CN219819751U - Intelligent manipulator device suitable for shrimp peeling system - Google Patents

Abstract

The utility model discloses an intelligent manipulator device suitable for a shrimp peeling system, and relates to the technical field of shrimp peeling equipment. The shrimp fetching clamp comprises an intelligent manipulator and a shrimp fetching clamp assembled on the manipulator, wherein the shrimp fetching clamp comprises a clamp mounting seat, a shrimp tail clamping assembly and a shrimp body clamping assembly, the shrimp tail clamping assembly and the shrimp body clamping assembly are assembled on the clamp mounting seat, and the clamp mounting seat is assembled with an intelligent mechanical manual platform. According to the intelligent manipulator device provided by the utility model, the manipulator is utilized to drive the shrimp taking clamp to move, so that on one hand, the size is small, the whole size of the shrimp peeling system can be reduced, on the other hand, customized menus of shrimp taking clamp moving paths with different specifications can be preset in the manipulator controller according to different sizes of shrimps, after the specifications of shrimps are changed, one piece of shrimp taking clamp moving menu can be modified, and compared with a mode of adjusting hardware in the prior art, the adjustment is simpler.

Description

Intelligent manipulator device suitable for shrimp peeling system

Technical Field

The utility model relates to the technical field of shrimp peeling equipment, in particular to an intelligent manipulator device suitable for a shrimp peeling system.

Background

In the shrimp peeling machine in the current market, a motor is adopted to drive a main transmission gear to rotate, a main transmission gear shaft is sleeved with a relative plane cam, a plurality of large and small clamp clamping devices are arranged outside the circumference of the plane cam, and the opening and closing of the large and small clamp clamping devices are realized under the limitation of the plane cam; the circumference of the large and small clamp clamping device is sequentially provided with a conveying device, a guide pinch roller device, a blade assembly, a bowel-removing hairbrush, an in-body long needle assembly and a shrimp shell cleaning hairbrush along the working track of the raw material shrimp, the guide pinch roller device is meshed with a main transmission gear through a transmission gear, and then the guide pinch roller is driven to rotate through a synchronous belt transmission part; the blade assembly is meshed with the main transmission gear through the transmission gear, and then the blade is driven to rotate through the synchronous belt transmission part, and in the shrimp peeling machine body, the blade is required to rotate and also to swing back and forth along the radial direction of the working track of the raw material shrimp so as to open the back of the raw material shrimp rotating to the position of the blade, and the swing of the blade is completed by virtue of the cam; the intestine removing hairbrush is capable of keeping the position unchanged all the time, brushing the opened raw material shrimps rotating to the position, and removing the shrimp intestines of the opened raw material shrimps, and only needs to rotate all the time, so that the intestine removing hairbrush is driven to rotate through the main transmission gear; the feeding long needle assembly is required to swing reciprocally along the radial direction of the working track of the raw material shrimp, the feeding long needle assembly is required to retract for the normal passing of the large and small clamp clamping devices when no shrimp is required to be inserted and taken out, the long needle swings upwards when the large and small clamp clamping devices clamp the raw material shrimp with shrimp intestines removed and rotate to the station of the feeding long needle assembly, the feeding long needle assembly is inserted into shrimp meat, the shrimp meat is taken out from a shrimp shell, and the driving force of the feeding long needle assembly drives the cam piece to complete the swinging action through the main transmission gear; the working principle of the shrimp shell cleaning brush is the same as that of the sausage removing brush, and the shrimp shell cleaning brush is used for cleaning shrimp shells after shrimp meat is removed or the clamping device of the large clamp and the small clamp, and can be driven to rotate all the time by meshing the transmission gear with the main transmission gear.

The shrimp peeling machine in the prior art is complex in structure and high in equipment cost. The prior art is improved for a shrimp peeling machine, wherein a blade assembly, a sausage removing brush, an in-body long needle assembly and a shrimp shell cleaning brush are integrated into a fixed shrimp peeling assembly, the shrimp peeling assembly is arranged along a straight line, then a shrimp to be processed is driven to move towards the shrimp peeling assembly through a moving clamp, after the shrimp passes through the shrimp peeling assembly, a moving path of the shrimp is crossed with the blade assembly, the sausage removing brush, the in-body long needle assembly and the shrimp shell brush in the shrimp peeling assembly, the clamp drives the shrimp to move and relatively move with the shrimp peeling assembly, and therefore the purposes of opening the back of the shrimp, removing the shrimp threads, separating meat shells, cleaning the clamp and the like are achieved. However, the existing shrimp peeling machine generally adopts a conveying chain to drive a clamp to move, equipment wiring is long, the clamp and the conveying chain are relatively fixed, a moving path of the clamp is relatively fixed, and when the specification of the shrimp is changed, the relative distance between a shrimp peeling assembly and the clamp needs to be adjusted, so that adjustment is troublesome.

Disclosure of Invention

In order to overcome the defects and shortcomings in the prior art, the utility model provides an intelligent manipulator device suitable for a shrimp peeling system, and the utility model aims to solve the problems that in the prior art, a clamp is fixed on a conveying chain, the clamp is driven by the conveying chain to move, so that the size of equipment is large, after the shrimp size is changed, hardware adjustment is needed, namely the distance between a shrimp peeling assembly and the clamp is adjusted, so that the shrimp size change and the like are adapted. According to the intelligent manipulator device provided by the utility model, the manipulator is utilized to drive the shrimp taking clamp to move, so that on one hand, the size is small, the whole size of the shrimp peeling system can be reduced, on the other hand, customized menus of shrimp taking clamp moving paths with different specifications can be preset in the manipulator controller according to different sizes of shrimps, after the specifications of shrimps are changed, one piece of shrimp taking clamp moving menu can be modified, and compared with a mode of adjusting hardware in the prior art, the adjustment is simpler.

In order to solve the problems in the prior art, the utility model is realized by the following technical scheme.

The utility model provides an intelligent manipulator device suitable for a shrimp peeling system, which comprises an intelligent manipulator and a shrimp taking clamp assembled on the manipulator, wherein the shrimp taking clamp comprises a clamp mounting seat, a shrimp tail clamping assembly and a shrimp body clamping assembly, the shrimp tail clamping assembly and the shrimp body clamping assembly are assembled on the clamp mounting seat, and the clamp mounting seat is assembled with an intelligent mechanical manual platform.

Further preferably, the intelligent manipulator is a two-axis parallel manipulator.

Still preferably, the shrimp body clamping assembly comprises a shrimp body clamping driving member, a first shrimp body clamping member and a second shrimp body clamping member, wherein the first shrimp body clamping member and the second shrimp body clamping member are relatively assembled on the shrimp body clamping driving member, and the shrimp body clamping driving member drives the first shrimp body clamping member and the second shrimp body clamping member to relatively move.

Still more preferably, in the opened state of the shrimp body gripping members, the edges of the first and second shrimp body gripping members acting on the shrimp body intersect at a point along which the extensions extend in the direction of the shrimp tail gripping members.

Still more preferably, the clamping surfaces of the first shrimp body clamping piece and the second shrimp body clamping piece, which act on the shrimp body in a clamping manner, are provided with a plurality of clamping teeth; an avoidance opening is formed between two adjacent clamping teeth.

Still more preferably, the holding teeth are provided with a plurality of holding needles which can puncture the shrimp shell.

Further preferably, a positioning member is arranged on a midline between the first shrimp body clamping member and the second shrimp body clamping member, the positioning member is fixed on the shrimp body clamping driving member, and the midline of the positioning member coincides with the midline of the relative movement of the first shrimp body clamping member and the second shrimp body clamping member.

The locating piece is close to the tip of shrimp tail clamping assembly and is provided with the location boss, sets up the location step on the locating piece, and the location step is located between first shrimp body clamping piece and the second shrimp body clamping piece, and the height of location step is less than the height of location boss, and the locating surface of location step does not surpass the clamping surface of first shrimp body clamping piece and second shrimp body clamping piece.

One end of the first shrimp body clamping piece and one end of the second shrimp body clamping piece, which are close to the shrimp tail clamping assembly, are provided with a yielding port matched with the positioning boss.

The joint of the positioning boss and the positioning step is in arc transition.

The shrimp body clamping driving piece is a clamping finger cylinder.

The shrimp tail clamping assembly comprises a shrimp tail clamping driving piece, a first shrimp tail clamping piece and a second shrimp tail clamping piece, wherein the first shrimp tail clamping piece and the second shrimp tail clamping piece are assembled on the shrimp tail clamping driving piece, and the shrimp tail clamping driving piece drives the first shrimp tail clamping piece and the second shrimp tail clamping piece to move relatively.

The clamping surfaces of the first shrimp tail clamping assembly and the second shrimp tail clamping assembly for clamping the shrimp tail are arc-shaped.

The shrimp tail clamping driving piece is a clamping finger cylinder.

Compared with the prior art, the beneficial technical effects brought by the utility model are as follows:

1. according to the intelligent manipulator device provided by the utility model, the manipulator is utilized to drive the shrimp taking clamp to move, so that on one hand, the size is small, the whole size of the shrimp peeling system can be reduced, on the other hand, customized menus of shrimp taking clamp moving paths with different specifications can be preset in the manipulator controller according to different sizes of shrimps, after the specifications of shrimps are changed, one piece of shrimp taking clamp moving menu can be modified, and compared with a mode of adjusting hardware in the prior art, the adjustment is simpler.

2. According to the intelligent manipulator device, the shrimp tail clamping assembly is used for clamping the shrimp tail, the shrimp body clamping assembly is used for clamping the shrimp shells on two sides of the belly of the shrimp body, the shrimp tail is used as a positioning reference point, the shrimp is clamped, accurate positioning of the shrimp is ensured, the clamping position is accurate, and the subsequent back opening and shrimp line picking treatment of the shrimp back are facilitated.

3. According to the intelligent manipulator device, the first shrimp body clamping piece and the second shrimp body clamping piece are arranged according to the mode that the shrimp tail is big, the gap between the first shrimp body clamping piece and the second shrimp body clamping piece is small at the clamping side gap close to the shrimp tail, the clamping side gap close to the lower head is big, and the fixed clamping of the shrimp body is facilitated.

4. According to the intelligent manipulator device, the arrangement of the clamping teeth can be matched with the shrimp placing groove for placing the shrimps to be processed, so that the first shrimp body clamping piece and the second shrimp body clamping piece can penetrate into the shrimp placing groove, the shrimp shells on two sides of the shrimp abdomen are clamped from two sides of the shrimp body, and the shrimp taking clamp is convenient to clamp the shrimps to be processed from the shrimp placing groove.

5. According to the intelligent manipulator device, the clamping needle is arranged, so that part of shrimp shells can be pierced, the shrimp taking clamp can be pierced into the shrimp shells, the shrimp body is firmly clamped, and the phenomenon that shrimps to be processed fall off from the shrimp taking clamp in the process that the manipulator drives the shrimp taking clamp to move is avoided.

6. In order to better realize the positioning of the shrimp body clamping, the utility model also provides the positioning piece on the central line between the first shrimp body clamping piece and the second shrimp body clamping piece, the shrimp body is positioned and clamped by the positioning piece, when the shrimp is placed in a posture that the abdomen of the shrimp faces upwards and the back of the shrimp faces downwards, the shrimp body can bend upwards by a certain angle, the positioning piece has the function of flattening the bent shrimp body when the shrimp body is clamped by the shrimp clamping device, the condition of clamping failure is avoided, and the flattened shrimp body by the positioning piece is more favorable for the positioning clamping of the shrimp clamping device.

7. According to the intelligent manipulator device, the positioning boss is used for positioning the first shrimp shell on the shrimp tail, and through the arrangement of the positioning boss, the two shrimp tails of the shrimp tail can be opened, so that the shrimp tail clamping assembly can be conveniently clamped to the conical tail part in the middle of the two shrimp tails in a positioning manner, and the shrimp meat of the conical tail part is kept on the shrimp body in the subsequent meat shell separation process, so that the product phase of the shrimp meat is ensured to be complete. The positioning step is used for flattening the bent shrimp body, and after flattening, the clamping of the first shrimp body clamping piece and the second shrimp body clamping piece is facilitated.

8. The first shrimp body clamping piece and the second shrimp body clamping piece are mutually matched with the positioning boss, a yielding port is formed in one end, close to the positioning boss, of the first shrimp body clamping piece and the second shrimp body clamping piece, interference with the positioning boss is avoided, and meanwhile, after the shrimp tail is flattened by the positioning boss, the shrimp shells on two sides of the shrimp belly can be clamped by the first shrimp body clamping piece and the second shrimp body clamping piece from two sides.

9. The positioning boss and the positioning step are in arc transition, so that the abdomen of the shrimp placed in the posture that the abdomen faces upwards and the back of the shrimp faces downwards is attached to the positioning step, the positioning step is favorable for flattening the complete shrimp body, the positioning boss flattens the shrimp tail firstly during working, and then the positioning step flattens the shrimp abdomen, thereby avoiding the side fall of the shrimp body in the process of flattening the shrimp body by the shrimp clamp, and affecting the clamping success rate and the clamping effect.

Drawings

FIG. 1 is a schematic diagram of the overall structure of an intelligent manipulator device suitable for a shrimp peeling system;

FIG. 2 is a perspective view of a shrimp-picking clamp of the intelligent manipulator device of the present utility model adapted for use in a shrimp peeling system;

FIG. 3 is a bottom view of FIG. 2;

FIG. 4 is a schematic diagram of a shrimp peeling system employing the intelligent manipulator device of the present utility model;

FIG. 5 is a schematic diagram of a shrimp peeling system employing the intelligent manipulator apparatus of the present utility model;

reference numerals: 1. the two-axis parallel manipulator, 2, a shrimp taking clamp, 3, a clamp mounting seat, 4, a shrimp tail clamping assembly, 5, a shrimp body clamping assembly, 6, a shrimp body clamping driving piece, 7, a first shrimp body clamping piece, 8, a second shrimp body clamping piece, 9, clamping teeth, 10, an avoiding opening, 11, clamping needles, 12 and a positioning piece, 13, a positioning boss, 14, a positioning step, 15, a back-off opening, 16, a shrimp tail clamping driving piece, 17, a first shrimp tail clamping piece, 18, a second shrimp tail clamping piece, 19, a back-opening knife, 20, a shrimp line brush, 21, an in-body long needle assembly, 22, a clamp brush, 23 and a shrimp placing groove.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

As a preferred embodiment of the present utility model, referring to fig. 1 of the specification, the present embodiment discloses an intelligent manipulator device suitable for a shrimp peeling system, the intelligent manipulator device includes an intelligent manipulator and a shrimp picking clamp 2 assembled on the manipulator, the shrimp picking clamp 2 includes a clamp mounting seat 3, a shrimp tail clamping assembly 4 and a shrimp body clamping assembly 5, the shrimp tail clamping assembly 4 and the shrimp body clamping assembly 5 are all assembled on the clamp mounting seat 3, and the clamp mounting seat 3 is assembled with an intelligent mechanical manual platform.

As an implementation manner of this embodiment, the structure of the intelligent manipulator device applied to the shrimp peeling system is shown in fig. 4 of the specification, in this structure, the back knife 19, the shrimp line brush 20, the long needle assembly 21 and the fixture brush 22 are arranged and integrated into a shrimp peeling assembly along a straight line, and the shrimp peeling assembly is arranged below the intelligent manipulator device, and the shrimp to be processed is conveyed through the shrimp placing groove device.

The shrimp to be processed is placed in a shrimp placing groove 23, the shrimp placing groove 23 is used for conveying the shrimp to the lower side of an intelligent mechanical arm device, when the shrimp placing groove 23 is used for conveying the shrimp to the lower side of the intelligent mechanical arm device, the shrimp taking clamp 2 is driven by the intelligent mechanical arm to clamp the shrimp placing groove 23, after the shrimp is taken out, the shrimp is driven by the intelligent mechanical arm to move towards a shrimp peeling assembly, after passing through the shrimp peeling assembly, the clamped shrimp sequentially passes through a back opening knife 19, a shrimp line hairbrush 20, an in-body long needle assembly 21 and a clamp hairbrush 22 and moves relatively with the shrimp line hairbrush, the back opening knife 19 is used for cutting the shrimp back, the shrimp line hairbrush 20 is penetrated into the cut shrimp back to remove the shrimp line, the in-body long needle assembly 21 is inserted into the shrimp meat, the shrimp is driven by the mechanical arm to realize meat-shell separation, and the clamp hairbrush 22 is used for cleaning the shrimp taking clamp 2 for completing the meat-shell separation.

As a further implementation mode of the embodiment, the structure of the intelligent manipulator device applied to the shrimp peeling system is shown in fig. 5 of the specification, and the intelligent manipulator device is assembled on one side of a shrimp peeling assembly formed by arranging a back opening knife 19, a shrimp wire hairbrush 20, an in-body long needle assembly 21 and a clamp hairbrush 22 along a straight line.

As another implementation manner of this embodiment, the smart robot may be selected from an existing XY axis robot, a cross sliding table robot, an industrial robot, a tri-axial delta robot, and the like. In combination with the consideration of the factors such as equipment cost, equipment inertia, control program and the like, the two-axis parallel manipulator 1 (shown in the attached drawing 1 of the specification) is preferred, the two-axis parallel manipulator 1 is smaller in size and more stable in operation compared with an XY-axis manipulator and a cross sliding table manipulator, and is lower in cost and simpler and more convenient in program control compared with an industrial robot and a triaxial delta manipulator.

In the actual use process, different control programs can be preset according to the sizes of the shrimps and written into the controllers of the two-axis parallel manipulator 1, after the sizes of the shrimps are changed, one piece of the controllers of the two-axis parallel manipulator 1 can select a customized menu, and the two-axis parallel manipulator 1 acts according to the preset programs without hardware adjustment.

In order to further improve the clamping success rate and the positioning accuracy of the shrimp-taking clamp 2, as shown in fig. 2 of the specification, in the shrimp-taking clamp 2, a shrimp tail clamping assembly 4 is used for clamping shrimp tails, a shrimp body clamping assembly 5 is used for clamping shrimp shells on two sides of the abdomen of the shrimp bodies, the shrimp tails are used as positioning reference points, the shrimp is clamped, accurate positioning of the shrimp is ensured, and the clamping position is accurate, so that the subsequent back of the shrimp is conveniently opened and the shrimp line is removed.

As an example, the shrimp body clamping assembly 5 includes a shrimp body clamping driving member 6, a first shrimp body clamping member 7 and a second shrimp body clamping member 8, wherein the first shrimp body clamping member 7 and the second shrimp body clamping member 8 are relatively assembled on the shrimp body clamping driving member 6, and the first shrimp body clamping member 7 and the second shrimp body clamping member 8 are driven by the shrimp body clamping driving member 6 to relatively move.

As shown in fig. 3 of the specification, in the opened state of the shrimp body holding assembly 5, the edges of the first shrimp body holding member 7 and the second shrimp body holding member 8 acting on the shrimp body intersect at a point along the extension line extending toward the shrimp tail holding assembly 4. The first shrimp body clamping piece 7 and the second shrimp body clamping piece 8 are arranged according to the shape of the big shrimp tail small head, the gap between the first shrimp body clamping piece 7 and the second shrimp body clamping piece 8 is small at the clamping side gap close to the shrimp tail, the clamping side gap close to the lower head is big, and the fixed clamping of the shrimp body is facilitated.

As a further embodiment of the utility model, the clamping surfaces of the first shrimp body clamping piece 7 and the second shrimp body clamping piece 8 which act on the shrimp body in a clamping way are provided with a plurality of clamping teeth 9; an avoiding opening 10 is formed between two adjacent clamping teeth 9. Through setting up of clamping tooth 9 and putting the opening in the shrimp groove 23 and cooperate for first shrimp body clamping piece 7 and second shrimp body clamping piece 8 can go deep into put in the shrimp groove 23, the shrimp shell of the both sides centre gripping shrimp abdomen both sides is followed to the both sides of shrimp body, is convenient for get shrimp anchor clamps 2 and presss from both sides the shrimp of waiting to process in putting the shrimp groove 23.

As an example, the holding teeth 9 are provided with holding pins 11 which pierce the shrimp shell. The setting of centre gripping needle 11 can puncture partial shrimp shell for get shrimp anchor clamps 2 can pierce in the shrimp shell, firmly grasp the shrimp body, avoid the manipulator to drive get shrimp anchor clamps 2 motion in-process, wait to process the shrimp and follow and get shrimp anchor clamps 2 and drop.

In order to better realize the positioning of the shrimp body clamping, the embodiment is also provided with a positioning piece 12 on the central line between the first shrimp body clamping piece 7 and the second shrimp body clamping piece 8, the positioning piece 12 is fixed on the shrimp body clamping driving piece 6, and the central line of the positioning piece 12 coincides with the central line of the relative movement of the first shrimp body clamping piece 7 and the second shrimp body clamping piece 8. The shrimp body is positioned and clamped through the positioning piece 12, when the shrimp is put in a posture that the belly is upward and the shrimp back is downward, the shrimp body can be bent upwards by a certain angle, and the positioning piece 12 has the function of flattening the bent shrimp body when the shrimp body is clamped by the shrimp clamping device 2, so that the condition of clamping failure is avoided, and the flattened shrimp body by the positioning piece 12 is more favorable for the positioning clamping of the shrimp clamping device 2.

Further preferably, the end of the positioning piece 12 near the shrimp tail clamping assembly 4 is provided with a positioning boss 13, the positioning piece 12 is provided with a positioning step 14, the positioning step 14 is located between the first shrimp body clamping piece 7 and the second shrimp body clamping piece 8, the height of the positioning step 14 is lower than that of the positioning boss 13, and the positioning surface of the positioning step 14 does not exceed the clamping surfaces of the first shrimp body clamping piece 7 and the second shrimp body clamping piece 8. The first shrimp shell on the shrimp tail is located to location boss 13, through the setting of location boss 13, can open the two lamellas shrimp tails of shrimp afterbody, and the toper afterbody in the middle of the two lamellas shrimp tail is got to shrimp tail clamping assembly 4 locating clip of being convenient for in the follow-up meat shell separation back in-process, the shrimp meat of this toper afterbody remains on the shrimp on one's body, ensures that the product looks of shrimp meat is complete. The positioning step 14 is used for flattening the bent shrimp body, and after flattening, the clamping of the first shrimp body clamping piece 7 and the second shrimp body clamping piece 8 is facilitated.

Still further preferably, the first shrimp body clamping member 7 and the second shrimp body clamping member 8 are provided with a relief opening 15 adapted to the positioning boss 13 at one end thereof adjacent to the shrimp tail clamping assembly 4. The first shrimp body clamping piece 7 and the second shrimp body clamping piece 8 are matched with the positioning boss 13, a yielding port 15 is formed in one end, close to the positioning boss 13, of the first shrimp body clamping piece, interference with the positioning boss 13 is avoided, and simultaneously, after the shrimp tail is flattened by the positioning boss 13, the shrimp shells on two sides of the shrimp belly can be clamped by the first shrimp body clamping piece 7 and the second shrimp body clamping piece 8 from two sides.

The joint of the positioning boss 13 and the positioning step 14 is in arc transition. The positioning boss 13 and the positioning step 14 are in arc transition, so that the abdomen of the shrimp placed in the posture that the abdomen faces upwards and the back of the shrimp faces downwards is attached to the positioning step 14, the positioning step 14 is beneficial to flattening the complete shrimp body, the positioning boss 13 flattens the shrimp tail firstly during operation, and then the positioning step 14 flattens the shrimp abdomen, so that the shrimp body is prevented from tilting sideways in the process of flattening the shrimp body by the shrimp clamp 2, and the clamping success rate and the clamping effect are influenced.

As an example, the shrimp body clamping driving member 6 is a clamping finger cylinder, so that the shrimp body clamping driving member is simple in structure, convenient to control and low in equipment cost. Other driving members, such as a jaw motor, etc., are also possible.

The shrimp tail clamping assembly 4 comprises a shrimp tail clamping driving piece 16, a first shrimp tail clamping piece 17 and a second shrimp tail clamping piece 18, wherein the first shrimp tail clamping piece 17 and the second shrimp tail clamping piece 18 are assembled on the shrimp tail clamping driving piece 16, and the shrimp tail clamping driving piece 16 drives the first shrimp tail clamping piece 17 and the second shrimp tail clamping piece 18 to move relatively. The shrimp tail clamping assembly 4 is simple in structure and convenient to control.

The clamping surfaces of the first shrimp tail clamping assembly 4 and the second shrimp tail clamping assembly 4 for clamping the shrimp tail are arc-shaped. And the clamping and positioning success rate and accuracy of the shrimp clamp 2 are ensured by being attached to the curved shrimp belly.

The shrimp tail clamping driving piece 16 is a clamping finger cylinder. Simple structure, convenient control and low equipment cost. Other driving members, such as a jaw motor, etc., are also possible.

Claims (11)

1. Intelligent manipulator device suitable for shell shrimp system, its characterized in that: this intelligent manipulator device includes intelligent manipulator and assembles get shrimp anchor clamps (2) on the manipulator, get shrimp anchor clamps (2) including anchor clamps mount pad (3), shrimp tail clamping assembly (4) and shrimp body clamping assembly (5) all assemble on anchor clamps mount pad (3), anchor clamps mount pad (3) are in the same place with intelligent mechanical manual platform assembly.

2. An intelligent robot apparatus for use in a shrimp peeling system as in claim 1 wherein: the intelligent manipulator is a two-axis parallel manipulator (1).

3. An intelligent robot apparatus for use in a shrimp peeling system as in claim 1 or 2 wherein: the shrimp body clamping assembly (5) comprises a shrimp body clamping driving piece (6), a first shrimp body clamping piece (7) and a second shrimp body clamping piece (8), wherein the first shrimp body clamping piece (7) and the second shrimp body clamping piece (8) are relatively assembled on the shrimp body clamping driving piece (6), and the shrimp body clamping driving piece (6) drives the first shrimp body clamping piece (7) and the second shrimp body clamping piece (8) to move relatively.

4. An intelligent robot apparatus for use in a shrimp peeling system as in claim 3 wherein: when the shrimp body clamping assembly (5) is in an open state, the edges of the first shrimp body clamping piece (7) and the second shrimp body clamping piece (8) act on the shrimp body, and the extension lines extending towards the shrimp tail clamping assembly (4) intersect at one point.

5. An intelligent robot apparatus for use in a shrimp peeling system as in claim 3 wherein: the clamping surfaces of the first shrimp body clamping piece (7) and the second shrimp body clamping piece (8) which act on the shrimp body are provided with a plurality of clamping teeth (9); an avoidance opening (10) is formed between two adjacent clamping teeth (9).

6. An intelligent robot apparatus for use in a shrimp peeling system as in claim 5 wherein: the clamping teeth (9) are provided with a plurality of clamping needles (11) which can puncture the shrimp shells.

7. An intelligent robot apparatus for use in a shrimp peeling system as in claim 3 wherein: a positioning piece (12) is arranged on the central line between the first shrimp body clamping piece (7) and the second shrimp body clamping piece (8), the positioning piece (12) is fixed on the shrimp body clamping driving piece (6), and the central line of the positioning piece (12) coincides with the central line of the relative movement of the first shrimp body clamping piece (7) and the second shrimp body clamping piece (8).

8. An intelligent robot apparatus for use in a shrimp peeling system as in claim 7 wherein: the end that setting element (12) is close to shrimp tail centre gripping subassembly (4) is provided with location boss (13), sets up location step (14) on setting element (12), and location step (14) are located between first shrimp body centre gripping piece (7) and second shrimp body centre gripping piece (8), and the height that highly is less than location boss (13) of location step (14), and the locating surface of location step (14) does not surpass the clamping surface of first shrimp body centre gripping piece (7) and second shrimp body centre gripping piece (8).

9. An intelligent robot apparatus for use in a shrimp peeling system as in claim 3 wherein: one end of the first shrimp body clamping piece (7) and one end of the second shrimp body clamping piece (8) close to the shrimp tail clamping assembly (4) are provided with a yielding port (15) matched with the positioning boss (13).

10. An intelligent robot apparatus for use in a shrimp peeling system as in claim 1 or 2 wherein: the shrimp tail clamping assembly (4) comprises a shrimp tail clamping driving piece (16), a first shrimp tail clamping piece (17) and a second shrimp tail clamping piece (18), wherein the first shrimp tail clamping piece (17) and the second shrimp tail clamping piece (18) are assembled on the shrimp tail clamping driving piece (16), and the shrimp tail clamping driving piece (16) drives the first shrimp tail clamping piece (17) and the second shrimp tail clamping piece (18) to move relatively.

11. An intelligent robot apparatus for use in a shrimp peeling system as in claim 10 wherein: the clamping surfaces of the first shrimp tail clamping piece (17) and the second shrimp tail clamping piece (18) are arc-shaped.