Manipulator for grabbing roast sausage bamboo sticks

Abstract

The utility model provides a manipulator for grabbing bamboo sticks for roast sausages. The manipulator comprises a swing arm support, a first driving component, a swing arm, a second driving component and a double-clip type clamp body, the swing arm support is provided with a mounting position for mounting and fixing; the swing arm is rotationally connected to the swing arm support and is driven by the first driving assembly to swing. The double-clip type clamp body is mounted on the swing arm and comprises a first clamping arm and a second clamping arm; the first clamping arm and the second clamping arm are rotationally installed on the swing arm, one side of the first clamping arm and one side of the second clamping arm are clamping ends, and the other side of the first clamping arm and the other side of the second clamping arm are driving ends which can be driven by the second driving assembly to be away from each other so that the clamping ends can get close to each other for clamping. According to the mechanical arm for grabbing the roast sausage bamboo sticks, the swing arm is driven by the first driving assembly to swing, switching between the sausage taking position and the sausage placing position can be achieved, the second driving assembly is used for driving the double-clamping type clamping body to clamp roast sausages at the sausage taking position, mechanization of taking and placing of the roast sausages is achieved, and efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to sausage equipment technical field especially relates to a kind of mechanical hand for sausage bamboo stick grabbing. BACKGROUND

[0002] Sausage, a delicious roasted food, is a low-temperature meat product with Chinese traditional flavor produced by modern western-style meat product processing technology. The meat product roasted in electric oven is deeply loved by consumers. Currently, the sausage process is mostly manual operation, such as manually clamping and handing over the roasted sausage with stick to consumers or carrying out the next process. This method is low in efficiency and may cause human pollution. Moreover, clamping the sausage may damage the sausage, and there is a risk of pollution to the clamp. The above problems need to be solved urgently. SUMMARY

[0003] To solve the problems in the background art, the utility model provides a kind of mechanical hand for sausage bamboo stick grabbing.

[0004] A kind of mechanical hand for sausage bamboo stick grabbing, comprising a swing arm support, a first drive assembly, a swing arm, a second drive assembly and a pair of clamps; the swing arm support has a mounting position for installation and fixation; the swing arm is rotatably connected to the swing arm support and is driven to swing by the first drive assembly; the pair of clamps is installed on the swing arm and comprises a first clamp arm and a second clamp arm; the first clamp arm and the second clamp arm are rotatably installed on the swing arm, one side is a clamping end, and the other side is a drive end that can be driven away from each other by the second drive assembly, so that the clamping ends are close to each other for clamping.

[0005] Further, the second drive assembly comprises a second steering wheel and a cam; the second steering wheel is fixed to the swing arm, and the drive end is installed with the cam; the cam is located between the drive ends of the first clamp arm and the second clamp arm, so that the clamping ends of the first clamp arm and the second clamp arm are driven to be close to each other for clamping by rotating the second steering wheel.

[0006] Further, the profile edge of the cam comprises a first curve segment and a second curve segment; the first curve segment and the second curve segment are symmetrical about a straight line perpendicular to the axis of the cam, and are respectively used to abut against the drive ends of the first clamp arm and the second clamp arm.

[0007] Further, the first drive assembly comprises a first steering wheel, a transmission assembly and a first rotating shaft; the first steering wheel is fixed to the swing arm support and is used to drive the swing arm to swing through the transmission assembly; one end of the transmission assembly is connected to the first steering wheel, and the other end is connected to the first rotating shaft; the first rotating shaft is installed on the swing arm.

[0008] Further, the transmission assembly comprises a crank and a connecting rod; one end of the crank is fixedly connected to the driving end of the first steering engine, and the other end is rotatably connected to one end of the connecting rod; the other end of the connecting rod is rotatably connected to the swing arm through the first rotating shaft.

[0009] Further, the pair of clamping bodies further comprise a first clamping head and a second clamping head; the first clamping head is installed on one side of the clamping end of the first clamping arm opposite to the second clamping arm; the second clamping head is installed on one side of the clamping end of the second clamping arm opposite to the first clamping arm; the clamping area of the first clamping head and the second clamping head is larger than the clamping area of the clamping end of the first clamping arm and the second clamping arm.

[0010] Further, the opposite surfaces of the first clamping head and the second clamping head are respectively provided with a toothed structure for clamping.

[0011] Further, the opposite surfaces of the first clamping head and the second clamping head are respectively provided with a toothed structure for clamping.

[0012] Further, the XY-axis moving mechanism is further provided, and the moving end of the XY-axis moving mechanism is connected to the swing arm support.

[0013] The mechanical hand for grabbing the bamboo stick of the roasted sausage has the advantages that: the first driving assembly drives the swing arm to swing, so that the position for taking the sausage and the position for placing the sausage can be switched; the second driving assembly drives the pair of clamping bodies to clamp the stick of the roasted sausage at the position for taking the sausage, so that the mechanical taking and placing of the roasted sausage is realized, the efficiency is improved, and human pollution is avoided; the stick is clamped, so that the roasted sausage is not damaged, and the pair of clamping bodies is not polluted. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is one of the three-dimensional structure schematic diagrams of the mechanical hand for grabbing the bamboo stick of the roasted sausage;

[0015] Figure 2 is one of the three-dimensional structure schematic diagrams of the mechanical hand for grabbing the bamboo stick of the roasted sausage;

[0016] Figure 3 is the structure schematic diagram of the first clamping head and the second clamping head.

[0017] Legend: 1. swing arm support; 2. first driving assembly; 21. first steering engine; 22. transmission assembly; 221. crank; 222. connecting rod; 23. first rotating shaft; 3. swing arm; 4. second driving assembly; 41. second steering engine; 42. cam; 421. first curve segment; 422. second curve segment; 5. clamping body; 51. first clamping arm; 52. second clamping arm; 53. first clamping head; 54. second clamping head; 6. second rotating shaft. DETAILED DESCRIPTION

[0018] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application; the use herein of terms such as "comprise", "comprises" and "comprising" or "have", "has" and "having" and any variations thereof are intended to cover a non-exclusive inclusion; the use herein of the term "a plurality" means two or more (including two).

[0020] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase that the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of other embodiments. It is explicitly contemplated that embodiments described herein can be combined with each other.

[0021] One kind of mechanical hand for roasting sausage bamboo stick grabbing of the present application is described in detail below with reference to the drawings.

[0022] As Figure 1 and 2As shown, a mechanical hand for roasting sausage bamboo stick grabbing, comprising a swing arm support 1, a first driving assembly 2, a swing arm 3, a second driving assembly 4 and a pair of clamping bodies 5; the swing arm support 1 has a mounting position (such as a mounting hole) for mounting and fixing; the swing arm 3 is rotatably connected to the swing arm support 1 and is driven to swing by the first driving assembly 2, such as vertical swing, to realize the swing of the sausage taking position at a low level and the sausage placing position at a high level; the pair of clamping bodies 5 are installed on the swing arm 3 and comprise a first clamping arm 51 and a second clamping arm 52; the first clamping arm 51 and the second clamping arm 52 are respectively rotatably installed on the swing arm 3, and one side is a clamping end and the other side is a driving end capable of being driven away from each other by the second driving assembly 4, so that the clamping ends are close to each other for clamping, such as clamping the stick A of the sausage.

[0023] The utility model discloses a kind of mechanical hands for roasting sausage bamboo stick grabbing, based on first driving assembly swing arm swing, can be realized in sausage taking position and sausage placing position switching, and in sausage taking position, with second driving assembly, sausage is clamped and taken by pair of clamping bodies, realize the mechanization of sausage taking and placing, improve efficiency, avoid artificial pollution, suitable for large-scale production or automatic vending;And based on clamping and taking stick, avoid damage to sausage, and pollution to pair of clamping bodies.

[0024] In some preferred embodiments, the first clamping arm 51 and the second clamping arm 52 are kept in an open state by torsional springs, for example, the torsional springs are arranged on the shafts connecting the first clamping arm 51 and the second clamping arm 52 with the swing arm 3; at this time, the driving ends of the first clamping arm 51 and the second clamping arm 52 are driven by the second driving assembly 4, so that the clamping ends are close to each other, and when the second driving assembly 4 is switched to a position that does not drive clamping, the first clamping arm 51 and the second clamping arm 52 return to the open state by the torsional springs.

[0025] In some preferred embodiments, the second driving assembly 4 comprises a second steering wheel 41 and a cam 42; the second steering wheel 41 is fixed to the swing arm 3, and the driving end is provided with the cam 42; the cam 42 is located between the driving ends of the first clamping arm 51 and the second clamping arm 52, so as to drive the clamping ends of the first clamping arm 51 and the second clamping arm 52 to close to each other for clamping by rotating the second steering wheel 41; based on the cam 42 driving the clamping ends of the first clamping arm 51 and the second clamping arm 52 to open and close, the cam 42 rotates continuously, and the first clamping arm 51 and the second clamping arm 52 realize continuous opening and closing, which is simple in structure and high in efficiency.

[0026] In some preferred embodiments, the profile edge of the cam 42 comprises a first curve segment 421 and a second curve segment 422; the first curve segment 421 and the second curve segment 422 are symmetrical about a straight line which is perpendicular to the axis of the cam 42 and are used to drive the first arm 51 and the second arm 52 respectively; the first curve segment 421 and the second curve segment 422 can form an elliptical structure, so that when the short side is close to the first curve segment 421 and the second curve segment 422, the distance can be closer, so that the opening of the clamping end is larger, and the first curve segment 421 and the second curve segment 422 drive the first arm 51 and the second arm 52 to move, so that the distance between the first arm 51 and the second arm 52 can continuously change, and when used with a torsional spring, continuous opening and closing can be achieved.

[0027] In some preferred embodiments, the first driving assembly 2 comprises a first steering wheel 21, a transmission assembly 22 and a first rotating shaft 23; the first steering wheel 21 is fixed to the swing arm support 1 and is used to drive the swing arm 3 to swing through the transmission assembly 22; one end of the transmission assembly 22 is connected to the first steering wheel 21, and the other end is connected to the first rotating shaft 43; the first rotating shaft 23 is installed on the swing arm 3; specifically, the driving shaft of the first steering wheel 21 is parallel to the second rotating shaft 6 which is rotatably connected between the swing arm support 1 and the swing arm 3.

[0028] In some preferred embodiments, the transmission assembly 22 comprises a crank 221 and a connecting rod 222; one end of the crank 221 is fixedly connected to the driving end of the first steering wheel 21, and the other end is rotatably connected to one end of the connecting rod 222; the other end of the connecting rod 222 is rotatably connected to the swing arm 3 through the first rotating shaft 23.

[0029] In some preferred embodiments, the clamping body 5 further comprises a first clamping head 53 and a second clamping head 54; the first clamping head 53 is installed on one side of the clamping end of the first arm 51 opposite to the second arm 52; the second clamping head 54 is installed on one side of the clamping end of the second arm 52 opposite to the first arm 51; the clamping area of the first clamping head 53 and the second clamping head 54 is larger than that of the clamping end of the first arm 51 and the second arm 52; thereby, the clamping area is increased and the clamping stability is improved.

[0030] In some preferred embodiments, as shown in Figure 3 the opposite surfaces of the first clamping head 53 and the second clamping head 54 are respectively provided with tooth-like structures for clamping; thereby, the clamping stability is improved, and stable clamping at multiple positions can be achieved.

[0031] Preferably, a plurality of tooth-like structures are provided, and the tooth-like structures are arranged in parallel, and a groove for clamping a skewer is formed between adjacent two tooth-like structures.

[0032] In some preferred embodiments, as shown in Figure 3As shown, the first clamping head 53 and the second clamping head 54 are respectively provided with clamping grooves, that is, the first clamping head 53 is provided with a first clamping groove 531, and the second clamping head 54 is provided with a second clamping groove 541, the first clamping groove 531 and the second clamping groove 541 are V-shaped in cross section; that is, when the first clamping head 53 and the second clamping head 54 are clamped, the two clamping grooves form a clamping space, which is similar to a rhombus structure in cross section, so that when clamped, the sausage skewer is clamped between the large top angles of the rhombus, and the clamping is stable; when the toothed structure is matched, not only multiple clamping positions can be provided, but also the maximum diameter of the skewer that can be clamped can be increased.

[0033] In some preferred embodiments, the swing arm support 1 and the swing arm 3 are both channel steel structures, and the swing arm 3 is located in the slot of the swing arm support 1 on one side and is rotationally connected at the overlapping part, so that the slot bottom surfaces can abut against each other to limit the rotation angle when rotating.

[0034] Further, an XY-axis moving mechanism (not shown) is further included, and the moving end of the XY-axis moving mechanism is connected to the swing arm support 1 to drive the clamping body 5 to move, based on which, not only the working range is expanded, but also the skewer insertion work of inserting the skewer into the sausage can be realized.

Claims

1. A robotic arm for gripping bamboo skewers used for grilled sausages, characterized in that, It includes a swing arm support (1), a first drive assembly (2), a swing arm (3), a second drive assembly (4), and a clamp-type clamp (5); The swing arm support (1) has a mounting position for installation and fixation; The swing arm (3) is rotatably connected to the swing arm support (1) and is driven to swing by the first drive assembly (2); The clamping body (5) is installed on the swing arm (3) and includes a first clamping arm (51) and a second clamping arm (52). The first clamping arm (51) and the second clamping arm (52) are rotatably mounted on the swing arm (3), with one side being the clamping end and the other side being the driving end that can be driven away from each other by the second driving component (4), so that the clamping ends can be brought closer to each other for clamping.

2. The robotic arm for gripping bamboo skewers of grilled sausages according to claim 1, characterized in that, The second drive assembly (4) includes a second servo (41) and a cam (42); The second servo (41) is fixed to the swing arm (3), and the cam (42) is installed at the drive end. The cam (42) is located between the drive ends of the first clamping arm (51) and the second clamping arm (52) so that the clamping ends of the first clamping arm (51) and the second clamping arm (52) can be driven to move closer to each other for clamping by the rotation of the second servo motor (41).

3. The robotic arm for gripping bamboo skewers for grilled sausages according to claim 2, characterized in that, The profile edge of the cam (42) includes a first curved segment (421) and a second curved segment (422). The first curve segment (421) and the second curve segment (422) are symmetrical about a straight line perpendicular to the axis passing through the cam (42), and are respectively used to abut the drive ends of the first clamping arm (51) and the second clamping arm (52).

4. The robotic arm for gripping bamboo skewers of grilled sausages according to claim 1, characterized in that, The first drive assembly (2) includes a first servo motor (21), a transmission assembly (22), and a first rotating shaft (23); The first servo motor (21) is fixed to the swing arm support (1) and is used to drive the swing arm (3) to swing through the transmission assembly (22); One end of the transmission assembly (22) is connected to the first servo motor (21), and the other end is connected to the first rotating shaft (23). The first rotating shaft (23) is mounted on the swing arm (3).

5. The robotic arm for gripping bamboo skewers of grilled sausages according to claim 4, characterized in that, The transmission assembly (22) includes a crank (221) and a connecting rod (222); One end of the crank (221) is fixed to the drive end of the first servo motor (21), and the other end is rotatably connected to one end of the connecting rod (222); The other end of the connecting rod (222) is rotatably connected to the swing arm (3) via the first rotating shaft (23).

6. The robotic arm for gripping bamboo skewers for grilled sausages according to claim 1, characterized in that, The clamp-type clamp body (5) also includes a first clamping head (53) and a second clamping head (54); The first clamping head (53) is mounted on the clamping end of the first clamping arm (51) on the side opposite to the second clamping arm (52); The second clamping head (54) is mounted on the clamping end of the second clamping arm (52) on the side opposite to the first clamping arm (51); The area used for clamping by the first clamping head (53) and the second clamping head (54) is greater than the area of ​​the clamping ends of the first clamping arm (51) and the second clamping arm (52).

7. A robotic arm for gripping bamboo skewers for grilled sausages according to claim 6, characterized in that, The first clamping head (53) and the second clamping head (54) are respectively provided with toothed structures for clamping on their opposite surfaces.

8. A robotic arm for gripping bamboo skewers of grilled sausages according to claim 6, characterized in that, Clamping grooves are respectively provided on the opposite surfaces of the first clamping head (53) and the second clamping head (54), and the cross-section of the clamping grooves is V-shaped.

9. A robotic arm for gripping bamboo skewers for grilled sausages according to claim 1, characterized in that, It also includes an XY-axis moving mechanism, the moving end of which is connected to the swing arm support (1).

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