A mechanical finger assembly

Abstract

A mechanical finger assembly comprises a clamping component (1) and a supporting component (2), wherein the clamping component (1) comprises a plurality of pressing claws, wherein the pressing claws of the clamping component (1) are movably connected to the supporting component (2), wherein the supporting component (2) comprises at least two groups of supporting blocks (21), wherein the two groups of supporting blocks (21) are respectively located on both sides of the clamping component (1), wherein a supporting platform is provided between the two groups of supporting blocks (21), wherein the height of the supporting platform is lower than the height of the pressing claws, wherein the lower part of the supporting component (2) is elastically connected to a telescopic mechanism (3), wherein the telescopic mechanism (3) is connected to the lower end of the clamping component (1), wherein a moving part is further provided at the bottom of the telescopic mechanism (3), wherein the moving part is capable of moving along a fixed track. The mechanical finger assembly of the present invention can realize automatic deviation correction and fixation of poultry gizzards, reduce the deviation rate of poultry gizzards, and replace manual hand-held gizzard opening, thereby greatly reducing the risk factor, improving work efficiency, and reducing the labor of workers.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical fingers, and in particular to a mechanical finger assembly for automatically correcting deviation and fixing poultry gizzards. Background Art

[0002] Poultry gizzards, such as chicken gizzards and duck gizzards, have a layer of yellow gastric mucosa on their inner walls, commonly known as yellow skin, which is inedible and generally needs to be scraped off. Currently on the production line in the workshop, a knife is usually used to cut the middle of the poultry gizzards first, and then the yellow skin is scraped off. However, in this way, a large number of operators are required to open the poultry gizzards and scrape off the yellow skin, which is time-consuming and labor-intensive, and the labor cost is extremely high. Moreover, the method of manually scraping the yellow skin on the surface of the poultry gizzards by a large number of operators also occupies a large part of the workshop space, resulting in space waste.

[0003] Although there are some devices on the market that can automatically scrape away the yellow skin, the opening of the gizzard is mostly done manually, which is very dangerous. In addition, the biggest disadvantage of manual opening of the gizzard is that it cannot be completely centered and it is easy to open it off-center, thus affecting the subsequent scraping of the yellow skin.

[0004] The robotic fingers currently used in factories are generally fixed-type, opening at a certain angle to pick up objects of fixed sizes, but there is a lack of technology for automatic correction of objects of different sizes, such as duck gizzards of different sizes. Summary of the invention

[0005] In order to solve the problems that the opening of the poultry gizzard cannot be completely centered and that manual gizzard opening has a high risk factor and low efficiency, the present invention provides a mechanical finger assembly that can automatically correct and fix the poultry gizzard, reduce the gizzard opening rate, and replace manual hand-held gizzard opening, thereby greatly reducing the risk factor, improving work efficiency, and reducing worker labor.

[0006] The technical solution of the present invention is as follows:

[0007] A mechanical finger assembly includes a clamping component and a supporting component. The clamping component includes a plurality of pressure claws for fixing an object. The pressure claws of the clamping component are movably connected to the supporting component. The clamping component can open and close relative to the supporting component. The supporting component includes at least two groups of support blocks. The two groups of support blocks are respectively located on both sides of the clamping component. A support platform is provided between the two groups of support blocks. The height of the support platform is lower than the height of the pressure claws. The pressure claws can open and close along the length direction of the support blocks on both sides and fix the object on the support platform. A telescopic mechanism is elastically connected to the lower part of the supporting component. The telescopic mechanism is connected to the lower end of the clamping component. A moving part is also provided at the bottom of the telescopic mechanism. The moving part can move along a fixed track. When the moving part encounters different obstacles and moves up and down, the telescopic mechanism pushes the clamping component to move up and down synchronously, thereby realizing the opening and closing action of the pressure claws.

[0008] Furthermore, the clamping assembly includes a pushing block and a plurality of pressing claws, the plurality of pressing claws are hinged on the pushing block, and the pushing block is connected to the telescopic mechanism.

[0009] Furthermore, a plurality of rotating shafts are connected between the two groups of support blocks, the rotating shafts are located outside the pressure claws, and the pressure claws are connected to the rotating shafts through connecting blocks. In this way, the push block, the pressure claws, the connecting blocks and the rotating shafts form a connecting rod mechanism, so that the pressure claws can open and close according to a certain trajectory.

[0010] As described above, the mechanical finger assembly, the clamping assembly includes four pressure claws, and a connecting block is respectively hinged between the front and rear pressure claws along the length direction of the support block, and the other end of the connecting block is passed through the rotating shaft. The two pressure claws at the front or rear are controlled to act simultaneously through a connecting block. Preferably, the four pressure claws are of the same length and can perform opening and closing actions at the same time under the drive of the connecting block.

[0011] In the mechanical finger assembly as described above, a plurality of spacers and first rollers are arranged on the outer side of the support block, the spacers are sleeved on the rotating shaft, and the first rollers are arranged on the outer side of the spacers. Through the plurality of first rollers on the outer sides of the two groups of support blocks, the mechanical finger assembly can be conveniently connected to the production line for use, and the mechanical finger assembly can be kept stable and not skewed.

[0012] As described above, the mechanical finger assembly, the inner area of ​​the pressure claw is smaller than the outer area. It can be better applied to objects such as poultry gizzards that are large in the middle and small on the outside, so as to facilitate clamping poultry gizzards or other objects. At the same time, when the pressure claw is tightened inward from the open state, the inner side of the pressure claw will also produce a push-pull action on it due to the different contact order with objects such as poultry gizzards to correct its position. For example, after the poultry gizzard is placed on the support platform between the two groups of support blocks, the inner side of the pressure claw on the biased side must first contact the poultry gizzard. At this time, since the other pressure claws have not yet contacted the poultry gizzard, the poultry gizzard at this time will continue to be pushed by the pressure claw on the biased side, pushing it to the opposite direction. Similarly, after the second pressure claw contacts the poultry gizzard, the poultry gizzard will be affected by the two pressure claws at the same time and move to the opposite side until the poultry gizzard moves to the middle position and the four pressure claws can clamp the poultry gizzard, so as to achieve the purpose of automatically correcting the position of the poultry gizzard.

[0013] As for the mechanical finger assembly as described above, the upper part of the support block is connected to a movable seat and an upper pressing plate, the movable seat is provided with a bracket facing the pressing claw side, the height of the bracket is lower than the inner height of the pressing claw, and is used to place gizzards and other items, and the upper pressing plate is located on the upper part of the movable seat. Preferably, the width of the bracket between the support blocks on both sides is less than half the width of the clamping assembly, and a certain gap is reserved between the two brackets, so that the staff can quickly find the middle position of the clamping assembly to place gizzards and other items, and at the same time, the middle position of gizzards and other items naturally falls into this gap, which is convenient for the execution of the subsequent automated gizzard opening process.

[0014] Preferably, the clamping assembly and the supporting assembly are made of materials such as nylon and plastic to avoid damage to items such as gizzards placed on the bracket.

[0015] Furthermore, the lower part of the support block is also connected to an external connection plate, which is made of hard materials such as steel plates and is provided with connection holes for connection with the assembly line. Using the external connection plate as the external connection part of the support assembly can effectively reduce the wear of the support block and help extend the service life of the support assembly.

[0016] As described above, the telescopic mechanism of the mechanical finger assembly includes a base, a plurality of telescopic shafts and an elastic member, one end of the telescopic shaft and the elastic member is connected to the base, and the other end is inserted into the interior of the support assembly. The support assembly includes a support block and a movable seat, on which corresponding telescopic shaft holes and elastic member holes are provided. The telescopic shaft serves as a connecting piece between the telescopic mechanism and the support assembly, and can move up and down in the support assembly. Preferably, the length of the telescopic shaft is greater than the height of the support assembly, so that an appropriate distance is maintained between the support assembly and the telescopic mechanism.

[0017] Furthermore, a second roller is provided at the lower part of the base for moving the mechanical finger assembly on the assembly line. A roller shaft is passed through the middle of the second roller, roller connecting plates are installed on both sides of the roller shaft, and the second roller is connected to the base through the roller connecting plates.

[0018] The beneficial effects achieved by the present invention compared with the prior art are:

[0019] 1. The mechanical finger assembly of the present invention can realize automatic deviation correction and fixation of poultry gizzards, reduce the deviation rate of poultry gizzards, fill the market gap that existing mechanical fingers cannot automatically correct poultry gizzards, and provide important help for the future development of automated production lines for poultry gizzards.

[0020] 2. The mechanical finger assembly of the present invention replaces the manual hand-held gizzard opener and adopts mechanized production, which greatly reduces the risk factor, improves work efficiency, and reduces the labor of workers.

[0021] 3. The mechanical finger assembly of the present invention has a compact overall structure, is easy to manufacture, and is convenient to be used in conjunction with an assembly line, which is conducive to promotion and use within the industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] By reading the detailed description of the preferred embodiment below, the scheme and advantages of the present application will become clear to those skilled in the art. The accompanying drawings are only for the purpose of illustrating the preferred embodiment and are not to be considered as limiting the present invention.

[0023] In the attached picture:

[0024] Figure 1 is an isometric view of the mechanical finger assembly in Example 1;

[0025] Figure 2 for Figure 1 Side view of

[0026] Figure 3 for Figure 1 A top view of

[0027] Figure 4 A front cross-sectional view of the gripping component position of the mechanical finger assembly;

[0028] Figure 5 A front cross-sectional view of the support component position of the robot finger assembly;

[0029] Figure 6 It is a side view of the movable seat;

[0030] Figure 7 It is a front view of the movable seat;

[0031] The components represented by the reference numerals in the figure are:

[0032] 1. Clamping assembly, 11. First pressure jaw, 111. Inner arc plate, 112. Outer arc plate, 12. Second pressure jaw, 13. Third pressure jaw, 14. Fourth pressure jaw, 15. Connecting block, 16. Pushing block, 17. First pin shaft, 18. Second pin shaft, 2. Support assembly, 21. Support block, 22. Movable seat, 221. Bracket, 23. Upper pressure block, 3. Telescopic mechanism, 31. Base, 32. Telescopic shaft, 33. Spring, 34. Second roller, 35. Roller connecting plate, 36. Roller shaft, 4. Rotating shaft, 5. Spacer, 6. First roller, 7. External connecting plate. DETAILED DESCRIPTION

[0033] The exemplary embodiments of the present disclosure will be described in more detail below in conjunction with the accompanying drawings. It should be noted that these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. The present disclosure can be implemented in various forms and should not be limited by the embodiments described herein.

[0034] The directions “front”, “back”, “left”, “right”, etc. mentioned in the present invention are only used to express relative positional relationships and are not subject to any specific direction reference in practical applications. Therefore, they cannot be understood as limitations on the present invention.

[0035] Example 1

[0036] See also Figure 1-Figure 4 , Figure 1-Figure 4 This is a schematic diagram of the structure of the mechanical finger assembly of this embodiment, including a clamping component 1, a support component 2 and a telescopic mechanism 3. The clamping component 1 includes four pressure claws for fixing objects. In this embodiment, duck gizzards are taken as an example, and the duck gizzards are fixed by the pressure claws of the clamping component 1. The pressure claws of the clamping component 1 are movably connected with the support component 2. The clamping component 1 can open and close relative to the support component 2. The support component 2 includes two groups of support blocks 21. The two groups of support blocks 21 are respectively located on both sides of the clamping component 1. A support platform is provided between the two groups of support blocks 21. The height of the support platform is lower than the height of the pressure claws. The pressure claws can open and close along the length direction of the support blocks 21 on both sides and fix the objects on the support platform. The lower part of the support component 2 is elastically connected with a telescopic mechanism 3, and the telescopic mechanism 3 is connected to the lower end of the clamping component 1. A roller is also provided at the bottom of the telescopic mechanism 3, and the roller can move along a fixed track. When the roller encounters different obstacles and moves up and down, the telescopic mechanism 3 pushes the clamping component 1 to move up and down synchronously, thereby realizing the opening and closing action of the pressure claw.

[0037] In this embodiment, the clamping assembly 1 includes four pressing claws, a connecting block 15 and a pushing block 16. The four pressing claws are a first pressing claw 11 on the upper right, a second pressing claw 12 on the lower right, a third pressing claw 13 on the upper left and a fourth pressing claw 14 on the lower left. Figure 1 The connecting block 15 includes two, one of which is hinged between the first pressing jaw 11 and the second pressing jaw 12 through the first pin shaft 17, and the other connecting block 15 is hinged between the third pressing jaw 13 and the fourth pressing jaw 14 through the first pin shaft 17, so that the two pressing jaws at the front or rear can be controlled to move simultaneously through one connecting block 15. Preferably, the four pressing jaws have the same length and can perform opening and closing actions at the same time under the drive of the connecting block 15.

[0038] 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 to the upper end of the pushing block 16 through the second pin 18, see Figure 4 The pushing block 16 is connected to the telescopic mechanism 3 by bolts, and the movement of the telescopic mechanism 3 can drive the pushing block 16 to move.

[0039] Furthermore, two rotating shafts 4 are connected between the support blocks 21 on the left and right sides, and the rotating shafts 4 are located outside the pressing claws, and the connecting blocks 15 hinged on the pressing claws are passed through the rotating shafts 4. In this way, the pushing block 16, the pressing claws, the connecting block 15 and the rotating shaft 4 constitute a connecting rod mechanism, and when the pushing block 16 moves upward, the pressing claws are pushed to move upward, and at the same time, due to the restriction of the connecting block 15, the pressing claws are turned outward while moving upward. Similarly, when the pushing block 16 moves downward, the pressing claws are tightened downward and inward.

[0040] In this embodiment, an inner arc plate 111 is provided on the inner side of the pressing claw, and an outer arc plate 112 is provided on the outer side. There is space between the inner arc plate 111 and the outer arc plate 112 to reduce the weight of the pressing claw. The area of ​​the inner arc plate 111 is smaller than that of the outer arc plate 112, so that it can be better applied to items such as duck gizzards that are large in the middle and small on the outside, so that the inner and outer sides of the pressing claws can be placed on the duck gizzards to clamp the duck gizzards. At the same time, the design of the inner arc plate 111 and the outer arc plate 112 allows the pressing claws to be tightened inward from the open state, and the different contact sequences between the inner arc plates 111 of each pressing claw and the duck gizzards will also produce a push-pull action on the duck gizzards to correct their position. For example, after the operator places the gizzard on the support platform between the two groups of support blocks 21, the inner arc plate 111 of the pressure claw on the side of the gizzard must first contact the gizzard. At this time, since the other pressure claws have not yet contacted the gizzard, the gizzard will continue to be pushed by the pressure claw on the side that is biased, pushing it to the opposite direction. Similarly, after the second pressure claw contacts the gizzard, the gizzard will be affected by the two pressure claws at the same time and move to the opposite side until the gizzard moves to the middle position and the four pressure claws can all clamp the gizzard, so as to achieve the purpose of automatically correcting the position of the gizzard.

[0041] Combine the following Figure 5 The upper part of the support block 21 is connected with a movable seat 22 and an upper pressing plate 23 in sequence, and the support block 21, the movable seat 22 and the upper pressing plate 23 are provided with threaded holes at corresponding positions at both ends, so as to facilitate the use of bolts to connect the support block 21, the movable seat 22 and the upper pressing plate 23 together. Preferably, the height of the upper pressing plate 23 matches the lowest end position of the pressing claw head, and a certain gap is reserved between the two.

[0042] Combine the following Figure 6 and Figure 7 The movable seat 22 is provided with a bracket 221 on the side facing the pressing claw, the height of the bracket 221 is lower than the inner height of the pressing claw, and a concave groove is provided in the middle for placing the gizzard. Preferably, the width of the bracket 221 between the two side support blocks 21 is less than half of the spacing between the two side support blocks 21, and a certain gap is reserved between the two brackets 221, so that the staff can quickly find the middle position of the clamping assembly 1 to place the gizzard, and at the same time, the middle position of the gizzard naturally falls into this gap, which is convenient for the execution of the subsequent automated gizzard opening process.

[0043] In this embodiment, two spacers 5 and two first rollers 6 are respectively provided on the outer side of the support block 21, the spacers 5 are sleeved on both ends of the rotating shaft 4, and the first rollers 6 are provided on the outer side of the spacers 5. The first rollers 6 are preferably deep groove ball bearings and can rotate freely around the rotating shaft 4. Through the four first rollers 6 on the outer sides of the two groups of support blocks 21, the present robot finger assembly can be conveniently connected to the production line for use, and the robot finger assembly can be kept stable and not skewed, which is convenient for the execution of the automated gizzard opening process.

[0044] Preferably, the clamping assembly 1 and the supporting assembly 2 in this embodiment are made of nylon material to avoid damaging the gizzards placed on the bracket 221 .

[0045] Furthermore, the lower part of the support block 21 is also connected to an external connection plate 7, which is made of a steel plate and has a connection hole thereon, and is used to replace the connection between the support block 21 and the assembly line. Using the external connection plate 7 as the external connection part of the support assembly 2 can effectively reduce the wear of the support block 21, which is conducive to extending the service life of the support assembly 2.

[0046] In this embodiment, the telescopic mechanism 3 includes a base 31, a telescopic shaft 32 and a spring 33. There are four telescopic shafts 32 and two springs 33. One end of the telescopic shaft 32 and the spring 33 is connected to the base 31, and the other end is inserted into the support assembly 2. Figure 5The support block 21 and the movable seat 22 are respectively provided with two telescopic shaft holes and one spring hole, and the spring hole is located in the middle position, 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 to the support assembly 2 by four telescopic shafts 32 arranged separately, so that the support assembly 2 and the clamping assembly 1 can move in the vertical direction under the action of the telescopic mechanism 3.

[0047] Furthermore, a second roller 34 is provided at the lower part of the base 31 for moving the robot finger assembly on the assembly line. Preferably, the second roller 34 adopts a deep groove ball bearing, a roller shaft 36 is passed through the middle of the second roller 34, roller connecting plates 35 are installed on both sides of the roller shaft 36, and the second roller 34 is connected to the base 31 through the roller connecting plates 35.

[0048] Specifically, the present mechanical finger assembly is used for clamping duck gizzards and other items on an assembly line. When in use, the first roller 6, the second roller 34 and the external connection plate 7 are connected to the assembly line. A high section and a low section are provided on the moving path of the second roller 34 of the assembly line. When the second roller 34 moves on the high section, the center distance between the second roller 34 and the first roller 6 becomes shorter. The second roller 34 pushes the base 31 to move upward through the roller connecting plate 35. The pushing block 16 on the upper surface of the base 31 moves upward, and at the same time pushes each pressing claw to move upward. During the upward movement of each pressing claw, the connecting block 16 is pressed against the pressing claw 16. 15, and at the same time, it is stretched outward to expose the bracket 221. At this time, the operator can place the gizzard on the bracket 221, and then the second roller 34 continues to move forward to the lower section. At this time, the center distance between the second roller 34 and the first roller 6 becomes longer, and the base 31 moves downward under the pressure of the spring 33, and then the push block 16 pulls the pressure claws back to hold the gizzard. In the process of each pressure claw returning, the pressure claw that first contacts the gizzard will push the gizzard to move to the opposite position until the gizzard is pushed to the middle position. The four pressure claws simultaneously hold and fix the gizzard, ready to go to the next gizzard opening process.

[0049] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or additions, subtractions or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A mechanical finger assembly, comprising a clamping assembly (1) and a supporting assembly (2), wherein the clamping assembly (1) comprises a plurality of pressure claws, the pressure claws of the clamping assembly (1) and the supporting assembly (2) are movably connected together, characterized in that: The support assembly (2) comprises at least two groups of support blocks (21), the two groups of support blocks (21) are respectively located on both sides of the clamping assembly (1), a support platform is provided between the two groups of support blocks (21), the height of the support platform is lower than the height of the pressure claw, the lower part of the support assembly (2) is elastically connected to a telescopic mechanism (3), and the telescopic mechanism (3) is connected to the lower end of the clamping assembly (1); The clamping assembly (1) comprises a pushing block (16) and a plurality of pressing claws, wherein the plurality of pressing claws are hinged on the pushing block (16), and the pushing block (16) is bolted to the telescopic mechanism (3); A plurality of spacers (5) and a first roller (6) are provided on the outside of the support block (21); the telescopic mechanism (3) comprises a base (31); a second roller (34) is provided at the lower part of the base (31); When in use, the first roller (6) and the second roller (34) are connected to an assembly line, and a high section road and a low section road are provided on the moving path of the second roller (34) of the assembly line. When the second roller (34) moves on the high section road, the center distance between the second roller (34) and the first roller (6) becomes shorter, and when the second roller (34) continues to move forward to the low section road, the center distance between the second roller (34) and the first roller (6) becomes longer.

2. A mechanical finger assembly according to claim 1, characterized in that: A plurality of rotating shafts (4) are connected between the two groups of support blocks (21); the rotating shafts (4) are located outside the pressing claws; the pressing claws and the rotating shafts (4) are connected via a connecting block (15).

3. A mechanical finger assembly according to claim 2, characterized in that: The clamping assembly (1) comprises four pressing claws, and a connecting block (15) is hingedly connected between two front and rear pressing claws along the length direction of the support block (21), and the other end of the connecting block (15) is passed through the rotating shaft (4).

4. A mechanical finger assembly according to claim 3, characterized in that: The spacer sleeve (5) is sleeved on the rotating shaft (4), and a first roller (6) is provided on the outer side of the spacer sleeve (5).

5. A mechanical finger assembly according to any one of claims 1 to 4, characterized in that: The inner area of ​​the pressing claw is smaller than the outer area.

6. A mechanical finger assembly according to claim 5, characterized in that: The upper part of the support block (21) is connected to a movable seat (22) and an upper pressing plate (23); the movable seat (22) is provided with a bracket (221) on the side facing the pressing claw; the height of the bracket (221) is lower than the inner side of the pressing claw; and the upper pressing plate (23) is located on the upper part of the movable seat (22).

7. The mechanical finger assembly according to claim 1, characterized in that: The telescopic mechanism further comprises a plurality of telescopic shafts (32) and elastic members, one end of the telescopic shafts (32) and the elastic members being connected to the base (31) and the other end of the telescopic shafts (32) and the elastic members being inserted into the interior of the support assembly (2).

8. A mechanical finger assembly according to claim 7, characterized in that: The length of the telescopic shaft (32) is greater than the height of the support assembly (2).

9. The mechanical finger assembly according to claim 1, characterized in that: A roller shaft (36) passes through the middle of the second roller (34), and roller connecting plates (35) are mounted on both sides of the roller shaft (36). The second roller (34) is connected to the base (31) via the roller connecting plates (35).

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