Squid clamping mechanism and automatic feeding equipment for squids in unknown states

Abstract

The present invention relates to the technical field of seafood processing equipment, specifically referring to a squid clamping mechanism and an unknown-state squid automatic feeding device. A squid clamping mechanism includes a clamping support frame. On one side of the clamping support frame, there is a squid tail limit and fixing component, and on the other side, there is a squid body limit and fixing component. The squid tail limit and fixing component includes a suction cup and a vacuum generator. Between the two suction cups, there are two ear handle clamping plates. The squid body limit and fixing component includes a body clamping cylinder and a body clamping plate. On the clamping support frame, there is a clamping and pressing mechanism. An unknown-state squid automatic feeding device includes a frame and a control system. On the frame, there are a conveying mechanism, a visual recognition mechanism, and the above-mentioned squid clamping mechanism. The squid clamping mechanism is fixedly connected to the frame through a robotic arm. The structure of the present invention is ingenious, the squid can be grasped accurately and stably, the posture of the squid can be automatically adjusted, the feeding efficiency is high, and the labor cost is low.

Description

Technical Field

[0001] The present invention relates to the technical field of seafood processing equipment, and specifically refers to a squid clamping mechanism and an automatic feeding equipment for squids in an unknown state. Background Art

[0002] Squids, as a kind of seafood with delicious and juicy meat, are widely loved by consumers. The processing volume and consumption volume of squids in China rank first in the world. In the existing technology, the grasping of squids can only be manually operated. When manually grasping squids, if grasped too tightly, the skin of the squids is easily damaged; if grasped too loosely, the squids will slip off. Not only does it need to be grasped again, but also the slipping of the squids is likely to cause damage to the squids. In addition, frequent manual grasping increases the labor intensity of workers. Moreover, although some squid automatic processing equipment has appeared on the market, the feeding of these equipment still requires manual picking of squids, adjusting the squids to appropriate positions and angles, and then placing them on the designated feeding stations for subsequent processing. Such a feeding method has low production efficiency and insufficient process automation, greatly increasing the labor cost and operation intensity. Summary of the Invention

[0003] The purpose of the present invention is to solve the deficiencies of the existing technology and provide a squid clamping mechanism and an automatic feeding equipment for squids in an unknown state, which have a clever structure, accurate and stable squid grasping, automatic adjustment of squid postures, high feeding efficiency, and low labor cost.

[0004] To achieve the above purpose, the technical solution adopted by the present invention is:

[0005] A squid clamping mechanism, characterized in that: it includes a clamping support frame, a squid tail limiting and fixing component is arranged on one side of the clamping support frame, and a squid body limiting and fixing component is arranged on the other side. The squid tail limiting and fixing component and the squid body limiting and fixing component are respectively connected to the clamping support frame, so as to limit and fix the tail of the squid through the squid tail limiting and fixing component, and clamp the squid body through the squid body limiting and fixing component to tightly clamp the squid.

[0006] The squid tail limiting and fixing component of the present invention includes a suction cup and a vacuum generator. Two suction cups are arranged at intervals on one side of the clamping support frame. The upper end of the suction cup is fixedly connected to the clamping support frame. The suction cup is driven by the vacuum generator, and the vacuum generator is fixedly connected to the clamping support frame, so as to facilitate the adsorption of the two tail fins of the squid by the suction cup to fix the squid.

[0007] Two ear handle clamping plates are arranged between the two suction cups of the present invention. The two ear handle clamping plates are driven to open or close by an ear handle clamping cylinder. The ear handle clamping cylinder is fixed on the clamping support frame, so as to facilitate the clamping of the ear handle between the two fins of the squid by the ear handle clamping plates to prevent the squid from falling off.

[0008] The squid carcass limiting and fixing component of the present invention includes a carcass clamping cylinder and a carcass clamping plate. A carcass clamping cylinder is provided on the other side of the clamping support frame. Carcass clamping plates are respectively provided on the two clamping jaws of the carcass clamping cylinder. The carcass clamping plates are fixedly connected to the clamping jaws. The two carcass clamping plates are driven by the carcass clamping cylinder to open or close, so as to facilitate clamping the squid carcass through the carcass clamping plates.

[0009] A clamping and pressing mechanism is provided on the clamping support frame of the present invention. The clamping and pressing mechanism includes a fixed seat and a pressing drive cylinder. The fixed seat is provided above the clamping support frame. A pressing drive cylinder is provided between the clamping support frame and the fixed seat. The clamping support frame is connected to the fixed seat through the pressing drive cylinder, so as to facilitate driving the clamping support frame to move downward through the pressing drive cylinder, and clamping and fixing the squid through the squid tail limiting and fixing component and the squid carcass limiting and fixing component.

[0010] An automatic feeding device for squids in an unknown state includes a frame and a control system. It is characterized in that: a conveying mechanism, a vision recognition mechanism and the above-mentioned squid clamping mechanism are provided on the frame. The conveying mechanism is connected to the frame. A vision recognition mechanism and a squid clamping mechanism are provided above the conveyor belt of the conveying mechanism. The vision recognition mechanism is connected to the frame. The clamping support frame of the squid clamping mechanism is fixedly connected to the frame through a robotic arm. The squid clamping mechanism, the robotic arm, the vision recognition mechanism and the conveying mechanism are respectively connected to the control system, so as to facilitate the vision recognition mechanism to recognize the posture of the squids on the conveyor belt, transmit this signal to the control system, and the control system drives the squid clamping mechanism to clamp the squids, drives the robotic arm to adjust the posture of the squids, and places them at the designated station after the position is appropriate, realizing automatic feeding.

[0011] The vision recognition mechanism of the present invention includes a camera, a vision support frame, a light source and a light shield. The camera is provided above the conveyor belt of the conveying mechanism. The lens of the camera faces the conveyor belt directly. The camera is fixed on the vision support frame. Light sources are respectively provided above the two sides of the conveyor belt along the conveying direction. Light shields are provided around the light sources. The light sources are arranged facing the conveyor belt. The light sources and the light shields are respectively fixedly connected to the vision support frame, so as to facilitate scanning the squids on the conveyor belt through the camera and obtaining information such as the position, angle and ventral-dorsal posture of each squid.

[0012] A light source height adjustment mechanism is provided on the light source of the present invention. The light source height adjustment mechanism includes a light source height adjustment plate and a locking member. A slideway is provided on the vision support frame. The light source height adjustment plate is provided on one side of the light source. The light source is fixedly connected to the light source height adjustment plate. A locking member is provided between the light source height adjustment plate and the slideway. The light source height adjustment plate is slidably connected to the slideway up and down. The light source height adjustment plate is fixedly connected to the vision support frame through the locking member, so as to drive the light source to move up and down through the light source height adjustment plate.

[0013] The locking member in the present invention is a T-shaped nut. The T-shaped nut includes a screw rod and a slider. A threaded hole is provided on the slider. The slider is arranged in the slideway, and the slider is slidably connected to the slideway. A threaded hole is provided on the light source height adjustment plate. The screw rod passes through the light source height adjustment plate and is threadedly connected to the slider. The screw rod is threadedly connected to the light source height adjustment plate. When in use, when the screw rod is rotated to drive the slider away from the side wall of the slideway, the slider is slidably connected to the slideway. When the screw rod is rotated to drive the slider to be close to the side wall of the slideway, the position of the slider and the slideway is fixed, that is, the position of the light source height adjustment plate is fixed.

[0014] A light source angle adjustment mechanism is provided on the light source in the present invention. The light source angle adjustment mechanism includes a light source angle adjustment plate, a rotating shaft, and a set screw. The light source angle adjustment plate is provided on the light source. The light source angle adjustment plate is fixedly connected to the light source. A rotating shaft is provided between the light source angle adjustment plate and the light source height adjustment plate. The light source angle adjustment plate is hinged to the light source height adjustment plate through the rotating shaft. A set screw is provided on the light source angle adjustment plate and / or the light source height adjustment plate. Threaded holes are provided on the light source angle adjustment plate and / or the light source height adjustment plate. The set screw is threadedly connected to the threaded hole and abuts against the rotating shaft to fixedly connect the light source angle adjustment plate and the light source height adjustment plate, so as to adjust the angle of the light source by rotating the light source angle adjustment plate through the rotating shaft, and lock and fix it with the set screw after the angle is appropriate.

[0015] The conveying mechanism in the present invention includes a driving shaft, a driven shaft, and a conveyor belt driving motor. One end of the machine frame along the conveying direction is provided with a driving shaft, and the other end is provided with a driven shaft. The driving shaft and the driven shaft are respectively fixedly connected to the machine frame through bearings. The driving shaft is driven by the conveyor belt driving motor. The conveyor belt driving motor is fixed on the machine frame. The conveyor belt is sleeved on the driving shaft and the driven shaft, so as to drive the conveyor belt to move through the conveyor belt driving motor and realize the movement of the squid along the conveying direction.

[0016] An encoder is provided on the conveyor belt in the present invention. The output shaft of the encoder abuts against the surface of the conveyor belt. The encoder is fixed on the machine frame. The encoder is connected to the control system to continuously monitor the conveying speed of the conveyor belt through the encoder.

[0017] Due to the adoption of the above structure, the present invention has the advantages of ingenious structure, accurate and stable squid grasping, automatic adjustment of squid posture, high feeding efficiency, and low labor cost. Description of the Drawings

[0018] Figure 1 It is a schematic structural diagram of the automatic feeding device for squid in an unknown state of the present invention.

[0019] Figure 2 It is the present invention Figure 1Front view.

[0020] Figure 3 It is an enlarged schematic view of the visual recognition mechanism in the present invention.

[0021] Figure 4 It is the present invention Figure 3 Side view.

[0022] Figure 5 It is an enlarged schematic view of the squid clamping mechanism in the present invention.

[0023] Figure 6 It is the present invention Figure 5 Side view.

[0024] Figure 7 It is the present invention Figure 5 Front view.

[0025] Reference numerals: frame 1, conveying mechanism 2, visual recognition mechanism 3, squid clamping mechanism 4, conveyor belt 5, robotic arm 6, camera 7, visual support frame 8, light source 9, light-shielding plate 10, light source height adjustment mechanism 11, light source height adjustment plate 12, slideway 13, light source angle adjustment mechanism 14, light source angle adjustment plate 15, rotating shaft 16, clamping support frame 17, squid tail limit fixing part 18, squid body limit fixing part 19, suction cup 20, vacuum generator 21, ear handle clamping plate 22, ear handle clamping cylinder 23, body clamping cylinder 24, body clamping plate 25, clamping and pressing mechanism 26, fixed seat 27, pressing drive cylinder 28, conveyor belt drive motor 29, encoder 30. Detailed implementation manners

[0026] The following further describes in detail the specific implementation manners of the present invention in conjunction with the drawings.

[0027] An automatic feeding device for squids in an unknown state includes a frame 1 and a control system, and is characterized in that: a conveying mechanism 2, a visual recognition mechanism 3, and a squid clamping mechanism 4 are provided on the frame 1, the conveying mechanism 2 is connected to the frame 1, a visual recognition mechanism 3 and a squid clamping mechanism 4 are provided above the conveyor belt 5 of the conveying mechanism 2, the visual recognition mechanism 3 is connected to the frame 1, the squid clamping mechanism 4 is fixedly connected to the frame 1 via a robotic arm 6, and the squid clamping mechanism 4, the robotic arm 6, and the visual recognition mechanism 3 are respectively connected to the control system, so as to facilitate the visual recognition mechanism to recognize the posture of the squid on the conveyor belt, transmit this signal to the control system, the control system drives the squid clamping mechanism to clamp the squid, drives the robotic arm to adjust the posture of the squid, and after the position is appropriate, places it at the designated station to realize automatic feeding.

[0028] The visual recognition mechanism 3 of the present invention includes a camera 7, a visual support frame 8, a light source 9, and a light shield 10. Above the conveyor belt 5 of the conveying mechanism 2, there is a camera 7. The lens of the camera 7 faces the conveyor belt 5 directly. The camera 7 is fixed on the visual support frame 8. Above both sides of the conveyor belt 5 along the conveying direction, there are light sources 9 respectively. Around the light sources 9, there are light shields 10. The light sources 9 are arranged facing the conveyor belt 5. The light sources 9 and the light shields 10 are respectively fixedly connected to the visual support frame 8, so as to facilitate scanning the squids on the conveyor belt through the camera and obtaining information such as the position, angle, and ventral and dorsal postures of each squid.

[0029] On the light source 9 of the present invention, there is a light source height adjustment mechanism 11. The light source height adjustment mechanism 11 includes a light source height adjustment plate 12 and a locking member. On the visual support frame 8, there is a slideway 13. On one side of the light source 9, there is a light source height adjustment plate 12. The light source 9 is fixedly connected to the light source height adjustment plate 12. Between the light source height adjustment plate 12 and the slideway 13, there is a locking member. The light source height adjustment plate 12 is slidably connected to the slideway 13 up and down. The light source height adjustment plate 12 is fixedly connected to the visual support frame 8 through the locking member, so as to drive the light source to move up and down by the light source height adjustment plate.

[0030] The locking member of the present invention is a T-shaped nut. The T-shaped nut includes a screw rod and a slider. There is a threaded hole on the slider. Inside the slideway 13, there is a slider. The slider is slidably connected to the slideway 13. There is a threaded hole on the light source height adjustment plate 12. The screw rod passes through the light source height adjustment plate 12 and is threadedly connected to the slider. The screw rod is threadedly connected to the light source height adjustment plate 12. When in use, it is convenient to rotate the screw rod to drive the slider away from the side wall of the slideway. The slider is slidably connected to the slideway. When rotating the screw rod to drive the slider to be close to the side wall of the slideway, the position of the slider and the slideway is fixed, that is, the position of the light source height adjustment plate is fixed.

[0031] On the light source 9 of the present invention, there is a light source angle adjustment mechanism 14. The light source angle adjustment mechanism 14 includes a light source angle adjustment plate 15, a rotating shaft 16, and a set screw. On the light source 9, there is a light source angle adjustment plate 15. The light source angle adjustment plate 15 is fixedly connected to the light source 9. Between the light source angle adjustment plate 15 and the light source height adjustment plate 12, there is a rotating shaft 16. The light source angle adjustment plate 15 is hinged to the light source height adjustment plate 12 through the rotating shaft 16. On the light source angle adjustment plate 15 and / or the light source height adjustment plate 12, there is a set screw. The light source angle adjustment plate 15 and / or the light source height adjustment plate 12 are provided with threaded holes. The set screw is threadedly connected to the threaded hole and abuts against the rotating shaft 16 to fixedly connect the light source angle adjustment plate 15 and the light source height adjustment plate 12, so as to adjust the angle of the light source by rotating the light source angle adjustment plate through the rotating shaft and lock and fix it with the set screw after the angle is appropriate.

[0032] The squid clamping mechanism 4 of the present invention includes a clamping support frame 17. On one side of the clamping support frame 17, there is a squid tail limiting and fixing component 18, and on the other side, there is a squid body limiting and fixing component 19. The squid tail limiting and fixing component 18 and the squid body limiting and fixing component 19 are respectively connected to the clamping support frame 17. The clamping support frame 17 is fixedly connected to the machine frame 1 through a robotic arm 6, so as to limit and fix the tail of the squid through the squid tail limiting and fixing component, clamp the squid body through the squid body limiting and fixing component, and tightly clamp the squid.

[0033] The squid tail limiting and fixing component 18 of the present invention includes a suction cup 20 and a vacuum generator 21. Two suction cups 20 are arranged at intervals on one side of the clamping support frame 17. The upper end of the suction cup 20 is fixedly connected to the clamping support frame 17. The suction cup 20 is driven by the vacuum generator 21, and the vacuum generator 21 is fixedly connected to the clamping support frame 17, so as to facilitate adsorbing the two tail fins of the squid through the suction cup to fix the squid, and at the same time, adsorbing the squid fins through the suction cup can keep the squid fins flat.

[0034] Between the two suction cups 20 of the present invention, there are two ear handle clamping plates 22. The two ear handle clamping plates 22 are driven to open or close by an ear handle clamping cylinder 23. The ear handle clamping cylinder 23 is fixed on the clamping support frame 17, so as to facilitate clamping the ear handle between the two fins of the squid through the ear handle clamping plate to prevent the squid from falling off.

[0035] The squid body limiting and fixing component 19 of the present invention includes a body clamping cylinder 24 and a body clamping plate 25. The body clamping cylinder 24 is arranged on the other side of the clamping support frame 17. Body clamping plates 25 are respectively arranged on the two clamping claws of the body clamping cylinder 24. The body clamping plate 25 is fixedly connected to the clamping claw. The two body clamping plates 25 are driven to open or close by the body clamping cylinder 24, so as to facilitate clamping the squid body through the body clamping plate.

[0036] A clamping and pressing mechanism 26 is arranged on the clamping support frame 17 of the present invention. The clamping and pressing mechanism 26 includes a fixed seat 27 and a pressing drive cylinder 28. The fixed seat 27 is arranged above the clamping support frame 17. A pressing drive cylinder 28 is arranged between the clamping support frame 17 and the fixed seat 27. The clamping support frame 17 is connected to the fixed seat 27 through the pressing drive cylinder 28. The fixed seat 27 is fixedly connected to one end of the robotic arm 6, so as to facilitate driving the clamping support frame to move downward through the pressing drive cylinder and clamping and fixing the squid through the squid tail limiting and fixing component and the squid body limiting and fixing component.

[0037] The conveying mechanism 2 of the present invention includes a driving shaft, a driven shaft, and a conveyor belt driving motor 29. One end of the frame 1 along the conveying direction is provided with a driving shaft, and the other end is provided with a driven shaft. The driving shaft and the driven shaft are respectively fixedly connected to the frame 1 through bearings. The driving shaft is driven by the conveyor belt driving motor 29, and the conveyor belt driving motor 29 is fixed on the frame 1. The conveyor belt 5 is sleeved on the driving shaft and the driven shaft. A support platform is arranged between the driving shaft and the driven shaft, and the support platform is fixedly connected to the frame 1 to drive the conveyor belt to move through the conveyor belt driving motor, so as to realize the movement of the squid along the conveying direction.

[0038] An encoder 30 is arranged on the conveyor belt 5 of the present invention. The output shaft of the encoder 30 abuts against the surface of the conveyor belt 5. The encoder 30 is fixed on the frame 1, and the encoder 30 is connected to the control system. The encoder 30 is a counting wheel encoder to monitor the conveying speed of the conveyor belt through the encoder at all times.

[0039] As shown in the attached Figure 1 - attached Figure 7 , the present invention can be used in conjunction with a squid processing device. A squid processing device is arranged on one side of the robotic arm 6. After the robotic arm 6 clamps the squid through the squid clamping mechanism 4, adjusts the squid to a suitable position and angle, and then places the squid on the designated feeding station, realizing automatic feeding of the squid with an unknown posture after adjusting the posture. The robotic arm 6 adopts the existing technology, such as a six-axis robotic arm, which can control the squid clamping mechanism and the squid to adjust the posture of the squid in the air. The structure will not be described in detail. The robotic arm 6 is controlled by the control system. In the present invention, the camera 7, the light source 9, the vacuum generator 21, the ear handle clamping cylinder 23, the body clamping cylinder 24, the downward pressing drive cylinder 28, the conveyor belt driving motor 29, and the encoder 30 are all controlled by the control system. The control system is such as a PLC control system. The light source 9 is a white strip light source. The ear handle clamping cylinder 23, the body clamping cylinder 24, and the downward pressing drive cylinder 28 can all adopt air cylinders or hydraulic cylinders or electric cylinders, which can be selected according to requirements. In this embodiment, a suction cup mounting plate is arranged on one side of the clamping support frame 17. The suction cup mounting plate is fixedly connected to the clamping support frame 17. The suction cup 20 is a vacuum suction cup. Two suction cups 20 are symmetrically arranged on the suction cup mounting plate. The suction cup 20 is fixed on the suction cup mounting plate through nuts. Two ear handle clamping plates 22 are arranged between the two suction cups 20. The two ear handle clamping plates 22 are also symmetrically arranged relative to the suction cup mounting plate. Two body clamping plates 25 are arranged on the other side of the clamping support frame 17. The two body clamping plates 25 are also symmetrically arranged relative to the suction cup mounting plate to cooperate with the suction cup 20 and the ear handle clamping plates 22 to clamp the squid. The body clamping plate 25 is as shown in the attached Figure 5 , the lower end of the body clamping plate 25 inclines downward towards the middle of the two body clamping plates 25 to better and more stably clamp the squid body. For the convenience of description, as shown in the attached Figure 1It is described in terms of orientation. The squid clamping mechanism 4 is arranged in the front, and the visual recognition mechanism 3 is arranged in the back. In the initial state, the squid clamping mechanism 4 is located directly above the conveyor belt 5. The conveyor belt driving motor 29 drives the conveyor belt 5 to move the squid forward from the back. When in use,

[0040] Step 1: Adjust the height and angle of the light sources 9 on both the left and right sides of the conveyor belt 5. Taking the adjustment of the light source 9 on the left side of the conveyor belt 5 as an example, by rotating the locking part, move the light source height adjustment plate 12 up and down. After adjusting to the appropriate height, lock the locking part, fix the light source height adjustment plate 12 to the visual support frame 8. Then, unscrew the set screw and rotate the light source angle adjustment plate 15 to adjust the angle between the light source angle adjustment plate 15 and the light source height adjustment plate 12. After the angle is appropriate, tighten the set screw. The set screw presses against the rotating shaft 16 to fix the angle between the light source angle adjustment plate 15 and the light source height adjustment plate 12. In this way, the adjustment of the light source 9 on the left side of the conveyor belt 5 is completed. Adjust the light source 9 on the right side of the conveyor belt 5 to the appropriate height and angle in the same way. After the adjustment is completed, the control system starts the camera 7 and turns on the light source 9. The light source 9 is covered by the light-shielding plates 10 arranged around it to avoid interference from external light;

[0041] Step 2: Place the squid on the conveyor belt 5 behind the visual recognition mechanism 3. The control system starts the conveyor belt driving motor 29. The conveyor belt driving motor 29 drives the conveyor belt 5 to move forward, carrying the squid to below the camera 7. The camera 7 takes pictures of each squid and uploads them to the control system. The control system receives and processes the signals. The conveyor belt 5 continues to carry the squid forward to below the squid clamping mechanism 4. The control system starts the robotic arm 6. The robotic arm 6 adjusts the posture of the squid clamping mechanism 4 according to the instructions of the control system, as shown in Attachment Figure 6 and Attachment Figure 7, the squid body limit fixing component 19 is located above the squid body, and the squid tail limit fixing component 18 is located at the squid tail. The control system starts the downward pressure driving cylinder 28, and the clamping support frame 17 drives the squid body limit fixing component 19 and the squid tail limit fixing component 18 to move downward. The two body clamping plates 25 are located on both sides of the squid body. The two suction cups 20 come into contact with the two squid fins. The two ear handle clamping plates 22 are located on both sides of the ear handle between the two fins of the squid. The control system starts the vacuum generator 21, the ear handle clamping cylinder 23, and the body clamping cylinder 24. The two suction cups 20 adsorb the two fins of the squid, the ear handle clamping plates 22 clamp the ear handle of the squid, and the body clamping plates 25 clamp the squid body, clamping the whole squid. The control system starts the robotic arm 6, and the robotic arm 6 drives the squid clamped by the squid clamping mechanism 4 to move upward, completing the squid posture adjustment in the air. After the adjustment is completed, the robotic arm 6 drives the squid clamped by the squid clamping mechanism 4 to be placed at the designated loading station. The control system starts the vacuum generator 21, the ear handle clamping cylinder 23, and the body clamping cylinder 24 to release the fixation of the squid, realizing the automatic loading of the squid. After the loading is completed, the robotic arm 6 drives the squid clamping mechanism 4 to return to its original position;

[0042] Step 3: Repeat Step 2 until the specified number of squids are loaded;

[0043] Compared with the prior art, first, the present invention can stably clamp the squid by setting the squid clamping mechanism 4. The flatness of the squid fins during loading can be maintained through the suction cups 20. The ear handle of the squid is clamped by the ear handle clamping plates 22, improving the stability of squid clamping. The squid body is clamped by the body clamping plates 25 on both sides, firmly clamping the squid without breaking it, and the squid will not slip, and the squid will not shake during the loading process. Second, the present invention is provided with a robotic arm 6. The robotic arm 6 can achieve functions similar to those of a human hand. The robotic arm 6 drives the squid clamping mechanism 4 to clamp the squid and adjust its posture in the air. After adjusting to a suitable posture for loading, it is moved to the loading station and placed down, greatly saving the labor cost of manual loading and reducing the operation intensity. Third, the present invention is provided with a visual recognition mechanism 3. The squid is photographed by the camera 7 and then uploaded to the control system. The control system obtains information such as the position, angle, and ventral and dorsal postures of the squid individual, and then controls the actions of the robotic arm 6 and the squid clamping mechanism 4 to achieve adaptive feature recognition of squids with different positions, angles, and ventral and dorsal orientations, realizing automatic loading with a fast loading speed and high efficiency.

[0044] Due to adopting the above structure, the present invention has the advantages of ingenious structure, accurate and stable squid grasping, automatic squid posture adjustment, high loading efficiency, and low labor cost.

Claims

1. A squid clamping mechanism (4), characterized in that: It includes a clamping support frame (17). On one side of the clamping support frame (17), there is a squid tail limit and fixation component (18), and on the other side, there is a squid body limit and fixation component (19). The squid tail limit and fixation component (18) and the squid body limit and fixation component (19) are respectively connected to the clamping support frame (17). The squid tail limit and fixation component (18) includes two suction cups (20) and a negative pressure source. Between the two suction cups (20), there are two ear handle clamping plates (22). The two ear handle clamping plates (22) are driven to open or close by an ear handle clamping cylinder (23). The ear handle clamping cylinder (23) is fixed on the clamping support frame (17). Between the two suction cups (20), there are two ear handle clamping plates (22). The two ear handle clamping plates (22) are driven to open or close by an ear handle clamping cylinder (23). The ear handle clamping cylinder (23) is fixed on the clamping support frame (17). The squid body limit and fixation component (19) includes a body clamping cylinder (24) and a body clamping plate (25). On the other side of the clamping support frame (17), there is a body clamping cylinder (24). On the two jaws of the body clamping cylinder (24), there are respectively body clamping plates (25). The body clamping plates (25) are fixedly connected to the jaws. The two body clamping plates (25) are driven to open or close by the body clamping cylinder (24). On the clamping support frame (17), there is a clamping and pressing mechanism (26). The clamping and pressing mechanism (26) includes a fixed seat (27) and a pressing drive cylinder (28). Above the clamping support frame (17), there is a fixed seat (27). Between the clamping support frame (17) and the fixed seat (27), there is a pressing drive cylinder (28). The clamping support frame (17) is connected to the fixed seat (27) through the pressing drive cylinder (28).

2. The squid clamping mechanism according to claim 1, characterized in that: On one side of the clamping support frame (17), two suction cups (20) are arranged at intervals. The upper end of the suction cup (20) is fixedly connected to the clamping support frame (17). The suction cup (20) is driven by a negative pressure source. The negative pressure source is fixed on the clamping support frame (17).

3. An automatic feeding device for squid in an unknown state, including a frame (1) and a control system, characterized in that: On the frame (1), there are a conveying mechanism (2), a visual recognition mechanism (3), and the squid clamping mechanism (4) according to claim 1 or 2 above. The conveying mechanism (2) is connected to the frame (1). Above the conveyor belt (5) of the conveying mechanism (2), there are a visual recognition mechanism (3) and a squid clamping mechanism (4). The visual recognition mechanism (3) is connected to the frame (1). The fixed seat (27) of the squid clamping mechanism (4) is fixedly connected to the frame (1) through a robotic arm (6). The squid clamping mechanism (4), the robotic arm (6), the visual recognition mechanism (3), and the conveying mechanism (2) are respectively connected to the control system.

4. The automatic feeding device for squid in an unknown state according to claim 3, It is characterized in that: The visual recognition mechanism (3) includes a camera (7), a visual support frame (8), a light source (9), and a light shield (10). Above the conveyor belt (5) of the conveying mechanism (2), there is a camera (7). The lens of the camera (7) is directly facing the conveyor belt (5). The camera (7) is fixed on the visual support frame (8). On both sides above the conveyor belt (5) along the conveying direction, there are respectively light sources (9). Around the light sources (9), there are light shields (10). The light sources (9) are arranged facing the conveyor belt (5). The light sources (9) and the light shields (10) are respectively fixedly connected to the visual support frame (8).

5. An automatic feeding device for squid in an unknown state according to claim 4, It is characterized in that: On the light source (9), there is a light source height adjustment mechanism (11). The light source height adjustment mechanism (11) includes a light source height adjustment plate (12) and a locking member. On the visual support frame (8), there is a slideway (13). On one side of the light source (9), there is a light source height adjustment plate (12). The light source (9) is fixedly connected to the light source height adjustment plate (12). Between the light source height adjustment plate (12) and the slideway (13), there is a locking member. The light source height adjustment plate (12) is slidably connected to the slideway (13) up and down. The light source height adjustment plate (12) is fixedly connected to the visual support frame (8) through the locking member.

6. An automatic feeding device for squid in an unknown state according to claim 4 or 5, It is characterized in that: On the light source (9), there is a light source angle adjustment mechanism (14). The light source angle adjustment mechanism (14) includes a light source angle adjustment plate (15) and a set screw. On the light source (9), there is a light source angle adjustment plate (15). The light source angle adjustment plate (15) is fixedly connected to the light source (9). The light source angle adjustment plate (15) is hinged to the visual support frame (8). The light source angle adjustment plate (15) is fixedly connected to the visual support frame (8) through the set screw.

7. An automatic feeding device for squid in an unknown state according to claim 4 or 5, It is characterized in that: The conveying mechanism (2) includes a driving shaft, a driven shaft, and a conveyor belt driving motor (29). At one end of the machine frame (1) along the conveying direction, there is a driving shaft, and at the other end, there is a driven shaft. The driving shaft and the driven shaft are respectively fixedly connected to the machine frame (1) through bearings. The driving shaft is driven by the conveyor belt driving motor (29). The conveyor belt driving motor (29) is fixed on the machine frame (1). The conveyor belt (5) is sleeved on the driving shaft and the driven shaft.

Images