Multi-station cooperative device for crab sorting and processing

Abstract

This invention relates to the field of vibrating screening technology, specifically a multi-station collaborative device for sorting and processing crabs. It includes a vibrating screening mechanism, a smart washing mechanism, a sorting and orientation adjustment mechanism, a dual-function identification-shearing mechanism, a crab roe and crab paste extraction mechanism, and a roller-type crab meat extraction mechanism, arranged sequentially along the crab processing and conveying direction. This invention can replace manual operation, offering high processing efficiency and standardization, reducing crab damage and raw material waste, and meeting the needs of large-scale processing.

Description

Technical Field

[0001] This invention relates to the field of vibrating screening technology, specifically a multi-station collaborative device for sorting and processing crabs. Background Technology

[0002] As a high-value aquatic product, crabs have long relied on manual processing, which has many drawbacks: manual separation of dead and live crabs is prone to misjudgment, and dead crabs mixed in with subsequent processes will affect product quality; manual cleaning of crabs is inefficient, wastes water resources seriously, and the cleaning effect is uneven; the orientation, sorting, sex and size identification of crabs rely entirely on human experience, which is highly subjective and prone to errors; the processes of cutting crab legs and claws, opening shells to extract crab roe and crab paste, and extracting crab meat are cumbersome, labor-intensive, inefficient, and prone to damaging crabs and wasting raw materials. At the same time, the low standardization of manual processing makes it difficult to meet the needs of large-scale and industrialized processing. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the purpose of this invention is to provide a multi-station collaborative device for sorting and processing crabs.

[0004] The technical solution adopted by this invention to solve its technical problem is: A multi-station collaborative device for sorting and processing crabs includes a vibrating screening mechanism, a smart washing mechanism, a sorting and orientation adjustment mechanism, a recognition-shearing duplex mechanism, a shell-opening and crab roe / crab paste extraction mechanism, and a roller-type crab meat extraction mechanism, arranged sequentially along the crab processing and conveying direction; wherein... The life vibration screening mechanism includes a vibration unit and an inclined unloading device. The vibration unit uses the vibration principle based on the characteristics of living body movement to identify and separate live and dead crabs. The inclined unloading device flips the vibration unit to recover the dead crabs. The Green Clean Smart Washing System includes a mechanical brushing unit, an airflow drying unit, and a water circulation treatment unit. The mechanical brushing unit sprays and brushes the live crabs, the airflow drying unit uses high-pressure airflow to remove water and dry the live crabs, and the water circulation treatment unit collects and reuses the sprayed water. The sorting and posture adjustment mechanism includes a sequential arrangement unit and a posture adjustment unit. The sequential arrangement unit adopts an upper and lower double belt pressing and transmission structure to achieve stable transportation of the cleaned live crabs, and uses a guide structure set on the live crab transportation path to achieve the arrangement and positioning of the live crabs. The posture adjustment unit adopts a double-layer irregular soft belt transmission structure to change the live crabs from a horizontal posture to a vertical posture. The identification-cutting duplex mechanism includes an adaptive clamping and transmission module, a specification detection and cutting module, and a diversion and guidance module. The adaptive clamping and transmission module uses the method of clamping the abdomen and carapace of the live crab to transport the live crab. The specification detection and cutting module uses infrared photoelectric sensing technology to detect the specification of the live crab and cuts off the crab claws and legs on both sides of the live crab. The diversion and guidance module is used to transport the cut live crab to the shell-opening and crab roe and crab paste extraction mechanism. The mechanism for opening crab shells to extract crab roe and crab paste includes a visual recognition module, a posture conversion module, a shell opening execution module, a cleaning and collection module, and an export guide module. The visual recognition module is used to identify the abdominal shape of the live crab after cutting to determine its sex. The posture conversion module is used to receive the live crab after cutting and to unify the abdominal orientation of the live crab. The shell opening execution module uses a suction cup structure to pull the crab shell open from the side of the abdomen to achieve shell opening. The cleaning and collection module is used to brush off the crab gills and extract the crab paste of male crabs and the crab roe of female crabs respectively. The export guide module is used to transport the extracted crabs to the roller-type crab meat extraction mechanism. The roller-type crab meat extraction mechanism includes a smooth pressure roller with a smooth surface and a collection pressure roller with a regularly arranged trapezoidal hole array on its surface. After extraction, the shell of the crab is broken by the action of the smooth pressure roller and the collection pressure roller, and the meat enters the inside of the collection pressure roller through the trapezoidal hole array to achieve shell-meat separation.

[0005] As a preferred embodiment, a further technical solution of the present invention is: Preferably, the vibration unit includes a base plate, on which a vibration plate is provided by a damping-spring coordinated vibration system. A continuous ring of protrusions is provided around the periphery of the vibration plate. The height of the protrusions is optimized based on the body shape characteristics and behavior patterns of crabs. The height of the protrusions is sufficient to block the displacement of dead crabs caused by vibration or pushing by live crabs, while being lower than the natural lifting height of the legs of live crabs, so as to avoid obstructing the active crawling of live crabs, thereby realizing the separation of the paths of live and dead crabs in physical space. The tilting unloading device includes opposing support side plates. A first connecting rod is rotatably connected between one side of the support side plate and one side of the base plate. Sliding grooves are opened opposite each other on the support side plates. A long shaft is slidably arranged between the sliding grooves. A second connecting rod is rotatably arranged between the long shaft and the middle of the base plate. An electric push rod is arranged between the long shaft and the support side plate.

[0006] Preferably, the mechanical scrubbing unit includes multiple roller brushes that rotate in the same direction, which are synchronously driven by sprockets and chains, and clean water spray pipes are arranged in parallel above the roller brushes; The airflow drying unit includes a high-pressure gas nozzle positioned above the end of the mechanical brushing unit; The water circulation treatment unit includes a collection tank located below the mechanical scrubbing unit. The collection tank adopts a corrugated guide plate design. The lower side of the corrugated guide plate is connected to a multi-stage water treatment system. The spray water purified by the multi-stage water treatment system is returned to the clean water spray pipe by a high-pressure water pump.

[0007] Preferably, the sequentially arranged unit includes a first belt conveyor and a second belt conveyor arranged in parallel. A tension roller is provided in the middle of the upper side of the first belt conveyor. The belt surfaces of the first belt conveyor and the second belt conveyor are smooth and maintain a predetermined compression. The compression force is greater than the elastic deformation threshold of the crab shell and the maximum struggle force of the walking legs, and less than the pressure bearing limit of the crab shell. A number of staggered guide rods are provided along the conveying direction and are attached to the surface of the lower second belt conveyor. The attitude adjustment unit includes a horizontally arranged first roller group and a vertically arranged second roller group. One side of the first roller group is connected to the sequentially arranged unit. The double-layer irregular soft belt is wound between the first roller group and the second roller group in a progressive spatial twist. The discharge side of the second roller group is provided with a V-shaped groove.

[0008] Preferably, the adaptive clamping and transmission module includes two sets of gear-driven tracks, the two sets of gear-driven tracks are arranged in a symmetrical flow channel, and multiple sets of air springs are arranged horizontally and oppositely on the two sets of gear-driven tracks, with silicone blocks provided at the end of the air springs. The specification inspection and shearing module includes a photoelectric sensor positioned between two sets of gear-driven tracks. A shearing device is located behind the photoelectric sensor. The shearing device includes a shearing bracket with a shearing central shaft. Two sets of irregularly shaped cutters adapted to the contours of a crab are mounted on the shearing central shaft. The first blade of the first set of irregularly shaped cutters is fixedly fitted onto the shearing central shaft, while the second blade is movably fitted onto the shearing central shaft and rotatably connected to the first blade. A first transmission tooth is located at the bottom of the second blade. A shearing mechanism is mounted on the shearing bracket below the shearing central shaft. The shearing drive shaft is equipped with a first transmission gear that meshes with the first transmission gear. The third cutting edge of the second set of special-shaped cutters slides along the axial direction of the shearing central shaft. The fourth cutting edge is movably sleeved on the shearing central shaft and rotatably connected to the third cutting edge. The bottom of the fourth cutting edge is equipped with a second transmission gear. The shearing drive shaft is equipped with a second transmission gear that meshes with the second transmission gear. The shearing bracket is equipped with a shearing screw parallel to the shearing central shaft, and the shearing screw is threadedly connected to the third cutting edge. The fourth cutting edge is provided with an arc-shaped groove corresponding to the shearing screw. The diversion and guiding module adopts an inclined diversion plate structure and is located at the discharge end of the adaptive clamping and conveying module.

[0009] Preferably, the attitude conversion module includes a rotating tray located at the lower end of the inclined diversion plate outlet, the rotating tray having a channel adapted to the vertical attitude of the crab, and a push-pull baffle located at the channel outlet on the lower side of the rotating tray. The visual recognition module uses an industrial camera facing the rotating tray to capture the abdominal shape of live crabs in the rotating tray and identify the sex of the live crabs based on the abdominal shape. The shell opening execution module includes a ring track conveying module. Each slider in the ring track conveying module is provided with a V-shaped positioning slot on one side. The V-shaped positioning slot moves under the action of the ring track conveying module, and the moving stroke passes directly below the channel outlet. A telescopic baffle is provided on the lower side of the bottom slot of the V-shaped positioning slot. A robotic arm is provided on both sides of the ring track conveying module along the moving stroke of the V-shaped positioning slot. A suction cup is provided at the end of the robotic arm. The cleaning and collection module includes a rotating brush, a first rotating scraper and a second rotating scraper arranged sequentially on the back of the robotic arm. The rotating brush includes two brush bodies that are adapted to the positions of the crab gills on both sides. The first rotating scraper and the second rotating scraper are used to scrape the crab roe of the male crab and the crab fat of the female crab, respectively. The export guide module includes a discharge port located behind the second rotating scraper, and the V-shaped positioning slot can be moved to directly above the discharge port under the action of the annular track conveying module.

[0010] Preferably, the collecting roller is equipped with spiral conveying blades.

[0011] Preferably, a roller-type crab meat extraction mechanism is also provided on the lower side of the specification detection and shearing module.

[0012] The present invention, which adopts the above technical solution, has the following prominent features compared with the prior art: By connecting and coordinating multiple workstations in sequence, the entire process of processing crabs from separating the dead from the live crabs to extracting the crab meat has been automated, replacing traditional manual operations, greatly reducing the intensity of manual labor, improving processing efficiency, and meeting the needs of large-scale industrial processing. The live crab vibration screening mechanism achieves precise separation of dead and live crabs based on the movement characteristics of live crabs. Combined with an automatic tilting unloading device, it prevents dead crabs from being mixed into subsequent processes, ensuring product quality. Moreover, the separation process is free of mechanical damage and preserves the integrity of the crab body. The Green Clean Smart Washing System uses a combination of brushing and spraying for cleaning, along with rapid airflow drying, resulting in excellent cleaning and drying effects. The corrugated guide plate helps to deposit impurities, and the multi-stage water circulation system enables closed-loop water resource circulation, significantly improving water resource utilization and achieving water-saving effects. The sorting and posture adjustment mechanism achieves linear sorting of crabs through guide rods and smooth transformation of crab postures through soft belt transmission with progressive spatial twisting, providing a standardized material state for subsequent accurate identification and cutting, and avoiding processing errors caused by chaotic crab postures. The recognition-cutting duplex mechanism integrates visual recognition and infrared photoelectric detection to accurately determine the sex and size of crabs. The adaptive clamping and transmission module adapts to crabs of different sizes to avoid clamping damage. The contour-adaptive irregular-shaped shears enable precise directional cutting of crab legs and claws, reducing material waste. The mechanism for opening and extracting crab roe and crab paste uses a negative pressure suction cup to open the crab shell without damage. It is combined with a special rotating scraper to accurately extract the crab roe and crab paste from male and female crabs. A rotating brush cleans the crab gills. The extraction and cleaning processes are collected separately to improve product purity and raw material utilization. The roller-type crab meat extraction mechanism uses synchronous rollers to achieve initial separation of shell and meat. The trapezoidal hole pressure roller effectively blocks the shell, and the built-in spiral conveyor blades improve the crab meat collection efficiency, reduce meat residue, and achieve efficient extraction and directional collection of crab meat. Attached Figure Description

[0013] Figure 1 This is a top view of the multi-station collaborative device in an embodiment of the present invention; Figure 2 This is a three-dimensional structural diagram of the multi-station collaborative device in an embodiment of the present invention. Figure 1 ; Figure 3 This is a three-dimensional structural diagram of the multi-station collaborative device in an embodiment of the present invention. Figure 2 ; Figure 4 This is a schematic diagram of the structure of the life vibration screening mechanism in an embodiment of the present invention; Figure 5 This is a schematic diagram of the sorting and orientation adjustment mechanism in an embodiment of the present invention; Figure 6 This is a schematic diagram of the sequentially arranged units in an embodiment of the present invention; Figure 7 This is a schematic diagram of the posture adjustment unit in an embodiment of the present invention; Figure 8 This is a three-dimensional structural schematic diagram of the identification-cutting duplex mechanism in an embodiment of the present invention; Figure 9 This is a top view of the identification-cutting duplex mechanism in an embodiment of the present invention; Figure 10 This is a schematic diagram of the shearing device in an embodiment of the present invention; Figure 11 This is a three-dimensional structural schematic diagram of the mechanism for opening the shell and extracting crab roe and crab paste in an embodiment of the present invention; Figure 12 This is a top view schematic diagram of the mechanism for opening the shell and extracting crab roe and crab paste in an embodiment of the present invention; Figure 13 This is a schematic diagram of the structure of the shell opening execution module and the cleaning and collection module in an embodiment of the present invention; Figure 14 This is a schematic diagram of the structure of the roller-type crab meat acquisition mechanism in an embodiment of the present invention.

[0014] Explanation of reference numerals in the attached diagrams: 1. Vibrating sieve mechanism; 2. Green cleaning and intelligent washing mechanism; 3. Sorting and posture adjustment mechanism; 4. Identification-shearing duplex mechanism; 5. Crab roe and crab paste extraction mechanism; 6. Roller-type crab meat extraction mechanism; 7. Smooth pressure roller; 8. Collection pressure roller; 9. Base plate; 10. Vibrating plate; 11. Protrusion; 12. Support side plate; 13. First connecting rod; 14. Slide groove; 15. Long shaft; 16. Second connecting rod; 17. Electric actuator; 18. Roller brush; 19. Clean water spray pipe; 20. High-pressure fan; 21. Collection tank; 22. High-pressure water pump; 23. First belt conveyor; 24. Second belt conveyor; 25. Tensioning roller; 26. Guide rod; 27. First roller group; 28. Second roller group; 29. ​​Double-layer irregular shape. 30. Soft belt; 31. V-groove; 32. Gear-driven track; 33. Air spring; 34. Silicone block; 35. Shearing bracket; 36. Shearing central shaft; 37. First blade; 38. Second blade; 39. First transmission gear; 40. Shearing transmission shaft; 41. First transmission gear; 42. Third blade; 43. Fourth blade; 44. Second transmission gear; 45. Shearing screw; 46. Inclined guide plate; 47. Rotary tray; 48. V-shaped positioning groove; 49. Circular track conveying module; 50. Slider; 51. Robotic arm; 52. Suction cup; 53. Rotating brush; 54. First rotating scraper; 55. Second rotating scraper; 56. Discharge port; 57. Spiral conveyor blade. Detailed Implementation

[0015] The present invention will be further illustrated below with reference to specific embodiments. The purpose of this illustration is solely to provide a better understanding of the invention. Therefore, the examples given do not limit the scope of protection of the present invention.

[0016] like Figures 1 to 14 As shown in the figure, this embodiment provides a multi-station collaborative device for crab sorting and processing, including a life-vibrating screening mechanism 1, a green-cleaning intelligent washing mechanism 2, a sorting and posture adjustment mechanism 3, a recognition-shearing duplex mechanism 4, a shell-opening and crab roe / crab paste extraction mechanism 5, and a roller-type crab meat extraction mechanism 6, arranged sequentially along the crab processing and conveying direction. Each mechanism is uniformly linked and controlled by a PLC controller (such as a Siemens S7-1200), forming a fully automated processing chain from crab raw material sorting to crab meat extraction; wherein, The life vibration screening mechanism 1 includes a vibration unit and an inclined unloading device. The vibration unit uses the vibration principle based on the characteristics of live body movement to identify and separate live and dead crabs. The inclined unloading device flips the vibration unit to recover the dead crabs. The Green Clean Smart Washing Unit 2 includes a mechanical brushing unit, an airflow drying unit, and a water circulation treatment unit. The mechanical brushing unit sprays and brushes the live crabs, the airflow drying unit uses high-pressure airflow to remove water and dry the live crabs, and the water circulation treatment unit collects and reuses the sprayed water. The sorting and posture adjustment mechanism 3 includes a sequential arrangement unit and a posture adjustment unit. The sequential arrangement unit adopts an upper and lower double belt pressing transmission structure to achieve stable transportation of the cleaned live crabs, and uses a guide structure set on the live crab transportation path to achieve the arrangement and positioning of the live crabs. The posture adjustment unit adopts a double-layer irregular soft belt transmission structure to convert the live crabs from a horizontal posture to a vertical posture. The identification-cutting duplex mechanism 4 includes an adaptive clamping and transmission module, a specification detection and cutting module, and a diversion and guidance module. The adaptive clamping and transmission module uses a clamping method on the abdomen and carapace of the live crab to transport the live crab. The specification detection and cutting module uses infrared photoelectric sensing technology to detect the specification of the live crab and cuts off the crab claws and legs on both sides of the live crab. The diversion and guidance module is used to transport the cut live crab to the shell-opening and crab roe / crab paste extraction mechanism 5. The crab roe and crab paste extraction mechanism 5 includes a visual recognition module, a posture conversion module, a shell-opening execution module, a cleaning and collection module, and an export guide module. The visual recognition module is used to identify the abdominal shape of the live crab after cutting to determine its sex. The posture conversion module is used to receive the live crab after cutting and unify the abdominal orientation of the live crab. The shell-opening execution module uses a suction cup structure to pull the crab shell open from the side of the abdomen to achieve shell opening. The cleaning and collection module is used to brush off the crab gills and extract the crab paste of the male crab and the crab roe of the female crab respectively. The export guide module is used to transport the extracted crab to the roller-type crab meat extraction mechanism 6. The roller-type crab meat extraction mechanism 6 includes a smooth pressure roller 7 with a smooth surface and a collection pressure roller 8 with a regularly arranged trapezoidal hole array on its surface. After extraction, the shell of the crab is broken by the action of the smooth pressure roller 7 and the collection pressure roller 8, and the meat enters the collection pressure roller 8 through the trapezoidal hole array to achieve shell-meat separation.

[0017] In implementation, the vibration unit includes a base plate 9, on which a vibration plate 10 is set through a damping-spring coordinated vibration system. A continuous ring of protrusions 11 is set around the periphery of the vibration plate 10. The height of the protrusions 11 is optimized based on the crab's body shape characteristics and behavior patterns. The height of the protrusions 11 is sufficient to block the displacement of dead crabs caused by vibration or pushing by live crabs, while being lower than the natural lifting height of the legs of live crabs, so as to avoid obstructing the active crawling of live crabs, thereby achieving the separation of the paths of live and dead crabs in physical space. The tilting unloading device includes a support side plate 12 arranged opposite to each other. A first connecting rod 13 is rotatably connected between one side of the support side plate 12 and one side of the bottom plate 9. Slide grooves 14 are opened opposite to each other on the support side plate 12. A long shaft 15 is slidably arranged between the slide grooves 14. A second connecting rod 16 is rotatably arranged between the long shaft 15 and the middle of the bottom plate 9. An electric push rod 17 is arranged between the long shaft 15 and the support side plate 12. The movable end of the electric push rod 17 is movably connected to the long shaft 15, and the tail end is movably connected to the support side plate 12.

[0018] Specifically, in the damping-spring coordinated vibration system, spring dampers are evenly distributed between the base plate 9 and the vibration plate 10. The vibration motor is fixed to the bottom of the vibration plate 10 to provide periodic micro-amplitude vibration. Under this vibration excitation, live crabs with autonomous movement capabilities are forced to move towards the edge area of ​​the vibration plate 10, while dead crabs remain in the central area of ​​the plate due to lack of movement response. When a certain number of dead crabs accumulate on the vibration plate 10, the electric push rod 17 moves to push the long shaft 15 along the slide 14, thereby tilting the vibration plate 10 and unloading the accumulated dead crabs to the designated work position.

[0019] In practice, the mechanical brushing unit includes multiple rotating roller brushes 18 in the same direction. The roller brushes 18 are driven synchronously by sprockets and chains. Clean water spray pipes 19 are arranged in parallel above the roller brushes 18. Through the coordinated action of the sprayed water flow and the rotating roller brushes 18, impurities attached to the surface of the crabs are effectively removed. The roller brushes 18 also have a conveying function during rotation, pushing the crabs forward along the cleaning channel.

[0020] The airflow drying unit includes a high-pressure gas nozzle located above the end of the mechanical brushing unit; a high-pressure blower 20 supplies air to the high-pressure gas nozzle through an air pipe to achieve rapid dehydration and surface drying of the crabs, providing a suitable material state for subsequent processes.

[0021] The water circulation treatment unit includes a collection tank 21 located below the mechanical scrubbing unit. The collection tank 21 adopts a corrugated guide plate design, and the lower side of the corrugated guide plate is connected to a multi-stage water treatment system. The spray water purified by the multi-stage water treatment system is returned to the clean water spray pipe 19 by a high-pressure water pump 22. Specifically, the trough area is conducive to the deposition of heavy impurities such as silt. The water after deposition enters the multi-stage water treatment system through the drainage channel. The first stage of treatment uses a composite filtration device, which is filled with quartz sand and activated carbon media to achieve decolorization, deodorization, and preliminary purification. The second stage of treatment is equipped with a precision filter element to further intercept small suspended particles. The purified water is returned to the clean water spray pipe 19 by the high-pressure water pump 22, forming a closed-loop circulation, which significantly improves the efficiency of water resource utilization.

[0022] The cleaning method employs a combined brushing and spraying approach. Impurities on the crab's surface are removed through the dual action of the rotating roller brush 18 and high-pressure spraying. The roller brush 18 also functions as a conveyor. High-pressure airflow is used to quickly dry the crab's surface. Impurities are deposited through a corrugated guide plate. Multi-stage filtration and closed-loop circulation ensure efficient use of water resources. The entire process is thorough, water-saving, and environmentally friendly.

[0023] In implementation, the sequential arrangement unit includes a first belt conveyor 23 and a second belt conveyor 24 arranged in parallel. A tension roller 25 is provided on the upper middle part of the first belt conveyor 23. The tension roller 25 can be adjusted by using a tension screw and tension seat structure to press down on the surface of the first belt conveyor 23 to achieve tension. The belt surfaces of the first belt conveyor 23 and the second belt conveyor 24 are smooth and maintain a predetermined compression. The compression force is greater than the elastic deformation threshold of the crab's shell and the maximum struggle force of its legs, ensuring that the crab is firmly restrained and cannot turn or crawl on its own. It is also less than the pressure limit of the crab's shell. Several staggered guide rods 26 are arranged along the conveying direction and fit against the surface of the lower second belt conveyor 24. When multiple crabs enter the unit in parallel, the side edges of the crabs come into contact with the inclined guide rods 26. The lateral component force generated by the contact will slightly and continuously change the axial position of the crabs. Through the continuous and slight pushing of several intersecting rods, the relative axial position difference between the parallel crabs is gradually accumulated and amplified, eventually causing the crabs to be precisely arranged and positioned into a single linear queue with intervals between them, creating the necessary conditions for subsequent orientation or individual processing.

[0024] The attitude adjustment unit includes a horizontally arranged first roller group 27 and a vertically arranged second roller group 28. One side of the first roller group 27 is connected to the sequential arrangement unit to smoothly receive the crabs that have been arranged in a single row upstream. A double-layer irregularly shaped soft belt 29 is wound between the first roller group 27 and the second roller group 28 in a progressive spatial twist. The discharge side of the second roller group 28 is provided with a V-groove 30. After the crabs enter this unit, they are covered and restrained by the elastic arc of the double-layer irregularly shaped soft belt 29. Their carapace plane is smoothly guided from an initial horizontal state to a vertical state perpendicular to the conveying direction during the conveying stroke, avoiding mechanical impact throughout the process. Through this path-induced attitude conversion, the crabs are output in a stable side-standing posture, meeting the orientation requirements of subsequent processes.

[0025] During implementation, after the crab is output by the pre-sorting and posture adjustment mechanism 3, it enters the recognition-shearing duplex mechanism in a vertical posture with its abdomen facing the same direction.

[0026] The adaptive clamping and transmission module includes two sets of gear-driven tracks 31. The two sets of gear-driven tracks 31 are arranged in a symmetrical flow channel. Multiple sets of air springs 32 are arranged horizontally and oppositely on the two sets of gear-driven tracks 31. Silicone blocks 33 are provided at the end of the air springs 32. The specification detection and shearing module includes a photoelectric sensor located in the middle between two sets of gear-driven tracks 31. It can automatically determine the crab's specification grade by comparing the duration of the beam being blocked with preset parameters and matching the appropriate shearing device.

[0027] A shearing device is located behind the photoelectric sensor. The shearing device includes a shearing bracket 34, a shearing central shaft 35 mounted on the shearing bracket 34, and two sets of irregularly shaped blades adapted to the outline of a crab mounted on the shearing central shaft 35. The first blade 36 of the first set of irregularly shaped blades is fixedly mounted on the shearing central shaft 35, and the second blade 37 is movably mounted on the shearing central shaft 35 and rotatably connected to the first blade 36. A first transmission gear 38 is provided at the bottom of the second blade 37. A shearing transmission shaft 39 is located on the shearing bracket 34 below the shearing central shaft 35. A first transmission gear 40 meshes with the first transmission gear 38 on the shearing transmission shaft 39. The third blade 41 of the second set of irregularly shaped blades... The fourth blade 42 is movably sleeved on the shearing shaft 35 and rotatably connected to the third blade 41. A second transmission gear 43 is provided at the bottom of the fourth blade 42. A second transmission gear 44 that meshes with the second transmission gear 43 is provided on the shearing transmission shaft 39. A shearing screw 45 is provided on the shearing bracket 34 parallel to the shearing shaft 35 and is threadedly connected to the third blade 41. An arc-shaped groove is provided on the fourth blade 42 corresponding to the shearing screw 45. The distance between the two sets of special-shaped blades is changed by driving the shearing screw 45 to rotate according to the size and grade of the crab, thereby adapting to the size of the crab and completing the shearing of the crab claws and legs.

[0028] The diversion and guiding module adopts an inclined diversion plate 46 structure and is located at the discharge end of the adaptive clamping and conveying module; the inclined diversion plate 46 groove wall can be longitudinally arranged with polyurethane rubber strips to slow down the downward speed in a controllable friction manner.

[0029] Using infrared photoelectric detection technology, the size of the crab is determined by the duration of beam obstruction; an adaptive clamping structure of air spring 32 + flexible silicone block 33 is adopted to adapt to crabs of different sizes and achieve stable positioning without damage; two sets of contour-adaptive irregular-shaped shears are used to complete the directional and precise cutting of crab legs and claws of different sizes of crabs. After cutting, the crab posture is adjusted by rotating tray 47 to prepare for the subsequent shell opening process.

[0030] In a specific implementation, a dual recognition method of visual recognition + photoelectric sensor can be adopted to ensure the accuracy of crab size recognition. Industrial cameras are set on both sides above the discharge end of the posture adjustment unit to collect crab images to identify crab size. The recognition accuracy is then improved by combining the recognition results of photoelectric sensor. The average of the two results can be used, or a primary and backup method can be used. The specific choice can be made according to the actual working conditions, which will not be elaborated here.

[0031] In practice, the visual recognition module uses an industrial camera facing the rotating tray 47 to capture the abdominal morphology of live crabs inside the rotating tray 47 and identify the sex of the live crabs based on the abdominal morphology. The visual recognition module captures the abdominal morphological features of the crabs and combines them with the SVM classification algorithm to achieve accurate sex determination (male crabs have triangular abdomens, while female crabs have round / semi-circular abdomens).

[0032] The posture conversion module includes a rotating tray 47 located at the lower end of the outlet of the inclined diversion plate 46. The rotating tray 47 has a channel adapted to the vertical posture of the crab. A push-pull baffle is located on the lower side of the rotating tray 47 at the channel outlet. After being cut, the crab slides into the channel of the rotating tray 47 through the inclined diversion plate 46. Based on the recognition result of the visual recognition module, the rotating tray 47 is rotated and adjusted to adjust the crab's abdomen to a uniform position. After the adjustment is completed, the push-pull baffle is retracted and the crab falls into the V-shaped positioning slot 48 of the next station.

[0033] The shell-opening execution module includes a ring track conveying module 49. Each slider 50 in the ring track conveying module 49 has a V-shaped positioning slot 48 on one side. The V-shaped positioning slot 48 is lower in the middle and higher on both sides, thus exposing the crab's abdomen and carapace for subsequent shell opening. The V-shaped positioning slot 48 moves under the action of the ring track conveying module 49, and its movement passes directly below the channel outlet. A telescopic baffle is provided on the lower side of the bottom slot of the V-shaped positioning slot 48. Robotic arms 51 are arranged opposite each other on both sides of the ring track conveying module 49 along the movement stroke of the V-shaped positioning slot 48. Suction cups 52 are arranged opposite each other at the ends of the robotic arms 51. The robotic arms 51 drive the suction cups 52 to approach and adhere synchronously along the direction of the crab's abdomen and carapace. Then, the negative pressure is used to pull the crab shell open from the side of the abdomen, realizing non-destructive shell opening. The crab that has been opened is conveyed to the next station cleaning and collection module along the V-shaped positioning slot 48.

[0034] The cleaning and collection module includes a rotating brush 53, a first rotating scraper 54, and a second rotating scraper 55, sequentially arranged behind the robotic arm 51. The rotating brush 53 comprises two brush bodies adapted to the positions of the crab gills on both sides. The first rotating scraper 54 and the second rotating scraper 55 are used to scrape downwards to remove the crab roe from the male crab and the crab fat from the female crab, respectively. The rotating brush 53 is positioned on the same side of the crab's abdomen and rotates in coordination with the conveying direction to remove the crab gills. The scraper scrapes the crab fat or crab roe from the shell in a downward rotating motion. The crab gills, crab fat, and crab roe generated during the cleaning and extraction process are collected into corresponding containers through independent channels.

[0035] The export guide module includes a discharge port 56 located behind the second rotating scraper 55, and the V-shaped positioning slot 48 can move to directly above the discharge port 56 under the action of the annular track conveying module 49. The crab that has been extracted moves to the top of the discharge port 56 along with the V-shaped positioning slot 48. The telescopic baffle set on the lower side of the bottom slot of the V-shaped positioning slot 48 retracts, and the crab falls from the discharge port 56 to the roller-type crab meat acquisition mechanism 6.

[0036] Both push-pull and telescopic baffle structures can be implemented using an electric actuator to drive a metal plate structure; the specific structure will not be described in detail here.

[0037] The collecting roller 8 is equipped with a spiral conveying blade 57. The trapezoidal hole array can effectively block shell fragments during the extrusion process, while allowing meat to enter the inner cavity of the collecting roller 8 through the holes, thus achieving initial separation of shell and meat. Under the action of the spiral conveying blade 57, the crab meat is conveyed axially to the collection port on one side of the roller body, realizing directional collection and automatic discharge.

[0038] During implementation, a roller-type crab meat acquisition mechanism 6 is also installed on the lower side of the specification inspection and shearing module to process and collect the crab meat from the cut crab legs and claws.

[0039] This invention system automates the entire process of crab processing, from separating live and dead crabs to extracting crab meat, through multi-station collaborative operation. This significantly reduces manual labor and greatly improves processing efficiency and standardization. The live crab vibration sorting mechanism 1 uses a vibration motor and a damping-spring system to precisely separate live and dead crabs, achieving a high separation rate without damage. The intelligent washing mechanism 2 employs brushing, spraying, and closed-loop water circulation, resulting in excellent cleaning and drying effects while saving water and protecting the environment. The sorting and posture adjustment mechanism 3 completes linear queuing and posture standardization conversion, laying the foundation for subsequent precise processing. The identification-shearing duplex mechanism 4 integrates vision and photoelectric detection, accurately identifying gender and size, and using adaptive clamping and directional shearing to reduce raw material waste. The shell-opening and crab roe / cream extraction mechanism 5 uses a negative pressure suction cup 52 for non-destructive shell opening, combined with a special scraper for precise extraction of crab roe / cream. The roller-type crab meat extraction mechanism 6 achieves efficient shell-meat separation. The system operates flexibly throughout, with PLC linkage control, ensuring stable operation and easy maintenance. It significantly reduces labor costs and raw material losses, making it suitable for large-scale aquatic product processing.

[0040] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of the invention. All equivalent changes made based on the description and drawings of the present invention are included within the scope of the present invention.

Claims

1. A multi-station collaborative device for sorting and processing crabs, characterized in that, This includes a life-vibrating screening mechanism, a green and clean intelligent washing mechanism, a sorting and posture adjustment mechanism, a recognition-shearing duplex mechanism, a shell-opening and crab roe / crab paste extraction mechanism, and a roller-type crab meat extraction mechanism, arranged sequentially along the crab processing and conveying direction; among them... The life vibration screening mechanism includes a vibration unit and an inclined unloading device. The vibration unit uses the vibration principle based on the characteristics of living body movement to identify and separate live and dead crabs. The inclined unloading device flips the vibration unit to recover the dead crabs. The Green Clean Smart Washing System includes a mechanical brushing unit, an airflow drying unit, and a water circulation treatment unit. The mechanical brushing unit sprays and brushes the live crabs, the airflow drying unit uses high-pressure airflow to remove water and dry the live crabs, and the water circulation treatment unit collects and reuses the sprayed water. The sorting and posture adjustment mechanism includes a sequential arrangement unit and a posture adjustment unit. The sequential arrangement unit adopts an upper and lower double belt pressing and transmission structure to achieve stable transportation of the cleaned live crabs, and uses a guide structure set on the live crab transportation path to achieve the arrangement and positioning of the live crabs. The posture adjustment unit adopts a double-layer irregular soft belt transmission structure to change the live crabs from a horizontal posture to a vertical posture. The identification-cutting duplex mechanism includes an adaptive clamping and transmission module, a specification detection and cutting module, and a diversion and guidance module. The adaptive clamping and transmission module uses the method of clamping the abdomen and carapace of the live crab to transport the live crab. The specification detection and cutting module uses infrared photoelectric sensing technology to detect the specification of the live crab and cuts off the crab claws and legs on both sides of the live crab. The diversion and guidance module is used to transport the cut live crab to the shell-opening and crab roe and crab paste extraction mechanism. The mechanism for opening crab shells to extract crab roe and crab paste includes a visual recognition module, a posture conversion module, a shell opening execution module, a cleaning and collection module, and an export guide module. The visual recognition module is used to identify the abdominal shape of the live crab after cutting to determine its sex. The posture conversion module is used to receive the live crab after cutting and to unify the abdominal orientation of the live crab. The shell opening execution module uses a suction cup structure to pull the crab shell open from the side of the abdomen to achieve shell opening. The cleaning and collection module is used to brush off the crab gills and extract the crab paste of male crabs and the crab roe of female crabs respectively. The export guide module is used to transport the extracted crabs to the roller-type crab meat extraction mechanism. The roller-type crab meat extraction mechanism includes a smooth pressure roller with a smooth surface and a collection pressure roller with a regularly arranged trapezoidal hole array on its surface. After extraction, the shell of the crab is broken by the action of the smooth pressure roller and the collection pressure roller, and the meat enters the inside of the collection pressure roller through the trapezoidal hole array to achieve shell-meat separation.

2. The multi-station collaborative device for sorting and processing crabs according to claim 1, characterized in that, The vibration unit includes a base plate, on which a vibration plate is set through a damping-spring coordinated vibration system. A continuous ring of protrusions is set around the periphery of the vibration plate. The height of the protrusions is optimized based on the crab's body shape characteristics and behavior patterns. The height of the protrusions is sufficient to block the displacement of dead crabs caused by vibration or pushing by live crabs, while being lower than the natural lifting height of the legs of live crabs, so as to avoid obstructing the active crawling of live crabs, thereby achieving the separation of the paths of live and dead crabs in physical space. The tilting unloading device includes opposing support side plates. A first connecting rod is rotatably connected between one side of the support side plate and one side of the base plate. Sliding grooves are opened opposite each other on the support side plates. A long shaft is slidably arranged between the sliding grooves. A second connecting rod is rotatably arranged between the long shaft and the middle of the base plate. An electric push rod is arranged between the long shaft and the support side plate.

3. The multi-station collaborative device for sorting and processing crabs according to claim 1, characterized in that, The mechanical scrubbing unit includes multiple roller brushes that rotate in the same direction. The roller brushes are driven synchronously by sprockets and chains, and clean water spray pipes are arranged in parallel above the roller brushes. The airflow drying unit includes a high-pressure gas nozzle positioned above the end of the mechanical brushing unit; The water circulation treatment unit includes a collection tank located below the mechanical scrubbing unit. The collection tank adopts a corrugated guide plate design. The lower side of the corrugated guide plate is connected to a multi-stage water treatment system. The spray water purified by the multi-stage water treatment system is returned to the clean water spray pipe by a high-pressure water pump.

4. The multi-station collaborative device for sorting and processing crabs according to claim 1, characterized in that, The sequential arrangement unit includes a first belt conveyor and a second belt conveyor arranged in parallel. A tension roller is provided in the middle of the upper side of the first belt conveyor. The belt surfaces of the first belt conveyor and the second belt conveyor are smooth and maintain a predetermined compression. The compression force is greater than the elastic deformation threshold of the crab shell and the maximum struggle force of the walking legs, but less than the pressure bearing limit of the crab shell. Several staggered guide rods are provided along the conveying direction and are attached to the surface of the lower second belt conveyor. The attitude adjustment unit includes a horizontally arranged first roller group and a vertically arranged second roller group. One side of the first roller group is connected to the sequentially arranged unit. The double-layer irregular soft belt is wound between the first roller group and the second roller group in a progressive spatial twist. The discharge side of the second roller group is provided with a V-shaped groove.

5. The multi-station collaborative device for sorting and processing crabs according to claim 1, characterized in that, The adaptive clamping and transmission module includes two sets of gear-driven tracks. The two sets of gear-driven tracks are arranged in a symmetrical flow channel. Multiple sets of air springs are horizontally and oppositely arranged on the two sets of gear-driven tracks. Silicone blocks are arranged at the end of the air springs. The specification inspection and shearing module includes a photoelectric sensor positioned between two sets of gear-driven tracks. A shearing device is located behind the photoelectric sensor. The shearing device includes a shearing bracket with a shearing central shaft. Two sets of irregularly shaped cutters adapted to the contours of a crab are mounted on the shearing central shaft. The first blade of the first set of irregularly shaped cutters is fixedly fitted onto the shearing central shaft, while the second blade is movably fitted onto the shearing central shaft and rotatably connected to the first blade. A first transmission tooth is located at the bottom of the second blade. A shearing mechanism is mounted on the shearing bracket below the shearing central shaft. The shearing drive shaft is equipped with a first transmission gear that meshes with the first transmission gear. The third cutting edge of the second set of special-shaped cutters slides along the axial direction of the shearing central shaft. The fourth cutting edge is movably sleeved on the shearing central shaft and rotatably connected to the third cutting edge. The bottom of the fourth cutting edge is equipped with a second transmission gear. The shearing drive shaft is equipped with a second transmission gear that meshes with the second transmission gear. The shearing bracket is equipped with a shearing screw parallel to the shearing central shaft, and the shearing screw is threadedly connected to the third cutting edge. The fourth cutting edge is provided with an arc-shaped groove corresponding to the shearing screw. The diversion and guiding module adopts an inclined diversion plate structure and is located at the discharge end of the adaptive clamping and conveying module.

6. The multi-station collaborative device for sorting and processing crabs according to claim 5, characterized in that, The attitude conversion module includes a rotating tray located at the lower end of the inclined diversion plate outlet. The rotating tray has a channel adapted to the vertical attitude of the crab, and a push-pull baffle is located on the lower side of the rotating tray at the channel outlet. The visual recognition module uses an industrial camera facing the rotating tray to capture the abdominal shape of live crabs in the rotating tray and identify the sex of the live crabs based on the abdominal shape. The shell opening execution module includes a ring track conveying module. Each slider in the ring track conveying module is provided with a V-shaped positioning slot on one side. The V-shaped positioning slot moves under the action of the ring track conveying module, and the moving stroke passes directly below the channel outlet. A telescopic baffle is provided on the lower side of the bottom slot of the V-shaped positioning slot. A robotic arm is provided on both sides of the ring track conveying module along the moving stroke of the V-shaped positioning slot. A suction cup is provided at the end of the robotic arm. The cleaning and collection module includes a rotating brush, a first rotating scraper and a second rotating scraper arranged sequentially on the back of the robotic arm. The rotating brush includes two brush bodies that are adapted to the positions of the crab gills on both sides. The first rotating scraper and the second rotating scraper are used to scrape the crab roe of the male crab and the crab fat of the female crab, respectively. The export guide module includes a discharge port located behind the second rotating scraper, and the V-shaped positioning slot can be moved to directly above the discharge port under the action of the annular track conveying module.

7. The multi-station collaborative device for sorting and processing crabs according to claim 1, characterized in that, The collecting roller is equipped with spiral conveying blades.

8. The multi-station collaborative device for sorting and processing crabs according to claim 1, characterized in that, The specification inspection and shearing module is also equipped with a roller-type crab meat extraction mechanism.

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