WO2022104823A1 - Dispositif de préhension pour le retournement de crevettes - Google Patents

Dispositif de préhension pour le retournement de crevettes Download PDF

Info

Publication number
WO2022104823A1
WO2022104823A1 PCT/CN2020/131008 CN2020131008W WO2022104823A1 WO 2022104823 A1 WO2022104823 A1 WO 2022104823A1 CN 2020131008 W CN2020131008 W CN 2020131008W WO 2022104823 A1 WO2022104823 A1 WO 2022104823A1
Authority
WO
WIPO (PCT)
Prior art keywords
prawn
gripper
guide arc
shrimp
bodies
Prior art date
Application number
PCT/CN2020/131008
Other languages
English (en)
Chinese (zh)
Inventor
叶柯蕾
韩远
叶春蕾
Original Assignee
甸硕水产科技(化州)有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 甸硕水产科技(化州)有限公司 filed Critical 甸硕水产科技(化州)有限公司
Publication of WO2022104823A1 publication Critical patent/WO2022104823A1/fr

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C29/00—Processing shellfish or bivalves, e.g. oysters, lobsters; Devices therefor, e.g. claw locks, claw crushers, grading devices; Processing lines
    • A22C29/02—Processing shrimps, lobsters or the like ; Methods or machines for the shelling of shellfish
    • A22C29/023—Conveying, feeding or aligning shellfish
    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C29/00—Processing shellfish or bivalves, e.g. oysters, lobsters; Devices therefor, e.g. claw locks, claw crushers, grading devices; Processing lines
    • A22C29/02—Processing shrimps, lobsters or the like ; Methods or machines for the shelling of shellfish
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
    • Y02A40/81—Aquaculture, e.g. of fish

Definitions

  • the invention relates to the technical field of aquatic equipment, in particular to a flipping jaw for prawns.
  • 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.
  • 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;
  • the inner surface of the jaw body is formed with a guide arc surface concave to the outer side.
  • 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°.
  • the range of the guide angle is 40° ⁇ 3°.
  • the radius of the guide arc surface is in the range of 17mm-40mm.
  • the surface roughness of the guide arc surface ranges from 0.5 ⁇ m to 2 ⁇ m.
  • the shortest distance between the guide arc surfaces of the two groups of the jaw bodies is in the range of 0mm-25mm.
  • the range of the shortest distance between the guiding arc surfaces of the two groups of the jaw bodies is 12mm ⁇ 3mm.
  • the lower ends of the jaw bodies are all rounded structures.
  • the lower end of the guide arc surface extends to the rounded corner structure and is tangent to the rounded corner structure.
  • the clamping jaw driving mechanism is a pneumatic finger
  • the pneumatic finger includes two relatively moving clamping fingers, and the two clamping fingers are respectively connected to the clamping jaw body.
  • 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.
  • 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.
  • FIG. 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
  • FIG. 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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°.
  • the range of the guide angle a is 40° ⁇ 3°
  • the radius r of the guide arc surface 3 in this embodiment is in the range of 17mm-40mm.
  • 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.
  • 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.
  • the shrimp clipping mechanism provided by an embodiment of the present invention.
  • the surface roughness of the guide arc surface 3 is in the range of 0.5 ⁇ m-2 ⁇ m, 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.
  • 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.
  • two sets of jaw bodies 1 are provided.
  • the range of the shortest distance L between the guide arc surfaces 3 is 7mm-24mm.
  • 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.
  • 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.
  • 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.
  • 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. .
  • the pneumatic finger can be a Y-type clip finger 7 or a flat-type clip finger 7 .
  • 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.
  • references 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.
  • schematic representations of the above terms do not necessarily refer to the same embodiment or example.
  • the particular features, structures, features or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

Abstract

L'invention concerne un dispositif de préhension pour le retournement de crevettes, le dispositif comprenant deux corps de préhension disposés symétriquement (1) et un mécanisme d'entraînement de préhension (2), le mécanisme d'entraînement de préhension (2) étant relié aux deux corps de préhension (1) pour être utilisé pour entraîner les deux corps de préhension (1) en déplacement l'un par rapport à l'autre, et les surfaces internes des corps de préhension (1) sont formées avec des surfaces d'arc de guidage (3) en retrait vers l'extérieur. Les deux corps de préhension (1) se déplacent à l'opposé l'un de l'autre sous l'entraînement du mécanisme d'entraînement de préhension (2), et les corps de préhension (1) génèrent une force vers le haut par une force appliquée sur le dos d'une crevette au moyen des surfaces d'arc de guidage (3), de sorte que le dos de la crevette soit tourné vers le haut, et une rainure formée entre les surfaces d'arc de guidage (3) des deux corps de préhension (1) coopère avec le contour de la crevette de façon à saisir la crevette de manière fiable et stable.
PCT/CN2020/131008 2020-11-19 2020-11-24 Dispositif de préhension pour le retournement de crevettes WO2022104823A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011305578.X 2020-11-19
CN202011305578.XA CN113229326A (zh) 2020-11-19 2020-11-19 一种对虾翻身夹爪

Publications (1)

Publication Number Publication Date
WO2022104823A1 true WO2022104823A1 (fr) 2022-05-27

Family

ID=77130053

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/131008 WO2022104823A1 (fr) 2020-11-19 2020-11-24 Dispositif de préhension pour le retournement de crevettes

Country Status (3)

Country Link
CN (1) CN113229326A (fr)
EC (1) ECSP23045614A (fr)
WO (1) WO2022104823A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116141294A (zh) * 2023-04-19 2023-05-23 融域智慧(西安)智能科技有限公司 一种夹取机械手及夹取设备

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4005504A (en) * 1974-03-25 1977-02-01 The Laitram Corporation Method for partially peeling shrimp
CN204047812U (zh) * 2014-06-17 2014-12-31 河北农业大学 一种对虾去头的机械手执行装置
CN104273203A (zh) * 2013-07-08 2015-01-14 河北农业大学 一种对虾定向排序装置
CN108887371A (zh) * 2018-08-24 2018-11-27 佛山信卓派思机械科技有限公司 一种自动剥虾壳流水线
CN211091626U (zh) * 2019-11-20 2020-07-28 孟弢 一种双工位抓料手爪
CN211388806U (zh) * 2019-11-20 2020-09-01 孟弢 一种水产品行业用工业机器人
CN111685160A (zh) * 2020-06-18 2020-09-22 武汉轻工大学 小龙虾自动化取仁设备

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4005504A (en) * 1974-03-25 1977-02-01 The Laitram Corporation Method for partially peeling shrimp
CN104273203A (zh) * 2013-07-08 2015-01-14 河北农业大学 一种对虾定向排序装置
CN204047812U (zh) * 2014-06-17 2014-12-31 河北农业大学 一种对虾去头的机械手执行装置
CN108887371A (zh) * 2018-08-24 2018-11-27 佛山信卓派思机械科技有限公司 一种自动剥虾壳流水线
CN211091626U (zh) * 2019-11-20 2020-07-28 孟弢 一种双工位抓料手爪
CN211388806U (zh) * 2019-11-20 2020-09-01 孟弢 一种水产品行业用工业机器人
CN111685160A (zh) * 2020-06-18 2020-09-22 武汉轻工大学 小龙虾自动化取仁设备

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116141294A (zh) * 2023-04-19 2023-05-23 融域智慧(西安)智能科技有限公司 一种夹取机械手及夹取设备

Also Published As

Publication number Publication date
CN113229326A (zh) 2021-08-10
ECSP23045614A (es) 2023-07-31

Similar Documents

Publication Publication Date Title
TWI527657B (zh) 夾持裝置
WO2022104823A1 (fr) Dispositif de préhension pour le retournement de crevettes
CN209793775U (zh) 一种夹爪机构及机器人
WO2015068218A1 (fr) Dispositif de transport de tirettes
US3219375A (en) Record handling device
US20240123634A1 (en) Gripper, clamping device having the same and mobile robot
CN113246141A (zh) 一种甲壳类仿生自传感柔顺抓取装置
CN215422567U (zh) 一种对虾翻身夹爪
CN205624949U (zh) 一种橡皮擦外壳
CN210731506U (zh) 一种电池模组工装板的夹紧机构
CN113229339A (zh) 一种虾身夹取装置和设备
CN207757641U (zh) 一种适用于机器人的多功能末端执行器
CN211073673U (zh) 智能视觉定位抓取系统
CN111517209B (zh) 板件吊挂装置及其夹持臂
CN215422566U (zh) 一种虾类夹取机构
CN219767950U (zh) 一种滤纸测量取样夹具
CN110154069A (zh) 夹爪
CN211541246U (zh) 末端执行机构以及钢筋笼搬运机器人
CN205181021U (zh) 一种多功能钩夹
CN110435328A (zh) 夹具
CN205237881U (zh) 用于led产品上的夹具
CN204585057U (zh) 新型弹性夹
CN212919425U (zh) 夹持机构及具有该夹持机构的夹持装置
CN215941462U (zh) 一种浮动抓手以及料饼抓取装置
CN219504682U (zh) 一种协作机器人打钉机构

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20962114

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20962114

Country of ref document: EP

Kind code of ref document: A1