Method for manufacturing a segmented shrimp gripping mechanism

Abstract

The application discloses a manufacturing process of a segmented shrimp clamping mechanism, which comprises the following steps: determining a comprehensive clamping curve of a clamping surface according to the fusion of a wedge-shaped profile, a pentagon profile and a linear profile of a radial profile of a shrimp body; uniformly arranging clamping units with the clamping surface around a rotating disc; and arranging at least one arc-shaped track in the axial direction of the rotating disc, wherein the arc-shaped track gives the clamping units pressure in the radial direction of the rotating disc to form an opening section of the clamping surface, and the arc-shaped track is separated from the closing section of the clamping surface. According to the comprehensive clamping curve, a multi-point force applying clamping surface is designed, the adaptive clamping of the shrimp is realized according to the radial section profile of the shrimp body, a corresponding number of clamping units are automatically picked up according to the length of the shrimp body to segmentally clamp corresponding positions of the shrimp body, the adaptive segmental stable clamping of the shrimp is realized, and the subsequent processes of back opening, gut removal and kernel taking are guaranteed.

Description

Technical Field

[0001] This invention relates to the field of aquatic product processing machinery technology, and in particular to a method for manufacturing a segmented shrimp clamping mechanism. Background Technology

[0002] The whiteleg shrimp (Litopenaeus vannamei) is a major economic shrimp species globally. China, India, Vietnam, Ecuador, Indonesia, and Thailand are the world's leading shrimp producers. Whiteleg shrimp are rapidly grown, tolerate wide temperature and salinity ranges, are highly disease-resistant, and have low nutritional requirements, making them the most widely farmed shrimp species in the world. Shrimp meat is a primary product of shrimp processing. Shrimp meat is delicious, nutritious, high in protein, low in fat, and rich in various minerals, making it a high-quality ingredient for cooking and preparing a variety of flavorful foods, and is loved by consumers worldwide. With the development of the shrimp processing industry and rising labor costs, traditional manual shelling methods can no longer meet the requirements of large-scale shrimp production. Mechanized, directional shelling is the main means of producing high-quality shrimp meat.

[0003] The directional peeling process mainly includes five steps: sorting and orientation, clamping, back opening, deveining, and kernel removal. This peeling process uses a one-by-one processing mode, achieving both intestinal and shell removal. Clamping is crucial for directional peeling of shrimp; its main purpose is to stabilize and fix the shrimp's position, creating conditions for the back opening, deveining, and kernel removal processes. The requirement for clamping is to clamp each shrimp individually, ensuring the shrimp's back is exposed. Currently, shrimp clamping methods mainly include station-type clamping and belt clamping. The rotary shrimp peeling machine developed by Jonsson in the United States uses a station-type clamping mechanism, which can clamp the tail and provide stable support on both sides of the shrimp. This clamping mechanism ensures clamping stability, which is one of the reasons why the machine can produce various types of shrimp. The belt clamping mechanism consists of two conveyor belts arranged side-by-side forming a V-shape. Shrimp can be placed in the V-shaped groove, and the two belts apply pressure to both sides of the shrimp to achieve clamping. The synchronous movement of the belts enables shrimp transport. Belt clamping is inferior to stationary clamping in terms of clamping stability and adaptability. Stationary clamping has high requirements for the position and distance of the conveyed shrimp; therefore, the shrimp must be arranged at fixed intervals and postures during feeding, otherwise the clamping mechanism cannot stably hold them. The directional and positioning requirements of the shrimp make automated shrimp feeding quite difficult, and currently, there is a lack of effective solutions for industrial applications, with the feeding process of shrimp peeling machines still relying on manual labor. Therefore, the clamping mechanism is a key factor restricting the full mechanization of the directional peeling process for shrimp. Eliminating the clamping mechanism's requirements for shrimp posture and position, and achieving adaptive clamping of shrimp, is an effective way to reduce the difficulty of shrimp sorting and orientation and achieve automated feeding. Therefore, providing an adaptive shrimp clamping mechanism is of great significance.

[0004] The clamping surface is the part that directly contacts the shrimp during the clamping process, and its shape and size have a significant impact on the clamping effect. Analysis of the shrimp clamping process using a straight clamping surface revealed [details omitted]. Figure 1 The straight clamping surface makes single-point contact with the shrimp, generating a clamping force. and Wherein, 1 represents the axial cross-sectional profile of the shrimp, and 2 represents the clamping surface profile. For the shrimp to be supported by the left clamping surface, N; For the shrimp to be supported by the right-side clamping surface, N; Let be the tilt angle of the clamping surface (°). As the tilt angle of the clamping surface increases... As the shrimp's body decreases, the point of force gradually shifts from its body to its abdomen. During this process, the clamping force continuously applies pressure to the shrimp's body, hindering the shelling process. Simultaneously, the downward shift of the force point weakens the support on both sides of the shrimp, leading to a decrease in the shrimp's horizontal clamping stability. This can cause the shrimp to sway from side to side during peeling, affecting the peeling effect. Therefore, a simple linear structure is unsuitable for the clamping requirements of shrimp peeling; the shape design of the clamping surface should be based on the shrimp's external morphological characteristics. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides a method for manufacturing a segmented shrimp gripping mechanism, which designs a multi-point force-applying gripping surface to achieve adaptive gripping of the shrimp based on the radial cross-sectional profile of the shrimp body.

[0006] The present invention adopts the following technical solution:

[0007] The comprehensive clamping curve of the clamping surface is determined by merging the radial contour, wedge contour, pentagonal contour and linear contour of the shrimp body.

[0008] Clamping units with the clamping surfaces are evenly distributed around the turntable;

[0009] At least one arc-shaped track is provided in the axial direction of the turntable. The arc-shaped track applies pressure to the clamping unit in the radial direction of the turntable to form an open section of the clamping surface. After leaving the arc-shaped track, it becomes a closed section of the clamping surface.

[0010] The clamping surface, from top to bottom, includes a support surface for supporting the sides of the shrimp body, an upper clamping surface for clamping the shrimp body, a transition surface, and a lower clamping surface for clamping the shrimp's ventral legs and tail; the lower clamping surface is planar, while the remaining surfaces are curved; the combined clamping curves satisfy the following formula:

[0011] (1)

[0012] In the formula, a represents the clamping length of the ventral foot, in mm.

[0013] b — the length of the base of the shrimp rhombus outline, in mm;

[0014] c — the side height of the shrimp's diamond-shaped outline, in mm;

[0015] d—Maximum thickness of the shrimp's rhomboid outline, mm;

[0016] e—Maximum thickness of the shrimp, mm;

[0017] —The length of the lower clamping surface, where A0 is the bottom end point of the lower clamping surface and B0 is the top end point of the lower clamping surface;

[0018] — The distance from the top of the lower clamping surface to the y-axis, where B0 is the top endpoint of the lower clamping surface and B1 is the foot of the perpendicular from the top endpoint B0 of the lower clamping surface to the y-axis.

[0019] —The height of the top end of the upper clamping surface and the top end of the lower clamping surface, where D1 is the foot of the perpendicular from the top end point D0 of the upper clamping surface to the y-axis, and B1 is the foot of the perpendicular from the top end point B0 of the lower clamping surface to the y-axis.

[0020] — The distance from the bottom of the upper clamping surface to the y-axis, where D0 is the top end point of the upper clamping surface and D1 is the foot of the perpendicular from the top end point D0 of the upper clamping surface to the y-axis;

[0021] — The distance from the top of the support surface to the y-axis, where E0 is the top endpoint of the support surface and E1 is the foot of the perpendicular from the top endpoint E0 of the support surface to the y-axis;

[0022] From equation (1), the equation of the comprehensive clamping curve when the clamping surface is at the position of maximum opening angle is obtained as follows:

[0023] (2).

[0024] Beneficial effects

[0025] (1) The clamping surface based on the cross-sectional profile of shrimp can adapt to the clamping needs of shrimp at different positions, and can solve the problem of shrimp being difficult to clamp stably.

[0026] (2) By densely and evenly distributing the clamping units around the turntable, the clamping station is guaranteed to have an open clamping unit at any time. Multiple consecutive clamping units can be freely combined into a clamp according to the length and position of the shrimp. Multiple clamping units clamp the shrimp in segments, and adaptive clamping is achieved by segmented clamping and multi-point force application.

[0027] (3) The segmented shrimp adaptive clamping mechanism has the characteristics of non-positioning clamping, which can adapt to the working conditions where the position of the shrimp is uncertain after orientation, reduce the difficulty of shrimp sorting and orientation, and help to get rid of the dependence on manual placement and feeding, and realize the full mechanization of shrimp orientation and peeling. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of a structure in which the existing linear clamping surface and the shrimp are in single-point contact.

[0029] Figure 2(a) is a schematic diagram of the shrimp clamping part provided by the present invention;

[0030] Figure 2(b) is a schematic diagram of the clamping surface structure of the shrimp clamping part provided by the present invention;

[0031] Figure 3 shows three schematic diagrams of the radial cross-sectional profile of a shrimp's body.

[0032] Figure 4 This invention provides a comprehensive clamping curve coordinate diagram of the clamping surface of the shrimp clamping part;

[0033] Figure 5 This is a schematic diagram of the force analysis of the shrimp shell during the clamping process provided by the shrimp clamping part of the present invention;

[0034] Figure 6(a) is a schematic diagram of the shrimp clamping unit in the open state provided by the present invention;

[0035] Figure 6(b) is a schematic diagram of the shrimp clamping unit in the closed state provided by the present invention;

[0036] Figure 7 This is one of the structural schematic diagrams of a segmented shrimp clamping mechanism provided by the present invention;

[0037] Figure 8 This is the second schematic diagram of a segmented shrimp clamping mechanism provided by the present invention;

[0038] Figure 9 This is a schematic diagram of the force analysis of the shrimp clamping unit of a segmented shrimp clamping mechanism provided by the present invention;

[0039] Figure 10(a) is a schematic diagram of the arc track structure of a segmented shrimp clamping mechanism provided by the present invention;

[0040] Figure 10(b) is a coordinate diagram of the track surface profile of a segmented shrimp clamping mechanism provided by the present invention. Detailed Implementation

[0041] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0042] A method for manufacturing a segmented shrimp gripping mechanism includes the following steps:

[0043] Step S1: Determine the comprehensive clamping curve of the clamping surface by fusing the radial contour, wedge contour, pentagonal contour and linear contour of the shrimp body.

[0044] In this step, referring to Figure 2, the gripping surface of the shrimp gripping part has a supporting surface 1, an upper gripping surface 2, a transition surface 3, and a lower gripping surface 4 from top to bottom. The lower gripping surface is flat, while the other surfaces are curved, with the center of the curve on the same side of the gripping surface. The upper gripping surface is used to grip the shrimp body, the lower gripping surface is used to grip the shrimp's ventral foot and tail, the transition surface is used to achieve a smooth transition at the connection between the upper and lower gripping surfaces and to support the shrimp, and the supporting surface is used to provide a certain support force to the sides of the shrimp, preventing the shrimp from swaying left and right and improving the gripping stability.

[0045] The clamping surface of the shrimp clamping unit is formed by stretching the clamping curve, making the design of the clamping curve crucial. By opening and closing the two clamping parts to different degrees, the clamping curve 200 adaptively matches the radial cross-sectional profile 100 of the shrimp. The radial profile of the shrimp is mainly divided into wedge-shaped, rhomboid, and linear profiles. Referring to Figure 3(a), for the wedge-shaped profile, the focus should be on clamping the abdominal legs while providing support to both sides. Therefore, the clamping line mainly consists of two segments: a straight line and a curve. The straight line provides greater clamping force to the abdominal legs, while the curve conforms to the side of the shrimp body, providing support. Referring to Figure 3(b), for the rhomboid profile, the two lower sides should be clamped, and the clamping line also adopts a straight line. Since the bottom of the rhomboid profile has a certain width, the two clamping lines form an isosceles trapezoidal structure. Referring to Figure 3(c), for the linear profile, since the thickness at the shrimp tail is generally around 1 mm, the clamping line of the linear profile adopts a V-shaped structure. The V-angle can be as small as 0°, and the two clamping lines overlap, thus achieving a tight clamping.

[0046] The shrimp clamping unit clamps the shrimp at any position, therefore the clamping surface should adapt to the three profiles of the shrimp's cross-section. Based on this requirement, a method of merging the three clamping surface profiles is used to design the clamping curve, resulting in a comprehensive clamping curve. Segment A0B0 represents the clamping surface profile for clamping the shrimp's ventral foot and tail; B0C0 is the transition line; C0D0 is the clamping surface profile for clamping the shrimp's body; and D0E0 is the shrimp body support curve. The Cartesian coordinate system in the coordinate graph of the comprehensive clamping curve is established with the rotation axis O of the clamping component as the origin. The clamping curve in the coordinate system represents the clamping surface profile where the two clamping parts are at their maximum angle. For shrimp morphological parameters, see [reference needed]. Figure 4 The parameter design of the integrated clamping curve must satisfy the following formula:

[0047] (1)

[0048] In the formula, 'a' represents the clamping length of the ventral foot, in mm.

[0049] b — the length of the base of the shrimp rhombus outline, in mm

[0050] c — the lateral height of the shrimp rhombus outline, in mm

[0051] d — Maximum thickness of the shrimp's rhomboid outline, mm

[0052] e – Maximum thickness of the shrimp, mm

[0053] —Length of the lower clamping surface;

[0054] — The distance from the top of the lower clamping surface to the y-axis;

[0055] —The height between the top of the upper clamping surface and the top of the lower clamping surface;

[0056] —The distance from the bottom of the upper clamping surface to the y-axis;

[0057] — The distance from the top of the support surface to the y-axis;

[0058] From equation (1), the equation of the comprehensive clamping curve when the clamping surface is at the position of maximum opening angle is obtained as follows:

[0059] (2)

[0060] Starting from point B of the composite clamping curve, and following the natural abdominal arc contour of the shrimp, the composite clamping line is stretched to a certain arc length to obtain the clamping surface.

[0061] See Figure 5 The clamping force exerted by the clamping unit on the shrimp is an important mechanical parameter. Since kernel removal is the step in the shrimp peeling process where the shrimp experiences the greatest force, the mechanical analysis of shrimp clamping is conducted using kernel removal as the working condition to determine the range of the clamping force. The minimum number of clamping units acting on the shrimp is selected, with three clamping units clamping the wedge-shaped contour area, the rhomboid contour area, and the tail, respectively. Using the shrimp shell as the force-bearing body, during kernel removal, the shrimp shell is subjected to adhesive and frictional forces from the shrimp meat, as well as pressure from the clamping surface. To ensure stable clamping of the shrimp shell during kernel removal, the following equation must be satisfied:

[0062] (3)

[0063] In the formula —The combined force of the shrimp meat on the shrimp shell, N;

[0064] —The frictional force on the ventral foot, in N;

[0065] —The frictional force acting on the shrimp's body, in N;

[0066] —The frictional force experienced by the tail, in N;

[0067] —The static friction coefficient between the shrimp shell and the clamping surface;

[0068] —The static friction coefficient between shrimp meat and shrimp shell;

[0069] —The pressure exerted by the left clamp on the shrimp's body, N;

[0070] —The pressure on the left clamping face towards the abdomen and foot, N;

[0071] —The pressure exerted by the middle clamping the shrimp's body, N;

[0072] —The pressure applied by the right clamp to the shrimp tail, N;

[0073] —The adhesive force between the shrimp shell and the shrimp meat, N;

[0074] Arrangement of equation (3) yields:

[0075] (4)

[0076] Based on the force analysis, equation (4) can be broken down into:

[0077] (5)

[0078] (6)

[0079] Equation (5) indicates that there should be no relative sliding between the clamping surface and the shrimp body, thus obtaining... Therefore, to improve the clamping effect, the roughness of the upper clamping surface can be increased to increase the coefficient of friction between the shrimp body and the clamping surface. The roughness is increased by arranging conical protrusions on the upper clamping surface. Based on the dimensions of the upper clamping surface, the height of the conical protrusions is determined to be 1 mm, and the protrusions are evenly arranged in two rows.

[0080] Equation (6) indicates that the sum of the sliding friction forces of the shrimp's abdominal legs and tail must be greater than the adhesion force between the shell and meat. From the previous analysis, we know... The formula can be obtained as follows:

[0081] (7)

[0082] Based on the shrimp's compressive fracture limit, the clamping force of the clamping plate on the shrimp. Requires 2.5N < <19.8N.

[0083] By using a multi-segment design of the clamping curve and the opening angle of the two clamping parts, the design adapts to the radial contours of various parts of the shrimp's body. When the clamping part clamps the shrimp, it adaptively determines the opening angle based on the radial contours of the shrimp's body parts, thus overcoming the shortcomings of station-type clamping which has strict requirements on the position and distance of the shrimp. At the same time, the multi-segment design of the clamping curve enables multi-point force application of the clamping part, overcoming the shortcomings of single-point force application and unstable clamping of the belt-type clamping surface.

[0084] Step S2: Evenly distribute several clamping units with the clamping surface around the turntable.

[0085] In this step, specifically, see [link to relevant documentation]. Figure 7 The segmented shrimp gripping mechanism includes several shrimp gripping units 10, a turntable 20, and a transmission mechanism 30. The shrimp gripping units are evenly arranged around the turntable, and the transmission mechanism drives the turntable to rotate, which in turn drives the shrimp gripping units to rotate.

[0086] Step S3: At least one arc-shaped track is set in the axial direction of the turntable. The arc-shaped track applies pressure to the clamping unit in the radial direction of the turntable to form an open section of the clamping surface. After leaving the arc-shaped track, it becomes a closed section of the clamping surface.

[0087] Referring to Figure 6, the shrimp clamping unit 10 includes a pair of clamping members 11, which rotate and open / close relative to each other around a pivot O. A sliding block 14 is sleeved on a support rod 16 with the pivot O. On one side of the pivot O, the clamping member has a clamping portion as described in Embodiment 1 for clamping the shrimp; on the other side of the pivot O, it has a connecting portion for connecting the sliding block via a connecting rod 12. The angle between the clamping portion and the connecting portion is obtuse. The two clamping portions are mirror images of each other around the pivot O, extending in opposite directions away from the pivot O. The two connecting portions are also mirror images of each other around the pivot O, extending in opposite directions away from the pivot O. When the sliding block moves downward along the support rod, it pulls the connecting rod 12, causing the two clamping portions to move away from each other and be in an open state. When the sliding block moves upward along the support rod, it pushes the connecting rod, causing the two clamping portions to come closer to each other and be in a closed clamping state.

[0088] Referring to Figure 6-8, the support rods 16 of each shrimp gripping unit are evenly distributed circumferentially on the turntable 20 at the opposite end of the unit with the rotating shaft O. In the opening and closing direction of the gripping part of the shrimp gripping unit, bearing rollers 13 are installed on both sides of the sliding block, and springs 15 are sleeved on the support rods, located between the sliding block and the turntable. Arc-shaped tracks 40 are installed on both sides of the turntable, with the arc surface of the tracks facing the rotation center of the turntable. The two rollers on both sides of the sliding block slide in cooperation with the corresponding two arc-shaped tracks. In the non-track section, the rollers are not subjected to pressure, and the elastic force generated by the springs forces the sliding block to slide along the support rods away from the rotation center of the turntable. The sliding block pushes the connecting rod, causing the two gripping parts to come close to each other, resulting in a closed gripping state. In the track section, the rollers are subjected to pressure from the arc-shaped tracks facing the rotation center of the turntable. The elastic force generated by the deformation of the springs forces the sliding block to slide along the support rods towards the rotation center of the turntable. The sliding block pulls the connecting rod, causing the two gripping parts to move away from each other, resulting in an open state.

[0089] See Figure 9 The clamping unit establishes a Cartesian coordinate system with point O as the origin. The connection point between the connecting rod and the connecting part is point G, and the clamping (end) point of the upper clamping surface is point A. The clamping member AOG rotates around point O, and the sliding block HI slides along the x-axis. Based on the motion relationship, it can be assumed that point H rotates around point G; therefore, with point G as the center and l as the axis... GH A circle with radius l intersects the line y=l HI The intersection of these points is the coordinate of point H. Let the coordinates of point H be ( ). , From this, we can obtain the following formula;

[0090] (8)

[0091] From equation (8), we can obtain the formula for the x-coordinate of point H:

[0092] (9)

[0093] The calculated x-coordinate of point H satisfies: Since the horizontal coordinate range of point H is the spring's compression stroke, the spring's compression stroke during the entire movement of the clamping unit is 4.3mm. Based on the overall size design of the clamping mechanism, the spring length when the compression reaches its maximum value is determined to be 16mm.

[0094] The clamping unit is subjected to the pressure F of the spring. I Support for shrimp F A The force relationship of the clamping unit satisfies the following equation:

[0095] (10)

[0096] In the formula, the shrimp gripping unit is subjected to the pressure F of the spring. IN; the supporting force F of the clamping face on the shrimp A N; Let OG be the angle between the clamping member rotating rod and the x-axis (°). Let GH be the angle between the connecting rod and the horizontal line, in degrees (°).

[0097] The length between the rotating shaft O and the endpoint A of the upper clamping surface, in mm;

[0098] The distance from the pivot point O to the connection point G is in mm;

[0099] Here is the length of the connecting rod GH, in mm;

[0100] The spring force is satisfied. >6.2N. Therefore, the spring is always in a compressed state in the clamping unit. Since the spring force is minimal at its minimum compression, the relationship between the spring length and the spring force satisfies the following equation:

[0101] (11)

[0102] In the formula —Total length of the spring, mm

[0103] —Spring constant, N / mm

[0104] From equation (11), we get:

[0105] (12)

[0106] As shown in equation (12), the spring constant is inversely proportional to the total length of the spring. Considering the limitations of spring compression and the breaking limit of the shrimp, the spring constant and total length should not be too large. Therefore, considering all factors, the spring length is determined to be 35 mm and the spring constant is 0.49 N / mm.

[0107] Referring to Figure 10, the contour of the track surface 41 of the arc track 40 is curve A2B2C2D2, which is divided into three segments, all of which are circular arcs. Segment A2B2 is the opening transition zone, B2C2 is the opening zone, and C2D2 is the closing transition zone. Analyzing the idle process without holding a shrimp, as the clamping unit moves from point A2 to point B2, the clamping plate gradually changes from a fully closed state to a fully open state. As the clamping unit moves from point B2 to point C2, the clamping plate remains open. As the clamping unit moves from point C2 to point D2, the clamping plate gradually closes. At other positions, the clamping plate remains closed. When shrimp are present, segment A2B2 is mainly for the shrimp shell to fall off; the opening of the clamping plate eliminates the clamping force, and the shrimp shell falls off under gravity. Segment B2C2 is the area where the shrimp falls into the clamping mechanism; the opening of the clamping plate facilitates the shrimp entering the clamping position. The C2D2 segment clamping plate gradually applies pressure to the shrimp to achieve stable clamping.

[0108] O2 is the arc center of the open area, B2C2 is the arc center of the open area, and the track surface of the arc track includes track arc B2C2 with the clamping part fully open, track arc C2D2 with the clamping part gradually closing, and track arc A2B2 with the clamping part fully open.

[0109] Based on the overall dimensions of the turntable and the compression stroke of the spring, O2B2=O2C2=76.5mm and O2A2=O2D2=80.8mm. Considering the possibility of the shrimp slipping before being stably gripped as it rotates downwards with the clamping plate, the clamping part needs to be completely closed before the shrimp reaches the slippage position to prevent slippage. Referring to the friction angle measurement results of the shrimp's abdominal legs, the tilt angle of O2D2 is greater than 30°. Therefore, the tilt angle of O2D2 is designed to be 36° and the tilt angle of O2C2 to be 45°. Considering that the clamping area is the working area for the back-opening, degumming, and kernel removal processes, maximizing the clamping area can provide more space for the layout of subsequent processes. Therefore, the position of point B2 should be moved as high as possible. When B2 enters the area above the horizontal axis, the clamping unit gradually applies a supporting force to the shrimp shell. This force will gradually counteract gravity, which is not conducive to the automatic detachment of the shrimp shell. Therefore, considering all factors, it is more reasonable for point B2 to be located on the horizontal axis.

[0110] Based on the analysis, the contour model of the designed track surface is as follows:

[0111] A2B2 curve: (329.9°) 360°

[0112] B2C2 curve: (45°) 180°)(13)

[0113] C2D2 curve: (225°) 255.1°)

[0114] During operation, the shrimp gripping unit moves in a circular motion along the turntable's axis, driven by the turntable's rotational force; radially, it performs a regular opening and closing motion under the support of the track. Through the superposition of these two motions, the shrimp gripping mechanism achieves the directional gripping, conveying, and discharge of shrimp. The oriented shrimp falls from the top into the gripping position, at which point the gripping unit in that position is in the open state. Depending on the shrimp's body length, 2-4 shrimp gripping units are used, corresponding to gripping the shrimp's diamond-shaped, wedge-shaped, and linear contours, respectively, achieving segmented gripping of the shrimp. Supported by multiple gripping units, the shrimp begins to rotate. Driven by the changing curvature of the arc-shaped track, the gripping units gradually close. Each unit automatically determines the angle of its gripping plate based on the shrimp's body thickness, achieving segmented adaptive gripping. Subsequently, during the rotational transport process, the shrimp undergoes back-opening, intestinal deveining, and kernel extraction. After shell and kernel separation, the shell remains gripped. When the gripping unit re-consumes the arc-shaped track, pressure causes the gripping plate to open, releasing the shell. The gripping unit then remains open, initiating the next gripping cycle.

[0115] The aforementioned arc-shaped track adopts a double-track structure, that is, an identical arc-shaped track is set on each side of the turntable, and the track continuously applies force to the clamping mechanism by rolling on the track surface through small bearings. The movement process is divided into two parts: a closing section and an opening section. Since the clamping unit in the closing section does not require the track to apply pressure, the closing section does not require the design of a track.

[0116] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for manufacturing a segmented shrimp gripping mechanism, characterized in that, Includes the following steps: The comprehensive clamping curve of the clamping surface is determined by merging the radial contour, wedge contour, pentagonal contour and linear contour of the shrimp body. A plurality of clamping units having the clamping surface are evenly arranged around the turntable; At least one arc-shaped track is provided in the axial direction of the turntable. The arc-shaped track applies pressure to the clamping unit in the radial direction of the turntable to form an open section of the clamping surface. After leaving the arc-shaped track, it becomes a closed section of the clamping surface. The clamping surface, from top to bottom, includes a support surface for supporting the sides of the shrimp body, an upper clamping surface for clamping the shrimp body, a transition surface, and a lower clamping surface for clamping the shrimp's ventral legs and tail; the lower clamping surface is planar, while the remaining surfaces are curved; the combined clamping curves satisfy the following formula: （1） In the formula, a represents the clamping length of the ventral foot, in mm. b — the length of the base of the shrimp rhombus outline, in mm; c — the side height of the shrimp's diamond-shaped outline, in mm; d—Maximum thickness of the shrimp's rhomboid outline, mm; e—Maximum thickness of the shrimp, mm; —The length of the lower clamping surface, where A0 is the bottom end point of the lower clamping surface and B0 is the top end point of the lower clamping surface; — The distance from the top of the lower clamping surface to the y-axis, where B0 is the top endpoint of the lower clamping surface and B1 is the foot of the perpendicular from the top endpoint B0 of the lower clamping surface to the y-axis. —The height of the top end of the upper clamping surface and the top end of the lower clamping surface, where D1 is the foot of the perpendicular from the top end point D0 of the upper clamping surface to the y-axis, and B1 is the foot of the perpendicular from the top end point B0 of the lower clamping surface to the y-axis. — The distance from the bottom of the upper clamping surface to the y-axis, where D0 is the top end point of the upper clamping surface and D1 is the foot of the perpendicular from the top end point D0 of the upper clamping surface to the y-axis; — The distance from the top of the support surface to the y-axis, where E0 is the top endpoint of the support surface and E1 is the foot of the perpendicular from the top endpoint E0 of the support surface to the y-axis; From equation (1), the equation of the comprehensive clamping curve when the clamping surface is at the position of maximum opening angle is obtained as follows: （2）。 2. The manufacturing method of the segmented shrimp gripping mechanism as described in claim 1, characterized in that, The force exerted by the clamping face on the shrimp during the process of removing the kernel must satisfy the following equation: （3） In the formula —The combined force of the shrimp meat on the shrimp shell, N; —The frictional force on the ventral foot, in N; —The frictional force acting on the shrimp's body, in N; —The frictional force experienced by the tail, in N; —The static friction coefficient between the shrimp shell and the clamping surface; —The static friction coefficient between shrimp meat and shrimp shell; —The pressure exerted by the left clamp on the shrimp's body, N; —The pressure on the left clamping face towards the abdomen and foot, N; —The pressure exerted by the middle clamping the shrimp's body, N; —The pressure applied by the right clamp to the shrimp tail, N; —The adhesive force between the shrimp shell and the shrimp meat, N; Arrangement of equation (3) yields: （4） Based on the force analysis, equation (4) can be broken down into: （5） （6） Equation (5) indicates that there should be no relative sliding between the clamping surface and the shrimp body, thus obtaining... Therefore, conical protrusions are arranged on the upper clamping surface; Equation (6) indicates that the sum of the sliding friction forces of the shrimp's abdominal legs and tail must be greater than the adhesion force between the shell and meat; as analyzed above... The formula can be obtained as follows: （7） Based on the shrimp's compressive fracture limit, determine the clamping force of the clamping surface on the shrimp. The scope that needs to be satisfied.

3. The manufacturing method of the segmented shrimp clamping mechanism as described in claim 1, characterized in that, The clamping unit includes a pair of clamping members that rotate around a pivot and open and close relative to each other. One side of the pivot O has a clamping portion with the clamping surface, and the other side has a connecting portion. The angle between the clamping portion and the connecting portion is obtuse. The obtuse angles of the two clamping members are opposite to each other. A sliding block is fitted onto a support rod with a pivot. The sliding block is connected to the connecting portion via a connecting rod. The sliding block moves up and down along the support rod, pulling the connecting rod to open or close the two clamping portions. A roller is provided on the sliding block in the opening and closing direction of the clamping portions of the shrimp clamping unit. A spring is fitted onto the support rod, located between the sliding block and the turntable. The deformation of the spring causes the slider to move up and down. Establish a Cartesian coordinate system with the rotation axis O as the origin; the connection point between one end of the connecting rod and the connecting part is point G, the clamping point on the upper clamping surface is point A, the clamping member AOG rotates around point O, and the sliding block HI slides along the x-axis. Point H is the hinge point between the other end of the connecting rod and the sliding block, and point I is the foot of the perpendicular from point H to the x-axis. Based on the kinematic relationship, it can be assumed that point H rotates around point G, with point G as the center and l as the axis. GH A circle with radius l intersects the line y=l HI The intersection of the two points is the coordinate of point H; let the coordinates of point H be ( , From this, we can obtain the following formula: （8） The angle between the connecting part OG and the x-axis is expressed in degrees. From equation (8), we can obtain the formula for the x-coordinate of point H: （9） The calculated range of the horizontal coordinate of point H represents the compression stroke of the spring. Therefore, the compression stroke of the spring during the entire movement of the clamping unit is... Based on the overall dimensions of the clamping mechanism, determine the spring length at which the spring compression reaches its maximum value. .

4. The manufacturing method of the segmented shrimp gripping mechanism as described in claim 3, characterized in that, The force relationship of the shrimp clamping unit satisfies the following equation: （10） In the formula, the shrimp gripping unit is subjected to the pressure F of the spring. I N; the supporting force F of the clamping face on the shrimp A N; Let be the angle between the clamping member rotating rod OG and the x-axis, in °; The angle between the connecting rod GH and the horizontal line is °; The length between the rotating shaft O and the endpoint A of the upper clamping surface, in mm; The distance from the pivot point O to the connection point G is in mm; Here is the length of the connecting rod GH, in mm; The spring force is satisfied. > Spring force F I Need to be greater than This ensures that the clamping unit has sufficient clamping force to stably hold the shrimp. Therefore, the spring in the clamping unit is always in a compressed state. Since the spring force is minimal at its minimum compression, the relationship between the spring length and the spring force satisfies the following equation: （11） In the formula —This is the compression stroke of the spring during the entire movement of the clamping unit, in mm; —The length of the spring when the spring compression reaches its maximum value, in mm; —Total length of the spring, mm —Spring constant, N / mm From equation (11), we get: （12） As can be seen from equation (12), the spring constant is inversely proportional to the total length of the spring; considering the limitation of spring compression and the shrimp breakage limit, the spring length and spring constant are determined.

5. The manufacturing method of the segmented shrimp gripping mechanism as described in claim 1, characterized in that, The arc surface of the arc track faces the rotation center of the turntable. The rolling component on the clamping unit slides in cooperation with the corresponding arc track, forcing the clamping surface to be in a state of gradually opening, fully opening, and gradually closing in sequence.

6. The manufacturing method of the segmented shrimp gripping mechanism as described in claim 5, characterized in that, The curved track surface includes a track arc B2C2 with the clamping surface fully open, a track arc C2D2 with the clamping surface gradually closing, and a track arc A2B2 with the clamping surface fully open. The contour model of the curved track surface is as follows: A2B2 curve: 329.9° 360° B2C2 curve: 45° 180° (13) C2D2 curve: 225° 255.1°.

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