WO2022104823A1

WO2022104823A1 - Gripper for turning over prawn

Info

Publication number: WO2022104823A1
Application number: PCT/CN2020/131008
Authority: WO
Inventors: 叶柯蕾; 韩远; 叶春蕾
Original assignee: 甸硕水产科技(化州)有限公司
Priority date: 2020-11-19
Filing date: 2020-11-24
Publication date: 2022-05-27
Also published as: CN113229326A; ECSP23045614A

Abstract

A gripper for turning over prawn, comprising two symmetrically arranged gripping bodies (1) and a gripping driving mechanism (2), wherein the gripping driving mechanism (2) is connected to the two gripping bodies (1) for use in driving the two gripping bodies (1) to move relative to each other, and the inner surfaces of the gripping bodies (1) are formed with guide arc surfaces (3) recessed outwards. The two gripping bodies (1) move opposite to each other under the driving of the gripping driving mechanism (2), and the gripping bodies (1) generate an upward force by a force applied to the back of a prawn by means of the guide arc surfaces (3), so that the back of the prawn is turned upwards, and a groove formed between the guide arc surfaces (3) of the two gripping bodies (1) cooperates with the outline of the prawn so as to grip the prawn reliably and stably.

Description

A kind of prawn turning over and gripping claw

technical field

The invention relates to the technical field of aquatic equipment, in particular to a flipping jaw for prawns.

Background technique

With the improvement of people's living standards, fresh shrimp has gradually entered the consumable range of most consumers, resulting in a sharp increase in the demand for shrimp. However, due to the structural characteristics of shrimp, it cannot be produced through a unified assembly line. As for the current production plants, the shrimps are generally placed manually during the conveying process of different processes, which requires a large amount of labor and low production efficiency. Generally, the back of the shrimp faces in different directions, and it needs to be turned manually, which further improves the requirement for manual proficiency.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a flipping claws for prawns that help to improve the automation degree of shrimp production, realize the transfer of shrimps between different processes, and fix the shape and position of the shrimps.

In order to achieve the above object, the present invention provides a prawn turning over gripper, comprising:

Two sets of jaw bodies arranged symmetrically;

a clamping jaw driving mechanism, which is connected with the two sets of the clamping jaw bodies for driving the two sets of the clamping jaw bodies to move relatively;

Wherein, the inner surface of the jaw body is formed with a guide arc surface concave to the outer side.

It is further preferred in this technical solution that the guide arc surface has an upper straight side and a lower straight side at both ends along its bending direction, and the distance between the upper straight side and the lower straight side and the center of the guide arc surface is The included angle of the connecting lines constitutes a lead angle, and the lead angle ranges from 36° to 51°.

Further preferably, the range of the guide angle is 40°±3°.

It is further preferred in this technical solution that the radius of the guide arc surface is in the range of 17mm-40mm.

It is further preferred in this technical solution that the surface roughness of the guide arc surface ranges from 0.5 μm to 2 μm.

It is further preferred in this technical solution that the shortest distance between the guide arc surfaces of the two groups of the jaw bodies is in the range of 0mm-25mm.

It is further preferred in this technical solution that the range of the shortest distance between the guiding arc surfaces of the two groups of the jaw bodies is 12mm±3mm.

It is further preferred in this technical solution that the lower ends of the jaw bodies are all rounded structures.

It is further preferred in this technical solution that the lower end of the guide arc surface extends to the rounded corner structure and is tangent to the rounded corner structure.

It is further preferred in this technical solution that the clamping jaw driving mechanism is a pneumatic finger, and the pneumatic finger includes two relatively moving clamping fingers, and the two clamping fingers are respectively connected to the clamping jaw body.

Implementing the embodiments of the present invention has the following technical effects:

The invention provides a prawn turning over clamping claw that helps to improve the automation degree of shrimp production and realizes that the body shape of the shrimp during the production movement is fixed. Driven by the driving mechanism, they move toward each other. Since the abdomen of the shrimp is relatively flat and the back is cambered, when the guiding arc surfaces of the gripper body are in contact with the abdomen and the back respectively, the force applied by the gripper body to the abdomen of the shrimp is directed toward In the direction of the back of the shrimp body, the force applied to the back of the shrimp body points obliquely above the body of the shrimp body. Therefore, the force applied to the back of the shrimp body by the gripper body through the guiding arc surface generates an upward component force, so that the back of the shrimp body is turned upwards. When the back is turned over When facing directly upward, the two sets of symmetrically arranged clamping jaw bodies clamp the shrimp body to achieve a force balance, so that the shrimp body is turned over during the clamping process and the shrimp back is upward, and the two sets of guiding arc surfaces of the body are clamped. The grooves formed between them are matched with the outline of the shrimp body to hold the shrimp body reliably and stably.

Description of drawings

1 is a schematic structural diagram of a preferred embodiment of the present invention;

Fig. 2 is the schematic diagram of the prawn turning over and gripping the prawn of the preferred embodiment of the present invention;

3 is a schematic diagram of the force analysis principle of the prawns when the prawns turn over and grip the prawns according to the preferred embodiment of the present invention.

Description of reference numbers:

1. Gripper body, 2. Gripper drive mechanism, 3. Guide arc surface, 4. Upper straight edge, 5. Lower straight edge, 6. Rounded corner structure, 7. Gripper finger.

Detailed ways

The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and embodiments. The following examples are intended to illustrate the present invention, but not to limit the scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "portrait", "horizontal", "top", "bottom", "front", "rear", "left", "right", " The orientation or positional relationship indicated by vertical, horizontal, top, bottom, inner, outer, etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and The description is simplified rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention.

Referring to FIG. 1 to FIG. 3 , an embodiment of the present invention provides a prawn turning over gripper, including two sets of gripper body 1 and gripper drive mechanism 2 .

The two sets of jaw bodies 1 are symmetrically arranged, the jaw drive mechanism 2 is connected to the two sets of jaw bodies 1 to drive the two sets of jaw bodies 1 to move relative to each other, and the inner side of the jaw bodies 1 is formed with a depression toward the outside The guide arc surface 3.

Thus, in the prawn turning over clamping claws provided by the embodiments of the present invention, when the prawns lie on their sides on the plane, the two groups of clamping claw bodies 1 move toward each other under the driving of the clamping claw driving mechanism 2. Since the abdomen of the prawn is relatively flat, the back is relatively flat. It is cambered, therefore, when the guide camber 3 of the gripper body 1 is in contact with the abdomen and the back respectively, the force applied by the gripper body 1 to the abdomen of the shrimp body points to the direction of the back of the shrimp body, and the force applied to the back of the shrimp body points to The shrimp body is obliquely above, therefore, the force of the clamping claw body 1 applied to the back of the shrimp body through the guide arc surface 3 generates an upward component force, so that the back of the shrimp body is turned upwards. The claw body 1 clamps the shrimp body to achieve a force balance, so that the shrimp body is turned over during the clamping process so that the back of the shrimp is upward, and the grooves formed between the two groups of guide arc surfaces 3 that clamp the body and the shrimp body contour Cooperate with the shrimp body for reliable and stable clamping, and the symmetrically arranged two groups of jaw bodies 1 do not need to distinguish between the shrimp back and the shrimp belly. Can be clamped on the side.

In addition, the symmetrically arranged two sets of clamping claw bodies 1 can be adapted to clamp and turn the shrimp bodies lying on their sides and planes in different directions, without considering the direction of the shrimp bodies lying on their sides, and it is more convenient to use.

Specifically, referring to FIG. 3 , two sets of jaw bodies 1 are symmetrically opened and closed, the jaw body 1 generates a force F1 that acts on the shrimp belly, and the jaw body 1 generates a force F2 that acts on the shrimp back. Drawing according to the principle of vector parallelogram, arrows The direction is the direction of the force, and the length of the arrow represents the magnitude of the force; it can be seen from this that the friction force F5 generated by the shrimp back and the guide arc surface 3 required to maintain dynamic balance is far greater than the friction generated by the shrimp belly and the guide arc surface 3 Force F6, so the shrimp back is easy to slide on the guide arc surface 3 relative to the shrimp belly, and because the flipping effect of the shrimp body is proportional to the size of the power and power arm, and inversely proportional to the size of the resistance and resistance arm, at this time, hinder the shrimp The force of the back-up turning and the force preventing the shrimp's belly from turning upward is the gravity G generated by the shrimp body. The lengths of the resistance arms C and D are not much different, and the magnitudes of the forces F3 and F4 that make the shrimp's back or shrimp belly-turning upward are not much different. The length of the power arm A that turns the shrimp back upward is greater than the length of the power arm B that turns the shrimp belly upward, so that the shrimp back slides up along the guide arc surface 3, and the shrimp back is turned upward after flipping.

Further, referring to FIG. 2 , in one embodiment of the present invention, the guide arc surface 3 has upper straight sides 4 and lower straight sides 5 at both ends along its bending direction, and the upper straight sides 4 and lower straight sides 5 are connected to the guide arc The included angle of the connecting line between the centers of the circles of the face 3 constitutes the lead angle a, and the lead angle a ranges from 36° to 51°.

Specifically, the range of the guide angle a is 40°±3°, and the radius r of the guide arc surface 3 in this embodiment is in the range of 17mm-40mm. Further, the radius r of the guide arc surface 3 in this embodiment is in the range of 17mm-40mm. The range is 30mm-35mm, so that the shrimp back of the shrimp body can slide along the guide arc surface 3 to realize the flip under the push of the guide arc surface 3, and at the same time avoid the too large angle of the guide angle a, which will easily lead to the force applied to the shrimp back. The direction is deflected, so that the shrimp body cannot complete the flipping action. On the contrary, the angle of the guide angle a is too small, which will easily lead to the guide arc surface 3 unable to provide a stable guiding effect to guide the shrimp back to complete the flipping action along the guide arc surface 3, which will affect production. stability and reliability.

Among them, in order to realize the stable flip of the back of the shrimp when the clip body is gripping the shrimp body, and to avoid affecting the stability of the two groups of clip bodies when the shrimp body is clamped, the shrimp clipping mechanism provided by an embodiment of the present invention is provided. The surface roughness of the guide arc surface 3 is in the range of 0.5μm-2μm, so that when the shrimp body is in contact with the guide arc surface 3, the friction force generated is small, and it will not affect the shrimp back and the guide arc surface 3 to overcome the friction force after contact. At the same time, after the shrimp body is turned over, when the clip body clamps the shrimp body, sufficient frictional force is generated between the shrimp body and the guide arc surface 3, so that the clip body clamps the shrimp body more stably, preventing the shrimp body Body slips.

Further, in the present embodiment, the thickness of the shrimp body is selected to be approximately between 7mm-24mm, therefore, the range of the shortest distance L between the guiding arc surfaces 3 of the two groups of jaw bodies 1 is set to be 0mm-25mm, so that the two groups are A sufficient space is formed between the clip bodies to accommodate the shrimp body, so as to avoid that the space is too large, and the clip body cannot be in contact with the shrimp body, resulting in the shrimp body being in a state of unstable force and easy to fall; The driving mechanism 2 is driven by a cylinder, and the clamping force when the driving force driven by the cylinder drives the relative movement of the two sets of jaw bodies 1 is smaller than the force of crushing the shrimp bodies. The shortest distance L is 0, which can still hold the shrimp body stably and avoid crushing the shrimp body.

Among them, in this embodiment, in order to prevent the failure of the jaw drive mechanism 2 and reduce the probability that the two groups of jaw bodies 1 use excessive force to damage the shrimp body when the relative movement is driven by the jaw drive mechanism 2, two sets of jaw bodies 1 are provided. The range of the shortest distance L between the guide arc surfaces 3 is 7mm-24mm.

Specifically, the range of the shortest distance between the guide arc surfaces 3 of the two sets of jaw bodies 1 is 12mm±3mm, which is suitable for the body size of most shrimps.

In other embodiments, those skilled in the art can set the shortest distance between the guide arc surfaces 3 of the corresponding two groups of jaw bodies 1 according to the thickness of the shrimp body of different sizes, without departing from the technical principles of the present invention. Under the premise, several improvements and replacements can also be made, and these improvements and replacements should also be regarded as the protection scope of the present invention.

Referring to FIG. 1 and FIG. 2 , since the shrimp bodies are generally conveyed by a conveying device, the lower ends of the gripping claw bodies 1 in this embodiment are all rounded structures 6, so that when the gripping body is gripping the shrimp bodies, the The scraping friction with the shrimp body conveying device improves the service life of the clip body.

In an embodiment of the present invention, the lower end of the guide arc surface 3 extends to the rounded corner structure 6 and is tangent to the rounded corner structure 6, so that when the clip body is in contact with the shrimp body, the shrimp body can follow the rounded corner structure 6. The corner structure 6 smoothly transitions to the guide arc surface 3, and the shrimp body is in contact with the guide arc surface 3 to realize the overturning of the shrimp body.

The clamping jaw driving mechanism 2 is a pneumatic finger, and the pneumatic finger includes two relatively moving clamping fingers 7, and the two clamping fingers 7 are respectively connected to the clamping jaw body 1, so as to drive the movement of the two groups of clamping pieces through the relative movement of the two clamping fingers 7. .

Wherein, the pneumatic finger can be a Y-type clip finger 7 or a flat-type clip finger 7 .

To sum up, the two groups of gripper bodies 1 of the present invention move toward each other under the drive of the gripper drive mechanism 2, and the force of the gripper bodies 1 applied to the back of the shrimp body through the guide arc surface 3 generates an upward component force to realize the back of the shrimp body. It is turned upward, and the grooves formed between the two sets of guide arc surfaces 3 for clamping the body are matched with the outline of the shrimp body to reliably and stably clamp the shrimp body.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., means a specific feature described in connection with the embodiment or example, A structure, material, or feature is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, features or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the technical principle of the present invention, several improvements and replacements can be made. These improvements and replacements It should also be regarded as the protection scope of the present invention.

Claims

A prawn turning over gripping claw is characterized in that, comprising:

Two sets of jaw bodies arranged symmetrically;

a clamping jaw driving mechanism, which is connected with the two sets of the clamping jaw bodies for driving the two sets of the clamping jaw bodies to move relatively;

Wherein, the inner surface of the jaw body is formed with a guide arc surface concave to the outer side.
The prawn turning gripper according to claim 1, wherein the guide arc surface has upper and lower straight edges along both ends of its bending direction, and the upper and lower straight edges are the same as the other. The included angle of the connecting lines between the centers of the guide arc surfaces constitutes a guide angle, and the guide angle ranges from 36° to 51°.
The prawn turning over gripper according to claim 2, wherein the range of the guide angle is 40°±3°.
The prawn turning gripper according to claim 1, wherein the radius of the guide arc surface ranges from 17mm to 40mm.
The flipping jaw for prawns according to claim 1, wherein the surface roughness of the guide arc surface ranges from 0.5 μm to 2 μm.
The prawn turning gripper according to claim 1, wherein the range of the shortest distance between the guide arc surfaces of the two sets of gripper bodies is 0mm-25mm.
The prawn turning over gripper according to claim 6, wherein the range of the shortest distance between the guide arc surfaces of the two sets of gripper bodies is 12mm±3mm.
The prawn turning over gripper according to claim 1, wherein the lower ends of the gripper body are all rounded.
The prawn turning gripper according to claim 8, wherein the lower end of the guide arc surface extends to the rounded corner structure and is tangent to the rounded corner structure.
The prawn turning gripper according to claim 1, wherein the gripper driving mechanism is a pneumatic finger, and the pneumatic finger comprises two relatively moving gripping fingers, and the two gripping fingers are respectively connected to the gripper Claw body.