Semi-surrounded clamping jaw for yellow croaker gripper device

Abstract

The utility model belongs to the technical field of yellow croaker sorting, and discloses a semi-surrounded clamping jaw for a yellow croaker gripper device, which comprises a driving component connected to a cross beam component, the driving component comprises a mounting part, and a clamping jaw seat is mounted at the lower end of the mounting part; the driving unit is mounted on the clamping jaw seat; the clamping jaw workbench is in transmission connection with the driving unit, and a cavity is formed in the clamping jaw workbench; the elastic connecting mechanism is in transmission connection with the driving unit and comprises an elastic shaft arranged on the cavity in the clamping jaw workbench, the elastic shaft is in transmission connection with the crankshaft, and the end of the outer side of the crankshaft is connected with a flexible clamping jaw; the crankshaft and the flexible clamping jaw are in a semi-surrounding shape. According to the yellow croaker sorting device, the skin of yellow croakers is prevented from being broken, friction between the clamping jaws and the yellow croakers is increased, grabbing is firmer, time and labor are saved, the sorting efficiency is improved, and the quality of the yellow croakers can be guaranteed.

Description

Technical Field

[0001] The utility model belongs to the technical field of automatic sorting, and particularly relates to a semi-surrounding jaw for a yellow croaker gripping device. Background Art

[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 yellow croakers in a timely manner according to the individuals, separate 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, including 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 and gripping 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 jaws are prone to damage the yellow croakers, resulting in poor appearance, affecting the price of yellow croakers, and also causing a certain degree of adverse impact on the freshness of the fish. Summary of the Utility Model

[0006] In order to solve the problems in the related technologies, the utility model provides a semi-surrounding jaw for a yellow croaker gripping device, which adopts two semi-surrounding jaws, and a flexible gasket is arranged on the inner side surface of the jaws, so as to avoid breaking the outer skin of the yellow croakers, increase the friction between the jaws and the yellow croakers, make the gripping more firm, time-saving and labor-saving, improve the sorting efficiency, and also ensure the quality of the yellow croakers, thus solving the problems existing in the background art.

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

[0008] A semi-enclosed jaw for a yellow croaker gripping device, which is used in a yellow croaker sorting device. The yellow croaker sorting device includes an operating table and a vision sorting system. There is a conveying part and a plurality of manipulators corresponding to the conveying part on the operating table. A blanking conveying part corresponding to the manipulator is provided on the operating table. The manipulator includes a manipulator body and a gripping device assembled at the lower part of the manipulator body. The gripping device includes a crossbeam assembly and a semi-enclosed jaw connected to the crossbeam assembly. The semi-enclosed jaw includes: a driving assembly connected to the crossbeam assembly. The driving assembly includes a mounting member, and a jaw seat is installed at the lower end of the mounting member. A driving unit is installed on the jaw seat. A jaw workbench is in transmission connection with the driving unit, and a cavity is provided inside the jaw workbench. An elastic connection mechanism is in transmission connection with the driving unit, including an elastic shaft provided on the cavity inside the jaw workbench. The elastic shaft is in transmission connection with a crankshaft, and a flexible jaw is connected to the outer end of the crankshaft. The crankshaft and the flexible jaw present a semi-enclosed shape.

[0009] Further, the crossbeam assembly includes a crossbeam made of square steel. Upper crossbeam grooves, lower crossbeam grooves, left crossbeam grooves and right crossbeam grooves are provided on the four outer side surfaces of the crossbeam. A connecting seat is clamped in the upper crossbeam groove. A connecting rod is connected to the connecting seat, and an upper end of the connecting rod is connected to a fixing disc. The fixing disc is installed on the manipulator body through bolts.

[0010] Further, the mounting member includes a mounting plate provided at the lower part of the crossbeam. A blind groove is provided on the mounting plate, and a through groove is provided inside the blind groove. A fixing bolt is provided in the through groove. The fixing bolt connects the jaw seat.

[0011] Further, the fixing bolt connects a sub-mounting plate. The sub-mounting plate and the mounting plate are arranged in a cross shape. A sub-blind groove is provided on the sub-mounting plate, and a sub-through groove is provided inside the sub-blind groove. A sub-fixing bolt is provided in the sub-through groove. The sub-fixing bolt connects the jaw seat.

[0012] Further, the driving unit includes a cylinder provided on the jaw seat. The cylinder is connected to an external air source interface, and the air source interface communicates with an external air source generator. A piston of the cylinder is in transmission connection with the jaw workbench.

[0013] Further, the flexible jaw includes a jaw connecting shaft installed at the lower end of the crankshaft. A jaw body is connected to the jaw connecting shaft, and a flexible gasket is assembled on the inner side surface of the jaw body.

[0014] Adopting the above technical solution, compared with the prior art, the beneficial effects of the present utility model are:

[0015] 1. The utility model uses a cylinder to start the gripper for embracing and gripping yellow croakers. It adopts two semi - enclosed grippers, and a flexible gasket is provided on the inner side of the grippers to avoid breaking the skin of the yellow croakers, increasing the friction between the grippers and the yellow croakers, making the gripping more firm, time - saving and labor - saving, improving the sorting efficiency, and ensuring the quality of the yellow croakers.

[0016] 2. The utility model has two combination methods. Only one gripper can be installed to achieve single sorting, or multiple grippers can be installed to simultaneously grip and sort multiple yellow croakers, or to grip yellow croakers with large weights. The above design can also be used in the sorting work of other fish.

[0017] It should be understood that the above general description and the following detailed description are only exemplary and do not limit the present utility model. Brief Description of the Drawings

[0018] The drawings herein are incorporated into the specification and form a part of this specification, showing embodiments in line with the present utility model, and are used together with the specification to explain the principles of the present utility model.

[0019] Figure 1 It is a schematic three - dimensional structure diagram of the single - gripper mode of the present utility model.

[0020] Figure 2 It is a schematic top - view structure diagram of the multi - gripper mode of the present utility model.

[0021] Figure 3 It is a schematic top - view structure diagram of the single - gripper mode of the present utility model.

[0022] Figure 4 It is a schematic structure diagram of the elastic connection mechanism of the present utility model.

[0023] In the figure, 1. Fixed disk; 2. Connecting rod; 3. Connecting seat; 4. Upper beam groove; 5. Beam; 6. Right beam groove; 7. Through - slot; 8. Air source interface; 9. Fixed bolt; 10. Cylinder; 11. Gripper seat; 12. Mounting plate; 13. Air source interface; 14. Fixed bolt; 15. Through - slot; 16. Sub - mounting plate; 17. Cylinder; 18. Sub - fixed bolt; 19. Sub - through - slot; 20. Gripper workbench; 21. Elastic shaft; 22. Crankshaft; 23. Flexible gasket; 24. Gripper body; 25. Gripper connecting shaft. Detailed Embodiment

[0024] The following specific embodiments illustrate the implementation manners of the present utility model. Those familiar with this technology can easily understand other advantages and effects of the present utility model from the content disclosed in this specification.

[0025] Please refer to Figures 1-4It should be noted that the structures, proportions, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the implementation conditions of the present utility model. Therefore, they do not have substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the efficacy that the present utility model can generate and the purpose that can be achieved, should still fall within the scope 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 relationship, without substantial change in the technical content, should also be regarded as the scope in which the present utility model can be implemented.

[0026] Embodiment 1:

[0027] This embodiment provides a semi - enclosed jaw for a yellow - fish gripping device, which is used in a yellow - fish sorting device. The yellow - fish sorting device 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 each manipulator is provided on the operation table.

[0028] The manipulator includes a manipulator main body and a gripping device assembled at the lower part of the manipulator main body. The gripping device includes a cross - beam assembly and a semi - enclosed jaw connected to the cross - beam assembly.

[0029] As Figure 1 、 3 shown in Figures 4, etc., the semi - enclosed jaw includes a driving component, a jaw workbench, and an elastic connection mechanism.

[0030] The driving component is connected to the cross - beam assembly. The cross - beam assembly includes a cross - beam 5, which is made of square steel. Upper cross - beam grooves 4, lower cross - beam grooves, left cross - beam grooves, and right cross - beam grooves 6 are provided on the four outer side surfaces of the cross - beam 5. A connecting seat 3 is clamped in the upper cross - beam groove 4. A connecting rod 2 is connected to the connecting seat 3. The upper end of the connecting rod 2 is connected to a fixed disc 1, and the fixed disc 1 is installed on the manipulator main body through bolts.

[0031] The driving component includes a mounting part, and a jaw seat is installed at the lower end of the mounting part. The mounting part includes a mounting plate 12 provided at the lower part of the cross - beam 5. A blind groove is provided on the mounting plate 12, and a through - groove 7 is provided inside the blind groove. A fixing bolt 9 is provided in the through - groove 7, and the fixing bolt 9 connects the jaw seat 11.

[0032] A driving unit is installed on the jaw seat 11. The driving unit includes a cylinder 10 provided on the jaw seat 11. The cylinder 10 is connected to an external air - source interface 8, and the air - source interface 8 is connected to an external air - source generator. The piston of the cylinder 10 is drivingly connected to the jaw workbench.

[0033] The interior of the jaw workbench is provided with a cavity. The elastic connection mechanism includes an elastic shaft 21 disposed on the cavity inside the jaw workbench. The elastic shaft 21 is drivingly connected to a crankshaft 22, and the outer end of the crankshaft 22 is connected to a flexible jaw. The crankshaft 22 and the flexible jaw present a semi-enclosed shape. The flexible jaw includes a jaw connecting shaft 25 installed at the lower end of the crankshaft 22. A jaw body 24 is connected to the jaw connecting shaft 25, and a flexible gasket 23 is assembled on the inner side surface of the jaw body 24.

[0034] During operation, the two sets of air source interfaces and cylinders on the mounting plate work in opposite directions, driving the jaw bodies and flexible gaskets in two opposite directions to work, realizing the operation of clamping yellow croakers inward.

[0035] Embodiment 2:

[0036] This embodiment provides a semi-enclosed jaw for a yellow croaker gripper device, which is used in a yellow croaker sorting device. The yellow croaker sorting device includes an operation table and a vision sorting system. The operation table is provided with a conveying part and a plurality of manipulators corresponding to the conveying part. A blanking conveying part corresponding to the manipulator is provided on the operation table.

[0037] The manipulator includes a manipulator main body and a gripper device assembled at the lower part of the manipulator main body. The gripper device includes a crossbeam assembly and a semi-enclosed jaw connected to the crossbeam assembly.

[0038] As Figure 1 、 3 、shown in 4, the semi-enclosed jaw includes a driving component, a jaw workbench and an elastic connection mechanism.

[0039] The driving component is connected to the crossbeam assembly. The crossbeam assembly includes a crossbeam 5 made of square steel. Upper crossbeam grooves 4, lower crossbeam grooves, left crossbeam grooves and right crossbeam grooves 6 are formed on the four outer side surfaces of the crossbeam 5. A connecting seat 3 is clamped in the upper crossbeam groove 4. A connecting rod 2 is connected to the connecting seat 3. The upper end of the connecting rod 2 is connected to a fixing disc 1, and the fixing disc 1 is installed on the manipulator main body through bolts.

[0040] The driving component includes a mounting part, and a jaw seat is installed at the lower end of the mounting part. The mounting part includes a mounting plate 12 disposed at the lower part of the crossbeam 5. A blind groove is formed on the mounting plate 12, and a through groove 15 is formed inside the blind groove. A fixing bolt 14 is disposed in the through groove 15, and the fixing bolt 14 connects a secondary mounting plate 16. The secondary mounting plate 16 and the mounting plate are arranged in a cross shape. A secondary blind groove is formed on the secondary mounting plate 16, and a secondary through groove 19 is formed inside the secondary blind groove. A secondary fixing bolt 18 is disposed in the secondary through groove 19, and the secondary fixing bolt 18 connects the jaw seat.

[0041] The driving unit is mounted on the clamping jaw seat 11. The driving unit includes a cylinder 10 disposed on the clamping jaw seat 11, the cylinder 10 is connected to an external air source interface 8, and the air source interface 8 is connected to an external air source generator. The piston of the cylinder 10 is drivingly connected to the clamping jaw workbench.

[0042] The interior of the clamping table is provided with a cavity. The elastic connection mechanism includes an elastic shaft 21 provided on the cavity in the clamping table, the elastic shaft 21 is connected to the crankshaft 22 in a transmission manner, and the outer end of the crankshaft 22 is connected to the flexible clamping claw. The crankshaft 22 and the flexible clamping claw present a semi-enclosed shape. The flexible clamping claw includes a clamping claw connecting shaft 25 installed at the lower end of the crankshaft 22, the clamping claw connecting shaft 25 is connected to the clamping claw body 24, and the inner side surface of the clamping claw body 24 is equipped with a flexible gasket 23.

[0043] When working, the two opposite sets of air source interfaces and cylinders on the mounting plate work, driving the clamping jaw bodies and flexible gaskets in two opposite directions to work, thereby achieving the work of clamping the yellow croaker inwards.

[0044] The utility model utilizes an air cylinder to start the clamping claws to clamp the yellow croaker in an embracing manner, adopts two semi-enclosed clamping claws, and has flexible gaskets on the inner sides of the clamping claws to avoid breaking the skin of the yellow croaker, increases the friction between the clamping claws and the yellow croaker, makes the gripping more firm, saves time and effort, improves the efficiency of sorting, and can also ensure the quality of the yellow croaker.

[0045] The utility model has two combination modes: only one clamping claw is installed to realize single sorting, and multiple clamping claws can be installed to realize simultaneous clamping and sorting of multiple yellow croakers, or to clamp heavy yellow croakers. The above design can also be used in the sorting of other fish.

[0046] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the present invention. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not present in the present invention. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present invention are indicated by the appended claims.

[0047] It should be understood that the present invention is not limited to the precise structure described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A semi-enclosed gripper for a yellow croaker gripper device, used on a yellow croaker sorting device, the yellow croaker sorting device 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 gripper device mounted on the lower part of the manipulator body; the gripper device comprises a crossbeam assembly and a semi-enclosed gripper connected to the crossbeam assembly; It is characterized in that The semi-enclosed clamping jaws include: A driving assembly connected to the beam assembly, the driving assembly comprising a mounting member, a clamping claw seat being mounted at the lower end of the mounting member; A driving unit, mounted on the clamping jaw seat; A clamping jaw workbench, which is transmission-connected to the driving unit, and a cavity is provided inside the clamping jaw workbench; The elastic connection mechanism is transmission-connected to the driving unit, and comprises an elastic shaft arranged on the cavity in the clamping jaw workbench, the elastic shaft is transmission-connected to a crankshaft, and the outer end of the crankshaft is connected to a flexible clamping jaw; the crankshaft and the flexible clamping jaw present a semi-enclosed shape.

2. The semi-enclosed clamping claw for a yellow croaker gripping device according to claim 1, characterized in that: The crossbeam assembly includes a crossbeam, which is made of square steel. An upper crossbeam groove, a lower crossbeam groove, a left crossbeam groove and a right crossbeam groove are formed on the four outer sides of the crossbeam. A connecting seat is clamped in the upper crossbeam groove, a connecting rod is connected to the connecting seat, a fixed disc is connected to the upper end of the connecting rod, and the fixed disc is mounted on the manipulator body by bolts.

3. A semi-enclosed clamping claw for a yellow croaker gripping device according to claim 2, characterized in that: The mounting member comprises a mounting plate arranged at the lower part of the cross beam, a blind groove is formed on the mounting plate, a through groove is formed inside the blind groove; a fixing bolt is arranged in the through groove; and the fixing bolt is connected to the clamping claw seat.

4. A semi-enclosed clamping claw for a yellow croaker gripping device according to claim 3, characterized in that: The fixing bolt is connected to the auxiliary mounting plate; the auxiliary mounting plate and the mounting plate are arranged in a cross shape; a secondary blind groove is provided on the auxiliary mounting plate, and a secondary through groove is provided inside the secondary blind groove; a secondary fixing bolt is provided in the secondary through groove; the secondary fixing bolt is connected to the clamping claw seat.

5. A semi-enclosed clamping claw for a yellow croaker gripping device according to claim 3 or 4, characterized in that: The driving unit comprises a cylinder arranged on the clamping jaw seat, the cylinder is connected to an external air source interface, and the air source interface is connected to an external air source generator; the piston of the cylinder is drivingly connected to the clamping jaw workbench.

6. A semi-enclosed clamping claw for a yellow croaker gripping device according to claim 5, characterized in that: The flexible clamp comprises a clamp connecting shaft installed at the lower end of the crankshaft, a clamp body is connected to the clamp connecting shaft, and a flexible gasket is mounted on the inner side of the clamp body.

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