A mechanical arm for the automatic packaging of food products

Abstract

The utility model relates to food automatic packaging technical field, concretely relates to a kind of mechanical arm for food automatic packaging, including mechanical arm main part, and the working end of mechanical arm main part is provided with support plate, and the downside of support plate is provided with two clamps;Two sides of clamp are rotatably provided with harrow plate, and the inside of clamp and the inside of harrow plate are respectively fixedly connected with connecting pad. By adjusting mechanism drive harrow plate is rotated close or rotates away on the two sides of same clamp, avoid the deformation or surface damage of bottle body caused by local stress concentration when clamping large diameter bottle body, while ensuring that small diameter bottle body is subjected to uniform and sufficient clamping force, improve clamping stability, solve the inside clamping range fixed of clamping workpiece, and the contact area of clamping workpiece is small when clamping small diameter bottle body, easy to slip;When clamping large diameter bottle body, cannot completely adhere to the technical problem of bottle body.

Description

Technical Field

[0001] This utility model relates to the field of automated food packaging technology, specifically to a robotic arm for automated food packaging. Background Technology

[0002] Robotic arms for automated food packaging are automated devices that utilize robotic arm technology in the food packaging process. They are mainly used in food production lines for tasks such as product handling, sorting, boxing, and sealing. Using robotic arms can improve production efficiency, reduce manual intervention, improve packaging accuracy, and ensure the hygiene and quality of food packaging. Robotic arms can accurately handle food products and stack or place them into packaging boxes, ensuring that the quantity in each package is consistent and avoiding damage to the food.

[0003] Chinese Patent Publication No. CN219217535U discloses an automated food packaging device, including a conveyor belt. A first pallet is provided on the right side of the conveyor belt. A bearing is fixedly embedded on the upper surface of the first pallet. A robot is fixedly connected to the inner ring of the bearing. A robotic arm is fixedly connected to the front of the robot. A first support column is fixedly connected to the bottom surface of the robotic arm. This invention enables the robotic arm to rotate through the cooperation of a rotary motor and a robot. The cooperation of the robotic arm, the first support column, the first electric telescopic rod, the rotary motor, the second support column, and the fixing ring enables the device to automatically pick up and place bottles on the conveyor belt. The cooperation of the fixing frame, the second electric telescopic rod, and the ring clamp enables the robotic arm to clamp bottles of different sizes. The cooperation of the second pallet and the carton facilitates the collection and sealing of food by staff.

[0004] The aforementioned patent mentions that the packaging device, through the cooperation of a fixed frame, a second electric telescopic rod, and a ring clamp, enables the robotic arm to clamp bottles of different sizes. However, due to the large differences in bottle diameters involved in food packaging, and the fixed clamping range of the inner side of the ring clamp, when clamping small-diameter bottles, the contact area between the ring clamp and the bottle surface is too small, which easily leads to the bottle slipping due to insufficient friction. When clamping large-diameter bottles, the ring clamp with a fixed curvature is difficult to completely fit the curved surface of the bottle, which easily causes the bottle to deform or be damaged due to excessive local force, resulting in unstable clamping and bottle damage. Therefore, we propose a robotic arm for automated food packaging. Utility Model Content

[0005] To address the aforementioned issues, a robotic arm for automated food packaging is provided. This arm uses an adjustment mechanism to drive a rake plate to rotate closer to or further away from the same clamping plate on both sides, thereby adjusting the clamping range between the clamping plate and the rake plate. This prevents bottle deformation or surface damage caused by concentrated local forces when clamping large-diameter bottles, while ensuring that small-diameter bottles receive uniform and sufficient clamping force, improving clamping stability. This solves the technical problems of a fixed inner clamping range when clamping workpieces, small contact area leading to slippage when clamping small-diameter bottles, and inability to fully conform to the bottle when clamping large-diameter bottles.

[0006] To address the problems of existing technologies, this utility model provides a robotic arm for automated food packaging, comprising a robotic arm body, a support plate at the working end of the robotic arm body, and two clamping plates on the lower side of the support plate; rake-shaped plates are rotatably mounted on both sides of the clamping plates, and connecting pads are fixedly connected to the inner sides of the clamping plates and the inner sides of the rake-shaped plates; a displacement mechanism for driving the two clamping plates to move in opposite directions is provided between the support plate and the clamping plates; and an adjustment mechanism for driving the two rake-shaped plates on one clamping plate to rotate in opposite directions is provided between the support plate and the rake-shaped plates.

[0007] Preferably, the displacement mechanism includes a power component, a guide component, and a transmission component; the power component is fixedly connected to the upper side of the support plate, and the power component is used to provide power for the movement of the clamping plates; the guide component is disposed between the support plate and the clamping plates, and the guide component is used to limit the movement path of the clamping plates to a straight line; the transmission component is disposed between the power component and the guide component, and the transmission component is used to cooperate with the power component to drive the two clamping plates to displacement.

[0008] Preferably, the guide assembly includes a slider and a groove; the slider is fixedly connected to the upper side of the clamping plate; the groove is formed on the side of the support plate near the slider, and the groove slides in cooperation with the slider.

[0009] Preferably, the transmission assembly includes a first gear disk and a first gear plate; the first gear disk is rotatably mounted on the support plate and is fixedly connected to the output end of the power component; the first gear plate is movably mounted on the support plate, meshes with the first gear disk, and one end of the first gear plate is fixedly connected to the slider.

[0010] Preferably, a first through groove is provided on the side of the support plate near the first slide groove, the first through groove is connected to the first slide groove, and the first through groove is used to provide space for the movement of the first toothed plate.

[0011] Preferably, the adjustment mechanism includes a transmission component and a self-locking component; the transmission component is disposed between the support plate and the rake plate, and is used to convert the linear movement force of the clamping plate into a force that drives the rake plate to rotate; the self-locking component is disposed between the rake plate and the transmission component, and is used to prevent the rake plate from loosening after rotation.

[0012] Preferably, the transmission assembly includes a second toothed disc, a second toothed plate, and a bevel gear assembly; the second toothed disc is rotatably mounted on the clamping plate; the second toothed plate is fixedly connected to the side of the support plate near the second toothed disc, and the second toothed plate meshes with the second toothed disc; the bevel gear assembly is rotatably mounted on the clamping plate, and the working end of the bevel gear assembly is fixedly connected to the second toothed disc.

[0013] Preferably, the self-locking assembly includes a worm and a worm wheel; the worm is rotatably mounted on the clamping plate and is fixedly connected to the working end of the bevel gear assembly away from the second gear disc; the worm wheel is rotatably mounted on the clamping plate and is fixedly connected to the rake plate, and the worm wheel meshes with the worm.

[0014] The advantages of this utility model compared to the prior art are:

[0015] 1. By adjusting the mechanism, the rake-shaped plate is driven to rotate closer to or further away from the same clamping plate on both sides, avoiding deformation or surface damage to the bottle caused by localized force concentration when clamping large-diameter bottles. At the same time, it ensures that small-diameter bottles receive uniform and sufficient clamping force, improving clamping stability. This solves the technical problems of fixed clamping range on the inner side of the workpiece, small contact area when clamping small-diameter bottles, easy slippage, and inability to fully fit the bottle when clamping large-diameter bottles.

[0016] 2. By driving two clamping plates to move closer to each other synchronously through a displacement mechanism, the clamping plates can hold packaging bottles of different diameters. This eliminates the need to replace the clamping plates and can cover the clamping needs of various bottle sizes. At the same time, it avoids the bottle tilting or slipping due to uneven force on one side. This solves the technical problems of low equipment versatility and long adjustment time caused by the need for frequent clamping plate replacements of the robotic arm, as well as the bottle tilting, slipping or deformation caused by one-sided adjustment. Attached Figure Description

[0017] Figure 1 This is a three-dimensional schematic diagram of the main body, support plate, and connection structure of a robotic arm for automated food packaging.

[0018] Figure 2 This is a three-dimensional schematic diagram of the support plate, clamping plate, and connection structure of a robotic arm for automated food packaging.

[0019] Figure 3 This is a three-dimensional schematic diagram of the clamping plate and rake-shaped plate and their connection structure of a robotic arm for automated food packaging.

[0020] Figure 4 This is a three-dimensional schematic diagram of the power component, slider, and connection structure of a robotic arm used for automated food packaging.

[0021] Figure 5 This is a three-dimensional schematic diagram of the power component, the first toothed plate, and the connecting structure of a robotic arm for automated food packaging.

[0022] Figure 6 It is a robotic arm used for automated food packaging. Figure 3 Enlarged diagram of point A in the middle.

[0023] Figure 7 It is a robotic arm used for automated food packaging. Figure 5 Enlarged diagram of point B in the middle.

[0024] The following are the labels in the diagram: 1. Main body of the robotic arm; 11. Support plate; 2. Clamping plate; 21. Rake-shaped plate; 22. Connecting pad; 23. Power component; 24. Slider; 25. Slide groove; 26. First gear plate; 27. First gear plate; 28. First through groove; 281. Second through groove; 29. ​​Second gear plate; 210. Second gear plate; 211. Bevel gear assembly; 212. Worm; 213. Worm wheel. Detailed Implementation

[0025] To further understand the features, technical means, and specific objectives and functions achieved by this utility model, the following detailed description of this utility model is provided in conjunction with the accompanying drawings and specific embodiments.

[0026] See Figures 1-4 As shown, a robotic arm for automated food packaging includes a robotic arm body 1. A support plate 11 is provided at the working end of the robotic arm body 1. Two clamping plates 2 are provided on the lower side of the support plate 11. Rake-shaped plates 21 are rotatably provided on both sides of the clamping plates 2. Connecting pads 22 are fixedly connected to the inner sides of the clamping plates 2 and the inner sides of the rake-shaped plates 21, respectively. A displacement mechanism for driving the two clamping plates 2 to move in opposite directions is provided between the support plate 11 and the clamping plates 2. An adjustment mechanism for driving the two rake-shaped plates 21 on one clamping plate 2 to rotate in opposite directions is provided between the support plate 11 and the rake-shaped plates 21.

[0027] Specifically, the connecting pad 22 is preferably made of deformable rubber. The power component 23 is preferably a servo motor.

[0028] When the robotic arm 1 performs the task of handling food packaging bottles, it activates to drive the support plate 11 closer to the bottle, positioning the bottle between two clamping plates 2. At this time, the displacement mechanism drives the two clamping plates 2 to move closer to each other synchronously, enabling clamping operations on bottles of different diameters. The displacement mechanism can precisely adjust the relative distance between the two clamping plates 2: for small-diameter bottles, the clamping distance is reduced to achieve adaptation; for large-diameter bottles, the initial distance is increased before they move closer synchronously. This eliminates the need to replace the clamping plates 2, covering the clamping needs of various bottle sizes and significantly improving the compatibility of the robotic arm 1 with changes in bottle size. The synchronous approach motion ensures that the clamping force applied by the two clamping plates 2 is symmetrically distributed, effectively avoiding bottle tilting or slippage caused by uneven force on one side.

[0029] The connecting pad 22 configured on the clamping plate 2 is preferably made of deformable rubber. The deformation capability of the connecting pad 22 can buffer excessive clamping force and avoid stress concentration under rigid contact. By evenly distributing the clamping force to a larger area of ​​the bottle surface, the stress intensity per unit area is reduced, which can effectively prevent the bottle from deforming due to local overload. At the same time, the rubber material can adapt to the contour of the bottle under the action of clamping force, increasing the contact area and fit with the bottle. In addition, the high coefficient of friction of the connecting pad 22 surface can enhance clamping stability, reduce the relative sliding of the bottle during the clamping process, and indirectly reduce the risk of surface scratches caused by sliding friction.

[0030] When the two clamping plates 2 approach each other, the adjusting mechanism drives the two rake-shaped plates 21 of the same clamping plate 2 to rotate in opposite directions and approach each other, reducing the clamping range within the same clamping plate 2. As the distance between the two clamping plates 2 decreases, the two rake-shaped plates 21 of the same clamping plate 2 approach each other synchronously, and the rake-shaped plates 21 of the two clamping plates 2 form a staggered docking structure. The opposite rotation approaching motion can flexibly reduce the clamping range, and in conjunction with the adjustment of the clamping plate 2 distance, it can accurately adapt to the size requirements of small-diameter packaging bottles; while the staggered docking of the rake-shaped plates 21 can construct a surrounding clamping structure, eliminating contact gaps during the clamping process and making the bottle surface more evenly stressed. Through the above synergistic effect, it is ensured that bottles of different diameters always maintain a suitable contact area and clamping force during the clamping process, which not only prevents small-diameter bottles from slipping due to loose clamping, but also prevents large-diameter bottles from deforming due to excessive compression, effectively improving the robotic arm's compatibility and clamping stability for multiple bottle sizes.

[0031] See Figures 3-6 As shown, the displacement mechanism includes a power component 23, a guide assembly, and a transmission assembly. The power component 23 is fixedly connected to the upper side of the support plate 11 and provides power for the movement of the clamping plates 2. The guide assembly is disposed between the support plate 11 and the clamping plates 2 and restricts the movement path of the clamping plates 2 to a straight line. The transmission assembly is disposed between the power component 23 and the guide assembly and cooperates with the power component 23 to drive the two clamping plates 2 to move. The guide assembly includes a slider 24 and a groove 25. The slider 24 is fixedly connected to the upper side of the clamping plates 2. The groove 25 is formed on the support plate 11 near the slider 24. On the side, the slide groove 25 and the slider 24 are in sliding engagement; the transmission assembly includes a first toothed disc 26 and a first toothed plate 27; the first toothed disc 26 is rotatably mounted on the support plate 11, and the first toothed disc 26 is fixedly connected to the output end of the power component 23; the first toothed plate 27 is movably mounted on the support plate 11, the first toothed plate 27 meshes with the first toothed disc 26, and one end of the first toothed plate 27 is fixedly connected to the slider 24; a first through groove 28 is provided on the side of the support plate 11 near the first slide groove 25, the first through groove 28 communicates with the first slide groove 25, and the first through groove 28 is used to provide space for the movement of the first toothed plate 27.

[0032] Specifically, the slider 24 and the groove 25 form a sliding guide pair. The slider 24 has a second through groove 281, which extends through both the left and right sides of the slider 24.

[0033] When the packaging bottle is positioned between the two clamping plates 2, the power unit 23 is activated, and the output end of the power unit 23 drives the first toothed disc 26 to rotate. Since the first toothed disc 26 and the first toothed plate 27 are meshed, the rotation of the first toothed disc 26 can synchronously drive the two first toothed plates 27 to move towards each other. During this process, the first toothed plate 27 drives the slider 24 to slide along the slide groove 25. The slider 24 and the slide groove 25 form a sliding guide pair, providing stable motion guidance for the first toothed plate 27, ensuring that the first toothed plate 27 drives the clamping plates 2 to achieve smooth opposite movement through the slider 24, so that the two clamping plates 2 can stably and synchronously complete the clamping action of bottles of different diameters.

[0034] When the first toothed plate 27 is displaced, it can slide along the first through groove 28. As the distance between the two first toothed plates 27 gradually decreases, the first toothed plate 27 can be inserted into the second through groove 281. The first through groove 28 and the second through groove 281 can effectively prevent the displacement process of the first toothed plate 27 from being disturbed by external factors, thus ensuring the stability of the transmission component.

[0035] See Figures 3-5 and Figure 7 As shown, the adjustment mechanism includes a transmission component and a self-locking component; the transmission component is disposed between the support plate 11 and the rake plate 21, and is used to convert the linear movement force of the clamping plate 2 into a force driving the rake plate 21 to rotate; the self-locking component is disposed between the rake plate 21 and the transmission component, and is used to prevent the rake plate 21 from loosening after rotation; the transmission component includes a second toothed disc 29, a second toothed plate 210, and a bevel gear assembly 211; the second toothed disc 29 is rotatably disposed on the clamping plate 2; the second toothed plate 210 is close to the support plate 11 near the second toothed disc 29. One side of the 9 is fixedly connected, and the second toothed plate 210 meshes with the second toothed disc 29; the bevel gear assembly 211 is rotatably mounted on the clamping plate 2, and the working end of the bevel gear assembly 211 is fixedly connected to the second toothed disc 29; the self-locking assembly includes a worm 212 and a worm wheel 213; the worm 212 is rotatably mounted on the clamping plate 2, and the worm 212 is fixedly connected to the working end of the bevel gear assembly 211 away from the second toothed disc 29; the worm wheel 213 is rotatably mounted on the clamping plate 2, and the worm wheel 213 is fixedly connected to the rake plate 21, and the worm wheel 213 meshes with the worm 212.

[0036] Specifically, the bevel gear assembly 211 consists of meshing bevel gears.

[0037] When the two clamping plates 2 approach each other, the clamping plates 2 drive the second gear disk 29 to move along the second gear plate 210. Since the second gear disk 29 is meshed with the second gear plate 210, the second gear disk 29 rotates during the movement, thereby driving the working end of the bevel gear assembly 211 to rotate synchronously. The bevel gear assembly 211 is composed of meshing bevel gears, and the rotational motion of the bevel gear assembly 211 can be transmitted to the worm 212, causing the worm 212 to rotate with the bevel gear assembly 211. Through the meshing of the worm wheel 213 with the worm 212, the worm 212 drives the worm wheel 213 to rotate, and the worm wheel 213 in turn drives the rake plate 21 to complete the rotational action.

[0038] During this process, the rake-shaped plates 21 of the same clamping plate 2 rotate synchronously in opposite directions, so that when the two clamping plates 2 approach each other, the rake-shaped plates 21 of the same clamping plate 2 rotate closer to reduce the clamping range. As the distance between the clamping plates 2 gradually decreases, the rake-shaped plates 21 of the two clamping plates 2 form a staggered docking structure, which can further adapt to the clamping needs of bottles with different diameters. This avoids small-diameter bottles from slipping due to loose clamping and prevents large-diameter bottles from deforming due to excessive compression, effectively improving the robotic arm's compatibility and clamping stability for bottles of various sizes.

[0039] Working principle: When the main body 1 of the robotic arm performs the task of handling food packaging bottles, it starts to drive the support plate 11 to approach the packaging bottle, positioning the packaging bottle between two clamping plates 2. Then, the power component 23 is activated to make the two clamping plates 2 move closer to each other synchronously, realizing the clamping operation of packaging bottles of different diameters. When the two clamping plates 2 move closer to each other, the rake-shaped plate 21 of the same clamping plate 2 rotates synchronously in opposite directions, so that when the two clamping plates 2 move closer to each other, the rake-shaped plate 21 of the same clamping plate 2 rotates closer to reduce the clamping range. With the adjustment of the spacing of the clamping plates 2, it can accurately adapt to the size requirements of small-diameter packaging bottles, avoid small-diameter bottles from slipping due to loose clamping, and prevent large-diameter bottles from deforming due to excessive compression, effectively improving the robotic arm's compatibility and clamping stability for multiple bottle sizes.

[0040] The above embodiments only illustrate one or more implementations of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this utility model. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the appended claims.

Claims

1. A robotic arm for automated food packaging, comprising a robotic arm body (1), wherein a support plate (11) is provided at the working end of the robotic arm body (1), characterized in that, Two clamping plates (2) are provided on the lower side of the support plate (11); Rake-shaped plates (21) are rotatably provided on both sides of the clamp (2), and connecting pads (22) are fixedly connected to the inner side of the clamp (2) and the inner side of the rake-shaped plates (21). A displacement mechanism is provided between the support plate (11) and the clamping plate (2) for driving the two clamping plates (2) to move in opposite directions; An adjustment mechanism is provided between the support plate (11) and the rake plate (21) to drive the two rake plates (21) on a clamping plate (2) to rotate in opposite directions.

2. The robotic arm for automated food packaging according to claim 1, characterized in that, The displacement mechanism includes a power component (23), a guide assembly, and a transmission assembly; The power component (23) is fixedly connected to the upper side of the support plate (11), and the power component (23) is used to provide power for the movement of the clamping plate (2); The guide assembly is disposed between the support plate (11) and the clamping plate (2), and the guide assembly is used to restrict the movement path of the clamping plate (2) to be a straight line; The transmission assembly is located between the power component (23) and the guide assembly. The transmission assembly is used to cooperate with the power component (23) to drive the two clamps (2) to displacement.

3. The robotic arm for automated food packaging according to claim 2, characterized in that, The guide assembly includes a slider (24) and a groove (25); The slider (24) is fixedly connected to the upper side of the clamp (2); The groove (25) is opened on the side of the support plate (11) near the slider (24), and the groove (25) slides with the slider (24).

4. The robotic arm for automated food packaging according to claim 2, characterized in that, The transmission assembly includes a first gear disc (26) and a first gear plate (27); The first gear plate (26) is rotatably mounted on the support plate (11), and the first gear plate (26) is fixedly connected to the output end of the power component (23); The first toothed plate (27) is movably mounted on the support plate (11). The first toothed plate (27) meshes with the first toothed disc (26). One end of the first toothed plate (27) is fixedly connected to the slider (24).

5. The robotic arm for automated food packaging according to claim 4, characterized in that, The support plate (11) has a first through groove (28) on the side near the first slide groove (25). The first through groove (28) is connected to the first slide groove (25) and is used to provide space for the movement of the first toothed plate (27).

6. The robotic arm for automated food packaging according to claim 1, characterized in that, The regulating mechanism includes a transmission component and a self-locking component; The transmission assembly is disposed between the support plate (11) and the rake plate (21). The transmission assembly is used to convert the linear movement force of the clamping plate (2) into the force that drives the rake plate (21) to rotate. The self-locking assembly is located between the rake plate (21) and the transfer assembly. The self-locking assembly is used to prevent the rake plate (21) from loosening after rotation.

7. The robotic arm for automated food packaging according to claim 6, characterized in that, The transmission assembly includes a second toothed disc (29), a second toothed plate (210), and a bevel gear assembly (211). The second gear plate (29) is rotatably mounted on the clamping plate (2); The second toothed plate (210) is fixedly connected to the support plate (11) on the side near the second toothed disc (29), and the second toothed plate (210) meshes with the second toothed disc (29); The bevel gear assembly (211) is rotatably mounted on the clamping plate (2), and the working end of the bevel gear assembly (211) is fixedly connected to the second gear disc (29).

8. The robotic arm for automated food packaging according to claim 6, characterized in that, The self-locking assembly includes a worm (212) and a worm wheel (213); The worm (212) is rotatably mounted on the clamp (2), and the worm (212) is fixedly connected to the working end of the bevel gear assembly (211) away from the second gear plate (29); The worm wheel (213) is rotatably mounted on the clamping plate (2), and the worm wheel (213) is fixedly connected to the rake plate (21). The worm wheel (213) meshes with the worm (212).

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