Gripper device for clamping yellow croakers

Abstract

The utility model belongs to the technical field of automatic sorting, and discloses a yellow croaker clamping gripper device which comprises a connecting mechanism connected to a manipulator; the upper end of the cross beam is connected with the connecting mechanism; the clamp comprises a mounting plate connected with the lower end of the cross beam, a mounting groove is formed in the mounting plate, and pneumatic clamping plate assemblies are assembled at the two ends of the mounting groove respectively. The clamping plates and the air cylinders are combined, the horizontal pushing effect is achieved, the two opposite clamping plates are matched with the grooves in the clamping plates to clamp yellow croakers, the air cylinders are fast in action, small in amplitude and slight in action, safety of the yellow croakers can be well protected, completeness of the yellow croakers is guaranteed, sorting efficiency is improved, and freshness of the yellow croakers is guaranteed.

Description

Technical Field

[0001] The utility model belongs to the technical field of automatic sorting, and particularly relates to a yellow croaker clamping gripper device. Background Technique

[0002] Yellow croaker is an important marine economic fish in China. Its main aquaculture production areas are distributed in Fujian, Guangdong, Zhejiang, etc., and it has high economic value and cultural value. During the process of yellow croaker fishing, due to the differences in the individual sizes of yellow croakers, it is necessary to sort the yellow croakers in a timely manner according to the individuals, separate the individuals of different sizes, and package or store them separately.

[0003] For the sorting of live yellow croakers, most of them were manually sorted before, with low work efficiency and large labor intensity. Therefore, a live yellow croaker sorting device is needed to change the current situation.

[0004] Our company has developed a yellow croaker sorting device, which includes an operation table and a visual sorting system. There is a conveying part and a plurality of manipulators corresponding to the conveying part on the operation table; a blanking conveying part corresponding to the manipulator one by one is arranged on the operation table; the manipulator includes a manipulator main body and a clamping gripper device assembled at the lower part of the manipulator main body. The visual sorting system uses a controller and a plurality of CCD cameras to collect information of yellow croakers from multiple angles, collect the information of the individuals of the fish into the controller, and then the controller controls the manipulator to sort.

[0005] During the actual use process, a problem was found, that is, the clamping effect of the clamping plate on the yellow croaker is not good, and the yellow croaker is very likely to fall off, which affects the sorting efficiency, prolongs the sorting time, and has an adverse impact on the freshness of the fish. Content of the Utility Model

[0006] In order to solve the problems in the related technologies, the utility model provides a yellow croaker clamping gripper device, which uses clamping plates of different specifications, is convenient for clamping yellow croakers of different individuals, and is convenient and reliable for installation and maintenance, reduces the sorting time, improves the freshness of the fish, and solves the problems existing in the background technique.

[0007] The technical solution of the utility model is as follows:

[0008] A yellow croaker clamping gripper device is used on yellow croaker sorting equipment. The yellow croaker sorting equipment includes an operating table and a visual sorting system. The operating table is provided with a conveying part and a plurality of manipulators corresponding to the conveying part; the operating table is provided with a material unloading conveying part corresponding to the manipulator one by one; the manipulator includes a manipulator body and a clamping gripper device mounted on the lower part of the manipulator body; the clamping gripper device includes: a connecting mechanism connected to the manipulator; a crossbeam, the upper end of the crossbeam is connected to the connecting mechanism; a clamp, including a mounting plate connected to the lower end of the crossbeam, the mounting plate is provided with a mounting groove, and both ends of the mounting groove are respectively equipped with pneumatic clamping plate assemblies.

[0009] Furthermore, the connecting mechanism includes: a mounting plate, the upper end of which is fixed on the manipulator; a connecting rod, the upper end of which is connected to the mounting plate; a connecting seat, the upper end of which is connected to the lower end of the connecting rod; and the lower end of the connecting seat is connected to the beam.

[0010] Furthermore, the beam includes: a beam body; an upper mounting groove, which is opened at the upper end of the beam body, and the lower part of the connecting seat is provided with an upper connecting clip, and the upper connecting clip is clamped in the upper mounting groove; a lower mounting groove, which is opened at the lower end of the beam body, and the upper part of the mounting plate is equipped with a lower connecting clip, and the lower connecting clip is clamped in the lower mounting groove.

[0011] Furthermore, the pneumatic clamping plate assembly includes: a clamp seat installed in the installation groove; a pneumatic element assembled on the clamp seat; a clamping plate transmission-connected to the pneumatic element; and a clamping groove assembly provided on the inner side of the clamping plate.

[0012] Furthermore, the pneumatic element includes a cylinder installed on the clamp seat, and an air source interface is installed on the cylinder, through which the cylinder is connected to an external air source; the piston rod of the cylinder is connected to the upper end of the clamp plate.

[0013] Furthermore, the clamping groove assembly includes a plurality of serrated grooves formed on the side surface of the clamping plate.

[0014] Furthermore, the clamping groove assembly includes a semicircular groove opened on the side of the clamping plate.

[0015] Furthermore, the groove removal assembly includes a fan-shaped groove opened on the side of the clamping plate.

[0016] Furthermore, an anti-collision rubber sleeve is installed at the lower part of the clamping plate.

[0017] By adopting the above technical solution, compared with the prior art, the beneficial effects of the utility model are:

[0018] 1. The utility model combines a clamping plate and a cylinder to achieve a flat-pushing effect. The two opposite clamping plates cooperate with the grooves on the clamping plate to clamp yellow croakers. The cylinder has a fast action speed, a small amplitude, and a slight movement, which can well protect the safety of yellow croakers, ensure the integrity of yellow croakers, improve the sorting efficiency, and ensure the freshness of the fish;

[0019] 2. The utility model provides a variety of clamping groove components, which can be selected according to the needs of sorting in different specifications, are flexible and changeable, and can even be applied to other fish;

[0020] 3. The overall structure of the utility model is convenient for disassembly, and the design of the cross beam is convenient for position adjustment, ensuring the versatility;

[0021] It should be understood that the above general description and the following detailed description are only exemplary and do not limit the utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the utility model and used together with the specification to explain the principles of the utility model.

[0023] Figure 1 is a front structural schematic diagram of the utility model;

[0024] Figure 2 is a side structural schematic diagram of the utility model;

[0025] Figure 3 is a three-dimensional structural schematic diagram of the utility model;

[0026] Figure 4 is a structural schematic diagram of the first clamping groove component of the utility model;

[0027] Figure 5 is a structural schematic diagram of the second clamping groove component of the utility model;

[0028] Figure 6 is a structural schematic diagram of the third clamping groove component of the utility model.

[0029] In the figure, 1. mounting plate; 2. connecting rod; 3. connecting seat; 4. cross beam main body; 5. fixture seat; 6. air source interface; 7. cylinder; 8. pneumatic clamping plate assembly; 9. upper connecting clip; 10. lower connecting clip; 11. driving seat; 12. driving connection hole; 13. anti-collision rubber sleeve; 14. serrated groove; 15. semi-circular groove; 16. fan-shaped groove. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] The following specific embodiments illustrate the implementation manners of the present utility model. Those skilled in the art can easily understand other advantages and effects of the present utility model from the content disclosed in this specification.

[0031] Please refer to Figure 1-6 . It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in the art to understand and read, and are not used to limit the implementation conditions of the present utility model. Therefore, they do not have any technical essence. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present utility model can produce and the purposes that can be achieved, should still fall within the scope that can be covered by the technical content disclosed in the present utility model. At the same time, the terms such as "upper", "lower", "left", "right", "middle", and "one" cited in this specification are only for the convenience of clear narration, and are not used to limit the implementation scope of the present utility model. The change or adjustment of their relative relationships, without substantial change in the technical content, should also be regarded as the scope that the present utility model can implement.

[0032] Embodiment 1

[0033] As Figure 1-4 shown, this embodiment provides a yellow croaker clamping gripper device used in a yellow croaker sorting device. The yellow croaker sorting device includes an operation table and a vision sorting system. There is a conveying part and a plurality of manipulators corresponding to the conveying part on the operation table. A blanking conveying part corresponding to the manipulator one by one is arranged on the operation table. The manipulator includes a manipulator main body and a clamping gripper device assembled at the lower part of the manipulator main body.

[0034] In this embodiment, the clamping gripper device includes a connecting mechanism, a cross beam, and a fixture.

[0035] Among them, the connecting mechanism is connected to the manipulator. The connecting mechanism includes a mounting plate 1, and the upper end of the mounting plate 1 is fixed to the manipulator. A connecting rod 2, the upper end of the connecting rod 2 is connected to the mounting plate 1. A connecting seat 3, the upper end of the connecting seat 3 is connected to the lower end of the connecting rod 2, and the lower end of the connecting seat 3 is connected to the cross beam.

[0036] The upper end of the cross beam is connected to the connecting seat 3 in the connecting mechanism. The cross beam includes a cross beam main body 4, and there are an upper mounting groove and a lower mounting groove on the cross beam main body 4. The upper mounting groove is opened at the upper end of the cross beam main body 4. An upper connecting clip 9 is arranged at the lower part of the connecting seat 3, and the upper connecting clip 9 is clamped in the upper mounting groove. The lower mounting groove is opened at the lower end of the cross beam main body 4. A lower connecting clip 10 is assembled at the upper part of the mounting plate, and the lower connecting clip 10 is clamped in the lower mounting groove.

[0037] The clamp includes a mounting plate connected to the lower end of the crossbeam, and a mounting groove is provided on the mounting plate, and pneumatic clamping plate assemblies 8 are respectively installed at both ends of the mounting groove. The pneumatic clamping plate assembly 8 includes a clamp seat 5 installed in the mounting groove; a pneumatic element installed on the clamp seat 5; a clamping plate connected to the pneumatic element in transmission; and a clamping groove assembly arranged on the inner side of the clamping plate. The pneumatic element includes a cylinder 7 installed on the clamp seat 5, and an air source interface 6 is installed on the cylinder 7. The cylinder 7 is connected to an external air source through the air source interface 6, and the piston rod of the cylinder 7 is connected to the upper end of the clamping plate in transmission. Specifically, the piston connects the drive seat 11 and the drive connection hole 12 installed on the clamping plate to achieve the best transmission effect. Among them, the clamping groove assembly includes a plurality of serrated grooves 14 provided on the side of the clamping plate. The serrated groove 14 has a small opening, which is suitable for clamping smaller yellow croakers.

[0038] In order to protect the bottom of the clamping plate, the bottom of the clamping plate is equipped with an anti-collision rubber sleeve 13. The effect of the anti-collision rubber sleeve 13 is to prevent the bottom of the clamping plate from causing damage to the fish, and the rubber sleeve plays a good protective effect.

[0039] Example 2

[0040] The focus of this embodiment is the design of the clamping groove assembly, and other parts are the same as those of embodiment 1.

[0041] like Figure 5 As shown, in this embodiment, the clamping groove assembly includes a semicircular groove 15 opened on the side of the clamping plate. The opening of the semicircular groove 15 is moderate, suitable for clamping yellow croaker of moderate size.

[0042] Example 3

[0043] The focus of this embodiment is the design of the clamping groove assembly, and other parts are the same as those of embodiment 1.

[0044] like Figure 6 As shown, in this embodiment, the clamping groove assembly includes a fan-shaped groove 16 opened on the side of the clamping plate. The opening of the fan-shaped groove is relatively large, with an embracing action, which is suitable for clamping larger or extra-large yellow croaker.

[0045] The utility model combines a clamping plate and a cylinder to achieve a horizontal push effect. The two opposite clamping plates cooperate with the grooves on the clamping plates to clamp the yellow croaker. The cylinder has a fast movement, a small amplitude, and a slight movement, which can well protect the safety of the yellow croaker, ensure the integrity of the yellow croaker, improve the sorting efficiency, and ensure the freshness of the fish.

[0046] The utility model provides a variety of clamping groove components, and different specifications can be selected according to the need of sorting. The utility model is flexible and changeable, and can even be suitable for other fish.

[0047] The overall structure of the utility model is convenient for disassembly, and the design of the cross beam facilitates the adjustment of the position, ensuring the versatility.

[0048] After considering the specification and practicing the utility model here, those skilled in the art will readily conceive of other embodiments of the utility model. This application is intended to cover any variations, uses, or adaptations of the utility model, which follow the general principles of the utility model and include the well-known common general knowledge or conventional technical means in the technical field not disclosed in the utility model. The specification and examples are only regarded as exemplary, and the true scope and spirit of the utility model are pointed out by the appended claims.

[0049] It should be understood that the utility model is not limited to the exact structure already described and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the utility model is only limited by the appended claims.

Claims

1. A yellow croaker gripping device, used on yellow croaker sorting equipment, the yellow croaker sorting equipment comprising an operating table and a visual sorting system, the operating table having a conveying part and a plurality of manipulators corresponding to the conveying part; the operating table is provided with a material unloading conveying part corresponding to the manipulators one by one; the manipulator comprises a manipulator body and a gripping device mounted on the lower part of the manipulator body; It is characterized in that The gripping device comprises: A connecting mechanism connected to the manipulator; A crossbeam, the upper end of which is connected to the connecting mechanism; The clamp comprises a mounting plate connected to the lower end of the crossbeam, the mounting plate is provided with a mounting groove, and both ends of the mounting groove are respectively equipped with pneumatic clamping plate components (8).

2. A yellow croaker gripping device according to claim 1, characterized in that: The connecting mechanism comprises: A mounting plate (1), the upper end of which is fixed on the manipulator; A connecting rod (2), the upper end of which is connected to the mounting plate (1); A connecting seat (3), the upper end of which is connected to the lower end of the connecting rod (2); and the lower end of which is connected to the crossbeam.

3. A yellow croaker gripping device according to claim 2, characterized in that: The crossbeam comprises: A crossbeam body (4); An upper mounting groove is provided at the upper end of the crossbeam body (4); an upper connecting clamp (9) is provided at the lower part of the connecting seat (3); and the upper connecting clamp (9) is clamped in the upper mounting groove; A lower mounting groove is provided at the lower end of the crossbeam body (4); a lower connecting clamp (10) is mounted on the upper portion of the mounting plate; and the lower connecting clamp (10) is clamped in the lower mounting groove.

4. A yellow croaker gripping device according to claim 3, characterized in that: The pneumatic clamping plate assembly (8) comprises: A fixture seat (5) installed in the installation groove; A pneumatic component mounted on the fixture seat (5); A clamping plate drivingly connected to the pneumatic element; A clamping groove assembly is arranged on the inner side of the clamping plate.

5. A yellow croaker gripping device according to claim 4, characterized in that: The pneumatic element comprises a cylinder (7) mounted on the clamp seat (5), an air source interface (6) being mounted on the cylinder (7), and the cylinder (7) is connected to an external air source via the air source interface (6); the piston rod of the cylinder (7) is connected to the upper end of the clamp plate through a transmission.

6. A yellow croaker gripping device according to claim 5, characterized in that: The clamping groove assembly comprises a plurality of sawtooth grooves (14) opened on the side surface of the clamping plate.

7. The yellow croaker gripping device according to claim 5, characterized in that: The clamping groove assembly comprises a semicircular groove (15) opened on the side of the clamping plate.

8. The yellow croaker gripping device according to claim 5, characterized in that: The groove removal assembly comprises a fan-shaped groove (16) opened on the side of the clamping plate.

9. A yellow croaker gripping device according to claim 6, 7 or 8, characterized in that: The lower part of the clamping plate is equipped with an anti-collision rubber sleeve (13).

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