CN103753592A - Circular truncated cone chocolate clamping mechanical arm - Google Patents

Abstract

The invention discloses a round table chocolate clamping manipulator, which mainly includes a frame, a stepping motor, a transmission device, a rotating spindle, a cam disc, a fixed tong hand and a moving tongs hand, the stepping motor is fixed under the frame and passed through The transmission device is connected with the rotating main shaft. The rotating main shaft is vertically placed on the frame through a pair of bearings. The fixed tong hand is fixedly connected to the rotating main shaft. Connected with a tension spring, the moving pliers hand is provided with an arc top block, which keeps in contact with the outer contour of the cam disc, and the relative positions of the moving pliers hand and the fixed pliers hand are provided with half-tapered jaws, The cam disc is fixed on a mounting bracket. The present invention can provide self-adaptive clamping force for the round table chocolate, which can prevent the chocolate from being damaged while ensuring that the chocolate does not fall; the cam mechanism is used to control the opening and closing of the manipulator, which not only simplifies the structure but also makes the manipulator operate at high frequency Improved fluidity of movement.

Description

A round table chocolate clamping manipulator

technical field

The invention relates to a manipulator device, in particular to a round table chocolate clamping manipulator.

Background technique

There are various shapes of chocolates on the market at present, which lead to more and more stringent requirements on the corresponding equipment on the chocolate production line. For example, indexing manipulators are often used in chocolate production lines to transfer chocolate between different stations. Generally, they can be divided into two types: adsorption type and clamping type. The adsorption type is usually air pressure adsorption. Such manipulators only It is suitable for chocolates with regular surface shapes, and it is very limited for workshops with strict noise control; for complex shapes of chocolates, many traditional clamping manipulators are difficult to meet the demand, so that chocolates often fall during the transfer process. drop or damage.

Contents of the invention

In order to solve the above technical problems, the present invention provides a round table chocolate clamping robot, which can hold and transfer round table chocolates with irregular shapes, and ensure that the chocolates will not fall or be damaged. the

The purpose of the present invention is specifically achieved through the following technical solutions:

A round table chocolate clamping manipulator mainly includes a frame, a stepping motor, a transmission device, a rotating spindle, a cam disc, a fixed tong hand and a moving tongs hand. The main shaft is connected. The transmission device includes a small pulley on the motor shaft, a large pulley on the rotating main shaft and a synchronous belt. The rotating main shaft is vertically placed on the frame through a pair of bearings. The fixed clamp hand and the rotating main shaft Fixed connection, the moving pliers hand is movably connected with the fixed pliers hand and a tension spring is connected between the two, the moving pliers hand is provided with an arc top block, and the arc top block keeps in contact with the outer contour of the cam disc. A half-tapered jaw is provided at the relative position of the movable tong hand and the fixed tong hand, and the cam disc is fixed on a mounting frame, and the mounting frame is fixed above the frame and straddles both sides of the manipulator.

There are six fixed tong hands evenly distributed along the circumference of a disc, the fixed tong hands are integrally formed with the disc, and six movable tong hands are correspondingly arranged, and each movable tong hand is connected to the disc through a pin shaft. Disc connection.

A layer of flexible body is provided on the surface of the semi-tapered jaws.

The disc is connected with the rotating main shaft through a flat key and fastened with a round nut.

The present invention is a mechanical handpiece for clamping chocolate on a round table. The manipulator can provide an adaptive clamping force to the chocolate on the round table through the extension springs arranged at the fixed tong hand and the moving tong hand, so as to ensure that the chocolate does not fall and at the same time The chocolate is prevented from being damaged; the opening and closing of the manipulator is controlled by a cam mechanism, which not only simplifies the structure but also improves the fluency of the manipulator when it operates at high frequency.

Description of drawings

The present invention will be described in further detail below according to the drawings and embodiments.

Fig. 1 is the structural representation of a kind of round platform chocolate clamping mechanical mobile phone of the present invention;

Fig. 2 is a view along A-A direction in Fig. 1 .

In the figure: 1-frame; 2-stepping motor; 3-small pulley; 4-synchronous belt; 5-large pulley; 6-moving pliers; 7-pin shaft; - cam disc; 10 - mounting frame; 11 - rotating main shaft; 12 - disc; 13 - extension spring; 14 - fixed pliers hand; 15 - bearing;

Detailed ways

As shown in Fig. 1-2, a kind of round table chocolate clamping manipulator described in the embodiment of the present invention mainly comprises frame 1, stepper motor 2, transmission device, rotating main shaft 11, cam disc 9, fixed tong hand 14 and Moving pliers hand 6, stepper motor 2 is fixed on the frame 1 below by a base and links to each other with rotating main shaft 11 by transmission device, and transmission device comprises small pulley 3 on the motor shaft, large belt pulley 5 on the rotating main shaft 11 and The timing belt 4 and the rotating main shaft 11 are vertically placed on the frame 1 through a pair of bearings 15. The fixed tong hand 14 is fixedly connected to the rotating main shaft 11, and the moving tong hand 6 is movably connected to the fixed tong hand 14 with a connection between the two. Extension spring 13, the movable pliers hand 6 is provided with an arc top block 8, the arc top block 8 keeps in contact with the outer contour of the cam disc 9, and the arc top block 8 swings regularly according to the shape of the cam disc 9 outer contour, and then To control the opening and closing of the manipulator, a half-tapered jaw 16 is provided at the relative position of the moving pincer hand 6 and the fixed pincer hand 14, and the cam disc 9 is fixed on a mounting frame 10, and the mounting frame 10 is fixed on the top of the frame 1 and Across the sides of the manipulator.

There are six fixed tong hands 14 evenly distributed along the circumference of a disc 12, the fixed tong hands 14 and the disc 12 are integrally formed, and six movable tong hands 6 are correspondingly arranged, and each movable tong hand 6 passes through a pin The shaft 7 is connected to the disc 12 .

A layer of flexible body 17 is provided on the surface of the semi-tapered jaws 16 to prevent the chocolate from being damaged by the hard jaws.

Disc 12 is connected with rotating main shaft 11 by a flat key, and is fastened with a round nut.

Finally, it should be noted that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, they can still adjust the technical solutions described in the foregoing embodiments. , or equivalent replacement of some of the technical features, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (4)

1. A round table chocolate clamping manipulator is characterized in that: it mainly includes a frame, a stepping motor, a transmission device, a rotating main shaft, a cam disc, a fixed tong hand and a moving tongs hand, and the stepping motor is fixed below the frame It is connected with the rotating main shaft through a transmission device, the transmission device includes a small pulley on the motor shaft, a large pulley on the rotating main shaft and a synchronous belt, and the rotating main shaft is vertically placed on the frame through a pair of bearings. The fixed tong hand is fixedly connected with the rotating main shaft, the movable tong hand is connected with the fixed tong hand and a tension spring is connected between the two, the moving tong hand is provided with an arc top block, and the arc top block is connected to the outer surface of the cam disc. The contours are kept in contact, and the relative positions of the movable tong hand and the fixed tong hand are provided with a half-tapered jaw, and the cam disc is fixed on a mounting frame, which is fixed above the frame and straddles the on both sides of the manipulator. 2. A round table chocolate gripping manipulator according to claim 1, characterized in that: there are six fixed pincers evenly distributed along the circumference of a disc, and the fixed pincers are integrally formed with the disc, and the There are six movable pliers arranged correspondingly, and each movable pliers is connected with the disk through a pin shaft. 3. A round table chocolate gripping manipulator according to claim 1 or 2, characterized in that: the surface of the semi-conical jaw is provided with a layer of flexible body. 4. A round table chocolate gripping manipulator according to claim 3, characterized in that: said disc is connected with the rotating main shaft through a flat key, and fastened with a round nut.

Images