CN114304245A - Fish head continuous automatic removing system - Google Patents
Fish head continuous automatic removing system Download PDFInfo
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- CN114304245A CN114304245A CN202210034431.4A CN202210034431A CN114304245A CN 114304245 A CN114304245 A CN 114304245A CN 202210034431 A CN202210034431 A CN 202210034431A CN 114304245 A CN114304245 A CN 114304245A
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- 238000005520 cutting process Methods 0.000 claims abstract description 50
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 45
- 238000011010 flushing procedure Methods 0.000 claims abstract description 15
- 238000005303 weighing Methods 0.000 claims abstract description 7
- 238000003825 pressing Methods 0.000 claims description 22
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- 230000005484 gravity Effects 0.000 claims description 4
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- 239000008399 tap water Substances 0.000 description 4
- 235000020679 tap water Nutrition 0.000 description 4
- 238000005406 washing Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 235000013332 fish product Nutrition 0.000 description 2
- 238000011068 loading method Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 241001597062 Channa argus Species 0.000 description 1
- 208000001034 Frostbite Diseases 0.000 description 1
- 241000791868 Selene orstedii Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000003097 mucus Anatomy 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The invention discloses a continuous automatic fish head removing system, which consists of a feeding device, a conveying device, a cutting device, a gearbox, a servo motor, a rack, a containing box, a control box and a flushing device, wherein the feeding device clamps and places a fish body to be processed on the conveying device, the conveying device conveys the fish body to the cutting device for cutting the fish head, the servo motor is used for driving the gearbox, the gearbox is used for driving the conveying device to move, the flushing device is used for flushing water to the conveying device continuously during cutting of the fish head, the cut fish head is flushed completely, the cut fish head enters the containing box for weighing under the conveying of the conveying device, the number of the processed fish is counted by the feeding device, and the control box records one fish head every time the fish body is grabbed by the feeding device.
Description
Technical Field
The invention relates to the field of automation, in particular to a continuous and automatic fish head removing system.
Background
To date, the research progress of fish primary processing machinery at home and abroad is always in a low developed degree, and the fish primary processing machinery, particularly a head removing machinery, plays an important role as an important link of fish primary processing. With the gradual modernization of fishery initial rough machining in the development of the country, the rough machining technology still falls behind even without knowing obvious gaps with other countries at a glance on the basis that the fish product processing technology of China already has innovation performance and violent development. Therefore, at this moment, development of supporting mechanical equipment facilities related to fishery production and processing is urgently needed, food has to be processed by a faster and simpler method for people to enjoy, and the situation can be improved.
The fish head cutting machine researched in China at present adopts two modes of cutting or chopping by manually holding a cutter, but certain fishes, such as snakehead, finless eel and other types of fishes, are easy to slip due to the fact that scales are not formed on the surfaces of the fish bodies but unique mucus is secreted, so that insecure slipping and grabbing are easy to generate, and the operation difficulty coefficient is easy to increase. Therefore, the danger coefficient of the action of cutting the head by using the cutter is increased dramatically, so that a plurality of objects are damaged, the working efficiency is low, and the frostbite can be generated by a plurality of workers due to the extremely unsanitary condition, especially under the condition of extremely low temperature in the working environment in winter; still some be the workman with the help of cutting means, rely on the thrust of the individual recess side shield of putting, the fish head supports preceding baffle, the fish tail supports the backplate, drive circular cutter with the motor, the fish head under high-speed rotation, this is just realized the semi-automatic work of fish head cutting, though this method can be faster than artificial, but also have certain weakness, the weakness is exactly that circular cutter collapses easily or the breach has even the cutter has produced and has moved towards the skew thereby lead to the recess of putting to take place to damage or fracture, sometimes also can produce the damage of the fish head fish body not equidimension, lead to selling not good mutually, thereby directly lead to the loss.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a continuous and automatic fish head removing system, wherein a feeding device is used to clamp and place a fish body to be processed on a conveying device, the conveying device conveys the fish body to a cutting device for cutting the fish head, a flushing device is used to flush the conveying device continuously while the fish head is being cut, the cut fish head is flushed clean, the cut fish head enters a receiving box for weighing under the conveying of the conveying device, and the feeding device counts the number of the fish to be processed.
In order to achieve the purpose, the invention provides a fish head continuous automatic removing system which is realized by the following steps:
a continuous automatic fish head removing system comprises a feeding device, a conveying device, a cutting device, a gearbox, a servo motor, a rack, a containing box, a control box and a flushing device, wherein the feeding device is arranged at the right end of the rack and used for clamping and placing a fish body to be processed on the conveying device, the conveying device is arranged in the rack and used for conveying the fish body to the cutting device to cut the fish head, the cutting device, the gearbox and the servo motor are arranged at the rear part of the rack, the flushing device is arranged in front of the rack, the control box and the containing box are arranged at the left end of the rack, the servo motor is connected with the gearbox, the gearbox is connected with the conveying device, the servo motor is used for transmission, the gearbox is used for transmission of the gearbox and transmission of the conveying device, the conveying device is driven to move, the flushing device continuously flushes water to the conveying device while the fish head is cut, and the cut fish head is flushed completely, the fish head after the cutting gets into the containing box under conveyer's transport and weighs to by the quantity of the fish of loading attachment statistics processing, the fish body is once snatched to loading attachment, and the control box just records a fish head.
The feeding device comprises a first rotating motor, a telescopic motor, a metal rod, a camera, a second rotating motor, a mechanical claw and an ultrasonic radar, wherein the telescopic motor is arranged on a rotating shaft of the first rotating motor, one end of the metal rod is fixed on a telescopic rod of the telescopic motor, the camera and the second rotating motor are arranged at the other end of the metal rod, the mechanical claw is arranged on a rotating shaft of the second rotating motor, the ultrasonic radar is arranged below the mechanical claw, the position of a fish body to be processed is firstly collected by the camera, the first rotating motor is controlled by a control box to rotate, the metal rod moves along with the first rotating motor, the mechanical claw is further rotated above the fish body, the distance between the mechanical claw and the fish body is continuously detected by the ultrasonic radar, the telescopic motor is controlled by the control box to contract, the mechanical claw is lowered to a position capable of contacting the fish body, and the second rotating motor is controlled by the control box to rotate, and then adjust the angle of gripper, make the gripper can grasp the fish body smoothly, then the control box control gripper snatchs the fish body, rise by control box control flexible motor again, the fish body that will grab rises to the position that is higher than conveyer, then the first rotating electrical machines of control box control is rotatory, move the gripper to the transmission top, the position of transfer device is discerned by the camera again, then the control box control flexible motor contracts, ultrasonic radar constantly detects the distance between gripper and the conveyer, when the gripper can contact conveyer, the control box control gripper is loosened, put into the conveyer with the fish body, cycle in proper order can realize snatching of many fish bodies, the camera is once discerned after a fish is snatched to the camera, the control box just records a fish head, and then realize the count to the fish head.
The conveying device is inclined towards the side of the cutting device, and when the fish body is placed on the conveying device, the fish body slides to one side of the cutting device under the action of gravity, so that the cutting device can conveniently cut the fish head.
The conveying device comprises a pressing plate, a chain, chain wheels, a wheel shaft, a cross rod and a belt seat bearing, wherein the two chain wheels are connected by the wheel shaft, a rotating shaft of a gearbox is connected with the wheel shaft, the chain is arranged on the chain wheels, the cross rod is arranged on the chain at intervals, the other end of the wheel shaft is arranged on the belt seat bearing, the belt seat bearing is arranged on a rack, the gearbox rotates by the wheel shaft, the wheel shaft drives the two chain wheels to rotate, the chain wheels drive the chain, and then the cross rod is driven to move, and the pressing plate is arranged on the cross rod and moves along with the cross rod.
The fish body fixing device comprises a pressure plate, a cross rod, a pressure sensor, an opening and closing device, a pressure sensor and a pressure sensor, wherein the pressure sensor is arranged in the pressure plate, the opening and closing device is arranged in the cross rod, the opening and closing of the pressure plate are controlled by the opening and closing device, so that the fish body is fixed, the pressure sensor is used for detecting the force exerted on the fish body by the pressure plate, the extrusion force of the pressure plate on the fish body is adjusted according to the pressure, and the fish body is prevented from being damaged when the fish body is extruded by the pressure plate.
The opening and closing device comprises a stepping motor, a movable plate, a connecting plate and a fixed plate, wherein the movable plate, the connecting plate and the fixed plate jointly form a pressing plate, the connecting plate is connected between a rotating shaft of the stepping motor and the movable plate, the fixed plate is obliquely fixed on a cross rod, and the stepping motor drives the movable plate to rotate left and right so as to open and close the pressing plate.
The cutting device comprises a third rotating motor and a circular knife, wherein the circular knife is arranged on a rotating shaft of the third rotating motor, and is driven to rotate by the third rotating motor, so that the fish head is cut by the circular knife.
The washing device comprises a water tank, a water pipe, a water pump and water outlet holes, wherein the water tank is connected with the water pump through the water pipe, a plurality of water outlet holes are formed in the water tank, tap water is pumped by the water pump and is conveyed into the water tank through the water pipe, the tap water is sprayed out of the water outlet holes of the water tank, and the sprayed water is sprayed onto the fish heads, so that the cutting fish heads can be cleaned.
The gravimeter is arranged at the bottom end of the containing box and used for weighing the fish head in the containing box.
The scheme of the invention for identifying the fish body by the camera comprises the following steps: the method comprises the steps of firstly collecting an image of a fish body, then changing the collected color image into a gray-scale image, carrying out filtering and denoising processing on the image by median filtering because noise is brought inevitably in the image collection process, enabling the image to be clearer and facilitating image processing, then segmenting the fish body image from a background by using a region growing method to obtain a binarized image, carrying out cavity filling processing on the image by an expansion and corrosion algorithm of the image, then extracting contour lines of the fish body by using an edge extraction algorithm, and further determining the position of the fish body.
Because the invention adopts the device for automatically cutting the fish head to complete the structure for cutting the fish head, the following beneficial effects can be obtained:
1. according to the fish head weighing device, the fish body to be processed is clamped and placed on the conveying device through the feeding device, the conveying device conveys the fish body to the cutting device to cut the fish head, the flushing device continuously flushes water to the conveying device while the fish head is cut, the cut fish head is flushed completely, the cut fish head enters the containing box to be weighed under the conveying of the conveying device, the feeding device counts the number of the processed fish, a manual kitchen knife is not needed to cut the fish head, the life and property safety of workers is guaranteed, the working efficiency is improved, and the automation degree of fish product processing equipment is effectively improved.
2. According to the invention, the fish body is fixed on the conveying device by the pressing plate for cutting, so that the cutter cannot generate damage to the fish head and the fish body to different degrees due to deviation of the direction, and the sale phase of the fish head is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of a system for continuously and automatically removing fish heads according to the present invention;
FIG. 2 is a schematic structural diagram of a feeding device of the automatic continuous fish head removing system according to the present invention;
FIG. 3 is a schematic structural diagram of a conveyor of the automatic continuous fish head removing system according to the present invention;
FIG. 4 is a schematic view of the installation structure of the pressure sensor and the opening and closing device of the automatic continuous fish head removing system of the present invention;
FIG. 5 is a schematic structural diagram of an opening and closing device of the automatic continuous fish head removing system according to the present invention;
FIG. 6 is a schematic structural diagram of a cutting device of the automatic continuous fish head removing system according to the present invention;
FIG. 7 is a schematic structural diagram of a flushing device of the automatic continuous fish head removing system according to the present invention;
FIG. 8 is a schematic structural view of a storage box of the automatic continuous fish head removing system according to the present invention;
FIG. 9 is a flow chart of a scheme for recognizing a fish body by a camera of the system for continuously and automatically removing fish heads of the invention;
fig. 10 is a working principle diagram of the fish head continuous automatic removing system of the invention.
The main elements are indicated by symbols.
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Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings.
Referring to fig. 1 to 10, a system for continuously and automatically removing fish head in the present invention includes a feeding device 1, a conveying device 2, a cutting device 3, a gearbox 4, a servo motor 5, a frame 6, a storage box 7, a control box 8, and a flushing device 9.
As shown in fig. 1, the feeding device 1 is installed at the right end of a frame 6 and is used for clamping and placing a fish body to be processed on a conveying device 2, the conveying device 2 is installed in the frame 6 and is used for conveying the fish body to a cutting device 3 for cutting a fish head, the cutting device 3, a gearbox 4 and a servo motor 5 are installed at the rear part of the frame 6, a flushing device 9 is installed in front of the frame 6, a control box 8 and a storage box 7 are installed at the left end of the frame 6, the servo motor 5 is connected with the gearbox 4, the gearbox 4 is connected with the conveying device 2 and is driven by the servo motor 5 to drive the gearbox 4, the gearbox 4 drives the conveying device 2 to move, the gearbox 4 adopts a circular synchronous gear reducer which adopts a plurality of cylindrical straight gears with different sizes, and the gear structures are basically the same, the pitch phase difference between the two is little, and the load that receives strikes is also more even, and in the fish head cutting, washing unit 9 constantly washes by water on to conveyer 2, and the fish head after will cutting washes totally, and the fish head after the cutting gets into containing box 7 under conveyer 2's the transport and weighs to by the quantity of the fish of feed arrangement 1 statistics processing, the fish body is once snatched to feed arrangement 1, and control box 8 just records a fish head.
As shown in fig. 2, the feeding device 1 includes a first rotating electrical machine 10, a telescopic electrical machine 11, a metal rod 12, a camera 13, a second rotating electrical machine 14, a gripper 15, and an ultrasonic radar 16, wherein the telescopic electrical machine 11 is installed on a rotating shaft of the first rotating electrical machine 10, one end of the metal rod 12 is fixed on a telescopic rod of the telescopic electrical machine 11, the camera 13 and the second rotating electrical machine 14 are installed at the other end of the metal rod 12, the gripper 15 is installed on a rotating shaft of the second rotating electrical machine 14, the ultrasonic radar 16 is installed below the gripper 15, the camera 13 collects the position of a fish body to be processed first, the control box 8 controls the first rotating electrical machine 10 to rotate, so that the metal rod 12 moves along with the metal rod, the gripper 15 is rotated above the fish body, then the ultrasonic radar 16 continuously detects the distance between the gripper 15 and the fish body, the control box 8 controls the telescopic electrical machine 11 to retract, the mechanical claw 15 is lowered to a position capable of contacting a fish body, the control box 8 controls the second rotating motor 14 to rotate, the angle of the mechanical claw 15 is further adjusted, the mechanical claw 15 can smoothly grasp the fish body, then the control box 8 controls the mechanical claw 15 to grasp the fish body, then the control box 8 controls the telescopic motor 11 to ascend, the grasped fish body is lifted to a position higher than the conveying device 2, then the control box 8 controls the first rotating motor 10 to rotate, the mechanical claw 15 is moved to the position above the transmission device, then the position of the conveying device is identified by the camera 13, then the control box 8 controls the telescopic motor 11 to contract, the ultrasonic radar 16 constantly detects the distance between the mechanical claw 15 and the conveying device 2, when the mechanical claw 15 can contact the conveying device 2, the control box 8 controls the mechanical claw 15 to loosen, the fish body is placed into the conveying device 2, and the grasping of a plurality of fish bodies can be realized through sequential circulation, every time the camera 13 recognizes that a fish is grabbed, the control box 8 records the fish head once, and then the counting of the fish head is realized.
As shown in fig. 3, the conveyor 2 is inclined toward the cutting device 3, and the surfaces of the pressing plate 17 and the cross bar 21 of the conveyor 2 are coated with a smooth paint, so that when a fish body is put on the conveyor 2, the fish body slides to the side of the cutting device 3 under the action of gravity, and the cutting device 3 can cut the fish head conveniently.
As shown in fig. 3, the conveying device 2 includes a pressing plate 17, a chain 18, chain wheels 19, a wheel shaft 20, a cross bar 21, and a bearing 22 with a seat, the two chain wheels 19 are connected by the wheel shaft 20, a rotating shaft of the gearbox 4 is connected with the wheel shaft 20, the chain 18 is installed on the chain wheels 19, the cross bar 21 is installed on the chain 18 at intervals, the other end of the wheel shaft 20 is installed on the bearing 22 with a seat, the bearing 22 with a seat is installed on the frame 6, the gearbox 4 rotates for the wheel shaft 20, the wheel shaft 20 drives the two chain wheels 19 to rotate, and then the chain wheels 19 drive the chain 18 to move, the pressing plate 17 is installed on the cross bar 21, the pressing plate 17 moves along with the cross bar 21, the left side of the pressing plate 17 has an opening, and the circular knife 30 enters from the opening of the pressing plate 17, thereby cutting the fish head is realized. Wherein the chain 18 and the chain wheel 19 form a chain transmission type, and the chain transmission type mainly utilizes the force generated by the fixed-point crossing between the chain 18 and the chain wheel 19 to guide and orderly move to convey the fish head to the lower part of the circular knife 30, cut off the fish head and then automatically convey the fish head to the containing box 7.
As shown in fig. 4, a pressure sensor 23 is installed in the pressure plate 17, an opening and closing device 24 is installed in the cross bar 21, the opening and closing of the pressure plate 17 is controlled by the opening and closing device 24, so that the fish body is fixed, the pressure sensor 23 detects the force exerted on the fish body by the pressure plate 17, the extrusion force of the pressure plate 17 on the fish body is adjusted according to the pressure, and the fish body is prevented from being damaged when the fish body is extruded by the pressure plate 17.
As shown in fig. 5, the opening and closing device 24 includes a stepping motor 25, a movable plate 26, a connecting plate 27, and a fixing plate 28, the movable plate 26, the connecting plate 27, and the fixing plate 28 together form a pressing plate 17, the connecting plate 27 is connected between a rotating shaft of the stepping motor 25 and the movable plate 26, the fixing plate 28 is obliquely fixed on the cross bar 21, the stepping motor 25 drives the movable plate 26 to rotate left and right, so as to open and close the pressing plate 17, the gripper 15 places the fish body in the pressing plate 17, the control box 8 controls the stepping motor 25 to rotate reversely, so that the movable plate 26 is close to the fixing plate 28, and the fish body is fixed in the pressing plate 17, thereby not only enabling the cutting length of the fish head to be more accurate, but also enabling the knife edge to be flat.
As shown in fig. 6, the cutting device 3 includes a third rotating electrical machine 29 and a circular knife 30, the circular knife 30 is mounted on a rotating shaft of the third rotating electrical machine 29, according to the power output and the working environment of the third rotating electrical machine 29, the third rotating electrical machine 29 is a Y-type totally enclosed three-phase asynchronous motor, the higher the relative speed between the fish body and the circular knife 30 and the transmission device is, the faster the head removing speed is, the more the head is removed, in order to achieve better effect, the relative speed between the fish body and the circular knife 30 and the transmission device is set to be 1.2 m/s, the circular knife 30 is driven by the third rotating electrical machine 29 to rotate, and the circular knife 30 cuts the fish head, wherein the third rotating electrical machine 29 is obliquely mounted, so that the circular knife 30 is parallel to the opening of the pressing plate 17, and the cut fish head is smoother.
As shown in fig. 7, the washing device 9 includes a water tank 31, a water pipe 32, a water pump 33, and water outlet holes 34, the water tank 31 is connected to the water pump 33 through the water pipe 32, the water tank 31 is provided with a plurality of water outlet holes 34, tap water is pumped by the water pump 33 and then delivered to the water tank 31 through the water pipe 32, and the tap water is sprayed out from the water outlet holes 34 of the water tank 31, and the sprayed water is sprinkled on the fish head, so that the fish head can be cleaned.
As shown in fig. 8, a gravimeter 35 is installed at the bottom end of the storage box 7 and is used for weighing the fish head in the storage box 7, so that the user can know the weight of the fish head in the storage box 7 without secondary weighing.
As shown in fig. 9, the scheme for recognizing the fish body by the camera 13 is as follows: the method comprises the steps of firstly collecting an image of a fish body, then changing the collected color image into a gray-scale image, carrying out filtering and denoising processing on the image by median filtering because noise is brought inevitably in the image collection process, enabling the image to be clearer and facilitating image processing, then segmenting the fish body image from a background by using a region growing method to obtain a binarized image, carrying out cavity filling processing on the image by an expansion and corrosion algorithm of the image, then extracting contour lines of the fish body by using an edge extraction algorithm, and further determining the position of the fish body.
The working principle and the working process of the invention are as follows:
as shown in fig. 10, the camera 13 collects the position of the fish body to be processed, and transmits the collected image to the control box 8 for image recognition, and recognizes the position of the fish body, then the control box 8 controls the first rotating motor 10 to rotate, so that the metal rod 12 moves along with the fish body, and further the gripper 15 rotates above the fish body, then the ultrasonic radar 16 continuously detects the distance between the gripper 15 and the fish body, and transmits the detected distance information to the control box 8 for processing, the control box 8 controls the telescopic motor 11 to contract, so that the gripper 15 is lowered to the position where the gripper can contact the fish body, the control box 8 controls the second rotating motor 14 to rotate, and further adjusts the angle of the gripper 15, so that the gripper 15 can smoothly grasp the fish body, then the control box 8 controls the gripper 15 to grasp the fish body, and then the control box 8 controls the telescopic motor 11 to rise, so that the grasped fish body rises to be higher than the position of the conveying device 2, then the control box 8 controls the first rotating motor 10 to rotate, the gripper 15 is moved to the upper part of the transmission device, the camera 13 identifies the position of the transfer device, the control box 8 controls the telescopic motor 11 to contract, the ultrasonic radar 16 continuously detects the distance between the gripper 15 and the transmission device 2, when the gripper 15 can contact the transmission device 2, the control box 8 controls the gripper 15 to loosen, the fish body is put into the transmission device 2, the control box 8 controls the stepping motor 25 to rotate reversely, so that the movable plate 26 is close to the fixed plate 28, the fish body is fixed in the pressing plate 17, the pressure sensor 23 detects the force exerted on the fish body by the movable plate 26, the detected pressure information is transmitted to the control box 8 for processing, the control box 8 adjusts the rotating angle of the stepping motor 25 according to the information fed back by the pressure sensor 23, and further adjusts the extrusion force of the movable plate 26 on the fish body, 8 control servo motor 5 of control box control rotate for 4 transmissions of gearbox, it rotates for shaft 20 to be the gearbox 4 again, shaft 20 drives two sprocket 19 rotations, sprocket 19 is the transmission of chain 18, and then drive clamp plate 17 and remove, and then remove in order and carry cutting device 3 departments to the fish head, control box 8 control third rotating electrical machines 29 rotates, and then realize the cutting to the fish head, after 8 control water pump 33 of control box extracted the running water, carry the running water to water tank 31 in through water pipe 32, spout in 34 departments of apopore of water tank 31, realize the washing to the cutting fish head, the fish head after the cutting is conveyed to containing box 7 by conveyer 2, gravimeter 35 in containing box 7 weighs the fish head, and will weigh information transmission to control box 8 in.
Claims (6)
1. The utility model provides a fish head is automatic removal system in succession which characterized in that: comprises a feeding device, a conveying device, a cutting device, a gearbox, a servo motor, a frame, a containing box, a control box and a flushing device, wherein the feeding device is arranged at the right end of the frame and used for clamping and placing a fish body to be processed on the conveying device, the conveying device is arranged in the frame and used for conveying the fish body to the cutting device for cutting a fish head, the cutting device, the gearbox and the servo motor are arranged at the rear part of the frame, the flushing device is arranged in front of the frame, the control box and the containing box are arranged at the left end of the frame, the servo motor is connected with the gearbox, the gearbox is connected with the conveying device, the servo motor is used for transmission of the gearbox, the gearbox is used for transmission of the conveying device, the conveying device is driven to move, the flushing device continuously flushes water onto the conveying device while the fish head is cut, the cut fish head is flushed, and the cut fish head enters the containing box for weighing under the conveying of the conveying device, and the quantity of the fish to be processed is counted by the feeding device, and one fish head is recorded by the control box when the feeding device grabs the fish body once.
2. The continuous automatic fish head removing system according to claim 1, wherein: the feeding device comprises a first rotating motor, a telescopic motor, a metal rod, a camera, a second rotating motor, a mechanical claw and an ultrasonic radar, wherein the telescopic motor is arranged on a rotating shaft of the first rotating motor, one end of the metal rod is fixed on a telescopic rod of the telescopic motor, the camera and the second rotating motor are arranged at the other end of the metal rod, the mechanical claw is arranged on a rotating shaft of the second rotating motor, the ultrasonic radar is arranged below the mechanical claw, the position of a fish body to be processed is firstly collected by the camera, the control box controls the first rotating motor to rotate so that the metal rod moves along with the metal rod, the mechanical claw is further rotated above the fish body, the ultrasonic radar continuously detects the distance between the mechanical claw and the fish body, the control box controls the telescopic motor to contract, the mechanical claw is lowered to the position capable of contacting the fish body, and controls the second rotating motor to rotate, and then adjust the angle of gripper, make the gripper can grasp the fish body smoothly, then the control box control gripper snatchs the fish body, rise by control box control flexible motor again, the fish body that will grab rises to the position that is higher than conveyer, then the first rotating electrical machines of control box control is rotatory, move the gripper to the transmission top, the position of transfer device is discerned by the camera again, then the control box control flexible motor contracts, ultrasonic radar constantly detects the distance between gripper and the conveyer, when the gripper can contact conveyer, the control box control gripper is loosened, put into the conveyer with the fish body, cycle in proper order can realize snatching of many fish bodies, the camera is once discerned after a fish is snatched to the camera, the control box just records a fish head, and then realize the count to the fish head.
3. The continuous automatic fish head removing system according to claim 1, wherein: the conveying device comprises a pressing plate, a chain, chain wheels, a wheel shaft, a cross rod and a belt seat bearing, wherein the two chain wheels are connected by the wheel shaft, a rotating shaft of a gearbox is connected with the wheel shaft, the chain is arranged on the chain wheels, the cross rod is arranged on the chain at intervals, the other end of the wheel shaft is arranged on the belt seat bearing, the belt seat bearing is arranged on a rack, the gearbox rotates by the wheel shaft, the wheel shaft drives the two chain wheels to rotate, the chain wheels drive the chain, and then the cross rod is driven to move, the pressing plate is arranged on the cross rod and moves along with the cross rod; conveyer inclines to the cutting device side, and when the fish body was put on conveyer, the fish body slided to cutting device one side under the effect of gravity, and the cutting device of being convenient for cuts the fish head.
4. The continuous automatic fish head removing system according to claim 2, wherein: install pressure sensor in the clamp plate, install the device that opens and shuts in the horizontal pole, by opening and shutting device control clamp plate open and shut, and then fix the fish body, detect the power that the clamp plate was exerted on the fish body by pressure sensor again, adjust the clamp plate according to the size of pressure to the extrusion force of fish body, prevent that the clamp plate from producing the damage to the fish body when the extrusion fish body.
5. The continuous automatic fish head removing system according to claim 4, wherein: the opening and closing device comprises a stepping motor, a movable plate, a connecting plate and a fixed plate, wherein the movable plate, the connecting plate and the fixed plate jointly form a pressing plate, the connecting plate is connected between a rotating shaft of the stepping motor and the movable plate, the fixed plate is obliquely fixed on the cross rod, and the stepping motor drives the movable plate to rotate left and right so as to realize opening and closing of the pressing plate.
6. The continuous automatic fish head removing system according to claim 2, wherein: the scheme that the camera discerned the fish body does: the method comprises the steps of firstly collecting an image of a fish body, then changing the collected color image into a gray-scale image, carrying out filtering and denoising processing on the image by median filtering because noise is brought inevitably in the image collection process, enabling the image to be clearer and facilitating image processing, then segmenting the fish body image from a background by using a region growing method to obtain a binarized image, carrying out cavity filling processing on the image by an expansion and corrosion algorithm of the image, then extracting contour lines of the fish body by using an edge extraction algorithm, and further determining the position of the fish body.
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Cited By (1)
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| CN115005254A (en) * | 2022-07-11 | 2022-09-06 | 武汉轻工大学 | Automatic clamping and cutting system for fish head |
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