CN106172687A - A kind of Procambarus clarkii cleans device and cleaning method thereof - Google Patents
A kind of Procambarus clarkii cleans device and cleaning method thereof Download PDFInfo
- Publication number
- CN106172687A CN106172687A CN201610562037.2A CN201610562037A CN106172687A CN 106172687 A CN106172687 A CN 106172687A CN 201610562037 A CN201610562037 A CN 201610562037A CN 106172687 A CN106172687 A CN 106172687A
- Authority
- CN
- China
- Prior art keywords
- procambarus clarkii
- screw mandrel
- unit
- mechanical claw
- cleaning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C29/00—Processing shellfish or bivalves, e.g. oysters, lobsters; Devices therefor, e.g. claw locks, claw crushers, grading devices; Processing lines
- A22C29/02—Processing shrimps, lobsters or the like ; Methods or machines for the shelling of shellfish
- A22C29/021—Cleaning operations on shellfish, e.g. evisceration, brushing
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Food Science & Technology (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a kind of Procambarus clarkii and clean device and cleaning method thereof, device includes support, some drive mechanisms, rack-mount lifting platform, mechanical claw unit, row's pawl mechanism unit, folder tail manipulator unit, cleaning unit and control system；The present invention uses multiple location to clamp Procambarus clarkii, folder tail manipulator clamping Procambarus clarkii afterbody, mechanical claw captures Procambarus clarkii head, and row's grapple structure arranges the claw of Procambarus clarkii both sides and chela and fixes them, it is to avoid Procambarus clarkii chela and pawl are clamped brush unit and cleaning process cannot be normally carried out；It also avoid Procambarus clarkii in cleaning process due to problems such as coming off of causing of displacement.
Description
Technical field
The invention belongs to Procambarus clarkii and clean field, particularly relate to a kind of Procambarus clarkii and clean device and cleaning method thereof.
Background technology
Owing to Procambarus clarkii breeding environment ratio is messy, must effectively clean before burning dragon culinary art can.The most right
The cleaning of Procambarus clarkii is the most all by being manually carried out operation, and labor intensity is very big, inefficiency, although the most on the market
More existing equipment can substitute and be carried out Procambarus clarkii by hand, but the cleaning performance of this kind equipment is unsatisfactory, automatization's journey
Spending low, cleaning performance is poor, and the Procambarus clarkii after cleaning does not often reach food sanitation standard.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of Procambarus clarkii cleans device and cleaning side thereof
Method, technical scheme is as follows:
A kind of Procambarus clarkii cleans device, including support, and rack-mount lifting platform, mechanical claw unit, row's pawl machine
Structure unit, folder tail manipulator unit, cleaning unit, control system and some drive mechanisms；It is provided with on described lifting platform
Hopper, feeding box open topped, sidewall is provided with opening；Feeding box is used for placing Procambarus clarkii, and it is large-scale to limit Procambarus clarkii
Mobile so that follow-up folder tail manipulator unit can accurately clamp Procambarus clarkii head.
Described mechanical claw unit includes the first screw mandrel being horizontally arranged on support, the peace being arranged on the first screw mandrel
Dress seat, the mechanical claw being arranged in mounting seat, mechanical claw initial position is positioned at above feeding box,
Described folder tail manipulator unit includes the second screw mandrel being horizontally arranged on support and is arranged on the second screw mandrel
Folder tail mechanical hand, folder tail mechanical hand initial position be positioned at below mechanical claw, the second screw mandrel is driven by drive mechanism so that folder
Tail mechanical hand can move along the second screw mandrel.
Described row's pawl mechanism unit includes the 3rd screw mandrel being horizontally arranged on support and is arranged on the 3rd screw mandrel
Pai Zhao mechanism, when lifting platform gives rise to work upper limit position, the bent axle of Pai Zhao mechanism is positioned at feeding box opening part, Pai Zhao mechanism
The initial position of bent axle is positioned at below the Procambarus clarkii abdominal region after being captured by mechanical claw, when Procambarus clarkii moves to arrange grapple structure
During top so that row's grapple structure can carry out row to Procambarus clarkii and grab；3rd screw mandrel is driven by drive mechanism so that Pai Zhao mechanism can
Move along the 3rd screw mandrel.
The cleaning platform that described cleaning unit includes rack-mount Z axis screw mandrel, is arranged on Z axis screw mandrel, institute
The cleaning platform stated includes Y-axis screw mandrel and the brush unit being arranged on Y-axis screw mandrel.Brush unit can be in Z axis and Y direction
Upper movement, and Procambarus clarkii moves along X-axis under driving in mechanical claw, can realize the three-dimensional cleaning of Procambarus clarkii.
Described all screw mandrels and brush unit are driven by drive mechanism, and control system electrically connects with drive mechanism, drives
Motivation structure can be the mechanism that motor etc. is easily installed and uses.
As preferably, described mechanical claw unit also includes the high-pressure flushing device being arranged on the first screw mandrel, institute
The high-pressure flushing device stated is fixing with mounting seat to be connected, and in mechanical claw moving process, high-pressure flushing device synchronizing moving is also
Persistently Procambarus clarkii is rinsed.
Described mechanical claw unit also includes the photographic head being arranged in mounting seat, and camera head monitor is grabbed by mechanical claw
The Procambarus clarkii taken, grabs row and is provided with setting regions on the bent axle of mechanism unit, sets on mechanism unit when Procambarus clarkii covering row grabs
When being equipped with setting regions, photographic head i.e. sends a signal to control system, and control system controls row and grabs mechanism kinematic and carry out row and grab.If
Determine region, i.e. identified areas sets as required, can be generally away from bent axle end points 1-5cm.Setting regions position in the present invention
Axle corner in bent axle.
As preferably, described Procambarus clarkii is cleaned device and also includes rack-mount supersonic oscillations device, ultrasonic
Ripple oscillation device is positioned at mechanical claw and moves the lower section of terminal position, and supersonic oscillations device is provided with circulated filter system.
As preferably, described Procambarus clarkii is cleaned device and also includes Burdick lamp, and Burdick lamp is rack-mount.
Further, described feeding box is provided with gravity sensor, and gravity sensor is connected with control system, when little dragon
During shrimp feeding, Procambarus clarkii can weigh and make control system receive Procambarus clarkii and have been positioned at the signal of feeding box,
Mechanical claw is made to start to clamp Procambarus clarkii.
Further, described Pai Zhao mechanism includes two symmetrically arranged bent axles, fixing seat, valve and spraying-rinsing dress
Putting, fixing seat is arranged on the 3rd screw mandrel, and two symmetrically arranged crankshaft installed are on fixing seat, and lifting platform gives rise in work
During extreme position, two symmetrically arranged bent axles just opening to feeding box, spraying-cleaning device is arranged on fixing seat and is positioned at
The central authorities of two bent axles, valve is positioned at the central authorities of two bent axles and just to feeding box opening when being in work upper limit position.
Being provided with identified areas or setting regions on described bent axle, the camera head monitor being positioned on mechanical claw unit is little
The chela of Lobster and the position of health joint, i.e. the position of limb point, when limb point covers the setting identification region in Pai Zhao mechanism,
Photographic head i.e. feeds back signal to control system, and control system now controls to arrange the bent axle of pawl mechanism unit and moves from inside to outside, makes
The claw of Procambarus clarkii both sides and chela are separately.
Further, also include in described cleaning device power supply and voltmeter, described brush unit include hairbrush and
Pedestal, described power supply is connected with pedestal, and pedestal is conductive material, and described voltmeter one section is connected with pedestal, the other end with
Mechanical claw is connected；Mechanical claw, the first screw mandrel and support are metal material, support ground connection, and control system receives voltmeter
Signal.After Procambarus clarkii contact pedestal, circuit is switched on, and the magnitude of voltage of voltmeter will produce significantly change, and control system utilizes
The change of magnitude of voltage judges that Procambarus clarkii arrives and departs from the state of cleaning unit.
Further, described mechanical claw includes connecting plate, fixing seat, first connecting rod, some second connecting rods, cleft hand silk
Bar and crawl hands；Described connecting plate and the first screw mandrel are connected, and connecting plate is provided with cleft hand screw mandrel, and cleft hand screw mandrel is provided with movement
Block, one end of second connecting rod is connected with movable block, the other end with capture palmistry even, one end of first connecting rod be arranged on connecting plate
On fixing seat hinge, the other end is hinged with the middle part of second connecting rod；Capture and be provided with pressure transducer, pressure transducer on hand
It is connected with control system.Cleft hand screw mandrel mechanism driven drives, and movable block moves up and down on cleft hand screw mandrel, i.e. realizes capturing hands
Motion.
The cleaning method step that described Procambarus clarkii cleans device is as follows:
1) opening Burdick lamp, Procambarus clarkii is placed on feeding box, and Procambarus clarkii is carried out by the gravity sensor on feeding box
Weighing and send a signal to control system, control system controls lifting platform and is raised above, and makes feeding box reach upper limit position；
2) Procambarus clarkii is captured by mechanical claw unit, after pressure transducer thereon detects pressure signal, and first
Screw turns, mechanical claw moves along the first leading screw, i.e. moves along the x-axis；
3) in Procambarus clarkii moving process, the chela of the camera head monitor Procambarus clarkii being positioned on mechanical claw unit and health phase
Connecing the position at place, the i.e. position of limb point, when limb point covers the setting regions in Pai Zhao mechanism, control system controls Pai Zhao mechanism
The bent axle of unit moves from inside to outside, makes the claw of Procambarus clarkii both sides and chela separate, and now valve is blown, and makes Procambarus clarkii afterbody quilt
Lifting, folder tail manipulator unit captures Procambarus clarkii afterbody；Spraying-cleaning device carries out spraying-rinsing to Procambarus clarkii abdominal part；
4) step 3) complete after, the first screw mandrel, the second screw mandrel and the 3rd screw mandrel synchronous axial system so that mechanical claw unit,
Row's pawl mechanism unit and folder tail manipulator unit move along respective screw mandrel direction, i.e. X-axis synchronizing moving, and high-pressure flushing device is sprayed water
Procambarus clarkii is rinsed；
5) held with in X-axis moving process Procambarus clarkii, when Procambarus clarkii touches the pedestal of brush unit, power supply,
The circuit of pedestal, Procambarus clarkii, mechanical claw, the first screw mandrel and support is switched on, and voltmeter produces jump signal and feeds back to control
System processed, control system controls brush unit and rotates, and controls Y-axis screw mandrel and the motion of Z axis screw mandrel, it is achieved the solid to Procambarus clarkii
Clean；Along with the movement of mechanical claw, after Procambarus clarkii departs from brush unit, brush unit stops operating, and cleaning unit resets；
6) when mechanical claw unit moves to the first screw mandrel end, folder tail mechanical hand and mechanical claw unclamp, and arrange pawl machine
Structure unit resets, and Procambarus clarkii falls into supersonic oscillations device and carries out ultrasonic cleaning, lifting platform, mechanical claw unit, Pai Zhao mechanism
Unit, folder tail manipulator unit reset, and i.e. complete whole cleaning process after ultrasonic cleaning.
The present invention compared with prior art automaticity is high, and each sensor and the circuit being arranged in cleaning unit are automatic
Whether detection Procambarus clarkii arrives predeterminated position, after Procambarus clarkii is in place, automatically begins to work；Circuit in cleaning unit is touching
Being switched on after Procambarus clarkii, magnitude of voltage produces significant change, and control system controls cleaning unit work；
Present invention achieves the three-dimensional cleaning to Procambarus clarkii, clean more fully, and in whole cleaning process, carry out purple
Outside line sterilizes, and the Procambarus clarkii after cleaning is the cleanest.
The present invention uses multiple location to clamp Procambarus clarkii, presss from both sides tail manipulator clamping Procambarus clarkii afterbody, and mechanical claw captures little dragon
Prawn head portion, row's grapple structure arranges the claw of Procambarus clarkii both sides and chela and fixes them, it is to avoid Procambarus clarkii chela and pawl clamp hairbrush
Device so that cleaning process cannot be normally carried out；It also avoid Procambarus clarkii in cleaning process due to taking off that displacement causes
The problem such as fall.
Accompanying drawing explanation
Fig. 1 is the front view that Procambarus clarkii of the present invention cleans device；
Fig. 2 is the schematic perspective view that Procambarus clarkii of the present invention cleans device；
Fig. 3 is the feeding box schematic diagram of the present invention；
Fig. 4 is mechanical claw unit and the structural representation of folder tail manipulator unit；
Fig. 5 is the structural representation that row grabs mechanism unit；
Fig. 6 is the structural representation of cleaning unit；
Fig. 7 is the structural representation of mechanical claw in the embodiment of the present invention；
Fig. 8 is the mark figure of Procambarus clarkii limb point；
Fig. 9 is the circuit diagram of cleaning unit of the present invention.
In figure, lifting platform 1, feeding box the 2, first screw mandrel 3, mechanical claw the 4, second screw mandrel 5, folder tail mechanical hand 6, the 3rd
Bar 7, Z axis screw mandrel 8, Y-axis screw mandrel 9, brush unit 10, high-pressure flushing device 11, supersonic oscillations device 12, Burdick lamp 13,
Bent axle 14, valve 15, spraying-cleaning device 16, connecting plate 17, fixing seat 18, first connecting rod 19, second connecting rod 20, crawl hands
21, cleft hand screw mandrel 22, movable block 23.
Detailed description of the invention
The present invention will be further described with embodiment below in conjunction with the accompanying drawings.
As illustrated in fig. 1 and 2, the Procambarus clarkii of the present invention cleans device, including support, and rack-mount lifting platform 1, machine
Tool claw unit, row's pawl mechanism unit, folder tail manipulator unit, cleaning unit, control system and some drive mechanisms；Such as Fig. 3
Shown in, described lifting platform 1 is provided with feeding box 2, feeding box 2 open topped, a sidewall is opening；Feeding box 2 is used for
Place Procambarus clarkii, limit Procambarus clarkii and move on a large scale so that follow-up folder tail manipulator unit can accurately clamp Procambarus clarkii head
Portion.
As shown in Figure 4, described mechanical claw unit includes the first screw mandrel 3 being horizontally arranged on support, is arranged on
Mounting seat on one screw mandrel 3, the mechanical claw 4 being arranged in mounting seat, mechanical claw 4 captures Procambarus clarkii vertically downward, at the beginning of it
Beginning position is positioned at above feeding box 2.
As shown in Figure 4, described folder tail manipulator unit includes the second screw mandrel 5 being horizontally arranged on support and is arranged on
Folder tail mechanical hand 6 on second screw mandrel 5, folder tail mechanical hand 6 initial position is positioned at below mechanical claw 4, and the second screw mandrel 5 is by driving
Mechanism drives so that folder tail mechanical hand 6 can move along the second screw mandrel 5.
As it is shown in figure 5, described row's pawl mechanism unit includes the 3rd screw mandrel 7 being horizontally arranged on support and is arranged on the
Pai Zhao mechanism on three screw mandrels 7, when lifting platform 1 gives rise to work upper limit position, Pai Zhao mechanism is positioned at feeding box 2 opening part, row
The bent axle of pawl mechanism is positioned at feeding box opening part, and it is little that the initial position of the bent axle of Pai Zhao mechanism is positioned at after being captured by mechanical claw
Below Lobster abdominal region, when Procambarus clarkii moves to arrange above grapple structure so that Procambarus clarkii can be arranged by row's grapple structure
Grab；3rd screw mandrel 7 is driven by drive mechanism so that Pai Zhao mechanism can move along the 3rd screw mandrel 7.
As shown in Figure 6, described cleaning unit includes rack-mount Z axis screw mandrel 8, is arranged on Z axis screw mandrel 8
Cleaning platform, described cleaning platform includes Y-axis screw mandrel 9 and the brush unit 10 being arranged on Y-axis screw mandrel 9.Brush unit 10
Can move on Z axis and Y direction, and Procambarus clarkii moves along X-axis under driving in mechanical claw 4, can realize little dragon
The three-dimensional cleaning of shrimp.
Described all screw mandrels and brush unit 10 are driven by drive mechanism, and control system electrically connects with drive mechanism,
Drive mechanism can be the mechanism that motor etc. is easily installed and uses.
As preferably, described mechanical claw unit also includes the high-pressure flushing device 11 being arranged on the first screw mandrel 3,
Described high-pressure flushing device 11 is fixed with mounting seat and is connected and moves with mounting seat motion on the first screw mandrel 3, high pressure
Flusher 11 sprays water under high pressure, in mechanical claw 4 moving process, and high-pressure flushing device 11 synchronizing moving persistently to little dragon
Shrimp is rinsed.
Described mechanical claw unit also includes the photographic head being arranged in mounting seat, and camera head monitor is by mechanical claw 4
The Procambarus clarkii captured, grabs row and is provided with setting regions on mechanism unit, is provided with on mechanism unit when Procambarus clarkii covering row grabs
During setting regions, photographic head i.e. sends a signal to control system, and control system controls row and grabs mechanism kinematic and carry out row and grab.
As it is shown in figure 1, as preferably, described Procambarus clarkii is cleaned device and also includes rack-mount supersonic oscillations
Device 12, supersonic oscillations device 12 is positioned at the lower section of mechanical claw 4 moving limit position, and supersonic oscillations device 12 is provided with and follows
Ring filtration system.
As it is shown in figure 1, as preferably, described Procambarus clarkii is cleaned device and also includes that Burdick lamp 13, Burdick lamp 13 are pacified
It is contained on support.
Further, described feeding box 2 is provided with gravity sensor, and gravity sensor is connected with control system, when little
During Lobster feeding, Procambarus clarkii can weigh and make control system receive Procambarus clarkii and have been positioned at the letter of feeding box 2
Number so that mechanical claw 4 starts to clamp Procambarus clarkii.
As it is shown in figure 5, further, described Pai Zhao mechanism includes two symmetrically arranged bent axles 14, fixing seat, valve
15 and spraying-cleaning device 16, fixing seat is arranged on the 3rd screw mandrel 7, and two symmetrically arranged bent axles 14 are arranged on fixing seat
On, spraying-cleaning device 16 is arranged on fixing seat and is positioned at the central authorities of two bent axles 14, and valve 15 is positioned at two bent axles 14
Central authorities just to feeding box 2 opening when being in work upper limit position.Valve 15 makes Procambarus clarkii afterbody be rushed by water, presss from both sides tail machine
Tool hands 6 clamps Procambarus clarkii afterbody, it is simple to Procambarus clarkii abdominal part is carried out by spraying-cleaning device 16.
As shown in Figure 8, described bent axle 14 is provided with identified areas, is positioned at the camera head monitor on mechanical claw unit
The chela of Procambarus clarkii and the position of health joint, i.e. the position of limb point, when limb point covers the setting identification region in Pai Zhao mechanism
Time, photographic head i.e. feeds back signal to control system, and control system now controls to arrange the bent axle 14 of pawl mechanism unit and transports from inside to outside
Dynamic, make the claw of Procambarus clarkii both sides and chela separate.
As it is shown in figure 9, further, also include power supply and voltmeter, described brush unit in described cleaning device
10 include that hairbrush and pedestal, described power supply are connected with pedestal, and pedestal is conductive material, described voltmeter one section and pedestal phase
Even, the other end is connected with mechanical claw 4；Mechanical claw the 4, first screw mandrel 3 and support are metal material, support ground connection, voltmeter
It is connected with control system.After Procambarus clarkii contact pedestal, circuit is switched on, and the magnitude of voltage of voltmeter will produce significantly change, control
System processed utilizes the change of magnitude of voltage to judge that Procambarus clarkii arrives and departs from the state of cleaning unit.
As it is shown in fig. 7, further, if described mechanical claw 4 includes connecting plate 17, fixing seat 18, first connecting rod 19
Dry second connecting rod 20, cleft hand screw mandrel 22 and crawl hands 21；Described connecting plate 17 is connected with the first screw mandrel 3, and connecting plate 17 sets
Having cleft hand screw mandrel 22, cleft hand screw mandrel 22 to be provided with movable block 23, one end of second connecting rod 20 is connected with movable block 23, the other end with
Capturing hands 21 to be connected, one end of first connecting rod 19 and fixing seat 18 hinge being arranged on connecting plate 17, the other end and second is even
The middle part of bar 20 is hinged；Capturing and be provided with pressure transducer on hands 21, pressure transducer is connected with control system.Cleft hand screw mandrel 22
Mechanism driven drives, and movable block 23 moves up and down on cleft hand screw mandrel 22, i.e. realizes capturing the motion of hands 21.
The cleaning method step that described Procambarus clarkii cleans device is as follows:
1) opening Burdick lamp 13, Procambarus clarkii is placed on feeding box 2, and the gravity sensor on feeding box 2 claims
Weighing and send a signal to control system, control system controls lifting platform 1 and is raised above, and makes feeding box 2 reach upper limit position；
2) Procambarus clarkii is captured by mechanical claw unit, after pressure transducer thereon detects pressure signal, and first
Screw turns, mechanical claw 4 moves along the first leading screw；
3) in Procambarus clarkii moving process, the chela of the camera head monitor Procambarus clarkii being positioned on mechanical claw unit and health phase
Connecing the position at place, the i.e. position of limb point, when limb point covers the setting regions in Pai Zhao mechanism, control system controls Pai Zhao mechanism
The bent axle 14 of unit moves from inside to outside, makes the claw of Procambarus clarkii both sides and chela separate, and now valve 15 is blown, and makes Procambarus clarkii tail
Portion is lifted, and folder tail manipulator unit captures Procambarus clarkii afterbody；Spraying-cleaning device 16 carries out spraying-rinsing to Procambarus clarkii abdominal part；
4) step 3) complete after, first screw mandrel the 3, second screw mandrel 5 and the 3rd screw mandrel 7 rotate so that mechanical claw unit, row
Pawl mechanism unit and folder tail manipulator unit are along screw mandrel direction, i.e. X-axis synchronizing moving, high-pressure flushing device 11 is sprayed water to Procambarus clarkii
It is rinsed；
5) held with in X-axis moving process Procambarus clarkii, when Procambarus clarkii touches the pedestal of brush unit 10, electricity
The circuit of source, pedestal, Procambarus clarkii, mechanical claw the 4, first screw mandrel 3 and support is switched on, and voltmeter produces signal and feeds back to control
System processed, control system controls brush unit 10 and rotates, and controls Y-axis screw mandrel 9 and Z axis screw mandrel 8 moves, it is achieved to Procambarus clarkii
Three-dimensional cleaning；With the movement of mechanical claw 4, after Procambarus clarkii departs from brush unit 10, brush unit 10 stops operating, and cleans single
Unit resets；
6) when mechanical claw unit moves to the first screw mandrel 3 end, folder tail mechanical hand 6 and mechanical claw 4 unclamp, little dragon
Shrimp falls into supersonic oscillations device 12 and carries out ultrasonic cleaning, lifting platform 1, mechanical claw unit, row's pawl mechanism unit, folder tail machinery
Hands unit resets, and i.e. completes whole cleaning process after ultrasonic cleaning.
Preferably, when Procambarus clarkii contact brush unit 10 pedestal makes cleaning unit start working, the work of cleaning unit
Order can be that back rotation Y-axis screw mandrel 9 reaches the setting time first, then carry out back rotation Z axis screw mandrel 8 and reach the setting time, then
First screw mandrel 3 moves a certain distance, and Y-axis screw mandrel 9 again carrys out back rotation and sets the time, and Z axis screw mandrel 8 moves then, so circulates,
Procambarus clarkii is made to obtain three-dimensional cleaning.
Claims (10)
1. Procambarus clarkii cleans a device, including support and some drive mechanisms, it is characterised in that also include rack-mount
Lifting platform (1), mechanical claw unit, row's pawl mechanism unit, folder tail manipulator unit, cleaning unit and control system；Described
Lifting platform on feeding box (2), feeding box open topped are installed, sidewall is provided with opening；
Described mechanical claw unit includes the first screw mandrel (3) being horizontally arranged on support, the peace being arranged on the first screw mandrel
Dress seat, the mechanical claw (4) being arranged in mounting seat, mechanical claw initial position is positioned at above feeding box；
Described folder tail manipulator unit includes the second screw mandrel (5) being horizontally arranged on support and is arranged on the second screw mandrel
Folder tail mechanical hand (6)；
Described row's pawl mechanism unit includes the 3rd screw mandrel (7) being horizontally arranged on support and the row being arranged on the 3rd screw mandrel
Pawl mechanism；
The cleaning platform that described cleaning unit includes rack-mount Z axis screw mandrel (8), is arranged on Z axis screw mandrel, described
Cleaning platform include Y-axis screw mandrel (9) and the brush unit (10) being arranged on Y-axis screw mandrel, brush unit and all screw mandrels are equal
Being driven by drive mechanism, control system electrically connects with drive mechanism.
Procambarus clarkii the most according to claim 1 cleans device, it is characterised in that described mechanical claw unit also includes peace
The high-pressure flushing device (11) being contained on the first screw mandrel, the mounting seat of described high-pressure flushing device and mechanical claw unit is fixed
Connect.
Procambarus clarkii the most according to claim 1 cleans device, it is characterised in that described mechanical claw unit also includes peace
It is contained in the photographic head in the mounting seat of mechanical claw unit, the Procambarus clarkii that camera head monitor is captured by mechanical claw.
Procambarus clarkii the most according to claim 1 cleans device, it is characterised in that also include rack-mount ultrasound wave
Oscillation device (12), supersonic oscillations device is positioned at mechanical claw and moves the lower section of terminal position.
Procambarus clarkii the most according to claim 1 cleans device, it is characterised in that also include Burdick lamp (13), Burdick lamp
Rack-mount.
Procambarus clarkii the most according to claim 1 cleans device, it is characterised in that described feeding box is provided with gravity sensitive
Device, gravity sensor is connected with control system.
Procambarus clarkii the most according to claim 1 cleans device, it is characterised in that described Pai Zhao mechanism includes two symmetries
The bent axle (14) arranged, fixing seat, valve (15) and spraying-cleaning device (16), fixing seat is arranged on the 3rd screw mandrel (7), and two
Individual symmetrically arranged bent axle (14) is arranged on fixing seat, and when lifting platform gives rise to work upper limit position, two symmetrically arranged
Bent axle (14) just opening to feeding box, spraying-cleaning device (16) is arranged on fixing seat and is positioned in two bent axles (14)
Centre, valve is positioned at the central authorities of two bent axles (14) and just to feeding box opening when being in work upper limit position.
Procambarus clarkii the most according to claim 1 cleans device, it is characterised in that also include power supply in described cleaning device
And voltmeter, described brush unit includes that hairbrush and pedestal, described power supply are connected with pedestal, and pedestal is conductive material, institute
The voltmeter one end stated is connected with pedestal, and the other end is connected with mechanical claw (4)；Mechanical claw, the first screw mandrel and support are gold
Belonging to material, support ground connection, control system receives the voltage signal of voltmeter.
Procambarus clarkii the most according to claim 1 cleans device, it is characterised in that described mechanical claw includes connecting plate
(17), fixing seat (18), first connecting rod (19), second connecting rod (20), crawl hands (21), cleft hand screw mandrel (22) and movable block
(23)；Described connecting plate and the first screw mandrel are connected, and connecting plate is provided with cleft hand screw mandrel, and cleft hand screw mandrel is provided with movable block, the
One end of two connecting rods is connected with movable block, the other end with capture palmistry even, one end of first connecting rod be arranged on connecting plate
Fixing seat hinge, the other end is hinged with the middle part of second connecting rod；Capture and be provided with pressure transducer, pressure transducer and control on hand
System processed is connected.
10. as described in any one of claim 1-9, Procambarus clarkii cleans the cleaning method of device, it is characterised in that step is as follows:
1) opening Burdick lamp, Procambarus clarkii is placed on feeding box, and Procambarus clarkii is weighed by the gravity sensor on feeding box
And sending a signal to control system, control system controls lifting platform and is raised above, and makes feeding box reach upper limit position；
2) Procambarus clarkii is captured by mechanical claw unit, after pressure transducer thereon detects pressure signal, and the first leading screw
Rotating, mechanical claw moves along the first leading screw, i.e. moves along the x-axis；
3) in Procambarus clarkii moving process, the chela of the camera head monitor Procambarus clarkii being positioned on mechanical claw unit and health joint
Position, i.e. the position of limb point, when limb point covers the setting regions in Pai Zhao mechanism, control system controls row's pawl mechanism unit
Bent axle move from inside to outside, make the claw of Procambarus clarkii both sides and chela separately, now valve is blown, and makes Procambarus clarkii afterbody be lifted
Rising, folder tail manipulator unit captures Procambarus clarkii afterbody；Spraying-cleaning device carries out spraying-rinsing to Procambarus clarkii abdominal part；
4) step 3) complete after, the first screw mandrel, the second screw mandrel and the 3rd screw mandrel synchronous axial system so that mechanical claw unit, row pawl
Mechanism unit and folder tail manipulator unit move along respective screw mandrel direction, i.e. X-axis synchronizing moving, and high-pressure flushing device is sprayed water to little
Lobster is rinsed；
5) held with in X-axis moving process Procambarus clarkii, when Procambarus clarkii touches the pedestal of brush unit, power supply, pedestal,
The circuit of Procambarus clarkii, mechanical claw, the first screw mandrel and support is switched on, and voltmeter produces jump signal and feeds back to control system
System, control system controls brush unit and rotates, and controls Y-axis screw mandrel and the motion of Z axis screw mandrel, it is achieved clear to the solid of Procambarus clarkii
Wash；Along with the movement of mechanical claw, after Procambarus clarkii departs from brush unit, brush unit stops operating, and cleaning unit resets；
6) when mechanical claw unit moves to the first screw mandrel end, folder tail mechanical hand and mechanical claw unclamp, and Pai Zhao mechanism is single
Unit resets, and Procambarus clarkii falls into supersonic oscillations device and carries out ultrasonic cleaning, lifting platform, mechanical claw unit, row's pawl mechanism unit,
Folder tail manipulator unit resets, and i.e. completes whole cleaning process after ultrasonic cleaning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610562037.2A CN106172687B (en) | 2016-07-15 | 2016-07-15 | A kind of cray cleaning device and its cleaning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610562037.2A CN106172687B (en) | 2016-07-15 | 2016-07-15 | A kind of cray cleaning device and its cleaning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106172687A true CN106172687A (en) | 2016-12-07 |
| CN106172687B CN106172687B (en) | 2018-01-26 |
Family
ID=57475079
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610562037.2A Expired - Fee Related CN106172687B (en) | 2016-07-15 | 2016-07-15 | A kind of cray cleaning device and its cleaning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106172687B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108157480A (en) * | 2018-02-06 | 2018-06-15 | 蔡皓 | A kind of device that can clean lobster |
| CN108783759A (en) * | 2018-06-20 | 2018-11-13 | 甄嘉华 | A kind of sole press machine having manipulator |
| CN108887369A (en) * | 2018-08-01 | 2018-11-27 | 唐伟 | Equipment for cray batch cleaning and dipping |
| CN112273424A (en) * | 2020-09-28 | 2021-01-29 | 黄磊 | Lobster cleaning equipment for aquaculture |
| CN113729180A (en) * | 2021-07-26 | 2021-12-03 | 上海财治食品有限公司 | Crayfish with stomach invigorating and digestion promoting effects |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2784447A (en) * | 1955-12-06 | 1957-03-12 | William A Thompson | Crab cleaning machine |
| US2784450A (en) * | 1953-03-23 | 1957-03-12 | Jonsson Gregor | Method of cleaning shrimp |
| US4503586A (en) * | 1983-01-21 | 1985-03-12 | Lockerby W Lee | Apparatus and method for processing crabs |
| CN104923521A (en) * | 2015-07-07 | 2015-09-23 | 江苏金铁人自动化科技有限公司 | Acetone automatic cleaning machine |
| CN105123883A (en) * | 2015-09-25 | 2015-12-09 | 中国水产科学研究院淡水渔业研究中心 | Automatic shrimp-crab washing device |
| CN205096169U (en) * | 2015-11-10 | 2016-03-23 | 厦门晟硕科技有限公司 | Full -automatic ultrasonic cleaner of two arms |
| CN105665371A (en) * | 2016-04-05 | 2016-06-15 | 谢长 | Ultrasonic cleaning device and ultrasonic cleaning method |
| CN105750264A (en) * | 2016-03-30 | 2016-07-13 | 周靖 | Full-automatic ultrasonic cleaning machine with double mechanical arms |
| CN205756997U (en) * | 2016-07-15 | 2016-12-07 | 梁敖铭 | Procambarus clarkii cleans device |
-
2016
- 2016-07-15 CN CN201610562037.2A patent/CN106172687B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2784450A (en) * | 1953-03-23 | 1957-03-12 | Jonsson Gregor | Method of cleaning shrimp |
| US2784447A (en) * | 1955-12-06 | 1957-03-12 | William A Thompson | Crab cleaning machine |
| US4503586A (en) * | 1983-01-21 | 1985-03-12 | Lockerby W Lee | Apparatus and method for processing crabs |
| CN104923521A (en) * | 2015-07-07 | 2015-09-23 | 江苏金铁人自动化科技有限公司 | Acetone automatic cleaning machine |
| CN105123883A (en) * | 2015-09-25 | 2015-12-09 | 中国水产科学研究院淡水渔业研究中心 | Automatic shrimp-crab washing device |
| CN205096169U (en) * | 2015-11-10 | 2016-03-23 | 厦门晟硕科技有限公司 | Full -automatic ultrasonic cleaner of two arms |
| CN105750264A (en) * | 2016-03-30 | 2016-07-13 | 周靖 | Full-automatic ultrasonic cleaning machine with double mechanical arms |
| CN105665371A (en) * | 2016-04-05 | 2016-06-15 | 谢长 | Ultrasonic cleaning device and ultrasonic cleaning method |
| CN205756997U (en) * | 2016-07-15 | 2016-12-07 | 梁敖铭 | Procambarus clarkii cleans device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108157480A (en) * | 2018-02-06 | 2018-06-15 | 蔡皓 | A kind of device that can clean lobster |
| CN108783759A (en) * | 2018-06-20 | 2018-11-13 | 甄嘉华 | A kind of sole press machine having manipulator |
| CN108783759B (en) * | 2018-06-20 | 2021-01-26 | 甄嘉华 | Sole pressing machine with manipulator |
| CN108887369A (en) * | 2018-08-01 | 2018-11-27 | 唐伟 | Equipment for cray batch cleaning and dipping |
| CN112273424A (en) * | 2020-09-28 | 2021-01-29 | 黄磊 | Lobster cleaning equipment for aquaculture |
| CN113729180A (en) * | 2021-07-26 | 2021-12-03 | 上海财治食品有限公司 | Crayfish with stomach invigorating and digestion promoting effects |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106172687B (en) | 2018-01-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205756997U (en) | Procambarus clarkii cleans device | |
| CN106172687B (en) | A kind of cray cleaning device and its cleaning method | |
| CN103862838A (en) | PCB (printed circuit board) printing all-in-one machine | |
| CN206528097U (en) | Automobile rear view mirror lens are bonded general assembly all-in-one | |
| CN103660534B (en) | Robot printing and proofing system | |
| CN108155126A (en) | Wafer transfer device and wafer cleaning device | |
| CN205988935U (en) | A kind of automatic ultrasonic-wave cleaning machine | |
| CN112107004B (en) | Full-automatic seed-reserving peanut shelling robot and method | |
| CN111685157A (en) | Automatic chamber system of drawing of poultry robot | |
| CN108262632A (en) | Bar automatic loading and unloading system | |
| CN211072207U (en) | Automatic welding production line | |
| CN110216075A (en) | It is a kind of to manufacture with the material convenient for manipulation with line robot | |
| CN219923762U (en) | Battery vision detection equipment | |
| CN203426826U (en) | Automatic feeding device for circuit board scrubbing machine | |
| CN103837541B (en) | A kind of water under high pressure inspection machine | |
| CN116689312A (en) | Piezoelectric ceramic automatic detection equipment and detection method | |
| CN205852386U (en) | A kind of Automatic-feeding grabbing device | |
| CN207077096U (en) | A kind of automatic cleaning apparatus for being capable of automated cleaning Resistance Welding nozzle and point welding rod | |
| CN114411661B (en) | Energy-conserving rubbish cleaning device of surface of water | |
| JP2024504019A (en) | Automatic battery module tape and resin removal system | |
| CN211247429U (en) | Loudspeaker sorting unit | |
| CN209133600U (en) | Battery core filling machine | |
| WO2020171067A1 (en) | Dishwashing assistnace device and control program | |
| CN207226510U (en) | A kind of negative pressure de-stacking fixture | |
| CN207357695U (en) | Ink recorder is tested in full-automatic battery dedusting |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180126 Termination date: 20200715 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |