CN113753560B - Food taking and placing device - Google Patents
Food taking and placing device Download PDFInfo
- Publication number
- CN113753560B CN113753560B CN202010492956.3A CN202010492956A CN113753560B CN 113753560 B CN113753560 B CN 113753560B CN 202010492956 A CN202010492956 A CN 202010492956A CN 113753560 B CN113753560 B CN 113753560B
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- plate
- traction rope
- middle plate
- food
- telescopic unit
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- 238000001514 detection method Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000005299 abrasion Methods 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000010025 steaming Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/30—Modular constructions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- De-Stacking Of Articles (AREA)
Abstract
The invention provides a food taking and placing device, which comprises at least three plates which are arranged in a vertically stacked mode and can slide relatively, wherein any three adjacent plates form a telescopic unit from top to bottom; the telescopic unit is provided with an upper plate, a middle plate and a lower plate, a first traction rope and a second traction rope are connected between the upper plate and the lower plate, the first traction rope bypasses the front edge of the middle plate, and the second traction rope bypasses the rear edge of the middle plate; when the middle plate slides forwards under the driving force, the first traction rope can pull the lower plate to extend forwards under the driving of the middle plate; when the medium plate slides backwards under the driving force, the second traction rope can pull the lower plate to retract backwards under the driving of the medium plate, so that food can be conveniently taken and placed, and the space occupied by the food taking and placing device can be reduced.
Description
Technical Field
The invention relates to the field of telescopic devices, in particular to a food taking and placing device.
Background
With the development of mechanical and automation technologies, the telescopic device is increasingly applied to picking and placing daily articles, for example: in unmanned convenience stores, the telescopic device can be used as a food taking and placing device for taking food such as steamed stuffed bun and the like from the steaming cabinet.
The food picking and placing device in the prior art is usually a mechanical arm based on a single linear guide rail, and the mechanical arm does not have a telescopic function, so that the occupied space is relatively large.
Disclosure of Invention
The invention provides a food taking and placing device which has a telescopic function, so that the space occupied by the food taking and placing device can be reduced.
The invention provides a food taking and placing device, which comprises at least three plates which are arranged in a vertically stacked mode and can slide relatively, wherein any three adjacent plates form a telescopic unit from top to bottom;
the telescopic unit is provided with an upper plate, a middle plate and a lower plate, a first traction rope and a second traction rope are connected between the upper plate and the lower plate, one end of the first traction rope is connected with the upper plate, the other end of the first traction rope is connected with the rear end of the lower plate, and the first traction rope bypasses the front edge of the middle plate; one end of the second traction rope is connected with the front end of the upper plate, the other end of the second traction rope is connected with the lower plate, and the second traction rope winds around the rear edge of the middle plate;
when the middle plate slides forwards under the driving force, the first traction rope is used for pulling the lower plate to extend forwards under the driving of the middle plate;
when the middle plate slides backwards under the driving force, the second traction rope is used for pulling the lower plate to retract backwards under the driving of the middle plate.
The food picking and placing device as described above, optionally, the relatively slidable plate has at least four layers, and the at least four layers of relatively slidable plates can form at least two telescopic units;
the at least two telescopic units comprise a first telescopic unit and a second telescopic unit which are adjacent, wherein the middle plate of the first telescopic unit is formed into an upper plate of the second telescopic unit, and the lower plate of the first telescopic unit is formed into a middle plate of the second telescopic unit.
The food picking and placing device is characterized in that the extending directions of the first traction rope and the second traction rope are parallel to the sliding direction of the middle plate.
In the food picking and placing device, the number of the first traction ropes is two, and the two first traction ropes are symmetrically distributed on two sides of the middle plate;
and/or the number of the second traction ropes is two, and the two second traction ropes are symmetrically distributed on two sides of the middle plate.
In the food picking and placing device, optionally, when the telescopic unit is one, the upper plate is a fixed plate;
or when at least two telescopic units are arranged, the upper plate of the telescopic unit positioned at the uppermost end is a fixed plate.
The food picking and placing device as described above, optionally, further comprises a driving member for driving the middle plate below the fixing plate to slide.
The food picking and placing device as described above, optionally, the driving member includes a motor disposed on the fixing plate, a gear disposed on an output shaft of the motor, and a rack disposed on the middle plate below the fixing plate, the rack being engaged with the gear.
The food picking and placing device as described above, optionally, the telescopic unit further includes a first pulley disposed at a front edge of the middle plate and a second pulley disposed at a rear edge of the middle plate;
the first traction rope is wound on the first pulley, and the second traction rope is wound on the second pulley.
In the food picking and placing device as described above, optionally, at least one guide rail is disposed between two adjacent relatively slidable plates, and the guide rail is disposed along a sliding direction of the relatively slidable plates, so that the relatively slidable plates slide along the guide rail.
The food picking and placing device as described above, optionally, further comprising a stop assembly comprising a detection structure provided on the fixed plate and a stop block provided on the middle plate below the fixed plate, and when the detection structure detects that the stop block returns to the preset position, the driving piece stops working.
The invention relates to a food taking and placing device, which comprises at least three plates which are arranged in a vertically stacked manner and can slide relatively, wherein a telescopic unit is formed by any three adjacent plates from top to bottom, the telescopic unit is provided with an upper plate, a middle plate and a lower plate, a first traction rope and a second traction rope are connected between the upper plate and the lower plate, one end of the first traction rope is connected with the upper plate, the other end of the first traction rope is connected with the rear end of the lower plate, and the first traction rope bypasses the front edge of the middle plate, so that when the middle plate slides forwards under the driving force, the first traction rope is used for pulling the lower plate to stretch forwards under the driving of the middle plate, and the food taking and placing device can stretch into a food container; meanwhile, one end of the second traction rope is connected with the front end of the upper plate, the other end of the second traction rope is connected with the lower plate, and the second traction rope bypasses the rear edge of the middle plate, so that when the middle plate slides backwards under the driving force, the second traction rope is used for pulling the lower plate to retract backwards under the driving of the middle plate, and the food taking and placing device can take out food from the food container; the food taking and placing device realizes the function of taking food from the food container by extending and retracting the plates which are vertically stacked and can slide relatively, namely, the food taking and placing device retracts to the vertically stacked state after extending and taking food, thereby being capable of reducing the space occupied by the food taking and placing device.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic structural view of a telescopic unit of a food picking and placing device according to an embodiment of the present invention;
fig. 2 is a schematic view of a retracted food picking and placing device according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a structure of a food pick-and-place device according to an embodiment of the present invention after being extended;
fig. 4 is a schematic diagram of a second structure of the food taking and placing device according to an embodiment of the present invention after the food taking and placing device is extended;
fig. 5 is a schematic structural diagram of a food pick-and-place device according to an embodiment of the present invention in a specific application process.
Reference numerals illustrate:
100-telescoping units;
101-a first traction rope;
102-a second traction rope;
103-rope fixtures;
110-upper plate;
120-middle plate;
121-a first pulley;
122-a second pulley;
130-lower plate;
210-a fixed plate;
211-motor;
212-a detection structure;
220-a middle plate below the fixed plate;
221-racks;
222-stop block;
300-a guide rail;
400-food container;
401-food.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a schematic structural diagram of a telescopic unit of a food picking and placing device according to an embodiment of the invention. Fig. 2 is a schematic view of a retracted food picking and placing device according to an embodiment of the present invention. Fig. 3 is a schematic view of a food pick-and-place device according to an embodiment of the present invention after being extended. Fig. 4 is a schematic diagram of a food taking and placing device according to an embodiment of the invention after being extended. Fig. 5 is a schematic structural diagram of a food pick-and-place device according to an embodiment of the present invention in a specific application process. Referring to fig. 1 to 5, the present embodiment provides a food picking and placing device.
The food picking and placing device comprises at least three layers of plates which are arranged in a vertically stacked mode and can slide relatively, and at least one telescopic unit 100 can be formed by any three adjacent plates from top to bottom in the at least three layers of plates which can slide relatively.
Specifically, one telescopic unit 100 may be composed of three relatively slidable plates formed as an upper plate 110, a middle plate 120, and a lower plate 130 of the telescopic unit 100, respectively, with the first traction rope 101 and the second traction rope 102 connected between the upper plate 110 and the lower plate 130.
One end of the first traction rope 101 is connected to the upper plate 110, the other end of the first traction rope 101 is connected to the rear end of the lower plate 130, and the first traction rope 101 bypasses the front edge of the middle plate 120, specifically, the first traction rope 101 may be connected to the upper plate 110 and the lower plate 130 through a rope fixing member 103, or may be connected to the upper plate 110 and the lower plate 130 through other manners; the connection position between one end of the first traction rope 101 and the upper plate 110 may be, for example, the rear end of the lower surface of the upper plate 110, or may be set at another position of the upper plate 110 according to actual situations; the connection position of the other end of the first traction rope 101 and the lower plate 130 may be, for example, the rear end of the upper surface of the lower plate 130 or may be the rear edge of the lower plate 130.
One end of the second traction rope 102 is connected with the front end of the upper plate 110, the other end of the second traction rope 102 is connected with the lower plate 130, and the second traction rope 102 bypasses the rear edge of the middle plate 120, specifically, the second traction rope 102 may be connected to the upper plate 110 and the lower plate 130 through a rope fixing member 103, or may be connected to the upper plate 110 and the lower plate 130 through other manners; the connection position of one end of the second traction rope 102 and the upper plate 110 may be, for example, the front end of the lower surface of the upper plate 110, or may be the front edge of the lower plate 110; the connection position of the other end of the second traction rope 102 to the lower plate 130 may be, for example, a front end of the upper surface of the lower plate 130, or may be provided at another position of the lower plate 130 according to actual situations.
When the middle plate 120 slides forward under the driving force, the first traction rope 101 is used for pulling the lower plate 130 to extend forward under the driving of the middle plate 120, so that the food picking and placing device can extend into the food container 400; when the middle plate 120 slides backwards under the driving force, the second traction rope 102 is used for pulling the lower plate 130 to retract backwards under the driving of the middle plate 120, so that the food taking and placing device can take out the food 401 from the food container 400.
It should be noted that "front" in the present embodiment refers to the direction in which the middle plate 120 extends, and "rear" refers to the direction in which the middle plate 120 retracts.
In particular, before taking food, the food taking and placing device is in a retracted state; when the food needs to be taken out, the middle plate 120 of the telescopic unit 100 can slide forwards and stretch out under the action of the driving force, and the front edge of the middle plate 120 can push the first traction rope 101 bypassing the front edge of the middle plate 120, so that the first traction rope 101 pulls the lower plate 130 to stretch out forwards, and finally the food taking and placing device stretches into the food container 400 to take out the food 401; after the food picking and placing device picks up the food, the middle plate 120 of the telescopic unit 100 can slide and retract backward under the action of the driving force, and the rear edge of the middle plate 120 can push the second traction rope 102 bypassing the rear edge of the middle plate 120, so that the second traction rope 102 pulls the lower plate 130 to retract backward, and finally the food 401 picked up by the food picking and placing device is taken out from the food container 400.
The food picking and placing device of the embodiment comprises at least three plates which are arranged in a vertically stacked manner and can slide relatively, wherein a telescopic unit 100 is formed by any three adjacent plates from top to bottom, the telescopic unit 100 is provided with an upper plate 110, a middle plate 120 and a lower plate 130, a first traction rope 101 and a second traction rope 102 are connected between the upper plate 110 and the lower plate 130, one end of the first traction rope 101 is connected with the upper plate 110, the other end of the first traction rope 101 is connected with the rear end of the lower plate 130, and the first traction rope 101 bypasses the front edge of the middle plate 120, so that when the middle plate 120 slides forwards under the driving force, the first traction rope 101 is used for pulling the lower plate 130 to stretch forwards under the driving of the middle plate 120, and the food picking and placing device can stretch into a food container 400; meanwhile, one end of the second traction rope 102 is connected with the front end of the upper plate 110, the other end of the second traction rope 102 is connected with the lower plate 130, and the second traction rope 102 bypasses the rear edge of the middle plate 120, so that when the middle plate 120 slides backwards under the driving force, the second traction rope 102 is used for pulling the lower plate 130 to retract backwards under the driving of the middle plate 120, and the food taking and placing device can take out the food 401 from the food container 400; since the food pickup apparatus of the present invention performs the function of picking up the food 401 from the food container 400 by extending and retracting the plates which are stacked up and down and are relatively slidable, that is, the food pickup apparatus of the present invention is retracted to a state of being stacked up and down after extending and picking up the food, thereby enabling to reduce the space occupied by the food pickup apparatus.
Further, the relatively slidable plate may have at least four layers, and the at least four layers of relatively slidable plates may form at least two telescoping units 100; the at least two telescopic units 100 include adjacent first and second telescopic units, the middle plate of the first telescopic unit being formed as the upper plate of the second telescopic unit, the lower plate of the first telescopic unit being formed as the middle plate of the second telescopic unit.
For example, when the plate that can slide relatively has four layers, the four layers of plates that can slide relatively are the first layer plate, the second layer plate, the third layer plate and the fourth layer plate from top to bottom in this order, and the four layers of plates that can slide relatively can form two telescopic units, namely: the first layer plate, the second layer plate and the third layer plate form a first telescopic unit, and the second layer plate, the third layer plate and the fourth layer plate form a second telescopic unit; the first layer plate is an upper plate of the first telescopic unit, the second layer plate is an upper plate of the second telescopic unit while being a middle plate of the first telescopic unit, the third layer plate is a lower plate of the first telescopic unit while being a middle plate of the second telescopic unit, and the fourth layer plate is a lower plate of the second telescopic unit.
When the food taking and placing device is in a retracted state, the second layer plate, namely the middle plate of the first telescopic unit, can slide forwards and stretch out under the action of a driving force, and pushes the first traction rope wound on the front edge of the second layer plate, the first traction rope on the front edge of the second layer plate pulls the third layer plate to slide forwards and stretch out, and pushes the first traction rope wound on the front edge of the third layer plate, and the first traction rope on the front edge of the third layer plate pulls the fourth layer plate to slide forwards and stretch out, so that the food taking and placing device can stretch into the food container to take food; at this time, the second layer plate, namely the middle plate of the first telescopic unit, can slide and retract backwards under the action of the driving force and push the second traction rope wound on the rear edge of the second layer plate, the second traction rope on the rear edge of the second layer plate pulls the third layer plate to slide and retract backwards and push the second traction rope wound on the rear edge of the third layer plate, and the second traction rope on the rear edge of the third layer plate pulls the fourth layer plate to slide and retract backwards, so that food taken by the food taking and placing device can be taken out from the food container.
For another example, when the slidable plate has six layers, the six layers of slidable plates are sequentially a first layer plate, a second layer plate, a third layer plate, a fourth layer plate, a fifth layer plate and a sixth layer plate from top to bottom, and the six layers of slidable plates can form four telescopic units, namely: the first to third laminates form a first telescoping unit, the second to fourth laminates form a second telescoping unit, the third to fifth laminates form a third telescoping unit, and the fourth to sixth laminates form a fourth telescoping unit.
In addition, a structure for picking up food may be provided on the lowermost plate of the food picking and placing device, for example, a shovel, a claw, or the like may be used, or the lowermost plate of the food picking and placing device may be used directly to pick up food.
In order to improve the mechanical efficiency of the food picking and placing device, the extending directions of the first traction rope 101 and the second traction rope 102 may be parallel to the sliding direction of the middle plate 120, where the sliding direction of the middle plate 120 is the extending or retracting direction of the food picking and placing device, so that the pulling directions of the first traction rope 101 and the second traction rope 102 received by the lower plate 130 are parallel to the extending or retracting direction of the food picking and placing device, and the mechanical efficiency of the pulling force of the first traction rope 101 or the second traction rope 102 acting on the lower plate 130 when the lower plate 130 is pulled to extend or retract is relatively high.
In order to make the first traction rope 101 extend when pulling the lower plate 130 and make the second traction rope 102 retract when pulling the lower plate 130 more stably, two first traction ropes 101 may be provided, and the two first traction ropes 101 are symmetrically distributed on two sides of the middle plate 120; two second traction ropes 102 are simultaneously arranged, and the two second traction ropes 102 are symmetrically distributed on two sides of the middle plate 120.
In other embodiments, two first traction ropes 101 and one second traction rope 102 may be provided according to actual situations, where the two first traction ropes 101 may be symmetrically distributed on two sides of the middle plate 120 or asymmetrically distributed; alternatively, one first traction rope 101 may be provided, and two second traction ropes 102 may be provided, where the two second traction ropes 102 may be symmetrically distributed on two sides of the middle plate 120 or asymmetrically distributed.
In order to make the food picking and placing apparatus of the present embodiment have a smoother posture in use, the upper plate of the telescopic unit 100 may be set as the fixing plate 210 when the telescopic unit is one; alternatively, when there are at least two of the telescopic units 100, the upper plate of the uppermost telescopic unit is provided as the fixing plate 210.
In particular, the upper plate of the telescopic unit 100 at the uppermost end of the food taking and placing device is set as the fixing plate 210, at this time, the middle plate 220 below the fixing plate can slide forward under the action of the driving force to extend, and the lower plate is driven to extend forward, so that the food taking and placing device finally extends into the food container 400 and takes the food 401; then, the middle plate 220 below the fixing plate can slide and retract backward under the action of the driving force, and drives the lower plate to retract backward, so that the food 401 taken by the food taking and placing device is taken out of the food container 400, and the relatively sliding plate below the fixing plate 210 is more stable and reliable in the process of extending and retracting due to the fixing plate 210.
Further, the food picking and placing device of the present embodiment may further include a driving member, and the driving member may be used to drive the middle plate 220 below the fixed plate to slide.
Specifically, the driving member may include a motor 211 provided on the fixed plate 210, a gear (not shown) provided on an output shaft of the motor 211, and a rack 221 provided on the middle plate 220 below the fixed plate, and the rack 221 is engaged with the gear, so that the gear on the output shaft of the motor 211 can be engaged with the rack 221 on the middle plate 220 below the fixed plate to drive the middle plate 220 below the fixed plate to slide during the operation of the motor 211.
The motor 211 may be a stepping motor, or may be another type of motor, as long as the requirements of the present embodiment with respect to the motor 211 can be satisfied.
One possible way of mounting the driving member is: a through hole for the output shaft of the motor 211 to pass through can be formed on the fixed plate 210, the output shaft of the motor 211 passes through the through hole on the fixed plate 210 towards the middle plate 220 below the fixed plate, then a gear is arranged on the motor output shaft below the exposed fixed plate 210, meanwhile, a rack 221 meshed with the gear is arranged on the middle plate 220 below the fixed plate, and the extending direction of the rack 221 is parallel to the sliding direction of the middle plate 220 below the fixed plate, so that the middle plate 220 below the fixed plate can slide under the driving force of the motor 211; in specific implementation, the driving element may further be configured in other installation manners according to actual needs and space requirements, which will not be described herein.
In other embodiments, the driving member may be other devices capable of driving the middle plate 220 below the fixed plate to slide, which is described in detail herein.
In order to make the middle plate 120 of the telescopic unit 100 more labor-saving when driving the first traction rope 101 wound around the front edge of the middle plate 120 and when driving the second traction rope 102 wound around the rear edge of the middle plate 120, a first pulley 121 may be disposed at the front edge of the middle plate 120, and a second pulley 122 may be disposed at the rear edge of the middle plate 120; and the first traction rope 101 is wound around the first pulley 121 and the second traction rope 102 is wound around the second pulley 122.
In particular, when the middle plate 120 of the telescopic unit 100 slides forward to extend under the action of the driving force, the first traction rope 101 is pushed by the front edge of the middle plate 120, so that the part of the first traction rope 101 located below the middle plate 120 is gradually wound above the middle plate 120 and pulls the lower plate 130 to extend, and because the front edge of the middle plate 120 is provided with the first pulley 121 and the first traction rope 101 is wound on the first pulley 121, the part of the first traction rope 101 located below the middle plate 120 can be gradually transferred to the upper side of the middle plate 120 along the first pulley 121 and pull the lower plate 130 to extend forward, and the process of pulling the lower plate 130 to extend through the transfer of the first pulley 121 is labor-saving, and the abrasion between the first traction rope 101 and the middle plate 120 can be reduced; when the middle plate 120 of the telescopic unit 100 slides and retracts backward under the action of the driving force, the second traction rope 102 and the second pulley 122 are the same as the first traction rope 101 and the first pulley 121, and will not be described again.
In order to make the direction between two adjacent relatively slidable plates better in the sliding process, at least one guide rail 300 may be disposed between two adjacent relatively slidable plates, and the guide rail 300 may be disposed along the sliding direction of the relatively slidable plates, so that the relatively slidable plates slide along the guide rail.
One possible arrangement of the guide rail 300 is: one rail 300 may include an upper rail portion and a lower rail portion that are matched with each other, the upper rail portion being provided on a lower surface of a plate located at an upper layer among two adjacent relatively slidable plates, the lower rail portion being provided on an upper surface of a plate located at a lower layer among two adjacent relatively slidable plates, the upper rail portion and the lower rail portion being slidably connected to achieve a relative sliding between the two adjacent relatively slidable plates.
Further, in order to enable smoother sliding between the upper rail portion and the lower rail portion, rolling members, such as balls, may be provided between the upper rail portion and the lower rail portion to reduce friction between the upper rail portion and the lower rail portion.
In order to make the sliding between two adjacent plates capable of sliding relatively smoother and more reliable, and the directivity is better, two guide rails 300 can be arranged between two adjacent plates capable of sliding relatively, and the two guide rails 300 can be symmetrically arranged at two sides of the plates capable of sliding relatively, so that the plates capable of sliding relatively have more accurate directivity in the sliding process, and are more smooth and reliable. In other embodiments, the number of the guide rails may be set according to actual needs, which is not described herein.
In order to enable the food picking and placing device to accurately stop in a preset retraction state in the retraction process, thereby achieving the purpose of saving space, a stop component can be additionally arranged in the food picking and placing device, the stop component can comprise a detection structure 212 arranged on the fixed plate 210 and a stop block 222 arranged on a middle plate 220 below the fixed plate, and when the detection structure 212 detects that the stop block 222 returns to the preset position, the driving piece stops working so as to enable the food picking and placing device to stop retracting; the preset position is a position where the stop block 222 is located when the food picking and placing device is in a preset retracted state.
In particular, when the food picking and placing device stretches out and picks up food, the middle plate 220 below the fixed plate slides back and retracts under the action of the driving force, and drives the slidable plate below the middle plate 220 below the fixed plate to retract back until the detection structure 212 on the fixed plate 210 detects that the stop block 222 on the middle plate 220 below the fixed plate returns to the preset position, the driving member stops driving the middle plate 220 below the fixed plate, and at this time, the retraction of the food picking and placing device is completed.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (3)
1. The food taking and placing device is characterized by comprising at least four layers of plates which are arranged in a vertically stacked mode and can slide relatively, wherein any three adjacent plates form a telescopic unit from top to bottom; at least four layers of relatively slidable plates may form at least two of said telescoping units;
the telescopic unit is provided with an upper plate, a middle plate and a lower plate, a first traction rope and a second traction rope are connected between the upper plate and the lower plate, one end of the first traction rope is connected with the upper plate, the other end of the first traction rope is connected with the rear end of the lower plate, and the first traction rope bypasses the front edge of the middle plate; one end of the second traction rope is connected with the front end of the upper plate, the other end of the second traction rope is connected with the lower plate, and the second traction rope winds around the rear edge of the middle plate;
when the middle plate slides forwards under the driving force, the first traction rope is used for pulling the lower plate to extend forwards under the driving of the middle plate;
when the middle plate slides backwards under the driving force, the second traction rope is used for pulling the lower plate to retract backwards under the driving of the middle plate;
when the number of the telescopic units is at least two, the upper plate of the telescopic unit positioned at the uppermost end is a fixed plate;
the telescopic unit further comprises a first pulley arranged at the front edge of the middle plate and a second pulley arranged at the rear edge of the middle plate; the first traction rope is wound on the first pulley, and the second traction rope is wound on the second pulley;
the at least two telescopic units comprise a first telescopic unit and a second telescopic unit which are adjacent, wherein the middle plate of the first telescopic unit is formed into an upper plate of the second telescopic unit, and the lower plate of the first telescopic unit is formed into a middle plate of the second telescopic unit;
at least one guide rail is arranged between two adjacent plates capable of sliding relatively, and the guide rail is arranged along the sliding direction of the plates capable of sliding relatively so that the plates capable of sliding relatively can slide along the guide rail;
the device comprises a fixed plate, a middle plate, a driving piece, a stop assembly and a detection assembly, wherein the fixed plate is provided with a detection structure, the middle plate is provided with a stop block, the stop block is arranged on the middle plate below the fixed plate, and when the detection structure detects that the stop block returns to a preset position, the driving piece stops working;
the extending directions of the first traction rope and the second traction rope are parallel to the sliding direction of the middle plate;
the two first traction ropes are symmetrically distributed on two sides of the middle plate;
and/or the number of the second traction ropes is two, and the two second traction ropes are symmetrically distributed on two sides of the middle plate.
2. The food pick-and-place apparatus of claim 1 wherein said drive member is adapted to drive said middle plate beneath said fixed plate in sliding relation.
3. The food pick-and-place apparatus of claim 2 wherein said drive member comprises a motor disposed on said fixed plate, a gear disposed on an output shaft of said motor, and a rack disposed on said middle plate below said fixed plate, said rack being in engagement with said gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010492956.3A CN113753560B (en) | 2020-06-03 | 2020-06-03 | Food taking and placing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010492956.3A CN113753560B (en) | 2020-06-03 | 2020-06-03 | Food taking and placing device |
Publications (2)
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| CN204819565U (en) * | 2015-06-23 | 2015-12-02 | 东莞沁峰机器人有限公司 | Flexible arm of high -efficient multistage linkage |
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| CN113753560A (en) | 2021-12-07 |
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