Blowing type fish gill opening end effector

Abstract

The utility model discloses a blowing type fish gill opening end effector which comprises clamps, a clamping block arranged on the clamps and a clamp driving structure, the clamping block is provided with a blowing air pipe used for ventilating fish to be processed, and the clamp driving structure is used for driving the two clamps to move, so that the two clamps move in opposite directions, and the air blowing air pipe is used for blowing air to the fish to be processed. The clamping block is used for clamping the to-be-treated fish, and after the gill opening operation of the to-be-treated fish is completed, the two clamps are driven to move back to back, and the to-be-treated fish is released. The clamp driving structure drives the clamp to move, the clamping block is driven to clamp the to-be-treated fish, the to-be-treated fish is ventilated through the air blowing pipe, gill opening operation is achieved, and subsequent packaging operation is facilitated.

Description

TECHNICAL FIELD

[0001] The utility model relates to fish packaging technical field, in particular to a kind of fish blowing formula fish gill opening end effector. BACKGROUND

[0002] Fish as a kind of food commonly seen in daily life, when raw material is processed in factory, some small fish products, need to retain complete fish body and package.

[0003] Currently, there is no fish grabbing end effector, so there is a need for an equipment that can package fish products, thereby improving packaging efficiency. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of fish blowing formula fish gill opening end effector, can complete to fish is clamped, then gill is blown open fixed, it is convenient for the next process to fish overall packaging processing.

[0005] To solve the above technical problems, the utility model embodiment provides a kind of fish blowing formula fish gill opening end effector, including clamp, the clamping block of being arranged in the clamp and clamp driving structure, the clamping block is provided with the blowing air pipe for the aeration of fish to be handled, the clamp driving structure is used to drive two the clamp moves, so that two the clamp moves in the direction, by the clamping block to the fish to be handled is clamped operation, and after completing the gill opening operation to the fish to be handled, drive two the clamp moves back, the fish to be handled is released.

[0006] Wherein, it further includes sawtooth arc surface structure being arranged in the clamping surface of the clamping block, the sawtooth length direction of sawtooth arc surface structure is consistent with the length direction of the fish to be handled in the clamping block.

[0007] Wherein, it further includes fish head limiting block being arranged in the front section of the clamp, for in the clamping process of the clamp to the fish to be handled, drive two the fish head limiting block moves towards each other, realize the head of the fish to be handled is clamped.

[0008] Wherein, the fish head limiting block and the clamp are provided with spacing adjusting component between, for adjusting the spacing between the fish head limiting block and the clamp.

[0009] The fish head limiting block is bolted with the clamp through at least one mounting hole arranged on the mounting surface, the fish head limiting block comprises semicircular fish head limiting holes and stepped blocks arranged at the bottom of the semicircular fish head limiting holes, the stepped blocks extend to the opening direction of the semicircular fish head limiting holes in the length direction, two semicircular fish head limiting holes are combined into a circular space, and two stepped blocks are distributed in a staggered manner in the two semicircular fish head limiting holes and cross each other in the clamping process.

[0010] The fish head limiting block comprises vertical working sub-blocks and horizontal mounting sub-blocks, the left end of the horizontal mounting sub-block is connected with the top of the vertical working sub-block, the horizontal mounting sub-block is located on the side of the vertical working sub-block away from the semicircular fish head limiting hole, and the horizontal mounting sub-block is provided with at least one limiting mounting hole in the horizontal direction and is bolted with the clamp through the limiting mounting hole.

[0011] The clamp driving structure is a clamp cylinder or a servo motor driving structure, the clamp is a C-shaped clamp, the top surface of the C-shaped clamp is connected with the clamp driving structure through a top mounting hole, the front bottom mounting hole arranged at the opening bottom of the C-shaped mouth of the C-shaped clamp is connected with the fish head limiting block, the side mounting hole arranged at the opening bottom of the C-shaped mouth of the C-shaped clamp is connected with the clamping block, and the top of the clamp driving structure is mounted on the bottom of the clamp connecting plate.

[0012] The utility model further comprises a pressing cylinder connected with the clamp connecting plate and extending towards the clamping block and a flattening pressing plate arranged at the end of the pressing cylinder, the flattening pressing plate comprises a flattening mounting hole for mounting the pressing cylinder and a downward protruding structure protruding downward, the telescopic end of the pressing cylinder faces the clamping block, the pressing cylinder drives the flattening pressing plate to move through telescopic extension, and flattening operation is realized on the fish to be processed clamped by the clamping block.

[0013] The utility model further comprises a gas pipe through hole arranged on the clamping block for mounting the blowing gas pipe, the included angle between the gas pipe through hole and the length direction of the clamping block is 30-60 degrees, and the gas pipe through holes of the two clamping blocks are symmetrically distributed about the symmetry axis of the two clamping blocks.

[0014] The utility model further comprises a mounting through hole arranged on the clamp cylinder connecting plate for connecting a position shifting component, the position shifting component is used for clamping the fish to be processed, and the position shifting component is a mechanical arm or a motor.

[0015] Compared with the prior art, the blowing type fish gill opening end effector provided by the utility model has the following advantages:

[0016] The blowing type fish gill opening end effector provided by the embodiment of the utility model, through the fixture driving structure drive fixture movement, fixture driving structure is used for drive two fixture movement, so that two fixture in the movement of facing each other, through setting up the clamping block of fixture to the fish to be handled carries out clamping operation, and after completing the gill opening operation to the fish to be handled, drive two fixture movement back to the fish to be handled, release, through blowing air pipe to the fish to be handled carries out the aeration treatment, realize gill opening operation, convenient subsequent packaging operation. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, below will be to the drawings needed to be used in the embodiment or prior art description briefly introduced, obviously, the drawings in the following description is some embodiments of the utility model, for those skilled in the art, under the premise of not paying creative labor, can also obtain other drawings according to these drawings.

[0018] Figure 1 The structure schematic view of one embodiment of the blowing type fish gill opening end effector provided by the utility model;

[0019] Figure 2 The structure schematic view of the clamping block of one embodiment of the blowing type fish gill opening end effector provided by the utility model;

[0020] Figure 3 The structure schematic view of the clamping block of one embodiment of the blowing type fish gill opening end effector provided by the utility model;

[0021] Figure 4 The structure schematic view of the fish head limiting block of another embodiment of the heating body of the blowing type fish gill opening end effector provided by the utility model;

[0022] Figure 5 The overhead structure schematic view of the fish head limiting block of the blowing type fish gill opening end effector provided by the utility model;

[0023] Figure 6 The structure schematic view of the blowing type fish gill opening end effector of one embodiment of the utility model;

[0024] Figure 7 The structure schematic view of the blowing type fish gill opening end effector of one embodiment of the utility model;

[0025] Wherein, clamp cylinder connecting plate-301, clamp cylinder-1225, clamp-302, pressing cylinder-1030, flattening pressing plate-305, clamping block-303, fish head limiting block-304, first face-3021, second face-3022, third face-3023, arc face-3032, clamping mounting hole-3033, air pipe through hole-3031, limiting mounting hole-3043, semicircular fish head limiting hole-3042, flattening mounting hole-3051, back face-3034, fixed face-3052, flattening face-3053. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0027] Please refer to Figures 1-7 , Figure 1 A structure schematic view of one embodiment of the fish gill opening end effector provided by the present application; Figure 2 A structure schematic view of the clamping block of one embodiment of the fish gill opening end effector provided by the present application; Figure 3 A cross-sectional structure schematic view of the clamping block of one embodiment of the fish gill opening end effector provided by the present application; Figure 4 A structure schematic view of the fish head limiting block of another embodiment of the heating body of the fish gill opening end effector provided by the present application; Figure 5 A top view structure schematic view of the fish head limiting block of the fish gill opening end effector provided by the present application; Figure 6 A structure schematic view of the flattening pressing plate of one embodiment of the fish gill opening end effector provided by the present application; Figure 7 A structure schematic view of the clamp of one embodiment of the fish gill opening end effector provided by the present application.

[0028] In one embodiment, the blowing fish gill opening end effector comprises a clamp 302, a clamping block 303 provided on the clamp 302, and a clamp 302 driving structure, the clamping block 303 is provided with a blowing pipe for aerating the fish to be processed, and the clamp 302 driving structure is used to drive the two clamps 302 to move so that the two clamps 302 move towards each other, clamp the fish to be processed through the clamping block 303, and drive the two clamps 302 to move away from each other after completing the gill opening operation of the fish to be processed, and release the fish to be processed.

[0029] The clamp 302 driving structure is used to drive the two clamps 302 to move so that the two clamps 302 move towards each other, clamp the fish to be processed through the clamping block 303 provided on the clamp 302, and drive the two clamps 302 to move away from each other after completing the gill opening operation of the fish to be processed, and release the fish to be processed, and the fish to be processed is aerated through the blowing pipe to realize the gill opening operation and facilitate the subsequent packaging operation.

[0030] Because the surface of the clamped fish has scales, the clamping effect is poor when the clamping block 303 made of metal or ceramic is used for clamping due to the smooth surface. In order to improve the clamping effect, in one embodiment, the blowing fish gill opening end effector further comprises a sawtooth curved surface 3032 structure provided on the clamping surface of the clamping block 303, and the sawtooth length direction of the sawtooth curved surface 3032 structure is consistent with the length direction of the fish to be processed clamped in the clamping block 303.

[0031] By providing the sawtooth curved surface 3032 structure, the clamping area and clamping pressure can be increased during clamping, and the clamping effect is improved.

[0032] In this application, the sawtooth curved surface 3032 structure is not limited, including but not limited to efficient clamping by using the sawtooth curved surface 3032 structure.

[0033] In order to further improve the efficiency of grasping the fish to be processed, in one embodiment, the blowing fish gill opening end effector further comprises a fish head limiting block 304 provided on the front section of the clamp 302, which is used to drive the two fish head limiting blocks 304 to move towards each other during the clamping process of the fish to be processed by the clamp 302, so as to clamp the head of the fish to be processed.

[0034] In the process of clamping the fish to be processed by the fish head limiting block 304 in the clamp 302, the two fish head limiting blocks 304 are driven to move towards each other to clamp the head of the fish to be processed. In the process of clamping the fish body by the clamping block 303, the fish head limiting block 304 is used to limit the fish head, so that the fish head does not slip out of the clamping part during clamping, and the clamping effect is improved.

[0035] The structure and installation method of the fish head limiting block 304 are not limited in the present application.

[0036] In order to further realize clamping of fish of different lengths, in an embodiment, a spacing adjusting component is arranged between the fish head limiting block 304 and the clamp 302, which is used to adjust the spacing between the fish head limiting block 304 and the clamp 302.

[0037] By using the spacing adjusting component, the spacing between the fish head limiting block 304 and the clamp 302 is adjusted to realize clamping of fish of different lengths, increase the stress area, and increase the adaptability of the product.

[0038] The structure and adjustment method of the spacing adjusting component are not limited in the present application. Manual adjustment or automatic adjustment can be used. The adjustment process can be continuous adjustment, node type adjustment, or other adjustment methods.

[0039] The structure and installation method of the fish head limiting block 304 are not limited in the present application. In an embodiment, the fish head limiting block 304 is bolted to the clamp 302 through at least one mounting hole 3043 arranged on the mounting surface. The fish head limiting block 304 includes a semicircular fish head limiting hole 3042 and a stepped block arranged at the bottom of the semicircular fish head limiting hole 3042. The stepped block extends in the length direction to the opening direction of the semicircular fish head limiting hole 3042. Two semicircular fish head limiting holes 3042 are combined into a circular space, and two stepped blocks are distributed in a staggered manner in two semicircular fish head limiting holes 3042. The two semicircular fish head limiting holes 3042 intersect with each other during clamping.

[0040] By using the semicircular fish head limiting hole 3042, the fish can be limited in the semicircular fish head limiting hole 3042 during clamping to improve the clamping efficiency. By using the staggered stepped blocks, the fish head can be quickly scooped into the fish head limiting block 304.

[0041] The structure and installation method of the fish head limiting block 304 in the present application include but are not limited to the above. The shape and size of the fish head limiting block 304 are not limited.

[0042] In order to further increase the working space of the fish head limiting block 304, in an embodiment, the fish head limiting block 304 comprises a vertical working sub-block and a horizontal mounting sub-block, the left end of the horizontal mounting sub-block is connected with the top of the vertical working sub-block, the horizontal mounting sub-block is located on the side of the vertical working sub-block away from the semicircular fish head limiting hole 3042, and the horizontal mounting sub-block is provided with at least one horizontal limiting mounting hole 3043, and the limiting mounting hole 3043 is bolted with the clamp 302.

[0043] By setting the horizontal vertical working sub-block and the horizontal mounting sub-block, the former is used for bolted connection with the clamp 302 through the limiting mounting hole 3043, and the latter realizes the setting of the semicircular fish head limiting hole 3042, so that the clamp 302 does not have to be directly mounted with the clamping block 303, and can be mounted with the clamping block 303 at different positions of the clamp 302, thereby improving the installation efficiency.

[0044] The clamping block 303 is connected with the clamp 302 through the clamping mounting hole 3033.

[0045] The fish head limiting block 304 installation mode in the present application includes but is not limited to the above.

[0046] In the present application, the clamp 302 is driven to move by the clamp driving structure, and the structure and driving mode of the clamp driving structure are not limited, the clamp driving structure is a clamp air cylinder 1225 or a servo motor driving structure, or other structures, the clamp 302 is a C-shaped clamp 302, the top surface of the C-shaped clamp 302 is connected with the clamp 302 driving structure through the top mounting hole 3043, the front bottom mounting hole 3043 arranged at the opening bottom of the C-shaped mouth of the C-shaped clamp 302 is connected with the fish head limiting block 304, the side mounting hole 3043 arranged at the opening bottom of the C-shaped mouth of the C-shaped clamp 302 is connected with the clamping block 303, and the top of the clamp 302 driving structure is mounted on the bottom of the clamp connecting plate.

[0047] By designing the clamp 302 as a C-shaped structure, the clamp 302 can have a larger contact surface with the top driving mechanism, which is convenient for installation, and similarly, the bottom also has a larger length, which is convenient for the installation of the clamping block 303 and other components, thereby improving the installation efficiency, and also facilitating subsequent maintenance.

[0048] By mounting the top of the clamp 302 driving structure on the bottom of the clamp connecting plate, the clamp 302 driving structure can be fixed, such as setting a control structure on the clamp 302 connecting plate.

[0049] The clamp 302 structure, shape and clamp 302 connection mode in the present application include but are not limited to the above.

[0050] In order to further improve the clamping efficiency of fish, improve the efficiency of clamping the fish head into the fish head limiting block 304, and avoid the situation that the fish body is pressed too tightly, in an embodiment, the air blowing fish gill opening end effector further comprises a pressing cylinder 1030 connected with the clamp 302 connecting plate and extending to the clamping block 303, and a flattening pressing plate 305 provided at the end of the pressing cylinder 1030, the flattening pressing plate 305 comprises a flattening mounting hole 3051 for mounting with the pressing cylinder 1030 and a downward protruding structure protruding downward, the telescopic end of the pressing cylinder 1030 faces the clamping block 303, and the pressing cylinder 1030 drives the flattening pressing plate 305 to move through telescopic movement, so as to realize the flattening operation on the fish clamped by the clamping block 303.

[0051] By providing the flattening pressing plate 305 and driving operation by the pressing cylinder 1030, the flattening mounting hole 3043 for mounting with the pressing cylinder 1030 and the downward protruding structure protruding downward are provided on the flattening pressing plate 305, and the actual physiological structure of the fish is utilized, that is, the thickness of the fish head part is smaller than the thickness of the fish body part. If the surface of the flattening pressing plate 305 is a plane, the fish head may not be flattened in place during the flattening of the fish body, and the fish head is not clamped into the fish head limiting hole, or the fish body is pressed too tightly, resulting in rupture of the fish body.

[0052] In order to further improve the blowing efficiency, in an embodiment, the air blowing fish gill opening end effector further comprises a gas pipe through hole 3031 provided on the clamping block 303 for mounting the blowing gas pipe, the angle between the gas pipe through hole 3031 and the length direction of the clamping block 303 is 30 to 60 degrees, and the gas pipe through holes 3031 of the two clamping blocks 303 are symmetrically distributed about the symmetry axis of the two clamping blocks 303.

[0053] By inclining the gas pipe through hole 3031 of the clamping block 303, there is a certain angle between the gas pipe through hole 3031 and the back surface 3034 of the clamping block 303. After the clamp 302 cylinder 1225 closes to clamp the fish body, the gill part is located on the side close to the fish head limiting block 304, and the gas can reach the gill part after passing through the gas pipe through hole 3031 with an angle, so as to open the gill. Since the horizontally placed fish has two orientations, the gas pipe through holes 3031 provided on the two clamping blocks 303 are symmetrically designed.

[0054] The size and inclination angle of the gas pipe through hole 3031 are not limited in the present application, and the blowing gas pipe can be fixed after being mounted into the gas pipe through hole 3031.

[0055] In order to further improve the use efficiency of the clamping device, in an embodiment, the air blowing fish gill opening end effector further comprises a mounting through hole 3023 provided on the clamp 302 cylinder 1225 connecting plate 301, which is used to connect with a position transfer component, and the position transfer component is a mechanical arm or a motor.

[0056] By providing a mounting through hole 3023 on the clamp 302 cylinder 1225 connecting plate 301 and connecting with a position transfer component, the fish to be processed is clamped by the position transfer component, or the structure is installed on a mechanical arm or the like, different installation effects are achieved.

[0057] The structure and installation method of the position transfer component are not limited in the present application.

[0058] An air blowing fish gill opening end effector comprises a clamp cylinder connecting plate 301, a clamp cylinder 1225, a clamp 302, a pressing cylinder 1030, a leveling pressing plate 305, a clamping block 303, and a fish head limiting block 304.

[0059] By opening and closing the clamp cylinder 1225, the clamp 302 and the remaining parts below are driven to move horizontally, so that the fish body is fixed between the clamping block 303 and the fish head limiting block 304. A through hole can be provided on the clamp cylinder connecting plate 301 except for the clamp cylinder 1225 mounting hole, so as to be installed on a flexible component such as a mechanical arm or a motor, to complete the clamping of the fish and subsequent operations.

[0060] The first face 3021 and the second face 3022 on the bottom of the clamp 302 are provided with through holes for connecting and installing the clamping block 303 and the fish head limiting block 304, and the third face 3023 on the top is provided with a connecting through hole of the clamp cylinder 1225.

[0061] The face of the clamping block 303 that contacts the fish body is designed as a sawtooth-shaped arc face 3032, which can ensure that the fish body is clamped more tightly after the clamp cylinder 1225 is closed, preventing the position of the fish body from changing during clamping. The clamping block 303 is provided with a through hole 3033 for fixing it on the first face 3021 of the clamp 302, and the part behind the arc face 3032 of the clamping block 303 is provided with a gas pipe through hole 3031 for installing a blowing gas pipe.

[0062] Due to the characteristics of the cylinder, different specifications of fish may cause clamping to be too tight or too loose. Therefore, a clamp 302 of one specification can only adapt to one specification of fish, such as 10g-20g, with little difference in fish body width. For other specifications of fish, the size of the clamp 302 needs to be modified according to the width.

[0063] In addition, a pressure sensor can be provided to improve efficiency.

[0064] The installation surface of the fish head limiting block 304 is designed with an installation hole 3043 for fixing on the second surface 3022 of the clamp 302. The front of each fish head limiting block 304 is designed with a semicircular fish head limiting hole 3042 and a stepped block 3041. After the clamp cylinder 1225 is closed, the fish head limiting holes 3042 of the two fish head limiting blocks 304 also combine to form a circular space, which can limit the fish head part in the space to prevent the fish head from shaking back and forth due to the effect of blowing during the gill opening process. The stepped block 3041 has a slope, which can shovel the fish head that is attached to the workbench into the fish head limiting hole 3042 during the clamping process of the fish, so as to prevent the fish head from being damaged due to the actual position difference of the fish head during the closing process of the fish head limiting block 304 with the clamp cylinder 1225, and the fish head not entering the fish head limiting hole 3042.

[0065] In addition, the holding component can be set based on the size of the fish, such as segmentally connecting the holding block in a hinged manner from the middle to the front and back ends to realize segmented stress, so that even if the fish shakes, it will inevitably be in the space formed by the holding block and will not slip out.

[0066] If the cost is high, the hinge part can not be used if the actual situation and requirements of the food processing industry to which the executor is applied and the working frequency of the clamp are considered. If the fish size is small, even if there is shaking, the force brought by the shaking is very small. After the width of the fish is counted, the size of the clamp 302 is set reasonably, and there will be no slipping out, so the hinge part can not be used for small size fish.

[0067] The fish clamping process in the present application is mainly automatic clamping, and the subsequent blowing process is automatic blowing or manual operation, which can be installed at the end of the mechanical arm and positioned by vision to complete clamping.

[0068] The fish on the workbench is not in an ideal lying state in the actual situation, and abnormal situations such as bending of the fish head upward and bending of the fish body may occur. Therefore, the leveling plate 305 is designed to level the fish shape during the clamping of the fish body. One side of the leveling plate 305 is designed with a through hole 3051 connected with the installation of the pressing cylinder 1030, and the fixed surface 3052 is designed to be downward protruding relative to the leveling surface 3053. This is because the fixed surface 305 is closer to the fish head part, and the actual physiological structure of the fish is that the thickness of the fish head part is smaller than the thickness of the fish body part. If the fixed surface 3052 and the leveling surface 3053 are on the same horizontal plane, the bending of the fish head during the leveling of the fish body may not be leveled in place, and the fish head may not be clamped into the fish head limiting hole 3042, or the fish body may be pressed too tightly, resulting in breakage of the fish body.

[0069] The air pipe through hole 3031 and the back surface 3034 of the clamping block 303 have an angle, after the clamp air cylinder 1225 closes the fish, the fish gill part is on the side close to the fish head limiting block 304, and after the gas passes through the air pipe through hole 3031 with an angle, the fish gill part can be reached, and the fish gill is opened. Since the fish actually placed horizontally has two orientations, the air pipe through hole 3031 provided on the two clamping blocks 303 is designed to be symmetrical.

[0070] Figure 5 The two fish head limiting blocks 304 are closed, and the top view of the two fish head limiting blocks 304 is designed to be staggered, so that the fish head limiting block 304 does not interfere after being closed.

[0071] The above technical scheme has the following technical effects:

[0072] (1) By adopting the structure of the clamping block 303 with a sawtooth-shaped curved surface, the part of the end effector in contact with the fish body during the closing process of the clamp air cylinder 1225 can be more closely contacted, so that the fish body is prevented from being loose or falling off.

[0073] (2) By adopting the structure of the air pipe through hole 3031 provided on the clamping block 303, the structure below the clamp 302 can be more compact, thereby reducing the actual working space occupied below the clamp 302 during the process of clamping the fish, and the influence on other fish around during the process of clamping a fish can be reduced.

[0074] (3) By adopting the structure of the fish head limiting block 304, the step block 3041 can shovel the fish head into the fish head limiting hole 3042, and the fish head is prevented from shaking during the process of blowing air to open the gills of the fish after successfully clamping the fish.

[0075] In summary, the blowing type fish gill opening end effector provided by the embodiment of the utility model, the clamp driving structure is used for driving the two clamps to move, so that the two clamps move in opposite directions, the clamping block provided on the clamp is used for clamping the fish to be processed, and after the gill opening operation on the fish to be processed is completed, the two clamps are driven to move in the opposite direction, and the fish to be processed is released, the fish to be processed is ventilated by the blowing air pipe, the gill opening operation is realized, and the subsequent packaging operation is facilitated.

[0076] The above has carried out the detailed introduction to the blowing type fish gill opening end effector provided by the utility model. The principle and implementation mode of the utility model are described by applying specific examples in this paper, and the above embodiment description is only used for helping to understand the method and core idea of the utility model. It should be pointed out that, for ordinary skilled persons in the technical field, some improvements and modifications can be made to the utility model without departing from the principle of the utility model, and these improvements and modifications also fall within the protection scope of the utility model claim.

Claims

1. A blow-and-suck fish gill-opening end effector, characterized by, The device comprises clamps, clamping blocks provided with air blowing tubes for fish ventilation, and clamp driving structures for driving two clamps to move towards each other to clamp fish, and then move away from each other to release the fish after gill opening operation is completed.

2. The pneumatic fish gill unzipping end effector of claim 1, wherein, The fish head limiting blocks are bolted to the clamps through at least one mounting hole provided in the mounting surface, and comprise semicircular fish head limiting holes and step blocks provided at the bottom of the semicircular fish head limiting holes.

3. The pneumatic fish gill unzipping end effector of claim 2, wherein, The fish head limiting blocks comprise vertical working blocks and horizontal mounting blocks, the left end of the horizontal mounting block is connected to the top of the vertical working block, and the horizontal mounting block is located on the side of the vertical working block away from the semicircular fish head limiting hole.

4. The blow-by gill opening fish end effector of any one of claims 1-3, wherein, The clamp driving structure is a clamp cylinder or a servo motor driving structure, the clamp is a C-shaped clamp, the top surface of the C-shaped clamp is connected to the clamp driving structure through a top mounting hole, the front bottom mounting hole provided at the opening bottom of the C-shaped mouth of the C-shaped clamp is connected to the fish head limiting block, the side mounting hole provided at the opening bottom of the C-shaped mouth of the C-shaped clamp is connected to the clamping block, and the top of the clamp driving structure is mounted on the bottom of a clamp connecting plate.

5. The pneumatic fish gill unzipping end effector of claim 4, wherein, The device further comprises a pressing cylinder connected to the clamp connecting plate and extending towards the clamping block, and a flattening pressing plate provided at the end of the pressing cylinder, the flattening pressing plate comprises a flattening mounting hole for mounting the pressing cylinder and a downward protruding structure protruding downward, the telescopic end of the pressing cylinder faces the clamping block, the pressing cylinder drives the flattening pressing plate to move through telescopic movement, and the fish clamped by the clamping block is flattened.

6. The pneumatic fish gill unzipping end effector of claim 5, wherein, Also include the air pipe through hole arranged in the clamping block for installing the blowing air pipe, the air pipe through hole and the length direction of the clamping block The angle is 30 degrees to 60 degrees, two the air pipe through hole of the clamping block is about two the symmetry axis of the clamping block Symmetric distribution.

7. The pneumatic fish gill unzipping end effector of claim 6, wherein, Also include the installation through hole arranged in the clamp cylinder connecting plate, for connecting with the position transfer component, the position transfer component is used for clamping the fish to be handled, the position transfer component is a mechanical arm or motor.

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