Abalone automatic slaughtering line equipment and slaughtering method

Abstract

The present invention discloses an automatic abalone slaughtering line device and a slaughtering method thereof. The device comprises: a conveying platform; a detection device comprising a retractable pressure detection mechanism located above the conveying platform, which squeezes the abalone through the pressure detection mechanism and feeds back the pressure value fed back by the abalone to a controller; a manipulator for turning the abalone over; a direction adjustment device for contacting the abalone on the conveying platform and driving the abalone to rotate; a guardrail device having a passage for the abalone on the conveying platform, the feed end of the passage being adjacent to the direction adjustment device, and the entrance end of the passage being funnel-shaped; a fixing device for receiving the abalone delivered by the conveying platform, a guide plate being provided between the tail end of the conveying platform and the fixing device, and a shell outlet being provided below the guide plate; a scooping device for scooping the abalone meat of the abalone on the fixing device; and a controller. The present invention realizes automatic abalone slaughtering, saves a lot of manpower, and can save labor costs.

Description

Technical Field

[0001] The present invention relates to abalone processing equipment, and more particularly to an abalone automatic slaughtering line equipment and a slaughtering method thereof. Background Art

[0002] Abalone is a prized marine delicacy, known as the "soft gold" of the ocean for its delicious flavor and rich nutrition. Research shows that the edible portion of fresh abalone contains 24% protein and 0.44% fat; the dried portion contains 40% protein, 33.7% glycogen, 0.9% fat, as well as a variety of vitamins and trace elements. This makes it a high-protein, low-fat food that is highly beneficial to the human body.

[0003] At present, many places still use traditional manual slaughtering in all aspects of abalone slaughtering, which wastes a lot of manpower and needs to be improved. Summary of the Invention

[0004] In view of the deficiencies in the prior art, the object of the present invention is to provide an abalone automatic slaughtering line device and a slaughtering method thereof, which can realize automatic slaughtering of abalone and save a large amount of manpower.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An automatic abalone slaughtering line device, comprising:

[0007] A conveying platform for conveying abalone;

[0008] The detection device includes a retractable pressure detection mechanism located above the conveying platform, which squeezes the abalone through the pressure detection mechanism and feeds back the pressure value fed back by the abalone to the controller;

[0009] A manipulator is arranged behind the detection device along the conveying direction, and is used to clamp the abalone on the conveying platform, turn the abalone over, and place the turned abalone back on the conveying platform;

[0010] A direction adjustment device is arranged behind the manipulator along the conveying direction and is used to contact the abalone on the conveying platform and drive the abalone to rotate;

[0011] A guardrail device is arranged behind the direction adjustment device along the conveying direction, and the guardrail device has an interior that is a passage for abalone on the conveying platform to pass through, wherein the width of the passage is greater than the minor axis length of the abalone and less than the major axis width of the abalone, the feeding end of the passage is adjacent to the direction adjustment device, and the entrance end of the passage is funnel-shaped;

[0012] A fixing device is provided at the discharge end of the conveying platform, and a height difference is formed between the table top of the fixing device and the table top of the conveying platform so that the fixing device can receive the abalone delivered by the conveying platform. A downwardly curved guide plate is provided between the tail end of the conveying platform and the fixing device, and a shell outlet is provided below the guide plate.

[0013] a scooping device, which is arranged above the fixing device and is used to scoop out the abalone meat of the abalone on the fixing device;

[0014] The controller is used to control the conveying platform, the manipulator, the direction adjustment device, the guardrail device, the fixing device and the digging device.

[0015] As a preferred solution: a distance sensor for detecting abalone is provided above the channel, and the distance sensor is electrically connected to the controller.

[0016] As a preferred solution: the detection device includes a first support plate arranged vertically, the lower end of the first support plate is fixed to the side of the conveying platform, the upper end of the first support plate is equipped with a first motor, and a vertical first screw rod is arranged below the first motor, the output shaft of the first motor is coaxially connected to the first screw rod, a first sliding sleeve that can slide up and down is sleeved on the first support plate, the first screw rod is threadedly connected to the first sliding sleeve, and a vertical sleeve is fixed on the side of the first sliding sleeve, and a pressure sensor, a contact block, a first spring and a connecting block are arranged in sequence from top to bottom inside the sleeve, the contact block and the connecting block can both move in the sleeve, the first spring is in a compressed state, and a vertical push rod is arranged below the sleeve, the upper end of the push rod penetrates into the sleeve and is fixed to the connecting block, the lower end of the push rod is located above the central axis of the conveying platform, and the pressure sensor is electrically connected to the controller.

[0017] As a preferred solution: the fixing device includes a hollow mounting seat, and clamping mechanisms are symmetrically arranged on both sides of the mounting seat, the clamping mechanism includes a fixed plate, a clamping plate driven to rise and fall by a first cylinder is arranged on the outer side of the fixed plate, and a movable plate is arranged on the inner side of the clamping plate, the movable plate is rotatably connected to the clamping plate, and multiple groups of pressure sensing sheets are fixed on the inner side of the movable plate along its height direction, the pressure sensing sheets are electrically connected to the controller, and elastic side contact pads are fixed on the inner side of the pressure sensing sheets, the fixed plate is slidably connected to the mounting seat, and a third motor and a horizontal drive disk are installed in the mounting seat, and the output shaft of the third motor is coaxially connected to the drive disk. A horizontal connecting rod is provided between the driving disk and the fixed plate, and two ends of the connecting rod are hinged to the driving disk and the fixed plate respectively, and a horizontal third support plate is fixed at the tail end of the mounting seat, and a second sliding sleeve is provided on the third support plate, and a fourth motor is fixed at the tail end of the third support plate, and a second screw rod is provided in front of the fourth motor, and the output shaft of the fourth motor is coaxially connected with the second screw rod, and the second screw rod is threadedly connected to the second sleeve, and a vertical second cylinder is fixed on the second sleeve, and a pushing block is provided above the second cylinder, and the push rod of the second cylinder is connected to the pushing block, and an elastic front contact pad is provided on the surface of the pushing block facing the mounting seat.

[0018] As a preferred solution: the digging device includes a fourth support plate arranged horizontally, a fifth motor is installed at the tail end of the fourth support plate, a third screw rod is arranged in front of the fifth motor, the third screw rod is parallel to the fourth support plate, the output shaft of the fifth motor is coaxially connected to the third screw rod, a pair of horizontal guide rods are arranged in parallel on the fourth support plate, a third sliding sleeve is provided on the horizontal guide rod, the third screw rod is threadedly connected to the third sliding sleeve, a scraper is fixed at the bottom of the third sliding sleeve, and a spoon-shaped scraper is provided below the scraper, and the blade of the scraper faces the conveying platform. In the conveying direction, a vertical positioning cylinder is provided at the rear part of the scraper, and a movable rod which can move up and down is provided in the positioning cylinder. The movable rod passes through the positioning cylinder and a limiting plate is fixed at the upper end thereof. The lower end of the movable rod is connected with the scraper, and a second spring is provided on the movable rod. The second spring is used to drive the scraper to move downward. A pair of vertical guide rods are fixed at both ends of the fourth support plate, and the vertical guide rods move through the support frame. A third cylinder is also provided above the fourth support plate, and the cylinder body of the third cylinder is connected to the support frame, and the push rod of the third cylinder is connected to the fourth support plate.

[0019] As a preferred solution: it also includes a loading platform, which is arranged at an angle, with the feed end of the loading platform extending into the abalone storage box, the discharge end of the loading platform connected to the feed end of the conveying platform, multiple groups of slots are arranged at equal intervals on the belt of the loading platform, and a "door"-shaped limiting frame is fixed above the table top of the loading platform.

[0020] An abalone slaughtering method of the automatic abalone slaughtering line equipment as described above comprises the following steps: S1, transferring abalone to a conveying platform via a loading platform;

[0021] S2, convey abalone with certain beat by conveying platform, suspend conveying platform when abalone moves to below checking device, detect the pros and cons of abalone by checking device, conveying platform resumes operation after detection is completed;

[0022] S3, suspend conveying platform at next beat place, control manipulator according to the last detected result of checking device, if last detected result is that abalone is facing up then manipulator does not move; If last detected result is that abalone is facing up then control manipulator to turn over abalone;

[0023] S4, continue to convey abalone, drive abalone to rotate by direction regulating device simultaneously, make abalone by a long and narrow passage, thereby make the major axis of abalone parallel to conveying direction; Detect abalone by distance sensor in the process of abalone by passage, thereby determine when abalone will be transferred to fixture, the time that abalone can also be detected by distance sensor and conveying speed obtain length data and height data of abalone;

[0024] S5, continue to convey abalone, suspend conveying platform when abalone is transferred on fixture, and control the 3rd motor to rotate by controller so that the clamping mechanism on fixture both sides clamps abalone, then control the 4th motor to rotate and push block to contact with the tail end of abalone;

[0025] S6, determine where scraper should move to the abalone head end according to the movement amount of abalone length data and pushing block, to ensure that scraper can just dig the edge of abalone meat when cutting, control the rotation number of the 4th motor to make scraper traverse to the top of required cutting position; Obtain the descending stroke of scraper according to the initial distance of scraper distance fixture countertop, the height data of abalone and the compression stroke of the second spring, control the 3rd cylinder and scraper is descended according to descending stroke, now, scraper is just positioned at suitable cutting position, and now, scraper is in close contact with the inner edge bottom of abalone shell;

[0026] S7, control the 5th motor to drive the scraper to dig the abalone meat from front to back, the scraper cuts off the scallop column, thereby separating the abalone meat from the abalone shell, in this process, the elastic force of the spring drives the blade of the scraper to always be close to the bottom surface of the abalone shell, when the scraper slides out from the tail end of the abalone shell, it contacts the front contact pad, now the controller controls the 5th motor to stop running, and then the controller controls the 4th motor to drive the pushing block to move back a small distance, now the abalone meat freely falls due to losing the support of the pushing block, falls in the abalone meat collecting box below the fixture; then the controller controls the 3rd motor action to make the two groups of clamping mechanisms move back to back until resetting, thereby loosening the abalone shell; afterwards the controller controls the 4th motor to drive the pushing block to move forward again, and the pushing block pushes the empty abalone shell to the shell outlet, so that the abalone shell falls from the shell outlet and falls in the abalone shell collecting box below the shell outlet; finally the controller controls the 4th motor, the 5th motor, the first cylinder and the 3rd cylinder to fully reset the fixture and the digging device.

[0027] As a preferred solution: in step S5, after the clamping mechanisms on both sides of the fixture clamp the two sides of the abalone, the pressure sensing strips at different heights on both sides of the abalone shell detect pressure and feed back a pressure signal to the controller. The controller takes half of the height difference as the compensation height value based on the height difference of the two groups of pressure sensing strips, and controls the cylinder, i.e., the first cylinder, of the clamping mechanism where the pressure sensing sheet with a lower height is located, so that it drives the clamping plate to rise until the rising stroke of the clamping plate equals the compensation height value, and then controls the fourth motor to make the pushing block contact with the abalone.

[0028] As a preferred solution: in step S7, when the scraper reaches the lower cutting position, the controller controls the second cylinder to rise a short distance. Since the movable plate of the clamping mechanism can rotate relative to the clamping plate, the pushing block pushes the tail end of the abalone upward, thereby causing the head end of the abalone to swing downward by a certain angle, thereby improving the fit between the scraper and the head end of the abalone shell; and when the stroke of the scraper is about to be equal to the length of the abalone, the controller controls the second cylinder to descend a distance, thereby causing the tail end of the abalone to swing downward by a certain angle, thereby improving the fit between the scraper and the tail end of the abalone shell. After the pushing block pushes the empty abalone shell out, the controller controls the second cylinder to reset.

[0029] Compared with the prior art, the present invention has the advantages that: the present invention realizes automatic slaughtering of abalone, saves a lot of manpower, and can save labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the overall structure of the assembly line equipment in Example 1;

[0031] Figure 2 for Figure 1 A magnified view of part A in FIG;

[0032] Figure 3 for Figure 1A magnified view of part B in FIG;

[0033] Figure 4 is a cross-sectional view of the detection device in Example 1;

[0034] Figure 5 This is a schematic diagram of the disassembled structure of the fixing device in Example 1;

[0035] Figure 6 for Figure 5 Enlarged view of part C in ;

[0036] Figure 7 Schematic diagram of the structure of the digging device in Example 1;

[0037] Figure 8 for Figure 7 Enlarged view of part D in FIG;

[0038] Figure 9 This is a control principle diagram in Example 1.

[0039] Explanation of the accompanying symbols: 1. Conveying platform; 2. Detection device; 201. First support plate; 202. First motor; 203. First sliding sleeve; 204. First screw rod; 205. Sleeve; 206. Connecting block; 207. First spring; 208. Contact block; 209. Pressure sensor; 3. Manipulator; 4. Direction adjustment device; 401. Second motor; 402. Second support plate; 403. Turntable; 404. Soft brush; 5. Guardrail; 6. Distance sensor; 7. Support frame; 8. Fixing device; 801. Mounting seat; 802. Third motor; 803. Drive disk; 804. Connecting rod; 805. Through hole; 806. Fixing plate; 807. Connecting column; 808. Connecting seat; 809. First cylinder; 810. Clamp; 811. Movable plate; 812. Pressure sensor Induction plate; 813, side contact pad; 814, third support plate; 815, second sleeve; 816, fourth motor; 817, second screw rod; 818, second cylinder; 819, pushing block; 820, front contact pad; 9, digging device; 901, fourth support plate; 902, fifth motor; 903, third screw rod; 904, third sleeve; 905, horizontal guide rod; 906, third cylinder; 907, vertical guide rod; 908, scraper; 909, scraper; 910, positioning cylinder; 911, movable rod; 912, second spring; 10, guide plate; 11, shell outlet; 12, abalone shell collection box; 13, abalone meat collection box; 14, loading platform; 1401, beam; 1402, belt; 1403, slot; 1404, limiting frame; 15, storage box. DETAILED DESCRIPTION

[0040] Example 1:

[0041] Reference Figure 1 , an abalone automatic slaughtering line equipment, including a conveying platform 1 for conveying abalone, a detection device 2, a manipulator 3, a direction adjustment device 4, a guardrail 5 device, a fixing device 8 and a digging device 9 are arranged in sequence on the conveying platform 1 along the conveying direction of the abalone, and also includes a controller, a driving motor of the conveying platform 1 is connected to the controller, and the operation of the conveying platform 1 is controlled by the controller.

[0042] Reference Figure 1 and 4 The detection device 2 in this embodiment includes a first support plate 201 arranged vertically, the lower end of the first support plate 201 is fixed to the side of the conveying platform 1, the upper end of the first support plate 201 is equipped with a first motor 202, and a vertical first screw rod 204 is arranged below the first motor 202. The output shaft of the first motor 202 is coaxially connected to the first screw rod 204, and a first sliding sleeve 203 that can slide up and down is sleeved on the first support plate 201. The first screw rod 204 is threadedly connected to the first sliding sleeve 203. The side of a sliding sleeve 203 is fixed with a vertical sleeve 205, sleeve 205 inside is sequentially provided with pressure sensor 209, contact block 208, the first spring 207 and connecting block 206 from top to bottom, contact block 208 and connecting block 206 can be movable in sleeve 205, the first spring 207 is in compressed state, below sleeve 205, be provided with vertical push rod, the upper end of push rod penetrates in sleeve 205 and is connected and fixed with connecting block 206, the lower end of push rod is positioned at above the central axis of delivery platform 1. Pressure sensor 209 is connected with the sampling signal input of controller, the first motor 202 is connected with controller, by controller control the first motor 202 forward and reverse rotation can drive sleeve 205 to move up and down at a uniform speed, when the lower end of push rod contacts with the abalone on delivery platform 1, if sleeve 205 continues to descend, now spring can be compressed shortened.

[0043] By marking placement points at equal intervals on the conveying platform 1, the distance between the detection device 2 and the manipulator 3 is just equal to the stroke of one beat of the conveying platform 1. Abalone are placed one by one on the placement points at the feed end of the conveying platform 1. The controller controls the running beat of the conveying platform 1. When the abalone moves to the bottom of the detection device 2 and the manipulator 3, the conveying platform 1 is suspended. After the pressure detection and turnover are completed, the conveying platform 1 resumes operation, thereby ensuring the detection of each abalone and turning over the abalone with the wrong direction.

[0044] If the abalone is with its shell facing upward (the back side facing upward), then when the edge of the abalone shell contacts the surface of the conveying platform 1, the sleeve 205 is continued to be pressed down, and thereafter the spring is linearly shortened, that is, the pressure transmitted to the pressure sensor 209 changes linearly; if the abalone is with its flesh facing upward (the front side facing upward), since the flesh is soft, then in the process of the sleeve 205 being pressed down, after the push rod contacts the flesh, the pressure transmitted to the pressure sensor 209 will not change linearly, and the pressure sensor 209 will detect the pressure value and feed it back to the controller, so that the controller can judge the front and back sides of the abalone on the conveying platform 1 by pressure detection.

[0045] The manipulator 3 in this embodiment is provided with a clamp for clamping abalone, and can perform actions in several dimensions, including opening and closing the clamp, rotating the clamp, and lifting and lowering the clamp.

[0046] Manipulator 3 is connected with controller, when controller judges that current abalone is when abalone shell is upward, then suspends conveying platform 1 when next beat, now the abalone with abalone shell upward is just below manipulator 3, then controller controls manipulator 3 to open and lower clamps, closes clamp and clamps abalone and moves up clamps, then clamps are rotated 180 degrees, lower clamps and open, thus abalone is turned over and put back into conveying platform 1, clamps are reset afterwards.So can ensure that the abalone meat of abalone is upward.

[0047] Since the shape of abalone is approximately elliptical, it has a long axis and a short axis. In order to ensure smooth subsequent digging of abalone meat, this production line must ensure that the long axis direction of the abalone is parallel to the conveying direction of the conveying platform 1.

[0048] Reference Figure 1 and 2 The direction adjustment device 4 in this embodiment includes a second support plate 402 arranged vertically, the lower end of the second support plate 402 is fixed to the side of the conveying platform 1, a second motor 401 is installed at the upper end of the second support plate 402, and a horizontal turntable 403 is provided below the second motor 401. The output shaft of the second motor 401 is coaxially connected to the turntable 403, the center of the turntable 403 is located above the central axis of the conveying platform 1, and a soft brush 404 for contacting the abalone is provided on the bottom surface of the turntable 403.

[0049] During the operation of the assembly line, the first motor 202 is always in operation, that is, the turntable 403 drives the soft brush 404 to rotate continuously. When the conveying platform 1 conveys the abalone to the bottom of the direction adjustment device 4, the soft brush 404 contacts the abalone and drives the abalone to rotate.

[0050] The guardrail 5 devices that next to the direction regulating device 4 are provided with are made up of two groups of guardrails 5 that are arranged in parallel on both sides of delivery platform 1, form the passage for abalone to pass through between two groups of guardrails 5, change the width of passage greater than the minor axis length of abalone and less than the major axis length of abalone.The entry end of guardrail 5 is outwardly bent so that the entry end of passage is funnel-shaped, so both helps abalone to enter smoothly in passage, and allows abalone to be driven by direction regulating device 4 while moving again, namely abalone can leave space to enter in passage, prevents abalone from being blocked in the entry end of passage.

[0051] After the direction regulating device 4 and the guardrail 5 device cooperate with each other, the abalones sent out from the guardrail 5 device all have their long axes parallel to the conveying direction.

[0052] A distance sensor 6 is provided directly above the guardrail 5 devices, and the probe of the distance sensor 6 is toward the conveying platform 1. The distance sensor 6 is connected to the sampling signal input of the controller. When no abalone passes through in the passage, the distance detection value output by the distance sensor 6 is constant; when an abalone passes through in the passage, the distance detection value output by the distance sensor 6 is dynamically changed. The signal output by the distance sensor 6 can be used to determine whether the abalone is blocked at the entrance of the passage, and the conveying platform 1 is suspended when congestion occurs; and it can be determined when the abalone passes through the distance sensor 6, so that the distance of the abalone from the tail end of the conveying platform 1 can be known, and then the abalone can be transported to the fixture 8 after calculating how long. At that time, the conveying platform 1 can be controlled to pause, and the conveying platform 1 is controlled to resume operation after the abalone has completed processing at the fixture 8. Ensure that the fixture 8 only processes an abalone at each time.

[0053] Reference Figure 1 In this embodiment, a fixture 8 is mounted on the discharge end of the conveying platform 1 via a support frame 7. A step is formed between the table top of the fixture 8 and the table top of the conveying platform 1, so that the fixture 8 can receive abalone delivered by the conveying platform 1. A downwardly curved guide plate 10 is provided between the tail end of the conveying platform 1 and the fixture 8. The guide plate 10 is fixedly connected to the conveying platform 1 and has a smooth surface. The guide plate 10 is used to guide the abalone at the tail end of the conveying platform 1 to the table top of the fixture 8. A shell outlet 11 is provided below the guide plate 10.

[0054] Reference Figure 1 、 Figure 5 and Figure 6The fixing device 8 in this embodiment includes a hollow mounting seat 801, and clamping mechanisms are symmetrically arranged on both sides of the mounting seat 801. The clamping mechanism includes a fixing plate 806, and a vertical first cylinder 809 is installed on the outer side of the fixing plate 806. A clamping plate 810 is arranged above the first cylinder 809. The push rod of the first cylinder 809 is connected to the clamping plate 810, and a movable plate 811 is provided on the inner side of the clamping plate 810 (that is, the side facing the mounting seat 801). The movable plate 811 is rotatably connected to the clamping plate 810 (the connection method between the movable plate 811 and the clamping plate 810 is a conventional shaft-hole connection, thereby realizing the rotation of the movable plate 811, and the shaft and hole are not shown in the figure). A plurality of groups of pressure sensing sheets 812 are fixed on the inner side of the movable plate 811 along its height direction. The pressure sensing sheet 812 is connected to the sampling signal input end of the controller, and an elastic side contact pad 813 is fixed on the inner side of the pressure sensing sheet 812. Multiple groups of connecting columns 807 are provided on the inner side surface of the fixing plate 806 along the width direction of the fixing device 8, and multiple groups of through holes 805 are provided on the mounting base 801. The connecting columns 807 are inserted into the through holes 805 one by one, so that the two groups of clamping mechanisms can move toward or away from each other.

[0055] A third motor 802 and a horizontal drive disc 803 are housed within mounting base 801. The output shaft of third motor 802 is coaxially connected to drive disc 803. A horizontal connecting rod 804 is interposed between drive disc 803 and fixed plate 806. The ends of connecting rod 804 are hingedly connected to drive disc 803 and fixed plate 806, respectively. The rotation of third motor 802 drives drive disc 803, which in turn drives connecting rod 804, thereby driving the two clamping mechanisms toward or away from each other.

[0056] A horizontal third support plate 814 is fixed at the tail end of the mounting seat 801, and a second sleeve 815 is sleeved on the third support plate 814. A fourth motor 816 is fixed at the tail end of the third support plate 814, and a second screw rod 817 is arranged in front of the fourth motor 816. The output shaft of the fourth motor 816 is coaxially connected to the second screw rod 817, and the second screw rod 817 is threadedly connected to the second sleeve 815. A vertical second cylinder 818 is fixed on the second sleeve 815, and a pushing block 819 is arranged above the second cylinder 818. The push rod of the second cylinder 818 is connected to the pushing block 819, and an elastic front contact pad 820 is provided on the surface of the pushing block 819 facing the mounting seat 801.

[0057] Reference Figure 1 、 Figure 7 and Figure 8In this embodiment, the digging device 9 is installed above the fixing device 8 through the support frame 7. The digging device 9 includes a fourth support plate 901 arranged horizontally. A fifth motor 902 is installed at the tail end of the fourth support plate 901. A third screw rod 903 is arranged in front of the fifth motor 902. The third screw rod 903 is parallel to the fourth support plate 901. The output shaft of the fifth motor 902 is coaxially connected to the third screw rod 903. A pair of horizontal guide rods 905 are arranged in parallel on the fourth support plate 901. A third sliding sleeve 904 is sleeved on the horizontal guide rod 905. The third screw rod 903 is threadedly connected to the third sliding sleeve 904. A scraper 908 is fixed at the bottom, and a spoon-shaped scraper 909 is arranged below the scraper 908. The blade of the scraper 909 faces the conveying direction of the conveying platform 1. A vertical positioning cylinder 910 is provided at the rear of the scraper 908. A movable rod 911 that can move up and down is provided in the positioning cylinder 910. The movable rod 911 passes through the positioning cylinder 910 and a limiting plate is fixed at its upper end. The lower end of the movable rod 911 is connected to the scraper 909. A second spring 912 is provided on the movable rod 911. The second spring 912 is used to drive the scraper 909 to move downward.

[0058] A pair of vertical guide rods 907 are fixed at both ends of the fourth support plate 901, and the vertical guide rods 907 can move through the support frame 7. A third cylinder 906 is also provided above the fourth support plate 901. The cylinder body of the third cylinder 906 is connected to the support frame 7, and the push rod of the third cylinder 906 is connected to the fourth support plate 901.

[0059] Reference Figure 1 and Figure 3 , the assembly line equipment in the present embodiment also comprises loading platform 14, loading platform 14 is tilted, and the feed end of loading platform 14 stretches in the storage box 15 of abalone, and the discharging end of loading platform 14 is connected with the feed end of conveying platform 1.On the belt 1402 of loading platform 14, multiple groups of slots 1403 are equidistantly provided with.When loading platform 14 is running, the abalone in the storage box 15 can be made to enter in the slot 1403 and abalone is reliably delivered to conveying platform 1, and the spacing between the abalone can also be equalized, is convenient to cooperate with the beat of conveying platform 1.Above the table top of loading platform 14, the restriction frame 1404 of " door " shape is also fixed, and restriction frame 1404 can prevent that abalone from stacking in loading platform 14, guarantees that there is only an abalone in a slot 1403.

[0060] Reference Figure 9The controller in this embodiment is PLC controlled. The output ends of the pressure sensor 209, the distance sensor 6 and the pressure sensing sheet 812 are all connected to the sampling signal input end of the PLC controller. The control end of the PLC controller is connected to each motor, each cylinder, the conveying platform 1 and the loading platform 14. The control end of the PLC controller is also connected to the manipulator 3 driver for controlling the motor, cylinder, manipulator 3 and platform.

[0061] Example 2:

[0062] An abalone slaughtering method applicable to the assembly line equipment in Example 1 comprises the following steps:

[0063] S1, abalone is transferred to the conveying platform 1 by the loading platform 14;

[0064] S2, convey abalone with certain beat by conveying platform 1, suspend conveying platform 1 when abalone moves to below detecting device 2, detect the pros and cons of abalone by detecting device 2, and conveying platform 1 resumes operation after detection is completed;

[0065] S3, suspend conveying platform 1 at next beat place, control manipulator 3 according to the last detected result of pick-up unit 2, if the last detected result is that abalone is facing up, then manipulator 3 does not move; If the last detected result is that abalone is facing up, then control manipulator 3 to turn over abalone;

[0066] S4, continue to convey abalone, drive abalone to rotate by direction regulating device 4 simultaneously, make abalone by a long and narrow passage, thereby make the major axis of abalone parallel to conveying direction; Detect abalone by distance sensor 6 in the process that abalone passes through passage, thereby determine when abalone will be transferred on fixture 8, the time that abalone can also be detected by distance sensor 6 and conveying speed obtain length data and height data of abalone;

[0067] S5, continue to convey abalone, suspend conveying platform 1 when abalone is transferred to fixture 8, and rotate the clamping mechanism on fixture 8 both sides to clamp the both sides of abalone by controller control 3rd motor 802, then control the 4th motor 816 to rotate and push piece 819 to contact with the tail end of abalone; Motor all adopts the mode of torque control, and controller judges whether clamping mechanism and pushing piece 819 contact with abalone according to the variation of motor torque, and when the torque of motor becomes large, controls motor to stop rotating, thereby realizes clamping and fixing of abalone, can not clip bad abalone again;

[0068] Taking into account the irregularity of the shape of the abalone, when the abalone is transferred to the table of the fixing device 8, it may appear that there is a large height difference on the left and right sides, that is, the left and right inclinations are higher, which may cause the blade of the scraper 909 to not fit well with the inner bottom surface of the abalone shell, resulting in incomplete digging. Therefore in the present embodiment, after fixture 8 clamped abalone, also the left and right tilting of abalone can be regulated, be specially: after the clamping mechanisms on fixture 8 both sides clamped the both sides of abalone, the both sides of abalone shell contacted with the position of different height positions on two side contact pads 813 respectively, and extruding force is delivered to the pressure sensing bar in the contact portion outside, because the initial height position of different pressure sensing bars is all known, after the both sides of abalone shell by the clamping mechanisms on its both sides, the pressure sensing bar of different height positions on its both sides detects pressure, and to controller feedback pressure signal, controller is according to the height difference of these two groups of pressure sensing bars, get half of the height difference value as compensation height value, and the cylinder of the clamping mechanism at highly lower pressure sensing sheet 812 place is controlled, make it drive clamping plate 810 to rise until the rising stroke of clamping plate 810 equals compensation height value, so namely realized the correction to abalone tilting, make the height of the left and right sides of abalone shell closer, guarantee that follow-up scraper 909 can more efficiently and thoroughly dig abalone meat. Then, the fourth motor 816 is controlled to make the pushing block 819 contact the abalone.

[0069] S6, determine where scraper 909 should move to the abalone head end according to the movement amount of abalone length data and pushing block 819, to guarantee that scraper 909 just can dig the edge of abalone meat when cutting, control the rotation number of the 4th motor 816 to make scraper 909 traverse to the top of required cutting position; According to the initial distance L1 of scraper 909 distance fixture 8 countertops, the height data L2 of abalone and the compression stroke L3 of the second spring 912, obtain the descending stroke Y (Y=L1-L2+K*L3 of scraper 909, K is a coefficient, determines its to value according to the average thickness of abalone shell, can adjust voluntarily according to actual conditions), control the 3rd cylinder 906 to make scraper 909 descend according to descending stroke, now, scraper 909 is just positioned at suitable cutting position, now, scraper 909 is in close contact with the inner edge bottom of abalone shell, and the second spring 912 is in maximum elastic state;

[0070] S7, control the fifth motor 902 to rotate in the opposite direction, drive the scraper 909 to dig the abalone meat from front to back, and the scraper 909 cuts the shell column, thereby separating the abalone meat from the abalone shell. During this process, the elastic force of the spring drives the blade of the scraper 909 to always be close to the bottom surface of the abalone shell. When the scraper 909 slides out from the tail end of the abalone shell, it contacts the front contact pad 820. At this time, the controller detects that the torque of the fifth motor 902 increases and controls the fifth motor 902 to stop running. Subsequently, the controller controls the fourth motor 816 to rotate in the opposite direction, driving the pushing block 819 to move back a short distance. At this time, the abalone meat automatically moves out due to the loss of the support of the pushing block 819. It falls into the abalone meat collection box 13 below the fixing device 8; then the controller controls the third motor 802 to reverse, so that the two sets of clamping mechanisms move back to back until they are reset, thereby loosening the abalone shell; then the controller controls the fourth motor 816 to rotate in the opposite direction and drive the pushing block 819 to move forward again, and the pushing block 819 pushes the empty abalone shell toward the shell outlet 11, so that the abalone shell falls from the shell outlet 11 and falls into the abalone shell collection box 12 below the shell outlet 11; finally, the controller controls the fourth motor 816, the fifth motor 902, the first cylinder 809 and the third cylinder 906 to completely reset the fixing device 8 and the digging device 9.

[0071] Considering that the curvature of the abalone shell at both ends is greater than the curvature of the middle section, when the scraper 909 digs the meat at the both ends of the abalone, the fit between the blade and the abalone shell may not be high, especially for some abalone shells with more unique shapes. At this time, the abalone meat may not be dug cleanly, resulting in waste.

[0072] In order to minimize waste, in this embodiment, when the scraper 909 reaches the lower cutting position, the controller controls the second cylinder 818 to rise a short distance. Since the movable plate 811 of the clamping mechanism can rotate relative to the clamping plate 810, the pushing block 819 pushes the tail end of the abalone upward, thereby causing the head end of the abalone to swing downward by a certain angle, thereby improving the fit between the scraper 909 and the head end of the abalone shell; and when the stroke of the scraper 909 is about to equal the length of the abalone, the controller controls the second cylinder 818 to descend a distance, thereby causing the tail end of the abalone to swing downward by a certain angle, thereby improving the fit between the scraper 909 and the tail end of the abalone shell, thereby reducing the waste of abalone meat.

[0073] When the pushing block 819 pushes the empty abalone shell out, the controller controls the second cylinder 818 to reset.

[0074] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. An automatic abalone slaughtering line equipment, characterized in that: include: A conveying platform for conveying abalone; The detection device includes a retractable pressure detection mechanism located above the conveying platform, which squeezes the abalone through the pressure detection mechanism and feeds back the pressure value fed back by the abalone to the controller; A manipulator is arranged behind the detection device along the conveying direction, and is used to clamp the abalone on the conveying platform, turn the abalone over, and place the turned abalone back on the conveying platform; A direction adjustment device is arranged behind the manipulator along the conveying direction and is used to contact the abalone on the conveying platform and drive the abalone to rotate; A guardrail device is arranged behind the direction adjustment device along the conveying direction, and the guardrail device has an interior that is a passage for abalone on the conveying platform to pass through, wherein the width of the passage is greater than the minor axis length of the abalone and less than the major axis width of the abalone, the feeding end of the passage is adjacent to the direction adjustment device, and the entrance end of the passage is funnel-shaped; The fixing device is arranged at the discharge end of the conveying platform, and a step is formed between the table top of the fixing device and the table top of the conveying platform, so that the fixing device can receive the abalone sent out by the conveying platform, and a downwardly curved guide plate is provided between the tail end of the conveying platform and the fixing device, and a shell outlet is provided below the guide plate; the fixing device comprises a hollow mounting seat, and a clamping mechanism is symmetrically provided on both sides of the mounting seat, and the clamping mechanism comprises a fixing plate, a splint driven to rise and fall by a first cylinder is provided on the outer side surface of the fixing plate, a movable plate is provided on the inner side surface of the splint, and the movable plate is rotatably connected to the splint, and a plurality of groups of pressure sensing sheets are fixed on the inner side surface of the movable plate along its height direction, the pressure sensing sheets are electrically connected to the controller, and an elastic side contact pad is fixed on the inner side surface of the pressure sensing sheet, The fixing plate is slidably connected to the mounting seat, and a third motor and a horizontal driving disk are installed in the mounting seat, and the output shaft of the third motor is coaxially connected to the driving disk, and a horizontal connecting rod is provided between the driving disk and the fixed plate, and two ends of the connecting rod are hinged to the driving disk and the fixed plate respectively. A horizontal third support plate is fixed at the tail end of the mounting seat, and a second sliding sleeve is sleeved on the third support plate, and a fourth motor is fixed at the tail end of the third support plate, and a second screw rod is provided in front of the fourth motor, and the output shaft of the fourth motor is coaxially connected to the second screw rod, and the second screw rod is threadedly connected to the second sliding sleeve, and a vertical second cylinder is fixed on the second sliding sleeve, and a pushing block is provided above the second cylinder, and the push rod of the second cylinder is connected to the pushing block, and an elastic front contact pad is provided on a surface of the pushing block facing the mounting seat; 1. a digging device, which is arranged above the fixing device, and is used to dig the abalone meat of the abalone on the fixing device; the digging device comprises the fourth supporting plate arranged horizontally, the fifth motor is housed at the tail end of the fourth supporting plate, the third screw rod is provided in front of the fifth motor, the third screw rod is parallel to the fourth supporting plate, the output shaft of the fifth motor is coaxially connected with the third screw rod, a pair of transverse guide rods are arranged in parallel on the fourth supporting plate, the third sliding sleeve is sleeved on the transverse guide rod, the third screw rod is threadedly connected with the third sliding sleeve, a scraper is fixed to the bottom of the third sliding sleeve, a spoon-shaped scraper is provided below the scraper, the blade of the scraper is towards the conveying direction of the conveying platform, a vertical positioning cylinder is provided at the rear portion of the scraper, a movable rod that can move up and down is provided in the positioning cylinder, the movable rod runs through the positioning cylinder and is fixed with a limit plate at its upper end, the lower end of the movable rod is connected with the scraper, the second spring is sleeved on the movable rod, the second spring is used to drive the scraper to move downward, the third cylinder is also provided above the fourth supporting plate, and the push rod of the third cylinder is connected with the fourth supporting plate; The controller is used to control the conveying platform, the manipulator, the direction adjustment device, the guardrail device, the fixing device and the digging device.

2. The abalone automatic slaughtering line equipment according to claim 1, wherein: A distance sensor for detecting abalone is provided above the channel, and the distance sensor is electrically connected to the controller.

3. Abalone automatic slaughtering line equipment according to claim 2, characterized in that: The detection device includes a first support plate arranged vertically, the lower end of the first support plate is fixed to the side of the conveying platform, the upper end of the first support plate is equipped with a first motor, and a vertical first screw rod is arranged below the first motor, the output shaft of the first motor is coaxially connected to the first screw rod, a first sliding sleeve that can slide up and down is sleeved on the first support plate, the first screw rod is threadedly connected to the first sliding sleeve, and a vertical sleeve is fixed on the side of the first sliding sleeve, and a pressure sensor, a contact block, a first spring and a connecting block are arranged in sequence inside the sleeve from top to bottom, the contact block and the connecting block can both move in the sleeve, the first spring is in a compressed state, and a vertical push rod is arranged below the sleeve, the upper end of the push rod penetrates into the sleeve and is fixedly connected to the connecting block, the lower end of the push rod is located above the central axis of the conveying platform, and the pressure sensor is electrically connected to the controller.

4. Abalone automatic slaughtering line equipment according to claim 2, characterized in that: It also includes a loading platform, which is set at an angle. The feeding end of the loading platform extends into the abalone storage box, and the discharging end of the loading platform is connected with the feeding end of the conveying platform. Multiple groups of slots are arranged at equal intervals on the belt of the loading platform, and a "door"-shaped limiting frame is fixed above the table top of the loading platform.

5. an abalone slaughtering method of the abalone automatic slaughtering line equipment as claimed in claim 4, characterized in that, The following steps are involved: S1, transfer abalone to the conveying platform through the loading platform; S2, convey abalone with certain beat by conveying platform, suspend conveying platform when abalone moves to below checking device, detect the pros and cons of abalone by checking device, conveying platform resumes operation after detection is completed; S3, suspend conveying platform at next beat place, control manipulator according to the last detected result of checking device, if last detected result is that abalone is facing up then manipulator does not move; If last detected result is that abalone is facing up then control manipulator to turn over abalone; S4, continue to convey abalone, drive abalone to rotate by direction regulating device simultaneously, make abalone by a long and narrow passage, thereby make the major axis of abalone parallel to the direction of conveyance; Detect abalone by distance sensor in the process of abalone by passage, thereby determine when abalone will be transferred to the fixture; S5, continue to convey abalone, suspend conveying platform when abalone is transferred to fixture, and control the 3rd motor to rotate the clamping mechanism on fixture both sides to clamp the both sides of abalone by controller, then control the 4th motor to rotate and push piece is contacted with the tail end of abalone; After the clamping mechanism on fixture both sides clamps the both sides of abalone, the pressure sensing sheet at abalone shell both sides different heights position detects pressure, and feeds back pressure signal to controller, controller is according to the height difference of the pressure sensing sheet at these two groups of different heights position, gets half of the height difference value as compensation height value, and the cylinder, i.e. the first cylinder, of the clamping mechanism at highly lower pressure sensing sheet place is controlled, it drives clamping plate to rise until the rising stroke of clamping plate equals compensation height value, then control the 4th motor, push piece is contacted with abalone; S6, determine where scraper should move to the abalone head end according to the movement amount of abalone length data and pushing block, to ensure that scraper can just dig the edge of abalone meat when cutting, control the rotation number of the 4th motor to make scraper traverse to the top of required cutting position; Obtain the descending stroke of scraper according to the initial distance of scraper distance fixture countertop, the height data of abalone and the compression stroke of the second spring, control the 3rd cylinder and scraper is descended according to descending stroke, now, scraper is just positioned at suitable cutting position, and now, scraper is in close contact with the inner edge bottom of abalone shell; S7, control the fifth motor to drive the scraper to dig the abalone meat from front to back, the scraper cuts the shell pillar, thereby separating the abalone meat from the abalone shell. During this process, the elastic force of the spring drives the blade of the scraper to always be close to the bottom surface of the abalone shell. When the scraper slides out from the tail end of the abalone shell, it contacts the front contact pad. At this time, the controller controls the fifth motor to stop running, and then the controller controls the fourth motor to drive the pushing block to move back a short distance. At this time, the abalone meat falls freely due to the loss of the support of the pushing block and falls into the abalone meat collection box below the fixing device; then the controller controls the third motor to move the two groups of clamping mechanisms back to back until they are reset, thereby loosening the abalone shell; afterwards, the controller controls the fourth motor to drive the pushing block forward again, and the pushing block pushes the empty abalone shell to the shell outlet, so that the abalone meat can be removed. The shell falls from the shell outlet and falls into the abalone shell collecting box below the shell outlet; finally, the controller controls the fourth motor, the fifth motor, the first cylinder and the third cylinder to completely reset the fixing device and the digging device; when the scraper reaches the lower cutting position, the controller controls the second cylinder to rise a short distance. Since the movable plate of the clamping mechanism can rotate relative to the clamping plate, the pushing block pushes the tail end of the abalone upward, so that the head end of the abalone swings downward by a certain angle, thereby improving the fit between the scraper and the head end of the abalone shell; and when the stroke of the scraper is about to equal the length of the abalone, the controller controls the second cylinder to descend a distance, so that the tail end of the abalone swings downward by a certain angle, thereby improving the fit between the scraper and the tail end of the abalone shell. When the pushing block pushes the empty abalone shell out, the controller controls the second cylinder to reset.

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