Automatic shrimp tray arranging device based on head-tail and ventral-dorsal orientation

Abstract

The present application relates to a shrimp automatic tray placing device based on head-tail and ventral-dorsal orientation, comprising: a shrimp box for gathering shrimps to the middle, an upper feeding device for sucking single shrimps to a head-tail orientation device, a head-tail orientation device for adjusting the shrimps to a head-forward tail-back or head-back tail-forward posture, a lower slide plate for parallel sliding of the shrimps in head-forward tail-back posture to a ventral-dorsal orientation device, a U-shaped side slide for bending and sliding the shrimps in head-back tail-forward posture to a head-forward tail-back posture into the ventral-dorsal orientation device, a ventral-dorsal orientation device for further adjusting the shrimps in head-forward tail-back posture to a ventral-down dorsal-up posture, and a shrimp tray for catching the shrimps in head-forward tail-back and ventral-down dorsal-up posture and conveying the shrimps to a mechanical shelling shrimp taking position. The present application adjusts the position and posture of shrimps, realizes quantitative, directional and fixed-point feeding of shrimps, and is convenient for clamping and processing during mechanical shelling, belonging to the technical field of shrimp processing equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to shrimp processing equipment, in particular to an automatic shrimp tray placing device based on head-tail and abdomen-back orientation. BACKGROUND

[0002] Shrimp tray placing is one of the important links in the process of shrimp mechanical peeling, which affects the efficiency and quality of mechanical peeling. The function of shrimp tray placing device is to place shrimp in a certain posture in a fixed position, and the peeling device peels shrimp by clamping the tail. At present, the main tray placing methods are manual placing and mechanical placing. Traditional manual placing has high labor intensity, high cost, limited efficiency and is easy to pollute shrimp. Mechanical placing not only has high efficiency, but also reduces labor cost and pollution risk to shrimp.

[0003] At present, the mechanical tray placing technology and equipment for shrimp is not perfect. Shrimp is placed in a certain posture and position from a shrimp pile, and the mechanical hand clamping method needs to go through complex recognition and positioning, as well as clamping mechanical hand path planning. The complex algorithm and related hardware cost result in low success rate and high cost of existing shrimp tray placing, which restricts the application and promotion of automatic tray placing technology and equipment. SUMMARY

[0004] In view of the technical problems existing in the prior art, the purpose of the present application is to provide an automatic shrimp tray placing device based on head-tail and abdomen-back orientation for quantitative, directional and point feeding of shrimp, so as to finally realize the posture of placing shrimp in a shrimp tray with abdomen down and tail in the air.

[0005] In order to achieve the above purpose, the present application adopts the following technical solutions:

[0006] The automatic shrimp tray placing device based on head-tail and abdomen-back orientation comprises: (1) a shrimp box for collecting shrimp to the middle, (2) an upper feeding device for sucking single shrimp to a head-tail orientation device, (3) a head-tail orientation device for adjusting shrimp to a head-forward tail-back or head-back tail-forward posture, (4) a lower slide plate for sliding shrimp in a head-forward tail-back posture to an abdomen-back orientation device, (5) a U-shaped side slide for bending and sliding shrimp in a head-back tail-forward posture to a head-forward tail-back posture into an abdomen-back orientation device, (6) an abdomen-back orientation device for further adjusting shrimp in a head-forward tail-back posture to an abdomen-down back-up posture, and (7) a shrimp tray for receiving shrimp in a head-forward tail-back and abdomen-down back-up posture and conveying the shrimp to a mechanical peeling and shrimp taking position. The shrimp box is located in front of the head-tail orientation device, the abdomen-back orientation device is located below and on the side of the head-tail orientation device, the lower slide plate is arranged between the side of the head-tail orientation device and the side of the abdomen-back orientation device, the U-shaped side slide is arranged between the rear end of the head-tail orientation device and the rear end of the abdomen-back orientation device, and the shrimp tray is located below the abdomen-back orientation device.

[0007] As a kind of preferred, shrimp box includes surrounding surface, bottom surface, two vibration motors;Bottom surface includes long vibration plate, shrimp suction plate, short vibration plate, inclined plate arranged in order from front to back, shrimp suction plate is horizontally arranged, the included angle of long vibration plate and shrimp suction plate and the included angle of short vibration plate and shrimp suction plate are equal, and the included angle is less than the included angle of shrimp suction plate and inclined plate;Two vibration motors are arranged at the outside of long vibration plate and short vibration plate respectively;Shrimp suction plate is arranged with metal detection sensor emitting middle shrimp only missing signal.

[0008] As a kind of preferred, the feeding device includes driving motor, swing mechanical arm, vacuum shrimp suction mechanism, driving motor drives swing mechanical arm to run, and then drives vacuum shrimp suction mechanism to translate in the vertical plane of front and back direction;Vacuum shrimp suction mechanism includes probe, guide component, trigger component, suction nozzle, negative pressure sensor, guide component and trigger component are fixed on one side of suction nozzle, guide component is below trigger component, probe translates up and down through guide component to contact or separate from the lower end of trigger component, the lower end of probe corresponds with the lower end position of suction nozzle;Negative pressure sensor is used to detect suction nozzle suction shrimp state.

[0009] As a kind of preferred, the upper part of probe is conical, the material is metal, which is used for cooperating with trigger component, the middle part is cylindrical, the material is insulating material, which is used for cooperating with guide component, the lower part is horizontally arranged "Ⅹ" shape, the material is metal, which is used for triggering middle shrimp only missing signal;Trigger component includes two contacts connected with positive and negative respectively;Guide component includes a cylindrical tube and two inner rings arranged up and down in the cylindrical tube, the middle part of probe passes through two inner rings.

[0010] As a kind of preferred, the head and tail forward device includes posture correction mechanism located in front and head and tail measurement and control mechanism located in rear;Posture correction mechanism includes flat plate, multiple cylindrical rods installed on flat plate, sleeve sleeve connected on the upper end of cylindrical rod, cylindrical rods are arranged in equal interval array on the left and right sides of front and rear movement track of feeding device, and the distance of two sides of cylindrical rod gradually decreases from front to back;Head and tail measurement and control mechanism includes multiple flexible bending sensors, rectangular turnover frame, two universal ball hinges, two electric push rods, multiple flexible bending sensors are linearly arrayed in equal interval on the upper end face of rectangular turnover frame, two electric push rods are located below rectangular turnover frame, and are connected with rectangular turnover frame through universal ball hinge, by shortening of electric push rod, rectangular turnover frame is inclined to lateral lower slide plate or rear U-shaped side slide.

[0011] As a kind of preferred, one electric push rod is arranged below the central position of rear end wide side of rectangular turnover frame, and the other electric push rod is arranged below the central position of lateral long side of rectangular turnover frame.

[0012] As a kind of preferred, the ventral-dorsal alignment device includes visual identification system, ventral-dorsal alignment mechanism and tail alignment position adjusting mechanism;The ventral-dorsal alignment mechanism includes two left and right fence components and two drive motors;The fence component includes a plurality of fence bars arranged in an equidistant array and a rotating shaft for driving the plurality of fence bars to rotate synchronously, and the drive motor drives the rotating shaft to rotate;The fence bars of the two fence components intersect with each other, and in the initial state, the fence bars are all in the horizontal position;

[0013] The tail alignment position adjusting mechanism includes a linear slide rail, a sliding block and an electric push rod, and the electric push rod pushes the sliding block to translate forward and backward along the linear slide rail;The visual identification system is arranged above the ventral-dorsal alignment mechanism, and the ventral-dorsal alignment mechanism is arranged above the tail alignment position adjusting mechanism and mounted on the sliding block of the tail alignment position adjusting mechanism.

[0014] As a kind of preferred, the upper surface of the fence bar is provided with a plurality of V-shaped grooves arranged along the length direction of the fence bar;The V-shaped grooves of the fence bars of the left fence component open towards the left, and the V-shaped grooves of the fence bars of the right fence component open towards the right.

[0015] As a kind of preferred, the shrimp holding plate includes a shrimp holding mechanism, a corrugated vibration ring, an annular movement track and a right-angle diffuse reflection light sensor;A plurality of circumferentially distributed shrimp holding mechanisms are mounted on the annular movement track and are driven by the annular movement track to perform circumferential movement, and the corrugated vibration ring is located on the inner side of the annular movement track;The shrimp holding mechanism includes a shrimp holding groove, a roller, a single degree of freedom hinge and a spring;The roller is arranged on the inner side below the shrimp holding groove, and the roller moves on the corrugated vibration ring;The single degree of freedom hinge is arranged at the central position below the shrimp holding groove, and the spring is arranged at the outer side below the shrimp holding groove, and the spring pushes the shrimp holding groove upward so that the roller presses the upper side of the corrugated vibration ring;The right-angle diffuse reflection light sensor is used to sense the in-place state of the shrimps.

[0016] As a kind of preferred, the shrimp holding groove includes a seamless sliding surface and a V-shaped constraint groove;The sliding surface is a curved plate that forms a converging trend from inside to outside;The V-shaped constraint groove gradually decreases in V-shaped angle from inside to outside, and a hole is formed at the central end for the right-angle diffuse reflection light sensor to pass through laterally;The right-angle diffuse reflection light sensor is located below the falling point of the shrimps of the ventral-dorsal alignment device;The corrugated vibration ring includes a variable-amplitude low-frequency section, a low-amplitude high-frequency section and a flat section arranged in sequence along the circumference;A plurality of wave crests with decreasing amplitudes are intermittently distributed on the variable-amplitude low-frequency section;A plurality of wave crests with small amplitudes are continuously distributed on the low-amplitude high-frequency section.

[0017] The present application has the following advantages:

[0018] 1. By a specific posture adjustment sequence, the shrimps are adjusted from a disordered state to a specific posture with the head-tail specific orientation, the abdomen facing down and the back facing up, and the shrimp tail hanging in the air.

[0019] 2. The shrimp position and posture adjustment realizes the quantitative, directional and fixed-point feeding of shrimps, so as to facilitate the clamping treatment during mechanical shelling.

[0020] 3. The shrimp box and the feeding device cooperate to transport single shrimps from the shrimp pile, have high position adjustability, and meet the quantitative feeding requirement of shrimps.

[0021] 4. The head-to-tail and abdomen-to-back orientation devices cooperate to realize the posture change of shrimps from uncertainty to transverse direction, ensure that shrimps accurately fall into the shrimp holding plate, and meet the directional requirement of shrimps.

[0022] 5. Under the premise of cooperation of the head-to-tail and abdomen-to-back orientation devices, the shrimp position realizes the shrimp tail suspension when falling into the shrimp holding plate, and meets the fixed-point requirement of shrimps.

[0023] 6. The overall device has high plate arrangement success rate through the fusion of sensors, control and structure, realizes relatively simple algorithm, and has low hardware cost.

[0024] 7. The V-shaped pattern of the fence rod in the abdomen-to-back orientation mechanism can increase the friction force, which is beneficial to ensure that the shrimp posture does not change when sliding into the shrimp holding plate.

[0025] 8. The structure of the shrimp holding groove can better fit the shrimp body, so that the shrimp body posture is not easy to change, and the mechanical clamping is more convenient. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is the overall structure diagram of the shrimp automatic plate arrangement device based on head-to-tail and abdomen-to-back orientation.

[0027] Figure 2 It is the top view of the shrimp automatic plate arrangement device based on head-to-tail and abdomen-to-back orientation.

[0028] Figure 3 It is the structure diagram of the shrimp box.

[0029] Figure 4 It is the structure diagram of the feeding device.

[0030] Figure 5 It is the structure diagram of the posture correction mechanism of the head-to-tail orientation device.

[0031] Figure 6 It is the structure diagram of the head-to-tail measurement and control mechanism of the head-to-tail orientation device.

[0032] Figure 7 It is the structure diagram of the abdomen-to-back orientation device.

[0033] Figure 8 It is the structure diagram of the shrimp holding plate.

[0034] In the diagram: 1. Shrimp box; 2. Feeding device; 3. Head-to-tail forwarding device; 4. Lower slide plate; 5. U-shaped side slide; 6. Belly-to-back forwarding device; 7. Shrimp tray; 8. Central control system; 1-1. Long vibrating plate; 1-2. Shrimp suction plate; 1-3. Short vibrating plate; 1-4. Inclined plate; 1-5. Metal detection sensor; 1-6. Vibration motor; 2-1. Drive motor; 2-2. Swinging robotic arm; 2-3. Probe; 2-4. Guide component; 2-5. Trigger component; 2-6. Suction nozzle; 2-7. Negative pressure sensor; 3 -1. Sleeve; 3-2. Cylindrical rod; 3-3. Flexible bending sensor; 3-4. Rectangular flipping frame; 3-5. Universal ball joint; 3-6. Electric push rod; 6-1. Vision recognition system; 6-2. Fence component; 6-3. Drive motor; 6-4. Linear slide rail; 6-5. Slider; 6-6. Electric push rod; 7-1. Shrimp trough; 7-2. Roller; 7-3. Single-degree-of-freedom hinge; 7-4. Spring; 7-5. Corrugated vibration ring; 7-6. Circular motion track; 7-7. Right-angle diffuse reflection light sensor. Detailed Implementation

[0035] The present invention will now be described in further detail with reference to specific embodiments.

[0036] The automatic shrimp plating device based on head-tail and belly-back orientation includes: (1) gathering shrimp into the shrimp box in the middle, (2) sucking up a single shrimp into the feeding device of the head-tail orientation device, (3) adjusting the shrimp to the head-forward and tail-back or head-back and tail-forward orientation device, (4) sliding the shrimp in the head-forward and tail-back orientation parallel to the sliding plate of the belly-back orientation device, (5) turning the shrimp in the head-back and tail-forward orientation to the head-forward and tail-back orientation and entering the U-shaped side slide of the belly-back orientation device, (6) further adjusting the shrimp in the head-forward and tail-back orientation to the belly-down and back-up orientation device, (7) catching the shrimp in the head-forward and tail-back, belly-down and back-up orientation and conveying the shrimp to the shrimp plating tray at the mechanical peeling and shrimp-removal point. The shrimp box is located in front of the head-to-tail orientation device, and the belly-to-back orientation device is located to its lower side. A sliding plate is installed between the sides of the head-to-tail orientation device and the belly-to-back orientation device. A U-shaped side slide is installed between the rear ends of the head-to-tail orientation device and the rear ends of the belly-to-back orientation device. The shrimp tray is located below the belly-to-back orientation device. The feeding device picks up shrimp from the shrimp box one by one. The picked-up shrimp are then passed through the posture correction mechanism in the head-to-tail orientation device to ensure that the shrimp are transferred to the head-to-tail measurement and control mechanism of the head-to-tail orientation device in a certain posture. Then, several flexible bending sensors analyze and obtain the head-to-tail orientation. Shrimp with the head-forward and tail-back orientation slide down the sliding plate into the belly-to-back orientation device, while those with the head-back and tail-forward orientation slide down the U-shaped side slide into the belly-to-back orientation device. Finally, the belly-to-back orientation is identified by the visual recognition system in the belly-to-back orientation device, which handles two cases, such as... Figure 7As shown, the first scenario is as follows: When the shrimp's belly faces the left fence component, the left fence component first rotates downwards by a fixed angle, and then the right fence component rotates downwards by a fixed angle, changing the shrimp's posture to back-up and belly-down. Simultaneously, the intersection line formed by the rotation angles of the left and right fence components is directly above the groove line of the V-shaped constraint groove in the shrimp-holding tray. Then, the visual recognition system identifies the shrimp's position and executes the tail-alignment adjustment mechanism, adjusting the shrimp's position so that its tail is suspended in the appropriate position in the shrimp-holding tray. Finally, the left and right fence components continue to rotate downwards by a certain angle, changing their intersecting state to a separated state, allowing the shrimp to fall into the shrimp-holding tray. At the same time, the left and right fence components and the tail-alignment adjustment mechanism return to their initial positions. The second scenario is as follows: When the shrimp's belly faces the right fence component, the rotation order of the left and right fence components is the reverse of the first scenario, i.e., the fence components rotate downwards first to the right and then to the left. After recognizing the shrimp's posture and rotating the left and right fence components in sequence, the shrimp are placed in the shrimp-holding plate with their tails facing outwards and their bellies and backs facing upwards, with their tails suspended in the air at a suitable position for mechanical gripping.

[0037] The shrimp box includes a surrounding surface, a bottom surface, and two vibrating motors. The bottom surface includes a long vibrating plate, a shrimp-suction plate, a short vibrating plate, and an inclined plate arranged sequentially from front to back. The shrimp-suction plate is horizontally positioned, and the angles between the long vibrating plate and the shrimp-suction plate, and between the short vibrating plate and the shrimp-suction plate, are equal and smaller than the angle between the shrimp-suction plate and the inclined plate. The two vibrating motors are respectively arranged on the outer sides of the long and short vibrating plates. A metal detection sensor is arranged on the shrimp-suction plate to emit a signal indicating that there are not enough shrimp in the center. The vibrating motor 1-6 on the long vibrating plate 1-1 is mainly used to assist in shrimp feeding and prevent shrimp from getting stuck on the long vibrating plate 1-1, encouraging shrimp to move closer to the shrimp-suction plate 1-2. The vibrating motor 1-6 on the short vibrating plate 1-3 mainly functions to encourage shrimp to move closer to the center of the shrimp-suction plate 1-2, assisting the feeding device 2 in picking up the shrimp.

[0038] The feeding device includes a drive motor, a swinging robotic arm, and a vacuum shrimp suction mechanism. The drive motor drives the swinging robotic arm, which in turn moves the vacuum shrimp suction mechanism in a vertical plane in the front-to-back direction. The vacuum shrimp suction mechanism includes a probe, a guide component, a trigger component, a suction nozzle, and a negative pressure sensor. The guide component and the trigger component are fixed to one side of the suction nozzle. The guide component is located below the trigger component. The probe moves up and down through the guide component to contact or disengage from the lower end of the trigger component. The lower end of the probe corresponds to the lower end of the suction nozzle. The negative pressure sensor is used to detect the state of the shrimp being sucked up by the suction nozzle. The position and posture of the shrimp sucked up from the shrimp box by the feeding device 2 are uncertain. After the posture correction mechanism (see...) Figure 5 The shrimp body can be adjusted step by step to be parallel to the movement trajectory of the vacuum shrimp suction mechanism in the feeding device 2.

[0039] The upper part of the probe is conical and made of metal, used to cooperate with the triggering component. The middle part is cylindrical and made of insulating material, used to cooperate with the guiding component. The lower part is a horizontally arranged "X" shape, made of metal, used to trigger a signal when the shrimp in the middle lacks a signal. The lower structure is designed to contact the metal detection sensor 1-5 at the center of the shrimp suction plate 1-2, which not only increases the contact area with the metal detection sensor 1-5, but also enhances the stability of the probe 2-3. The triggering component includes two contacts connected to the positive and negative electrodes respectively. The guiding component includes a cylindrical tube and two inner rings arranged vertically inside the cylindrical tube. The middle part of the probe passes through the two inner rings, which helps to reduce the friction force when the probe 2-3 moves up and down.

[0040] The forward and backward alignment device includes a frontal attitude correction mechanism and a rearward head-and-tail control mechanism. The attitude correction mechanism comprises a flat plate, multiple cylindrical rods mounted on the plate, and sleeves fitted onto the upper ends of the cylindrical rods. The cylindrical rods are arranged in an equally spaced array on the left and right sides of the forward and backward movement trajectory of the feeding device, with the distance between the cylindrical rods gradually decreasing from front to back. The head-and-tail control mechanism includes multiple flexible bending sensors, a rectangular tilting frame, two universal ball joints, and two electric push rods. The multiple flexible bending sensors are linearly arrayed at equal intervals on the upper surface of the rectangular tilting frame. The two electric push rods are located below the rectangular tilting frame and are connected to it via universal ball joints. By shortening the electric push rods, the rectangular tilting frame tilts towards the lateral lower slide plate or the U-shaped side slide at the rear.

[0041] One electric actuator is positioned below the center of the rear wide side of the rectangular tilting frame, and the other electric actuator is positioned below the center of the lateral long side of the rectangular tilting frame.

[0042] The forward-aligning device includes a vision recognition system, a forward-aligning mechanism, and a tail-alignment position adjustment mechanism. The forward-aligning mechanism comprises two fence components (left and right) and two drive motors. Each fence component includes multiple fence bars arranged in an equally spaced array and a rotating shaft that drives the fence bars to rotate synchronously. The drive motors drive the rotating shaft to rotate. The fence bars of the two fence components intersect each other, and initially, all fence bars are in a horizontal position. The tail-alignment position adjustment mechanism includes a linear guide rail, a slider, and an electric push rod. The electric push rod pushes the slider to move back and forth along the linear guide rail. The vision recognition system is positioned above the forward-aligning mechanism, which is located above the tail-alignment position adjustment mechanism and mounted on the slider of the tail-alignment position adjustment mechanism.

[0043] The upper surface of the fence post has multiple V-shaped patterns arranged along its length; the V-shaped patterns on the left fence post face left, while those on the right fence post face right. The V-shaped patterns increase friction, helping to ensure the shrimp slide onto the serving dish without changing their posture.

[0044] The shrimp-holding tray includes a shrimp-holding mechanism, a corrugated vibrating ring, a circular motion track, and a right-angle diffuse reflection light sensor. Multiple circumferentially distributed shrimp-holding mechanisms are mounted on the circular motion track and driven by it to perform circular motion. The corrugated vibrating ring is located inside the circular motion track. Each shrimp-holding mechanism includes a shrimp-holding trough, rollers, a single-degree-of-freedom hinge, and a spring. The rollers are arranged below the inner side of the shrimp-holding trough and move on the corrugated vibrating ring. The single-degree-of-freedom hinge is located at the lower center of the shrimp-holding trough, and the spring is arranged below the outer side of the shrimp-holding trough. The spring pushes the shrimp-holding trough upwards, thereby pressing the rollers against the upper side of the corrugated vibrating ring. The right-angle diffuse reflection light sensor is used to detect the shrimp's position. The base of the circular motion track is fixed, and the right-angle diffuse reflection light sensor and the corrugated vibrating ring are also mounted on the base.

[0045] The shrimp-holding trough includes a seamlessly connected smooth surface and a V-shaped constraint groove. The smooth surface is a curved plate that converges from the inside out. The V-shaped constraint groove gradually decreases in angle from the inside out, and has an opening at the center of the end for a right-angle diffuse reflection light sensor to pass through laterally. This design of the shrimp-holding trough 7-1 better conforms to the shrimp's body, making it less prone to changing its posture and easier for the machine to grip. The right-angle diffuse reflection light sensor is located below the shrimp's landing point in the dorsal-ventral orientation device. The corrugated vibration ring includes a variable amplitude low-frequency band, a low-amplitude high-frequency band, and a gentle band arranged sequentially along the circumference. The variable amplitude low-frequency band has multiple peaks of decreasing amplitude intermittently distributed; the low-amplitude high-frequency band has multiple small-amplitude peaks continuously distributed.

[0046] The operation method of the automatic shrimp plating device based on head-tail and belly-dorsal orientation is as follows:

[0047] Before starting, the two vibrating motors 1-6 in shrimp box 1 vibrate for a few seconds to ensure the shrimp gather in the center of the shrimp suction plate 1-2, facilitating feeding by the feeding device 2. The feeding device 2 is in its initial position, waiting for the shrimp box 1 to gather the shrimp before feeding. The head-tail control mechanism in the head-tail facing device 3 is in a position parallel to the ground, waiting for the feeding device 2 to release the feed. The belly-back facing mechanism in the belly-back facing device 6 is in its initial state, with the fence components 6-2 intersecting and parallel to the ground. The tail-alignment adjustment mechanism in the belly-back facing device 6 is adjusted to be directly above the shrimp-holding tray 7, waiting for a signal from the visual recognition system 6-1 before proceeding.

[0048] When the device is working, the feeding device 2 picks up shrimp from the shrimp box 1. It determines the shrimp's position and height by combining the signals from the negative pressure sensor 2-7 and the trigger signal from the probe 2-3, and then picks them up. After picking up the shrimp, it analyzes the data from the negative pressure sensor 2-7 to determine if the pickup was successful. If successful, the shrimp are transferred to the head-tail forward mechanism 3. If the pickup fails, the vibration motor 1-6 on the short vibrating plate 1-3 operates for a few seconds to gather the shrimp back onto the suction plate 1-2, after which the feeding device 2 picks up the shrimp again. When the metal detection sensor 1-5 is triggered, the vibration motors 1-6 on the long vibrating plate 1-1 and the short vibrating plate 1-3 vibrate, causing the shrimp to slide down and gather in the center of the suction plate 1-2.

[0049] After the feeding device 2 picks up the shrimp, they pass through the posture correction mechanism (see...). Figure 5 The shrimp's posture is uncertain, and the shrimp's body is gradually adjusted to be parallel to the trajectory plane of the vacuum shrimp suction mechanism in the feeding device 2. This is done at the head and tail control mechanism (see...). Figure 6 The shrimp are lowered from above, and then the feeding device 2 continues to suck up the shrimp. The shrimp reach the head and tail monitoring mechanism (see...). Figure 6 Afterwards, several flexible bending sensors 3-3 located below the shrimp take measurements. Since the weight of each part of the shrimp's body is different, the measured data are also different. Based on the data sampled by the flexible bending sensors 3-3, the head-to-tail orientation is determined. When the orientation is head-forward and tail-back, the electric push rod 3-6 located below the center of the long side of the rectangular flipping frame 3-4 works, allowing the shrimp to slide down the sliding plate 4 into the dorsal orientation device 6. When the orientation is head-back and tail-forward, the electric push rod 3-6 located below the center of the wide side of the rectangular flipping frame 3-4 works, allowing the shrimp to slide down the U-shaped side slide 5 into the dorsal orientation device 6.

[0050] After the shrimp slides onto the belly-facing device 6, the visual recognition system 6-1 identifies the shrimp's belly orientation, resulting in two scenarios. One scenario is when the shrimp's belly faces the left barrier component 6-2. The left barrier component 6-2 rotates downwards by a fixed angle, and then the right barrier component 6-2 rotates downwards by a fixed angle, leaving the shrimp belly-down. The visual recognition system 6-1 identifies the shrimp's position and activates the tail-alignment adjustment mechanism. After adjusting the shrimp's position until its tail is in a suitable suspended position on the shrimp-holding plate 7, both the left and right barrier components 6-2 rotate downwards simultaneously by a fixed angle. After the shrimp slides onto the shrimp-holding plate 7, both barrier components 6-2 return to their initial positions. The other scenario is when the shrimp's belly faces the right barrier component 6-2. The right barrier component 6-2 rotates downwards by a fixed angle, and then the left barrier component 6-2 rotates downwards by a fixed angle, leaving the shrimp belly-down. The visual recognition system 6-1 identifies the position of the shrimp and executes the tail position adjustment mechanism. After adjusting the position of the shrimp until the tail is in a suitable position suspended in the shrimp holding plate 7, the left fence component 6-2 and the right fence component 6-2 rotate downwards at the same fixed angle. After the shrimp slides down onto the shrimp holding plate 7, the left and right fence components 6-2 return to their initial positions, that is, the two fence components 6-2 cross each other and are in a parallel position.

[0051] When the shrimp fall into the shrimp-holding tray 7, the right-angle diffuse reflection light sensor 7-7 is triggered, the circular motion track 7-6 rotates, the roller 7-2 on the shrimp-holding mechanism moves on the corrugated vibration ring 7-5, driving the shrimp-holding trough 7-1 to vibrate up and down, so that the shrimp fits the shrimp-holding trough 7-1 better, until the next empty shrimp-holding trough 7-1 is located below the dorsal front device 6.

[0052] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. An automatic shrimp plating device based on head-tail and ventral-dorsal orientation, characterized in that, include: - Gather the shrimp into the shrimp tank in the middle. -The feeding device that sucks up individual shrimp and places them into the head-to-tail orientation of the feeding unit. - A device that adjusts the shrimp to a head-forward or tail-backward orientation, or a head-backward or tail-forward orientation. - Slide the shrimp, head forward and tail backward, parallel to the lower slide of the device with its belly and back facing forward. -The shrimp, initially positioned head-back and tail-forward, will slide into the U-shaped side slide of the ventral-backward device, turning from a head-forward and tail-backward orientation. -A device to further adjust shrimp from a head-forward, tail-backward orientation to a belly-down, back-up orientation. -Catch shrimp with their heads facing forward, tails facing backward, bellies facing down and backs facing up, and transfer them to the shrimp collection tray at the mechanical peeling and shrimp removal area; The shrimp box is located in front of the head-and-tail facing device, the belly-and-back facing device is located below the head-and-tail facing device, a sliding plate is provided between the side of the head-and-tail facing device and the side of the belly-and-back facing device, a U-shaped side slide is provided between the rear end of the head-and-tail facing device and the rear end of the belly-and-back facing device, and the shrimp holding plate is located below the belly-and-back facing device. The forward and backward alignment device includes an attitude correction mechanism located at the front and a forward and backward measurement and control mechanism located at the rear. The attitude correction mechanism includes a plate, multiple cylindrical rods mounted on the plate, and a sleeve fitted onto the upper end of the cylindrical rods. The cylindrical rods are arranged in an equally spaced array on the left and right sides of the front and rear movement trajectory of the feeding device, and the distance between the cylindrical rods on both sides gradually decreases from front to back. The head and tail control mechanism includes multiple flexible bending sensors, a rectangular flipping frame, two universal ball joints, and two electric push rods. The multiple flexible bending sensors are distributed in a linear array at equal intervals on the upper surface of the rectangular flipping frame. The two electric push rods are located below the rectangular flipping frame and are connected to the rectangular flipping frame through universal ball joints. By shortening the electric push rods, the rectangular flipping frame is driven to tilt towards the lateral sliding plate or the U-shaped side slide at the rear end. The ventral-dorsal orthogonal device includes a visual recognition system, a ventral-dorsal orthogonal mechanism, and a tail-alignment position adjustment mechanism; The frontal mechanism includes two fence components on the left and right and two drive motors. Each fence component includes multiple fence bars arranged in an equally spaced array and a rotating shaft that drives the multiple fence bars to rotate synchronously. The drive motor drives the rotating shaft to rotate. The fence bars of the two fence components intersect each other, and in the initial state, the fence bars are all in a horizontal position. The tail position adjustment mechanism includes a linear slide rail, a slider, and an electric push rod. The electric push rod pushes the slider to move back and forth along the linear slide rail. The visual recognition system is positioned above the frontal alignment mechanism, which is located above the tail-alignment adjustment mechanism and mounted on the slider of the tail-alignment adjustment mechanism.

2. The automatic shrimp plating device based on head-tail and dorsal orientation according to claim 1, characterized in that: The shrimp box includes a surrounding surface, a bottom surface, and two vibration motors. The bottom surface includes a long vibrating plate, a shrimp suction plate, a short vibrating plate, and an inclined plate arranged sequentially from front to back. The shrimp suction plate is horizontally positioned, and the angles between the long vibrating plate and the shrimp suction plate and between the short vibrating plate and the shrimp suction plate are equal, and these angles are smaller than the angles between the shrimp suction plate and the inclined plate. The two vibration motors are respectively arranged on the outer sides of the long vibrating plate and the short vibrating plate. A metal detection sensor is arranged on the shrimp suction plate to emit a signal indicating that there are no shrimp in the middle.

3. The automatic shrimp plating device based on head-tail and dorsal orientation according to claim 1, characterized in that: The feeding device includes a drive motor, a swinging robotic arm, and a vacuum shrimp suction mechanism. The drive motor drives the swinging robotic arm to move, which in turn drives the vacuum shrimp suction mechanism to move in a vertical plane in the front-back direction. The vacuum shrimp suction mechanism includes a probe, a guide component, a trigger component, a suction nozzle, and a negative pressure sensor. The guide component and the trigger component are fixed on one side of the suction nozzle. The guide component is located below the trigger component. The probe moves up and down through the guide component to contact or disengage from the lower end of the trigger component. The lower end of the probe corresponds to the lower end of the suction nozzle. The negative pressure sensor is used to detect the state of the suction nozzle sucking up the shrimp.

4. The automatic shrimp plating device based on head-tail and dorsal orientation according to claim 3, characterized in that: The upper part of the probe is conical and made of metal, used to cooperate with the triggering component; the middle part is cylindrical and made of insulating material, used to cooperate with the guiding component; the lower part is a horizontally set "X" shape and made of metal, used to trigger the shrimp in the middle that lacks a signal. The triggering component includes two contacts that are respectively connected to the positive and negative terminals; The guide component includes a cylindrical tube and two inner rings arranged vertically inside the cylindrical tube, with the middle of the probe passing through the two inner rings.

5. The automatic shrimp plating device based on head-tail and dorsal orientation according to claim 1, characterized in that: One electric actuator is positioned below the center of the rear wide side of the rectangular tilting frame, and the other electric actuator is positioned below the center of the lateral long side of the rectangular tilting frame.

6. The automatic shrimp plating device based on head-tail and ventral-dorsal orientation according to claim 5, characterized in that: The upper surface of the fence post has multiple V-shaped patterns arranged along the length of the fence post; the V-shaped patterns on the left fence post face to the left, and the V-shaped patterns on the right fence post face to the right.

7. The automatic shrimp plating device based on head-tail and dorsal orientation according to claim 1, characterized in that: The shrimp serving tray includes a shrimp serving mechanism, a corrugated vibrating ring, a circular motion track, and a right-angle diffuse reflection light sensor; multiple shrimp serving mechanisms evenly distributed around the circumference are installed on the circular motion track and driven by the circular motion track to perform circular motion, with the corrugated vibrating ring located inside the circular motion track. The shrimp-holding mechanism includes a shrimp-holding trough, rollers, a single-degree-of-freedom hinge, and a spring. The rollers are arranged on the inner side below the shrimp-holding trough and move on the corrugated vibrating ring. The single-degree-of-freedom hinge is arranged at the center below the shrimp-holding trough, and the spring is arranged on the outer side below the shrimp-holding trough. The spring pushes the shrimp-holding trough upward so that the rollers press against the upper side of the corrugated vibrating ring. A right-angle diffuse light sensor is used to detect the shrimp's position.

8. The automatic shrimp plating device based on head-tail and dorsal orientation according to claim 7, characterized in that: The shrimp container includes a seamlessly connected smooth surface and a V-shaped constraint groove; the smooth surface is a curved plate that forms a converging trend from the inside out; the V-shaped constraint groove gradually decreases in V-angle from the inside out, and has an opening at the center of the end for a right-angle diffuse reflection light sensor to pass through laterally. The right-angle diffuse reflection light sensor is located below the point where the shrimp falls on the dorsal-facing device; The corrugated ring includes a variable amplitude low-frequency band, a low amplitude high-frequency band, and a flat band arranged sequentially along the circumference; the variable amplitude low-frequency band has multiple wave peaks with amplitudes ranging from large to small distributed intermittently; the low amplitude high-frequency band has multiple wave peaks with small amplitudes continuously distributed.

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