Automatic sea urchin shell and viscera removing device

Abstract

The invention belongs to the technical field of marine product processing, and particularly relates to an automatic sea urchin shell and viscera removing device. An automatic sea urchin shell and viscera removing device is characterized by comprising a shell opening module (100), a shell removing module (200), a sea urchin viscera separating module (300), a storing and conveying module (400) and a control module (6); the shell opening module (100), the shell removing module (200), the sea urchin viscera separation module (300) and the storage and conveying module (400) are electrically connected with the control module (6), and under the control of the control module (6), removal and collection of shells and viscera of sea urchin are completed. According to the invention, the sea urchin shells are rapidly cut open, sea urchin meat is completely stripped from the shells, the sea urchin meat is rapidly separated from viscera, the automation degree is high, and the processing efficiency is greatly improved.

Description

Technical Field

[0001] The invention belongs to the technical field of seafood processing, and in particular relates to an automatic sea urchin shell and viscera removal device. Background Art

[0002] With the continuous advancement of fishery technology and the increase in labor costs, automated and intelligent fishery machinery and equipment have become an inevitable trend in agricultural development. As an important part of fishery production, sea urchin processing has the characteristics of large workload, long time and high labor intensity. Therefore, the research and development of automated sea urchin shell and viscera removal devices is of great significance.

[0003] With the continuous development of marine aquaculture, the types and quantity of seafood are constantly increasing and enriching, and the demand for sea urchins is also steadily increasing. However, traditional sea urchin processing still relies on manual processing. This method not only has high labor costs, low output, large floor space, and food safety issues caused by irregular operations, but also the existing sea urchin processing device cannot achieve automated processing, the sea urchin shell is difficult to cut, the sea urchin meat is not cleanly peeled off from the shell, causing waste, and the sea urchin meat is not easy to separate from the internal organs, which reduces the quality of the sea urchin meat and makes it difficult to use it on a large scale. Therefore, it is urgent to develop an efficient and highly automated sea urchin processing device. Summary of the invention

[0004] The present invention aims to solve the problems of the prior art sea urchin processing technology, such as high cost, low yield, large floor space, food safety caused by irregular operation, difficulty in cutting sea urchin shells, incomplete peeling of sea urchin meat from the shells, difficulty in separating sea urchin meat from viscera, inability to process automatically, low efficiency, etc. An automatic sea urchin shell and viscera removal device is provided, which is characterized by comprising: a shell opening module, a shelling module, a sea urchin viscera separation module, a storage and transportation module, and a control module; the shell opening module, the shelling module, the sea urchin viscera separation module, and the storage and transportation module are electrically connected to the control module respectively, and under the control of the control module, the removal and collection of the sea urchin shells and viscera are completed.

[0005] According to the above-mentioned shell opening module, the shell opening module includes a storage bin and a clamping device arranged at the lower part of the storage bin;

[0006] The storage and conveying module includes: a box for holding sea urchins and a conveyor belt; a stacked collection basin is arranged in the box; two sets of cylinders are arranged in symmetrical holes on both sides of the box; the cylinders push the stoppers in and out through the holes on both sides of the box, and the stoppers are retractably arranged at the lower edges for sequentially placing the collection basins;

[0007] The storage bin entrance is provided with an upper wall of the box body, and the storage bin exit is provided with a valve. The storage bin is in a funnel shape so that the sea urchins can be automatically filled into the valve; the valve rotates 360 degrees to fill the sea urchins into the clamping device;

[0008] The clamping device comprises a pair of symmetrical clamping bodies and gears; the clamping body is a plate-like structure with a bottom plate and a concave cross-section, and two shell-opening cylinders are symmetrically arranged on the side wall of each clamping body; a rotatable tool is arranged on the shell-opening cylinder, and the tool is arranged at the end of the clamping body. After the clamping body clamps the sea urchin, the shell-opening cylinder pushes the tool to insert into the middle of the sea urchin and then rotates to realize the shell opening of the sea urchin;

[0009] Two racks are vertically arranged on the outer walls of the two clamping bodies that clamp the sea urchins, and the ends of the two racks pass through the two clamping track platforms; the two clamping track platforms are fixedly connected by a connecting rod; the gear is fixed on the clamping track platform, and forms a gear rack mechanism by cooperating with the rack, and the two racks drive the two clamping bodies to complete horizontal clamping and loosening actions;

[0010] The shelling module comprises a lifting track and a box with a hole; a meat-taking knife is arranged at the lower part of the hole of the box with a hole; the meat-taking knife is arranged at an acute angle with the hole of the box with a hole; the two ends of the lifting track are fixedly arranged on the bottom of the box and the upper wall of the box respectively; the lifting track vertically passes through the clamping track platform; the clamping track platform can move up and down in the vertical direction along the lifting track; a shelling ball screw is arranged parallel to the clamping track platform; the shelling ball screw is matched with a shelling ball screw nut fixedly arranged on the side wall of the clamping track platform, and under the drive of the shelling ball screw nut, the shelling track platform is driven to move accurately in the vertical direction along the lifting track and stop at a specified position;

[0011] The box with holes is fixed on the side wall of the box, and sea urchin shell collecting bins are respectively arranged on the two side walls of the box with holes, and the bottom edges of the two side walls of the box with holes are respectively fitted with the inner sides of the openings of the sea urchin shell collecting bins; the sea urchin shell collecting bin adopts an oblique triangular bucket structure to avoid the accumulation of sea urchin shells, and the sea urchin shell collecting bin adopts a detachable structure; the sea urchin shell collecting bin is arranged below the bottom of the box; four box support columns are arranged at the four corners of the bottom of the box, for supporting the lifting track, the box, and the sea urchin shell collecting bin;

[0012] The sea urchin viscera separation module includes a visual sensor and a three-degree-of-freedom cantilever auxiliary manipulator; the visual sensor is arranged on the side wall of the box with holes, and a searchlight fixed on the side wall of the box with holes is arranged below the visual sensor to illuminate the visual sensor;

[0013] The three-degree-of-freedom cantilever auxiliary manipulator comprises a first ball screw mechanism, a second ball screw mechanism, a third ball screw mechanism, a first track platform, a second track platform, a third track platform and a manipulator mechanism;

[0014] The three-degree-of-freedom cantilever auxiliary manipulator is set between four vertical ground support columns distributed on both sides of the conveyor belt;

[0015] The first ball screw mechanism comprises: a first set of bearings and a first ball screw, and a second set of bearings; the first set of bearings and the first ball screw are parallel to each other and are arranged between the support columns; the second set of bearings are parallel to each other and are arranged between the support columns; the first ball screw is driven by a first motor;

[0016] The first track platform comprises a track platform 1, a first track platform ball screw nut, a track platform 2, a first group of bearing seats, and a second group of bearing seats; the first track platform ball screw nut and the first group of bearing seats are arranged on the track platform 2, and the first group of bearing seats are respectively matched with the first group of bearings; the first track platform ball screw nut is matched with the first ball screw; the second group of bearing seats are respectively matched with the second group of bearings;

[0017] The second ball screw mechanism includes a third group of bearings, a fourth group of bearings, and a second ball screw, wherein the fourth group of bearings and the second ball screw are parallel to each other and are vertically arranged on the second track platform; the third group of bearings are parallel to each other and are arranged on the first track platform; the second ball screw is driven by a second motor;

[0018] The second track platform includes track platform three, a second track platform ball screw nut, track platform four, a third group of bearing seats, and a fourth group of bearing seats; the second track platform ball screw nut and the third group of bearing seats are arranged on track platform three, and the third group of bearing seats are respectively matched with the third group of bearings; the second track platform ball screw nut is matched with the second ball screw; the fourth group of bearing seats are respectively matched with the fourth group of bearings;

[0019] The third ball screw mechanism comprises a fifth set of bearings and a third ball screw. The fifth set of bearings and the third ball screw are parallel to each other, and both ends thereof are respectively arranged between the track platform three and the track platform four; the third ball screw is driven by a third motor;

[0020] The third track platform includes a track platform five, and a fifth set of bearing seats and a third track platform ball screw nut are arranged on the upper part of the track platform five;

[0021] The fifth group of bearings cooperates with the fifth group of bearing seats respectively; the third ball screw cooperates with the ball screw nut of the third track platform;

[0022] A manipulator for sorting sea urchin viscera is arranged at the bottom of track platform five.

[0023] According to the above-mentioned automatic sea urchin shell and viscera removal device, it is characterized in that the box with holes and the sea urchin shell collection bin are made of aluminum alloy plates, and the middle of the box with holes is hollowed out.

[0024] According to the above-mentioned automatic sea urchin shell and viscera removal device, it is characterized in that the valve is made of martensitic stainless steel and is in a hollow hemispherical shape.

[0025] According to the above-mentioned automatic sea urchin shell and viscera removal device, it is characterized in that the height of the collection basin arranged in the box is less than the vertical distance between the first stopper and the second stopper;

[0026] The collection basin is made of polypropylene and has a U-shaped groove on its inner wall.

[0027] According to the above-mentioned automatic sea urchin shell and viscera removal device, it is characterized in that pits are arranged on the inner wall of the clamp body, and the height of the pits is 1-5mm.

[0028] According to the above-mentioned automated sea urchin shell and viscera removal device, it is characterized in that a thin film pressure sensor is provided on the clamping inner wall of the clamping body. The thin film pressure sensor is provided on the inner wall of the clamping body that clamps the sea urchin to control the clamping force of the sea urchin and prevent the sea urchin from being crushed.

[0029] According to the above-mentioned automatic sea urchin shell and viscera removal device, it is characterized in that the meat removal knife is arranged at an acute angle to the hole of the hole box.

[0030] According to the above-mentioned automated sea urchin shell and viscera removal device, the feature is that the meat removal tool is shovel-shaped; the force is measured by a thin film pressure sensor to determine the distance between the clamping body and the meat removal tool; the meat removal tool is rotatably arranged at the hole of the box body with holes so that it can fit with the inner wall of the sea urchin during rotation to remove all the sea urchin meat.

[0031] According to the above-mentioned automatic sea urchin shell and viscera removal device, it is characterized in that the conveyor belt is made of polyurethane material.

[0032] The beneficial effects of the present invention are as follows:

[0033] 1. The clamping device of the present invention comprises a pair of symmetrical clamping bodies and gears; the clamping body is a plate-like structure with a concave cross-section and a bottom plate, and two shell opening cylinders are symmetrically arranged on the side wall of each clamping body; a rotatable tool is arranged on the shell opening cylinder, and the tool is arranged at the end of the clamping body. After the clamping body clamps the sea urchin, the shell opening cylinder pushes the tool to insert into the middle of the sea urchin, so as to realize the automatic and rapid shell opening of the sea urchin, with a good shell opening position and high efficiency.

[0034] 2. The sea urchin viscera separation module of the present invention includes a visual sensor and a three-degree-of-freedom cantilever auxiliary manipulator; the visual sensor is arranged on the side wall of the box with holes, and a searchlight fixed on the side wall of the box with holes is arranged below the visual sensor to illuminate the visual sensor. The three-degree-of-freedom cantilever auxiliary manipulator does not need to be calculated online in real time, but calculates again after completing the sea urchin viscera clamping and placing work. It moves precisely according to the clamping three-dimensional information. Compared with the four-degree-of-freedom manipulator, the three-degree-of-freedom cantilever auxiliary manipulator has a simple structure and fast information processing, which improves the efficiency of sea urchin processing.

[0035] 3. The shelling module of the present invention comprises a lifting track and a box body with a hole; a meat removing tool is arranged at the lower part of the hole of the box body with a hole; the meat removing tool is arranged at an acute angle with the hole of the box body with a hole; the meat removing tool is shovel-shaped; the force is measured by a thin film pressure sensor to determine the distance between the clamping body and the meat removing tool, and the meat removing tool is rotatably arranged at the hole of the box body with a hole so as to fit with the inner wall of the sea urchin during rotation, so that all the sea urchin meat is taken out, the sea urchin meat is taken out intact, and little residue is left in the shell.

[0036] 4. The present invention realizes sequential placement of the collection basins through the linkage of the first stopper and the second stopper, and realizes automatic placement of the device by placing a large number of overlapping collection basins at one time, thus saving a lot of manpower and time costs.

[0037] 5. The inner wall of the clamp of the present invention is arranged with pits, which can firmly clamp the sea urchin and efficiently shell and remove impurities from sea urchins of different diameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Structural schematic diagram A of the present invention.

[0039] Figure 2 A top view of a schematic structural diagram of the present invention.

[0040] Figure 3 Schematic diagram of the structure of the present invention B.

[0041] Figure 4 A schematic structural diagram of a storage bin and a valve according to the present invention.

[0042] Figure 5 Schematic diagram of the shell opening module structure of the present invention.

[0043] Figure 6 A schematic structural diagram of the shelling module of the present invention.

[0044] Figure 7 Schematic diagram of the structure of the sea urchin viscera removal module of the present invention.

[0045] Figure 8 A schematic cross-sectional view of the box, conveyor belt and collection basin of the present invention.

[0046] In the figure: shell opening module: 100; shelling module: 200; sea urchin viscera separation module: 300; storage and transportation module: 400; box: 1; box support column: 3; conveyor belt: 4; storage bin: 24; control module: 6; two groups of cylinders: 2.1-2.2; first stopper: 28.1; second stopper: 28.2; valve: 25; visual sensor: 14; searchlight: 15; 2 shell opening cylinders: 16; film pressure sensor: 17; clamping body: 18; gear: 22; rack: 23; lifting track: 20; box with hole: 26; shelling ball screw: 21 ; Meat removal tool: 27; Shelling ball screw nut: 210; Sea urchin shell collection chamber: 11.1-11.2; Support column: 9.1-9.4; First group of bearings: 7.7-7.8; First ball screw: 8.3; Second group of bearings: 7.1-7.2; First motor: 48.3; Track platform one: 32.1; First track platform ball screw nut: 35.2; Track platform two: 32.2; First group of bearing seats: 34.3-34.4; Second group of bearing seats: 44.3-44.4; First track platform ball screw nut: 35.2; Third group of bearings: 5 3.3-53.4; fourth group of bearings: 7.5-7.6; second ball screw: 8.2; second motor: 48.2; drive; track platform three: 31.1; second track platform ball screw nut: 36.2; track platform four: 31.2; third group of bearing seats: 36.3-36.4; fourth group of bearing seats: 37.3-37.4; second track platform ball screw nut: 36.2; fifth group of bearings: 7.3-7.4; third ball screw: 8.1; third motor: 48.1; drive track platform five: 37.5; fifth group of bearing seats: 34.1- 34.2; third track platform ball screw nut: 35.1; manipulator: 33; first collection basin: 10.1; second collection basin: 10.2; third collection basin: 10.3; thirtieth collection basin: 30.3; clamping device: 101; tool: 160; clamping track platform: 180; three-degree-of-freedom cantilever auxiliary manipulator: 310; first ball screw mechanism: 311; second ball screw mechanism: 312; third ball screw mechanism: 313; first track platform: 321; second track platform: 322; third track platform: 323; manipulator mechanism: 314. DETAILED DESCRIPTION

[0047] Preferred Embodiments

[0048] like Figures 1 to 8As shown, the automated sea urchin shell and viscera removal device comprises: a shell opening module 100, a shelling module 200, a sea urchin viscera separation module 300, a storage and transportation module 400, and a control module 6; the shell opening module 100, the shelling module 200, the sea urchin viscera separation module 300, and the storage and transportation module 400 are electrically connected to the control module 6, respectively, and under the control of the control module 6, the removal and collection of the sea urchin shell and viscera are completed.

[0049] The shell opening module 100 includes a storage bin 24 and a clamping device 101 disposed at the lower portion of the storage bin 24;

[0050] The storage and conveying module 400 comprises: a box 1 for containing sea urchins and a conveyor belt 4; a third collection basin 10.3 and a thirtieth collection basin 30.3 are stacked in the box 1; two sets of cylinders 2.1-2.2 are symmetrically dug in the two side walls of the box 1; the cylinders 2.1-2.2 push the stoppers 28.1-28.2 in and out through the holes on the two side walls of the box 1, and the stoppers 28.1-28.2 are respectively stuck at the lower edges of the third collection basin 10.3 and the thirtieth collection basin 30.3, so as to sequentially put the third collection basin 10.3 and the thirtieth collection basin 30.3;

[0051] The inlet of the storage bin 24 is provided with the upper wall of the box body 1, and the outlet of the storage bin 24 is provided with a valve 25. The storage bin 24 is in a funnel shape so that the sea urchins can be automatically filled into the valve 25; the valve 25 is driven by a motor to rotate 360 ​​degrees to fill the sea urchins into the clamping device 101;

[0052] The clamping device 101 includes a pair of symmetrical clamping bodies 18 and a gear 22; the clamping body 18 is a plate-like structure with a bottom plate and a concave cross-section, and two shell opening cylinders 16 are symmetrically arranged on the side wall of each clamping body 18; a sharp rotatable cutter 160 is arranged on the shell opening cylinder 16, and the cutter 160 is arranged at the end of the clamping body 18. After the clamping body 18 clamps the sea urchin, the shell opening cylinder 16 pushes the cutter 160 to insert into the middle of the sea urchin and then rotates to realize the shell opening of the sea urchin;

[0053] Two racks 23 are vertically arranged on the outer walls of the two clamping bodies 18 that clamp the sea urchins. The ends of the two racks 23 pass through the two clamping track platforms 180. The two clamping track platforms 180 are fixedly connected by a connecting rod 19. The gear 22 is fixed on the clamping track platform 180, and forms a gear rack mechanism by cooperating with the rack 23. The two racks 23 drive the two clamping bodies 18 to complete the horizontal clamping and loosening actions.

[0054] The shelling module 200 includes a lifting track 20 and a box body 26 with a hole; a meat-taking knife 27 is arranged at the lower part of the hole of the box body 26 with a hole; the meat-taking knife is arranged at an acute angle with the hole of the box body 26 with a hole; the two ends of the lifting track 20 are respectively fixedly arranged on the bottom of the box body 1 and the upper wall of the box body 1; the lifting track 20 vertically passes through the clamping track platform 180; the clamping track platform 180 can move up and down in the vertical direction along the lifting track 20; a shelling ball screw 21 is arranged parallel to the clamping track platform 180; the shelling ball screw 21 is matched with a shelling ball screw nut 210 fixedly arranged on the side wall of the clamping track platform 180, and under the drive of the shelling ball screw nut 210, the shelling track platform 180 is driven to move accurately in the vertical direction along the lifting track 20 and stop at a specified position;

[0055] The box body 26 with holes is fixed on the side wall of the box body 1, and the two side walls of the box body 26 with holes are respectively provided with sea urchin shell collecting bins 11.1-11.2, and the bottom edges of the two side walls of the box body 26 with holes are respectively fitted with the inner sides of the openings of the sea urchin shell collecting bins 11.1-11.2; the sea urchin shell collecting bins 11.1-11.2 adopt an oblique triangular bucket structure to avoid the accumulation of sea urchin shells and affect the normal working environment. The sea urchin shell collecting bins 11.1-11.2 adopt a detachable structure to facilitate the processing of sea urchin shells; the sea urchin shell collecting bins 11.1-11.2 are arranged below the bottom of the box body 1; four box support columns 3 are arranged at the four corners of the bottom of the box body 1, which are used to support the lifting track 20, the box body 1, and the sea urchin shell collecting bins 11.1-11.2;

[0056] The sea urchin viscera separation module 300 includes a visual sensor 14 and a three-degree-of-freedom cantilever auxiliary manipulator 310; the visual sensor 14 is arranged on the side wall of the box body 26 with holes, and a searchlight 15 fixed on the side wall of the box body 26 with holes is arranged below the visual sensor 14 to illuminate the visual sensor 14;

[0057] The three-degree-of-freedom cantilever auxiliary manipulator 310 includes a first ball screw mechanism 311, a second ball screw mechanism 312, a third ball screw mechanism 313, a first track platform 321, a second track platform 322, a third track platform 323 and a manipulator mechanism 314;

[0058] The three-degree-of-freedom cantilever auxiliary manipulator 310 is arranged between four vertical ground support columns 9.1-9.4 distributed on both sides of the conveyor belt 4;

[0059] The first ball screw mechanism 311 comprises: a first set of bearings 7.7, 7.8 and a first ball screw 8.3, and a second set of bearings 7.1-7.2; the first set of bearings 7.7, 7.8 and the first ball screw 8.3 are parallel to each other and are arranged between the support columns 9.2, 9.3; the second set of bearings 7.1-7.2 are parallel to each other and are arranged between the support columns 9.1, 9.4; the first ball screw 8.3 is driven by the first motor 48.3;

[0060] The first track platform 321 comprises a track platform 1 32.1, a first track platform ball screw nut 35.2, a track platform 2 32.2, a first group of bearing seats 34.3-34.4, and a second group of bearing seats 44.3-44.4; the first track platform ball screw nut 35.2 and the first group of bearing seats 34.3-34.4 are arranged on the track platform 2 32.2, and the first group of bearing seats 34.3-34.4 are respectively matched with the first group of bearings 7.7 and 7.8; the first track platform ball screw nut 35.2 is matched with the first ball screw 8.3; the second group of bearing seats 44.3-44.4 are respectively matched with the second group of bearings 7.1-7.2;

[0061] The second ball screw mechanism 312 includes a third group of bearings 53.3, 53.4, a fourth group of bearings 7.5-7.6, and a second ball screw 8.2. The fourth group of bearings 7.5-7.6 and the second ball screw 8.2 are parallel to each other and are vertically arranged on the second track platform 32.2. The third group of bearings 53.3, 53.4 are parallel to each other and are arranged on the first track platform 32.1. The second ball screw 8.2 is driven by the second motor 48.2.

[0062] The second track platform 322 includes a track platform 31.1, a second track platform ball screw nut 36.2, a track platform 4 31.2, a third group of bearing seats 36.3-36.4, and a fourth group of bearing seats 37.3-37.4; the second track platform ball screw nut 36.2 and the third group of bearing seats 36.3-36.4 are arranged on the track platform 31.1, and the third group of bearing seats 36.3-36.4 are respectively matched with the third group of bearings 53.3 and 53.4; the second track platform ball screw nut 36.2 is matched with the second ball screw 8.2; the fourth group of bearing seats 37.3-37.4 are respectively matched with the fourth group of bearings 7.5-7.6;

[0063] The third ball screw mechanism 313 comprises a fifth set of bearings 7.3-7.4 and a third ball screw 8.1. The fifth set of bearings 7.3-7.4 and the third ball screw 8.1 are parallel to each other, and both ends thereof are respectively arranged between the track platform 31.1 and the track platform 4 31.2; the third ball screw 8.1 is driven by a third motor 48.1;

[0064] The third track platform 323 includes a track platform 5 37.5, and a fifth set of bearing seats 34.1-34.2 and a third track platform ball screw nut 35.1 are arranged on the upper part of the track platform 5 37.5;

[0065] The fifth set of bearings 7.3-7.4 are matched with the fifth set of bearing seats 34.1-34.2 respectively; the third ball screw 8.1 is matched with the third track platform ball screw nut 35.1;

[0066] The control method of the three-degree-of-freedom cantilever auxiliary manipulator 310 can adopt patent document: CN109129158A: A precision milling and grinding machine tool based on a new parallel tool system and its control method. The control method described in the patent document controls the first ball screw mechanism 311, the second ball screw mechanism 312, the third ball screw mechanism 313, the first track platform 321, the second track platform 322, the third track platform 323 and the manipulator mechanism 314 of the three-degree-of-freedom cantilever auxiliary manipulator 310. The three-degree-of-freedom cantilever auxiliary manipulator 310 has high structural rigidity, small cumulative error of tool trajectory, and easy to ensure accuracy; there will be no problems of multi-axis interference and singular points in algorithm analysis; and the accuracy is greatly improved.

[0067] A manipulator 33 for sorting sea urchin viscera is arranged at the bottom of the track platform five 37.5.

[0068] The holed box 26 and the sea urchin shell collecting bin 24 are made of aluminum alloy plates, and the holed box 26 is hollowed out in the middle. To further reduce the weight, the sea urchin shell collecting bin 24 adopts an oblique triangle structure to prevent the accumulation of sea urchin shells and affect the normal working environment.

[0069] The valve 25 is made of martensitic stainless steel and is in a hollow hemispherical shape, which can effectively resist the corrosion of seawater. The inside is hollowed out so that the sea urchins can pass through in sequence.

[0070] A collecting basin is provided in the box 1; the height of the collecting basin is less than the vertical distance between the first stopper 28.1 and the second stopper 28.2;

[0071] The shape of the collection basin makes the gap between the upper collection basin and the lower collection basin greater than the vertical distance between the first stopper 28.1 and the second stopper 28.2 when they are stacked. The gap makes it possible for the upper collection basin to be supported by the second stopper when the edge of the lower collection basin is supported by the first stopper. The first collection basin 10.1, the second collection basin 10.2, the third collection basin 10.3, and the thirtieth collection basin 30.3 are made of polypropylene. The cost and weight are reduced on the basis of meeting food safety. The first collection basin 10.1, the second collection basin 10.2, the third collection basin 10.3, and the thirtieth collection basin 30.3 are made of polypropylene, and the inner wall thereof has a U-shaped groove to prevent the lower collection basin from being unable to be put in normally when the first block 28.1 is in the recovery state due to the pressure difference caused by airtightness when the collection basins are stacked in the box.

[0072] The inner wall of the sandwich body 18 is arranged with pits, and the height of the pits is 1-5mm. These round holes for fixing have a shallow depth, which can effectively prevent the sea urchin shell from falling off while fixing the sea urchin.

[0073] The clamping inner wall of the clamping body 18 is provided with a film pressure sensor 17, and the film pressure sensor 17 is provided on the inner wall of the clamping body 18 clamping the sea urchin to control the clamping force of the sea urchin to prevent the sea urchin from being crushed. The film pressure sensor 17 detects the clamping force to achieve the size of the gap between the two left-right symmetrical clamping bodies to adapt to the clamping of sea urchins of different diameters, and has a good processing effect on sea urchins of different diameters.

[0074] The meat cutting tool 27 is arranged at an acute angle to the hole of the holed box 26 .

[0075] The meat removal tool 27 is shovel-shaped; the force is measured by the thin film pressure sensor 17 to determine the distance between the clamping body 18 and the meat removal tool 27. The meat removal tool 27 is rotatably set at the hole of the hole box 26 so that it can fit with the inner wall of the sea urchin during rotation to remove all the sea urchin meat.

[0076] The conveying of the collection basin is realized by the conveyor belt 4. The conveyor belt 4 is made of polyurethane material. It meets the food hygiene standards and can be in direct contact with food. It is also a durable conveying product. The conveyor belt 4 is meshed with the driving wheel 30 to drive the conveyor belt 4 and the driven wheel 29 to rotate. The conveyor belt 4, the driving wheel 30, and the driven wheel 29 are all independent components, which are convenient for replacement and installation.

[0077] The working process of the present invention is as follows:

[0078] The first stopper 28.1 and the second stopper 28.2 are initially in the extended state. A large number of collection basins are stacked in the box, and the bottom collection basin will be supported by the second stopper 28.2. The second stopper 28.2 retracts, and the stacked collection basins fall down and are supported by the first stopper 28.1, and the second stopper 28.2 extends. The first stopper 28.1 retracts, and the bottom collection basin is placed on the conveyor belt 4, and the remaining collection basins are supported by the second stopper 28.2. The first stopper 28.1 extends and waits for the next placement. After the conveyor belt 4 moves the collection basin to the specified area of ​​the shelling module 200, it stands by. When the shelling module 100, the shelling module 200, and the sea urchin viscera separation module 300 complete a process, the above-mentioned collection basin placement process is repeated.

[0079] The sea urchin is placed in the funnel-shaped storage bin 24. After the collection basin reaches the specified area of ​​the shelling module 200, the valve 25 at the lower end of the storage bin 24 rotates 180°, and a sea urchin falls into the clamping device 101. The valve 25 rotates again to reset and waits. After the sea urchin falls into the clamping device 101, the motor drives the gear 18 to rotate. The clamping device 101 clamps the sea urchin until the film pressure sensor 17 receives the pressure reaching the threshold. At this time, the shell opening cylinder 16 extends and the cutter 160 is inserted into the sea urchin. The initial position of the clamping device 101 is that the gap between the two clamping bodies 18 is 3 cm. The motor drives the gear 18 to rotate, the clamping device 101 separates, and the cutter 160 breaks the sea urchin into two halves. Due to the fixation of the cutter 160 and the clamping body 18, half of the sea urchin shell is fixed in the clamping body 18. The meat removal cutter 27 rotates to an angle of -30° with the horizontal plane. The motor drives the shelling ball screw 21 to rotate, and under the action of the shelling ball screw 21 and the ball screw nut 210, the clamping body 18 moves downward to the meat processing area because the connecting rod 19 fixes the left-right symmetrical clamping track platform 180. The meat removal tool 27 rotates to separate the sea urchin shell and meat, and the sea urchin meat falls into the collection basin of the specified area of ​​the shelling module through the operation of the meat removal tool 27. The motor drives the gear 18 to rotate, and the two clamping bodies 18 separate further, the shell opening cylinder 16 retracts, the tool 160 is recovered, and the sea urchin shell falls into the collection bin 11.1-11.2. The clamping device 101 is reset. Repeat the above steps until there is a certain amount of sea urchin meat in the collection basin, and one process ends and waits.

[0080] The searchlight 15 illuminates the working area of ​​the sea urchin viscera separation module 300, and the visual sensor 14 transmits the environmental parameters in the collection basin to the information processor 6, and calculates the position of the inedible sea urchin viscera. The recognition method of the visual sensor 14 can adopt the patent document: A scallop viscera removal device (CN218773274U), which describes the method of: identifying and processing the black sea urchin viscera from the yellow sea urchin meat, calculating the position of the sea urchin viscera, and grabbing it with a manipulator 33.

[0081] With the cooperation of the first ball screw mechanism 311, the first track platform 321, the second ball screw mechanism 312, the second track platform 322, and the third ball screw mechanism 313, the manipulator 33 moves horizontally to the top of the identification position, opens, and moves vertically downward. After the manipulator 33 clamps the viscera, the manipulator 33 first moves upward, then moves horizontally to the top of the first collection basin 10.1, opens, and puts the viscera into the first collection basin 10.1. Repeat the above steps until the visual recognition shows that there is no viscera, and then wait.

[0082] When the sea urchin shelling module 100, the shelling module 200 and the sea urchin viscera separation module 300 are all idle, the storage and transportation module 400 puts the collection basin. The collection basin is transported to a specified position by a conveyor belt. The sea urchin is shelled in the sea urchin shelling module 100, and the meat and viscera fall into the collection basin. The collection basin is transported to the working area of ​​the sea urchin viscera separation module 300, and the viscera are removed to obtain an edible product.

[0083] The above describes the specific working process and working principle of each component of the present invention. The circuits and electronic components involved in the automatic sea urchin shell and viscera removal device are all prior art. The above is only a preferred specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field within the technical scope disclosed by the present invention, according to the technical solution and its inventive concept of the present invention, shall be covered within the protection scope of the present invention.

Claims

1. An automated sea urchin shell and viscera removal device, characterized in that: include: A shell opening module (100), a shelling module (200), a sea urchin viscera separation module (300), a storage and transportation module (400), and a control module (6); the shell opening module (100), the shelling module (200), the sea urchin viscera separation module (300), and the storage and transportation module (400) are electrically connected to the control module (6) respectively, and under the control of the control module (6), the sea urchin shell and viscera are removed and collected.

2. The automatic sea urchin shell and viscera removal device according to claim 1, characterized in that: The shell opening module (100) comprises a storage bin (24) and a clamping device (101) arranged at the lower part of the storage bin (24); The storage and conveying module (400) comprises: a box (1) for containing sea urchins and a conveyor belt (4); stacked collection basins are arranged in the box (1); two sets of cylinders (2.1-2.2) are arranged in symmetrical holes on both side walls of the box (1); the cylinders (2.1-2.2) push the stoppers (28.1-28.2) in and out through the holes on the two side walls of the box (1); the stoppers (28.1-28.2) are retractably arranged at the lower edge of each collection basin, and are used to place the collection basins in sequence; The inlet of the storage bin (24) is provided with an upper wall of the box body (1), and the outlet of the storage bin (24) is provided with a valve (25). The storage bin (24) is in a funnel shape so that the sea urchins can be automatically loaded into the valve (25); the valve (25) rotates 360 degrees to load the sea urchins into the clamping device (101); The clamping device (101) comprises a pair of symmetrical clamping bodies (18) and a gear (22); the clamping body (18) is a plate-like structure with a concave cross-section and a bottom plate, and two shell opening cylinders (16) are symmetrically arranged on the side wall of each clamping body (18); a rotatable tool (160) is arranged on the shell opening cylinder (16), and the tool (160) is arranged at the end of the clamping body (18). After the clamping body (18) clamps the sea urchin, the shell opening cylinder (16) pushes the tool (160) to insert into the middle of the sea urchin and then rotates to realize the shell opening of the sea urchin; Two racks (23) are respectively vertically arranged on the outer walls of the two clamping bodies (18) for clamping the sea urchin, and the ends of the two racks (23) pass through the two clamping track platforms (180); the two clamping track platforms (180) are fixedly connected by a connecting rod (19); the gear (22) is fixed on the clamping track platform (180), and forms a gear rack mechanism by cooperating with the rack (23), and the two racks (23) respectively drive the two clamping bodies (18) to complete the horizontal clamping and loosening actions; The shelling module (200) comprises a lifting track (20) and a box body (26) with a hole; a meat removal knife (27) is arranged at the lower part of the hole of the box body (26); the meat removal knife and the hole of the box body (26) are arranged at an acute angle; the two ends of the lifting track (20) are respectively fixedly arranged on the bottom of the box body (1) and the upper wall of the box body (1); the lifting track (20) vertically passes through the clamping track platform (180); the clamping track platform (180) can be moved along the lifting track (20) to the bottom of the box body (1) and the upper wall of the box body (1) to the bottom of the box body (1). The lifting track (20) moves up and down in the vertical direction; a shelled ball screw (21) is arranged parallel to the clamping track platform (180); the shelled ball screw nut (210) fixedly arranged on the side wall of the clamping track platform (180) is matched with the shelled ball screw nut (210); under the drive of the shelled ball screw nut (210), the shelled track platform (180) is driven to move accurately in the vertical direction along the lifting track (20) and stop at a designated position; The box body (26) with holes is fixed on the side wall of the box body (1), and the two side walls of the box body (26) with holes are respectively provided with sea urchin shell collecting bins (11.1-11.2), and the bottom edges of the two side walls of the box body (26) with holes are respectively fitted with the inner sides of the openings of the sea urchin shell collecting bins (11.1-11.2); the sea urchin shell collecting bins (11.1-11.2) adopt an oblique triangular bucket structure to avoid the accumulation of sea urchin shells, and the sea urchin shell collecting bins (11.1-11.2) adopt a detachable structure; the sea urchin shell collecting bins (11.1-11.2) are arranged below the bottom of the box body (1); four box body support columns (3) are arranged at the four corners of the bottom of the box body (1) for supporting the lifting track (20), the box body (1), and the sea urchin shell collecting bins (11.1-11.2); The sea urchin viscera separation module (300) comprises a visual sensor (14) and a three-degree-of-freedom cantilever auxiliary manipulator (310); the visual sensor (14) is arranged on the side wall of the box body (26) with a hole, and a searchlight (15) fixedly arranged on the side wall of the box body (26) with a hole is arranged below the visual sensor (14) to illuminate the visual sensor (14); The three-degree-of-freedom cantilever auxiliary manipulator (310) comprises a first ball screw mechanism (311), a second ball screw mechanism (312), a third ball screw mechanism (313), a first track platform (321), a second track platform (322), a third track platform (323) and a manipulator mechanism (314); A three-degree-of-freedom cantilever auxiliary manipulator (310) is arranged between four support columns (9.1-9.4) vertical to the ground and distributed on both sides of the conveyor belt (4); The first ball screw mechanism (311) comprises: a first group of bearings (7.7, 7.8) and a first ball screw (8.3), and a second group of bearings (7.1-7.2); the first group of bearings (7.7, 7.8) and the first ball screw (8.3) are parallel to each other and are arranged between support columns (9.2, 9.3); the second group of bearings (7.1-7.2) are parallel to each other and are arranged between support columns (9.1, 9.4); the first ball screw (8.3) is driven by a first motor (48.3); The first track platform (321) comprises a track platform 1 (32.1), a first track platform ball screw nut (35.2), a track platform 2 (32.2), a first group of bearing seats (34.3-34.4), and a second group of bearing seats (44.3-44.4); the first track platform ball screw nut (35.2) and the first group of bearing seats (34.3-34.4) are arranged on the track platform 2 (32.2), and the first group of bearing seats (34.3-34.4) are respectively matched with the first group of bearings (7.7, 7.8); the first track platform ball screw nut (35.2) is matched with the first ball screw (8.3); and the second group of bearing seats (44.3-44.4) are respectively matched with the second group of bearings (7.1-7.2); The second ball screw mechanism (312) comprises a third group of bearings (53.3, 53.4), a fourth group of bearings (7.5-7.6), and a second ball screw (8.2); the fourth group of bearings (7.5-7.6) and the second ball screw (8.2) are parallel to each other and are vertically arranged on the second track platform (32.2); the third group of bearings (53.3, 53.4) are parallel to each other and are arranged on the first track platform (32.1); the second ball screw (8.2) is driven by a second motor (48.2); The second track platform (322) comprises a track platform three (31.1), a second track platform ball screw nut (36.2), a track platform four (31.2), a third group of bearing seats (36.3-36.4), and a fourth group of bearing seats (37.3-37.4); the second track platform ball screw nut (36.2) and the third group of bearing seats (36.3-36.4) are arranged on the track platform three (31.1), and the third group of bearing seats (36.3-36.4) are respectively matched with the third group of bearings (53.3, 53.4); the second track platform ball screw nut (36.2) is matched with the second ball screw (8.2); and the fourth group of bearing seats (37.3-37.4) are respectively matched with the fourth group of bearings (7.5-7.6); The third ball screw mechanism (313) comprises a fifth set of bearings (7.3-7.4) and a third ball screw (8.1); the fifth set of bearings (7.3-7.4) and the third ball screw (8.1) are parallel to each other, and both ends thereof are respectively arranged between the third track platform (31.1) and the fourth track platform (31.2); the third ball screw (8.1) is driven by a third motor (48.1); The third track platform (323) comprises a track platform five (37.5), and a fifth set of bearing seats (34.1-34.2) and a third track platform ball screw nut (35.1) are arranged on the upper part of the track platform five (37.5); The fifth set of bearings (7.3-7.4) are respectively matched with the fifth set of bearing seats (34.1-34.2); the third ball screw (8.1) is matched with the third track platform ball screw nut (35.1); A manipulator (33) for sorting sea urchin viscera is arranged at the bottom of the track platform five (37.5).

3. The automatic sea urchin shell and viscera removal device according to claim 1, characterized in that: The box body with holes (26) and the sea urchin shell collecting bin (24) are made of aluminum alloy plates, and the box body with holes (26) is hollowed out in the middle.

4. The automatic sea urchin shell and viscera removal device according to claim 1, characterized in that: The valve (25) is made of martensitic stainless steel and is in a hollow hemispherical shape.

5. The automatic sea urchin shell and viscera removal device according to claim 1, characterized in that: The height of the collecting basin arranged in the box body (1) is smaller than the vertical distance between the first stopper (28.1) and the second stopper (28.2); The collection basin is made of polypropylene and has a U-shaped groove on its inner wall.

6. The automatic sea urchin shell and viscera removal device according to claim 1, characterized in that: The inner wall of the clamping body (18) is arranged with pits, and the height of the pits is 1-5 mm.

7. The automatic sea urchin shell and viscera removal device according to claim 1, characterized in that: A film pressure sensor (17) is arranged on the clamping inner wall of the clamping body (18). The film pressure sensor (17) is arranged on the inner wall of the clamping body (18) that clamps the sea urchin to control the clamping force of the sea urchin and prevent the sea urchin from being crushed.

8. The automatic sea urchin shell and viscera removal device according to claim 1, characterized in that: The meat-taking knife (27) is arranged at an acute angle to the hole opening of the hole-carrying box (26).

9. The automatic sea urchin shell and viscera removal device according to claim 1, characterized in that: The meat removal knife (27) is shovel-shaped; the distance between the clamping body (18) and the meat removal knife (27) is determined by measuring force through a thin film pressure sensor (17); the meat removal knife (27) is rotatably arranged at the opening of the hole box (26) so that it fits with the inner wall of the sea urchin during rotation and all the sea urchin meat is removed.

10. The automatic sea urchin shell and viscera removal device according to claim 1, characterized in that: The conveyor belt (4) is made of polyurethane material.

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