Shrimp body posture adjustment device and shrimp processing system

Abstract

The present invention relates to the technical field of shrimp body processing, and discloses a shrimp body posture adjustment device and a shrimp processing system, which include a conveying mechanism, an identification unit, a flipping mechanism and a correction mechanism. Based on the above structure, the shrimp body posture adjustment device of the present invention transports shrimp bodies through a conveying member with a U-shaped through groove, can adapt to shrimp bodies of various sizes, is relatively convenient to transport, and is neatly and uniformly transported. More importantly, after the shrimp body posture adjustment device identifies the posture of the shrimp body through the identification unit, it flips the shrimp body with the shrimp belly facing upward through the flipping mechanism, and pushes the tilted shrimp body to a corrected position through the correction mechanism, so that the conveyed shrimp body can reach the standard posture of the shrimp back facing upward and the shrimp belly facing downward, without the need for manual auxiliary adjustment, which is relatively time-saving and labor-saving, with a high degree of automation, and convenient for subsequent processing.

Description

Technical Field

[0001] The present invention relates to the technical field of shrimp body processing, in particular to a shrimp body posture adjustment device and a shrimp processing system. Background Art

[0002] In the field of shrimp feeding processing, due to the different shapes, sizes and degrees of curvature of shrimps, during the automated feeding processing of shrimps, before the precise processing of shrimps, the shrimps need to be standardized and uniformly shaped, and the posture of the shrimp bodies need to be adjusted to facilitate subsequent precise processing.

[0003] In the existing technology, the posture of the shrimp body is usually adjusted by manpower, which is time-consuming and labor-intensive, and has high labor costs; a small number of shrimp feeding devices have simple adjustment functions, but they cannot accurately adjust the shrimp body posture to the standard posture with the back facing up and the belly facing down, and still require manual assistance for adjustment. Summary of the Invention

[0004] The invention aims to provide a shrimp body posture adjustment device with high automation and flexible adjustment.

[0005] In order to achieve the above object, the present invention provides a shrimp posture adjustment device, which includes:

[0006] The conveying mechanism includes a conveying member and a first driving device, wherein the conveying member has a through slot with an upward notch, the through slot is U-shaped and is used to place shrimp bodies, and the driving device is used to drive the conveying member to move along the first direction A;

[0007] Recognition unit, used to recognize the posture of the shrimp;

[0008] The flipping mechanism includes a flipping clamp, wherein when the recognition unit recognizes that the shrimp body is in a posture with its belly facing upward, the flipping clamp is configured to clamp the shrimp body and flip it by a predetermined angle so that the shrimp body reaches a posture with its belly facing downward;

[0009] The correction mechanism includes a correction plate, which is configured to be inserted into the gap between the tilted side of the shrimp body and the through groove when the recognition unit recognizes that the shrimp body posture is tilted relative to the vertical plane, and push the shrimp body to the shrimp body posture with the shrimp belly facing downward.

[0010] In some embodiments of the present application, the through groove extends along a horizontal direction perpendicular to the first direction A;

[0011] Also includes:

[0012] The pushing device includes a pushing portion, which is configured to push the shrimp head or shrimp tail of the shrimp body toward the through slot when the identification unit identifies that the shrimp head or shrimp tail of the shrimp body protrudes from the through slot along the extension direction of the through slot by a distance greater than a predetermined distance.

[0013] In some embodiments of the present application, further comprising:

[0014] The straightening mechanism includes a pressing plate, which is configured to push the shrimp body toward the bottom of the through groove by a predetermined distance when the conveying member moves below the pressing plate.

[0015] In some embodiments of the present application, further comprising:

[0016] The pushing mechanism includes a push rod, which is located on the upstream side of the flipping clamp in the first direction A. The push rod is configured to push the shrimp body out of the through slot when the recognition unit recognizes that the direction of the shrimp head is opposite to the predetermined posture.

[0017] In some embodiments of the present application, a guide member is further included, wherein the guide member and the push rod are respectively arranged on both sides of the conveying member, and the guide member is formed with a slide groove, and the slide groove is arranged to be inclined downward relative to the horizontal plane.

[0018] In some embodiments of the present application, the flip clamp includes two oppositely disposed clips, and the two clips are configured to move closer to or farther away from each other;

[0019] The flipping mechanism includes a second driving device and a third driving device. The second driving device is used to drive the flipping fixture to rotate, and the third driving device is used to drive the two clamps to move closer to or away from each other.

[0020] In some embodiments of the present application, the clip includes an arc-shaped portion and a flat plate portion arranged on both sides of the arc-shaped portion, the arc-shaped portion is recessed in a direction away from the other clip and is arranged opposite to the through groove, the flat plate portion of one clip is arranged opposite to the flat plate portion of the other clip, and the two are arranged in parallel.

[0021] In some embodiments of the present application, the deflection-correcting sheet is made of an elastic material;

[0022] The deflection-correcting mechanism includes a fourth driving device, and the fourth driving device is used to drive the deflection-correcting plate to move.

[0023] In some embodiments of the present application, the deflection-correcting sheet is divided into a first deflection-correcting sheet and a second deflection-correcting sheet, wherein the first deflection-correcting sheet is located on the upstream side of the through-slot axis in the first direction A, and the second deflection-correcting sheet is located on the downstream side of the through-slot axis in the first direction A;

[0024] The fourth driving devices are provided in two and correspond one to one with the first deflection-correcting plate and the second deflection-correcting plate. The fourth driving devices are used to drive the first deflection-correcting plate or the second deflection-correcting plate to move up and down.

[0025] In some embodiments of the present application, the conveying mechanism includes a chain and a sprocket, the first driving device is in driving connection with the sprocket, and the chain is meshingly connected with the sprocket;

[0026] The conveying member includes a connecting member and a placement protrusion. The connecting member is connected to the chain and moves therewith. The placement protrusion is arranged on a side of the connecting member facing away from the chain. The placement protrusion is formed with the through groove.

[0027] Another object of the present invention is to provide a shrimp processing system, which includes the above-mentioned shrimp posture adjustment device.

[0028] The present invention provides a shrimp posture adjustment device, which has the following advantages compared with the prior art:

[0029] The shrimp posture adjustment device provided by the present invention includes a conveying mechanism, an identification unit, a flipping mechanism and a correcting mechanism. Based on the above structure, the shrimp posture adjustment device of the present invention transports shrimp bodies through a conveying member with a U-shaped through groove, which can be adapted to shrimp bodies of various sizes. The transportation is relatively convenient and the transportation is neat and uniform. More importantly, after the shrimp posture adjustment device identifies the posture of the shrimp body through the identification unit, it flips the shrimp body with the shrimp belly facing upward through the flipping mechanism, and pushes the tilted shrimp body to a corrected position through the correcting mechanism, so that the conveyed shrimp body can achieve the standard posture of the shrimp back facing upward and the shrimp belly facing downward, without the need for manual auxiliary adjustment, which is relatively time-saving and labor-saving, with a high degree of automation, and convenient for subsequent processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the overall structure of a shrimp posture adjustment device according to an embodiment of the present invention;

[0031] Figure 2 for Figure 1 A partial schematic diagram of area B in the middle;

[0032] Figure 3 Schematic top view of a shrimp posture adjustment device according to an embodiment of the present invention;

[0033] Figure 4 Schematic diagram of the structure of the conveying mechanism (omitting the chain and conveying member) of an embodiment of the present invention;

[0034] Figure 5 Schematic diagram of the structure of the recognition unit according to an embodiment of the present invention;

[0035] Figure 6 A schematic structural diagram of a turning mechanism according to an embodiment of the present invention;

[0036] Figure 7 Schematic diagram of the structure of the correction mechanism of an embodiment of the present invention;

[0037] Figure 8 This is a structural diagram of a straightening mechanism according to an embodiment of the present invention;

[0038] Figure 9 Schematic diagram of the control flow of the shrimp posture adjustment device according to an embodiment of the present invention.

[0039] In the figure: 1. conveying mechanism; 11. conveying member; 111. connecting member; 112. mounting protrusion; 113. through groove; 12. first driving device; 13. chain; 141. driving wheel; 142. driven wheel; 2. identification unit; 21. camera; 22. lighting component; 23. fixing frame; 3. ejection mechanism; 31. fifth driving device; 32. push rod; 4. guide member; 41. slide groove; 5. flipping mechanism; 51. clamping piece; 511. arc-shaped portion; 512. flat plate portion; 52. second driving device; 53. third driving device; 6. correcting mechanism; 61. first correcting plate; 62. second correcting plate; 63. fourth driving device; 7. straightening mechanism; 71. sixth driving device; 72. pressing plate; 81. seventh driving device; 82. first pushing portion; 83. second pushing portion; 9. frame. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0041] It should be understood that in the description of this application, the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. The terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated, that is, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In addition, unless otherwise specified, "multiple" means two or more.

[0042] It should be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0043] Example 1

[0044] like Figure 1 As shown, an embodiment of the present invention provides a shrimp posture adjustment device, which includes a frame 9, a processor, a conveying mechanism 1, an identification unit 2, a turning mechanism 5 and a correction mechanism 6.

[0045]

Conveying mechanism 1

[0046] See also Figure 1 、 Figure 2 and Figure 4 The conveying mechanism 1 is arranged on the frame 9 and includes a chain 13, a sprocket, a conveying member 11, and a first drive device 12. The sprocket is divided into a driving wheel 141 and a driven wheel 142. The first drive device 12 is a rotary motor for driving the conveying member 11 to move along the first direction A. The first drive device 12 is connected to the driving wheel 141 in a transmission connection. The driving wheel 141 and the driven wheel 142 are connected by the chain 13, and the chain 13 is meshed with the sprocket. The conveying member 11 includes a connecting member 111 and a placement protrusion 112. The connecting member 111 is connected to the chain 13 and moves therewith. Specifically, the connecting member 111 is plate-shaped and fixedly connected to the chain 13 to facilitate the conveying of the shrimp bodies. Of course, other transmission methods such as belt drive can also be used to drive the connecting member 111 to move along the first direction A. The placement protrusion 112 is located on the side of the connector 111 facing away from the chain 13. This protrusion 112 defines an upwardly facing through slot 113. This U-shaped slot 113 extends horizontally, perpendicular to the first direction A, for receiving the shrimp. It should be understood that the walls of the slot 113 are preferably at least partially or entirely curved. Of course, the walls of the slot 113 may also be partially or entirely flat. The slot 113 may also extend horizontally along the first direction A.

[0047]

Identification Unit 2

[0048] See also Figure 5The recognition unit 2 includes a visual recognition camera 21, a lighting component 22 and a fixing frame 23. The fixing frame 23 is arranged in a gate shape on the frame 9. The visual recognition camera 21 and the lighting component 22 are arranged on the fixing frame 23 and are located above the conveyor 11. The visual recognition camera 21 is electrically connected to the processor to collect the posture of the shrimp body and transmit it to the processor for recognition. The processor can analyze the grayscale image of the shrimp body. The image with a wide cross-section line is defined as the head image, the image with a narrow cross-section line is defined as the tail image, the edge curve with smooth and less curvature is the back feature, and the edge curve with more curvature is the abdomen feature. Of course, the back feature and the abdomen feature can also be identified by the bending direction. The method of collection and recognition is not limited to the above-mentioned recognition method. As long as the head, tail, back and abdomen features of the shrimp body can be identified by image features, the head and tail direction, dorsal and abdominal direction and other postures of the shrimp body in the through groove 113 can be identified.

[0049]

Turning mechanism 5

[0050] See also Figure 6 The flipping mechanism 5 includes a flipping fixture, a second drive device 52 and a third drive device 53. The flipping fixture includes two oppositely arranged clips 51, and the two clips 51 are configured to move closer to or farther away from each other. The second drive device 52 is specifically a rotary cylinder, which is electrically connected to the processor and is used to drive the flipping fixture to rotate. Of course, it can also be other drive devices such as a rotary motor. The third drive device 53 is specifically a finger cylinder, which is electrically connected to the processor. It is linked to the second drive device 52 through a connecting sleeve and is used to drive the two clips 51 closer to or farther away from each other. Of course, the third drive device 53 can also be other forms of drive devices.

[0051] The flipping fixture is configured to, when the recognition unit 2 identifies a shrimp with its belly facing upward, grip the shrimp and flip it by a predetermined angle, so that the shrimp is positioned with its belly facing downward. In this embodiment, the flipping fixture can perform a 180° flip, so that the shrimp with its belly facing upward is flipped to a position with its belly facing downward. Of course, the flipping fixture can also be configured to perform a flipping operation of 0 to 180 degrees.

[0052] In order to better grip the shrimp body for flipping, optionally, Figure 6As shown, in this embodiment, the clips 51 include an arcuate portion 511 and flat portions 512 disposed on either side of the arcuate portion 511. The arcuate portion 511 is recessed in a direction away from the other clip 51 and is disposed directly opposite the through slot 113. The flat portion 512 of one clip 51 is disposed opposite and parallel to the flat portion 512 of the other clip 51. Based on this, the arcuate portions 511 of the two clips 51 are disposed opposite each other. When the two clips 51 are close to each other, a certain clamping position is formed, thereby clamping the shrimp without damaging the shrimp. The flat portions 512 provide auxiliary clamping for the shrimp's whiskers, legs, and other parts, thereby making the shrimp's flipping more accurate and convenient.

[0053]

Correction mechanism 6

[0054] See also Figure 7 The correcting mechanism 6 includes a correcting plate and a fourth drive device 63. The correcting plate is configured to be inserted into the gap between the tilted side of the shrimp body and the through slot 113 when the recognition unit 2 recognizes that the shrimp body posture is tilted relative to the vertical plane, and push the shrimp body to the shrimp body posture with the shrimp belly facing downward. Specifically, the correcting plate is divided into a first correcting plate 61 and a second correcting plate 62. The first correcting plate 61 is located on the upstream side of the axis of the through slot 113 in the first direction A, and the second correcting plate 62 is located on the downstream side of the axis of the through slot 113 in the first direction A. The fourth drive device 63 is provided with two and corresponds to the first correcting plate 61 and the second correcting plate 62 one by one. The fourth drive device 63 is specifically a stroke cylinder, which is electrically connected to the processor. One of the fourth drive devices 63 is used to drive the first correcting plate 61 to rise and fall, and the other fourth drive device 63 is used to drive the second correcting plate 62 to rise and fall. When the shrimp body tilts in a direction away from the first direction A relative to the vertical plane (tipping toward the upstream side), the fourth drive device 63 drives the first correcting plate 61 to descend and extend into the gap between the upstream side of the shrimp body and the through slot 113, pushing the shrimp body to flip over to a posture with the shrimp belly facing downward. When the shrimp body tilts in the first direction A (tipping toward the downstream side), the fourth drive device 63 drives the second correcting plate 62 to descend and extend into the gap between the downstream side of the shrimp body and the through slot 113, pushing the shrimp body to flip over to a posture with the shrimp belly facing downward. Based on this, it is ensured that any shrimp body that is tilted can be corrected to a posture with the shrimp back facing upward and the shrimp belly facing downward.

[0055] To better fit the through slot 113 and facilitate pushing the shrimp, as shown in FIG7 , in this embodiment, the deflection-correcting plate is optionally made of an elastic material. Specifically, the deflection-correcting plate is a plastic spring plate, which is connected to the fourth drive device 63 via a spring plate clamp. Thus, when the deflection-correcting plate extends into the through slot 113 and contacts the curved wall of the through slot 113, it deforms to push the shrimp to a standard position. After exiting the through slot 113, the deflection-correcting plate returns to its original position, thereby better fitting the through slot 113 and facilitating pushing the shrimp. The provision of an elastically deformable deflection-correcting plate eliminates the need for a drive device to drive the deflection-correcting plate to move laterally. Instead, a fourth drive device 63 is required to drive the deflection-correcting plate upward and downward. Furthermore, the elastically deformable deflection-correcting plate pushes the shrimp along the wall of the through slot 113. This provides a gentler push without damaging the shrimp and more easily ensures that the shrimp is pushed to a standard position.

[0056] Based on the above structure, the shrimp posture adjustment device of the present invention transports shrimp bodies through a conveying member 11 with a U-shaped through groove 113, which can be adapted to shrimp bodies of various sizes, is more convenient to transport, and is neatly and uniformly transported. More importantly, after the shrimp posture adjustment device identifies the posture of the shrimp body through the identification unit 2, it flips the shrimp body with the shrimp belly facing up through the flipping mechanism 5, and pushes the tilted shrimp body to a corrected position through the correction mechanism 6, so that the transported shrimp body can achieve the standard posture of the shrimp back facing up and the shrimp belly facing down, without the need for manual auxiliary adjustment, which is more time-saving and labor-saving, has a high degree of automation, and is convenient for subsequent processing.

[0057]

Introduction of Agency 3

[0058] Alternatively, as Figure 1 and Figure 3 As shown, in this embodiment, the shrimp posture adjustment device further includes a push-out mechanism 3, which includes a fifth drive device 31 and a push rod 32. The push rod 32 is located upstream of the flipping fixture in the first direction A and downstream of the identification unit 2. The push rod 32 is configured to push the shrimp body out of the through slot 113 when the identification unit 2 recognizes that the shrimp head is facing opposite to the predetermined posture. The fifth drive device 31 is electrically connected to the processor and is used to drive the push rod 32 to move. It should be understood that the outer diameter of the push rod 32 is no greater than the width of the through slot 113, so that the push rod 32 can extend into the through slot 113 to push the shrimp body. Based on this, shrimp bodies with opposite head and tail directions can be pushed out of the conveying mechanism 1 to ensure that the shrimp bodies output from the conveying mechanism 1 have the same head and tail orientation.

[0059] To catch and recover the pushed out shrimp, optionally, e.g. Figure 1 and Figure 3As shown, in this embodiment, the shrimp posture adjustment device further includes a guide member 4, which is mounted on the frame 9 and is disposed on either side of the conveyor 11 along with the push rod 32. The guide member 4 is formed with a chute 41, which is tilted downward relative to the horizontal plane. Thus, the shrimp pushed out by the push rod 32 can slide along the chute 41 to the recovery system.

[0060]

Straightening mechanism 7

[0061] Alternatively, as Figure 1 and Figure 8 As shown, in this embodiment, the shrimp body posture adjustment device also includes a straightening mechanism 7, which includes a sixth drive device 71 and a pressing plate 72. The pressing plate 72 is configured to push the shrimp body toward the bottom of the through slot 113 by a predetermined distance when the conveying member 11 moves to the bottom of the pressing plate 72. The sixth drive device 71 is specifically a stroke cylinder, which is electrically connected to the processor and is used to drive the pressing plate 72 to move up and down. Preferably, the pressing plate 72 is concavely arc-shaped, and is concave in the direction away from the through slot 113. Based on this, the pressing plate 72 can straighten the shrimp body in the through slot 113, so that the shape of the shrimp body is more uniform and beautiful, which is convenient for subsequent processing; and the concave arc-shaped pressing plate 72 can adapt to the shape of the shrimp body, and can avoid damage to the shrimp body while straightening the shrimp body.

[0062]

Pushing mechanism

[0063] Alternatively, as Figure 1 and Figure 3 As shown, in this embodiment, the shrimp posture adjustment device also includes a pushing device. The pushing device includes a seventh driving device 81 and a pushing portion. The pushing portion is configured to push the shrimp head or tail toward the through slot 113 when the recognition unit 2 identifies that the shrimp head or tail protrudes from the through slot 113 by a distance greater than a predetermined distance along the extension direction of the through slot 113. Specifically, the pushing portion comprises a first pushing portion 82 and a second pushing portion 83. The first pushing portion 82 and the second pushing portion 83 are respectively located on either side of the conveying member 11. The first pushing portion 82 is used to push the protruding shrimp head, and the second pushing portion 83 is used to push the protruding shrimp tail. Two seventh driving devices 81 are provided, which are electrically connected to the processor, one of which is used to drive the first pushing portion 82, and the other is used to drive the second pushing portion 83. Based on this, the pushing of the pushing portion can align the head and tail of the shrimp on the conveying mechanism 1, so that the shrimp body is maintained in the predetermined position in the through slot 113, facilitating subsequent accurate processing. Of course, a manipulator or other clamps may also be used to adjust the position of the shrimp body in the through slot 113 .

[0064] See also Figure 3 and Figure 9 The working process of the shrimp posture adjustment device provided by the embodiment of the present invention is as follows:

[0065] The individual shrimps are placed one by one into the U-shaped through groove 113 by automatic feeding, and are placed in a "uniform standard" manner with the shrimp heads and tails facing the same direction, the shrimp backs facing up, and the shrimp bellies facing down. However, due to the different shapes of the shrimp bodies, it is difficult for automatic feeding to place the shrimps into the through groove 113 at one time to achieve the "uniform standard" placement. After the shrimp bodies are placed into the through groove 113, with the transmission of the chain 13, the through groove 113 loaded with the shrimp bodies passes through the identification unit 2, and the posture of the shrimp bodies is identified through the identification camera 21 above the through groove 113. The processor analyzes the shrimp body posture morphological information and converts it into control instruction information, thereby controlling the pushing mechanism 3, the flipping mechanism 5, the correction mechanism 6, the straightening mechanism 7, and the pushing mechanism to intervene and correct the shrimp bodies, so that the posture of the shrimp bodies in the through groove 113 reaches the uniform standard manner of placement with the shrimp heads and tails facing the same direction, the shrimp backs facing up, and the shrimp bellies facing down. The shrimp body posture morphology identified by the identification unit 2 includes but is not limited to the following situations:

[0066] In the first case, the shrimp body is in the through slot 113 with its head facing forward and its tail facing backward (the front-to-back direction can be uniformly determined according to the specific working conditions and processing requirements). The visual recognition system recognizes that the shrimp body in the through slot 113 has its head and tail facing in opposite directions. The shrimp body with its head and tail facing in opposite directions cannot be transferred to the subsequent process for shrimp body processing. The processor records the position information of the shrimp body with incorrect head and tail orientation. When the through slot 113 loaded with the shrimp body reaches the corresponding position of the ejection mechanism 3, the processor controls the ejection mechanism 3 to operate, and the push rod 32 directly pushes the shrimp body in the through slot 113 out of the through slot 113, causing the shrimp body to fall into the chute 41 and slide into the shrimp collection bucket.

[0067] In the second scenario, the recognition unit 2 recognizes that the posture of the shrimp body in the through groove 113 is that the shrimp abdomen is facing upward, and the processor records the posture information of the shrimp body with the abdomen facing upward. When the through groove 113 is loaded with the shrimp body and reaches the position corresponding to the flipping mechanism 5, the processor controls the flipping mechanism 5 to operate, clamps the shrimp head and rotates 180 degrees, twists the shrimp body 180 degrees, so that the shrimp back faces upward and the abdomen faces downward, achieving the correct dorsal-ventral posture, and then transports it to the correcting mechanism 6; when passing through the correcting mechanism 6, the dorsal-ventral orientation of the shrimp body has been corrected, and the correcting mechanism 6 does not operate. When passing through the straightening mechanism 7, the pressing piece 72 is pressed down to straighten the shrimp body, and then the pushing mechanism is activated, so that the shrimp body is transported to the next processing point in the correct shape;

[0068] In the third scenario, the visual recognition system recognizes that the posture of the shrimp body in the through slot 113 is that the abdomen of the shrimp body is facing the upstream side of the through slot 113, and the shrimp body is in a left-leaning posture. The processor records the posture information of the abdomen of the shrimp body facing the upstream side of the through slot 113. When the through slot 113 loaded with the shrimp body passes through the pushing mechanism 3 and the turning mechanism 5, it does not move. When it reaches the position corresponding to the first correcting plate 61, the processor controls the first correcting plate 61 to move. The first correcting plate 61 presses down toward the through slot 113, pushing the abdomen of the shrimp body to the bottom of the through slot 113, so that the posture of the shrimp body is corrected to the correct posture with its back facing up and its abdomen facing down. The through slot 113 does not move when passing through the second correcting plate 62. When passing through the straightening mechanism 7, the pressing plate 72 presses down to straighten the shrimp body, and then the pushing mechanism is activated, and the shrimp body is transported to the next processing point in the correct shape.

[0069] In the fourth scenario, the visual recognition system recognizes that the posture of the shrimp body in the through slot 113 is that the abdomen of the shrimp body is facing the downstream side of the through slot 113, and the shrimp body is in a right-leaning posture. The processor records the posture information of the shrimp body's abdomen facing the downstream side of the through slot 113. When the through slot 113 loaded with the shrimp body passes through the pushing mechanism 3, the turning mechanism 5, and the first correcting plate 61, none of them moves. When it reaches the position corresponding to the second correcting plate 62, the processor controls the second correcting plate 62 to move, and the second correcting plate 62 presses down toward the through slot 113, pushing the abdomen of the shrimp body to the bottom of the through slot 113, so that the posture of the shrimp body is corrected to the back facing up and the abdomen facing down. When the through slot 113 passes through the straightening mechanism 7, the pressing plate 72 presses down to straighten the shrimp body, and then the pushing mechanism is activated, and the shrimp body is transported to the next processing point in the correct shape.

[0070] In the fifth scenario, the visual recognition system recognizes that the shrimp body is in the through slot 113 with the shrimp head protruding forward. The through slot 113 does not move when passing through the pushing mechanism 3, the turning mechanism 5, and the correcting mechanism 6. The pressing piece 72 presses down to straighten the shrimp body when passing through the shrimp straightening device. Then the first pushing part 82 is activated to push the shrimp body backward in the through slot 113 from the shrimp head end, so that the shrimp head is aligned with the set position, and the shrimp body is transported to the next processing point in the correct shape.

[0071] In the sixth case, the visual recognition system recognizes that the posture of the shrimp body in the through groove 113 is that the shrimp tail protrudes backward. The through groove 113 does not move when passing through the pushing mechanism 3, the flipping mechanism 5, and the correcting mechanism 6 until it passes through the shrimp straightening device. The pressing piece 72 is pressed down, and the shrimp body is straightened. Then the second pushing part 83 is activated, pushing the shrimp body forward in the through groove 113 from the tail end, so that the shrimp tail is aligned with the set position, and the shrimp body is transported to the next processing point in the correct shape.

[0072] The present invention also provides a shrimp processing system including the above-mentioned shrimp posture adjustment device. Due to the use of the above-mentioned shrimp posture adjustment device, the shrimp body can be accurately processed with high processing efficiency and high yield.

[0073] Example 2

[0074] The difference between this embodiment and embodiment 1 is that a single correcting plate is provided, and the correcting plate is driven by a moving mechanism to move to the left or right side of the through slot 113, so that the left and right tilting postures of the shrimp body can be corrected by a single correcting plate.

[0075] In summary, the embodiment of the present invention provides a shrimp posture adjustment device, which is mainly composed of a conveying mechanism 1, an identification unit 2, a flipping mechanism 5 and a correction mechanism 6. Compared with the prior art, the shrimp posture adjustment device has the following advantages:

[0076] 1. The shrimp posture adjustment device of the present invention transports shrimps through a conveying member with a U-shaped through groove, which can adapt to shrimps of various sizes, making transportation more convenient and transporting neatly and uniformly.

[0077] 2. After the shrimp posture adjustment device identifies the posture of the shrimp body through the identification unit, it flips the shrimp body with its belly facing upward through the flipping mechanism, and pushes the tilted shrimp body to a corrected position through the correction mechanism, so that the conveyed shrimp body can reach the standard posture of the shrimp back facing upward and the shrimp belly facing downward. No manual auxiliary adjustment is required, which is more time-saving and labor-saving, has a high degree of automation, and is convenient for subsequent processing.

[0078] 3. The push-out mechanism can push shrimp bodies with their heads and tails facing in opposite directions out of the conveying mechanism to ensure that the shrimp bodies output from the conveying mechanism have the same head and tail directions, making the shrimp processing more flexible.

[0079] 4. The pressing piece of the straightening mechanism can straighten the shrimp body in the through groove, making the shrimp body more uniform and beautiful, which is convenient for subsequent processing; and the concave arc-shaped pressing piece can adapt to the shape of the shrimp body, avoiding damage to the shrimp body while straightening the shrimp body.

[0080] 5. The pushing part of the pushing mechanism can align the heads and tails of the shrimp bodies on the conveying mechanism by pushing, so that the shrimp bodies are kept in a predetermined position in the through groove, which is convenient for subsequent accurate processing.

[0081] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A shrimp posture adjustment device, characterized in that: include: A conveying mechanism comprising a conveying member and a first driving device, wherein the conveying member has a through slot with an upward notch, the through slot is U-shaped and is used to place shrimp bodies, and the driving device is used to drive the conveying member to move along a first direction A, and the through slot extends in a horizontal direction perpendicular to the first direction A; A recognition unit for recognizing the posture of the shrimp; The flipping mechanism includes a flipping clamp, wherein the flipping clamp is configured to clamp the shrimp body and flip it by a predetermined angle when the recognition unit recognizes that the shrimp body is in a posture with the shrimp belly facing upward, so that the shrimp body reaches a posture with the shrimp belly facing downward; the flipping clamp includes two oppositely arranged clips, and the two clips are configured to be able to move closer to or away from each other; the flipping mechanism includes a second driving device and a third driving device, the second driving device is used to drive the flipping clamp to rotate, and the third driving device is used to drive the two clips to move closer to or away from each other; the clip includes an arc-shaped portion and a flat plate portion provided on both sides of the arc-shaped portion, the arc-shaped portion is concave in a direction away from the other clip and is arranged opposite to the through slot, the flat plate portion of one clip is arranged opposite to the flat plate portion of the other clip, and the two are arranged in parallel; The correction mechanism includes a correction piece, wherein when the recognition unit recognizes that the shrimp belly is tilted relative to the vertical plane, the correction piece is configured to be inserted into the gap between the tilted side of the shrimp body and the through groove, and push the shrimp body to the shrimp body posture with the shrimp belly facing downward; a pushing device comprising a pushing portion configured to push the shrimp head or tail toward the through slot when the recognition unit recognizes that the shrimp head or tail of the shrimp body protrudes from the through slot by a distance greater than a predetermined distance in the extending direction of the through slot; a straightening mechanism, comprising a pressing sheet, wherein the pressing sheet is configured to push the shrimp body toward the bottom of the through slot by a predetermined distance when the conveying member moves below the pressing sheet; The pushing mechanism includes a push rod, which is located on the upstream side of the flipping clamp in the first direction A. The push rod is configured to push the shrimp body out of the through slot when the recognition unit recognizes that the direction of the shrimp head is opposite to the predetermined posture.

2. The shrimp posture adjustment device according to claim 1, characterized in that: The deflection-correcting sheet is made of elastic material; The deflection-correcting mechanism includes a fourth driving device, and the fourth driving device is used to drive the deflection-correcting plate to move.

3. The shrimp posture adjustment device according to claim 2, characterized in that: The deflection-correcting sheet is divided into a first deflection-correcting sheet and a second deflection-correcting sheet, wherein the first deflection-correcting sheet is located on the upstream side of the through-slot axis in the first direction A, and the second deflection-correcting sheet is located on the downstream side of the through-slot axis in the first direction A; The fourth driving devices are provided in two and correspond one to one with the first deflection-correcting plate and the second deflection-correcting plate. The fourth driving devices are used to drive the first deflection-correcting plate and the second deflection-correcting plate to move up and down.

4. The shrimp posture adjustment device according to claim 1, characterized in that: The conveying mechanism includes a chain and a sprocket, the first driving device is in driving connection with the sprocket, and the chain is meshingly connected with the sprocket; The conveying member includes a connecting member and a placement protrusion. The connecting member is connected to the chain and moves therewith. The placement protrusion is arranged on a side of the connecting member facing away from the chain. The placement protrusion is formed with the through groove.

5. A shrimp processing system, characterized in that: It comprises the shrimp posture adjustment device as described in any one of claims 1-4.

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