海湾扇贝外套膜剥离机械手的设计

摘要

In view of the low level of mechanized processing of the Argopecten Irradians , a kind of the mantle stripping manipulator is designed .Argopecten Irradians shell surfaces are high-order surfaces .The mantle is only connected to the shell in a small number of parts and the rest is free .The manipulator references manual methods and flexible structures is applicated in the design of the manipulator .The knife can rotate and extend freely in order to automatically adapt to the shell surface profile .Theoretical analysis is conducted for the relationships of the putter mobile distance and the gripper opening and closing angle , the putter mobile speed and the knife taking speed and the morphological changes of the knife .Saving labor and improving the safety of Argopecten Irradians processing and the quality of scallop products , the manipulator can replace manual processing of the Argopecten Irradians .%针对我国海湾扇贝加工机械化水平低的现状，设计了一种外套膜剥离机械手。海湾扇贝壳内曲面为高阶曲面，扇贝外套膜除在背面少数部位与壳连接外其余部分均为游离。机械手受人工剥离方式启发，手爪设计为柔性结构，刀钩可旋转且刀杆可自由伸缩，能自动适应贝壳曲面轮廓。此外，对机械手推杆移动距离与手爪开合角度的关系、推杆移动速度与刀钩钩取速度的关系、刀钩的形态位置变化情况进行了理论分析。该机械手可代替人工对海湾扇贝进行加工，节省人工劳动力，提高了扇贝加工的安全性，提升了扇贝制品品质。