CN110800795B - Device for orienting fish body based on capacitance and audio detection technology - Google Patents
Device for orienting fish body based on capacitance and audio detection technology Download PDFInfo
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- CN110800795B CN110800795B CN201911095194.7A CN201911095194A CN110800795B CN 110800795 B CN110800795 B CN 110800795B CN 201911095194 A CN201911095194 A CN 201911095194A CN 110800795 B CN110800795 B CN 110800795B
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 208
- 238000001514 detection method Methods 0.000 title claims abstract description 60
- 238000005516 engineering process Methods 0.000 title claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 125
- 210000001015 abdomen Anatomy 0.000 claims abstract description 37
- 230000008859 change Effects 0.000 claims abstract description 15
- 210000003625 skull Anatomy 0.000 claims abstract description 6
- 230000005236 sound signal Effects 0.000 claims abstract description 5
- 238000005192 partition Methods 0.000 claims description 14
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 239000013505 freshwater Substances 0.000 description 28
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 241000252234 Hypophthalmichthys nobilis Species 0.000 description 2
- 238000009360 aquaculture Methods 0.000 description 2
- 244000144974 aquaculture Species 0.000 description 2
- 235000013332 fish product Nutrition 0.000 description 2
- 235000013305 food Nutrition 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 210000004373 mandible Anatomy 0.000 description 2
- 235000013372 meat Nutrition 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 241001519451 Abramis brama Species 0.000 description 1
- 241000252230 Ctenopharyngodon idella Species 0.000 description 1
- 102000004190 Enzymes Human genes 0.000 description 1
- 108090000790 Enzymes Proteins 0.000 description 1
- 241001275898 Mylopharyngodon piceus Species 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 235000021120 animal protein Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 210000001847 jaw Anatomy 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C25/00—Processing fish ; Curing of fish; Stunning of fish by electric current; Investigating fish by optical means
- A22C25/12—Arranging fish, e.g. according to the position of head and tail
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C25/00—Processing fish ; Curing of fish; Stunning of fish by electric current; Investigating fish by optical means
- A22C25/08—Holding, guiding, or conveying fish before, during or after its preparation ; Devices for sizing fish; Automatically adapting conveyors or processing machines to the measured size
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Abstract
The device for orienting the fish body based on the capacitance and audio detection technology comprises a main conveyor belt, an annular conveyor belt, an auxiliary conveyor belt, a capacitance detection mechanism and a sorting mechanism. The capacitance detection mechanism is used for collecting capacitance change signals, and judging whether the head of the fish body is in front or the tail of the fish body is in front according to the capacitance change signals. Be provided with spacing touching mechanism on the auxiliary conveyor belt, spacing touching mechanism is used for holding the fish body and spacing, audio frequency detection mechanism includes and beats module, pickup module, and pickup module accepts the sound signal after the fish head was beaten, accurately judges whether fish head one side is the skull or the chin through pickup module, and then judges fish belly in left side or right side. The auxiliary conveyor belt is provided with a righting mechanism, so that the back is upward, and the abdomen is downward to move forward along with the auxiliary conveyor belt. The device can directionally sort fishes in the same direction with different directions, realizes automatic sorting of the fishes, and is convenient for automatic processing treatment of subsequent production lines.
Description
Technical Field
The invention relates to the technical field of freshwater fish processing, in particular to a device for orienting a fish body based on a capacitance and audio detection technology.
Background
Freshwater fish is an important component of food safety in China, is one of daily main animal protein sources, and plays a very important role in guaranteeing food supply and the like. China is a large country for producing world freshwater products, and the yield of freshwater fish accounts for more than 60% of the total yield of the world freshwater products. The black carp, grass carp, silver carp, bighead carp, bream are major large freshwater fish varieties in China, and are also the main bodies of freshwater aquaculture, so that the industrial status is very important. The total yield of 2017 national freshwater aquaculture is 2905.29 ten thousand tons, wherein the fish yield is 2540.98 ten thousand tons, and the yield of the seven bulk freshwater fish is 1963.7 ten thousand tons, accounting for 77% of the total yield. The freshwater fish breeding industry in China is rapidly developed, and meanwhile, the freshwater fish is still mainly sold by fresh products due to the fact that the development of freshwater fish processing industry is lagged. The fresh water fish product has tender meat quality, rich nutrition, high water content, active internal tissue enzymes of the fish, improper preservation and easy spoilage of the fish, and the spoilage loss rate of the fresh water fish is over 30 percent due to the limitation of storage and sales conditions each year.
At present, the processing rate of aquatic products in developed countries is more than 80% of the total production amount, but the processing rate of aquatic products in China is less than 30%, wherein the processing rate of freshwater fish products is lower and is less than 10% of the total amount, and the processing treatment is mainly performed manually, so that professional freshwater fish processing production equipment and production lines are seen, and the deep processing production efficiency of freshwater fish is low; therefore, developing technical research in the aspect of freshwater fish processing institutions and developing freshwater fish processing equipment suitable for the national conditions of China are imperative.
The mechanical processing of freshwater fish can be generally divided into pretreatment and finish deep processing, wherein the pretreatment of fish bodies including sectioning, descaling, head removing, viscera removing and the like is the key point and the difficulty of the mechanical processing. The directional arrangement and arrangement of the fish bodies are an auxiliary process in the pretreatment process, namely the freshwater fish bodies are arranged according to certain head-tail and abdomen-back direction requirements, so that the subsequent machining is convenient, and the pretreatment process is a precondition for mechanized production. The labor intensity is high, the efficiency is low and the cost is high when the fish bodies are arranged and tidied in a directional way manually. Therefore, the degree of mechanization of directional arrangement and arrangement of the fish bodies is improved, which is a basis for improving the mechanization level of pretreatment processing of the freshwater fish, not only can the labor intensity of workers be lightened, but also the processing efficiency of the freshwater fish can be improved, and the modernization of the freshwater fish processing industry is promoted.
In addition, with the development of society, the problem of severe low-temperature environment required in the freshwater fish processing process, the problem of difficult labor bringing of processing enterprises and the problem of annual increase of labor cost are highlighted one by one, so that the development of freshwater fish pretreatment processing equipment is urgent, and rapid and reliable fish body directional arrangement and arrangement equipment suitable for freshwater fish processing requirements is developed, so that the equipment is also an objective requirement for health, rapidness and sustainable development of the Chinese freshwater fish processing industry.
Disclosure of Invention
The invention provides a device for orienting fish bodies based on capacitance and audio detection technology, which is used for positioning the head, tail, abdomen and back directions of the fish bodies based on capacitance detection and audio detection, sorting and returning are completed by utilizing a mechanical structure, and the fish bodies with different orientations are oriented and sorted in one direction, so that automatic sorting of the fish is realized, and automatic processing treatment of a subsequent production line is facilitated.
The technical scheme adopted by the invention is as follows:
the device for orienting the fish body based on the capacitance and audio detection technology comprises a main conveyor belt, an annular conveyor belt and an auxiliary conveyor belt, wherein a capacitance detection mechanism is arranged above the main conveyor belt, and a sorting mechanism is arranged above the annular conveyor belt and is connected with a controller; the capacitance detection mechanism is used for collecting capacitance change signals, and the controller judges that the head of the fish body is in front or the tail of the fish body is in front through the capacitance change signals.
When the tail part of the fish body is in front, the controller drives the sorting mechanism to push the fish body into the annular conveyor belt along the main conveyor belt, the tail end of the annular conveyor belt is connected with the main conveyor belt, and when the fish body pushed into the annular conveyor belt is returned to the main conveyor belt along with the annular conveyor belt, the head-tail reversing is realized; when the head of the fish body is in front, the sorting mechanism keeps at the outer side of the main conveyor belt and does not act, and the fish body is continuously conveyed forwards along with the main conveyor belt.
Be provided with spacing touching mechanism on the vice conveyer belt at letter sorting mechanism rear, spacing touching mechanism is used for holding the fish body and spacing, and spacing touching mechanism connects the controller, and drive arrangement, the audio detection mechanism of main conveyer belt are connected to the controller.
The audio detection mechanism comprises a knocking module and a pickup module, wherein the knocking module and the pickup module are connected with a controller, the controller drives the knocking module to knock one side of the fish head, the pickup module receives sound signals of the fish head after being knocked, and the controller accurately judges whether one side of the fish head is a skull or a mandible through the pickup module, so as to judge whether the belly of the fish is at the left side or the right side;
the auxiliary conveyor belt positioned behind the audio detection mechanism is provided with a righting mechanism which comprises a left righting mechanism and a right righting mechanism which are arranged on the auxiliary conveyor belt, the left righting mechanism and the right righting mechanism are both connected with a controller,
when the audio detection mechanism detects that the fish belly is respectively on the left side and the right side, the controller respectively controls the left side righting mechanism and the right side righting mechanism to work, so that the fish body is driven to move forward along with the auxiliary conveyor belt with the back upwards and the belly downwards on the basis that the head part and the tail part of the fish body are driven to face forwards and backwards.
The invention relates to a device for orienting fish bodies based on a capacitance and audio detection technology, which has the following technical effects:
1: the fish head or the fish tail can be rapidly identified by utilizing the capacitance detection mechanism; with the sorting return mechanism, the orientation of the fish can be reversed and re-entered into the main conveyor.
2: the chest and abdomen orientation of the fish body can be distinguished according to the signal frequency fed back by audio frequency knocking. And the fish is erected by utilizing the unilateral lifting spiral structure, so that the fish splitting mechanism is beneficial to butt joint.
3: the invention aims to realize automatic detection and uniform directional conveying of the head, the tail and the back of the fish by utilizing obvious difference of capacitance of the head, the tail and obvious difference of the knocking sound response of the head cover and the jaw, so as to facilitate automatic processing treatment of a subsequent production line.
Drawings
Fig. 1 is a schematic structural view of the device of the present invention.
Fig. 2 is a schematic view of the lifting mechanism, the box, and the first frame of the device of the present invention.
Fig. 3 is a schematic structural diagram of a limit touch mechanism of the device of the present invention.
Fig. 4 is a schematic diagram of the righting mechanism structure of the device of the present invention.
Fig. 5 is a schematic structural diagram of an audio detection mechanism of the device of the present invention.
Detailed Description
As shown in fig. 1 to 5, the device for orienting fish based on capacitive and audio detection technology comprises a main conveyor belt 4, an annular conveyor belt 8 and a secondary conveyor belt 10.
A capacitance detection mechanism 16 is arranged above the main conveyor belt 4, a sorting mechanism 15 is arranged above the annular conveyor belt 8, and the capacitance detection mechanism 16 and the sorting mechanism 15 are both connected with a controller. The capacitance detection mechanism 16 is used for collecting capacitance change signals, and the controller judges that the head of the fish body is in front or the tail of the fish body is in front according to the capacitance change signals. When the tail part of the fish body is in front, the controller drives the sorting mechanism 15 to push the fish body into the annular conveyor belt 8 along the main conveyor belt 4, the tail end of the annular conveyor belt 8 is connected with the main conveyor belt 4, and when the fish body pushed into the annular conveyor belt 8 is returned to the main conveyor belt 4 along with the annular conveyor belt 8, the head-tail reversing is realized; when the head of the fish is forward, the sorting mechanism 15 is kept at the outer side of the main conveyor belt 4 and the fish continues to be conveyed forward along with the main conveyor belt 4.
Be provided with spacing touching mechanism 11 on the vice conveyer belt 10 that is located sorting mechanism 15 rear, spacing touching mechanism 11 is used for holding the fish body and spacing, and spacing touching mechanism 11 connects the controller, and the drive arrangement of main conveyer belt 4, audio detection mechanism 13 are connected to the controller.
The audio detection mechanism 13 comprises a knocking module and a pickup module, the knocking module and the pickup module are both connected with a controller, the controller drives the knocking module to knock one side of the fish head, the pickup module receives sound signals of the fish head after being knocked, and the controller accurately judges whether one side of the fish head is a skull or a mandible through the pickup module, so as to judge whether the belly of the fish is at the left side or the right side;
be provided with righting mechanism 12 on the vice conveyer belt 10 that is located audio detection mechanism 13 rear, righting mechanism 12 is including setting up in the right side righting mechanism of vice conveyer belt 10, right side righting mechanism all connects the controller, and when audio detection mechanism 13 detected the fish belly respectively in left side, right side, the controller respectively control right side righting mechanism work to on the drive fish body head forward, afterbody backward basis, realize back up, belly down along with the forward motion of vice conveyer belt 10.
As shown in fig. 2, the main conveyor belt 4 is provided with a box 1, the box 1 is connected with the first frame 3 through a lifting mechanism, the main conveyor belt 4 is mounted on the first frame 3, the lifting mechanism comprises a conveying belt 2 which is obliquely mounted and is attached with a plurality of rows of partition boards, the conveying belt 2 is slightly longer than the fish body in length in transverse direction, each row of partition boards comprises a plurality of isolating teeth, each isolating tooth is composed of a straight board unit with the inner side being vertical to a height smaller than the thickness of the fish body and a small arc board unit with the outer side being arc, and the distance between two adjacent rows of partition boards is larger than the width of a single fish. When the conveyer belt 2 starts to rotate, the fish in the box body 1 is clamped into the space between the toothed partition plates, and the clamped fish rises together with the conveyer belt 2; when more than one fish is overlapped in two adjacent rows of clapboards, the straight plate units on the inner sides of the isolating teeth can only support one fish on the innermost side due to the height, the bottoms of the second fish on the inner sides can only contact the small-section arc plate units on the outer sides of the toothed clapboards, and the fish can slide outwards along the small-section arc plates and cannot fall into the lower clapboards, and the fish on the outer sides directly fall down due to the fact that the fish is not supported. This way it is achieved that only the innermost individual fish in each row of baffles is lifted and the rest of the outer fish is returned to the tank 1.
After the conveyer belt 2 moves to the highest point, the upward movement is changed into the downward movement, and the fish body in the toothed partition plate naturally falls under the influence of gravity and falls on the main conveyer belt 4; when the speed of the main conveyor belt 4 is sufficiently high, the fish falling down in the former toothed partition plate is advanced by more than one fish body length, and the fish falling down in the latter toothed partition plate is separated completely.
The capacitance detection mechanism 16 comprises a capacitance detection sensor, the capacitance detection sensor is arranged right above the main conveyor belt 4 through a mounting seat, and the capacitance detection sensor is used for collecting capacitance change signals caused by the entered fish body and accurately distinguishing the head or tail of the fish body.
The capacitive detection sensor adopts an FDC2214 sensor and is used for collecting capacitance change signals caused by two parts of the head and the tail of the fish.
The sorting mechanism 15 comprises a push rod which is connected with a driving cylinder, the driving cylinder is connected with a controller through an electromagnetic valve,
the main conveyor belt 4 drives the fish body to move forwards, the head and tail cause capacitance change characteristics are completely different, the capacitance detection sensor collects the head and tail cause capacitance change signals, the head and tail of the fish body can be accurately distinguished by the capacitance characteristics, and the capacitance change condition is judged through the controller; if the tail of the fish body is judged to be in front, the controller drives the sorting mechanism 15 to move, and the fish body is pushed into the annular conveyor belt 8 transversely along the main conveyor belt 4 and then reset; if the controller determines that the head is forward, the sorting mechanism 15 remains inactive outside the conveyor belt and the fish can continue to be transported forward with the main conveyor belt 4.
The annular conveyor belt 8 is a 180-degree rotary belt, the annular conveyor belt 8 is fixedly installed through a second frame 9, a reset plectrum 6 is arranged at the joint of the tail end of the annular conveyor belt 8 and the main conveyor belt 4, the reset plectrum 6 is connected with a servo motor through a rotating mechanism, the servo motor is connected with a controller, and the reset plectrum 6 is used for poking the fish bodies with the heads and the tails changed back to the main conveyor belt 4 and continuously conveying the fish bodies forwards. The fish bodies pushed into the annular conveyor belt 8 by the sorting mechanism 15 are turned around 180 degrees when returning to the position of the main conveyor belt 4 along with the annular conveyor belt 8, so that head-tail reversing is realized. The fish body is moved back and forth along the movement direction of the main conveyor belt 4, the adjusted fish body is rotated by the reset rotary reset poking piece 6 to be poked back to the main conveyor belt 4 to continue to be conveyed forward, and the fish body is checked again by the capacitance detection mechanism 16 to ensure that the head-to-tail direction is correct.
The end of the rotary belt near the reset shifting sheet 6 is provided with a second infrared switch 7, the second infrared switch 7 is connected with a controller, the second infrared switch 7 is used for receiving a fish arrival signal, and the controller controls the annular conveyor belt 8 to stop running; the feeding end of the main conveyor belt 4 is provided with a first infrared switch 5, the first infrared switch 5 is used for detecting whether the main conveyor belt 4 at the position has fish or not, if the fish does not exist, the controller controls the reset pulling piece 6 to rotate, the fish is pulled up and enters the main conveyor belt 4 again, and the fish in the reverse direction can be adjusted to the positive direction.
As shown in fig. 2, the limit touch mechanism 11 includes a base plate 111, four corners of the base plate 111 are respectively fixed with four movable rotors 113 through bearings, and the movable rotors 113 are equipped with a first conveyor unit 112; the center of the bottom plate 111 is provided with a center rotor 115 connected with a steering engine and a motor coaxial with the steering engine, and the motor is connected with one of the movable rotors through a second conveyor belt unit 114 and used for controlling the rotation and stop of the first conveyor belt unit 112; the rudder arm is fixed with the bottom plate 111 and used for controlling the bottom plate 111 to rotate 360 degrees in the horizontal direction, and the motor and the steering engine are both connected with the controller.
The directional device further comprises a third infrared switch 14, wherein the third infrared switch 14 is connected with the controller, and when the fish head is limited by the limit touch mechanism 11, the fish head shields the signal of the third infrared switch 14 and is used as a stop signal of the main conveyor 4 and a start signal of the audio detection mechanism 13. When the fish heads in front of and behind the fish heads reach the limiting touch mechanism 11, the controller starts the steering engine according to the signal of the third infrared switch 14, controls the limiting touch mechanism 11 to rotate to be 45 degrees with the auxiliary conveyor belt 10, clamps and limits the fish body, and after the knocking module completes knocking, the steering engine is reset, at this time, the motor works, and the first conveyor belt unit 112 rubs the fish body to help the fish body to continue to drive forwards.
The voice frequency detection mechanism 13 is provided with a knocking module and a pickup module, the limiting touch mechanism 11 is started to limit, then the knocking module on the voice frequency detection mechanism 13 is started to knock the fish head on the right side in a delayed mode, the pickup module receives sound signals after the fish head is knocked, as the characteristic difference between the characteristics of sound response signals after the skull and the lower jaw with soft meat are knocked is obvious, the controller can accurately judge whether the right side of the head is the skull or the lower jaw through the pickup module, and then whether the belly of the fish is on the left side or the right side is determined.
The pickup module adopts HD282 pickup amplification module.
As shown in fig. 5, the audio detecting mechanism 13 includes a flexible hammer 131, a slider 132, a compression spring 133, a clamping plate 134, where the flexible hammer 131 is mounted on the slider 132, the two sides of the slider 132 are respectively connected with the compression spring 133 and clamped by the clamping plate 134 to be fixed on a central shaft 135, the flexible hammer 131 is driven when the central shaft 135 rotates, and when the fish head is knocked on the right side and the size of the fish head changes, the flexible hammer 131 receives different reaction forces to drive the slider 132 to push the compression spring 133, so as to adjust the position of the flexible hammer to automatically adapt to the size of the fish head.
As shown in fig. 4, the positioning mechanism 12 includes a central rotating shaft 121, and a half-circumference spiral slider 122 connected to the central rotating shaft 121, the central rotating shaft 121 is connected to a rotating motor, the rotating motor is connected to a controller, and the spiral slider 122 is located outside the auxiliary conveyor 10 when the positioning mechanism 12 is not in operation.
When the audio detection mechanism 13 detects that the fish belly is on the right side, the right side righting mechanism works, the central rotating shaft 121 drives the spiral sliding block 122 to rotate 90 degrees, the fish belly enters the auxiliary conveyor belt 10, the fish body with the head part facing forward and the tail part facing backward moves forwards along with the auxiliary conveyor belt 10, the fish belly contacts with the side surface of the spiral sliding block 122 and is pushed to the left side and simultaneously rotates anticlockwise, so that the back part faces upwards, the belly faces downwards, enters a left half side channel and moves forwards along with the auxiliary conveyor belt 10;
when the audio detection mechanism 13 detects that the fish belly is on the left side, the left side righting mechanism works, the central rotating shaft 121 drives the spiral sliding block 122 to rotate 90 degrees, the fish belly enters the auxiliary conveyor belt 10, the fish body with the head part facing forward and the tail part facing backward moves forward along with the auxiliary conveyor belt 10, the fish belly contacts with the side surface of the spiral sliding block 122 and is pushed to the right side and simultaneously rotates clockwise, so that the back part faces upward, the belly faces downward, and the fish belly enters a right half-side channel and moves forward along with the auxiliary conveyor belt 10.
The left and right righting mechanisms respectively act in different directions for the fish belly, and on the basis of the front and the rear, the back of the fish body faces upwards and the belly faces downwards.
In the invention, the controller adopts a singlechip board of STM32 series F407.
The implementation steps are as follows:
the fish is poured into the box body 1 and lifted onto the main conveyor belt 4 through the conveyor belt 2 which is obliquely arranged and is attached with a plurality of rows of partition boards; when the conveyer belt 2 starts to rotate, the fish in the box body 1 is clamped into the space between the toothed partition plates, and the clamped fish rises together with the conveyer belt 2; the superfluous fish naturally falls down due to gravity and friction, so that single fish with different intervals can be obtained on the main conveyor belt 4 in a head-tail collinear manner.
After the fish enters the main conveyor belt 4, when the fish passes through the capacitance detection mechanism 16, the capacitance detection mechanism 16 collects data and carries out filtering processing and then transmits signals to the controller, the controller is connected with the display screen, and the display screen judges whether the fish body faces forwards or backwards through a capacitance change curve. If the fish is in the forward direction, the main conveyor belt 4 continues to work, the push rod does not work, and the fish is conveyed from the main conveyor belt 4 to the auxiliary conveyor belt 11; if the fish is in the reverse direction, the main conveyor belt 4 stops after working for a period of time, the push rod works to push the fish into the annular conveyor belt 8, the fish arrives at the rotary reset pulling piece 6 after moving for half a circle, the signal of the arrival of the fish is received through the second infrared switch 7, and the annular conveyor belt 8 stops running. When the first infrared switch 5 detects that no fish exists at the main conveyor belt 4, the rotary reset pulling piece 6 is enabled to work, the fish is pulled up and enters the main conveyor belt 4 again, and the fish with the reverse direction can be adjusted to the positive direction.
After being output from the main conveyor belt 4 to the sub-conveyor belt 10, when the fish moves to the audio detection mechanism 13, the third infrared switch 14 detects a signal, the limit touch mechanism 11 works, and rotates to 45 degrees; the fish body is clamped to prevent the knocking module from skidding when knocking; after the knocking module is knocked; the limit touch mechanism 11 is rotated to 90 degrees; meanwhile, the chest and abdomen directions of the fish are judged according to the sound frequency characteristics obtained through knocking feedback, and the corresponding righting mechanism 12 is moved according to the judging result, so that the fish body is adjusted to be in a posture that the back is upward and the abdomen is downward.
Claims (1)
1. Device based on electric capacity, audio frequency detect technology are directional to the fish body, including main conveyor belt (4), annular conveyer belt (8), vice conveyer belt (10), its characterized in that: a capacitance detection mechanism (16) is arranged above the main conveyor belt (4), a sorting mechanism (15) is arranged above the annular conveyor belt (8), and the capacitance detection mechanism (16) and the sorting mechanism (15) are both connected with a controller; the capacitance detection mechanism (16) is used for collecting capacitance change signals, and the controller judges that the head of the fish body is in front or the tail of the fish body is in front through the capacitance change signals;
when the tail part of the fish body is in front, the controller drives the sorting mechanism (15) to push the fish body into the annular conveying belt (8) along the main conveying belt (4), the tail end of the annular conveying belt (8) is connected with the main conveying belt (4), and when the fish body pushed into the annular conveying belt (8) is returned to the main conveying belt (4) along with the annular conveying belt (8), the head-tail reversing is realized; when the head of the fish body is in front, the sorting mechanism (15) keeps at the outer side of the main conveyor belt (4) and does not act, and the fish body is continuously conveyed forwards along with the main conveyor belt (4);
a limit touch mechanism (11) is arranged on the auxiliary conveyor belt (10) positioned behind the sorting mechanism (15), the limit touch mechanism (11) is used for clamping and limiting the fish body, the limit touch mechanism (11) is connected with a controller, and the controller is connected with a driving device of the main conveyor belt (4) and the audio detection mechanism (13);
the audio detection mechanism (13) comprises a knocking module and a pickup module, wherein the knocking module and the pickup module are connected with a controller, the controller drives the knocking module to knock one side of the fish head, the pickup module receives sound signals of the fish head after being knocked, and the controller accurately judges whether one side of the fish head is a skull or a chin through the pickup module, so that whether the belly of the fish is on the left side or the right side is judged;
the auxiliary conveyor belt (10) positioned behind the audio detection mechanism (13) is provided with a righting mechanism (12), the righting mechanism (12) comprises a left righting mechanism and a right righting mechanism which are arranged on the auxiliary conveyor belt (10), the left righting mechanism and the right righting mechanism are both connected with a controller,
when the audio detection mechanism (13) detects that the fish belly is at the left side and the right side respectively, the controller controls the left righting mechanism and the right righting mechanism to work respectively, so that the fish body is driven to move forwards along with the auxiliary conveyor belt (10) along with the upward back and the downward belly on the basis that the head and the tail of the fish body face forwards and backwards;
the head of the main conveyor belt (4) is provided with a box body (1), the box body (1) is connected with the first rack (3) through a lifting mechanism, the head of the main conveyor belt (4) is arranged on the first rack (3), the lifting mechanism comprises a conveying belt (2) which is obliquely arranged and is attached with a plurality of rows of partition boards, each row of partition boards comprises a plurality of partition teeth, each partition tooth is composed of a straight board unit with the inner side being vertical and smaller than the thickness of a fish body and a small-section arc board unit with the outer side being arc, and the distance between two adjacent rows of partition boards is larger than the width of a single fish;
the capacitance detection mechanism (16) comprises a capacitance detection sensor, the capacitance detection sensor is arranged right above the main conveyor belt (4) through a mounting seat, and the capacitance detection sensor is used for collecting capacitance change signals caused by two parts of the head part and the tail part of the fish and accurately distinguishing the head part or the tail part of the fish body;
the sorting mechanism (15) comprises a push rod which is connected with a driving cylinder, the driving cylinder is connected with a controller through an electromagnetic valve,
the annular conveyor belt (8) is a 180-degree rotary belt, the annular conveyor belt (8) is fixedly installed through a second frame (9), a reset plectrum (6) is arranged at the joint of the tail end of the annular conveyor belt (8) and the main conveyor belt (4), the reset plectrum (6) is connected with a servo motor through a rotating mechanism, the servo motor is connected with a controller, and the reset plectrum (6) is used for poking the fish bodies with the heads and the tails changed back to the main conveyor belt (4) to continue to be conveyed forwards and pass through a capacitance detection mechanism (16) again;
the end of the rotary belt near the reset shifting sheet (6) is provided with a second infrared switch (7), the second infrared switch (7) is connected with a controller, the second infrared switch (7) is used for receiving a signal of fish arrival, and the controller controls the annular conveyor belt (8) to stop running; the feeding end of the main conveyor belt (4) is provided with a first infrared switch (5), the first infrared switch (5) is used for detecting whether the main conveyor belt (4) at the position has fish or not, if the fish does not exist, the controller controls the reset pulling piece (6) to rotate, the fish is pulled up and enters the main conveyor belt (4) again, and the fish in the reverse direction can be adjusted to the positive direction;
the limiting touch mechanism (11) comprises a bottom plate (111), four corners of the bottom plate (111) are respectively fixed with four movable rotors (113) through bearings, and the movable rotors (113) are provided with a first conveyor belt unit (112); the center of the bottom plate (111) is provided with a center rotor (115) connected with the steering engine and a motor coaxial with the steering engine, and the motor is connected with one of the movable rotors through a second conveyor belt unit (114) and used for controlling the rotation and stop of the first conveyor belt unit (112); the rudder arm is fixed with the bottom plate (111) and is used for controlling the bottom plate (111) to rotate 360 degrees in the horizontal direction, and the motor and the steering engine are both connected with the controller;
the directional device further comprises a third infrared switch (14), the third infrared switch (14) is connected with the controller, when the head of the fish body is limited by the limit touch mechanism (11), the head of the fish body shields the signal of the third infrared switch (14) and is used as a stop signal of the main conveyor belt (4) and a start signal of the audio detection mechanism (13), the controller starts the steering engine according to the signal of the third infrared switch (14), the limit touch mechanism (11) is controlled to rotate to form a 45-degree direction with the auxiliary conveyor belt (10), the fish body is clamped and limited, after the knocking module completes knocking, the steering engine is reset, at the moment, the motor works, and the first conveyor belt unit (112) rubs the fish body to help the fish body to continue forward transmission;
the audio detection mechanism (13) comprises a flexible hammer (131), a sliding block (132) and a compression spring (133), clamping plates (134), wherein the flexible hammer (131) is arranged on the sliding block (132), the two sides of the sliding block (132) are respectively connected with the compression spring (133) and are clamped and fixed on a central shaft (135) by the clamping plates (134), the flexible hammer (131) is driven when the central shaft (135) rotates, and when the size of a fish head changes, the reaction force borne by the flexible hammer (131) is different to drive the sliding block (132) to push the compression spring (133), so that the position of the flexible hammer is adjusted to automatically adapt to the size of the fish head;
the positioning mechanism (12) comprises a central rotating shaft (121) and a semi-circumferential spiral sliding block (122) connected with the central rotating shaft (121), the central rotating shaft (121) is connected with a rotating motor, the rotating motor is connected with a controller, and when the positioning mechanism (12) does not work, the spiral sliding block (122) is positioned at the outer side of the auxiliary conveyor belt (10);
when the audio detection mechanism (13) detects that the fish belly is on the right side, the right side righting mechanism works, the central rotating shaft (121) drives the spiral sliding block (122) to rotate 90 degrees, the fish belly enters the auxiliary conveyor belt (10), the fish body with the head part facing forward and the tail part facing backward moves forwards along with the auxiliary conveyor belt (10), the fish belly contacts with the side surface of the spiral sliding block (122) and is pushed to the left side and simultaneously rotates anticlockwise, so that the back part faces upwards and the belly part faces downwards to enter a left half side channel, and moves forwards along with the auxiliary conveyor belt (10);
when the audio detection mechanism (13) detects that the fish belly is on the left side, the left side righting mechanism works, the center rotating shaft (121) drives the spiral sliding block (122) to rotate 90 degrees, the fish belly enters the auxiliary conveyor belt (10), the fish belly with the head part facing forward and the tail part facing backward moves forwards along with the auxiliary conveyor belt (10), the fish belly contacts with the side surface of the spiral sliding block (122) and is pushed to the right side to rotate clockwise at the same time, so that the back part faces upwards and the belly part faces downwards to enter a right half-side channel, and the fish belly moves forwards along with the auxiliary conveyor belt (10).
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| CN111480628B (en) * | 2020-04-30 | 2021-11-16 | 安徽宏飞钓具有限公司 | Unhooking-proof fishing gear and using method thereof |
| CN114600939A (en) * | 2022-04-07 | 2022-06-10 | 华南农业大学 | Intelligent feeding device for prawn posture touch recognition |
| CN114831165B (en) * | 2022-05-25 | 2023-02-10 | 食在过瘾(福建)食品有限公司 | Fish deep processing device |
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