Turtle flow water slaughtering device and its floating type gripper mechanical hand

Abstract

The application discloses a turtle flow-water slaughtering device and a floating gripper manipulator thereof. The gripper manipulator for fixing the turtle is arranged at intervals on a rotary conveying line. A clamping manipulator capable of clamping the turtle shell by moving transversely and reciprocally and lifting up and down is arranged along the rotary conveying line. A cutting manipulator for cutting the connecting part of the back shell and the belly shell of the turtle is arranged. The side of the rotary conveying line corresponding to the clamping manipulator is also fixed with the gripper manipulator. The gripper manipulator fixed on the side of the rotary conveying line is a floating gripper manipulator. The floating gripper manipulator floats up and down in response to the weight. The application realizes the mechanical automatic replacement of the turtle clamping, the turtle fixed conveying and the turtle shell cutting, reduces the labor intensity of workers and improves the work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of flowing water slaughtering equipment, in particular to a device for slaughtering turtles in flowing water. Background Art

[0002] Currently, turtles are slaughtered manually, requiring workers to cut the connection between the carapace and ventral shells before cutting the flesh and sorting the internal organs. This manual slaughtering process requires workers to hold the turtle with one hand and the knife with the other, resulting in low efficiency and poor hygiene. Therefore, there is a need for a streamlined slaughtering device that can replace manual handling and shell cutting. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a flow-water slaughtering device which can replace manual catching of turtles and cutting of shells.

[0004] The technical solution adopted to solve the above technical problems is: a flow-through slaughtering device for turtles, characterized in that: it includes a rotary conveyor line, on which are installed spaced-apart clamping robots for clamping the turtles, and along the direction of the rotary conveyor line, there are installed in sequence clamping robots that can move back and forth horizontally and lift up and down to clamp the turtle shell, as well as cutting robots for cutting the connection between the dorsal shell and the ventral shell of the turtle, and a clamping robot is also fixed on the side of the corresponding clamping robot of the rotary conveyor line.

[0005] On the basis of the above, two groups of clamping and placing robots are arranged in parallel.

[0006] The gripper manipulator installed on the rotary conveyor line has several gripping fingers arranged in a claw shape and opening and closing synchronously. All gripping fingers are hinged to an articulated seat, and all gripping fingers are slidably connected to a slide seat, which is driven to slide by a power device.

[0007] The gripper manipulator fixed on the side of the rotary conveyor line adopts a floating gripper manipulator, which includes a gripper manipulator that is arranged to float up and down in response to weight.

[0008] On the basis of the above, the gripper robot includes clamping blocks arranged in a cross shape, which are respectively fixed on a slide. The slides are installed to slide relative to each other in pairs, and a fixed bidirectional drive device is provided. The two ends of the bidirectional drive device are respectively connected to the slide drive on the corresponding side.

[0009] The gripper manipulator is mounted on a fixed frame in an up-and-down sliding manner. The fixed frame is hinged with a rocker arm. A connecting rod is hinged between one end of the rocker arm and the gripper manipulator, and a counterweight is hoisted at the other end.

[0010] On the basis of the above, the gripper manipulator is provided with a height limiting device to prevent it from rising too high.

[0011] On the basis of the above, a detection device for measuring the size of the turtle is provided between the clamping robot and the cutting robot.

[0012] The beneficial effects of the present invention include: the automated turtle slaughtering system replaces all aspects of the process, including catching and releasing the turtles, fixed transportation of the turtles, and shell cutting, with a mechanical alternative. Furthermore, it replaces manual catching of the turtles, which is not possible with a mechanical alternative, by cutting and sorting the meat. On the rotary conveyor line, workers can perform the meat cutting and sorting with both hands, significantly reducing labor intensity, improving work efficiency, and improving work environment hygiene. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of the flow-water slaughtering device for turtles of the present invention;

[0014] Figure 2 This is a schematic structural diagram of a gripper robot installed on a rotary conveyor line in the present invention;

[0015] Figure 3 This is a schematic structural diagram of the floating gripper manipulator fixed to the side of the rotary conveyor line in the present invention. Implementation Method

[0016] like Figure 1 As shown, a turtle slaughtering device comprises a rotary conveyor line 1, on which are mounted spaced-apart gripper manipulators 2 for clamping and securing the turtle. Sequentially mounted along the rotary conveyor line 1 are gripper manipulators 3 that reciprocate laterally and lift up and down to clamp the turtle's shell, as well as a cutting manipulator 4 for cutting the connection between the turtle's dorsal and ventral shells. Gripper manipulators 5 are also mounted to the sides of the rotary conveyor line 1 corresponding to the gripper manipulators 3. In this in-line slaughtering device, the turtle is clamped with its ventral shell facing upward.

[0017] The rotary conveyor line 1 is a conventional device having a mechanism for circular rotary conveying on the same plane.

[0018] The gripper manipulators 2 and 5 are also conventional claw-shaped opening and closing mechanisms. When closed, they can grip the edges of the turtle shell, which is actually the back shell of the turtle shell, so as to fix the turtle on the rotary conveyor line. The opening and closing method can be hinged or translated. Figure 2As shown, a gripper manipulator 2, spaced apart and mounted on a rotary conveyor line 1, employs an articulated opening and closing mechanism. It comprises several gripping fingers 2.1 arranged in a claw-like configuration that open and close synchronously. All gripping fingers 2.1 are hinged to an articulated seat 2.2, and are slidably connected to a slide 2.3. Slide 2.3 is driven to slide by a power unit, in this example a cylinder 2.4. Cylinder 2.4 drives slide 2.3, which in turn drives all gripping fingers 2.1 to open and close synchronously. To ensure reliable gripping of gripper manipulator 2, a spring 2.5 can be added to maintain the slide 2.3's tendency to move toward closing the gripping fingers 2.1.

[0019] The clamping and placing robot 3 is also a conventional device, using a translational opening and closing method, which is a common clamping mechanism. Since the clamping and placing robot 3 needs to pick up the turtle from the outside of the rotary conveyor line 1 and transfer it to the gripper robot 2 of the rotary conveyor line 1, the clamping and placing robot 3 needs to be equipped with a conventional horizontal reciprocating mechanism and an up and down lifting mechanism.

[0020] In order to ensure that the clamping and placing robot 3 can accurately and stably clamp the turtle, a gripper robot 5 is also fixed on the side of the corresponding clamping and placing robot 3 of the rotary conveyor line 1. In operation, it is necessary to manually grasp the turtle and place it on the gripper robot 5 to fix the claws. Then the clamping and placing robot 3 picks up the turtle from the gripper robot 5, moves it horizontally to the rotary conveyor line 1, and then places the turtle down to the gripper robot 2.

[0021] Since the parts of the turtle that the gripper robots 2 and 5 grip are the openings corresponding to the turtle's four feet, and the part of the turtle that the clamping robot 3 grips is the connection between the turtle's belly shell and the dorsal shell, for turtles of different sizes, the height difference between the openings and the connection parts is very large, and the height difference is roughly proportional to the weight of the turtle. Therefore, in order to ensure the precise control and reliable operation of the gripper robot 3, it is necessary to offset and compensate for the height difference. The gripper robot 5 fixed on the side of the rotary conveyor line adopts a floating gripper robot, which is set to float up and down in response to weight.

[0022] like Figure 3 As shown, the gripper manipulator 5 includes clamping blocks 5.1 arranged in a cross pattern, and the clamping blocks 5.1 are respectively fixed on a slide 5.2. The slides 5.2 are arranged to slide relative to each other in pairs, and a fixed bidirectional driving device 5.3 is provided. The two ends of the bidirectional driving device 5.3 are respectively connected to the slides 5.2 on the corresponding sides. The bidirectional driving device 5.3 can drive the slides 5.2 on both sides to slide synchronously towards each other, and then drive all the clamping blocks 5.1 to open and close synchronously. The clamping blocks 5.1 can be arranged to have corresponding angles, and the angles are used to clamp the edges of the back shell. The bidirectional driving device 5.3 in this embodiment adopts a bidirectional cylinder, and the driving connection between the piston rod of the bidirectional cylinder and the slide 5.2 adopts a connecting rod hinge. Of course, other conventional methods such as push block sliding connection can also be adopted.

[0023] The clamping jaw manipulator 5 is slidingly installed on the fixed frame 6, the fixed frame 6 is hinged with a rocker arm 7, one end of the rocker arm 7 is hinged with a connecting rod 8 between the clamping jaw manipulator 5, and the other end is hinged with a counterweight 9.

[0024] Further, the clamping jaw manipulator 5 is provided with a height limiting device 10 for limiting the upward height, which uses a conventional height limiting pull rod.

[0025] The cutting manipulator 4 is also a conventional device, which has a translation mechanism with two sides opening and closing, and the cutting machine set is installed on both sides of the translation mechanism. After the translation, the cutting machine set on both sides moves towards each other to cut the connecting part of the back shell and the abdominal shell on both sides of the turtle shell. Multiple meat cutting and sorting stations can be arranged in the flow direction on the subsequent conveying line to timely complete the meat cutting and sorting of the cut turtles.

[0026] In order to further improve the production efficiency, the clamping manipulator 3 can be provided with two groups in parallel, so that two turtle shells can be clamped at the same time. When the turtle shell that has completed meat cutting and sorting is rotated to the clamping manipulator 3, one group of the clamping manipulator 3 clamps the turtle shell on the clamping jaw manipulator 2 at this time, and the other group clamps the turtle to be slaughtered on the clamping jaw manipulator 5. After translation, the turtle to be slaughtered is moved to the clamping jaw manipulator 2, and the turtle shell is moved out of the outside of the rotating conveying line 1.

[0027] In order to realize accurate cutting of the turtle shell, the detection device 11 for measuring the size of the turtle is arranged between the clamping manipulator 3 and the cutting manipulator 4. In fact, the detection device 11 also measures the size of the turtle shell, so as to provide accurate cutting data for the feed amount of the cutting machine set of the cutting manipulator 4.

Claims

1. A floating gripper manipulator, comprising a gripper manipulator, characterized in that: The gripper manipulator is arranged to float up and down in response to weight. The gripper manipulator is slidably mounted on a fixed frame. The fixed frame is hinged with a rocker arm. A connecting rod is hinged between one end of the rocker arm and the gripper manipulator, and a counterweight is hoisted at the other end.

2. The floating gripper manipulator according to claim 1, characterized in that: The gripper manipulator includes clamping blocks arranged in a cross shape, which are respectively fixed on a slide. The slides are arranged to slide relative to each other in pairs. A fixed bidirectional drive device is provided, and the two ends of the bidirectional drive device are respectively connected to the slides on the corresponding sides.

3. The floating gripper manipulator according to claim 1 or 2, characterized in that: The gripper manipulator is provided with a height limiting device to limit its rising too high.

4. A turtle slaughtering device comprising a rotary conveyor line, characterized in that: The rotary conveyor line is equipped with spaced-apart clamping robots for clamping the turtle, and along the direction of the rotary conveyor line are installed clamping robots that can move back and forth horizontally and lift up and down to clamp the turtle shell, as well as cutting robots for cutting the connection between the dorsal shell and the abdominal shell of the turtle. A clamping robot is also fixed on the side of the corresponding clamping robot of the rotary conveyor line. The clamping robot fixed on the side of the rotary conveyor line adopts the floating clamping robot described in claim 1.

5. The turtle slaughtering device according to claim 4, characterized in that: The clamping and placing manipulators are arranged in two groups in parallel.

6. The turtle slaughtering device according to claim 4, characterized in that: The gripper manipulator installed on the rotary conveyor line has several gripping fingers arranged in a claw shape and opening and closing synchronously. All gripping fingers are hinged to an articulated seat, and all gripping fingers are slidably connected to a slide seat, which is driven to slide by a power device.

7. The turtle slaughtering device according to any one of claims 4 to 6, characterized in that: A detection device for measuring the size of the turtle is provided between the clamping and placing robot and the cutting robot.

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