Automatic grading and sorting machine for tachypleus tridentatus seedlings

Abstract

The invention discloses an automatic grading sorting machine for tachypleus tridentatus seedlings, and belongs to the technical field of aquaculture equipment. The sorting machine comprises a water tank, a conveying mechanism, a detection unit, a grading box, a turnover mechanism and a controller. The water tank outlet is provided with a first slope; the conveying mechanism is composed of a conveying belt and a plurality of conveying boxes. The detection unit comprises a plurality of thermal imaging sensors which are sequentially arranged along the conveying belt and is used for non-contact detection of seedling sizes; the grading box inlet is provided with a second slope; the overturning mechanism is used for overturning the seedlings with the size reaching the standard from the conveying box to the corresponding grading box under the instruction of the controller. Thermal imaging detection is adopted, so that water body and activity interference is avoided; continuous automatic sorting is achieved through a multi-station assembly line; a buffer structure is arranged in the conveying and overturning process, action is soft, and damage to fragile seedlings is greatly reduced; the whole structure is designed according to the characteristics of the tachypleus tridentatus seedlings, sorting is accurate and reliable, the grading standard can be flexibly adjusted, and the device is suitable for large-scale conservation and breeding.

Description

Technical Field

[0001] This invention relates to the field of aquaculture equipment technology, specifically to an automatic grading and sorting machine for horseshoe crab larvae. Background Technology

[0002] Horseshoe crabs (Hemiberlesia serratifolia) are important marine organisms with high ecological and scientific research value. In artificial breeding, juveniles often need to be graded by size for easy management, feeding, and sales. Traditional grading relies mainly on visual inspection and manual sorting, which is inefficient, labor-intensive, and prone to mechanical damage to the juveniles. Although some automated sorting devices exist for fish or shrimp, they mostly use contact measurement or visible light-based visual inspection, which are unsuitable for horseshoe crab juveniles with their flat bodies, fragile shells, and unique activity patterns, easily leading to inaccurate measurements, stress, or injury. Therefore, there is an urgent need for an efficient, accurate, and non-destructive automated grading and sorting method for horseshoe crab juveniles. Summary of the Invention

[0003] To address the above problems, the present invention provides the following technical solution: an automatic grading and sorting machine for horseshoe crab larvae, comprising:

[0004] The water tank has a first ramp at its outlet to guide the seedlings out.

[0005] The conveying mechanism includes multiple independent conveyor boxes and a conveyor belt that drives the conveyor boxes to move step by step along a set path. The conveyor boxes are used to receive seedlings that slide out from the first slope.

[0006] Multiple thermal imaging sensors are arranged sequentially along the moving direction of the conveyor belt for non-contact detection of the size of seedlings in the conveyor box located below it;

[0007] The grading bin has a second ramp at its entrance;

[0008] The flipping mechanism includes a cylinder and a connector located at the cylinder output end; the conveying box is provided with a mating part that can be releasably connected to the connector.

[0009] The controller is communicatively connected to each of the thermal imaging sensors, conveyor belts, and cylinders, and is configured to: based on the detection results of the thermal imaging sensors of the current detection unit, if the seedling size meets the preset range of the unit, control the cylinder of the unit to move, and pull the conveyor box around the hinge point through the connection between the connector and the mating part, so that the seedling is poured into the corresponding grading box via the second slope; otherwise, control the conveyor belt to move the conveyor box to the next detection unit.

[0010] Furthermore, the conveyor box is equipped with an internal ramp to cushion the impact of the seedlings falling in.

[0011] Furthermore, the connector is a magnetic head, and the mating part is a magnetic block that can be attracted to the magnetic head.

[0012] Furthermore, the magnetic suction head is connected to the output end of the cylinder via a ball joint or universal joint.

[0013] Furthermore, the inlet side wall of the grading box is provided with a rotating shaft, and the corresponding side of the conveying box is provided with a groove that cooperates with the rotating shaft. When the conveying box is pulled and flipped, the rotating shaft and the groove form a rotating pair; when the conveying box moves horizontally, the two separate.

[0014] Furthermore, a first partition is provided on the first slope to prevent seedlings from mixing.

[0015] Furthermore, the surfaces of the first slope and the second slope are covered with a flexible buffer layer or equipped with a water flow wetting device.

[0016] Furthermore, it also includes a positioning sensor disposed on one side of the thermal imaging sensor for detecting whether the delivery box is in place, and the positioning sensor is connected to the controller.

[0017] Furthermore, the grading box is equipped with a second partition to prevent seedlings from mixing.

[0018] A method for grading and sorting Chinese horseshoe crab larvae using the aforementioned automatic grading and sorting machine for Chinese horseshoe crab larvae includes the following steps:

[0019] The seedlings slide from the water tank down the first slope into the conveyor box;

[0020] The conveyor belt sequentially delivers the seedling-carrying boxes to each testing and sorting unit;

[0021] In each unit, a thermal imaging sensor detects the size of the seedlings;

[0022] If the size meets the preset range of the current unit, the controller triggers the flipping mechanism to unload the seedling into the grading box corresponding to that unit; if it does not meet the requirements, the conveyor box is sent to the next unit for further testing.

[0023] Repeat the above testing and sorting steps until the seedlings are sorted into grading boxes that match their size.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] Utilizing thermal imaging technology for non-contact dimensional inspection, the system effectively avoids interference from water, light, and larval activity, ensuring accurate and reliable measurements. The equipment employs a multi-station assembly line design, enabling continuous automated operation and significantly improving sorting efficiency and consistency. The conveyor box features a buffer structure, with a ramp covered in flexible material. Combined with magnetic connections and a rotating shaft support, it allows for gentle tipping and unloading, greatly reducing physical damage to fragile larvae. The overall structure is designed specifically for the flattened shape of horseshoe crab larvae, with universal joints and a rotating shaft-groove fit ensuring stable and reliable operation. The central controller allows for flexible adjustment of grading standards to adapt to different aquaculture or research needs. Attached Figure Description

[0026] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0027] Figure 1 This is a schematic diagram of the overall structure of an automatic grading and sorting machine for Chinese horseshoe crab seedlings according to the present invention;

[0028] Figure 2 This is a schematic diagram showing the conveyor box in the loading position of an automatic grading and sorting machine for Chinese horseshoe crab seedlings according to the present invention.

[0029] Figure 3 This is a schematic diagram showing the conveyor box being positioned at the detection station for size detection in an automatic grading and sorting machine for horseshoe crab seedlings according to the present invention.

[0030] Figure 4 This is a schematic diagram showing the conveyor box being overturned and unloaded in an automatic grading and sorting machine for horseshoe crab seedlings according to the present invention.

[0031] Figure 5 This is a schematic diagram of the grading box structure in an automatic grading and sorting machine for horseshoe crab seedlings according to the present invention;

[0032] Figure 6 This is a schematic diagram of the conveyor box structure in an automatic grading and sorting machine for horseshoe crab seedlings according to the present invention.

[0033] In the diagram: 1. Water tank; 11. First ramp; 12. First partition; 2. Conveyor box; 21. Inner ramp; 22. Fitting part; 23. Groove; 3. Conveyor belt; 4. Thermal imaging sensor; 5. Grading box; 51. Second ramp; 52. Rotating shaft; 53. Second partition; 6. Tilting mechanism; 61. Cylinder; 62. Connector; 7. Controller; 8. Positioning sensor; Detailed Implementation

[0034] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0035] Depend on Figure 1-6 As shown, the first embodiment of the present invention includes:

[0036] An automatic grading and sorting machine for horseshoe crab larvae mainly consists of a feeding module, a conveying and detection module, a sorting execution module, and a control module.

[0037] The feeding module is a water tank 1 with multiple discharge ports on one side of its bottom, connected to a first ramp 11 to guide the seedlings out. A vertical first partition 12 is provided on the first ramp corresponding to the multiple discharge ports, dividing the water tank into multiple independent areas to store seedlings from different batches or sources, preventing them from mixing within the water tank. To protect the seedlings from damage during the sliding process, the surface of the first ramp 11 is covered with a flexible silicone cushioning layer.

[0038] The conveying and inspection module includes a circular conveyor belt 3 driven by a servo motor for precise step-by-step movement. Multiple independent conveyor boxes 2 are evenly spaced along the conveyor belt 3. Each conveyor box 2 receives a single seedling sliding out from the first ramp 11. An inclined ramp 21 is located on the inner bottom of each conveyor box 2 to cushion the impact of the seedling falling in. Multiple inspection stations are sequentially arranged along the direction of movement of the conveyor belt 3. Each station has a thermal imaging sensor 4 and a positioning sensor 8 fixedly installed above it. The thermal imaging sensor 4 acquires thermal images of the seedlings inside the conveyor box 2 below it non-contactly and calculates their carapace dimensions using image processing technology. The positioning sensor 8 detects whether the conveyor box 2 has accurately moved to the inspection position of that station.

[0039] The sorting execution module includes multiple grading boxes 5 and a flipping mechanism 6. Each inspection station corresponds to one grading box 5, and the entrance of the grading box 5 is equipped with a second ramp 51, the surface of which is also covered with a flexible silicone layer. The grading box 5 has a second partition 53 inside to ensure that seedlings sorted from different stations are effectively separated and collected. The flipping mechanism 6 is located on one side of each inspection station and mainly consists of a cylinder 61 and a magnetic head-shaped connector 62 installed at the end of the cylinder piston rod. The connector 62 is connected to the output end of the cylinder 61 through a universal joint to provide a certain degree of angle self-adaptation. On the outer wall of the side of each conveying box 2 facing the flipping mechanism 6, an iron mating part 22 is fixedly installed for adsorption connection with the magnetic head. At the same time, a rotating shaft 52 is fixed on the upper side wall of the entrance of the grading box 5, and a matching groove 23 is provided on the corresponding side of the conveying box 2.

[0040] The control module is a controller 7, which can be a PLC or an industrial computer. The controller 7 is connected to all thermal imaging sensors 4, positioning sensors 8, servo motors driving the conveyor belt 3, and cylinders 61 at each workstation via communication lines.

[0041] In the second embodiment of the present invention:

[0042] The difference from Embodiment 1 lies in the connection method and rotational support method of the flipping mechanism. In this embodiment, the connector 62 and the mating part 22 adopt a mechanical snap-fit ​​release connection, for example, a cylinder drives a hook to engage with the lifting ring on the conveyor box. Simultaneously, the rotating shaft 52 on the grading box and the groove 23 on the conveyor box are eliminated. Instead, fixed rotating shafts are provided on both sides of the bottom of the conveyor box 2, and bearing seats that mate with the rotating shafts are provided on the frame of each sorting station. When the conveyor box moves to the sorting station, its rotating shaft falls into the bearing seat, forming a stable rotational fulcrum, and then the flipping mechanism pulls it to flip around this fulcrum.

[0043] Working principle:

[0044] like Figure 1 As shown, the modules are arranged linearly along the moving path of conveyor belt 3, forming a unidirectional circulating automated production line. Water tank 1 is located at the beginning of the production line, with its outlet directly above conveyor belt 3. Multiple conveyor boxes 2 are fixed at equal intervals on conveyor belt 3 and move cyclically with it. When a conveyor box 2 moves below water tank 1, it is in the loading position, catching any falling seedlings.

[0045] Downstream of the loading position of conveyor belt 3, multiple detection and sorting units are arranged sequentially along its forward direction. Each unit includes a fixed thermal imaging sensor 4 and a flipping mechanism 6, with a grading box 5 corresponding to the side of each flipping mechanism 6. When the conveyor box 2 is conveyed by conveyor belt 3 to a position directly below a thermal imaging sensor 4, it reaches the detection position of that unit. If sorting is required, the flipping mechanism 6 on that side immediately activates, flipping the conveyor box 2 above the inlet of the corresponding grading box 5, completing the unloading. All modules are centrally controlled by a controller 7, which is typically installed in the equipment frame or a separate electrical control cabinet. This linear layout ensures a continuous process with compact space, realizing a continuous operation flow from automatic loading and multi-level detection to precise sorting.

[0046] Specifically as follows:

[0047] Step 1: Feeding: Horseshoe crab larvae slide sequentially from water tank 1 into conveyor box 2 below via the first ramp 11. The ramp 21 inside the box effectively cushions the impact of the larvae falling in.

[0048] The second step is conveying and positioning: The conveyor box 2, loaded with seedlings, moves step by step with the conveyor belt 3. When it reaches the first detection station, the positioning sensor 8 detects its position and sends a signal to the controller 7.

[0049] The third step is detection and judgment: After receiving the arrival signal, the controller 7 triggers the thermal imaging sensor 4 at that workstation to take pictures and analyze the size. The controller 7 compares the analyzed seedling size with the preset size range for that workstation.

[0050] The fourth step is to perform sorting:

[0051] If the dimensions are correct: Controller 7 first stops the conveyor belt 3. Then, it extends the cylinder 61 at this station, causing its front magnetic head to connect with the magnetic block on the conveyor box 2. Subsequently, cylinder 61 retracts, pulling the conveyor box 2. At this time, the groove 23 on the side of the conveyor box 2 engages with the rotating shaft 52 on the grading box 5, forming a rotating pair. The conveyor box 2 rotates around the rotating shaft 52 at a certain angle (e.g., 90°-120°), and the seedlings inside slide out along the inner slope of the box under the action of gravity. After being buffered by the second slope 51, they are smoothly poured into the corresponding grading box 5. After unloading, cylinder 61 is fully reset, the magnetic head disengages from the magnetic block, and the conveyor box 2 returns to a horizontal state under the action of gravity or the reset mechanism.

[0052] If the dimensions do not match: the controller 7 will not trigger the flipping mechanism 6, but will instead control the conveyor belt 3 to start and move the conveyor box 2 to the next inspection station.

[0053] Step 5: Repeat steps 2 to 4. Each testing station corresponds to a smaller or larger size range. The conveyor box 2 carries the seedlings through each station for testing until its size matches the range of a certain station and it is sorted out. The empty conveyor box 2 after sorting continues to move with the conveyor belt 3, returning to the bottom of the water tank to receive new seedlings, and the next cycle begins.

[0054] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0055] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic grading and sorting machine for Chinese horseshoe crab larvae, characterized by, include: The water tank (1) has a first ramp (11) at its outlet to guide the seedlings out. The conveying mechanism includes multiple independent conveyor boxes (2) and a conveyor belt (3) that drives the conveyor boxes (2) to move stepwise along a set path. The conveyor boxes (2) are used to receive seedlings that slide out from the first slope (11). Multiple thermal imaging sensors (4) arranged sequentially along the moving direction of the conveyor belt (3) are used for non-contact detection of the size of the seedlings in the conveyor box (2) located below it; The grading box (5) has a second ramp (51) at its entrance. The flipping mechanism (6) includes a cylinder (61) and a connector (62) located at the output end of the cylinder (61); the conveying box (2) is provided with a mating part (22) that can be releasably connected to the connector (62). The controller (7) is communicatively connected to each of the thermal imaging sensors (4), the conveyor belt (3) and the cylinder (61), and is configured to: based on the detection result of the thermal imaging sensor (4) of the current detection unit, if the seedling size meets the preset range of the unit, control the cylinder (61) of the unit to move, and pull the conveyor box (2) around the hinge point through the connection of the connector (62) and the mating part (22), and pour the seedling into the corresponding grading box (5) via the second slope (51); otherwise, control the conveyor belt (3) to move the conveyor box (2) to the next detection unit.

2. An automatic grading and sorting machine for Chinese horseshoe crab larvae as claimed in claim 1, wherein: The conveyor box (2) is equipped with an internal ramp (21) to buffer the impact of the seedlings falling in.

3. An automatic grading and sorting machine for Chinese horseshoe crab larvae as claimed in claim 1, wherein: The connector (62) is a magnetic head, and the mating part (22) is a magnetic block that can be attracted to the magnetic head.

4. An automatic grading and sorting machine for Chinese horseshoe crab larvae as claimed in claim 3, wherein: The magnetic head is connected to the output end of the cylinder (61) via a ball joint or universal joint.

5. An automatic grading and sorting machine for Chinese horseshoe crab larvae as claimed in claim 1, wherein: The inlet side wall of the grading box (5) is provided with a rotating shaft (52), and the corresponding side of the conveying box (2) is provided with a groove (23) that cooperates with the rotating shaft (52). When the conveying box (2) is pulled and flipped, the rotating shaft (52) and the groove (23) form a rotating pair; when the conveying box (2) moves horizontally, the two separate.

6. An automatic grading and sorting machine for Chinese horseshoe crab (Tachypleus) larvae as claimed in claim 1, wherein: The first slope (11) is provided with a first partition (12) to prevent seedlings from mixing.

7. An automatic grading and sorting machine for Chinese horseshoe crab (Tachypleus) larvae as claimed in claim 1, wherein: The surfaces of the first slope (11) and the second slope (51) are covered with a flexible buffer layer or are equipped with a water flow wetting device.

8. The automatic grading and sorting machine for Chinese horseshoe crab juveniles according to claim 1, characterized in that: It also includes a positioning sensor (8) disposed on one side of the thermal imaging sensor (4) for detecting whether the delivery box (2) is in place, and the positioning sensor (8) is connected to the controller (7).

9. The automatic grading and sorting machine for Chinese horseshoe crab juveniles according to claim 1, characterized in that: The grading box (5) is equipped with a second partition (53) to prevent seedlings from mixing.

10. A method for grading and sorting Chinese horseshoe crab larvae using the automatic grading and sorting machine for Chinese horseshoe crab larvae according to any one of claims 1-9, characterized in that, Includes the following steps: The seedlings slide from the water tank (1) into the conveyor box (2) via the first slope (11); The conveyor belt (3) delivers the transport box (2) carrying the seedlings to each detection and sorting unit in sequence; In each unit, the thermal imaging sensor (4) detects the size of the seedling; If the size meets the preset range of the current unit, the controller (7) triggers the flipping mechanism (6) to unload the seedling into the grading box (5) corresponding to the unit; if it does not meet the requirements, the conveyor box (2) is sent to the next unit for further testing. Repeat the above detection and sorting steps until the seedlings are sorted into the grading box (5) that meets their size.

Images