End gripper and stringing device suitable for signing and taking

Abstract

The utility model provides a kind of end gripper suitable for signing branch clamping and stringing equipment, including signing branch gripper assembly;The signing branch gripper assembly includes second end clamping mechanism, first signing branch gripper and second signing branch gripper symmetrically installed on second end clamping mechanism, and second end clamping mechanism is used to drive first signing branch gripper and second signing branch gripper to clamp signing branch;Grid type groove is arranged on the clamping surface of first signing branch gripper and second signing branch gripper, for limiting and fixing signing branch when clamping.The utility model sets grid-like groove structure at signing branch gripper end, improves the clamping stability of slender and smooth pen, effectively prevents its rolling and slipping, thereby provides reliable clamping foundation guarantee for automatic ball signing production.

Description

Technical Field

[0001] This utility model relates to the field of food processing equipment technology, specifically to an end gripper and skewering device suitable for picking up skewers. Background Technology

[0002] In the processing of meatball-type foods, skewering is the process of stringing and fixing shaped meatballs onto slender skewers. To achieve efficient production, a robotic arm equipped with a gripping mechanism can be used to accomplish this task, based on its ability to stably and reliably grasp slender, smooth skewers.

[0003] However, existing end-effector gripping mechanisms are relatively simple in structure, such as simple parallel gripping fingers or vacuum adsorption modules. These structures also have difficulty gripping slender and smooth-surfaced skewers, thus limiting their application in the automatic skewering of meatball-type foods.

[0004] For example, patent document CN213005358U discloses a gripping finger mechanism and an electric gripper for food handling, belonging to the field of food utensil technology. This gripper is equipped with rod-shaped gripping fingers to accurately grip irregularly shaped food pieces; the rod-shaped gripping fingers are provided with barbs to ensure that the quality and taste of the food, especially fried foods, are not affected; a spring is provided to ensure that the rod-shaped gripping fingers conform to the shape of the food during gripping, effectively preventing them from falling off during movement. This gripper is suitable for gripping fried foods but is not suitable for stable gripping of smooth-surfaced skewers.

[0005] Therefore, in order to achieve automatic skewering of meatballs, there is an urgent need for a new type of end gripping mechanism that can reliably hold the skewers. Utility Model Content

[0006] In view of the deficiencies in the prior art, the purpose of this utility model is to provide an end gripper and a stringing device suitable for gripping skewers.

[0007] The present invention provides an end gripper suitable for gripping tweezers, comprising a tweezer gripper assembly.

[0008] The skewer clamping assembly includes a second end clamping mechanism, a first skewer clamping jaw and a second skewer clamping jaw symmetrically mounted on the second end clamping mechanism, and the second end clamping mechanism is used to drive the first skewer clamping jaw and the second skewer clamping jaw to clamp the skewer.

[0009] Both the first and second gripper claws have mesh-like grooves on their gripping surfaces to limit and fix the gripper during clamping.

[0010] Preferably, the grid-type groove includes multiple groove structures that intersect in a V-shape, and the groove structure has a second included angle with the center line of the first or second claw support.

[0011] On the normal projection along the clamping surface of the first or second claw, the grid-shaped groove is symmetrically arranged with the center line of the first or second claw as the axis.

[0012] Preferably, the second included angle is in the range of 20°-60°;

[0013] On the normal projection along the clamping surface of the first or second clamping claw, the vertex of the second included angle is located on the center line of the first or second clamping claw.

[0014] Preferably, a button contact is installed at the end of the first gripper claw, and the button contact is connected to an external electrical device.

[0015] Preferably, the first or second gripper has a mounting surface that connects to the second end clamping mechanism;

[0016] The clamping surface of the first or second clamping claw has a third included angle with the normal of the mounting surface.

[0017] Preferably, the mounting surfaces of the first and second gripper claws are both fixedly mounted on the second end clamping mechanism by a second positioning pin.

[0018] Preferably, the normal of the gripping surface of the first gripper claw is parallel to the normal of the gripping surface of the second gripper claw.

[0019] The skewering device provided by this utility model includes a ball-shaped food gripping mechanism and a skewer gripping mechanism. The end of the skewer gripping mechanism is equipped with the end gripper suitable for gripping skewers, and the end of the ball-shaped food gripping mechanism is equipped with a ball-shaped food gripper assembly.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] This invention improves the gripping stability of slender, smooth skewers by setting a grid-like groove structure at the end of the skewer gripper, effectively preventing them from rolling and slipping off, thus providing a reliable gripping foundation for automated meatball skewer production. Attached Figure Description

[0022] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0023] Figure 1This is a schematic diagram of the overall structure of the pellet-shaped food gripper assembly in this utility model;

[0024] Figure 2 This is a schematic diagram of the structure of the pellet-shaped food gripper in this utility model;

[0025] Figure 3 This is a schematic diagram of the structure of the pellet-shaped food gripper assembly of this utility model for gripping spherical materials;

[0026] Figure 4 This is a schematic diagram of the structure of the pellet-shaped food gripper assembly of this utility model for gripping square materials;

[0027] Figure 5 This is a schematic diagram of the overall structure of the claw assembly for the lottery ticket holder in this utility model;

[0028] Figure 6 This is a schematic diagram of the structure of the first gripper claw in this utility model;

[0029] Figure 7 This is a schematic diagram of the structure of the second gripper claw in this utility model;

[0030] Figure 8 This is a schematic diagram of the structure of the claw assembly for gripping the scepter in this utility model;

[0031] Figure 9 This is a schematic diagram of the structure of Example 1.

[0032] The diagram shows:

[0033] First ball-shaped food gripper 1; First skewer gripper 9

[0034] Second round food gripper 2; Second skewer gripper 10

[0035] First end clamping mechanism 3 Button contact 11

[0036] Arc structure 4 Second end clamping mechanism 12

[0037] First locating pin 5; Second included angle 13

[0038] First included angle 6, third included angle 14

[0039] 7 spherical material; 15 second locating pins

[0040] 8 square materials Detailed Implementation

[0041] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0042] This utility model discloses an end gripper and skewering device suitable for gripping skewers. By setting a grid-like groove structure at the end of the skewer gripper, the gripping stability of slender and smooth skewers is improved, effectively preventing them from rolling and slipping off, thus providing a reliable gripping foundation for automated meatball skewering production.

[0043] According to the skewering device provided by this utility model, the skewering device includes a ball-shaped food gripping mechanism and a skewer gripping mechanism. The ball-shaped food gripping mechanism has a ball-shaped food gripper assembly at its end, and the skewer gripping mechanism has an end gripper suitable for gripping skewers at its end. The end gripper suitable for gripping ball-shaped foods includes a ball-shaped food gripper assembly, which is used to reliably grip the ball-shaped food, and the skewer gripper assembly is used to reliably grip the skewers. By designing dedicated end grippers for the ball-shaped food and the skewers, the gripping stability of both can be effectively improved in the automated ball-skewering process, thereby improving the skewering quality. The ball-shaped food includes fish balls, fish tofu, and other oden (Japanese stew) that can be skewered on bamboo skewers.

[0044] like Figure 1 , Figure 2 As shown, the pellet food gripper assembly includes a first end clamping mechanism 3, and a first pellet food gripper 1 and a second pellet food gripper 2 symmetrically mounted on the first end clamping mechanism 3. The first end clamping mechanism 3 is used to drive the first pellet food gripper 1 and the second pellet food gripper 2 to grip the pellet food. The gripping surfaces of the first pellet food gripper 1 and the second pellet food gripper 2 are each provided with a concave structure to form a positioning cavity corresponding to the pellet food during gripping. This positioning cavity is suitable for pellet foods of different shapes (round, square, etc.), such as… Figure 3 , Figure 4 As shown; preferably, the mounting surfaces of the first ball-shaped food gripper 1 and the second ball-shaped food gripper 2 are both fixedly mounted on the first end clamping mechanism 3 by the first positioning pin 5;

[0045] In a preferred example, such as Figure 2 As shown, the outer surfaces of the ends of both the first ball-shaped food gripper 1 and the second ball-shaped food gripper 2 are arc-shaped structures 4. By providing arc-shaped structures 4 on the outer sides of the grippers, excessive compression of other materials can be avoided during material gripping, thus preventing damage.

[0046] In a preferred embodiment, the concave structure includes a V-shaped concave structure, which comprises a clamping plane at the bottom and multiple V-shaped clamping surfaces. Projected along the normal of the clamping plane, the multiple V-shaped clamping surfaces are circumferentially distributed along the outer edge of the clamping plane, with the bottom of each V-shaped clamping surface connected to the outer edge of the clamping plane, and the top of each V-shaped clamping surface forming the edge of the V-shaped concave structure. The normal of the clamping plane is perpendicular to the centerline of the first round food gripper 1 or the second round food gripper 2. There are four V-shaped clamping surfaces, with a first included angle 6 between them, the angle ranging from 90° to 145°.

[0047] The working principle of the pellet-shaped food gripper assembly is as follows:

[0048] Clamping process: The first end clamping mechanism 3 drives the left and right half claws to move towards the middle; the V-shaped concave structure gradually approaches and finally clamps the target object (such as a ball); the four-sided concave V-shaped concave structure provides multi-directional constraints to prevent the ball from slipping out; the rigidity and consistency of the clamping claws are ensured by the threaded hole and the first positioning pin 5.

[0049] Release process: The first end clamping mechanism 3 moves in the opposite direction, and the left and right half claws open; the V-shaped concave structure separates, releasing the clamped ball; the robotic arm can move to the next operating position to continue the operation.

[0050] Adaptive adjustment: Different sizes or shapes of balls can be adapted by adjusting the first clamping angle 6 or the gripper stroke; different product requirements can be met by quickly changing the gripper module.

[0051] The pellet-shaped food gripper assembly provided by this utility model solves the problem of unstable gripping by traditional clamps: ordinary clamps have difficulty effectively gripping smooth-surfaced pellet products. This utility model enhances the gripping stability through a V-shaped concave structure, preventing slippage or falling.

[0052] The pellet-shaped food gripper assembly provided by this utility model solves the problem of diverse clamping objects: existing clamps are often only suitable for products of specific shapes; this utility model, through its V-shaped structure design, can be compatible with pellets of various shapes such as round and square.

[0053] The pellet-shaped food gripper assembly provided by this utility model solves the problem of low gripper replacement efficiency: traditional gripper replacement is complicated and time-consuming; this utility model adopts a threaded + positioning pin structure to achieve quick installation and replacement of grippers.

[0054] like Figures 5-7As shown, the tag gripper assembly includes a second end clamping mechanism 12, and a first tag gripper 9 and a second tag gripper 10 symmetrically mounted on the second end clamping mechanism 12. The second end clamping mechanism 12 drives the first tag gripper 9 and the second tag gripper 10 to clamp the tag. Both the first tag gripper 9 and the second tag gripper 10 have a grid-shaped groove on their clamping surfaces for limiting and fixing the tag during clamping. During clamping, the tag is limited and fixed in one of the grid-shaped grooves. By setting the groove to a grid shape, reliable fixing of the tag can be achieved in multiple positions. Preferably, the mounting surfaces of both the first tag gripper 9 and the second tag gripper 10 are fixedly mounted on the second end clamping mechanism 12 by a second positioning pin 15.

[0055] In a preferred embodiment, the grid-shaped groove includes multiple V-shaped intersecting groove structures. These groove structures form a second angle 13 with the centerline of the first or second gripper 9 or 10. Projected normally onto the clamping surface of the first or second gripper 9 or 10, the grid-shaped groove is symmetrically arranged about the centerline of the first or second gripper 9 or 10. The second angle 13 ranges from 20° to 60°. Projected normally onto the clamping surface of the first or second gripper 9 or 10, the vertex of the second angle 13 is located on the centerline of the first or second gripper 9 or 10. The multiple V-shaped intersecting groove structures enhance clamping friction and improve clamping stability, making it suitable for grippers with various cross-sectional shapes.

[0056] In a preferred embodiment, a button contact 11 is mounted at the end of the first gripper claw 9, and the button contact 11 is connected to an external electrical device. This button contact 11 can be used to trigger an external electrical switch or sensor signal to achieve clamping status detection or automatic control functions.

[0057] The first gripper 9 or the second gripper 10 has a mounting surface that connects to the second end clamping mechanism 12; the clamping surface of the first gripper 9 or the second gripper 10 has a third included angle 14 with the normal of the mounting surface. Preferably, the third included angle 14 is 2°. This third included angle 14 allows for a closer fit to the gripper surface during clamping, increasing the clamping contact area, preventing slippage, and enhancing clamping reliability.

[0058] The working principle of the signature gripper assembly is as follows:

[0059] When the second end clamping mechanism 12 at the end of the robotic arm drives the gripper to close, the first skewer gripper 9 and the second skewer gripper 10 move closer to the center. The grid groove applies clamping force to the skewer. The third angle 14 between the mounting surface and the clamping surface makes the clamping surface closer to the surface of the bamboo skewer, increasing friction and preventing slippage. The button contact 11 may be pressed down during the clamping process, thereby triggering an electrical signal feedback to the control system, indicating that the clamping action is completed or detecting whether the skewer is empty. The grid groove allows the gripper to adapt to skewers of different sizes and shapes, improving the versatility and adaptability of the gripper.

[0060] Example 1

[0061] This embodiment discloses the specific application of the above-mentioned end grippers suitable for gripping tweezers, such as... Figure 9 As shown, the skewer gripper assembly and the ball-shaped food gripper assembly are respectively installed at the ends of the two robotic arms to grip the ball-shaped food and the skewer, and the two robotic arms work together to achieve the skewering action.

[0062] The skewer gripper assembly provided by this utility model solves the problem of unstable clamping: traditional grippers are unstable when holding round or irregularly shaped skewers, and are prone to slipping or falling. This structure significantly improves clamping force and stability through V-shaped cross clamping and angle optimization.

[0063] The gripper assembly provided by this invention solves the problem of poor versatility of clamps: existing clamps can usually only hold objects of specific shapes or sizes. This structure can adapt to grippers with various cross-sections such as round and square, thus expanding its application range.

[0064] This invention, through the coordinated improvement of the pellet food gripper assembly and the skewer gripper assembly, can achieve stable gripping of pellet food and skewers respectively, thus providing a reliable gripping foundation for automated pellet skewer production.

[0065] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0066] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the substantive content of this utility model. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A terminal gripper suitable for gripping scepters, characterized in that, Including the signature gripper assembly; The skewer clamping assembly includes a second end clamping mechanism (12), a first skewer clamping claw (9) and a second skewer clamping claw (10) symmetrically mounted on the second end clamping mechanism (12). The second end clamping mechanism (12) is used to drive the first skewer clamping claw (9) and the second skewer clamping claw (10) to clamp the skewer. Both the first and second gripper claws (9 and 10) have mesh grooves on their gripping surfaces to limit and fix the gripper during clamping.

2. The end gripper for gripping a scepter according to claim 1, characterized in that, The grid-type groove includes multiple groove structures that intersect in a V-shape, and the groove structure has a second included angle (13) with the center line of the first claw (9) or the second claw (10). On the normal projection along the clamping surface of the first clamping claw (9) or the second clamping claw (10), the grid-shaped groove is symmetrically arranged with the center line of the first clamping claw (9) or the second clamping claw (10) as the axis.

3. The end gripper for gripping a scepter according to claim 2, characterized in that, The second included angle (13) has an angle range of 20°-60°; On the normal projection along the clamping surface of the first clamping claw (9) or the second clamping claw (10), the vertex of the second included angle (13) is located on the center line of the first clamping claw (9) or the second clamping claw (10).

4. The end gripper for gripping a scepter according to claim 1, characterized in that, The end of the first gripper (9) is equipped with a button contact (11), which is connected to an external electrical device.

5. The end gripper for gripping a scepter according to claim 1, characterized in that, The first scepter gripper (9) or the second scepter gripper (10) has a mounting surface that is connected to the second end clamping mechanism (12); The clamping surface of the first clamping claw (9) or the second clamping claw (10) has a third included angle (14) with the normal of the mounting surface.

6. The end gripper for gripping a scepter according to claim 1, characterized in that, The mounting surfaces of the first clamping claw (9) and the second clamping claw (10) are both fixedly mounted on the second end clamping mechanism (12) by the second positioning pin (15).

7. The end gripper for gripping a scepter according to claim 1, characterized in that, The normal of the clamping surface of the first clamping claw (9) is parallel to the normal of the clamping surface of the second clamping claw (10).

8. A stringing device, characterized in that, The invention includes a pellet food gripping mechanism and a skewer gripping mechanism. The end of the skewer gripping mechanism is equipped with an end gripper as described in any one of claims 1-7, and the end of the pellet food gripping mechanism is equipped with a pellet food gripper assembly.

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