CN112244078B

CN112244078B - Feeding positioning method of automatic shrimp peeling machine

Info

Publication number: CN112244078B
Application number: CN202011101429.1A
Authority: CN
Inventors: 黄松; 陈柏元; 廖福吟
Original assignee: Foshan Songhan Intelligent Equipment Co ltd
Current assignee: Foshan Songhan Intelligent Equipment Co ltd
Priority date: 2020-10-15
Filing date: 2020-10-15
Publication date: 2022-03-29
Anticipated expiration: 2040-10-15
Also published as: CN112244078A

Abstract

The invention discloses a feeding positioning method of an automatic shrimp peeling machine, and relates to the technical field of shrimp processing. The method comprises the steps of presetting initial position information of a positioning reference point on a manipulator and a shrimp placing reference point in a shrimp placing groove in a feeding disc, and obtaining a speed matching relation between the manipulator and the feeding disc according to the initial position information; the vision collection system gathers the image data of the raw material shrimp on the feeding conveyor belt, the manipulator moves, snatchs the raw material shrimp and moves the shrimp to the location of manipulator and places the step, after the execution end location of manipulator snatchs the raw material shrimp, the manipulator moves according to the speed of presetting, places the raw material shrimp in putting the shrimp groove. The invention not only solves the problem of manual shrimp feeding in the prior art, but also further solves the problem of positioning and feeding of raw material shrimps when the mechanical arm is adopted to feed the shrimps, and can ensure the smooth proceeding of the subsequent shrimp peeling work.

Description

Feeding positioning method of automatic shrimp peeling machine

Technical Field

The invention relates to the technical field of shrimp peeling machines, in particular to a feeding positioning method of an automatic shrimp peeling machine.

Background

The shrimp peeling machine is a machine capable of automatically peeling shrimp meat and shrimp shells, and is originally a shrimp peeling device developed and designed by Gregor Jonsson company in the United states. The general principle of the existing commercial shrimp peeling machine is the same as that of the shrimp peeling machine designed by the company Gregor Jonsson in the United states.

The shrimp peeling machine on the market at present comprises a material tray, a shrimp clamping component, a driving rotary tray component, a shrimp pressing component, a shrimp back component, a shrimp intestine removing component and a shrimp inserting and peeling component, wherein the shrimp clamping component is provided with a plurality of groups and is respectively arranged on the driving rotary tray component, the shrimp pressing component, the shrimp back component, the shrimp intestine removing component and the shrimp inserting and peeling component are sequentially arranged on a rack on the circumference of the outer side of the driving rotary tray component along the rotating direction of the driving rotary tray component, a plurality of shrimp placing grooves are formed in the material tray, and a discharge port of the material tray corresponds to the driving rotary tray component. The shrimp clamping device comprises a feed tray, a shrimp clamping component, a shrimp pressing component, a shrimp holding component and a shrimp clamping component, wherein the shrimp holding groove is formed in the feed tray, the shrimp holding groove is used for holding shrimps placed in the shrimp holding groove, the shrimp holding groove moves along with the rotation of the feed tray, the shrimps placed in the shrimp holding groove move to an active rotary tray component, namely the discharge hole of the feed tray, the shrimp clamping component on the active rotary tray component moves to the discharge hole of the feed tray, the tails of the shrimps in the shrimp holding groove are clamped, the shrimps move to the shrimp clamping component and clamp the tails and the belly of the shrimps, then the shrimp clamping component rotates along with the rotation of the active rotary tray component, when the shrimps are pressed, the shrimps clamped on the shrimp clamping component are sorted by the shrimp pressing wheel of the shrimp pressing component, and the subsequent shrimp clamping component can be well centered when passing through a shrimp opening back component; then the shrimp clamping component continues to move to drive the shrimps to pass through the shrimp opening back component, at the moment, the lower hem of a back opening cutter disc of the shrimp opening back component is contacted with the backs of the shrimps to cut the backs of the shrimps, then the shrimp clamping component continues to move to the shrimp intestine removing component, a brush at the shrimp intestine removing component is contacted with the backs of the shrimps with the cut backs of the shrimps to brush the intestines of the shrimps, after the intestines of the shrimps are brushed, the shrimp clamping component continues to move to the shrimp inserting and shelling component, at the moment, a shrimp inserting needle of the shrimp inserting and shelling component extends out to insert the meats of the shrimps, the relative motion between the shrimp clamping component and the shrimp inserting and shelling component is utilized to enable the shrimp inserting needle to take the meats out of the shrimps, the taken shrimps are finished to be peeled, the taken out meats are discharged from a meat outlet of the shrimp peeler, and the shrimps are discharged from a shrimp shell outlet. The whole shrimp peeling action is complete.

The invention discloses a patent named as a shrimp meat processing machine and a processing method, and discloses a specific structure and a process method of the shrimp peeling machine, and also discloses an invention patent named as an automatic shrimp peeling machine, wherein the invention patent comprises a frame, and a main transmission gear, a conveying device, a transmission device, a cam system and a water spraying system which are arranged on the frame, wherein the main transmission gear is sleeved on a main transmission shaft, the main transmission shaft is also sleeved with two corresponding plane cams, a plurality of large and small clamp clamping devices and tail-level separating devices (which are combined into the shrimp clamping components) are arranged outside the circumference of the plane cams, and the conveying device (namely the material tray) and the tail-level separating devices are arranged outside the large and small clamp clamping devices at one time according to the working track of raw material shrimps, The shrimp cleaning machine comprises a guide pinch roller device (namely the shrimp pressing part), a blade assembly (namely the shrimp back opening part), an intestine removing brush (namely the shrimp intestine removing part), an in-body long needle assembly (namely the shrimp inserting and shelling part) and a shrimp shell cleaning brush. The active shrimp shucking machine provided by the invention solves the problem of accumulated errors generated in the operation of the machine, reduces the accumulated errors to the minimum, ensures that the position for clamping the single head-removed shrimps by the circulating clamp in the positioning and clamping device is correct, ensures that each station for sequentially opening the back, shucking and removing the gut works correctly in place, and ensures the shrimp shucking quality.

The technical proposal of the shrimp peeling machine disclosed by the US patent 3566437A and the Chinese patent CN104222249A has the following problems:

1. the existing shrimp peeling machines on the market, no matter the shrimp peeling machines designed by the Jonsson company in America, or the shrimp peeling machines after the improvement of Chinese enterprises, are all arranged by manual shrimp, and are arranged in a shrimp placing groove of a tray (a conveying device) in order after arrangement, complete automatic shrimp peeling cannot be realized at all, only the shrimp peeling machines belong to semi-automatic shrimp peeling, the shrimp peeling machines can only complete the shrimp meat peeling work, but the feeding of raw material shrimps also needs manual work to be completed. Because the feeding and the arrangement of the raw material shrimps are manually completed, the processing efficiency cannot be effectively improved, and the manual discharging mode is not favorable for food safety control, so that a conveying system capable of realizing automatic discharging and feeding is needed.

2. The requirements of the shrimp peeling machine in the prior art on the position of the raw material shrimps arranged in the shrimp slots in the tray are strict, and if the raw material shrimps are not placed well, the subsequent procedures of clamping the shrimps, pressing the shrimps, opening the backs of the shrimps and the like cannot be smoothly carried out. At present, the feeding arrangement of raw material shrimps is accomplished manually, the location is also judged manually, the requirement on the location arrangement of operating personnel is higher, if the placing position of the raw material shrimps is inaccurate, the equipment can be stopped, and other faults occur, even if the conveying system for feeding the shrimps by automatic discharge occurs, the location problem also needs to be solved urgently.

Disclosure of Invention

In order to overcome the defect and the deficiency existing in the prior art, the application also provides a technical scheme of a feeding disc feeding positioning method of the automatic shrimp peeling machine, the technical scheme adopts the mechanical arm to feed, the problem that the manual feeding mode appears in the prior art can be solved, meanwhile, the technical scheme also aims to solve the positioning problem that the mechanical arm grabs the raw shrimp and places the raw shrimp, and the provided solution is characterized in that the position of the raw shrimp in the shrimp groove directly influences the subsequent shrimp peeling process, so a technical scheme is needed, and the position of the raw shrimp is ensured to meet the requirement of the subsequent shrimp peeling process after the raw shrimp is placed in the shrimp groove.

The improvement basis of the technical scheme is as follows: all adopt the manual work to place at present, have a location line in putting the shrimp groove among prior art, the manual work when putting raw materials shrimp, need align the shrimp from the second festival that the afterbody counted and this location line and place, because individual difference between the operating personnel, can lead to putting the problem of irregularity of raw materials shrimp, can influence the follow-up smooth going on of shelling the shrimp process even more seriously. The problem that this technical scheme solved is that the artifical individual differentiation problem of placing the shrimp leads to put the problem of the inefficiency of shrimp range, also solves the automatic problem of putting the location precision of shrimp row shrimp in-process of manipulator simultaneously.

The technical scheme is realized by the following technical contents:

a feeding positioning method of an automatic shrimp peeling machine is characterized in that: the method comprises the following steps:

presetting initial position information of a positioning reference point on the manipulator and a shrimp placing reference point in a shrimp placing groove in the feeding disc, and acquiring a speed matching relation between the manipulator and the feeding disc according to the initial position information;

positioning and grabbing steps of the manipulator: the vision acquisition device acquires image data of raw shrimps on the feeding conveyor belt and transmits the image data to the manipulator, and the manipulator receives the image data and corresponds a positioning reference end on an execution end of the manipulator to a grabbing reference point of the raw shrimps according to the image data; the mechanical arm acts to grab the raw material shrimps and move the shrimps to the positioning and placing step of the mechanical arm;

positioning and placing the manipulator: after the execution end of the manipulator positions and grabs the raw material shrimps, the manipulator moves at a preset speed to place the raw material shrimps in the shrimp placing groove, and at the moment, the grabbing datum point of the raw material shrimps corresponds to the shrimp placing datum point in the shrimp placing groove.

When the execution end of the manipulator snatchs the raw material shrimp and moves to the feed inlet position of the feed tray, two positioning coordinate points exist, namely a first positioning coordinate point and a second positioning coordinate point, the execution end of the manipulator moves to the selection of the positioning coordinate point at the feed inlet position after grabbing the raw material shrimp, and the selection is determined by the state information of the raw material shrimp on the feed conveying belt.

The concrete expression is as follows: the raw material shrimp structure is characterized by comprising a shrimp back, a shrimp belly, a first side face and a second side face, the raw material shrimps lie on a feeding conveying belt in the conveying process on the feeding conveying belt, namely the first side face faces upwards or the second side face upwards, if the first side face upwards, an execution end of a manipulator is grabbed on the first side face, the raw material shrimps are grabbed and moved in a posture that the first side face is upwards, when the raw material shrimps are placed, the manipulator corresponds to a first positioning coordinate point and moves to the first positioning coordinate point to release the raw material shrimps, the second side face of the raw material shrimps is firstly contacted with the side face of one side of a shrimp placing groove, under the guiding action of the side face, the raw material shrimps slide into the shrimp placing groove, and when the raw material shrimps slide to the bottom of the shrimp placing groove, the raw material shrimps form a state that the shrimp back faces upwards, the shrimp belly faces downwards, and two side plates of the shrimp placing groove are respectively tightly attached to the first side face and the second side face of the raw material shrimps. If the state of the raw material shrimps on the feeding conveyer belt is that the second side faces upwards, the locating point that the manipulator moved to after snatching is the second location coordinate point, after releasing the raw material shrimps, the first side of raw material shrimps is earlier with the opposite side contact of putting the shrimp groove, under the guide effect of this side, the raw material shrimps landing is to putting the shrimp inslot, when landing is to putting shrimp groove bottom, then forms the state that the shrimp was carried on the back upwards, the shrimp abdomen is down, the two side boards of putting the shrimp groove are hugged closely the first side and the second side of raw material shrimp respectively.

And establishing a three-dimensional coordinate system by taking the feeding disc as a reference, wherein a plane above the shrimp placing groove is an XY coordinate system, the length direction of the shrimp placing groove is an Y axis, the moving direction of the shrimp placing groove is an X axis, the Y axis positions are the same between the first positioning coordinate point and the second positioning coordinate point, and the X axis positions are different.

When the raw material shrimps are conveyed on the feeding conveying belt, the vision acquisition device acquires the positions and the state information of the raw material shrimps on the feeding conveying belt, the state information comprises the direction of the shrimp tails and the orientations of the first side surface and the second side surface of the shrimps, the manipulator rotates correspondingly according to the information acquired by the vision acquisition device, the positioning reference point of the manipulator execution end corresponds to the grabbing reference point on the raw material shrimps, and after the raw material shrimps are placed, the shrimp tails of the raw material shrimps are exposed out of the shrimp groove and the directions are consistent.

The application provides a feeding conveying system of an automatic shrimp peeling machine, and aims to solve the problems that in the prior art, the shrimp peeling machine adopts a manual mode to carry out feeding arrangement of raw shrimps, the automation degree is poor, and the shrimp peeling efficiency is low. This application is through setting up the structure of manipulator and redesign charging tray to can improve shell shrimp efficiency, improve the feeding arrangement efficiency of raw material shrimp, improve the degree of automation of shelling the shrimp machine.

This application is low, the problem of inefficiency in order to solve artifical feeding degree of automation, realized through following technical scheme:

the utility model provides an automatic shell feeding conveying system of shrimp machine, includes the feeding dish, be provided with a plurality of shrimp grooves of putting on the feeding dish, be provided with feed inlet and discharge gate on the feeding dish, its characterized in that: the shrimp placing groove is characterized by further comprising a feeding conveying belt and a mechanical arm, wherein the movement track of the shrimp placing groove forms an annular surface, the annular surface is parallel to the horizontal plane, the feeding hole is positioned on one side of an annular surface-shaped feeding disc, and the discharging hole is positioned on the other side of the annular surface-shaped feeding disc; the feeding conveyer belt is arranged on the side of the feeding opening of the feeding disc, and the length direction of the shrimp placing groove positioned at the feeding opening is vertical to the conveying direction of the feeding conveyer belt; the mechanical arm used for grabbing the shrimps on the feeding conveying belt and placing the shrimps in the shrimp placing groove is arranged above the feeding conveying belt and the feeding plate.

In this application, this application has redesigned the structure of feeding dish, all is vertical setting with the feeding dish (conveyor) of peeling shrimp machine on the market at present, and the annular face that the movement track of feeding dish overhead shrimp groove formed is parallel with vertical face, and the feeding dish of this application improves to horizontal feeding dish, and the annular face that feeding dish overhead shrimp groove movement track formed is parallel with the horizontal plane. The vertical feeding tray is provided with a section of horizontal conveying section, and the surface formed by the shrimp holding groove is also parallel to the horizontal plane, so that the number of arranged raw shrimps can be increased by adopting the feeding tray related to the application under the condition of not changing the length of the section; and put under the equal same condition of length of shrimp groove, the structure of the feed tray of this application can make the removal stroke of manipulator shorten. The concrete expression is as follows: the existing shrimp peeling machine has the limitation on the position of raw material shrimps placed in a shrimp placing groove, a part of the shrimp tails needs to be exposed, namely the shrimp tails face the outer side of a feeding disc, due to the limitation of a frame and a shell of the existing shrimp peeling machine, under the condition that the length of the existing feeding disc is not changed, if a feeding conveying belt and a mechanical arm are added, the feeding conveying belt can only be arranged on the other side of the feeding disc relative to the shell of the shrimp peeling machine, and the arrangement mode of the raw material shrimps on the feeding disc of the existing shrimp peeling machine needs to face the shrimp tails towards the shell part, so that the length L2 of the moving stroke of the mechanical arm is required to face the tail part of the shrimp towards the shell when the mechanical arm places the shrimps, compared with the structure of the horizontal feeding disc, the length L1 of the moving stroke of the mechanical arm is smaller than L2, the structure of the feeding disc of the application ensures that the stroke of the mechanical arm when placing the shrimps is shorter, and the shrimp catching and placing frequency is faster, the running speed of the feeding disc can be increased, so that the speed of the shrimp peeling machine matched with the feeding disc can be correspondingly increased according to the speed of the feeding disc, and the shrimp peeling efficiency is higher.

Furthermore, the manipulator comprises a vision acquisition device and a manipulator action execution device, the vision acquisition device is relatively independent of the manipulator action execution device, the manipulator action execution device is installed above the feeding disc and the feeding conveying belt, the vision acquisition device is installed above the feeding conveying belt through a vision acquisition installation frame, and the vision acquisition device is located in front of the manipulator action execution device along the conveying direction of the feeding conveying belt.

Common manipulator on the market all is equipped with vision collection system, but generally is integrated the execution end at the manipulator with vision collection system, and this application is installed vision collection system and manipulator action execution device mutual independence specifically, because to the feeding conveying system of this application, it is higher to the ability requirement is snatched in the location of manipulator, the manipulator must accurately snatch the specific position on the raw materials shrimp, otherwise can't accomplish the accurate location of shrimp and put, this application is separated vision collection system and manipulator action execution device, be exactly in order to ensure the accuracy of vision collection. Because the manipulator action execution end can shake to a certain extent, if the vision acquisition is arranged at the execution end, more interference can exist in the acquired image information, and the accurate positioning of the manipulator execution end is not facilitated. This application sets up vision collection system and manipulator action final controlling element alone, can effectively ensure image acquisition's accuracy to and the stability that the manipulator location snatched.

Further, the robot is a two-axis robot, a three-axis robot, or an industrial robot.

Still further, the execution end of the manipulator is provided with a sucker.

Furthermore, the execution end of the manipulator is provided with a clamping piece.

Furthermore, the motion trail of the shrimp holding groove is an ellipse, a circle or a ring formed by two straight lines and two circular arcs.

Taking a raw material shrimp as an example, the raw material shrimp is conveyed by a feeding conveying belt, in the conveying process, a vision acquisition device acquires image information of the raw material shrimp conveyed on the feeding conveying belt and transmits the image information to a manipulator action execution device, in the process, the image information can be automatically converted into coordinate information and transmitted to the manipulator action execution device (the technology is the prior art of manipulator vision following), the manipulator action execution device grabs the raw material shrimp according to the transmitted image information, then places the grabbed raw material shrimp in a shrimp placing groove at the feeding opening of a feeding disc, the feeding disc rotates, the shrimp placing groove rotates to the discharging opening, a shrimp clamping part of a shrimp peeling machine clamps the shrimp at the discharging opening, the feeding disc is moved out, and the shrimp peeling action is carried out.

The application still provides an automatic shell technical scheme of feeding system of shrimp machine, also can solve among the above-mentioned prior art shell the shrimp machine and adopt the manual mode to carry out the feeding of raw materials shrimp and arrange, lead to degree of automation low, shell the problem of shrimp inefficiency. This application makes less improvement to the feeding dish on the basis of original shrimp peeling machine equipment to increase the manipulator feeding, thereby can improve the shrimp peeling efficiency, carry the feeding arrangement efficiency of high raw material shrimp, improve the degree of automation of shrimp peeling machine.

This application provides this technical scheme of automatic feeding system who shells shrimp machine as follows:

a feeding system of an automatic shrimp peeling machine comprises a feeding disc, wherein a plurality of shrimp placing grooves are formed in the feeding disc, a feeding hole and a discharging hole are formed in the feeding disc, an annular surface formed by the motion tracks of the shrimp placing grooves is parallel to a vertical surface, and the feeding disc at least comprises a horizontal conveying section; the method is characterized in that: the device also comprises a feeding conveyer belt and a manipulator; the length of the horizontal conveying section is greater than that of the shrimp peeling machine body shell, the feed inlet and the discharge outlet are located on the same side of the feed tray, the feed inlet is located on one side of one end, extending out of the shrimp peeling machine body shell, of the feed tray, the feed conveying belt is located on the feed inlet side of the feed tray, and the length direction of the shrimp placing groove located on the feed inlet is perpendicular to the conveying direction of the feed conveying belt; the mechanical arm used for grabbing the shrimps on the feeding conveying belt and placing the shrimps in the shrimp placing groove is arranged above the feeding conveying belt and the feeding plate.

In this technical scheme, extend the horizontal transport section of feeding dish, exceeded the length of original shrimp peeling machine body casing, this technical scheme of this application promptly does not carry out big improvement with current vertical feeding dish structure, has only prolonged the transport length of vertical feeding dish horizontal transport section. In the existing shrimp peeling machine, the feeding disc also comprises a feeding hole and a discharging hole, the feeding hole and the discharging hole are positioned on the same side, and the feeding hole and the discharging hole do not exceed the length of the shell of the shrimp peeling machine body. If the existing feeding plate is not improved, the feeding conveyer belt and the mechanical arm can be arranged on the other side of the feeding plate relative to the feeding hole, the stroke of the mechanical arm for grabbing the shrimps from the feeding conveyer belt and placing the shrimps in the shrimp placing groove of the feeding plate is prolonged, and the grabbing and placing frequency of the mechanical arm is lowered.

The arrangement mode of raw material shrimp on the feeding tray of the existing shrimp peeling machine needs to enable shrimp tails to face a shell part, and therefore when the shrimp are placed by a manipulator, the shrimp tails face the shell direction, the moving stroke length L3 is smaller than the moving stroke length L4 of the manipulator compared with the structure of a vertical feeding tray with the horizontal conveying section extended by the application, the moving stroke length L4 of the manipulator is smaller than L3, the structure of the feeding tray enables the stroke of the manipulator when the shrimp are placed by the manipulator to be shorter, the grabbing frequency is higher, the running speed of the feeding tray can be increased, the speed of the matched shrimp peeling machine can be correspondingly increased according to the speed of the feeding tray, and the shrimp peeling efficiency is higher.

Furthermore, the manipulator comprises a vision acquisition device and a manipulator action execution device, the vision acquisition device is relatively independent of the manipulator action execution device, the manipulator action execution device is installed above the feeding disc and the feeding conveying belt, the vision acquisition device is installed above the feeding conveying belt through an installation frame, and the vision acquisition device is located in front of the manipulator action execution device along the conveying direction of the feeding conveying belt.

Common manipulator on the market all is equipped with vision collection system, but generally is integrated the execution end at the manipulator with vision collection system, and this application is installed vision collection system and manipulator action execution device mutual independence specifically, because to the feeding conveying system of this application, it is higher to the ability requirement is snatched in the location of manipulator, the manipulator must accurately snatch the specific position on the raw materials shrimp, otherwise can't the accurate location of shrimp put, this application is separated vision collection system and manipulator action execution device, be exactly in order to ensure the accuracy of vision collection. Because the manipulator action execution end can shake to a certain extent, if the vision acquisition is arranged at the execution end, more interference can exist in the acquired image information, and the accurate positioning of the manipulator execution end is not facilitated. This application sets up vision collection system and manipulator action final controlling element alone, can effectively ensure image acquisition's accuracy to and the stability that the manipulator location snatched.

Still further, the execution end of the manipulator is provided with a sucker.

The application also provides a technical scheme of the feeding and conveying method of the automatic shrimp peeling machine, and the technical scheme aims to solve the problems of poor automation degree, low feeding arrangement efficiency, food safety and low shrimp peeling efficiency of the feeding and conveying method of the existing shrimp peeling machine. This technical scheme adopts the manipulator to feed, can realize the automatic feed of raw materials shrimp effectively and arrange, can improve the feeding arrangement efficiency of raw materials shrimp effectively and shell the shrimp efficiency of shelling of shrimp machine.

The technical scheme is as follows:

the feeding and conveying method of the automatic shrimp peeling machine is characterized by comprising the following steps of: the method comprises the following steps:

a conveying belt feeding step: conveying the raw material shrimps to the vision acquisition step by a feeding conveyer belt;

a visual collection step: acquiring image information on a feeding conveyer belt through a visual acquisition device, and sending the acquired image information to a manipulator for grabbing, stacking and feeding;

a mechanical arm grabbing, stacking and feeding step: the mechanical arm receives the image information transmitted in the visual acquisition step, snatchs shrimps on the feeding conveyer belt according to the received image information, and places the snatched shrimps in a feeding hole of the feeding disc;

a shrimp storage and conveying step of a feeding plate: the feeding disc collects and stores the shrimps fed from the feeding hole and conveys the shrimps to the discharging hole in a rotating mode.

In the technical scheme, the processing process of the image information acquired by vision is the prior art, and generally comprises a vision acquisition device coordinate system, a manipulator coordinate system and a target object coordinate system, wherein the acquired image information needs to be converted between the vision acquisition device coordinate system and the manipulator coordinate system, and then the target object coordinate system is converted between the manipulator coordinate system and the target object coordinate system, so that the coordinates of the target object are determined, the manipulator moves to the coordinates to grab the target object, and in the process, the target object is raw material shrimps.

In this technical scheme, vision collection system and manipulator exist independently, and vision collection system sets up the top at the feeding conveyer belt alone, can ensure the stability of the image of gathering, ensures that follow-up manipulator snatchs the accuracy of location.

The raw material shrimp is conveyed by the feeding conveying belt, in the conveying process of the feeding conveying belt, the vision acquisition device acquires images of the raw material shrimp conveyed on the feeding conveying belt, the position information and the placing state information of the raw material shrimp are identified, the vision acquisition device transmits the acquired image information, the position information and the placing state information of the raw material shrimp to the mechanical arm, the mechanical arm moves the execution end of the mechanical arm to the position of the raw material shrimp according to the received information, the direction of the execution end is adjusted according to the placing state of the raw material shrimp, the execution end of the mechanical arm grabs the raw material shrimp and moves the raw material shrimp to the feeding hole position of the feeding disc, the execution end of the mechanical arm loosens the grabbed raw material shrimp, the raw material shrimp automatically falls into a shrimp placing groove at the feeding hole position, and the shrimp back faces upwards.

In this technical scheme, because the requirement to the locating position of raw materials shrimp in putting the shrimp groove is comparatively strict, consequently, the manipulator is grabbing the raw materials shrimp to place the raw materials shrimp and put this step in putting the shrimp groove and also comparatively strict to the requirement of location. If the placing position of the raw material shrimps in the shrimp placing groove is not accurate, the working process and effect of the subsequent shrimp peeling step can be directly influenced.

Presetting initial position information of a positioning reference point on the manipulator and a shrimp placing reference point in a shrimp placing groove in the feeding disc, and acquiring a speed matching relation between the manipulator and the feeding disc according to the initial position information; the vision acquisition device acquires image data of raw shrimps on the feeding conveyor belt and transmits the image data to the manipulator, and the manipulator receives the image data and corresponds a positioning reference end on an execution end of the manipulator to a grabbing reference point of the raw shrimps according to the image data; the mechanical arm acts to grab the raw material shrimps; after the execution end of the manipulator positions and grabs the raw material shrimps, the manipulator moves according to a preset speed to place the raw material shrimps in the shrimp placing groove, at the moment, the grabbing datum point of the raw material shrimps corresponds to the shrimp placing datum point in the shrimp placing groove, the accuracy of the position of the raw material shrimps in the shrimp placing groove is ensured, and the subsequent shrimp peeling process can be conveniently and smoothly carried out.

The shrimp placing reference point of the shrimp placing groove is formed by a positioning line arranged in the shrimp placing groove, and generally, the second section of the tail of the shrimp is aligned with the positioning line.

When the manipulator execution end snatchs the raw materials shrimp and moves to the feed inlet position department of feed tray, there are two location coordinate points, are first location coordinate point and second location coordinate point respectively, and the manipulator execution end removes the selection to feed inlet position department location coordinate point after snatching the raw materials shrimp, is confirmed by the state information of raw materials shrimp on the feeding conveyer belt.

In the feeding disc shrimp storage and conveying step, an annular surface formed by the motion track of a shrimp placing groove used for placing raw material shrimps on the feeding disc is parallel to the horizontal plane, the raw material shrimps are grabbed by a manipulator from a feeding conveyor belt and placed in the shrimp placing groove at the feeding port on one side of the feeding disc, and the shrimp placing groove is driven by the feeding disc to move and rotates to the discharging port on the other side of the feeding disc.

In the feeding disc shrimp storage and conveying step, an annular surface formed by a motion track of a shrimp placing groove used for placing raw material shrimps on a feeding disc is parallel to a vertical surface, the feeding disc at least comprises a section of horizontal conveying section, the raw material shrimps are grabbed by a manipulator from a feeding conveying belt and placed in the shrimp placing groove at the feeding port on one side of the feeding disc, and the shrimp placing groove continues to move forwards horizontally and moves to the discharging port on the same side as the feeding port.

Compared with the prior art, the beneficial technical effects brought by the application are shown in that:

1. the application provides four technical schemes, namely a feeding and conveying system of an automatic shrimp peeling machine, a feeding system of the automatic shrimp peeling machine, a feeding and conveying method of the automatic shrimp peeling machine and a feeding and positioning method of the automatic shrimp peeling machine. Wherein a feeding conveying system of automatic shrimp peeling machine and a feeding system of automatic shrimp peeling machine adopt artifical shrimp row's mode among the solution prior art, two above-mentioned technical scheme of this application all can solve the problem of artifical shrimp row through the mode of manipulator, compare in prior art, the shrimp row of two above-mentioned technical scheme is efficient, degree of automation is high, subsequent shrimp peeling efficiency also can obtain improving effectively. In this application, the manipulator that adopts is conventional manipulator among the prior art, and compare in and directly use the means of removing the problem of solving its artifical row shrimp with the manipulator in shelling the shrimp machine, this application can further improve the manipulator snatch the frequency, grab and put the frequency faster, the functioning speed of charging tray can improve to the speed of shelling the shrimp machine rather than the matching also can carry out corresponding improvement according to the speed of charging tray, thereby shell the shrimp efficiency higher, shell shrimp efficiency and improve.

2. The application also provides a feeding and conveying method of the automatic shrimp peeling machine, the method for automatically feeding the shrimps into the shrimp peeling machine is described from the angle of raw material shrimp feeding, compared with the prior art, the technical scheme can realize automatic shrimp peeling, and compared with the existing manual shrimp peeling mode, the shrimp peeling machine has the advantages that the shrimp peeling efficiency is higher, the automation degree is higher, the labor intensity of workers can be reduced, the food safety can be effectively controlled, and the pollution caused by direct contact of operators and the shrimps is avoided.

3. The application also provides a feeding positioning method of the automatic shrimp peeling machine, and the technical scheme can ensure the accuracy of the positions of the raw material shrimps for feeding and discharging the shrimps and is convenient for the smooth proceeding of the subsequent shrimp peeling process. Compared with the existing manual shrimp feeding mode, the technical scheme can not lead to irregular shrimp feeding due to individual difference of operators, adopts a mechanical mode to replace a manual mode, can effectively improve feeding efficiency and shrimp feeding efficiency, and can further improve shrimp peeling efficiency matched with the feeding efficiency and the shrimp feeding efficiency.

Drawings

FIG. 1 is a schematic perspective view of a feed delivery system according to the present application;

FIG. 2 is a schematic top view of the feed delivery system of the present application with the robot omitted;

FIG. 3 is a schematic perspective view of the feed delivery system of the present application without shrimp peeling bodies;

FIG. 4 is a schematic structural view of a discharge port in the feed tray of the present application;

FIG. 5 is a schematic view of the shrimp picking-up robot according to the present invention;

FIG. 6 is a schematic diagram showing the mechanical arm gripping shrimp placed on the feed tray of the present application and the feeding tray of the existing shrimp peeling machine;

FIG. 7 is a schematic illustration of a shrimp feed system according to the present application;

FIG. 8 is a flow chart of the feeding and conveying method of the automatic shrimp peeling machine of the present application;

FIG. 9 is a flow chart of the feeding positioning method of the automatic shrimp peeling machine of the present application;

FIG. 10 is a diagram of the movement locus of the shrimp slots in the feed tray of the feed conveyor system of the present application;

FIG. 11 is a schematic view of a conventional shrimp peeling machine;

FIG. 12 is a schematic diagram comparing the feeding of shrimp by the feeding system of the present application with the feeding of shrimp by the body of a prior art shrimp peeling machine;

FIG. 13 is a schematic view of the mechanical arm of the present application gripping raw shrimp;

FIG. 14 is a schematic view of a robot gripping shrimp and placing it into a shrimp holding tank;

reference numerals: 1. a feeding conveyer belt, 2, a feeding plate, 3, a manipulator, 4, a vision collecting device, 5, a manipulator action executing device, 6, a shrimp placing groove, 7, a ring surface, 8, a feeding hole, 9, a discharging hole, 10, raw shrimps, 11, a shrimp peeling machine body, 12, a shrimp peeling machine body shell, 13, a horizontal conveying section, 14, a sucker, 15, a clamping piece, 16, a shrimp back, 17, a first side surface, 18, a second side surface, 19, a shrimp belly, 20, a first positioning coordinate point, 21, a second positioning coordinate point, 22, a positioning reference point, 23, a grabbing reference point, 24, a shrimp placing reference point, 25, a shrimp placing positioning line, 26, a first shrimp groove plate, 27, a second shrimp groove plate, 28, a shrimp tail, 29, an active turntable part, 30, a shrimp storing cavity, 31, a vision collecting mounting frame, 32, a feeding plate, 33, a feeding track, 34, a feeding driving piece, 35, an arc-shaped plate piece, 36. feeding protective cover, 37, shrimp tidying device, 38, shrimp tidying piece, 39, shrimp tidying eccentric disc, 40 and shrimp tidying driving motor.

Detailed Description

The technical scheme of the application is further elaborated in the following by combining the drawings in the specification.

Referring to the attached drawing 11 of the specification, the structure of the existing shrimp peeling machine body is shown in fig. 11, and comprises a feeding disc 2 and a shrimp peeling machine body shell 12, wherein the length of a horizontal conveying section 13 of the feeding disc 2 is matched with that of the shrimp peeling machine body shell 12 and does not exceed the length of the shrimp peeling machine body shell 12, and the feeding disc 2 is shown in fig. 11 as a vertical feeding disc; the shell 12 of the shrimp peeling machine body is internally provided with a driving turntable part 29, a plurality of shrimp clamping parts (not shown in the figure) are arranged on the driving turntable part, and a pressing part, a shrimp back opening part, a shrimp intestine removing part and a shrimp inserting and peeling part (all shown in the figure) are sequentially arranged along the outer circumference of the rotating direction of the driving turntable part.

The shrimp peeling machine is characterized in that a shrimp storage cavity 30 is formed in a shell 12 of a shrimp peeling machine body, a feeding hole 8 of the feeding disc 2 is formed in a position, corresponding to the shrimp storage cavity 30, of the feeding disc 2, raw material shrimps 10 stored in the shrimp storage cavity 30 are manually placed in a shrimp placing groove 6 in the feeding hole 8 of the feeding disc 2, then the feeding disc 2 rotates, the raw material shrimps in the shrimp placing groove 6 are conveyed to a discharging hole 9, shrimp tails are clamped by a shrimp clamping component on a driving rotary disc component 29, and the raw material shrimps 10 are removed from the discharging hole 9 and enter the shrimp peeling machine body 11 to be peeled.

Based on the above prior art, the present application provides the following embodiments.

Example 4

Referring to fig. 9 of the specification as another preferred embodiment of the present application, the present embodiment discloses: the technical scheme is that on the basis of the technical scheme of the feeding and conveying method, the mechanical arm is used for grabbing raw shrimps and placing the raw shrimps, and the provided solution is that the position of the raw shrimps in the shrimp placing groove directly influences the subsequent shrimp peeling process, so that a technical scheme is needed to ensure that the position of the raw shrimps meets the requirements of the subsequent shrimp peeling process after the raw shrimps are placed in the shrimp placing groove.

The technical scheme is based on: all adopt the manual work to place at present, have a location line in putting the shrimp groove among prior art, the manual work when putting raw materials shrimp, need align the shrimp from the second festival that the afterbody counted and this location line and place, because individual difference between the operating personnel, can lead to putting the problem of irregularity of raw materials shrimp, can influence the follow-up smooth going on of shelling the shrimp process even more seriously. The problem that this technical scheme solved is that the artifical individual differentiation problem of placing the shrimp leads to put the problem of the inefficiency of shrimp range, also solves the automatic problem of putting the location precision of shrimp row shrimp in-process of manipulator simultaneously.

The technical scheme is implemented by the following technical contents:

a feeding positioning method of an automatic shrimp peeling machine comprises the following steps:

presetting initial position information of a positioning reference point 22 on the manipulator 3 and a shrimp placing reference point 24 in a shrimp placing groove 6 in the feed tray 2, and acquiring a speed matching relation between the manipulator 3 and the feed tray 2 according to the initial position information;

positioning and grabbing steps of the manipulator: the vision acquisition device 4 acquires image data of the raw material shrimps 10 on the feeding conveyer belt 1 and transmits the image data to the manipulator 3, and the manipulator 3 receives the image data and corresponds a positioning reference point 22 on an execution end of the manipulator action execution device 5 to a grabbing reference point 23 of the raw material shrimps 10 according to the image data; the manipulator 3 acts to grab the raw material shrimp 10 and move the shrimp to the positioning and placing step of the manipulator;

positioning and placing the manipulator: after the execution end of the manipulator action execution device 5 positions and grabs the raw shrimp 10, the manipulator 3 moves according to the preset speed to place the raw shrimp 10 in the shrimp placing groove 6, at the moment, the grabbing reference point 23 of the raw shrimp 10 corresponds to the shrimp placing reference point 24 in the shrimp placing groove 6, the accuracy of the position of the raw shrimp 10 in the shrimp placing groove 6 is ensured, and the subsequent shrimp peeling process is facilitated to be smoothly carried out.

When the manipulator execution end grabs the raw material shrimps 10 and moves to the position of the feeding hole 8 of the feeding disc 2, two positioning coordinate points are arranged, namely a first positioning coordinate point 20 and a second positioning coordinate point 21, and the manipulator execution end moves to the position of the feeding hole 8 after grabbing the raw material shrimps 10 and selects the positioning coordinate points, which are determined by state information of the raw material shrimps 10 on the feeding conveyer belt 1;

the concrete expression is as follows: the raw material shrimp 10 is structurally characterized by comprising a shrimp back 16, a shrimp belly 19, a first side surface 17 and a second side surface 18, wherein the raw material shrimp 10 lies on the feeding conveyer belt 1 in the conveying process on the feeding conveyer belt 1, namely, the first side surface 17 faces upwards or the second side surface 18 faces upwards, if the first side surface 17 faces upwards, the execution end of the manipulator 3 is grabbed on the first side surface 17 to grab and move the raw material shrimp 10 in a posture that the first side surface 17 faces upwards, during placement, the manipulator 3 corresponds to the first positioning coordinate point 20, the manipulator 3 moves to the first positioning point 20 to release the raw material shrimp 10, the second side surface 18 of the raw material shrimp 10 is firstly contacted with one side surface (a second shrimp groove plate 27) of the shrimp placing groove 6, and slides into the shrimp placing groove 6 under the guiding action of the side surface, and when the raw material shrimp slides to the bottom of the shrimp placing groove 6, the shrimp back 16 faces upwards, the shrimp belly 19 faces downwards, two side plates (a first shrimp groove plate 26, a second side plate 27) of the shrimp placing groove 6 are formed, A second shrimp trough 27) against the first and second sides 17, 18 of the raw shrimp 10, respectively. If the raw material shrimp 10 is on the feeding conveyor belt 1 with the second side 18 facing upward, the positioning point to which the manipulator 3 moves after grabbing is the second positioning coordinate point 21, and after releasing the raw material shrimp 10, the first side 17 of the raw material shrimp 10 first contacts with the other side (the first shrimp trough plate 26) of the shrimp containing trough 6, and under the guiding action of the side, the raw material shrimp 10 slides into the shrimp containing trough 6, and when sliding to the bottom of the shrimp containing trough 6, the raw material shrimp 10 is in a state that the shrimp back 16 faces upward, the shrimp belly 19 faces downward, and the two side plates (the first shrimp trough plate 26 and the second shrimp trough plate 27) of the shrimp containing trough 6 are respectively attached to the first side 17 and the second side 18 of the raw material shrimp 10. The concrete expression is as follows: the raw material shrimp 10 is structurally characterized by comprising a shrimp back 16, a shrimp belly 19, a first side surface 17 and a second side surface 18, wherein the raw material shrimp 10 lies on the feeding conveyer belt 1 in the conveying process on the feeding conveyer belt 1, namely, the first side surface 17 faces upwards or the second side surface 18 faces upwards, if the first side surface 17 faces upwards, the execution end of the manipulator 3 is grabbed on the first side surface 17 to grab and move the raw material shrimp 10 in a posture that the first side surface 17 faces upwards, during placement, the manipulator 3 corresponds to the first positioning coordinate point 20, the manipulator 3 moves to the first positioning point 20 to release the raw material shrimp 10, the second side surface 18 of the raw material shrimp 10 is firstly contacted with one side surface (a second shrimp groove plate 27) of the shrimp placing groove 6, and slides into the shrimp placing groove 6 under the guiding action of the side surface, and when the raw material shrimp slides to the bottom of the shrimp placing groove 6, the shrimp back 16 faces upwards, the shrimp belly 19 faces downwards, two side plates (a first shrimp groove plate 26, a second side plate 27) of the shrimp placing groove 6 are formed, A second shrimp trough 27) against the first and second sides 17, 18 of the raw shrimp 10, respectively. If the raw material shrimp 10 is on the feeding conveyor belt 1 with the second side 18 facing upward, the positioning point to which the manipulator 3 moves after grabbing is the second positioning coordinate point 21, and after releasing the raw material shrimp 10, the first side 17 of the raw material shrimp 10 first contacts with the other side (the first shrimp trough plate 26) of the shrimp containing trough 6, and under the guiding action of the side, the raw material shrimp 10 slides into the shrimp containing trough 6, and when sliding to the bottom of the shrimp containing trough 6, the raw material shrimp 10 is in a state that the shrimp back 16 faces upward, the shrimp belly 19 faces downward, and the two side plates (the first shrimp trough plate 26 and the second shrimp trough plate 27) of the shrimp containing trough 6 are respectively attached to the first side 17 and the second side 18 of the raw material shrimp 10.

And (3) establishing a three-dimensional coordinate system by taking the feeding disc 2 as a reference, wherein a plane above the shrimp holding tank 6 is an XY coordinate system, the length direction of the shrimp holding tank 6 is an Y axis, the moving direction of the shrimp holding tank 6 is an X axis, the Y axis positions are the same between the first positioning coordinate point 20 and the second positioning coordinate point 21, and the X axis positions are different.

When the raw material shrimps 10 are conveyed on the feeding conveying belt 12, the vision acquisition device 4 acquires the positions and the state information of the raw material shrimps 10 on the feeding conveying belt 1, the state information comprises the directions of the shrimp tails 28 and the orientations of the first side surface 17 and the second side surface 18 of the shrimps, the manipulator 3 rotates correspondingly according to the information acquired by the vision acquisition device 4, the positioning datum point 22 of the manipulator execution end is ensured to correspond to the grabbing datum point 23 on the raw material shrimps 10, and after the raw material shrimps 10 are placed, the shrimp tails 28 of the raw material shrimps 10 are exposed out of the shrimp groove 6 and the directions are consistent.

Example 2

As a preferred embodiment of this application, this embodiment discloses a feeding conveying system of automatic shrimp peeling machine, and the feeding conveying system of automatic shrimp peeling machine in this embodiment is used for solving the artifical shrimp that advances of current shrimp peeling machine body, and the shrimp that advances that appears is efficient slow, shells the problem that shrimp peeling machine degree of automation is low, shell the shrimp inefficiency.

As shown in fig. 1-4, a feeding conveying system of an automatic shrimp peeling machine comprises a feeding disc 2, a plurality of shrimp placing grooves 6 are arranged on the feeding disc 2, a feeding port 8 and a discharging port 9 are arranged on the feeding disc, and the feeding conveying system of the embodiment further comprises a feeding conveying belt 1 and a manipulator 3. Referring to the attached

drawings

1 and 2 of the specification, compared with the prior art, the vertical structure of the feeding disc 2 in the existing shrimp peeling machine body is changed into the horizontal structure, namely, the movement track of the shrimp placing groove 6 forms an annular surface 7, and the annular surface 7 is parallel to the horizontal plane; as shown in fig. 2, the feed port 8 is located on one side of the annular planar feed plate 2, and the discharge port 9 is located on the other side of the annular planar feed plate 2; the feeding conveyer belt 1 is arranged on the side of a feeding hole 8 of the feeding disc 2, and the length direction of a shrimp placing groove 6 positioned at the feeding hole 8 is vertical to the conveying direction of the feeding conveyer belt; a manipulator 3 for grasping and placing the raw material shrimps 10 on the feeding conveyor belt 1 in the shrimp placing tank 6 is installed above the feeding conveyor belt 1 and the feeding tray 2.

In this embodiment, this technical scheme changes the structure of feeding dish 2, changes original vertical structure into horizontal structure, compares fig. 11 and fig. 2 and can obviously see the structure of the feeding dish among this technical scheme and the obvious difference of feeding dish structure in the current shrimp peeling machine body. The effect is shown in detail as follows: under the condition that the length of the horizontal conveying section 13 of the feeding disc 2 in the existing shrimp peeling machine body 11 is not changed, the horizontal feeding disc of the technical scheme can increase the number of arranged and placed raw shrimps under the condition of the same length.

In addition, if a set of feeding conveyer belt 1 and manipulator 3 is added to the shrimp peeling machine body in the prior art, the feeding conveyer belt 1 and the manipulator 3 can only be arranged on the other side of the feeding tray 2 relative to the shrimp peeling machine body shell 12 without changing the structure of the feeding tray 2, referring to the position shown in fig. 6 in the specification, which is referred to in fig. 6, but this arrangement mode is easily conceivable by those skilled in the art, however, compared with the arrangement mode in the present technical scheme, there is a defect that the arrangement mode may cause the moving stroke of the manipulator 3 to be longer, the frequency of the manipulator to pick becomes lower, the conveying speed of the feeding tray 2 matched therewith also decreases, and the rotating speed of the active turntable component 29 matched with the feeding tray 2 also decreases, resulting in the efficiency of shrimp peeling decreasing. The concrete points are as follows:

referring to the attached figure 6 of the specification, under the condition that the lengths of the shrimp placing grooves 6 of the feeding tray 2 and the shrimp peeling machine body 11 in the prior art are the same, the moving stroke of the manipulator 3 can be shortened by the structure of the feeding tray 2 in the technical scheme.

It is limited to shell the position that shrimp machine body put in putting the shrimp groove to former material shrimp at present, need expose a part with the shrimp tail, is about to the shrimp tail towards discharge gate one side, and the horizontal feed tray 2 that this technical scheme set up, when advancing the shrimp, need not be with the shrimp tail towards discharge gate one side, can be with the shrimp tail towards feed inlet one side, towards feeding conveyer belt 1 one side promptly. Under the condition of ensuring the requirement of feeding shrimps, the lengths of the shrimp holding grooves are consistent, and the position states of raw shrimps on the feeding conveyer belt are consistent, referring to the attached figure 6 of the specification, the structure of the feeding tray 2 of the shrimp peeling machine body 11 in the prior art needs the mechanical arm 3 to move the shrimp tail 28 towards the discharge port 9, the moving distance is L2, while the moving distance of the mechanical arm 3 in the technical scheme is L1, as shown in figure 6, L2 is obviously larger than L1, that is, under the same scene, the moving stroke of the mechanical arm is increased by the vertical feeding tray 2 in the prior art. And this technical scheme can shorten the removal stroke of manipulator for the stroke when manipulator 3 placed the shrimp is shorter, and it is faster to grab and put the frequency, and the functioning speed of feed tray can improve, thereby the speed of shelling the shrimp machine rather than the matching also can carry out corresponding improvement according to the speed of feed tray, thereby makes to shell shrimp efficiency higher.

In this embodiment, the feeding tray 2 further includes a feeding tray mounting frame 32 and a feeding driving member 34, a feeding track 33 matched with the running track of the shrimp holding tank 6 is arranged on the feeding tray mounting frame 32, the feeding servo motor is mounted on the feeding tray mounting frame, a driving sprocket and a driven sprocket are arranged on the feeding tray mounting frame, the feeding driving member is sleeved on the driving sprocket and the driven sprocket, the shrimp holding tanks are horizontally arranged, one end close to the feeding driving member is connected with the feeding driving member, the middle of each shrimp holding tank is connected with the feeding track, and the shrimp holding tanks rotate along the feeding track under the driving of the feeding driving member and the limitation of the feeding track; the driving chain wheel, the driven chain wheel and the feeding driving piece are covered on the feeding disc mounting frame through a feeding protection cover. Arc-shaped guard plates are further arranged at the two ends of the feeding disc.

The feeding disc is further provided with a shrimp tidying device, the shrimp tidying device comprises a shrimp tidying driving motor, a shrimp tidying mounting frame, a shrimp tidying eccentric disc and a shrimp tidying piece, and the shrimp tidying servo motor is mounted on the shrimp tidying mounting frame and is positioned above the movement tracks of the feeding hole and the discharging hole of the feeding disc; reason shrimp spare with install on the eccentric disc, reason shrimp servo motor drives reason shrimp eccentric disc and rotates to drive reason shrimp spare and reciprocate, arrange in order to carry the raw materials shrimp of its below.

According to a further preferable technical scheme, referring to the attached drawing 1 of the specification, the manipulator 3 comprises a vision acquisition device 4 and a manipulator action execution device 5, the vision acquisition device 4 is relatively independent of the manipulator action execution device 5, the manipulator action execution device 5 is installed above the feeding disc 2 and the feeding conveying belt 1, the vision acquisition device 4 is installed above the feeding conveying belt 1 through a vision acquisition installation frame 31, and the vision acquisition device 4 is located in front of the manipulator action execution device 5 along the conveying direction of the feeding conveying belt 1.

The common mechanical arms on the market are all equipped with the vision acquisition device, but generally integrate the vision acquisition device at the execution end of the mechanical arm, and the technical scheme specifically installs the vision acquisition device 4 and the mechanical arm action execution device 5 independently from each other, because for the feeding conveying system of the technical scheme, the requirement on the positioning and grabbing capacity of the mechanical arm 3 is higher, the mechanical arm 3 must accurately grab a specific position on the raw material shrimp 10, otherwise, the shrimp can not be accurately positioned and placed, the technical scheme separates the vision acquisition device 4 and the mechanical arm action execution device 5, namely, the accuracy of vision acquisition is ensured. Because the manipulator action execution end 5 can shake to a certain extent, if the vision acquisition device 4 is arranged at the execution end, the acquired image information can have more interference, which is not beneficial to the accurate positioning of the manipulator execution end. According to the technical scheme, the vision acquisition device and the manipulator action execution device are independently arranged, so that the accuracy of image acquisition and the stability of manipulator positioning and grabbing can be effectively ensured.

In a further preferred embodiment, the manipulator is a two-axis manipulator, a three-axis manipulator or an industrial robot. The three-axis manipulator is only shown in the figure of the application, the three-axis manipulator can be realized, the two-axis manipulator can also be realized, the industrial robot can also be realized, and the automatic manipulator component with the vision acquisition following device in the prior art can be implemented by the technical scheme.

According to a further preferable technical scheme, the execution end of the manipulator is provided with the sucking discs 14, in the technical scheme, the raw material shrimp can be grabbed in a sucking mode, the implementation is simple, referring to the attached drawing 5 in the specification, the sucking disc comprises two sucking discs 14, one of the two sucking discs is a positioning sucking disc serving as a positioning datum point for grabbing the shrimp by the manipulator, and the sucking disc corresponds to the grabbing datum point 23 on the raw material shrimp according to the placing state of the raw material shrimp so as to complete the positioning grabbing and placing of the raw material shrimp 10.

In a further preferred embodiment, in this embodiment, the execution end of the manipulator is provided with a clamping piece, and compared with the technical scheme of sucking by the sucker, the clamping piece is arranged in a manner one clamping action more than the sucking action, but the clamping action is firm, and the situation of shrimp falling does not occur in the moving process. Adopt the stability that the manipulator snatched the shrimp, prevent that the shrimp from droing from the manipulator that the piece implementation scheme was got to the clamp.

In a further preferred technical solution, in this embodiment, with reference to the attached fig. 10 of the specification, the motion trajectory of the shrimp holding tank is an ellipse, a circle, or a ring formed by two straight lines and two circular arcs. The motion trail of the shrimp placing groove is limited by the requirement that the shrimp placing groove always moves horizontally, the shrimp tail faces outwards when the shrimp is at the position of the discharge hole, and the stroke of the mechanical arm can be effectively controlled when the mechanical arm grabs the shrimps and places the shrimps.

In this embodiment, taking as an example a raw shrimp 10 for its working principle, the raw shrimp 10 is transported by a feed conveyor 1, during the conveying process, the vision acquisition device 4 acquires the image information of the raw material shrimps 10 conveyed on the feeding conveyer belt 1 and transmits the image information to the manipulator action execution device 5, during the process, the image information is automatically converted into coordinate information and transmitted to a manipulator action executing device (the technology is the prior art of manipulator visual following), the manipulator action executing device 5 grabs the raw material shrimp 10 according to the transmitted image information, then the grabbed raw material shrimps 10 are placed in a shrimp placing groove 6 at a feeding hole 8 of a feeding disc 2, the feeding disc 2 rotates, the shrimp placing groove 6 rotates to a discharging hole 9, the shrimp clamping part of a shrimp peeling machine body 11 clamps the shrimps at the discharging hole 9, the shrimps are moved out of the feeding disc 2, and the shrimp peeling action is carried out.

Example 3

As another preferred embodiment of the present application, this embodiment provides a technical implementation of a feeding system of an automatic shrimp peeling machine, and this technical solution can also solve the above-mentioned problems of low automation degree and low shrimp peeling efficiency caused by the manual feeding arrangement of the raw material shrimps by the shrimp peeling machine in the prior art. This application makes less improvement to the feeding dish on the basis of original shrimp peeling machine equipment to increase the manipulator feeding, thereby can improve the shrimp peeling efficiency, carry the feeding arrangement efficiency of high raw material shrimp, improve the degree of automation of shrimp peeling machine. The technical scheme is as follows:

as shown in fig. 7, (the manipulator is not shown in fig. 7, and refer to the arrangement structure diagram of the manipulator in fig. 1), a feeding system of an automatic shrimp peeling machine comprises a feeding disc 2, a plurality of shrimp holding grooves 6 are arranged on the feeding disc 2, a feeding port 8 and a discharging port 9 are arranged on the feeding disc 2, an annular surface 7 formed by the motion tracks of the shrimp holding grooves 6 is parallel to a vertical surface (refer to fig. 11), and the feeding disc 2 at least comprises a horizontal conveying section 13; the device also comprises a feeding conveyer belt 1 and a manipulator 3; the length of the horizontal conveying section 13 is greater than that of the shrimp peeling machine body shell 12, the feed inlet 8 and the discharge outlet 9 are located on the same side of the feed tray 2, the feed inlet 8 is located on one side of the feed tray 2 extending out of one end of the shrimp peeling machine body shell 12, the feed conveying belt 1 is located on the feed inlet 8 side of the feed tray 2, and the length direction of the shrimp placing groove 6 located on the feed inlet 8 is perpendicular to the conveying direction of the feed conveying belt 1; a manipulator 3 for grabbing and placing the shrimps on the feeding conveyer belt 1 in the shrimp placing groove 6 is arranged above the feeding conveyer belt 1 and the feeding tray 2.

In this technical scheme, the horizontal transport section 13 with the feeding dish 2 extension has surpassed the length of original shrimp peeling machine body casing 12, and this technical scheme of this technical scheme does not carry out big improvement with current vertical feeding dish structure promptly, has only prolonged the transport length of vertical feeding dish 2 horizontal transport section 13. In the existing shrimp peeling machine, as shown in fig. 11, the feeding tray 2 also comprises a feeding port 8 and a discharging port 9, and the feeding port 8 and the discharging port 9 are located on the same side and do not exceed the length of the shell 12 of the shrimp peeling machine body, because the shell 12 at the position of the feeding port 8 is provided with the shrimp storage cavity 30, an operator can conveniently place the raw material shrimps 10 in the shrimp storage cavity 30 in the shrimp placing groove 6 at the position of the feeding port 8. If the existing feeding tray 2 is not modified, the feeding conveyer belt 1 and the manipulator 3 can be arranged on the other side of the feeding tray 2 relative to the feeding hole 8, so that the stroke of the manipulator 3 for grabbing the shrimps from the feeding conveyer belt 1 and placing the shrimps in the shrimp placing groove 6 of the feeding tray 2 is prolonged, and the grabbing and placing frequency of the manipulator 3 is reduced. Referring to fig. 12 of the specification, the moving stroke L3 of the manipulator is obviously larger than the moving stroke L4 of the manipulator in the present embodiment without changing the length of the horizontal conveying section 13 of the feeding tray 2, that is, under the same circumstances, the moving stroke of the manipulator is increased by the vertical feeding tray 2 in the prior art. And this technical scheme can shorten the removal stroke of manipulator for the stroke when manipulator 3 placed the shrimp is shorter, and it is faster to grab and put the frequency, and the functioning speed of feed tray can improve, thereby the speed of shelling the shrimp machine rather than the matching also can carry out corresponding improvement according to the speed of feed tray, thereby makes to shell shrimp efficiency higher.

According to a further preferable technical scheme, referring to the attached drawing 1 of the specification, the manipulator 3 comprises a vision acquisition device 4 and a manipulator action execution device 5, the vision acquisition device 4 is relatively independent from the manipulator action execution device 5, the manipulator action execution device 5 is installed above the feeding disc 2 and the feeding conveyer belt 1, the vision acquisition device 4 is installed above the feeding conveyer belt 1 through a vision acquisition installation frame 31, and the vision acquisition device 4 is located in front of the manipulator action execution device 5 along the conveying direction of the feeding conveyer belt 1;

Example 4

As another preferred embodiment of the present application, referring to fig. 8 of the specification, this embodiment provides a technical solution of a feeding and conveying method of an automatic shrimp peeling machine, and the invention of the technical solution aims to solve the problems of poor automation degree, low feeding and arranging efficiency, food safety and low shrimp peeling efficiency of the feeding and conveying method of the existing shrimp peeling machine. This technical scheme adopts the manipulator to feed, can realize the automatic feed of raw materials shrimp effectively and arrange, can improve the feeding arrangement efficiency of raw materials shrimp effectively and shell the shrimp efficiency of shelling of shrimp machine.

The technical scheme disclosed by the embodiment is as follows:

a feeding and conveying method of an automatic shrimp peeling machine comprises the following steps:

a conveying belt feeding step: the raw material shrimp 10 is conveyed to the vision collection step by the feeding conveyer belt 1;

a visual collection step: acquiring image information on the feeding conveyer belt 1 through a visual acquisition device 4, and sending the acquired image information to a manipulator for grabbing, stacking and feeding;

a mechanical arm grabbing, stacking and feeding step: the mechanical arm 3 receives the image information transmitted in the visual acquisition step, grabs the shrimps on the feeding conveyer belt 1 according to the received image information, and places the grabbed shrimps in the feeding hole 8 of the feeding disc 2;

a shrimp storage and conveying step of a feeding plate: the feeding disc 2 collects and stores the shrimps fed from the feeding port 8 and conveys them to the discharging port 9 in a rotating manner.

In the technical scheme, the processing process of the image information acquired by vision is the prior art, and generally comprises a vision acquisition device coordinate system, a manipulator coordinate system and a target object coordinate system, wherein the acquired image information needs to be converted between the vision acquisition device coordinate system and the manipulator coordinate system, and then the target object coordinate system is converted between the manipulator coordinate system and the target object coordinate system, so that the coordinates of the target object are determined, the manipulator moves to the coordinates to grab the target object, and in the process, the target object is the raw material shrimp 10.

In this technical scheme, vision collection system 4 and manipulator 3 exist independently, and vision collection system 4 and manipulator action final controlling element 5 promptly, and vision collection system 4 sets up the top at feeding conveyer belt 1 alone, can ensure the stability of the image of gathering, ensures the accuracy that follow-up manipulator snatchs the location.

The raw material shrimps 10 are conveyed by the feeding conveyer belt 1, in the conveying process of the feeding conveyer belt 1, the vision acquisition device 4 acquires images of the raw material shrimps 10 conveyed on the feeding conveyer belt 1 and identifies position information and placement state information of the raw material shrimps 10, the vision acquisition device 4 transmits the acquired image information, the position information and the placement state information of the raw material shrimps to the manipulator action execution device 5, the manipulator 3 moves an execution end of the manipulator action execution device 5 to the position of the raw material shrimps 10 according to the received information and adjusts the direction of the execution end according to the placement state of the raw material shrimps 10, the execution end of the manipulator action execution device 5 grabs the raw material shrimps 10 and moves the raw material shrimps 10 to the position of the feeding hole 8 of the feeding tray 2, the execution end of the manipulator action execution device 5 loosens the grabbed raw material shrimps 10, and the raw material shrimps 10 automatically fall into the shrimp placing groove 6 at the position of the feeding hole 8, and the shrimp 16 back up.

In the technical scheme, the requirement on the placing position of the raw material shrimps 10 in the shrimp placing groove 6 is strict, so that the step of grabbing the raw material shrimps 10 by the manipulator and placing the raw material shrimps 10 in the shrimp placing groove has strict requirement on positioning. If the placing position of the raw material shrimps 10 in the shrimp placing groove 6 is not accurate, the working process and effect of the subsequent shrimp peeling step can be directly influenced.

Presetting initial position information of a positioning reference point 22 on the manipulator 3 and a shrimp placing reference point 24 in a shrimp placing groove 6 in the feed tray 2, and acquiring a speed matching relation between the manipulator 3 and the feed tray 2 according to the initial position information; the vision acquisition device 4 acquires image data of the raw material shrimps 10 on the feeding conveyer belt 1 and transmits the image data to the manipulator 3, and the manipulator 3 receives the image data and corresponds a positioning reference point 22 on an execution end of the manipulator action execution device 5 to a grabbing reference point 23 of the raw material shrimps 10 according to the image data; the mechanical arm 3 acts to grab the raw material shrimp 10; after the execution end of the manipulator action execution device 5 positions and grabs the raw shrimp 10, the manipulator 3 moves according to the preset speed to place the raw shrimp 10 in the shrimp placing groove 6, at the moment, the grabbing reference point 23 of the raw shrimp 10 corresponds to the shrimp placing reference point 24 in the shrimp placing groove 6, the accuracy of the position of the raw shrimp 10 in the shrimp placing groove 6 is ensured, and the subsequent shrimp peeling process is facilitated to be smoothly carried out.

The shrimp resting reference points 24 of the shrimp resting tank 6 are formed by positioning lines 25 provided in the shrimp resting tank, with which the first and second shrimp tails generally align.

When the manipulator execution end grabs the raw material shrimp 10 and moves to the position of the feed inlet 8 of the feed tray 2, two positioning coordinate points exist, namely a first positioning coordinate point 20 and a second positioning coordinate point 21, the manipulator execution end moves to the position of the feed inlet 8 after grabbing the raw material shrimp 10 to select the positioning coordinate points, and the selection is determined by the state information of the raw material shrimp 10 on the feed conveyer belt 1.

The concrete expression is as follows: the raw material shrimp 10 is structurally characterized by comprising a shrimp back 16, a shrimp belly 19, a first side surface 17 and a second side surface 18, wherein the raw material shrimp 10 lies on the feeding conveyer belt 1 in the conveying process on the feeding conveyer belt 1, namely, the first side surface 17 faces upwards or the second side surface 18 faces upwards, if the first side surface 17 faces upwards, the execution end of the manipulator 3 is grabbed on the first side surface 17 to grab and move the raw material shrimp 10 in a posture that the first side surface 17 faces upwards, during placement, the manipulator 3 corresponds to the first positioning coordinate point 20, the manipulator 3 moves to the first positioning point 20 to release the raw material shrimp 10, the second side surface 18 of the raw material shrimp 10 is firstly contacted with one side surface (a second shrimp groove plate 27) of the shrimp placing groove 6, and slides into the shrimp placing groove 6 under the guiding action of the side surface, and when the raw material shrimp slides to the bottom of the shrimp placing groove 6, the shrimp back 16 faces upwards, the shrimp belly 19 faces downwards, two side plates (a first shrimp groove plate 26, a second side plate 27) of the shrimp placing groove 6 are formed, A second shrimp trough 27) against the first and second sides 17, 18 of the raw shrimp 10, respectively. If the raw material shrimp 10 is on the feeding conveyor belt 1 with the second side 18 facing upward, the positioning point to which the manipulator 3 moves after grabbing is the second positioning coordinate point 21, and after releasing the raw material shrimp 10, the first side 17 of the raw material shrimp 10 first contacts with the other side (the first shrimp trough plate 26) of the shrimp containing trough 6, and under the guiding action of the side, the raw material shrimp 10 slides into the shrimp containing trough 6, and when sliding to the bottom of the shrimp containing trough 6, the raw material shrimp 10 is in a state that the shrimp back 16 faces upward, the shrimp belly 19 faces downward, and the two side plates (the first shrimp trough plate 26 and the second shrimp trough plate 27) of the shrimp containing trough 6 are respectively attached to the first side 17 and the second side 18 of the raw material shrimp 10.

In the feeding disc shrimp storage and conveying step, an annular surface 7 formed by the motion track of a shrimp placing groove 6 used for placing raw material shrimps 10 on a feeding disc 2 is parallel to the horizontal plane, the raw material shrimps 10 are grabbed from a feeding conveyer belt 1 by a manipulator 3 and placed in the shrimp placing groove 6 at a feeding port 8 positioned at one side of the feeding disc 2, and the shrimp placing groove 6 is driven by the feeding disc 2 to move and rotate to a discharging port 9 at the other side of the feeding disc 2.

In the feeding disc shrimp storage and conveying step, an annular surface 7 formed by the motion track of a shrimp placing groove 6 used for placing raw material shrimps 10 on a feeding disc 2 is parallel to a vertical surface, the feeding disc 2 at least comprises a section of horizontal conveying section 13, the raw material shrimps 10 are grabbed from a feeding conveying belt 1 by a manipulator 3 and placed in the shrimp placing groove 6 at a feeding hole 8 positioned at one side of the feeding disc 2, and the shrimp placing groove 6 continues to move forwards horizontally and moves to a discharging hole 9 at the same side with the feeding hole 8.

It will be understood that the application is not limited to the precise construction which has been described above and illustrated in the accompanying drawings and that various modifications and changes may be made therein without departing from the scope thereof, which is limited only by the appended claims.

Claims

1. A feeding positioning method of an automatic shrimp peeling machine is characterized in that: the method comprises the following steps:

presetting initial position information of a positioning reference point (22) on the manipulator (3) and a shrimp placing reference point (24) in a shrimp placing groove (6) in the feeding disc (2), and acquiring a speed matching relation between the manipulator (3) and the feeding disc (2) according to the initial position information;

positioning and grabbing steps of the manipulator: the vision acquisition device (4) acquires image data of raw material shrimps (10) on the feeding conveyor belt (1) and transmits the image data to the mechanical arm (3), the mechanical arm (3) receives the image data and enables a positioning reference point (22) on an execution end of the mechanical arm (3) to correspond to a grabbing reference point (23) of the raw material shrimps according to the image data; the mechanical arm acts to grab the raw material shrimp (10);

positioning and placing the manipulator: after the execution end of the manipulator (3) positions and grabs the raw material shrimps, the manipulator moves at a preset speed to place the raw material shrimps in the shrimp placing groove (6), and at the moment, the grabbing reference point (23) of the raw material shrimps corresponds to the shrimp placing reference point (24) in the shrimp placing groove (6); when the execution end of the manipulator (3) snatchs the raw material shrimp and moves to the position of the feed inlet (8) of the feed tray (2), two positioning coordinate points exist, namely a first positioning coordinate point (20) and a second positioning coordinate point (21), the execution end of the manipulator (3) moves to the selection of the positioning coordinate point of the position of the feed inlet (8) after grabbing the raw material shrimp (10), and the selection is determined by the state information of the raw material shrimp on the feed conveyor belt (1).

2. The feeding positioning method of the automatic shrimp peeling machine as claimed in claim 1, characterized in that: the raw material shrimps comprise a shrimp back (16), a shrimp belly (19), a first side surface (17) and a second side surface (18), the raw material shrimps (10) are all laid on the feeding conveyor belt (1) in the conveying process of the feeding conveyor belt (1), namely the first side surface (17) faces upwards or the second side surface (18) faces upwards, if the first side surface (17) faces upwards, the execution end of the manipulator (3) is grabbed on the first side surface (17), the raw material shrimps are grabbed and moved in the upward posture of the first side surface (17), when the raw material shrimps are placed, the manipulator corresponds to a first positioning coordinate point (20), the manipulator moves to the first positioning point (20) to release the raw material shrimps, the second side surface (18) of the raw material shrimps is firstly contacted with the side surface of one side surface of the shrimp placing groove (6), under the guiding effect of the side surface, the raw material shrimps slide into the shrimp placing groove (6), and when the raw material shrimps slide down to the bottom of the shrimp placing groove (6), the shrimp back (16) faces upwards to form the shrimps, The shrimp belly (19) faces downwards, and two side plates of the shrimp placing groove (6) are respectively tightly attached to the first side surface and the second side surface of the raw material shrimp (10);

if the state of the raw material shrimps on the feeding conveyer belt is that the second side faces upwards, the locating point moved after the mechanical arm picks is a second locating coordinate point, after the raw material shrimps are released, the first side face of the raw material shrimps is firstly contacted with the side face of the other side of the shrimp placing groove, under the guiding action of the side face, the raw material shrimps slide into the shrimp placing groove, and when the raw material shrimps slide to the bottom of the shrimp placing groove, the states that the backs of the shrimps face upwards, the bells of the shrimps face downwards, and two side plates of the shrimp placing groove are respectively tightly attached to the first side face (17) and the second side face (18) of the raw material shrimps are formed.

3. The feeding positioning method of the automatic shrimp peeling machine as claimed in claim 1, characterized in that: and (3) establishing a three-dimensional coordinate system by taking the feeding disc (2) as a reference, wherein a plane above the shrimp placing groove (6) is an XY coordinate system, the length direction of the shrimp placing groove is an Y axis, the moving direction of the shrimp placing groove is an X axis, the Y axis positions are the same between the first positioning coordinate point and the second positioning coordinate point, and the X axis positions are different.

4. The feeding positioning method of the automatic shrimp peeling machine as claimed in claim 2, characterized in that: when the raw material shrimps (10) are conveyed on the feeding conveying belt (1), the positions and the state information of the raw material shrimps on the feeding conveying belt (1) are collected by the vision collection device (4), the state information comprises the direction of the shrimp tails (28) and the orientation of the first side surface (17) and the second side surface (18) of the shrimps, the mechanical arm (3) rotates correspondingly according to the information collected by the vision collection device (4), the positioning reference point of the execution end of the mechanical arm is ensured to correspond to the grabbing reference point (23) on the raw material shrimps, and after the raw material shrimps are placed, the shrimp tails (28) of the raw material shrimps are exposed out of the shrimp placing groove (6), and the shrimp backs (16) face upwards.