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CN-121989207-A - Automatic distance-control clamping system for high-efficiency antarctic krill freezing tray

CN121989207ACN 121989207 ACN121989207 ACN 121989207ACN-121989207-A

Abstract

A high-efficiency automatic distance-control clamping system for a antarctic krill freezing tray belongs to the technical field of antarctic krill processing equipment. The invention utilizes the automatic parallel guiding distance control mechanism to control the gesture and the distance of the antarctic krill freezing tray. And the improved YOLOv < 11 > target detection algorithm is utilized to realize high-precision positioning of the antarctic krill freezing tray under the conditions of uneven illumination and unclear identification of the antarctic krill freezing tray under the freezing environment through a lightweight backbone network and an edge information enhancement module. And the machine vision is linked with the mechanical arm, and the mechanical arm is controlled to move according to the expected track. And the machine vision is linked with the multi-station clamping jaw, so that the clamping/loosening control of the multi-station clamping jaw clamp holder is realized. The system can quickly enable the antarctic krill freezing plate to be parallel to the conveying belt, simultaneously realize automatic control of the spacing between the freezing plates, enable the clamp holder to be attached to the shape of the freezing plate, prevent the freezing plate from falling off when the freezing plate is clamped, automatically clamp the freezing plate through the multi-station clamping jaw and quickly put the freezing plate into a freezing plate bracket of a refrigerator.

Inventors

  • SUN LING
  • FU JIANGYANG
  • WANG HUIHUI
  • ZHOU DAYONG
  • YANG JIE
  • ZHU BEIWEI

Assignees

  • 大连工业大学

Dates

Publication Date
20260508
Application Date
20260306

Claims (10)

  1. 1. The automatic distance control clamping system for the antarctic krill freezing tray is characterized by comprising an automatic parallel guide distance control mechanism, a mechanical arm multi-station clamping jaw mechanism, a visual guide positioning module and a crawler-type mobile mechanical arm mechanism; The automatic parallel guide distance control mechanism comprises a production line guide mechanism and a lifting material distance adjusting mechanism, wherein the production line guide mechanism is arranged at the feed inlet end of the automatic parallel guide distance control mechanism and is used for forcedly placing and paralleling the antarctic krill freezing discs (21); The mechanical arm multi-station clamping jaw mechanism comprises a mechanical arm (5) and a multi-station clamping jaw mechanism (6), wherein the multi-station clamping jaw mechanism (6) comprises more than 3 clamping jaws, and the mechanical arm (5) is used for driving a plurality of clamping jaws in the multi-station clamping jaw mechanism (6) to clamp different antarctic krill freezing discs (21) simultaneously; The vision guiding and positioning module adopts an improved YOLOv target detection algorithm to collect the position coordinates of the antarctic krill freezing tray (21); the crawler-type mobile mechanical arm mechanism is used for conveying the antarctic krill freezing discs (21) clamped by the mechanical arm multi-station clamping jaw mechanism into a freezing disc bracket in a refrigerator.
  2. 2. The automatic distance-control clamping system for the high-efficiency antarctic krill freezing discs, as claimed in claim 1, is characterized in that the production line guiding mechanism comprises a conveying belt (1), a front guide baffle (2) and a rear guide baffle (3), wherein the conveying belt (1) is used for conveying square antarctic krill freezing discs (21), the front guide baffle (2) is fixedly connected to the front boundary position of the conveying belt (1), and the rear guide baffle (3) is fixedly connected to the rear boundary position of the conveying belt (1).
  3. 3. An automatic pitch-controlled gripping system for high efficiency antarctic krill freezer according to claim 2, wherein the spacing between the leading baffle (2) and the trailing baffle (3) is continuously shortened along the direction of travel of the conveyor belt 1.
  4. 4. The automatic distance-control clamping system for the antarctic krill freezing tray is characterized in that the lifting material distance adjusting mechanism comprises a lifting sliding table (7) and a sliding table baffle (18), the lifting sliding table (7) is fixedly hung above the conveyor belt (1), the sliding table baffle (18) is fixed by the lifting sliding table (7), and the sliding table baffle (18) can be driven to do lifting motion.
  5. 5. The automatic distance control clamping system for the antarctic krill freezing tray is characterized in that each clamping jaw comprises an electric cylinder (9), a rack (10), a gear A (11), a gear B (12), a clamping jaw finger A (13), a clamping jaw finger B (14), a rack housing (15), an electric cylinder housing (16) and a gear rack housing (17), the output end of the electric cylinder (9) is fixedly connected with the rack (10), teeth on two sides of the rack (10) are respectively meshed with the gear A (11) and the gear B (12), and teeth on the gear A (11) and the gear B (12) are respectively meshed with rack structures at the bottoms of the clamping jaw finger A (13) and the clamping jaw finger B (14).
  6. 6. The automatic distance-control clamping system for the high-efficiency antarctic krill freezing tray according to claim 5 is characterized in that a rack housing (15) is arranged outside a rack (10), an electric cylinder housing (16) is arranged outside an electric cylinder (9), a gear A (11) and a gear B (12) are externally provided with a gear and rack housing (17), grooves are formed in the upper end faces of the gear and rack housing (17), the grooves can be matched with protruding structures parallel to the rack structures on a clamping jaw finger A (13) and a clamping jaw finger B (14), and the clamping jaw finger A (13) and the clamping jaw finger B (14) can slide along the grooves of the gear and rack housing (17).
  7. 7. The automatic pitch control clamping system for a high efficiency antarctic krill freezer tray of claim 6, wherein the rack housing (15), the electric cylinder housing (16), and the rack and pinion housing (17) are integrally connected for dust and water proofing.
  8. 8. The automatic distance-control clamping system for the antarctic krill freezing tray, as claimed in claim 1, is characterized in that the visual guiding and positioning module comprises a camera (4), a fixing bracket (19) and an annular light source (20), wherein the camera (4) and the annular light source (20) are fixed above the antarctic krill freezing tray (21) through the fixing bracket (19).
  9. 9. The automatic range control gripping system for high efficiency antarctic krill freezer of claim 8, wherein the vision-guided positioning module employs a modified YOLOv target detection algorithm, comprising the steps of: Firstly, adopting a bilateral filtering algorithm to reduce noise of a gray image acquired by a camera (4) and strengthen edge characteristics; The method comprises the steps of constructing an improved YOLOv model, adopting a MobileNetV light-weight backbone network to replace a YOLOv original P5 backbone network, adopting a UIB structure to replace an original residual unit in the MobileNetV light-weight backbone network, embedding a Mobile MQA mechanism in a feature layer of the MobileNetV light-weight backbone network, utilizing a multi-query-head shared key value to capture global space information, improving a YOLOv original C3k2 module into a C3k2-EIEM module, adopting a C3k2 module in a feature extraction part, adopting a EIEM edge information enhancement module, combining the two modules to form a C3k2-EIEM fusion feature extraction structure, introducing SobelConv branches in the C3k2-EIEM, and explicitly extracting edge gradient features of a euphausia refrigeration disk (21) in a low-contrast environment through a Sobel operator; step three, processing the image by using the YOLOv model modified in the step two: Extracting features of gray images by adopting MobileNetV < 4 > light backbone network, carrying out edge enhancement on the extracted features by utilizing C3k2-EIEM, carrying out regression and classification on the features after edge enhancement by utilizing a decoupling detection head, and reserving an optimal detection frame by utilizing a non-maximum suppression algorithm; And fourthly, extracting the geometric center of the optimal detection frame as a target position, extracting rotation characteristics from an edge enhancement characteristic diagram output by a C3k2-EIEM fusion characteristic extraction structure, calculating the deflection angle of the antarctic krill freezing tray (21) in a plane space, converting pixel coordinates into mechanical arm substrate space coordinates in real time based on calibration parameters, and realizing the accurate positioning of the antarctic krill freezing tray (21).
  10. 10. The automatic pitch-controlled gripping system for high-efficiency antarctic krill freezer tray of claim 1, wherein the crawler-type mobile mechanical arm mechanism comprises a mechanical arm (5) and a crawler (8), and the mechanical arm (5) is fixed on the crawler (8).

Description

Automatic distance-control clamping system for high-efficiency antarctic krill freezing tray Technical Field The invention relates to the technical field of antarctic krill processing equipment, in particular to a design of an automatic distance control, precise guiding and efficient clamping system of a antarctic krill freezing tray. Background Euphausia superba (Euphausia superba) is a marine biological resource with great development value, the protein content of the euphausia superba is up to 60% -70% (dry weight), and the euphausia superba is rich in bioactive components such as omega-3 polyunsaturated fatty acids, and the advantages of the euphausia superba are reflected in rich nutrition and rich resource reserves. With the improvement of the living standard of people, the demand for high-nutrition food is increasing, and the fresh antarctic krill is rich in nutrient substances, moisture and high-activity degradation enzyme systems, so that autolysis and blackening can occur quickly after death. Therefore, the euphausia superba needs to be rapidly treated after being caught to prevent the loss of nutrients. According to the operation rules of freezing and processing on the antarctic krill, the antarctic krill is placed in a clean temporary storage pool in a cabin after being caught, the temporary storage time is not more than 1h, and the temporary storage temperature is 0-4 ℃. Then weighing and dishing, and then sending to quick-freezing until the central temperature of the product reaches minus 25 ℃ or below, wherein the quick-freezing time is not more than 3.5 h. After the above operation is completed, the antarctic krill should be quickly transferred to a shipboard refrigeration house within 30min ℃ below zero. At present antarctic krill carries the freezer back with the refrigeration dish through the conveyer belt, carries antarctic krill refrigeration dish one by one to the freezer goods shelves by the workman, because ambient temperature is lower and refrigeration dish quantity is too much, and this operational environment is not only very high to workman's physical demands, and transport efficiency is low, and whole automation level is urgent to wait to promote. Therefore, how to automatically put antarctic krill in storage and put on shelf in a low-temperature environment is a technical problem to be solved urgently. In paper Wang Moyong, liu Yijin and Xie Ning, the current development and trend of antarctic krill fishing processing vessels and equipment [ J ]. Ship engineering, 2020, according to the standards of ocean fishing vessels, 24 hours working system is divided into 2-3 shifts, so that the physical workers on the traditional production line are numerous and have great labor intensity. However, the automatic quick-freezing system for krill is configured on the 'dark blue' number, the daily freezing amount is 120 t, and the labor amount of the manual carrying operation and the automatic system is calculated and compared. On a traditional frozen shrimp processing line, the total weight to be carried every day is above 480 t, according to a wheel flow working system of 3 workers and 8 workers every work, the weight to be carried every day by each shipman is above 20 t, and according to the calculation of 25 per frozen dish kg, 800 antarctic krill frozen dishes are carried every day by each worker. Traditional manual handling is difficult to meet handling requirements for such new vessels of great fishing capacity. The paper, "Zhang Xin Yue, zheng Hanfeng, liu Qin, etc. the processing vessel for fishing Antarctic krill utilizes the current situation and trend analysis [ J ] the ocean is developed and managed, 2022". The Antarctic krill has autolytic characteristic, the processed Antarctic krill can be produced into human food within 3 hours after capturing, the processed Antarctic krill can be produced into animal feed within 10 hours, however, the processing intermediate links of the Antarctic krill are more, the processing period is long, and the processing is difficult to be completed within the stipulated time. The specialized system technology and equipment of the antarctic krill fishing processing ship in China are required to be further improved. Disclosure of Invention Aiming at the defects, the invention provides an automatic distance control and high-efficiency clamping system for a antarctic krill freezing tray. The invention provides an automatic parallel guiding distance control mechanism for controlling the posture and the distance of a antarctic krill freezing tray. And the machine vision is linked with the mechanical arm, and the mechanical arm is controlled to move according to the expected track. And the machine vision is linked with the multi-station clamping jaw, so that the clamping/loosening control of the multi-station clamping jaw clamp holder is realized. The system is characterized in that the antarctic krill freezing trays can be quickly parallel to the conveyo