CN110065796B - Prawn sequencing and orienting device - Google Patents
Prawn sequencing and orienting device Download PDFInfo
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- CN110065796B CN110065796B CN201910205190.3A CN201910205190A CN110065796B CN 110065796 B CN110065796 B CN 110065796B CN 201910205190 A CN201910205190 A CN 201910205190A CN 110065796 B CN110065796 B CN 110065796B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
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Abstract
A prawn sequencing and orienting device comprises: a frame; the sorting mechanism is arranged on the rack and comprises a conveying belt, a sorting belt and a sorting driving mechanism, the conveying belt and the sorting belt are respectively connected with the sorting driving mechanism, the sorting belt is positioned above one side of the conveying belt and is arranged in parallel with the conveying belt, the conveying belt and the sorting belt are respectively and correspondingly provided with a left sorting block and a right sorting block, and a sorting channel is formed between the left sorting block and the right sorting block; the separating mechanism is arranged on the rack and positioned at one end of the rack, and the tail end of the separating mechanism is arranged corresponding to the inlet of the sequencing mechanism; the rotating mechanism is arranged on the rack and is positioned at the other end of the rack; the orientation mechanism is arranged on the rotating mechanism and corresponds to the outlet of the sequencing mechanism; and the image acquisition and control system is arranged corresponding to the orientation mechanism.
Description
Technical Field
The invention relates to the field of aquatic product machinery, in particular to a prawn sequencing and orienting device based on machine vision.
Background
The prawn shell is thin and fertile, has high meat content, delicious meat quality and rich nutrition, is a high-quality food material for cooking various delicacies and making various leisure and flavor foods, and is deeply loved by consumers at home and abroad. The prawn is one of the aquatic products with the largest global demand, the global yield of the prawn is about 400 million tons in 2016 years, and the global yield of China, India, Thailand, Indonesia, Vietnam and Ecuador 6 countries exceeds 75% of the global yield of the prawn. China is the biggest prawn producing country in the world and is also one of the main trade countries of prawns. The shrimp meat of the prawns is an important product for rough processing after the prawns are harvested, and the total amount of the shrimp meat accounts for about half of the total amount of the penaeus products exported in China.
The currently and generally used method for shelling the prawns is to unfreeze the prawns after quick freezing and then manually shell the prawns, so that the manual shelling efficiency is low and the quality of the prawns is damaged. With the rapid development of the prawn processing industry and the rise of labor cost, the production mode mainly using manual peeling cannot meet the requirements of prawn peeling production. Therefore, the realization of mechanized full-automatic flow line production instead of manual shelling is an important direction for solving the current processing dilemma of prawns and improving the shelling level of prawns.
The prawn shelling mechanical processing flow mainly comprises the following steps: cleaning → grading → ordering orientation → removing head → opening back → removing gut → husking → collecting shelled shrimps. The automatic orientation of prawns is an important link in prawn peeling, including head-tail orientation and dorsal-ventral orientation. The prior art has no mature and reliable prawn sequencing and orienting device, and the sequencing and orienting of the prawns are still finished manually. Because of the unique appearance structure of the prawns, the automatic sequencing and orientation are still the technical problems in the processing process of the prawns, and the improvement of the production efficiency and the product quality of the prawn processing industry is restricted.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a prawn sorting and orienting device which can complete separation, sorting, head and tail orientation and back and abdomen orientation of prawns at one time aiming at the problems in the prior art.
In order to achieve the above object, the present invention provides a prawn sequencing and orienting device, wherein the device comprises:
a frame;
the sorting mechanism is arranged on the rack and comprises a conveying belt, a sorting belt and a sorting driving mechanism, the conveying belt and the sorting belt are respectively connected with the sorting driving mechanism, the sorting belt is positioned above one side of the conveying belt and is arranged in parallel with the conveying belt, the conveying belt and the sorting belt are respectively and correspondingly provided with a left sorting block and a right sorting block, and a sorting channel is formed between the left sorting block and the right sorting block;
the separating mechanism is arranged on the rack and positioned at one end of the rack, and the tail end of the separating mechanism is arranged corresponding to the inlet of the sequencing mechanism;
the rotating mechanism is arranged on the rack and is positioned at the other end of the rack;
the orientation mechanism is arranged on the rotating mechanism and corresponds to the outlet of the sequencing mechanism; and
and the image acquisition and control system is arranged corresponding to the orientation mechanism, and the orientation mechanism and the rotating mechanism are respectively connected with the image acquisition and control system.
The prawn sequencing and orienting device comprises a main shaft, a cylindrical straight gear pair, a support rod and a first motor, wherein the main shaft is connected with the first motor through the cylindrical straight gear pair, the support rod is symmetrically arranged at the top end of the main shaft, and the orienting mechanisms are respectively arranged at two ends of the support rod.
The orientation mechanism comprises a head-tail orientation part and a back-abdomen orientation part, the back-abdomen orientation part comprises a first orientation motor and a U-shaped frame, the U-shaped frame is mounted on the first orientation motor, and the first orientation motor is mounted at the end part of the supporting rod; head and the tail orientation portion include lead screw step motor, second orientation motor, deflector, compress tightly the clamping piece and turn to the clamping piece, compress tightly the clamping piece with lead screw step motor connects and sets up one side of U-shaped frame, turn to the clamping piece with second orientation motor connects and sets up the opposite side of U-shaped frame, compress tightly the clamping piece with turn to clamping piece parallel arrangement, the deflector is installed one side of U-shaped frame and with it connects to compress tightly the clamping piece, it follows to compress tightly the clamping piece the deflector removes.
In the above prawn sequencing and orienting device, the symmetrical center line of the U-shaped frame is located on the axis of the power output shaft of the first orienting motor, and the power output shaft of the lead screw stepping motor and the power output shaft of the second orienting motor are coaxially arranged.
In the prawn sequencing and orienting device, the pressing clamp is provided with the pressure sensor, the surface of the pressing clamp is smooth, and the steering clamp is provided with the rubber layer.
The sequencing drive mechanism comprises a second motor and a third motor, the conveying belt is connected with the second motor, the sequencing belt is connected with the third motor, the sequencing belt and the conveying belt move in the same direction, and the rotating speed of the sequencing belt is 2 times of that of the conveying belt.
In the prawn sequencing and orienting device, a fixing plate is further arranged on one side of the conveying belt opposite to the sequencing belt, the left sequencing blocks are uniformly fixed on the fixing plate, the right sequencing blocks are uniformly arranged on the sequencing belt, and the left sequencing blocks and the right sequencing blocks are arranged in a central symmetry manner.
The prawn sequencing and orienting device is characterized in that the separating mechanism comprises a feeding hopper, a conveying belt, a flexible separating plate and a fourth motor, the conveying belt is obliquely arranged, the feeding hopper is arranged at the bottom of the conveying belt, the top of the conveying belt is arranged corresponding to an inlet of the conveying belt, the flexible separating plate is uniformly arranged on the conveying belt, and the fourth motor is connected with the conveying belt.
The section of the flexible separation plate comprises an s-shaped curve section and a straight section, and the radian of the depression of the s-shaped curve section is matched with the size of the cross section of the prawn.
The image acquisition and control system comprises an industrial camera, a combined light source, a computer and a PLC (programmable logic controller), wherein the computer is respectively connected with the industrial camera and the PLC, the industrial camera is arranged on one side of an outlet of the conveying belt, a lens of the industrial camera is right opposite to the steering clamping piece, and the combined light source is arranged above and below the industrial camera.
The invention has the technical effects that:
1. the separation mechanism can realize the nondestructive separation of the prawns. The S-shaped curved surface of the flexible separation plate can automatically separate prawns, one flexible separation plate can convey one prawn, and meanwhile, the flexible material can avoid damage to the prawns in the separation process;
2. the sorting mechanism can change the transverse disorderly arranged prawns into vertical orderly arrangement. The combined action of the left and right sorting blocks can exert an anticlockwise rotation effect on the prawns on the conveying belt, so that the prawns in various postures are rotated into a vertically arranged state and are sequentially conveyed in a long and narrow channel of the conveying belt one by one;
3. the compression clamping piece and the rotating clamping piece are matched with each other to realize the fixation and horizontal steering of the prawns. The prawn is fixed and then turns to, and the condition that the prawn falls in the turning process due to the vibration, the inclination and other reasons of the mechanism under a non-pressure state can be avoided. The smooth upper pressing surface is matched with the rough supporting surface, so that the effects of small resistance reduction of the upper friction force of the prawns and large increase of the bottom friction force to the rotating force can be realized, and the horizontal steering of the prawns in a clamping state can be smoothly completed;
4. the vision acquisition system can acquire prawn image information entering the rotating clamping piece, can obtain the positions of the head, the tail and the back and the abdomen through prawn shape recognition algorithm processing, then calculates the rotating direction and the rotating speed of a corresponding motor, and then realizes the orientation, the transfer and the discharge of the prawns by the control system;
5. the rotating mechanism and the orientation mechanism are mutually matched, so that the process that the shrimps are simultaneously discharged from the other side of the shrimp on one side and alternately discharged by the two orientation mechanisms can be realized;
6. the invention can accurately complete the technological links of separation, sorting, head-tail orientation and back-belly orientation of the prawns, provides a feasible method for solving the difficult problem of automatic sorting and orientation of the prawns, can liberate workers from heavy sorting and orientation work, and improves the labor production efficiency.
The invention is described in detail below with reference to the drawings and specific examples, but the invention is not limited thereto.
Drawings
FIG. 1 is a front view of an embodiment of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic structural diagram of an orientation mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the sequencing mechanism of an embodiment of the present invention;
fig. 5 is a schematic diagram of a flexible separating plate structure according to an embodiment of the invention.
Wherein the reference numerals
1 orientation mechanism
11 first directional motor
12U-shaped frame
13 guide plate
14-lead screw stepping motor
15 pressing clip
16 steering clamping piece
17 second directional motor
2 first electric machine
3 straight cylindrical gear pair
4 spindle
5 support rod
6 conveyer belt
61 fixed plate
62 left sorting block
7 sequencing belt
71 Right sorting Block
8 second electric machine
9 third electric machine
10 conveyor belt
101 flexible separating plate
102 feeding hopper
103 fourth motor
104 rack
105 PLC controller
106 computer
107 industrial camera
108 Combined light source
100 prawn
Detailed Description
The invention will be described in detail with reference to the following drawings, which are provided for illustration purposes and the like:
referring to fig. 1 and 2, fig. 1 is a front view of an embodiment of the present invention, and fig. 2 is a top view of fig. 1. The invention relates to a prawn sequencing and orienting device, which comprises: a frame 104; the sorting mechanism is mounted on the rack 104 and comprises a conveying belt 6, a sorting belt 7 and a sorting driving mechanism, the conveying belt 6 and the sorting belt 7 are respectively connected with the sorting driving mechanism, the sorting belt 7 is positioned above one side of the conveying belt 6, preferably above the right side, and is arranged in parallel with the conveying belt 6, the conveying belt 6 and the sorting belt 7 are respectively and correspondingly provided with a left sorting block 71 and a right sorting block 71, and a sorting channel is formed between the left sorting block 62 and the right sorting block 71; the separating mechanism is arranged on the rack 104 and is positioned at one end of the rack 104, and the tail end of the separating mechanism is arranged corresponding to the inlet of the sequencing mechanism; a rotating mechanism mounted on the frame 104 and located at the other end of the frame 104; the orientation mechanism 1 is arranged on the rotating mechanism, and the orientation mechanism 1 is arranged corresponding to the outlet of the sequencing mechanism; and an image acquisition and control system arranged corresponding to the orientation mechanism 1. The rotating mechanism and the orientation mechanism 1 are respectively connected with an image acquisition and control system. The image acquisition and control system comprises an industrial camera 107, a combined light source 108, a computer 106 and a PLC (programmable logic controller) 105, wherein the computer 106 is respectively connected with the industrial camera 107 and the PLC 105, the industrial camera 107 is arranged on one side of the outlet of the conveying belt 6, the lens of the industrial camera 107 is right aligned to the steering clamping piece 16, and the combined light source 108 is preferably two LED lamps which are respectively arranged above and below the industrial camera 107.
Wherein, rotary mechanism include main shaft 4, the pair 3 of straight-toothed cylinder gear, branch 5 and first motor 2, main shaft 4 passes through the pair 3 of straight-toothed cylinder gear with first motor 2 is connected, 5 symmetries of branch are installed the top of main shaft 4, install respectively at the both ends of branch 5 orienting mechanism 1, one set of orienting mechanism 1 is respectively installed at the both ends of branch 5 promptly. The main shaft 4 and the first motor 2 are fixed on the frame 104, and the two spur gear pairs 3 are respectively arranged on the power output shafts of the main shaft 4 and the first motor 2, and the rotation of the mechanism is realized through gear transmission. The supporting rod 5 can be an integral structure or divided into two parts which are welded at the top end of the main shaft 4, and the supporting rod 5 is a straight rod or is uniformly distributed with an included angle of 180 degrees between the two ends when divided into two parts.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an orientation mechanism according to an embodiment of the present invention. In this embodiment, the orientation mechanism 1 includes a head-tail orientation part and a back-abdomen orientation part, the back-abdomen orientation part includes a first orientation motor 11 and a U-shaped frame 12, the U-shaped frame 12 is fixedly mounted on a power output shaft of the first orientation motor 11, and the first orientation motor 11 is mounted at an end of the supporting rod 5; the head and tail orientation part comprises a screw rod stepping motor 14, a second orientation motor 17, a guide plate 13, a pressing clamping piece 15 and a steering clamping piece 16, wherein the pressing clamping piece 15 is connected with the screw rod stepping motor 14 and is arranged on one side of the U-shaped frame 12, for example, the guide plate 13 and the screw rod stepping motor 14 can be arranged on the lower part of the top surface of the U-shaped frame 12, the pressing clamping piece 15 is connected with a screw rod, the pressing clamping piece 15 is sleeved in the guide plate 13, and the pressing clamping piece 15 can slide along the guide plate 13; the steering clamping piece 16 is connected with the second directional motor 17 and is arranged on the other side of the U-shaped frame 12, if the second directional motor 17 can be arranged on the upper portion of the bottom surface of the U-shaped frame 12, the steering clamping piece 16 is connected to a power output shaft of the second directional motor 17, the pressing clamping pieces 15 are arranged in parallel with the steering clamping pieces 16, the guide plate 13 is arranged on one side of the U-shaped frame 12 and connected with the pressing clamping pieces 15, and the pressing clamping pieces 15 move along the guide plate 13.
The symmetrical center line of the U-shaped frame 12 is located on the axis of the power output shaft of the first directional motor 11, the power output shaft of the lead screw stepping motor 14 is coaxially arranged with the power output shaft of the second directional motor 17, that is, the lead screw stepping motor 14 and the second directional motor 17 are in the same straight line in the vertical direction. The pressure sensor is installed on the compression clamping piece 15, the surface of the compression clamping piece 15 is smooth, and the rubber layer is arranged on the steering clamping piece 16, so that the surface is rough.
Referring to fig. 4, fig. 4 is a schematic diagram of the sequencing mechanism according to an embodiment of the present invention. In this embodiment, the sequencing driving mechanism includes a second motor 8 and a third motor 9, the conveyor belt 6 is connected to the second motor 8, the sequencing belt 7 is connected to the third motor 9, the sequencing belt 7 and the conveyor belt 6 move in the same direction, and the rotation speed of the sequencing belt 7 is 2 times that of the conveyor belt 6. The conveying belt 6 and the second motor 8, and the sequencing belt 7 and the third motor 9 are connected through belts to transmit power. The opposite side of the conveying belt 6 and the sequencing belt 7 is further provided with a fixing plate 61, preferably, the fixing plate 61 is arranged on the left side of the conveying belt 6, the left sequencing blocks 62 are uniformly fixed on the fixing plate 61, the right sequencing blocks 71 are uniformly arranged on the sequencing belt 7, the left sequencing blocks 62 are fixed, the sequencing belt 7 and the conveying belt 6 move in the same direction, the rotating speed of the sequencing belt 7 is 2 times of that of the conveying belt 6, and a long and narrow sequencing channel is formed between the left sequencing block 62 and the right sequencing block 71. The left sorting block 62 and the right sorting block 71 are preferably triangular prism structures with the same size, and the left sorting block 62 and the right sorting block 71 are arranged in a central symmetry mode.
The separating mechanism of this embodiment includes a feeding hopper 102, a conveyor belt 10, a flexible separating plate 101 and a fourth motor 103, wherein the fourth motor 103 is disposed on a frame 104 and is connected with the conveyor belt 10 for transmission through a belt. The conveyor belt 10 is arranged obliquely, the feeding hopper 102 is arranged at the bottom of the conveyor belt 10, the top of the conveyor belt 10 is arranged corresponding to the inlet of the conveyor belt 6, and the width of the conveyor belt 10 is preferably the average length of one prawn and is 120 mm. The flexible separating plates 101 are uniformly arranged on the conveyor belt 10, and the fourth motor 103 is connected with the conveyor belt 10. Referring to fig. 5, fig. 5 is a schematic structural diagram of a flexible separating plate 101 according to an embodiment of the present invention. The section of the flexible separation plate 101 comprises an s-shaped curve section and a straight line section, and the radian of the concave part of the s-shaped curve section is matched with the size of the cross section of the prawn 100. That is, the flexible separating plate 101 is mainly rectangular, the ab section in side view is an s-shaped curve, and the bc section is a straight line. The concave surface of the s-shaped curved surface of the flexible separation plate 101 can accommodate a prawn to be placed transversely, and redundant prawns can slide along the convex surface of the s-shaped curved surface in the conveying process and are separated out. The flexible separating plate 101 is preferably made of a polyurethane material.
When the device works, a large amount of prawns are poured into the feeding hopper 102, and the conveyer belt 10 rotates to drive the flexible separation plate 101 to move upwards. The concave surface of the s-shaped curved surface of the flexible separation plate 101 can separate one prawn from the feeding hopper 102, and the redundant prawn can slide back to the feeding hopper 102 along the convex surface of the s-shaped curved surface in the conveying process. The flexible separating plate 101 holds the prawns and conveys them to the conveyer belt 6, and the prawns 100 falling on the conveyer belt 6 are in various positions such as leftward inclined, rightward inclined, and horizontally placed. The left sorting block 62 is stationary and the belt moves forward at a constant speed v, and the right sorting block 71 moves forward at a constant speed 2 v. Taking the prawns 100 as a reference, the left sorting block 62 and the right sorting block 71 move in the same direction at a speed v relative to the prawns, the inclined surfaces of the left sorting block and the right sorting block 71 exert a counterclockwise rotating effect on the prawns on the conveying belt 6, so that the prawns rotate to a vertical placing position, and the prawns move forwards in a channel formed by the left sorting block and the right sorting block to finish the ordered conveying of the prawns. The prawns are conveyed to the steering clamping piece 16 from the outlet of the conveying belt 6, after the industrial camera 107 captures information of the prawns, the PLC 105 sends an instruction to drive the screw rod stepping motor 14 to rotate in the forward direction, the pressing clamping piece 15 moves downwards, when a sensor on the pressing clamping piece 15 detects that the pressing force reaches a preset value, the pressing force is fed back to the PLC 105, and then the screw rod stepping motor 14 stops rotating. The industrial camera 107 collects the clamped prawn image information, obtains the orientations of the head, the tail and the back and the abdomen after the prawn image information is processed by a prawn shape recognition algorithm, calculates the rotating direction and the rotating number of the corresponding motor, and then drives the second directional motor 17 and the first directional motor 11 to rotate by the control system. The prawn head faces outwards, the steering clamping piece 16 does not need to rotate, and the prawn tail faces outwards, the steering clamping piece 16 rotates 180 degrees, so that the head and the tail are oriented. And then carrying out the orientation of the back and the belly of the prawn, wherein the first orientation motor 11 rotates clockwise by 90 degrees when the back of the prawn is opposite to the industrial camera 107, and the first orientation motor 11 rotates counterclockwise by 90 degrees when the belly of the prawn is opposite to the industrial camera 107. Then the rotating mechanism rotates clockwise 180 degrees to lead the prawns to the discharge port, the screw rod stepping motor 14 rotates reversely to drive the pressing clamping piece 15 to loosen, the prawns are discharged, and then the first directional motor 11 rotates 90 degrees again to lead the steering mechanism to return to the horizontal state. The rotating mechanism rotates 180 degrees counterclockwise to perform the next cycle operation.
The invention can accurately complete the technological links of separation, sorting, head-tail orientation and back-belly orientation of the prawns, provides a feasible method for solving the difficult problem of automatic sorting and orientation of the prawns, can liberate workers from heavy sorting and orientation work, and improves the labor production efficiency.
The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (7)
1. A prawn sequencing and orienting device is characterized by comprising:
a frame;
the sorting mechanism is arranged on the rack and comprises a conveying belt, a sorting belt and a sorting driving mechanism, the conveying belt and the sorting belt are respectively connected with the sorting driving mechanism, the sorting belt is positioned above one side of the conveying belt and is arranged in parallel with the conveying belt, a left sorting block and a right sorting block are respectively and correspondingly arranged on the conveying belt and the sorting belt, a sorting channel is formed between the left sorting block and the right sorting block, a fixed plate is further arranged on the side of the conveying belt opposite to the sorting belt, the left sorting blocks are uniformly fixed on the fixed plate, the right sorting blocks are uniformly arranged on the sorting belt, and the left sorting blocks and the right sorting blocks are arranged in central symmetry;
the separation mechanism is arranged on the rack and located at one end of the rack, the tail end of the separation mechanism is arranged corresponding to an inlet of the sequencing mechanism, the separation mechanism comprises a feeding hopper, a conveying belt, a flexible separation plate and a fourth motor, the conveying belt is obliquely arranged, the feeding hopper is arranged at the bottom of the conveying belt, the top of the conveying belt is arranged corresponding to the inlet of the conveying belt, the flexible separation plate is uniformly arranged on the conveying belt, the fourth motor is connected with the conveying belt, the section of the flexible separation plate comprises an s-shaped curve section and a straight line section, and the radian of a concave position of the s-shaped curve section is matched with the size of the cross section of the prawn;
the rotating mechanism is arranged on the rack and is positioned at the other end of the rack;
the orientation mechanism is arranged on the rotating mechanism and corresponds to the outlet of the sequencing mechanism; and
and the image acquisition and control system is arranged corresponding to the orientation mechanism, and the orientation mechanism and the rotating mechanism are respectively connected with the image acquisition and control system.
2. The prawn sequencing and orienting device of claim 1, wherein the rotating mechanism comprises a main shaft, a spur gear pair, a support rod and a first motor, the main shaft is connected with the first motor through the spur gear pair, the support rod is symmetrically arranged at the top end of the main shaft, and the orienting mechanism is respectively arranged at two ends of the support rod.
3. The prawn sequencing and orienting device of claim 2, wherein said orienting mechanism comprises a head-tail orienting portion and a dorsal-ventral orienting portion, said dorsal-ventral orienting portion comprising a first orienting motor and a U-shaped bracket, said U-shaped bracket being mounted on said first orienting motor, said first orienting motor being mounted at an end of said rod; head and the tail orientation portion include lead screw step motor, second orientation motor, deflector, compress tightly the clamping piece and turn to the clamping piece, compress tightly the clamping piece with lead screw step motor connects and sets up one side of U-shaped frame, turn to the clamping piece with second orientation motor connects and sets up the opposite side of U-shaped frame, compress tightly the clamping piece with turn to clamping piece parallel arrangement, the deflector is installed one side of U-shaped frame and with it connects to compress tightly the clamping piece, it follows to compress tightly the clamping piece the deflector removes.
4. The prawn sequencing and orienting device of claim 3 wherein the center line of symmetry of said U-shaped frame is located on the axis of the power output shaft of said first orienting motor, and the power output shaft of said lead screw stepper motor is coaxially disposed with the power output shaft of said second orienting motor.
5. The prawn sequencing and orienting device of claim 3 wherein said compression clip has a pressure sensor mounted thereon, said compression clip having a smooth surface, said steering clip having a rubber layer disposed thereon.
6. A prawn sequencing and orientation device as claimed in claim 1, 2, 3 or 4, wherein said sequencing drive mechanism comprises a second motor and a third motor, said conveyor belt is connected with said second motor, said sequencing belt is connected with said third motor, said sequencing belt moves in the same direction as said conveyor belt, and the rotation speed of said sequencing belt is 2 times the rotation speed of said conveyor belt.
7. The prawn sequencing and orienting device of claim 3 or 4, wherein said image acquisition and control system comprises an industrial camera, a combined light source, a computer and a PLC controller, said computer is connected with said industrial camera and said PLC controller respectively, said industrial camera is disposed at one side of the outlet of said conveyor belt, the lens of said industrial camera faces said steering clip, said combined light source is disposed above and below said industrial camera.
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| CN201910205190.3A CN110065796B (en) | 2019-03-18 | 2019-03-18 | Prawn sequencing and orienting device |
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| CN201910205190.3A CN110065796B (en) | 2019-03-18 | 2019-03-18 | Prawn sequencing and orienting device |
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| CN110065796B true CN110065796B (en) | 2020-10-23 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110803500B (en) * | 2019-11-08 | 2021-08-27 | 盐城工学院 | Head and tail positioning and grading device and method for cooked crayfish processing |
| CN111498449A (en) * | 2019-11-18 | 2020-08-07 | 杭州曼京科技有限公司 | Conveying equipment with arranging positions in logistics field |
| CN110921219B (en) * | 2019-11-20 | 2021-05-07 | 孟弢 | Crayfish sequencing equipment |
| CN111838282A (en) * | 2020-07-15 | 2020-10-30 | 湘潭大学 | Crayfish self-cleaning integrated device of decaptitating |
| CN113229331A (en) * | 2020-11-19 | 2021-08-10 | 甸硕水产科技(化州)有限公司 | Shrimp head and tail orientation device |
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| DE2208476C3 (en) * | 1972-02-23 | 1974-10-10 | Alwin 2851 Spieka-Neufeld Kocken | Machine for the fully automatic peeling of crabs |
| DE4241725A1 (en) * | 1992-12-10 | 1994-06-16 | Zinser Textilmaschinen Gmbh | Device for orienting conical yarn tubes in the same direction |
| US6257393B1 (en) * | 1999-10-29 | 2001-07-10 | Planet Products Corporation | Product collator |
| NZ552626A (en) * | 2007-01-16 | 2009-04-30 | Sanford Ltd | Shellfish positioning and opening apparatus |
| CN201002888Y (en) * | 2007-06-19 | 2008-01-09 | 福州闽台农产品设备有限公司 | Egg products steering mechanism |
| CN201140924Y (en) * | 2008-01-22 | 2008-10-29 | 杨正明 | Differential steering apparatus for packing box tank |
| CN103380804B (en) * | 2013-08-10 | 2014-12-03 | 苍南县汤记码头水产品有限公司 | Fish arranging and processing device |
| CN205257244U (en) * | 2015-12-03 | 2016-05-25 | 浙江巨隆化肥有限公司 | Conveyer with correct function |
| CN207329642U (en) * | 2017-09-12 | 2018-05-08 | 广东虹宝水产开发股份有限公司 | A kind of conveying device for shrimps processing |
| CN107593863B (en) * | 2017-11-04 | 2019-11-15 | 杨荣华 | It is a kind of to remove gill device automatically |
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