Design and test of flexible gripping device used in sorting for Yesso scallop (Patinopecten yessoensis)
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摘要: 为解决传统生产中海珍品分拣方式效率低、破损率高的实际问题，以虾夷扇贝（Patinopecten yessoensis）为对象，在对其形态特性、物理特性研究的基础上，研制了一种三指柔性抓取装置，柔性手指呈"A"字型结构，柔性三指张开度Ф为14.66～197.44 mm，并建立柔性手指模型，将虾夷扇贝实体简化为类球体，对柔性单指受力和柔性三指抓取进行仿真分析。结果表明：设计的分拣装置柔性单指受力时向接触面受力一侧弯曲，柔性三指弯曲变形组成完整的包络曲面，包络自适应性能良好；对单一规格虾夷扇贝进行抓取成功率和夹持力试验显示，当气压低于0.2 MPa时，抓取成功率不足90%，当气压达到0.6 MPa时，平均抓取成功率在98%以上，壳体及边缘均无破损，且随着气压的增加，抓取成功率和夹持力均呈正相关变化；在气压为0.6 MPa时，对3种不同质量的虾夷扇贝进行抓取性能试验显示，实测横向、纵向抓取的最大夹持力分别为8.76、7.24 N，虾夷扇贝壳体及边缘无破损，且随着虾夷扇贝质量的增加，夹持力呈下降趋势。研究表明，本研究中所设计的分拣装置能够满足大部分贝类珍品分拣的需求，可应用于规模化生产扇贝、牡蛎、鲍和螺等多种贝类珍品的无损分拣。Abstract: In order to solve the practical problem of low efficiency and high damage rate in traditional sorting methods for marine treasures in production, a three finger flexible grasping device was developed based on the morphological and physical characteristics of Yesso scallop (Patinopecten yessoensis). The flexible fingers are in an "A" shaped structure, with the opening degree of Ф14.66-197.44 mm, which can meet the sorting needs of most precious shellfish. A flexible finger model, simplified Patinopecten yessoensis entity as a spherical object, was established and the force exerted on the flexible single finger and the flexible three finger grasping were simulated and analyzed. The results showed that the flexible single finger of sorting device bended towards the force side of the contact surface, and the flexible three fingers bended and deformed to form a complete envelope surface, when it was subjected to force, with good adaptive envelope performance. The success rate and clamping force of single size Yesso scallop were tested by building an experimental platform. The results showed that the success rate of grasping was found to be below 90% at air pressure of below 0.2 MPa. At the air pressure of 0.6 MPa, however, the average success rate of grasping was shown to be over 98%, without the damaged shell and edges. As the air pressure increased, the success rate of grasping and the change in clamping force were positively correlated. The gripping performance tests in Yesso scallop with three different body weights at air pressure of 0.6 MPa revealed that there was the maximum gripping force of 8.76 N in the transverse direction and 7.24 N in longitudinal direction. The shell and edges of Yesso scalop were undamaged, and the gripping force showed a decreasing trend as the body weight of Yesso scallop increased. The findings indicate that the sorting device designed in this article can meet the sorting needs of most shellfish treasures and can be applied to the non-destructive sorting of various shellfish treasures including scallops, oysters, abalones, and snails in large-scale production.
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Key words:
- Patinopecten yessoensis /
- flexible gripper /
- envelope simulation /
- test platform
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