Clamping device and automatic feeding and discharging equipment

Abstract

The invention discloses a clamping device which is suitable for being connected with a mechanical arm and conveying fish on a conveying belt, the clamping device comprises a driving mechanism, a clamping mechanism, a visual mechanism and a control mechanism, and the visual mechanism is suitable for collecting basic information of the fish on the conveying belt in a clamping area; the control mechanism is suitable for controlling the driving mechanism to drive the clamping mechanism to clamp the fish on the conveying belt corresponding to the to-be-grabbed position, and the clamping mechanism comprises a first clamping assembly, a second clamping assembly and a pressing assembly; the first clamping assembly and the second clamping assembly are suitable for being driven by the driving mechanism to move oppositely, through arrangement of the clamping mechanisms, fishes on the conveying belt can be stably and rapidly clamped, and the fish sorting efficiency and accuracy are improved. The invention further discloses automatic feeding and discharging equipment which comprises the conveying belt, the mechanical arm and the clamping device, and the mechanical arm is suitable for driving the clamping device to move so as to clamp and convey the fishes on the conveying belt.

Description

Technical Field

[0001] The invention relates to the field of automation technology, and in particular to a clamping device and automatic loading and unloading equipment. Background Art

[0002] With the improvement of fish farming technology and deep-sea fishing technology in my country, the number of fish harvested every day in fishing operations is considerable and the variety is diverse. From tiny shrimps to huge deep-sea fish, from common economic fish to various rare species, the size differences are huge and the variety is countless.

[0003] Faced with such a diverse and mixed catch, the traditional manual sorting method has exposed many drawbacks. Fishermen need to use their naked eyes to identify one by one within a limited time, not only to distinguish different fish species, but also to classify them according to size specifications. This process is extremely time-consuming and labor-intensive, and human errors in sorting will lead to misclassification of fish, and the problem of low efficiency is becoming increasingly prominent. In addition, the operator's proficiency, experience and skills are required to be high when sorting fish.

[0004] With the continuous expansion of the scale of fisheries and the continuous improvement of the market's requirements for fish quality and classification accuracy, manual picking can no longer meet the growing needs of fishery production. There is an urgent need for a more efficient and accurate sorting method to replace the traditional manual mode in order to achieve effective processing and rational allocation of fishery resources.

[0005] Therefore, in practical applications, manual fish sorting is inefficient. Summary of the invention

[0006] The technical problem to be solved by the present invention is that the efficiency of manual fish sorting is low.

[0007] The invention discloses a clamping device which is suitable for being connected with one end of a mechanical arm and conveying fish on a conveyor belt. The clamping device comprises a mounting frame, a driving mechanism, a clamping mechanism, a visual mechanism and a control mechanism.

[0008] The mounting frame is adapted to carry the driving mechanism and the clamping mechanism.

[0009] The visual mechanism is suitable for collecting basic information of fish on the conveyor belt in the clamping area, and the basic information includes: first basic information and second basic information, the first basic information includes: position and direction, and the second basic information includes: size and variety.

[0010] The control mechanism is suitable for causing the mechanical arm to drive the mounting frame to move to a position to be grasped based on the first basic information, and controlling the driving mechanism to drive the clamping mechanism to clamp the fish on the conveyor belt corresponding to the position to be grasped.

[0011] The clamping mechanism comprises: a first clamping assembly, a second clamping assembly and a pressing assembly.

[0012] The clamping assembly is arranged between the first clamping assembly and the second clamping assembly. The clamping assembly is suitable for fitting with the upper surface of the fish on the conveyor belt when the first clamping assembly and the second clamping assembly cooperate to clamp the fish on the conveyor belt. The first clamping assembly and the second clamping assembly are symmetrically arranged with the central axis of the clamping assembly as the center and have the same structure.

[0013] The first clamping assembly and the second clamping assembly are adapted to move toward each other under the drive of the driving mechanism to clamp or release the fish on the conveyor belt in the clamping area.

[0014] The driving mechanism comprises: a first driving member.

[0015] The first clamping assembly includes: a first supporting member, a towing hook, a clamping member, a first surrounding portion and a second surrounding portion.

[0016] The top end of the clamping member is connected to the first driving member through the first supporting member, and the clamping member is suitable for fitting the first side end of the fish when clamping the fish on the conveyor belt in the clamping area. The drag hook is obliquely arranged at the bottom end of the clamping member, and the drag hook is suitable for fitting the bottom end of the fish when clamping the fish on the conveyor belt in the clamping area.

[0017] The second enclosing portion, the clamping member and the first enclosing portion are arranged in sequence along a first direction, the first enclosing portion is connected to a first side of the clamping member, the second enclosing portion is connected to a second side of the clamping member, the first side of the clamping member and the second side of the clamping member are arranged opposite to each other, the first enclosing portion is suitable for fitting to the head of the fish when clamping the fish on the conveyor belt in the clamping area, and the second enclosing portion is suitable for fitting to the tail of the fish when clamping the fish on the conveyor belt in the clamping area.

[0018] Optionally, the clamping device further comprises: a coding mechanism, wherein the coding mechanism is adapted to perform coding processing on the fish clamped by the clamping mechanism based on the second basic information.

[0019] Optionally, the clamping device further includes: a weighing sensor.

[0020] The weighing sensor is arranged at the conveyor belt in the clamping area, and is suitable for measuring the weight information of the fish on the conveyor belt in the clamping area, and transmitting the weight data corresponding to the measured weight information to the control mechanism. The control mechanism is also suitable for converting the weight data and transmitting the converted weight data to the coding mechanism.

[0021] The coding mechanism is suitable for performing two-dimensional coding processing on the fish clamped by the clamping mechanism.

[0022] The information of the QR code includes: size, weight, variety, production time, growth cycle, cooking method, etc.

[0023] Optionally, the clamping assembly includes: a pressing plate, a supporting plate, an elastic member, a guide rod, a retaining ring and a limiting ring.

[0024] The mounting frame supports the support plate, the support plate has a through hole, the guide rod slides through the through hole, the retaining ring is arranged at the first end of the guide rod, the pressure plate is arranged at the second end of the guide rod, and the first end of the guide rod is arranged opposite to the second end of the guide rod.

[0025] The limiting ring is arranged between the supporting plate and the pressing plate, and is fixedly sleeved outside the guide rod.

[0026] The elastic member is arranged between the support plate and the limiting ring, and is sleeved outside the guide rod.

[0027] Optionally, the pressing plate has a mounting cavity. The mounting cavity is suitable for accommodating a suction cup, the outer edge of the suction cup is flush with the first end surface of the pressing plate, and the suction cup is suitable for adsorbing the upper surface of the fish when the clamping mechanism clamps the fish on the conveyor belt in the clamping area.

[0028] The air inlet of the suction cup is provided with a filter screen, and the first end surface of the pressing plate is provided with a pattern.

[0029] Optionally, the first enclosing portion is configured to imitate the head of the fish clamped by the clamping mechanism, and the second enclosing portion is configured to imitate the tail of the fish clamped by the clamping mechanism.

[0030] Optionally, the driving mechanism further comprises: a synchronization member, through which the first clamping assembly is connected to the second clamping assembly, and the synchronization member is adapted to control the second clamping assembly and the first clamping assembly to move toward each other at the same speed.

[0031] Optionally, the angle formed by the towing hook and the clamping member ranges from 110° to 120°. The direction from the first end of the first enclosing portion to the second end of the first enclosing portion is the second direction. The second end of the first enclosing portion is arranged opposite to the first end of the first enclosing portion.

[0032] The direction of the fish corresponding to the position to be caught is a first direction. The angle formed by the first direction and the second direction is in the range of 15° to 20°.

[0033] Optionally, the basic information further includes: third basic information. The third basic information includes: profile. The first clamping assembly further includes: an angle adjustment member.

[0034] The first enclosing portion is connected to the clamping member via the angle adjusting member, and the second enclosing portion is connected to the clamping member via the angle adjusting member. The angle adjusting member is suitable for adjusting the angle formed by the first direction and the second direction based on the third basic information.

[0035] The present invention also discloses an automatic loading and unloading device, comprising: a conveyor belt, a mechanical arm and a clamping device. The mechanical arm is connected to the clamping device, and the mechanical arm is suitable for driving the clamping device to move so as to clamp and transport the fish on the conveyor belt.

[0036] Due to the adoption of the above technical solution, the present invention has the following beneficial effects compared with the prior art: through the setting of the clamping mechanism, the fish on the conveyor belt can be wrapped and clamped, making the sorting operation stable and fast, and improving the efficiency and accuracy of fish sorting.

[0037] The above description of the disclosed contents and the following description of the embodiments are used to demonstrate and explain the spirit and principle of the present invention, and to provide a further explanation of the scope of the patent application of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The specific implementation modes of the present invention will be further described in detail below with reference to the accompanying drawings.

[0039] Figure 1 This is a schematic diagram of the application structure of a clamping device according to an embodiment of the present invention; Figure 2 It is a structural schematic diagram of a pressing assembly in an embodiment of the present invention; Figure 3 It is a schematic diagram of the three-dimensional structure of a part of the clamping device in an embodiment of the present invention; Figure 4 It is a schematic structural diagram of a first clamping assembly in an embodiment of the present invention; Figure 5 Schematic diagram of the structure of part of the first clamping assembly in an embodiment of the present invention.

[0040] Description of Figure Numbers: 11. first clamping assembly; 1111. first support member; 1112. clamping member; 1113. towing hook; 112. first enclosure; 113. transmission member; 1131. transmission plate; 1132. transmission rod; 114. angle adjustment member; 1141. support seat; 1142. third driving member; 1143. transmission block; 1144. fixing block; 115. second enclosure; 12. second clamping assembly; 13. clamping assembly; 131. pressure plate; 132. support plate; 133. elastic member; 134. guide rod; 135. retaining ring; 136. limiting ring; 137. linear bearing; 2. driving mechanism; 21. first driving member; 22. second driving member; 3. mounting frame; 31. mounting plate; 32. connecting member; x, first direction; y, second direction. DETAILED DESCRIPTION

[0041] The following specific embodiments illustrate the implementation of the present invention, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Although the description of the present invention will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this invention are limited to this implementation. On the contrary, the purpose of introducing the invention in conjunction with the implementation is to cover other options or modifications that may extend based on the claims of the present invention. In order to provide a deep understanding of the present invention, the following description will include many specific details. The present invention can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present invention, some specific details will be omitted in the description. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0042] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0043] The terms “first”, “second”, etc. are only used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0044] In the description of this embodiment, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "provided with", "set", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this embodiment can be understood according to specific circumstances.

[0045] See also Figure 1 As shown, the present application discloses a clamping device suitable for being connected to one end of a robotic arm and conveying fish on a conveyor belt. The clamping device comprises: a mounting frame 3, a driving mechanism 2, a clamping mechanism, a visual mechanism and a control mechanism.

[0046] The above components are described in detail below.

[0047] The mounting frame 3 is suitable for carrying the driving mechanism 2 and the clamping mechanism. In this embodiment, the mounting frame 3 includes: a mounting plate 31 and a connecting member 32. The fish sorted in this application are mainly dead fish, which can be room temperature fish or frozen fish.

[0048] The first end of the connecting member 32 is directly connected to the upper surface of the mounting plate 31, and the second end of the connecting member 32 is suitable for connecting to the first end of the robotic arm. The second end of the robotic arm is connected to the control mechanism, and the control mechanism is suitable for controlling the movement of the robotic arm. The first end of the connecting member 32 is arranged opposite to the second end of the connecting member 32, and the second end of the connecting member 32 is the end away from the mounting plate 31.

[0049] The present application does not limit the specific structure of the connecting member 32 and the mounting plate 31, and they can be reasonably selected and configured according to actual needs.

[0050] See also Figure 3 As shown, the driving mechanism 2 is attached to the lower surface of the mounting plate 31, and the driving mechanism 2 includes: a first driving member 21, a second driving member 22 and a synchronizing member, the first driving member 21 and the second driving member 22 are arranged in opposite directions, the output end of the first driving member 21 is an end away from the second driving member 22, and the output end of the second driving member 22 is an end away from the first driving member 21.

[0051] In this embodiment, the driving mechanism 2 can be implemented by a cylinder or other components. The present application does not limit the specific structure of the driving mechanism 2, and it can be reasonably selected and set according to actual needs.

[0052] The first clamping assembly 11 is connected to the second clamping assembly 12 through the synchronizer, and the synchronizer is suitable for controlling the second clamping assembly 12 and the first clamping assembly 11 to move in opposite directions, that is, to move in opposite directions, and at the same speed. The arrangement of the synchronizer can meet the high-precision clamping of the fish by the clamping device, thereby improving the performance of the clamping device.

[0053] The present application does not limit the specific structure of the synchronous member, which may be a gear rack, a synchronous pulley, a multi-link structure, etc., and can be reasonably selected and set according to actual needs. The driving mechanism 2 in the present application may also only include the first driving member 21, specifically the synchronous member and the first driving member 21 are combined, and the second clamping assembly 12 is driven to move by the first driving member 21 and the synchronous member.

[0054] The visual mechanism is located above the clamping area. When the fish on the conveyor belt enters the clamping area, the visual mechanism is suitable for dynamically collecting basic information of the fish on the conveyor belt in the clamping area. The basic information includes: first basic information and second basic information. The first basic information includes: position and direction. The position is where the fish on the conveyor belt is located. The visual mechanism can accurately and dynamically locate the horizontal coordinate and vertical coordinate of the fish's position. The direction is the direction from the tail of the fish to the head of the fish. Figure 4 The second basic information is consistent with the first direction shown by x, and the second basic information includes: size and variety, the size includes the length from the fish tail to the fish head and the width of the fish, and can identify the fish variety accordingly.

[0055] When the fish on the conveyor belt is in the clamping area, the control mechanism is suitable for controlling the robotic arm to drive the mounting frame 3 to dynamically follow to the position to be grasped to clamp the fish based on the first basic information. The position to be grasped is the position of the fish on the conveyor belt captured by the visual mechanism. The control mechanism can also control the driving mechanism 2 to drive the clamping mechanism to clamp the fish on the conveyor belt corresponding to the position to be grasped.

[0056] Through the real-time collection of fish in the clamping area by the visual mechanism, the control mechanism can control the robotic arm to drive the clamping device to dynamically follow and clamp the fish on the conveyor belt in the clamping area, which not only reduces the sorting time, but also improves the accuracy and efficiency of fish clamping.

[0057] The clamping mechanism comprises: a first clamping assembly 11 , a second clamping assembly 12 and a pressing assembly 13 .

[0058] The clamping assembly 13 is arranged between the first clamping assembly 11 and the second clamping assembly 12. The clamping assembly 13 is suitable for fitting with the upper surface of the fish on the conveyor belt when the first clamping assembly 11 and the second clamping assembly 12 cooperate to clamp the fish on the conveyor belt. The first clamping assembly 11 and the second clamping assembly 12 are symmetrically arranged with the central axis of the clamping assembly 13 as the center and have the same structure.

[0059] The output end of the first driving member 21 is connected to the first clamping assembly 11, and the output end of the second driving member 22 is connected to the second clamping assembly 12. The first clamping assembly 11 and the second clamping assembly 12 are suitable for approaching or moving away from each other under the drive of the driving mechanism 2 to clamp or release the fish on the conveyor belt in the clamping area.

[0060] In this embodiment, the first driving member 21 and the second driving member 22 can both be implemented by cylinders, and this application does not limit this structure.

[0061] See also Figure 4 As shown, the first clamping assembly 11 includes: a first support member 1111 , a towing hook 1113 , a clamping member 1112 , a first surrounding portion 112 and a second surrounding portion 115 .

[0062] The top end of the clamping member 1112 is connected to the first driving member 21 through the first supporting member 1111, and the clamping member 1112 is suitable for fitting the first side end of the fish when clamping the fish on the conveyor belt in the clamping area, and the first side end of the fish is one side of the fish. The drag hook 1113 is obliquely arranged at the bottom end of the clamping member 1112, and the angle formed by the drag hook 1113 and the clamping member 1112 is an obtuse angle. The drag hook 1113 is suitable for fitting the bottom end of the fish when clamping the fish on the conveyor belt in the clamping area.

[0063] The clamping member 1112 may be implemented by a single plate, or by a plurality of clamping rods or a plurality of plates. In the present embodiment, the clamping member 1112 is implemented by three clamping rods, which are sequentially arranged on the first support member 1111 along a first direction.

[0064] Furthermore, the first clamping assembly 11 also includes a telescopic member, and the clamping member 1112 is connected to the first supporting member 1111 via the telescopic member. The telescopic member is suitable for adjusting the distance between the three clamping rods, that is, adjusting the total length of the clamping member 1112 to accommodate fish of different sizes.

[0065] The present application does not limit the specific structure of the clamping member 1112 and the towing hook 1113, and they can be reasonably selected and arranged as needed, as long as they can fit the side and bottom surfaces of the fish when clamping the fish on the conveyor belt.

[0066] See also Figure 3Combined with Figure 4 As shown, in this embodiment, in order to better control the movement distance of the first clamping assembly 11 when clamping the fish, the first clamping assembly 11 also includes: a transmission part 113, and the first support member 1111 is connected to the output end of the first driving member 21 through the transmission part 113.

[0067] The transmission part 113 includes: a transmission plate 1131 and a transmission rod 1132. The first end of the transmission rod 1132 and the output end of the first driving member 21 are both connected to the same end surface of the transmission plate 1131. The second end of the transmission rod 1132 is connected to the first supporting member 1111. The second end of the transmission rod 1132 is an end away from the transmission plate 1131. Through the arrangement of the transmission part 113, when the output end of the first driving member 21 extends out, it can drive the first clamping assembly 11 to move in the same direction and at the same distance as the output end of the first driving member 21, that is, it can cooperate with the second clamping assembly 12 to release the fish, making the structure of the clamping device more compact.

[0068] In order to make the power transmission of the driving mechanism 2 more stable, in this embodiment, two transmission rods 1132 are arranged in parallel. The arrangement of the transmission part 113 can greatly improve the space utilization of the device, so that the first clamping assembly 11 can move synchronously and in the same direction as the output end of the driving mechanism 2, and the operation of the clamping device is more stable.

[0069] In this embodiment, see Figure 4 As shown, the second surrounding portion 115, the clamping member 1112 and the first surrounding portion 112 are sequentially arranged along the first direction. Figure 4 The direction indicated by x is the first direction, the first enclosing portion 112 is connected to the first side of the clamping member 1112, the second enclosing portion 115 is connected to the second side of the clamping member 1112, the first side of the clamping member 1112 is arranged opposite to the second side of the clamping member 1112, and the second side of the clamping member 1112 is the side away from the first enclosing portion 112. When the clamping member 1112 is a plurality of rods, the first enclosing portion 112 is connected to the rods at the outermost edge of the first side of the clamping member 1112, the second enclosing portion 115 is connected to the rods at the outermost edge of the second side of the clamping member 1112, the first enclosing portion 112 is suitable for fitting the head of the fish when clamping the fish on the conveyor belt in the clamping area, and the second enclosing portion 115 is suitable for fitting the tail of the fish when clamping the fish on the conveyor belt in the clamping area.

[0070] The first enclosing portion 112 and the second enclosing portion 115 are both arc-shaped plates. The first enclosing portion 112 is configured to imitate the head of the fish clamped by the clamping mechanism, and the second enclosing portion 115 is configured to imitate the tail of the fish clamped by the clamping mechanism.

[0071] The first enclosure 112 and the second enclosure 115 are provided with a plurality of through holes. Since the fish to be clamped is a fish that has stopped breathing, may be a fish at room temperature, or may be a frozen fish, and may carry a certain amount of water, the provision of the through holes can not only reduce the weight of the components, but also achieve a ventilation effect on the inner surfaces of the first enclosure 112 and the second enclosure 115, and is also conducive to the evaporation of residual water when the fish is clamped. The inner surfaces of the first enclosure 112 and the second enclosure 115 are the parts that fit the fish when the clamping mechanism clamps the fish.

[0072] Furthermore, the angle formed by the towing hook 1113 and the clamping member 1112 ranges from 110° to 120°, that is, within this range, the towing hook 1113 can lift the clamped fish well.

[0073] The direction from the first end of the first surrounding portion 112 to the second end of the first surrounding portion 112 is the second direction. Figure 4 The y-axis direction shown in is the second direction.

[0074] The second end of the first surrounding portion 112 is disposed opposite to the first end of the first surrounding portion 112 , and the second end of the first surrounding portion 112 is an end away from the clamping member 1112 .

[0075] The direction of the fish corresponding to the position to be caught is the first direction, and the first direction is the direction from the center of the fish tail to the center of the fish head. The angle range formed by the first direction and the second direction is 15°~20°, that is, the angle range in which the first enclosing portion 112 can rotate relative to the clamping member 1112 is 15°~20°. In this embodiment, the second enclosing portion 115 and the first enclosing portion 112 are symmetrically arranged with respect to the center line of the clamping member 1112, so the angle range in which the second enclosing portion 115 can rotate relative to the clamping member 1112 is also 15°~20°.

[0076] Further, see Figure 5 As shown, in this embodiment, the basic information further includes: third basic information. The third basic information includes: outline. The outline is the appearance of the fish.

[0077] The first clamping assembly 11 further includes an angle adjustment member 114. The first enclosing portion 112 is connected to the clamping member 1112 via the angle adjustment member 114, and the second enclosing portion 115 is connected to the clamping member 1112 via the angle adjustment member 114. The angle adjustment member 114 is adapted to adjust the angle formed by the first direction and the second direction based on the third basic information, so as to achieve the purpose of contour clamping of the fish head and fish tail on the conveyor belt in the clamping area. While the angle adjustment member 114 is adjusted, the telescopic member also appropriately adjusts the total length of the clamping member 1112 in the first direction to match the size of the fish on the conveyor belt in the clamping area.

[0078] The angle adjustment member 114 includes: a support seat 1141, a third driving member 1142, a transmission block 1143 and a fixed block 1144. The support seat 1141 is fixed on the clamping member 1112 and extends outward along the outer side of the clamping member 1112, the support seat 1141 is suitable for supporting the third driving member 1142, the third driving member 1142 is rotatably arranged on the support seat 1141, the first end face of the first surrounding portion 112 is an end face away from the second clamping assembly 12, a fixed block 1144 is arranged on the first end face of the first surrounding portion 112, the first end of the transmission block 1143 is rotatably connected to the fixed block 1144, the second end of the transmission block 1143 is connected to the output end of the third driving member 1142, the first end of the transmission block 1143 is arranged opposite to the second end of the transmission block 1143, and the first end of the transmission block 1143 is an end away from the output end of the third driving member 1142.

[0079] When it is necessary to adjust the angle of the first enclosing part 112 relative to the clamping part 1112 according to the shape of the fish head in the third basic information, that is, to adjust the angle formed by the first direction and the second direction, that is, to adjust the rotation of the first enclosing part 112 relative to the clamping part 1112 through the angle adjustment part 114, the output end of the third driving part 1142 drives the transmission block 1143 to move, and the transmission block 1143 drives the first enclosing part 112 to move. Since the transmission block 1143 is rotatably connected to the fixed block 1144, the third driving part 1142 can drive the first enclosing part 112 to rotate.

[0080] Similarly, according to the shape of the fishtail in the third basic information, the angle of the second surrounding portion 115 relative to the clamping member 1112 can be adjusted by the angle adjustment member 114 at the second surrounding portion 115 .

[0081] In this embodiment, at least two angle adjustment members 114 are included, and corresponding synchronization members can be added to ensure that the first enclosing portion 112 in the first clamping assembly 11 and the first enclosing portion 112 in the second clamping assembly 12 move synchronously toward or away from each other. Similarly, corresponding synchronization members can also be added to the second enclosing portion 115 to achieve the above purpose.

[0082] If the fish being clamped is asymmetrically arranged, such as lying on its side on the conveyor belt, the clamping mechanism can be adjusted according to the third basic information of the fish, that is, the parameters of the clamping member 1112, the first enclosing portion 112 and the second enclosing portion 115 in the first clamping assembly 11 and the second clamping assembly 12 are adjusted respectively to achieve the purpose of profiling the appearance of the clamped fish.

[0083] The present application does not limit the specific number, position and structure of the angle adjustment member 114, which can be reasonably selected and arranged as needed.

[0084] Also, see Figure 2 As shown, in this embodiment, the clamping assembly 13 includes: a pressing plate 131 , a supporting plate 132 , an elastic member 133 , a guide rod 134 , a retaining ring 135 and a limiting ring 136 .

[0085] The mounting frame 3 supports the support plate 132, and the support plate 132 is vertically arranged with the mounting frame 3. The support plate 132 has a through hole, and the guide rod 134 slides through the through hole. The retaining ring 135 is arranged at the first end of the guide rod 134, and the first end of the guide rod 134 is the end away from the conveyor belt. The pressure plate 131 is arranged at the second end of the guide rod 134, and the first end of the guide rod 134 is arranged opposite to the second end of the guide rod 134, and the second end of the guide rod 134 is the end close to the conveyor belt.

[0086] The limiting ring 136 is disposed between the supporting plate 132 and the pressing plate 131 and is fixedly sleeved outside the guiding rod 134. The limiting ring 136 is used to limit the position of the elastic member 133 to prevent the elastic member 133 from sliding down freely.

[0087] The elastic member 133 is disposed between the support plate 132 and the limiting ring 136, and is sleeved outside the guide rod 134. The elastic member 133 can be implemented by a spring, or by a rubber ring or a rubber pad, and can be reasonably selected and arranged according to actual needs.

[0088] In order to make the clamping assembly 13 operate more stably, the elastic member 133, the guide rod 134, the retaining ring 135 and the limiting ring 136 are each provided with two groups, which are installed in parallel at both ends of the support plate 132. Multiple groups may also be provided, so that when clamping the fish on the conveyor belt, the pressure plate 131 acts on the fish more stably.

[0089] In order to make the movement direction of the guide rod 134 more stable, the clamping assembly 13 also includes: a linear bearing 137 and a reinforcement plate. The linear bearing 137 is slidably arranged outside the guide rod 134, and is arranged between the support plate 132 and the retaining ring 135, and is fixedly connected to the upper surface of the support plate 132. The reinforcement plate is also slidably arranged outside the guide rod 134, and is arranged between the support plate 132 and the elastic member 133, and is fixedly connected to the lower surface of the support plate 132.

[0090] When the first clamping assembly 11 and the second clamping assembly 12 cooperate to clamp the fish on the conveyor belt, the lower surface of the pressure plate 131 abuts against the upper surface of the clamped fish, and the pressure plate 131 can drive the guide rod 134, the limit ring 136 and the retaining ring 135 to move in the opposite direction of the fish, thereby squeezing the elastic member 133, and the pressure plate 131 is also lifted accordingly and abuts against the upper surface of the fish. At this time, the first clamping assembly 11 and the second clamping assembly 12 are cooperated to complete the clamping of the fish on the conveyor belt, and the space formed by the pressure plate 131, the first clamping assembly 11 and the second clamping assembly 12 is the space for accommodating the clamped fish.

[0091] More specifically, in order to better clamp the fish on the conveyor belt and avoid slipping, the first end surface of the pressing plate 131 has a pattern, and the pressing plate 131 has a mounting cavity. The mounting cavity is suitable for accommodating a suction cup, and the suction surface of the suction cup is flush with the first end surface of the pressing plate 131, which can ensure that the suction surface of the suction cup and the pressing plate 131 with the pattern work at the same time and both fit the upper surface of the fish. The suction cup is suitable for adsorbing the upper surface of the fish when the clamping mechanism clamps the fish on the conveyor belt in the clamping area.

[0092] The pattern on the first end surface of the pressing plate 131 may be a diamond pattern, a stripe pattern, a serrated pattern or other patterns, all of which are convex patterns.

[0093] When the first clamping assembly 11 and the second clamping assembly 12 cooperate to clamp the fish on the conveyor belt, the lower surface of the pressure plate 131 abuts against the upper surface of the clamped fish, and through vacuum extraction, the upper surface of the fish is well adsorbed, and the upper surface of the fish fits with the pattern of the pressure plate 131, which can increase the friction between the two. The double protection can prevent the fish from slipping when the clamping mechanism clamps the fish.

[0094] The air inlet of the suction cup is provided with a filter. Since fish scales will fall off during the process of clamping and transporting, and there will also be some impurities during the transportation process, the setting of the filter can prevent the suction cup from absorbing the fallen fish scales or impurities during vacuuming, causing the suction cup to be blocked and affecting the work of the suction cup. When the lower surface of the pressure plate 131 abuts against the upper surface of the clamped fish, the suction cup is vacuumed, and when the clamping mechanism transports the fish to the destination, the first clamping component 11 and the second clamping component 12 cooperate to release the fish on the conveyor belt, the air pipe connected to the suction cup stops vacuuming and can spray gas into the atmosphere, so that the fish scales or impurities adhering to the filter net mouth fall off, avoiding a large amount of fish scales or impurities remaining at the filter net mouth and affecting the work of the suction cup.

[0095] In addition, the surface of the clamping mechanism that contacts the fish when clamping the fish can be provided with anti-slip material, or a material with certain elasticity and memory function, for example, a special polyurethane elastomer can be used, which can undergo appropriate elastic deformation according to the shape of the fish when contacting the fish body, and can return to its original shape after the pressure disappears. This characteristic enables the clamping mechanism to better fit the fish body when clamping fish of different shapes and sizes, and provide uniform and stable clamping force.

[0096] More specifically, a plurality of force sensors may be installed on the surface of the clamping mechanism that contacts the clamped fish to form a force sensor array. The plurality of force sensors are connected to the control mechanism, so that the distribution of contact force between the clamping mechanism and the clamped fish can be sensed more accurately. When the clamping mechanism clamps the fish on the conveyor belt in the clamping area, the force sensor array can monitor the pressure conditions at various positions in real time. If it is found that the pressure in a certain area is too low, it may mean that the fish is at risk of slipping at this position. At this time, the corresponding components of the clamping mechanism can be fine-tuned by the control mechanism, such as adjusting the air pressure of the drive mechanism 2, to strengthen the clamping force in the area so that the fish can be clamped more stably.

[0097] The present application can wrap and clamp the fish on the conveyor belt as a whole by setting the first clamping component 11, the second clamping component 12 and the pressing component 13, so as to better clamp the fish on the conveyor belt stably and quickly, thereby improving the efficiency of fish sorting.

[0098] Furthermore, the clamping device further comprises: a coding mechanism and a weighing sensor. The coding mechanism is suitable for performing coding processing on the fish clamped by the clamping mechanism based on the second basic information.

[0099] The weighing sensor is arranged at the conveyor belt in the clamping area, and can be arranged at a fixed position under the conveyor belt in the clamping area, so that the weight of the fish at the position can be weighed when the fish on the conveyor belt passes by, or a weighing sensor is arranged at the position corresponding to each fish on the conveyor belt, and the weighing sensor is suitable for measuring the weight information of the fish on the conveyor belt in the clamping area, and transmitting the weight data corresponding to the measured weight information to the control mechanism, and the control mechanism is also suitable for converting the weight data and transmitting the converted weight data to the coding mechanism.

[0100] The coding mechanism is suitable for performing a two-dimensional code coding process on the fish clamped by the clamping mechanism. The coding can be sprayed on the fish head or other positions. The coding information can be a two-dimensional code or a barcode, which can be reasonably selected and set according to actual needs.

[0101] The information of the QR code includes: size, weight, variety, production time, growth cycle and cooking method, etc.

[0102] This allows users to fully understand the information about the fish after purchasing it, making it easier for users to make reasonable choices when purchasing the fish.

[0103] In order to facilitate understanding of the above technical solutions of the present invention, the working principle or operation mode of the present invention in the actual process is described in detail below.

[0104] The fish are placed on the conveyor belt in sequence by manual or mechanical devices. When the visual mechanism recognizes that the fish is transported to the clamping area by the conveyor belt, the visual mechanism dynamically collects the basic information of the fish in the clamping area. At the same time, the control mechanism drives the mechanical arm to drive the clamping mechanism, the driving mechanism 2 and the installation frame 3 to dynamically follow and move to the position corresponding to the fish on the conveyor belt, and adjust the position of each component in the clamping mechanism according to the third basic information. After the adjustment, the mechanical arm drives the clamping mechanism, the driving mechanism 2 and the installation frame 3 to move downward. At this time, the first clamping component 11 and the second clamping component 12 are in an open state, and the clamping component 13 is in a natural state. Through the drive of the driving mechanism 2, the first clamping component 11 and the second clamping component 12 fit the side and bottom ends of the fish in the clamping area, and the clamping component 13 fits the upper surface of the fish in the clamping area, so as to complete the dynamic clamping of the fish in the clamping area. At the same time, the coding mechanism performs coding operation on the corresponding fish according to the information collected by the visual mechanism.

[0105] Then, based on the second basic information collected by the visual mechanism, the control mechanism controls the mechanical arm to drive the clamping mechanism, the driving mechanism 2 and the mounting frame 3 to move into the corresponding sorting basket, and the first clamping assembly 11 and the second clamping assembly 12 are driven by the driving mechanism 2 to move away from each other, thereby completing the task of releasing the clamped fish. In the present application, the fish can be sorted according to one or more conditions such as the species, size, and weight of the fish. By repeating the above operation continuously, the automatic sorting of the fish can be realized.

[0106] The present application also discloses an automatic loading and unloading device, comprising: a conveyor belt, a mechanical arm and the above-mentioned clamping device, wherein the mechanical arm is connected to the clamping device, and the mechanical arm is suitable for driving the clamping device to move so as to clamp and transport the fish on the conveyor belt. In this embodiment, multiple clamping devices can be provided to sort the fish on the conveyor belt at the same time, and reasonable selection and setting can be made according to actual needs.

[0107] In general, the present application provides a clamping device, which is suitable for connecting a mechanical arm and conveying fish on a conveyor belt. The clamping device includes: a driving mechanism, a clamping mechanism, a visual mechanism and a control mechanism. The visual mechanism is suitable for collecting basic information of fish on the conveyor belt in the clamping area. The control mechanism is suitable for controlling the driving mechanism to drive the clamping mechanism to clamp the fish on the conveyor belt corresponding to the position to be grasped. The clamping mechanism includes: a first clamping component, a second clamping component and a clamping component. The clamping component is suitable for fitting with the upper surface of the fish when clamping the fish; the first clamping component and the second clamping component are suitable for moving towards each other under the drive of the driving mechanism. The present application can wrap and clamp the fish on the conveyor belt through the setting of the clamping mechanism, so that the sorting operation is stable and fast, and the efficiency and accuracy of fish sorting are improved. The present invention also discloses an automatic loading and unloading device, including: a conveyor belt, a mechanical arm and a clamping device. The mechanical arm is suitable for driving the clamping device to move to clamp and transport the fish on the conveyor belt.

[0108] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A gripping device, adapted to be connected to one end of a mechanical arm and to convey fish on a conveyor belt, characterized in that: The clamping device comprises: a mounting frame (3), a driving mechanism (2), a clamping mechanism, a visual mechanism and a control mechanism; The mounting frame (3) is suitable for carrying the driving mechanism (2) and the clamping mechanism; The visual mechanism is suitable for collecting basic information of fish on the conveyor belt in the clamping area, the basic information including: first basic information and second basic information, the first basic information including: position and direction, the second basic information including: size and species; The control mechanism is adapted to cause the mechanical arm to drive the mounting frame (3) to move to a position to be grasped based on the first basic information, and to control the driving mechanism (2) to drive the clamping mechanism to clamp the fish on the conveyor belt corresponding to the position to be grasped; The clamping mechanism comprises: a first clamping assembly (11), a second clamping assembly (12) and a pressing assembly (13); The pressing assembly (13) is arranged between the first clamping assembly (11) and the second clamping assembly (12); the pressing assembly (13) is adapted to fit the upper surface of the fish on the conveyor belt when the first clamping assembly (11) and the second clamping assembly (12) cooperate to clamp the fish on the conveyor belt; the first clamping assembly (11) and the second clamping assembly (12) are symmetrically arranged with the central axis of the pressing assembly (13) as the center and have the same structure; The first clamping assembly (11) and the second clamping assembly (12) are adapted to move towards each other under the drive of the driving mechanism (2) so as to clamp or release the fish on the conveyor belt in the clamping area; The driving mechanism (2) comprises: a first driving member (21); The first clamping assembly (11) comprises: a first support member (1111), a towing hook (1113), a clamping member (1112), a first surrounding portion (112), and a second surrounding portion (115); The top end of the clamping member (1112) is connected to the first driving member (21) via the first supporting member (1111), and the clamping member (1112) is adapted to fit the first side end of the fish when clamping the fish on the conveyor belt in the clamping area; the drag hook (1113) is obliquely arranged at the bottom end of the clamping member (1112), and the drag hook (1113) is adapted to fit the bottom end of the fish when clamping the fish on the conveyor belt in the clamping area; The second enclosing portion (115), the clamping member (1112) and the first enclosing portion (112) are arranged in sequence along a first direction; the first enclosing portion (112) is connected to a first side of the clamping member (1112); the second enclosing portion (115) is connected to a second side of the clamping member (1112); the first side of the clamping member (1112) and the second side of the clamping member (1112) are arranged opposite to each other; the first enclosing portion (112) is suitable for fitting the head of the fish when clamping the fish on the conveyor belt in the clamping area; and the second enclosing portion (115) is suitable for fitting the tail of the fish when clamping the fish on the conveyor belt in the clamping area.

2. The clamping device according to claim 1, characterized in that: Also includes: Coding mechanism; The coding mechanism is suitable for coding the fish clamped by the clamping mechanism based on the second basic information.

3. The clamping device according to claim 2, characterized in that: Also includes: Weighing sensor; The weighing sensor is arranged at the conveyor belt in the clamping area, and is suitable for measuring the weight information of the fish on the conveyor belt in the clamping area, and transmitting the weight data corresponding to the measured weight information to the control mechanism, and the control mechanism is also suitable for converting the weight data and transmitting the converted weight data to the coding mechanism; The coding mechanism is suitable for performing a two-dimensional code coding process on the fish clamped by the clamping mechanism; The information of the QR code includes: size, weight, variety, production time, growth cycle, cooking method, etc.

4. The clamping device according to claim 1, characterized in that: The clamping assembly (13) comprises: a pressing plate (131), a supporting plate (132), an elastic member (133), a guide rod (134), a retaining ring (135) and a limiting ring (136); The mounting frame (3) supports the support plate (132), the support plate (132) having a through hole, the guide rod (134) slidingly passing through the through hole, the retaining ring (135) being arranged at a first end of the guide rod (134), the pressing plate (131) being arranged at a second end of the guide rod (134), and the first end of the guide rod (134) being arranged opposite to the second end of the guide rod (134); The limiting ring (136) is arranged between the supporting plate (132) and the pressing plate (131), and is fixedly sleeved outside the guide rod (134); The elastic member (133) is disposed between the support plate (132) and the limiting ring (136), and is sleeved outside the guide rod (134).

5. The clamping device according to claim 4, characterized in that: The pressing plate (131) has a mounting cavity; The mounting cavity is suitable for accommodating a suction cup, the outer edge of the suction cup being flush with the first end surface of the pressing plate (131), and the suction cup being suitable for adsorbing the upper surface of the fish when the clamping mechanism clamps the fish on the conveyor belt in the clamping area; The air inlet of the suction cup is provided with a filter screen, and the first end surface of the pressing plate (131) is provided with a pattern.

6. The clamping device according to claim 1, characterized in that: The first surrounding portion (112) is arranged in the shape of a head of a fish clamped by the clamping mechanism, and the second surrounding portion (115) is arranged in the shape of a tail of a fish clamped by the clamping mechanism.

7. The clamping device according to claim 1, characterized in that: The driving mechanism (2) further comprises: a synchronizing member; The first clamping assembly (11) is connected to the second clamping assembly (12) via the synchronizing member, and the synchronizing member is suitable for controlling the second clamping assembly (12) and the first clamping assembly (11) to move towards each other at the same speed.

8. The clamping device according to claim 1, characterized in that: The angle formed by the towing hook (1113) and the clamping member (1112) ranges from 110° to 120°; The direction in which the first end of the first surrounding portion (112) extends to the second end of the first surrounding portion (112) is the second direction; The second end of the first surrounding portion (112) is arranged opposite to the first end of the first surrounding portion (112); The direction of the fish corresponding to the position to be captured is a first direction; The angle formed by the first direction and the second direction ranges from 15° to 20°.

9. The clamping device according to claim 8, characterized in that: The basic information also includes: third basic information; The third basic information includes: profile; The first clamping assembly (11) further comprises: an angle adjustment member (114); The first enclosing portion (112) is connected to the clamping member (1112) via the angle adjustment member (114), and the second enclosing portion (115) is connected to the clamping member (1112) via the angle adjustment member (114), and the angle adjustment member (114) is suitable for adjusting the angle formed by the first direction and the second direction based on the third basic information.

10. An automatic loading and unloading device, characterized in that: include: A conveyor belt, a robot arm and a clamping device as claimed in any one of claims 1 to 9; The mechanical arm is connected to the clamping device, and the mechanical arm is suitable for driving the clamping device to move so as to clamp and transport the fish on the conveyor belt.

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