Design and test of flexible gripping device used in sorting for Yesso scallop (Patinopecten yessoensis)
CAI Weiguo，MENG Delong，GUO Shenghan
1.School of Mechanical and Power Engineering，Dalian Ocean University，Dalian 116023，China；2.Research &Development Center of Fisheries Equipment and Engineering of Liaoning Province，Dalian 116023，China
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 (Patinopectenyessoensis). 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 Patinopectenyessoensis 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.
蔡卫国, 孟德龙, 郭晟翰. 虾夷扇贝分拣柔性抓取装置设计与试验[J]. 大连海洋大学学报, 2023, 38(6): 1044-1051.
CAI Weiguo, MENG Delong, GUO Shenghan. Design and test of flexible gripping device used in sorting for Yesso scallop (Patinopecten yessoensis). Journal of Dalian Ocean University, 2023, 38(6): 1044-1051.
2023, Vol. 38 
