CN111055302A

CN111055302A - Mechanical finger assembly

Info

Publication number: CN111055302A
Application number: CN201911337207.7A
Authority: CN
Inventors: 李开亮; 曹阳
Original assignee: Shandong Ecolovo Intelligent Machinery Equipment Co ltd
Current assignee: Nanjing Shennong Intelligent Equipment Co., Ltd
Priority date: 2019-12-23
Filing date: 2019-12-23
Publication date: 2020-04-24

Abstract

The utility model provides a mechanical finger assembly, includes centre gripping subassembly (1) and supporting component (2), centre gripping subassembly (1) includes that a plurality of presses the claw, the pressure claw of centre gripping subassembly (1) is in the same place with supporting component (2) swing joint, supporting component (2) include two sets of supporting shoe (21), and are two sets of supporting shoe (21) are located centre gripping subassembly (1) both sides respectively, and are two sets of be equipped with the bearing platform between supporting shoe (21), the bearing platform height is less than presses the claw height, supporting component (2) lower part elastic connection has telescopic machanism (3), telescopic machanism (3) link to each other with centre gripping subassembly (1) lower extreme, telescopic machanism (3) bottom still is equipped with the removal portion, the removal portion can be followed fixed orbit and removed. The mechanical finger assembly can automatically correct deviation and fix the poultry gizzard, reduces the poultry gizzard devitalization rate, and simultaneously replaces manual holding to open the gizzard, so that the danger coefficient is greatly reduced, the working efficiency is improved, and the labor force of workers is reduced.

Description

Mechanical finger assembly

Technical Field

The invention relates to the technical field of mechanical fingers, in particular to a mechanical finger assembly for automatically correcting deviation and fixing poultry gizzards.

Background

The inner wall of the poultry gizzards such as chicken gizzards and duck gizzards is provided with a layer of yellow gastric mucosa, commonly called yellow skin, which is inedible and generally needs to be scraped. At present, on a workshop production line, the middle of the poultry gizzard is generally cut open by using a cutter, and then the yellow skin is scraped. However, the poultry gizzard opening and the yellow skin scraping post need more operators, the processing is time-consuming and labor-consuming, and the labor cost is extremely high. Moreover, the mode of manually scraping the gizzard surface yellow skin by a large number of operators still occupies a large part of space of a workshop, so that space waste is caused.

Although some devices capable of removing the yellow skin through automatic grinding are available on the market at present, most of the openings of the gizzards are finished by manual holding, and the danger coefficient is high. And the biggest drawback of artifical open poultry gizzard still lies in can't accomplish completely placed in the middle, and is very easy to open partially to influence the operation of scraping of yellow skin behind.

The mechanical finger that uses in the mill now generally is fixed, goes to take fixed size's thing through opening certain angle, and to not unidimensional article, for example the automatic correction of not equidimensional duck gizzard lacks relevant technique.

Disclosure of Invention

In order to solve the problems that the poultry gizzard opening cannot be completely centered, the artificial gizzard opening danger coefficient is high, and the efficiency is low, the invention provides the mechanical finger assembly which can automatically rectify deviation and fix the poultry gizzard, reduce the poultry gizzard opening deviation rate, and replace the artificial hand-held gizzard opening, so that the danger coefficient is greatly reduced, the working efficiency is improved, and the labor force of workers is reduced.

The technical scheme of the invention is as follows:

the utility model provides a mechanical finger assembly, includes centre gripping subassembly and supporting component, the centre gripping subassembly includes that a plurality of presses the claw for fixed article, the pressure claw of centre gripping subassembly is in the same place with supporting component swing joint, the centre gripping subassembly can open and shut the motion relatively the supporting component, the supporting component includes two sets of supporting shoes at least, and is two sets of the supporting shoe is located the centre gripping subassembly both sides respectively, and is two sets of be equipped with the bearing platform between the supporting shoe, the bearing platform height is less than the pressure claw height, the pressure claw can be followed both sides supporting block length direction and opened and shut the motion to fix article on the bearing platform. The supporting component lower part elastic connection has telescopic machanism, telescopic machanism links to each other with the centre gripping subassembly lower extreme, telescopic machanism bottom still is equipped with the removal portion, the removal portion can move along fixed orbit, and when the removal portion met different obstacles and carries out the up-and-down motion, telescopic machanism promoted the centre gripping subassembly and carries out synchronous up-and-down motion to realize pressing the action of opening and shutting of claw.

Furthermore, the clamping assembly comprises a pushing block and a plurality of pressing claws, the pressing claws are hinged to the pushing block, and the pushing block is connected with the telescopic mechanism.

Furthermore, a plurality of rotating shafts are connected between the two groups of supporting blocks, the rotating shafts are located outside the pressing claws, and the pressing claws are connected with the rotating shafts through connecting blocks. Therefore, the pushing block, the pressing claw, the connecting block and the rotating shaft form a connecting rod mechanism, so that the pressing claw can realize opening and closing actions according to a certain trajectory line.

According to the mechanical finger assembly, the clamping component comprises four pressing claws, connecting blocks are hinged between the front pressing claw and the rear pressing claw in the length direction of the supporting block respectively, and the other ends of the connecting blocks penetrate through the rotating shaft. The two pressing claws at the front part or the rear part are simultaneously controlled to act through a connecting block. Preferably, the four pressing claws have the same length and can simultaneously perform opening and closing actions under the driving of the connecting block.

According to the mechanical finger assembly, the outer side of the supporting block is provided with the plurality of spacer bushes and the first roller, the spacer bushes are sleeved on the rotating shaft, and the outer side of the spacer bushes is provided with the first roller. Through a plurality of first gyro wheels in two sets of supporting shoes outsides, can be convenient be connected this mechanical finger assembly and production line and use to keep the stability of mechanical finger assembly, can not crooked.

In the mechanical finger assembly, the inner area of the pressing claw is smaller than the outer area. The clamp can be better suitable for the poultry gizzards and other articles with large middle parts and small outer sides, and is convenient for clamping the poultry gizzards or other articles. Meanwhile, when the pressing claw is tightened inwards from an open state, the inner side of the pressing claw can also perform push-pull action on the pressing claw through different contact sequences of the pressing claw and the poultry gizzard and other articles so as to correct the position of the pressing claw. For example, after the poultry gizzard is placed on a supporting platform between two groups of supporting blocks, the inner side of the pressing claw deviated to the side is certainly contacted with the poultry gizzard firstly, and at the moment, other pressing claws are not contacted with the poultry gizzard yet, so the poultry gizzard at the moment can continuously receive the pushing force of the pressing claw deviated to the side and is pushed towards the opposite direction. In a similar way, after the second pressing claw is contacted with the poultry gizzard, the poultry gizzard can be simultaneously under the action of the two pressing claws and moves towards the opposite side until the poultry gizzard moves to the middle position, and the four pressing claws can clamp the poultry gizzard until the aim of automatically correcting the position of the poultry gizzard is fulfilled.

As above mechanical finger assembly, supporting shoe upper portion is connected with movable seat and top board, the movable seat is equipped with the bracket towards pressing claw one side, the bracket height is less than presses the inboard height of claw for place article such as birds gizzard, the top board is located movable seat upper portion. Preferably, bracket width between the both sides supporting shoe is less than half of centre gripping subassembly width, remains certain clearance between two brackets, makes things convenient for the staff to find the intermediate position of centre gripping subassembly fast and places article such as birds gizzard, makes the intermediate position of article such as birds gizzard fall this clearance naturally simultaneously in, makes things convenient for the execution of automatic gizzard technology of opening afterwards.

Preferably, centre gripping subassembly and supporting component adopt materials such as nylon, plastics to avoid causing the harm to article such as the birds gizzard of placing on the bracket.

Furthermore, the lower part of the supporting block is also connected with an external connecting plate, the external connecting plate is made of hard materials such as steel plates and the like, and is provided with a connecting hole for connecting with a production line. The outer connecting plate is used as an external connecting piece of the supporting component, so that the abrasion of the supporting block can be effectively reduced, and the service life of the supporting component can be prolonged.

As above mechanical finger assembly, telescopic machanism includes base, a plurality of telescopic shaft and elastic component, telescopic shaft and elastic component one end link to each other with the base, and the other end penetrates inside the supporting component. The supporting component comprises a supporting block and a movable seat, and a corresponding telescopic shaft hole and an elastic part hole are formed in the supporting block and the movable seat. The telescopic shaft is used as a connecting piece of the telescopic mechanism and the supporting component and can move up and down in the supporting component. Preferably, the length of the telescopic shaft is greater than the height of the support component, so that the support component and the telescopic mechanism keep a proper distance.

Furthermore, a second roller is arranged at the lower part of the base and used for moving the mechanical finger assembly on the assembly line. And a roller shaft penetrates through the middle of the second roller, roller connecting plates are assembled on two sides of the roller shaft, and the second roller is connected with the base through the roller connecting plates.

Compared with the prior art, the invention has the advantages that:

1. the mechanical finger assembly provided by the invention can realize automatic deviation correction and poultry gizzard fixation, reduces the poultry gizzard deviation rate, fills the market blank that the existing mechanical finger cannot automatically correct poultry gizzard products, and provides important help for the development of automatic production lines of poultry gizzard products in future.

2. The mechanical finger assembly replaces manual gizzard opening by manual holding, and adopts mechanized production, so that the risk coefficient is greatly reduced, the working efficiency is improved, and the labor force of workers is reduced.

3. The mechanical finger assembly is compact in overall structure, convenient to manufacture, convenient to use in cooperation with a production line and beneficial to popularization and use in the industry.

Drawings

The aspects and advantages of the present application will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention.

In the drawings:

FIG. 1 is an isometric view of a robot finger assembly of embodiment 1;

FIG. 2 is a side view of FIG. 1;

FIG. 3 is a top view of FIG. 1;

FIG. 4 is an elevational cross-sectional view of the position of the robot finger assembly gripping assembly;

FIG. 5 is an elevational cross-sectional view of the position of the robot finger assembly support assembly;

FIG. 6 is a side view of the dolly;

FIG. 7 is a front view of the movable seat;

the components represented by the reference numerals in the figures are:

1. the clamping component 11, the first pressure claw 111, the inner arc plate 112, the outer arc plate 12, the second pressure claw 13, the third pressure claw 14, the fourth pressure claw 15, the connecting block 16, the pushing block 17, the first pin shaft 18, the second pin shaft 2, the supporting component 21, the supporting block 22, the movable seat 221, the bracket 23, the upper pressing block 3, the telescoping mechanism 31, the base 32, the telescoping shaft 33, the spring 34, the second roller 35, the roller connecting plate 36, the roller shaft 4, the rotating shaft 5, the spacer bush 6, the first roller 7, the outer connecting plate.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. It should be noted that these embodiments are provided so that this disclosure can be more completely understood and fully conveyed to those skilled in the art, and the present disclosure may be implemented in various forms without being limited to the embodiments set forth herein.

The references to "front", "rear", "left", "right", etc. in this invention are intended to convey relative positional relationships only, and are not intended to be limited by any particular directional reference in actual practice, and therefore should not be construed as limiting the present invention.

Example 1

Referring to fig. 1-4, fig. 1-4 are schematic structural diagrams of the mechanical finger assembly of this embodiment, including clamping component 1, supporting component 2 and telescopic mechanism 3, clamping component 1 includes four pressure claws for fixed article, and this embodiment takes the duck gizzard as an example, fixes the duck gizzard through the pressure claw of clamping component 1. The clamping component 1 is movably connected with the supporting component 2 through pressing claws, the clamping component 1 can move in an opening and closing mode relative to the supporting component 2, the supporting component 2 comprises two groups of supporting blocks 21, the two groups of supporting blocks 21 are respectively located on two sides of the clamping component 1, a bearing platform is arranged between the two groups of supporting blocks 21, the height of the bearing platform is lower than that of the pressing claws, the pressing claws can move in an opening and closing mode along the length direction of the supporting blocks 21 on the two sides, and articles are fixed on the bearing platform. The lower part of the supporting component 2 is elastically connected with a telescopic mechanism 3, the telescopic mechanism 3 is connected with the lower end of the clamping component 1, the bottom of the telescopic mechanism 3 is further provided with a roller, the roller can move along a fixed track, and when the roller encounters different obstacles to move up and down, the telescopic mechanism 3 pushes the clamping component 1 to move up and down synchronously, so that the opening and closing actions of the pressing claw are realized.

In the present embodiment, the clamping assembly 1 includes four pressing claws, namely a first pressing claw 11 at the upper right, a second pressing claw 12 at the lower right, a third pressing claw 13 at the upper left, and a fourth pressing claw 14 at the lower left, a connecting block 15, and a pushing block 16, as shown in fig. 1. The connecting blocks 15 comprise two connecting blocks, one connecting block 15 is hinged between the first pressing claw 11 and the second pressing claw 12 through a first pin shaft 17, the other connecting block 15 is hinged between the third pressing claw 13 and the fourth pressing claw 14 through the first pin shaft 17, and therefore the two front or rear pressing claws can be controlled to act simultaneously through the one connecting block 15. Preferably, the four pressing claws have the same length, and can simultaneously perform opening and closing actions under the driving of the connecting block 15.

Further, the lower ends of the first pressing claw 11, the second pressing claw 12, the third pressing claw 13 and the fourth pressing claw 14 are respectively hinged at the upper end of the pushing block 16 through a second pin 18, see fig. 4. The pushing block 16 is connected with the telescopic mechanism 3 through bolts, and the movement of the telescopic mechanism 3 can drive the pushing block 16 to move.

Furthermore, two rotating shafts 4 are connected between the supporting blocks 21 on the left side and the right side, the rotating shafts 4 are located outside the pressing claws, and the connecting blocks 15 hinged to the pressing claws penetrate through the rotating shafts 4. In this way, the pushing block 16, the pressing claw, the connecting block 15 and the rotating shaft 4 constitute a link mechanism, and when the pushing block 16 moves upward, the pressing claw is pushed to move upward, and at the same time, due to the restriction of the connecting block 15, the pressing claw is turned outward while moving upward. Similarly, when the pushing block 16 moves downwards, the pressing claws are tightened downwards and inwards.

In this embodiment, the inner side of the pressure claw is provided with an inner arc plate 111, the outer side of the pressure claw is provided with an outer arc plate 112, and a space is formed between the inner arc plate 111 and the outer arc plate 112 to reduce the weight of the pressure claw. Inner arc board 111 area is less than outer arc board 112 area, so can be better be applicable to the big article in the middle of big outside such as duck's gizzard, be convenient for press the claw inside and outside all to set up on the duck's gizzard, press from both sides tight duck's gizzard. Simultaneously, above-mentioned inner arc plate 111 and outer arc plate 112's design makes when pressing the claw to tighten up inwards from the state of opening, and the difference of each pressing claw inner arc plate 111 and duck gizzard contact order also can produce the push-and-pull action to the duck gizzard to correct its position. For example, after the duck gizzard is placed on the supporting platform between the two groups of supporting blocks 21 by an operator, the pressing claw inner arc plate 111 on the duck gizzard side is certainly contacted with the duck gizzard firstly, and at the same time, other pressing claws are not contacted with the duck gizzard, so that the duck gizzard at the moment can continuously receive the pushing force of the pressing claw on the side to push the duck gizzard to the opposite direction. In a similar way, after the second pressing claw is contacted with the duck gizzard, the duck gizzard can be simultaneously subjected to the two pressing claws and moved to the opposite side until the duck gizzard is moved to the middle position, and the four pressing claws can clamp the duck gizzard so as to achieve the purpose of automatically correcting the position of the duck gizzard.

Referring to fig. 5, the upper portion of the supporting block 21 is sequentially connected with a movable seat 22 and an upper pressing plate 23, and the supporting block 21, the movable seat 22 and the upper pressing plate 23 are respectively provided with a threaded hole at corresponding positions at two ends, so that the supporting block 21, the movable seat 22 and the upper pressing plate 23 can be conveniently connected together by using bolts. Preferably, the height of the upper pressure plate 23 is matched with the lowest end position of the head of the pressure claw, and a certain gap is reserved between the upper pressure plate and the pressure claw.

Below combine fig. 6 and 7, movable seat 22 is equipped with bracket 221 towards pressure claw one side, bracket 221 height is less than the inboard height of pressure claw, and its middle is equipped with the concave groove for place the duck gizzard. Preferably, bracket 221 width between the both sides supporting shoe 21 is less than half of both sides supporting shoe 21 interval, remains certain clearance between two brackets 221, makes things convenient for the staff to find the intermediate position of centre gripping subassembly 1 fast and places the duck gizzard, makes the intermediate position of duck gizzard fall this clearance naturally simultaneously in, makes things convenient for the automatic execution of gizzard technology of opening afterwards.

In this embodiment, two spacers 5 and two first rollers 6 are respectively disposed on the outer sides of the supporting blocks 21, the spacers 5 are sleeved on two ends of the rotating shaft 4, the first rollers 6 are disposed on the outer sides of the spacers 5, and the first rollers 6 are preferably deep groove ball bearings and can freely rotate around the rotating shaft 4. Through four first gyro wheels 6 in above-mentioned two sets of supporting shoe 21 outsides, can be convenient be connected this mechanical finger assembly and production line and use to keep the stability of mechanical finger assembly, can not be crooked, the automatic execution of the gizzard process of being convenient for.

Preferably, the clamping assembly 1 and the supporting assembly 2 in this embodiment are made of nylon material to avoid damage to the duck gizzard placed on the bracket 221.

Further, the lower part of the supporting block 21 is also connected with an external connection plate 7, the external connection plate 7 is made of a steel plate, and a connection hole is formed in the external connection plate and used for replacing the connection between the supporting block 21 and the production line. The outer connecting plate 7 is used as an outer connecting piece of the supporting component 2, so that the abrasion of the supporting block 21 can be effectively reduced, and the service life of the supporting component 2 can be prolonged.

In this embodiment, the telescopic mechanism 3 includes a base 31, four telescopic shafts 32 and two springs 33, the number of the telescopic shafts 32 is four, and one end of each of the telescopic shafts 32 and the springs 33 is connected to the base 31, and the other end thereof penetrates into the support assembly 2, as shown in fig. 5. Two telescopic shaft holes and 1 spring hole are respectively arranged in the supporting block 21 and the movable seat 22, the spring hole is located in the middle, and the two telescopic shaft holes are located between the two threaded holes. Preferably, the length of the telescopic shaft 32 is greater than the height of the support assembly 2, so that a proper distance is maintained between the support block 21 and the base 31 of the telescopic mechanism 3. The telescopic mechanism 3 is connected with the support assembly 2 through four telescopic shafts 32 which are separately arranged, so that the support assembly 2 and the clamping assembly 1 can move along the vertical direction under the action of the telescopic mechanism 3.

Further, a second roller 34 is disposed at the lower portion of the base 31 for moving the robot assembly on the production line. Preferably, the second roller 34 is a deep groove ball bearing, a roller shaft 36 penetrates through the middle of the second roller 34, roller connection plates 35 are assembled on two sides of the roller shaft 36, and the second roller 34 is connected with the base 31 through the roller connection plates 35.

Specifically, the mechanical finger assembly is used for clamping objects such as gizzards on a production line, when the mechanical finger assembly is used, a first roller 6, a second roller 34 and an outer connecting plate 7 are connected with the production line, a high section path and a low section path are arranged on a moving path of the second roller 34 of the production line, when the second roller 34 walks on the high section path, the center distance between the second roller 34 and the first roller 6 is shortened, the second roller 34 pushes the base 31 to move upwards through the roller connecting plate 35, the pushing block 16 on the upper surface of the base 31 moves upwards and pushes the pressing claws to move upwards, the pressing claws are under the action of the connecting block 15 and are simultaneously opened outwards to expose the bracket 221 during the upward movement, at the moment, an operator can place the gizzards on the bracket 221, then the second roller 34 continues to move forwards to the low section path, at the moment, the center distance between the second roller 34 and the first roller 6 is lengthened, the base 31 moves downwards under the pressure of the spring 33, then it clasps the duck gizzard to promote each pressure claw return of 16 pulling of piece, and in each pressure claw return in-process, the pressure claw that contacts the duck gizzard earlier can promote the duck gizzard and move to counterpoint, is pushed away to the intermediate position until the duck gizzard, and four pressure claws are clasped simultaneously and are fixed the duck gizzard, before preparing down one open the gizzard process.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or additions or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. The utility model provides a mechanical finger assembly, includes centre gripping subassembly (1) and supporting component (2), centre gripping subassembly (1) includes that a plurality of presses the claw, the pressure claw of centre gripping subassembly (1) is in the same place with supporting component (2) swing joint, a serial communication port, supporting component (2) include two sets of supporting shoe (21), and are two sets of supporting shoe (21) are located centre gripping subassembly (1) both sides respectively, and are two sets of be equipped with the bearing platform between supporting shoe (21), the bearing platform height is less than presses the claw height, supporting component (2) lower part elastic connection has telescopic machanism (3), telescopic machanism (3) link to each other with centre gripping subassembly (1) lower extreme, telescopic machanism (3) bottom still is equipped with the removal portion, the removal portion can be followed fixed track and removed.

2. A robot finger assembly according to claim 1, characterised in that the gripping member (1) comprises a pushing block (16) and a plurality of pressing jaws hinged on the pushing block (16), the pushing block (16) being connected to the telescopic mechanism (3).

3. The mechanical finger assembly according to claim 2, wherein a plurality of rotating shafts (4) are connected between two groups of supporting blocks (21), the rotating shafts (4) are positioned outside the pressing claws, and the pressing claws are connected with the rotating shafts (4) through connecting blocks (15).

4. The mechanical finger assembly according to claim 3, wherein the clamping component (1) comprises four pressing claws, a connecting block (15) is hinged between the front pressing claw and the rear pressing claw along the length direction of the supporting block (21), and the other end of the connecting block (15) is threaded on the rotating shaft (4).

5. A mechanical finger assembly according to claim 4, characterised in that a plurality of spacers (5) and first rollers (6) are arranged outside the support block (21), the spacers (5) are sleeved on the rotating shaft (4), and the first rollers (6) are arranged outside the spacers (5).

6. A robot finger assembly according to any of claims 1-5, characterised in that the inside area of the pressure finger is smaller than the outside area.

7. The mechanical finger assembly according to claim 6, wherein a movable seat (22) and an upper pressing plate (23) are connected to the upper portion of the supporting block (21), a bracket (221) is arranged on one side of the movable seat (22) facing the pressing claw, the height of the bracket (221) is lower than the height of the inner side of the pressing claw, and the upper pressing plate (23) is arranged on the upper portion of the movable seat (22).

8. A mechanical finger assembly according to claim 1, characterised in that the telescopic mechanism (3) comprises a base (31), a plurality of telescopic shafts (32) and elastic members, one end of the telescopic shafts (32) and elastic members is connected with the base (31), and the other end penetrates into the supporting component (2).

9. A robot finger assembly according to claim 8, characterised in that the length of the telescopic shaft (32) is greater than the height of the support member (2).

10. The mechanical finger assembly according to claim 1, wherein a second roller (34) is arranged at the lower part of the base (31), a roller shaft (36) penetrates through the middle of the second roller (34), roller connecting plates (35) are assembled at two sides of the roller shaft (36), and the second roller (34) is connected with the base (31) through the roller connecting plates (35).