CN112757328A - Clamping device and food making equipment - Google Patents
Clamping device and food making equipment Download PDFInfo
- Publication number
- CN112757328A CN112757328A CN202011565986.9A CN202011565986A CN112757328A CN 112757328 A CN112757328 A CN 112757328A CN 202011565986 A CN202011565986 A CN 202011565986A CN 112757328 A CN112757328 A CN 112757328A
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- plate
- clamping
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- fixed
- shaft
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- 235000013305 food Nutrition 0.000 title claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims description 33
- 238000003825 pressing Methods 0.000 claims description 11
- 238000002360 preparation method Methods 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000008878 coupling Effects 0.000 description 7
- 238000010168 coupling process Methods 0.000 description 7
- 238000005859 coupling reaction Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 210000003813 thumb Anatomy 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 235000015220 hamburgers Nutrition 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 235000013372 meat Nutrition 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 235000008429 bread Nutrition 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
- 230000003578 releasing effect Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a clamping device and food manufacturing equipment, wherein the clamping device comprises a clamping part and a driving assembly, the clamping part comprises a fixed shaft and a plurality of clamping jaws, each clamping jaw comprises paired hook plates, the hook plates are rotatably connected with the fixed shaft, each hook plate comprises a grabbing end, a puncture part for puncturing a material and a bearing surface which is connected with the puncture part and can bear the material are arranged on each grabbing end, the driving assembly drives the puncture part of each hook plate to rotate around the fixed shaft in an opposite direction or a reverse direction, the upper surfaces of the materials are grabbed by the hook plates rotating in the opposite direction or the reverse direction to clamp the materials, and the bearing surface bears the materials, so that the grabbing is firmer and more stable.
Description
Technical Field
The invention relates to the technical field of mechanical clamping jaws, in particular to a clamping device and food manufacturing equipment.
Background
Food preparation equipment needs to get the edible material to put each station, realizes snatching the action, needs an actuating mechanism. At present, clamping jaw mechanisms on the market generally only consider the clamping of food materials, and when clamping food materials, the clamping jaw mechanisms often cause the damage of food material structures, the food materials become soft and rotten, and the clamping process in which the food materials are easy to drop.
Disclosure of Invention
The invention aims to solve at least one technical problem in the prior art, and provides a clamping device which can be used for clamping materials, has small destructiveness in the materials and prevents the materials from falling off in the clamping process.
The invention also provides food preparation equipment comprising the clamping device.
According to an embodiment of the first aspect of the present invention, a clamping device is provided, which includes a clamping component and a driving component, the clamping component includes a fixed shaft and a plurality of clamping jaws, each clamping jaw includes paired hook plates, the hook plates are rotatably connected to the fixed shaft, each hook plate includes a grabbing end, the grabbing end is provided with a puncturing part for puncturing a material and a bearing surface connected to the puncturing part and capable of bearing the material, and the driving component drives the puncturing part of the hook plate to rotate around the fixed shaft in an opposite direction or a back direction.
Has the advantages that: this press from both sides and get device, get part and drive assembly including pressing from both sides, it includes dead axle and a plurality of clamping jaw to press from both sides the part of getting, each clamping jaw is including the board that colludes that sets up in pairs, collude the board and rotate with the dead axle and be connected, each colludes the board and is including snatching the end, snatch and serve and be provided with the puncture part that is used for piercing the material and link to each other and can the bearing surface of bearing material with the puncture part, the puncture part that the drive assembly drive colluded the board is around dead axle subtend or dorsad rotary motion, utilize subtend or dorsad rotatory board that colludes to snatch the upper surface of material and carry out the centre gripping material.
According to the clamping device in the embodiment of the first aspect of the invention, the bearing surface is an arc-shaped surface, and the rotation track of the arc-shaped surface is a circular ring with the axis of the fixed shaft as the center of a circle.
According to the gripping device of the embodiment of the first aspect of the invention, the distances between each point on the bearing surface and the axis of the fixed shaft are equal.
According to the clamping device provided by the embodiment of the first aspect of the invention, the hook plate further comprises a connecting end, one end of the connecting end is connected with the grabbing end, the other end of the connecting end is provided with a connecting hole, and the connecting hole is rotatably connected with the fixed shaft.
According to the clamping device provided by the embodiment of the first aspect of the invention, the driving assembly comprises a power source and two guide plates, the power source drives the two guide plates to move oppositely or oppositely, and power is transmitted to the clamping jaws through the two guide plates.
According to the clamping device in the embodiment of the first aspect of the present invention, the clamping component further includes two guide shafts, the two guide shafts are parallel to the fixed shaft, the two guide shafts are respectively located at two sides of the fixed shaft, the paired hook plates are respectively connected to one guide shaft, and the paired hook plates are respectively connected to different guide shafts.
According to the clamping device in the embodiment of the first aspect of the present invention, the clamping component further includes a limiting component and a fixing component, the hook plate is fixed on the guide shaft through the fixing component, the limiting component is installed on the fixed shaft, and the adjacent clamping jaws are limited by the limiting component.
According to the gripping device provided by the embodiment of the first aspect of the invention, the guide plate comprises two guide grooves which are arranged oppositely, and the guide shaft is located in the guide grooves and movably arranged along the guide grooves.
According to the clamping device, the driving assembly is arranged on the fixed part, the clamping part is connected with the fixed part through the locking mechanism, and the locking mechanism is provided with the manual unlocking part.
According to the clamping device of the embodiment of the first aspect of the present invention, the fixing component includes an upper fixing plate and a connecting arm, the driving assembly is fixed on the upper fixing plate, the connecting arm is disposed on the upper fixing plate, the clamping component includes a lower base plate and a connecting plate, the connecting plate is symmetrically disposed on the lower base plate, the connecting arm and the connecting plate are respectively connected by the locking mechanism, and the manual unlocking portion is disposed on at least one of the connecting plate and the connecting arm.
According to the clamping device provided by the embodiment of the first aspect of the invention, the locking mechanism comprises a buckle structure, and the manual unlocking part can act on the buckle structure to enable the buckle structure to release the clamping state.
According to the clamping device provided by the embodiment of the first aspect of the invention, the locking mechanism comprises a guide rod fixing plate, an elastic part, a pressing plate and a release shaft, the guide rod fixing plate is fixed with the connecting plate in a buckling mode, the release shaft is connected with the guide rod fixing plate, one end of the elastic part is installed on the release shaft, the other end of the elastic part is fixed on the pressing plate, the pressing plate is fixed on the connecting arm, and the part, protruding out of the locking mechanism, of the release shaft forms the manual unlocking part.
According to a second aspect embodiment of the invention, a food preparation device is provided, which comprises the clamping device as described in the first aspect embodiment.
Drawings
The invention is further described below with reference to the accompanying drawings and examples;
FIG. 1 is an overall perspective view of a grasping apparatus according to an embodiment of the present invention;
FIG. 2 is a perspective view of a securing member according to an embodiment of the present invention;
FIG. 3 is a schematic view of a snap-fit connection of a securing member and a gripping member in accordance with an embodiment of the present invention;
FIG. 4 is a perspective view of a gripping member according to an embodiment of the present invention;
FIG. 5 is an overall side view of the grasping apparatus according to the embodiment of the present invention;
FIG. 6 is a schematic plan view of a hook plate according to an embodiment of the present invention;
FIG. 7 shows a first embodiment of the support surface penetration trajectory of the present invention;
FIG. 8 shows a second embodiment of the invention with a support plane penetration trajectory.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1, according to an embodiment of the first aspect of the present invention, there is provided a clamping apparatus, including a driving assembly 100 and a clamping member 200, where the clamping member 200 includes a fixed shaft 220 and a plurality of clamping jaws 210, each clamping jaw 210 includes paired hook plates 211, the hook plates 211 are rotatably connected to the fixed shaft 220, each hook plate 211 includes a grabbing end 2111, the grabbing end 2111 is provided with a puncturing portion 21111 for puncturing a material and a supporting surface 21112 connected to the puncturing portion 21111 and capable of supporting the material, and the driving assembly 110 drives the puncturing portion 21111 of the hook plate 211 to rotate around the fixed shaft 220 in an opposite direction or a backward direction. The clamping device utilizes the hook plate 211 which rotates oppositely or reversely around the fixed shaft 220 to grab the upper surface of the material for clamping, and the material is supported by the supporting surface 21112, so that the grabbing is firmer and more stable.
It can be understood that the clamping device adopts an easy-to-separate design, is easy to disassemble and is convenient to clean. Specifically, referring to fig. 3, in some embodiments, the driving assembly 100 is disposed on the fixed part 300, the gripping part 200 is connected with the fixed part 300 through a locking mechanism 400, and the locking mechanism 400 is provided with a manual unlocking part. It is understood that, on the one hand, the grasping unit 200 and the fixing unit 300 are connected by the locking mechanism 400, which facilitates the detachment of the grasping unit 200 and the fixing unit 300 and the cleaning of the grasping unit 200, and on the other hand, the locking mechanism 400 can also transmit the bearing force.
Referring to fig. 2, the fixing member 300 includes an upper fixing plate 310, and connecting arms 320, the driving assembly 100 is fixed on the upper fixing plate 310, the connecting arms 320 are disposed on the upper fixing plate 310, and the connecting arms 320 are symmetrically disposed at both sides of the driving assembly 100. The upper fixing plate 310 integrally connects the entire grasping apparatus to an external mechanism, for example, an external robot arm or a linear module. Specifically, the upper fixing plate 310 has a circular shape, and the driving assembly 100 is mounted on a lower end surface of the upper fixing plate 310. The driving assembly 100 may be fixed to the upper fixing plate 310 by screws, thereby facilitating disassembly. One end of each of the two connecting arms 320 is fixed to the lower end surface of the upper fixing plate 310.
Referring to fig. 4, the gripping member 200 further includes a lower plate 260 and a coupling plate 270, the coupling plate 270 is symmetrically disposed on the lower plate 260, the coupling arm 320 and the coupling plate 270 are coupled by a locking mechanism 400, respectively, a manual unlocking portion is disposed on at least one of the coupling plate 270 and the coupling arm 320, and both ends of the fixed shaft 220 are fixed to the coupling arm 320. The lower base plate 260 and the upper fixing plate 310 are oppositely arranged at an upper and lower interval, one end of the connecting plate 270 is fixed on the upper end surface of the lower base plate 260, and the two connecting plates 270 correspond to the connecting arm 320. When the clamping device is installed, the connecting arm 320 and the connecting plate 270 are directly connected through the locking mechanism 400, namely, the driving assembly 100 and the clamping component 200 can be combined to form the clamping device, and the installation is very convenient.
It should be understood that the above-mentioned manual unlocking unit is a mechanism capable of unlocking the locked state between the connection plate 270 and the connection arm 320, and particularly, a mechanism capable of separating adjacent connection members only by manual operation, for example, the locking mechanism 400 is a snap structure, the manual unlocking unit is a pressing structure of the snap structure, the locking mechanism 400 is a thumb bolt, and the manual unlocking unit is a thumb structure of the thumb bolt. In this embodiment, the locking mechanism 400 is of a snap structure, and the manual unlocking portion is manually operated and acts on the snap structure to release the snap state of the snap structure, which is convenient and fast.
Referring to fig. 2 and 3, the locking mechanism 400 includes a guide bar fixing plate 410, an elastic member 420, a pressing plate 430, and a release shaft 440. Specifically, the guide rod fixing plate 410 is fastened and fixed to the connecting plate 270, the release shaft 440 is connected to the guide rod fixing plate 410, one end of the elastic member 420 is mounted on the release shaft 440, the other end of the elastic member 420 is fixed to the pressing plate 430, one end of the pressing plate 430 is fixed to the connecting arm 320 through a screw, the other end of the pressing plate 430 is suspended, and the release shaft 440 is pressed to separate the guide rod fixing plate 410 from the connecting plate 270, so that the fixing member 300 is separated from the locking mechanism 400. One end of the release shaft 440, which is far away from the pressure plate 430, passes through the end surface of the connecting arm 320 and extends out of the connecting arm 320 to form a manual unlocking part, so that the manual unlocking part is convenient to press.
Referring to fig. 3, specifically, a clamping groove is formed in the inner side of the top end of the connecting plate 270, a groove is formed in the outer side of the guide rod fixing plate 410, the top of the clamping groove of the connecting plate 270 is clamped with the groove of the guide rod fixing plate 410, the bottom of the groove of the guide rod fixing plate 410 is clamped with the clamping groove of the connecting plate 270, and the connecting plate 270 and the guide rod fixing plate 410 are hung and connected to realize quick fixing and detaching.
Specifically, in one embodiment, the locking mechanism 400 includes a guide bar securing plate 410, a spring, a pressure plate 430, and a release shaft 440. The release shaft 440 is connected to the guide fixing plate 410, the guide fixing plate 410 is connected to the grasping unit 200 by a pre-load applied to the guide fixing plate 410 by a spring, and the grasping unit 200 can be separated by pressing the release shafts 440 at both sides. The guide fixing plate 410 and the connecting plate 270 may be similar to a form of a hook, and the guide fixing plate 410 serves as a support for the connecting plate 270 and the entire grasping member 200.
Referring to fig. 2, the driving assembly 100 includes a power source 110 and two guide plates 120, the power source 110 drives the two guide plates 120 to move in opposite directions or in opposite directions, and transmits power to the clamping jaw 210 through the two guide plates 120, so that the two hook plates 211 of the clamping jaw 210 move in opposite directions or in opposite directions along with the guide plates 120 to perform clamping and releasing actions, and the food material is taken and placed at each station.
Specifically, the power source 110 is a clamping cylinder, further, the clamping cylinder is a bidirectional cylinder, the clamping cylinder is fixed on the upper fixing plate 310, two air pipe joints are arranged on the clamping cylinder, the air pipe joints are respectively installed at air inlet and outlet ports of the clamping cylinder, air sources of the two air pipe joints are respectively switched on and off, and two sliding blocks on the clamping cylinder can be controlled to move left and right in opposite directions or in opposite directions, so that the two guide plates 120 are driven to move left and right in opposite directions or in opposite directions, and the guide plates 120 transmit power of the clamping cylinder to the clamping part 200. The power source 110 adopts a clamping cylinder with a small cylinder diameter, so that the air consumption is low, almost no sound is generated when the power source is used, and the noise is low. Of course, it can be understood that, when the power source 110 is a clamping cylinder, the upper fixing plate 310 is provided with a notch, and the air pipe joint is located in the notch, so that the overall structure and appearance are better.
Of course, it is understood that power source 110 may also employ an electric motor. When the power source 110 adopts a motor, the output end of the motor is connected with the gear rack, the guide plates 120 are connected with the gear rack, the motor drives the gear to rotate, so as to drive the gear rack to move, and drive the two guide plates 120 to move left and right or back to back respectively, and the two guide plates 120 transmit power to the clamping part 200. Of course, when a motor is used, no air source is needed.
Referring to fig. 1, 2 and 4, in some embodiments, the grasping apparatus includes a driving assembly 100, a grasping unit 200, a fixing unit 300, a locking mechanism 400, and a sensing unit 500. The clamping component 200 comprises a fixed shaft 220 and a plurality of clamping jaws 210, each clamping jaw 210 comprises paired hook plates 211, the hook plates 211 are rotatably connected with the fixed shaft 220, each hook plate 211 comprises a grabbing end 2111, the grabbing end 2111 is provided with a puncturing part 21111 for puncturing materials and a bearing surface 21112 which is connected with the puncturing part 21111 and can bear the materials, the driving component 110 drives the puncturing part 21111 of the hook plate 211 to move around the fixed shaft 220 in opposite directions or in opposite directions, the sensing component 500 is fixed on a lower bottom plate 260 of the clamping component 200, and the sensing component 500 is used for controlling the clamping component 200 to clamp the materials and detecting the clamping state. When the clamping device reaches a position above the food material to be clamped, the sensing component 500 detects a distance signal and sends a signal to the driving component 100, and after the driving component 100 receives the signal, the puncturing part 21111 of the hook plate 211 is driven to puncture the surface of the material to perform clamping operation.
It is understood that the sensing part 500 includes a fixing base fixed to a central portion of the lower plate 260 of the grasping part 200, and a sensor fixed to the fixing base. The sensor is used to detect the distance between the lower plate 260 and the surface of the material. The fixing base screw is fixed on the lower base plate 260, and when the food material is grabbed by the grabbing device, the distance between the lower base plate 260 and the food material and the state in the grabbing process are detected through the sensor.
In the present embodiment, the sensor is a micro photoelectric sensor. When the clamping device reaches the position above the food material to be clamped, the micro photoelectric sensor sends a signal, and after the driving assembly 100 receives the signal, the puncturing part 21111 of the driving hook plate 211 is controlled to puncture the surface of the material to be clamped. Get the in-process of getting the edible material at the clamp, miniature photoelectric sensor can detect equally whether eating the material and drop, at the in-process of grabbing, greatly reduced the fault rate, improved the stability of equipment. Of course, it is understood that the micro-photoelectric sensor can be replaced by a mechanical micro-switch.
Referring to fig. 3, the gripping device includes a driving assembly 100 and a gripping member 200, and the gripping member 200 and the driving assembly 100 are designed to be easily separated. The gripping member 200 includes three gripping jaws 210, and each gripping jaw 210 includes two hook plates 211 symmetrically disposed. The two hook plates 211 of the clamping jaw 210 are symmetrically arranged, so that the clamping device is more stable when clamping materials. Of course, it is understood that the two hook plates 211 of the clamping jaw 210 may be disposed asymmetrically.
Referring to fig. 6, the hook plate 211 includes a catching end 2111 and a connecting end 2112, the catching end 2111 is provided with a puncturing portion 21111 for puncturing the material and a supporting surface 21112 connected to the puncturing portion 21111 and capable of supporting the food, one end of the connecting end 2112 is connected to the catching end 2111, the other end of the connecting end 2112 is provided with a connecting hole 21121, and the fixed shaft 220 is rotatably connected to the connecting hole 21121. Specifically, the bearing surface 21112 is an arc-shaped surface, and the rotation locus of the arc-shaped surface is a circular ring with the axis of the fixed shaft as the center of circle.
It can be understood that the distances between each point on the bearing surface 21112 and the axis of the connection hole 21121 are equal, and the bearing surface 21112 of the hook plate 211 adopts an inner arc structure design, so that the grabbing is firmer. The hook plates 211 are clamped in a radian manner, and the puncturing parts 21111 penetrate the surface of the material along an arc-shaped track, particularly towards the surface of the main body part of the clamping device, so that the hook plates 211 can clamp the material. Compared with the mode of clamping food materials and materials from the side and the side edge, the clamping device has the advantages that the occupied transverse space is smaller. For this purpose, the gripper device can be designed smaller.
Referring to fig. 4, the gripping member 200 includes a gripping jaw 210, a fixed shaft 220, and two guide shafts 230. Wherein, two guiding axles 230 are parallel with dead axle 220, and two guiding axles 230 are located dead axle 220 both sides respectively, and the fixed setting in connecting plate 270 is gone up at dead axle 220 both ends, and the board 211 that colludes that sets up in pairs is connected with a guiding axle 230 respectively, and the board 211 that colludes that sets up in pairs connects respectively on different guiding axles 230, and colludes the board 211 and rotate respectively and connect on dead axle 220.
Referring to fig. 5 and 6, the hook plate 211 includes a catching end 2111, a connecting end 2112, and a connecting portion, one end of the connecting end 2112 being connected to the connecting portion, and the other end of the connecting plate 2112 being connected to the catching end 2111. The end of the connecting portion remote from the connecting hole 21121 is provided with a circular hole. The two guide shafts 230 pass through the circular holes of the connecting portions, respectively, and the fixed shaft 220 passes through the connecting hole 21121. The bearing surface 21112 forms an arc a, which is an arc formed with the center of the connection hole 21121 as the center. In practical use, the power is transmitted through the circular hole of the connecting portion, i.e., the guide shaft 230, so that the supporting surface 21112 rotates around the center of the connecting hole 21121 to grab the food.
Referring to fig. 6, the supporting surface 21112 is an arc surface with the connecting hole 21112 as a circle center, when the supporting surface 21112 penetrates into the upper surface of the food material, the movement trajectories thereof are substantially consistent, as shown by an arrow a in fig. 7, the penetrating part 21111 of the hook plate 211 is inserted into the food material to be grabbed according to the arc trajectory, so that the trajectory of the supporting surface 21112 inside the food material is a relatively smooth arc, the destructiveness of the supporting surface 21112 on the inside of the food material is relatively small, the insertion opening of the food material is controlled to be as small as possible, the appearance of the food material is not affected, and especially, the depth of the hook plate 211 entering the food material is relatively shallow.
Of course, if the support surface 21112 is designed to be a plane or an arc with a larger radian, a situation of a middle arrow B as shown in fig. 8 may occur, at this time, a track formed by the support surface 21112 in the food material is a shadow portion, and during the grabbing, the inner side of the support surface 21112 may press the food material, which may cause the structure of the food material contacting the inner side of the hook plate 211 to be damaged, the inner side of the food material to be softened or rotted, and the food material may easily fall off.
Referring to fig. 5, in an initial state, a nip formed by two hook plates 211 of the clamping jaw 210 is larger than the width of the lower base plate 260, and the hook plates 211 are located above the lower base plate 260; when the food material is picked up, the puncturing parts 21111 of the hook plate 211 extend downwards from both sides of the lower base plate 260, and the puncturing parts 21111 penetrate the surface of the material to pick up the food material. When the food material is loosened by the clamping device, the hook plate 211 is retracted from both sides, and the lower bottom plate 260 ejects the food material, so that the food material is prevented from being stuck on the hook plate 211. Of course, it is understood that the two hook plates 211 of the clamping jaw 210 can also pass through the through holes to the lower bottom surface of the lower base plate 260 by providing the through holes on the lower base plate 260.
Referring to fig. 2, the driving assembly 100 includes a power source 110 and two guide plates 120. The guide plate 120 includes two guide grooves 130 disposed to face each other, and the guide plate 120 transmits power generated by the power source 110 to the gripping member 200 through the guide grooves 130. Specifically, the guide plate 120 includes a connecting plate connected to the clamping cylinder, a top plate connected to the connecting plate, and side plates located on two sides of the top plate, two guide grooves 130 are formed in two side plates of the guide plate 120, the guide grooves 130 are perpendicular to the top plate, and the two guide shafts 230 are respectively clamped in the guide grooves 130. When the clamping cylinder drives the two guide plates 120 to slide left and right, the puncturing part 21111 of the hook plate 211 is pushed to puncture the surface of the material or loosen the material, so as to perform clamping operation. It is understood that one end of the guide groove 130 is opened, and the two guide shafts 230 can be quickly mounted in the guide groove 130 through the opening.
Referring to fig. 4, the gripping member 200 includes a gripping jaw 210, a fixed shaft 220, two guide shafts 230, a limiting member 240 and a fixing member 250, the hook plate 211 is fixed to the guide shafts 230 by the fixing member 250, the limiting member 240 is mounted on the fixed shaft 220, and adjacent gripping jaws 210 are limited by the limiting member 240. Specifically, in the present embodiment, the position limiting member 240 is a bushing, and the fixing member 250 is a cotter pin. The connecting plate of the hook plate 211 is fixed to the guide shaft 230 through a split pin, and is more stable and less prone to falling off relative to the clamp spring, so that the split pin does not fall into food to bring about food safety. The guide shaft 230 slides in the guide groove 130, and drives the hook plate 211 in a counter direction, and the hook plate 211 rotates in a counter direction around the fixed shaft 220. The shaft sleeves are installed on the fixed shaft 220, and an interval for installing the connection hole 21121 of the hook plate 211 is formed between the adjacent shaft sleeves. The sleeve restricts the movement of the hook plate 211.
The clamping device comprises a driving component 100, a clamping component 200, a fixing component 300 and a locking mechanism 400, wherein the clamping component 200 comprises a fixed shaft 220 and a plurality of clamping jaws 210, each clamping jaw 210 comprises hook plates 211 arranged in pairs, the hook plates 211 are rotatably connected with the fixed shaft 220, each hook plate 211 comprises a grabbing end 2111, a puncturing part 21111 used for puncturing materials and a bearing surface 21112 which is connected with the puncturing part 21111 and can bear the materials are arranged on the grabbing end 2111, the driving component 100 drives the puncturing part 21111 of the hook plate 210 to move oppositely or reversely around the fixed shaft 220, the upper surface of the materials are grabbed by the hook plates 210 rotating oppositely to clamp the materials, the driving component 100 is fixed on the fixing component 300, the clamping component 200 and the fixing component 300 are connected through the locking mechanism 400, the locking mechanism 400 is designed to be easy to separate, the clamping component 200 and the driving component 100 are convenient to detach, and the cleaning is convenient.
The food preparation equipment comprises the clamping device of the first aspect, the clamping device can utilize the hook plates which rotate oppositely or reversely to grab the upper surface of a material to clamp the material, and the clamping device is convenient to disassemble and clean.
In one particular embodiment, the food preparation device is a hamburger machine. In hamburger automated production process, press from both sides and get the device and can be used for snatching that bread, meat pie, meat are taken off the edible material that has certain thickness and get the zone of heating or press from both sides from the zone of heating and get the belt line on, press from both sides and get the device and dismantle conveniently, be convenient for wash.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (13)
1. Get device with pressing from both sides, its characterized in that includes:
the clamping device comprises a clamping part and a clamping mechanism, wherein the clamping part comprises a fixed shaft and a plurality of clamping jaws, each clamping jaw comprises hook plates which are arranged in pairs, the hook plates are rotatably connected with the fixed shaft, each hook plate comprises a grabbing end, and a puncture part for puncturing materials and a bearing surface which is connected with the puncture part and can bear the materials are arranged on each grabbing end; and
and the driving component drives the puncture part of the hook plate to rotate around the fixed shaft in the opposite direction or in the opposite direction.
2. The grasping apparatus according to claim 1, characterized in that: the bearing surface is an arc-shaped surface, and the rotating track of the arc-shaped surface is a circular ring taking the axis of the fixed shaft as the center of a circle.
3. The grasping apparatus according to claim 1, characterized in that: and the distances from each point on the bearing surface to the axle center of the fixed shaft are equal.
4. The grasping apparatus according to claim 1, characterized in that: the hook plate further comprises a connecting end, one end of the connecting end is connected with the grabbing end, a connecting hole is formed in the other end of the connecting end, and the connecting hole is rotatably connected with the fixed shaft.
5. The grasping apparatus according to claim 1, characterized in that: the driving assembly comprises a power source and two guide plates, the power source drives the two guide plates to move oppositely or oppositely, and power is transmitted to the clamping jaw through the two guide plates.
6. The grasping apparatus according to claim 5, characterized in that: the clamping component further comprises two guide shafts, the two guide shafts are parallel to the fixed shaft, the two guide shafts are respectively located on two sides of the fixed shaft, the paired hook plates are respectively connected with one guide shaft, and the paired hook plates are respectively connected to different guide shafts.
7. The grasping apparatus according to claim 6, characterized in that: the clamping component further comprises a limiting part and a fixing part, the hook plate is fixed to the guide shaft through the fixing part, the limiting part is installed on the fixed shaft, and the clamping jaw is adjacent to the limiting part and arranged in a limiting mode.
8. The grasping apparatus according to claim 6, characterized in that: the guide plate comprises two guide grooves which are oppositely arranged, and the guide shaft is positioned in the guide grooves and movably arranged along the guide grooves.
9. The gripping device according to any one of claims 1 to 8, wherein: the driving assembly is arranged on the fixed part, the clamping part is connected with the fixed part through a locking mechanism, and the locking mechanism is provided with a manual unlocking part.
10. The grasping apparatus according to claim 9, characterized in that: the fixing part comprises an upper fixing plate and a connecting arm, the driving assembly is fixed on the upper fixing plate, the connecting arm is arranged on the upper fixing plate, the clamping part further comprises a lower bottom plate and a connecting plate, the connecting plate is arranged on the lower bottom plate, the connecting arm and the connecting plate are respectively connected through a locking mechanism, and a manual unlocking part is arranged on the connecting plate and on at least one of the connecting arms.
11. The grasping device according to claim 10; the locking mechanism comprises a buckle structure, and the manual unlocking part can act on the buckle structure to enable the buckle structure to release the clamping state.
12. The grasping device according to claim 11; locking mechanical system includes guide arm fixed plate, elastic component, clamp plate and release shaft, the guide arm fixed plate with the connecting plate buckle is connected, the release shaft with the guide arm fixed plate links to each other, elastic component one end is installed on the release shaft, the elastic component other end is fixed on the clamp plate, the clamp plate is fixed on the linking arm, the release shaft is protruding to be in locking mechanical system's part forms manual unlocking part.
13. Food preparation equipment, its characterized in that: comprising a gripping device according to any one of claims 1 to 12.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011565986.9A CN112757328B (en) | 2020-12-25 | 2020-12-25 | Clamping device and food making equipment |
| PCT/CN2021/096204 WO2022134460A1 (en) | 2020-12-25 | 2021-05-27 | Gripping device and food making apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011565986.9A CN112757328B (en) | 2020-12-25 | 2020-12-25 | Clamping device and food making equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112757328A true CN112757328A (en) | 2021-05-07 |
| CN112757328B CN112757328B (en) | 2022-10-28 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011565986.9A Expired - Fee Related CN112757328B (en) | 2020-12-25 | 2020-12-25 | Clamping device and food making equipment |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN112757328B (en) |
| WO (1) | WO2022134460A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113246127A (en) * | 2021-05-20 | 2021-08-13 | 桂林电子科技大学 | Underwater pipeline inspection cleaning robot |
| CN113753356A (en) * | 2021-09-01 | 2021-12-07 | 安丘博阳机械制造有限公司 | A bag cutting machine |
| WO2022134460A1 (en) * | 2020-12-25 | 2022-06-30 | 广东智源机器人科技有限公司 | Gripping device and food making apparatus |
| CN115771710A (en) * | 2021-09-06 | 2023-03-10 | 中国石油天然气集团有限公司 | A pipeline handling device |
| CN117383245B (en) * | 2023-12-12 | 2024-03-08 | 河南科技学院 | Clamping device and method for square meat in pig carcass strip |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115723162A (en) * | 2022-12-04 | 2023-03-03 | 中国科学院合肥物质科学研究院 | Tail end quick-change combined joint manipulator for subpackaging dishes |
| CN118024305B (en) * | 2024-04-11 | 2024-07-26 | 吉林农业科技学院 | A loading manipulator for agricultural foreign trade items |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN112757328B (en) | 2022-10-28 |
| WO2022134460A1 (en) | 2022-06-30 |
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