CN108208123A - A kind of automation cray takes meat equipment - Google Patents

Abstract

The invention discloses an automatic crayfish meat extraction device, which comprises a crayfish flattening device, a crayfish transportation device, a crayfish clamp removal device, a crayfish head and tail removal device, a crayfish gut removal device and a crayfish shrimp Meat-picking device. The crayfish flattening device can straighten and flatten the crayfish in the curled state; the crayfish transport device can clamp the flattened crayfish on the crayfish flattening device, and transport the crayfish to the crayfish removing device, The crayfish head and tail removal device and the crayfish gut removal device; the crayfish claw removal device can realize the automatic removal of the crayfish's claws; the crayfish head and tail removal device can realize the automatic removal of the head and tail of the crayfish; the crayfish The shrimp intestine and kernel removal device can automatically separate the shrimp gut and shrimp meat in the crayfish trunk; the crayfish shrimp claw meat removal device can automatically take out the claw meat in the shrimp claw. The automatic crayfish meat extraction equipment disclosed in the present disclosure can process crayfish with high efficiency and high quality.

Description

A kind of automatic crayfish meat extraction equipment

technical field

The invention relates to the field of crayfish processing, in particular to an automatic crayfish meat extraction device.

Background technique

Crayfish are freshwater economical shrimps, which are widely welcomed by people because of their delicious meat. For more convenient eating, storage or transportation, the fresh and alive crayfish can be cooked to remove the shrimp shell and shrimp head, and the crayfish meat can be packaged and packaged.

At present, the shelling of crayfish mainly includes two methods of manual shelling and machine shelling. Manual shelling requires manual operation by shelling workers, which is slow, inefficient, and costly, and it is difficult to meet the needs of large-scale crayfish processing. The extruding method is usually adopted in the existing machine peeling, that is, extruding the shrimp shell, so that the shrimp meat protrudes from the shrimp shell and is separated from the shrimp shell. However, in this machine shelling method, the shrimp shells are easy to adhere to the extrusion rollers, which affects the shelling efficiency, and there are a lot of broken shrimp shells on the peeled shrimp meat. Defects such as the taste of shrimp.

Therefore, efficient and high-quality processing of crayfish has become a technical problem that needs to be solved urgently in this field.

Contents of the invention

An object of the present invention is to provide a new technical solution for crayfish processing equipment that can process crayfish with high efficiency and high quality.

According to the first aspect of the present invention, an automatic crayfish meat picking device is provided.

The automatic crayfish meat extraction equipment includes a crayfish flattening device, a crayfish transportation device, a crayfish claw removal device, a crayfish head and tail removal device, a crayfish shrimp intestine removal device and a crayfish shrimp claw meat removal device; ,

The crayfish flattening device includes a flattening device base, a flattening device turning mechanism and a flattening device clamping mechanism, and the flattening device turning mechanism includes a flattening device turning bracket assembly and a flattening device turning drive unit, the The flattening device turning bracket assembly includes a flattening connecting bracket and a flattening turning bracket, the flattening connecting bracket is configured to connect the flattening device base and the flattening turning bracket, and the flattening device is turned over to drive The unit is configured to drive the flattening flip support to rotate, and the clamping mechanism of the flattening device is configured to clamp and flatten the crayfish;

The crayfish transportation device includes a transportation device base, a transportation device base driving unit, a transportation device turning mechanism and a transportation device clamping mechanism, the transportation device base driving unit is configured to drive the transportation device base to move, the The transport device turning mechanism includes a transport device turning bracket and a transport device turning drive unit, the transport device turning bracket is connected to the transport device base, and the transport device turning drive unit is configured to drive the transport device turning bracket Rotate, the transport device clamping mechanism is installed on the transport device flip bracket, the transport device clamping mechanism is set to clamp the shrimp shell of the flattened crayfish on the flattening device clamping mechanism the edges and keep the crayfish in a flattened state;

The crayfish pincer removal device includes a shrimp head positioning mechanism and a pincer removal knife. The shrimp head positioning mechanism includes a pair of shrimp head positioning blocks, a positioning block mounting plate and an elastic connector of the shrimp head positioning block. There is a shrimp claw limiting surface for limiting the shrimp claws, there is a shrimp head positioning gap between a pair of the shrimp head positioning blocks, and the shrimp head positioning block elastic connector connects the shrimp head positioning block and the positioning A mounting plate, the pliers removing knife is rotatably connected with the shrimp head positioning block, so as to cut off the shrimp claws of the crayfish on the crayfish transport device;

The head and tail removal device for crayfish includes a head and tail removal device bracket and a head and tail removal mechanism, the head and tail removal mechanism is installed on the head and tail removal device bracket, and the head and tail removal mechanism includes a head and tail clamp and a head and tail A clamp drive unit, the head and tail clamps are configured to clamp the head or tail of the crayfish, the head and tail clamp drive unit is configured to drive the head and tail clamps to shake, so that the crayfish Heads or tails of crayfish separated from the body on the transport unit;

The crayfish gut removal device includes a trunk positioning platform, a shell breaking knife, a shrimp gut removal mechanism and a shrimp stopper, the trunk positioning platform, the shell breaking knife, the shrimp gut removal mechanism and the shrimp gut The shrimp stoppers are arranged sequentially, the trunk positioning platform has a trunk positioning surface, and the trunk positioning surface is set to be used for positioning the front of the trunk clamped on the crayfish transport device, and the shell breaking knife is Set as a shell for cutting the front side of the torso, the de-shrimp-gut mechanism includes a de-shrimp-gut mechanism base and a de-shrimp-gut cutter assembly, and the de-shrimp-gut cutter assembly includes a gut-removing knife and a gut An elastic connection piece for the thread removal knife, the elastic connection piece for the gut string removal knife connects the base of the gut string removing mechanism and the gut string removal knife, and the shrimp stopper is set to abut against the shrimp in the trunk, so that the shrimp leaves the body;

The crayfish shrimp claw meat-fetching device comprises a shrimp claw transmission mechanism, a shrimp claw positioning mechanism and a shrimp claw meat-fetching mechanism, and the shrimp claw transmission mechanism is configured to transmit the shrimp claws to the shrimp claw positioning mechanism, so The shrimp claw positioning mechanism includes a shrimp claw positioning mechanism support, a shrimp claw positioning block and a shrimp claw positioning block driving unit, and the shrimp claw positioning block driving unit is installed on the shrimp claw positioning mechanism support, and the shrimp claw positioning block The driving unit is configured to drive the shrimp claws positioning block to press and fix the shrimp claws transmitted from the shrimp claws transmission mechanism. It includes a pliers tip clamping part, a pliers tip clamping part clamping drive unit and a pliers tip clamping part shaking drive unit, and the pliers tip clamping part clamping drive unit is configured to drive the pliers tip clamping part Clamping or releasing the pliers tip of the shrimp claws, the swaying drive unit of the pliers tip holder is configured to drive the pliers tip holder holding the pliers tip to shake

Optionally, the flattening device clamping mechanism includes a flattening device clamping assembly and a flattening device flattening assembly;

The flattening device clamping assembly includes a first clamping part and a flattening device detection unit, the first clamping part is installed on the flattening flip bracket, and the first clamping part is configured for Clamping one end of the crayfish when the flattening device detection unit detects the crayfish, the flattening device detection unit is configured to detect the position of the crayfish;

The flattening assembly of the flattening device includes a flattening slide, a second gripper and a flattening slide drive unit, the flattening slide is slidably connected with the flattening flip bracket, and the second gripping A piece is mounted on the flattening slide, and the second clamping piece is configured to clamp the crayfish when the first clamping piece clamps one end of the crayfish, and the flattening slide The driving unit is configured to drive the flattening slide to move along the flattening and flipping bracket in a direction away from the first clamping piece when the second clamping piece clamps the crayfish, so that Flatten the crayfish.

Optionally, the flattening device turning mechanism further includes a flattening device turning mechanism telescopic unit;

The telescopic unit of the turning mechanism of the flattening device is connected to the base of the flattening device and the flattening connecting bracket, and the length of the telescopic unit of the turning mechanism of the flattening device is adjustable to change the connection between the flattening connecting bracket and the flattening connection bracket. The distance between the bases of the leveling device.

Optionally, the flattening device flattening assembly includes two groups, and the two groups of flattening device flattening assemblies are respectively located on both sides of the flattening device clamping assembly.

Optionally, the clamping mechanism of the flattening device further includes a weight judging unit;

The weight judging unit is configured to judge the weight of both sides of the first gripping member, so that the flattening device flattening assembly on the heavier side of the flattening device gripping assembly works .

Optionally, the detection unit of the flattening device is a color sensor;

The color sensor is configured to detect the crayfish's eyes, so that the first gripper grips the head of the crayfish.

Optionally, the clamping assembly of the flattening device further includes a first clamping unit clamping unit;

The first clamping member is a symmetrically arranged first clamping rod, and the clamping unit of the first clamping member is configured to drive the first clamping rod to move toward or away from each other, so as to clamp or Loosen the crayfish.

Optionally, the first clamping rod is a telescopic rod.

Optionally, the flattening assembly of the flattening device further includes a second clamping member clamping unit;

The second clamping member is a symmetrically arranged second clamping rod, and the clamping unit of the second clamping member is configured to drive the second clamping rod to move toward or away from each other, so as to clamp or Loosen the crayfish.

Optionally, the second clamping rod is a telescopic rod.

Optionally, the crayfish flattening device also includes a flattening device general bracket and a flattening device base driving unit;

The flattening device base is slidingly connected with the flattening device general bracket, and the flattening device base driving unit is configured to drive the flattening device base to move along the flattening device general bracket.

Optionally, the crayfish flattening device also includes a crayfish guiding mechanism;

The crayfish guiding mechanism includes a guiding mechanism bracket, a guiding mechanism transmission belt and a plurality of guiding mechanism rolling shafts arranged in parallel, and the guiding mechanism transmission belt and the guiding mechanism rolling shaft are installed on the On the bracket of the guiding mechanism;

There is a gap between the rolling shafts of the guiding mechanism, and the rolling shafts of the guiding mechanism are configured to rotate, so that the crayfish passes through the gap between adjacent rolling shafts of the guiding mechanism;

The transmission belt of the guiding mechanism is configured to transport the crayfish falling from the gap between the rolling shafts of the guiding mechanism to the working area of the clamping mechanism of the flattening device.

Optionally, the rolling shaft of the guiding mechanism includes a shaft center and a shaft sleeve, and the shaft sleeve is sleeved outside the shaft center.

Optionally, the crayfish flattening device also includes a crayfish feeding mechanism;

The crayfish supply mechanism includes a crayfish storage box and a crayfish supply mechanism transmission belt;

The transmission belt of the crayfish supply mechanism is configured to transmit the crayfish stored in the crayfish storage box to the crayfish guiding mechanism.

Optionally, the crayfish storage box includes a crayfish storage box body and a plurality of crayfish baffles;

The crayfish storage box body is located above the conveyor belt of the crayfish supply mechanism;

The crayfish baffle is configured to separate the stacked crayfish so that a single layer of crayfish is transferred to the crayfish guiding mechanism.

Optionally, the transport device clamping mechanism is installed on the transport device flip bracket, the transport device clamping mechanism includes at least one pair of third clamping parts, and the third clamping parts are configured for The edge of the shell of the flattened crayfish is picked up and the crayfish is kept flattened.

Optionally, the crayfish transport device also includes a transport device base slideway;

The transporter base slideway is in sliding fit connection with the transporter base, and the transporter base drive unit is configured to drive the transporter base to move along the transporter base slideway.

Optionally, the transport device turning mechanism further includes a transport device turning mechanism telescopic unit;

The telescopic unit of the transportation device turning mechanism is connected to the transportation device base and the transportation device turning bracket, and the length of the transportation device turning mechanism telescopic unit is adjustable to change the distance between the transportation device turning bracket and the transportation device base. distance between.

Optionally, the telescopic unit of the turning mechanism of the transportation device is a telescopic rod.

Optionally, the clamping mechanism of the transportation device further includes a drive unit for a third clamping part positioning part and a pair of third clamping part positioning parts;

The third clamping part positioning part is slidingly connected with the transportation device overturn bracket, and the driving unit of the third clamping part positioning part is configured to drive a pair of the third clamping part positioning parts to face each other or move in opposite directions;

There are two pairs of the third clamping pieces, and a pair of the third clamping pieces are provided on each of the positioning pieces of the third clamping pieces.

Optionally, the transport device clamping mechanism further includes a clamping block driving unit;

The single third clamping piece includes a mirror-symmetrical clamping block, and the clamping block is slidingly connected with the positioning member of the third clamping piece;

The clamping block driving unit is configured to drive the clamping blocks of the single third clamping member to move toward or away from each other, so as to clamp or release the edge portion of the shrimp shell of the crayfish.

Optionally, the crayfish de-clamp device also includes a de-clamp device support and a shrimp head positioning mechanism driving unit;

The positioning block mounting plate is slidably connected with the bracket of the clamp removal device;

The shrimp head positioning mechanism driving unit is installed on the clamp removal device bracket, and the shrimp head positioning mechanism driving unit is configured to drive the shrimp head positioning mechanism to move.

Optionally, the crayfish claw removal device also includes a shrimp claw collection box;

The shrimp claws guide surface is provided on the shrimp head positioning block, and the shrimp claws guide surface is configured to guide the shrimp claws cut off by the claw removing knife to the shrimp claws collection box.

Optionally, the shrimp head positioning block has a shrimp head guiding surface configured to guide the shrimp head of the crayfish to the shrimp head positioning gap.

Optionally, the crayfish head and tail removal device also includes a head and tail collection box;

The head and tail removal mechanism also includes a head and tail clamp telescopic unit;

The head and tail clamp telescopic unit is connected to the head and tail removal device support and the head and tail clamp driving unit, and the length of the head and tail clamp telescopic unit telescopic unit is adjustable to put the shrimp head and tail separated from the trunk into The head and tail collection box.

Optionally, the telescopic unit of the head and tail clamps is a telescopic rod.

Optionally, the head and tail removal mechanism also includes a head and tail clamp bracket;

The head and tail clamps include a head and tail clamp clamp block drive unit and a pair of head and tail clamp clamp blocks, the head and tail clamp clamp block drive unit is installed on the head and tail clamp bracket, and the head and tail clamp clamp block drive unit being configured to drive a pair of head and tail grippers to move toward or away from each other, so as to grip or release the head or tail of the crayfish;

The head and tail clamp driving unit is configured to drive the head and tail clamp bracket to rotate, so that the head and tail clamp shakes.

Optionally, the torso positioning platform has a torso guiding surface, and the torso guiding surface is connected with the torso positioning surface in a smooth transition;

The torso guiding surface is configured to guide the torso clamped on the crayfish transport device to the torso positioning surface.

Optionally, the blade of the shell breaking knife has a guide section and a straight section, the guide section has an arc shape, the straight section has a straight section, and the guide section is adjacent to the straight section compared to the straight section. the torso positioning platform;

The straight section extends along the transport direction of the crayfish transport device, and the top end of the straight section is higher than the trunk positioning surface.

Optionally, a catgut removal knife installation slot is provided on the base of the shrimp gut removal mechanism;

The catgut removing knife has a catgut removing knife positioning part;

The elastic connecting part of the gut removal knife is located in the installation groove of the gut removal knife, and the positioning part of the gut removal knife is in clearance fit with the gut removal installation groove.

Optionally, the gut-removing knife also includes a gut-removing knife body and a gut-removing knife blade;

The gut-removing knife positioning part is fixedly connected with the main body of the gut-removing knife;

The cutting edge of the gut removing knife is located at the edge of the main body of the gut removing knife, and the free end of the cutting edge of the gut removing knife extends toward the main body of the gut removing knife.

Optionally, the gut-removing cutter assembly includes a pair of gut-removing knives;

The pair of gut removing knives form a spherical curved surface, and the blades of the pair of gut removing knives form an arc shape.

Optionally, the elastic connecting member of the catgut removing knife is a compression spring.

Optionally, the device for removing shrimp intestines and kernels from crayfish also includes a bracket for removing shrimp intestines and kernels;

The shell breaking knife, the base of the gut-removing mechanism for shrimps and the shelled shrimp stopper are all installed on the support of the shell-removing device for removing shrimp intestines.

Optionally, the bracket of the device for removing shrimp intestines and shells includes a bracket enclosure, a shrimp gut baffle, and a shrimp baffle;

The bracket enclosure has a V-shaped plate portion and an extension plate portion, the extension plate portion extends from the free end of the V-shaped plate portion toward a direction away from the tip of the V-shaped plate portion, and the extension plate There is an included angle at the connection between the portion and the V-shaped plate portion;

The shell breaking knife is located at the tip of the V-shaped plate portion;

The shrimp gut baffle is fixedly connected to the V-shaped plate, the shrimp gut baffle and the V-shaped plate form a shrimp gut collection area, and the shrimp gut removal mechanism base is connected to the shrimp gut. Gut baffle fixed connection;

The shrimp baffle is fixedly connected to the end of the extension plate, the shrimp baffle, the bracket enclosure and the shrimp gut baffle form a shrimp collection area, and the shrimp stopper is connected to the shrimp. The baffle is fixedly connected.

Optionally, the crayfish gut removal device also includes a shrimp gut storage box and a shrimp storage box;

The shrimp gut storage box corresponds to the shrimp gut collection area to store shrimp gut;

The shrimp storage box corresponds to the shrimp collection area to accommodate shrimps.

Optionally, the shrimp stopper is made of flexible material.

Optionally, the shrimp claw positioning mechanism also includes a shrimp claw positioning transmission unit;

The shrimp claw positioning transmission unit is configured to hold shrimp claws, so that the shrimp claw positioning block presses and fixes the shrimp claws transmitted from the shrimp claw transmission mechanism on the shrimp claw positioning transmission unit.

Optionally, the shrimp claw positioning transmission unit includes a plurality of shrimp claw positioning rolling shafts and a shrimp claw positioning rolling shaft drive unit arranged in parallel;

The shrimp claws positioning rolling shaft driving unit is configured to drive the shrimp claws positioning rolling shaft to rotate, so as to move the shrimp claws on the shrimp claws positioning rolling shaft.

Optionally, the shrimp claw meat-taking mechanism also includes a shrimp claw shell storage box;

The shrimp claw shell storage box is arranged at the end of the shrimp claw positioning transmission unit to collect the shrimp claw shells.

Optionally, the shrimp claw transmission mechanism includes a shrimp claw transmission mechanism bracket, a shrimp claw transmission belt, a shrimp claw transmission pressing block, and a shrimp claw transmission pressing block elastic connector;

The shrimp claws transmission pressing block elastic connector connects the shrimp claws transmission mechanism support and the shrimp claws transmission pressing block, so that the shrimp claws transmission pressing block applies to the shrimp claws on the shrimp claws transmission belt toward the shrimp The force of the clamp conveyor belt;

The shrimp claws transmission belt communicates with the shrimp claws positioning transmission unit to transmit the shrimp claws to the shrimp claws positioning transmission unit.

Optionally, the crayfish shrimp claw meat picking device also includes a shrimp claw meat picking device bracket;

The shrimp claw positioning mechanism also includes the first drive unit of the shrimp claw positioning mechanism support, the shrimp claw leg cutter and the shrimp claw leg cutter drive unit;

The first driving unit of the shrimp claw positioning mechanism bracket is installed on the shrimp claw meat-taking device bracket, and the first driving unit of the shrimp claw positioning mechanism bracket is configured to drive the shrimp claw positioning mechanism bracket to the The shrimp claws on the shrimp claw positioning transmission unit apply a force toward the shrimp claw positioning transmission unit;

The shrimp claw positioning mechanism support is provided with a shrimp claw head stopper, and the shrimp claw head stopper is set to limit the position of the head of the shrimp claw, and the shrimp claw head The distance between the limiting part and the shrimp claw positioning transmission unit is smaller than the distance between the shrimp claw transmission pressing block and the shrimp claw positioning transmission unit;

The shrimp claw leg cutting knife driving unit is installed on the shrimp claw positioning mechanism support, and the shrimp claw leg cutting knife driving unit is configured to drive the shrimp claw leg cutting knife to cut The legs of the shrimp claws positioned on the shrimp claws positioning transmission unit are limited by the shrimp claws head limiting portion.

Optionally, the crayfish and shrimp pincer meat extraction device also includes a position sensor;

The position sensor is configured to detect the positions of the shrimp claws transmission block and the shrimp claws head stopper, so as to keep the distance between the shrimp claws head stopper and the shrimp claws positioning transmission unit. The difference between the distance between the shrimp claws and the distance between the shrimp claws transmission pressing block and the shrimp claws positioning transmission unit.

Optionally, the shrimp claw positioning mechanism also includes a shrimp claw positioning transmission unit mounting bracket and a shrimp claw positioning mechanism bracket second drive unit;

The shrimp claw positioning transmission unit is installed on the shrimp claw positioning transmission unit mounting bracket, and the shrimp claw positioning transmission unit mounting bracket is connected with the shrimp claw positioning mechanism bracket;

The second driving unit of the shrimp claw positioning mechanism support is installed on the shrimp claw meat-taking device support, and the second driving unit of the shrimp claw positioning mechanism support is configured to drive the shrimp claw positioning mechanism support along the The shrimp claws are positioned to move in the conveying direction of the conveying unit.

Optionally, the shrimp claw meat picking mechanism also includes a shrimp claw meat picking mechanism connection bracket;

The connecting bracket of the shrimp claw meat-taking mechanism is configured to install the clamp tip clamping assembly on the shrimp claw positioning mechanism bracket.

Optionally, the mechanism for taking meat with shrimp claws also includes a position adjustment member for the clamping assembly of the claw tip;

The position adjusting part of the pincer point clamping assembly is located between the connecting bracket of the shrimp claw meat-taking mechanism and the pincer point clamping assembly, so as to adjust the clamping position of the pincer point clamping assembly.

Optionally, the mechanism for removing shrimp claws further includes a meat claw storage box, and the meat claw storage box is configured to collect the meat claws of shrimp claws.

Optionally, the shrimp claw meat-taking mechanism includes a pair of the claw tip clamping assemblies;

A pair of the pincer tip clamping assemblies are configured to respectively clamp the side pincer pincer tip and the main pincer pincer pincer tip of the shrimp pincers.

Optionally, the clamping part of the pliers tip includes a pair of disc-shaped splints arranged in mirror image symmetry;

The oscillating driving unit of the clamping part of the pliers is configured to drive a pair of the disc-shaped splints to rotate synchronously.

Optionally, the crayfish shrimp claw meat extraction device also includes a shrimp claw change mechanism;

The shrimp claws changing mechanism includes a changing mechanism bracket, a changing mechanism clamping assembly, a rotating drive unit of the changing mechanism clamping assembly and a shrimp claws orientation detection unit;

The changing mechanism clamping assembly is configured to clamp the shrimp claws and transport the clamped shrimp claws to the shrimp claws transmission mechanism, and the changing direction mechanism clamping assembly is installed on the changing mechanism bracket ;

The shrimp claws orientation detection unit is configured to detect the orientation of the shrimp claws clamped by the clamping assembly of the changing mechanism;

The rotation driving unit of the clamping assembly of the redirection mechanism is configured to drive the clamping assembly of the redirection mechanism to rotate, so that the orientation of the shrimp claws clamped by the clamping assembly of the redirection mechanism is the same.

Optionally, the changing mechanism clamping assembly includes a pair of symmetrically arranged changing mechanism clamping transmission elements and a transmission element driving unit;

The clamping transmission element of the change direction mechanism includes a transmission element support and a change direction mechanism transmission belt. corresponding to the institution;

The transmission element driving unit is configured to drive a pair of the transmission element brackets of the direction changing mechanism clamping the transmission element to move toward or away from each other, so that the transmission belt of the direction changing mechanism clamps or releases the shrimp claws .

Optionally, the crayfish shrimp claw meat picking device also includes a shrimp claw guiding mechanism;

The shrimp claw guiding mechanism comprises a shrimp claw guiding mechanism transmission belt and a plurality of shrimp claw guiding mechanism rolling shafts arranged in parallel;

There is a gap between the rolling shafts of the shrimp claws guiding mechanism, and the rolling shafts of the shrimp claws guiding mechanism are set to rotate, so that the shrimp claws pass between the adjacent rolling shafts of the shrimp claws guiding mechanism Clearance;

The transmission belt of the shrimp claws guiding mechanism is configured to transfer the shrimp claws falling from the gap between the rolling shafts of the shrimp claws guiding mechanism to the working area of the clamping assembly of the changing direction mechanism.

Optionally, the crayfish shrimp claw meat extraction device also includes a shrimp claw supply mechanism;

The shrimp claw supply mechanism includes a shrimp claw storage box and a shrimp claw supply mechanism transmission belt;

The transmission belt of the shrimp claw supply mechanism is configured to transmit the shrimp claws stored in the shrimp claw storage box to the shrimp claw guiding mechanism.

Optionally, the shrimp claw storage box includes a shrimp claw storage box body and a plurality of shrimp claw baffles;

The shrimp claws storage box casing is located above the conveyor belt of the shrimp claws supply mechanism;

The shrimp claws baffle plate is configured to separate the shrimp claws stacked together so that a single layer of shrimp claws is transferred to the shrimp claws guiding mechanism.

Optionally, the crayfish and shrimp pincers meat extraction device also includes a general bracket of a direction-changing mechanism and a driving unit of a bracket of a direction-changing mechanism;

The direction changing mechanism bracket drive unit is installed on the direction changing mechanism main bracket, and the direction changing mechanism bracket driving unit is configured to drive the direction changing mechanism bracket to move, so that the direction changing mechanism clip The holding assembly is aligned with or away from the guide mechanism conveyor belt.

According to an embodiment of the present disclosure, the crayfish flattening device can straighten and flatten the crayfish in a curled up state; the crayfish transportation device can pick up the flattened crayfish on the crayfish flattening device, Transported to the crayfish clamp removal device, the crayfish head and tail removal device and the crayfish intestine removal device; the crayfish removal device can realize the automatic removal of the crayfish; the crayfish removal device can realize the automatic removal of the crayfish Remove the head and tail; the crayfish gut removal device can automatically separate the shrimp guts and shrimp meat in the crayfish trunk; the crayfish shrimp claw meat removal device can automatically take out the claw meat in the shrimp claws. The automatic crayfish meat extraction equipment disclosed in the present disclosure can process crayfish with high efficiency and high quality.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention.

Fig. 1 is a structural schematic diagram of an embodiment of the automatic crayfish meat-picking equipment of the present disclosure.

Fig. 2 is a schematic structural view of an embodiment of a crayfish flattening device of the present disclosure.

Fig. 3 is a partial structural schematic diagram of an embodiment of a crayfish flattening device of the present disclosure.

Fig. 4 is a structural schematic view of an embodiment of the flattening device base, the flattening device overturning mechanism and the flattening device clamping mechanism of the present disclosure.

Fig. 5 is a structural schematic view of another perspective of the embodiment of the flattening device base, the flattening device turning mechanism and the flattening device clamping mechanism of the present disclosure.

Fig. 6 is an exploded view of an embodiment of the flattening device base, the flattening device turning mechanism and the flattening device clamping mechanism of the present disclosure.

Fig. 7 is a structural schematic diagram of an embodiment of a crayfish guiding mechanism of the present disclosure.

Fig. 8 is a structural schematic diagram of an embodiment of the crayfish feeding mechanism of the present disclosure.

Fig. 9 is a schematic structural view of an embodiment of a crayfish transportation device of the present disclosure.

Fig. 10 is an exploded view of an embodiment of the crayfish transportation device of the present disclosure.

Fig. 11 is a cross-sectional view of an embodiment of a crayfish transportation device of the present disclosure.

Fig. 12 is a structural schematic view of an embodiment of the crayfish claw removal device of the present disclosure.

Fig. 13 is a structural schematic view of another perspective of the embodiment of the crayfish claw removal device of the present disclosure.

Fig. 14 is an exploded view of an embodiment of the crayfish claw removal device of the present disclosure.

Fig. 15 is a structural schematic view of an embodiment of the head and tail removal device for crayfish according to the present disclosure.

Fig. 16 is a structural schematic view of another perspective of the embodiment of the head and tail removal device for crayfish of the present disclosure.

Fig. 17 is an exploded view of an embodiment of the head and tail removal device for crayfish of the present disclosure.

Fig. 18 is a structural schematic diagram of an embodiment of a crayfish transportation device, a crayfish pincer removal device, and a crayfish head and tail removal device of the present disclosure.

Fig. 19 is a structural schematic diagram of an embodiment of a crayfish transportation device and a crayfish gut removal device of the present disclosure.

Fig. 20 is a perspective view of an embodiment of a device for removing shrimp intestines and kernels from crayfish according to the present disclosure.

FIG. 21 is a top view of FIG. 20 .

FIG. 22 is a cross-sectional view of FIG. 20 .

Fig. 23 is a schematic structural view of an embodiment of the mechanism for removing shrimp guts according to the present disclosure.

Fig. 24 is an exploded view of an embodiment of the shrimp gut removal mechanism of the present disclosure.

Fig. 25 is a cross-sectional view of an embodiment of the mechanism for removing shrimp guts according to the present disclosure.

Fig. 26 is a schematic structural view of an embodiment of a device for extracting meat from crayfish and shrimp pincers of the present disclosure.

Fig. 27 is a cross-sectional view of an embodiment of the meat-fetching device for crayfish and shrimp pincers of the present disclosure.

Fig. 28 is a schematic diagram of a partial structure of a device for extracting meat from crayfish and shrimp pincers of the present disclosure.

Fig. 29 is a structural schematic diagram of an embodiment of a shrimp claw positioning mechanism and a shrimp claw meat picking mechanism of the crayfish shrimp claw meat picking device of the present disclosure.

Fig. 30 is an exploded view of an embodiment of the shrimp claw positioning mechanism and the shrimp claw meat picking mechanism of the crayfish shrimp claw meat picking device of the present disclosure.

Fig. 31 is a cross-sectional view of an embodiment of the shrimp claw positioning mechanism and the shrimp claw meat removing mechanism of the crayfish shrimp claw meat picking device of the present disclosure.

Fig. 32 is a schematic structural view of an embodiment of the pincer tip clamping assembly of the crayfish and shrimp pincer meat picking device of the present disclosure.

Fig. 33 is a structural schematic diagram of an embodiment of the shrimp claw direction changing mechanism of the crayfish shrimp claw meat picking device of the present disclosure.

Fig. 34 is an exploded view of an embodiment of the shrimp claw direction changing mechanism of the crayfish shrimp claw meat picking device of the present disclosure.

Fig. 35 is a structural schematic diagram of an embodiment of the shrimp claw guiding mechanism of the crayfish shrimp claw meat picking device of the present disclosure.

Fig. 36 is a structural schematic diagram of an embodiment of the shrimp claw supply mechanism of the crayfish shrimp claw meat picking device of the present disclosure.

The diagram is marked as follows:

Crayfish flattening device-1, flattening device base-11, flattening device flipping mechanism-12, flattening device flipping bracket assembly-121, flattening connecting bracket-1211, flattening flipping bracket-1212, flattening device flipping Drive unit-122, flattening device flipping mechanism telescopic unit-123, flattening device clamping mechanism-13, flattening device clamping component-131, first clamping piece-1311, flattening device detection unit-1312, the first Clamping unit of the first gripping part-1313, flattening device flattening assembly-132, flattening slide part-1321, second gripping part-1322, second gripping part clamping unit-1323, general bracket of the flattening device -14, flattening device base drive unit-15, crayfish guiding mechanism-16, guiding mechanism bracket-161, guiding mechanism transmission belt-162, guiding mechanism rolling shaft-163, crayfish supply mechanism-17, Crayfish storage box-171, crayfish storage box body-1711, crayfish baffle-1712, crayfish supply mechanism conveyor belt-172, crayfish transport device-2, transport device base-21, transport device turning mechanism- 22, transport device overturn bracket-221, transport device overturn drive unit-222, transport device overturn mechanism telescopic unit-223, transport device clamping mechanism-23, third clamping piece-231, clamping block-2310, third Gripper positioner drive unit-232, third gripper positioner-233, gripper block drive unit-234, transport device base slideway-24, crayfish de-clamp device-3, shrimp head positioning mechanism-31 , Shrimp head positioning block-311, shrimp claw limit surface-3111, shrimp head positioning gap-3112, shrimp claw guide surface-3113, shrimp head guide surface-3114, positioning block mounting plate-312, shrimp head positioning block elastic connection Parts-313, pliers removal knife-32, pliers removal device bracket-33, shrimp head positioning mechanism drive unit-34, shrimp claws collection box-35, crayfish head and tail removal device-4, head and tail removal device bracket-41, Head and tail mechanism-42, head and tail clamp-421, head and tail clamp drive unit-4211, head and tail clamp block-4212, head and tail clamp drive unit-422, head and tail clamp telescopic unit-423, head and tail clamp Bracket-424, Head and Tail Collection Box-43, Crayfish Removing Shrimp Intestines-5, Trunk Positioning Platform-51, Trunk Positioning Surface-511, Trunk Guide Surface-512, Shell Breaking Knife-52, Guide Section-521 , Straight Section-522, Shrimp Gut Removal Mechanism-53, Shrimp Gut Removal Mechanism Base-531, Gut Removal Knife Mounting Slot-5310, Shrimp Gut Removal Knife Assembly-532, Gut Removal Knife-5321, Gut Removal Knife Positioning Part-53211, Gut Removal Knife Main Body-53212, Gut Removal Knife Blade-53213, Gut Removal Knife Elastic Connector-5322, Shrimp Stopper-54, Shrimp Gut Removal Device Bracket-55, Bracket Coaming plate-551, V-shaped plate part-5511, extension plate part-551 2. Shrimp gut baffle-552, shrimp baffle-553, shrimp gut collection area-554, shrimp collection area-555, crayfish shrimp claw meat extraction device-6, shrimp claw transmission mechanism-61, shrimp claw transmission Mechanism bracket-611, shrimp claw transmission belt-612, shrimp claw transmission press block-613, shrimp claw transmission press block elastic connector-614, shrimp claw positioning mechanism-62, shrimp claw positioning mechanism bracket-621, shrimp claw head Limiting part-6210, shrimp claw positioning block-622, shrimp claw positioning block driving unit-623, shrimp claw positioning transmission unit-624, shrimp claw positioning rolling shaft-6240, shrimp claw positioning mechanism bracket first drive unit-625, Shrimp pliers leg cutting knife-626, shrimp pliers positioning transmission unit mounting bracket-627, shrimp pliers positioning mechanism bracket second drive unit-628, shrimp pliers meat extraction mechanism-63, pliers tip clamping assembly-631, pliers tip Clamping piece-6311, disc-shaped splint-63110, pincer tip clamping piece clamping drive unit-6312, pincer tip clamping piece shaking drive unit-6313, shrimp claw shell storage box-632, shrimp claw meat removal mechanism connection Bracket-633, position adjustment piece for clamping assembly of pliers-634, storage box for pliers-635, bracket for meat removal device of shrimp pliers-64, position sensor-65, direction-changing mechanism of shrimp pliers-66, bracket-661 of direction-changing mechanism , Reversing mechanism clamping assembly-662, Reversing mechanism clamping transmission element-6621, Transmission element bracket-66211, Reversing mechanism transmission belt-66212, Transmission element drive unit-6622, Reversing mechanism clamping assembly rotation drive unit -663, shrimp claw guiding mechanism-67, guiding mechanism bracket-671, guiding mechanism transmission belt-672, guiding mechanism rolling shaft-673, shrimp claw supply mechanism-68, shrimp claw storage box-681, shrimp claw Storage box body-6811, shrimp claw baffle-6812, shrimp claw supply mechanism transmission belt-682, direction changing mechanism general bracket-69, direction changing mechanism bracket drive unit-70.

Detailed ways

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses.

Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the description.

In all examples shown and discussed herein, any specific values should be construed as exemplary only, and not as limitations. Therefore, other instances of the exemplary embodiment may have different values.

It should be noted that like numerals and letters denote like items in the following figures, therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.

As shown in FIGS. 1 to 36 , the present disclosure provides an automatic crayfish meat extraction device. The automatic crayfish meat extraction equipment includes crayfish flattening device 1, crayfish transport device 2, crayfish clamp removal device 3, crayfish head and tail removal device 4, crayfish intestine removal device 5 and crayfish shrimp clamp removal Meat device6.

The crayfish flattening device comprises a flattening device base 11 , a flattening device turning mechanism 12 and a flattening device clamping mechanism 13 .

The flattening device overturning mechanism 12 includes a flattening device overturning bracket assembly 121 and a flattening device overturning drive unit 122 . The flattening device turning bracket assembly 121 includes a flattening connection bracket 1211 and a flattening turning bracket 1212 . The flattening connecting bracket 1211 can connect the flattening device base 11 and the flattening turning bracket 1212 . The connection between the flattening connecting bracket 1211 and the base 11 of the flattening device can be, for example, welding or bolting. The connection between the flattening connecting bracket 1211 and the flattening and flipping bracket 1212 may be, for example, shaft connection or bolt connection. The flattening device turning drive unit 122 can drive the flattening turning support 1212 to rotate. The turning drive unit 122 of the flattening device can be, for example, a motor or a rotary cylinder. During specific implementation, the turning drive unit 122 of the flattening device may be installed on the flattening turning bracket 1212 . Alternatively, the turning drive unit 122 of the flattening device may be installed at the shaft connection between the flattening connection bracket 1211 and the flattening turning bracket 1212 , so as to drive the flattening turning bracket 1212 to rotate more conveniently.

The flattening device clamping mechanism 13 includes a flattening device clamping assembly 131 and a flattening device flattening assembly 132 . The clamping component 131 of the flattening device can clamp the crayfish, and the flattening component 132 of the flattening device can flatten the clamped curled crayfish.

The flattening device clamping assembly 131 includes a first clamping member 1311 and a flattening device detection unit 1312 . The first clamping member 1311 is installed on the flattening and turning bracket 1212 . The first clamping member 1311 can be, for example, a jaw that can be opened and closed, or a pair of clamping rods that can move toward or away from each other. The first clamping member 1311 can be installed on the flattening and turning support 1212 by clamping or sliding fit connection. When the flattening and turning bracket 1212 rotates, the first clamping member 1311 can drive the clamped crayfish to rotate together with the flattening and turning bracket 1212 . The flattening device detection unit 1312 can detect the position of the crayfish. The flattening device detection unit 1312 may be, for example, a position sensor or a color sensor. The first clamping member 1311 can clamp one end of the crayfish when the detection unit 1212 of the flattening device detects the crayfish. The above-mentioned end of the crayfish usually refers to the end of the trunk of the crayfish. When the flattening device detection unit 1312 is a color sensor, the flattening device detection unit 1312 can detect the black eyes of the crayfish, thereby judging the position of the head of the crayfish, so that the first clamping part 1311 can accurately grip the head of the crayfish department. During specific implementation, the detection unit 1312 of the flattening device can be installed on the first clamping member 1311 to quickly and accurately clamp one end of the crayfish.

The flattening device flattening assembly 132 includes a flattening slide 1321 , a second clamping piece 1322 and a flattening slide driving unit (not shown in the figure). The flattening slider 1321 is slidingly fitted with the flattening flip bracket 1212, so that when the flattening flip bracket 1212 rotates, the flattening slider 1321 rotates together with the flattening flip bracket 1212, and the flattening slider 1312 can be relatively The flatten flip support 1212 moves. The sliding fit connection between the flattening sliding member 1321 and the flattening turning bracket 1212 can be realized through dovetail groove and dovetail key cooperation. The second gripper 1322 is mounted on the flattening slide 1321 . The second clamping member 1322 can be, for example, a jaw that can be opened and closed, or a pair of clamping rods that can move toward or away from each other. The second clamping member 1322 can be installed on the flattening sliding member 1321 by clamping or sliding fit connection. The second clamping part 1322 can clamp the crayfish when the first clamping part 1311 clamps one end of the crayfish. Generally, the clamping position of the second clamping member 1322 should be close to the clamping position of the first clamping member 1311 . The flattening slide drive unit may be, for example, a motor or an air cylinder or the like. The flattening slider drive unit can drive the flattening slider 1321 to move along the flattening and flipping bracket 1212 in a direction away from the first clamping piece 1311 when the second clamping piece 1322 clamps the crayfish, so as to spread the crayfish flat.

When in use, the detection unit 1312 of the flattening device detects the position of the crayfish, and at this moment, the first clamping member 1311 clamps one end of the crayfish. Then the second clamping part 1322 clamps the position on the torso of the crayfish close to the first clamping part 1311 . Then, the flattening slider driving unit drives the flattening slider 1321 to move along the flattening overturning support 1212 toward a direction away from the first clamping component 1311 , so as to flatten the crumpled crayfish. The flattening device flip drive unit 122 can drive the flattened flip bracket 1212 to rotate, so that the flattening device clamping mechanism 13 rotates together with the flattened flip bracket 1212, thereby changing the position of the crayfish clamped on the flattening device clamping mechanism 13. Location.

The flattening device clamping component 131 of the crayfish flattening device of the present disclosure can clamp one end of the crayfish, the flattening device flattening component 132 can clamp the crayfish adjacent to the first clamping part 1311, and The second clamping part 1322 can move relative to the first clamping part 1311, so as to straighten and flatten the crumpled crayfish.

Optionally, the flattening device turning mechanism 12 further includes a flattening device turning mechanism telescopic unit 123 . The telescopic unit 123 of the flattening device turning mechanism can be, for example, a telescopic rod or a cylinder. The telescopic unit 123 of the turning mechanism of the flattening device is connected to the base 11 of the flattening device and the flattening connection bracket 1211, and the connection method may be, for example, welding or bolting. The length of the telescopic unit 123 of the turning mechanism of the flattening device can be adjusted to change the distance between the flattening connecting bracket 1211 and the base 11 of the flattening device. The arrangement of the telescopic unit 123 of the turning mechanism of the flattening device facilitates changing the position of the clamping mechanism 13 of the flattening device more conveniently, thereby changing the position of the crayfish clamped by the clamping mechanism 13 of the flattening device. During specific implementation, the flattening connection bracket 1211 may have a lug-type structure, so as to be more conveniently connected with the telescopic unit 123 of the turning mechanism of the flattening device.

Optionally, the flattening device flattening assembly 132 includes two groups, and the two groups of flattening device flattening assemblies 132 are respectively located on both sides of the flattening device clamping assembly 131 . In this way, when the tail of the crayfish clamped by the flattening device clamping assembly 131 faces one of the two sides of the flattening device clamping assembly 131, the flattening device flattening assembly 132 can accurately clamp and flatten crayfish.

Optionally, the clamping mechanism 13 of the flattening device further includes a weight judging unit (not shown in the figure). The weight judging unit can judge the weight of both sides of the first clamping member 1311, so that the flattening device flattening assembly 132 on the heavier side of the flattening device clamping assembly 131 works. The weight judging unit may be, for example, a weight detector or the like. According to the weight of both sides of the first clamping member 1311 judged by the weight judging unit, it can be known that the free end of the crayfish that is not clamped by the first clamping member 1311 faces the heavier side of the first clamping member 1311 At this time, the flattening device clamping assembly 131 clamps one end of the crayfish, and the flattening device flattening component 132 located on the heavier side of the first clamping part 1311 can clamp the crayfish, thereby realizing the small lobster. The flattening of the lobster.

Optionally, the flattening device detection unit 1312 is a color sensor. The color sensor can detect the eyes of the crayfish, so that the first gripper 1311 grips the head of the crayfish. Since the color of the crayfish is black, which is different from the red color of the part other than the eyes of the cooked crayfish, the color sensor can easily detect the eyes of the crayfish, so that the first clamping part 1311 can clamp the head of the crayfish .

Optionally, the clamping assembly 131 of the flattening device further includes a first clamping unit 1313 . The first clamping member 1311 is a symmetrically arranged first clamping rod, and the clamping unit 1313 of the first clamping member can drive the first clamping rod to move toward or away from each other, so as to clamp or loosen the crayfish. The clamping unit 1313 of the first clipper can be, for example, a bidirectional telescopic cylinder or the like.

Further, the first clamping rod is a telescopic rod. When the first clamping member 1311 interferes with other components, the first clamping rod can be retracted to prevent the spreader clamping assembly 131 from interfering with other components.

Optionally, the flattening assembly 132 of the flattening device further includes a second clamping unit 1323 . The second clamping member 1322 is symmetrically arranged with a second clamping rod, and the clamping unit 1323 of the second clamping member can drive the second clamping rod to move toward or away from each other, so as to clamp or loosen the crayfish. The second gripper clamping unit 1323 can be, for example, a two-way telescopic cylinder or the like.

Further, the second clamping rod is a telescopic rod. When the second clamping member 1322 interferes with other components, the second clamping rod can be retracted to prevent the flattening device flattening assembly 132 from interfering with other components.

Optionally, the crayfish flattening device further includes a flattening device general support 14 and a flattening device base driving unit 15 . The flattening device base 11 and the flattening device general bracket 14 are connected in sliding fit, and the sliding fit connection between the flattening device base 11 and the flattening device general bracket 14 can be realized by means of dovetail groove and dovetail key cooperation. The drive unit 15 of the flattening device base can be, for example, an air cylinder or a motor. The flattening device base driving unit 15 can drive the flattening device base 11 to move along the flattening device main support 14 .

The crayfish flattening device can be equipped with multiple sets of assemblies consisting of the flattening device base 11, the flattening device turning mechanism 12, the flattening device flattening assembly 13 and the flattening device base drive unit 15, and these assemblies work together , to grip and flatten crayfish efficiently and quickly. In a specific embodiment, the crayfish flattening device is provided with six sets of assemblies consisting of a flattening device base 11, a flattening device turning mechanism 12, a flattening device flattening assembly 13 and a flattening device base driving unit 15 .

Optionally, the crayfish flattening device further includes a crayfish guiding mechanism 16 . The crayfish guiding mechanism 16 includes a guiding mechanism support 161 , a guiding mechanism transmission belt 162 and a plurality of guiding mechanism rolling shafts 163 arranged in parallel. The guiding mechanism transmission belt 162 and the guiding mechanism rolling shaft 163 are all installed on the guiding mechanism bracket 161 .

There is a gap between the rolling shafts 163 of the guiding mechanism. The rolling shafts 163 of the guiding mechanism are configured to rotate, so that the crayfish passes through the gap between adjacent rolling shafts 163 of the guiding mechanism. During specific implementation, the rolling shaft 163 of the guiding mechanism can be driven by gears. In addition, the rolling shaft 163 of the guiding mechanism can be set to rotate forward and backward at intervals, so that the crayfish can pass through the gap between adjacent rolling shafts 163 of the guiding mechanism more efficiently.

The transmission belt 162 of the guiding mechanism can transfer the crayfish falling from the gap between the rolling shafts 163 of the guiding mechanism to the working area of the clamping mechanism 13 of the flattening device. The clamping mechanism 13 of the flattening device can clamp and flatten the crayfish transported by the transmission belt of the guiding mechanism one by one.

The crayfish guiding mechanism 16 can play the role of guiding the crayfish. Specifically, because the cooked crayfish is in a curled up state, the crayfish falling from the gap between the rolling shafts 163 of the guiding mechanism to the transmission belt 162 of the guiding mechanism are all in contact with the transmission belt 162 of the guiding mechanism sideways, This makes it easier for the clamping mechanism 13 of the flattening device to clamp the crayfish through the first clamping member 1311 .

In a specific embodiment, the number of clamping mechanisms 13 of the flattening device can correspond to the gap between the rolling shafts 163 of the guiding mechanism, so that different clamping mechanisms 13 of the flattening device can be clamped from different guiding mechanisms. The gap between the mechanism rolling shafts 163 falls to the crayfish on the guiding mechanism transmission belt 162 .

Further, the rolling shaft 163 of the guiding mechanism includes a shaft center (not shown in the figure) and a shaft sleeve (not shown in the figure). The shaft sleeve is set outside the shaft center. The guiding mechanism rolling shaft 163 of this structure can easily replace the shaft sleeve, thereby better adapting to crayfish of different sizes. In addition, the bushing can be made of flexible materials such as rubber or collodion to avoid damage to the crayfish.

Further, the crayfish flattening device also includes a crayfish feeding mechanism 17 . The crayfish supply mechanism 17 includes a crayfish storage box 171 and a crayfish supply mechanism transmission belt 172 . The crayfish supply mechanism transmission belt 172 can transmit the crayfish stored in the crayfish storage box 171 to the crayfish guiding mechanism 16 . The setting of the crayfish supply mechanism 17 is conducive to improving the automatic operation of the crayfish flattening device. After the cooked crayfish is poured into the crayfish storage box 171, the crayfish flattening device can continuously realize the flattening of the crayfish operate.

Furthermore, the crayfish storage box 171 includes a crayfish storage box body 1711 and a plurality of crayfish baffles 1712 . The crayfish storage box body 1711 is located above the transmission belt 172 of the crayfish feeding mechanism. The side of the crayfish storage box body 1711 facing the transmission belt 172 of the crayfish supply mechanism is provided with an opening for releasing the crayfish to the transmission belt 172 of the crayfish supply mechanism. The crayfish baffle 1712 can separate the stacked crayfish so that a single layer of crayfish can be transferred to the crayfish guiding mechanism 16 . The distance between the bottom surface of the multiple crayfish baffles 1712 and the surface of the crayfish supply mechanism transmission belt 172 is different, so that the stacked crayfish are flattened, and finally the crayfish transported to the crayfish guiding mechanism 16 is realized. for a single layer.

The crayfish transportation device 2 includes a transportation device base 21 , a transportation device base driving unit (not shown in the figure), a transportation device turning mechanism 22 and a transportation device clamping mechanism 23 .

The driving unit of the transport device base can drive the transport device base 21 to move. The driving unit of the transportation device base can be, for example, a driving motor or an electric motor, etc., and the driving unit of the transportation device base can be arranged in the transportation device base 21 . In addition, mechanisms such as rollers may also be provided on the base 21 of the transport device, or the base 21 of the transport device may be installed on rails, so that the base 21 of the transport device can move more smoothly. The number of transport device bases 21 can be flexibly set according to actual needs, for example, there are two transport device bases 21 .

The transport device turning mechanism 22 includes a transport device turning support 221 and a transport device turning driving unit 222 . The transport device turning support 221 is connected with the transport device base 21, and the connection between the two can be realized by shaft connection or bolt connection. The transport device turning drive unit 222 can drive the transport device turning support 221 to rotate. The transport device turning drive unit 222 can be, for example, a motor or a rotary cylinder. During specific implementation, the transport device turning drive unit 222 may be installed on the transport device turning support 221 . Alternatively, the transport device turning drive unit 222 can be installed at the shaft connection between the transport device turning support 221 and the transport device base 21 to more conveniently drive the transport device turning support 221 to rotate.

The transport device clamping mechanism 23 is installed on the transport device turning support 221 , so that the transport device clamping mechanism 23 can rotate together with the transport device turning support 221 . The transport device gripping mechanism 23 includes at least one pair of third gripping members 231 . The third clamping member 231 can be, for example, a clamping jaw that can be opened and closed, or a pair of clamping blocks that can move toward or away from each other. The third clamping member 231 can be mounted on the overturning bracket 221 of the transportation device through clamping or sliding fit connection. The third clamping member 231 can clamp the edge portion of the shell of the flattened crayfish clamped by the clamping mechanism 13 of the flattening device, and keep the crayfish in a flattened state. Usually, a single third clamping piece 231 in a pair of third clamping pieces 231 should respectively clamp the edge portion of the shrimp shell in the width direction of the trunk of the crayfish, so as to keep the crayfish in a flattened position more stably and effectively. state.

When in use, the detection unit 1312 of the flattening device detects the position of the crayfish, and at this moment, the first clamping member 1311 clamps one end of the crayfish. Then the second clamping part 1322 clamps the position on the torso of the crayfish close to the first clamping part 1311 . Then, the flattening slider driving unit drives the flattening slider 1321 to move along the flattening overturning support 1212 toward a direction away from the first clamping component 1311 , so as to flatten the crumpled crayfish. The flipping drive unit 122 of the flattening device can drive the flattening flip bracket 1212 to rotate. At this time, the clamping mechanism 13 of the flattening device rotates together with the flattening flip bracket 1212, so that the crayfish clamped by the clamping mechanism 13 of the flattening device rotates. To the working area of the transport device gripping mechanism 23 . Next, the third clamping member 231 clamps the edge portion of the shell of the flattened crayfish clamped on the clamping mechanism 13 of the flattening device, and keeps the crayfish in a flattened state. The driving unit of the transport device base can drive the transport device base 21 to move, so that the transport device clamping mechanism 23 moves to the required position with the flattened crayfish. The transport device turning drive unit 222 can drive the transport device turning bracket 221 to rotate, so that the crayfish clamped by the transport device clamping mechanism 23 rotates.

The flattening device clamping component 131 of the crayfish flattening device 1 of the present disclosure can clamp one end of the crayfish, and the flattening device flattening component 132 can clamp the part of the crayfish adjacent to the first clamping part 1311, And the second clamping part 1322 can move relative to the first clamping part 1311, so as to straighten and flatten the crumpled crayfish. The transport device clamping mechanism 23 of the crayfish transport device 2 can clamp the flattened crayfish on the crayfish flattening device 1, and transport the flattened crayfish to the required location.

Optionally, the crayfish transport device 2 further includes a base slideway 24 of the transport device. The slideway 24 of the transport device base is slidably connected with the transport device base 21 . Those skilled in the art can flexibly set the route of the transport device base slideway 24 according to the needs of the transport location. The driving unit of the transport device base can drive the transport device base 21 to move along the slideway 24 of the transport device base, so that the transport device clamping mechanism 23 can move with the transport device base 21 to the crayfish on the clamping mechanism 13 of the flattening device The location of the transportation device, and the transportation device clamping mechanism 23 moves to other required positions along with the transportation device base 21 .

Optionally, the transport device turning mechanism 22 further includes a transport device turning mechanism telescopic unit 223 . The telescopic unit 223 of the turning mechanism of the transportation device can be, for example, a telescopic rod or a cylinder. The telescoping unit 223 of the transport device turning mechanism is connected to the transport device base 21 and the transport device turning support 221 , and the connection method can be, for example, welding, bolt connection or shaft connection. The length of the telescopic unit 223 of the transport device turning mechanism can be adjusted to change the distance between the transport device turning bracket 221 and the transport device base 21 . The provision of the telescopic unit 223 of the overturning mechanism of the transportation device is beneficial to change the position of the gripping mechanism 23 of the transportation device more conveniently, thereby changing the position of the crayfish clamped on the gripping mechanism 23 of the transportation device. During specific implementation, the telescoping unit 223 of the transport device turning mechanism can be axially connected with the transport device turning bracket 221, and the transport device turning drive unit 222 is installed on the shaft to more conveniently drive the transport device turning bracket 221 to rotate.

Further, the telescopic unit 223 of the transport device turning mechanism is a telescopic rod.

Optionally, the clamping mechanism 23 of the transportation device further includes a driving unit 232 for a third clamping part positioning part and a pair of third clamping part positioning parts 233 . The driving unit 232 of the third clamping part positioning part can be, for example, a motor or a two-way telescopic cylinder or the like. The third clamping part positioning part 233 is slidingly connected with the overturning bracket 221 of the transportation device, so that the third clipping part positioning part 233 can move relative to the overturning bracket 221 of the transportation device. The sliding fitting connection between the third clamping part positioning part 233 and the transporting device overturning bracket 221 can be realized through dovetail groove and dovetail key cooperation. The driving unit 232 of the third clamping part positioning part can drive the pair of third clipping part positioning parts 233 to move toward or away from each other, so that the pair of third clipping part positioning parts 233 approach or move away from each other. There are two pairs of third clamping components 231 , and a pair of third clamping components 231 is respectively provided on each third clamping component positioning component 233 . When the third clamping part positioning part 233 is driven by the third clamping part positioning part drive unit 232, the third clamping part positioning part 233 can move relative to the transportation device overturning bracket 221, thereby driving the third clamping part 231 to face or move in opposite directions. This arrangement is beneficial to the crayfish transportation device 2 adapting to crayfish of different lengths and sizes.

Further, the clamping mechanism 23 of the transportation device further includes a clamping block driving unit 234 . The clamping block driving unit 234 can be, for example, a motor or a two-way telescopic cylinder. A single third clamping member 231 includes a mirror-symmetrical clamping block 2310 , which is slidingly fitted with the third clamping member positioning member 233 , so that the mirror-symmetrical clamping blocks 2310 can approach or move away from each other. The clamping block driving unit 234 can drive the single clamping block 2310 of the third clamping member 231 to move toward or away from each other, so as to clamp or release the edge portion of the shrimp shell of the crayfish. The sliding fit connection between the clamping block 2310 and the third clamping member positioning member 233 can be realized by means of dovetail slot and dovetail key fit.

When the clamping mechanism 23 of the transportation device wants to clamp the crayfish clamped on the clamping mechanism 13 of the flattening device, the clamping block driving unit 234 first drives the clamping block 2310 to move back, so that the third clamping member 231 is opened. Then the clamping block driving unit 234 drives the clamping block 2310 to move toward each other, so that the third clamping member 231 is clamped, and the edge portion of the shrimp shell of the crayfish is clamped.

The crayfish clamp removal device 3 includes a shrimp head positioning mechanism 31 and a clamp removal knife 32 .

The crayfish head and tail removal device 4 includes a head and tail removal device support 41 and a head and tail removal mechanism 42 . The head and tail removal mechanism 42 is installed on the head and tail removal device support 41 .

The shrimp head positioning mechanism 31 includes a pair of shrimp head positioning blocks 311 , a positioning block mounting plate 312 and an elastic connector 313 of the shrimp head positioning block. The elastic connector 313 of the positioning block of the shrimp head can be, for example, a shrapnel or a spring. The shrimp head positioning block 311 is provided with a shrimp claw limiting surface 3111 for limiting the shrimp claws. The shrimp claws can lean against the shrimp claws limiting surface 3111, thereby realizing the limitation of the position of the shrimp claws on the shrimp head positioning block 311. There is a shrimp head positioning gap 3112 between the pair of shrimp head positioning blocks 311 . The shrimp head of the crayfish can be inserted or snapped into the shrimp head positioning gap 3112 to position the shrimp head of the crayfish between a pair of shrimp head positioning blocks 311 . The shrimp head positioning block elastic connector 313 connects the shrimp head positioning block 311 and the positioning block mounting plate 312, so that a pair of shrimp head positioning blocks 311 can move relative to each other, thereby changing the size of the shrimp head positioning gap 3112, for crayfish of different sizes Shrimp head can be effectively positioned. The connection between the elastic connector 313 of the shrimp head positioning block and the positioning block 311 of the shrimp head and the mounting plate 312 of the positioning block can be realized by means of welding or bolting. During specific implementation, both the positioning block mounting plate 312 and the shrimp head positioning block elastic connector 313 can be split structures, so as to realize the installation of different shrimp head positioning blocks 311 .

Remove the pincers 32 and the shrimp head positioning block 311 and are rotatably connected. Claw cutter 32 can cut off the shrimp claws of crayfish to realize the removal of crayfish shrimp claws. The pincer cutter 32 can be driven by driving devices such as a motor or a motor, so as to cut off the claws of the crayfish. Or, after the pincer cutter 32 is rotated to a certain position relative to the shrimp head positioning block 311, it can be positioned by a positioning member such as a latch. When the shrimp head of the crayfish enters the shrimp head positioning gap 3112, the shrimp claw limiting surface 3111 is limited to the shrimp claw, so that Shrimp claws can be cut off when contacting with the pincer cutter 32. In addition, the shrimp head positioning block 311 can also be provided with a knife slot for receiving the pincer knife 32, and the operator can rotate the pincer knife 32 to put the pincer knife 32 into the knife slot, thereby protecting the pincer knife 32 or the operator. Usually, the quantity of removing the pincers 32 is the same as that of the shrimp head positioning block 311, that is, each shrimp head positioning block 311 is provided with a pair of removing pincers 32.

The head and tail removal mechanism 42 includes a head and tail clamp 421 and a head and tail clamp driving unit 422 . The head and tail clamps 421 can be, for example, jaws that can be opened and closed, or paired clamps that can move toward or away from each other. The head-to-tail clamp driving unit 422 can be, for example, a rotary cylinder or a rotary motor. The head and tail clamp 421 can clamp the head or tail of the crayfish. The head and tail clamp driving unit 422 can drive the head and tail clamp 421 to shake, so as to separate the head or tail of the crayfish from the trunk. The aforementioned shaking may be, for example, swinging or rotating. The head and tail jig drive unit 422 drives the head and tail jig 421 to shake and remove the head or tail of the shrimp, which is similar to the way of removing the head or tail of the shrimp by hand, which is conducive to removing the head or tail of the shrimp cleanly and thoroughly without residue. Moreover, this method of removing the head and tail is not easy to damage the crayfish, and is conducive to the efficient and high-quality processing of the crayfish.

When in use, the crayfish transport device 2 grips the crayfish, and the transport device base drive unit drives the transport device base 21 to move, so that the transport device clamping mechanism 23 moves the crayfish to the working area of the crayfish clamp removal device 3 . Along with the movement of the crayfish transportation device 2, the shrimp head of the crayfish is sent into the shrimp head positioning gap 3112, so that when the shrimp head positioning mechanism 31 locates the shrimp head of the crayfish, the shrimp clamp limit surface 3111 is aligned with the shrimp of the crayfish. Clamp limit. Then remove the pliers of pliers 32 to excise the crayfish, and obtain the crayfish without pliers. Then the crayfish transport device 2 clamps and removes the crayfish and moves to the working area of the head and tail mechanism 42 . The head and tail clamp 421 clamps the head or tail of the crayfish, and the head and tail clamp driving unit 422 drives the head and tail clamp 421 to shake, so as to separate the head or tail of the crayfish from the torso to obtain the torso of the crayfish.

In particular, when the crayfish removing device 3 performs the removing operation, if the shrimp head of the crayfish on the crayfish transport device 2 is not facing the shrimp head positioning gap 3112, the transport device turning drive unit 222 can drive the transport The device turning bracket 221 rotates, so that the transport device clamping mechanism 23 installed on the transport device turning bracket 221 also rotates accordingly, thereby adjusting the orientation of the shrimp head of the crayfish to ensure that the shrimp head faces the shrimp head positioning gap 3112 . When the crayfish head and tail removal device 4 performs the head and tail removal operation, the transport device turning drive unit 222 can drive the transport device turning support 221 to rotate after the crayfish head is removed, so that the tail of the crayfish enters the work of the crayfish head and tail removal device 4 area to achieve detailing of crayfish.

The transport device clamping mechanism 23 of the crayfish transport device 2 of the present disclosure can clamp the crayfish and transport the crayfish to the required location. The position adjustment of the crayfish can be realized by driving the transport device overturning drive unit 222 to rotate the transport device overturn bracket 221 . The crayfish de-clamp device 3 can realize the automatic de-clamping of crayfish, and the crayfish de-head and tail device 4 can realize the automatic de-head and tail removal of crayfish, thereby obtaining the trunk part of crayfish, which is conducive to efficient and high-quality processing of crayfish .

Optionally, the crayfish removing device 3 further includes a removing device bracket 33 and a shrimp head positioning mechanism driving unit 34 . The positioning block mounting plate 312 is slidably connected with the clamp removing device bracket 33 , so that the positioning block mounting plate 312 can move relative to the clamp removing device bracket 33 . The sliding fitting connection between the positioning block mounting plate 312 and the clamp removing device bracket 33 can be realized by means of dovetail groove and dovetail key cooperation. The shrimp head positioning mechanism driving unit 34 is installed on the clamp removal device support 33, and the shrimp head positioning mechanism driving unit 34 can drive the shrimp head positioning mechanism 31 to move. The driving unit 34 of the shrimp head positioning mechanism can be, for example, a motor or a cylinder. The shrimp head positioning mechanism driving unit 34 drives the shrimp head positioning mechanism 31 to move, which can change the position of the shrimp head positioning mechanism 31, thereby preventing the shrimp head positioning mechanism 31 from interfering with other structures. During specific implementation, the shrimp head positioning mechanism drive unit 34 can drive the shrimp head positioning mechanism 31, so that the shrimp head positioning gap 3112 between a pair of shrimp head positioning blocks 311 increases to the extent that the trunk of the whole crayfish can pass through the shrimp head positioning gap 3112.

Optionally, the crayfish claw removal device 3 also includes a shrimp claw collection box 35 . The shrimp claw guide surface 3113 is provided on the shrimp head positioning block 311 . The shrimp claws guide surface 3113 can guide the shrimp claws cut off by the claw cutter 32 to the shrimp claws collection box 35, thereby collecting the shrimp claws. The setting position of the shrimp claw collection box 35 can be selected according to actual needs, for example, the shrimp claw collection box 35 can be installed on the positioning block mounting plate 312 .

Optionally, the shrimp head positioning block 311 has a shrimp head guiding surface 3114 . The shrimp head guiding surface 3114 can guide the shrimp head of the crayfish to the shrimp head positioning gap 3112 . Usually, the shrimp head guiding surface 3114 can be an arc-shaped surface, so as to guide the shrimp head into the shrimp head positioning gap 3112 more effectively.

Optionally, the crayfish head and tail removal device 4 also includes a head and tail collection box 43 . The head and tail removal mechanism 42 also includes a head and tail clamp telescopic unit 423 . The head and tail clamp telescopic unit 423 can be, for example, a telescopic rod or an air cylinder. The head and tail clamp telescopic unit 423 is connected to the head and tail removal device bracket 41 and the head and tail clamp driving unit 422, and the connection method can be, for example, welding or bolting. The length of the head and tail clamp telescopic unit 423 is adjustable, so that the head and tail of the shrimp separated from the trunk are put into the head and tail collection box 43 . The head and tail collection box 43 can be installed on the head and tail removal device support 41 . The setting of the head and tail clamp telescopic unit 423 is conducive to changing the position of the head and tail clamp 421 more conveniently, thereby putting the shrimp head and shrimp tail clamped by the head and tail clamp 421 into the head and tail collection box 43 .

Further, the telescopic unit 423 of the head and tail clamps is a telescopic rod.

Optionally, the head and tail removal mechanism 42 further includes a head and tail clamp bracket 424 . The head and tail clamp 421 includes a head and tail clamp clamp block driving unit 4211 and a pair of head and tail clamp clamp blocks 4212 . The driving unit 4211 of the clamp block of the head-to-tail clamp can be, for example, an air cylinder or a motor. The head and tail clamp block drive unit 4211 is installed on the head and tail clamp bracket 424, and the head and tail clamp block drive unit 4211 can drive a pair of head and tail clamp clamp blocks 4212 to move toward or away from each other to clamp or release the crayfish shrimp heads or tails. During specific implementation, the head and tail clamp block 4212 can be slidably connected with the head and tail clamp bracket 424 . The head and tail clamp driving unit 422 can drive the head and tail clamp bracket 424 to rotate, so that the head and tail clamp 421 shakes. When the head and tail clamp drive unit 422 drives the head and tail clamp bracket 424 to rotate, the head and tail clamp bracket 424 rotates together with the head and tail clamp 421, so that the head and tail clamp 421 shakes to remove the shrimp head or tail of the crayfish.

The crayfish gut removal device 5 includes a trunk positioning platform 51, a shell cutter 52, a shrimp gut mechanism 53 and a shrimp stopper 54. Trunk positioning platform 51, shell breaking knife 52, shrimp gut mechanism 53 and peeled shrimp stopper 54 are arranged in sequence. When the crayfish is removed from the intestines and peeled shrimp, the trunk of the crayfish passes through the trunk positioning platform 51, the shell cutter 52, the shrimp gut mechanism 53 and the peeled shrimp stopper 54 successively.

The torso positioning platform 51 has a torso positioning surface 511 . The torso positioning surface 511 can position the front of the torso clamped on the crayfish transportation device 2 . The front of the torso of the crayfish can be offset against the torso positioning surface 511, thereby realizing the positioning of the torso. The above-mentioned front of the torso refers to the surface of the crayfish's torso wrapped by the shrimp shell, which is opposite to the abdomen of the crayfish's torso. The shell breaking knife 52 can cut open the shell of the front of the torso. The blade of shell breaking knife 52 contacts with the shrimp shell on the trunk of crayfish, thereby the shell of the front of trunk is cut open.

The shrimp guts removal mechanism 53 includes a shrimp guts removal mechanism base 531 and a shrimp guts removal cutter assembly 532 . The catgut cutter assembly 532 for removing shrimp includes a catgut removal knife 5321 and an elastic connecting member 5322 for the catgut removal knife. The elastic connecting member 5322 of the catgut removing knife is an elastic connecting member, which can be, for example, a shrapnel or a spring. The elastic connecting part 5322 of the catgut removing knife connects the base 531 of the mechanism for removing shrimp and gut and the catgut removing knife 5321 . The connection between the elastic connecting member 5322 of the gut string removal knife and the base 531 of the gut string removal mechanism 5321 and the gut string removal knife 5321 can be, for example, welded or bolted. The setting of the elastic connecting part 5322 of the catgut removing knife is beneficial for the catgut removing knife 5321 to adapt to crayfish of different sizes, and to remove the shrimp catgut more thoroughly and effectively. Specifically, when the gut removal knife 5321 removes the shrimp gut, the elastic connection part 5322 of the gut removal knife can be elastically deformed, ensuring that the gut removal knife 5321 is fully in contact with the crayfish, so that the shrimp gut removal mechanism 53 can process crayfish of different sizes with high efficiency and high quality. In addition, the shape of the blade of the gut string removal knife 5321 can be set to a shape that does not scratch the shrimp meat while removing the shrimp gut, for example, the blade of the gut string removal knife 5321 is in the shape of an arc.

The shelled shrimp block 54 can be offset against the shelled shelled shrimps in the trunk, so that the shelled shelled shrimps leave the trunk. When the shelled shrimp in the crayfish trunk is against the shelled shrimp stopper 54, the shelled shrimps can be disengaged from the shells of the crayfish due to the continuous clamping and transporting of the shelled shrimps by the transporting device 2 for crayfishes, so as to realize the purpose of shelling the shells of shrimps. The shape of the shelled shrimp stopper 54 can be set flexibly according to actual needs, for example, the shelled shrimp stopper 54 has polygonal shapes such as hexagon or octagon, to more fully contact with the shelled shrimp.

When in use, the crayfish transportation device 2 clamps the shell of the crayfish, and transports the crayfish along a preset route. The torso of the crayfish on the crayfish transportation device 2 is first in contact with the torso positioning surface 511 of the torso positioning platform 51, so that the torso of the crayfish is positioned at a fixed height. Driven by the crayfish transportation device 2, the crayfish contacts the shell breaking knife 52, and the shell breaking knife 52 cuts the shell of the crayfish. The crayfish after the shrimp shell is cut continues to move under the drive of the crayfish transport device 2, and enters the working area of the shrimp gutting mechanism 53. When the crayfish is in contact with the catgut removing knife 5321, the catgut removing knife 5321 passes through the cut shrimp shell and contacts the shrimp gut in the shrimp meat. Along with the movement of the crayfish transport device 2, the shrimp gut is separated from the shrimp meat, and then the crayfish transport device 2 continues to move with the crayfish. When the crayfish moved to the shrimp in the trunk and contacted with the shrimp stopper 54, under the active force of the shrimp stopper 54, the shrimp in the trunk was separated from the shrimp shell of the crayfish held by the crayfish transportation device 2, Realize the purpose of taking out the shelled shrimp.

The trunk positioning platform 51 of the crayfish removal device 5 of the present disclosure can locate the trunk of the crayfish. With the transportation of the crayfish transportation device 2, the trunk of the crayfish passes through the shell breaking knife 51 and the catgut removal knife 5321 in sequence. And shelled shrimp stopper 54, thereby the shrimp gut in the crayfish trunk and shelled shrimp are separated automatically.

Optionally, the torso positioning table 51 has a torso guiding surface 512 . The torso guiding surface 512 is connected with the torso positioning surface 511 in a smooth transition. The trunk guide surface 512 can guide the trunk clamped on the crayfish transportation device 2 to the trunk positioning surface 411 . Typically, the torso guide surface 512 is a curved surface.

Optionally, the blade of the shell breaking knife 52 has a guide section 521 and a straight section 522 . The guide section 521 has an arc shape, the straight section 522 has a straight shape, and the guide section 521 is closer to the trunk positioning platform 51 than the straight section 522 . In this way, along the transport direction of the crayfish transport device 2 , the crayfish first contacts the guide section 521 of the shell breaking knife 52 , and then contacts the straight section 522 of the shell breaking knife 52 . The straight section 522 extends along the transportation direction of the crayfish transportation device 2 , and the top of the straight section 522 is higher than the trunk positioning surface 511 . The height difference between the top end of the straight section 522 and the trunk positioning surface 511 can be set according to actual needs, which is not further limited in the present invention. This shell-cracking knife 52 can cut open the shrimp shell of the trunk of the crayfish efficiently and quickly, and is not easy to damage the shrimp meat.

Optionally, the base 531 of the shrimp-gut-removing mechanism is provided with a catgut-removing knife installation groove 5310 . The gut removing knife 5321 has a gut removing knife positioning portion 53211 . The elastic connecting part 5322 of the catgut removing knife is located in the installing groove 5310 of the catgut removing knife, and the positioning part 53211 of the catgut removing knife is in clearance fit with the installing groove 5310 of the catgut removing knife. The catgut removal installation groove 5310 can limit the position of the catgut removal knife positioning part 53211, so as to control the shaking amplitude of the gut gut removal knife 5321 when in contact with the crayfish, thereby better avoiding the catgut removal knife 5321 from being scraped Hurt the shrimp. In addition, the catgut removing knife installation slot 5310 can control the elastic deformation of the catgut removing knife elastic connecting part 5322 to avoid excessive elastic deformation of the catgut removing knife elastic connecting part 5322 . In a specific embodiment, the base 531 of the mechanism for removing shrimp and guts is cylindrical, the cutter assembly 532 for removing shrimp and guts is located on the end surface of the base 531 of the mechanism for removing shrimp and guts, and the blade of the gut removing knife 5321 is higher than that of removing shrimp. The height of the sides of the gut mechanism base 531.

Further, the catgut removing knife 5321 also includes a catgut removing knife body 53212 and a catgut removing knife blade 53213 . The catgut removing knife positioning part 53211 is fixedly connected with the catgut removing knife main body 53212, and the fixed connection between the two can be realized by means of welding or integral molding. The catgut removal knife 5321 can be manufactured in one-piece molding. The gut string removing knife blade 53213 is located at the edge of the gut string removing knife main body 53212, and the free end of the gut string removing knife blade 53213 extends towards the gut string removing knife main body 53212. The catgut removing knife blade 53213 extending toward the catgut removing knife main body 53212 is conducive to better avoiding the gut gut removing knife 5321 from scratching the shrimp meat.

Optionally, deshrimp gut cutter assembly 532 includes a pair of gut removal knives 5321 . A pair of gut removal knives 5321 form a spherical curved surface, and the blades of the pair of gut removal knives 5321 form an arc shape. That is, the shape formed by the pair of gut-removing knives 5321 is a partial curved surface on a complete sphere, and the blades of the pair of gut-removing knives 5321 can be connected together, and the blades form a complete arc shape. The catgut removing cutter assembly 532 with this structure can effectively remove the shrimp gut and better avoid scratching the shrimp meat.

In one specific embodiment, deshrimp gut cutter assembly 532 includes a pair of gut removal knives 5321 . The pair of gut removal knives 5321 are installed on the end face of the cylindrical shrimp gut gut mechanism base 531 through the gut removal knives elastic connector 5322, and the pair of gut removal knives 5321 form a spherical curved surface. The cutting edge of the gut string removal knife 5321 is formed in a circular arc shape.

Optionally, the elastic connecting member 5322 of the catgut removal knife is a compression spring.

Optionally, the crayfish gut removal device 5 also includes a support 55 for the shrimp gut removal device. Shell breaking knife 52, shrimp gut mechanism base 531 and shelled shrimp stopper 54 are all installed on the device support 55 for removing shrimp intestines. The specific installation method may be, for example, welding or bolt connection, or connection through an intermediate connection bracket, and the like.

Further, the bracket 55 of the device for removing shrimp intestines and shells includes a bracket enclosure 551 , a shrimp gut baffle 552 and a shrimp baffle 553 . The bracket enclosure 551 has a V-shaped plate portion 5511 and an extension plate portion 5512 . The extension plate portion 5512 extends from the free end of the V-shaped plate portion 5511 toward a direction away from the tip of the V-shaped plate portion 5511 , and the connection between the extension plate portion 5512 and the V-shaped plate portion 5511 has an included angle. The shell breaking knife 52 is located at the tip of the V-shaped plate portion 5511 . The shrimp gut baffle 552 is fixedly connected with the V-shaped plate part 5511, the shrimp gut baffle 552 and the V-shaped plate part 5511 constitute the shrimp gut collection area 554, and the shrimp gut mechanism base 531 is fixed to the shrimp gut baffle 552 Connection, the above fixed connection can be realized by means of welding or integral molding. The shrimp gut separated by the gut removal knife 5321 can enter the shrimp gut collection area 554 and be restricted in the shrimp gut collection area 554 by the shrimp gut baffle plate 552 and the V-shaped plate portion 5511 . The shelled shrimp baffle 553 is fixedly connected with the end of the extension plate portion 5512, the shelled shrimp baffle 553, the bracket enclosure 551 and the shrimp gut baffle 552 constitute the shelled shrimp collection area 555, the shelled shrimp stopper 54 is fixedly connected with the shelled shrimp baffle 553, the above The fixed connection can be realized by means of welding or integral molding. The peeled shrimp that shelled shrimp stopper 54 separates can enter in the shelled shrimp collection area 555, and be limited in the shelled shrimp collection area 555 by shelled shrimp baffle plate 553, bracket coaming plate 551 and shrimp gut baffle plate 552. The bracket enclosure 551 and the shelled shrimp baffle 553 of the device support 55 for removing shrimp intestines can form a figure made of triangles and rectangles, and the shrimp catgut baffle 552 is located in the triangular part of the figure.

When the crayfish passes through the gut removal knife 5321 , the gut removal knife 5321 can separate the shrimp gut in the crayfish, and the separated shrimp gut falls into the shrimp gut collection area 554 . When the crayfish passed the shelled shrimp block 54 , the shelled shrimp block 54 could separate the shelled shelled shrimp from the shell, and the shelled shelled shrimp would fall into the shelled shelled shrimp collection area 555 . Shrimp gut and shrimp are separated in different areas, which is beneficial to obtain higher quality shrimp.

Further, the crayfish gut removal device 5 also includes a shrimp gut storage box (not shown in the figure) and a shrimp storage box (not shown in the figure). The shrimp gut storage box corresponds to the shrimp gut collection area 554 to accommodate the shrimp gut. The shrimp storage box is corresponding to the shrimp collecting area 555 to accommodate the shrimp. The operator can take away the shrimp guts collected in the shrimp gut storage box and the shrimps collected in the shrimp meat storage box according to requirements.

Optionally, the shrimp stopper 54 is made of flexible material. The above-mentioned flexible material may be, for example, rubber or silica gel. The shelled shrimp stopper 54 that flexible material is made helps avoid damage shelled shelled shrimp better, thereby obtains shelled shelled shrimp of higher quality.

The crayfish shrimp claw meat-taking device 6 comprises a shrimp claw transmission mechanism 61 , a shrimp claw positioning mechanism 62 and a shrimp claw meat-fetching mechanism 63 . It should be noted that the shrimp claws in the present disclosure are also called chelicerae or chelicerae. Here, the head of the shrimp claw refers to the palm section of the shrimp claw; the leg of the shrimp claw refers to the part other than the palm section of the shrimp claw, usually, the wrist joint connected with the palm section to the junction of the shrimp claw and the shrimp body Both can be called the legs of shrimp claws; the main claw of shrimp claws refers to the palm part of the shrimp claws, and the tip of the main claws refers to the free end of the fixed finger on the palm of the shrimp claws; the side claw of shrimp claws refers to The movable finger part on the palm joint of the shrimp claw, and the side pincer tip refers to the free end of the movable finger on the palm joint of the shrimp claw.

The shrimp claws transmission mechanism 61 can transmit the shrimp claws to the shrimp claws positioning mechanism 62 . The shrimp claw transmission mechanism 61 can be, for example, a transmission belt or a mechanical arm.

The shrimp claw positioning mechanism 62 includes a shrimp claw positioning mechanism support 621 , a shrimp claw positioning block 622 and a shrimp claw positioning block driving unit 623 . The shrimp claw positioning block driving unit 623 can be, for example, an air cylinder or a motor. The shrimp claw positioning block driving unit 623 is installed on the shrimp claw positioning mechanism support 621, and the shrimp claw positioning block driving unit 623 can be installed on the shrimp claw positioning mechanism support 621 by means such as bolts or connecting brackets. The shrimp claw positioning block driving unit 623 can drive the shrimp claw positioning block 622 to press and fix the shrimp claws transmitted from the shrimp claw transmission mechanism 61 .

The mechanism 63 for removing meat with shrimp claws includes a clamping assembly 631 for the tip of the claws. The pliers tip clamping assembly 631 includes a pliers tip clamping part 6311 , a pliers tip clamping part clamping drive unit 6312 and a pliers tip clamping part shaking drive unit 6313 . The clamping part 6311 of the tip of the forceps can be, for example, jaws or a pair of clamping blocks. The pincer tip clamping part 6311 can be used to clamp the pincer tip of the side pincers of shrimp claws. The clamping driving unit 6312 of the pincer point clamping part can drive the pincer point clamping part 6311 to clamp or release the pincer point of the shrimp claws. Specifically, when the pliers tip holder 6311 is a jaw, the pliers tip holder clamping drive unit 6312 can be an air cylinder or a motor that drives the pliers tip holder 6311 to open and close; When using a clamping block, the clamping drive unit 6312 of the pliers tip holder 6311 can be an air cylinder or a motor that drives the pliers tip holder 6311 to move toward or away from each other. The shaking driving unit 6313 of the clamping part of the pliers tip can drive the holding part 6311 of the tip of the pliers to shake. The oscillating driving unit 6313 of the clamping part of the pliers can be, for example, a rotary cylinder or a rotary motor.

During use, the shrimp claws transmission mechanism 61 transmits the shrimp claws to the working area of the shrimp claws positioning mechanism 62 . The shrimp claws positioning block driving unit 623 drives the shrimp claws positioning block 622 to be pressed and fixed on the shrimp claws transmitted by the shrimp claws transmission mechanism 61, and the shrimp claws are positioned by the force applied to the shrimp claws by the shrimp claws positioning block 622. Then the pincer tip clamping part clamps the driving unit 6312 to drive the pincer tip clamping part 6311 to clamp the side pincer tip of the shrimp claw. Then the shaking driving unit 6313 of the pincer point clamping part drives the pincer point clamping part 6311 holding the pincer point to shake, and the side pincers of the shrimp claws shake synchronously with the pincer point clamping part 6311. Under the rocking effect of the pincer tip holder 6311, the movable finger on the palm joint of the shrimp pincers will break away from the shell of the shrimp pincers with the pincers meat, thereby realizing the shrimp pincers to take the meat. This method of shaking the shrimp claws to take out the meat is not easy to break the movable fingers of the shrimp claws, and is conducive to efficient and high-quality removal of the claw meat in the shrimp claws.

The shrimp claws positioning mechanism 62 of the present disclosure can locate the shrimp claws transmitted by the shrimp claws transmission mechanism 61, and the shrimp claws meat extraction mechanism 63 can separate the meat in the shrimp claws by shaking to realize automatic removal of the claws meat.

Optionally, the shrimp claw positioning mechanism 62 further includes a shrimp claw positioning transmission unit 624 . The shrimp claws positioning transmission unit 624 can hold the shrimp claws, and accurately transport the shrimp claws to the bottom of the shrimp claws positioning block 622, so that the shrimp claws positioning block 622 can press and fix the shrimp claws transmitted from the shrimp claws transmission mechanism 61 on the shrimp claws. The clamp is positioned on the transfer unit 624 . The shrimp claw positioning transmission unit 624 can be, for example, a belt conveyor or a roller conveyor. In addition, when the claw meat in the shrimp claws is taken out, the shrimp claws positioning transmission unit 624 can also transmit the shrimp claws shell to the outside of the compacted area of the shrimp claws positioning block 622, so that the shrimp claws positioning block 622 can quickly locate the next Shrimp Claws.

Further, the shrimp claw positioning transmission unit 624 includes a plurality of shrimp claw positioning rolling shafts 6240 and a shrimp claw positioning rolling shaft driving unit (not shown in the figure). The shrimp claws positioning rolling shaft drive unit can drive the shrimp claws positioning rolling shaft 6240 to rotate, so as to move the shrimp claws on the shrimp claws positioning rolling shaft 6240. The shrimp claw positioning rolling shaft drive unit can be, for example, a motor or a motor. During specific implementation, multiple shrimp claw positioning rolling shafts 6240 can be set as gear transmission, to ensure the synchronous rotation of different shrimp claw positioning rolling shafts 6240.

Further, the shrimp claw meat removing mechanism 63 also includes a shrimp claw shell storage box 632 . The shrimp claw shell storage box 632 is arranged at the end of the shrimp claw positioning transmission unit 6240 to collect the shrimp claw shells. After the meat of the claws is taken, the shrimp claws positioning transmission unit 624 can transmit the shrimp claws shell to its end, so that the shrimp claws shell can be sent into the shrimp claws shell storage box 632 .

Further, the shrimp claw transmission mechanism 61 includes a shrimp claw transmission mechanism support 611 , a shrimp claw transmission belt 612 , a shrimp claw transmission pressing block 613 and a shrimp claw transmission pressing block elastic connector 614 . Shrimp claws transmission briquetting elastic connector 614 connects shrimp claws transmission mechanism support 611 and shrimp claws transmission briquetting 613, so that shrimp claws transmission briquetting 613 applies to the shrimp claws on the shrimp claws transmission belt 612 towards the shrimp claws transmission belt 612 force. When the shrimp claws transmission belt 612 transported the shrimp claws to the action area of the shrimp claws transmission briquetting block 613, the shrimp claws transmission briquetting block 613 could elastically compress the shrimp claws on the shrimp claws transmission belt 613. The elastic connector 614 of the shrimp claws transmission pressing block can be, for example, a spring or a shrapnel. Under the action of the elastic force of the shrimp claw transmission pressing block elastic connector 614, the shrimp claw transmission pressing block 613 can press and fix the shrimp claws of different sizes on the shrimp claw transmission belt 613. The shrimp claw transmission belt 612 communicates with the shrimp claw positioning transmission unit 624 to transmit the shrimp claws to the shrimp claw positioning transmission unit 624 . It should be noted that the active force of the shrimp claws transmission briquetting block 613 should not affect the shrimp claws transmission belt 612 while the shrimp claws are compressed. In addition, in order to prevent the shrimp claws from being stuck at the shrimp claws transmission pressing block 613, the shrimp claws transmission pressing block 613 may be provided with a shrimp claws introduction surface to guide the shrimp claws into the shrimp claws transmission pressing block 613.

Furthermore, the crayfish shrimp claw meat picking device 6 also includes a shrimp claw meat picking device bracket 64 . The shrimp claw positioning mechanism 62 also includes the shrimp claw positioning mechanism support first drive unit 625, the shrimp claw leg cutting knife 626 and the shrimp claw leg cutting knife drive unit (not shown). The first drive unit 625 of the shrimp claw positioning mechanism bracket and the shrimp claw leg cutting knife driving unit can be, for example, motors or motors. The first drive unit 625 of the shrimp claw positioning mechanism support is installed on the shrimp claw meat-taking device support 64, and the shrimp claw positioning mechanism support first driving unit 625 can drive the shrimp claw positioning mechanism support 621 to the shrimp on the shrimp claw positioning transmission unit 624 The pliers apply an active force towards the positioning transmission unit 624 of the shrimp claws, so that the bracket 621 of the positioning mechanism of the shrimp claws can position the shrimp claws on the positioning transmission unit 624 of the shrimp claws. The shrimp claws positioning mechanism support 621 is provided with a shrimp claws head limiter 6210, which can limit the position of the head of the shrimp claws, and the shrimp claws head limiter 6210 and the shrimp claws positioning transmission The distance between the units 624 is smaller than the distance between the shrimp claw transmission pressing block 613 and the shrimp claw positioning transmission unit 624 . This setting can make the head of the shrimp claws on the shrimp claws positioning transmission unit 624 be located at the side of the shrimp claws head stopper 6210 adjacent to the shrimp claws transmission belt 612, and the legs of the shrimp claws are located at the shrimp claws head stopper The other side of 6210. The driving unit of the shrimp claw leg cutter is installed on the shrimp claw positioning mechanism support 621, and the shrimp claw leg cutter driving unit can drive the shrimp claw leg cutter 626 to be cut off by the shrimp claw head limiter 6210. The legs of the shrimp claws positioned on the shrimp claws positioning transfer unit 624.

When the shrimp claws were delivered to the shrimp claws positioning transmission unit 624 from the shrimp claws transmission belt 612, the shrimp claws positioning mechanism support first drive unit 625 drove the shrimp claws positioning mechanism support 621 and the shrimp claws were positioned on the shrimp claws positioning transmission unit 624, The position of the shrimp claws head limiter 6210 limits the position of the shrimp claws, so that the head of the shrimp claws is located at the side of the shrimp claws head limiter 6210 adjacent to the shrimp claws transmission belt 612, and the legs of the shrimp claws are positioned at the shrimp claws head limiter. The other side of bit portion 6210. Then the shrimp claws leg cutting knife 626 cuts off the legs of the shrimp claws under the driving of the shrimp claws leg cutting knife drive unit, so that the head and the legs of the shrimp claws are separated.

Furthermore, the crayfish and shrimp pincer meat picking device 6 also includes a position sensor 65 . The position sensor 65 can detect the position of the shrimp claws transmission briquetting block 613 and the shrimp claws head stopper 6210, to keep the distance between the shrimp claws head stopper 6210 and the shrimp claws positioning transmission unit 624 and the shrimp claws transmission briquetting block 613 and the difference in the distance between the shrimp claw positioning transmission unit 624. The distance between the shrimp claw transmission briquetting block 613 and the shrimp claw positioning transmission unit 624 can be adjusted according to the size of the shrimp claw through the elastic force of the shrimp claw transmission briquetting elastic connector 614. The distance between the positioning transmission units 624 can be adjusted by driving the first driving unit 625 of the shrimp claw positioning mechanism support. The difference between the distance between the shrimp claw head limiter 6210 and the shrimp claw positioning transmission unit 624 and the distance between the shrimp claw transmission pressing block 613 and the shrimp claw positioning transmission unit 624 is kept at a certain value, which can effectively ensure the shrimp claws. The legs pass through the stopper 6210 of the shrimp claw head, and the head of the shrimp claw is located on the side of the shrimp claw head stopper 6210 adjacent to the shrimp claw transmission belt 612 . The position sensor 65 can be arranged on the shrimp claw positioning mechanism support 621 and/or on the shrimp claw transmission pressing block 613 . During specific implementation, the shrimp claws transmission pressing block 613 and the shrimp claws head stopper 6210 can be set adjacent to each other, so that the shrimp claws can be stably positioned on the shrimp claws positioning transmission unit 624 .

Furthermore, the shrimp claw positioning mechanism 62 also includes a shrimp claw positioning transmission unit mounting bracket 627 and a shrimp claw positioning mechanism bracket second driving unit 628 . The second driving unit 628 of the bracket of the shrimp claw positioning mechanism can be, for example, a motor or a motor. The shrimp claw positioning transmission unit 624 is installed on the shrimp claw positioning transmission unit mounting bracket 627, and the shrimp claw positioning transmission unit mounting bracket 627 is connected with the shrimp claw positioning mechanism support 621. The connection between the shrimp claw positioning transmission unit mounting bracket 627 and the shrimp claw positioning mechanism bracket 621 can be realized by clipping or welding. When the shrimp claw positioning mechanism support 621 moved, the shrimp claw positioning transmission unit mounting bracket 627 moved together with the shrimp claw positioning mechanism support 621, thereby making the shrimp claw positioning transmission unit 624 and the shrimp claws on it together with the shrimp claw positioning mechanism The bracket 621 moves. The second drive unit 628 of the shrimp claw positioning mechanism support is installed on the shrimp claw meat taking device support 64, and the second driving unit 628 of the shrimp claw positioning mechanism support can drive the shrimp claw positioning mechanism support 621 along the transmission of the shrimp claw positioning transmission unit 624 direction to move. Like this, shrimp claw positioning mechanism support second drive unit 628 drives shrimp claw positioning mechanism support 621 to move along the transmission direction of shrimp claw positioning transmission unit 624, and the shrimp claw on the shrimp claw positioning transmission unit 624 also follows the shrimp claw positioning mechanism support 621 move along the transmission direction of the shrimp claw positioning transmission unit 624 together.

In a specific embodiment of the crayfish shrimp claw meat-taking device 6 of the present disclosure, the shrimp claw transmission belt 612 transmits the shrimp claws, and when the shrimp claws are transported to the action area of the shrimp claws transmission pressing block 613, the shrimp claws transmission pressing block 613 will Shrimp claws are elastically pressed on the shrimp claws transmission belt 612. Then the shrimp claws transmission belt 612 transports the shrimp claws to the shrimp claws positioning mechanism transmission unit 623 . The first driving unit 625 of the shrimp claw positioning mechanism support drives the shrimp claw positioning mechanism support 621 to move towards or away from the direction of the shrimp claw positioning transmission unit 624, so that the shrimp claw head stopper 6210 and the shrimp claw positioning transmission unit 624 The difference between the distance and the distance between the shrimp claws transmission briquetting block 613 and the shrimp claws positioning transmission unit 624 remains at a certain value, so as to ensure that the legs of the shrimp claws pass through the shrimp claws head stopper 6210, while the shrimp claws head It is located on the side of the shrimp claw head stopper 6210 adjacent to the shrimp claw conveyor belt 612 . The legs of the shrimp claws are cut off by the shrimp claws leg cutting knife 626, so that the head and the legs of the shrimp claws are separated. Then the second drive unit 628 of the shrimp claw positioning mechanism support drives the shrimp claw positioning mechanism support 621 to move along the transmission direction of the shrimp claw positioning transmission unit 624, and the shrimp claws on the shrimp claw positioning transmission unit 624 also follow the shrimp claw positioning mechanism support. 621 move along the transmission direction of the shrimp claw positioning transmission unit 624 together. Then the shrimp claws positioning block 622 can press the head of the shrimp claws on the shrimp claws positioning mechanism transmission unit 623 under the drive of the shrimp claws positioning block drive unit 623, and the shrimp claws meat mechanism 623 can implement the operation of getting the pincers meat .

Optionally, the shrimp claw meat picking mechanism 63 also includes a shrimp claw meat picking mechanism connection bracket 633 . The connecting bracket 633 of the meat-feeding mechanism of shrimp claws can install the pincer tip clamping assembly 631 on the bracket 621 of the positioning mechanism of shrimp claws, and the installation method can be, for example, welding or bolting.

Further, the shrimp claw meat picking mechanism 63 also includes a position adjustment member 634 of the clamping assembly of the claw tip. The position adjusting member 634 of the pincer point clamping assembly is located between the connection bracket 633 of the shrimp claw meat-taking mechanism and the pincer point clamping assembly 631 , so as to adjust the clamping position of the pincer point clamping assembly 631 . Those skilled in the art can select the type or structure of the position adjusting member 634 of the clamping assembly of the pliers tip according to actual requirements. For example, the position adjustment member 634 of the pincer tip clamping assembly is a telescopic rod. For another example, the position adjusting member 634 of the pliers tip clamping assembly is a rotating arm capable of changing the clamping angle of the pliers tip clamping assembly 631 . For another example, the position adjusting member 634 of the pincer tip clamping assembly is an articulated mechanical arm.

Furthermore, the mechanism 63 for removing meat with shrimp claws also includes a meat storage box 635 for shrimp claws. The claw meat storage box 635 can collect the claw meat of shrimp claws. The position adjusting member 634 of the pincer tip clamping assembly can control the pincer tip clamping assembly 631 clamping the side pincers with meat to deliver the pincer meat to the meat pincer storage box 635 .

Optionally, the shrimp claw meat picking mechanism 63 includes a pair of claw tip clamping components 631 . A pair of pincer tip clamping assemblies 631 can respectively clamp the side pincer pincer tip and the main pincer pincer pincer tip of the shrimp pincers. Like this, the pincer point clamping assembly 631 of the main pincer pincer tip of clamping shrimp pincers can play the effect of positioning shrimp pincers, and the pincer point clamping assembly 631 of the side pincer pincer tip of clamping shrimp pincers can play the role of shaking side pincers to take The role of meat.

Optionally, the clamping part 6311 of the tip of the forceps includes a pair of disc-shaped splints 63110 arranged mirror-symmetrically. The oscillating driving unit 6313 of the clamping part of the pliers can drive a pair of disc-shaped splints 63110 to rotate synchronously. When the disc-shaped splint 63110 clamps the side pincers of the shrimp claws, the disc-shaped splint 63110 can synchronously rotate back and forth at a certain angle, thereby separating the side pincers with meat from the shrimp claws.

Optionally, the crayfish shrimp claw meat picking device 6 also includes a shrimp claw changing mechanism 66 . The shrimp claws changing mechanism 66 comprises a changing mechanism bracket 661, a changing mechanism clamping assembly 662, a rotating driving unit 663 of the changing mechanism clamping assembly and a shrimp claws orientation detection unit (not shown). The changing mechanism clamping assembly 662 can clamp the shrimp claws and deliver the clamped shrimp claws to the shrimp claws transmission mechanism 61 . The direction change mechanism clamping component 662 can be, for example, a jaw or the like. The direction changing mechanism clamping assembly 662 can be directly installed or indirectly installed on the direction changing mechanism bracket 661 through structures such as intermediate connecting brackets. The orientation detection unit of the shrimp claws can detect the orientation of the shrimp claws clamped by the clamping assembly 662 of the direction changing mechanism, which can be, for example, a shape detection mechanism of the shrimp claws. The rotation driving unit 663 of the direction changing mechanism clamping assembly 662 can drive the direction changing mechanism clamping assembly 662 to rotate, so that the orientation of the shrimp claws clamped by the direction changing mechanism clamping assembly 662 is the same. The rotating driving unit 663 of the clamping assembly of the direction changing mechanism can be, for example, a rotating motor or an air cylinder. During specific implementation, the rotation driving unit 663 of the clamping assembly of the redirection mechanism can be installed at the shaft joint of the bracket 661 of the redirection mechanism and the clamping assembly 662 of the redirection mechanism. The direction of the heads and tails of different shrimp claws on the shrimp claws transmission mechanism 61 can be made the same by the shrimp claws changing mechanism 66, thereby improving the working efficiency of the crayfish shrimp claws meat picking device 6.

Further, the clamping assembly 662 of the redirection mechanism includes a pair of symmetrically disposed clamping transmission elements 6621 and transmission element drive units 6622 . The transmission element driving unit 6622 can be, for example, a motor or a motorized telescopic rod or the like. The direction changing mechanism clamping transmission element 6621 includes a transmission element bracket 66211 and a direction changing mechanism transmission belt 66212 . The direction changing mechanism transmission belt 66212 is installed on the transmission element support 66211, and the direction changing mechanism transmission belt 66211 corresponds to the shrimp claw transmission mechanism 61. The transmission element driving unit 6622 can drive a pair of transmission element brackets 66211 of the direction changing mechanism clamping the transmission element 6621 to move toward or away from each other, so that the direction changing mechanism transmission belt 66212 clamps or releases the shrimp claws. During specific implementation, the driving unit 6622 of the transmission element may be, for example, a telescopic rod or the like. A pair of direction changing mechanism clamping transmission elements 6621 can clamp the shrimp claws therebetween, and the direction changing mechanism transmission belt 66212 can also transmit the shrimp claws to the shrimp claws transmission mechanism 61 .

In a specific embodiment, the transmission element driving unit 6622 drives a pair of transmission element brackets 66211 of the direction-changing mechanism clamping the transmission element 6621 to move toward each other, so that the transmission belt 66212 of the direction-changing mechanism clamps the shrimp claws. Then the shrimp claws detect the orientation of the shrimp claws toward the detection unit, if the legs of the shrimp claws are not towards the shrimp claws transmission mechanism 61, the direction-changing mechanism clamping assembly rotation drive unit 663 drives the direction-changing mechanism clamping assembly 662 to rotate, so that the The legs of the shrimp claws clamped by the mechanism clamping assembly 662 are towards the shrimp claws transmission mechanism 61, so that when the shrimp claws enter the shrimp claws positioning mechanism 62, the head of the shrimp claws can be positioned at the shrimp claw head stopper 6210 adjacent to the shrimp. Clamp transfer belt 612 to one side. Then the transmission element driving unit 6622 drives a pair of transmission element brackets 66211 of the direction-changing mechanism to clamp the transmission element 6621 to move away from each other, so that the direction-changing mechanism transmission belt 66212 releases the shrimp claws, and the direction-changing mechanism transmission belt 66212 transmits the shrimp claws to the shrimp. Clamp transport mechanism 61.

Further, the crayfish shrimp claw meat picking device 6 also includes a shrimp claw guiding mechanism 67 . The shrimp claw guiding mechanism 67 comprises a guiding mechanism support 671, a guiding mechanism transmission belt 672 and a plurality of guiding mechanism rolling shafts 673 arranged in parallel. The guiding mechanism transmission belt 672 and the guiding mechanism rolling shaft 673 are all installed on the guiding mechanism bracket 671 .

There is a gap between the rolling shafts 673 of the guiding mechanism. The rolling shafts 673 of the guiding mechanism are configured to rotate, so that the shrimp claws pass through the gaps between the rolling shafts 673 of the adjacent guiding mechanism. During specific implementation, the rolling shaft 673 of the guiding mechanism can be driven by gears. In addition, the rolling shaft 673 of the guiding mechanism can be set to rotate forward and backward at intervals, so that the shrimp claws can pass through the gap between adjacent rolling shafts 673 of the guiding mechanism more efficiently. The shrimp claws guiding mechanism 67 can guide the shrimp claws to be consistent with the length direction of the shrimp claws, that is, the orientation of the shrimp claws on the guiding mechanism transmission belt 672 is consistent with the transmission direction of the guiding mechanism transmission belt 672.

The guiding mechanism transmission belt 672 can transfer the shrimp claws falling from the gap between the guiding mechanism rolling shafts 673 to the working area of the direction changing mechanism clamping assembly 662 . The changing mechanism clamping assembly 662 can clamp the shrimp claws transmitted by the guiding mechanism transmission belt one by one.

In a specific embodiment, the number of the shrimp claw changing mechanism 66 can correspond to the gap between the rolling shafts 673 of the guiding mechanism, so that different shrimp claw changing mechanisms 66 can be clamped from different guiding mechanism rolling The gap between the shafts 673 falls to the shrimp claws on the guiding mechanism transmission belt 672 .

Further, the rolling shaft 673 of the guiding mechanism includes a shaft center (not shown in the figure) and a shaft sleeve (not shown in the figure). The shaft sleeve is set outside the shaft center. The guiding mechanism rolling shaft 673 of this structure can easily replace the axle sleeve, thereby better adapting to shrimp claws of different sizes. In addition, the axle sleeve can be made of flexible materials such as rubber or collodion to avoid damaging the shrimp claws.

Further, the shrimp claw flattening device also includes a shrimp claw supply mechanism 68 . The shrimp claw supply mechanism 68 includes a shrimp claw storage box 681 and a shrimp claw supply mechanism transmission belt 682 . The shrimp claws feeding mechanism transmission belt 682 can transmit the shrimp claws stored in the shrimp claws storage box 681 to the shrimp claws guiding mechanism 67. The setting of the shrimp claw supply mechanism 68 is conducive to improving the automatic operation of the crayfish shrimp claw meat-taking device 6. After the shrimp claws are poured into the shrimp claw storage box 681, the crayfish shrimp claw device just realizes the meat-taking of the shrimp claws sustainably. operate.

Furthermore, the shrimp claw storage box 681 includes a shrimp claw storage box body 6811 and a plurality of shrimp claw baffle plates 6812 . Shrimp claws storage case casing 6811 is positioned at the top of shrimp claws feeding mechanism transmission belt 682. The shrimp claws storage box casing 6811 is provided with an opening for releasing the shrimp claws to the shrimp claws supply mechanism conveyor belt 682 on one side facing the shrimp claws supply mechanism transmission belt 682. The shrimp claws baffle plate 6812 can separate the shrimp claws stacked together, so that the single-layer shrimp claws are transmitted to the shrimp claws guiding mechanism 67. The distance between the bottom surface of the multiple shrimp claws baffle plate 6812 and the surface of the shrimp claws feeding mechanism transmission belt 682 is different, so that the shrimp claws stacked together are pushed flat, and finally the shrimp claws that are transferred to the shrimp claws guiding mechanism 67 are realized. for a single layer.

Further, the crayfish and shrimp claw meat picking device 6 also includes a general support 69 of a direction changing mechanism and a driving unit 70 of a direction changing mechanism support. The driving unit 70 of the steering mechanism bracket can be, for example, a telescopic rod or an air cylinder. The steering mechanism bracket drive unit 70 is installed on the steering mechanism main bracket 69, and the steering mechanism bracket driving unit 70 can drive the steering mechanism bracket 661 to move, so that the steering mechanism clamping assembly 662 is aligned with or away from the guiding mechanism Conveyor belt 672 . In this way, the crayfish shrimp claw meat-taking device 6 can be provided with a plurality of shrimp claws changing mechanism 66, and the changing mechanism support drive unit 70 can drive different shrimp claws changing mechanism 66 to receive and transmit from the guiding mechanism transmission belt 672 Shrimp Claws. In addition, the crayfish shrimp claw meat-taking device 6 can also be provided with a plurality of shrimp claw transmission mechanisms 61 and a plurality of shrimp claw positioning mechanisms 62 and shrimp claw meat-taking mechanisms 63 corresponding to the shrimp claw transmission mechanisms 61, so that the crayfish The meat-taking device 6 with shrimp claws can efficiently realize the operation of getting meat with shrimp claws.

Although some specific embodiments of the present invention have been described in detail through examples, those skilled in the art should understand that the above examples are for illustration only and not intended to limit the scope of the present invention. Those skilled in the art will appreciate that modifications can be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims (10)

1. An automatic crayfish meat taking device is characterized by comprising a crayfish flattening device, a crayfish conveying device, a crayfish forceps removing device, a crayfish head and tail removing device, a crayfish intestine and meat taking device and a crayfish forceps meat taking device; wherein,

the crayfish flattening device comprises a flattening device base, a flattening device turnover mechanism and a flattening device clamping mechanism, wherein the flattening device turnover mechanism comprises a flattening device turning support assembly and a flattening device turning driving unit, the flattening device turning support assembly comprises a flattening connecting support and a flattening turning support, the flattening connecting support is arranged to be used for connecting the flattening device base and the flattening turning support, the flattening device turning driving unit is arranged to be used for driving the flattening turning support to rotate, and the flattening device clamping mechanism is arranged to be used for clamping and flattening crayfish;

the crayfish transporting device comprises a transporting device base, a transporting device base driving unit, a transporting device overturning mechanism and a transporting device clamping mechanism, wherein the transporting device base driving unit is arranged to drive the transporting device base to move, the transporting device overturning mechanism comprises a transporting device overturning support and a transporting device overturning driving unit, the transporting device overturning support is connected with the transporting device base, the transporting device overturning driving unit is arranged to drive the transporting device overturning support to rotate, the transporting device clamping mechanism is installed on the transporting device overturning support, and the transporting device clamping mechanism is arranged to clamp the edge part of the crayfish shell flattened by the flattening device clamping mechanism and keep the crayfish in a flattened state;

the crayfish pincers removing device comprises a crayfish head positioning mechanism and a pincers removing knife, the crayfish head positioning mechanism comprises a pair of crayfish head positioning blocks, a positioning block mounting plate and a crayfish head positioning block elastic connecting piece, a crayfish pincers limiting surface used for limiting the crayfish pincers is arranged on the crayfish head positioning block, a crayfish head positioning gap is formed between the pair of crayfish head positioning blocks, the crayfish head positioning block elastic connecting piece is connected with the crayfish head positioning block and the positioning block mounting plate, and the pincers removing knife is rotatably connected with the crayfish head positioning block to cut off the crayfish pincers of the crayfish on;

the crayfish head and tail removing device comprises a head and tail removing device support and a head and tail removing mechanism, the head and tail removing mechanism is installed on the head and tail removing device support, the head and tail removing mechanism comprises a head and tail clamp and a head and tail clamp driving unit, the head and tail clamp is arranged for clamping the head or the tail of a crayfish, and the head and tail clamp driving unit is arranged for driving the head and tail clamp to swing so as to separate the head or the tail of the crayfish from the body of the crayfish on the crayfish transporting device;

the device for removing the shrimp intestine and taking the shelled shrimps of the crayfish comprises a trunk positioning table, a shell breaking knife, a shrimp intestine line removing mechanism and a shrimp meat baffle block, the trunk positioning table, the shell breaking knife, the shrimp gut removing mechanism and the shrimp meat baffle block are arranged in sequence, the trunk positioning table has a trunk positioning surface configured to position a front surface of a trunk held on the crawfish transporting device, the shell breaking knife is arranged to be used for cutting the shell on the front side of the trunk, the shrimp gut removing mechanism comprises a shrimp gut removing mechanism base and a shrimp gut removing knife assembly, the shrimp gut removing cutter component comprises a gut removing cutter and an elastic gut removing cutter connecting piece, the elastic gut removing cutter connecting piece is connected with the shrimp gut removing mechanism base and the gut removing cutter, the shrimp meat stopper is arranged to abut against shrimp meat in the trunk so that the shrimp meat leaves the trunk;

the crayfish shrimp clamp meat taking device comprises a shrimp clamp transmission mechanism, a shrimp clamp positioning mechanism and a shrimp clamp meat taking mechanism, wherein the shrimp clamp transmission mechanism is arranged for transmitting shrimp clamps to the shrimp clamp positioning mechanism, the shrimp clamp positioning mechanism comprises a shrimp clamp positioning mechanism support, a shrimp clamp positioning block and a shrimp clamp positioning block driving unit, the shrimp clamp positioning block driving unit is installed on the shrimp clamp positioning mechanism support, the shrimp clamp positioning block driving unit is arranged for driving the shrimp clamp positioning block to press and fix the shrimp clamps transmitted by the shrimp clamp transmission mechanism, the shrimp clamp meat taking mechanism comprises a clamp tip clamping assembly, the clamp tip clamping assembly comprises a clamp tip clamping piece, a clamp tip clamping piece clamping driving unit and a clamp tip clamping piece shaking driving unit, the clamp tip clamping piece clamping driving unit is arranged for driving the clamp tip clamping piece to clamp or release the clamp tip of the shrimp clamps, the forceps tip clamping piece shaking driving unit is used for driving the forceps tip clamping piece clamped with the forceps tips to shake.

2. The automated crayfish meat extraction apparatus of claim 1, wherein the flattening device gripper mechanism includes a flattening device gripper assembly and a flattening device flattening assembly;

the flattening device clamping assembly comprises a first clamping piece and a flattening device detection unit, the first clamping piece is installed on the flattening overturning bracket, the first clamping piece is arranged for clamping one end of the crayfish when the flattening device detection unit detects the crayfish, and the flattening device detection unit is arranged for detecting the position of the crayfish;

the flattening device flattening assembly comprises a flattening sliding piece, a second clamping piece and a flattening sliding piece driving unit, the flattening sliding piece is connected with the flattening overturning support in a sliding fit mode, the second clamping piece is installed on the flattening sliding piece, the second clamping piece is arranged to be used for clamping crayfish when the first clamping piece clamps one end of the crayfish, and the flattening sliding piece driving unit is arranged to be used for driving the flattening sliding piece to move along the direction of the flattening overturning support far away from the first clamping piece so as to flatten the crayfish.

3. The automated crayfish meat extraction apparatus of claim 1 wherein the conveyor clamp mechanism is mounted on the conveyor turn-over stand and includes at least a pair of third clamps arranged to clamp an edge portion of the shell of the flattened crayfish and to hold the crayfish in the flattened condition.

4. The automated crayfish meat removal apparatus of claim 3 wherein the transport device picking mechanism further includes a third picking member positioning member drive unit and a pair of third picking member positioning members;

the third clamping and taking positioning piece is connected with the turnover bracket of the conveying device in a sliding fit manner, and the third clamping and taking positioning piece driving unit is arranged for driving the pair of third clamping and taking positioning pieces to move towards or away from each other;

the number of the third clamping pieces is two, and each third clamping piece positioning part is provided with a pair of the third clamping pieces.

5. The automated crayfish meat removal apparatus of claim 1 wherein the crayfish deboning device further includes a deboning device support and a crayfish head positioning mechanism drive unit;

the positioning block mounting plate is connected with the clamp removing device bracket in a sliding fit manner;

the shrimp head positioning mechanism driving unit is installed on the de-nipper device bracket, and the shrimp head positioning mechanism driving unit is configured to drive the shrimp head positioning mechanism to move.

6. The automated crayfish meat extraction apparatus of claim 5 wherein the crayfish head and tail removal device further includes a head and tail collection bin;

the head and tail removing mechanism further comprises a head and tail clamp telescopic unit;

the head and tail clamp telescopic unit is connected with the head and tail removing device support and the head and tail clamp driving unit, and the length of the head and tail clamp telescopic unit is adjustable so as to throw the shrimp heads and the shrimp tails separated from the trunk into the head and tail collecting box.

7. The automated crayfish meat extraction apparatus of claim 1 wherein the torso positioning table has a torso guiding surface in smooth transitional connection with the torso positioning surface;

the trunk guide surface is arranged to guide a trunk clamped on the crawfish transporting device onto the trunk positioning surface.

8. The automated crayfish meat removal apparatus of claim 1 wherein the shrimp clamp positioning mechanism further includes a shrimp clamp positioning transport unit;

the shrimp clamp positioning and transmitting unit is used for holding shrimp clamps, so that the shrimp clamp positioning block can fixedly press the shrimp clamps transmitted by the shrimp clamp transmitting mechanism on the shrimp clamp positioning and transmitting unit.

9. The automated crayfish meat removal apparatus of claim 8, wherein the shrimp clamp transport mechanism includes a shrimp clamp transport mechanism support, a shrimp clamp transport belt, a shrimp clamp transport block, and a shrimp clamp transport block elastic connection;

the shrimp clamp conveying mechanism support is connected with the shrimp clamp conveying mechanism support through the shrimp clamp conveying press block elastic connecting piece, so that the shrimp clamp conveying press block applies acting force towards the shrimp clamp conveying belt to the shrimp clamps on the shrimp clamp conveying belt;

the shrimp clamp conveying belt is communicated with the shrimp clamp positioning and conveying unit so as to convey the shrimp clamps to the shrimp clamp positioning and conveying unit.

10. The automated crayfish meat removal apparatus of claim 8 wherein the crayfish shrimp clamp meat removal device further includes a shrimp clamp direction changing mechanism;

the shrimp clamp turning mechanism comprises a turning mechanism support, a turning mechanism clamping component rotary driving unit and a shrimp clamp orientation detection unit;

the direction-changing mechanism clamping assembly is used for clamping the shrimp pincers and conveying the clamped shrimp pincers to the shrimp pincers conveying mechanism, and the direction-changing mechanism clamping assembly is installed on the direction-changing mechanism support;

the shrimp clamp orientation detection unit is used for detecting the orientation of the shrimp clamp clamped by the direction-changing mechanism clamping component;

the direction-changing mechanism clamping component rotary driving unit is used for driving the direction-changing mechanism clamping component to rotate, so that the shrimp pincers clamped by the direction-changing mechanism clamping component are in the same direction.