Utensil unloading device based on double-jaw cooperation

Abstract

The utility model relates to a kind of tableware blanking equipment based on double gripper cooperation, including the conveying component for conveying material, the grabbing component for grabbing tableware is arranged in conveying component side, the surface of conveying component is equipped with the paper towel storage component for placing folded paper towel, the side of conveying component is also equipped with the clamping and pushing component that can clamp tableware and push tableware to the inside of paper towel storage component;In the utility model, through the cooperative automation cooperation of conveying component, grabbing component, clamping and pushing component, paper towel storage component and material placing block, automatic positioning clamping of paper towel, automatic grabbing transfer of tableware, accurate insertion of tableware and automatic shaping calibration after insertion are realized.The entire process does not need manual intervention, greatly improves the speed and efficiency of tableware packaging.

Description

Technical Field

[0001] This utility model relates to the field of automated feeding equipment technology, specifically to a tableware feeding device based on dual gripper cooperation. Background Technology

[0002] In automated packaging processes within the catering industry, the precise integration of cutlery and napkins is a crucial step in improving packaging yield. This process requires embedding metal cutlery such as knives, forks, and spoons into pre-folded napkins in a predetermined posture, ensuring both the napkins remain flat and undamaged while preventing the sharp edges of the cutlery from piercing the packaging material. The quality of this step directly impacts the positioning accuracy of subsequent labeling machines and the effectiveness of the tape sealing. Current mainstream technology utilizes a six-axis robotic arm guided by machine vision to perform the gripping and insertion actions.

[0003] The authorization announcement number CN221853383U discloses an automatic tableware feeding device. According to its instruction manual and drawings, the solution is as follows: when grabbing items, the first telescopic shafts on both sides of the clamping cylinder will retract, and the material gripper will just hold the tableware wrapped in paper towel, thus preventing damage to the paper towel during the grabbing process.

[0004] However, equipment with this structure can only clamp tableware wrapped in paper towels, and cannot accurately place the clamped cutlery into the folded paper towel. Furthermore, the overall coordination of the equipment is low, and it can only grasp tableware wrapped in paper towels, and cannot perform other conveying processes, thus reducing the degree of automation. Summary of the Invention

[0005] This invention addresses the problem of placing tableware into folded paper towels by proposing a tableware unloading device based on dual-gripper collaboration. Through the coordinated and automated operation of the conveying component, gripping component, clamping and pushing component, paper towel storage component, and material placement block, it achieves automatic positioning and gripping of paper towels, automatic gripping and transfer of tableware, precise insertion of tableware, and automatic shaping and calibration after insertion.

[0006] The purpose of this invention is achieved through the following technical solution: a tableware feeding device based on dual gripper cooperation, including a conveying component for conveying materials, a gripping component for gripping tableware disposed on one side of the conveying component, a paper towel storage component for placing folded paper towels on the surface of the conveying component, and a gripping and pushing component that can clamp tableware and push tableware into the paper towel storage component on one side of the conveying component.

[0007] Preferably, the conveying assembly includes a conveying support frame, a conveying shaft, a drive motor, conveying rollers, and a conveyor belt. The conveying support frame has a plurality of rotatable conveying shafts inside and a drive motor on the side wall of the conveying support frame. Each conveying shaft has a plurality of conveying rollers on its surface. A conveyor belt is provided between every two conveying rollers located on both sides of the conveying support frame. At least one end of the conveying shaft is connected to the drive motor.

[0008] Preferably, the tissue storage assembly includes a material placement support plate, a material placement gripper, a gripper drive shaft, a rotating shaft drive arm, a return spring, a support roller, and a pressing assembly. The surface of the conveyor belt is provided with several material placement support plates. Each material placement support plate has a rotatable material placement gripper inside. Each material placement support plate also has a gripper drive shaft inside that drives the material placement gripper to rotate. One end of each gripper drive shaft extends outward and is connected to a rotating shaft drive arm. A return spring is provided between adjacent rotating shaft drive arms. The end of each rotating shaft drive arm has a rotatable support roller. The conveyor support frame is provided with a pressing assembly that can press down on the support roller.

[0009] Preferably, the pressing assembly includes a first cylinder support frame, a first cylinder element, and a pressing plate. The upper surface of the conveying support frame is also provided with a plurality of first cylinder support frames. Each first cylinder support frame has a first cylinder element on its side wall, and each first cylinder element has a pressing plate at the piston rod end that pushes the support roller.

[0010] Preferably, the clamping and pushing assembly includes a second cylinder support frame, a second cylinder element, a cylinder mounting plate, a third cylinder element, a double piston rod cylinder, and a clamping plate. The second cylinder support frame is provided on one side of the conveying assembly, and the second cylinder element is provided on the side wall of the second cylinder support frame. The piston rod end of the second cylinder element is provided with a cylinder mounting plate, and the surface of the cylinder mounting plate is provided with a third cylinder element. The piston rod end of the third cylinder element is provided with a double piston rod cylinder, and each piston rod end of the double piston rod cylinder is provided with a clamping plate that can clamp tableware. The gap between adjacent clamping plates is aligned with the gap inside the folded paper towel on the conveying assembly.

[0011] Preferably, a third cylinder support frame is provided on one side of the conveying assembly, and a fourth cylinder element is provided on the top of the third cylinder support frame. The piston rod end of the fourth cylinder element is provided with a calibration block, and the calibration block is provided with a V-shaped notch adapted to the end of a knife and a rectangular notch adapted to the end of a fork and a spoon.

[0012] Preferably, a material storage support frame is provided on one side of the conveying assembly. The surface of the material storage support frame is provided with a linear guide rail and a fifth cylinder element. The surface of the slider of the linear guide rail is provided with a material placement block. The piston rod end of the fifth cylinder element is connected to the material placement block. The shape of the groove on the surface of the material placement block is adapted to the stacked tableware.

[0013] Preferably, the gripping assembly includes a gripping support frame, a linear motion module, a sixth cylinder element, and a pneumatic gripper. The outer side of one side of the conveying assembly is also provided with a gripping support frame. The top of the gripping support frame is provided with a linear motion module. The side wall of the slider on the linear motion module is provided with a sixth cylinder element. The piston rod end of the sixth cylinder element is provided with a pneumatic gripper.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. Through the coordinated and automated operation of the conveying components, gripping components, clamping and pushing components, tissue paper storage components, and material placement blocks, automatic positioning and gripping of tissue paper, automatic gripping and transfer of tableware, precise insertion of tableware, and automatic shaping and calibration after insertion are achieved. The entire process requires no manual intervention, greatly improving the speed and efficiency of tableware packaging; 2. The holding and pushing component adopts a multi-stage cylinder: the second cylinder element, the third cylinder element and the double piston rod cylinder work together with the clamping plate. The double piston rod cylinder ensures that the clamping plates on both sides move synchronously and clamp stably, realizing the precise positioning, fine adjustment and alignment of the tableware in the folded paper towel and the controllable clamping and pushing into place; 3. The calibration block features two different notches: a V-shaped notch to accommodate the tip of a knife, and a rectangular notch to accommodate the ends of a fork and spoon. This design allows the same calibration mechanism to effectively handle cutlery of different shapes, enhancing the equipment's versatility and adaptability. Attached Figure Description

[0015] Figure 1 This is a perspective view of the present utility model; Figure 2 This is a perspective view of the present utility model; Figure 3 This is a cross-sectional view of the tissue paper storage component of this utility model; Figure 4 For the present utility model in Figure 1 Enlarged view of region A in the image; Figure 5 This is a perspective view of the calibration block area of ​​this utility model; Figure 6 For the present utility model in Figure 1 A magnified view of region B in the image.

[0016] Markings in the diagram: 1. Conveying assembly; 11. Conveying support frame; 12. Conveying shaft; 13. Drive motor; 14. Conveying roller; 15. Conveying belt; 2. Gripping assembly; 21. Gripping support frame; 22. Linear motion module; 23. Sixth cylinder component; 24. Pneumatic gripper; 3. Paper towel storage assembly; 31. Material placement support plate; 32. Material placement gripper; 33. Gripper drive shaft; 34. Shaft drive arm; 35. Support roller; 36. Pressing assembly; 37. Return spring; 361. 362. First cylinder support frame; 363. Lower pressure plate; 4. Clamping and pushing assembly; 41. Second cylinder support frame; 42. Second cylinder component; 43. Cylinder mounting plate; 44. Third cylinder component; 45. Double piston rod cylinder; 46. Clamping plate; 47. Third cylinder support frame; 48. Fourth cylinder component; 49. Calibration block; 491. V-shaped notch; 492. Rectangular notch; 5. Material temporary storage support frame; 51. Linear guide rail; 52. Fifth cylinder component; 53. Material placement block. Detailed Implementation

[0017] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings: like Figure 1 and Figure 2 As shown, a tableware feeding device based on dual gripper cooperation includes a conveying assembly 1 for conveying materials. The conveying assembly 1 includes a conveying support frame 11, a conveying shaft 12, a drive motor 13, conveying rollers 14, and a conveyor belt 15. The conveying support frame 11 is rotatably provided with a plurality of conveying shafts 12 and a drive motor 13 is provided on the side wall of the conveying support frame 11. Each conveying shaft 12 is provided with a plurality of conveying rollers 14 on its surface. A conveyor belt 15 is provided between every two conveying rollers 14 located on both sides of the conveying support frame 11. At least one end of the conveying shaft 12 is connected to the drive motor 13.

[0018] The drive motor 13's shaft can drive the conveyor shaft 12 to rotate during rotation, and the conveyor shaft 12 can drive each conveyor roller 14 to rotate during rotation, and the conveyor roller 14 can drive the conveyor belt 15 to start moving during rotation.

[0019] Please continue to refer to this. Figure 3The surface of the conveying assembly 1 is provided with a tissue storage assembly 3 for placing folded tissues. The tissue storage assembly 3 includes a material placement support plate 31, a material placement gripper 32, a gripper drive shaft 33, a rotating shaft drive arm 34, a return spring 37, a support roller 35, and a pressing assembly 36. The surface of the conveyor belt 15 is provided with a plurality of material placement support plates 31. Each material placement support plate 31 has a rotatable material placement gripper 32 inside. Each material placement support plate 31 also has a gripper drive shaft 33 inside that drives the material placement gripper 32 to rotate. One end of each gripper drive shaft 33 extends outward and is connected to a rotating shaft drive arm 34. A return spring 37 is provided between adjacent rotating shaft drive arms 34. The end of each rotating shaft drive arm 34 has a rotatable support roller 35. The conveying support frame 11 is provided with a pressing assembly 36 that can press down on the support roller 35.

[0020] The pressing component 36 includes a first cylinder support frame 361, a first cylinder element 362, and a pressing plate 363. The upper surface of the conveying support frame 11 is also provided with a plurality of first cylinder support frames 361. Each first cylinder support frame 361 has a first cylinder element 362 on its side wall, and each first cylinder element 362 has a pressing plate 363 at the piston rod end that pushes the support roller 35.

[0021] like Figure 1 As shown, the material placement grippers 32 on the surface of the material placement support plate 31 on the far right first move the lower pressure plate 363 downward under the push of the piston rod of the first cylinder element 362. During the downward movement, the lower pressure plate 363 pushes the angle of the rotating shaft drive arm 34 through the support roller 35, which increases the angle of each material placement gripper 32 driven by the gripper drive shaft 33. This facilitates the subsequent placement of the folded paper towel into the gap between adjacent material placement grippers 32. Finally, the piston rod of the first cylinder element 362 retracts, and the material placement grippers 32 reset, thus limiting the folded paper towel, ready for the tableware to be placed inside the folded paper towel.

[0022] Please continue to refer to this. Figure 1 The material storage support frame 5 is also provided on one side of the conveying assembly 1. The surface of the material storage support frame 5 is provided with a linear guide rail 51 and a fifth cylinder element 52. The surface of the slider of the linear guide rail 51 is provided with a material placement block 53. The piston rod end of the fifth cylinder element 52 is connected to the material placement block 53.

[0023] The grooves on the surface of the material placement block 53 are shaped to fit stacked tableware. External equipment or manual placement of tableware such as knives, forks, and spoons into the grooves on the material placement block 53 is achieved. The position of the material placement block 53 can be changed by the piston rod of the fifth cylinder element 52, thus placing the material placement block in the unloading position and the loading position.

[0024] Please refer to Figure 2 and Figure 6 The conveying assembly 1 has a gripping assembly 2 on one side for gripping tableware. The gripping assembly 2 includes a gripping support frame 21, a linear motion module 22, a sixth cylinder element 23, and a pneumatic gripper 24. The conveying assembly 1 also has a gripping support frame 21 on one side. The top of the gripping support frame 21 is equipped with a linear motion module 22. The side wall of the slider on the linear motion module 22 is equipped with a sixth cylinder element 23. The piston rod end of the sixth cylinder element 23 is equipped with a pneumatic gripper 24.

[0025] The slider on the linear motion module 22 adjusts the position of the sixth cylinder element 23, so that the sixth cylinder element 23 is above the material placement block 53. Then, the piston rod of the fifth cylinder element 52 controls the material placement block 53 to slide, so that the material placement block 53 is below the sixth cylinder element 23 on the linear motion module 22. Then, the piston rod of the sixth cylinder element 23 extends, so that the pneumatic gripper 24 at the end clamps the tableware. After clamping, the piston rod of the sixth cylinder element 23 retracts.

[0026] The slider on the linear motion module 22 readjusts the position of the sixth cylinder element 23 so that the pneumatic gripper 24 at the end of the sixth cylinder element 23 is located between the conveying support frame 11 and the second cylinder support frame 41.

[0027] One side of the conveying assembly 1 is also provided with a clamping and pushing assembly 4 capable of clamping and pushing tableware into the paper towel storage assembly 3. The clamping and pushing assembly 4 includes a second cylinder support frame 41, a second cylinder element 42, a cylinder mounting plate 43, a third cylinder element 44, a double piston rod cylinder 45, and a clamping plate 46. The conveying assembly 1 is provided with a second cylinder support frame 41 on one side. The side wall of the second cylinder support frame 41 is provided with a second cylinder element 42. The piston rod end of the second cylinder element 42 is provided with a cylinder mounting plate 43. The surface of the cylinder mounting plate 43 is provided with a third cylinder element 44. The piston rod end of the third cylinder element 44 is provided with a double piston rod cylinder 45. Each piston rod end of the double piston rod cylinder 45 is provided with a clamping plate 46 capable of clamping tableware. The gap between adjacent clamping plates 46 is aligned with the gap inside the folded paper towel on the conveying assembly 1.

[0028] With this setup, when the tableware held by the pneumatic gripper 24 is positioned between the conveying support frame 11 and the double-piston cylinder 45, the slider on the linear motion module 22 first adjusts the position of the sixth cylinder element 23, causing a portion of the left side of the tableware held by the pneumatic gripper 24 to extend into the folded tissue paper. Then, the piston rod of the second cylinder element 42 drives the cylinder mounting plate 43, thereby fine-tuning the height of the third cylinder element 44. Next, the piston rod of the third cylinder element 44 extends, causing the double-piston cylinder 45 to approach the pneumatic gripper 24. Immediately afterwards, the piston rod of the double-piston cylinder 45 retracts, causing the clamping plate 46 to slightly clamp the side wall of the tableware. Then, the pneumatic gripper 24 releases the clamp, and the piston rod of the third cylinder element 44 continues to extend, pushing the tableware further into the folded tissue paper.

[0029] The conveying assembly 1 is also provided with a third cylinder support frame 47 on one side of the outside. The third cylinder support frame 47 is provided with a fourth cylinder element 48 on the top. The piston rod end of the fourth cylinder element 48 is provided with a calibration block 49. The calibration block 49 is provided with a V-shaped notch 491 adapted to the end of a knife and a rectangular notch 492 adapted to the end of a fork and spoon.

[0030] Since the tableware inside the folded paper towels may not be neatly arranged, when the conveyor belt 15 moves the entire paper towel storage component 3 to one side of the third cylinder support frame 47, the piston rod of the fourth cylinder element 48 drives the calibration block 49 to extend. The calibration block 49 pushes and arranges the tableware in the gap of the material placement gripper 32, so that the tableware inside the folded paper towels is neatly arranged.

[0031] Working principle and usage of this utility model: The material placement grippers 32 on the surface of the material placement support plate 31 on the far right are first driven by the piston rod of the first cylinder element 362, which drives the lower pressure plate 363 to move downward. During the downward movement of the lower pressure plate 363, the angle of the rotating shaft drive arm 34 is changed through the support roller 35. This causes the gripper drive shaft 33 to drive each material placement gripper 32 to increase its angle.

[0032] Next, a folded tissue is placed into the gap between the adjacent material placement grippers 32. Then, the return spring 37 returns to its original position, allowing the material placement grippers 32 to clamp the folded tissue. Then, the slider on the linear motion module 22 adjusts the position of the sixth cylinder element 23, positioning it above the material placement block 53. Next, the piston rod of the fifth cylinder element 52 controls the material placement block 53 to slide, positioning it below the sixth cylinder element 23 on the linear motion module 22. Then, the piston rod of the sixth cylinder element 23 extends, causing the pneumatic gripper 24 at its end to clamp the tableware. After clamping, the piston rod of the sixth cylinder element 23 retracts.

[0033] The slider on the linear motion module 22 readjusts the position of the sixth cylinder element 23 so that the tableware held by the pneumatic gripper 24 at the end of the sixth cylinder element 23 is located between the conveying support frame 11 and the double piston rod cylinder 45.

[0034] The slider on the linear motion module 22 continues to adjust the position of the sixth cylinder element 23, causing the left side of the tableware held by the pneumatic gripper 24 to extend into the folded paper towel. Then, the piston rod of the second cylinder element 42 drives the cylinder mounting plate 43 to finely adjust the height of the third cylinder element 44. Next, the piston rod of the third cylinder element 44 extends, causing the double piston rod cylinder 45 to approach the pneumatic gripper 24. Immediately afterwards, the piston rod of the double piston rod cylinder 45 retracts, causing the clamping plate 46 to slightly clamp the side wall of the tableware. Then, the pneumatic gripper 24 releases the clamp, and the piston rod of the third cylinder element 44 continues to extend, pushing the tableware into the folded paper towel.

[0035] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A tableware feeding device based on dual-gripper cooperation, comprising a conveying assembly (1) for conveying materials, and a gripping assembly (2) disposed on one side of the conveying assembly (1) for gripping tableware, characterized in that, The surface of the conveying component (1) is provided with a paper towel storage component (3) for placing folded paper towels, and a clamping and pushing component (4) is provided on one side of the conveying component (1) for clamping tableware and pushing tableware into the paper towel storage component (3).

2. The tableware feeding device based on dual gripper cooperation according to claim 1, characterized in that, The conveying assembly (1) includes a conveying support frame (11), a conveying shaft (12), a drive motor (13), conveying rollers (14), and a conveyor belt (15). The conveying support frame (11) is rotatably provided with a plurality of conveying shafts (12) and a drive motor (13) is provided on the side wall of the conveying support frame (11). The surface of each conveying shaft (12) is provided with a plurality of conveying rollers (14). A conveyor belt (15) is provided between every two conveying rollers (14) located on both sides of the conveying support frame (11). At least one end of the conveying shaft (12) is connected to the drive motor (13).

3. The tableware feeding device based on dual gripper cooperation according to claim 2, characterized in that, The tissue paper storage assembly (3) includes a material placement support plate (31), a material placement gripper (32), a gripper drive shaft (33), a rotating shaft drive arm (34), a return spring (37), a support roller (35), and a pressing assembly (36). The surface of the conveyor belt (15) is provided with several material placement support plates (31). Each material placement support plate (31) is rotatably provided with a material placement gripper (32). Each material placement support plate (31) is also provided with a gripper drive shaft (33) that drives the material placement gripper (32) to rotate. One end of each gripper drive shaft (33) extends outward and is connected to a rotating shaft drive arm (34). A return spring (37) is provided between adjacent rotating shaft drive arms (34). The end of each rotating shaft drive arm (34) is rotatably provided with a support roller (35). The conveyor support frame (11) is provided with a pressing assembly (36) that can press down on the support roller (35).

4. The tableware feeding device based on dual gripper cooperation according to claim 3, characterized in that, The pressing assembly (36) includes a first cylinder support frame (361), a first cylinder element (362) and a pressing plate (363). The upper surface of the conveying support frame (11) is also provided with a plurality of first cylinder support frames (361). Each first cylinder support frame (361) has a first cylinder element (362) on its side wall. Each first cylinder element (362) has a pressing plate (363) at the piston rod end that pushes the support roller (35).

5. The tableware feeding device based on dual gripper cooperation according to claim 4, characterized in that, The clamping and pushing assembly (4) includes a second cylinder support frame (41), a second cylinder element (42), a cylinder mounting plate (43), a third cylinder element (44), a double piston rod cylinder (45), and a clamping plate (46). The second cylinder support frame (41) is provided on one side of the conveying assembly (1). The second cylinder element (42) is provided on the side wall of the second cylinder support frame (41). The piston rod end of the second cylinder element (42) is provided with a cylinder mounting plate (43). The surface of the cylinder mounting plate (43) is provided with a third cylinder element (44). The piston rod end of the third cylinder element (44) is provided with a double piston rod cylinder (45). Each piston rod end of the double piston rod cylinder (45) is provided with a clamping plate (46) that can clamp tableware. The gap between adjacent clamping plates (46) is aligned with the gap in the folded paper towel on the conveying assembly (1).

6. The tableware feeding device based on dual gripper cooperation according to claim 5, characterized in that, The conveying assembly (1) is provided with a third cylinder support frame (47) on one side of the outside. The third cylinder support frame (47) is provided with a fourth cylinder element (48) on the top. The piston rod end of the fourth cylinder element (48) is provided with a calibration block (49). The calibration block (49) is provided with a V-shaped notch (491) adapted to the end of the knife and a rectangular notch (492) adapted to the end of the fork and spoon.

7. The tableware feeding device based on dual gripper cooperation according to claim 6, characterized in that, The conveying assembly (1) is also provided with a material storage support frame (5) on one side. The surface of the material storage support frame (5) is provided with a linear guide rail (51) and a fifth cylinder element (52). The surface of the slider of the linear guide rail (51) is provided with a material placement block (53). The piston rod end of the fifth cylinder element (52) is connected to the material placement block (53). The shape of the groove on the surface of the material placement block (53) is adapted to the stacked tableware.

8. The tableware feeding device based on dual gripper cooperation according to claim 7, characterized in that, The gripping assembly (2) includes a gripping support frame (21), a linear motion module (22), a sixth cylinder element (23), and a pneumatic gripper (24). The outer side of the conveying assembly (1) is also provided with a gripping support frame (21). The top of the gripping support frame (21) is provided with a linear motion module (22). The side wall of the slider on the linear motion module (22) is provided with a sixth cylinder element (23). The piston rod end of the sixth cylinder element (23) is provided with a pneumatic gripper (24).

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