CN105265562B - A kind of submissive manipulator performs device of prawn decaptitating - Google Patents
A kind of submissive manipulator performs device of prawn decaptitating Download PDFInfo
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- CN105265562B CN105265562B CN201410253787.2A CN201410253787A CN105265562B CN 105265562 B CN105265562 B CN 105265562B CN 201410253787 A CN201410253787 A CN 201410253787A CN 105265562 B CN105265562 B CN 105265562B
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- submissive
- manipulator
- prawn
- decaptitating
- frame
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Abstract
The problem of present invention is automation and the peeled shrimp yield for solving prawn decaptitating, discloses a kind of submissive manipulator performs device of prawn decaptitating, including submissive manipulator, fixing device, three parts of cylinder.Fixing device includes two side shields, top plate and frame, two side shields and top plate are that integral type is fixed in frame, two described side shield centers are provided with elongated slot, pass through elongated slot and submissive manipulator Slipper formation prismatic pair, described cylinder one end is fixed in frame, and the other end is connected with the symmetrical place of submissive manipulator.The camber line displacement of prawn decaptitating is produced using the plastic deformation of submissive manipulator.Whole process efficiency high, decaptitating effect is good, simple in construction easily controllable.
Description
Technical field
The present invention relates to the submissive manipulator performs device of a kind of prawn head-removed device, more particularly to a kind of prawn decaptitating.
Background technology
China is Chan Xia big countries in the world, but China's prawn machinery automation processing is started late, due to prawn head
Tissue easily pollute peeled shrimp, and the heavy metal contained in shrimp head is harmful, so prawn first passes through decaptitating after fishing for
Following process or storage are carried out again.But prawn decaptitating both at home and abroad is generally all artificial decaptitating at present, labor intensive is larger, processing
Efficiency comparison is low, and peeled shrimp is seriously polluted.Decaptitating action, cost and maintenance cost are completed using common mechanical type manipulator
It is higher, mechanical structure and control it is all more complicated, because decaptitating process speed ratio is very fast, easily cause mechanical wear or other zero
The destruction of part, and the higher yield of peeled shrimp can not be ensured, so being difficult to apply in actual production.Therefore a kind of prawn is designed
The submissive manipulator performs device of decaptitating is highly desirable to.
The content of the invention
There is provided a kind of submissive machinery driven with prawn decaptitating simple in construction for the problem of present invention is solves prawn decaptitating
Hand performs device, the device completes the decaptitating action of prawn using the plastic deformation of submissive manipulator, and the device is ensureing shrimp head
The yield of peeled shrimp is improved while complete, facilitates following process or the storage of prawn.
The technical solution adopted in the present invention is：A kind of submissive manipulator performs device of prawn decaptitating, including submissive machine
Tool hand, fixing device, three parts of cylinder.Described fixing device includes two side shields, top plate and frame, described two
Side shield and top plate are that integral type is fixed in frame, and two described side shield centers are provided with elongated slot, by elongated slot with
Submissive manipulator Slipper formation prismatic pair；Described cylinder one end is fixed in frame, the other end and submissive manipulator
Symmetrical place is connected；The submissive manipulator includes crushed element, two submissive arm ends and submissive manipulator slide section
Point, described submissive manipulator is prismatic full compliant member that flexible material is made, " m " shape axisymmetricly.
Beneficial effects of the present invention：The prismatic full compliant member being made of flexible material, " m " axisymmetricly
Shape, it is camber line displacement to realize the track exported when input is straight line power by the plastic deformation of submissive manipulator, is improved
The yield of peeled shrimp；When removing power of the cylinder to submissive manipulator, the elastic energy storage of submissive manipulator, submissive manipulator energy are utilized
Quickly recover to original shape；The prawn on two production lines can be gone simultaneously using the symmetry of submissive manipulator
The action of head, improves efficiency.
Brief description of the drawings
Fig. 1 is the three-dimensional structure diagram of the present invention.
Fig. 2 is the three-dimensional structure diagram of the submissive manipulator of the present invention.
Fig. 3 is the state diagram after the submissive manipulator deformation of the present invention.
In figure：1st, frame；2nd, top plate；3rd, side shield；4th, submissive manipulator；5th, submissive arm end；6th, submissive machinery
Hand crushed element；7th, submissive manipulator Slipper；8th, cylinder；9th, prawn shrimp head；10th, prawn peeled shrimp；11st, production line.
Embodiment
According to the submissive manipulator performs device that prawn decaptitating is assembled shown in Fig. 1, the device includes submissive manipulator（4）、
Fixing device, cylinder（8）Three parts, described fixing device includes two side shields（3）, top plate（2）And frame（1）, institute
Two side shields stated（3）And top plate（2）Frame is fixed on for integral type（1）On, two described side shields（3）Center
Elongated slot is provided with, passes through elongated slot and submissive manipulator Slipper（7）Prismatic pair is formed, so that submissive manipulator（4）Realize
Positioning, two side shields（3）Limit submissive manipulator（4）The motion in plane, top plate can only be done（2）Limit submissive machinery
Hand（4）With top plate（2）The displacement of contact position vertical direction, so that submissive arm end（5）Produce downwardly and inwardly
The camber line displacement of imitative peeled shrimp curve, deformation pattern and submissive arm end（5）Trajectory diagram is as shown in Figure 3；Described cylinder（8）One
End is fixed on frame（1）On, the other end and submissive manipulator（4）Symmetrical place be connected, provide power for whole device.Utilize
When inputting as straight line power, camber line displacement can be exported, submissive manipulator is utilized after the completion of decaptitating（4）Elastic energy storage, it is submissive
Manipulator（4）Original form can be quickly recovered to, is that the decaptitating work of next group of prawn is prepared；The submissive manipulator
（4）Include crushed element as shown in Figure 2（6）, two submissive arm ends（5）With submissive manipulator Slipper（7）, it is described
Submissive manipulator（4）The prismatic full compliant member being made for flexible material, utilizes submissive manipulator（4）Plastic deformation
Produce the camber line displacement of prawn decaptitating, described submissive arm end（5）For interior concave arc, submissive arm end is increased
（5）With the contact area of prawn, be conducive to the action of decaptitating.
The course of work：Two production lines（11）It is arranged in two submissive arm ends（5）, prawn is through undue first
Above-mentioned production line is fixed on after level orientation（11）On, and prawn shrimp head（9）Towards submissive manipulator（4）Direction is placed, now gas
Cylinder（8）Attonity, submissive arm end（5）In prawn shrimp head（9）With prawn peeled shrimp（10）Junction；Work as cylinder（8）
During action, submissive manipulator（4）Stress is deformed, and deformation causes submissive arm end（5）Camber line displacement is produced, while complete
Into two production lines（11）On the decaptitating of prawn is acted；Work as cylinder（8）Remove after power, submissive manipulator（4）Quickly recover to
Shape originally, is that the decaptitating work of next group of prawn is prepared.
Claims (1)
1. a kind of submissive manipulator performs device of prawn decaptitating, including submissive manipulator, fixing device, three parts of cylinder,
Described fixing device includes two side shields, top plate and frame, and two described side shields and top plate are fixed on for integral type
In frame, two described side shield centers are provided with elongated slot, and movement is formed by elongated slot and submissive manipulator Slipper
Pair, described cylinder one end is fixed in frame, and the other end is connected with the symmetrical place of submissive manipulator；The submissive manipulator
Including crushed element, two submissive arm ends and submissive manipulator Slipper, submissive arm end is interior concave arc,
Submissive manipulator is 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 CN105265562A (en) | 2016-01-27 |
| CN105265562B true CN105265562B (en) | 2017-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| 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 |
|---|
| 对虾摘头装置;陆友来;《渔业现代化》;19790930(第3期);第62页 * |
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| CN105265562A (en) | 2016-01-27 |
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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 |
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