Shrimp clamping device and shrimp processing system

Abstract

The present invention discloses a shrimp clamping device and a shrimp processing system, comprising a fixed seat, a connecting mechanism, a power mechanism and a clip mechanism; the connecting mechanism comprises a connecting flange, which is arranged at one end of the fixed seat; the power mechanism comprises two groups of independent cylinders, which are arranged at the other end of the fixed seat; the clip mechanism comprises two groups of clamps arranged along the length direction of the shrimp to be clamped, and each group of the clamps comprises an arc-shaped clamp and a flat clamp arranged oppositely; the front ends of the arc-shaped clamp and the flat clamp form a clamping opening facing the shrimp to be clamped; the rear ends of the arc-shaped clamp and the flat clamp are connected to the output end of the corresponding independent cylinder through a clamp rod. The shrimp clamping device and the shrimp processing system provided by the embodiment of the present invention realize the directional grasping of shrimps through two pairs of combined clamps with specific shapes, thereby ensuring the processing effect of shrimps.

Description

Technical Field

[0001] The invention relates to the technical field of shrimp processing, in particular to a shrimp clamping device and a shrimp processing system. Background Art

[0002] As people's living standards continue to improve, consumers' preference for high-protein, high-nutrition shrimp products has also been increasing, which has greatly promoted the rapid development of the aquatic products industry. The huge population demand in my country has also put forward more urgent demands for industrial upgrading in the aquatic product processing industry.

[0003] In the current aquatic product industry, in the automated processing of shrimps, various processing mechanisms on the assembly line are required to complete the processing steps of cleaning, shelling, deveining, delegating, and sorting the shrimps one by one. After each processing step is completed, the shrimps need to be transported to the next mechanism for subsequent processing through a shrimp clamping device.

[0004] The existing shrimp clamping device only grabs shrimps at random and then performs the transportation function, without considering the specific position and orientation of the shrimps when clamping. In actual applications, the position and orientation of the shrimps clamped by the shrimp clamping device will affect the position state of the shrimps when they fall into the next mechanism. Different position states will affect the processing effect of the next mechanism on the shrimps, resulting in poor processing effect on the shrimps. Summary of the invention

[0005] The present invention provides a shrimp clamping device and a shrimp processing system to solve the technical problem that the existing clamping device is difficult to ensure the position and orientation of shrimps during the clamping and transportation process, thereby resulting in poor processing effect of the shrimps. Through two pairs of combined and specifically shaped clamping pieces, directional grasping of shrimps is achieved, thereby ensuring the processing effect of the shrimps.

[0006] In order to solve the above technical problems, an embodiment of the present invention provides a shrimp clamping device, comprising: a fixing seat, a connecting mechanism, a power mechanism and a clamping mechanism;

[0007] The connecting mechanism comprises a connecting flange, and the connecting flange is arranged at one end of the fixing seat;

[0008] The power mechanism includes two groups of independent cylinders, and the independent cylinders are arranged at the other end of the fixing seat;

[0009] The clamping mechanism comprises two groups of clamps arranged along the length direction of the shrimp to be clamped, and each group of the clamps comprises an arc-shaped clamp and a flat clamp arranged oppositely; the front ends of the arc-shaped clamp and the flat clamp form a clamping opening facing the shrimp to be clamped; the rear ends of the arc-shaped clamp and the flat clamp are connected to the output end of the corresponding independent cylinder through a clamping rod.

[0010] As one of the preferred solutions, the arc-shaped clamping pieces and the flat clamping pieces of the two groups of clamps are staggered along the length direction of the shrimps to be clamped.

[0011] As one of the preferred solutions, a grille portion is provided at the front end of the arc-shaped clip and the front end of the flat clip.

[0012] As one of the preferred solutions, a front end of the arc-shaped clip and a front end of the flat clip are both provided with a number of grooves.

[0013] As one of the preferred solutions, the front end of the arc-shaped clip and the front end of the flat clip are both provided with a serration portion.

[0014] As one of the preferred solutions, the independent cylinder is fixed to the fixing seat by screws.

[0015] As one of the preferred solutions, the rear end of the arc-shaped clamping piece is connected to the corresponding clamping rod through a screw.

[0016] As one of the preferred solutions, the rear end of the flat clamp is connected to the corresponding clamp rod through a screw.

[0017] Another embodiment of the present invention provides a shrimp processing system, comprising any number of the shrimp clamping devices described above.

[0018] Compared with the prior art, the beneficial effect of the embodiments of the present invention is that it fully considers the influence of the position state of shrimps during the clamping process. By setting two groups of clamps of specific shapes driven by independent cylinders, the arc-shaped clamps are more conducive to matching the shape characteristics of the shrimp body, and the flat clamps are more conducive to increasing the clamping force of the shrimp body. The two cooperate with each other and are arranged in two groups along the length direction of the shrimp body. The shrimps placed flat on the conveyor belt are clamped and flipped to a stable state with their backs or bellies facing up, thereby achieving directional grasping and position maintenance of the shrimps, and then achieving directional position fixation of the shrimp transportation, ensuring the stable state of the shrimps when they are placed in the next mechanism, and ultimately improving the processing effect of the shrimps. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic structural diagram of a shrimp clamping device in one embodiment of the present invention;

[0020] Figure 2 is a schematic diagram of a shrimp clamping device in one embodiment of the present invention with the clamping piece opened;

[0021] Figure 3 is a schematic diagram of a clip of a shrimp gripping device in one embodiment of the present invention moving in a certain direction;

[0022] Figure 4 is a schematic diagram of a shrimp gripping device in one embodiment of the present invention moving in another direction;

[0023] Figure 5 is a schematic diagram of a clip clamping device for shrimps in one embodiment of the present invention;

[0024] Among them, 1, base; 2, connecting flange; 31, independent cylinder; 32, independent cylinder; A1, arc-shaped clamp; B1, arc-shaped clamp; A2, flat clamp; B2, flat clamp; a1, clamp rod; a2, clamp rod; b1, clamp rod; b2, clamp rod. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] In the description of this application, the terms "first", "second", "third", etc. are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", "third", etc. may explicitly or implicitly include one or more of the feature. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0027] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0028] In the description of this application, it should be noted that, unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as those commonly understood by those skilled in the art. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0029] An embodiment of the present invention provides a shrimp gripping device. For details, see Figure 1 , Figure 1 The structure diagram of the shrimp clamping device in one embodiment of the present invention is shown, which includes: a fixing seat 1, a connecting mechanism, a power mechanism and a clamping mechanism;

[0030] The connecting mechanism comprises a connecting flange 2, and the connecting flange 2 is arranged at one end of the fixing seat 1;

[0031] The power mechanism includes two groups of independent cylinders (shown as 31 and 32 in the figure), and the independent cylinders are arranged at the other end of the fixed base 1;

[0032] The clamping mechanism includes two groups of clamps arranged along the length direction of the shrimp to be clamped, and each group of the clamps includes arc-shaped clamps (as shown in A1 and B1 in the figure) and flat clamps (as shown in A2 and B2 in the figure) arranged opposite to each other; the front ends of the arc-shaped clamps and the flat clamps form a clamping opening facing the shrimp to be clamped; the rear ends of the arc-shaped clamps and the flat clamps are connected to the output ends of the corresponding independent cylinders through clamping rods (i.e., the clamping rod a1 connected to the arc-shaped clamp A1 in the first group of clamps, the clamping rod a2 connected to the flat clamp A2 in the first group of clamps, the clamping rod b1 connected to the arc-shaped clamp B1 in the second group of clamps, and the clamping rod b2 connected to the arc-shaped clamp B2 in the second group of clamps).

[0033] It should be noted that in the automated processing line of shrimps, the shrimps from the previous mechanism need to be grabbed by a gripping device and put into the shrimp guide slot of the next mechanism, and the next mechanism will perform the subsequent processing steps. If the position orientation when grabbing and transporting shrimps is offset, it is impossible to ensure that the shrimp bodies fall upright into the corresponding shrimp guide slots, thereby affecting the subsequent automated shelling, shrimp thread removal or shrimp leg removal and other processing effects. The connecting mechanism in this embodiment is used to connect the manipulator rotating shaft in the automated production line; the fixed seat is used to ensure the stability of the entire device; an independent cylinder is provided in the power mechanism, preferably a finger clamp cylinder, and different cylinders are used to drive the corresponding clamps; there are two groups of clamps, which are arranged along the length direction of the shrimps to be clamped, and the two groups of clamps cooperate with each other to clamp the shrimp bodies lying flat on the conveyor belt with their backs facing up or their bellies facing up, thereby achieving the grasping and directional fixation of the shrimps.

[0034] Furthermore, in the above embodiment, the arc-shaped clips and the flat clips of the two groups of the clamps are staggered along the length direction of the shrimp to be clamped, that is, one arc-shaped clip and one flat clip are distributed on the same side, and one flat clip and one arc-shaped clip are distributed at corresponding positions on the other side. Of course, the position layout of the clips needs to be determined according to the actual processing requirements and the morphological characteristics of different shrimps.

[0035] In addition, in order to improve the grasping and holding force of the shrimp body, a texture mechanism can be provided at the jaws of the clamp, that is, on the two opposite sides of the arc-shaped clamp and the flat clamp, to improve the grasping friction of the shrimp body, thereby ensuring that the shrimp body is in an upright state during transportation. Preferably, the texture mechanism can be a grid portion (only the grid portion is shown in the figure), a serrated portion or a number of grooves, and the friction force is increased by a texture mechanism of a specific shape, so as to achieve directional grasping and stable transportation of shrimps.

[0036] In order to better adapt to the body structure of shrimps, the clamps in this embodiment include flat clamps and arc-shaped clamps. The flat clamps are more conducive to improving the clamping force of the shrimp body, and the arc-shaped clamps are more conducive to matching the shape characteristics of the shrimp body. The two cooperate with each other and work synergistically to improve the grasping effect of shrimps.

[0037] Furthermore, in the above embodiment, the independent cylinder is fixed to the fixing seat by screws. Of course, the independent cylinder can also be connected to the fixing seat by means of slot clamping or bonding.

[0038] Furthermore, in the above embodiment, the rear end of the arc-shaped clip is connected to the corresponding clamp rod by screws. In contrast, the rear end of the flat clip is connected to the corresponding clamp rod by screws (i.e., the clamp rod a1 connected to the arc-shaped clip A1 in the first set of clamps, the clamp rod a2 connected to the flat clip A2 in the first set of clamps, the clamp rod b1 connected to the arc-shaped clip B1 in the second set of clamps, and the clamp rod b2 connected to the arc-shaped clip B2 in the second set of clamps).

[0039] In a preferred embodiment of the present invention, the two sets of clamps are separately driven by their own finger clamp cylinders to achieve corresponding opening and clamping actions, and the initial orientation of the clamps can be adjusted based on visual identification of the head and tail orientation, dorsal and ventral orientation, and angle of the shrimp body.

[0040] For specific gripping methods, preferably, see Figure 2-Figure 5 , Figure 2 A schematic diagram showing the opening of the clips of the shrimp gripping device in one embodiment of the present invention is shown. Figure 3 The figure shows a schematic diagram of a shrimp gripping device in one embodiment of the present invention moving in a certain direction. Figure 4 The figure shows a schematic diagram of a shrimp gripping device in one embodiment of the present invention moving in another direction. Figure 5The schematic diagram of the clips and clamps of the shrimp clamping device in one embodiment of the present invention is shown. According to the rule that the shrimp belly side uses a flat clip and the shrimp back side uses an arc clip, a corresponding cylinder is first started to drive a flat grid clip and an arc grid clip to clamp, so that the shrimp back is turned upward, and then (about 1 second later) another corresponding cylinder is started to drive the corresponding clamp to clamp, and at this time, the shrimp body that has been turned upside down is clamped by two sets of combined clamps, and the forces on both sides are consistent, so that the shrimp body reaches an upright state, and it does not deviate and not stand upright when a single clip is clamped. When the shrimp is placed in the next mechanism, the two cylinders are actuated at the same time, and the clips of the two sets of clamps are opened at the same time, so that the shrimp body falls upright with its back facing upward (such as falling into the shrimp guide groove).

[0041] Similarly, according to the rule of using curved clips on the ventral side of the shrimp and flat clips on the back side of the shrimp, first start a corresponding cylinder to drive a flat grille clip and a curved grille clip to clamp together, so that the shrimp belly turns upward, and then (about 1 second later) start another corresponding cylinder to drive the corresponding clamp to clamp together. At this time, the shrimp body that has turned over to face upward is clamped by two sets of combined clamps, and the forces on both sides are consistent, so that the shrimp body reaches an upright state, and it will not be skewed and not upright enough when clamped by a single clip. When the shrimp is placed in the next mechanism, the two cylinders act at the same time, and the clips of the two sets of clamps are opened at the same time, so that the shrimp body falls upright with its belly facing upward (such as falling into the shrimp guide groove).

[0042] It can be seen that by starting the corresponding clamping action according to the direction of the shrimp's back and belly, the shrimp can be turned over to different states with its back facing up or its belly facing up, thereby improving the flexibility of the shrimp clamping device.

[0043] Another embodiment of the present invention provides a shrimp processing system, comprising any number of the shrimp clamping devices described above.

[0044] The shrimp clamping device and shrimp processing system provided by the embodiments of the present invention have the beneficial effect that they fully take into account the influence of the position state of shrimps during the clamping process. By setting two groups of clamps of specific shapes driven by independent cylinders, the arc-shaped clamps are more conducive to matching the shape characteristics of the shrimp body, and the flat clamps are more conducive to increasing the clamping force of the shrimp body. The two cooperate with each other and are arranged in two groups along the length direction of the shrimp body. The shrimps placed flat on the conveyor belt are clamped and flipped to a stable state with their backs facing up or their bellies facing up, thereby achieving directional grasping and position maintenance of the shrimps, and then achieving directional position fixation of the shrimp transportation, ensuring the stable state of the shrimps when they are placed in the next mechanism, and ultimately improving the processing effect of the shrimps.

[0045] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A shrimp gripping device, characterized in that: include: A fixing seat, a connecting mechanism, a power mechanism and a clip mechanism; The connecting mechanism comprises a connecting flange, and the connecting flange is arranged at one end of the fixing seat; The power mechanism includes two groups of independent cylinders, and the independent cylinders are arranged at the other end of the fixing seat; The clamping mechanism comprises two groups of clamps arranged along the length direction of the shrimp to be clamped, each group of the clamps comprises an arc-shaped clamp and a flat clamp arranged oppositely; the front ends of the arc-shaped clamp and the flat clamp form a clamping opening facing the shrimp to be clamped; the rear ends of the arc-shaped clamp and the flat clamp are connected to the output ends of the corresponding independent cylinders through clamp rods; the arc-shaped clamps and the flat clamps of the two groups of clamps are staggered along the length direction of the shrimp to be clamped, so that an arc-shaped clamp and a flat clamp are distributed on the same side, and a flat clamp and an arc-shaped clamp are distributed at corresponding positions on the other side; in, According to the rule that the shrimp belly uses a flat clamp and the shrimp back uses an arc-shaped clamp, first start a corresponding independent cylinder to drive a flat clamp and an arc-shaped clamp to clamp together, so that the shrimp back turns upward; or, according to the rule that the shrimp belly uses an arc-shaped clamp and the shrimp back uses a flat clamp, first start a corresponding independent cylinder to drive a flat clamp and an arc-shaped clamp to clamp together, so that the shrimp belly turns upward; Then, another corresponding independent air cylinder is started to drive the corresponding clamps to clamp, so that the shrimp body that has been turned over with its back facing up or its belly facing up is clamped by the two sets of clamps, and the forces on both sides are consistent, so that the shrimp body reaches an upright state, and when the shrimp body is placed in the next mechanism, the two sets of independent air cylinders drive the two sets of clamps to open the clamps at the same time, so that the shrimp body falls upright to the placement area; Wherein, the front end of the arc-shaped clip and the front end of the flat clip are both provided with a texture mechanism.

2. The shrimp gripping device according to claim 1, characterized in that: The texture mechanism is a grille portion.

3. The shrimp gripping device according to claim 1, characterized in that: The texture mechanism is a plurality of grooves.

4. The shrimp gripping device according to claim 1, characterized in that: The texture mechanism is a sawtooth portion.

5. The shrimp gripping device according to claim 1, characterized in that: The independent cylinder is fixed on the fixing seat by screws.

6. The shrimp gripping device according to claim 1, characterized in that: The rear end of the arc-shaped clamping piece is connected to the corresponding clamping rod through a screw.

7. The shrimp gripping device according to claim 1, characterized in that: The rear end of the flat plate clip is connected to the corresponding clamp rod through a screw.

8. A shrimp processing system, characterized in that: The method comprises any number of shrimp gripping devices according to any one of claims 1 to 7.

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