CN218506951U

CN218506951U - Bay scallop orienting device based on vision

Info

Publication number: CN218506951U
Application number: CN202221530135.5U
Authority: CN
Inventors: 王文涛; 王家忠; 吴建; 解云辉; 张虹
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-06-17
Filing date: 2022-06-17
Publication date: 2023-02-21
Anticipated expiration: 2032-06-17

Abstract

The utility model discloses a bay scallop orientation equipment based on vision, which comprises a frame, image processing apparatus and controller, frame upper portion is equipped with the conveyer belt, the conveyer belt top is equipped with image acquisition device and orienting device along its direction of delivery in proper order, orienting device includes that the carriage establishes the portal frame in the conveyer belt both sides, portal frame is located the top of conveyer belt, portal frame horizontal slip is equipped with lateral shifting device, be equipped with elevating gear on the lateral shifting device, it is provided with grabbing device to rotate on the elevating gear, grabbing device includes two jack catchs that open and shut the setting, two jack catchs set up relatively, image acquisition device, the controller all with image processing apparatus electric connection. The utility model discloses a bay scallop orientation equipment based on vision through setting up image acquisition device, image processing apparatus, controller and orienting device, has realized the automatic orientation of bay scallop, and labour saving and time saving has improved production efficiency and orientation precision.

Description

Bay scallop orienting device based on vision

Technical Field

The utility model relates to a scallop directional equipment technical field, in particular to bay scallop directional equipment based on vision.

Background

The scallop industry is an important component of fishery in China, and the meat, shell and pearl layer of the scallop have extremely high utilization value. The scallop adductor is a delicious food on dining tables of people, the bay scallop is an important variety introduced in China, the shells of the bay scallop are fan-shaped and slightly symmetrical, and the acquisition difficulty of the scallop adductor is increased due to the particularity of the physiological structure of the bay scallop. In order to realize automation of stripping the scallop columns of the bay scallops, the bay scallops need to be oriented before stripping, namely, the scallops are arranged in order according to the same posture and direction, and preparation is made for stripping the scallops. At present, the manual mode is still adopted for orientation in most areas of China, the labor intensity of workers is high, the orientation precision is low, and the efficiency is low. Therefore, there is a strong need for an automated bay scallop orienting apparatus that improves production efficiency and orientation accuracy.

SUMMERY OF THE UTILITY MODEL

To the above problem, the utility model aims at providing a bay scallop directional equipment based on vision to it is big to solve the workman intensity of labour who adopts artifical mode to lead to when directional to the scallop, and directional precision is not high and the problem of inefficiency.

The utility model discloses a realize like this:

the utility model provides a bay scallop orientation equipment based on vision, includes frame, image processing apparatus and controller, and frame upper portion level is equipped with the conveyer belt, and the conveyer belt top is equipped with image acquisition device and orienting device along its direction of delivery in proper order, and orienting device includes that the carriage establishes the portal frame in the conveyer belt top, and the horizontal slip is equipped with lateral shifting device on the portal frame, is equipped with the perpendicular to on the lateral shifting device the elevating gear that conveyer belt direction of delivery arranged rotates on the elevating gear and is provided with grabbing device, and grabbing device includes two jack catchs that open and shut the setting, and two jack catchs set up relatively, and image acquisition device, controller all with image processing apparatus electric connection.

Furthermore, two guide rails for mounting the portal frame are arranged on two sides of the conveyor belt in a direction parallel to the conveying direction, and racks are horizontally and fixedly arranged right below the guide rails.

Furthermore, the portal frame comprises vertical beams vertically arranged on two sides of the conveyor belt and a cross beam arranged between the two vertical beams in a crossing mode through the parallel conveyor belt, the lower portion of each vertical beam is rotatably provided with a gear meshed with the rack and walking wheels assembled on the guide rails, a first lead screw is rotatably arranged on the cross beam, sliding rails are fixedly arranged in an up-down layered mode in parallel with the first lead screw, and the first lead screw and the two sliding rails are perpendicular to the conveying direction of the conveyor belt.

Furthermore, the transverse moving device comprises a transverse moving frame, a connecting support and two sliding blocks are fixedly arranged on the transverse moving frame, the connecting support is connected with a first screw rod through thread sleeving, and the sliding blocks are arranged on the sliding rails in a sliding mode.

Furthermore, elevating gear includes crane and the vertical second lead screw that sets up, and the second lead screw rotates to wear to adorn on the lateral shifting frame, crane and second lead screw threaded connection.

Furthermore, elevating gear still includes the pole setting of two vertical settings, two pole settings be located the both sides of second lead screw and with lateral shifting frame fixed connection, the pole setting runs through the crane, crane and pole setting sliding connection.

Further, grabbing device includes the mounting bracket, mounting bracket and crane fixed connection, and the vertical first motor that is equipped with in mounting bracket bottom, the output shaft fixed connection rotary disk of first motor, the vertical second motor that is equipped with on the rotary disk, the one end of the output shaft fixed connection third lead screw of second motor, the other end threaded connection supporting seat of third lead screw, the supporting seat passes through link mechanism and connects the jack catch.

Furthermore, the image acquisition device comprises a light source box for acquiring images of bay scallops on the conveyor belt, and a camera and a lighting lamp are arranged at the top of the inner wall of the light source box.

The utility model has the advantages that:

the utility model discloses a bay scallop directional device based on vision, the image acquisition device of setting sends the state picture of the bay scallop of gathering to image processing apparatus, image processing apparatus carries out analysis processes to the image of the bay scallop received and calculates the contained angle that reachs bay scallop and conveyer belt direction of transfer, and send this angle to the controller, the controller combines the conveying speed of conveyer belt to control first motor respectively according to the angle that obtains, the second motor, the third motor, fourth motor and fifth motor, and the portal frame who sets up can follow the direction reciprocating motion of conveyer belt, the lateral shifting device that sets up can follow the direction reciprocating motion perpendicular to conveyer belt direction of transfer, the elevating gear that sets up can reciprocate along vertical direction, through the portal frame, lateral shifting device and elevating gear drive grabbing device realize vertically, the removal of horizontal and high three direction is finally fixed a position to the position of bay scallop; the rotating disc drives the clamping jaws to rotate to the same direction as the bay scallops, the synchronously opened and closed clamping jaws clamp and loosen the bay scallops, and finally the direction of the bay scallops on the conveyor belt is adjusted to be consistent with the conveying direction of the conveyor belt, so that the automatic orientation of the bay scallops is completed, the time and the labor are saved, and the production efficiency and the orientation precision are improved.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

Fig. 1 is a schematic perspective view of the present invention;

fig. 2 is a schematic perspective view of the second embodiment of the present invention;

FIG. 3 is a front view of the present invention;

fig. 4 is an enlarged schematic perspective view of the gripping device of the present invention;

fig. 5 is a schematic diagram of a fitting graph of the image processing apparatus according to the present invention.

Description of reference numerals:

1. a frame; 11. a column; 12. a side beam; 13. an end beam; 14. a guide rail; 15. a rack; 16. a conveyor belt; 2. a door frame; 21. a cross beam; 22. erecting a beam; 23. a gear; 24. a running wheel; 241. a groove; 25. a third motor; 26. a drive shaft; 27. a first lead screw; 28. a slide rail; 29. a fourth motor; 3. a transverse moving frame; 31. connecting a support; 32. a slider; 4. a lifting device; 41. a lifting frame; 42. a second lead screw; 43. a fifth motor; 44. erecting a rod; 5. a gripping device; 51. a mounting frame; 52. a first motor; 53. rotating the disc; 54. a second motor; 55. a third screw rod; 56. a supporting seat; 57. a link mechanism; 571. a first link; 572. a second link; 573. a third link; 574. a fourth link; 575. a fifth link; 58. a jaw; 6. bay scallops; 61. a minimum circumscribed circle; 62. a minimum circumscribed rectangle; 63. a line segment; 64. a first point; 65. a second point; 7. a light source box; 8. a camera.

Detailed Description

The technical solution in the embodiment of the present invention is clearly and completely described below with reference to the drawings in the embodiment of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, other ways of implementing the invention may be devised different from those described herein, and it will be apparent to those skilled in the art that the invention can be practiced without departing from the spirit and scope of the invention.

Fig. 1-5 show that the utility model discloses a bay scallop directional device based on vision, including frame 1, image processing apparatus (not shown in the figure) and controller (not shown in the figure), frame 1 upper portion level is equipped with conveyer belt 16, is equipped with image acquisition device and orienting device along its direction of delivery in proper order above the conveyer belt 16. The conveyor 16 is driven by a motor, which is not described in detail herein.

The rack 1 is of a frame structure formed by welding upright posts 11, side beams 12 and end beams 13, and the length direction of the side beams 12 is the same as that of the rack 1. Two guide rails 14 are arranged on two sides of the conveyor belt 16 in the parallel conveying direction, namely the two guide rails 14 are transversely arranged on the top of the rack 1, the two guide rails 14 are located on two sides of the conveyor belt 16, and a rack 15 is horizontally and fixedly arranged right below the guide rails 14. In this embodiment, a guide rail 14 is fixedly arranged at the top of a side beam 12 at the top of the frame 1, the guide rail 14 is in a convex shape, a rack 15 is fixedly arranged at the bottom of the side beam 12, and the length directions of the guide rail 14 and the rack 15 are the same as the length direction of the side beam 12.

The orienting device comprises a portal frame 2 which slides above a conveyor belt 16, the portal frame 2 is positioned above the conveyor belt 16, and the length direction of the portal frame 2 is vertical to the conveying direction of the conveyor belt 16. The portal frame 2 comprises vertical beams 22 standing on both sides of the conveyor 16 and a transverse beam 21 straddling the two vertical beams 22 and straddling the parallel conveyor 16, the lower part of each vertical beam 22 being rotatably provided with a gear 23 meshing with the rack 15 and running wheels 24 fitted on the guide rails 14 in contact with the top faces of the guide rails 14. The number of the running wheels 24 arranged on each vertical beam 22 is two, and the two running wheels 24 are arranged along the length direction of the frame 1. The running wheels 24 are of the double rim type and are provided with a groove 241 in the middle, the size of the groove 241 being adapted to the protruding part of the guide rail 14. The bottom surface of the groove 241 of the walking wheel 24 is contacted with the top surface of the convex part of the guide rail 14, a small gap is arranged between two side surfaces of the groove 241 of the walking wheel 24 and two side surfaces of the convex part of the guide rail 14, so that the walking wheel 24 can slide on the guide rail 14 flexibly, and meanwhile, the convex-shaped guide rail 14 can limit the left-right moving direction of the walking wheel 24, so that the limiting and positioning effects are realized, and the moving precision of the walking wheel 24 is improved. One of the gears 23 is fixedly connected with an output shaft of a third motor 25, the third motor 25 is fixedly arranged on one of the vertical beams 22, and the two gears 23 are connected with a coupling (not shown) through a transmission shaft 26. The third motor 25 is started, the third motor 25 rotates to drive the gear 23 fixedly connected with the third motor to rotate, the transmission power of the transmission shaft 26 drives the other gear 23 to synchronously rotate, and the arrangement of the gear 23 and the rack 15 and the matching of the convex-shaped guide rail 14 and the double-wheel-rim type traveling wheel 24 enable the two sides of the portal frame 2 to synchronously move along the length direction of the rack 1, so that the moving precision of the portal frame 2 is improved.

The beam 21 is rotatably provided with a first screw rod 27, and the two slide rails 28 are parallel to the first screw rod 27 and fixedly arranged in an up-down layered manner, the number of the slide rails 28 is two, the two slide rails 28 are respectively positioned at the upper side and the lower side of the first screw rod 27, and the first screw rod 27 and the two slide rails 28 are both perpendicular to the conveying direction of the conveyor belt 16. One end of the first lead screw 27 is fixedly connected with an output shaft of a fourth motor 29 fixed on the vertical beam 22 at the corresponding side, the fourth motor 29 is started, and the fourth motor 29 rotates to drive the first lead screw 27 fixedly connected with the fourth motor to rotate.

The portal frame 2 is horizontally provided with a transverse moving device in a sliding manner, and the transverse moving device moves along the length direction of the portal frame 2, namely the moving direction of the transverse moving device is perpendicular to the conveying direction of the conveyor belt 16. The transverse moving device comprises a transverse moving frame 3, a connecting support 31 and two sliding blocks 32 are fixedly arranged on the transverse moving frame 3, the connecting support 31 is connected with the first screw rod 27 through threaded sleeving, the sliding blocks 32 are arranged on the sliding rails 28 in a sliding mode, and the sliding blocks 32 correspond to the sliding rails 28 and are connected with the sliding rails 28 in a sliding mode. The first screw 27 penetrates through the connecting support 31, the two sliding blocks 32 are respectively positioned above and below the connecting support 31, the positions and the sizes of the two sliding blocks are matched with those of the sliding rail 28, and the sliding blocks 32 reciprocate along the length direction of the sliding rail 28, so that the guiding effect is achieved, and the transverse moving frame 3 can be ensured to slide along the length direction of the sliding rail 28. And starting the fourth motor 29, wherein the fourth motor 29 rotates to drive the first screw rod 27 fixedly connected with the fourth motor to rotate, and the first screw rod 27 rotates to drive the transverse moving frame 3 in threaded connection with the first screw rod to slide along the axial direction of the transverse moving frame, namely, the transverse moving frame 3 horizontally moves along the direction vertical to the conveying direction of the conveyor belt 16.

The transverse moving device is provided with a lifting device 4 which is arranged perpendicular to the conveying direction of the conveyor belt 16, namely the transverse moving frame 3 is provided with the lifting device 4. The lifting device 4 comprises a lifting frame 41 and a vertically arranged second screw rod 42, the second screw rod 42 is rotatably mounted on the transverse moving frame 3 in a penetrating manner, one end of the second screw rod 42 is fixedly connected with an output shaft of a fifth motor 43 arranged at the top of the transverse moving frame 3, and the other end of the second screw rod 42 is rotatably connected with the transverse moving frame 3. The lifting frame 41 is in threaded connection with the second screw rod 42, and the second screw rod 42 penetrates through the lifting frame 41. The lifting device 4 further comprises two upright posts 44 which are vertically arranged, the two upright posts 44 are positioned at the left side and the right side of the second screw rod 42 and are fixedly connected with the transverse moving frame 3, the upright posts 44 penetrate through the lifting frame 41, and the two upright posts 44 are used as a guide to enable the lifting frame 41 to be in sliding connection with the upright posts 44. And starting the fifth motor 43, wherein the fifth motor 43 rotates to drive the second screw rod 42 fixedly connected with the fifth motor to rotate, and the second screw rod 42 rotates to drive the lifting frame 41 in threaded connection with the second screw rod to vertically move up and down under the guiding action of the vertical rod 44, so as to drive the lifting device 4 to vertically move up and down.

The lifting device 4 is rotatably provided with a gripping device 5, the gripping device 5 comprises two jaws 58 which are opened and closed, the two jaws 58 are arranged oppositely, and the two jaws 58 are opened and closed synchronously for clamping and loosening the bay scallop 6. The gripping device 5 comprises a mounting frame 51, the mounting frame 51 is fixedly connected with the lifting frame 41, and the lifting frame 41 drives the mounting frame 51 to move synchronously when moving vertically up and down. The bottom of the mounting frame 51 is vertically provided with a first motor 52, an output shaft of the first motor 52 is fixedly connected with a rotating disc 53, and the first motor 52 rotates to drive the rotating disc 53 fixedly connected with the first motor to rotate synchronously. The rotating disc 53 is vertically provided with a second motor 54, an output shaft of the second motor 54 is fixedly connected with one end of a third screw 55, the other end of the third screw 55 is in threaded connection with a supporting seat 56, the second motor 54 rotates to drive the third screw 55 fixedly connected therewith to synchronously rotate, and the third screw 55 rotates to drive the supporting seat 56 in threaded connection therewith to move up and down along the axial direction of the third screw 55. The supporting seats 56 are respectively connected with the claws 58 on the corresponding sides through link mechanisms 57, the number of the link mechanisms 57 is two, and the two sets of the link mechanisms 57 are symmetrically arranged along the axial direction of the third screw 55. The link mechanism 57 includes a first link 571, a second link 572, a third link 573, and a fourth link 574. One end of the first connecting rod 571 is rotatably connected to the support base 56, the other end is rotatably connected to the middle portion of the second connecting rod 572, one end of the second connecting rod 572 is rotatably connected to one end of the third connecting rod 573, and the other end is rotatably connected to the pawl 58. The other end of the third connecting rod 573 is fixedly connected with the rotating disc 53, a fourth connecting rod 574 and a fifth connecting rod 575 are further connected between one end of the second connecting rod 572 close to the claw 58 and the claw 58, one end of the fourth connecting rod 574 is rotatably connected with the second connecting rod 572, the other end is rotatably connected with one end of the fifth connecting rod 575, and the other end of the fifth connecting rod 575 is rotatably connected with the claw 58. The supporting seat 56 in threaded connection with the third screw 55 is connected with the claw 58 through a link mechanism 57, and when the third screw 55 rotates, the supporting seat 56 is driven to move up and down along the axial direction thereof, and finally the claw 58 is driven to open and close through the action of the link mechanism 57.

The image acquisition device comprises a light source box 7 for acquiring images of bay scallops 6 on a conveyor belt 16, the light source box 7 is erected above the conveyor belt 16, and a camera 8 and a lighting lamp (not shown in the figure) are arranged on the top of the inner wall of the light source box 7. The illuminating lamp is selected from commercially available existing products, preferably an LED lamp source, and provides sufficient light source for the camera 8. The camera 8 is a product sold on the market, so that the shot picture is clear, and the shot picture is sent to the image processing device.

The image processing device receives the pictures sent by the image acquisition device, and analyzes and processes the pictures to obtain the included angle between the bay scallops 6 on the conveyor belt 16 and the conveying direction of the conveyor belt 16. The image processing procedure is as follows:

the first step is as follows: the image of the bay scallop 6 is taken by circle fitting to generate a minimum circumscribed circle 61 of the outer contour of the bay scallop 6, and the center of the minimum circumscribed circle 61 is obtained.

The second step is that: the contour of the bay scallop 6 is fitted with a rectangle to generate a minimum bounding rectangle 62 of the contour of the bay scallop 6, thereby obtaining the geometric center of the minimum bounding rectangle 62.

The third step: the center of the minimum circumscribed circle 61 and the geometric center of the minimum circumscribed rectangle 62 do not coincide due to the symmetrical natural shape characteristics of the bay scallop 6, and the center of the minimum circumscribed circle 61 and the geometric center of the minimum circumscribed rectangle 62 are simultaneously distributed on the symmetry axis of the bay scallop 6. After the geometric center of the minimum circumscribed rectangle 62 and the center of the minimum circumscribed circle 61 are respectively obtained, a line segment 63 can be obtained by connecting the geometric center of the minimum circumscribed rectangle 62 and the center of the minimum circumscribed circle 61, and the position of the line segment 63 can be regarded as the symmetry axis of the bay scallop 6.

The fourth step is to extend the line segment 63 to the outer contour of the bay scallop 6, to obtain two intersection points, a first point 64 and a second point 65, and to specify that the positive direction of the line segment 63 is directed from the second point 65 to the first point 64.

And fifthly, calculating an included angle between the positive direction of the line segment 63 and the conveying direction of the conveyor belt 16 to obtain the direction of the bay scallop 6.

The image acquisition device and the controller are electrically connected with the image processing device, the image acquisition device sends the shot bay scallop 6 picture to the image processing device, and the image processing device analyzes and calculates the direction of the bay scallop 6 and then sends the data to the controller. The controller is a Programmable Logic Controller (PLC) provided as a sequence control device, and operates according to a dedicated program called a ladder program. The controller is electrically connected with the first motor 52, the second motor 54, the third motor 25, the fourth motor 29 and the fifth motor 43 respectively, and sends instructions to the motors respectively according to the obtained information, finally controls the claws 58 to move to the position of the bay scallop 6 on the conveyor belt 16, adjusts the direction of the claws so that the direction of the claws is consistent with the conveying direction of the conveyor belt 16, and finishes the orientation of the bay scallop 6.

The utility model discloses a bay scallop orientation equipment based on vision, place bay scallop 6 on conveyer belt 16, camera 8 of image acquisition device sends the photo to image processing device after taking a picture to it, image processing device obtains the contained angle of bay scallop 6 and conveyer belt 16 direction of delivery after its photo analysis calculates this information transmission to controller after obtaining the direction of bay scallop 6, the controller is according to the direction of received bay scallop 6 and combine the conveying speed of conveyer belt 16 to control first motor 52 respectively, second motor 54, third motor 25, the action of fourth motor 29 and fifth motor 43, make jack catch 58 along frame 1 vertical, horizontal and the direction of height remove with this position location to bay scallop 6 with jack catch 58, jack catch 58 can be around rotary disk 53 axial rotation in order to keep unanimous with the direction of bay scallop 6 simultaneously, and the synchronous open and close of two jack catches 58 can accomplish the centre gripping and loosen of bay 6, rotary disk 53 rotates predetermined angle to the synchronous clamp of two jack catches 58 behind the consistent with bay scallop 6 direction, the synchronous clamping of two jack catches 6 and the final jack catch 16 direction of conveyer belt 16, make the synchronous release of bay scallop 58 unanimous with the conveyer belt 16 direction of the last bay 6, the synchronous rotation of two jack catch.

It is obvious that the described embodiments are only some of the embodiments of the present invention, and not all of them. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

Claims

1. The utility model provides a bay scallop orientation equipment based on vision, characterized in that, includes frame (1), image processing device and controller, frame (1) upper portion level is equipped with conveyer belt (16), conveyer belt (16) top is equipped with image acquisition device and orienting device along its direction of delivery in proper order, orienting device includes that the carriage is established portal frame (2) of conveyer belt (16) top, horizontal slip is equipped with lateral shifting device on portal frame (2), be equipped with the perpendicular to on the lateral shifting device elevating gear (4) that conveyer belt (16) direction of delivery arranged, elevating gear (4) include crane (41), it is provided with grabbing device (5) to rotate on elevating gear (4), grabbing device (5) include mounting bracket (51) and two jack catchs (58) that open and shut the setting, mounting bracket (51) with crane (41) fixed connection, the vertical first motor (52) that are equipped with in mounting bracket (51) bottom, the output shaft fixed connection rotary disk (53) of first motor (52), be equipped with second motor (54) on rotary disk (53), the fixed jack catch (54) of second motor (54) the other end of lead screw thread connection supporting seat (55) through lead screw (55) connection supporting seat (55) the third lead screw mechanism (55) connection supporting seat (55) the support (55) is passed through lead screw (55), the lead screw mechanism (55) connection 58 Two jack catch (58) set up relatively, image acquisition device the controller all with image processing device electric connection.

2. The vision-based bay scallop orienting apparatus of claim 1, wherein two guide rails (14) for installing the portal frame (2) are arranged on two sides of the conveyor belt (16) in parallel conveying direction, and a rack (15) is horizontally fixed right below the guide rails (14).

3. The vision-based bay scallop orientation apparatus as claimed in claim 2, wherein the portal frame (2) comprises vertical beams (22) vertically arranged at both sides of the conveyor belt (16) and a cross beam (21) parallel to the conveyor belt (16) and arranged between the two vertical beams (22), a gear (23) engaged with the rack (15) and a running wheel (24) assembled on the guide rail (14) are rotatably arranged at the lower part of each vertical beam (22), a first screw (27) is rotatably arranged on the cross beam (21), slide rails (28) are fixedly arranged in an up-and-down layered manner and parallel to the first screw (27), and the first screw (27) and the two slide rails (28) are perpendicular to the conveying direction of the conveyor belt (16).

4. The vision-based bay scallop orientation apparatus of claim 3, wherein the lateral moving device comprises a lateral moving frame (3), a connecting support (31) and two sliding blocks (32) are fixedly arranged on the lateral moving frame (3), the connecting support (31) is connected with the first screw rod (27) through a threaded sleeve, and the sliding blocks (32) are slidably arranged on the sliding rails (28).

5. The vision-based bay scallop orientation apparatus of claim 4, wherein the lifting device (4) further comprises a second lead screw (42) vertically arranged, the second lead screw (42) is rotatably installed on the transverse moving frame (3), and the lifting frame (41) is in threaded connection with the second lead screw (42).

6. The vision-based bay scallop orientation apparatus of claim 5, wherein the lifting device (4) further comprises two vertically arranged uprights (44), the two uprights (44) are positioned at two sides of the second screw rod (42) and fixedly connected with the transverse moving frame (3), the uprights (44) penetrate through the lifting frame (41), and the lifting frame (41) is slidably connected with the uprights (44).

7. The vision-based bay scallop orientation apparatus of claim 1, wherein the image acquisition device comprises a light source box (7) for acquiring images of bay scallops (6) on the conveyor belt (16), and the top of the inner wall of the light source box (7) is provided with a camera (8) and illumination.