The plate quick-freezing gripping device according to claim 7, characterized in that, A hollow square or round tube is horizontally arranged at the front and rear ends of the bottom of the tray. The two ends of the hollow square or round tube serve as tray insertion holes, and the diameter of the tray insertion holes is larger than the diameter of the end of the L-shaped gripper.

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