Clamping device and automatic loading and unloading equipment

Abstract

The application discloses a clamping device suitable for connecting a mechanical arm and conveying fish on a conveying belt, and the clamping device comprises a driving mechanism, a clamping mechanism, a visual mechanism and a control mechanism, 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 a to-be-grabbed position, the clamping mechanism comprises a first clamping component, a second clamping component and a pressing component, the first clamping component and the second clamping component are suitable for moving towards each other under the driving of the driving mechanism, and the fish on the conveying belt can be stably and quickly clamped through the arrangement of the clamping mechanism, and the efficiency and accuracy of fish sorting are improved. The application further discloses an automatic feeding and discharging equipment, which comprises a conveying belt, a mechanical arm and the clamping device, the mechanical arm is suitable for driving the clamping device to move so as to clamp and transport the fish on the conveying belt.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation, in particular to a clamping device and automatic feeding and discharging equipment. BACKGROUND

[0002] With the improvement of fish farming technology and the improvement of deep-sea fishing technology in China, the number of fish harvested in fishing operations is considerable and the types are diverse. From small shrimp to large deep-sea fish, from common economic fish to various rare species, the size difference is great, and the variety is difficult to count.

[0003] In the face of such a variety of mixed catches, the traditional manual picking method has exposed many drawbacks. Fishermen need to distinguish different fish species one by one in a limited time with the naked eye, and also need to classify them according to size. This process is extremely time-consuming and labor-intensive, and human error sorting will lead to fish misclassification, and the problem of low efficiency is increasingly prominent. And the operator's proficiency, experience and skill are required when sorting fish.

[0004] With the continuous expansion of the fishing industry and the continuous improvement of market requirements for fish quality and classification accuracy, manual picking has been difficult to meet the growing demand of fishery production, and it is urgent to replace the traditional manual mode with a more efficient and accurate sorting method to realize the effective processing and reasonable allocation of fishery resources.

[0005] Therefore, in practical application, manual fish sorting is low in efficiency. SUMMARY

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

[0007] The present application discloses a clamping device suitable for being connected with one end of a mechanical arm and conveying fish on a conveying belt, the clamping device comprising: a mounting frame, a driving mechanism, a clamping mechanism, a vision mechanism and a control mechanism.

[0008] The mounting frame is suitable for bearing the driving mechanism and the clamping mechanism.

[0009] The vision mechanism is suitable for collecting basic information of fish on the conveying belt in the clamping area, the basic information comprising: first basic information and second basic information, the first basic information comprising: position and direction, and the second basic information comprising: size and species.

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

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

[0012] The pressing component is arranged between the first clamping component and the second clamping component, and is adapted to be in close contact with the upper surface of the fish on the conveying belt when the first clamping component and the second clamping component clamp the fish on the conveying belt.

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

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

[0015] The first clamping component comprises a first supporting member, a drag hook, a clamping member, a first surrounding part and a second surrounding part.

[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 adapted to be in close contact with the first side end of the fish when clamping the fish on the conveying belt in the clamping area.

[0017] The second surrounding part, the clamping member and the first surrounding part are sequentially arranged in a first direction, the first surrounding part is connected to the first side of the clamping member, the second surrounding part is connected to the second side of the clamping member, the first side of the clamping member is arranged opposite to the second side of the clamping member, the first surrounding part is adapted to be in close contact with the head of the fish when clamping the fish on the conveying belt in the clamping area, and the second surrounding part is adapted to be in close contact with the tail of the fish when clamping the fish on the conveying belt in the clamping area.

[0018] Optionally, the clamping device further comprises a code spraying mechanism, which is adapted to spray a code on the fish clamped by the clamping mechanism based on the second basic information.

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

[0020] The weighing sensor is arranged at the conveying belt in the clamping area, is adapted to measure the weight information of the fish on the conveying belt in the clamping area, and transmit the corresponding weight data of the measured weight information to the control mechanism, and the control mechanism is further adapted to convert the weight data and transmit the converted weight data to the code spraying mechanism.

[0021] The code printing mechanism is suitable for printing a two-dimensional code on the fish gripped by the gripping mechanism.

[0022] The information of the two-dimensional code comprises size, weight, variety, production time, growth cycle, cooking method, etc.

[0023] Optionally, the pressing assembly comprises a pressing plate, a support plate, an elastic member, a guide rod, a stop ring and a limiting ring.

[0024] The mounting frame supports the support plate, the support plate has a through hole, the guide rod is slidably penetrated through the through hole, the stop ring is arranged at the first end of the guide rod, the pressing 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 support 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 gripping mechanism grips the fish on the conveying belt in the gripping area.

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

[0029] Optionally, the first surrounding part is shaped according to the head of the fish gripped by the gripping mechanism, and the second surrounding part is shaped according to the tail of the fish gripped by the gripping mechanism.

[0030] Optionally, the driving mechanism further comprises a synchronizing member. The first gripping assembly is connected with the second gripping assembly through the synchronizing member, and the synchronizing member is suitable for controlling the second gripping assembly and the first gripping assembly to move towards each other at the same speed.

[0031] Optionally, the angle range formed by the drag hook and the gripping member is 110°-120°. The first end of the first surrounding part extends to the second end of the first surrounding part in a second direction. The second end of the first surrounding part is arranged opposite to the first end of the first surrounding part.

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

[0033] Optionally, the basic information further comprises third basic information.

[0034] The first surrounding part connects the clamping piece through the angle adjusting piece, and the second surrounding part connects the clamping piece through the angle adjusting piece, and the angle adjusting piece is adapted to adjust the angle formed by the first direction and the second direction based on the third basic information.

[0035] The application further discloses an automatic feeding and discharging equipment, which comprises a conveying belt, a mechanical arm and a clamping device.

[0036] Compared with the prior art, the application has the following beneficial effects: the fish on the conveying belt can be wrapped and clamped by the clamping mechanism, so that the sorting operation is stable and fast, and the efficiency and accuracy of fish sorting are improved.

[0037] The above description and the following description of the embodiments are used to demonstrate and explain the spirit and principles of the application, and provide further explanation of the patent application scope of the application. BRIEF DESCRIPTION OF DRAWINGS

[0038] The specific embodiments of the application will be further described in detail below with reference to the accompanying drawings.

[0039] Figure 1 An application structure schematic diagram of a clamping device in an embodiment of the application;

[0040] Figure 2 A structure schematic diagram of a pressing assembly in an embodiment of the application;

[0041] Figure 3 A three-dimensional structure schematic diagram of part of a clamping device in an embodiment of the application;

[0042] Figure 4 A structure schematic diagram of a first clamping assembly in an embodiment of the application;

[0043] Figure 5 A structure schematic diagram of part of a first clamping assembly in an embodiment of the application.

[0044] BRIEF DESCRIPTION OF DRAWINGS

[0045] 11, first clamping assembly; 1111, first support; 1112, clamping piece; 1113, tow hook; 112, first surrounding part; 113, transmission part; 1131, transmission plate; 1132, transmission rod; 114, angle adjusting piece; 1141, support seat; 1142, third driving piece; 1143, transmission block; 1144, fixed block; 115, second surrounding part; 12, second clamping assembly; 13, pressing assembly; 131, pressing plate; 132, support plate; 133, elastic piece; 134, guide rod; 135, stop ring; 136, limiting ring; 137, linear bearing; 2, driving mechanism; 21, first driving piece; 22, second driving piece; 3, mounting frame; 31, mounting plate; 32, connecting piece; x, first direction; y, second direction. DETAILED DESCRIPTION

[0046] Other advantages and effects of the present application can be easily understood by those skilled in the art from the content disclosed in the specification. Although the description of the present application will be introduced in combination with the preferred embodiments, it does not mean that the features of the present application are limited to the embodiments. On the contrary, the purpose of introducing the present application in combination with the embodiments is to cover other options or modifications that can be extended based on the claims of the present application. In order to provide a deep understanding of the present application, many specific details will be included in the following description. The present application can also be implemented without using these details. In addition, in order to avoid confusion or obscure the focus of the present application, some specific details will be omitted in the description. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0047] In the description of the present embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly placed when the product of the present application is used, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0048] The terms "first", "second", and the like are only used for differentiation in description, and cannot be understood as indicating or implying relative importance.

[0049] In the description of the present embodiment, it also needs to be explained that, unless otherwise explicitly specified and limited, the terms "provided with", "provided", "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present embodiment can be understood according to the specific circumstances.

[0050] Please refer to Figure 1 As shown in the figure, the present application discloses a clamping device suitable for being connected with one end of a mechanical arm and conveying fish on a conveying belt, the clamping device comprising: a mounting frame 3, a driving mechanism 2, a clamping mechanism, a visual mechanism and a control mechanism.

[0051] The above components will be described in detail below.

[0052] The mounting frame 3 is suitable for bearing the driving mechanism 2 and the clamping mechanism. In the present embodiment, the mounting frame 3 comprises: a mounting plate 31 and a connecting piece 32. The fish sorted by the present application is mainly dead fish, which can be normal temperature fish or frozen fish.

[0053] The first end of the connecting piece 32 is directly connected with the upper surface of the mounting plate 31, and the second end of the connecting piece 32 is suitable for connecting the first end of the mechanical arm, the second end of the mechanical arm is connected with the control mechanism, the control mechanism is suitable for controlling the movement of the mechanical arm, the first end of the connecting piece 32 is oppositely arranged with the second end of the connecting piece 32, and the second end of the connecting piece 32 is the end away from the mounting plate 31.

[0054] The specific structure of the connecting piece 32 and the mounting plate 31 is not limited in the present application, and can be reasonably selected and arranged according to actual needs.

[0055] Please refer to Figure 3 As shown in the figure, the driving mechanism 2 is attached to the lower surface of the mounting plate 31, and the driving mechanism 2 comprises: a first driving piece 21, a second driving piece 22 and a synchronizing piece, the first driving piece 21 and the second driving piece 22 are oppositely arranged, the output end of the first driving piece 21 is the end away from the second driving piece 22, and the output end of the second driving piece 22 is the end away from the first driving piece 21.

[0056] In the present embodiment, the driving mechanism 2 can be realized by a cylinder, or it can be another component, and the specific structure of the driving mechanism 2 is not limited in the present application, and can be reasonably selected and arranged according to actual needs.

[0057] The first clamping assembly 11 is connected with 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 the same direction, that is, in the opposite direction, and at the same speed. Through the arrangement of the synchronizer, the high-precision clamping of the fish by the clamping device can be met, and the performance of the clamping device is improved.

[0058] The specific structure of the synchronizer is not limited in the application, and can be a gear and rack, a synchronous pulley, a multi-link structure, etc. The driving mechanism 2 in the application can also only include the first driving member 21. Specifically, the synchronizer is combined with the first driving member 21, and the second clamping assembly 12 is driven to move by the first driving member 21 and the synchronizer.

[0059] The visual mechanism is located above the clamping area. When the fish on the conveying belt enters the clamping area, the visual mechanism is suitable for dynamically collecting the basic information of the fish on the conveying 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 the specific position of the fish on the conveying belt. The visual mechanism can accurately and dynamically locate the horizontal coordinate and vertical coordinate of the position of the fish. The direction is the direction from the tail to the head of the fish, which is consistent with the first direction shown by x in the figure. The second basic information includes: size and variety. The size includes the length from the tail to the head of the fish and the width of the fish, and the variety of the fish can be identified accordingly. Figure 4

[0060] When the fish on the conveying belt is in the clamping area, the control mechanism is suitable for controlling the mechanical arm to drive the mounting frame 3 to dynamically follow to the grasping position based on the first basic information to clamp the fish. The grasping position is the position of the fish on the conveying belt collected 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 conveying belt corresponding to the grasping position.

[0061] Through the real-time collection of the fish in the clamping area by the visual mechanism, the mechanical arm can be controlled by the control mechanism to drive the clamping device to dynamically follow and clamp the fish on the conveying belt in the clamping area. This not only reduces the sorting time, but also improves the accuracy and efficiency of clamping the fish.

[0062] The clamping mechanism includes: a first clamping assembly 11, a second clamping assembly 12, and a pressing assembly 13.

[0063] ​The pressing assembly 13 is arranged between the first clamping assembly 11 and the second clamping assembly 12, and is adapted to be in close contact with the upper surface of the fish on the conveying belt when the first clamping assembly 11 and the second clamping assembly 12 clamp the fish on the conveying belt.

[0064] The output end of the first driving member 21 is connected with the first clamping assembly 11, and the output end of the second driving member 22 is connected with the second clamping assembly 12. The first clamping assembly 11 and the second clamping assembly 12 are adapted to move towards or away from each other under the driving of the driving mechanism 2, so as to clamp or release the fish on the conveying belt in the clamping area.

[0065] In the embodiment, the first driving member 21 and the second driving member 22 can be realized by air cylinders, and the application does not limit the structure.

[0066] Referring to Figure 4 As shown in the figure, the first clamping assembly 11 comprises a first supporting member 1111, a drag hook 1113, a clamping member 1112, a first surrounding part 112 and a second surrounding part 115.

[0067] The top end of the clamping member 1112 is connected with the first driving member 21 through the first supporting member 1111. The clamping member 1112 is adapted to be in close contact with the first side end of the fish when clamping the fish on the conveying belt in the clamping area. The first side end of the fish refers to one side of the fish. The drag hook 1113 is arranged at the bottom end of the clamping member 1112 in an inclined manner. The angle between the drag hook 1113 and the clamping member 1112 is obtuse. The drag hook 1113 is adapted to be in close contact with the bottom end of the fish when clamping the fish on the conveying belt in the clamping area.

[0068] The clamping member 1112 can be realized by a plate, or by multiple clamping rods or multiple plates. In the embodiment, the clamping member 1112 is realized by three clamping rods, which are arranged on the first supporting member 1111 in sequence along the first direction.

[0069] Further, the first clamping assembly 11 further comprises a telescopic member. The clamping member 1112 is connected with the first supporting member 1111 through the telescopic member. The telescopic member is adapted to adjust the distance between the three clamping rods, i.e. to adjust the total length of the clamping member 1112, so as to adapt to fish of different sizes.

[0070] The application does not limit the specific structure of the clamping member 1112 and the drag hook 1113. Reasonable selection and setting can be made according to the needs, as long as the side surface and the bottom surface of the fish can be in close contact when clamping the fish on the conveying belt.

[0071] Referring to Figure 3And combined Figure 4 In the embodiment, in order to better control the movement distance of the first clamping assembly 11 when clamping the fish, the first clamping assembly 11 further comprises a transmission part 113, and the first support 1111 is connected to the output end of the first driving part 21 through the transmission part 113.

[0072] The transmission part 113 comprises a transmission plate 1131 and a transmission rod 1132, and the first end of the transmission rod 1132 and the output end of the first driving part 21 are both connected to the same end face of the transmission plate 1131, and the second end of the transmission rod 1132 is connected to the first support 1111, and the second end of the transmission rod 1132 is the end away from the transmission plate 1131. Through the setting of the transmission part 113, when the output end of the first driving part 21 is stretched out, it can drive the first clamping assembly 11 to move in the same direction and with the same distance as the output end of the first driving part 21, that is, it can cooperate with the second clamping assembly 12 to loosen the fish, so that the structure of the clamping device is more compact.

[0073] In order to make the power transmission of the driving mechanism 2 more stable, in the embodiment, two transmission rods 1132 are arranged in parallel. Through the setting of the transmission part 113, the space utilization of the device can be improved, 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.

[0074] In the embodiment, referring to Figure 4 As shown in the figure, the second surrounding part 115, the clamping part 1112 and the first surrounding part 112 are sequentially arranged along the first direction, Figure 4 The direction shown in the figure is the first direction, the first surrounding part 112 is connected to the first side of the clamping part 1112, the second surrounding part 115 is connected to the second side of the clamping part 1112, the first side of the clamping part 1112 is arranged opposite to the second side of the clamping part 1112, and the second side of the clamping part 1112 is the side away from the first surrounding part 112. When the clamping part 1112 is a plurality of rods, the first surrounding part 112 is connected to the rod at the most edge of the first side of the clamping part 1112, and the second surrounding part 115 is connected to the rod at the most edge of the second side of the clamping part 1112, and the first surrounding part 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 surrounding part 115 is suitable for fitting the tail of the fish when clamping the fish on the conveyor belt in the clamping area.

[0075] The first surrounding part 112 and the second surrounding part 115 are both arc-shaped plates, the first surrounding part 112 is shaped to fit the head of the fish clamped by the clamping mechanism, and the second surrounding part 115 is shaped to fit the tail of the fish clamped by the clamping mechanism.

[0076] The first surrounding part 112 and the second surrounding part 115 are provided with a plurality of through holes. Since the fish to be gripped is a fish that stops breathing, and can be a fish at room temperature or a frozen fish, the fish will carry a certain amount of water. The through holes can not only reduce the weight of the components, but also can realize the effect of air ventilation on the inner surface of the first surrounding part 112 and the second surrounding part 115, and is beneficial to the evaporation of the residual water when the fish is gripped. The inner surface of the first surrounding part 112 and the second surrounding part 115 is the part that is attached to the fish when the fish is gripped by the clamping mechanism.

[0077] Further, the angle range formed by the drag hook 1113 and the clamping piece 1112 is 110°-120°, that is, in this range, the drag hook 1113 can well lift the gripped fish.

[0078] The first end of the first surrounding part 112 extends to the second end of the first surrounding part 112 in the second direction, Figure 4 The y-axis direction shown in the figure is the second direction.

[0079] The second end of the first surrounding part 112 is opposite to the first end of the first surrounding part 112, and the second end of the first surrounding part 112 is an end away from the clamping piece 1112.

[0080] The direction of the fish corresponding to the to-be-grasped position 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 surrounding part 112 can rotate relative to the clamping piece 1112 is 15°-20°. In the embodiment, the second surrounding part 115 and the first surrounding part 112 are symmetrically arranged with the center line of the clamping piece 1112, so the angle range in which the second surrounding part 115 can rotate relative to the clamping piece 1112 is also 15°-20°.

[0081] Further, referring to Figure 5 In the embodiment, the basic information further includes third basic information. The third basic information includes an outline. The outline is the shape of the fish.

[0082] The first clamping assembly 11 further comprises an angle adjusting member 114. The first surrounding part 112 is connected to the clamping member 1112 through the angle adjusting member 114, and the second surrounding part 115 is connected to the clamping member 1112 through the angle adjusting member 114. The angle adjusting member 114 is adapted to adjust the angle between the first direction and the second direction based on the third basic information, so as to achieve the purpose of profiled clamping of the fish head and the fish tail on the conveying belt in the clamping area. While the angle adjusting member 114 is adjusted, the telescopic member also adjusts the total length of the clamping member 1112 in the first direction to match the size of the fish on the conveying belt in the clamping area.

[0083] The angle adjusting member 114 comprises a support seat 1141, a third driving member 1142, a transmission block 1143 and a fixing 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, and is adapted to support 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 part 112 is an end face away from the second clamping assembly 12. The fixing block 1144 is arranged on the first end face of the first surrounding part 112. The first end of the transmission block 1143 is rotatably connected to the fixing 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 opposite to the second end of the transmission block 1143. The first end of the transmission block 1143 is an end away from the output end of the third driving member 1142.

[0084] When it is necessary to adjust the angle of the first surrounding part 112 relative to the clamping member 1112 according to the shape of the fish head in the third basic information, that is, to adjust the angle between the first direction and the second direction, the rotation of the first surrounding part 112 relative to the clamping member 1112 is adjusted through the angle adjusting member 114. The output end of the third driving member 1142 drives the transmission block 1143 to move, and the transmission block 1143 drives the first surrounding part 112 to move. Since the transmission block 1143 is rotatably connected to the fixing block 1144, the third driving member 1142 can drive the first surrounding part 112 to rotate.

[0085] Similarly, according to the shape of the fish tail in the third basic information, the angle of the second surrounding part 115 relative to the clamping member 1112 can be adjusted through the angle adjusting member 114 at the second surrounding part 115.

[0086] In the embodiment, at least two angle adjusting members 114 are included, and corresponding synchronization members can be added to ensure that the first surrounding part 112 in the first clamping assembly 11 and the first surrounding part 112 in the second clamping assembly 12 are synchronized to move closer to or away from each other. Similarly, corresponding synchronization members can be added at the second surrounding part 115 to achieve the above-mentioned purpose.

[0087] If the clamped fish is asymmetrically arranged, for example, the fish is lying on the conveying belt, the clamping mechanism can be adjusted according to the third basic information of the fish, that is, the parameters of the clamping members 1112, the first surrounding part 112 and the second surrounding part 115 in the first clamping assembly 11 and the second clamping assembly 12 are adjusted respectively, so as to achieve the purpose of profiling the shape of the clamped fish.

[0088] The specific number, position and structure of the angle adjusting member 114 are not limited in the application, and can be reasonably selected and arranged as needed.

[0089] In addition, referring to Figure 2 In the embodiment, the pressing assembly 13 includes a pressing plate 131, a support plate 132, an elastic member 133, a guide rod 134, a stop ring 135 and a limiting ring 136.

[0090] The mounting frame 3 supports the support plate 132, and the support plate 132 is arranged vertically to the mounting frame 3. The support plate 132 has a through hole, the guide rod 134 slides through the through hole, the stop ring 135 is arranged at the first end of the guide rod 134, the first end of the guide rod 134 is the end away from the conveying belt, the pressing 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 conveying belt.

[0091] The limiting ring 136 is arranged between the support plate 132 and the pressing plate 131, and is fixedly sleeved outside the guide rod 134. The limiting ring 136 is used for limiting the position of the elastic member 133, so as to avoid the free sliding of the elastic member 133.

[0092] The elastic member 133 is arranged between the support plate 132 and the limiting ring 136, and is sleeved outside the guide rod 134. The elastic member 133 can be realized by a spring, or can be realized by a rubber ring or a rubber pad, and can be reasonably selected and arranged according to actual needs.

[0093] In order to make the pressing assembly 13 operate more stably, the elastic member 133, the guide rod 134, the stop ring 135 and the limiting ring 136 are all arranged in two groups and are installed in parallel at both ends of the support plate 132, or can be arranged in multiple groups, so that when the fish on the conveying belt is clamped, the pressing plate 131 acts on the fish more stably.

[0094] In order to make the movement direction of the guide rod 134 more stable, the pressing assembly 13 further comprises a linear bearing 137 and a reinforcing plate, the linear bearing 137 is sleeved and slidably arranged outside the guide rod 134, and is arranged between the support plate 132 and the stop ring 135, and is fixedly connected with the upper surface of the support plate 132, and the reinforcing plate is also sleeved and slidably arranged outside the guide rod 134, and is arranged between the support plate 132 and the elastic member 133, and is fixedly connected with the lower surface of the support plate 132.

[0095] When the first clamping assembly 11 and the second clamping assembly 12 cooperate to clamp the fish on the conveying belt, the lower surface of the pressing plate 131 abuts against the upper surface of the clamped fish, and the pressing plate 131 can drive the guide rod 134, the limiting ring 136 and the stop ring 135 to move in the opposite direction of the fish, so that the elastic member 133 is extruded, and the pressing plate 131 is also lifted and abuts against the upper surface of the fish. At this time, the first clamping assembly 11 and the second clamping assembly 12 complete the clamping of the fish on the conveying belt, and the space formed by the pressing plate 131, the first clamping assembly 11 and the second clamping assembly 12 is a space for accommodating the clamped fish.

[0096] More specifically, in order to better clamp the fish on the conveying 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 adapted to accommodate a suction cup, and the suction surface of the suction cup is flush with the first end surface of the pressing plate 131, so that the suction surface of the suction cup and the patterned pressing plate 131 can act at the same time and both adhere to the upper surface of the fish. The suction cup is adapted to adsorb the upper surface of the fish when the clamping mechanism clamps the fish on the conveying belt in the clamping region.

[0097] The first end surface of the pressing plate 131 has a pattern, which can be a diamond pattern, a strip pattern, a zigzag pattern or another pattern, all of which are convex patterns.

[0098] When the first clamping assembly 11 and the second clamping assembly 12 cooperate to clamp the fish on the conveying belt, the lower surface of the pressing plate 131 abuts against the upper surface of the clamped fish, and through vacuumizing, the upper surface of the fish is well adsorbed, and the upper surface of the fish adheres to the pattern of the pressing plate 131, which can increase the friction between them, and through double protection, the phenomenon of fish slipping when the clamping mechanism clamps the fish can be avoided.

[0099] The air inlet of the suction cup is provided with a filter screen. Since fish will drop scales during clamping and transportation, and there will also be some impurities during transportation, the provision of the filter screen can avoid the suction of dropped scales or impurities during vacuumization of the suction cup, causing the suction cup to be blocked and affecting the work of the suction cup. When the lower surface of the pressing plate 131 abuts against the upper surface of the clamped fish, the suction cup performs vacuumization, and when the first clamping assembly 11 and the second clamping assembly 12 cooperate to release the fish on the conveyor belt, the air pipe connected to the suction cup stops vacuumization and can blow gas into the atmosphere, so that the scales or impurities adhered to the filter screen port fall off, avoiding the accumulation of a large amount of scales or impurities on the filter screen port and affecting the work of the suction cup.

[0100] In addition, the surfaces of the clamping mechanism that contact the fish during clamping can be provided with anti-slip materials or materials with certain elasticity and memory functions, for example, a special polyurethane elastomer. This material can deform elastically according to the shape of the fish when it contacts the fish body, and can restore its original shape after the pressure disappears. This feature allows the clamping mechanism to better fit the fish body when clamping fish of different shapes and sizes, providing uniform and stable clamping force.

[0101] More specifically, a plurality of force sensors can 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, which can more accurately sense the contact force distribution between the clamping mechanism and the clamped fish. When the clamping mechanism clamps the fish on the conveyor belt in the clamping area, the force sensor array can monitor the pressure at each position 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 in this position. At this time, the corresponding parts of the clamping mechanism can be adjusted by the control mechanism, such as adjusting the air pressure of the driving mechanism 2 to increase the clamping force in that area, so that the fish is clamped more stably.

[0102] The present application can wrap and clamp the whole fish on the conveyor belt through the provision of the first clamping assembly 11, the second clamping assembly 12 and the pressing assembly 13, so as to better clamp the fish on the conveyor belt stably and quickly, thereby improving the efficiency of fish sorting.

[0103] Further, the clamping device further comprises a code spraying mechanism and a weighing sensor. The code spraying mechanism is adapted to spray a code on the fish clamped by the clamping mechanism based on the second basic information.

[0104] The weighing sensor is arranged at the conveying belt in the clamping area, can be arranged at a fixed position under the conveying belt in the clamping area, can weigh the fish at the position when the fish on the conveying belt passes, or a weighing sensor is arranged at a position corresponding to each fish on the conveying belt, the weighing sensor is suitable for measuring the weight information of the fish on the conveying belt in the clamping area, and transmitting the measured weight information corresponding to the weight data to the control mechanism, and the control mechanism is also suitable for converting the weight data and transmitting the converted weight data to the code spraying mechanism.

[0105] The code spraying mechanism is suitable for carrying out two-dimensional code spraying processing on the fish clamped by the clamping mechanism. The spraying position can be the head position of the fish or other positions, and the spraying information can be a two-dimensional code or a bar code, which can be reasonably selected and set according to actual needs.

[0106] The information of the two-dimensional code includes size, weight, variety, production time, growth cycle and cooking method.

[0107] Therefore, the user can fully and clearly understand the information of the fish after purchasing the fish, and the user can reasonably select the fish when purchasing.

[0108] In order to facilitate the understanding of the above technical solutions of the present application, the working principle or operation mode of the present application in the actual process will be described in detail.

[0109] The fish is placed on the conveying belt by artificial or mechanical device, when the visual mechanism identifies that the fish is conveyed to the clamping area by the conveying 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 mounting frame 3 to dynamically follow and move to the position corresponding to the fish on the conveying belt, and adjusts the positions of the components 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 mounting frame 3 to move downward, at this time, the first clamping assembly 11 and the second clamping assembly 12 are in the open state, and the pressing assembly 13 is in the natural state, through the driving of the driving mechanism 2, the first clamping assembly 11 and the second clamping assembly 12 are attached to the side end and the bottom end of the fish in the clamping area, and the pressing assembly 13 is attached to the upper surface of the fish in the clamping area, thus the dynamic clamping of the fish in the clamping area is completed. At the same time, the code spraying mechanism sprays the corresponding fish according to the information collected by the visual mechanism.

[0110] Then, 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 based on the second basic information collected by the vision mechanism, and through the driving of the driving mechanism 2, the first clamping assembly 11 and the second clamping assembly 12 are away from each other, and the task of releasing the clamped fish is completed. In this application, the fish can be sorted according to one or more of the conditions such as the variety, size, weight and the like of the fish. The above operation is repeatedly performed, and the automatic sorting of the fish can be realized.

[0111] The application also discloses an automatic feeding and discharging equipment, which comprises a conveying belt, a mechanical arm and the clamping device, the mechanical arm is connected with 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 conveying belt. In this embodiment, a plurality of clamping devices can be arranged to simultaneously sort the fish on the conveying belt, and reasonable selection and setting can be made according to actual needs.

[0112] In general, the clamping device provided by the application is suitable for being connected with the mechanical arm and transporting the fish on the conveying belt, and the clamping device comprises a driving mechanism, a clamping mechanism, a vision mechanism and a control mechanism. The vision mechanism is suitable for collecting the basic information of the fish on the conveying 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 conveying belt corresponding to the grasping position. The clamping mechanism comprises a first clamping assembly, a second clamping assembly and a pressing assembly. The pressing assembly is suitable for being attached to the upper surface of the fish when the fish is clamped. The first clamping assembly and the second clamping assembly are suitable for moving towards each other under the driving of the driving mechanism. Through the arrangement of the clamping mechanism, the fish on the conveying belt can be clamped in a wrapping manner, so that the sorting operation is stable and fast, and the efficiency and accuracy of fish sorting are improved. The application also discloses an automatic feeding and discharging equipment, which comprises a conveying belt, a mechanical arm and a clamping device. The mechanical arm is suitable for driving the clamping device to move so as to clamp and transport the fish on the conveying belt.

[0113] The above embodiments only exemplarily illustrate the principles and effects of the application, and are not used to limit the application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the application. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical thought disclosed by the application should be covered by the claims of the application.

Claims

1. A gripping device adapted to be connected to an end of a robot arm and to transport fish on a conveyor belt, characterized in that The clamping device comprises a mounting frame (3), a driving mechanism (2), a clamping mechanism, a vision mechanism and a control mechanism; The mounting frame (3) is adapted to carry the driving mechanism (2) and the clamping mechanism; The vision mechanism is adapted to collect the basic information of the fish on the conveying belt in the clamping area, the basic information comprising first basic information and second basic information, the first basic information comprising position and direction, and the second basic information comprising size and species; The control mechanism is adapted to, based on the first basic information, drive the mounting frame (3) to move to a position to be grabbed by the mechanical arm, and control the driving mechanism (2) to drive the clamping mechanism to clamp the fish on the conveying belt corresponding to the position to be grabbed; The clamping mechanism comprises a first clamping component (11), a second clamping component (12) and a pressing component (13); The pressing component (13) is arranged between the first clamping component (11) and the second clamping component (12), and is adapted to be fitted to the upper surface of the fish on the conveying belt when the first clamping component (11) and the second clamping component (12) clamp the fish on the conveying belt, the first clamping component (11) and the second clamping component (12) being symmetrically arranged about the central axis of the pressing component (13) and having the same structure; The first clamping component (11) and the second clamping component (12) are adapted to move towards each other under the drive of the driving mechanism (2) to clamp or release the fish on the conveying belt in the clamping area; The driving mechanism (2) comprises a first driving member (21); The first clamping component (11) comprises a first supporting member (1111), a drag hook (1113), a clamping member (1112), a first surrounding part (112) and a second surrounding part (115); The top end of the clamping member (1112) is connected to the first driving member (21) through the first supporting member (1111), the clamping member (1112) is adapted to fit the first side end of the fish when clamping the fish on the conveying belt in the clamping area, and the drag hook (1113) is arranged obliquely at the bottom end of the clamping member (1112) and is adapted to fit the bottom end of the fish when clamping the fish on the conveying belt in the clamping area; The second surrounding part (115), the clamping member (1112) and the first surrounding part (112) are sequentially arranged along a first direction, the first surrounding part (112) is connected to the first side of the clamping member (1112), the second surrounding part (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), the first surrounding part (112) is adapted to fit the head of the fish when clamping the fish on the conveying belt in the clamping area, and the second surrounding part (115) is adapted to fit the tail of the fish when clamping the fish on the conveying belt in the clamping area.

2. The clamping device of claim 1, wherein Further comprising: a code spraying mechanism; The code spraying mechanism is adapted to spray a code on the fish clamped by the clamping mechanism based on the second basic information.

3. The clamping device of claim 2, wherein Also comprising: a weighing sensor; the weighing sensor is arranged at the conveying belt in the clamping area, is adapted to measure the weight information of the fish on the conveying belt in the clamping area, and transmit the measured weight data corresponding to the weight information to the control mechanism, and the control mechanism is also adapted to convert the weight data and transmit the converted weight data to the inkjet mechanism; the inkjet mechanism is adapted to perform two-dimensional code inkjet processing on the fish clamped by the clamping mechanism; the information of the two-dimensional code includes size, weight, variety, production time, growth cycle and cooking method.

4. The holding device of claim 1, wherein The pressing assembly (13) comprises a pressing plate (131), a support plate (132), an elastic member (133), a guide rod (134), a stop ring (135) and a limiting ring (136); The mounting frame (3) supports the support plate (132), the support plate (132) has a through hole, the guide rod (134) slides through the through hole, the stop ring (135) is arranged at the first end of the guide rod (134), the pressing 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); The limiting ring (136) is arranged between the support plate (132) and the pressing plate (131), and is fixedly sleeved outside the guide rod (134); The elastic member (133) is arranged between the support plate (132) and the limiting ring (136), and is sleeved outside the guide rod (134).

5. The clamping device of claim 4, wherein The pressing plate (131) has a mounting cavity; The mounting cavity is adapted to accommodate a suction cup, the outer edge of the suction cup is flush with the first end face of the pressing plate (131), and the suction cup is adapted to adsorb the upper surface of the fish when the clamping mechanism clamps the fish on the conveying belt in the clamping area; The air inlet of the suction cup has a filter screen, and the first end face of the pressing plate (131) has a pattern.

6. The clamping device of claim 1, wherein The first surrounding part (112) is shaped with the head of the fish clamped by the clamping mechanism, and the second surrounding part (115) is shaped with the tail of the fish clamped by the clamping mechanism.

7. The holding device of claim 1, wherein The driving mechanism (2) further comprises a synchronization member; The first clamping assembly (11) is connected with the second clamping assembly (12) through the synchronization member, and the synchronization member is adapted to control the second clamping assembly (12) and the first clamping assembly (11) to move towards each other at the same speed.

8. The holding device of claim 1, wherein The angle range formed by the drag hook (1113) and the clamping piece (1112) is 110°-120°; The first end of the first surrounding part (112) extends to the second end of the first surrounding part (112) in the second direction; The second end of the first surrounding part (112) is arranged opposite to the first end of the first surrounding part (112); The direction of the fish corresponding to the to-be-grabbed position is the first direction; The angle range formed by the first direction and the second direction is 15°-20°.

9. The clamping device of claim 8, wherein The basic information further comprises third basic information; The third basic information includes contour; The first clamping assembly (11) further comprises an angle adjusting member (114); The first surrounding part (112) is connected with the clamping member (1112) through the angle adjusting member (114), and the second surrounding part (115) is connected with the clamping member (1112) through the angle adjusting member (114), and the angle adjusting member (114) is adapted to adjust the angle formed by the first direction and the second direction based on the third basic information.

10. An automatic loading and unloading apparatus, characterized by, Comprising: A conveyor belt, a mechanical arm and a clamping device as claimed in any one of claims 1 to 9; The mechanical arm is connected with the clamping device, and the mechanical arm is adapted to drive the clamping device to move so as to clamp and transport the fish on the conveyor belt.

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