CN104803035A - Clamping mechanism with mechanical clamping claws for food boxing machine - Google Patents
Clamping mechanism with mechanical clamping claws for food boxing machine Download PDFInfo
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- CN104803035A CN104803035A CN201510199398.0A CN201510199398A CN104803035A CN 104803035 A CN104803035 A CN 104803035A CN 201510199398 A CN201510199398 A CN 201510199398A CN 104803035 A CN104803035 A CN 104803035A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
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Abstract
The invention relates to the field of mechanical equipment for food processing, in particular to a clamping mechanism with mechanical clamping claws for a food boxing machine. The clamping mechanism comprises an installation frame, wherein the installation frame is provided with a plurality of mechanical clamping claws; each mechanical clamping claw is provided with a guiding device which is used for adjusting the distance between adjacent mechanical clamping claws; each mechanical clamping claw is connected with a horizontal driving mechanism which is used for driving the mechanical clamping claw to horizontally move, and is further connected with a vertical driving mechanism which is used for driving the mechanical clamping claw to vertically move up and down; each mechanical clamping claw comprises a fixing plate, a first clamping block, a second clamping block and a clamping claw cylinder. According to the clamping mechanism with the mechanical clamping claws for the food boxing machine, the mechanical clamping claw adopts a structure of matching a rack, a gear with a handle and the clamping blocks, so that the situation that a dumpling is unstably clamped by two clamping blocks is prevented, and the clamping mechanism can be used for precisely clamping the dumpling.
Description
Technical field
The present invention relates to field of food processing machinery and equipment, the food box packing machine clamping device specifically with mechanical grip.
Background technology
At existing food processing field, after food processing completes, usually need to perform mounted box operation, but existing mounted box is all put in holder box by manual direct by food substantially, which not only adds job costs, and due to the artificial participation of needs, also easily cause the hygienic issues of food.
Existing patent of carrying out improving for mounted box operation, if number of patent application is 201320555950.1, the applying date is 2013.9.6, name is called " a kind of device making boiled dumpling ", its technical scheme is: the utility model relates to a kind of device making boiled dumpling, comprise dumpling machine, coordinate the robot device run and feedway with dumpling machine; Feedway coordinates with robot device and runs.Its main improvement is the mechanical arm being provided with band clip board engagement, utilizes mechanical arm to be transported on load-transfer device by shaping dumpling, but dumpling can not directly be placed in holder box by said structure, still needs manual being put into by dumpling in holder box.
Summary of the invention
In order to overcome the problem mode of the food processed employing automation cannot put in holder box that existing food processing equipment exists, now a kind of food box packing machine clamping device with mechanical grip is proposed.
For realizing above-mentioned technical purpose, technical solution of the present invention is as follows:
A kind of food box packing machine clamping device with mechanical grip, it is characterized in that: comprise installation frame, described installation frame is provided with multiple mechanical grip, described mechanical grip is provided with the guide piece for adjusting adjacent machine jaw spacing, described mechanical grip is connected with the horizontal drive mechanism driving it to realize horizontal motion, is also connected with the upright driving mechanism driving it to realize vertical up-and-down movement; Described mechanical grip comprises adapter plate, the first fixture block, the second fixture block and jaw cylinder, described jaw cylinder mouth is connected with tooth bar, described tooth bar and the band below it are gears meshing, described band is fixed on gear on adapter plate, described adapter plate lower end is connected with the first fixture block, described band is connected with the second fixture block the handle place of gear, and described first fixture block and the second fixture block are oppositely arranged.
Described mechanical grip comprises adapter plate, the first fixture block, the second fixture block and jaw cylinder, described jaw cylinder mouth is connected with tooth bar, described tooth bar and the band below it are gears meshing, described band is fixed on gear on adapter plate, described adapter plate lower end is connected with the first fixture block, described band is connected with the second fixture block the handle place of gear, and described first fixture block and the second fixture block are oppositely arranged.
The lower end of described first fixture block and the second fixture block is provided with circular groove.
Be provided with pore in the circular groove of described first fixture block and/or the second fixture block, described pore place is connected with gas-tpe fitting.
Described adapter plate at least includes fixing upper plate, fixing longitudinal side plate, fixing horizontal side plate and fixed base plate, described fixing upper plate horizontally set, the end of its length direction is connected with the fixing longitudinal side plate vertically arranged, the side of its Width is connected with the fixing horizontal side plate vertically arranged, and the bottom transverse of described fixed side is connected with fixed base plate.
Described fixed side is provided with through hole, and described jaw cylinder mouth is through through hole.
Described jaw cylinder is positioned at outside fixed side, and described tooth bar is positioned at inside fixed side.
Described band is connected to fixing horizontal side plate the turning cylinder of gear.
Described first fixture block is fixed on fixed base plate.
Described guide piece is track plates, and described track plates is provided with guide groove.
Described guide groove is groove.
Described at least three adjacent machine jaws are one group of mechanical grip, mechanical grip is at least provided with one group, often organize correspondence on mechanical grip and be provided with track plates, the top correspondence of each mechanical grip is provided with guide groove, be provided with perpendicular guide pillar above each mechanical grip, described perpendicular guide pillar is positioned at guide groove corresponding thereto.
Often organizing in the guide groove corresponding to mechanical grip, the guide groove being positioned at both sides simultaneously near or away from being positioned at middle guide groove.
Each mechanical grip upper end is connected with the first contiguous block, and multiple first contiguous block is actively socketed on the first fixed transverse rod simultaneously, and described first contiguous block is fixedly connected with perpendicular guide pillar.
Vertical cylinder centered by described upright driving mechanism, described center vertical cylinder is connected with the first fixed transverse rod.
The top correspondence of described each first contiguous block is provided with second contiguous block, and described second contiguous block vertical direction offers through hole, and the perpendicular guide pillar be connected with described first contiguous block passes the second contiguous block above it through through hole.
Multiple second contiguous block is socketed on the second fixed transverse rod simultaneously, and described second fixed transverse rod two ends are connected with cross bar mount pad, and described cross bar mount pad is connected with horizontal adapter plate with by linear slide rail.
Described horizontal drive mechanism is servomotor, described servo motor output shaft is connected by Timing Belt with synchronizing wheel, described synchronizing wheel is connected on the first horizontal feed bar, and the synchronizing wheel at described first horizontal feed bar two ends is connected by the synchronizing wheel of horizontal synchronization band with the second horizontal feed bar two ends.
Be provided with horizontal adapter plate under described two Timing Belts, described horizontal adapter plate side is connected with a cross bar mount pad by vertical linear slide rail, and opposite side is connected with mounting plate by horizontal linear slide rail.
The principle of work of clamping device is:
Multiple mechanical grip, under the drive of horizontal drive mechanism, does the axial motion of horizontal X; Meanwhile, multiple mechanical grip is under the effect of guide piece, and adjustment level interval each other, realizes the motion of horizontal Y direction; In above-mentioned motion process, under the drive of upright driving mechanism, multiple mechanical grip does the upper and lower motion of vertical Z-direction.In the application, the motion of horizontal X direction of principal axis refers to the forward and backward motion of horizontal direction; The motion of horizontal Y direction refers to the left and right motion of horizontal direction; Vertical Z-direction motion refers to the upper and lower motion of vertical direction.
Jaw cylinder promotes tooth bar and moves reciprocatingly, because tooth bar and band are gears meshing, thus rack drives band rotates, the gear moving axis that rotates because band is connected with the second fixture block gear, so the second fixture block can do arc track crank motion along with band the gear moving axis that rotates.Because the first fixture block is fixedly installed on fixed base plate, so the action of the second fixture block just achieves the opening and closing movement relative to the first fixture block.When mechanical grip declines crawl food, mechanical grip is opened, after clamping food, mechanical grip rises, and moves to after above tray position, and mechanical grip declines, and open, be placed on by food in holder box, then mechanical grip rising moves to subsequent delivery and above next food, repeats above-mentioned action.
Concretely, guide piece is the track plates being at least provided with three guide grooves, the object of the guide groove on track plates regulates the distance between adjacent machine jaw, the spacing held in distance between mechanical grip and holder box between the adjacent grooves of food is matched, time as less than the distance in holder box between adjacent grooves in the distance between adjacent machine jaw, then the track of guide groove is set to the mechanical grip of both sides toward respective lateral movement, and the mechanical grip at middle part keeps original path motion, such object that could realize increase adjacent machine jaw spacing, vice versa.Except the form of guide groove, predetermined trajectory, cam or existing structure also can be used to realize identical technique effect.
Horizontal drive mechanism drives synchronizing wheel to rotate, with the synchronizing wheel of side by under the drive of Timing Belt, keep rotating, mounting plate is for being fixedly installed, be not subjected to displacement change, horizontal adapter plate above it can do the motion of horizontal X direction of principal axis under the drive of Timing Belt, due to slide rail linear between mounting plate and horizontal adapter plate, so horizontal adapter plate can do the axial motion of horizontal X relative to mounting plate, a left side for horizontal adapter plate, right two ends are connected with cross bar mount pad respectively by linear slide rail, and between two cross bar mount pads, be connected with the second fixed transverse rod, second fixed transverse rod is socketed with multiple second contiguous block, and below the second contiguous block, be provided with mechanical grip, so mechanical grip can be followed do the axial motion of horizontal X.
Do the prerequisite of horizontal X direction of principal axis motion at mechanical grip under, owing to being provided with track plates above it, track plates is fixed installation, do not move, the perpendicular guide pillar of adding on mechanical grip stretches in corresponding guide groove, so perpendicular guide pillar can do the motion of horizontal Y direction along with the fluting track driving mechanical jaw of guide groove.
First contiguous block and the first fixed transverse rod are socketed, and the first fixed transverse rod is connected with upright driving mechanism, so the motion of mechanical grip in vertical Z-direction drives realization successively by the order of upright driving mechanism-the first fixed transverse rod the-the first contiguous block-mechanical grip.Because perpendicular guide pillar is through the second contiguous block, and with the second contiguous block without being fixedly connected with relation, so perpendicular guide pillar can do the motion of vertical Z-direction relative to the second contiguous block.
The advantage of clamping device is:
1, the present invention utilizes guide piece, horizontal drive mechanism and upright driving mechanism to achieve mechanical grip motion in three directions, and full-automatic adjustment can be realized, so mechanical grip can when by manpower, automatically spacing adjustment is realized, and only change the holder box that track plates just can adapt to sizes, eliminate artificial participation, improve production efficiency, enhance degree of automation.
2, mechanical grip of the present invention is owing to have employed tooth bar, structure with gear is matched with fixture block, so avoid the situation of the folder shakiness that two fixture blocks occur when clamping boiled dumpling, and clamp structure can carry out gripping to boiled dumpling accurately.
3, mechanical grip of the present invention is owing to being provided with circular groove in the lower end of the first fixture block and the second fixture block, and be provided with pore in the circular groove of the first fixture block and/or the second fixture block, pore place is connected with gas-tpe fitting, when fixture block is in gripping with when decontroling dumpling, pore can first be blown to dumpling, can play and avoid fixture block directly to the effect of dumpling effect, cushion the pressure between fixture block and dumpling, prevent the excessive dumpling that makes of gripping power to be bonded on fixture block, also make the not yielding broken skin of dumpling.
4, mechanical grip upper mounted plate of the present invention is rational in infrastructure, can by the output shaft of jaw cylinder, all connect thereon with the turning cylinder of gear.
5, track plates structure of the present invention is simple, by the setting of guide groove, the guiding of the motion path to mechanical grip can be realized, avoid complicated drive mechanism, and change simple, because track plates does not move, so change conveniently, the track plates directly changing different route guidance groove can make mechanical grip move on the path of presetting, and adapts to the holder box of different size with this, the cost that the needs reducing adaptation sizes improve equipment, is suitable for applying.
6, the present invention is provided with multiple mechanical grip, and multiple mechanical grip simultaneously or receive the drive of driver train respectively, improves production efficiency, can realize large-scale production.
7, the present invention is realized the motion of mechanical grip in vertical Z-direction by the form of the first contiguous block and the first fixed transverse rod, structure is simple, and a driver train can be utilized to drive all mechanical grips to do upper and lower motion simultaneously, improve the synchronism of each mechanical grip, avoid the asynchronous production error brought of each mechanical grip.
8, the perpendicular guide pillar above mechanical grip of the present invention is through the second contiguous block, and can move up and down relative to the second contiguous block, the second contiguous block can be made only to realize driving mechanical jaw do the axial motion of horizontal X like this, and the motion of vertical Z-direction can not be done by limit mechanical jaw, flexible connection now can realize above-mentioned two kinds of functions simultaneously, serves very important effect for the mechanical grip motion realized on three directions.
9, the present invention be provided with between cross bar mount pad and horizontal adapter plate vertically arrange linear slide rail, be provided with horizontally disposed linear slide rail between horizontal adapter plate and mounting plate, linear slide rail can make mutually move between its interconnective two structures.
Accompanying drawing explanation
Fig. 1 is the structural representation at visual angle, clamping device front upper place.
Fig. 2 is the structural representation at visual angle, the clamping device back lower place.
Fig. 3 is clamping device Facad structure schematic diagram.
Fig. 4 is clamping device birds-eye view.
Fig. 5 is the structural representation of mechanical grip.
Fig. 6 be mechanical grip fixture block on the structural representation of pore.
In accompanying drawing: installation frame 301, mechanical grip 302, guide piece 303, horizontal drive mechanism 304, upright driving mechanism 305, guide groove 306, perpendicular guide pillar 307, first contiguous block 308, first fixed transverse rod 309, second contiguous block 311, second fixed transverse rod 312, cross bar mount pad 313, horizontal adapter plate 314, linear slide rail 315, synchronizing wheel 316, Timing Belt 317, first horizontal feed bar 318, second horizontal feed bar 319, mounting plate 320.
Adapter plate 321, first fixture block 322, second fixture block 323, jaw cylinder 324, tooth bar 325, band gear 326, circular groove 327, gas-tpe fitting 328, fixing upper plate 329, fixing longitudinal side plate 330, fix horizontal side plate 331, fixed base plate 332, pore 333.
Detailed description of the invention
Embodiment 1
A kind of food box packing machine clamping device with mechanical grip comprises installation frame 301, described installation frame 301 is provided with multiple mechanical grip 302, described mechanical grip 302 is provided with the guide piece 303 for adjusting adjacent machine jaw 302 spacing, described mechanical grip 302 is connected with the horizontal drive mechanism 304 driving it to realize horizontal motion, is also connected with the upright driving mechanism 305 driving it to realize vertical up-and-down movement; Described mechanical grip 302 comprises adapter plate 321, first fixture block 322, second fixture block 323 and jaw cylinder 324, described jaw cylinder 324 mouth is connected with tooth bar 325, described tooth bar 325 engages gear 326 with the band below it, described band is fixed on gear 326 on adapter plate 321, described adapter plate 321 lower end is connected with the first fixture block 322, described band is connected with the second fixture block 323 the handle place of gear 326, and described first fixture block 322 and the second fixture block 323 are oppositely arranged.
Multiple mechanical grip 302, under the drive of horizontal drive mechanism 304, does the axial motion of horizontal X; Meanwhile, multiple mechanical grip 302 is under the effect of guide piece 303, and adjustment level interval each other, realizes the motion of horizontal Y direction; In above-mentioned motion process, under the drive of upright driving mechanism 305, multiple mechanical grip 302 does the upper and lower motion of vertical Z-direction.In the application, the motion of horizontal X direction of principal axis refers to the forward and backward motion of horizontal direction; The motion of horizontal Y direction refers to the left and right motion of horizontal direction; Vertical Z-direction motion refers to the upper and lower motion of vertical direction.Jaw cylinder 324 promotes tooth bar 325 and moves reciprocatingly, because tooth bar 325 engages gear 326 with band, thus tooth bar 325 drive band gear 326 rotate moving axis rotation, because band is connected with the second fixture block 323 gear 326, so the second fixture block 323 can do arc track crank motion along with being with gear 326 moving axis that rotates.Because the first fixture block 322 is fixedly installed on fixed base plate 332, so the action of the second fixture block 323 just achieves the opening and closing movement relative to the first fixture block 322.When mechanical grip 302 declines crawl food, mechanical grip 302 is opened, after clamping food, mechanical grip 302 rises, and moves to after above tray position, and mechanical grip 302 declines, and open, be placed on by food in holder box, then mechanical grip 302 rising moves to subsequent delivery and above next food, repeats above-mentioned action.
The present invention utilizes guide piece 303, horizontal drive mechanism 304 and upright driving mechanism 305 to achieve mechanical grip 302 motion in three directions, and full-automatic adjustment can be realized, so mechanical grip 302 can when by manpower, automatically spacing adjustment is realized, and only change the holder box that track plates just can adapt to sizes, eliminate artificial participation, improve production efficiency, enhance degree of automation.Mechanical grip 302 of the present invention is owing to have employed tooth bar 325, structure with gear 326 is matched with fixture block, so avoid the situation of the folder shakiness that two fixture blocks occur when clamping boiled dumpling, and clamp structure can carry out gripping to boiled dumpling accurately.
Embodiment 2
A kind of food box packing machine clamping device with mechanical grip comprises installation frame 301, described installation frame 301 is provided with multiple mechanical grip 302, described mechanical grip 302 is provided with the guide piece 303 for adjusting adjacent machine jaw 302 spacing, described mechanical grip 302 is connected with the horizontal drive mechanism 304 driving it to realize horizontal motion, is also connected with the upright driving mechanism 305 driving it to realize vertical up-and-down movement; Described mechanical grip 302 comprises adapter plate 321, first fixture block 322, second fixture block 323 and jaw cylinder 324, described jaw cylinder 324 mouth is connected with tooth bar 325, described tooth bar 325 engages gear 326 with the band below it, described band is fixed on gear 326 on adapter plate 321, described adapter plate 321 lower end is connected with the first fixture block 322, described band is connected with the second fixture block 323 the handle place of gear 326, and described first fixture block 322 and the second fixture block 323 are oppositely arranged.
Mechanical grip 302 comprises adapter plate 321, first fixture block 322, second fixture block 323 and jaw cylinder 324, described jaw cylinder 324 mouth is connected with tooth bar 325, described tooth bar 325 engages gear 326 with the band below it, described band is fixed on gear 326 on adapter plate 321, described adapter plate 321 lower end is connected with the first fixture block 322, described band is connected with the second fixture block 323 the handle place of gear 326, and described first fixture block 322 and the second fixture block 323 are oppositely arranged.
The lower end of the first fixture block 322 and the second fixture block 323 is provided with circular groove 327.Be provided with pore 333 in the circular groove 327 of the first fixture block 322 and/or the second fixture block 323, described pore 333 place is connected with gas-tpe fitting 328.
Adapter plate 321 at least includes fixing upper plate 329, fixing longitudinal side plate 330, fixing horizontal side plate 331 and fixed base plate 332, described fixing upper plate 329 horizontally set, the end of its length direction is connected with the fixing longitudinal side plate 330 vertically arranged, the side of its Width is connected with the fixing horizontal side plate 331 vertically arranged, and the bottom transverse of described fixed side is connected with fixed base plate 332.Fixed side is provided with through hole, and described jaw cylinder 324 mouth is through through hole.Jaw cylinder 324 is positioned at outside fixed side, and described tooth bar 325 is positioned at inside fixed side.Band is connected to fixing horizontal side plate 331 the turning cylinder of gear 326.
Multiple mechanical grip 302, under the drive of horizontal drive mechanism 304, does the axial motion of horizontal X; Meanwhile, multiple mechanical grip 302 is under the effect of guide piece 303, and adjustment level interval each other, realizes the motion of horizontal Y direction; In above-mentioned motion process, under the drive of upright driving mechanism 305, multiple mechanical grip 302 does the upper and lower motion of vertical Z-direction.In the application, the motion of horizontal X direction of principal axis refers to the forward and backward motion of horizontal direction; The motion of horizontal Y direction refers to the left and right motion of horizontal direction; Vertical Z-direction motion refers to the upper and lower motion of vertical direction.
Jaw cylinder 324 promotes tooth bar 325 and moves reciprocatingly, because tooth bar 325 engages gear 326 with band, thus tooth bar 325 drive band gear 326 rotate moving axis rotation, because band is connected with the second fixture block 323 gear 326, so the second fixture block 323 can do arc track crank motion along with being with gear 326 moving axis that rotates.Because the first fixture block 322 is fixedly installed on fixed base plate 332, so the action of the second fixture block 323 just achieves the opening and closing movement relative to the first fixture block 322.When mechanical grip 302 declines crawl food, mechanical grip 302 is opened, after clamping food, mechanical grip 302 rises, and moves to after above tray position, and mechanical grip 302 declines, and open, be placed on by food in holder box, then mechanical grip 302 rising moves to subsequent delivery and above next food, repeats above-mentioned action.
The present invention utilizes guide piece 303, horizontal drive mechanism 304 and upright driving mechanism 305 to achieve mechanical grip 302 motion in three directions, and full-automatic adjustment can be realized, so mechanical grip 302 can when by manpower, automatically spacing adjustment is realized, and only change the holder box that track plates just can adapt to sizes, eliminate artificial participation, improve production efficiency, enhance degree of automation.
Mechanical grip 302 of the present invention is owing to have employed tooth bar 325, structure with gear 326 is matched with fixture block, so avoid the situation of the folder shakiness that two fixture blocks occur when clamping boiled dumpling, and clamp structure can carry out gripping to boiled dumpling accurately.
Mechanical grip 302 of the present invention is owing to being provided with circular groove 327 in the lower end of the first fixture block 322 and the second fixture block 323, and be provided with pore 333 in the circular groove 327 of the first fixture block 322 and/or the second fixture block 323, pore 333 place is connected with gas-tpe fitting 328, when fixture block is in gripping with when decontroling dumpling, pore 333 can first be blown to dumpling, can play and avoid fixture block directly to the effect of dumpling effect, cushion the pressure between fixture block and dumpling, prevent the excessive dumpling that makes of gripping power to be bonded on fixture block, also make the not yielding broken skin of dumpling.
Mechanical grip 302 upper mounted plate 321 of the present invention is rational in infrastructure, can by the output shaft of jaw cylinder 324, all connect thereon with the turning cylinder of gear 326.
Embodiment 3
A kind of food box packing machine clamping device with mechanical grip comprises installation frame 301, described installation frame 301 is provided with multiple mechanical grip 302, described mechanical grip 302 is provided with the guide piece 303 for adjusting adjacent machine jaw 302 spacing, described mechanical grip 302 is connected with the horizontal drive mechanism 304 driving it to realize horizontal motion, is also connected with the upright driving mechanism 305 driving it to realize vertical up-and-down movement; Described mechanical grip 302 comprises adapter plate 321, first fixture block 322, second fixture block 323 and jaw cylinder 324, described jaw cylinder 324 mouth is connected with tooth bar 325, described tooth bar 325 engages gear 326 with the band below it, described band is fixed on gear 326 on adapter plate 321, described adapter plate 321 lower end is connected with the first fixture block 322, described band is connected with the second fixture block 323 the handle place of gear 326, and described first fixture block 322 and the second fixture block 323 are oppositely arranged.
Mechanical grip 302 comprises adapter plate 321, first fixture block 322, second fixture block 323 and jaw cylinder 324, described jaw cylinder 324 mouth is connected with tooth bar 325, described tooth bar 325 engages gear 326 with the band below it, described band is fixed on gear 326 on adapter plate 321, described adapter plate 321 lower end is connected with the first fixture block 322, described band is connected with the second fixture block 323 the handle place of gear 326, and described first fixture block 322 and the second fixture block 323 are oppositely arranged.
The lower end of the first fixture block 322 and the second fixture block 323 is provided with circular groove 327.Be provided with pore 333 in the circular groove 327 of the first fixture block 322 and/or the second fixture block 323, described pore 333 place is connected with gas-tpe fitting 328.
Adapter plate 321 at least includes fixing upper plate 329, fixing longitudinal side plate 330, fixing horizontal side plate 331 and fixed base plate 332, described fixing upper plate 329 horizontally set, the end of its length direction is connected with the fixing longitudinal side plate 330 vertically arranged, the side of its Width is connected with the fixing horizontal side plate 331 vertically arranged, and the bottom transverse of described fixed side is connected with fixed base plate 332.Fixed side is provided with through hole, and described jaw cylinder 324 mouth is through through hole.Jaw cylinder 324 is positioned at outside fixed side, and described tooth bar 325 is positioned at inside fixed side.Band is connected to fixing horizontal side plate 331 the turning cylinder of gear 326.
First fixture block 322 is fixed on fixed base plate 332.Guide piece 303 is track plates, described track plates is provided with guide groove 306.Guide groove 306 is groove.At least three adjacent machine jaws 302 are one group of mechanical grip 302, mechanical grip 302 is at least provided with one group, often organize correspondence on mechanical grip 302 and be provided with track plates, the top correspondence of each mechanical grip 302 is provided with guide groove 306, be provided with perpendicular guide pillar 307 above each mechanical grip 302, described perpendicular guide pillar 307 is positioned at guide groove 306 corresponding thereto.
In the guide groove 306 often organized corresponding to mechanical grip 302, the guide groove 306 being positioned at both sides simultaneously near or away from being positioned at middle guide groove 306.Each mechanical grip 302 upper end is connected with the first contiguous block 308, and multiple first contiguous block 308 is actively socketed on the first fixed transverse rod 309 simultaneously, and described first contiguous block 308 is fixedly connected with perpendicular guide pillar 307.Vertical cylinder centered by upright driving mechanism 305, described center vertical cylinder is connected with the first fixed transverse rod 309.
The top correspondence of each first contiguous block 308 is provided with second contiguous block 311, and described second contiguous block 311 vertical direction offers through hole, and the perpendicular guide pillar 307 be connected with described first contiguous block 308 passes the second contiguous block 311 above it through through hole.Multiple second contiguous block 311 is socketed on the second fixed transverse rod 312 simultaneously, and described second fixed transverse rod 312 two ends are connected with cross bar mount pad 313, and described cross bar mount pad 313 is connected with horizontal adapter plate 314 with by linear slide rail 315.
Described horizontal drive mechanism 304 is servomotor, described servo motor output shaft is connected by Timing Belt 317 with synchronizing wheel 316, described synchronizing wheel 316 is connected on the first horizontal feed bar 318, and the synchronizing wheel 316 at described first horizontal feed bar 318 two ends is connected by the synchronizing wheel 316 of horizontal synchronization band 317 with the second horizontal feed bar 319 two ends.
Two Timing Belts 317 times are provided with horizontal adapter plate 314, and described horizontal adapter plate 314 side is connected with a cross bar mount pad 313 by vertical linear slide rail 315, and opposite side is connected with mounting plate 320 by horizontal linear slide rail 315.
Multiple mechanical grip 302, under the drive of horizontal drive mechanism 304, does the axial motion of horizontal X; Meanwhile, multiple mechanical grip 302 is under the effect of guide piece 303, and adjustment level interval each other, realizes the motion of horizontal Y direction; In above-mentioned motion process, under the drive of upright driving mechanism 305, multiple mechanical grip 302 does the upper and lower motion of vertical Z-direction.In the application, the motion of horizontal X direction of principal axis refers to the forward and backward motion of horizontal direction; The motion of horizontal Y direction refers to the left and right motion of horizontal direction; Vertical Z-direction motion refers to the upper and lower motion of vertical direction.
Jaw cylinder 324 promotes tooth bar 325 and moves reciprocatingly, because tooth bar 325 engages gear 326 with band, thus tooth bar 325 drive band gear 326 rotate moving axis rotation, because band is connected with the second fixture block 323 gear 326, so the second fixture block 323 can do arc track crank motion along with being with gear 326 moving axis that rotates.Because the first fixture block 322 is fixedly installed on fixed base plate 332, so the action of the second fixture block 323 just achieves the opening and closing movement relative to the first fixture block 322.When mechanical grip 302 declines crawl food, mechanical grip 302 is opened, after clamping food, mechanical grip 302 rises, and moves to after above tray position, and mechanical grip 302 declines, and open, be placed on by food in holder box, then mechanical grip 302 rising moves to subsequent delivery and above next food, repeats above-mentioned action.
Concretely, guide piece 303 is the track plates being at least provided with three guide grooves 306, the object of the guide groove 306 on track plates regulates the distance between adjacent machine jaw 302, the spacing held in distance between mechanical grip 302 and holder box between the adjacent grooves of food is matched, time as less than the distance in holder box between adjacent grooves in the distance between adjacent machine jaw 302, then the track of guide groove 306 is set to the mechanical grip 302 of both sides toward respective lateral movement, and the mechanical grip 302 at middle part keeps original path to move, such object that could realize increase adjacent machine jaw 302 spacing, vice versa.Except the form of guide groove 306, predetermined trajectory, cam or existing structure also can be used to realize identical technique effect.
Horizontal drive mechanism 304 drives synchronizing wheel 316 to rotate, with under the drive by Timing Belt 317 of the synchronizing wheel 316 of side, keep rotating, mounting plate 320 is for being fixedly installed, be not subjected to displacement change, horizontal adapter plate 314 above it can do the motion of horizontal X direction of principal axis under the drive of Timing Belt 317, due to slide rail 315 linear between mounting plate 320 and horizontal adapter plate 314, so horizontal adapter plate 314 can do the axial motion of horizontal X relative to mounting plate 320, the two ends, left and right of horizontal adapter plate 314 are connected with two cross bar mount pads 313 respectively by linear slide rail 315, and between two cross bar mount pads 313, be connected with the second fixed transverse rod 312, second fixed transverse rod 312 is socketed with multiple second contiguous block 311, and below the second contiguous block 311, be provided with mechanical grip 302, so mechanical grip 302 can be followed do the axial motion of horizontal X.
Do the prerequisite of horizontal X direction of principal axis motion at mechanical grip 302 under, owing to being provided with track plates above it, track plates is fixed installation, do not move, the perpendicular guide pillar 307 of adding on mechanical grip 302 stretches in corresponding guide groove 306, so perpendicular guide pillar 307 can do the motion of horizontal Y direction along with the fluting track driving mechanical jaw 302 of guide groove 306.
First contiguous block 308 and the first fixed transverse rod 309 are socketed, and the first fixed transverse rod 309 is connected with upright driving mechanism 305, so the motion of mechanical grip 302 in vertical Z-direction drives realization successively by the order of upright driving mechanism 305-first fixed transverse rod 309-first contiguous block 308-mechanical grip 302.Because perpendicular guide pillar 307 is through the second contiguous block 311, and with the second contiguous block 311 without being fixedly connected with relation, so perpendicular guide pillar 307 can do the motion of vertical Z-direction relative to the second contiguous block 311.
The present invention utilizes guide piece 303, horizontal drive mechanism 304 and upright driving mechanism 305 to achieve mechanical grip 302 motion in three directions, and full-automatic adjustment can be realized, so mechanical grip 302 can when by manpower, automatically spacing adjustment is realized, and only change the holder box that track plates just can adapt to sizes, eliminate artificial participation, improve production efficiency, enhance degree of automation.Mechanical grip 302 of the present invention is owing to have employed tooth bar 325, structure with gear 326 is matched with fixture block, so avoid the situation of the folder shakiness that two fixture blocks occur when clamping boiled dumpling, and clamp structure can carry out gripping to boiled dumpling accurately.Mechanical grip 302 of the present invention is owing to being provided with circular groove 327 in the lower end of the first fixture block 322 and the second fixture block 323, and be provided with pore 333 in the circular groove 327 of the first fixture block 322 and/or the second fixture block 323, pore 333 place is connected with gas-tpe fitting 328, when fixture block is in gripping with when decontroling dumpling, pore 333 can first be blown to dumpling, can play and avoid fixture block directly to the effect of dumpling effect, cushion the pressure between fixture block and dumpling, prevent the excessive dumpling that makes of gripping power to be bonded on fixture block, also make the not yielding broken skin of dumpling.Mechanical grip 302 upper mounted plate 321 of the present invention is rational in infrastructure, can by the output shaft of jaw cylinder 324, all connect thereon with the turning cylinder of gear 326.
Track plates structure of the present invention is simple, by the setting of guide groove 306, the guiding of the motion path to mechanical grip 302 can be realized, avoid complicated drive mechanism, and change simple, because track plates does not move, so change conveniently, the track plates of the different route guidance groove 306 of direct replacing can make mechanical grip 302 move on the path of presetting, the holder box of different size is adapted to this, the cost that the needs reducing adaptation sizes improve equipment, is suitable for applying.
The present invention is provided with multiple mechanical grip 302, and multiple mechanical grip 302 simultaneously or receive the drive of driver train respectively, improves production efficiency, can realize large-scale production.
The present invention is realized the motion of mechanical grip 302 in vertical Z-direction by the form of the first contiguous block 308 and the first fixed transverse rod 309, structure is simple, and a driver train can be utilized to drive all mechanical grips 302 to do upper and lower motion simultaneously, improve the synchronism of each mechanical grip 302, avoid the production error of the asynchronous band 317 of each mechanical grip 302.
Perpendicular guide pillar 307 above mechanical grip 302 of the present invention is through the second contiguous block 311, and can move up and down relative to the second contiguous block 311, the second contiguous block 311 can be made only to realize driving mechanical jaw 302 do the axial motion of horizontal X like this, and the motion of vertical Z-direction can not be done by limit mechanical jaw 302, flexible connection now can realize above-mentioned two kinds of functions simultaneously, serves very important effect for mechanical grip 302 motion realized on three directions.
The present invention be provided with between cross bar mount pad 313 and horizontal adapter plate 314 vertically arrange linear slide rail 315, be provided with horizontally disposed linear slide rail 315 between horizontal adapter plate 314 and mounting plate 320, linear slide rail 315 can make mutually move between its interconnective two structures.
Claims (19)
1. the food box packing machine clamping device with mechanical grip, it is characterized in that: comprise installation frame (301), described installation frame (301) is provided with multiple mechanical grip (302), described mechanical grip (302) is provided with the guide piece (303) for adjusting adjacent machine jaw (302) spacing, described mechanical grip (302) is connected with the horizontal drive mechanism (304) driving it to realize horizontal motion, is also connected with the upright driving mechanism (305) driving it to realize vertical up-and-down movement, described mechanical grip (302) comprises adapter plate (321), first fixture block (322), second fixture block (323) and jaw cylinder (324), described jaw cylinder (324) mouth is connected with tooth bar (325), described tooth bar (325) engages gear (326) with the band below it, described band is fixed on gear (326) on adapter plate (321), described adapter plate (321) lower end is connected with the first fixture block (322), described band is connected with the second fixture block (323) the handle place of gear (326), described first fixture block (322) and the second fixture block (323) are oppositely arranged.
2. the food box packing machine clamping device of band mechanical grip according to claim 1, it is characterized in that: described mechanical grip (302) comprises adapter plate (321), first fixture block (322), second fixture block (323) and jaw cylinder (324), described jaw cylinder (324) mouth is connected with tooth bar (325), described tooth bar (325) engages gear (326) with the band below it, described band is fixed on gear (326) on adapter plate (321), described adapter plate (321) lower end is connected with the first fixture block (322), described band is connected with the second fixture block (323) the handle place of gear (326), described first fixture block (322) and the second fixture block (323) are oppositely arranged.
3. the food box packing machine clamping device of band mechanical grip according to claim 2, is characterized in that: the lower end of described first fixture block (322) and the second fixture block (323) is provided with circular groove (327).
4. the food box packing machine clamping device of band mechanical grip according to claim 3, it is characterized in that: be provided with pore (333) in the circular groove (327) of described first fixture block (322) and/or the second fixture block (323), described pore (333) place is connected with gas-tpe fitting (328).
5. the food box packing machine clamping device of band mechanical grip according to claim 2, it is characterized in that: described adapter plate (321) at least includes fixing upper plate (329), fixing longitudinal side plate (330), fixing horizontal side plate (331) and fixed base plate (332), described fixing upper plate (329) horizontally set, the end of its length direction is connected with fixing longitudinal side plate (330) vertically arranged, the side of its Width is connected with the fixing horizontal side plate (331) vertically arranged, and the bottom transverse of described fixed side is connected with fixed base plate (332).
6. the food box packing machine clamping device of band mechanical grip according to claim 5, is characterized in that: described fixed side is provided with through hole, and described jaw cylinder (324) mouth is through through hole.
7. the food box packing machine clamping device of band mechanical grip according to claim 6, is characterized in that: described jaw cylinder (324) is positioned at outside fixed side, and described tooth bar (325) is positioned at inside fixed side.
8. the food box packing machine clamping device of band mechanical grip according to claim 5, is characterized in that: described band is connected to fixing horizontal side plate (331) the turning cylinder of gear (326).
9. the food box packing machine clamping device of band mechanical grip according to claim 5, is characterized in that: described first fixture block (322) is fixed on fixed base plate (332).
10. the food box packing machine clamping device of the band mechanical grip according to claim 1-9 any one, is characterized in that: described guide piece (303) is track plates, described track plates is provided with guide groove (306).
The food box packing machine clamping device of 11. band mechanical grips according to claim 10, is characterized in that: described guide groove (306) is groove.
The food box packing machine clamping device of 12. band mechanical grips according to claim 1-9 any one, it is characterized in that: at least three adjacent machine jaws (302) are one group of mechanical grip (302), mechanical grip (302) is at least provided with one group, often organize the upper correspondence of mechanical grip (302) and be provided with track plates, the top correspondence of each mechanical grip (302) is provided with guide groove (306), each mechanical grip (302) top is provided with perpendicular guide pillar (307), and described perpendicular guide pillar (307) is positioned at guide groove (306) corresponding thereto.
The food box packing machine clamping device of 13. band mechanical grips according to claim 12, it is characterized in that: often organizing, the guide groove (306) corresponding to mechanical grip (302) is inner, the guide groove (306) being positioned at both sides simultaneously near or away from being positioned at middle guide groove (306).
The food box packing machine clamping device of 14. band mechanical grips according to claim 13, it is characterized in that: each mechanical grip (302) upper end is connected with the first contiguous block (308), multiple first contiguous block (308) is actively socketed on the first fixed transverse rod (309) simultaneously, and described first contiguous block (308) is fixedly connected with perpendicular guide pillar (307).
The food box packing machine clamping device of 15. band mechanical grips according to claim 12, is characterized in that: vertical cylinder centered by described upright driving mechanism (305), described center vertical cylinder is connected with the first fixed transverse rod (309).
The food box packing machine clamping device of 16. band mechanical grips according to claim 14, it is characterized in that: the top correspondence of described each first contiguous block (308) is provided with second contiguous block (311), described second contiguous block (311) vertical direction offers through hole, and the perpendicular guide pillar (307) be connected with described first contiguous block (308) passes the second contiguous block (311) above it through through hole.
The food box packing machine clamping device of 17. band mechanical grips according to claim 16, it is characterized in that: multiple second contiguous block (311) is socketed on the second fixed transverse rod (312) simultaneously, described second fixed transverse rod (312) two ends are connected with cross bar mount pad (313), and described cross bar mount pad (313) is connected with horizontal adapter plate (314) with by linear slide rail (315).
The food box packing machine clamping device of 18. band mechanical grips according to claim 17, it is characterized in that: described horizontal drive mechanism (304) is servomotor, described servo motor output shaft is connected by Timing Belt (317) with synchronizing wheel (316), described synchronizing wheel (316) is connected on the first horizontal feed bar (318), and the synchronizing wheel (316) at described first horizontal feed bar (318) two ends is connected by the synchronizing wheel (316) of horizontal synchronization band (317) with the second horizontal feed bar (319) two ends.
The food box packing machine clamping device of 19. band mechanical grips according to claim 18, it is characterized in that: under described two Timing Belts (317), be provided with horizontal adapter plate (314), described horizontal adapter plate (314) side is connected with a cross bar mount pad (313) by vertical linear slide rail (315), and opposite side is connected with mounting plate (320) by horizontal linear slide rail (315).
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| CN201510199398.0A CN104803035B (en) | 2015-04-24 | 2015-04-24 | Clamping mechanism with mechanical clamping claws for food boxing machine |
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| CN201510199398.0A CN104803035B (en) | 2015-04-24 | 2015-04-24 | Clamping mechanism with mechanical clamping claws for food boxing machine |
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| CN104803035A true CN104803035A (en) | 2015-07-29 |
| CN104803035B CN104803035B (en) | 2017-01-18 |
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| CN201510199398.0A Active CN104803035B (en) | 2015-04-24 | 2015-04-24 | Clamping mechanism with mechanical clamping claws for food boxing machine |
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| CN105110004A (en) * | 2015-09-29 | 2015-12-02 | 无锡帕尔弗工业设备科技有限公司 | Conveying mechanical hand with automatic pitch varying function |
| CN106477314A (en) * | 2016-11-08 | 2017-03-08 | 苏州巨智能装备有限公司 | A kind of transplanting mechanism for Hard Roll battery core automatic transporting and displacement |
| CN107757979A (en) * | 2017-10-24 | 2018-03-06 | 江苏楚汉新能源科技有限公司 | A kind of boxing device for battery |
| CN108247948A (en) * | 2017-12-22 | 2018-07-06 | 佛山科学技术学院 | A kind of grabbing device of vertical injection molding machine automatical feeding system |
| CN108327162A (en) * | 2017-12-22 | 2018-07-27 | 佛山科学技术学院 | A kind of vertical injection molding machine automatical feeding system |
| CN109366120A (en) * | 2018-10-29 | 2019-02-22 | 湖北火爆机器人科技有限公司 | A kind of translation carrying mechanism and its operating method |
| CN110589466A (en) * | 2019-07-22 | 2019-12-20 | 诸暨市蒙航机械科技有限公司 | Gripping device for frozen product production line |
| CN110893919A (en) * | 2018-04-05 | 2020-03-20 | 盐城星创金属制品有限公司 | Multi-tank integral transferring and boxing mechanism for aluminum tank packaging |
| CN112678517A (en) * | 2020-12-29 | 2021-04-20 | 南通通机股份有限公司 | Soap block rotating and synchronous conveying mechanism of soap printer |
| CN114476646A (en) * | 2021-12-09 | 2022-05-13 | 珠海格力智能装备有限公司 | Guide type interval-variable clamp |
| WO2023088170A1 (en) * | 2020-11-16 | 2023-05-25 | 拉普拉斯(无锡)半导体科技有限公司 | Clamping jaw mechanism |
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| CN110893919B (en) * | 2018-04-05 | 2021-07-27 | 桐乡市唐潮广告有限公司 | Multi-tank integral transferring and boxing mechanism for aluminum tank packaging |
| CN109366120A (en) * | 2018-10-29 | 2019-02-22 | 湖北火爆机器人科技有限公司 | A kind of translation carrying mechanism and its operating method |
| CN110589466A (en) * | 2019-07-22 | 2019-12-20 | 诸暨市蒙航机械科技有限公司 | Gripping device for frozen product production line |
| WO2023088170A1 (en) * | 2020-11-16 | 2023-05-25 | 拉普拉斯(无锡)半导体科技有限公司 | Clamping jaw mechanism |
| CN112678517A (en) * | 2020-12-29 | 2021-04-20 | 南通通机股份有限公司 | Soap block rotating and synchronous conveying mechanism of soap printer |
| CN112678517B (en) * | 2020-12-29 | 2023-09-26 | 南通通机股份有限公司 | Soap piece rotating and synchronous conveying mechanism of soap printer |
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