CN105265562A - Flexible manipulator actuating device for removing heads of spawns - Google Patents
Flexible manipulator actuating device for removing heads of spawns Download PDFInfo
- Publication number
- CN105265562A CN105265562A CN201410253787.2A CN201410253787A CN105265562A CN 105265562 A CN105265562 A CN 105265562A CN 201410253787 A CN201410253787 A CN 201410253787A CN 105265562 A CN105265562 A CN 105265562A
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- submissive
- manipulator
- spawns
- prawn
- flexible manipulator
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Abstract
The invention, aiming at solving the technical problems about automation of spawn head removing and yield of peeled spawns, discloses a flexible manipulator actuating device for removing heads of spawns. The flexible manipulator actuating device for removing the heads of the spawns comprises a flexible manipulator, a fixing device and an air cylinder. The fixing device comprises two side baffles, a top plate and a rack, wherein the two side baffles and the top plate are all fixedly disposed on the rack as a whole, an elongated slot is formed at the center of each side baffle, the elongated slots and a sliding block part of a flexible manipulator form a sliding pair, one end of the air cylinder is fixedly disposed on the rack, and the other end of the air cylinder is connected with a symmetrical part of the flexible manipulator. Flexible deformation of the flexible manipulator is utilized for producing an arc displacement for removing the heads of the spawns; and the efficiency of the whole process is high, the head removing effect is good, the structure is simple, and control is easy.
Description
Technical field
The present invention relates to a kind of prawn head-removed device, particularly relate to the submissive manipulator actuating unit that a kind of prawn decaptitates.
Background technology
China is Chan Xia big country in the world, but China's prawn machinery automation processing is started late, because the tissue of prawn head easily pollutes peeled shrimp, and the heavy metal contained in shrimp head is harmful, so prawn first carries out following process or storage again through decaptitating after fishing for.But at present both at home and abroad prawn decaptitates usually is all manually decaptitate, labor intensive is comparatively large, and working (machining) efficiency is lower, and peeled shrimp is seriously polluted.Common mechanical type manipulator is adopted to complete action of decaptitating, cost and maintenance cost higher, frame for movement and control all more complicated, owing to decaptitating, process velocity ratio is very fast, very easily cause the destruction of mechanical wear or other parts, and the yield that peeled shrimp is higher cannot be ensured, so be difficult to be applied in actual production.Therefore design the submissive manipulator actuating unit that a kind of prawn decaptitates to be necessary very much.
Summary of the invention
The present invention is the problem that solution prawn decaptitates, the submissive manipulator actuating unit that a kind of driving and the simple prawn of structure decaptitate is provided, this device utilizes the plastic deformation of submissive manipulator to complete the action of decaptitating of prawn, this device, ensureing that shrimp improves the yield of peeled shrimp while complete, facilitates following process or the storage of prawn.
The technical solution adopted in the present invention is: the submissive manipulator actuating unit that a kind of prawn decaptitates, and comprises submissive manipulator, fixture, cylinder three parts.Described fixture comprises two side shields, top board and frames, and two described side shields and top board are that integral type is fixed in frame, and two described side shield centers have elongated slot, forms moving sets by elongated slot and submissive manipulator Slipper; Described cylinder one end is fixed in frame, and the other end is connected with the symmetrical place of submissive manipulator; Described submissive manipulator comprises crushed element, two submissive arm ends and submissive manipulator Slipper, and described submissive manipulator is the prismatic full compliant member that flexible material is made, " m " shape axisymmetricly.
Beneficial effect of the present invention: adopt the prismatic full compliant member that flexible material is made, " m " shape axisymmetricly, achieving by the plastic deformation of submissive manipulator the track exported when being input as straight line power is camber line displacement, improves the yield of peeled shrimp; When removing the power of cylinder to submissive manipulator, utilize the elastic energy storage of submissive manipulator, submissive manipulator can quickly recover to original shape; Utilize the symmetry of submissive manipulator simultaneously to the action that the prawn on two production lines decaptitates, efficiency can be improve.
Accompanying drawing explanation
Fig. 1 is three-dimensional structure diagram of the present invention.
Fig. 2 is the three-dimensional structure diagram of submissive manipulator of the present invention.
Fig. 3 is the state diagram after submissive manipulator distortion of the present invention.
In figure: 1, frame; 2, top board; 3, side shield; 4, submissive manipulator; 5, submissive arm end; 6, submissive manipulator crushed element; 7, submissive manipulator Slipper; 8, cylinder; 9, prawn shrimp head; 10, prawn peeled shrimp; 11, production line.
Detailed description of the invention
According to the submissive manipulator actuating unit assembling prawn shown in Fig. 1 and decaptitate, this device comprises submissive manipulator (4), fixture, cylinder (8) three parts, described fixture comprises two side shields (3), top board (2) and frame (1), two described side shields (3) and top board (2) are fixed in frame (1) for integral type, two described side shield (3) centers have elongated slot, moving sets is formed by elongated slot and submissive manipulator Slipper (7), thus make submissive manipulator (4) achieve location, two side shields (3) limit submissive manipulator (4) can only do motion in plane, top board (2) limits the displacement of submissive manipulator (4) and top board (2) contact position vertical direction, thus the camber line displacement of the imitative peeled shrimp curve making the generation of submissive arm end (5) downward and inside, deformation pattern and submissive arm end (5) trajectory diagram are as shown in Figure 3, described cylinder (8) one end is fixed in frame (1), and the other end is connected with the symmetrical place of submissive manipulator (4), for whole device provides power.When utilization is input as straight line power, can export camber line displacement, the rear elastic energy storage utilizing submissive manipulator (4) of having decaptitated, submissive manipulator (4) can quickly recover to original form, for the work of decaptitating of next group prawn is prepared; Described submissive manipulator (4) comprises crushed element (6), two submissive arm ends (5) and submissive manipulator Slipper (7) as shown in Figure 2, the prismatic full compliant member that described submissive manipulator (4) is made for flexible material, utilize the camber line displacement that the plastic deformation of submissive manipulator (4) generation prawn decaptitates, described submissive arm end (5) is interior concave arc, increase submissive arm end (5) and the contact area of prawn, be conducive to the action of decaptitating.
The course of work: two production lines (11) are arranged in two submissive arm ends (5), first prawn is fixed on above-mentioned production line (11) after classification orientation, and prawn shrimp head (9) is placed towards submissive manipulator (4) direction, now cylinder (8) attonity, submissive arm end (5) is in the junction of prawn shrimp head (9) and prawn peeled shrimp (10); When cylinder (8) action, the stressed generation distortion of submissive manipulator (4), distortion makes submissive arm end (5) produce camber line displacement, completes the action of decaptitating to prawn on two production lines (11) simultaneously; After cylinder (8) removes power, submissive manipulator (4) quickly recovers to original shape, for the work of decaptitating of next group prawn is prepared.
Claims (2)
1. a prawn submissive manipulator actuating unit of decaptitating, comprise submissive manipulator, fixture, cylinder three parts, described fixture comprises two side shields, top board and frames, two described side shields and top board are that integral type is fixed in frame, two described side shield centers have elongated slot, form moving sets by elongated slot and submissive manipulator Slipper, described cylinder one end is fixed in frame, and the other end is connected with the symmetrical place of submissive manipulator.
2. the prawn according to claim 1 submissive manipulator actuating unit of decaptitating, it is characterized in that: described submissive manipulator comprises crushed element, two submissive arm ends and submissive manipulator Slipper, described submissive manipulator is the prismatic full compliant member that flexible material is made, " m " shape axisymmetricly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410253787.2A CN105265562B (en) | 2014-06-10 | 2014-06-10 | A kind of submissive manipulator performs device of prawn decaptitating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410253787.2A CN105265562B (en) | 2014-06-10 | 2014-06-10 | A kind of submissive manipulator performs device of prawn decaptitating |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105265562A true CN105265562A (en) | 2016-01-27 |
| CN105265562B CN105265562B (en) | 2017-07-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410253787.2A Active CN105265562B (en) | 2014-06-10 | 2014-06-10 | A kind of submissive manipulator performs device of prawn decaptitating |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1367546A (en) * | 1919-04-11 | 1921-02-08 | Matton Assignor | Machine for deheading shrimps |
| US3629904A (en) * | 1969-12-12 | 1971-12-28 | Ben P Zober | Shrimp-deheading machine |
| US3665556A (en) * | 1970-12-11 | 1972-05-30 | William J Gruber | Shrimp deheading machine |
| US4016625A (en) * | 1976-10-07 | 1977-04-12 | Mitchell Edwin B | Apparatus for sizing and deheading shrimp |
| CN2870470Y (en) * | 2006-01-16 | 2007-02-21 | 彭德权 | Shrimp processor for removing heads and shells |
| CN203622434U (en) * | 2013-12-30 | 2014-06-04 | 河北农业大学 | Tail end executing device of scallop flexible mechanical arm |
| CN203872910U (en) * | 2014-06-10 | 2014-10-15 | 河北农业大学 | Flexible manipulator actuating device for removing heads of spawns |
-
2014
- 2014-06-10 CN CN201410253787.2A patent/CN105265562B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1367546A (en) * | 1919-04-11 | 1921-02-08 | Matton Assignor | Machine for deheading shrimps |
| US3629904A (en) * | 1969-12-12 | 1971-12-28 | Ben P Zober | Shrimp-deheading machine |
| US3665556A (en) * | 1970-12-11 | 1972-05-30 | William J Gruber | Shrimp deheading machine |
| US4016625A (en) * | 1976-10-07 | 1977-04-12 | Mitchell Edwin B | Apparatus for sizing and deheading shrimp |
| CN2870470Y (en) * | 2006-01-16 | 2007-02-21 | 彭德权 | Shrimp processor for removing heads and shells |
| CN203622434U (en) * | 2013-12-30 | 2014-06-04 | 河北农业大学 | Tail end executing device of scallop flexible mechanical arm |
| CN203872910U (en) * | 2014-06-10 | 2014-10-15 | 河北农业大学 | Flexible manipulator actuating device for removing heads of spawns |
Non-Patent Citations (1)
| Title |
|---|
| 陆友来: "对虾摘头装置", 《渔业现代化》 * |
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| Publication number | Publication date |
|---|---|
| CN105265562B (en) | 2017-07-28 |
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Application publication date: 20160127 Assignee: BAODING JIALI FOOD MACHINE Co.,Ltd. Assignor: AGRICULTURAL University OF HEBEI Contract record no.: X2023990000222 Denomination of invention: An executive device of a compliant manipulator for shrimp decapitation Granted publication date: 20170728 License type: Common License Record date: 20230221 |