A shrimp peeling system using a manipulator to peel shrimp

Abstract

The present invention discloses a shrimp peeling system using a manipulator, which relates to the technical field of shrimp processing machinery. The shrimp peeling system using a manipulator in the present invention uses the manipulator to drive the shrimp clamping fixture to clamp the shrimp to be processed from the shrimp taking station, and drives the shrimp clamping fixture to sequentially pass through the shrimp back opening station, the shrimp vein removing station and the meat-shell separation station, respectively completing the back opening, shrimp vein removal and meat-shell separation of the shrimp to be processed. The manipulator drives the shrimp clamping fixture as the action component, and cooperates with the shrimp back opening station, the shrimp vein removing station and the meat-shell separation station respectively to complete the shelling and meat taking of the shrimp. The action relationship is simple, and only the program control of the manipulator is required. Compared with the existing cantilever type back opening machine with multiple servo motors, the equipment structure is simplified and the equipment cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of shrimp processing machinery, in particular to the technical field of shrimp peeling machines, and more specifically to a shrimp peeling system that uses a manipulator to peel shrimp. Background Art

[0002] At present, there are several shrimp peeling devices sold on the market. Among them, the shrimp peeling machine developed by Gregor Jonsson Inc. in the United States has a better effect and has a large market prospect.

[0003] At present, in this type of shrimp peeling machine on the market, since a single motor is used to drive the main transmission gear to rotate, a pair of opposed planar cams are sleeved on the main transmission gear shaft, and a plurality of large and small clamp clamping devices are provided outside the circumference of the planar cam. The opening and closing of the large and small clamp clamping devices are realized under the limitation of the planar cam; outside the circumference of the large and small clamp clamping devices, a conveying device, a guiding pressure wheel device, a blade assembly, a defecating brush, a body-inserting long needle assembly, and a shrimp shell cleaning brush are sequentially arranged along the working track of the raw shrimp. The guiding pressure wheel device is meshed with the main transmission gear through a transmission gear, and then drives the guiding pressure wheel to rotate through a synchronous belt transmission component; the blade assembly is also meshed with the main transmission gear through a transmission gear, and then drives the blade to rotate through a synchronous belt transmission component. In the shrimp peeling machine body, not only is it required that the blade rotates, but also the blade needs to reciprocate in the radial direction along the working track of the raw shrimp to perform a back-opening treatment on the raw shrimp rotated to the blade position. The swing of the blade is completed by a cam; the defecating brush always remains in place and brushes the raw shrimp that has been back-opened and rotated to this position to remove the shrimp intestine of the raw shrimp after back-opening, and it only needs to rotate continuously. Therefore, the main transmission gear drives the defecating brush to rotate; the body-inserting long needle assembly needs to reciprocate in the radial direction along the working track of the raw shrimp. Its purpose is to retract to allow the large and small clamp clamping devices to pass through normally when there is no shrimp to be inserted. When the large and small clamp clamping devices clamp the raw shrimp without shrimp intestine and rotate to its working position, the long needle swings upward and inserts into the shrimp meat to take out the shrimp meat from the shrimp shell. The driving force of the body-inserting long needle assembly is completed by the main transmission gear driving a cam member to perform a swinging action; the working principle of the shrimp shell cleaning brush is the same as that of the defecating brush. It is a brush for cleaning the shrimp shell after removing the shrimp meat or the large and small clamp clamping devices, and it only needs to rotate continuously. It can be driven to rotate continuously by meshing a transmission gear with the main transmission gear.

[0004] Through the description of the above working principle and motion transmission principle, it can be determined that the current shrimp peeling machine is driven by a main motor to drive each component. The operating speeds of all components are restricted by the transmission of the main transmission gear, and the gear transmission ratios between all components have been determined at the beginning of the design and cannot be adjusted. However, in the market for shrimp processing, not only one type and specification of shrimp product is required. For different varieties of shrimp, the requirements for back-opening and shelling are also different. If the above shrimp peeling machine wants to meet the requirements of processing shrimp products of multiple specifications, it must be greatly adjusted to achieve this, which requires a large amount of downtime to adjust the machine, is not conducive to production and processing efficiency, and the structure of the shrimp peeling machine is complex, with many components and difficult to maintain.

[0005] On July 16, 2021, the State Intellectual Property Office announced a utility model patent with the publication number CN213695528U and the title "Cantilever Back-opening Machine". In this utility model patent, the feeding trough assembly, disc cutter assembly, disc cutter swing assembly, shrimp vein cleaning brush assembly, shrimp inserting needle assembly and shrimp clamp disc assembly of the existing shrimp peeling machine are respectively driven by separate servo motors, and the original complex transmission components are cancelled. The disc cutter assembly, disc cutter swing assembly, shrimp vein cleaning brush assembly and shrimp inserting needle assembly are changed to a cantilever structure. The back-opening machine of this utility model is driven by separate servo motors, and a control system is formed by combining the servo motors. When changing the shrimp peeling style or specification, the component parameters can be directly modified on the operation interface.

[0006] The shrimp peeling machine in the above prior art has a complex structure, many cooperation relationships between components, requires multiple servo motors for control and drive, and has a high equipment cost. Summary of the Invention

[0007] In order to overcome the defects and deficiencies existing in the above prior art, the present invention provides a shrimp peeling system using a manipulator to peel shrimp. The object of the present invention is to solve the problems that the existing shrimp peeling machine has a complex structure, high cost, complex cooperation relationships between components, and requires multiple servo motors to be separately driven. The shrimp peeling system using a manipulator to peel shrimp in the present invention uses the manipulator to drive the shrimp clamping fixture to clamp the shrimp to be processed from the shrimp picking station, and drives the shrimp clamping fixture to pass through the shrimp back-opening station, shrimp vein removing station and meat-shell separation station in sequence, respectively completing the back-opening, shrimp vein removal and meat-shell separation of the shrimp to be processed. The manipulator drives the shrimp clamping fixture as the moving part to cooperate with the shrimp back-opening station, shrimp vein removing station and meat-shell separation station respectively to complete the shelling and meat picking of the shrimp. The motion relationship is simple, only the program control of the manipulator is required, which simplifies the equipment structure and reduces the equipment cost compared with the existing cantilever back-opening machine with multiple servo motors.

[0008] To solve the problems existing in the above-mentioned prior art, the present invention is achieved through the following technical solutions.

[0009] The present invention provides a shrimp peeling system using a manipulator. The shrimp peeling system includes a shrimp picking station, a shrimp back opening station, a shrimp vein removing station, a meat and shell separation station, a shrimp picking fixture, and a manipulator.

[0010] Among them, the shrimp back opening station, the shrimp vein removing station, and the meat and shell separation station are sequentially arranged on the same straight line.

[0011] The manipulator is assembled above the shrimp picking station, the shrimp back opening station, the shrimp vein removing station, and the meat and shell separation station. The shrimp picking fixture is assembled on the moving platform of the manipulator. The manipulator drives the shrimp picking fixture to move and cooperate with the shrimp back opening station, the shrimp vein removing station, and the meat and shell separation station respectively.

[0012] The shrimp picking fixture is driven by the manipulator to move to the shrimp picking station to pick up the shrimp transported to the shrimp picking station, then sequentially cut the back of the shrimp at the shrimp back opening station, remove the shrimp vein at the shrimp vein removing station, and separate the meat and shell at the meat and shell separation station. The separated shrimp meat is discharged from the meat and shell separation station, and the separated shrimp shell is separated from the shrimp picking fixture after the shrimp picking fixture leaves the meat and shell separation station.

[0013] Further preferably, the manipulator is a two-axis parallel manipulator, and the shrimp back opening station, the shrimp vein removing station, and the meat and shell separation station are arranged in a straight line within the working surface of the two-axis parallel manipulator.

[0014] Further preferably, the shrimp peeling system further includes a shrimp arranging station, and a shrimp conveying device is arranged between the shrimp arranging station and the shrimp picking station to convey the shrimp from the shrimp arranging station to the shrimp picking station.

[0015] Even more preferably, the shrimp conveying device includes a conveying frame, a circulating rotating component, and a number of shrimp placing grooves arranged at intervals on the circulating rotating component. The circulating rotating component is assembled on the conveying frame, and the circulating rotating component rotates in a cycle to drive the shrimp placing grooves to move from the shrimp arranging station to the shrimp picking station, and then from the shrimp picking station to the shrimp arranging station.

[0016] Even more preferably, the shrimp placing groove includes a shrimp placing bottom plate part, a first positioning plate part, and a second positioning plate part. A connecting part for connecting with the circulating rotating component is arranged at the bottom of the shrimp placing bottom plate part. The first positioning plate part and the second positioning plate part are arranged on both sides of the shrimp placing bottom plate, and the extension lines of the first positioning plate part and the second positioning plate part outward intersect at a point.

[0017] Even more preferably, a number of positioning teeth are arranged on the upper edges of the first positioning plate part and the second positioning plate part, and a clamping positioning opening for cooperating with the shrimp picking fixture is formed between adjacent positioning teeth.

[0018] More preferably, the circulating and rotating assembly includes a circulating drive motor, a driving shaft, a driven shaft, a driving wheel, a driven wheel and a transmission member. The driving wheel is assembled on the driving shaft, the driven wheel is assembled on the driven shaft, the transmission member is sleeved on the driving wheel and the driven wheel, the circulating drive motor is connected to the driving shaft and drives the driving shaft to rotate, and the shrimp placing tank is installed on the transmission member.

[0019] More preferably, a supporting member for supporting both ends of the shrimp placing tank is arranged on the conveying rack. When the shrimp placing tank is driven by the circulating and rotating assembly to rotate to a state with the opening facing upwards, the supporting member supports both ends of the shrimp placing tank.

[0020] Further preferably, the shrimp peeling system further includes a clamp cleaning station, which is arranged after the meat and shell separation station. After the meat and shell separation is completed, the shrimp picking clamp is driven by the manipulator to continue moving backward to the clamp cleaning station for cleaning the shrimp picking clamp.

[0021] More preferably, at the clamp cleaning station, the shrimp picking clamp is opened, and while the clamp is being cleaned at the clamp cleaning station, the shrimp shell is separated from the shrimp picking clamp.

[0022] More preferably, a clamp cleaning brush is fixedly assembled at the clamp cleaning station. After the meat and shell separation is completed, the shrimp picking clamp is driven by the manipulator to move relative to the clamp cleaning brush, and the clamp cleaning brush cleans the shrimp picking clamp.

[0023] More preferably, after the manipulator drives the shrimp picking clamp to pick up a shrimp from the shrimp picking station, the height of the clamped shrimp is controlled by the manipulator, so as to control the depth of the shrimp back being cut when the shrimp passes through the shrimp back opening station.

[0024] Further preferably, the shrimp picking clamp includes a clamp mounting seat, a shrimp tail clamping assembly and a shrimp body clamping assembly. The shrimp tail clamping assembly and the shrimp body clamping assembly are both assembled on the clamp mounting seat, and the clamp mounting seat is assembled with the mechanical manual platform.

[0025] The shrimp body clamping assembly includes a shrimp body clamping driving member, a first shrimp body clamping member and a second shrimp body clamping member. The first shrimp body clamping member and the second shrimp body clamping member are oppositely assembled on the shrimp body clamping driving member, and the first shrimp body clamping member and the second shrimp body clamping member are driven by the shrimp body clamping driving member to move relatively.

[0026] In the open state of the shrimp body clamping assembly, the extension lines of the edges of the first shrimp body clamping member and the second shrimp body clamping member acting on the shrimp body and extending towards the shrimp tail clamping assembly intersect at one point.

[0027] A plurality of clamping teeth are arranged on the clamping surfaces of the first shrimp body clamping member and the second shrimp body clamping member for clamping the shrimp body; an avoidance opening is formed between two adjacent clamping teeth.

[0028] A number of clamping needles capable of piercing the shrimp shell are provided on the clamping teeth.

[0029] A positioning member is provided on the center line between the first shrimp body clamping member and the second shrimp body clamping member. The positioning member is fixed on the shrimp body clamping driving member, and the center line of the positioning member coincides with the center line of the relative movement of the first shrimp body clamping member and the second shrimp body clamping member.

[0030] A positioning boss is provided at the end of the positioning member close to the shrimp tail clamping assembly. A positioning step is provided on the positioning member. The positioning step is located between the first shrimp body clamping member and the second shrimp body clamping member. The height of the positioning step is lower than the height of the positioning boss, and the positioning surface of the positioning step does not extend beyond the clamping surfaces of the first shrimp body clamping member and the second shrimp body clamping member.

[0031] A yielding opening adapted to the positioning boss is provided at one end of the first shrimp body clamping member and the second shrimp body clamping member close to the shrimp tail clamping assembly.

[0032] The connection between the positioning boss and the positioning step is in an arc transition.

[0033] The shrimp body clamping driving member is a finger cylinder.

[0034] The shrimp tail clamping assembly includes a shrimp tail clamping driving member, a first shrimp tail clamping member and a second shrimp tail clamping member. The first shrimp tail clamping member and the second shrimp tail clamping member are both assembled on the shrimp tail clamping driving member, and the shrimp tail clamping driving member drives the first shrimp tail clamping member and the second shrimp tail clamping member to move relative to each other.

[0035] The clamping surfaces of the first shrimp tail clamping member and the second shrimp tail clamping member for clamping the shrimp tail are arc-shaped.

[0036] The shrimp tail clamping driving member is a finger cylinder.

[0037] Further preferably, a back-opening knife is provided at the shrimp back-opening station. The cutting edge of the back-opening knife faces upward and intersects the movement track of the shrimp clamped by the shrimp-gripping fixture. Driven by the manipulator, the cutting edge of the back-opening knife moves relative to the shrimp clamped by the shrimp-gripping fixture, and the cutting edge of the back-opening knife cuts into the shrimp back to cut open the shrimp back.

[0038] Further preferably, a shrimp vein brush is fixedly assembled at the shrimp vein removing station. The shrimp vein brush is arranged upward and intersects the movement track of the shrimp clamped by the shrimp-gripping fixture. The manipulator drives the shrimp with its back already opened through the shrimp vein brush, and the shrimp vein brush removes the shrimp vein from the back of the shrimp with its back already opened.

[0039] Further preferably, a swinging shrimp-inserting device is provided at the meat-shell separating station.

[0040] Further preferably, the swinging shrimp inserting device includes a meat taking panel, a shrimp inserting needle assembly and a shrimp inserting driving assembly. The shrimp inserting needle assembly includes a shrimp inserting needle seat and a plurality of shrimp inserting needles arranged on the shrimp inserting needle seat. A plurality of through holes for the shrimp inserting needles to pass through are formed on the meat taking surface. A guiding shaft is arranged under the meat taking panel. The shrimp inserting needle seat is slidably matched with the guiding shaft. The shrimp inserting driving assembly is connected to the shrimp inserting needle seat and drives the shrimp inserting needle seat to reciprocate up and down along the guiding shaft. The shrimp inserting needles move upward through the through holes on the meat taking surface under the drive of the shrimp inserting needle seat and insert into the shrimp meat, and move downward under the drive of the shrimp inserting needle seat to withdraw from the through holes.

[0041] Further preferably, an air jet nozzle is arranged on one side of the meat taking panel, and the other side edge extends downward. After the shrimp inserting needles withdraw from the through holes, the shrimp meat taken out by the shrimp inserting needles remains on the meat taking panel. The air jet nozzle sprays out air flow to discharge the shrimp meat from the edge extending downward on the other side of the meat taking panel.

[0042] Further preferably, a shrimp meat channel is arranged on the side of the meat taking panel.

[0043] Compared with the prior art, the beneficial technical effects brought by the present invention are as follows:

[0044] 1. Compared with the prior art, the present invention uses a manipulator to replace the disc structure of the existing cantilever shrimp peeling machine. The addition of the manipulator makes the movement path of the shrimp taking fixture more flexible and controllable. With the participation of the manipulator, the manipulator can flexibly cooperate with the shrimp back opening station, the shrimp vein removing station and the meat shell separating station to realize shrimp back opening, shrimp vein removing and meat shell separation. Compared with the prior art, with the participation of the manipulator, the shrimp taking fixture can move relative to the shrimp back opening, shrimp vein removing and meat shell separation. Its movement trajectory can be changed by changing the program control of the manipulator, and it is not a completely fixed trajectory. The adjustment is relatively flexible. Compared with the existing fixed circular trajectory, the shrimp taking fixture can change its trajectory under the drive of the manipulator and is also more flexible and adaptable to other stations. For example, the projection of its movement trajectory in the vertical plane can be a wavy line or a broken line. Driven by the manipulator, the shrimp taking fixture can cooperate with the shrimp back opening station, the shrimp vein removing station and the meat shell separating station, rather than the existing shrimp back opening station, shrimp vein removing station and meat shell separating station cooperating with the shrimp taking fixture.

[0045] 2. The shrimp peeling system of the present invention uses a manipulator as the action execution component to drive the shrimp clamping fixture for shrimp peeling operation. Its action principle is that the manipulator drives the shrimp clamping fixture to cooperate with other workstations. When the size specification of the shrimp changes, the cooperation relationship between the shrimp clamping fixture and other workstations can be changed (controlled by the manipulator program), and adaptation can be carried out at the software control level without adjusting the hardware. The size specification of the shrimp and its corresponding control program can be pre-written into the control program. After the shrimp specification changes, it can be adjusted with one key without adjusting the hardware. Compared with the existing shrimp peeling equipment, it has stronger adaptability and is more conducive to adjustment.

[0046] 3. The present invention arranges the shrimp back opening workstation, the shrimp vein removing workstation, and the meat-shell separation workstation on the same straight line to simplify the movement trajectory of the manipulator, so that the projection of the movement trajectory of the manipulator driving the shrimp clamping fixture on the horizontal plane is a straight line, and the manipulator can drive the shrimp clamping fixture to cooperate with other workstations for shrimp peeling only from the height.

[0047] 4. The present invention uses a two-axis parallel manipulator. The two-axis parallel manipulator is a planar manipulator, and its working surface is a plane. It only moves within the X-Y axis range and has no displacement in the Z-axis direction. The selection of the two-axis parallel manipulator in the present invention is beneficial to shrimp peeling control and has a low equipment cost. Compared with the existing XY-axis manipulators, cross slide table manipulators and other structures, it has a smaller moment of inertia and occupies less space. Compared with the three-axis delta manipulator or industrial robot, its equipment cost is lower, and there is no displacement in the Z-axis direction, which is more convenient for control and layout. The present invention arranges the shrimp back opening workstation, the shrimp vein removing workstation, and the meat-shell separation workstation along a straight line within the working surface of the two-axis parallel manipulator, and controls the movement of the shrimp peeling fixture within one plane, which is convenient for control.

[0048] 5. The shrimp peeling system of the present invention further includes a shrimp placing workstation, which places the shrimp in a set posture through the shrimp placing workstation, facilitating the accurate positioning and clamping of the shrimp to be processed by the shrimp clamping fixture at the shrimp taking workstation. The shrimp are placed in sequence at the shrimp placing workstation, which can reduce the difficulty of taking the shrimp by the shrimp clamping fixture at the shrimp taking workstation and improve the success rate of taking the shrimp.

[0049] 6. In the present invention, the shrimp to be processed are transported from the shrimp placing workstation to the shrimp taking workstation through the shrimp conveying device. Through the setting of the shrimp conveying device, on the one hand, it is beneficial to the placement of the shrimp to be processed, and on the other hand, it can complete the orderly arrangement of the shrimp. Under the action of the shrimp placing groove, the placement posture of the shrimp can be limited. In the present invention, the shrimp are placed in the shrimp placing groove with their backs facing down and their bellies facing up, facilitating the subsequent processes such as back opening after the shrimp clamping fixture grabs the shrimp.

[0050] 7. The shrimp placing tank of the present invention is set according to the shape of the shrimp and is cooperatively set with the shrimp taking fixture. The clamping and positioning port on the shrimp placing tank cooperates with the avoidance port on the shrimp taking fixture, so that the shrimp taking clamp can reach deep into the shrimp placing tank to clamp the shrimp to be processed, improving the success rate of shrimp clamping and the stability of the shrimp taking fixture for clamping the shrimp.

[0051] 8. The shrimp peeling system of the present invention is also provided with a fixture cleaning station. After the separation of the meat and the shell is completed, driven by the manipulator, the shrimp taking fixture drives the shrimp shell to move to the fixture cleaning station to clean the shrimp shell on the shrimp taking fixture and clean the shrimp taking fixture at the same time, meeting the food hygiene requirements.

[0052] 9. For the shrimp taking fixture of the present invention, the shrimp tail clamping assembly is used to clamp the shrimp tail, and the shrimp body clamping assembly is used to clamp the shrimp shells on both sides of the abdomen of the shrimp body. Taking the shrimp tail as the positioning reference point, the shrimp is clamped to ensure accurate positioning of the shrimp and accurate clamping position, facilitating subsequent back opening and shrimp vein removal of the shrimp back.

[0053] 10. For the shrimp taking fixture of the present invention, the first shrimp body clamping piece and the second shrimp body clamping piece are set according to the shape of the shrimp with a small head and a large tail. The gap between the first shrimp body clamping piece and the second shrimp body clamping piece is small on the clamping side close to the shrimp tail and large on the clamping side close to the lower head, which is beneficial to the fixed clamping of the shrimp body.

[0054] 11. For the shrimp taking fixture of the present invention, through the setting of the clamping teeth, it can cooperate with the shrimp placing tank for placing the shrimp to be processed, so that the first shrimp body clamping piece and the second shrimp body clamping piece can reach deep into the shrimp placing tank to clamp the shrimp shells on both sides of the shrimp abdomen from both sides of the shrimp body, facilitating the shrimp taking fixture to clamp the shrimp to be processed from the shrimp placing tank.

[0055] 12. The setting of the clamping needle can pierce part of the shrimp shell, enabling the shrimp taking fixture to pierce into the shrimp shell and firmly clamp the shrimp body, preventing the shrimp to be processed from falling off the shrimp taking fixture during the movement of the manipulator driving the shrimp taking fixture.

[0056] 13. In order to better realize the positioning of the shrimp body clamping, the present invention also sets a positioning piece on the midline between the first shrimp body clamping piece and the second shrimp body clamping piece. The shrimp body is positioned and clamped through the positioning piece. When the shrimp is placed with its abdomen facing up and its back facing down, it will bend upward at a certain angle. The function of the positioning piece is to flatten the bent shrimp body when the shrimp taking fixture clamps the shrimp body, avoiding the situation of clamping failure. The flattened shrimp body by the positioning piece is more conducive to the positioning and clamping of the shrimp taking fixture.

[0057] 14. The positioning boss positions the first section of the shrimp shell on the shrimp tail. Through the setting of the positioning boss, the two flaps of the shrimp tail can be opened, facilitating the positioning and clamping of the positioning clamp of the shrimp tail clamping assembly to the conical tail between the two flaps of the shrimp tail. In the subsequent process of meat-shell separation, the shrimp meat of the conical tail remains on the shrimp body, ensuring the integrity of the appearance of the shrimp meat. The positioning step is used to flatten the curved shrimp body. After flattening, it is convenient for the first shrimp body clamping member and the second shrimp body clamping member to clamp.

[0058] 15. The first shrimp body clamping member and the second shrimp body clamping member cooperate with the positioning boss. A relief opening is provided at one end close to the positioning boss to avoid interference with the positioning boss. At the same time, after the positioning boss flattens the shrimp tail, the first shrimp body clamping member and the second shrimp body clamping member can clamp the shrimp shells on both sides of the shrimp abdomen from both sides.

[0059] 16. There is an arc transition between the positioning boss and the positioning step, so that the abdomen of the shrimp placed in the posture with the abdomen facing up and the shrimp back facing down fits with the positioning step, which is beneficial for the positioning step to flatten the complete shrimp body. During work, the positioning boss first flattens the shrimp tail, and then the positioning step flattens the shrimp abdomen, avoiding the shrimp body from falling sideways during the process of the shrimp clamping fixture flattening the shrimp body, which affects the clamping success rate and clamping effect.

[0060] 17. In the present invention, a back-opening knife is fixed at the shrimp back-opening station. The back-opening knife can use the blade of a scalpel and can smoothly cut open the shrimp back. A shrimp vein brush is fixed at the shrimp vein removal station, and a swinging shrimp inserting device is arranged at the meat-shell separation station. The height of the shrimp clamping fixture is controlled by a manipulator. The shrimp passes through the back-opening knife, the shrimp vein brush and the swinging shrimp inserting device, and successively completes back-opening, shrimp vein removal and meat-shell separation. The structure is simple, and the manipulator completely drives the shrimp clamping fixture to cooperate. Except for the swinging shrimp inserting device, no additional control components are required. The swinging shrimp inserting device is provided to facilitate taking out the shrimp meat on the one hand and to facilitate the smoothly discharging of the taken-out shrimp meat from the shrimp peeling system on the other hand.

[0061] 18. In the present invention, a fixture brush is fixed at the fixture cleaning station. The manipulator drives the shrimp clamping fixture to pass through the fixture brush to complete the cleaning of the shrimp clamping fixture. The action is simple and the structure is simplified. Description of the Drawings

[0062] Figure 1 is a schematic three-dimensional structure diagram of a shrimp peeling system using a manipulator according to the present invention;

[0063] Figure 2 is a schematic structure diagram of the manipulator driving the shrimp clamping fixture at the shrimp taking station according to the present invention;

[0064] Figure 3 is a schematic structure diagram of the manipulator driving the shrimp clamping fixture at the shrimp back-opening station and the shrimp vein removal station according to the present invention;

[0065] Figure 4Schematic structural diagram of the manipulator of the present invention driving the shrimp-taking fixture at the meat-shell separation station;

[0066] Figure 5 Schematic structural diagram of the manipulator of the present invention driving the shrimp-taking fixture at the fixture cleaning station;

[0067] Figure 6 Schematic assembly structure diagram of the shrimp-taking fixture of the present invention assembled on a two-axis parallel manipulator;

[0068] Figure 7 Schematic structural diagram of the shrimp conveying device of the present invention;

[0069] Figure 8 Schematic structural diagram of the shrimp placing tank in the shrimp conveying device of the present invention;

[0070] Figure 9 Schematic three-dimensional structure diagram of the shrimp-taking fixture of the present invention;

[0071] Figure 10 Schematic bottom view structure diagram of the shrimp-taking fixture of the present invention;

[0072] Figure 11 Schematic structural diagram of integrating the shrimp back-opening station, shrimp vein removing station, meat-shell separation station and fixture cleaning station of the present invention;

[0073] Reference numerals: 100, shrimp-taking station; 101, shrimp placing station; 102, shrimp conveying device; 103, conveying rack; 104, circulating rotation assembly; 105, shrimp placing tank; 106, shrimp placing bottom plate part; 107, first positioning plate part; 108, second positioning plate part; 109, connecting part; 110, positioning teeth; 111, clamping and positioning port; 112, support member;

[0074] 200, shrimp back-opening station; 201, back-opening knife;

[0075] 300, shrimp vein removing station; 301, shrimp vein brush;

[0076] 400, meat-shell separation station; 401, swinging shrimp inserting device; 402, meat-taking panel; 403, shrimp inserting needle assembly; 404, shrimp inserting driving assembly; 405, shrimp inserting needle seat; 406, shrimp inserting needle; 407, through hole; 408, guiding shaft; 409, air jet nozzle;

[0077] 500 Shrimp picking fixture, 501, Fixture mounting base, 502, Shrimp tail clamping assembly, 503, Shrimp body clamping assembly, 504, Shrimp body clamping driving member, 505, First shrimp body clamping member, 506, Second shrimp body clamping member, 507, Clamping teeth, 508, Avoidance opening, 509, Clamping needle, 510, Positioning member, 511, Positioning boss, 512, Positioning step, 513, Yielding opening, 514, Shrimp tail clamping driving member, 515, First shrimp tail clamping member, 516, Second shrimp tail clamping member;

[0078] 600, Two-axis parallel manipulator, 700, Fixture cleaning station; 701, Fixture cleaning brush. Detailed implementation mode

[0079] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0080] Embodiment 1

[0081] As a preferred embodiment of the present invention, referring to the attached Figure 1 drawing, this embodiment discloses a shrimp peeling system using a manipulator. The shrimp peeling system includes a shrimp picking station 100, a shrimp back opening station 200, a shrimp vein removing station 300, a meat-shell separation station 400, a shrimp picking fixture 500 and a manipulator;

[0082] Among them, the shrimp back opening station 200, the shrimp vein removing station 300 and the meat-shell separation station 400 are arranged in sequence on the same straight line;

[0083] The manipulator is assembled above the shrimp picking station 100, the shrimp back opening station 200, the shrimp vein removing station 300 and the meat-shell separation station 400, and the shrimp picking fixture 500 is assembled on the moving platform of the manipulator; the manipulator drives the shrimp picking fixture 500 to move and cooperate with the shrimp back opening station 200, the shrimp vein removing station 300 and the meat-shell separation station 400 respectively;

[0084] As Figure 2 shown, the shrimp picking fixture 500 is driven by the manipulator to move to the shrimp picking station 100 to pick up the shrimps transported to the shrimp picking station 100, and then sequentially cut the shrimp backs through the shrimp back opening station 200 (as Figure 3 shown), remove the shrimp veins through the shrimp vein removing station 300 (as Figure 3 shown), and separate the meat from the shell through the meat-shell separation station 400 (as Figure 4As shown in the figure, the separated shrimp meat is discharged from the meat-shell separation station 400, and the separated shrimp shell is separated from the shrimp-taking fixture 500 after the shrimp-taking fixture 500 leaves the meat-shell separation station 400.

[0085] In this embodiment, a manipulator is used to replace the disc structure of the existing cantilever shrimp peeling machine. The addition of the manipulator makes the movement path of the shrimp-taking fixture 500 more flexible and controllable. With the participation of the manipulator, the manipulator can cooperate with the shrimp back-opening station 200, the shrimp vein removing station 300, and the meat-shell separation station 400 flexibly to achieve shrimp back-opening, shrimp vein removal, and meat-shell separation. Compared with the prior art, with the participation of the manipulator, the shrimp-taking fixture 500 can move relative to the shrimp back-opening, shrimp vein removal, and meat-shell separation. Its movement trajectory can be changed by changing the program control of the manipulator, and it is not a completely fixed trajectory. The adjustment is relatively flexible. Compared with the existing fixed circular trajectory, the shrimp-taking fixture 500 can change its trajectory driven by the manipulator and is also more flexible to adapt to other stations. For example, the projection of its movement trajectory in the vertical plane can be a wavy line or a broken line. Driven by the manipulator, the shrimp-taking fixture 500 can cooperate with the shrimp back-opening station 200, the shrimp vein removing station 300, and the meat-shell separation station 400, rather than the existing shrimp back-opening station 200, the shrimp vein removing station 300, and the meat-shell separation station 400 cooperating with the shrimp-taking fixture 500.

[0086] In this embodiment, a manipulator is used as the action execution component to drive the shrimp-taking fixture 500 to perform shrimp peeling operations. Its action principle is that the manipulator drives the shrimp-taking fixture 500 to cooperate with other stations. When the size specification of the shrimp changes, the cooperation relationship between the shrimp-taking fixture 500 and other stations can be changed (through the program control of the manipulator), and it can be adapted at the software control level without adjusting the hardware. The size specification of the shrimp and its corresponding control program can be pre-written into the control program. After the shrimp specification changes, it can be adjusted with one key without adjusting the hardware. Compared with the prior art shrimp peeling equipment, it has stronger adaptability and is more conducive to adjustment.

[0087] The shrimp back-opening station 200, the shrimp vein removing station 300, and the meat-shell separation station 400 are arranged on the same straight line to simplify the movement trajectory of the manipulator, so that the projection of the movement trajectory of the manipulator driving the shrimp-taking fixture 500 in the horizontal plane is a straight line, and the manipulator can drive the shrimp-taking fixture 500 to cooperate with other stations for shrimp peeling only from the height.

[0088] In this embodiment, the number of shrimp taken out by the shrimp clamping fixture 500 at one time is not limited. The number of shrimp taken out side by side can be determined according to the number of shrimp clamping fixtures 500 mounted on the robot arm. That is, multiple shrimp clamping fixtures 500 can be assembled on the robot arm to take out shrimp. Multiple sets of structures are arranged side by side at the shrimp back opening station 200, the shrimp vein removing station 300, and the meat-shell separation station 400 to cooperate with the multiple shrimp to be processed taken out side by side by multiple shrimp clamping fixtures 500, and the shrimp processing efficiency can be improved in this way.

[0089] Embodiment 2

[0090] As another preferred embodiment of the present invention, this embodiment further elaborates and supplements the implementation manner of the shrimp peeling system of the present invention on the basis of Embodiment 1.

[0091] As an implementation manner of this embodiment, as Figure 2 、 Figure 3 and Figure 4 shown, the shrimp back opening station 200 is provided with a back opening knife 201. The cutting edge of the back opening knife 201 faces upward and intersects with the movement track of the shrimp clamped by the shrimp clamping fixture 500. Driven by the robot arm, the cutting edge of the back opening knife 201 moves relative to the shrimp clamped by the shrimp clamping fixture 500, and the cutting edge of the back opening knife 201 cuts into the shrimp back to cut open the shrimp back. Multiple back opening knives 201 can be arranged side by side to correspond to the multiple shrimp to be processed taken out side by side by multiple shrimp clamping fixtures 500 mounted on the robot arm side by side.

[0092] After the robot arm drives the shrimp clamping fixture 500 to clamp the shrimp from the shrimp taking station 100, the robot arm controls the height of the clamped shrimp, so as to control the depth of the shrimp back being cut when the shrimp passes through the shrimp back opening station 200.

[0093] As another implementation manner of this embodiment, the shrimp vein removing station 300 is fixedly equipped with a shrimp vein brush 301. The shrimp vein brush 301 is arranged upward and intersects with the movement track of the shrimp clamped by the shrimp clamping fixture 500. The robot arm drives the shrimp with the back already opened through the shrimp vein brush 301, and the shrimp vein brush 301 removes the shrimp vein from the back of the shrimp with the back already opened. The width of the shrimp vein brush 301 can be appropriately increased so that multiple shrimp grabbed side by side can pass through the shrimp vein brush 301 and the shrimp vein removing process can be carried out together.

[0094] As another implementation manner of this embodiment, the meat-shell separation station 400 is provided with a swinging shrimp inserting device 401. The swinging shrimp inserting device 401 can adopt the body-inserting long needle assembly in the existing shrimp peeling machine.

[0095] In order to better adapt to the shrimp peeling system of the present invention, as Figure 11As shown in the figure, the swinging shrimp inserting device 401 includes a meat taking panel 402, a shrimp inserting needle 406 assembly 403 and a shrimp inserting driving assembly 404. The shrimp inserting needle 406 assembly 403 includes a shrimp inserting needle 406 seat 405 and a plurality of shrimp inserting needles 406 arranged on the shrimp inserting needle 406 seat 405. A plurality of through holes 407 for the shrimp inserting needles 406 to pass through are formed on the meat taking surface. A guiding shaft 408 is arranged under the meat taking panel 402. The shrimp inserting needle 406 seat 405 is slidably engaged with the guiding shaft 408. The shrimp inserting driving assembly 404 is connected to the shrimp inserting needle 406 seat 405 to drive the shrimp inserting needle 406 seat 405 to reciprocate up and down along the guiding shaft 408. Driven by the shrimp inserting needle 406 seat 405, the shrimp inserting needle 406 moves upward through the through hole 407 on the meat taking surface and inserts into the shrimp meat, and then moves downward under the drive of the shrimp inserting needle 406 seat 405 to withdraw from the through hole 407. The shrimp inserting needle 406 rises and inserts into the shrimp meat on the shrimp taking fixture 500 of the manipulator. The manipulator moves, generating a horizontal displacement with the shrimp inserting needle 406, so that the shrimp inserting needle 406 can take out the shrimp meat from the shrimp shell. The taken-out shrimp meat remains on the shrimp inserting needle 406. When the shrimp inserting needle 406 withdraws from the meat taking panel 402, the meat taking panel 402 takes the shrimp meat from the shrimp inserting needle 406, and the shrimp meat is placed on the meat taking panel 402.

[0096] In order to facilitate the discharge of the shrimp meat from the meat taking panel 402 without affecting the next meat-shell separation, an air jet nozzle 409 is arranged on one side of the meat taking panel 402, and the other side edge extends downward. After the shrimp inserting needle 406 withdraws from the through hole 407, the shrimp meat taken out by the shrimp inserting needle 406 remains on the meat taking panel 402. The air jet nozzle 409 sprays air flow to discharge the shrimp meat from the edge extending downward on the other side of the meat taking panel 402. A shrimp meat channel is arranged on the side of the meat taking panel 402.

[0097] Embodiment 3

[0098] As another preferred embodiment of the present invention, this embodiment further elaborates and supplements the implementation manner of the shrimp peeling system of the present invention on the basis of Embodiment 1 or Embodiment 2.

[0099] In this embodiment, the manipulator can be selected from existing XY-axis manipulators, cross slide manipulators, industrial robots, three-axis delta manipulators, etc. Considering factors such as equipment cost, equipment inertia, and control program, a two-axis parallel manipulator 600 (as shown in the attached instructions Figure 6 is preferably used). Compared with XY-axis manipulators and cross slide manipulators, the two-axis parallel manipulator 600 has a smaller volume and more stable operation. Compared with industrial robots and three-axis delta manipulators, it has a lower cost and simpler program control.

[0100] As another implementation manner of this embodiment, refer to the attached instructions Figure 7As shown, the shrimp peeling system further includes a shrimp arranging station 101. A shrimp conveying device 102 is provided between the shrimp arranging station 101 and the shrimp picking station 100. The shrimp conveying device 102 conveys the shrimp from the shrimp arranging station 101 to the shrimp picking station 100.

[0101] As an example, the shrimp conveying device 102 includes a conveying frame 103, a circulating rotating assembly 104, and a plurality of shrimp placing grooves 105 arranged at intervals on the circulating rotating assembly 104. The circulating rotating assembly 104 is assembled on the conveying frame 103. The circulating rotating assembly 104 rotates in a cycle to drive the shrimp placing grooves 105 to move from the shrimp arranging station 101 to the shrimp picking station 100, and then from the shrimp picking station 100 to the shrimp arranging station 101.

[0102] As another example, the shrimp conveying device 102 of the present invention may adopt the shrimp conveying device 102 of an existing shrimp peeling machine.

[0103] As an implementation manner of this embodiment, as Figure 8 shown, the shrimp placing groove 105 includes a shrimp placing bottom plate portion 106, a first positioning plate portion 107, and a second positioning plate portion 108. A connecting portion 109 for connecting with the circulating rotating assembly 104 is provided at the bottom of the shrimp placing bottom plate portion 106. The first positioning plate portion 107 and the second positioning plate portion 108 are arranged on both sides of the shrimp placing bottom plate, and the extension lines of the first positioning plate portion 107 and the second positioning plate portion 108 extending outward intersect at a point. Further preferably, a plurality of positioning teeth 110 are provided on the upper edges of the first positioning plate portion 107 and the second positioning plate portion 108, and a clamping positioning opening 111 for cooperating with the shrimp picking fixture 500 is formed between adjacent positioning teeth 110.

[0104] As an example, the circulating rotating assembly 104 includes a circulating drive motor, a driving shaft, a driven shaft, a driving wheel, a driven wheel, and a transmission member. The driving wheel is assembled on the driving shaft, the driven wheel is assembled on the driven shaft, the transmission member is sleeved on the driving wheel and the driven wheel, the circulating drive motor is connected to the driving shaft and drives the driving shaft to rotate, and the shrimp placing groove 105 is installed on the transmission member.

[0105] Further preferably, support members 112 for supporting both ends of the shrimp placing groove 105 are provided on the conveying frame 103. When the shrimp placing groove 105 is driven by the circulating rotating assembly 104 to rotate to a state with the opening facing upward, the support members 112 support both ends of the shrimp placing groove 105.

[0106] Embodiment 4

[0107] As another preferred embodiment of the present invention, this embodiment further elaborates and supplements the implementation manner of the shrimp peeling system of the present invention on the basis of Embodiment 1, Embodiment 2, or Embodiment 3.

[0108] Referring to the accompanying drawings of the specification Figure 1Or attached Figure 11 As shown, the shrimp peeling system further includes a fixture cleaning station 700, which is arranged after the meat-shell separation station 400. After the meat-shell separation is completed, the shrimp-taking fixture 500 is driven by the manipulator to continue moving backward to the fixture cleaning station 700 to clean the shrimp-taking fixture 500.

[0109] At the fixture cleaning station 700, the shrimp-taking fixture 500 is opened. While the fixture is being cleaned at the fixture cleaning station 700, the shrimp shell is separated from the shrimp-taking fixture 500.

[0110] As an example, the fixture cleaning station 700 is fixedly equipped with a fixture cleaning brush 701. After the meat-shell separation is completed, the shrimp-taking fixture 500 is driven by the manipulator to move relative to the fixture cleaning brush 701, and the fixture cleaning brush 701 cleans the shrimp-taking fixture 500.

[0111] Embodiment 5

[0112] As another preferred embodiment of the present invention, this embodiment further elaborates and supplements the implementation manner of the shrimp peeling system of the present invention on the basis of Embodiment 1, Embodiment 2, Embodiment 3 or Embodiment 4.

[0113] In order to further improve the clamping success rate and positioning accuracy of the shrimp-taking fixture 500, refer to the attached drawings of the specification Figure 9 and attached Figure 10 As shown, the shrimp-taking fixture 500 in the above Embodiments 1-4 includes a fixture mounting seat 501, a shrimp tail clamping assembly 502 and a shrimp body clamping assembly 503. The shrimp tail clamping assembly 502 and the shrimp body clamping assembly 503 are both assembled on the fixture mounting seat 501, and the fixture mounting seat 501 is assembled with the mechanical manual platform. The shrimp tail clamping assembly 502 is used to clamp the shrimp tail, and the shrimp body clamping assembly 503 is used to clamp the shrimp shells on both sides of the shrimp body abdomen. Taking the shrimp tail as the positioning reference point, the shrimp is clamped to ensure accurate shrimp positioning and accurate clamping position, which is convenient for subsequent back-opening and shrimp vein removal of the shrimp.

[0114] As an example, the shrimp body clamping assembly 503 includes a shrimp body clamping driving member 504, a first shrimp body clamping member 505 and a second shrimp body clamping member 506. The first shrimp body clamping member 505 and the second shrimp body clamping member 506 are relatively assembled on the shrimp body clamping driving member 504, and the shrimp body clamping driving member 504 drives the first shrimp body clamping member 505 and the second shrimp body clamping member 506 to move relatively.

[0115] As shown in the attached drawings of the specification Figure 9As shown, when the shrimp body clamping assembly 503 is in the open state, the extension lines of the first shrimp body clamping member 505 and the second shrimp body clamping member 506 acting on the edge of the shrimp body and extending towards the shrimp tail clamping assembly 502 intersect at a point. The first shrimp body clamping member 505 and the second shrimp body clamping member 506 are arranged according to the shape of the shrimp tail with a small head and a large body. The distance between the first shrimp body clamping member 505 and the second shrimp body clamping member 506 is small at the clamping side near the shrimp tail and large at the clamping side near the lower head, which is beneficial to the fixed clamping of the shrimp body.

[0116] As another embodiment of the present invention, a number of clamping teeth 507 are provided on the clamping surfaces of the first shrimp body clamping member 505 and the second shrimp body clamping member 506 for clamping the shrimp body; an avoidance opening 508 is formed between two adjacent clamping teeth 507. Through the cooperation of the clamping teeth 507 with the clamping positioning openings 111 in the shrimp placing groove 105, the first shrimp body clamping member 505 and the second shrimp body clamping member 506 can extend into the shrimp placing groove 105 to clamp the shrimp shells on both sides of the shrimp belly from both sides of the shrimp body, facilitating the picking fixture 500 to pick up the shrimp to be processed from the shrimp placing groove 105.

[0117] As an example, a number of clamping needles 509 for piercing the shrimp shell are provided on the clamping teeth 507. The setting of the clamping needles 509 can pierce part of the shrimp shell, enabling the picking fixture 500 to pierce into the shrimp shell and firmly clamp the shrimp body, preventing the shrimp to be processed from falling off the picking fixture 500 during the movement of the manipulator driving the picking fixture 500.

[0118] In order to better achieve the positioning of the shrimp body clamping, a positioning member 510 is further provided on the midline between the first shrimp body clamping member 505 and the second shrimp body clamping member 506 in this embodiment. The positioning member 510 is fixed on the shrimp body clamping driving member 504, and the midline of the positioning member 510 coincides with the midline of the relative movement of the first shrimp body clamping member 505 and the second shrimp body clamping member 506. When the shrimp is placed with its abdomen facing up and its back facing down, it will bend upward at a certain angle. The function of the positioning member 510 is to flatten the bent shrimp body when the picking fixture 500 clamps the shrimp body, avoiding the situation of clamping failure. The flattened shrimp body by the positioning member 510 is more conducive to the positioning and clamping of the picking fixture 500.

[0119] Further preferably, a positioning boss 511 is provided at the end of the positioning member 510 close to the shrimp tail clamping assembly 502. A positioning step 512 is provided on the positioning member 510. The positioning step 512 is located between the first shrimp body clamping member 505 and the second shrimp body clamping member 506, and the height of the positioning step 512 is lower than that of the positioning boss 511, and the positioning surface of the positioning step 512 does not extend beyond the clamping surfaces of the first shrimp body clamping member 505 and the second shrimp body clamping member 506. The positioning boss 511 positions the first section of the shrimp shell on the shrimp tail. By providing the positioning boss 511, the two flaps of the shrimp tail can be opened, facilitating the positioning and clamping of the conical tail between the two flaps of the shrimp tail by the shrimp tail clamping assembly 502, so that during the subsequent meat-shell separation process, the shrimp meat of the conical tail remains on the shrimp body, ensuring the integrity of the appearance of the shrimp meat. The positioning step 512 is used to flatten the curved shrimp body. After flattening, it is convenient for the first shrimp body clamping member 505 and the second shrimp body clamping member 506 to clamp.

[0120] Even more preferably, a relief opening 513 adapted to the positioning boss 511 is provided at one end of the first shrimp body clamping member 505 and the second shrimp body clamping member 506 close to the shrimp tail clamping assembly 502. The first shrimp body clamping member 505 and the second shrimp body clamping member 506 cooperate with the positioning boss 511, and a relief opening 513 is provided at one end thereof close to the positioning boss 511 to avoid interference with the positioning boss 511. At the same time, after the positioning boss 511 flattens the shrimp tail, the first shrimp body clamping member 505 and the second shrimp body clamping member 506 can clamp the shrimp shells on both sides of the shrimp abdomen from both sides.

[0121] The connection between the positioning boss 511 and the positioning step 512 is in an arc transition. The arc transition between the positioning boss 511 and the positioning step 512 enables the abdomen of the shrimp placed in a posture with the abdomen facing up and the shrimp back facing down to fit with the positioning step 512, which is beneficial for the positioning step 512 to flatten the complete shrimp body. During operation, the positioning boss 511 first flattens the shrimp tail, and then the positioning step 512 flattens the shrimp abdomen, avoiding the shrimp body from tipping over during the process of the shrimp clamping fixture 500 flattening the shrimp body, which affects the clamping success rate and clamping effect.

[0122] As an example, the shrimp body clamping driving member 504 is a finger cylinder, which has a simple structure, is easy to control, and has a low equipment cost. Other driving members can also be used, such as a clamping jaw motor, etc.

[0123] The shrimp tail clamping assembly 502 includes a shrimp tail clamping driving member 514, a first shrimp tail clamping member 515, and a second shrimp tail clamping member 516. The first shrimp tail clamping member 515 and the second shrimp tail clamping member 516 are both assembled on the shrimp tail clamping driving member 514, and the shrimp tail clamping driving member 514 drives the first shrimp tail clamping member 515 and the second shrimp tail clamping member 516 to move relative to each other. The shrimp tail clamping assembly 502 has a simple structure and is easy to control.

[0124] The clamping surfaces of the first shrimp tail clamping member 515 and the second shrimp tail clamping member 516 for clamping the shrimp tail are arc-shaped, which fit the curved shrimp belly to ensure the success rate and accuracy of the positioning of the shrimp clamping fixture 500 when clamping.

[0125] The shrimp tail clamping driving member 514 is a finger cylinder, which has a simple structure, is easy to control, and has a low equipment cost. Other driving members, such as a clamping jaw motor, etc., can also be used.

Claims

1. A shrimp peeling system using a manipulator, characterized by: The shrimp peeling system includes a shrimp picking station (100), a shrimp back opening station (200), a shrimp vein removing station, a meat-shell separating station (400), a shrimp picking fixture (500) and a manipulator; Among them, the shrimp back opening station (200), the shrimp vein removing station and the meat-shell separating station (400) are arranged in sequence on the same straight line; The manipulator is assembled above the shrimp picking station (100), the shrimp back opening station (200), the shrimp vein removing station and the meat-shell separating station (400), and the shrimp picking fixture (500) is assembled on the moving platform of the manipulator; the manipulator drives the shrimp picking fixture (500) to move and cooperate with the shrimp back opening station (200), the shrimp vein removing station and the meat-shell separating station (400) respectively; The shrimp picking fixture (500) is driven by the manipulator to move to the shrimp picking station (100) to pick up the shrimps transported to the shrimp picking station (100), then sequentially cut the backs of the shrimps through the shrimp back opening station (200), remove the shrimp veins through the shrimp vein removing station, and separate the meat from the shell through the meat-shell separating station (400). The separated shrimp meat is discharged from the meat-shell separating station (400), and the separated shrimp shells are separated from the shrimp picking fixture (500) after the shrimp picking fixture (500) leaves the meat-shell separating station (400); The shrimp picking fixture (500) includes a fixture mounting seat (501), a shrimp tail clamping assembly (502) and a shrimp body clamping assembly (503). The shrimp tail clamping assembly (502) and the shrimp body clamping assembly (503) are both assembled on the fixture mounting seat (501), and the fixture mounting seat (501) is assembled with the moving platform of the manipulator; The shrimp body clamping assembly (503) includes a shrimp body clamping driving member (504), a first shrimp body clamping member (505) and a second shrimp body clamping member (506). The first shrimp body clamping member (505) and the second shrimp body clamping member (506) are relatively assembled on the shrimp body clamping driving member (504), and the shrimp body clamping driving member (504) drives the first shrimp body clamping member (505) and the second shrimp body clamping member (506) to move relatively; A number of clamping teeth (507) are arranged on the clamping surfaces of the first shrimp body clamping member (505) and the second shrimp body clamping member (506) that act on the shrimp body; an avoidance opening (508) is formed between two adjacent clamping teeth (507); a number of clamping needles (509) that can pierce the shrimp shell are arranged on the clamping teeth (507).

2. The shrimp peeling system using a manipulator to peel shrimps as described in claim 1, characterized in that: The manipulator is a two-axis parallel manipulator (600), and the shrimp back opening station (200), the shrimp vein removing station and the meat-shell separating station (400) are arranged in a straight line within the working surface of the two-axis parallel manipulator (600).

3. A shrimp peeling system using a manipulator to peel shrimps as claimed in claim 1 or 2, characterized in that: The shrimp peeling system further includes a shrimp arranging station (101), and a shrimp conveying device (102) is arranged between the shrimp arranging station (101) and the shrimp picking station (100). The shrimp conveying device (102) conveys the shrimps from the shrimp arranging station (101) to the shrimp picking station (100).

4. A shrimp peeling system using a manipulator to peel shrimps as claimed in claim 3, wherein: The shrimp conveying device (102) includes a conveying frame (103), a circulating rotation assembly (104), and a number of shrimp placement grooves (105) arranged at intervals on the circulating rotation assembly (104). The circulating rotation assembly (104) is assembled on the conveying frame (103). The circulating rotation of the circulating rotation assembly (104) drives the shrimp placement grooves (105) to move from the shrimp placing station (101) to the shrimp picking station (100), and then from the shrimp picking station (100) to the shrimp placing station (101).

5. The shrimp peeling system using a manipulator to peel shrimps as claimed in claim 4, characterized in that: The shrimp placement groove (105) includes a shrimp placement bottom plate portion (106), a first positioning plate portion (107), and a second positioning plate portion (108). A connecting portion (109) for connecting with the circulating rotation assembly (104) is provided at the bottom of the shrimp placement bottom plate portion (106). The first positioning plate portion (107) and the second positioning plate portion (108) are arranged on both sides of the shrimp placement bottom plate, and the extension lines of the first positioning plate portion (107) and the second positioning plate portion (108) outward intersect at a point.

6. The shrimp peeling system using a manipulator to peel shrimp as described in claim 5, wherein: A number of positioning teeth (110) are provided on the upper edges of the first positioning plate portion (107) and the second positioning plate portion (108). A clamping positioning opening (111) that cooperates with the shrimp picking fixture (500) is formed between adjacent positioning teeth (110).

7. A shrimp peeling system using a manipulator to peel shrimps as claimed in claim 4, characterized in that: The circulating rotation assembly (104) includes a circulating drive motor, a driving shaft, a driven shaft, a driving wheel, a driven wheel, and a transmission member. The driving wheel is assembled on the driving shaft, the driven wheel is assembled on the driven shaft, the transmission member is sleeved on the driving wheel and the driven wheel, the circulating drive motor is connected to the driving shaft and drives the driving shaft to rotate, and the shrimp placement groove (105) is installed on the transmission member.

8. The shrimp peeling system using a manipulator to peel shrimps as described in claim 4, characterized in that: Support members (112) for supporting both ends of the shrimp placement groove (105) are provided on the conveying frame (103). When the shrimp placement groove (105) is driven by the circulating rotation assembly (104) to rotate to a state with the opening facing upward, the support members (112) support both ends of the shrimp placement groove (105).

9. A shrimp peeling system using a manipulator to peel shrimps as claimed in claim 1 or 2, characterized in that: The shrimp peeling system further includes a fixture cleaning station (700). The fixture cleaning station (700) is arranged after the meat-shell separation station (400). After the meat-shell separation is completed, the shrimp picking fixture (500) is driven by a manipulator to continue moving backward to the fixture cleaning station (700) to clean the shrimp picking fixture (500).

10. A shrimp peeling system using a manipulator to peel shrimps as described in claim 9, characterized in that: At the fixture cleaning station (700), the shrimp picking fixture (500) is opened. While the fixture is being cleaned at the fixture cleaning station (700), the shrimp shells are separated from the shrimp picking fixture (500).

11. A shrimp peeling system using a manipulator to peel shrimps as claimed in claim 9, characterized in that: A fixture cleaning brush (701) is fixedly assembled at the fixture cleaning station (700). After the meat-shell separation is completed, the shrimp picking fixture (500) is driven by a manipulator to move relative to the fixture cleaning brush (701), and the fixture cleaning brush (701) cleans the shrimp picking fixture (500).

12. A shrimp peeling system using a manipulator to peel shrimps as described in claim 1 or 2, characterized in that: After the manipulator drives the shrimp picking fixture (500) to pick up a shrimp from the shrimp picking station (100), the height of the clamped shrimp is controlled by the manipulator, so as to control the depth at which the shrimp back is cut when the shrimp passes through the shrimp back opening station (200).

13. A shrimp peeling system using a manipulator to peel shrimps as claimed in claim 1 or 2, characterized in that: In the open state of the shrimp body clamping assembly (503), the extension lines of the first shrimp body clamping member (505) and the second shrimp body clamping member (506) acting on the edge of the shrimp body and extending towards the shrimp tail clamping assembly (502) intersect at a point.

14. A shrimp peeling system using a manipulator to peel shrimps as claimed in claim 1 or 2, wherein: A positioning member (510) is provided on the center line between the first shrimp body clamping member (505) and the second shrimp body clamping member (506). The positioning member (510) is fixed on the shrimp body clamping driving member (504), and the center line of the positioning member (510) coincides with the center line of the relative movement of the first shrimp body clamping member (505) and the second shrimp body clamping member (506).

15. A shrimp peeling system using a manipulator to peel shrimps as described in claim 14, characterized in that: A positioning boss (511) is provided at the end of the positioning member (510) close to the shrimp tail clamping assembly (502). A positioning step (512) is provided on the positioning member (510). The positioning step (512) is located between the first shrimp body clamping member (505) and the second shrimp body clamping member (506), and the height of the positioning step (512) is lower than the height of the positioning boss (511), and the positioning surface of the positioning step (512) does not extend beyond the clamping surfaces of the first shrimp body clamping member (505) and the second shrimp body clamping member (506).

16. A shrimp peeling system using a manipulator to peel shrimps according to claim 15, characterized in that: A relief opening (513) adapted to the positioning boss (511) is provided at one end of the first shrimp body clamping member (505) and the second shrimp body clamping member (506) close to the shrimp tail clamping assembly (502).

17. A shrimp peeling system using a manipulator to peel shrimps as described in claim 15, characterized in that: The connection between the positioning boss (511) and the positioning step (512) is in an arc transition.

18. A shrimp peeling system using a manipulator to peel shrimps as claimed in claim 1 or 2, characterized in that: The shrimp tail clamping assembly (502) includes a shrimp tail clamping driving member (514), a first shrimp tail clamping member (515) and a second shrimp tail clamping member (516). The first shrimp tail clamping member (515) and the second shrimp tail clamping member (516) are both assembled on the shrimp tail clamping driving member (514), and the shrimp tail clamping driving member (514) drives the first shrimp tail clamping member (515) and the second shrimp tail clamping member (516) to move relative to each other.

19. A shrimp peeling system using a manipulator to peel shrimps as described in claim 18, characterized in that: The clamping surfaces of the first shrimp tail clamping member (515) and the second shrimp tail clamping member (516) for clamping the shrimp tail are arc-shaped.

20. A shrimp peeling system using a manipulator to peel shrimps according to claim 1 or 2, characterized in that: A back-opening knife (201) is provided at the shrimp back-opening station (200). The cutting edge of the back-opening knife (201) faces upward and intersects the movement track of the shrimp clamped by the shrimp-gripping fixture (500). Driven by the manipulator, the cutting edge of the back-opening knife (201) moves relative to the shrimp clamped by the shrimp-gripping fixture (500), and the back-opening knife (201) cuts into the shrimp back to cut open the shrimp back.

21. A shrimp peeling system using a manipulator to peel shrimps according to claim 1 or 2, characterized in that: A shrimp vein brush is fixedly assembled at the shrimp vein removing station. The shrimp vein brush is arranged upward and intersects the movement track of the shrimp clamped by the shrimp-gripping fixture (500). The manipulator drives the already back-opened shrimp through the shrimp vein brush, and the shrimp vein brush removes the shrimp vein from the already back-opened shrimp back.

22. A shrimp peeling system using a manipulator to peel shrimps as described in claim 1 or 2, characterized in that: A swinging shrimp-inserting device (401) is provided at the meat-shell separating station (400).

23. A shrimp peeling system using a manipulator to peel shrimps as described in claim 22, characterized in that: The swing shrimp inserting device (401) includes a meat taking panel (402), a shrimp inserting needle assembly (403) and a shrimp inserting driving assembly (404). The shrimp inserting needle assembly (403) includes a shrimp inserting needle base (405) and a plurality of shrimp inserting needles (406) arranged on the shrimp inserting needle base (405). A plurality of through holes (407) for the shrimp inserting needles (406) to pass through are formed on the meat taking surface. A guiding shaft (408) is arranged below the meat taking panel (402). The shrimp inserting needle base (405) is slidably fitted on the guiding shaft (408). The shrimp inserting driving assembly (404) is connected to the shrimp inserting needle base (405) to drive the shrimp inserting needle base (405) to reciprocate up and down along the guiding shaft (408). The shrimp inserting needles (406) move upward under the drive of the shrimp inserting needle base (405) to pass through the through holes (407) on the meat taking surface and insert into the shrimp meat, and move downward under the drive of the shrimp inserting needle base (405) to withdraw from the through holes (407).

24. A shrimp peeling system using a manipulator to peel shrimps as described in claim 23, characterized in that: An air jet nozzle (409) is arranged on one side of the meat taking panel (402), and the other side edge extends downward. After the shrimp inserting needles (406) withdraw from the through holes (407), the shrimp meat taken out by the shrimp inserting needles (406) remains on the meat taking panel (402). The air jet nozzle (409) sprays air flow to discharge the shrimp meat from the edge extending downward on the other side of the meat taking panel (402).

Images