Device for automatically taking scallop adductors after scallop processing and intelligent separation method for identifying scallop adductors

Abstract

The invention discloses a device for automatically taking scallop adductors after scallop processing and an intelligent separation method for identifying the scallop adductors, and relates to the technical field of mechanical automation. Comprising a lifting assembly, a clamping jaw fixing assembly is connected to the top of the lifting assembly, a scallop rotating assembly and an annular collecting disc are sequentially arranged outside the clamping jaw fixing assembly, a rotating supporting assembly, an upper shell collecting assembly and a tail cutting assembly are arranged on the annular collecting disc, and an isolation disc and a transmission assembly are sequentially arranged above the clamping jaw fixing assembly; the center of the isolation disc is connected with a fixing column, the transmission assembly is arranged above the isolation disc through the fixing column, and the transmission assembly is provided with a machining assembly. By adopting the device for automatically taking the scallop adductors after processing the scallops and the intelligent separation method for identifying the scallop adductors, the technical bottlenecks of low efficiency, dependence on manpower and unstable yield in traditional scallop processing are improved, and the device has remarkable industrial application value.

Description

Technical Field

[0001] This invention relates to the field of mechanical automation technology, and in particular to a device for automatically removing adductor muscles from scallops after processing, and an intelligent separation method for identifying adductor muscles. Background Technology

[0002] In traditional scallop processing, removing the adductor muscle (the most valuable part of the scallop meat) usually relies on manual digging with knives. This method is not only labor-intensive and inefficient, but traditional automated devices usually use fixed mechanical positioning methods, which cannot be adjusted in real time according to the actual posture of each scallop after it is opened. Since there are deviations in the placement and angle of the scallop at the processing station, pure mechanical positioning is prone to hollowing out or not cleaning completely, making it difficult to guarantee the yield rate.

[0003] In traditional equipment, processes such as tail cutting, clamping, rotation positioning, visual recognition, and picking are often scattered, resulting in many intermediate transmission links, large equipment footprint, and easy secondary damage to scallops during transmission. Summary of the Invention

[0004] The purpose of this invention is to provide a device for automatically removing adductor muscles after processing scallops and an intelligent separation method for identifying adductor muscles. The device ensures high-speed, stable, and smooth processing, while the vision component gives the device eyes and a brain, enabling it to process non-standardized organisms. This improves upon the technical bottlenecks of low efficiency, reliance on manual labor, and unstable yield in traditional scallop processing, and has significant industrial application value.

[0005] To achieve the above objectives, the present invention provides an automatic device for removing adductor muscles from scallops after processing, comprising a lifting assembly, a gripper fixing assembly connected to the top of the lifting assembly, a scallop rotating assembly and an annular collecting plate arranged sequentially outside the gripper fixing assembly, a rotating support assembly, an upper shell collecting assembly and a tail cutting assembly arranged on the annular collecting plate, an isolation plate and a transmission assembly arranged sequentially above the gripper fixing assembly, a fixing column connected to the center of the isolation plate, the transmission assembly being mounted above the isolation plate via the fixing column, and a processing assembly arranged on the transmission assembly.

[0006] Preferably, the lifting assembly includes a bottom bracket, a conical support plate is provided above the bottom bracket, an annular collection plate is provided on the conical support plate, a lifter is provided inside the bottom bracket, a lifting plate is provided on the top of the lifter and is located inside the conical support plate, and the top of the lifting plate is connected to the gripper fixing assembly.

[0007] Preferably, the gripper fixing assembly includes an annular fixing plate disposed above the lifting plate, a cam plate disposed at the center of the annular fixing plate, and a plurality of horizontal grippers and vertical grippers connected to the cam plate. The rotation of the cam plate drives the horizontal grippers and vertical grippers to perform clamping and releasing actions, and the horizontal grippers and vertical grippers are connected to the annular fixing plate.

[0008] Preferably, the scallop rotating assembly includes an annular turntable disposed outside the annular fixed disk. Driven teeth are provided on the outer circumference of the annular turntable. A plurality of scallop processing stations and through holes are evenly arranged on the annular turntable. The through holes are located between two adjacent scallop processing stations. A pair of scallop fixing hooks are provided at each scallop processing station.

[0009] Preferably, the rotating support assembly includes a ball groove disposed on an annular collecting tray, wherein balls are disposed on the ball groove and the balls are slidably connected to the annular turntable; The upper shell collection assembly includes an upper shell receiving hole disposed on an annular collection tray, an upper shell collection crossbeam disposed above the upper shell receiving hole, and the upper shell collection crossbeam connected to the annular collection tray; The tail cutting assembly includes a cutting bracket mounted on an annular collection tray, and a cutter is mounted on the cutting bracket.

[0010] Preferably, the transmission assembly includes a track turntable disposed above the isolation plate, the track turntable having a plurality of slide rails and a slide groove plate disposed above it, the slide groove plate having a plurality of sliding carriers, the sliding carriers having processing components disposed on them, the slide rails having sliding supports, and the sliding supports being connected to the bottom of the processing components.

[0011] Preferably, the processing components include a lifting suction cup, a clam adductor, and a push rod. The lifting suction cup, the clam adductor, and the push rod are all mounted on different sliding carriers. A multi-dimensional adjuster is provided between the clam adductor and the sliding carrier, and a camera is provided on the clam adductor.

[0012] Preferably, the multi-dimensional adjuster includes a Z-axis adjusting rod, an X-axis adjusting rod, and a Y-axis adjusting rod connected sequentially from top to bottom. The top of the Z-axis adjusting rod is connected to the sliding carrier, and the bottom of the Y-axis adjusting rod is connected to the adductor. The position where the push rod is pushed out corresponds to a collection hole on the annular collection plate for collecting the lower shell and adductor. A collection tube is connected below the collection hole. The adductor is equipped with a serrated internal cutting blade.

[0013] To achieve the above objectives, the present invention also provides an intelligent separation method for identifying clavicles, comprising the following steps: S1. Collect images of the adducts of the shell after opening the shell from different dimensions, perform data augmentation to construct a dataset, and label the detection boxes. S2. Divide the dataset constructed in S1 into training set, test set, and validation set; S3. Train the visual model using the YOLOv8 visual model input to the training set of S1, and return the center point of the detection box by performing geometric calculations on the detection box. S4. Using Python's OpenCV vision library, the camera is calibrated to convert the center point of the column detection box from image coordinates to physical coordinates at the workstation. S5. Calculate the required displacement based on the current position of the clam excavator, and convert the required displacement into the corresponding fine-tuning distance by combining the parameters of the multi-dimensional adjuster. After the position is aligned, send a motion command to the clam excavator to cut at the corresponding position and complete the separation of the clam from the lower shell.

[0014] Preferably, the specific process of S4 is as follows: S41. Perform camera intrinsic parameters and distortion parameters calibration for image distortion correction and geometric correction. S42. Arrange a calibration plate on the workstation reference plane, establish the mapping relationship between the image coordinate system and the workstation plane coordinate system, and convert the center point pixel coordinates output by YOLOv8 into the physical coordinates of the workstation plane.

[0015] Therefore, the device for automatically extracting adductor muscles from processed scallops and the intelligent separation method for identifying adductor muscles described above have the following advantages compared with the prior art: 1. This application integrates a tail cutting assembly, a cam rotary disk, a scallop rotating assembly, a gripper fixing assembly, and a transmission assembly. The device realizes an integrated automated process from scallop feeding, tail cutting, posture adjustment to adductor removal, which greatly improves processing efficiency. 2. This application adopts a vision solution using YOLOv8 and OpenCV. The YOLOv8 deep learning model is used to perform high-precision detection of the adductor muscle of the scallop after it has been opened (to identify different postures). Then, OpenCV is used to perform coordinate system transformation (pixel coordinates to physical coordinates). This allows the device to "understand" the specific position of each scallop, rather than operating blindly, thus improving the positioning problem caused by the irregular shape of the scallop.

[0016] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0017] Figure 1 This is an overall structural diagram of the device for automatically removing adductor muscles from scallops after processing, according to the present invention. Figure 2 This is a top view of the device for automatically removing the adductor muscle after processing scallops according to the present invention; Figure 3 This is an exploded view of the upper part of the components of the device for automatically removing adductor muscles after processing scallops according to the present invention. Figure 4 This is an isometric exploded view of the upper part of the components of the device for automatically removing adductor muscles after processing scallops according to the present invention; Figure 5 This is an exploded view of the lower half of the components of the device for automatically removing the adductor muscle after processing scallops according to the present invention; Figure 6This is a structural diagram of the adductor of the device for automatically extracting adductor muscles after processing scallops according to the present invention; Figure 7 This is a bottom view of the adductor of the scallop-automatic adductor extraction device of the present invention after processing scallops; Figure 8 This is a flowchart of the intelligent separation method for identifying stigmas according to the present invention.

[0018] Figure Labels 1. Lifting assembly; 101. Bottom bracket; 102. Conical support plate; 103. Lifter; 104. Lifting plate; 2. Gripper fixing assembly; 21. Annular fixing plate; 22. Cam plate; 23. Horizontal gripper; 24. Vertical gripper; 25. Driven tooth; 3. Scallop rotating assembly; 31. Annular turntable; 32. Scallop processing station; 33. Through hole; 34. Scallop fixing hook; 4. Annular collection plate; 5. Rotating support assembly; 51. Ball groove; 52. Ball; 6. Upper shell collection assembly; 61. Upper shell receiving hole; 62. Upper shell collection beam 7. Tail-end cutting assembly; 71. Cutting bracket; 72. Cutter; 8. Isolation disc; 9. Transmission assembly; 91. Track turntable; 92. Slide rail; 93. Slide groove disc; 94. Sliding carrier; 95. Sliding support; 10. Fixed column; 11. Processing assembly; 111. Lifting suction cup; 112. Clam shell excavator; 113. Push rod; 114. Multi-dimensional adjuster; 1141. Z-axis adjusting rod; 1142. X-axis adjusting rod; 1143. Y-axis adjusting rod; 115. Camera; 116. Collection hole; 117. Collection tube; 118. Internal cutting blade. Detailed Implementation

[0019] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0020] Example like Figures 1-7 As shown, the device for automatically removing adductor muscles after processing scallops according to the present invention includes a lifting assembly 1. A gripper fixing assembly 2 is connected to the top of the lifting assembly 1. A scallop rotating assembly 3 and an annular collecting plate 4 are arranged sequentially outside the gripper fixing assembly 2. A rotating support assembly 5, an upper shell collecting assembly 6, and a tail cutting assembly 7 are arranged on the annular collecting plate 4. An isolation plate 8 and a transmission assembly 9 are arranged sequentially above the gripper fixing assembly 2. A fixing post 10 is connected to the center of the isolation plate 8. The transmission assembly 9 is arranged above the isolation plate 8 through the fixing post 10. A processing assembly 11 is arranged on the transmission assembly 9.

[0021] The lifting assembly 1 includes a bottom support 101, a conical support plate 102 is provided above the bottom support 101, an annular collection plate 4 is provided on the conical support plate 102, a lifter 103 is provided inside the bottom support 101, a lifting plate 104 is provided on the top of the lifter 103 and is located inside the conical support plate 102, and the top of the lifting plate 104 is connected to the gripper fixing assembly 2.

[0022] The gripper fixing assembly 2 includes an annular fixing plate 21 disposed above the lifting plate 104. A cam plate 22 is disposed at the center of the annular fixing plate 21. The cam plate 22 is connected to several horizontal grippers 23 and vertical grippers 24. The rotation of the cam plate 22 drives the horizontal grippers 23 and vertical grippers 24 to perform clamping and releasing actions. The horizontal grippers 23 and vertical grippers 24 are connected to the annular fixing plate 21.

[0023] The scallop rotating assembly 3 includes an annular turntable 31 disposed outside the annular fixed disk 21. A driven tooth 25 is disposed on the outer circumference of the annular turntable 31. A plurality of scallop processing stations 32 and through holes 33 are evenly disposed on the annular turntable 31. The through holes 33 are disposed between two adjacent scallop processing stations 32. A pair of scallop fixing hooks 34 are disposed at each scallop processing station 32. The annular turntable 31 is connected to an external drive through the driven tooth 25 on its outer circumference.

[0024] The rotating support assembly 5 includes a ball groove 51 disposed on the annular collection plate 4, and a ball 52 disposed on the ball groove 51. The ball 52 is slidably connected to the annular turntable 31. The upper shell collection assembly 6 includes an upper shell receiving hole 61 disposed on an annular collection tray 4, an upper shell collection crossbeam 62 disposed above the upper shell receiving hole 61, and the upper shell collection crossbeam 62 connected to the annular collection tray 4. The tail cutting assembly 7 includes a cutting bracket 71 disposed on an annular collection tray 4, and a cutter 72 is disposed on the cutting bracket 71.

[0025] The transmission assembly 9 includes a track turntable 91 disposed above the isolation plate 8. The track turntable 91 is provided with several slide rails 92 and a slide groove plate 93 is disposed above it. The slide groove plate 93 is provided with several sliding carriers 94. The sliding carriers 94 are provided with processing components 11. The slide rails 92 are provided with sliding supports 95, and the sliding supports 95 are connected to the bottom of the processing components 11.

[0026] The processing component 11 includes a lifting suction cup 111, a clam extractor 112, and a push rod 113. The lifting suction cup 111, the clam extractor 112, and the push rod 113 are all mounted on different sliding carriers 94. A multi-dimensional adjuster 114 is provided between the clam extractor 112 and the sliding carrier 94, and a camera 115 is provided on the clam extractor 112.

[0027] The multi-dimensional adjuster 114 includes a Z-axis adjusting rod 1141, an X-axis adjusting rod 1142, and a Y-axis adjusting rod 1143 connected sequentially from top to bottom. The top of the Z-axis adjusting rod 1141 is connected to the sliding carrier 94, and the bottom of the Y-axis adjusting rod 1143 is connected to the adductor 112. The position of the push rod 113 corresponds to the collection hole 116 on the annular collection plate 4 for collecting the lower shell and adductor. A collection tube 117 is connected below the collection hole 116. The adductor 112 is provided with a serrated inner cutting blade 118 inside, and the inner cutting blade 118 is provided with a downward tilt angle of 0°-15° to adapt to the basin-like structure of the lower shell of the scallop, so that the adductor can be extracted more fully.

[0028] like Figure 8 As shown, the intelligent separation method for identifying stigmas of the present invention includes the following steps: S1. Collect images of the adducts of the shell after opening the shell from different dimensions, perform data augmentation to construct a dataset, and label the detection boxes. S2. Divide the dataset constructed in S1 into training set, test set, and validation set; S3. Train the visual model using the YOLOv8 visual model input to the training set of S1, and return the center point of the detection box by performing geometric calculations on the detection box. S4. Using Python's OpenCV vision library, the camera is calibrated to convert the center point of the column detection box from image coordinates to physical coordinates at the workstation. S41. Perform camera intrinsic parameters and distortion parameters calibration for image distortion correction and geometric correction. S42. Arrange a calibration plate on the workstation reference plane, establish the mapping relationship between the image coordinate system and the workstation plane coordinate system, and convert the center point pixel coordinates output by YOLOv8 into the physical coordinates of the workstation plane. S5. Calculate the required displacement based on the current position of the clam excavator, and convert the required displacement into the corresponding fine-tuning distance by combining the parameters of the multi-dimensional adjuster. After the position is aligned, send a motion command to the clam excavator to cut at the corresponding position and complete the separation of the clam from the lower shell.

[0029] In the specific implementation process, the device is turned on, the annular turntable starts to rotate, the cam plate rotates, and the external conveying device conveys the shells into the first reserved scallop processing station. At this time, the annular turntable stops rotating, and the horizontal grippers begin to clamp the scallop fixing hooks until the scallop is clamped by the scallop fixing hooks (the cam plate gradually stops rotating), realizing a small adjustment of the scallop's position. This pauses for a period of time (allowing processing time for other stations), the grippers slowly open (the cam plate starts to rotate), the annular turntable starts to rotate slowly, and the scallop enters the first station for the tail cutting step. The annular turntable stops rotating, and the vertical grippers clamp the scallop (the cam plate gradually stops rotating). The tail cutting component begins to move towards the scallop's tail, cutting the tail during the process, then returns to its original position away from the scallop, waiting for a period of time; the grippers slowly open (the cam plate rotates), the annular turntable starts to rotate slowly, moving to the second station to pick up the upper shell, the annular turntable stops rotating, the horizontal grippers begin to clamp (the cam plate gradually stops rotating), the transmission component pushes out the processing component, and then the lifting suction cup moves downward to pick up the upper shell. After that, the annular turntable starts rotating again, and the lifting suction cup... The plate rises simultaneously, passing through a perforation on the upper shell collecting beam for the lifting suction cup to pass through. However, if the upper shell cannot pass through, it will fall. Upon falling, it passes through the through-hole between the two scallop processing stations and enters the upper shell receiving hole of the annular collecting plate. After the upper shell is removed, the scallop enters the third processing station, where the annular turntable stops rotating for adductor muscle identification and separation. The horizontal grippers gradually tighten (the cam plate gradually stops rotating), and the upper transmission component extends the adductor muscle extractor. The camera identifies the specific position of the adductor muscle and feeds back to the multi-dimensional adjuster. After adjusting the position, the adductor muscle is processed... After the scallop is cut, the adductor returns to its original position, the annular turntable begins to rotate, and the horizontal grippers slowly open (cam rotates). After a period of time (the upper shell is sucked through the small hole), the upper turntable retracts the adductor. At this moment, the cut adductor follows the turntable to the fifth station for adductor collection. The turntable stops rotating, and the horizontal grippers gradually tighten (cam gradually stops rotating). The transmission assembly pushes out the push rod, which pushes out from the front to push the remaining lower shell and separated adductor at the scallop processing station into the collection hole, and then into the subsequent screening device through the collection pipe.

[0030] Therefore, the present invention employs the above-described device for automatically removing adductor muscles after processing scallops and the intelligent separation method for identifying adductor muscles. The device part ensures high-speed, stable and smooth processing, while the vision part gives the equipment eyes and brain, enabling it to process non-standardized organisms. This improves the technical bottlenecks of low efficiency, reliance on manual labor and unstable yield in traditional scallop processing, and has significant industrial application value.

[0031] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A device for automatically removing adductor muscles from scallops after processing, characterized in that: The device includes a lifting assembly, a gripper fixing assembly connected to the top of the lifting assembly, a scallop rotating assembly and an annular collecting plate arranged sequentially outside the gripper fixing assembly, a rotating support assembly, an upper shell collecting assembly and a tail cutting assembly arranged on the annular collecting plate, an isolation plate and a transmission assembly arranged sequentially above the gripper fixing assembly, a fixing column connected to the center of the isolation plate, the transmission assembly being mounted above the isolation plate via the fixing column, and a processing assembly arranged on the transmission assembly.

2. The device for automatically removing adductor muscles after processing scallops according to claim 1, characterized in that: The lifting assembly includes a bottom bracket, a conical support plate above the bottom bracket, an annular collection plate on the conical support plate, a lifter inside the bottom bracket, a lifting plate on top of the lifter and the lifting plate being located inside the conical support plate, and the top of the lifting plate being connected to a gripper fixing assembly.

3. The device for automatically removing adductor muscles after processing scallops according to claim 2, characterized in that: The gripper fixing assembly includes an annular fixing plate positioned above the lifting plate. A cam plate is located at the center of the annular fixing plate. Several horizontal and vertical grippers are connected to the cam plate. The rotation of the cam plate drives the horizontal and vertical grippers to perform clamping and releasing actions. The horizontal and vertical grippers are connected to the annular fixing plate.

4. The device for automatically removing adductor muscles after processing scallops according to claim 3, characterized in that: The scallop rotating assembly includes an annular turntable disposed outside the annular fixed plate. Driven teeth are provided on the outer circumference of the annular turntable. Several scallop processing stations and through holes are evenly arranged on the annular turntable. The through holes are located between two adjacent scallop processing stations. A pair of scallop fixing hooks are provided at each scallop processing station.

5. The device for automatically removing adductor muscles after processing scallops according to claim 4, characterized in that: The rotating support assembly includes a ball groove disposed on an annular collection plate, with balls disposed on the ball groove and the balls slidably connected to the annular turntable. The upper shell collection assembly includes an upper shell receiving hole disposed on an annular collection tray, an upper shell collection crossbeam disposed above the upper shell receiving hole, and the upper shell collection crossbeam connected to the annular collection tray; The tail cutting assembly includes a cutting bracket mounted on an annular collection tray, and a cutter is mounted on the cutting bracket.

6. The device for automatically removing adductor muscles after processing scallops according to claim 1, characterized in that: The transmission assembly includes a track turntable positioned above the isolation plate, the track turntable having several slide rails and a slide groove plate positioned above it, the slide groove plate having several sliding carriers, the sliding carriers having processing components mounted on them, and the slide rails having sliding supports that are connected to the bottom of the processing components.

7. The device for automatically removing adductor muscles after processing scallops according to claim 6, characterized in that: The processing components include a lifting suction cup, a clam adductor, and a push rod. The lifting suction cup, clam adductor, and push rod are all mounted on different sliding carriers. A multi-dimensional adjuster is installed between the clam adductor and the sliding carrier, and a camera is installed on the clam adductor.

8. The apparatus for automatically removing adductor muscles after processing scallops according to claim 7, characterized in that: The multi-dimensional adjuster includes a Z-axis adjusting rod, an X-axis adjusting rod, and a Y-axis adjusting rod connected sequentially from top to bottom. The top of the Z-axis adjusting rod is connected to the sliding carrier, and the bottom of the Y-axis adjusting rod is connected to the adductor. The position where the push rod is pushed out corresponds to the collection hole on the annular collection plate for collecting the lower shell and adductor. A collection tube is connected below the collection hole. The adductor is equipped with a serrated internal cutting blade.

9. A smart separation method for identifying shell adductor muscles, characterized in that: The method of automatically removing adductor muscles from scallops after processing, as described in any one of claims 1-8, comprises the following steps: S1. Collect images of the adducts of the shell after opening the shell from different dimensions, perform data augmentation to construct a dataset, and label the detection boxes. S2. Divide the dataset constructed in S1 into training set, test set, and validation set; S3. Train the visual model using the YOLOv8 visual model input to the training set of S1, and return the center point of the detection box by performing geometric calculations on the detection box. S4. Using Python's OpenCV vision library, the camera is calibrated to convert the center point of the column detection box from image coordinates to physical coordinates at the workstation. S5. Calculate the required displacement based on the current position of the clam excavator, and convert the required displacement into the corresponding fine-tuning distance by combining the parameters of the multi-dimensional adjuster. After the position is aligned, send a motion command to the clam excavator to cut at the corresponding position and complete the separation of the clam from the lower shell.

10. The intelligent separation method for identifying spiky columns according to claim 9, characterized in that: The specific process of S4 is as follows: S41. Perform camera intrinsic parameters and distortion parameters calibration for image distortion correction and geometric correction. S42. Arrange a calibration plate on the workstation reference plane, establish the mapping relationship between the image coordinate system and the workstation plane coordinate system, and convert the center point pixel coordinates output by YOLOv8 into the physical coordinates of the workstation plane.

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