Cup yogurt mechanical gripper

Abstract

The utility model discloses a cup yogurt mechanical grab hand belongs to food processing technical field, specifically includes frame, is provided with the flat plate conveying line on the frame, the single column conveying line is provided with on the one side of flat plate conveying line discharge end on the frame, the grabbing transfer device is provided with on the top of flat plate conveying line discharge end on the frame for grabbing the whole row product on flat plate conveying line and transferring to the single column conveying line, the utility model discloses the grabbing transfer device that is set up can grab the whole row cup yogurt product on flat plate conveying line and transfer to the single column conveying line, replaces traditional conveying belt transfer mode, and the production space is greatly saved, is favorable to enterprise optimization production layout, and effectively reduces the human cost of enterprise, improves the efficiency and stability of product transfer simultaneously, avoids the product omission, damage etc. that may appear in the manual transfer process, guarantees the overall production quality and production progress.

Description

Technical Field

[0001] This utility model belongs to the field of food processing technology, specifically relating to a mechanical gripper for cup-packaged yogurt. Background Technology

[0002] In the production process of cup-packaged yogurt, after the filling machine completes the yogurt filling, sealing, and cutting processes, the cup-packaged yogurt products need to be transferred to subsequent online coding, leak detection, and packing processes. In the early production methods, after the cup-packaged products were sealed and cut by the filling machine, they fell directly onto the conveyor belt at the outlet of the filling machine and were then transported to the subsequent processes by the conveyor belt.

[0003] This traditional transfer method has many problems: on the one hand, the installation of conveyor belts requires a large production space, which will seriously restrict the optimization of production layout for enterprises with limited production space; on the other hand, subsequent online coding, leak detection, and cage loading processes require a large number of operators to assist in the work, which not only increases the enterprise's labor costs, but also makes it difficult to ensure the stability and efficiency of the connection between the processes, and is prone to omissions and damages during product transfer, affecting the overall production quality and progress. Therefore, it is necessary to provide a mechanical gripper for cup-packaged yogurt to solve the above-mentioned technical problems. Utility Model Content

[0004] To address the problems mentioned in the background section, this invention provides a mechanical gripper for cup-packaged yogurt, which effectively solves the problems of traditional conveyor belts occupying space and requiring a large number of personnel in subsequent processes, thereby improving product transfer efficiency and the degree of production automation.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a mechanical gripper for cup-packaged yogurt, including a frame, a flat conveyor line on the frame, a single-row conveyor line on one side of the frame at the discharge end of the flat conveyor line, and a gripping and transferring device on the frame above the discharge end of the flat conveyor line, for gripping and transferring the entire row of products on the flat conveyor line to the single-row conveyor line. The gripping and transferring device includes a mounting frame, on which a movable plate is slidably connected along the conveying direction of the flat conveyor line, and a lifting plate is slidably connected below the movable plate, with a gripper body disposed below the lifting plate.

[0006] Preferably, the frame is provided with an ejection mechanism for ejecting a row of products from the flat conveyor line. The ejection mechanism includes a support plate and ejection cylinders. The support plate is located below the bearing surface of the flat conveyor line. Ejection cylinders are provided below both ends of the support plate. The cylinder barrels of the ejection cylinders are fixedly connected to the frame through a fixing plate. The piston end of the ejection cylinder is fixedly connected to the support plate.

[0007] Preferably, the mounting frame is provided with a first driving mechanism for causing the moving plate to drive the gripper body to reciprocate along the conveying direction of the flat conveyor line. The first driving mechanism includes a rodless cylinder fixedly connected to the mounting frame, a slider movably sleeved on the rodless cylinder, the slider being fixedly connected to the moving plate, and limiting rods fixedly connected to the mounting frame on both sides of the rodless cylinder. Limiting blocks are slidably sleeved on the limiting rods, and the limiting blocks are fixedly connected to the moving plate.

[0008] Preferably, the movable plate is provided with a second driving mechanism for driving the lifting plate to move the gripper body to grasp the product. The second driving mechanism includes a lifting cylinder, the cylinder of which is fixedly connected to the movable plate, the piston rod of which passes through the movable plate and is fixedly connected to the lifting plate, and a movable rod that passes through the lifting plate is provided on one side of the lifting cylinder, one end of which is fixedly connected to the lifting plate.

[0009] Preferably, the gripper body includes a mounting plate, which is fixedly connected to the lifting plate. Baffles are fixedly connected to both sides of the mounting plate, and a flipping shaft is symmetrically rotatably connected to the other two sides below the mounting plate. A gripping plate is fixedly connected to the flipping shaft, and the gripping end of the gripping plate is provided with multiple arc-shaped grooves.

[0010] Preferably, an opening and closing mechanism is provided above the mounting plate for the two gripping plates to cooperate in gripping the product. The opening and closing mechanism includes a telescopic cylinder, the cylinder of which is fixedly connected to the mounting plate. The piston rod of the telescopic cylinder passes through the mounting plate and is fixedly connected to a drive frame. The two sides of the drive frame are respectively hinged to two corresponding gripping plates.

[0011] Preferably, a limiting shaft is fixedly connected to the side of the drive frame that is directly opposite the baffle, and the limiting shaft is movably connected inside the limiting groove provided on the baffle.

[0012] Compared with the prior art, the beneficial effects of this utility model are: This invention, through its gripping and transferring device, can grip and transfer a row of cup-packaged yogurt products from a flat conveyor line to a single conveyor line, replacing the traditional conveyor belt transfer method. This greatly saves production space, helps companies optimize their production layout, effectively reduces labor costs, and improves the efficiency and stability of product transfer. It also avoids product loss or damage that may occur during manual transfer, ensuring overall production quality and progress. Attached Figure Description

[0013] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a side view sectional structural diagram of the present invention; Figure 3 This is a side view of the ejection mechanism of this utility model. Figure 4 This is a three-dimensional structural diagram of the gripping and transferring device of this utility model; Figure 5 This is a schematic diagram of the main structure of the gripping and transferring device of this utility model; Figure 6 This is a top view schematic diagram of the gripping and transferring device of this utility model; Figure 7 This is a schematic diagram of the main cross-sectional structure of the gripping and transferring device of this utility model; Figure 8 This is a side view of the gripping and transferring device of this utility model; In the diagram: 10, Flatbed conveyor line; 20, Single-row conveyor line; 30, Gripping and transferring device; 31, Mounting frame; 32, Moving plate; 33, First drive mechanism; 33a, Rodless cylinder; 33b, Slider; 33c, Limiting rod; 33d, Limiting block; 34, Lifting plate; 35, Second drive mechanism; 35a, Lifting cylinder; 35b, Movable rod; 36, Gripper body; 36a, Mounting plate; 36b, Baffle; 36c, Tilting shaft; 36d, Gripping plate; 36e, Telescopic cylinder; 36f, Drive frame; 36g, Limiting shaft; 36h, Limiting groove; 37, Ejection mechanism; 37a, Support plate; 37b, Ejection cylinder; 37c, Fixed plate. Detailed Implementation

[0014] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0015] Example Please see Figure 1-8This embodiment provides the following technical solution: a mechanical gripper for cup-shaped yogurt, including a frame, on which a flat conveyor line 10 is provided, and a single-row conveyor line 20 is provided on the right side of the discharge end of the flat conveyor line 10. In some embodiments, the flat conveyor line 10 is used to transport cup-shaped yogurt cups that have undergone filling, sealing and cutting processes, while the single-row conveyor line 20 is used to transfer cup-shaped yogurt cups that have undergone filling, sealing and cutting processes to subsequent online coding, leak detection, and cage packing processes. The specific structures of the two are conventional designs in the relevant field and are not improvements of this invention, so they will not be described in detail.

[0016] A gripping and transferring device 30 is installed on the frame above the discharge end of the flat conveyor line 10. This device grips and transfers the entire row of products on the flat conveyor line 10 to the single-row conveyor line 20. The gripping and transferring device 30 can grip and transfer the entire row of cup-packaged yogurt products on the flat conveyor line 10 to the single-row conveyor line 20, replacing the traditional conveyor belt transfer method. This greatly saves production space, helps companies optimize their production layout, effectively reduces labor costs, and improves the efficiency and stability of product transfer. It also avoids product loss or damage that may occur during manual transfer, ensuring overall production quality and progress.

[0017] like Figure 2 and Figure 3 As shown, an ejection mechanism 37 is provided on the frame to eject a row of products from the flat conveyor line 10. The ejection mechanism 37 includes a support plate 37a and an ejection cylinder 37b. The support plate 37a is located below the bearing surface of the flat conveyor line 10. An ejection cylinder 37b is provided below both ends of the support plate 37a. The cylinder of the ejection cylinder 37b is fixedly connected to the frame through a fixing plate 37c. The piston end of the ejection cylinder 37b is fixedly connected to the support plate 37a. Through the ejection cylinder 37b and the support plate 37a, after the row of products on the flat conveyor line 10 reaches the gripping position, the row of products is lifted 2-2.5 cm upwards to facilitate subsequent gripping of the row of products.

[0018] The gripping and transferring device 30 includes a mounting frame 31. A movable plate 32 is slidably connected to the mounting frame 31 along the conveying direction of the flat conveyor line 10. A first driving mechanism 33 is provided on the mounting frame 31 to drive the gripper body 36 to reciprocate along the conveying direction of the flat conveyor line 10 via the movable plate 32. The first driving mechanism 33 includes a rodless cylinder 33a fixedly connected to the mounting frame 31. A slider 33b is movably sleeved on the rodless cylinder 33a. The slider 33b is connected to the movable plate 32. 2. Fixed connection: Limiting rods 33c, which are fixedly connected to the mounting frame 31, are provided on the front and rear sides of the rodless cylinder 33a. Limiting blocks 33d are slidably sleeved on the limiting rods 33c. The limiting blocks 33d are fixedly connected to the moving plate 32. Through the rodless cylinder 33a, the moving plate 32 can be moved under the limiting action of the limiting rods 33c, so that the moving plate 32 can drive the gripper body 36 to grab the whole row of products on the flat conveyor line 10 onto the single-row conveyor line 20.

[0019] A lifting plate 34 is slidably connected below the movable plate 32. A second drive mechanism 35 is provided on the movable plate 32 for driving the lifting plate 34 to move the gripper body 36 to grasp the product. The second drive mechanism 35 includes a lifting cylinder 35a. The cylinder of the lifting cylinder 35a is fixedly connected to the movable plate 32. The piston rod of the lifting cylinder 35a passes through the movable plate 32 and is fixedly connected to the lifting plate 34. A movable rod 35b is provided on one side of the lifting cylinder 35a, passing through the lifting plate 34. One end of the movable rod 35b is fixedly connected to the lifting plate 34. Through the lifting cylinder 35a, the lifting plate 34, under the vertical limiting action of the movable rod 35b, drives the gripper body 36 to move upward or downward, thereby enabling the gripper body 36 to accurately align with the entire row of products for grasping.

[0020] like Figure 5 , Figure 7As shown, a gripping frame is fixedly connected to the lower part of the lifting plate 34, and a gripper body 36 is provided on the gripping frame. The gripper body 36 includes a mounting plate 36a, which is fixedly connected to the lifting plate 34. Baffles 36b are fixedly connected to both the front and rear sides of the mounting plate 36a. A flipping shaft 36c is symmetrically rotatably connected to the left and right sides below the mounting plate 36a. A gripping plate 36d is fixedly connected to the flipping shaft 36c. The gripping end of the gripping plate 36d is provided with multiple arc-shaped grooves. In some embodiments, the mounting plate 36a has a U-shaped structure, and the height of the baffles 36b on the front and rear sides is greater than the height of the mounting plate 36a. The gripping plates 36d on the left and right sides are located between the baffles 36b on the front and rear sides. Through the provided flipping shaft 36c and gripping plates 36d, after the lifting plate 34 moves to the appropriate position, the flipping shaft 36c can drive the gripping plates 36d to flip. Under the joint action of the gripping plates 36d on the left and right sides, the gripper body 36 can open and close, completing the gripping / releasing operation of the entire row of products.

[0021] An opening and closing mechanism is provided above the mounting plate 36a for cooperating two gripping plates 36d to grip the product. The opening and closing mechanism includes a telescopic cylinder 36e, the cylinder of which is fixedly connected to the mounting plate 36a. The piston rod of the telescopic cylinder 36e passes through the mounting plate 36a and is fixedly connected to a drive frame 36f. The left and right sides of the drive frame 36f are respectively hinged to the two corresponding gripping plates 36d. Through the telescopic cylinder 36e, as the drive frame 36f moves up or down, the two gripping plates 36d can be rotated around the corresponding flipping axis 36c, thus completing the opening and closing operation of the gripper body 36.

[0022] like Figure 5 As shown, the front and rear ends of the drive frame 36f are fixedly connected to limit shafts 36g. The limit shafts 36g are movably connected to the inside of the limit grooves 36h provided on the baffle 36b. In some embodiments, the limit grooves 36h are provided along the extension and retraction direction of the telescopic cylinder 36e. Through the limit shafts 36g and the limit grooves 36h, the vertical movement of the drive frame 36f is further limited, thereby improving the stability of the drive frame 36f when it moves.

[0023] The working principle of this utility model is as follows: First, the filling machine completes the sealing and cutting of the row of cup-packaged yogurt products and then conveys them to the flat conveyor line 10. The flat conveyor line 10 conveys the row of products to its discharge end. Next, the ejection mechanism 37 starts to work, the piston end of the ejection cylinder 37b extends upward, driving the pallet 37a to move upward, ejecting the entire row of products on the flat conveyor line 10 by 2-2.5 cm; Then, the lifting cylinder 35a operates, its piston rod extends downward, driving the lifting plate 34 and the gripper body 36 to move downward together, so that the gripper body 36 moves above the entire row of products that have been lifted; subsequently, the telescopic cylinder 36e operates, its piston rod extends downward, driving the drive frame 36f to move downward, and the drive frame 36f drives the two left and right gripping plates 36d to rotate inward around the flipping shaft 36c, and the arc groove on the gripping plate 36d fits tightly with the cup-packaged yogurt products, completing the gripping of the entire row of products; After the gripping is completed, the piston rod of the lifting cylinder 35a retracts upward, causing the lifting plate 34 and the gripper body 36 holding the product to move upward together to the preset height; Afterwards, the rodless cylinder 33a operates, and the slider 33b drives the moving plate 32, the lifting plate 34, the gripping frame, and the gripper body 36 to slide along the length of the rodless cylinder 33a toward the direction of the single-row conveyor line 20. At the same time, the limiting rod 33c and the limiting block 33d guide and restrict the sliding of the moving plate 32 to ensure that the gripper body 36 can move accurately above the single-row conveyor line 20. When the gripper body 36 moves above the single-row conveyor line 20, the piston rod of the lifting cylinder 35a extends downward again, driving the lifting plate 34 and the gripper body 36 to move downward together, conveying the product to the appropriate position above the single-row conveyor line 20. Finally, the piston rod of the telescopic cylinder 36e retracts upward, causing the drive frame 36f to move upward. The drive frame 36f causes the two left and right gripping plates 36d to flip outward around the flipping shaft 36c, releasing the product. The product falls onto the single-row conveyor line 20, which then transports the product to the subsequent process. After the product is released, the piston rod of the lifting cylinder 35a retracts upward, driving the lifting plate 34 and the gripper body 36 to move upward to the preset height. Then, the rodless cylinder 33a drives the moving plate 32, the lifting plate 34 and the gripper body 36 back to the top of the discharge end of the flat conveyor line 10, ready for the next gripping and transfer operation, and so on.

[0024] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A mechanical gripper for cup-packaged yogurt, comprising a frame, wherein a flat conveyor line (10) is provided on the frame, and a single-row conveyor line (20) is provided on one side of the frame at the discharge end of the flat conveyor line (10), characterized in that: A gripping and transferring device (30) is provided on the frame above the discharge end of the flat conveyor line (10) for gripping and transferring the entire row of products on the flat conveyor line (10) to the single-row conveyor line (20). The gripping and transferring device (30) includes a mounting frame (31), on which a movable plate (32) is slidably connected along the conveying direction of the flat conveyor line (10), and a lifting plate (34) is slidably connected below the movable plate (32), and a gripper body (36) is provided below the lifting plate (34).

2. The mechanical gripper for cup-shaped yogurt as described in claim 1, characterized in that: The frame is provided with an ejection mechanism (37) for ejecting a row of products from the flat conveyor line (10). The ejection mechanism (37) includes a support plate (37a) and an ejection cylinder (37b). The support plate (37a) is located below the bearing surface of the flat conveyor line (10). An ejection cylinder (37b) is provided below both ends of the support plate (37a). The cylinder of the ejection cylinder (37b) is fixedly connected to the frame through a fixing plate (37c). The piston end of the ejection cylinder (37b) is fixedly connected to the support plate (37a).

3. The mechanical gripper for cup-shaped yogurt as described in claim 1, characterized in that: The mounting frame (31) is provided with a first driving mechanism (33) for causing the moving plate (32) to drive the gripper body (36) to reciprocate along the conveying direction of the flat conveyor line (10). The first driving mechanism (33) includes a rodless cylinder (33a) fixedly connected to the mounting frame (31). A slider (33b) is movably sleeved on the rodless cylinder (33a). The slider (33b) is fixedly connected to the moving plate (32). Limiting rods (33c) are fixedly connected to the mounting frame (31) on both sides of the rodless cylinder (33a). Limiting blocks (33d) are slidably sleeved on the limiting rods (33c). The limiting blocks (33d) are fixedly connected to the moving plate (32).

4. The mechanical gripper for cup-shaped yogurt as described in claim 1, characterized in that: The movable plate (32) is provided with a second drive mechanism (35) for causing the lifting plate (34) to drive the gripper body (36) to grip the product. The second drive mechanism (35) includes a lifting cylinder (35a). The cylinder of the lifting cylinder (35a) is fixedly connected to the movable plate (32). The piston rod of the lifting cylinder (35a) passes through the movable plate (32) and is fixedly connected to the lifting plate (34). A movable rod (35b) that passes through the lifting plate (34) is provided on one side of the lifting cylinder (35a). One end of the movable rod (35b) is fixedly connected to the lifting plate (34).

5. The mechanical gripper for cup-shaped yogurt as described in claim 1, characterized in that: The gripper body (36) includes a mounting plate (36a), which is fixedly connected to the lifting plate (34). Both sides of the mounting plate (36a) are fixedly connected to baffles (36b). The other two sides below the mounting plate (36a) are symmetrically rotatably connected to a flipping shaft (36c). A gripping plate (36d) is fixedly connected to the flipping shaft (36c). The gripping end of the gripping plate (36d) is provided with multiple arc-shaped grooves.

6. The mechanical gripper for cup-shaped yogurt according to claim 5, characterized in that: An opening and closing mechanism is provided above the mounting plate (36a) for cooperating the two gripping plates (36d) to grip the product. The opening and closing mechanism includes a telescopic cylinder (36e). The cylinder of the telescopic cylinder (36e) is fixedly connected to the mounting plate (36a). The piston rod of the telescopic cylinder (36e) passes through the mounting plate (36a) and is fixedly connected to a drive frame (36f). The two sides of the drive frame (36f) are respectively hinged to the two corresponding gripping plates (36d).

7. The mechanical gripper for cup-shaped yogurt according to claim 6, characterized in that: On the side of the drive frame (36f) opposite to the baffle (36b), a limiting shaft (36g) is fixedly connected, and the limiting shaft (36g) is movably connected inside the limiting groove (36h) provided on the baffle (36b).

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