Marine fish sorting holder

Abstract

The utility model discloses a marine fish sorting clamp holder which is characterized in that the clamp holder comprises a mechanical arm connecting plate (1), two horizontally-distributed air cylinders (2) are symmetrically arranged at the two ends of the mechanical arm connecting plate (1), and the working ends of the air cylinders (2) are hinged to the top end of a swing rod (3); the bottom end of the swing rod (3) is fixedly connected with a rotating shaft (4) rotationally supported in the mechanical arm connecting plate (1), swing frames (5) are connected to the two ends of the rotating shaft (4), a bent plate is jointly supported between the bottom ends of the two swing frames (5), a rubber cushion layer (7) is arranged on the top end face of a horizontal plate (6) in the bent plate, and a plurality of water spraying pipes (8) are further arranged on the outer side of the bent plate. The water spraying pipes (8) are distributed in the length direction of the bent plate at equal intervals, and the top ends of the water spraying pipes (8) are connected with a water pump in a water supply system through pipelines.

Description

Technical Field

[0001] The utility model relates to the field of aquaculture in marine fishery, in particular to a sorting gripper for marine fish. Background Art

[0002] During the processes of aquaculture and ocean fishing, it is often necessary to sort the caught fish. Traditionally, manual operation is used for sorting, which is time-consuming and laborious, and requires a large amount of manual labor. If the sorting of marine fish can be realized by using automated equipment, the work efficiency can be effectively improved and the labor amount of personnel can be reduced.

[0003] However, the manipulators used in the traditional machinery industry are mostly designed for rigid parts with regular shapes. Directly using these automated manipulators to realize the sorting and gripping of fish, especially live fish, is difficult because the sizes of fish are different and their shapes are irregular. Therefore, it is difficult for traditional manipulators to achieve reliable grasping and gripping.

[0004] Therefore, there is a need for a method or device that can solve the above problems now. Summary of the Invention

[0005] The utility model is to solve the above-mentioned deficiencies existing in the prior art, and proposes a sorting gripper for marine fish with a simple structure, ingenious design, reasonable layout, which can stably and reliably grasp fish to facilitate sorting.

[0006] The technical solution of the utility model is: a sorting gripper for marine fish, characterized in that: the gripper includes a robotic arm connecting plate 1, two horizontally distributed cylinders 2 are symmetrically arranged at both ends of the robotic arm connecting plate 1, the working end of the cylinder 2 is hinged to the top end of a swing rod 3, the bottom end of the swing rod 3 is fixedly connected to a rotating shaft 4 rotatably supported within the robotic arm connecting plate 1, both ends of the rotating shaft 4 are connected with a swing frame 5, a bending plate is commonly supported between the bottom ends of the two swing frames 5, a rubber cushion layer 7 is arranged on the top surface of the horizontal plate 6 in the bending plate, and a plurality of water spray pipes 8 are further arranged outside the bending plate, the plurality of water spray pipes 8 are equally spaced in the length direction of the bending plate, the top end of the water spray pipe 8 is connected to a water pump in a water supply system through a pipeline,

[0007] Two symmetrically distributed longitudinal cylinders 9 are further arranged on the bottom surface of the robotic arm connecting plate 1, the working end of the longitudinal cylinder 9 is connected to an upper pressure plate 10 through a floating adjustment mechanism, a rubber cushion layer 7 is also arranged on the bottom surface of the upper pressure plate 10, and the two upper pressure plates 10 are respectively located directly above the two horizontal plates 6.

[0008] The floating adjustment mechanism described above includes a connecting plate 11. The top surface of the connecting plate 11 is directly fixedly connected to the working end of the longitudinal cylinder 9. Two spherical grooves are symmetrically arranged on the connecting plate 11. A sphere 12 is movably connected in the spherical groove. A floating connecting rod 13 is movably connected inside the sphere 12. A limiting end 14 is provided at the top end of the floating connecting rod 13, and the bottom end is fixedly connected to the top surface of the upper pressing plate 10. A spring 15 is also sleeved outside the floating connecting rod 13, and the spring 15 is located between the connecting plate 11 and the upper pressing plate 10. A rubber cushion layer 7 is also provided on the bottom surface of the connecting plate 11.

[0009] Compared with the prior art, the present utility model has the following advantages:

[0010] The sea fish sorting gripper with this structural form has a simple structure, ingenious design, and reasonable layout. Aiming at the problem that the manipulators used in the existing mechanical field cannot be directly applied to the process of grasping and sorting marine fish, a special structure is designed. It uses two pairs of cylinders to cooperate to drive two groups of symmetrically distributed clamping plates to move, so as to realize the clamping of the target fish body. Moreover, considering the problem that the sizes of different fish bodies are different, a set of floating adjustment mechanism is arranged between the cylinder and the upper pressing plate. This floating adjustment mechanism can automatically adjust the posture (the relative angle and relative distance between the upper pressing plate and the connecting plate) under the reaction force of the fish body, so as to achieve the purpose of fitting the fish body surface, improve the reliability of clamping, and at the same time avoid the fish body being injured due to excessive force application. And the manufacturing process of this gripper is simple and the manufacturing cost is low. Therefore, it can be said that it has multiple advantages and is especially suitable for popularization and application in this field, and its market prospect is very broad. Description of the Drawings

[0011] Figure 1 is a three-dimensional structural schematic diagram of an embodiment of the present utility model.

[0012] Figure 2 is a side view of an embodiment of the present utility model.

[0013] Figure 3 is a structural schematic diagram of the floating adjustment mechanism part in an embodiment of the present utility model. Detailed Embodiment

[0014] The following will describe the detailed embodiment of the present utility model in conjunction with the drawings. As Figure 1 、 Figure 2 、 Figure 3Shown: A sorting gripper for marine fish, which includes a robotic arm connecting plate 1. At both ends of the robotic arm connecting plate 1, two horizontally distributed cylinders 2 are symmetrically arranged. The working end of the cylinder 2 is hinged to the top end of a swing rod 3. Specifically, the working end of the cylinder 2 is connected to a short shaft, and the short shaft is slidably connected in a long groove opened at the top of the swing rod 3. The bottom end of the swing rod 3 is fixedly connected to a rotating shaft 4 rotatably supported within the robotic arm connecting plate 1. Both ends of the rotating shaft 4 are connected with swing brackets 5. A bending plate is commonly supported between the bottom ends of the two swing brackets 5. A rubber cushion layer 7 is provided on the top surface of the horizontal plate 6 in the bending plate, and a plurality of water spray pipes 8 are also provided on the outer side of the bending plate. The plurality of water spray pipes 8 are equidistantly distributed in the length direction of the bending plate. The top end of the water spray pipe 8 is connected to a water pump in a water supply system through a pipeline.

[0015] On the bottom surface of the robotic arm connecting plate 1, two symmetrically distributed longitudinal cylinders 9 are also provided. The working end of the longitudinal cylinder 9 is connected to an upper pressing plate 10 through a floating adjustment mechanism. A rubber cushion layer 7 is also provided on the bottom surface of the upper pressing plate 10, and the two upper pressing plates 10 are respectively located directly above the two horizontal plates 6.

[0016] The floating adjustment mechanism includes a connecting plate 11. The top surface of the connecting plate 11 is directly fixedly connected to the working end of the longitudinal cylinder 9. Two spherical grooves are symmetrically arranged on the connecting plate 11. A sphere 12 is movably connected within the spherical groove. A floating connecting rod 13 is movably connected within the sphere 12. The top end of the floating connecting rod 13 is provided with a limit end 14, and the bottom end is fixedly connected to the top surface of the upper pressing plate 10. A spring 15 is also sleeved outside the floating connecting rod 13, and the spring 15 is located between the connecting plate 11 and the upper pressing plate 10. A rubber cushion layer 7 is also provided on the bottom surface of the connecting plate 11.

[0017] The working process of the sorting gripper for marine fish in the embodiment of the present utility model is as follows: This gripper moves above the target fish body driven by the robotic arm. The control system controls the coordinated action of each actuator (cylinder) in this gripper to achieve the grasping of the fish body.

[0018] The specific action process is as follows: The two cylinders 2 work, and simultaneously drive the rotating shaft 4 to rotate through the swing rod 3. When the rotating shaft 4 rotates, it will drive the swing brackets 5 to swing, thereby realizing the action of the bending plate arranged at the bottom of the swing brackets 5.

[0019] After the horizontal plates 6 in the two bending plates swing to a certain angle respectively, at this time, the outlet direction of the water spray pipe 8 is aligned with the target fish body. The control system controls the water pump in the water supply system to work, and the water body is sprayed out through the water spray pipe 8 to wash the target fish body.

[0020] After rinsing, the robotic arm drives the entire gripper towards the target fish body. When the bottom edges of the two horizontal plates 6 move below the target fish body, the cylinder 2 moves in the reverse direction, and the two swing frames 5 swing in the reverse direction, and the horizontal plates 6 are inserted into the space below the fish body.

[0021] Then the longitudinal cylinder 9 will drive the upper pressing plate 10 to move downward, that is, the target fish body is pressed by the upper pressing plate 10 on the horizontal plate 6. Since rubber cushion layers 7 are provided on the bottom end surface of the upper pressing plate 10 and the top end surface of the horizontal plate 6, the rubber cushion layers 7 can fit on the surface of the fish body, which can not only firmly grip the fish body but also protect the appearance of the fish body.

[0022] When the longitudinal cylinder 9 drives the upper pressing plate 10 to move downward, the floating adjustment mechanism connected between the two can automatically make adaptive adjustments according to the shape of the fish body. Since the floating connecting rod 13 at the top of the upper pressing plate 10 is movably connected in the sphere 12, and at the same time the sphere 12 is movably connected in the spherical groove on the connecting plate 11, the upper pressing plate 10 can not only make angular adjustments relative to the connecting plate 11 but also make distance adjustments relative to the connecting plate 11. When the rubber cushion layer 7 at the bottom end of the upper pressing plate 10 contacts the fish body, under the action of pressure, the upper pressing plate 10 will automatically make a posture adjustment relative to the connecting plate 11. In this state, the rubber cushion layer 7 on the bottom end surface of the upper pressing plate 10 can contact the fish body surface to the greatest extent. After the longitudinal cylinder 9 drives the upper pressing plate 10 to move upward again, under the action of the spring 15, the upper pressing plate 10 and the connecting plate 11 will return to the initial relative position relationship again to wait for the next gripping operation.

[0023] When the connecting plate 11 and the upper pressing plate 10 approach each other, the rubber cushion layer 7 below the connecting plate 11 will contact the top end surface of the upper pressing plate 10, preventing rigid contact between the connecting plate 11 and the upper pressing plate 10, effectively reducing the vibration during the working process and playing a protective role.

Claims

1. A marine fish sorting clamp, characterized in that: The clamp comprises a mechanical arm connecting plate (1), two horizontally distributed cylinders (2) are symmetrically arranged at both ends of the mechanical arm connecting plate (1), the working end of the cylinder (2) is hinged to the top end of the swing rod (3), the bottom end of the swing rod (3) is fixedly connected to a rotating shaft (4) rotatably supported in the mechanical arm connecting plate (1), both ends of the rotating shaft (4) are connected to a swing frame (5), a bending plate is commonly supported between the bottom ends of the two swing frames (5), a rubber cushion layer (7) is arranged on the top end surface of the horizontal plate (6) in the bending plate, and a plurality of water spray pipes (8) are also arranged on the outside of the bending plate, the plurality of water spray pipes (8) are evenly spaced in the length direction of the bending plate, and the top end of the water spray pipe (8) is connected to a water pump in a water supply system through a pipeline. Two symmetrically distributed longitudinal cylinders (9) are also provided on the bottom end surface of the robot arm connecting plate (1), and the working ends of the longitudinal cylinders (9) are connected to the upper pressing plate (10) via a floating adjustment mechanism. A rubber cushion layer (7) is also provided on the bottom end surface of the upper pressing plate (10), and the two upper pressing plates (10) are respectively located directly above the two horizontal plates (6). The floating adjustment mechanism comprises a connecting plate (11), the top end surface of the connecting plate (11) is directly fixedly connected to the working end of the longitudinal cylinder (9), two spherical grooves are symmetrically arranged on the connecting plate (11), a sphere (12) is movably connected in the spherical groove, a floating connecting rod (13) is movably connected in the sphere (12), a limiting end (14) is arranged at the top end of the floating connecting rod (13), and the bottom end is fixedly connected to the top end surface of the upper pressure plate (10), a spring (15) is also sleeved outside the floating connecting rod (13), and the spring (15) is located between the connecting plate (11) and the upper pressure plate (10), and a rubber cushion layer (7) is also arranged on the bottom end surface of the connecting plate (11).

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