CN115005254A - Automatic clamping and cutting system for fish head - Google Patents
Automatic clamping and cutting system for fish head Download PDFInfo
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- CN115005254A CN115005254A CN202210810810.8A CN202210810810A CN115005254A CN 115005254 A CN115005254 A CN 115005254A CN 202210810810 A CN202210810810 A CN 202210810810A CN 115005254 A CN115005254 A CN 115005254A
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 249
- 238000005520 cutting process Methods 0.000 title claims abstract description 96
- 238000012545 processing Methods 0.000 claims abstract description 18
- 238000004458 analytical method Methods 0.000 claims abstract description 8
- 230000003287 optical effect Effects 0.000 claims description 30
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 29
- 229910052782 aluminium Inorganic materials 0.000 claims description 29
- 230000001276 controlling effect Effects 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000003860 storage Methods 0.000 claims description 9
- 230000000875 corresponding effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 6
- 230000008602 contraction Effects 0.000 abstract description 3
- 238000011161 development Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005266 casting Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 235000013332 fish product Nutrition 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical group C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000013505 freshwater Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
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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
- A22C25/14—Beheading, eviscerating, or cleaning fish
- A22C25/142—Beheading fish
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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
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Abstract
The invention discloses an automatic fish head clamping and cutting system, which consists of a fish body conveying device and a fish head clamping and cutting device, wherein the fish body conveying device is used for conveying fish bodies, the fish body conveying device is mainly conveyed by a chain, an elastic clamp body is arranged on the chain to fix a fish body, the elastic clamp body is pushed by a sliding block to realize the contraction of a clamping jaw, the fish head clamping and cutting device is arranged at the tail part of the fish head conveying device, the elastic clamp body clamps the fish bodies to move on the chain in an intermittent conveying manner, when the fish bodies are conveyed to a station of the fish head clamping and cutting device, the fish head clamping and cutting device works to finish the removal of the fish heads once, and finally, through three-dimensional modeling, the stress analysis is carried out on the elastic clamp body in the processing process.
Description
Technical Field
The invention relates to the field of automation, in particular to an automatic fish head clamping and cutting system.
Background
Along with the development of the country, the fishery rough machining is gradually modernized, and in general, the innovation of aquatic product processing technology in China really achieves a plurality of results and has larger development, but the aquatic product processing technology still falls behind, has larger gap compared with the countries mainly taking fishery, and cannot follow the development speed of fishery.
At present, China is lack of technical innovation in the aspect of fishery, and particularly has obvious difference with other countries on the aspect of primary processing technology of fishery products. Therefore, the first person needs to be done in fishery in China, particularly in the initial processing technology of freshwater fishes, and the fish can be well applied to real environment operation. The aquatic product processing in China plays a positive role in resource conversion and value increase, but compared with more than 300 million tons of aquatic products in our province, the processing and conversion tasks are heavy, a great amount of potential can be dug, in 2004, seven million tons of raw materials are processed, the processing rate is only 9%, and the processing rate is far from the average level of 35% in China. Therefore, research and analysis show that mechanical equipment which is mainly independently researched and developed and more fitted in the market at the present stage of China is provided, and the rapid development of crude processing mechanical equipment in fishery in the future can configure China with a higher international status.
The production condition of aquatic products and the demand and development trend of consumers need to be known and mastered as soon as possible, the resources, fields and the like of aquatic product production are continuously changed, and the habit demands of consumers are greatly changed. Therefore, it is of great significance to design an automated device that can speed up the processing of fish products.
Disclosure of Invention
In order to solve the above problems, the present invention provides an automatic fish head clamping and cutting system, which comprises two parts, namely a fish body conveying device and a fish head clamping and cutting device, wherein the fish body conveying device mainly adopts a chain for conveying, an elastic clamp body is arranged on the chain for fixing a fish body, the elastic clamp body adopts a sliding block pushing mode to realize the contraction of a clamping jaw, the fish head clamping and cutting device is arranged at the tail part of the fish head conveying device, the elastic clamp body clamps the fish body to perform intermittent conveying motion on the chain, when the fish body is conveyed to a station of the fish head clamping and cutting device, the fish head clamping and cutting device works to complete one fish head removal, and finally, through three-dimensional modeling, the stress analysis is performed on the stress of the elastic clamp body in the processing process.
In order to achieve the purpose, the invention provides an automatic fish head clamping and cutting system which is realized by the following steps:
the utility model provides an automatic centre gripping cutting system of fish head, includes fish body conveyer and fish head centre gripping cutting device, fish body conveyer is used for transmitting the fish body, and fish head centre gripping cutting device is used for cutting the fish head, conveys the fish body that will need processing to fish head centre gripping cutting device department and carries out the fish head cutting.
The fish body conveying device comprises an industrial personal computer, an elastic clamp body, a frame, chains, chain wheels, a stepping motor, a chain wheel rotating shaft, a support rod and a first belt seat bearing, wherein the industrial personal computer is arranged at the upper left part of the frame and used for controlling the fish body conveying device and a fish head clamping and cutting device to work, four identical chain wheels are arranged at two ends of the frame, the bearings are arranged in the chain wheels, two identical chains are connected to the four chain wheels, the two chain wheels at the two ends are connected through the chain wheel rotating shaft, the stepping motor and the first belt seat bearing are arranged at two ends of the frame, the rotating shaft of the stepping motor is connected with one end of the chain wheel rotating shaft, the other end of the chain wheel rotating shaft is arranged in the first belt seat bearing, the stepping motor is controlled to rotate by the industrial personal computer, the chain wheels drive the chains to rotate, cross rods are arranged between the two chains at equal intervals, the elastic clamp body is arranged on the cross rods, a get rid of that is used for the fish body that the centre gripping needs processing, the sprocket is driving the chain motion, and then drives the elasticity clamp and remove, conveys to the fish head centre gripping cutting device station when the fish body, and fish head centre gripping cutting device cuts the fish head, accomplishes a fish head, through three-dimensional modeling at last, carries out the atress analysis to the elasticity clamp atress in the course of working.
The elastic clamp comprises a first gear, a rotating shaft hinge, an aluminum clamp, a pressure sensor, a second gear, a steering engine, a clamp base, a Bluetooth module, a first control circuit board and a storage battery, wherein the clamp base is arranged on a cross rod, the Bluetooth module, the first control circuit board and the storage battery are arranged in the clamp base, the aluminum clamp is connected with the clamp base through the rotating shaft hinge, the first gear is arranged on the rotating shaft hinge, the steering engine is arranged on the clamp base, the second gear is arranged on a rotating shaft of the steering engine, the steering engine is controlled by the first control circuit board to rotate and is in second gear transmission, the second gear is in first gear transmission, the first gear drives the rotating shaft hinge to rotate so as to control the opening and closing of the aluminum clamp, the pressure sensor is arranged in the aluminum clamp and is used for detecting the stress condition of the aluminum clamp and transmitting the detected information to the first control circuit board, the stress of the aluminum clamp is calculated in the first control circuit board, and then the output angle of the steering engine is controlled to adjust the stress of the aluminum clamp, the storage battery is installed in the clamp body base and used for supplying power to the pressure sensor, the Bluetooth module and the first control circuit board, the Bluetooth module and the industrial personal computer are in wireless Bluetooth connection, the instruction of the industrial personal computer is transmitted to the first control circuit board in a Bluetooth transmission mode, and the first control circuit board controls the steering engine to make corresponding actions.
The chain comprises an inner chain plate, an outer chain plate, a pin shaft, a sleeve and a roller, wherein the inner chain plate and the outer chain plate are connected on the pin shaft, the inner chain plate and the outer chain plate are in interference connection, the sleeve and the roller are arranged on the pin shaft, the roller and the pin shaft are in clearance fit, and the pulling force of the chain acts on the pin shaft.
The invention relates to a fish head clamping and cutting device, which comprises a door frame, an optical shaft seat, optical shaft sliders, optical shafts, an installation chassis, a first air cylinder, a fish head clamping jaw, a second air cylinder, a cutting knife installation seat, an electric circular knife and a speed reduction motor, wherein the installation chassis and the door frame are respectively provided with four same optical shaft seats, two optical shaft sliders are respectively arranged on two optical shafts in the horizontal direction, two optical shaft sliders are respectively arranged on two optical shafts in the vertical direction, a first air cylinder is arranged on the installation chassis, the door frame is arranged on the four optical shaft sliders in the horizontal direction, the cutting knife installation seat is arranged on the four optical shaft sliders in the vertical direction, a telescopic shaft of the first air cylinder is connected with the door frame, the door frame is controlled by the expansion and contraction of the first air cylinder to move back and forth, the fish head clamping jaw and the second air cylinder are arranged on the door frame, and a telescopic shaft of the second air cylinder is connected with the cutting knife installation seat, gear motor installs on the cutting knife mount pad, and electric circular knife installs on gear motor's rotation axis, snatchs the fish head by the fish head clamping jaw, and the cutting knife mount pad is controlled to the flexible of industrial computer control second cylinder reciprocates, and industrial computer control gear motor work, and gear motor is driving electric circular knife and is rotating the cutting that realizes the fish head.
The fish head clamping jaw comprises a motor base, a telescopic motor, a driving motor, a supporting column, a clamping jaw, an ultrasonic sensor, a pin, a second bearing with a seat, a manipulator base, a conical block, a second control circuit board and a motor supporting base, wherein the motor base is arranged on a portal, the base of the telescopic motor is arranged on the motor base, the base of the driving motor is arranged on a telescopic rod of the telescopic motor, the motor supporting base is sleeved on a rotating shaft of the driving motor, the motor supporting base is connected with the manipulator base through the supporting column, the conical block is arranged between the rotating shaft of the driving motor and the clamping jaw, the clamping jaw is connected with the manipulator base through the second bearing with a seat, the second bearing with a seat is connected with the clamping jaw through the pin, the second control circuit board controls the driving motor to rotate to drive the conical block to move up and down, and the clamping jaw is opened and closed, ultrasonic sensor installs on the manipulator base, and second control circuit board installs on motor base, and ultrasonic sensor is used for detecting the fish head to the distance between the manipulator base, and with information transmission to the second control circuit board that detects, the second control circuit board controls the flexible of flexible motor according to the distance information that ultrasonic sensor detected, and then adjusts the fish head clamping jaw and stretches to the position that can snatch the fish head, and rethread second control circuit board control driving motor rotates and drives the clamping jaw and snatch the fish head.
The invention realizes the automatic clamping and cutting scheme of the fish head as follows: firstly, initializing the system, controlling the steering engine to rotate reversely by the second control circuit board, opening the aluminum clamp, placing a fish body into the elastic clamp by a worker, transmitting detected information to the second control circuit board after the pressure sensor of the elastic clamp detects the fish body, calculating the stress of the fish body in the second control circuit board, adjusting the rotating angle of the steering engine according to the stress, further adjusting the clamping force of the aluminum clamp, controlling the Bluetooth module to transmit the detected information to the industrial personal computer after the fish body is detected, controlling the stepping motor to rotate to enable the elastic clamp to clamp the fish body to intermittently transmit motion on the chain, detecting the distance between the fish head and the manipulator base by the ultrasonic sensor every time the fish body moves to the fish head clamping jaw, and when the distance between the fish head and the manipulator base exceeds a preset value, the second control circuit board controls the extension of the telescopic motor, the clamping jaw extends to the position of the fish head, the distance between the fish head and the manipulator base is in a preset value range, then the second control circuit board controls the driving motor to rotate, the clamping jaw is contracted to further grasp the fish head, then the telescopic motor is contracted to make the fish head clamping jaw extend forwards and backwards according to the grasped fish head, the fish head is fixed to the horizontal direction of the electric circular knife, the second air cylinder contracts to drive the cutting knife mounting seat to move upwards and further drive the electric circular knife to move upwards to cut the fish head, after the cutting of the fish head is completed, the second air cylinder pushes the cutting knife mounting seat to move downwards, so that the electric circular knife returns to the previous position to wait for the cutting of the next fish head, for the fish with longer fish body, the industrial personal computer controls the first air cylinder to adjust the position of the portal frame, and then the telescopic motor is matched to work, so that the fish head clamping jaw can smoothly grasp the fish head, the industrial personal computer counts once every time the fish head is cut.
Because the invention adopts the structure that the fish body conveying device and the fish head clamping and cutting device work in a mutual cooperation way, the following beneficial effects can be obtained:
the fish body conveying device conveys the fish body to be processed to the fish head clamping and cutting device to cut the fish head, a manual hand-held kitchen knife or an electric saw 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.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an automatic fish head clamping and cutting system according to the present invention;
FIG. 2 is a schematic structural view of a fish body conveying device of an automatic fish head clamping and cutting system according to the present invention;
FIG. 3 is a schematic structural view of an elastic clamp of the automatic fish head clamping and cutting system according to the present invention;
FIG. 4 is a schematic view of a chain of the automatic fish head clamping and cutting system according to the present invention;
FIG. 5 is a schematic structural view of a fish head clamping and cutting device of an automatic fish head clamping and cutting system according to the present invention;
FIG. 6 is a schematic structural view of a fish head clamping jaw of the automatic fish head clamping and cutting system of the present invention;
FIG. 7 is a flow chart of the stress analysis of the elastic clamp body of the automatic fish head clamping and cutting system of the present invention;
FIG. 8 is a flow chart of an automatic fish head clamping and cutting scheme of the automatic fish head clamping and cutting system of the present invention;
fig. 9 is a working schematic diagram of an automatic fish head clamping and cutting system of the invention.
The main elements are indicated with symbols.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings.
As shown in fig. 1, the fish body conveying device 1 is used for conveying fish bodies, the fish head clamping and cutting device 2 is used for cutting fish heads, and the fish bodies to be processed are conveyed to the fish head clamping and cutting device 2 for fish head cutting.
As shown in fig. 1 and fig. 2, the fish body conveying device 1 comprises an industrial personal computer 3, an elastic clamp 4, a frame 5, chains 6, chain wheels 7, bearings 50, a stepping motor 8, chain wheel rotating shafts 9, a support rod 10 and a first belt seat bearing 11, wherein the industrial personal computer 3 is installed above the left side of the frame 5 and is used for controlling the fish body conveying device 1 and the fish head clamping and cutting device 2 to work, four identical chain wheels 7 are installed at two ends of the frame 5, the bearings 50 are installed in the chain wheels 7, the two identical chains 6 are connected to the four chain wheels 7, the two chain wheels 7 at the two ends are connected through the chain wheel rotating shafts 9, the stepping motor 8 and the first belt seat bearing 11 are installed at two ends of the frame 5, the rotating shaft of the stepping motor 8 is connected with one end of the chain wheel rotating shaft 9, the other end of the chain wheel rotating shaft 9 is installed in the first belt seat bearing 11, the industrial personal computer 3 controls the stepping motor 8 to rotate, the step motor 8 is driven by the chain wheel 7, the chain wheel 7 drives the chains 6 to rotate, cross rods are arranged between the two chains 6 at equal intervals, the elastic clamp bodies 4 are arranged on the cross rods and used for clamping fish bodies needing to be processed, the chain wheel 7 drives the chains 6 to move so as to drive the elastic clamp bodies 4 to move, when the fish bodies are conveyed to a position of the fish head clamping and cutting device 2, the fish head clamping and cutting device 2 cuts fish heads to complete one-time fish head removal, finally, through three-dimensional modeling, stress analysis is carried out on stress of the elastic clamp bodies 4 in the processing process, the height of the rack 5 is 100 cm, the lowest end of the fish body conveying is 70 cm, the material selection of the rack 5 mainly depends on the shape complexity degree and the working environment of the rack 5, generally adopts castings, the casting has good performance, can absorb vibration, is cheap in materials, the processing is simple and convenient, and is wide in use, the invention can be installed on other production lines to process rod-shaped objects.
As shown in fig. 3, the elastic clamp 4 includes a first gear 12, a rotating shaft hinge 13, an aluminum clamp 14, a pressure sensor 15, a second gear 16, a steering engine 17, a clamp base 18, a bluetooth module 19, a first control circuit board 20, and a storage battery 21, the clamp base 18 is installed on a cross bar, the bluetooth module 19, the first control circuit board 20, and the storage battery 21 are installed in the clamp base 18, the aluminum clamp 14 is connected with the clamp base 18 by the rotating shaft hinge 13, the rotating shaft hinge 13 is installed with the first gear 12, the steering engine 17 is installed on the clamp base 18, the second gear 16 is installed on a rotating shaft of the steering engine 17, the first control circuit board 20 controls the steering engine 17 to rotate, the steering engine 17 is driven by the second gear 16, the second gear 16 is driven by the first gear 12, the first gear 12 drives the rotating shaft hinge 13 to rotate, so as to control the opening and closing of the aluminum clamp 14, the pressure sensor 15 is installed in the aluminum clamp 14, the device is used for detecting the stress condition of the aluminum clamp 14, transmitting detected information to the first control circuit board 20, calculating the stress magnitude of the aluminum clamp 14 in the first control circuit board 20, further controlling the output angle of the steering engine 17 to adjust the stress magnitude of the aluminum clamp 14, preventing the fish body from being damaged due to the fact that the aluminum clamp 14 exerts too hard when clamping the fish body, the storage battery 21 is installed in the clamp base 18 and used for supplying power to the pressure sensor 15, the Bluetooth module 19 and the first control circuit board 20, the Bluetooth module 19 and the industrial personal computer 3 establish a wireless Bluetooth connection relation, transmitting an instruction of the industrial personal computer 3 to the first control circuit board 20 in a Bluetooth transmission mode, and the first control circuit board 20 controls the steering engine 17 to make corresponding actions.
As shown in fig. 4, the chain 6 includes an inner link plate 22, an outer link plate 23, a pin 24, a sleeve 25, and a roller 26, the inner link plate 22 and the outer link plate 23 are connected to the pin 24, the shaft, the inner link plate 22 and the outer link plate 23 are connected in an interference manner, the sleeve 25 and the roller 26 are mounted on the pin 24, the roller 26 and the pin 24 are in clearance fit, and the pulling force of the chain 6 acts on the pin 24, so that the tight connection between the chains 6 and the movement of the roller 26 can be ensured, the inner link plate 23 and the outer link plate 23 are formed into an 8 shape, the weight can be reduced, and the strength of each section can be equal.
As shown in fig. 5, the fish head clamping and cutting device 2 comprises a door frame 27, an optical axis seat 28, optical axis sliders 29, optical axes 30, a mounting base plate 31, a first air cylinder 32, a fish head clamping jaw 33, a second air cylinder 34, a cutting knife mounting seat 35, an electric circular knife 36 and a speed reduction motor 37, wherein four identical optical axis seats 28 are respectively mounted on the mounting base plate 31 and the door frame 27, two optical axis sliders 29 are respectively mounted on two optical axes 30 in the horizontal direction, two optical axis sliders 29 are respectively mounted on two optical axes 30 in the vertical direction, the first air cylinder 32 is mounted on the mounting base plate 31, the door frame 27 is mounted on the four optical axis sliders 29 in the horizontal direction, the cutting knife mounting seat 35 is mounted on the four optical axis sliders 29 in the vertical direction, the telescopic shaft of the first air cylinder 32 is connected with the door frame 27, the industrial personal computer 3 controls the telescopic shaft of the first air cylinder 32 to control the door frame 27 to move back and forth, fish head clamping jaw 33, second cylinder 34 is installed on portal 27, the telescopic shaft and the cutting knife mount pad 35 of second cylinder 34 are connected, gear motor 37 is installed on cutting knife mount pad 35, electricity circular knife 36 is installed on gear motor 37's rotation axis, snatch the fish head by fish head clamping jaw 33, the flexible cutting knife mount pad 35 that controls of industrial computer 3 control second cylinder 34 reciprocates, industrial computer 3 control gear motor 37 work, gear motor 37 is driving electricity circular knife 36 to rotate and is realized the cutting to the fish head.
As shown in fig. 6, the fish head clamping jaw 33 includes a motor base 38, a telescopic motor 39, a driving motor 40, a supporting column 41, a clamping jaw 42, an ultrasonic sensor 43, a pin 44, a second bearing with a seat 45, a manipulator base 46, a cone block 47, a second control circuit board 48, and a motor supporting base 49, wherein the motor base 38 is installed on the gantry 27, the base of the telescopic motor 39 is installed on the motor base 38, the base of the driving motor 40 is installed on the telescopic rod of the telescopic motor 39, the motor supporting base 49 is sleeved on the rotating shaft of the driving motor 40, the motor supporting base 49 is connected with the base of the manipulator base 46 through the supporting column 41, the supporting column 41 is a framework of an integral structure, and not only plays a role of connection and fixation, but also bears the weight on both sides, and is the basis of the movement of the clamping jaw 42, the cone block 47 is installed between the rotating shaft of the driving motor 40 and the clamping jaw 42, the clamping jaw 42 mainly has the functions of clamping a fish head, the clamping jaw 42 is connected with a manipulator base 46 through a second pedestal bearing 45, the second pedestal bearing 45 is connected with the clamping jaw 42 through a pin 44, the pin 44 plays a role in fixing and bearing shearing force, the manipulator base 46 is a central framework of the clamping jaw 42 and plays a role in fixing the clamping jaw 42 and also bears the force of the clamping jaw 42 in the grabbing process and when the fish head is cut, three holes and three grooves are formed in the manipulator base 46, the holes are used for mounting and supporting, the grooves are used for mounting the clamping jaw 42, the movable space of the clamping jaw 42 is reserved, a second control circuit board 48 controls a driving motor 40 to rotate to drive a conical block 47 to move up and down, so that the clamping jaw 42 is opened and closed, an ultrasonic sensor 43 is mounted on the manipulator base 46, the second control circuit board 48 is mounted on the motor base 38, the ultrasonic sensor 43 is used for detecting the distance between the fish head and the manipulator base 46, and transmit the information that detects to second control circuit board 48, second control circuit board 48 controls the flexible of flexible motor 39 according to the distance information that ultrasonic sensor 43 detected, and then adjusts fish head clamping jaw 33 and stretches to the position that can snatch the fish head, and rethread second control circuit board 48 controls driving motor 40 and rotates and drive clamping jaw 42 and snatch the fish head. The fish head clamping jaw 33 is designed into a three-clamping jaw 42 according to a machine tool chuck, the fish head clamping jaw 33 is driven by an electric type, then the cone is driven by the driving motor 40 to move back and forth, when the cone is pushed forward, the tail end of the fish head clamping jaw 33 is pushed open, the front end clamping jaw 42 is contracted to clamp the fish head, when the fish head is cut by the lower electric circular knife 36, the driving motor 40 is driven to rotate reversely, the fish head clamping jaw 33 is retracted, and the front end of the clamping jaw 42 is loosened.
As shown in fig. 8, the scheme for automatically clamping and cutting the fish head of the present invention comprises: firstly, initializing the system, controlling the steering engine 17 to rotate reversely by the second control circuit board 48, opening the aluminum clamp 14, placing a fish body into the elastic clamp body 4 by a worker, transmitting detected information to the second control circuit board 48 after the pressure sensor 15 of the elastic clamp body 4 detects that the fish body exists, calculating the stress magnitude of the fish body in the second control circuit board 48, adjusting the rotating angle of the steering engine 17 according to the stress magnitude, further adjusting the clamping force of the aluminum clamp 14, controlling the Bluetooth module 19 to transmit the detected information to the industrial personal computer 3 by the second control circuit board 48 after the fish body is detected, controlling the stepping motor 8 to rotate by the industrial personal computer 3, enabling the elastic clamp body 4 to clamp the fish body on the chain 6 to intermittently transmit motion, wherein the fish body just moves to the fish head clamping jaw 33 after moving once, detecting the distance between the fish head and the manipulator base 46 by the ultrasonic sensor 43, when the distance between the fish head and the manipulator base 46 exceeds a preset value, the second control circuit board 48 controls the extension motor 39 to extend, the clamping jaw 42 is extended to the position of the fish head, so that the distance between the fish head and the manipulator base 46 is within a preset value range, then the second control circuit board 48 controls the driving motor 40 to rotate, so that the clamping jaw 42 is contracted, the fish head is further grasped, then the extension motor 39 is contracted, so that the fish head clamping jaw 33 is extended and contracted forwards according to the grasped fish head, the fish head is fixed to the horizontal direction of the electric circular knife 36, the second air cylinder 34 is contracted to drive the cutting knife mounting seat 35 to move upwards, so that the electric circular knife 36 is driven to move upwards to cut the fish head, after the fish head is cut, the second air cylinder 34 pushes the cutting knife mounting seat 35 to move downwards, so that the electric circular knife 36 returns to the previous position to wait for the next fish head to be cut, to the longer fish of fish body, adjust the position of portal 27 by first cylinder 32 of industrial computer 3 control, cooperate flexible motor 39 work again for fish head clamping jaw 33 can grasp the fish head smoothly, and every cutting is a fish head, and industrial computer 3 just counts once.
The working principle and the working process of the invention are as follows:
as shown in fig. 9, after the pressure sensor 15 of the elastic clamp 4 detects that there is a fish, the detected information is transmitted to the second control circuit board 48, the stress of the fish is calculated in the second control circuit board 48, the rotation angle of the steering engine 17 is adjusted according to the stress, and the clamping force of the aluminum clamp 14 is further adjusted, after the fish is detected, the second control circuit board 48 controls the bluetooth module 19 to transmit the detected information to the industrial personal computer 3, the industrial personal computer 3 controls the stepping motor 8 to rotate, so that the elastic clamp 4 clamps the fish and intermittently transmits the motion on the chain 6, the distance between the fish head and the manipulator base 46 is detected by the ultrasonic sensor 43, the second control circuit board 48 controls the extension motor 39 to extend, the clamping jaw 42 extends to the position of the fish head, and the distance between the fish head and the manipulator base 46 is within a preset value range, and then the second control circuit board 48 controls the driving motor 40 to rotate, make clamping jaw 42 shrink, and then grasp the fish head, flexible motor 39 contracts after that, make fish head clamping jaw 33 stretch out and draw back around according to the fish head of grasping, fix the fish head to electric circular knife 36 horizontal direction, it drives cutting knife mount pad 35 and upwards moving to contract by industrial computer 3 control second cylinder 34, and then it is upwards to drive electric circular knife 36, industrial computer 3 control gear motor 37 rotates, and then the cutting fish head, accomplish the fish head cutting back, second cylinder 34 is promoting cutting knife mount pad 35 and downwards moving, make electric circular knife 36 get back to previous position, wait for the cutting of next fish head, fish longer to the fish body, adjust the position of portal 27 by industrial computer 3 control first cylinder 32, cooperate flexible motor 39 work again, make fish head clamping jaw 33 can grasp the fish head smoothly.
Claims (6)
1. The utility model provides an automatic centre gripping cutting system of fish head which characterized in that: including fish body conveyer and fish head centre gripping cutting device, fish body conveyer is used for transmitting the fish body, fish body conveyer mainly adopts the chain to carry, install the fixed fish body of elastic clamp body on the chain, the elastic clamp body adopts the slider to promote the shrink that the mode realized the clamping jaw, fish head centre gripping cutting device installs at fish head conveying afterbody, the elastic clamp body is holding the fish body and is conveying the motion intermittently on the chain, convey the cutting device station to fish head centre gripping when the fish body, fish head centre gripping cutting device work, accomplish the getting rid of one fish head, at last through three-dimensional modeling, carry out the atress analysis to the elastic clamp body atress in the course of working.
2. The automatic fish head clamping and cutting system of claim 1, wherein: the fish body conveying device comprises an industrial personal computer, an elastic clamp body, a rack, chains, chain wheels, a stepping motor, a chain wheel rotating shaft, a supporting rod and a first belt seat bearing, wherein the industrial personal computer is arranged at the upper left part of the rack and used for controlling the fish body conveying device and the fish head clamping and cutting device to work, four same chain wheels are arranged at two ends of the rack, the bearings are arranged in the chain wheels, two same chains are connected to the four chain wheels, the two chain wheels at the two ends are connected through the chain wheel rotating shaft, the stepping motor and the first belt seat bearing are arranged at two ends of the rack, the rotating shaft of the stepping motor is connected with one end of the chain wheel rotating shaft, the other end of the chain wheel rotating shaft is arranged in the first belt seat bearing, the stepping motor is controlled by the industrial personal computer to rotate, the chain wheels drive the chains to rotate, cross rods are arranged between the two chains at equal intervals, and the elastic clamp body is arranged on the cross rods, a get rid of that is used for the fish body that the centre gripping needs processing, the sprocket is driving the chain motion, and then drives the elasticity clamp and remove, conveys to the fish head centre gripping cutting device station when the fish body, and fish head centre gripping cutting device cuts the fish head, accomplishes a fish head, through three-dimensional modeling at last, carries out the atress analysis to the elasticity clamp atress in the course of working.
3. The automatic fish head clamping and cutting system of claim 2, wherein: the elastic clamp comprises a first gear, a rotating shaft hinge, an aluminum clamp, a pressure sensor, a second gear, a steering engine, a clamp base, a Bluetooth module, a first control circuit board and a storage battery, wherein the clamp base is arranged on a cross rod, the Bluetooth module, the first control circuit board and the storage battery are arranged in the clamp base, the aluminum clamp is connected with the clamp base through the rotating shaft hinge, the first gear is arranged on the rotating shaft hinge, the steering engine is arranged on the clamp base, the second gear is arranged on a rotating shaft of the steering engine, the steering engine is controlled by the first control circuit board to rotate and is in second gear transmission, the second gear is in first gear transmission, the first gear drives the rotating shaft hinge to rotate so as to control the opening and closing of the aluminum clamp, the pressure sensor is arranged in the aluminum clamp and is used for detecting the stress condition of the aluminum clamp and transmitting detected information to the first control circuit board, the stress of the aluminum clamp is calculated in the first control circuit board, and then the output angle of the steering engine is controlled to adjust the stress of the aluminum clamp, the storage battery is installed in the clamp body base and used for supplying power to the pressure sensor, the Bluetooth module and the first control circuit board, the Bluetooth module and the industrial personal computer are in wireless Bluetooth connection, the instruction of the industrial personal computer is transmitted to the first control circuit board in a Bluetooth transmission mode, and the first control circuit board controls the steering engine to make corresponding actions.
4. The automatic fish head clamping and cutting system of claim 1, wherein: the fish head clamping and cutting device comprises a door frame, an optical axis seat, optical axis sliders, an optical axis, an installation base plate, a first air cylinder, a fish head clamping jaw, a second air cylinder, a cutting knife installation seat, an electric circular knife and a speed reduction motor, wherein four identical optical axis seats are respectively installed on the installation base plate and the door frame, two optical axis sliders are respectively installed on two optical axes in the horizontal direction, two optical axis sliders are respectively installed on two optical axes in the vertical direction, the first air cylinder is installed on the installation base plate, the door frame is installed on the four optical axis sliders in the horizontal direction, the cutting knife installation seat is installed on the four optical axis sliders in the vertical direction, an expansion shaft of the first air cylinder is connected with the door frame, the door frame is controlled to move back and forth by controlling the expansion of the first air cylinder, the fish head clamping jaw and the second air cylinder are installed on the door frame, and an expansion shaft of the second air cylinder is connected with the cutting knife installation seat, gear motor installs on the cutting knife mount pad, and electric circular knife installs on gear motor's rotation axis, snatchs the fish head by the fish head clamping jaw, and the cutting knife mount pad is controlled to the flexible of industrial computer control second cylinder reciprocates, and industrial computer control gear motor work, and gear motor is driving electric circular knife and is rotating the cutting that realizes the fish head.
5. The automatic fish head clamping and cutting system of claim 4, wherein: the fish head clamping jaw comprises a motor base, a telescopic motor, a driving motor, a support column, a clamping jaw, an ultrasonic sensor, a pin, a second belt seat bearing, a manipulator base, a conical block, a second control circuit board and a motor support base, wherein the motor base is arranged on a portal, the base of the telescopic motor is arranged on the motor base, the base of the driving motor is arranged on a telescopic rod of the telescopic motor, the motor support base is sleeved on a rotating shaft of the driving motor, the motor support base is connected with the manipulator base through the support column, the conical block is arranged between the rotating shaft of the driving motor and the clamping jaw, the clamping jaw is connected with the manipulator base through the second belt seat bearing, the second belt seat bearing is connected with the clamping jaw through the pin, the second control circuit board controls the driving motor to rotate to drive the conical block to move up and down, and the clamping jaw is opened and closed, ultrasonic sensor installs on the manipulator base, and second control circuit board installs on motor base, and ultrasonic sensor is used for detecting the fish head to the distance between the manipulator base, and with information transmission to the second control circuit board that detects, the second control circuit board controls the flexible of flexible motor according to the distance information that ultrasonic sensor detected, and then adjusts the fish head clamping jaw and stretches to the position that can snatch the fish head, and rethread second control circuit board control driving motor rotates and drives the clamping jaw and snatch the fish head.
6. The automatic fish head clamping and cutting system of claim 1, wherein: the automatic clamping and cutting scheme for the fish head is realized as follows: firstly, initializing the system, controlling the steering engine to rotate reversely by the second control circuit board, opening the aluminum clamp, placing a fish body into the elastic clamp by a worker, transmitting detected information to the second control circuit board after the pressure sensor of the elastic clamp detects the fish body, calculating the stress of the fish body in the second control circuit board, adjusting the rotating angle of the steering engine according to the stress, further adjusting the clamping force of the aluminum clamp, controlling the Bluetooth module to transmit the detected information to the industrial personal computer after the fish body is detected, controlling the stepping motor to rotate to enable the elastic clamp to clamp the fish body to intermittently transmit motion on the chain, detecting the distance between the fish head and the manipulator base by the ultrasonic sensor every time the fish body moves to the fish head clamping jaw, and when the distance between the fish head and the manipulator base exceeds a preset value, the second control circuit board controls the extension of the telescopic motor, the clamping jaw extends to the position of the fish head, the distance between the fish head and the manipulator base is in a preset value range, then the second control circuit board controls the driving motor to rotate, the clamping jaw is contracted to further grasp the fish head, then the telescopic motor is contracted to make the fish head clamping jaw extend forwards and backwards according to the grasped fish head, the fish head is fixed to the horizontal direction of the electric circular knife, the second air cylinder contracts to drive the cutting knife mounting seat to move upwards and further drive the electric circular knife to move upwards to cut the fish head, after the cutting of the fish head is completed, the second air cylinder pushes the cutting knife mounting seat to move downwards, so that the electric circular knife returns to the previous position to wait for the cutting of the next fish head, for the fish with longer fish body, the industrial personal computer controls the first air cylinder to adjust the position of the portal frame, and then the telescopic motor is matched to work, so that the fish head clamping jaw can smoothly grasp the fish head, the industrial personal computer counts once every time the fish head is cut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210810810.8A CN115005254A (en) | 2022-07-11 | 2022-07-11 | Automatic clamping and cutting system for fish head |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210810810.8A CN115005254A (en) | 2022-07-11 | 2022-07-11 | Automatic clamping and cutting system for fish head |
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| CN115005254A true CN115005254A (en) | 2022-09-06 |
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| CN202210810810.8A Pending CN115005254A (en) | 2022-07-11 | 2022-07-11 | Automatic clamping and cutting system for fish head |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116892874A (en) * | 2023-07-26 | 2023-10-17 | 武汉轻工大学 | Fish body size measurer |
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| CN116892874A (en) * | 2023-07-26 | 2023-10-17 | 武汉轻工大学 | Fish body size measurer |
| CN116892874B (en) * | 2023-07-26 | 2024-09-20 | 武汉轻工大学 | Fish body size measurer |
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Application publication date: 20220906 |