Squid fast positioning device and squid automatic feeding equipment

Abstract

The present application relates to the technical field of marine product processing equipment, and particularly discloses a squid fast positioning device and a squid automatic feeding equipment. The squid fast positioning device comprises a positioning plate, an adjusting roller, a rotating motor, a height driving motor, a positioning adjustable frame and a sensor. The adjusting roller is arranged above the positioning plate, and the sensor is arranged on one side above the positioning plate. The squid automatic feeding equipment comprises a rack, a squid feeding mechanism and a control system arranged on the rack, and the squid fast positioning device is arranged on the rack. The squid feeding mechanism comprises a squid clamping mechanism and a feeding driving mechanism. A squid feeding position adjusting mechanism is arranged on the squid clamping mechanism. A squid carrier is arranged on one side of the squid clamping mechanism, and a squid head drooping mechanism is arranged on the other side of the squid clamping mechanism. A transfer mechanism is arranged between the positioning plate and the rack. A conveying mechanism is arranged at the end of the positioning plate away from the sensor. The present application has the advantages of simple structure, squid positioning, fast grabbing, and adjustable squid feeding.

Description

Technical Field

[0001] This invention relates to the field of seafood processing equipment technology, specifically to a squid rapid positioning device and an automatic squid feeding device. Background Technology

[0002] Squid, a delicious and juicy seafood, is widely loved by consumers. my country ranks first in the world in both squid processing and consumption. However, the domestic squid processing industry largely relies on manual labor, resulting in low automation and poor product consistency, which severely restricts the competitiveness of enterprises. With the development of science, some automated squid processing equipment has emerged. A search revealed Chinese patent CN116849241A, which discloses a squid clamping mechanism and an automatic feeding device for squid in an unknown state. The squid clamping mechanism is characterized by: a clamping support frame, with a squid tail limiting and fixing component on one side and a squid carcass limiting and fixing component on the other side. The squid tail limiting and fixing component and the squid carcass limiting and fixing component are respectively connected to the clamping support frame. The automatic feeding device for squid in an unknown state includes a frame and a control system. The frame is equipped with a conveying mechanism, a vision recognition mechanism, and the aforementioned squid clamping mechanism. The conveying mechanism is connected to the frame. Above the conveyor belt of the conveying mechanism are the vision recognition mechanism and the squid clamping mechanism. The vision recognition mechanism is connected to the frame. The fixed seat of the squid clamping mechanism is fixedly connected to the frame via a robotic arm. The squid clamping mechanism, robotic arm, vision recognition mechanism, and conveying mechanism are respectively connected to the control system.

[0003] The shortcomings of the aforementioned patents are as follows: First, the squid on the conveyor belt in these patents come in various shapes and sizes. When the squid gripping mechanism grabs the squid, it needs to confirm the squid's posture and position through a visual recognition mechanism before it can grab it, which is complex to operate and has high operating costs. Second, different squids are of different sizes, resulting in some squid being longer and some being shorter. In the aforementioned patents, the distance that the squid gripping mechanism moves after gripping the squid is preset by the program. In other words, the distance that the squid gripping mechanism moves while gripping the squid is fixed. This results in squids of different lengths being placed in different positions on the feeding station, requiring manual readjustment and reducing the efficiency of automated squid feeding. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a squid rapid positioning device and an automatic squid feeding device that are simple in structure, can locate squid, can grab squid quickly, and have adjustable squid feeding.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A rapid squid positioning device is characterized by comprising a positioning plate, an adjusting roller, an adjusting drive mechanism, and an adjustable positioning frame. The adjusting roller is positioned above the positioning plate and is driven by the adjusting drive mechanism. The adjusting roller cooperates with the positioning plate to position the squid. The adjusting drive mechanism is connected to the adjustable positioning frame so that the adjusting roller is driven to contact the squid on the positioning plate. The adjusting roller rotates, causing the squid to move in a designated direction. By rotating the adjusting roller, the squid is moved to the designated position, thus achieving squid positioning.

[0007] The positioning plate of the present invention is provided with a sensor on one side above it. The sensor is connected to the positioning adjustable frame. The adjusting roller moves the squid toward the sensor. When the sensor detects the tail of the squid, the adjusting roller stops rotating, thereby realizing the positioning of the squid.

[0008] The positioning plate of the present invention has a baffle on one side. The baffle cooperates with the positioning plate to position the squid. By adjusting the driving mechanism, the adjusting roller is driven to contact the squid on the positioning plate, which drives the squid to move towards the baffle. The squid stops when its tail touches the baffle, thus achieving squid positioning.

[0009] The adjustment drive mechanism of the present invention includes a rotary motor and a height drive motor. The adjustment roller is driven by the rotary motor, and the rotary motor is driven by the height drive motor. The height drive motor is connected to the positioning adjustable frame so that the adjustment roller is driven to descend through the height drive motor. After contacting the squid, the rotary motor is driven and the adjustment roller moves the squid.

[0010] An automatic squid feeding device includes a frame, on which a squid feeding mechanism and a control system are provided. The device is characterized in that: the frame is equipped with the aforementioned rapid squid positioning device, which is controlled by the control system; the adjustable positioning frame is fixedly connected to the frame, allowing the squid to be fed by the squid feeding mechanism after being positioned on the positioning plate, resulting in a fast feeding speed.

[0011] The squid feeding mechanism of the present invention includes a squid clamping mechanism and a feeding drive mechanism. The squid clamping mechanism includes squid claws and a claw drive cylinder. The squid claws are driven to open and close by the claw drive cylinder, and the claw drive cylinder is driven by the feeding drive mechanism to grab squids on the positioning plate by the squid claws and to feed the squids by the feeding drive mechanism.

[0012] The squid clamping mechanism of the present invention is provided with a squid feeding position adjustment mechanism. A squid carrier is provided on one side of the squid clamping mechanism. The squid carrier is fixedly connected to the frame 1. The squid feeding position adjustment mechanism is driven by a feeding drive mechanism. The squid feeding position adjustment mechanism cooperates with the squid carrier to adjust the position of the squid clamping mechanism according to the size of the squid, so as to facilitate the adjustment of the position of the squid clamping mechanism according to the size of the squid, thereby adjusting the squid feeding position and preventing the squid from being torn.

[0013] The squid feeding position adjustment mechanism of this invention includes an adjustment frame, a connecting frame, a connecting rod, and an adjustment spring. The adjustment frame is located on one side of the squid clamping mechanism and is driven by a feeding drive mechanism. A connecting frame is located between the adjustment frame and the squid clamping mechanism. The connecting frame is fixedly connected to a gripper drive cylinder. The connecting frame has a connecting hole, through which the connecting rod passes and is fixedly connected to the adjustment frame. An adjustment spring is fitted onto the connecting rod. One end of the adjustment spring abuts against a protrusion fixed to the outer wall of the connecting rod, and the other end abuts against the connecting frame, so that the feeding drive mechanism can drive the adjustment frame to move. The squid gripper clamps the squid and places it on a squid carrier, with the squid head hanging down from one end of the squid carrier. When the squid is small, the squid head is positioned after hanging down. The squid held by the squid clamping mechanism is resisted by the squid head, preventing the squid clamping mechanism from moving. The adjustment frame continues to move backward under the drive of the feeding drive mechanism. The connecting rod moves backward with the adjustment frame, compressing the adjustment spring, preventing the squid clamping mechanism from moving and ensuring that the squid is not torn.

[0014] The squid clamping mechanism of the present invention has a squid head dropping mechanism on the other side. The squid head dropping mechanism includes a pressing block and a pressing block height driving cylinder. The pressing block is provided on the other side of the squid clamping mechanism. The pressing block is spaced apart from the squid clamping mechanism. The pressing block is driven by the pressing block height driving cylinder, which is driven by the feeding driving mechanism. The pressing block height driving cylinder is connected to the control system so that when the squid clamping mechanism grips the squid on the squid carrier, the pressing block height driving cylinder drives the pressing block to fall quickly, pressing the squid head downwards, and allowing it to fall naturally from the front end of the squid carrier.

[0015] The present invention provides a transfer mechanism between the positioning plate and the frame. The transfer mechanism includes a transfer conveyor belt and a transfer drive motor. The lower end of the positioning plate is provided with a transfer conveyor belt, and positioning plates are fixed at intervals on the transfer conveyor belt. The transfer conveyor belt is driven by the transfer drive motor, which is fixed on the frame so that the transfer conveyor belt can be moved by the transfer drive motor, thereby moving the positioning plate and transferring the positioning plate and the squid on the positioning plate.

[0016] The positioning plate of the present invention has a conveying mechanism at the end away from the sensor. The conveying mechanism includes a conveyor belt, a conveyor motor, and a guide frame. The conveyor belt is located at the end of the positioning plate away from the sensor. The conveyor belt is fitted with the positioning plate with a clearance fit. The conveyor belt is driven by the conveyor motor, which is fixed on the frame. Guide frames are provided on both sides of the conveyor belt along the transmission direction. The two guide frames are spaced apart, forming a squid guide channel between them. The lower end of the guide frame is fitted with the conveyor belt with a clearance fit. The guide frame is fixedly connected to the frame to ensure that the squid are conveyed with their tails facing the positioning mechanism.

[0017] The feeding end of the squid guide channel of the present invention is flared outward in a trumpet shape, and the discharging end of the squid guide channel faces the positioning mechanism, so as to facilitate the squid entering the guide channel.

[0018] The height of the upper end of the positioning plate described in this invention is lower than the height of the upper end of the conveyor belt to ensure that the squid is effectively conveyed to the positioning plate.

[0019] The adjustable positioning frame of the present invention is provided with an adjustment hole. The adjustable positioning frame is detachably and fixedly connected to the frame via the adjustment hole and screws, so as to facilitate the adjustment of the position of the adjustable positioning frame according to the size of the squid, and thus adjust the position of the positioning mechanism.

[0020] Due to the above-mentioned structure, this invention has the advantages of simple structure, squid positioning, fast grasping, and adjustable squid feeding. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the squid rapid positioning device of the present invention from one angle.

[0022] Figure 2 This is a schematic diagram of the squid rapid positioning device of the present invention from another angle.

[0023] Figure 3 This is another angled structural diagram of the squid rapid positioning device of the present invention.

[0024] Figure 4 This is a schematic diagram of the automatic squid feeding device of the present invention from one angle.

[0025] Figure 5 This is an enlarged schematic diagram of the automatic squid feeding device of the present invention from another angle.

[0026] Figure 6 This is an enlarged schematic diagram of the transfer mechanism, squid loading mechanism, and squid carrier of the present invention.

[0027] Figure 7 This is a partially enlarged schematic diagram of the squid feeding mechanism in this invention.

[0028] Reference numerals: 1. Squid gripping mechanism; 2. Squid feeding position adjustment mechanism; 3. Adjustment frame; 4. Feeding drive mechanism; 5. Connecting frame; 6. Connecting rod; 8. Squid gripper; 9. Gripper drive cylinder; 10. Frame; 11. Squid carrier; 12. Conveying mechanism; 13. Squid feeding mechanism; 14. Squid head dropping mechanism; 15. Pressing block; 16. Pressing block height drive cylinder; 17. Conveyor belt; 18. Conveyor motor; 19. Guide frame; 20. Squid guide channel; 21. Squid quick positioning device; 22. Positioning plate; 23. Adjusting roller; 24. Rotary motor; 25. Height drive motor; 26. Sensor; 27. Transfer mechanism; 28. Transfer conveyor belt; 29. ​​Transfer drive motor; 30. Gripper lifting cylinder; 31. Gripper front and rear drive cylinder; 32. Adjustable positioning frame. Detailed Implementation

[0029] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0030] A squid rapid positioning device 21 is characterized by comprising a positioning plate 22, an adjusting roller 23, an adjusting drive mechanism, a sensor 26, and a positioning adjustable frame 32. The adjusting roller 23 is provided above the positioning plate 22, and the sensor 26 is provided on one side above the positioning plate 22. The adjusting roller 23 is driven by the adjusting drive mechanism, which is connected to the positioning adjustable frame 32. The sensor 26 is fixed on the positioning adjustable frame 32 so that the adjusting roller is driven by the adjusting drive mechanism to contact the squid on the positioning plate. The adjusting roller moves the squid towards the sensor. When the sensor detects the tail of the squid, the adjusting roller stops rotating, thereby achieving squid positioning.

[0031] The adjustment drive mechanism of the present invention includes a rotary motor 24 and a height drive motor 25. The adjustment roller 23 is driven by the rotary motor 24, and the rotary motor 24 is driven by the height drive motor 25. The height drive motor 25 is connected to the positioning adjustable frame 32 so that the adjustment roller is driven to descend by the height drive motor. After contacting the squid, the rotary motor is driven and the adjustment roller drives the squid to move towards the sensor.

[0032] The above technical solutions can also be implemented in the following ways:

[0033] A squid rapid positioning device 21 is characterized by comprising a positioning plate 22, an adjusting roller 23, a baffle, an adjusting drive mechanism, and a positioning adjustable frame 32. The adjusting roller 23 is provided above the positioning plate 22, and a baffle is provided on one side of the positioning plate 22. The adjusting roller 23 is driven by the adjusting drive mechanism, which is connected to the positioning adjustable frame 32. The adjusting drive mechanism drives the adjusting roller to contact the squid, causing the squid to move towards the baffle. The squid stops when its tail touches the baffle, thus achieving squid positioning.

[0034] The adjustment drive mechanism of the present invention includes a rotary motor 24 and a height drive motor 25. The adjustment roller 23 is driven by the rotary motor 24, and the rotary motor 24 is driven by the height drive motor 25. The height drive motor 25 is connected to the positioning adjustable frame 32 so that the adjustment roller is driven to descend by the height drive motor. After contacting the squid, the rotary motor is driven and the adjustment roller drives the squid to move towards the sensor.

[0035] An automatic squid feeding device includes a frame 10, on which a squid feeding mechanism 13 and a control system are provided. The device is characterized in that: the frame 10 is provided with the aforementioned squid rapid positioning device 21, which is controlled by the control system; the positioning adjustable frame 32 is fixedly connected to the frame 10, so that the squid feeding mechanism can grab the squid positioned on the positioning plate for feeding, and the feeding speed is fast.

[0036] The squid feeding mechanism 13 of the present invention includes a squid clamping mechanism 1 and a feeding drive mechanism 4. The squid clamping mechanism 1 includes a squid claw 8 and a claw drive cylinder 9. The squid claw 8 is driven to open and close by the claw drive cylinder 9, and the claw drive cylinder 9 is driven by the feeding drive mechanism 4, so as to grab the squid on the positioning plate by the squid claw and drive the squid to feed by the feeding drive mechanism 4.

[0037] The squid clamping mechanism 1 of the present invention is provided with a squid feeding position adjustment mechanism 2. A squid carrier 11 is provided on one side of the squid clamping mechanism 1. The squid carrier 11 is fixedly connected to the frame 1. The squid feeding position adjustment mechanism 2 is driven by a feeding drive mechanism 4. The squid feeding position adjustment mechanism 2 cooperates with the squid carrier 11 to adjust the position of the squid clamping mechanism 1 according to the size of the squid, so as to facilitate the adjustment of the position of the squid clamping mechanism according to the size of the squid, thereby adjusting the squid feeding position and preventing the squid from being torn.

[0038] The squid feeding position adjustment mechanism 2 of the present invention includes an adjustment frame 3, a connecting frame 5, a connecting rod 6, and an adjustment spring. The adjustment frame 3 is provided on one side of the squid clamping mechanism 1. The adjustment frame 3 is driven by a feeding drive mechanism 4. A connecting frame 5 is provided between the adjustment frame 3 and the squid clamping mechanism 1. The connecting frame 5 is fixedly connected to a gripper drive cylinder 9. A connecting hole is provided on the connecting frame 5. The connecting rod 6 passes through the connecting hole and is fixedly connected to the adjustment frame 3. An adjustment spring is sleeved on the connecting rod 6. One end of the adjustment spring is connected to the connecting rod 3. The connecting rod 6 has a fixed boss on its outer wall that abuts against the connecting frame 5 at the other end, so that the adjusting frame can be moved by the feeding drive mechanism. The squid gripper holds the squid and places it on the squid carrier. The squid head hangs down from one end of the squid carrier. When the squid is small, the squid head is positioned after hanging down. The squid held by the squid gripping mechanism is resisted by the squid head, so the squid gripping mechanism does not move. The adjusting frame continues to move backward under the drive of the feeding drive mechanism. The connecting rod moves backward with the adjusting frame and squeezes the adjusting spring. The squid gripping mechanism does not move, ensuring that the squid is not torn.

[0039] The squid clamping mechanism 1 of the present invention has a squid head dropping mechanism 14 on the other side. The squid head dropping mechanism 14 includes a pressing block 15 and a pressing block height driving cylinder 16. The pressing block 15 is provided on the other side of the squid clamping mechanism 1. The pressing block 15 is spaced apart from the squid clamping mechanism 1. The pressing block 15 is driven by the pressing block height driving cylinder 16, which is driven by the feeding driving mechanism 4. The pressing block height driving cylinder 16 is connected to the control system so that when the squid clamping mechanism grips the squid on the squid carrier, the pressing block height driving cylinder drives the pressing block to fall quickly, pressing the squid head downwards, and allowing it to fall naturally from the front end of the squid carrier.

[0040] The present invention provides a transfer mechanism 27 between the positioning plate 22 and the frame 10. The transfer mechanism 27 includes a transfer conveyor belt 28 and a transfer drive motor 29. The lower end of the positioning plate 22 is provided with a transfer conveyor belt 28, and positioning plates 22 are fixedly fixed on the transfer conveyor belt 28 at intervals. The transfer conveyor belt 28 is driven by the transfer drive motor 29, which is fixed on the frame 10. The transfer drive motor drives the transfer conveyor belt to move, thereby driving the positioning plates to move and transferring the positioning plates and the squid on the positioning plates.

[0041] The positioning plate 22 of the present invention has a conveying mechanism 12 at the end away from the sensor 26. The conveying mechanism 12 includes a conveyor belt 17, a conveyor motor 18, and a guide frame 19. The conveyor belt 17 is provided at the end of the positioning plate 22 away from the sensor 26. The conveyor belt 17 is fitted with the positioning plate 22 with a clearance fit. The conveyor belt 17 is driven by the conveyor motor 18, which is fixed on the frame 10. The conveyor belt 17 has guide frames 19 on both sides along the transmission direction. The two guide frames 19 are spaced apart, forming a squid guide channel 20 between the two guide frames 19. The lower end of the guide frame 19 is fitted with the conveyor belt 17 with a clearance fit. The guide frame 19 is fixedly connected to the frame 10 to ensure that the squid are conveyed with their tails facing the positioning mechanism through the transmission of the guided squid.

[0042] The squid guide channel 20 of the present invention has a feeding end that opens outward in a trumpet shape, and the discharging end of the squid guide channel 20 faces the positioning mechanism, so as to facilitate the squid entering the guide channel.

[0043] The height of the upper end of the positioning plate 22 is lower than the height of the upper end of the conveyor belt 17, so as to ensure that the squid is effectively conveyed to the positioning plate.

[0044] The adjustable positioning frame 32 of the present invention is provided with an adjustment hole. The adjustable positioning frame 32 is detachably and fixedly connected to the frame 10 via the adjustment hole and screws, so as to facilitate the adjustment of the position of the adjustable positioning frame according to the size of the squid, and thus adjust the position of the positioning mechanism.

[0045] As attached Figure 1-3 The number of adjusting rollers 23 in the squid rapid positioning device 21 of this invention can be set according to requirements. In this embodiment, two adjusting rollers 23 are provided, and the two adjusting rollers 23 are connected by a sprocket and a chain drive. One of the adjusting rollers 23 is driven by a rotary motor 23. Before use, the position of the positioning adjustable frame 32 on the frame 10 is adjusted according to the approximate size of the squid, as shown in the attached figure. Figure 4-5 The lower end of the adjustable positioning frame 32 is provided with an adjustment hole. The adjustable positioning frame 32 can move back and forth and left and right along the frame 10. The adjustable positioning frame 32, along with the adjustment roller 23, moves back and forth and left and right relative to the frame 10. After the position is appropriate, it is fixed to the frame 10 by screws passing through the adjustment hole.

[0046] For ease of description, see attached Figure 4To illustrate the orientation, the conveying mechanism 12 is in front, the squid positioning mechanism 21 is behind, the squid head dropping mechanism 14 is in front of the squid clamping mechanism 1, the squid feeding position adjustment mechanism 2 is behind the squid clamping mechanism 1, and the squid clamping mechanism 1 is to the right of the squid positioning mechanism 21. In this invention, the control system is a PLC control system, and the gripper drive cylinder 9, the block height drive cylinder 16, the conveying motor 18, the rotary motor 24, the height drive motor 25, the sensor 26, the transfer drive motor 29, the gripper lifting cylinder 30, and the gripper front and rear drive cylinder 31 are all controlled by the control system.

[0047] The automatic squid feeding method in this invention is as follows:

[0048] Step 1: Place the squid on the conveyor belt 17 with the squid head facing forward and the squid tail fin facing backward. The control system controls the start of the conveyor motor 18 to drive the conveyor belt 17 to rotate. The conveyor belt 17 carries the squid from front to back. After passing through the squid guide channel 20, the squid falls onto the positioning plate 17 behind the conveyor belt 17.

[0049] Step 2: The control system starts the height drive motor 25, which drives the adjusting roller 23 to descend. The adjusting roller 23 contacts the upper surface of the squid on the positioning plate 17. The rotation motor 24 is started, which drives the adjusting roller 23 to rotate, moving the squid from front to back. When the sensor 26 detects the squid, the control system turns off the rotation motor 24 and starts the height drive motor 25, which drives the adjusting roller 23 to rise away from the squid.

[0050] Step 3: The control system starts the transfer drive motor 29, which drives the transfer conveyor belt 28 to move the positioning plate 22 carrying the squid to the right, moving the positioning plate 22 carrying the squid below the squid clamping mechanism 1, and then turns off the transfer drive motor 29.

[0051] Step 4: The control system starts the gripper lifting cylinder 30, the telescopic rod of the gripper lifting cylinder 30 extends, driving the squid gripping mechanism 1 and the squid feeding position adjustment mechanism 2 to move downward. The control system starts the gripper drive cylinder 9, opens the squid gripper 8, the squid gripper 8 grabs the squid on the positioning plate 22, and the squid gripper 8 closes.

[0052] Step 5: The control system activates the gripper's front and rear drive cylinders 31. These cylinders move the squid loading mechanism 13 and the squid head dropping mechanism 14 backward toward the squid carrier. The front end of the squid carrier has a positioning groove. When the squid head reaches the front end of the squid carrier, it drops down from the positioning groove.

[0053] To prevent the squid gripping mechanism 1 from moving the squid too fast, which would prevent the squid head from falling off the front of the squid carrier,

[0054] When the squid head reaches the front end of the squid carrier, the control system activates the block height drive cylinder 16. The telescopic rod of the block height drive cylinder 16 drives the block 15 to move downwards quickly. The block 15 presses the squid head downwards, causing it to fall from the positioning groove at the front end of the squid carrier. The control system then activates the block height drive cylinder 16 again, causing the block 15 to rise and return to its original position. The lowest point of the descending block 15 is lower than the upper surface of the squid carrier 11. After the squid head falls, the control system activates the gripper drive cylinder 9 to open the squid gripper 8, allowing the squid to fall onto the squid carrier 11. The control system then activates the gripper lifting cylinder 30 and the gripper front and rear drive cylinder 31 to move the squid gripper 8 away from the squid, returning it to its original position, thus completing the automatic squid unloading process. The above steps are repeated to achieve automatic batch feeding of squid. In this invention, the squid positioning mechanism 21 moves the squid to the sensor 26 via the adjusting roller 23 and stops when the sensor 26 detects it. The sensor is such as an infrared sensor. The sensor 26 senses the squid and transmits the signal to the control system. The control system shuts down the rotary motor 24. This ensures that the tail of each squid being fed reaches the same position. The initial position of the squid gripper 8 of the squid clamping mechanism 1 matches the position of the squid on the positioning plate. The squid gripper 8 grabs the squid near the tail fin. In general program settings, the displacement of the squid moved to the squid carrier 11 after the squid gripper 8 grabs the squid is preset, that is, the displacement of the front and rear drive cylinders 31 of the gripper is fixed. However, the size of the squid... There are no small ones, but among a batch of squid waiting to be fed, some squid are larger and longer, and some are smaller and shorter. For the longer squid, the system's preset movement position is appropriate; the squid head hangs down from the groove at the front of the squid carrier, and the gripper's front and rear drive cylinder 31 moves the squid gripper 8 to the correct position and stops moving, thus placing the squid appropriately. However, for shorter squid, when the squid head hangs down from the groove at the front of the squid carrier, the gripper's front and rear drive cylinder 31 needs to move further backward to reach the predetermined position. At this point, because the squid's position is fixed after the squid head hangs down, if the squid gripper 8 continues to move backward while holding the squid, it will tear the squid. In this invention, the squid feeding position adjustment mechanism 2 is set up to adjust this. After the squid head droops, there is resistance to the squid's backward movement. At this time, the gripper's front and rear drive cylinder 31 drives the adjusting frame 3 to continue moving backward. The adjusting frame 3 drives the connecting rod 6 to move backward, and the connecting rod 6 compresses the adjusting spring. The adjusting spring compresses the connecting frame 5, and the connecting frame 5 is fixed to the gripper drive cylinder 9. When the resistance of the squid head to the squid's backward movement is greater than the elastic force of the adjusting spring, the position of the gripper drive cylinder 9 remains unchanged. Consequently, the positions of the squid gripper 8 and the squid remain unchanged, while the gripper's front and rear drive cylinder 31 drives the adjusting frame 3 to move backward. The connecting rod 6 moves backward and compresses the adjusting spring until the gripper's front and rear drive cylinder 31 reaches the preset stroke and stops. The squid gripper 8 opens and releases the squid. The adjusting frame 3 and the connecting rod 6 return to their original positions under the action of the adjusting spring's rebound force.

[0055] This invention features an ingenious structure that allows the squid's position on the squid carrier to be adjusted according to its size, maintaining the squid's integrity and preventing it from being torn. The invention incorporates guide frames 19 on the conveyor belt 17, which guide the squid's transport, ensuring that the squid lands head-forward on the positioning plate 22. The squid's tail is then positioned by the squid positioning mechanism 21, ensuring that each squid gripper grasps the squid's tail, thus improving gripping efficiency.

[0056] Due to the above-mentioned structure, this invention has the advantages of simple structure, squid positioning, fast grasping, and adjustable squid feeding.

Claims

1. A squid fast positioning device (21) characterized by: The application relates to a squid positioning device, which comprises a positioning plate (22), an adjusting roller (23), an adjusting driving mechanism, a positioning adjustable frame (32), the adjusting roller (23) is arranged above the positioning plate (22), the adjusting roller (23) is driven by the adjusting driving mechanism, the adjusting roller (23) is matched with the positioning plate (22) to position the squid, the adjusting driving mechanism is connected with the positioning adjustable frame (32), one side above the positioning plate (22) is provided with a sensor (26), the sensor (26) is connected with the positioning adjustable frame (32), the adjusting roller is driven by the adjusting driving mechanism to contact the squid on the positioning plate, the adjusting roller moves the squid to the direction of the sensor, when the sensor detects the tail of the squid, the adjusting roller stops rotating, the squid is positioned, the tail of each squid to be fed reaches the same position, the initial position of a squid clamping jaw (8) of a squid clamping mechanism (1) is matched with the position of the squid on the positioning plate, and the squid clamping jaw (8) grabs the squid close to the tail fin part.

2. The squid quick positioning device according to claim 1, characterized in that: The adjusting driving mechanism comprises a rotating motor (24) and a height driving motor (25), the adjusting roller (23) is driven by the rotating motor (24), the rotating motor (24) is driven by the height driving motor (25), and the height driving motor (25) is connected with the positioning adjustable frame (32).

3. An automatic squid feeding equipment, comprising a rack (10), a squid feeding mechanism (13) and a control system are arranged on the rack (10), characterized in that: The rack (10) is provided with the squid rapid positioning device (21) in the above claim 1 or 2, the squid rapid positioning device (21) is controlled by a control system, and the positioning adjustable frame (32) is fixedly connected with the rack (10).

4. The automatic squid feeding equipment according to claim 3, characterized in that: The squid feeding mechanism (13) comprises the squid clamping mechanism (1) and a feeding driving mechanism (4), the squid clamping mechanism (1) comprises a squid clamping jaw (8) and a clamping jaw driving cylinder (9), the squid clamping jaw (8) is driven to open and close by the clamping jaw driving cylinder (9), and the clamping jaw driving cylinder (9) is driven by the feeding driving mechanism (4).

5. The automatic squid feeding equipment according to claim 4, characterized in that: The squid feeding mechanism (13) comprises the squid clamping mechanism (1) and a feeding driving mechanism (4), the squid clamping mechanism (1) comprises a squid clamping jaw (8) and a clamping jaw driving cylinder (9), the squid clamping jaw (8) is driven to open and close by the clamping jaw driving cylinder (9), and the clamping jaw driving cylinder (9) is driven by the feeding driving mechanism (4).

6. The automatic squid feeding equipment according to claim 5, characterized in that: The squid feeding mechanism (13) comprises the squid clamping mechanism (1) and a feeding driving mechanism (4), the squid clamping mechanism (1) comprises a squid clamping jaw (8) and a clamping jaw driving cylinder (9), the squid clamping jaw (8) is driven to open and close by the clamping jaw driving cylinder (9), and the clamping jaw driving cylinder (9) is driven by the feeding driving mechanism (4). The squid feeding position adjusting mechanism (2) comprises an adjusting frame (3), a connecting frame (5), a connecting rod (6) and an adjusting spring, one side of the squid clamping mechanism (1) is provided with the adjusting frame (3), the adjusting frame (3) is driven by the feeding driving mechanism (4), the adjusting frame (3) and the squid clamping mechanism (1) are provided with the connecting frame (5), the connecting frame (5) is fixedly connected with the clamping jaw driving cylinder (9), the connecting frame (5) is provided with a connecting hole, the connecting rod (6) passes through the connecting hole and is fixedly connected with the adjusting frame (3), the adjusting spring is sleeved on the connecting rod (6), one end of the adjusting spring abuts against a fixed boss on the outer wall of the connecting rod (6), and the other end abuts against the connecting frame (5).

7. The automatic squid feeding equipment according to claim 4 or 5 or 6, characterized in that: The rack (10) is provided with a squid head falling mechanism (14) above it, the squid head falling mechanism (14) includes a pressing block (15), a pressing block height driving cylinder (16), the rack (10) is provided with a pressing block (15) above it, the pressing block (15) is arranged separately from the squid clamping mechanism (1), the pressing block (15) is driven by the pressing block height driving cylinder (16), the pressing block height driving cylinder (16) is driven by the feeding driving mechanism (4), and the pressing block height driving cylinder (16) is connected with the control system.

8. The automatic feeding device according to claim 4 or 5 or 6, characterized in that: The positioning plate (22) and the rack (10) are provided with a transfer mechanism (27) therebetween, the transfer mechanism (27) includes a transfer conveying belt (28) and a transfer driving motor (29), the lower end of the positioning plate (22) is provided with the transfer conveying belt (28), the transfer conveying belt (28) is fixed with the positioning plate (22) at intervals, the transfer conveying belt (28) is driven by the transfer driving motor (29), and the transfer driving motor (29) is fixed on the rack (10).

9. The automatic feeding device according to claim 4 or 5 or 6, characterized in that: The rack (10) is provided with a conveying mechanism (12) thereon, the conveying mechanism (12) includes a conveying belt (17), a conveying motor (18) and a guide frame (19), one side of the positioning plate (22) is provided with the conveying belt (17), the conveying belt (17) is in gap fit butt joint with the positioning plate (22), the conveying belt (17) is driven by the conveying motor (18), the conveying motor (18) is fixed on the rack (10), the conveying belt (17) is provided with the guide frame (19) along the two sides of the transmission direction, the two guide frames (19) are arranged at intervals, a squid guide channel (20) is formed between the two guide frames (19), the lower end of the guide frame (19) is in gap fit with the conveying belt (17), and the guide frame (19) is fixedly connected with the rack (10).

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