Discharging mechanical gripper suitable for water-covered fermentation jar

Abstract

The utility model relates to the technical field of fermentation jar discharging auxiliary equipment, in particular to a discharging mechanical gripper suitable for a fermentation jar, which solves the problem of low efficiency of taking out meat raw materials in a water-covered fermentation jar in the prior art, and comprises a sliding rod and a connecting pipe, the sliding rod is in sliding connection with the connecting pipe, and the lower end of the connecting pipe is connected with a supporting plate. The lower side of the supporting plate is elastically connected with a grabbing plate, the lower side of the grabbing plate is connected with a gripper, the lower end of the sliding rod is connected with a baffle, the gripper downwards penetrates through the baffle, and a gripper retracting mechanism is arranged between the grabbing plate and the baffle. The fermented meat clamping and loosening device has the advantages that the sliding rod and the connecting pipe slide relatively to adjust the distance between the grabbing plate and the baffle, and when the baffle and the grabbing plate move relatively, the grabbing hand is driven by the grabbing hand shrinking mechanism to be opened or shrunk, so that fermented meat is clamped or loosened.

Description

Technical Field

[0001] The utility model relates to the technical field of auxiliary equipment for discharging materials from fermentation vats, in particular to a discharging mechanical gripper suitable for fermentation vats. Background Technique

[0002] The meat industry is the largest food industry in China, accounting for 12% of the total output value of the food industry, and among them, fermented meat products account for more than 30% of the total output value of the meat industry. Solid-state fermented meat is the main way of traditional fermented meat products in China. In the microbial community environment, through complex physiological, biochemical and physical chemical reactions, including the interaction between microorganisms, the degradation of proteins and fats in meat products is realized, and the formation of unique flavor substances is promoted.

[0003] The water-covered fermentation vat is a product born under the background of Chinese farming culture, with the shape characteristics of "sloping shoulders, round belly and flat bottom", and has an irreplaceable advantage and position in the fermentation containers of solid-state fermented meat. In the industrial production of solid-state fermented meat, generally, the meat raw materials after mixing are placed in the water-covered fermentation vat for fermentation. After fermentation, due to the characteristics of the earthenware material of the fermentation vat itself and the weight of the fermented meat in it, on the one hand, the fermentation vat is not allowed to be tilted for sampling, and workers need to repeatedly stretch their arms into the vat to grab the solid-state fermented meat. On the other hand, it also fundamentally limits the capacity of the water-covered fermentation vat used in the industrial production of solid-state fermented meat. In order to facilitate the sampling operation, it is only appropriate to choose a fermentation vat with a height of 30 - 50 cm, which greatly limits the production capacity of the industrial production of solid-state fermented meat.

[0004] The patent with the patent number CN217372327U discloses a telescopic object picker, including a telescopic tube. The telescopic tube has a telescopic function. One end of the telescopic tube is fixedly connected with a handle, and the other end is provided with a clamping jaw. A pulling rope mechanism is arranged in the handle, and a clamping mechanism is arranged on the clamping jaw. The pulling rope mechanism can control the clamping jaw to clamp or release through the clamping mechanism. The clamping or releasing of the clamping jaw is used to realize the clamping of objects. However, when used for discharging materials from a water-covered fermentation vat, the opening angle of the clamping jaw is small, and the clamping jaw cannot hold the meat raw materials in the water-covered fermentation vat, affecting the discharging efficiency. Content of the Utility Model

[0005] The utility model provides a discharging mechanical gripper suitable for a water-covered fermentation vat, which solves the problem of low efficiency in taking out meat raw materials in the existing water-covered fermentation vat.

[0006] The technical solution of the utility model is realized as follows:

[0007] A discharging mechanical gripper applicable to a fermenting vat with water covering, comprising a sliding rod and a connecting pipe. The sliding rod is slidably connected to the connecting pipe. The lower end of the connecting pipe is connected with a supporting plate. The lower side of the supporting plate is elastically connected with a gripping plate. The lower side of the gripping plate is connected with a gripper. The lower end of the sliding rod is connected with a baffle. The gripper passes downward through the baffle. A gripper contraction mechanism is arranged between the gripping plate and the baffle. The relative sliding of the sliding rod and the connecting pipe can adjust the distance between the baffle and the gripping plate. When the baffle and the gripping plate move relative to each other, the gripper is driven to open or contract through the gripper contraction mechanism, so as to clamp or loosen the fermented meat in the fermenting vat.

[0008] The gripper contraction mechanism includes a contraction column. The contraction column is arranged on the lower side of the gripping plate. The contraction column is located inside the gripper. The lower end of the contraction column is an inclined surface that slopes downward towards the sliding rod. During the upward movement of the baffle, under the action of the inclined surface at the lower end of the contraction column, the gripping plate tilts, and at this time the gripper contracts towards the center of the baffle.

[0009] The gripper contraction mechanism further includes a contraction sliding hole. The contraction sliding hole is arranged on the baffle. The contraction column and the contraction sliding hole are arranged in a dislocation manner. The center of the contraction column corresponds to the position of the edge of the contraction sliding hole close to the outer side of the baffle. When the distance between the baffle and the gripping plate shrinks, the contraction column slides obliquely into the contraction sliding hole. At this time, the gripping plate is driven to tilt and buckle inward, so that the gripper contracts inward, realizing the clamping of the fermented meat by the gripper.

[0010] The number of the gripping plates is at least two. The gripping plates are arranged in central symmetry with the sliding rod as the center. There is a gap between the gripping plates and the sliding rod. The symmetrically arranged gripping plates ensure stable force on each gripping plate; the gap avoids interference between the gripping plates and the sliding rod when the gripping plates tilt.

[0011] The gripping plate is connected with the supporting plate through a plurality of springs; when the mechanical gripper is in the open state, the gripping plate is parallel to the supporting plate. The plurality of springs act together to connect the gripping plate and the supporting plate, ensuring stable connection of the gripping plate on the supporting plate.

[0012] At least one gripper is connected to the lower side of each gripping plate. The gripper is arranged at the outer edge position of the gripping plate. When the gripping plate tilts, the gripper tilts and buckles inward along with the gripping plate, and each gripper cooperates to clamp the fermented meat.

[0013] An arc-shaped groove is arranged at the edge of the baffle. The arc-shaped groove corresponds to the position of the gripper. The arc-shaped groove plays an avoidance role to prevent the baffle from interfering with the gripper when the gripper tilts and buckles inward.

[0014] The lower end of the gripper is connected with a spindle structure. The spindle structure can more conveniently grab the solid-state fermented meat and can better prevent the solid-state fermented meat from falling off during the sampling process after grabbing.

[0015] The upper end of the sliding rod is connected with a horizontally arranged sliding rod handle, and the upper end of the connecting pipe is connected with a horizontally arranged connecting pipe handle. The operator drives the mechanical gripper to move through the sliding rod handle and the connecting pipe handle, and at the same time drives the sliding rod and the connecting pipe to slide relatively through the sliding rod handle and the connecting pipe handle, so as to adjust the relative position of the support plate and the baffle, and further realize the grasping or loosening of the gripper.

[0016] The gripper contraction mechanism includes a frustum of a cone, which is arranged on the baffle. The central axis of the frustum of the cone coincides with the axial direction of the sliding rod, and the top surface of the frustum of the cone cooperates with the inner side of the gripper plate.

[0017] The beneficial effects of the present utility model are as follows: The relative sliding of the sliding rod and the connecting pipe can adjust the distance between the gripper plate and the baffle, and when the baffle and the gripper plate move relatively, the gripper contraction mechanism drives the gripper to open or contract, so as to realize the clamping or loosening of the fermented meat.

[0018] Through the coordinated use of structures such as the sliding rod, the connecting pipe and the baffle, a larger grasping length and depth can be obtained, which is convenient for taking out the solid-state fermented meat in a large-scale water-covered fermentation tank, reduces the bending degree and frequency of workers, reduces the labor intensity of workers, and improves the industrial production efficiency.

[0019] In addition, through the coordinated use of structures such as the support plate, the spring, the gripper plate, the gripper, the contraction column, and the contraction sliding hole, the solid-state fermented meat can be grabbed in a lifting manner, replacing the labor of workers' hand grasping, avoiding unnecessary pollution caused by workers putting their arms into the fermentation tank, greatly reducing the labor intensity of workers, reducing the labor cost, and improving the efficiency of taking out the solid-state fermented meat from the fermentation tank. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 It is a schematic structural diagram of a discharging mechanical gripper suitable for a water-covered fermentation tank of the present utility model;

[0022] Figure 2 It is a front view of the discharging mechanical gripper;

[0023] Figure 3 It is a schematic diagram of the contraction state of the discharging mechanical gripper.

[0024] In the figure: 1. Slide bar handle; 2. Connecting pipe handle; 3. Slide bar; 4. Connecting pipe; 5. Support plate; 6. First spring; 7. Second spring; 8. Third spring; 9. Fourth spring; 10. Fifth spring; 11. Sixth spring; 12. Seventh spring; 13. Eighth spring; 14. Ninth spring; 15. Tenth spring; 16. First gripping plate; 17. Second gripping plate; 18. First contraction column; 19. Second contraction column; 20. First gripper; 21. Second gripper; 22. Third gripper; 23. Fourth gripper; 24. Second contraction sliding hole; 25. First contraction sliding hole; 26. Tensile sliding baffle. Detailed implementation mode

[0025] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] Embodiment 1, as Figure 1 shown, a discharging mechanical gripper applicable to a water-covered fermentation vat includes a slide bar 3 and a connecting pipe 4. The slide bar 3 is slidably connected to the connecting pipe 4. The lower end of the connecting pipe 4 is connected with a support plate 5. The lower side of the support plate 5 is elastically connected with a gripping plate, and the lower side of the gripping plate is connected with a gripper. The lower end of the slide bar 3 is connected with a baffle 26. The gripper passes downward through the baffle 26. A gripper contraction mechanism is arranged between the gripping plate and the baffle 26. The up and down sliding of the slide bar 3 in the connecting pipe 4 can drive the relative position of the baffle 26 and the support plate 5 to change, and further adjust the relative position of the gripping plate and the baffle 26. When the baffle 26 and the gripping plate move relatively, the gripper is driven to open or contract through the gripper contraction mechanism, so as to clamp or loosen the fermented meat in the fermentation vat.

[0027] In addition, in this embodiment, the support plate 5 is circular, and the diameter of the support plate 5 is smaller than the diameter of the inlet of the water-covered fermentation vat. The diameter of the baffle 26 is smaller than the diameter of the support plate 5. When the gripper is in the open state, each gripper does not extend beyond the edge of the support plate 5.

[0028] Furthermore, the gripper contraction mechanism includes a contraction column. The contraction column is arranged on the lower side of the gripping plate. The contraction column is located inside the gripper. The lower end of the contraction column is an inclined surface that slopes downward towards the slide bar 3. Pulling the slide bar 3 upward can make the baffle 26 rise. During the rising process of the baffle 26, under the action of the inclined surface at the lower end of the contraction column, the gripping plate inclines, and at this time the gripper contracts towards the center of the baffle, realizing the clamping of the fermented meat by the gripper.

[0029] Embodiment 2, on the basis of Embodiment 1, a discharging mechanical gripper applicable to a water-covered fermentation vat, as Figure 2 、 Figure 3As shown, the gripper retraction mechanism further includes a retraction sliding hole provided on the baffle 26. The retraction column is arranged in a dislocation manner with the retraction sliding hole, and the center of the retraction column corresponds to the edge position of the retraction sliding hole close to the outside of the baffle 26. When the distance between the baffle 26 and the gripper plate is reduced, the retraction column obliquely slides into the retraction sliding hole. At this time, it drives the gripper plate to tilt and buckle inward, causing the gripper to retract inward, so as to clamp the fermented meat with the gripper.

[0030] Furthermore, the number of gripper plates is at least two, and the gripper plates are arranged centrosymmetrically with the sliding rod 3 as the center. There is a gap between the gripper plates and the sliding rod 3. The gripper plates are connected to the support plate 5 through a plurality of springs; when the mechanical gripper is in the open state, the gripper plates are parallel to the support plate 5. In this embodiment, the number of the shown gripper plates is two, the gripper plates include a first gripper plate 16 and a second gripper plate 17, and the springs include a first spring 6, a second spring 7, a third spring 8, a fourth spring 9, a fifth spring 10, a sixth spring 11, a seventh spring 12, an eighth spring 13, a ninth spring 14, and a tenth spring 15. The first gripper plate 16 is connected to the support plate 5 through the first spring 6, the second spring 7, the third spring 8, the fourth spring 9, and the fifth spring 10, and the second gripper plate 17 is connected to the support plate 5 through the sixth spring 11, the seventh spring 12, the eighth spring 13, the ninth spring 14, and the tenth spring 15.

[0031] In addition, in this embodiment, a first retraction sliding hole 25 and a second retraction sliding hole 24 are provided on the baffle 26. A first retraction column 18 is provided on the first gripper plate 16, and a second retraction column 19 is provided on the second gripper plate 17. The first retraction column 18 corresponds to and cooperates with the first retraction sliding hole 25, and the second retraction column 19 corresponds to and cooperates with the second retraction sliding hole 24.

[0032] Furthermore, at least one gripper is connected to the lower side of each gripper plate, and the gripper is arranged at the outer edge position of the gripper plate. In this embodiment, a first gripper 20 and a second gripper 21 are provided on the lower side of the first gripper plate 16, the first gripper 20 and the second gripper 21 are arranged in parallel, a third gripper 22 and a fourth gripper 23 are provided on the lower side of the second gripper plate 17, and the third gripper 22 and the fourth gripper 23 are arranged in parallel.

[0033] Furthermore, an arc-shaped groove is provided at the edge of the baffle 26, and the arc-shaped groove corresponds to the position of the gripper. In this embodiment, four arc-shaped grooves are provided at the edge of the baffle 26, and each arc-shaped groove corresponds to the positions of the first gripper 20, the second gripper 21, the third gripper 22, and the fourth gripper 23 respectively. The arc-shaped groove plays a role of avoiding interference, preventing the baffle 26 from interfering with the gripper when the gripper tilts and buckles inward.

[0034] Furthermore, a spindle structure is connected to the lower end of the gripper. Specifically, spindle structures are provided at the lower ends of the first gripper 20, the second gripper 21, the third gripper 22, and the fourth gripper 23. The spindle structure can more conveniently grasp the solid-state fermented meat and can better prevent the solid-state fermented meat from falling off during the sampling process after being grasped.

[0035] Further, a horizontally arranged slide bar handle 1 is connected to the upper end of the slide bar 3, and a horizontally arranged connecting pipe handle 2 is connected to the upper end of the connecting pipe 4. The operator drives the mechanical gripper to move through the slide bar handle 1 and the connecting pipe handle 2, and at the same time drives the slide bar 3 and the connecting pipe 4 to slide relative to each other through the slide bar handle 1 and the connecting pipe handle 2, so as to adjust the relative position of the support plate 5 and the baffle 26, and further realize the grasping or loosening of the gripper.

[0036] Embodiment 3 is different from Embodiment 1 in that a discharging mechanical gripper applicable to an overturned fermentation vat is provided, and the gripper contraction mechanism includes a frustum of a cone. The frustum of the cone is arranged on the baffle 26, the central axis of the frustum of the cone coincides with the axial direction of the slide bar 3, and the top surface of the frustum of the cone is matched with the inner side of the gripper plate; a support rod is arranged on the lower side of the support plate 5. The support rod is located at the edge position of the support plate 5 and corresponds to the outer side edge of the gripper plate. When the slide bar 3 is pulled to move upward relative to the connecting pipe 4, the baffle 26 approaches the gripper plate, the frustum of the cone on the baffle 26 jacks up the inner side of the gripper plate, and the support rod restricts the movement of the outer side edge of the gripper plate. Under the cooperation of the frustum of the cone and the support rod, the gripper plate is inclined, and at this time, the gripper on the gripper plate clamps the fermented meat.

[0037] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A discharging mechanical gripper suitable for a water-covered fermentation jar, characterized in that: The invention comprises a slide bar (3) and a connecting tube (4), wherein the slide bar (3) is slidably connected to the connecting tube (4), the lower end of the connecting tube (4) is connected to a support plate (5), the lower side of the support plate (5) is elastically connected to a gripping plate, the lower side of the gripping plate is connected to a gripping hand, the lower end of the slide bar (3) is connected to a baffle plate (26), the gripping hand passes downward through the baffle plate (26), and a gripping hand retracting mechanism is provided between the gripping plate and the baffle plate (26).

2. The discharging mechanical gripper suitable for water-covered fermentation jars according to claim 1, characterized in that: The gripper retracting mechanism comprises a retracting column, which is arranged on the lower side of the gripping plate and located on the inner side of the gripper, and the lower end of the retracting column is an inclined surface which is inclined downwardly towards the sliding rod (3).

3. The discharging mechanical gripper suitable for water-covered fermentation jar according to claim 2, characterized in that: The gripper retracting mechanism also includes a retracting sliding hole, which is arranged on the baffle (26); the retracting column and the retracting sliding hole are arranged in a staggered manner, and the center of the retracting column corresponds to the edge position of the retracting sliding hole close to the outside of the baffle (26).

4. The discharging mechanical gripper suitable for the water-covered fermentation jar according to any one of claims 1 to 3, characterized in that: The number of the grab plates is at least two, and the grab plates are arranged symmetrically with the slide bar (3) as the center of the circle, and a gap is provided between the grab plates and the slide bar (3).

5. The discharging mechanical gripper suitable for water-covered fermentation jars according to claim 4, characterized in that: The gripping plate is connected to the support plate (5) via a plurality of springs; when the mechanical gripper is in an open state, the gripping plate is parallel to the support plate (5).

6. The discharging mechanical gripper suitable for the water-covered fermentation jar according to claim 1 or 5, characterized in that: At least one gripper is connected to the lower side of each gripping plate, and the gripper is arranged at the outer edge of the gripping plate.

7. The discharging mechanical gripper suitable for water-covered fermentation jars according to claim 6, characterized in that: An arc groove is provided at the edge of the baffle (26), and the arc groove corresponds to the position of the gripper.

8. The discharging mechanical gripper suitable for water-covered fermentation jars according to claim 7, characterized in that: The lower end of the gripper is connected with a spindle structure.

9. The discharging mechanical gripper suitable for the water-covered fermentation jar according to any one of claims 1 to 3, 5, 7, and 8, characterized in that: The upper end of the slide bar (3) is connected to a slide bar handle (1) arranged transversely, and the upper end of the connecting pipe (4) is connected to a connecting pipe handle (2) arranged transversely.

10. The discharging mechanical gripper suitable for water-covered fermentation jars according to claim 1, characterized in that: The gripper retracting mechanism comprises a truncated cone, which is arranged on the baffle plate (26), the central axis of the truncated cone coincides with the axial direction of the slide bar (3), and the top surface of the truncated cone cooperates with the inner side of the gripping plate.

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