阅读说明：本技术 一种智能剥虾机 (Shrimp machine is shelled to intelligence ) 是由 周志勇 凌浩然 于 2021-08-25 设计创作，主要内容包括：本发明提供一种智能剥虾机,涉及剥虾设备技术领域,包括基座台架、振动盘组件、进料皮带组、视觉系统组件、剥离机构、分离皮带组、滑道组件、接料通道组件、回料皮带组、水冲洗系统和悬臂操作箱,剥离机构包括磁悬浮机械臂、升降旋转机构和夹具机构,磁悬浮机械臂横跨在基座台架宽度方向的侧梁上,升降旋转机构连接在磁悬浮机械臂的下方,夹具机构连接在升降旋转机构的下表面；悬臂操作箱用于控制振动盘组件、进料皮带组、视觉系统组件、剥离机构、分离皮带组、滑道组件、接料通道组件、回料皮带组和水冲洗系统配合工作。本发明通过设计一种智能剥虾机,实现了完全自动化生产,有效减轻人工劳动强度,提高生产效率。(The invention provides an intelligent shrimp peeling machine, which relates to the technical field of shrimp peeling equipment and comprises a base rack, a vibration disc assembly, a feeding belt assembly, a visual system assembly, a peeling mechanism, a separating belt assembly, a slide way assembly, a material receiving channel assembly, a material returning belt assembly, a water washing system and a cantilever operation box, wherein the peeling mechanism comprises a magnetic suspension mechanical arm, a lifting rotating mechanism and a clamp mechanism, the magnetic suspension mechanical arm stretches across a side beam in the width direction of the base rack, the lifting rotating mechanism is connected below the magnetic suspension mechanical arm, and the clamp mechanism is connected to the lower surface of the lifting rotating mechanism; the cantilever operation box is used for controlling the vibration disc assembly, the feeding belt assembly, the visual system assembly, the stripping mechanism, the separation belt assembly, the slide assembly, the material receiving channel assembly, the material returning belt assembly and the water washing system to work in a matched mode. According to the intelligent shrimp peeling machine, the full-automatic production is realized, the labor intensity of workers is effectively reduced, and the production efficiency is improved.)

1. An intelligent shrimp peeling machine is characterized by comprising a base rack (1),

the vibrating disc assembly (2) is arranged at one end of the base stand (1), and the vibrating disc assembly (2) is suitable for prawn sequencing;

the feeding belt group (3) spans the base rack (1), and one end of the feeding belt group is connected with the vibration disc assembly (2);

the visual system component (4) is arranged right above one side of the feeding belt group (3), and the visual system component (4) is positioned between the vibration disc component (2) and the base stand (1);

the peeling mechanism (5) comprises a magnetic suspension mechanical arm (51), a lifting and rotating mechanism (52) and a clamp mechanism (53), the magnetic suspension mechanical arm (51) stretches across a side beam in the width direction of the base rack (1), the lifting and rotating mechanism (52) is connected below the magnetic suspension mechanical arm (51), and the clamp mechanism (53) is connected to the lower surface of the lifting and rotating mechanism (52);

the separating belt group (6) comprises a separating line body (61) and a guide assembly (62) arranged on the upper surface of the separating line body (61), the separating line body (61) stretches across the base rack (1) and is horizontally arranged with the feeding belt group (3) side by side, and the guide assembly (62) divides the separating line body (61) into a first material conveying channel (611) and a second material conveying channel (612) along the conveying direction;

the slide assembly (7) comprises a first material slide (71) and a second material slide (72), and the first material slide (71) and the second material slide (72) are respectively and correspondingly connected to one ends, far away from the vibration plate assembly (2), of the first material conveying channel (611) and the second material conveying channel (612);

the material receiving channel assembly (8) is connected to one end, far away from the vibration disc assembly (2), of the feeding belt assembly (3), the material receiving channel assembly (8) is connected with the other end of the feeding belt assembly (3), and the bottom of the material receiving channel assembly (8) is further connected with an inclined channel (81);

the material returning belt group (9) is connected on the base rack (1) in a crossing mode, the material returning belt group (9) is located below the material feeding belt group (3), and a material outlet of the inclined channel (81) is located right above the material returning belt group (9);

a water flushing system (10) provided on the base stand (1) and arranged along one side close to the conveying direction of the separation belt group (6);

cantilever control box (11), swivelling joint be in one side of base rack (1), cantilever control box (11) are suitable for control vibration dish subassembly (2) feeding belt group (3) vision system subassembly (4) peeling means (5) separation belt group (6) slide subassembly (7) connect material passageway subassembly (8) feeding belt group (9) with water washing system (10) cooperation work.

2. The intelligent shrimp peeling machine as claimed in claim 1, wherein the vibrating tray assembly (2) comprises a vibrating tray support (11), an upper vibrating tray (12) and a lower vibrating tray (13) on the vibrating tray support (11), and a V-shaped discharge chute (14) connected to the top of the upper vibrating tray (12) and the lower vibrating tray (13), wherein the upper vibrating tray (12) and the lower vibrating tray (13) are vertically arranged in a staggered manner, and the V-shaped discharge chute (14) is obliquely arranged downwards and extends to the upper surface of the feeding belt assembly (3).

3. The intelligent shrimp peeling machine as claimed in claim 2, wherein the feeding belt group (3) comprises an upper feeding belt group (31) and a lower feeding belt group (32) correspondingly connected with the upper vibrating plate (12) and the lower vibrating plate (13), respectively, the upper feeding belt group (31) and the lower feeding belt group (32) are horizontally connected on the upper and lower beams of the base rack (1).

4. The intelligent shrimp peeling machine as claimed in claim 1, wherein the number of the vision system components (4) is two, and each vision system component (4) is electrically connected with the cantilever operation box (11).

5. The intelligent shrimp peeling machine of claim 4, wherein the magnetic levitation mechanical arm (51) comprises an X-axis linear motor assembly (511), an auxiliary guide rail (512) and a plurality of Y-axis linear motor assemblies (513) vertically crossing between the X-axis linear motor assembly (511) and the auxiliary guide rail (512),

the X-axis linear motor assembly (511) comprises first sliding rails (5111), a first stator (5112) installed between the first sliding rails (5111) and a first drag chain group (5113) installed on the first sliding rails (5111);

the longitudinal direction of the auxiliary guide rail (512) coincides with the longitudinal direction of the first stator (5112);

each Y-axis linear motor assembly (513) comprises a second sliding rail (5131) vertically and slidably connected with the first sliding rail (5111), a second stator (5132) installed between the second sliding rails (5131), and a second drag chain (5133) installed on the second sliding rails (5131);

the first drag chain group (5113) is provided with a plurality of first drag chains, and each second sliding rail (5131) is connected with the upper part of one first drag chain.

6. The intelligent shrimp peeling machine as claimed in claim 5, wherein said lifting and rotating mechanism (52) is installed below each of said second sliding rails (5131) through a sliding plate assembly (521), and each of said lifting and rotating mechanism (52) is installed with a clamp mechanism (53) for driving said clamp mechanism (53) to lift and rotate.

7. The intelligent shrimp peeling machine of claim 1, wherein the clamp mechanism (53) comprises a three-axis cylinder assembly (531) connected below the lifting and rotating mechanism (52), a thin-walled cylinder assembly (532) connected with the three-axis cylinder assembly (531), two finger cylinder assemblies (533) connected with the thin-walled cylinder assembly (532), and two clamp arm assemblies (534) connected with the two finger cylinder assemblies (533),

the two finger cylinder assemblies (533) are respectively connected to the thin-wall cylinder assembly (532) in parallel, and the thin-wall cylinder assembly (532) is suitable for driving the two finger cylinder assemblies (533) to move relatively so as to drive the two clamping arm assemblies (534) to relatively approach or move away.

8. The intelligent shrimp peeling machine as claimed in claim 3, wherein the two separation belt sets (6) are also provided, and the two separation belt sets (6) are respectively provided in parallel at one side of the upper feeding belt set (31) and the lower feeding belt set (32) and are respectively connected to the upper and lower beams of the base rack (1).

9. The intelligent shrimp peeler as claimed in claim 3, wherein the feeding back belt set (9) includes a horizontal belt section (91) located below the lower feeding belt set (32) and a climbing belt section (92) located at one side of the vibration tray assembly (2), one end of the horizontal belt section (91) is located right below the inclined passage (81), the other end is located right above one end of the climbing belt section (92), and the other end of the climbing belt section (92) is located above the lower vibration tray (13).

10. The intelligent shrimp peeler as claimed in claim 1, wherein the water flushing system (10) comprises a spray gun (101) and a water pan assembly (102) located below the separation belt set (6), the spray gun (101) is adapted to flush the materials on the first material conveying channel (611) and the second material conveying channel (612), and the water pan assembly (102) is adapted to collect and guide out the flushing water.

Technical Field

The invention relates to the technical field of shrimp peeling machines, in particular to an intelligent shrimp peeling machine.

Background

In the processing process of the lobsters, particularly in the manufacturing processes of feeding, blanking, sorting, head and tail peeling, shunting and the like, the procedures consuming more labor and time are needed, the traditional method generally adopts manual operation, however, the manual procedures are complicated, the requirement on operators is higher, and a large amount of time and labor are needed, so that the cost of final products is increased, and the production method is gradually eliminated and is only adopted in some special small-batch production occasions.

The machine is peeled off, the shrimps need to go through a plurality of steps during processing, which include relatively complicated feeding, sorting and the like, and at present, China still gives priority to manual operation; because all the operations are carried out by manual operation, the operation is complicated, a large amount of manual labor is also needed, the working efficiency is low, and the production rhythm of equipment cannot be kept up with; even if some machine operation is started, because lobster structure dysmorphism, to the head and the tail separation processing of lobster, the machine automation still can't realize completely, and the quality is uneven simultaneously, receives the pollution easily moreover, and then has certain processing defect, and manual operation can't satisfy the efficiency demand to can't be stable carry out the separation work to classifying shrimp head and shrimp tail automatically, and then lead to whole work efficiency lower.

Disclosure of Invention

The invention aims to solve the technical problems that the traditional lobster processing treatment in the background technology needs manual operation, so that the labor intensity is high, the efficiency is low, and the production rhythm of a production line cannot be met, and therefore the intelligent lobster peeling machine is provided.

In order to solve at least one of the problems, the invention provides an intelligent shrimp peeling machine, which comprises a base rack, a vibration disc assembly and a vibrating disc assembly, wherein the vibration disc assembly is arranged at one end of the base rack and is suitable for sorting shrimps;

the feeding belt group spans on the base rack, and one end of the feeding belt group is connected with the vibration disk assembly;

a vision system assembly disposed directly above one side of the feeding belt set, the vision system assembly being located between the vibratory pan assembly and the base stand;

the stripping mechanism comprises a magnetic suspension mechanical arm, a lifting and rotating mechanism and a clamp mechanism, the magnetic suspension mechanical arm stretches across a side beam in the width direction of the base rack, the lifting and rotating mechanism is connected below the magnetic suspension mechanical arm, and the clamp mechanism is connected to the lower surface of the lifting and rotating mechanism;

the separation belt group comprises a separation line body and a guide assembly arranged on the upper surface of the separation line body, the separation line body stretches across the base rack and is horizontally arranged with the feeding belt group side by side, and the guide assembly divides the separation line body into a first material conveying channel and a second material conveying channel along the conveying direction;

the slide way assembly comprises a first material slide way and a second material slide way, and the first material slide way and the second material slide way are respectively and correspondingly connected to one ends, far away from the vibration disc assembly, of the first material conveying channel and the second material conveying channel;

the material receiving channel assembly is connected to one end, far away from the vibration disc assembly, of the feeding belt set, the material receiving channel assembly is connected with the other end of the feeding belt set, and the bottom of the material receiving channel assembly is further connected with an inclined channel;

the feeding belt group is arranged below the feeding belt group, and a discharge hole of the inclined channel is positioned right above the feeding belt group;

the water washing system is arranged on the base rack and is arranged along one side close to the conveying direction of the separation belt set;

cantilever control box, swivelling joint be in one side of base rack, cantilever control box is suitable for control the vibration dish subassembly the feeding belt group the visual system subassembly peeling means the separation belt group the slide subassembly connect the material passageway subassembly the feeding belt group with water flushing system cooperation work.

Optionally, the vibration dish subassembly includes vibration dish support, is located last vibration dish on the vibration dish support is in with vibration dish and connection down go up the vibration dish with the V type blown down tank at vibration dish top down, go up the vibration dish with the vertical dislocation set of vibration dish down, the slope of V type blown down tank sets up downwards, and extends to the upper surface of feeding belt group.

Optionally, feeding belt group including respectively with go up the vibration dish with the vibration dish corresponds last feeding belt group and the lower feeding belt group of connecting down, go up feeding belt group with feeding belt group horizontally connect down on the upper and lower crossbeam of base rack.

Optionally, the number of the vision system components is two, and each vision system component is electrically connected with the cantilever operation box.

Optionally, the magnetic suspension mechanical arm comprises an X-axis linear motor assembly, an auxiliary guide rail and a plurality of Y-axis linear motor assemblies vertically crossing between the X-axis linear motor assembly and the auxiliary guide rail,

the X-axis linear motor assembly comprises first slide rails, a first stator and a first drag chain group, wherein the first stator is installed between the first slide rails, and the first drag chain group is installed on the first slide rails;

the longitudinal direction of the auxiliary guide rail is consistent with the longitudinal direction of the first stator;

each Y-axis linear motor assembly comprises a second slide rail vertically connected with the first slide rail in a sliding manner, a second stator installed between the second slide rails and a second drag chain installed on the second slide rails;

the first drag chain group is provided with a plurality of first drag chains, and each second slide rail is respectively connected with the upper part of one first drag chain.

Optionally, the lifting and rotating mechanism is mounted below each second slide rail through a sliding plate assembly, and each lifting and rotating mechanism is respectively provided with one fixture mechanism for driving the fixture mechanism to lift and rotate.

Optionally, the clamping mechanism comprises a three-axis cylinder assembly connected below the lifting and rotating mechanism, a thin-wall cylinder assembly connected with the three-axis cylinder assembly, two finger cylinder assemblies connected with the thin-wall cylinder assembly, and two clamping arm assemblies connected with the two finger cylinder assemblies,

the two finger cylinder assemblies are respectively connected to the thin-wall cylinder assembly in parallel, and the thin-wall cylinder assembly is suitable for driving the two finger cylinder assemblies to move relatively so as to drive the two clamping arm assemblies to relatively approach or move away.

Optionally, the number of the separation belt sets is also two, and the two separation belt sets are respectively arranged on one side of the upper feeding belt set and one side of the lower feeding belt set in parallel and are respectively connected to the upper and lower cross beams of the pedestal stand.

Optionally, the feeding belt group is including being located horizontal belt section of feeding belt group below down and being located the climbing belt section of vibration dish subassembly one side, the one end of horizontal belt section is located under the slope passageway, the other end is located directly over climbing belt section one end, the other end of climbing belt section is located the top of vibration dish down.

Optionally, the water flushing system includes the spray gun and is located water collector subassembly below the separation belt group, the spray gun is suitable for right material on first material conveying path with second material conveying path washes, water collector subassembly is suitable for collecting the derivation to the washing water.

Compared with the prior art, the invention at least has the following beneficial effects:

1. the automatic shrimp sheller has high production efficiency and high automation degree, saves manpower, drives the lifting and rotating mechanism and the clamp mechanism to rapidly move horizontally in two directions through the magnetic suspension mechanical arm, and achieves the up-down movement and rotation of the clamp mechanism through the lifting and rotating mechanism, thereby achieving four-axis linkage, rapidly positioning the clamp mechanism above crayfishes on a conveyor belt, and achieving the grabbing of the crayfishes;

2. the two sets of linear motors are combined, so that the position control in two mutually perpendicular directions, namely the longitudinal direction of the first stator and the longitudinal direction of the second stator, can be simultaneously carried out, and the three second motors can also simultaneously run, so that the two second motors can correspond to three stations, the three second motors can correspond to four stations, and each second motor can move above the two stations, thereby maximally utilizing limited space and efficiently operating;

3. the three-shaft air cylinder assembly can linearly move up and down, so that the up-and-down telescopic action of the clamp mechanism is realized; the thin-wall air cylinder component can realize the opening and closing actions of the clamp mechanism, has simple and reliable structure, and solves the problems of complex composition, more parts, high cost, inconvenient maintenance and the like of the traditional mode of realizing the same actions through a gear or connecting rod transmission mode and the like;

4. the lifting driving device and the rotating driving device can drive the lead screw of the lead screw spline shaft to rapidly move up and down and rotate, so that the lead screw and a clamp arranged on the lead screw can conveniently and rapidly move to the position above lobsters to perform subsequent operation, and the lead screw is of a hollow structure, light in weight and rapid in movement, and is particularly suitable for performing subsequent operation after aligning materials on a rectangular area such as a conveyor belt;

5. the visual recognition device is matched with the stripping mechanism to separate the shrimp heads from the shrimp tails, and the processed shrimp heads and the shrimp tails are classified and guided by the separation belt set, so that the production efficiency is high, the labor intensity of workers is low, and the working environment is sanitary;

6. the water washing system is arranged, so that the separation belt group and the clamp mechanism can be cleaned when the peeling mechanism is used, and the shrimps can be produced and processed in a clean and sanitary environment; the shrimp head and tail separation device is compact in structure, convenient to operate, reliable in performance and high in mechanical automation degree, can perform high-efficiency head and tail separation treatment on shrimps of different grades, and is stable in quality of discharged finished products.

Drawings

FIG. 1 is a schematic structural diagram of an intelligent shrimp peeling machine in an embodiment of the invention;

FIG. 2 is a schematic diagram of the internal structure of the intelligent shrimp peeling machine with the shell removed in the embodiment of the invention;

FIG. 3 is a schematic structural view of a vibratory plate assembly in an embodiment of the invention;

FIG. 4 is a schematic front view of the intelligent shrimp peeling machine with the shell removed according to the embodiment of the present invention;

FIG. 5 is a schematic view of a connection structure of a base rack, a vibration plate assembly, a feeding belt assembly, a separating belt assembly, a slide assembly and a receiving channel assembly according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a magnetic levitation mechanical arm in an embodiment of the present invention;

FIG. 7 is a schematic diagram of the internal structure of a magnetic levitation mechanical arm with the outer shell removed according to an embodiment of the present invention;

FIG. 8 is a schematic view of a connection structure of a magnetic suspension mechanical arm, a lifting and rotating mechanism and a clamping mechanism in an embodiment of the present invention;

FIG. 9 is a schematic structural view of a clamping mechanism in an embodiment of the present invention;

FIG. 10 is a schematic view of a connection structure of the separation belt set and the base frame according to the embodiment of the present invention;

FIG. 11 is a schematic view of the connection structure of the water flushing system and the pedestal stand according to the embodiment of the present invention.

Description of reference numerals:

1-a pedestal rack, 2-a vibrating disk component, 21-a vibrating disk bracket, 22-an upper vibrating disk, 23-a lower vibrating disk, 24-a V-shaped discharge chute, 3-a feeding belt component, 31-an upper feeding belt component, 32-a lower feeding belt component, 4-a visual system component, 5-a stripping mechanism, 51-a magnetic suspension mechanical arm, 511-an X-axis linear motor component, 5111-a first slide rail, 5112-a first stator, 5113-a first drag chain component, 512-an auxiliary guide rail, 513-a Y-axis linear motor component, 5131-a second slide rail, 5132-a second stator, 5133-a second drag chain, 52-a lifting and rotating mechanism, 521-a sliding table plate component, 53-a clamp mechanism, 531-a three-axis air cylinder component, 532-a thin-wall air cylinder component, 533-finger cylinder component, 534-clamping arm component, 6-separation belt set, 61-separation line body, 611-first material conveying channel, 612-second material conveying channel, 62-guiding component, 7-slideway component, 71-first material slideway, 72-second material slideway, 8-material receiving channel component, 81-inclined channel, 9-material returning belt set, 91-horizontal belt section, 92-climbing belt section, 10-water flushing system, 101-spray gun, 102-water pan component, 11-cantilever operation box and 12-shell.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "first", "second", "third", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 to 11, in an embodiment of the present invention, an intelligent shrimp peeling machine is provided, which includes a base rack 1,

the vibrating disk assembly 2 is arranged at one end of the base rack 1, and the vibrating disk assembly 2 is suitable for sequencing shrimps;

the feeding belt group 3 spans on the base rack 1, and one end of the feeding belt group 3 is connected with the vibration disc assembly 2;

the vision system component 4 is arranged right above one side of the feeding belt group 3, and the vision system component 4 is positioned between the vibration disc component 2 and the base rack 1;

the stripping mechanism 5 comprises a magnetic suspension mechanical arm 51, a lifting and rotating mechanism 52 and a clamp mechanism 53, wherein the magnetic suspension mechanical arm 51 spans on a side beam in the width direction of the base rack 1, the lifting and rotating mechanism 52 is connected below the magnetic suspension mechanical arm 51, and the clamp mechanism 53 is connected to the lower surface of the lifting and rotating mechanism 52;

the separating belt group 6 comprises a separating line body 61 and a guide assembly 62 arranged on the upper surface of the separating line body 61, the separating line body 61 spans on the base table frame 1 and is horizontally arranged with the feeding belt group 3 side by side, and the guide assembly 62 divides the separating line body 61 into a first material conveying channel 611 and a second material conveying channel 612 along the conveying direction;

the slideway assembly 7 comprises a first material slideway 71 and a second material slideway 72, and the first material slideway 71 and the second material slideway 72 are correspondingly connected with one ends of the first material conveying channel 611 and the second material conveying channel 612 far away from the vibrating disk assembly 2 respectively;

the material receiving channel assembly 8 is connected to one end, far away from the vibration disc assembly 2, of the feeding belt set 3, the material receiving channel assembly 8 is connected with the other end of the feeding belt set 3, and the bottom of the material receiving channel assembly 8 is further connected with an inclined channel 81;

the material returning belt group 9 is connected on the base rack 1 in a crossing manner, the material returning belt group 9 is positioned below the material feeding belt group 3, and a material outlet of the inclined channel 81 is positioned right above the material returning belt group 9;

a water washing system 10 provided on the base stand 1 and arranged along one side close to the conveying direction of the separation belt group 6;

cantilever control box 11, swivelling joint is in one side of base rack 1, and cantilever control box 11 is suitable for control vibration dish subassembly 2, feeding belt group 3, visual system subassembly 4, peeling means 5, separation belt group 6, slide subassembly 7, connects material passageway subassembly 8, feed back belt group 9 and water washing system 10 cooperation work.

Therefore, the shrimp peeling machine in the embodiment of the invention has the advantages of light equipment operation structure, high automation degree, capability of finishing a series of work of feeding, sorting, visual identification, head-tail separation, classification, recovery and rework to form full-automatic assembly line production, high production efficiency, avoidance of food pollution caused by manual operation due to full-automatic production, clean removal and capability of classifying the heads and the tails of the shrimps.

In addition, in order to protect the internal structure of the intelligent shrimp peeling machine, a shell 12 is arranged outside the base rack 1 to form protection.

Specifically, referring to fig. 3, the vibration plate assembly 2 includes a vibration plate support 21, an upper vibration plate 22 and a lower vibration plate 23 disposed on the vibration plate support 21, and a V-shaped discharging chute 24 connected to the tops of the upper vibration plate 22 and the lower vibration plate 23, wherein the upper vibration plate 22 and the lower vibration plate 23 are vertically disposed in a staggered manner, and the V-shaped discharging chute 24 is obliquely disposed downward and extends to the upper surface of the feeding belt set 3.

It should be noted that, in this embodiment, the vibration plate holder 21 is provided in two layers, and two vibration plates are symmetrically provided on the platform of each layer, as shown in fig. 3, two identical upper vibration plates 22 are provided on the upper platform, two identical lower vibration plates 23 are provided on the lower platform, and the structural sizes of the upper vibration plates 22 and the lower vibration plates 23 are identical. In addition, for the convenience of cleaning, feeding and the like of the lower vibration plate 23, the center line of the lower vibration plate 23 is fixedly installed at a distance outward from the center line of the upper vibration plate 22.

Specifically, referring to fig. 4, the feeding belt assembly 3 includes an upper feeding belt assembly 31 and a lower feeding belt assembly 32 respectively connected to the upper vibration plate 22 and the lower vibration plate 23, and the upper feeding belt assembly 31 and the lower feeding belt assembly 32 are horizontally connected to the upper and lower beams of the base frame 1.

From this, feeding belt group 31 and feeding belt group 32 down set up, can be convenient for in step and last vibration dish 22 and vibration dish 23 correspondence is connected down, increases a plurality of transport processing lines, improves production efficiency.

Specifically, referring to fig. 1, in the embodiment of the present invention, two vision system components 4 are provided, and each vision system component 4 is electrically connected to the cantilever operation box 11.

From this, because feeding belt group 3 sets up to two, for the crayfish of correspondence on every feeding belt line carries out vision camera discernment, vision system component 4 also sets up to two, and every vision system component 4 sets up directly over feeding belt group 3, and cantilever operation box 11 includes controller and touch-sensitive screen, through the operation of touch-sensitive screen to under the control program effect of controller, accomplish the action of relevant mechanism.

Specifically, referring to fig. 6, in an embodiment of the present invention, the magnetic levitation robot arm 51 includes an X-axis linear motor assembly 511, an auxiliary rail 512, and a plurality of Y-axis linear motor assemblies 513 vertically crossing between the X-axis linear motor assembly 511 and the auxiliary rail 512,

specifically, referring to fig. 7, in an embodiment of the present invention, the X-axis linear motor assembly 511 includes a first sliding rail 5111, a first stator 5112 installed between the first sliding rails 5111, and a first drag chain group 5113 installed on the first sliding rail 5111;

the longitudinal direction of the auxiliary rail 512 coincides with the longitudinal direction of the first stator 5112;

each Y-axis linear motor assembly 513 includes a second sliding rail 5131 vertically and slidably connected to the first sliding rail 5111, a second stator 5132 installed between the second sliding rails 5131, and a second drag chain 5133 installed on the second sliding rail 5131;

the first drag chain group 5113 has a plurality of first drag chains, and each of the second slide rails 5131 is connected to an upper portion of a first drag chain.

Thus, the magnetic levitation robot arm 51 can move in the X-axis and Y-axis directions by the control system, and the elevation rotation mechanism 52 and the jig mechanism 53 are driven to move.

Specifically, referring to fig. 8, in the embodiment of the present invention, the lifting and rotating mechanism 52 is installed below each second sliding rail 5131 through the sliding plate assembly 521, and a clamping mechanism 53 is respectively disposed on each lifting and rotating mechanism 52 for driving the clamping mechanism 53 to lift and rotate.

Specifically, referring to fig. 9, in the embodiment of the present invention, the clamping mechanism 53 includes a three-axis cylinder assembly 531 connected below the lifting and rotating mechanism 52, a thin-wall cylinder assembly 532 connected to the three-axis cylinder assembly 531, two finger cylinder assemblies 533 connected to the thin-wall cylinder assembly 532, and two clamping arm assemblies 534 connected to the two finger cylinder assemblies 533,

the two finger cylinder assemblies 533 are respectively connected to the thin-wall cylinder assembly 532 in parallel, and the thin-wall cylinder assembly 532 is suitable for driving the two finger cylinder assemblies 533 to move relatively, so as to drive the two clamping arm assemblies 534 to approach or move away relatively.

Specifically, referring to fig. 10, in the embodiment of the present invention, two separation belt sets 6 are provided, and the two separation belt sets 6 are respectively disposed in parallel at one side of the upper feeding belt set 31 and the lower feeding belt set 32 and are respectively connected to the upper and lower beams of the base frame 1.

Specifically, referring to fig. 4 and 10, in the embodiment of the present invention, the feeding belt set 9 includes a horizontal belt segment 91 located below the lower feeding belt set 32 and a climbing belt segment 92 located at one side of the vibrating tray assembly 2, one end of the horizontal belt segment 91 is located right below the inclined channel 81, the other end of the horizontal belt segment is located right above one end of the climbing belt segment 92, and the other end of the climbing belt segment 92 is located above the lower vibrating tray 13.

Specifically, referring to fig. 11, the water flushing system 10 includes a spray gun 101 and a water receiving tray assembly 102 located below the separation belt set 6, the spray gun 101 is adapted to flush the materials on the first material conveying channel 611 and the second material conveying channel 612, and the water receiving tray assembly 102 is adapted to collect and guide out the flushing water.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.