CN114852681B - Duck neck processing is with transport manipulator - Google Patents
Duck neck processing is with transport manipulator Download PDFInfo
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- CN114852681B CN114852681B CN202210791139.7A CN202210791139A CN114852681B CN 114852681 B CN114852681 B CN 114852681B CN 202210791139 A CN202210791139 A CN 202210791139A CN 114852681 B CN114852681 B CN 114852681B
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- clamping
- bone removing
- plate
- bone
- clamping mechanism
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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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B25/00—Packaging other articles presenting special problems
- B65B25/06—Packaging slices or specially-shaped pieces of meat, cheese, or other plastic or tacky products
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B63/00—Auxiliary devices, not otherwise provided for, for operating on articles or materials to be packaged
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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
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/30—Belts or like endless load-carriers
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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
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P40/00—Technologies relating to the processing of minerals
- Y02P40/50—Glass production, e.g. reusing waste heat during processing or shaping
- Y02P40/57—Improving the yield, e-g- reduction of reject rates
Abstract
The invention relates to the field of duck meat processing equipment, in particular to a carrying manipulator for duck neck processing, which is used for carrying duck necks cut into sections on one conveying belt to the other conveying belt and comprises a clamping mechanism, a bone removing mechanism and a moving mechanism; the clamping mechanism is arranged at the top of the conveying belt at intervals, is fixedly arranged on the moving mechanism through a connecting plate, is used for clamping and fixing a duck neck on the conveying belt, and is provided with bone removal channels for exposing a joint at the end part of the duck neck at two ends; the moving mechanism is used for driving the clamping mechanism to intermittently reciprocate between the tops of the two conveying belts; the convex parts are driven to rotate towards two different cams respectively through two cam rotating shafts rotating in the same direction synchronously, the bone removing conical block is driven to pry the bones of the duck neck end part up and down in sequence, and the bone removing effect on the duck neck end part is achieved.
Description
Technical Field
The invention relates to the field of duck meat processing equipment, in particular to a carrying manipulator for processing duck necks.
Background
Duck neck belongs to sauce food, which is prepared by soaking a plurality of spices, and then carrying out air drying, baking and other processes.
In the process of packaging the duck neck, in order to avoid the joint at the end part of the duck neck from puncturing the packaging bag, one or two joints at the end part of the duck neck are required to be manually pried out and then sent to a packaging part for packaging, and the manual bone removing work has the problems of manpower and material resources consumption and insanitation.
Disclosure of Invention
The invention aims to provide a conveying manipulator for processing duck necks, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a conveying manipulator for duck neck processing is used for conveying duck necks cut into sections on one conveying belt to the other conveying belt and comprises a clamping mechanism, a bone removing mechanism and a moving mechanism; the clamping mechanism is arranged at the top of the conveying belt at intervals, is fixedly arranged on the moving mechanism through a connecting plate, is used for clamping and fixing a duck neck on the conveying belt, and is provided with bone removal channels for exposing a joint at the end part of the duck neck at two ends; the moving mechanism is used for driving the clamping mechanism to intermittently reciprocate between the tops of the two conveying belts; the bone removing mechanism is provided with two bone removing mechanisms which are respectively arranged at two ends of one clamping mechanism at intervals, the bone removing mechanism is driven by a driving mechanism to do linear reciprocating motion towards the clamping mechanism, the bone removing mechanism comprises a bone removing support frame, a bone removing taper block, an auxiliary bone removing block, a rotating plate, a cam connecting plate, a cam and a cam rotating shaft, the rotating plate is provided with the bone removing taper block right facing to the side wall of a bone removing channel at the end part of the clamping mechanism, the other side of the rotating plate is provided with the cam connecting plate, the middle part of the rotating plate is rotationally connected with the bone removing support frame, the bone removing support frame is connected with the driving mechanism, the bone removing taper block is arranged right facing to the bone removing channel of the clamping mechanism, the bone removing taper block is used for being inserted into a duck neck end joint of the bone removing channel, cams are arranged on the top side and the bottom side of the cam connecting plate, and the two cams are symmetrically arranged on two sides of the cam connecting plate, the two cams are rotatably connected with the bone removal supporting frame through cam rotating shafts respectively, the two cam rotating shafts synchronously rotate in the same direction, the protruding parts of the two cams face towards different directions, and the distance between the protruding parts of the cams and the cam rotating shafts is larger than the distance between the cam rotating shafts and the cam connecting plate.
The application adopts a further technical scheme that: the clamping mechanism comprises arc-shaped clamping plates, hinged rods, a clamping supporting plate, a lifting plate and a clamping hydraulic cylinder, wherein a plurality of arc-shaped clamping plates are arranged on two sides of the lifting plate at intervals, the arc-shaped clamping plates positioned on two sides of the lifting plate are arranged in a staggered manner, the middle part of each arc-shaped clamping plate is hinged with a hinged rod, the end part of each hinged rod, far away from the arc-shaped clamping plate, is hinged with the lifting plate, the end part of each arc-shaped clamping plate, far away from a conveying belt, is rotatably connected with the clamping supporting plate, the clamping supporting plate is positioned at the top of the lifting plate, the top surface of the lifting plate is connected with the driving end of the clamping hydraulic cylinder, the driving end of the clamping hydraulic cylinder is slidably connected with the clamping supporting plate, the clamping hydraulic cylinder is installed on a connecting plate, two ends of the connecting plate are respectively connected with the clamping supporting plate and a moving mechanism, and the bottom surface of the lifting plate is also provided with a concave auxiliary clamping plate, the spill is supplementary grip block just sets up the mouth of stepping down that supplies the arc splint activity to pass through on the conch wall of arc splint, and the inner wall of spill supplementary grip block encloses into the centre gripping district that is used for centre gripping duck neck with the arc splint of both sides, and the both ends in centre gripping district are for going the bone passageway.
The application adopts a further technical scheme that: the moving mechanism comprises a disc and a disc connecting shaft, the disc is positioned at the top of the conveying belt, one side of the disc is rotatably connected with the disc connecting shaft, the end part of the other side of the disc is fixedly connected with the clamping mechanism through a connecting plate, and the deboning mechanism drives the moving mechanism to move towards the direction far away from the clamping mechanism through the yielding mechanism.
The application adopts a further technical scheme that: two the cam pivot passes through synchronous belt drive, and the synchronous belt both ends are established respectively and are established two cam pivot peripheries, and one of them cam pivot is connected with the output of the motor that goes bone, it installs on the support frame that goes bone to go the motor that goes bone.
The application adopts a further technical scheme that: the driving mechanism comprises a bidirectional screw rod and a transverse moving support frame, the transverse moving support frame is rotatably connected with the bidirectional screw rod on the shell wall close to the outer side of the disc, the bidirectional screw rod is rotatably connected with the transverse moving support frame, two ends of the bidirectional screw rod are respectively in threaded connection with different transverse moving sliding blocks, one end of each transverse moving sliding block is linearly and slidably connected with the transverse moving support frame, and the other end of each transverse moving sliding block is fixedly connected with a different bone removing support frame.
The application adopts a further technical scheme that: the abdicating mechanism comprises a lifting slide block, a lifting guide rail and a lifting hydraulic cylinder, one side of the lifting slide block is far away from the side wall of the disc with the transverse moving support frame and is connected with the side wall of the disc, the other side of the lifting slide block is connected with the lifting guide rail in a sliding manner, the bottom side of the lifting slide block is also connected with the driving end of the lifting hydraulic cylinder, the lifting hydraulic cylinder is arranged at the bottom of the clamping mechanism at intervals, when the lifting hydraulic cylinder is arranged at the initial position, the transverse moving support frame is arranged at the bottom of the clamping mechanism at intervals, when the lifting hydraulic cylinder is arranged at the maximum position of extension, the bone removing mechanism is arranged right at the bone removing channel of the clamping mechanism.
The application adopts a further technical scheme that: the clamping mechanisms are arranged in the circumferential direction of the disc at least three at equal intervals, two of the clamping mechanisms are respectively positioned at the tops of the two conveying belts, the bottom of the other clamping mechanism is provided with a collecting box used for collecting bones, and the top of one side, far away from the clamping mechanisms, of the collecting box is a bone removing mechanism.
The application adopts a further technical scheme that: one side of the rotating plate, which is far away from the cam connecting plate, is also provided with an auxiliary bone removal block, the auxiliary bone removal block and the bone removal conical block are positioned on the same horizontal plane, and the auxiliary bone removal block and the bone removal conical block are arranged at intervals.
The application adopts a further technical scheme that: the top of collecting box still is equipped with the discharge arm, the discharge arm just sets up to the auxiliary bone piece that goes and the interval department between the awl piece that goes bone, works as hydraulic cylinder drives sideslip support frame and descends to the maximum displacement towards the direction of keeping away from fixture, the discharge arm inserts to the interval department between the awl piece that goes bone and the auxiliary bone piece that goes bone.
The application adopts a further technical scheme that: the moving mechanism further comprises a sliding pin, an intermittent driving rod and a moving driving shaft, the moving driving shaft is located on one side, far away from the disc, of the clamping mechanisms, one end of the moving driving shaft is connected with the output end of the moving motor, the moving motor is installed on the motor installation seat, the end, far away from the moving motor, of the moving driving shaft is fixedly connected with one end of the intermittent driving rod, the intermittent driving rod is located on the bottom side of the disc, the end, far away from the moving driving shaft, of the intermittent driving rod is provided with the sliding pin, the end, far away from the intermittent driving rod, of the sliding pin extends to the top side of the disc, the sliding pin is in sliding fit with sliding grooves formed in the wall of the disc casing, the number of the sliding grooves is the same as that of the clamping mechanisms, and each sliding groove is located between two adjacent clamping mechanisms.
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
according to the invention, the bone removing mechanisms are arranged on the outer sides of the bone removing channels at the two ends of the clamping mechanism, so that after the bone removing conical blocks are inserted into the bones at the end part of the duck neck, the convex parts are respectively driven to rotate towards two different cams through two cam rotating shafts which synchronously rotate in the same direction, and the effect that the bone removing conical blocks are driven to pry the bones at the end part of the duck neck up and down in sequence is realized, so that the bones in which the bone removing conical blocks are inserted are separated from the clamped bones and meat, and the bone removing effect on the end part of the duck neck is realized; the problem of traditional work through artifical bone that goes out has the expense manpower and materials, unhygienic moreover is solved.
Drawings
Fig. 1 is a three-dimensional schematic view of a conveying manipulator for processing duck necks, provided by the invention;
fig. 2 is a top view of a conveying manipulator for processing duck necks, provided by the invention;
FIG. 3 is a cross-sectional view taken along line B-B of FIG. 2;
FIG. 4 is an enlarged view of a portion of FIG. 2;
FIG. 5 is a three-dimensional schematic view of a deboning mechanism, a drive mechanism and an abduction mechanism provided in the present invention;
FIG. 6 is a partial three-dimensional schematic view of a deboning mechanism provided in accordance with the present invention from one perspective;
FIG. 7 is a partial three-dimensional view of a deboning mechanism provided by the present invention from another perspective;
fig. 8 is a three-dimensional schematic view of a clamping mechanism provided by the present invention on a connection plate.
The reference numerals in the schematic drawings illustrate:
1. moving the drive shaft; 2. an intermittent drive rod; 3. a slide pin; 4. a chute; 5. a disc; 6. a clamping mechanism; 7. a connecting plate; 8. a deboning mechanism; 9. a drive mechanism; 10. a lifting slide block; 11. a lifting guide rail; 12. a lifting hydraulic cylinder; 13. a conveyor belt; 14. a motor mounting seat; 15. a moving motor; 16. a disc connecting shaft; 17. a collection box; 18. a discharge rod; 61. an arc-shaped splint; 62. a hinged lever; 63. a concave auxiliary clamping plate; 64. a lifting plate; 65. clamping a hydraulic cylinder; 66. clamping the support plate; 80. a cam connecting plate; 81. removing a bone support frame; 82. removing bone and cone blocks; 83. auxiliary bone block removal; 84. a rotating plate; 85. transversely moving the sliding block; 86. a cam; 87. a deboning motor; 88. a cam shaft; 89. a synchronous belt; 91. a bidirectional screw rod; 92. and (5) transversely moving the support frame.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments of the present invention, belong to the protection scope of the present invention, and the present invention is further described with reference to the embodiments below.
Example one
Referring to fig. 1-7, as a preferred embodiment of the present application, a conveying robot for processing duck necks is used for conveying duck necks cut into sections on one conveyor belt 13 onto another conveyor belt 13, and includes a clamping mechanism 6, a deboning mechanism 8 and a moving mechanism; at least one clamping mechanism 6 is arranged, the clamping mechanisms 6 are arranged at the top of the conveying belt 13 at intervals, the clamping mechanisms 6 are fixedly arranged on the moving mechanism through a connecting plate 7, the clamping mechanisms 6 are used for clamping and fixing the duck necks on the conveying belt 13, and two joints (two or three joints can be adopted, the limitation is not provided, and preferably one joint is adopted) for exposing the joint at the end part of the duck neck at two ends of each clamping mechanism 6; the moving mechanism is used for driving the clamping mechanism 6 to intermittently reciprocate between the tops of the two conveying belts 13; the bone removing mechanism 8 is provided with two bone removing mechanisms 8, the two bone removing mechanisms 8 are respectively arranged at two ends of one clamping mechanism 6 at intervals, the bone removing mechanism 8 is driven by a driving mechanism 9 to do linear reciprocating motion towards the direction of the clamping mechanism 6, the bone removing mechanism 8 comprises a bone removing support frame 81, a bone removing conical block 82, an auxiliary bone removing block 83, a rotating plate 84, a cam connecting plate 80, a cam 86 and a cam rotating shaft 88, the rotating plate 84 is provided with the bone removing conical block 82 right facing the side wall of a bone removing channel at the end part of the clamping mechanism 6, the other side of the rotating plate 84 is provided with the cam connecting plate 80, the middle part of the rotating plate 84 is rotatably connected with the bone removing support frame 81, the bone removing support frame 81 is connected with the driving mechanism 9, the bone removing conical block 82 is right facing the bone removing channel of the clamping mechanism 6, the bone removing conical block 82 is used for being inserted into a duck end joint of the bone removing channel, the top side and the bottom side of the cam connecting plate 80 are provided with the cams 86, the two cams 86 are symmetrically arranged on two sides of the cam connecting plate 80, the two cams 86 are respectively and rotationally connected with the bone removal supporting frame 81 through cam rotating shafts 88, the two cam rotating shafts 88 synchronously rotate in the same direction, the convex parts of the two cams 86 face different directions, and the distance between the convex parts of the cams 86 and the cam rotating shafts 88 is larger than the distance between the cam rotating shafts 88 and the cam connecting plate 80.
It should be noted that one of the conveyor belts 13 is used for conveying the cut duck neck without bone removal at the end, and the other conveyor belt 13 is used for conveying the duck neck with bone removal to a vacuum packaging place for packaging.
In a case of this embodiment, two of the cam rotating shafts 88 are driven by a synchronous belt 89, two ends of the synchronous belt 89 are respectively sleeved on the pulley peripheries of the two cam rotating shafts 88, one of the cam rotating shafts 88 is connected with the output end of the bone removing motor 87, and the bone removing motor 87 is installed on the bone removing support frame 81.
Preferably, the driving mechanism 9 includes a bidirectional screw rod 91 and a traverse support frame 92, the wall of the traverse support frame 92 close to the outer side of the disc 5 is rotatably connected with the bidirectional screw rod 91, the bidirectional screw rod 91 is rotatably connected with the traverse support frame 92, two ends of the bidirectional screw rod 91 are respectively in threaded connection with different traverse sliders 85, one end of each traverse slider 85 is linearly and slidably connected with the traverse support frame 92, the other end of each traverse slider 85 is fixedly connected with a different bone removal support frame 81, one end of the bidirectional screw rod 91 can be connected with an output end of a linkage motor on the traverse support frame 92, so that the two bone removal support frames 81 can be driven by forward and backward rotation of the bidirectional screw rod 91 to synchronously and reversely move linearly towards the clamping mechanism 6.
In practical application, after the clamping mechanism 6 clamps a duck neck, the bone removal support frame 81 is driven to linearly move towards the bone removal channel of the clamping mechanism 6 to the bone of the end part of the duck neck through the rotation of the bidirectional screw rod 91, the bone removal cone block 82 is inserted into the bone of the end part of the duck neck (the middle part of the duck neck bone is of a hollow structure, and the duck neck is loosely connected with joints after being cooked), the convex parts are respectively driven to rotate towards two different cams 86 through two cam rotating shafts 88 which synchronously rotate in the same direction, and when the cam 86 at the top supports against the cam connecting plate 80, the bone removal cone block 82 swings downwards; when the cam 86 at the bottom abuts against the cam connecting plate 80, the bone removal cone block 82 swings upward; thereby realize driving bone that bone awl piece 82 pried duck neck tip from top to bottom for bone and the meat separation of the bone of centre gripping of bone awl piece 82 male play the bone effect of removing to duck neck tip.
Example two
Referring to fig. 1-4 and 8, as a preferred embodiment of the present application, the clamping mechanism 6 includes an arc-shaped clamp plate 61, a hinge rod 62, a clamping support plate 66, a lifting plate 64 and a clamping hydraulic cylinder 65, wherein a plurality of arc-shaped clamp plates 61 are spaced on both sides of the lifting plate 64, the arc-shaped clamp plates 61 on both sides of the lifting plate 64 are staggered, the middle portion of each arc-shaped clamp plate 61 is hinged to the hinge rod 62, the end portion of each hinge rod 62 away from the arc-shaped clamp plate 61 is hinged to the lifting plate 64, the end portion of each arc-shaped clamp plate 61 away from the conveyor belt 13 is rotatably connected to the clamping support plate 66, the clamping support plate 66 is located on the top portion of the lifting plate 64, the top surface of the lifting plate 64 is connected to the driving end of the clamping hydraulic cylinder 65, the driving end of the clamping hydraulic cylinder 65 is slidably connected to the clamping support plate 66, the clamping hydraulic cylinder 65 is mounted on the connection plate 7, the both ends of connecting plate 7 are connected with centre gripping backup pad 66 and moving mechanism respectively, lifter plate 64 bottom surface still is equipped with supplementary grip block 63 of spill, supplementary grip block 63 of spill is just offering the mouth of stepping down that supplies the activity of arc splint 61 to pass through on the conch wall of arc splint 61, and the inner wall of supplementary grip block 63 of spill encloses into the centre gripping district that is used for centre gripping duck neck with the arc splint 61 of both sides, and the both ends of centre gripping district are for going the bone passageway.
In the condition of this embodiment, when needing the centre gripping, drive the direction linear motion of lifter plate 64 towards centre gripping backup pad 66 through centre gripping pneumatic cylinder 65, the arc splint 61 that drives both sides through the effect of hinge bar 62 drives in the supplementary grip block 63 of spill towards the direction swing centre gripping duck neck of lifter plate 64, through the supplementary grip block 63 of spill with the cooperation of arc splint 61, has guaranteed the stability of centre gripping duck neck back duck neck, provides the guarantee for subsequent bone removal work.
Referring to fig. 1-3 and 5, as a preferred embodiment of the present application, the moving mechanism includes a disc 5 and a disc connecting shaft 16, the disc 5 is located on the top of the conveying belt 13, one side of the disc 5 is rotatably connected to the disc connecting shaft 16, the end of the other side of the disc 5 is fixedly connected to the clamping mechanism 6 through a connecting plate 7, and the two bone removing mechanisms 8 are driven by the abdicating mechanism to move in a direction away from the clamping mechanism 6.
In a condition of this embodiment, the mechanism of stepping down includes elevator slide 10, lifting rail 11 and hydraulic cylinder 12, elevator slide 10's one side and sideslip support frame 92 are kept away from 5 lateral walls of disc and are connected, elevator slide 10's opposite side and lifting rail 11 sliding connection, and elevator slide 10's bottom side still is connected with hydraulic cylinder 12's drive end, hydraulic cylinder 12 interval sets up in fixture 6 bottom, works as when hydraulic cylinder 12 is located the initial position, sideslip support frame 92 interval sets up in fixture 6's bottom, works as when hydraulic cylinder 12 is located the extended maximum position, it is just to fixture 6's the passageway that steps down setting to go bone mechanism 8 to play the effect of stepping down.
In practical application, after the transverse moving support frame 92 is driven to descend by the lifting hydraulic cylinder 12, the deboning mechanisms 8 at the two ends of the clamping mechanism 6 are arranged below the clamping mechanism 6, and then the disc 5 rotates on the disc connecting shaft 16 to drive the clamping mechanism 6 clamping the duck neck to move to the other conveying belt 13.
EXAMPLE III
Referring to fig. 1-3, as a preferred embodiment of the present application, at least three clamping mechanisms 6 are provided at equal intervals along the circumferential direction of the disc 5, wherein two clamping mechanisms 6 are respectively located at the top of the two conveyor belts 13, the bottom of the other clamping mechanism 6 is provided with a collecting box 17 for collecting bones, and the top of the collecting box 17 at the side far away from the clamping mechanisms 6 is provided with a bone removing mechanism 8.
In order to better clamp the bones of the duck neck, in one case of the embodiment, an auxiliary bone removing block 83 is further arranged on one side of the rotating plate 84 away from the cam connecting plate 80, the auxiliary bone removing block 83 and the bone removing cone block 82 are located on the same horizontal plane, and the auxiliary bone removing block 83 and the bone removing cone block 82 are arranged at intervals, so that the joints of the bones at the end of the duck neck can be clamped at the intervals between the auxiliary bone removing block 83 and the bone removing cone block 82.
In practical application, the top end of the collecting box 17 is provided with a discharging rod 18, the discharging rod 18 is arranged opposite to the gap between the auxiliary deboning block 83 and the deboning cone block 82, when the lifting hydraulic cylinder 12 drives the transverse support frame 92 to descend to the maximum displacement in the direction away from the clamping mechanism 6, the discharging rod 18 is inserted into the gap between the deboning cone block 82 and the auxiliary deboning block 83, and therefore the discharging rod 18 can eject bones at the end part of a duck neck between the auxiliary deboning block 83 and the deboning cone block 82 to the collecting box 17.
Preferably, there are 4 gripping devices 6, wherein two gripping devices 6 located at the same level are located on top of two conveyor belts 13, respectively, the remaining one gripping device 6 is located on top of the collection box 17, and the other gripping device 6 is located at the interval between two conveyor belts 13.
Example four
Referring to fig. 1 to 3, as a preferred embodiment of the present application, the moving mechanism further includes a slide pin 3, an intermittent driving lever 2 and a moving driving shaft 1, the movable driving shaft 1 is positioned at one side of the clamping mechanism 6 far away from the disc 5, one end of the movable driving shaft 1 is connected with the output end of a movable motor 15, the moving motor 15 is arranged on the motor mounting seat 14, the end part of the moving driving shaft 1 far away from the moving motor 15 is fixedly connected with one end of the intermittent driving rod 2, the intermittent driving rod 2 is positioned at the bottom side of the disc 5, and the end part of the intermittent drive rod 2 far away from the movable drive shaft 1 is provided with a sliding pin 3, the end part of the sliding pin 3 far away from the intermittent drive rod 2 extends to the top side of the disc 5, the sliding pin 3 is in sliding fit with sliding grooves 4 formed in the wall of the disc 5, the number of the sliding grooves 4 is the same as that of the clamping mechanisms 6, and each sliding groove 4 is respectively positioned between two adjacent clamping mechanisms 6.
In the one kind of this embodiment, drive through the traveling motor 15 and remove drive shaft 1 and rotate, thereby the sliding pin 3 of intermittent type actuating lever 2 can stir disc 5 and rotate at the in-process with 4 sliding fit of one of them spout, the quantity of spout 4 is the same with fixture 6's quantity, thereby remove drive shaft 1 and can rotate a week, drive disc even 16 intermittent type and rotate once, and then realize moving fixture 6 behind the centre gripping duck neck to collection box 17 top, play the effect of the bone removal action of the centre gripping action of the fixture 6 of being convenient for and bone removal mechanism 8.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. A conveying manipulator for duck neck processing is used for conveying duck necks cut into sections on one conveying belt (13) to the other conveying belt (13), and is characterized by comprising a clamping mechanism (6), a deboning mechanism (8) and a moving mechanism;
the clamping mechanism (6) is at least provided with one, the clamping mechanism (6) is arranged at the top of the conveying belt (13) at intervals, the clamping mechanism (6) is fixedly installed on the moving mechanism through a connecting plate (7), the clamping mechanism (6) is used for clamping and fixing the duck neck on the conveying belt (13), bone removing channels for exposing a joint at the end part of the duck neck are arranged at two ends of the clamping mechanism (6), the clamping mechanism (6) comprises arc-shaped clamping plates (61), hinged rods (62), a clamping supporting plate (66), a lifting plate (64) and clamping hydraulic cylinders (65), a plurality of arc-shaped clamping plates (61) are arranged at two sides of the lifting plate (64) at intervals, the arc-shaped clamping plates (61) positioned at two sides of the lifting plate (64) are arranged in a staggered mode, each arc-shaped clamping plate (61) is hinged rod (62) at the middle part of each arc-shaped clamping plate (61), and the end part, far away from the arc-shaped clamping plate (61), of each hinged rod (62) is hinged with the lifting plate (64), every the tip that conveyer belt (13) was kept away from to arc splint (61) all rotates with centre gripping backup pad (66) to be connected, centre gripping backup pad (66) are located lifter plate (64) top, the top surface of lifter plate (64) is connected with the drive end of centre gripping pneumatic cylinder (65), the drive end and the centre gripping backup pad (66) sliding connection of centre gripping pneumatic cylinder (65), centre gripping pneumatic cylinder (65) are installed on connecting plate (7), the both ends of connecting plate (7) are connected with centre gripping backup pad (66) and moving mechanism respectively, lifter plate (64) bottom surface still is equipped with spill auxiliary clamping plate (63), spill auxiliary clamping plate (63) arc just to offering the position mouth of stepping down that supplies arc splint (61) activity to pass through on the conch wall of splint (61), the inner wall of spill auxiliary clamping plate (63) encloses into the clamping area that is used for centre gripping duck neck with arc splint (61) of both sides, the two ends of the clamping area are bone removing channels;
the moving mechanism is used for driving the clamping mechanism (6) to intermittently reciprocate between the tops of the two conveying belts (13); the moving mechanism comprises a disc (5) and a disc connecting shaft (16), the disc (5) is positioned at the top of the conveying belt (13), one side of the disc (5) is rotatably connected with the disc connecting shaft (16), the end part of the other side of the disc (5) is fixedly connected with the clamping mechanism (6) through a connecting plate (7), and the two bone removing mechanisms (8) are driven by the yielding mechanism to move in the direction far away from the clamping mechanism (6);
the abdicating mechanism comprises a lifting slider (10), a lifting guide rail (11) and a lifting hydraulic cylinder (12), wherein one side of the lifting slider (10) is connected with the side wall, far away from the disc (5), of a transverse moving support frame (92), the other side of the lifting slider (10) is connected with the lifting guide rail (11) in a sliding mode, the bottom side of the lifting slider (10) is further connected with the driving end of the lifting hydraulic cylinder (12), the lifting hydraulic cylinder (12) is arranged at the bottom of the clamping mechanism (6) at intervals, when the lifting hydraulic cylinder (12) is located at the initial position, the transverse moving support frame (92) is arranged at the bottom of the clamping mechanism (6) at intervals, and when the lifting hydraulic cylinder (12) is located at the maximum extending position, the bone removing mechanism (8) is arranged over against a bone removing channel of the clamping mechanism (6);
the bone removing mechanism (8) is provided with two bone removing mechanisms (8), the two bone removing mechanisms (8) are respectively arranged at two ends of one clamping mechanism (6) at intervals, the bone removing mechanism (8) drives the straight reciprocating motion towards the direction of the clamping mechanism (6) through a driving mechanism (9), the bone removing mechanism (8) comprises a bone removing support frame (81), a bone removing conical block (82), an auxiliary bone removing block (83), a rotating plate (84), a cam connecting plate (80), a cam (86) and a cam rotating shaft (88), the rotating plate (84) is provided with the bone removing conical block (82) right at the side wall of a bone removing channel at the end part of the clamping mechanism (6), the other side of the rotating plate (84) is provided with the cam connecting plate (80), the middle part of the rotating plate (84) is rotationally connected with the bone removing support frame (81), the bone removing support frame (81) is connected with the driving mechanism (9), the bone removing conical block (82) is right at the bone removing channel of the clamping mechanism (6), the bone removing conical block (82) is used for being inserted into a duck neck end joint located in a bone removing channel, cams (86) are arranged on the top side and the bottom side of the cam connecting plate (80), the cams (86) are symmetrically arranged on two sides of the cam connecting plate (80), the two cams (86) are respectively rotatably connected with the bone removing supporting frame (81) through cam rotating shafts (88), the two cam rotating shafts (88) synchronously rotate in the same direction, the convex parts of the two cams (86) face towards different directions, and the distance between the convex parts of the cams (86) and the cam rotating shafts (88) is larger than the distance between the cam rotating shafts (88) and the cam connecting plate (80).
2. The manipulator for carrying duck neck processing as claimed in claim 1, wherein the number of the clamping mechanisms (6) is at least three at equal intervals along the circumferential direction of the disc (5), two clamping mechanisms (6) are respectively arranged at the top of the two conveyor belts (13), the bottom of the other clamping mechanism (6) is provided with a collecting box (17) for collecting bones, and the top of the collecting box (17) at the side far away from the clamping mechanisms (6) is provided with a bone removing mechanism (8).
3. The carrying manipulator for duck neck processing as claimed in claim 2, wherein an auxiliary deboning block (83) is further disposed on a side of the rotating plate (84) away from the cam connecting plate (80), the auxiliary deboning block (83) and the deboning cone block (82) are located on the same horizontal plane, and the auxiliary deboning block (83) and the deboning cone block (82) are spaced.
4. A carrying manipulator for processing duck neck as claimed in claim 3, wherein a discharging rod (18) is further provided at the top end of the collecting box (17), the discharging rod (18) is disposed opposite to the gap between the auxiliary deboning block (83) and the deboning cone block (82), and when the lifting hydraulic cylinder (12) drives the traverse support frame (92) to descend to the maximum displacement in the direction away from the clamping mechanism (6), the discharging rod (18) is inserted into the gap between the deboning cone block (82) and the auxiliary deboning block (83).
5. The carrying manipulator for duck neck processing as claimed in claim 1, wherein the two cam rotating shafts (88) are driven by a synchronous belt (89), two ends of the synchronous belt (89) are respectively sleeved on the peripheries of the two cam rotating shafts (88), one cam rotating shaft (88) is connected with an output end of a bone removing motor (87), and the bone removing motor (87) is mounted on the bone removing support frame (81).
6. The carrying manipulator for processing duck necks as claimed in claim 1, wherein the driving mechanism (9) comprises a bidirectional screw rod (91) and a traverse support frame (92), the traverse support frame (92) is rotatably connected with the bidirectional screw rod (91) on a shell wall close to the outer side of the disc (5), the bidirectional screw rod (91) is rotatably connected with the traverse support frame (92), two ends of the bidirectional screw rod (91) are respectively in threaded connection with different traverse sliders (85), one end of each traverse slider (85) is linearly and slidably connected with the traverse support frame (92), and the other end of each traverse slider (85) is fixedly connected with different deboning support frames (81).
7. The manipulator for processing duck necks as claimed in claim 1, wherein the moving mechanism further comprises a sliding pin (3), an intermittent driving rod (2) and a moving driving shaft (1), the moving driving shaft (1) is located on one side of the clamping mechanism (6) far away from the disc (5), one end of the moving driving shaft (1) is connected with an output end of a moving motor (15), the moving motor (15) is mounted on a motor mounting seat (14), the end of the moving driving shaft (1) far away from the moving motor (15) is fixedly connected with one end of the intermittent driving rod (2), the intermittent driving rod (2) is located on the bottom side of the disc (5), the end of the intermittent driving rod (2) far away from the moving driving shaft (1) is provided with the sliding pin (3), and the end of the sliding pin (3) far away from the intermittent driving rod (2) extends to the top side of the disc (5), the sliding pin (3) is in sliding fit with sliding grooves (4) formed in the wall of the disc (5), the number of the sliding grooves (4) is the same as that of the clamping mechanisms (6), and each sliding groove (4) is located between every two adjacent clamping mechanisms (6).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210791139.7A CN114852681B (en) | 2022-07-07 | 2022-07-07 | Duck neck processing is with transport manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210791139.7A CN114852681B (en) | 2022-07-07 | 2022-07-07 | Duck neck processing is with transport manipulator |
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| Publication Number | Publication Date |
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| CN114852681A CN114852681A (en) | 2022-08-05 |
| CN114852681B true CN114852681B (en) | 2022-09-06 |
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| CN202210791139.7A Active CN114852681B (en) | 2022-07-07 | 2022-07-07 | Duck neck processing is with transport manipulator |
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| CN116276169B (en) * | 2023-03-20 | 2023-10-17 | 江苏炜磊科技有限公司 | End face beveling device for screw machining |
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| CN103583666A (en) * | 2013-11-27 | 2014-02-19 | 宫锡和 | Fishbone removing part of automatic production line for fillet processing |
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| CN112025287A (en) * | 2020-09-09 | 2020-12-04 | 张学旺 | A high-efficient equipment that cup joints of tip sealing washer for sealed tube |
| CN213785111U (en) * | 2020-11-11 | 2021-07-27 | 广西悦牧生物科技有限公司 | Contact type electric shock device for duck slaughtering |
| CN213894302U (en) * | 2020-10-17 | 2021-08-06 | 维达护理用品(广东)有限公司 | Paper core winding shaft mechanical arm |
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| DE59008649D1 (en) * | 1990-02-01 | 1995-04-13 | Applied Robot Tech | Manipulator. |
| CN103583666A (en) * | 2013-11-27 | 2014-02-19 | 宫锡和 | Fishbone removing part of automatic production line for fillet processing |
| KR200476601Y1 (en) * | 2013-12-03 | 2015-03-16 | (주)아모레퍼시픽 | A Rotating Output Unit of Cosmetic Compact |
| CN211077649U (en) * | 2019-10-18 | 2020-07-24 | 珠海大白鲨磨料磨具有限公司 | Grinding wheel mold unloading balance detection and stacking all-in-one machine |
| CN112025287A (en) * | 2020-09-09 | 2020-12-04 | 张学旺 | A high-efficient equipment that cup joints of tip sealing washer for sealed tube |
| CN213894302U (en) * | 2020-10-17 | 2021-08-06 | 维达护理用品(广东)有限公司 | Paper core winding shaft mechanical arm |
| CN213785111U (en) * | 2020-11-11 | 2021-07-27 | 广西悦牧生物科技有限公司 | Contact type electric shock device for duck slaughtering |
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| CN114852681A (en) | 2022-08-05 |
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