Shrimp processing equipment and methods

Abstract

This document describes shrimp processing equipment and methods for peeling shrimp. The shrimp processing equipment can be arranged in a system comprising one or more processing stations configured to peel individual shrimp, wherein peeling may involve removing shell segments from the dorsal surface of the shrimp's abdomen and / or removing the ventral surface of the shrimp's abdomen from the foot / limbs, and optionally involves shell segment separation. In one or more embodiments, the processing system and methods may include equipment and methods for measuring shrimp.

Description

[0001] Divisional application

[0002] This application is a divisional application. The original application has the application number 202180012970.1, the application date is February 5, 2021, and the invention title is "Shrimp Processing Equipment and Method".

[0003] Related Applications

[0004] This application claims the benefit of U.S. Provisional Application Serial No. 62 / 971,653, filed on February 7, 2020, entitled “Shrimp Processing System, Processing Apparatus and Methods,” which is incorporated herein by reference in its entirety under 35 USC § 119. Technical Field

[0005] This article describes a shrimp processing system that includes equipment for peeling shrimp shells, as well as a method for peeling shrimp shells. Background Technology

[0006] The processing of shrimp intended for human consumption may include measuring the shrimp in order to group them appropriately according to size (based on weight, such as pounds or kilograms, larger shrimp generally sell for more than smaller ones). In some cases, this is the only processing performed, where consumers select whole shrimp and undergo chosen further processing while preparing the shrimp for consumption.

[0007] Other shrimp processing may include removing the shrimp's head (e.g., cephalothorax), removing the shell segments covering the abdomen and related soft appendages (e.g., foot), removing the shrimp's mud veins, etc.

[0008] In many cases, the aforementioned processing is done manually—even for commercially available shrimp. Automated equipment designed to perform some shrimp processing often results in a relatively high loss of edible shrimp meat, which in turn leads to reduced revenue, since shrimp are typically sold by weight. For example, the process of peeling and deveining may involve cutting open the posterior or dorsal side of the shrimp's abdomen to remove the veins and optionally removing the shell segments from the abdomen. This processing typically results in a loss of shrimp meat and therefore a loss of revenue. Summary of the Invention

[0009] This document describes shrimp processing equipment and methods for peeling shrimp. The shrimp processing equipment can be located in a system comprising one or more processing stations configured to peel individual shrimp, wherein peeling may involve removing shell segments from the dorsal surface of the shrimp's abdomen and / or removing the ventral surface of the shrimp's abdomen from the foot / limbs, and optionally involves shell segment separation. In one or more embodiments, the processing system and methods may include equipment and methods for measuring shrimp.

[0010] In one or more embodiments, the shrimp processing system and method described herein provide for processing shrimp at one or more processing stations, wherein individual shrimp are transferred between stations using a transport system. In one or more embodiments, the shrimp processing system may include one or more processing stations configured to perform one or more of the following functions on each shrimp: measuring the individual shrimp, cutting the mud veins of the individual shrimp, decapitating the individual shrimp, peeling the shell of the individual shrimp; separating adjacent ventral shell segments from the individual shrimp, etc.

[0011] The shrimp processing system and methods described herein can solve many problems associated with processing shrimp intended for human consumption. While many problems related to shrimp processing and the solutions provided by the shrimp processing system and methods described herein are further described below, those problems may include, for example, the inability to accurately determine shrimp size and perform sorting, contamination of shrimp meat by viscera located in the cephalothorax, loss of shrimp meat during processing, and failure to remove mud veins, etc.

[0012] As described herein, a shrimp processing station in a shrimp processing system can be described as a data collection station or a functional station. Data collection of physical properties of the shrimp can be performed at a processing station characterized as a data collection station, while one or more physical properties of each shrimp can be altered at a processing station characterized as a functional station. An example of a data collection station may include, for example, a station where the length, weight, etc., of the shrimp is measured / determined. Examples of functional stations may include, for example, a vein cutting station, a decapitation station, a shell removal station, a shell segment separation station, etc. The specific order of the processing stations can vary; for example, in any selected shrimp processing system described herein, one or more data collection stations may be interspersed with one or more functional stations.

[0013] Although a processing station can be identified as a "data collection station" or a "functional station," a single processing station can be both a data collection station and a functional station. For example, shrimp mud veins can be measured and severed simultaneously at a single processing station. Many other combinations of data collection stations and functional stations are possible in one or more embodiments of the shrimp processing systems and methods described herein.

[0014] The shrimp processing system described herein can also be configured to transport each shrimp between processing stations using a conveyor system connecting the processing stations. As used herein, "conveyor system" means a conveyor system capable of transporting shrimp between processing stations without direct human intervention, i.e., the conveyor system does not require people to transport or move shrimp between processing stations.

[0015] One or more embodiments of the shrimp processing system described herein may include processing stations arranged in a series, such that each shrimp passes through each type of processing station in the system. In such a system, a processing station may or may not be activated as each shrimp passes through, depending on whether the shrimp is to undergo processing performed at that station.

[0016] In one or more embodiments of the shrimp processing system and method described herein, individual shrimp can be restrained in a clamp configured to capture each shrimp near its tail. Precisely securing each shrimp to the clamp improves the accuracy and efficiency of the various treatments that can be performed on each shrimp. In particular, accurately securing each shrimp allows for precise measurement of the shrimp and localization of various anatomical features, which facilitates shrimp processing, including, for example, severing mud veins at one or more selected locations, determining shrimp size, removing the shrimp's head (and any attached anatomical features), removing the shell, removing the foot of each shrimp, separating adjacent shell segments of each shrimp, etc.

[0017] In one or more embodiments of the clamps for restraining shrimp in the shrimp processing systems and / or methods described herein, the clamps may be configured to force the shrimp's tail / tailfoot to fan out, wherein the fanned tail helps to hold the shrimp by the clamps. In particular, the fanned tail may prevent the shrimp from being removed from the clamps until such removal is required.

[0018] In one or more embodiments of the shrimp processing systems and methods described herein, wherein individual shrimp are measured to determine their size, the processing systems and methods may involve selectively processing individual shrimp based on their size and / or sorting shrimp after processing based on their size. In other words, the shrimp processing systems and methods described herein may allow selective processing (e.g., shelling, head removal, etc.) of shrimp of one or more sizes, while allowing one or more other shrimp of different sizes to pass through the processing system with their shells and / or heads intact. Furthermore, in the case of selective processing, shrimp of different sizes can be automatically sorted based on their size, regardless of whether these shrimp have been shelled, headed, etc. Still in other embodiments, even shrimp of the same size may be selectively processed (e.g., shelled, headed, etc.) to allow for sale shelled or with shells as needed.

[0019] One type of shrimp processing station described herein can be described as a cutting station, in which the mud veins of an individual shrimp are cut at selected locations along the shrimp's abdomen. Cutting the mud veins can facilitate the removal of the mud veins from each shrimp during processes such as removing the head / cephalothorax from the shrimp's abdomen, where the mud veins remain attached to the viscera within the cephalothorax as the cephalothorax (and its associated anatomical features) separates from the shrimp's abdomen. In shrimp processing systems and methods where decapitation is performed by machines (such as the decapitation station described herein), cutting the mud veins in each shrimp before decapitation can facilitate automated shrimp processing by providing shrimp that are substantially free of mud veins. Even when decapitation is performed manually rather than by machines, cutting the mud veins before removing the shrimp's head may also facilitate the removal of the mud veins from the cephalothorax (and its associated anatomical features) to provide shrimp that are substantially free of mud veins.

[0020] As discussed herein, one or more embodiments of the processing systems and methods described herein may include a processing station in which each shrimp is individually measured to determine its size. When used in conjunction with a processing station that cuts off the mud veins of individual shrimp, measuring each shrimp before cutting may help to accurately cut the mud veins at one or more selected locations along the shrimp's abdomen. While the length of the shrimp can be used to determine its weight, the length of the shrimp can also provide the location between selected shell segments on the shrimp's abdomen and / or the location of the junction between the cephalothorax and the abdomen. For example, the junction between the fifth and sixth shell segments on the shrimp's abdomen can generally be associated with the total length of the shrimp. In one or more embodiments, the mud veins of the shrimp may be cut off at or near the junction between the fifth and sixth shell segments (or, for shrimp with more than six abdominal shell segments, between the last shell segment and the adjacent shell segment closer to the cephalothorax). While it is also possible to cut the mud veins at other selected locations, removing substantially all of the mud veins at the junction between the last shell segment and the adjacent shell segment (e.g., the fifth and sixth shell segments) when the cephalothorax is removed from the shrimp provides the benefit of removing substantially all of the mud veins.

[0021] One or more embodiments of the shrimp processing system described herein may also include a processing station in the form of a decapitation station, in which the cephalothorax and the viscera therein are removed from the shrimp. Removal of the cephalothorax using the decapitation station and methods described herein also removes anatomical features associated with the cephalothorax, such as short and long tentacles, tentacled scales, chelipeds, rostrum, and many (if not all) gastropods. Furthermore, mechanical removal of the cephalothorax and the viscera therein (as opposed to hydrodynamic removal used in some automated methods) avoids contamination of the shrimp meat by the viscera during removal. In one or more embodiments of the decapitation station and methods described herein, the decapitation station can be operated by determining the location of the junction between the cephalothorax and abdomen of each shrimp, such that no significant abdominal portion of shrimp meat is removed along with the cephalothorax.

[0022] Furthermore, one or more embodiments of the head removal station and method described herein can result in additional shrimp meat (sometimes referred to as neck meat) remaining on the shrimp's abdomen. This additional shrimp meat increases the shrimp's weight and can therefore increase revenue generated from selling shrimp processed using the shrimp processing system and method described herein.

[0023] One or more embodiments of the shrimp processing system described herein may further include a processing station in the form of a peeling station, wherein the ventral shell segments are removed from the dorsal side of the shrimp's abdomen (abdominal segments), and the gastropods (soft appendages) and thoracic legs (walking legs) found on the ventral side of the shrimp's abdomen are also removed. In one or more alternative embodiments, the peeling station may remove only the gastropods (soft appendages) and thoracic legs (walking legs) found on the ventral side of the shrimp's abdomen, leaving the dorsal shell segments of the shrimp's abdomen intact. This allows the shrimp to better retain its flavor and / or firmness during storage, cooking, etc.

[0024] A potential advantage of the shelling stations and methods described herein is that, in one or more embodiments, shelling can be performed on shrimp with significantly reduced post-harvest retention times (e.g., 2 hours or less, 1 hour or less, etc.), compared to many shelling processes that require retaining raw shrimp for a relatively long period after harvest (e.g., 24 hours or more) to improve the shelling process. In some cases, retaining raw shrimp for a longer period after harvest to improve shelling may result in the loss of marketable product due to reasons such as spoilage. Furthermore, retaining raw shrimp for a longer period after harvest to improve shelling may be detrimental to the firmness and flavor of the shrimp.

[0025] One or more embodiments of the shrimp processing system described herein may include a processing station in the form of a shell-separation station, wherein adjacent ventral shell segments on the dorsal side of the shrimp's abdomen are separated. Separating adjacent ventral shell segments on the dorsal side of the shrimp's abdomen facilitates the removal of ventral shell segments in, for example, a peeling station as described herein. Without separation of adjacent ventral shell segments on the dorsal side of the shrimp's abdomen, some peeling processes may result in the tearing or incomplete removal of one or more shell segments desired to be removed from the shrimp's abdomen. In particular, separating the last ventral shell segment (i.e., the shell segment closest to the shrimp's tail) from adjacent ventral shell segments (i.e., the shell segment positioned closer to the shrimp's cephalothorax) may be advantageous so that adjacent ventral shell segments and all shell segments positioned closer to the cephalothorax can be removed cleanly without tearing the last ventral shell segment or adjacent ventral shell segments.

[0026] Although the processing stations described herein are discussed in conjunction with shrimp processing systems comprising two or more processing stations as described herein, it should be understood that each processing station can constitute one or more aspects of the invention independently. In other words, the invention can be entirely comprised of a measuring station in one aspect. In another aspect, the invention can be entirely comprised of a mud vein cutting station. In another aspect, the invention can be entirely comprised of a decapitation station. In yet another aspect, the invention can be entirely comprised of a shelling station. In yet another aspect, the invention can be entirely comprised of an adjacent abdominal shell separation station. In yet another aspect, the invention can be entirely comprised of clamps configured to hold the shrimp. In other aspects, the invention can be entirely comprised of methods for processing shrimp in one or more ways, such as measuring the shrimp, cutting the mud veins of the shrimp at selected locations, decapitating the shrimp, separating adjacent abdominal shell segments from the shrimp, removing the abdominal and thoracic legs found on the ventral side of the shrimp's abdomen, shelling the shrimp, sorting the shrimp, etc.

[0027] In a first aspect, one or more embodiments of the clamp configured to restrain a shrimp as described herein include: a pair of jaws positioned on a base, wherein the pair of jaws includes a first jaw and a second jaw facing each other across a clamping axis extending between the first jaw and the second jaw; wherein the first jaw includes a first jaw face and the second jaw includes a second jaw face, wherein the first jaw face faces the second jaw face along the clamping axis; wherein the first jaw face and the second jaw face define a receiving slot between the first jaw face and the second jaw face; wherein as the clamping axis moves away from the base between the first jaw face and the second jaw face, the distance between the first jaw face and the second jaw face across the receiving slot narrows in a direction aligned with the clamping axis, wherein the clamping axis extends through the base between the first jaw face and the second jaw face. The clamp also includes a spring member operably attached to the first jaw, the spring member being configured to resist movement of the first jaw away from the second jaw along the clamping axis, and the spring member being configured to resist movement of the first jaw away from the base along a clamping direction aligned with the clamping axis, wherein the shrimp located between the jaw pairs is pressed against the base between the jaw pairs by the spring member and the first jaw.

[0028] In one or more embodiments of the clamp according to the first aspect, the clamp further includes a body portion attached to the base, and wherein a spring member includes an arm extending between the first jaw and the body portion, the arm being configured to provide a clamping force applied to the first jaw in response to movement of the first jaw away from the base in a direction aligned with the clamping axis.

[0029] In one or more embodiments of the clamp according to the first aspect, the clamp further includes a body portion attached to the base, and wherein a spring member includes an arm extending between the first jaw and the body portion, the arm being configured to provide a clamping force applied to the first jaw in response to movement of the first jaw away from the second jaw along a clamping axis.

[0030] In one or more embodiments of the clamp according to the first aspect, the clamp further includes a body portion attached to a base, and wherein a spring member includes an arm extending between a first jaw and the body portion, the arm being configured to provide a clamping force applied to the first jaw in response to movement of the first jaw away from the base in a direction aligned with a clamping axis, and the arm being configured to provide a clamping force applied to the first jaw in response to movement of the first jaw away from a second jaw along a clamping axis.

[0031] In one or more embodiments of the gripper according to the first aspect, the first gripper is configured to rotate about a first rotation axis extending between the first gripper and a base when the shrimp is positioned between a first gripper face and a second gripper face, and wherein, optionally, the first rotation axis extends through an arm extending between the first gripper and a body portion. In one or more embodiments, the first gripper includes a first gripper support positioned near the first gripper face, wherein the first gripper support is located between the first gripper face and an outer portion of the first gripper, wherein the outer portion of the first gripper is spaced apart from the base to provide clearance for rotating the first gripper about the first rotation axis.

[0032] In one or more embodiments of the clamp according to the first aspect, a spring member operably attached to a first gripper includes a first spring member and the clamp includes a second spring member operably attached to a second gripper, the second spring member being configured to resist movement of the second gripper away from the first gripper along a gripping axis and to resist movement of the second gripper away from the base along a clamping direction aligned with a clamping axis, wherein a shrimp tail located between the gripper pairs is pressed against the base between the gripper pairs by the first spring member, the first gripper, the second spring member, and the second gripper. In one or more embodiments, the clamp further includes a body portion attached to the base, and wherein the second spring member includes an arm extending between the second first gripper and the body portion, the arm of the second spring member being configured to provide a clamping force applied to the second gripper in response to movement of the second gripper away from the base in a direction aligned with a clamping axis. In one or more embodiments, the clamp further includes a body portion attached to the base, and wherein a second spring member includes an arm extending between the second jaw and the body portion, the arm of the second spring member being configured to provide a clamping force applied to the second jaw in response to movement of the second jaw away from the first jaw along a clamping axis. In one or more embodiments, the clamp further includes a body portion attached to the base, and wherein a second spring member includes an arm extending between the second jaw and the body portion, the arm of the second spring member being configured to provide a clamping force applied to the second jaw in response to movement of the second jaw away from the base in a direction aligned with the clamping axis, and the arm of the second spring member being configured to provide a clamping force applied to the second jaw in response to movement of the second jaw away from the first jaw along a clamping axis.

[0033] In one or more embodiments of the gripper according to the first aspect, the second gripper is configured to rotate about a second rotation axis extending between the second gripper and a base when the shrimp is positioned between the first gripper face and the second gripper face, and wherein, optionally, the second rotation axis extends through an arm extending between the second gripper and the body portion. In one or more embodiments, the second gripper includes a second gripper support positioned near the second gripper face, wherein the second gripper support is located between the second gripper face and the outer portions of the second gripper, wherein the outer portions of the second gripper are spaced apart from the base to provide a gap for rotating the second gripper about the second rotation axis.

[0034] In one or more embodiments of the clamp according to the first aspect, the distance between the body portion and the receiving slit in a direction transverse to the clamping axis is selected such that the tail portion of the shrimp captured in the clamp is positioned between the receiving slit and the body portion.

[0035] In one or more embodiments of the clamp according to the first aspect, the distance between the body and the receiving slot in the direction transverse to the clamping axis is 4 or more, 6 or more, 8 or more, 10 or more, 14 or more, 16 or more, 18 or more, or 20 or more times the slot width measured at the midpoint between the base and the narrowest part of the receiving slot in the direction of the clamping axis, and optionally, wherein the distance between the body and the receiving slot in the direction transverse to the clamping axis is 24 or less, 22 or less, 20 or less, 18 or less, or 16 or less times the slot width measured at the midpoint between the base and the narrowest part of the receiving slot in the direction of the clamping axis.

[0036] In a second aspect, one or more embodiments of the method for restraining shrimp as described herein include: providing a clamp including a first clamping jaw and a second clamping jaw located at a base, wherein the first clamping jaw faces the second clamping jaw, and wherein the first clamping jaw and the second clamping jaw define a receiving slit between the first clamping jaw and the second clamping jaw; inserting a shrimp into the receiving slit between the first clamping jaw and the second clamping jaw, such that the tail of the shrimp is located on the clamping side of the first clamping jaw and the second clamping jaw, and the cephalothorax of the shrimp is located on the processing side of the first clamping jaw and the second clamping jaw; after inserting the shrimp into the receiving slit between the first clamping jaw and the second clamping jaw, pressing the tail of the shrimp against the base using the first clamping jaw.

[0037] In one or more embodiments of the method for restraining shrimp according to the second aspect, the tail of the shrimp is pressed against the base using a first clamping claw, causing the tail to form an unfolded tail fan on the clamping sides of the first and second clamping claws.

[0038] In one or more embodiments of the method for restraining shrimp according to the second aspect, pressing the tail of the shrimp against the base using the first clamp includes applying a continuous clamping force to the shrimp in a clamping direction aligned with a clamping axis after the shrimp is inserted into the receiving slot, the clamping axis extending through the base and the receiving slot between the first and second clamps.

[0039] In one or more embodiments of the method for restraining shrimp according to the second aspect, pressing the tail of the shrimp against the base using the first gripper includes, after inserting the shrimp into the receiving slot, applying a continuous clamping force to the shrimp in a clamping direction aligned with a clamping axis that extends through the base and the receiving slot between the first and second grippers.

[0040] In one or more embodiments of the method for restraining shrimp according to the second aspect, pressing the tail of the shrimp against the base using the first gripper includes, after inserting the shrimp into the receiving slot, applying a continuous clamping force to the shrimp in a clamping direction aligned with a clamping axis, the clamping axis extending through the base and the receiving slot between the first and second grippers.

[0041] In one or more embodiments of the method for restraining shrimp according to the second aspect, the method includes applying a continuous clamping force to the shrimp using the first clamp in a clamping direction aligned with the clamping axis extending through the first and second clamps after the shrimp has been inserted into the receiving slit.

[0042] In one or more embodiments of the method for restraining shrimp according to the second aspect, the method includes applying a continuous clamping force to the shrimp using the second clamp in a clamping direction aligned with the clamping axis extending through the first and second clamps after the shrimp has been inserted into the receiving slit.

[0043] In one or more embodiments of the method for restraining shrimp according to the second aspect, the method includes applying a continuous clamping force to the shrimp using the first and second clamps in a clamping direction aligned with the clamping axis extending through the first and second clamps after the shrimp has been inserted into the receiving slit.

[0044] In one or more embodiments of the method for restricting shrimp according to the second aspect, the clamp includes a body portion, wherein a first gripper is connected to the body portion via a first arm, and wherein when a shrimp is inserted into a receiving slot, the first gripper rotates about a first rotation axis extending between the first gripper and the body portion above the base. In one or more embodiments, a second gripper is connected to the body portion via a second arm and attached to the body portion via the second arm, and wherein when a shrimp is inserted into a receiving slot, the second gripper rotates about a second rotation axis extending between the second gripper and the body portion above the base.

[0045] In a third aspect, one or more embodiments of the vein cutting device as described herein include: a vein cutting module comprising a blade and a blade actuator, the blade including a sharp working edge, the blade actuator being configured to move the blade between a storage position and a cutting position; an optional measuring module configured to measure the length of a shrimp held in a clamp as it moves through the measuring module in a measuring direction; and a controller operatively connected to the blade actuator and the optional measuring module, wherein the controller is configured to: optionally receive a signal indicating the length of the shrimp from the measuring module; and, when the shrimp is in a selected cutting position, activate the blade actuator to move the blade from the storage position to the cutting position, wherein the blade actuator moves the blade along a cutting path generally transverse to the measuring direction.

[0046] In a fourth aspect, one or more embodiments of the method for severing the mud veins of a shrimp as described herein include: positioning the shrimp in a selected severing position; and moving a blade through the shrimp along a severing path that is generally transverse to the length of the shrimp measured from its cephalothorax to its tail, wherein the blade penetrates the shrimp shell at a selected depth near the junction between the shrimp's most posterior ventral shell segment and an adjacent ventral shell segment, wherein the most posterior ventral shell segment lies between the adjacent ventral shell segment and the shrimp's tail.

[0047] In a fifth aspect, one or more embodiments of the shrimp deheading device described herein include: a deheading constraint device positioned relative to a working surface; a deheading constraint device actuator configured to move the deheading constraint device relative to the working surface between a storage position and a constrained position, wherein when the deheading constraint device is in the storage position, the deheading constraint device is spaced apart from the working surface to allow the shrimp to be positioned between the deheading constraint device and the working surface, and wherein when the deheading constraint device is in the constrained position, the deheading constraint device is closer to the working surface than when the deheading constraint device is in the storage position, such that the deheading constraint device is configured to force the shrimp located between the deheading constraint device and the working surface to abut against the working surface when the deheading constraint device is in the constrained position; a spoon-shaped member; a spoon-shaped member actuator configured to move the spoon-shaped member along a spoon-shaped member path relative to the deheading constraint device between a ready position and a final position, wherein when the spoon-shaped member is in the ready position... In the ready position, the working portion of the spoon-shaped device is close to the cephalothorax side of the head-removal restraint device. When the spoon-shaped device is in the final position, the working portion of the spoon-shaped device is spaced apart from the cephalothorax side of the head-removal restraint device, such that when the spoon-shaped device moves from the ready position to the final position, the working portion of the spoon-shaped device is configured to separate the head of the shrimp from the abdomen on the working surface; and a controller operatively connected to the head-removal restraint device actuator and the spoon-shaped device actuator, the controller being configured to: operate the head-removal restraint device actuator to move the head-removal restraint device from the storage position to the restraint position; after operating the head-removal restraint device actuator to move the head-removal restraint device to the restraint position, operate the spoon-shaped device actuator to move the spoon-shaped device from the ready position to the final position along the spoon-shaped device path; and after operating the spoon-shaped device actuator to move the spoon-shaped device to the final position, operate the head-removal restraint device actuator to return the head-removal restraint device to the storage position.

[0048] In a sixth aspect, one or more embodiments of the method for removing a shrimp head include: restraining the abdomen of the shrimp in a fixed position on a working surface; moving a spoon-shaped member through the shrimp near the cephalothorax junction, wherein the cephalothorax junction is located between the cephalothorax and a first abdominal segment of the shrimp; and moving the spoon-shaped member away from the abdomen while restraining the abdomen of the shrimp in the fixed position on the working surface, wherein moving the spoon-shaped member away from the abdomen separates the cephalothorax from the abdomen of the shrimp.

[0049] In a seventh aspect, one or more embodiments of the shrimp peeling device described herein include: a lower roller assembly comprising a first lower roller, a second lower roller, and a lower roller assembly driver operably connected to the first lower roller and the second lower roller, wherein the lower roller assembly driver is configured to cause the first lower roller to rotate about a first lower roller axis and to cause the second lower roller to rotate about a second lower roller axis, wherein the first lower roller axis is aligned with the second lower roller axis; and an upper roller assembly comprising a first upper roller, a second upper roller, and an upper roller assembly driver operably connected to the first upper roller and the second upper roller, wherein the upper roller assembly driver is configured to cause the first upper roller to rotate about a first upper roller axis, and The second upper roller rotates about its axis, wherein the axis of the first upper roller is aligned with the axis of the second upper roller, and wherein the first upper roller extends from the tail end to the head end along its axis, and further wherein the second upper roller extends from the tail end to the head end along its axis; a roller shuttle is configured to move one or both of the lower roller assembly and the upper roller assembly between a receiving position and an operating position, wherein when the lower roller assembly and the upper roller assembly are in the receiving position, compared to when they are in the operating position, the lower roller assembly and the upper roller assembly are positioned further apart from each other in a direction transverse to the axes of the first lower roller and the first upper roller; and a controller operatively connected to... The controller, in relation to the lower roller assembly driver, the upper roller assembly driver, and the roller shuttle, is configured to: operate the roller shuttle to move one or both of the lower roller assembly and the upper roller assembly between a receiving position and an operating position; operate the lower roller assembly driver such that a first lower roller rotates about a first lower roller axis on a first capture arc, and a second lower roller rotates about a second lower roller axis on a second capture arc, wherein the first and second lower rollers rotate in opposite directions on their respective capture arcs; after the first and second lower rollers have rotated in opposite directions on their respective capture arcs, operate the roller shuttle to move the lower roller assembly and the upper roller assembly from the receiving position to the operating position; operate the upper roller assembly driver... The actuator causes a first upper roller to rotate on a first peeling arc about a first upper roller axis and a second upper roller to rotate on a second peeling arc about a second lower roller axis, wherein after the roller shuttle moves the lower roller assembly and the upper roller assembly from the receiving position to the operating position, the first upper roller and the second upper roller rotate in opposite directions on their respective peeling arcs; and the lower roller assembly driver is operated to cause a first lower roller to rotate on a first removal arc about a first lower roller axis and a second lower roller to rotate on a second removal arc about a second lower roller axis, wherein when the lower roller assembly and the upper roller assembly are in the operating position, the first lower roller and the second lower roller rotate in opposite directions on their respective removal arcs;The controller is configured to operate the upper roller assembly driver such that the first and second upper rollers rotate in opposite directions on their respective peeling arcs, while simultaneously operating the lower roller assembly driver such that the first and second lower rollers rotate in opposite directions on their respective removal arcs.

[0050] In the eighth aspect, one or more embodiments of a shrimp processing apparatus, configured as a shelling device for removing foot and / or operculum from shrimp as described herein, include: a lower roller assembly comprising a first lower roller, a second lower roller, and a lower roller assembly driver operably connected to the first and second lower rollers, wherein the lower roller assembly driver is configured to rotate the first lower roller about a first lower roller axis and to rotate the second lower roller about a second lower roller axis, wherein the first lower roller axis is aligned with the second lower roller axis; an upper assembly; and a roller shuttle configured to move one or both of the lower roller assembly and the upper assembly between a receiving position and an operating position, wherein, compared to when the lower roller assembly and the upper assembly are in the operating position, when the lower roller assembly and the upper assembly are in the receiving position, the lower roller assembly and the upper assembly are positioned further apart from each other in a direction transverse to the first lower roller axis and the first upper roller axis; and operably connected to the lower roller assembly driver and... A controller for a roller shuttle, the controller being configured to: operate the roller shuttle such that one or both of a lower roller assembly and an upper assembly move between a receiving position and an operating position; operate a lower roller assembly driver such that a first lower roller rotates about a first lower roller axis on a first capture arc and a second lower roller rotates about a second lower roller axis on a second capture arc, wherein the first lower roller and the second lower roller rotate in opposite directions on their respective capture arcs; after the first lower roller and the second lower roller have rotated in opposite directions on their respective capture arcs, operate the roller shuttle such that the lower roller assembly and the upper assembly move from the receiving position to the operating position; and operate a lower roller assembly driver such that the first lower roller rotates about a first lower roller axis on a first removal arc and the second lower roller rotates about a second lower roller axis on a second removal arc, wherein when the lower roller assembly and the upper assembly are in the operating position, the first lower roller and the second lower roller rotate in opposite directions on their respective removal arcs.

[0051] In a ninth aspect, one or more embodiments of the shrimp peeling method as described herein may include: capturing at least one ventral foot attached to the abdomen of a shrimp between the first lower roller and the second lower roller by rotating each of the first lower roller and the second lower roller on a capture arc, wherein the first lower roller and the second lower roller rotate in opposite directions; contacting the abdominal shell segment of the shrimp with the first upper roller and the second upper roller after rotating the first lower roller and the second lower roller on their respective capture arcs; rotating the first upper roller on a first peeling arc and rotating the second upper roller on a second peeling arc, wherein the first upper roller and the second upper roller rotate in opposite directions on their respective peeling arcs; and rotating the first lower roller on a first removal arc and rotating the second lower roller on a second removal arc, wherein the first lower roller and the second lower roller rotate in opposite directions on their respective removal arcs; wherein after contacting the abdominal shell segment of the shrimp with the first upper roller and the second upper roller, the method includes rotating the first upper roller and the second upper roller on their respective peeling arcs while rotating the first lower roller and the second lower roller on their respective removal arcs.

[0052] In a tenth aspect, one or more embodiments of the method for shelling a shrimp to remove only its ventral legs and / or opercula as described herein may include: capturing a plurality of ventral legs attached to the abdomen of a shrimp between a first lower roller and a second lower roller by causing each of a first lower roller and a second lower roller to rotate on a capture arc, wherein the first lower roller and the second lower roller rotate in opposite directions; after the first lower roller and the second lower roller have rotated on their respective capture arcs, contacting the ventral shell segment of the shrimp with an upper component; after the ventral shell segment of the shrimp has contacted the upper component, rotating the first lower roller on a first removal arc and the second lower roller on a second removal arc, wherein the first lower roller and the second lower roller rotate in opposite directions on their respective removal arcs.

[0053] In an eleventh aspect, one or more embodiments of the shell segment separator device as described herein may include: a first shell segment retainer positioned opposite the working surface; a second shell segment retainer positioned opposite the working surface; a first retainer actuator operatively connected to the first shell segment retainer and configured to move the first shell segment retainer from a ready configuration to a retaining configuration, wherein the first shell segment retainer is configured to allow shrimp to be positioned between the first shell segment retainer and the working surface when the first shell segment retainer is in the ready configuration, and wherein the first shell segment retainer is configured to, when the first shell segment retainer is in the retaining configuration, position the shrimp between the first shell segment retainer and the working surface. A first shell segment of a shrimp is held in a selected position on a working surface; a second retainer actuator, operably connected to a second shell segment retainer and configured to move the second shell segment retainer from a ready configuration to a holding configuration, wherein the second shell segment retainer is configured to allow the shrimp to be positioned between the second shell segment retainer and the working surface when the second shell segment retainer is in the ready configuration, and the second shell segment retainer is configured to hold the second shell segment of the shrimp located between the second shell segment retainer and the working surface in a selected position relative to the second shell segment retainer when the second shell segment retainer is in the holding configuration; a separation actuator, operably connected to the second shell segment retainer, the separation actuator... The device is configured such that one or both of the first and second shell retainers move relative to each other between an initial position and a separated position, wherein when the first and second shell retainers are in the separated position, the second shell retainer is positioned further away from the first shell retainer compared to when the first and second shell retainers are in the initial position, wherein when one or both of the first and second shell retainers move between the initial and separated positions, one or both of the first and second shell retainers move along a processing axis; and a controller operatively connected to the first retainer actuator, the second retainer actuator... The controller is configured to: operate a first retainer actuator to move a first shell segment retainer from a ready configuration to a holding configuration; operate a second retainer actuator to move a second shell segment retainer from a ready configuration to a holding configuration; and after operating the first retainer actuator to move the first shell segment retainer from a ready configuration to a holding configuration and operating the second retainer actuator to move the second shell segment retainer from a ready configuration to a holding configuration, operate a separation actuator to move one or both of the first shell segment retainer and the second shell segment retainer so that the first shell segment retainer and the second shell segment retainer move from an initial position to a separation position.

[0054] In a twelfth aspect, one or more embodiments of the method for separating adjacent shell segments on the abdomen of a shrimp as described herein may include: holding a first shell segment on the abdomen of the shrimp, wherein the first shell segment is optionally held in a fixed position relative to a processing axis, and wherein the abdomen of the shrimp is aligned with the processing axis; and moving a second shell segment on the abdomen of the shrimp away from the first shell segment in a direction aligned with the processing axis, while optionally holding the first shell segment in a fixed position, wherein the second shell segment is adjacent to the first shell segment; wherein after the second shell segment is moved away from the first shell segment, the first shell segment and the second shell segment remain attached to the abdomen of the shrimp.

[0055] In a thirteenth aspect, one or more embodiments of the shrimp processing system described herein may include: a plurality of clamps, each of the plurality of clamps being configured to hold a shrimp near its tail; a plurality of processing stations, each including at least one data collection station and at least one functional station, the data collection station being capable of collecting data about the shrimp held in each of the plurality of clamps, the functional station being capable of replacing the shrimp held in each of the plurality of clamps; a conveying system connecting the plurality of processing stations, the conveying system being configured to move the plurality of clamps between the plurality of processing stations; and a controller operatively connected to the conveying system and the plurality of processing stations, the controller being configured to: operate the conveying system such that the plurality of clamps move through the plurality of processing stations; and selectively activate each of the plurality of processing stations.

[0056] In one or more embodiments of the shrimp processing system described herein, a plurality of clamps are magnetically attached to the conveying system.

[0057] In one or more embodiments of the shrimp processing system described herein, the conveying system includes a plurality of clamp mounts, wherein a plurality of clamps are attached to the conveying system via the plurality of clamp mounts. In one or more embodiments, two or more of the plurality of clamps are attached to each of the plurality of clamp mounts.

[0058] In one or more embodiments of the shrimp processing system described herein, the clamp mount is magnetically attached to the conveying system.

[0059] In one or more embodiments of the shrimp processing system described herein, the conveying system includes a plurality of mounting bosses, wherein each clamp mount includes one or more blocks, wherein each block is configured to attach to one of the plurality of mounting bosses. In one or more embodiments, the mounting bosses and blocks of one or more pairs of attached mounting bosses and blocks each include a pair of permanent magnets, wherein the permanent magnet pairs in the mounting bosses and attached blocks form a closed magnetic field. In one or more embodiments, the mounting bosses and blocks of one or more pairs of attached mounting bosses and blocks are attached to each other using one or more of the following: mechanical fasteners, adhesives, and interlocking mechanical connections.

[0060] In one or more embodiments of the shrimp processing system described herein, the conveying system includes one or more belts extending between multiple processing stations, wherein the one or more belts move through the multiple processing stations in a conveying direction, and wherein multiple mounting bosses are attached to the one or more belts, and further wherein the multiple mounting bosses are cantilevered on the one or more belts to which the multiple mounting bosses are attached. In one or more embodiments, the multiple mounting bosses cantilevered on the one or more belts to which the multiple mounting bosses are attached are cantilevered along their leading edges defined by the conveying direction on one or more belts.

[0061] In one or more embodiments of the shrimp processing system described herein, a plurality of mounting bosses are cantilevered on one or more belts to which a plurality of mounting bosses are attached, along their trailing edges defined by the conveying direction.

[0062] In one or more embodiments of the shrimp processing system described herein, a conveying system advances a plurality of clamps from a loading end to an ejection end, and wherein the conveying system includes an ejection station at the ejection end, the ejection station being configured to eject shrimp held in the plurality of clamps from the plurality of clamps.

[0063] In one or more embodiments of the shrimp processing system described herein, the ejection station includes a plurality of plungers, each of the plurality of plungers including a retracted position and an ejected position, and wherein, in the presence of a shrimp held in a clamp at the ejection station, the plunger moves from the retracted position to the ejected position to force the shrimp out of the clamp. In one or more embodiments, the plunger is configured to act on the abdominal segment adjacent to the clamp.

[0064] In one or more embodiments of the shrimp processing system described herein, each of a plurality of clamps includes: a pair of jaws positioned on a base, wherein the pair of jaws includes a first jaw and a second jaw facing each other across a clamping axis extending between the first jaw and the second jaw; wherein the first jaw includes a first jaw face and the second jaw includes a second jaw face, wherein the first jaw face faces the second jaw face along the clamping axis; wherein the first jaw face and the second jaw face define a receiving slot between the first jaw face and the second jaw face; wherein a receiving slot is formed along a clamping axis away from the first jaw face and the second jaw face. When the base between the two jaws moves, the distance across the receiving seam between the first jaw face and the second jaw face narrows in a direction aligned with the clamping axis, wherein the pressing axis extends through the base between the first jaw face and the second jaw face; and a spring member operably attached to the first jaw, the spring member being configured to resist movement of the first jaw away from the second jaw along the clamping axis, and the spring member being configured to resist movement of the first jaw away from the base along a pressing direction aligned with the pressing axis, wherein the shrimp located between the jaw pairs is pressed against the base between the jaw pairs by the spring member and the first jaw.

[0065] In one or more embodiments of the shrimp processing system described herein, a data collection station of the plurality of processing stations includes a measuring station configured to measure the length of shrimp held in each of the plurality of clamps.

[0066] In one or more embodiments of the shrimp processing system described herein, a functional station among the plurality of processing stations includes a mud vein cutting device configured to cut the mud veins of the shrimp.

[0067] In one or more embodiments of the shrimp processing system described herein, a functional station among the plurality of processing stations includes a head removal device configured to remove the shrimp head.

[0068] In one or more embodiments of the shrimp processing system described herein, a functional station among a plurality of processing stations includes a shelling device configured to remove shrimp shells.

[0069] In one or more embodiments of the shrimp processing system described herein, a functional station among a plurality of processing stations includes a shell segment separator device configured to separate adjacent pairs of shrimp shell segments.

[0070] In one or more embodiments of the shrimp processing system described herein, the plurality of processing stations include two or more functional stations selected from: a mud vein cutting device configured to cut the mud veins of the shrimp, a head removal device configured to remove the shrimp head, a shell removal device configured to remove the shrimp shell, and a shell segment separator device for separating adjacent shell segments of the shrimp.

[0071] In one or more embodiments of the shrimp processing system described herein, at least one data collection station includes a measurement module configured to measure the length of a shrimp held in a clamp among a plurality of clamps moving through the measurement module in a measurement direction. The measurement module includes a non-contact sensor configured to detect the clamp and the shrimp held in the clamp. The non-contact sensor is operatively connected to a controller to transmit a signal indicating energy received by the non-contact sensor. The controller is further configured to: identify a junction between the clamp and the shrimp held in the clamp based on a signal received from the non-contact sensor when the shrimp held in the clamp is moved through the non-contact sensor; determine the length of the shrimp held in the clamp after identifying the junction at least partially based on the signal received from the non-contact sensor; and optionally, determine the weight of the shrimp held in the clamp after determining the length of the shrimp held in the clamp at least partially based on the length of the shrimp held in the clamp. In one or more embodiments, the controller is configured to identify the junction between the clamp and the shrimp when a signal received from the non-contact sensor reaches or falls below a selected clamp threshold.

[0072] In one or more embodiments of the shrimp processing system described herein, the controller is configured to determine the length of the shrimp when a signal received from a non-contact sensor reaches or exceeds a selected antennal threshold.

[0073] In one or more embodiments of the shrimp processing system described herein, the non-contact sensor includes an optical sensor or an ultrasonic sensor.

[0074] In one or more embodiments of the shrimp processing system described herein, the controller is configured to operate the non-contact sensor to calibrate it before each shrimp held in the clamp passes the non-contact sensor in the measurement direction.

[0075] In one or more embodiments of the shrimp processing system described herein, the controller is configured to operate the non-contact sensor to calibrate it after a selected number of shrimp held in the clamp have passed the non-contact sensor in the measurement direction.

[0076] In one or more embodiments of the shrimp processing system described herein, the controller includes a central controller that controls the conveying system and multiple processing stations.

[0077] In a fourteenth aspect, one or more embodiments of the method for processing shrimp as described herein may include: loading individual shrimp into each of a plurality of clamps to provide a plurality of loaded clamps, wherein each loaded clamp restrains only one individual shrimp at a time; transporting each loaded clamp between the plurality of processing stations using a conveying system connecting the plurality of processing stations; collecting data about each shrimp in the plurality of loaded clamps at at least one of the plurality of processing stations; and performing one or more actions on each shrimp in the plurality of loaded clamps at at least one of the plurality of processing stations.

[0078] In one or more embodiments of the method for processing shrimp as described herein, the method includes: loading individual shrimp into each of a plurality of clamps to provide a plurality of loaded clamps, wherein each loaded clamp restrains only one individual shrimp at a time; transporting each loaded clamp between the plurality of processing stations using a conveying system connecting the plurality of processing stations; collecting data about each shrimp in the plurality of loaded clamps at at least one of the plurality of processing stations; and performing one or more actions on each shrimp in the plurality of loaded clamps at at least one of the plurality of processing stations.

[0079] In one or more embodiments of the method for processing shrimp as described herein, a plurality of clamps are arranged in groups of two or more clamps on a conveying system, wherein transporting each loaded clamp between a plurality of processing stations includes simultaneously transporting groups of two or more clamps between a plurality of processing stations.

[0080] In one or more embodiments of the shrimp processing method as described herein, a plurality of processing stations are arranged in groups of two or more processing stations, wherein the method includes: transporting groups of two or more clamps between groups of two or more processing stations; collecting data of shrimp in each of the two or more clamps at each of the two or more processing stations configured to collect data before transporting each group of two or more clamps out of the group of two or more processing stations; and performing one or more actions on the shrimp in each of the two or more clamps at each of the two or more processing stations configured to perform one or more actions before transporting each group of two or more clamps out of the group of two or more processing stations configured to perform one or more actions.

[0081] In one or more embodiments of the shrimp processing method as described herein, data collection includes measuring the length of each shrimp, and optionally, assigning a weight to each shrimp based at least in part on its length. In one or more embodiments, measuring the length of each shrimp includes measuring the length of each shrimp according to any of the methods for measuring shrimp as described herein.

[0082] In one or more embodiments of the method for processing shrimp as described herein, performing one or more actions on each shrimp includes cutting mud veins at selected locations on each shrimp, wherein the method includes identifying the selected locations based at least in part on the length of each shrimp.

[0083] In one or more embodiments of the method for processing shrimp as described herein, performing one or more actions on each shrimp includes severing mud veins at selected locations on each shrimp.

[0084] In one or more embodiments of the method for processing shrimp as described herein, performing one or more actions on each shrimp includes removing the head from each shrimp.

[0085] In one or more embodiments of the method for processing shrimp as described herein, performing one or more actions on each shrimp includes severing the mud veins on each shrimp near the tail before removing the head from each shrimp.

[0086] In one or more embodiments of the method for processing shrimp as described herein, performing one or more actions on each shrimp includes cutting the mud veins on each shrimp near the tail, and optionally, removing the head from each shrimp after cutting the mud veins.

[0087] In one or more embodiments of the method for processing shrimp as described herein, the method includes identifying the cephalothorax junction between the cephalothorax and abdomen of each shrimp before removing the head from each shrimp. In one or more embodiments, identifying the cephalothorax junction and removing the shrimp's head are performed at a single processing station.

[0088] In one or more embodiments of the method for processing shrimp as described herein, performing one or more actions on each shrimp includes removing the abdominal shell segment from each shrimp.

[0089] In one or more embodiments of the shrimp processing method described herein, performing one or more actions on each shrimp includes removing one or more ventral feet from each shrimp.

[0090] In one or more embodiments of the shrimp processing method described herein, performing one or more actions on each shrimp includes simultaneously removing the ventral shell segment and one or more ventral feet from each shrimp.

[0091] In a fifteenth aspect, one or more embodiments of a method for measuring a shrimp held in a clamp include: moving the shrimp held in the clamp along a measurement direction past a non-contact sensor; identifying a joint between the clamp and the shrimp based on a signal received from the non-contact sensor while moving the shrimp held in the clamp; determining the length of the shrimp held in the clamp after identifying the joint between the clamp and the shrimp held in the clamp at least in part based on a signal received from the non-contact sensor as the shrimp passes the non-contact sensor; and optionally, determining the weight of the shrimp held in the clamp after determining the length of the shrimp, the weight being at least in part based on the length of the shrimp.

[0092] In one or more embodiments of the method for measuring shrimp according to the fifteenth aspect, identifying the engagement between the clamp and the shrimp includes determining when a signal received from a non-contact sensor reaches a selected clamp threshold or when it drops below the selected clamp threshold.

[0093] In one or more embodiments of the method for measuring shrimp according to the fifteenth aspect, determining the length of the shrimp includes determining when a signal received from a non-contact sensor reaches or exceeds a selected antennal threshold, the antennal threshold indicating that at least one antenna of the shrimp is passing through the non-contact sensor.

[0094] In one or more embodiments of the method for measuring shrimp according to aspect fifteen, the non-contact sensor includes an optical sensor or an ultrasonic sensor.

[0095] In one or more embodiments of the method for measuring shrimp according to the fifteenth aspect, the method further includes calibrating the non-contact sensor before each shrimp held in the clamp passes through the non-contact sensor in the measurement direction.

[0096] In one or more embodiments of the method for measuring shrimp according to the fifteenth aspect, the method further includes calibrating the non-contact sensor after a selected number of shrimp have passed through the non-contact sensor in the measurement direction.

[0097] In a sixteenth aspect, one or more embodiments of the clamps configured to restrain shrimp as described herein may include: a pair of jaws positioned on a base, wherein the pair of jaws includes a first jaw and a second jaw facing each other across a clamping axis; wherein the first jaw includes a first jaw face and the second jaw includes a second jaw face, wherein the first jaw face faces the second jaw face across a clamping direction; wherein the first jaw face and the second jaw face define a receiving slit between the first jaw face and the second jaw face, wherein the distance between the first jaw face and the second jaw face narrows in the clamping direction when the first jaw face and the second jaw face are moved away from the base in a pressing direction transverse to the clamping direction; a biasing device operatively attached to the pair of jaws, the biasing device resisting movement of the first jaw away from the second jaw in the clamping direction, and the biasing device resisting movement of the first jaw away from the base in the pressing direction, wherein the tail of the shrimp located between the pair of jaws is pressed against the base by the first jaw between the pair of jaws.

[0098] In a seventeenth aspect, one or more embodiments of the clamp configured to restrain a shrimp as described herein may include: a pair of jaws positioned on a base, wherein the pair of jaws includes a first jaw and a second jaw facing each other across a clamping direction; wherein the first jaw and the second jaw define a receiving seam between the first jaw and the second jaw, wherein the width of the receiving seam in the clamping direction narrows as the first jaw and the second jaw move away from the base in a pressing direction transverse to the clamping direction; wherein the clamp is configured to apply a clamping force and a pressing force to the tail of the shrimp located between the pair of jaws, wherein the clamping force acts along the clamping direction and wherein the pressing force presses the tail toward the base.

[0099] As used herein, the term "shrimp" should be interpreted as referring to crustaceans harvested for human consumption, which are called shrimp or prawns, for example, in the suborders Pieocyemata (Shrimp) and Dendrobranchiata (Prawns). Furthermore, because the physical characteristics of shrimp that can be processed using the shrimp processing systems and methods described herein can vary widely, any size discussed herein is provided only as general guidance and may need to be further refined based on, for example, the size, species, and / or general characteristics of the shrimp being processed to optimize the operation of the shrimp processing systems and methods described herein.

[0100] When used herein, related terms such as above, below, top, bottom, etc. (unless otherwise stated in this specification and / or claims) are used only to help describe the various features of the shrimp processing system and method described herein and should not be construed as requiring any particular orientation of the shrimp processing system described herein, the shrimp processed by the system, and / or the method.

[0101] When used herein, the term “substantially” has the same meaning as “significant” and can be understood as modifying the following term by at least about 75%, at least about 90%, at least about 95%, or at least about 98%. As used herein, the term “substantially not” has the same meaning as “not significant” and can be understood as having the opposite meaning of “substantially,” i.e., modifying the following term by no more than 25%, no more than 10%, no more than 5%, or no more than 2%.

[0102] The numerical values ​​used herein include normal variations in measurements as would be expected by those skilled in the art, and should be understood to have the same meaning as “about” and cover a typical range of error, such as ±5% of the values ​​stated.

[0103] Terms such as “one” and “the” are not intended to refer to a single entity, but rather to include general categories that can be illustrated using specific examples.

[0104] The terms “one” and “the” are used interchangeably with the term “at least one”. The phrases “at least one” and “including at least one” followed by an enumeration item refer to any one item in the enumeration item, as well as any combination of two or more items in the enumeration item.

[0105] As used herein, the term "or" is generally used in its ordinary sense, including "and / or," unless otherwise expressly stated. The term "and / or" refers to one or all of the listed elements or any combination of two or more listed elements.

[0106] References to a range of values ​​by endpoints include all numbers contained within that range (for example, 1 to 5 includes 1, 1.5, 2, 2.75, 3, 3.80, 4, 5, etc., or 10 or less includes 10, 9.4, 7.6, 5, 4.3, 2.9, 1.62, 0.3, etc.). A value is included within a range if the range "reaches" or "at least" a specific value.

[0107] The terms "preferred" and "ideally" refer to embodiments that may provide certain benefits in certain circumstances. However, other embodiments may also be preferred in the same or other circumstances. Furthermore, the description of one or more preferred embodiments does not imply that other embodiments are useless and is not intended to exclude other embodiments from the scope of this disclosure, including the claims.

[0108] The above summary of the invention is not intended to describe every embodiment or every implementation of the shrimp processing system, processing station, and method described herein. Rather, a more complete understanding and appreciation of the invention can be obtained by referring to the following description of illustrative embodiments and claims with reference to the accompanying drawings. Attached Figure Description

[0109] Figure 1A This is a block diagram of an illustrative embodiment of the shrimp processing system described herein.

[0110] Figure 1B This is a perspective view of an illustrative embodiment of an unloading station that can be used to unload or eject shrimp that has been processed in the shrimp processing system described herein.

[0111] Figure 1C As described in this article, this occurs after the shrimp is ejected / unloaded from the clamp. Figure 1B The side view of the unloading station shown.

[0112] Figure 2 This is a block diagram of a control system that can be implemented in one illustrative embodiment of the shrimp processing system described herein.

[0113] Figure 3 An illustrative embodiment of shrimp that can be processed using one or more embodiments of the shrimp processing system and method described herein is depicted.

[0114] Figure 4 This is a perspective view of an illustrative embodiment of a clamp that can be used to restrain shrimp as described herein.

[0115] Figure 5 yes Figure 4 An enlarged front view of the clamp in the direction transverse to both the clamping axis 121 and the pressing axis 123.

[0116] Figure 6 yes Figure 4 The top plan view of the clamp, in which the shrimp is held.

[0117] Figure 7 This is a perspective view of a part of a shrimp processing system, including an illustrative embodiment of a clamp mounted on an illustrative embodiment of a clamp mount, which in turn is attached to an illustrative embodiment of a conveying element of a conveying system to facilitate the movement of shrimp through the processing system according to the method described herein.

[0118] Figure 8 This is an exploded view illustrating one embodiment of the structure for attaching a clamp mount to a conveying element in one or more embodiments of the shrimp processing system described herein.

[0119] Figure 9 yes Figure 8 An enlarged view of the assembled structure, in which a portion of the structure is depicted as transparent to make the components within it visible.

[0120] Figure 10 It is along Figure 9 The line 10-10 is cut from the middle. Figure 9 An enlarged cross-sectional view.

[0121] Figure 11 The depiction remains as Figure 7-10 The shrimp is held in the clamp on the clamp mounting base shown in the image.

[0122] Figures 12-13 An alternative embodiment of a fixture and fixture mounting system that can be used in conjunction with the processing systems and methods described herein is depicted.

[0123] Figure 14 Another alternative embodiment of the fixture and fixture mounting system that can be used in conjunction with the processing systems and methods described herein is depicted.

[0124] Figure 15 This is a block diagram of a control system implemented in one illustrative embodiment of an integrated measurement and mud vein cutting device that can be used in one or more shrimp processing systems as described herein.

[0125] Figures 16-21 Various views depict an illustrative embodiment of the mud vein cutting device as described herein.

[0126] Figure 22 An illustrative embodiment of a blade that may be used in one or more embodiments of the mud vein cutting device as described herein is depicted.

[0127] Figure 23 describe Figures 16-21 The cutting constraint device of the mud vein cutting device shown is positioned on a larger shrimp (where the shrimp is depicted in a cross-sectional view).

[0128] Figure 24 Depicting Figure 23 The cutting constraint device of the mud vein cutting device shown is positioned on a smaller shrimp (where the shrimp is also depicted in the cross-sectional view).

[0129] Figure 25A An illustrative embodiment of a cutting restraint device that can be used in one or more embodiments of the mud vein cutting equipment described herein is depicted.

[0130] Figure 25B It is along Figure 25A The line 25B-25B is cut off. Figure 25A A cross-sectional view of the cutting constraint device in the image.

[0131] Figure 25C It was taken along line 25C-25C. Figure 25A An enlarged cross-sectional view of the cutting constraint device, wherein line 25C-25C and Figure 25A The axis 253 in the middle extends together.

[0132] Figure 25D It is a description Figure 25A The side view of the cutting restraint device positioned on the larger shrimp.

[0133] Figure 25E It is a description Figure 25A A side view of the cutting constraint device in position on the smaller shrimp is shown to illustrate the effect of the beveled surface of the notch on the larger and smaller shrimp, as discussed in this paper.

[0134] Figure 26 This is a perspective view of one embodiment of a measurement module that can be used in one or more embodiments of the shrimp processing system described herein.

[0135] Figure 27 yes Figure 26 An enlarged view of a portion of the measurement module depicted in the image.

[0136] Figure 28 This is a perspective view of one embodiment of a measurement module that can be used in one or more embodiments of the shrimp processing system described herein.

[0137] Figure 29 yes Figure 28 An enlarged view of a portion of the measurement module depicted in the image.

[0138] Figure 30 Depicting Figures 26-29 The measurement module illustrates the energy distribution between the transmitter and receiver in an illustrative embodiment of the measurement module used in a shrimp processing system as described herein.

[0139] Figures 31-33 The steps in an illustrative embodiment of shrimp decapitation as described herein are depicted.

[0140] Figure 34 This is a schematic block diagram of components in an illustrative embodiment of the shrimp head removal device described herein.

[0141] Figure 35 This is a perspective view of an illustrative embodiment of the shrimp head removal device described herein.

[0142] Figures 36-37 yes Figure 35 A partially enlarged view of the shrimp head removal equipment depicted in the image.

[0143] Figure 38 yes Figure 35 A perspective view of the opposite side of a shrimp decapitation device, in which a portion of the shuttle is removed to expose components located inside the shuttle of the shrimp decapitation device.

[0144] Figures 39-41An illustrative embodiment of a head-removal restraint device that can be used in one or more embodiments of the shrimp head-removal equipment described herein is depicted.

[0145] Figure 42 This is an enlarged view of an illustrative embodiment of a spoon-shaped member used in one or more embodiments of the head-removal device described herein.

[0146] Figure 43 yes Figure 42 An enlarged view of a portion of the spoon-shaped member depicted herein, located within a guide on a head-removal restraint device used in one or more embodiments of the head-removal device described herein.

[0147] Figures 44-45 An illustrative embodiment of a decapitation device is depicted for identifying the location of the cephalothorax junction on a shrimp as part of the decapitation process described herein.

[0148] Figures 46-47 An illustrative embodiment of a decapitation apparatus is depicted for removing the cephalothorax from a shrimp as part of the decapitation process described herein.

[0149] Figures 48-49 An illustrative embodiment of a damping actuator is depicted, which may be used in one or more embodiments of the head-removing device described herein for moving one or more of the key-shaped pieces.

[0150] Figure 49A yes Figures 48-49 A perspective view of a portion of the damping actuator of the actuator.

[0151] Figure 50 It depicts various shrimp after the head removal process.

[0152] Figures 51-52 This is a schematic diagram of an illustrative embodiment of a shelling device, which can be used in one or more embodiments of the shrimp processing system described herein.

[0153] Figure 53 This is a schematic block diagram of a control system in one illustrative embodiment of a shelling device that can be used in one or more embodiments of a shrimp processing system as described herein.

[0154] Figure 54A This is a perspective view of an illustrative embodiment of the shelling device described herein.

[0155] Figure 54B yes Figure 54A A side view of an illustrative embodiment of a shelling apparatus, wherein the upper roller assembly and the lower roller assembly are in the operating positions as described herein.

[0156] Figure 54C yes Figure 54A A side view of an illustrative embodiment of a peeling device, wherein the upper roller assembly and the lower roller assembly are in the receiving position as described herein.

[0157] Figure 54D This is an enlarged perspective view of a portion of the shelling apparatus depicted in Figure 54.

[0158] Figure 55A This is a perspective view of another illustrative embodiment of the peeling apparatus as described herein, wherein the upper roller assembly and the lower roller assembly are in the receiving position as described herein.

[0159] Figure 55B yes Figure 55A A perspective view of the shelling equipment, in which the upper roller assembly and the lower roller assembly are in the operating positions as described herein.

[0160] Figure 55C yes Figure 55B An enlarged side view of the peeling device depicts the relationship between the clamps, working surface, and lower roller of this illustrative embodiment.

[0161] Figure 55D yes Figure 55C A further enlarged view of a portion of the shelling equipment depicted in the image.

[0162] Figure 56 This is an illustrative embodiment of a lower roller assembly in one or more embodiments of the peeling apparatus as described herein, and a schematic diagram illustrating the relationship between the rotation of the rollers in the lower roller assembly.

[0163] Figure 57 This is a schematic diagram illustrating one embodiment of the upper roller pair, which can be used in one or more embodiments of the peeling apparatus as described herein.

[0164] Figure 58 It is cut along their respective axes. Figure 57 A schematic diagram of the upper roller.

[0165] Figure 59 This is a schematic diagram illustrating one embodiment of an optional shelling device configured to remove the ventral and thoracic legs from the ventral side of the shrimp's abdomen while leaving the shell segment on the dorsal side intact.

[0166] Figure 60 This is a perspective view of an illustrative embodiment of a shell-segment separator device, which can be used in one or more embodiments of the shrimp processing system described herein.

[0167] Figure 61This is a schematic block diagram of a control system in one illustrative embodiment of a shell-segment separation device that can be used in one or more embodiments of a shrimp processing system as described herein.

[0168] Figure 62 and Figure 63 yes Figure 60 An enlarged perspective view of the shell segment separator device, in which the first shell segment retainer and the second shell segment retainer are in a ready configuration.

[0169] Figure 64 yes Figure 63 An enlarged perspective view of the shell segment separator device, in which the first shell segment retainer and the second shell segment retainer are in a retaining configuration.

[0170] Figure 65 yes Figure 64 A side view of the shell segment separator device, with the second shell segment retainer in its initial position.

[0171] Figure 66 This occurs after the second shell retainer has moved from its initial position to the separated position. Figure 64 Side view of the shell-section separator device.

[0172] Figure 67 Another illustrative embodiment of a shell segment separator device is depicted, which can be used in one or more embodiments of the shrimp processing system described herein, wherein the depicted shell segment retainer is in a ready configuration, and the view is taken along the processing axis through the shell segment separator device.

[0173] Figure 68 Depicting Figure 67 The shell segment separator device, wherein the depicted shell segment retainer is in a retaining configuration.

[0174] Figure 69 It is along Figure 68 The line 69-69 in the middle is cut off Figure 68 A cross-sectional view of the shell segment separator device, wherein the first shell segment retainer and the second shell segment retainer are in their initial positions.

[0175] Figure 70 yes Figure 69 A view of the shell segment separator device, wherein the first shell segment retainer and the second shell segment retainer are moved to the separation position.

[0176] Although the foregoing drawings (which may be drawn to scale or not) illustrate embodiments of the invention, other embodiments are contemplated as noted in the discussion. In all instances, this disclosure presents the invention by way of statement and not limitation. It should be understood that those skilled in the art can devise many other modifications and embodiments that fall within the scope of this invention. Detailed Implementation

[0177] In the following description, reference is made to the accompanying drawings, which form part of this specification and illustrate specific embodiments by way of illustration. It should be understood that other embodiments may be utilized and changes may be made without departing from the scope of the invention.

[0178] Figure 1A This is a block diagram of an illustrative embodiment of the modular shrimp processing system described herein. The shrimp processing system includes a series of stations capable of performing one or more functions. In the depicted illustrative embodiment, the leftmost station L can be described as a loading station in which shrimp 2 are loaded onto clamps 12, such that each shrimp 2 can be held and processed by the depicted shrimp processing system.

[0179] In the depicted embodiment, a plurality of clamps 12 are disposed on the clamp mounting base 10. However, in one or more alternative embodiments, each clamp 12 may be moved individually through the shrimp processing system as described herein, i.e., the clamp mounting base 10 carrying the plurality of clamps 12 is optional.

[0180] Figure 1A A conveyor system 15 for moving the clamp mount 10 through the shrimp processing system is also depicted. In the illustrated embodiment, the conveyor system 15 uses pairs of conveyor elements 17 to which the clamp mount 10 is attached. The conveyor elements 17 can be used to move the clamp mount 10 through a group of processing stations to process shrimp loaded on the clamp. The conveyor elements 17 can be, for example, in the form of belts, chains, etc., used in any suitable conventional conveying equipment. Although the illustrated embodiment of the conveyor system 15 includes conveyor elements 17, other embodiments of the conveyor system used in the shrimp processing system described herein may include only one conveyor element or three or more conveyor elements as needed to move the clamp 12 through the shrimp processing system.

[0181] The shrimp processing system also includes a series of components in processing station 16. P1, P2, P3 As the shrimp pass through the processing system, one or more processing steps can be performed on each shrimp 2 loaded onto the clamp 12 at the processing station 16. Preferably, each group P1, P2, P3The number of processing stations 16 in the system matches the number of clamps 12 provided on each clamp mount 10 (in the depicted embodiment, this includes four clamps 12 and four processing stations 16 in each group), although this is not required in all embodiments of the shrimp processing system as described herein.

[0182] In one or more embodiments, the conveying system 15 can convey or move the clamps 12 to selected locations in each processing station 16, such that the equipment at each processing station 16 can operate based on the clamps 12 carrying shrimp 2 at the selected locations. Each successive clamp 12 is moved to each selected location in the processing station 16 to help the processing station accurately process the shrimp held in the clamps 12. Moving the clamps 12 carrying shrimp 2 to selected locations in the processing station 16 can be distinguished from shrimp processing systems and methods that move shrimp through a shrimp processing system (e.g., systems that hold shrimp in water, etc.) without controlling the position of the shrimp. As discussed herein, for example, many processing stations 16 are designed to act on specific features found in the shrimp in the clamps 12, and accurately locating these features as successive shrimp are moved to each selected location contributes to the effective and efficient processing of shrimp using the shrimp processing system described herein.

[0183] Unloading station U Located in the processing station group P1, P2, P3 Afterwards, through the processing station group P1, P2, P3 Shrimp 2 can then be unloaded / released from the clamp 12 on each clamp mount 10 at the unloading station.

[0184] Figure 1A The illustrative embodiment of the shrimp processing system depicted also includes an optional sorting station S, at which shrimp 2 can be separated into boxes or other containers 18 based on one or more characteristics such as weight, length, with shell, without shell, etc.

[0185] In the depicted embodiment, the conveying system 15 moves the clamp 12 from the loading end. L Proceed to the unloading station U In one or more embodiments, the conveying system may include an unloading station. U The ejection station is configured to eject the shrimp from the clamp 12. In one or more embodiments, the ejection station may be a set of plungers that act on the shrimp 2 located in the clamp 12.

[0186] Figure 1B and Figure 1C Depicting the unloading station UAn illustrative embodiment of a set of plungers is provided for ejecting or removing shrimp 2 from clamp 12, which, as discussed herein, may be carried on clamp mount 10 using conveying element 17. Plunger 13 is mounted to press shrimp 2 out of clamp 12 using actuator 19 (e.g., a solenoid-operated, hydraulically operated, or pneumatically operated piston). As shrimp 2 carried in clamp 12 is moved into place, actuator 19... Figure 1B The shrimp 2 retracts. When the shrimp 2 is in the position on the plunger 13, the actuator 19 can be actuated to push the shrimp 2 out of the clamp 12, for example, Figure 1C As depicted herein. In the illustrative embodiment depicted, the plunger 13 may be described as having an arcuate surface that acts on the ventral side of the shrimp 2 to preferably reduce or eliminate damage to the shrimp 2 during the unloading / ejection process. In one or more embodiments, the actuator 19 may be operatively connected to a control system for operating the conveyor system 15 and / or any other equipment used in the shrimp processing system described herein.

[0187] refer to Figure 2 This document describes an illustrative embodiment of a control system for controlling the operation of the shrimp processing system described herein. The control system includes a controller 90 operatively connected to a processing station of the shrimp processing system. The depicted illustrative shrimp processing system includes a processing station 93 for measurement, a processing station 94 for cutting mud veins, a processing station 95 for removing shrimp heads, a processing station 96 for shelling (where shelling may include removing ventral shell segments from the dorsal surface along with removing the pleuropods and thoracic legs from the ventral surface, or removing the pleuropods and thoracic legs from the ventral surface while leaving the shell segments intact on the dorsal surface), a processing station 97 for separating adjacent ventral shell segments from the shrimp, and a ejector / sorting station 98. The shrimp processing system also includes a conveying system 92 operatively connected to the controller and operatively connected to each processing station such that grippers carrying shrimp can move through the various processing stations as described herein.

[0188] Despite the combination Figure 2 The controller 90 described in the illustrative embodiment of the shrimp processing system is in the form of a single controller, wherein all control functions can be performed by a single controller (although backup and / or redundant controllers may be provided to assist in the event of failure of the main controller). One or more alternative embodiments of the shrimp processing system may include a set of distributed controllers, wherein these processing stations require controllers with dedicated controllers, and networks may be used to interconnect the various controllers to facilitate the processing of shrimp by the shrimp processing system.

[0189] The controller used in one or more embodiments of the shrimp processing system described herein can be provided in any suitable form and may include, for example, memory and a controller. For example, the controller may take the form of one or more microprocessors, field-programmable gate arrays (FPGAs), digital signal processors (DSPs), microcontrollers, application-specific integrated circuit (ASIC) state machines, etc. The controller may include one or more suitable input devices (e.g., keyboards, touchscreens, mice, trackballs, etc.) and display devices (e.g., monitors (which may or may not be touchscreens), indicator lights, etc.), said input devices being configured to allow a user to operate the device, and said display devices being configured to convey information to the user.

[0190] Despite Figure 2 While described as separate, it should be understood that one or more processing stations can be combined in one or more embodiments of the shrimp processing system as described herein. For example, Figure 1A The processing station group in the shrimp processing system described in the article P1 It can be configured such that in each processing station 16 of the group, both the shrimp 2 and the mud veins of the shrimp 2 on the constrained clamp 12 are measured (therefore in Figure 2 The system depicted performs the two functions described for processing stations 93 and 94. Other combinations of processing steps can also be incorporated into a single processing station.

[0191] Furthermore, some processes (such as measurement) can be performed more than once for each shrimp. For example, in one or more embodiments, the shrimp can be measured as part of a process for cutting mud veins in shrimp passing through the shrimp processing system, and the shrimp can be measured again to assist in other processes (such as decapitation, sorting, shell segment separation, etc.).

[0192] While all the different shrimp processing devices described herein can preferably be incorporated into a single shrimp processing system or method, it should be understood that any single device described herein can be used in a standalone configuration where only the function performed by that particular device is executed for each shrimp passed through that device or method. For example, a single station may be provided for deheading shrimp, where no prior mud vein cutting device or measuring device or method has been provided. Similarly, a single station may be provided for shelling shrimp that have not yet been processed by a deheading device, or whose heads have been removed by another processing or device before being conveyed to a shelling device as described herein.

[0193] Furthermore, any two or more different shrimp processing devices described herein can be incorporated into the shrimp processing system and method described herein. For example, the shrimp processing system or method described herein may include measuring devices and mud vein cutting devices, wherein the measuring devices and mud vein cutting devices are provided as separate processing stations in the shrimp processing system or combined in an integrated processing station of the shrimp processing system.

[0194] In another variation, the shrimp processing system or method described herein may include the measuring device and shell segment separator device as described herein, wherein the measuring device and shell segment separator device are provided as separate processing stations in the shrimp processing system or combined in an integrated processing station of the shrimp processing system.

[0195] In another variation, the shrimp processing system or method described herein may include measuring devices and deheading devices as described herein, wherein the measuring devices and deheading devices are provided as separate processing stations in the shrimp processing system or combined in an integrated processing station of the shrimp processing system.

[0196] The shrimp processing methods described herein, whether or not used with the processing system described herein, may include loading a single shrimp into each of a plurality of grippers, thereby providing a plurality of loaded grippers, wherein each loaded gripper constrains only one shrimp at a time. The method may also include transporting each loaded gripper carrying the shrimp between a plurality of processing stations using a conveyor system connecting the processing stations. In one or more methods, the method may include collecting data about each shrimp in a loaded gripper at at least one of the plurality of processing stations. In one or more methods, the method may include performing one or more actions on each shrimp in a plurality of loaded grippers at at least one of the plurality of processing stations.

[0197] In one or more embodiments of the methods described herein, the fixtures may be arranged on the conveying system in the form of a group of two or more fixtures, wherein transporting each loaded fixture between multiple processing stations includes transporting a group of two or more fixtures simultaneously between multiple processing stations.

[0198] In a method of arranging processing stations into a group of two or more processing stations, the method described herein may include transporting a group of two or more loaded grippers between the group of two or more processing stations, and collecting data on shrimp in the two or more grippers of each group at two or more processing stations in each group, the processor being configured to collect the data before transporting the two or more grippers of each group out of the group of two or more processing stations. Furthermore, the method may include performing one or more actions on the shrimp in the two or more grippers of each group at two or more processing stations in each group, the processing stations being configured to perform one or more actions before transporting the two or more grippers of each group out of the group of two or more processing stations configured to perform one or more actions.

[0199] In one or more methods of processing shrimp as described herein, data collection may include measuring the length of each shrimp when, for example, each shrimp is located in a clamp as described herein. In one or more embodiments of the methods described herein, weight may be assigned to each shrimp based at least in part on the length of each shrimp measured in one or more of the methods described herein.

[0200] One or more methods for processing shrimp as described herein may include performing actions such as severing the mud veins in each shrimp at selected locations. In one or more embodiments, the method may include identifying the selected locations where the mud veins will be severed, based at least in part on the length of each shrimp measured in one or more methods for processing shrimp as described herein.

[0201] One or more methods of processing shrimp as described herein may include removing the head from each shrimp, wherein the head may be removed optionally after severing the mud veins on each shrimp near the tail. Removing the head according to one or more methods of processing shrimp as described herein may include identifying the cephalothorax junction between the cephalothorax and abdomen of each shrimp before removing the head from each shrimp.

[0202] One or more methods of processing shrimp as described herein may include separating adjacent abdominal shell segments on the dorsal surface of the shrimp's abdomen before removing the abdominal shell segments from the shrimp.

[0203] One or more methods of processing shrimp as described herein may include removing the ventral shell segment and one or more pleural legs from each shrimp simultaneously. Alternatively, one or more methods of processing shrimp as described herein may include removing one or more pleural legs from each shrimp while leaving the ventral shell segment intact.

[0204] Illustrative examples of shrimp processing systems and methods are given below in conjunction with various illustrative examples of shrimp processing stations and the methods performed at these stations. It should be understood that the processing stations and the methods performed at said stations are only examples applicable to this document in conjunction with Figure 1- Figure 2 The above describes illustrative examples of processing stations and methods in the processing system, and other alternative processing stations and methods may be used in the shrimp processing system described herein.

[0205] To aid in the discussion of shrimp processing stations and the methods performed there, along with a description of the various anatomical features of shrimp, Figure 3This paper depicts an example of a shrimp that can be processed using the shrimp processing system and methods described herein. The shrimp 102 depicted includes an abdomen 104 that terminates at a tail 106 / chopoda (although the proper name for this anatomical feature is caudal foot, it is referred to simply as "tail" herein for simplicity). An appendage called the telson 107 is located above the dorsal surface of the tail 106. While the shrimp 102 depicted includes an abdomen 104 with six segments, other shrimp that can be processed using the shrimp processing system described herein may have more or fewer segments forming the shrimp abdomen.

[0206] The head or cephalothorax 108 of the shrimp 102 is attached to the abdomen 104 at one end opposite the tail 106. The cephalothorax 108 contains the viscera of the shrimp 102 and also carries various features such as antennae, rostrum, etc. Removing the head or cephalothorax 108 using the processing system and method described herein results in the removal of features directly attached to the cephalothorax 108.

[0207] The shrimp 102 also includes appendages in the form of pectoralis major 105 (sometimes referred to as pedipalps) attached to the ventral side of the abdomen 104. Additional appendages 109 are also attached to the ventral side of the shrimp 102 anterior to the abdomen 104, i.e., to the ventral side of the cephalothorax 108. These appendages 109 may include, for example, thoracic legs (sometimes referred to as "walking legs") and chelicerae. Removal of the head or cephalothorax 108 using the processing systems and methods described herein typically results in the removal of at least some of the appendages 109 attached to the ventral side of the cephalothorax 108.

[0208] The abdomen 104 comprises six segments located between the cephalothorax 108 and the tail 106 / tail and telson 107. These segments begin at the cephalothorax 108 and continue to the tail 106, with the abdominal segment closest to the cephalothorax 108 being designated as the first segment and the abdominal segment closest to the tail 106 / telson 107 as the sixth segment. Each abdominal segment includes a shell segment located on the dorsal side of the abdomen.

[0209] The shrimp processing systems and methods described herein rely on the handling of individual shrimp, which are held and moved through a system for individual handling. In one or more embodiments, each shrimp may be held near its tail / tailfoot using clamps, but other locations for restraining the shrimp may also be contemplated for handling in the shrimp processing systems and methods described herein.

[0210] Shrimp processing system fixtures and methods

[0211] Figure 4-6An exemplary embodiment of a clamp is depicted, which can be used in one or more exemplary embodiments of the shrimp processing system and method described herein. The clamp 112 is configured to capture and hold a shrimp near its tail. The illustrated embodiment of clamp 112 is merely one example of a clamp that can be used to capture and hold shrimp processed in the shrimp processing system and method described herein.

[0212] An exemplary embodiment of the clamp 112 is located on the base 110 (see, for example, see...). Figure 5 Although the base 110 is shown as separate from and distinct from the clamp 112, in one or more embodiments, the base 110 may form an integral part of the clamp 112.

[0213] The clamp 112 includes a body 120 attached to a base 110 and a pair of arms 122 extending away from the body 120, wherein the arms 122 connect a pair of jaws 124 to the body 120. Each jaw 124 includes a jaw face 125, wherein the jaw faces 125 on the opposing jaws 124 face each other along a clamping axis 121 extending between the jaws 124.

[0214] The gripper face 125 on each gripper 124 defines a receiving slot between the gripper faces 125. In one or more embodiments, as the clamping axis 123 moves away from the base 110 between the gripper faces 125, the distance across the receiving slot between the gripper faces 125 narrows in a direction aligned with the clamping axis 121, wherein the clamping axis 123 extends through the base 110 between the gripper faces 125 (in other words, through the receiving slot between the gripper faces 125).

[0215] In the illustrative embodiment of the depicted clamp 112, one or both of the arms 122 connecting each jaw 124 to the body 120 serve as spring members for operably attaching the jaw 124 to the body 120. In one or more embodiments, one or both of the spring members / arms 122 resist movement of the attached jaw 124 away from the opposing jaw along the clamping axis 121. In one or more embodiments, one or both of the spring members / arms 122 also resist movement of the attached jaw 124 away from the base 110 along a clamping direction aligned with the clamping axis 123. As a result, the shrimp in the receiving slot between the jaw faces 125 of the jaws 124 is pressed against the base 110 by one or both of the jaws 124.

[0216] refer to Figure 6In a direction transverse to the clamping axis 121 and the pressing axis 123, the distance between the body portion 120 and the receiving seam defined between the gripper face 125 of the gripper 124 can be selected to allow the tail portion 106 of the shrimp captured in the clamp 112 to be positioned between the receiving seam of the clamp 112 and the body portion 120. In one or more embodiments, the distance between the body portion 120 and the receiving seam is 4 times or more, 6 times or more, 8 times or more, 10 times or more, 14 times or more, 16 times or more, 18 times or more, or 20 times or more of the width of the receiving seam, the width of which is measured at the midpoint between the narrowest part of the receiving seam and the base 110, measured in a direction aligned with the clamping axis 121. In one or more embodiments, the distance between the body 120 and the receiving seam can be 24 times or less, 22 times or less, 20 times or less, 18 times or less, or 16 times or less the width of the receiving seam, which is measured at the midpoint between the narrowest part of the receiving seam and the base 110, measured in a direction aligned with the clamping axis 121.

[0217] Similarly, refer to Figure 6 In addition to helping and holding the shrimp in position within the clamp 112, the clamping force along the clamping axis 123 also presses the base of the shrimp's tail 106 against the base 110 positioned by the clamp 112. In one or more embodiments, this action can force the shrimp's tail 106 to fan out or spread out, such as... Figure 6 As can be seen. Therefore, when the tail 106 opens, the leading edge of the tail 106 can act on the grippers 124 of the clamp 112 to further help prevent the shrimp from being removed from the clamp 112 in a direction transverse to both the clamping axis 121 and the pressing axis 123.

[0218] Another optional feature depicted in conjunction with clamp 112 is located in a support 126 on each jaw 124. In one or more embodiments, raising the jaw 124 away from the base 110 can provide a gap between the arm 122 and the base 110, allowing the jaw 124 to rotate about a rotation axis 127 extending through the arm 122 (see, for example). Figure 4 The arm 122 extends from the gripper 124 to the body 120 (as depicted in the figure, along the rotation axis 127). In one or more embodiments, rotation of the gripper 124 about the rotation axis 127 allows the center of pressure applied by the gripper 124 to shrimp of different sizes to remain above the centerline at which the gripper 124 of the clamp 112 contacts the shrimp of different sizes.

[0219] It should be understood that rotation of the gripper 124 may occur even without the support 126. Furthermore, it should be understood that while in the embodiments of the depicted clamp 112 all grippers 124 may rotate about their respective axes of rotation 127, in one or more embodiments only one gripper 124 may be configured to rotate about the axis of rotation 127.

[0220] In one or more embodiments of the gripper for restraining shrimp as described herein, gripper 112 may be made of a polymeric material that provides sufficient strength and resilience to form the arm 122 and the gripper 124 to provide the functions of gripper 112 as described herein. Alternatively, gripper 112 may be composed of various components assembled together to provide the various features and functions of the gripper for restraining shrimp as described herein. For example, arm 122 may be formed of spring steel or some other resilient material that differs from the material used for the body 120 and / or the gripper 124 of gripper 112. Other variations, such as overmolded spring steel mechanisms, are also known to those skilled in the art.

[0221] In one or more embodiments of the method for restraining shrimp as described herein, the method may include providing a clamp having a first and a second jaw positioned on a base, wherein the jaws define a receiving slit therebetween, into which a shrimp is inserted such that the shrimp's tail is positioned on the gripping side of the jaws and the shrimp's cephalothorax is positioned on the processing side of the jaws. Although not essential, in one or more embodiments, the method may further include pressing the shrimp's tail against the base such that the tail forms an extended tail fan on the gripping side of the jaws.

[0222] The illustrative embodiment of clamp 112 is described herein, and the method may include providing clamp 112 having a first gripper and a second gripper on a base 110. Gripper 124 defines a receiving slit therebetween. A shrimp is inserted into the receiving slit such that the tail 106 of the shrimp is located on the gripping side of gripper 124 (in other words, the side of gripper 124 facing the body 120 of clamp 112), while the cephalothorax of the shrimp is located on the processing side of gripper 124 (in other words, the side of gripper 124 opposite to the body 120 of clamp 112). In the illustrated embodiment, the abdomen 104 of the shrimp is also located on the processing side of gripper 124 because gripper 124 acts on the shrimp at the junction between tail 106 and abdomen 104. In one or more embodiments, the gripper 124, together with the spring member / arm 122, acts to force the shrimp toward or against the base 110, such that the tail forms an extended tail fan on the gripping side of the gripper 124. The extended tail fan can further prevent the shrimp from being removed from the gripper 112 in a direction transverse to both the gripping axis 121 and the pressing axis 123.

[0223] In one or more embodiments of the method for restraining a shrimp in a clamp as described herein, the clamping force on the shrimp along the clamping axis 123 toward the base can be described as a continuous clamping force. In other words, the force may be present as long as the shrimp is held in the clamp. In one or more embodiments, the clamping force provided by the clamp can be aided as the jaws of the clamp widen as they approach (or narrow as they move away from) the base where the clamp is positioned, because the force vector applied to the shrimp by the angled surfaces of the jaws of the clamp can help provide clamping force to the shrimp, as described herein, due to the shape of the shrimp.

[0224] Furthermore, one or more embodiments of the method for restraining shrimp in a clamp as described herein may involve rotation of one or both jaws of the clamp, as discussed above in conjunction with exemplary embodiments of clamp 112. Specifically, clamp 112 includes a body 120 and a first jaw connected to the body 120 via a first arm and a second jaw connected to the body 120 via a second arm. In one or more embodiments, when a shrimp is inserted into a receiving slot formed between the first and second jaws, one or both of the jaws 124 may rotate about a rotation axis 127 located above the base 110 and extending between the rotating jaws 124 and the body 120.

[0225] Figure 7 This is a perspective view of a set of clamps 112 that can be used in one or more embodiments of the shrimp processing system as described herein. The set of clamps 112 can be described as being attached to clamp mounts 111, wherein a plurality of clamp mounts 111 are attached to a conveying element 117 of a conveying system for moving the clamps 112 mounted on the clamp mounts 111 through the shrimp processing system as described herein. In the depicted embodiment, the conveying element 117 is in the form of a belt, which can be driven by any suitable mechanism to move the clamp mounts 111 and the clamps 112 thereon through the shrimp processing system as described herein.

[0226] Although the exemplary embodiment of the clamp mount 111 depicted carries four clamps 112, it should be understood that the clamp mount 111 may carry only one clamp, two clamps, three clamps, or five or more clamps, depending on the number of processing stations in a given shrimp processing system. Furthermore, although... Figure 7 Conveying element 117 is depicted, but it should be understood that the conveying system for propelling clamp 112 and any clamp mount 111 through the shrimp processing system as described herein may include as few as one conveying element or three or more conveying elements, depending on the specific design of the conveying system.

[0227] Furthermore, although the conveyor element 117 is in the form of a belt, it should be understood that the conveyor element used in the shrimp processing system described herein can take any of the various forms commonly found in conveyor systems, including but not limited to belts, chains, etc.

[0228] In the illustrated embodiment, the conveying element 117 carries the mounting boss 132, wherein each clamp mount 111 includes a corresponding mounting block 130, wherein each block 130 is configured to attach to the mounting boss 132 on the conveying element 117. The block 130 can be attached to the mounting boss 132 by any suitable technology or combination of technologies, including, for example, mechanical fasteners, adhesives, clamps, interference fits, mechanical interlocks, etc.

[0229] refer to Figures 8-10 An exemplary embodiment for attaching a clamp mount 111 to a conveying element 117 is described in more detail. In the illustrated embodiment, the clamp mount 132 and the block 130 are attached to each other using magnetic attraction. Specifically, each of the clamp mounts and blocks carries a permanent magnet to hold the block 130 on the clamp mount 132, which in turn holds the clamp mount 111 on the conveying element 117 for movement through the shrimp processing system as described herein.

[0230] refer to Figures 8-9 In the depicted embodiment, mounting block 130 (which is shown as transparent to allow the components contained therein to be seen) is attached to clamp mount 111 using mechanical fasteners. The mounting block also includes a pair of magnets 134 positioned above mating features 136 formed in clamp mount 111.

[0231] The mating feature 136 is designed to mate with the complementary mating feature 137 on the mounting boss 132 to aid in aligning and retaining the jig mount 111 onto the mounting boss 132 on the conveying element 117. While the mating feature 136 is depicted as a recess / groove / hole and the complementary mating feature 137 on the mounting boss 132 is depicted as a protrusion, it will be understood that any pair of complementary mating features on the jig mount 111 and the mounting boss 132 can provide the same functionality as... Figures 8-9 The illustrative complementary pairing features described in the text.

[0232] refer to Figure 10 It is along Figure 9A cross-sectional view of the clamp mount 10, mounting boss 132, and mounting block 130, taken by line 10-10, shows that in the illustrated embodiment, the mounting boss 132 includes complementary magnet pairs 135 positioned to magnetically attract a magnet 134 attached to the mounting block 130 of the clamp mount 111. Preferably, pairs of magnets 134 and 135 are provided in the mounting block 130 and mounting boss 132 such that the magnets 134 and 135 form a close magnetic field to reduce the possibility that the magnetic field associated with the mounting block 130 and mounting boss 132 might affect any electrical or magnetic components of the shrimp processing system as described herein. The relationship between complementary mating features 136 and 137 on the clamp mount 111 and mounting boss 132 can also be seen in... Figure 10 As seen in the cross-sectional view.

[0233] In one or more embodiments, such as Figures 8-10 The use of magnets and complementary mating features described herein provides a relatively easy-to-clean connection system for holding the clamp mount 111 in proper position on the conveyor element 117 of the shrimp processing system as described herein. However, many other structures and / or techniques for holding the clamp mount on the conveyor element of the conveying system will be understood as suitable alternatives to this connection. Figures 8-10 The illustrated embodiment of the mounting block 130, clamp mounting base 111, and mounting boss 132 is described.

[0234] refer to Figure 7 and Figure 11 Another optional feature of one or more embodiments of the shrimp processing system described herein can be seen in the offset between the clamp 112 and the conveyor element 117 used to hold and move the shrimp through the processing system. In particular, Figure 11 A pair of shrimp 102 are depicted held in a clamp 112, which is attached to a clamp mount 111 that moves along a processing direction 101 using a conveying element 117. The shrimp 102 are supported during movement along the processing direction 101 by working surfaces 114 located on opposite sides of the conveying element 17. These working surfaces are able to support the shrimp 102 held in the clamp 112 because the conveying element 117 is not aligned with the clamp 112 along the processing direction 101.

[0235] In one or more embodiments, supporting the restrained shrimp on a working surface 114 (which is separate from and distinct from the conveying element 117) can improve the cleanliness and hygiene of the shrimp processing system, because the working surface 114 can be cleaned and / or replaced individually during use to limit contamination and improve hygiene.

[0236] Although the preceding figures depict an exemplary embodiment of a clamp that can be used to restrain shrimp within a shrimp processing system as described herein, it should be understood that other alternative clamps can be used to provide constraint and movement of shrimp in a system as described herein. Figures 12-13 An illustrative embodiment of an optional clamp 112' is depicted, which can be used in one or more shrimp processing systems as described herein. The clamp 112' includes jaws 124' mounted on a body portion 120', which are spring-loaded to move toward each other. The shape of the jaws 124' and the spring-loaded mounting provide a clamping force along a clamping axis 121', and preferably, a clamping force along a pressing axis 123' extending through a receiving slot located between the opposing jaws 124'.

[0237] refer to Figure 13 The clamp 112' can also be mounted on the clamp mounting base 111' so that the conveying element 117' offset from the clamp 112' can be moved through the conveying system, so that the shrimp 102' can be supported on the working surface 114' offset from the conveying element 117'.

[0238] Another optional illustrative embodiment of clamp 112'' is in Figure 14 The image depicts a clamp 112'' being carried on a clamp mount 111''. Each clamp 112'' is depicted as constraining a shrimp 102'' onto a working surface 114'', while the clamp mount 111'' carrying the clamp 112'' moves through the processing system using a conveying element 117'' located between the working surfaces 114''. The clamp 112'' includes a spring element 122'' for applying pressure to the shrimp 102'' to hold the shrimp 102'' in the clamp 112''.

[0239] It should be understood that Figures 12-14 Only two alternative illustrative embodiments of the clamps are depicted, which can be used to hold shrimp in a processing system for processing according to the methods described herein. Many other clamps can be used to restrain shrimp for processing in the systems and methods described herein.

[0240] Measurement and mud vein cutting equipment and methods

[0241] In one or more embodiments of the shrimp processing system described herein, the processing station is a station that can be used to measure shrimp and a station that can be used to cut the shrimp's veins. In one or more embodiments, the same processing station can be used to measure shrimp and cut the shrimp's veins.

[0242] Figure 15This is a schematic block diagram depicting components found in such a system configured to both measure and sever the shrimp's veins. The depicted station includes a measurement module 260, a vein severing module 270, a controller 290, and a conveying system 292.

[0243] The measurement module 260 may preferably be a non-contact measurement module, configured to measure shrimp without requiring physical contact with the shrimp. In one or more embodiments, the measurement module 260 may include a transmitter 262 and a receiver 264 that together emit and receive energy, such as light energy, ultrasonic energy, etc. Although depicted separately, the transmitter 262 and receiver 264 may be combined in a transceiver that relies on reflected energy to measure the shrimp.

[0244] The pulse cutting module 270 may include a variety of components, including a cutting module driver 271, a cutting constraint actuator 252 (operably connected to a cutting constraint device), and a blade actuator 245 (operably connected to a blade). The cutting module driver 271, the cutting constraint actuator 252, and the blade actuator 245 may all be connected to a controller 290 to control the movement of the pulse cutting module 270, the cutting constraint actuator 252, and the blade actuator 245.

[0245] The control of the conveying system 292 by the controller 290 can be used to move shrimp into and out of the measuring module 260 and / or the pulse cutting module 270.

[0246] Although illustrative embodiments combining shrimp measurement and mud vein cutting devices (such as...) Figure 15 The controller 290 depicted herein can be in the form of a single controller, where all control functions can be performed by a single controller (although backup and / or redundant controllers may be provided to assist in the event of a failure of the main controller). One or more alternative embodiments of the shrimp measuring and mud vein cutting device may include a set of distributed controllers, where those parts of the device require controllers with dedicated controllers, and networks may be used to interconnect the various controllers to facilitate the handling of shrimp by the measuring and mud vein cutting device. Furthermore, the controller 290 (or any other controller used in the mud vein cutting device as described herein) can be separate from or integrated into the system controller, such as in combination for controlling, etc. Figure 2 The control system of the shrimp processing system described herein is the controller 90.

[0247] The controller used in one or more embodiments of the shrimp measurement and mud vein separation device described herein can be provided in any suitable form and may include, for example, a memory and a controller. For example, the controller may be in the form of one or more microprocessors, field-programmable gate arrays (FPGAs), digital signal processors (DSPs), microcontrollers, application-specific integrated circuit (ASIC) state machines, etc. The controller may include one or more suitable input devices (e.g., keyboards, touchscreens, mice, trackballs, etc.) and display devices (e.g., monitors (which may or may not be touchscreens), indicator lights, etc.), said input devices being configured to allow a user to operate the device, and said display devices being configured to convey information to the user.

[0248] An illustrative embodiment of the mud vein cutting device 240 is shown in Figures 16-25E The illustrative embodiment of the measurement module 260 is depicted in [the text]. Figure 26-30 As depicted in the image. In one or more embodiments, although the mud vein cutting device 240 and the measuring module 260 can be integrated into the above combination. Figure 1A and Figure 2 The illustrative shrimp processing system described herein describes a group of processing stations (e.g., groups) P1 In a single processing station within ), but they are in Figures 16-30 They are described separately because they can also be provided as separate processing stations.

[0249] Figures 16-23 The pulse-cutting device 240 of the processing station depicted is positioned above a working surface 214, on which shrimp 202 is positioned for processing. In one or more embodiments, the shrimp 202 may be constrained in a clamp 212 such that the tail 206 of the shrimp 202 is located on one side of the clamp, while the remainder of the shrimp 202 is located on the opposite side of the clamp 212. As discussed herein, the clamp 212 may be moved relative to the pulse-cutting device 240 to a selected position such that each shrimp processed by the pulse-cutting device 240 is located in the same selected position.

[0250] The processing station is supported above a working surface 214 (and any shrimp 202 located thereon) on a frame 242, with components of the processing station positioned on a carriage 244 that moves along a slider 243 aligned with axis 241. The depicted embodiment of the carriage 244 includes side plates extending downward from the upper portion of the carriage 244, although many other variations in the support structure are possible. In one or more embodiments, the carriage 244 is preferably aligned with a processing axis 211 passing through the working surface 214 along its axis of movement. As a result, movement of the carriage 244 along the slider 243 / axis 241 causes movement of the carriage 244 and its components along the processing axis 211 to facilitate positioning of the components in the processing station, with one or more selected locations on the shrimp 202 positioned on the working surface 214.

[0251] The depicted integrated measurement and vein cutting device includes a vein cutting module comprising a blade assembly 248 and a blade actuator 245 configured to move the blade assembly 248 between a storage position and a cutting position. More specifically, the blade assembly 248 is mounted on a blade carriage 246, which is moved by the blade actuator 245 to move the blade assembly 248 between its storage position and the cutting position. The blade actuator 245 may be in the form of a double-acting air actuator / piston, although many other mechanisms may be used to provide the required reciprocating motion to move the blade actuator 245 and the blade assembly 248 between their storage and cutting positions, such as a double-acting piston, a single-acting piston, a spring mechanism, a hydraulic actuator, a motor, a magnetic actuator, etc.

[0252] As the blade assembly 248 moves between its storage position and its cutting position, the blade carriage 246 moves along the blade carriage axis 247, and therefore, the cutting direction along which the blade assembly 248 moves is aligned with the blade carriage axis 247. In one or more embodiments, the cutting direction / blade carriage axis 247 may be transverse to the processing direction 211.

[0253] The pulse cutting module also includes a cutting constraint device 250 configured to hold the shrimp 202 in position within a clamp 212 held on the working surface 214. The cutting constraint device 250 is operably attached to a cutting constraint device actuator 252, which is configured to be in a retracted position (e.g., Figure 16 (as shown) and constraint locations (e.g.) Figure 17 The cutting constraint device 250 moves between the two positions (as shown). When the cutting constraint device 250 is in the constrained position, the shrimp 202 held in the clamp 212 is constrained by the cutting constraint device 250 in the selected cutting position on the working surface 214.

[0254] In the depicted embodiments, when in such Figure 16The withdrawal location seen in the text and as Figure 17 As the device moves between the constrained positions, the cut constraint actuator 252 causes the cut constraint device 250 to rotate about axis 251. In one or more embodiments, the cut constraint device actuator may be in the form of a force-limiting single-acting piston that applies a small downward force when the cut constraint device 250 is moved to the constrained position, and a larger upward or retraction force when the cut constraint device 250 is moved back from the constrained position. A smaller downward force can be selected such that the cut constraint device 250 does not excessively damage the shrimp when it is in its constrained position. In one or more embodiments, the upward or retraction force may be provided by a spring located within the cut constraint device actuator 252.

[0255] Although the illustrative embodiment of the cut-off restraint actuator 252 depicted is in the form of a force-limiting single-acting piston, many other mechanisms can be used to provide the reciprocating motion required to move the cut-off restraint 250 between its retracted and restrained positions, such as double-acting pistons, single-acting pistons, spring mechanisms, hydraulic actuators, motors, magnetic actuators, etc.

[0256] Figure 16 The series of operations of the mud vein cutting and processing station described in the text can be referenced. Figures 16-21 To describe. In Figure 16 In this process, the shrimp 202, constrained in the clamp 212 supported on the clamp mount 210, is moved to a selected cutting position on the working surface 214. The shrimp 202, clamp 212, and clamp mount 210 move along a processing direction aligned with the processing axis 211 to place the shrimp 202 in the selected cutting position on the working surface 214. The blade assembly 248 on the blade carriage 246 is in a stored position, and the cutting constraint device 250 is in... Figure 16 In its withdrawal position.

[0257] When the shrimp 202 is in the selected cutting position on the working surface 214, the cutting constraint device actuator 252 can be operated to release the cutting constraint device 250 from its position. Figure 16 The retraction position moves toward the working surface, and the shrimp 202 is constrained on the working surface by the clamp 212, so that the cutting constraint device 250 is in a position as shown. Figures 17-18 In the constrained position seen therein. When the shrimp 202 held in the clamp 212 is in the selected cutting position on the working surface 214 and the cutting constraint device 250 is in the position as shown in the figure. Figures 17-18 When the constraint position is as seen, the cutting constraint device 250 is located between the blade assembly 248 and the clamp 212 of the constraint shrimp 202.

[0258] When in such a situation Figures 17-18In the constraint position depicted herein, the exemplary embodiment of the cutting constraint device 250 is positioned on the abdomen of the shrimp 202, near the clamp 212 constraining the shrimp 202. However, it should be understood that other positions for cutting the constraint device 250 are also possible in alternative embodiments of the cutting device as described herein. Also as Figures 17-18 As seen, the blade assembly 248 on the blade carriage 246 is in the storage position (in Figure 17 In the middle, the storage position is offset to the right along the blade carriage axis 247.

[0259] like Figures 17-18 As seen, shrimp 202 is in a selected cutting position on working surface 214 and cutting constraint device 250 is in a constrained position to restrain the shrimp on working surface 214. Blade actuator 245 can be activated to move blade assembly 248 from its storage position to its cutting position (e.g., ...). Figures 19-20 (As seen in the image). The blade assembly 248 is moved from its storage position to its cutting position using the blade actuator 245 along a cutting direction aligned with the blade carriage axis 247, thereby causing the blade assembly 248 to move generally transversely to the processing direction aligned with the processing axis 211. During this movement, the blade assembly 248 passes through the abdomen of the shrimp 202, which is constrained on the working surface 214 by the clamp 212 and the cutting constraint device 250. This movement of the blade assembly 248 preferably cuts the mud veins in the shrimp 202.

[0260] Although Figures 19-20 As seen, the shrimp 202 remains in the selected cutting position on the working surface 214 and the cutting restraint device 250 remains in the restraint position, but preferably the blade actuator 245 is activated to move the blade assembly 248 from its cutting position back to its storage position (e.g., as shown in the image). Figures 17-18 (As seen in the image). Using the blade actuator 245 to move the blade assembly 248 from its cutting position to its storage position, while the shrimp 202 remains constrained by both the cutting constraint device 250 and the clamp 212, unwanted movement of the shrimp 202 can be prevented during the return of the blade assembly 248 to its storage position.

[0261] By holding the shrimp 202 in a selected cutting position on the working surface 214, the cutting constraint device 250 can be released from its constraint position (e.g., ... Figures 17-20 (As seen) Retract upwards away from the working surface 214 to the position shown. Figure 16 and Figure 21 The retraction position is shown in the diagram. The movement of the cutting constraint device 250 can be accomplished using the cutting constraint device actuator 252 as described herein. Furthermore, the movement of the cutting constraint device 250 can also cause the blade actuator 245, the blade carriage 246, and the blade assembly 248 to move away from the working surface 214 and the shrimp 202 located thereon.

[0262] Although the depicted embodiment of the mud vein cutting device 240 uses a fixed blade that moves relative to the shrimp, one or more alternative embodiments of the mud vein cutting device as described herein may include rotating blades, water sprayers, etc., which can be used to cut mud veins in shrimp as described herein.

[0263] Figure 22 An illustrative embodiment of a blade assembly 248 used in a mud vein cutting device as described herein is depicted. Specifically, the blade assembly 248 may take the form of a blade holder 249a and a replaceable blade 249b attachable to the blade holder 249a. In one or more embodiments, the blade 249b may be in the form of a #10 scalpel blade or other conventional cutting instrument to allow for easy and quick blade replacement as needed. Figures 23-24 The blade 249b is depicted in an enlarged view, showing that it includes a cutting edge 249c, wherein the blade 249b is attached to a retainer 249a of the blade assembly 248. In one or more embodiments, as the blade moves along the cutting path, the cutting edge 249c of the blade 249b faces upward or away from the ventral side of the shrimp at a selected cutting position.

[0264] In the illustrated embodiment, the cutting edge 249c of the blade 249b is a curved edge. The curved edge of the blade 249b reduces the likelihood of the blade breaking during the process of cutting the mud veins of shrimp processed by the shrimp processing system described herein.

[0265] In one or more embodiments, it may be preferred that the blade assembly 248 moves in one direction from its storage location to its cutting location, resulting in the cutting action of the mud veins in the shrimp 202. (See reference...) Figures 16-21 The shrimp 202, constrained at a selected cutting position on the working surface 214, is generally aligned along the processing axis 211, such that when the cutting direction / blade actuator axis 247 is oriented generally transverse to the processing axis 211, the movement of the blade assembly 248 along the cutting direction aligned with the blade actuator axis 247 provides the desired vein-cutting action in the shrimp 202.

[0266] Figures 23-24 The relative positions of the cutting restraint device 250 on a pair of shrimp 202 of different sizes are depicted to illustrate the adaptive adjustments provided by the notch 254 in the cutting restraint device 250 based on the different sizes of the shrimp. As discussed herein, and as... Figures 23-24 As depicted, the path of the cutting edge 249c of the blade 249b is fixed relative to the cutting constraint device 250. In other words, the cutting edge 249c of the blade 249b passes through the same portion of the notch 254 in the cutting constraint device 250, regardless of the size of the shrimp 202.

[0267] In particular, Figure 23 A larger shrimp 202 is depicted in a selected cutting position and aligned with the processing axis 211 on the working surface 214 of the shrimp processing system as described herein. Figure 24 Smaller shrimp 202 are depicted in selected cut positions and aligned with the processing axis 211 on the working surface 214 of the shrimp processing system as described herein. All shrimp 202 are shown in cross-section, with mud veins 203 located near the dorsal side of the shrimp 202.

[0268] Figures 23-24 The notch 254 in the cutting constraint device 250 is depicted as helping to determine the height of the ventral side of the shrimp shell and setting the cutting depth relative to that height, for use with blades in a mud vein cutting device as described herein. Figures 23-24 The axis 257 depicted can, for example, indicate the path of the blade used to cut the mud veins of a shrimp relative to the notch 254. Specifically, axis 257 can indicate the path of the lowest end 249d of the cutting edge 249c of the blade assembly 248. Axis 257 is generally parallel to the cutting direction / blade actuator axis 247 along which the blade assembly 248 moves during the cutting process.

[0269] refer to Figures 23-24 The cutting depth can be defined along the vertical axis extending through the working surface 214 and the shrimp 202. d Using a notched cutting restraint device (such as cutting restraint device 250) to define the cutting depth relative to the dorsal side of the shrimp shell can help ensure that the cutting depth on the shrimp restrained in the selected cutting position as described herein is deep enough to cut through the mud veins without undesirably cutting too deep into the shrimp being processed by the mud vein cutting device.

[0270] As mentioned above, Figure 24 A smaller shrimp 202 is depicted in a selected cutting position and is also aligned with the processing axis 211 on the working surface 214 of the shrimp processing system as described herein. Figure 24 The axis 257 is also depicted, along which the lowermost end 249d of the cutting edge 249c moves when the blade 249b passes through the smaller shrimp 202 to cut the mud vein 203.

[0271] Figure 23 and Figure 24The comparison shows that axis 257 (along which the lowermost end 249d of the cutting edge 249c moves to cut the mud veins 203 in both larger and smaller shrimp 202) is in the same position relative to the cutting restraint device 250, regardless of the size of the shrimp. However, in both cases, the cutting edge 249c of the blade 249b of the blade assembly 248 is in a sufficiently low position to cut the mud veins 203 of the shrimp 202.

[0272] The blade 249b is fixed at a height relative to the path of the cutting constraint device 250 to provide accurate and repeatable cuts to the mud veins in shrimp of relatively wide size variation. This is because, compared to smaller shrimp, the mud veins 203 are located closer to the dorsal side of the shrimp as a percentage of the "height" of the abdomen of the shrimp 202 (e.g., compared to smaller shrimp). Figure 23 The larger shrimp and Figure 24 (The location of the mud vein 203 in the smaller shrimp).

[0273] You can refer to this. Figure 23 and Figure 24 Another characteristic observed is that, in most cases, the cutting edge 249c of blade 249b will force the mud veins 203 of both larger and smaller shrimp 202 away from the ventral side of shrimp 202 and toward the dorsal side of shrimp 202 (i.e., away from the working surface 214 facing the ventral side of the larger and smaller shrimp 202). In some cases, this lifting action can help cut the mud veins 203, which may in some cases be relatively tough and / or elastic. Although the lifting action occurs through a curved cutting edge, it should be understood that a similar lifting action can be achieved with a straight cutting edge, which also faces away from the ventral side of shrimp 202.

[0274] As discussed herein, the cutting restraint device 250 used in one or more embodiments of the mud vein cutting apparatus described herein preferably includes a notch 254. The notch 254 is configured to receive a shrimp 202 held in a clamp 212 at a selected cutting position on the working surface 214 as described herein. In addition to helping restrain the shrimp positioned in the notch 254, the notch also provides positioning for a blade used to cut the mud veins of the shrimp as described herein.

[0275] Figures 25A-25E Various features of the illustrated embodiment with respect to the notch 254 are shown. Specifically, the notch 254 can be described as extending inward from the leading edge 255 of the restraint device 250 along the notch axis 253 toward the notch end 256. When the restraint device 250 is in its restrained position close to the working surface as described herein, the notch axis 253 may preferably be transverse to the processing axis 211. Furthermore, the notch 254 may preferably be wider near the leading edge 255 of the restraint device 250 and narrower as it approaches the notch end 256 away from those leading edges.

[0276] In one or more embodiments, the notch 254 may preferably have a bevel 258 that widens in one direction along the processing axis 211. For example, this feature can be seen in… Figures 25B-25E In the middle. Due to the bevel 258, the notch 254 is wider on one side of the cutting restraint device 250 than on the opposite side of the cutting restraint device 250. In one or more embodiments, this widening can preferably be associated with a widening of the shrimp's abdomen as it moves from the tail towards its cephalothorax, and thus can help restrain the shrimp when the cutting restraint device 250 is in its restraining position on the shrimp.

[0277] Figure 25C This is an enlarged cross-sectional view of the cutting constraint device 250 taken along the notch axis 253. As can be seen from this figure, besides... Figure 25B In addition to altering the width of the notch 254, the bevel 258 forming the notch 254 also alters the height or depth of the notch 254 between the tail side 259t and the cephalothorax side 259c of the cutting restraint device 250. In one or more embodiments, the bevel 258 may define an angle α relative to the processing axis 211. In one or more embodiments, the angle α may be 15 degrees or greater, 30 degrees or greater, 45 degrees or greater, or 60 degrees or greater at the lower end, and may be 75 degrees or less, 60 degrees or less, 45 degrees or less, or 30 degrees or less at the upper end.

[0278] Figure 25D and Figure 25E The cutting restraint device 250 on two shrimp 202 of different sizes is depicted to illustrate the effect of the inclined plane 258 when the cutting restraint device 250 is placed on shrimp of different sizes. Figure 25D The image depicts a larger shrimp 202, with its ventral side facing the working surface 214. In an embodiment where the cutting restraint device 250 is rotated into position (see, for example, see...),... Figures 16-21 The mud vein cutting device depicted in the text, compared to when... Figure 25E When placed on smaller shrimp, the restraint device 250 is cut at a more vertical angle, as seen in the example. Figure 25D When placed on a larger shrimp, the angle of the cutting restraint device 250 (represented by the notch axis 253) is not so vertical.

[0279] In one or more embodiments of the cutting restraint device as described herein, this variation in the angular orientation of the cutting restraint device 250 on shrimp of different sizes can be at least partially adaptively adjusted by the bevel 258 of the notch 254. Furthermore, in one or more embodiments, the adaptive adjustment by the bevel 258 for larger shrimp also helps to ensure that the axis 257 (which defines the cutting depth, as described above) is positioned on larger shrimp. Figures 23-24 The movement discussed is a further descent or deeper penetration into the shrimp 202, and conversely, an upward movement of axis 257 toward the dorsal side of the shrimp 202 on smaller shrimp.

[0280] exist Figures 26-30 This document describes an illustrative embodiment of a component that can be used to provide a measurement module for measuring shrimp in one or more embodiments of the shrimp processing system described herein. Although described and depicted separately, in one or more embodiments of the processing station described herein, the mud vein cutting device and the shrimp measurement module may be integrated into the same processing station. In one or more embodiments, the measurement module described herein may preferably use a non-contact sensor configured to measure the length of a shrimp held in a clamp that has moved through the measurement module along a measurement direction. Typically, the measurement direction will be aligned with the processing direction defined by the processing axis 211.

[0281] Regardless of whether the measuring module is integrated into the same processing station as the mud vein cutting device, the measuring module can preferably be positioned such that shrimp moving through the shrimp processing system as described herein are measured prior to the measurement, or at least when they reach a selected cutting position for cutting the mud vein. This allows the system to use the length of the shrimp to properly position the mud vein cutting device relative to each shrimp, in order to accurately and efficiently cut the mud veins of shrimp processed using the shrimp processing system described herein.

[0282] refer to Figure 26 and Figure 28 The measurement module components are located on opposite sides of the measurement direction / processing axis 211, such that a shrimp moving along the processing axis 211 passes between the components of the measurement module. Specifically, an illustrative embodiment of the depicted measurement module includes a transmitter 262 and a receiver 264 located on opposite sides of the processing axis 211. A specific embodiment of the transmitter 262 is in the form of an infrared transmitter array that generates a multipath beam, while the receiver 264 receives the emitted energy and uses it to determine the length of the shrimp passing between the transmitter 262 and the receiver 264.

[0283] refer to Figures 26-27 and Figure 30 In the illustrated embodiment, a transmitter 262 is formed (in Figures 26-27 A vertically arranged transmitter array typically emits light across an opening between transmitter 262 and receiver 264. (See reference...) Figures 28-30 In one or more embodiments, receiver 264 may have an opening above which light emitted by transmitter 262 is received, such that light within the depicted fan-shaped distribution of energy 266 between transmitter 262 and receiver 264 is received by receiver 264.

[0284] In operation, it is preferable to calibrate the non-contact sensor before the shrimp held in the clamp pass through it in the measurement direction. In one or more embodiments, it is preferable to calibrate the non-contact sensor before each shrimp held in the clamp passes through it in the measurement direction. Calibrating the non-contact sensor before each shrimp passes through it provides a more robust and accurate measurement of the shrimp passing through it. In one or more alternative embodiments, it is preferable to calibrate the non-contact sensor after a selected number of shrimp have passed through it (as opposed to calibrating it before each shrimp passes through it).

[0285] During the measurement process, transmitter 262 continuously emits light energy across the gap between transmitter 262 and receiver 264, while a shrimp restrained in a clamp passes between transmitter 262 and receiver 264 along processing axis 211. A controller (to which transmitter 262 and receiver 264 are operatively attached) monitors the energy received by receiver 264 to identify the engagement between the clamp and the shrimp held in the clamp as the shrimp moves through a non-contact sensor. In one or more embodiments, when the amount of energy emitted by transmitter 262 reaching receiver 264 is below a selected clamp threshold (indicating energy blockage coinciding with the clamp passing between transmitter 262 and receiver 264), the engagement can be detected by identifying selected portions of the clamp (such as the leading edge of the clamp restraining the shrimp) as the clamp and shrimp pass between transmitter 262 and receiver 264 along processing axis 211.

[0286] As the shrimp and gripper continue to pass between transmitter 262 and receiver 264, the controller continues to monitor the energy received by receiver 264. When the shrimp is between transmitter 262 and receiver 264, the amount of energy received by receiver 264 is reduced due to obstruction by the shrimp's abdomen and cephalothorax. However, as the shrimp's cephalothorax passes between transmitter 262 and receiver 264, the energy received by receiver 264 increases as the cephalothorax completes its passage between transmitter 262 and receiver 264.

[0287] When the energy reaching receiver 264 increases to a level higher than the selected antennal threshold (called the antennal threshold because, presumably, only the shrimp's antennae may be located between transmitter 262 and receiver 264 after the cephalothorax has passed between transmitter 262 and receiver 264), the shrimp's length measurement is determined.

[0288] Because the controller can also be operatively connected to the conveying system (e.g., see...). Figure 15The controller 290 and conveying system 292 are used to move a shrimp held in a clamp through a measuring module between a transmitter 262 and a receiver 264, so that the length of the shrimp can be determined based on the distance traveled by the shrimp using the conveying system. Specifically, the distance traveled by the shrimp is used as a measurement of the shrimp's length during the time between identifying the leading edge of the clamp (e.g., determined by the energy received by the receiver 264 dropping below a selected clamp threshold) and identifying the end of the shrimp's cephalothorax (e.g., determined by the energy received by the receiver 264 exceeding a selected antennal threshold).

[0289] While one illustrative embodiment of the measurement module may rely on infrared energy emitted and received by a non-contact sensor, other forms of non-contact sensing may be used instead of infrared energy emission and detection, and / or in addition to infrared energy emission and detection. For example, non-contact sensing may be performed using ultrasonic energy, light energy outside the infrared range, imaging systems (using one or more cameras, etc.), capacitive sensing, etc. Still in other alternative embodiments, contact sensing may be used to determine the length of the shrimp, for example, using a mechanical follower, a fluid jet, etc.

[0290] By determining the length of the shrimp, the controller can optionally be configured to determine the weight of the shrimp at least in part based on its length. In some embodiments, the weight of the shrimp held in the clamp can be based entirely on its length, as measured using the measurement module described herein.

[0291] Furthermore, once the shrimp's length is determined, this information can be used to locate the vein-cutting device relative to that specific shrimp, allowing the device to cut the shrimp's veins at a selected location. (Reference) Figure 3 Preferably, the mud vein of shrimp 102 is cut near the junction between the last abdominal shell segment and the adjacent abdominal shell segment, wherein the last abdominal shell segment is located between the adjacent abdominal shell segment and the tail of the shrimp. For example, in shrimp 102 with six abdominal segments, it is preferable to cut the mud vein near the junction between the fifth and sixth shell segments in the abdomen 104. Cutting the mud vein at this location may result in the removal of substantially all of the mud vein, with only the portion of the mud vein located in the last / sixth abdominal segment (the width, sometimes referred to as the "hindgut") remaining when most of the mud vein is removed from the abdomen 104 between the last / sixth abdominal segment and the cephalothorax of shrimp 102.

[0292] Since the length of shrimp 202 is known, the general location of the junction between the last shell segment and the adjacent shell segments (e.g., the fifth and sixth shell segments) is also known, because the location of the junction is related to the length of shrimp 202, and the vein cutting module can be correctly positioned so that the blade cuts the mud vein near the junction between the last shell segment and the adjacent shell segments (e.g., the fifth and sixth shell segments).

[0293] As described above Figures 16-23 As discussed, the illustrative processing station depicted in these figures includes a carriage 244 configured to move along an axis 241 aligned with the processing axis 211, along which the shrimp 202 is positioned on a working surface 214. The carriage 244 can be moved using a pulse-cutting module actuator (see, for example, see...). Figure 15 (The cut-off module driver 271 in the middle). Although not in Figures 16-23 As shown, the pulse interruption module driver (271) operably attached to the carriage 244 to move the carriage 244 can take any suitable form, including, for example, an electric motor, a hydraulic motor, a piston (hydraulic and / or pneumatic), a solenoid, etc.

[0294] The movable carriage 244 also moves the blade assembly 248 along the processing axis 211, since both the blade actuator 245 and the blade carriage 246 are mounted on the carriage 244 together with the cutting constraint device 250 and its associated components. As a result, given the known position of the blade assembly 248 relative to the carriage 244 and the measurements of the shrimp 202 at the selected cutting position on the working surface 214 (which provide the general location of the junction between the fifth and sixth shell segments on the shrimp 202), Figures 16-23 The mud vein cutting device described herein can position the blade assembly 248 such that as the shrimp 202 moves from its storage location to its cutting location, the blade assembly 248 cuts mud veins near selected joints on the shrimp 202, as described herein.

[0295] Head removal equipment and methods

[0296] As discussed herein, one or more embodiments of the shrimp processing systems and methods described herein may include processing stations and methods for decapitating individual shrimp. As used herein, “decapitation” of a shrimp means the removal of the head / cephalothorax (and substantially all viscera located therein) from the shrimp’s abdomen. In one or more embodiments, a decapitation restraint device may be used to restrain the shrimp to a working surface during decapitation, wherein in one or more embodiments, the decapitation restraint device is positioned at the junction between the shrimp’s abdomen and cephalothorax (referred to herein as the “cephalothorax junction”).

[0297] In one or more embodiments, the shrimp head is removed in a manner that similarly results in the removal of most of the mud veins, but without the need to remove the mud veins during head removal. Cutting the mud veins at a selected location along the abdomen before head removal may facilitate the removal of the mud veins during head removal. In one or more embodiments, as described herein, the mud veins may be cut near the junction between the last shell segment and adjacent shell segments (e.g., the fifth and sixth shell segments) on the abdomen before head removal.

[0298] The shrimp processing system and method described herein include a decapitation process performed individually on each shrimp while it is restrained by a decapitation restraint device acting on the shrimp near the cephalothorax junction. In one or more embodiments, the shrimp may also be restrained by clamps acting on its abdomen between the cephalothorax junction and its tail, but no additional restraint is required for the decapitation process. For example, in one or more embodiments, the shrimp may be restrained by clamps acting on its abdomen near its tail.

[0299] Figures 31-33 This is a simplified diagram depicting an illustrative embodiment of the head removal process and apparatus as described herein, while Figure 34 The head-removal device is depicted in the form of a schematic block diagram. For example... Figure 31 As depicted, shrimp 302 is positioned on working surface 314. Shrimp 302 is positioned such that it extends along processing axis 311 away from clamp 312 attached to clamp mount 310. More specifically, shrimp 302 is restrained by clamp 312 near its tail, such that the abdomen 304 and cephalothorax 308 of the shrimp extend away from clamp 312 on working surface 314.

[0300] The head-removing constraint device 350 is positioned opposite the working surface 314. For example... Figure 31 The depicted head-removing restraint device is located in its storage position, allowing the shrimp 302 to be positioned between the head-removing restraint device 350 and the working surface 314. The spoon-shaped member 360 is also present. Figure 31 The image depicts a spoon-shaped member 360 in its ready position, in which the spoon-shaped member 360 is located near the cephalothorax side of the head-removal restraint device 350 (wherein the cephalothorax side of the head-removal restraint device 350 is the side of the head-removal restraint device facing the cephalothorax 308 of the shrimp 302).

[0301] Head-removing restraint device 350 Figure 32 The middle is depicted as being in its constrained position, and is in a position such as the headless constraint device 350. Figure 31 Compared to its storage location, it is closer to the working surface 314. When moved to its constrained position, the head-removing constraining device 350 is configured to press the shrimp 302, located between the head-removing constraining device 350 and the working surface 314, against the working surface 314. Figure 32In this position, the spoon-shaped member 360 remains in its ready position near the cephalothorax side of the decapitation restraint device 350. Figure 32 and Figure 32 In the illustrative embodiment depicted, the head-removing restraint device 350 and the spoon-shaped member 360 can cut off the shrimp 302 near the cephalothorax joint 303 (i.e., the joint between the shrimp's abdomen 304 and cephalothorax 308).

[0302] refer to Figure 33 The head restraint device 350 is maintained as follows Figure 32 In its constrained position, as seen in the diagram, the key-shaped member 360 has moved to its final position, spaced apart from the cephalothorax side of the decapitation restraint device 350. The key-shaped member 360, from... Figure 32 The ready position seen in the text is as follows Figure 33 The movement of its final position, as seen in the diagram, separates the head / cephalothorax 308 of the shrimp 302 on the working surface 314 from the abdomen 304.

[0303] exist Figure 33 The diagram also depicts a spoon-shaped member 360 (more specifically, the working portion of the spoon-shaped member 360) moving along a spoon-shaped member path 301 away from the abdomen 304 and the head-removal restraint device 350. In the depicted embodiment, at least a portion of the spoon-shaped member path 301 is arc-shaped. Furthermore, in the depicted embodiment, as the spoon-shaped member 360 moves away from the shrimp's abdomen 304 and the head-removal restraint device 350, the working portion of the spoon-shaped member 360 moves closer to the working surface 314.

[0304] In one or more embodiments, separating the cephalothorax 308 from the abdomen 304 of the shrimp 302 may also result in the removal of at least a portion of the mud veins from the abdomen 304 of the shrimp 302. Removal of the mud veins can be facilitated if they are severed within the abdomen 304 before the cephalothorax 308 is removed from the abdomen 304 of the shrimp 302. As discussed herein, for example, it may be desirable to sever the mud veins in the abdomen 304 near the junction between the last shell segment and adjacent shell segments (e.g., the fifth and sixth shell segments) on the abdomen 304.

[0305] Described in different ways, Figures 31-33The decapitation process described herein can be described as a method in which the abdomen 304 of a shrimp 302 is constrained in a fixed position on a working surface 314, and a spoon-shaped member 360 is moved through the shrimp near the cephalothorax joint 303 (located between the cephalothorax 308 and a first abdominal segment of the abdomen 304 of the shrimp 302). Moving the spoon-shaped member 360 near the cephalothorax joint 303 through the shrimp may include moving the spoon-shaped member 360 toward the working surface 314. The method also includes moving the spoon-shaped member 360 away from the abdomen 304 while constraining the abdomen 304 of the shrimp 302 in a fixed position on the working surface 314.

[0306] refer to Figure 34 The schematic block diagram depicts an illustrative embodiment of the head-removing device as described herein, wherein the head-removing restraint device 350 and the head-removing restraint device actuator 352, together with the key-shaped member 360 and the key-shaped member actuator 362, are carried on the shuttle 344 of the head-removing device.

[0307] A shuttle actuator 345 is operatively connected to a controller 390, wherein the shuttle actuator 345 is used to move the shuttle such that the spoon-shaped member 360 and the decapitation restraint device 350 are positioned at a selected location on the shrimp during the decapitation process. A decapitation restraint device actuator 352 is operatively connected to the controller 390, wherein the decapitation restraint device actuator is used to move the decapitation restraint device between its storage position and its restrained position, as described herein. A spoon-shaped member actuator 362 is operatively connected to the controller 390, wherein the spoon-shaped member actuator 362 is used to move the spoon-shaped member 360 from its ready position to its final position to remove the cephalothorax of the shrimp restrained by the decapitation restraint device 350.

[0308] In one or more embodiments, the controller 390 is also operatively connected to an optional cephalothorax sensor to aid in the identification of cephalothorax junctions as described herein. In one or more embodiments of the shrimp processing system described herein, a measurement module is used to measure the shrimp being processed; as described herein, this measurement can be used to identify areas that may be located at the cephalothorax junction to accelerate the identification of the junction. In one or more alternative embodiments, the location of the cephalothorax can be determined based on the measured length of the shrimp, using, for example, the measurement devices and methods described herein. In the illustrated embodiment depicted, the cephalothorax sensor includes a transmitter 368 and a receiver 369, wherein the transmitter 368 emits energy received by the receiver 369. As described herein, changes in the amount of energy received by the receiver can be used to identify the cephalothorax junction.

[0309] The conveying system 392 is also operatively attached to the controller 390, wherein the conveying system is used to move individual shrimp to a position on the working surface, in which the shrimp can be acted upon by the head-removal restraint device 350 and the spoon-shaped member 360, as described herein.

[0310] Despite the combination Figure 34 The illustrative embodiment of the shrimp decapping device depicted herein illustrates that the controller 390 may be in the form of a single controller, wherein all control functions can be performed by a single controller (although backup and / or redundant controllers may be provided to assist in the event of a failure of the main controller). One or more alternative embodiments of the shrimp decapping device may include a set of distributed controllers, wherein those parts of the device require controllers with dedicated controllers, and a network may be used to interconnect the various controllers to facilitate the processing of shrimp by the decapping device. Furthermore, the controller 390 (or any other controller used in the decapping device as described herein) may be separate from or integrated into the system controller, such as in combination for controlling, etc. Figure 2 The controller 90 of the control system of the shrimp processing system described in the article.

[0311] The controller used in one or more embodiments of the head-removal device described herein may be provided in any suitable form and may include, for example, memory and a controller. For example, the controller may be one or more microprocessors, field-programmable gate arrays (FPGAs), digital signal processors (DSPs), microcontrollers, application-specific integrated circuit (ASIC) state machines, etc. The controller may include one or more suitable input devices (e.g., keyboards, touchscreens, mice, trackballs, etc.) and display devices (e.g., monitors (which may or may not be touchscreens), indicator lights, etc.), said input devices being configured to allow a user to operate the device, and said display devices being configured to convey information to the user.

[0312] Figure 35 This document depicts an illustrative embodiment of a deheading device that can be used in one or more embodiments of the shrimp processing systems and methods described herein. The depicted deheading device 340 is positioned above a selected deheading location above a working surface 314 positioned along a processing axis 311. As described herein, individual shrimp move in the direction of an arrow along the processing axis 311 into the selected deheading location, the arrow being located below the working surface 314 and the axis 311, such that they are positioned on the working surface 314 at a location (e.g., the selected deheading location) where the deheading device 340 operates.

[0313] The head-removing device includes a head-removing device 340 supported on a frame 342 above a working surface 314. In the illustrated embodiment depicted, a shuttle 344 is configured to move along a shuttle axis 341 aligned with a processing axis 311. In one or more embodiments, the shuttle 344 may move along one or more sliders 343 aligned with the shuttle axis 341. The shuttle 344 may be moved using a shuttle actuator 345, which is operatively connected to the shuttle 344 using any suitable drive system.

[0314] An exemplary embodiment of the head removal device 340 also includes a head removal constraint device 350 and a head removal constraint device actuator 352 located above the working surface 314, the head removal constraint device actuator 352 being operatively connected to a storage location (e.g., Figure 35 (as shown in the figure) and constraint locations (such as in, for example) Figures 46-47 The head-removing constraint device 350 is moved between the positions shown (described more fully below). In the illustrated embodiment depicted, the movement of the head-removing constraint device 350 from its storage position to its constrained position involves rotating the head-removing constraint device 350 about axis 351. Although in Figure 35 Not visible in the document, but the head removal device includes a key operatively connected to a key actuator 362 for moving the key from its ready position to its final position, as described herein.

[0315] Figure 35 Also depicted is a portion of an optional cephalothorax sensor, which can be used to determine where the shuttle 344 is positioned to properly place the decapitation restraint device 350 onto the shrimp located on the working surface 314. Specifically, in Figure 35 The receiver 369 of the non-contact cephalothorax sensor system is depicted along one side of shuttle 344.

[0316] Figures 36-37 yes Figure 35 A partially enlarged view of the head-removal device 340 depicted in the image. Specifically, Figure 36 The image depicts a head-removing restraint device 350 together with a portion of a head-removing restraint device actuator 352, both carried by a shuttle 344, which is supported by a frame 342 for movement along a slider 343 defining a shuttle axis 341. Figure 36 The document also depicts a spoon-shaped actuator 362 and a working surface 314 extending along the processing axis 311, as described herein.

[0317] Figure 37This is a slightly magnified view (depicted in dashed lines) depicting the receiver 369 of the non-contact cephalothorax sensor system and the path of the beam emitted from the transmitter 368 and guided toward the receiver 369. In the illustrated embodiment, the transmitter 368 and receiver 369 of the cephalothorax sensor system are carried on a shuttle 344, as in, for example... Figures 36-37 As seen in [the document / reference]. In one or more embodiments, as [the document / reference]... Figure 37 As described herein, the beam path can preferably be transverse to the processing axis 311. After the shrimp is positioned within a selected decapitation location on the working surface 314, the movement of the shuttle 344 along the processing axis 311 thus causes the cephalothorax sensor system to move relative to the shrimp to accurately detect the cephalothorax junction as described herein.

[0318] Figure 38 From Figure 35 The image depicts a view of the head-removing device 340 taken from the opposite side, where one side of the shuttle 344 is removed to expose the components located within the shuttle 344. Figure 38 It also includes a shrimp 302 located at a selected headless position on the working surface 314, which may be referred to as the working surface 314. As described herein, the shrimp 302 is constrained by a clamp 312 carried on a clamp mount 310 in a manner similar to other clamps and clamp mounts.

[0319] By removing one side of the shuttle 344, a drive mechanism 346 and a belt 347 are also exposed. The drive mechanism 346 is operatively connected to an exemplary embodiment of the depicted shuttle actuator 345. The belt 347 moves the shuttle 344 as needed along the processing axis 311 to properly position the de-heading restraint device 350 above the shrimp 302 in a selected de-heading position on the working surface 314. Although the belt 347 and drive mechanism 346 are used in the depicted embodiment of the shuttle actuator 345, many other mechanisms can be used to move the shuttle 344, as described herein (e.g., lead screw and follower, rack and pinion, etc.). As described herein, the de-heading restraint device 350 uses a de-heading restraint device actuator 352 to rotate about the de-heading restraint device axis 351 to move the de-heading restraint device 350 between its storage position and restrained position, as described herein (in... Figure 38 In the middle, the head-removing constraint device 350 is located in its storage position.

[0320] Other features exposed by removing a portion of the shuttle 344 are the key 360 and the key actuator 362. In an exemplary embodiment of the depicted head-removal device 340, the key actuator 362 is operatively connected to the key 360 to cause the key 360 to rotate about the key axis 361.

[0321] Figures 39-41Various views are depicted of an illustrative embodiment of a head-removal restraint device 350 that may be used in one or more embodiments of a head-removal apparatus as described herein. The head-removal restraint device 350 includes a contact portion 355 configured to contact and at least partially sever a shrimp located on a working surface near the cephalothorax junction when the head-removal restraint device is in its restrained position as described herein. The contact portion 355 extends downward from a mounting portion 357 for mounting the head-removal restraint device 350 in a head-removal apparatus 340.

[0322] An exemplary embodiment of the head-removal restraint device 350 depicted further includes a guide 358 extending away from the contact portion 355 of the head-removal restraint device 350 along the direction of the processing axis 311. In the exemplary embodiment depicted, the guide 358 is in the form of a pair of wings 359 extending away from the contact portion 355 of the head-removal restraint device 350.

[0323] Another optional feature described in conjunction with the illustrative embodiment of the head-removing restraint device 350 is a beveled edge 356 located on the contact portion 355, wherein the beveled edge 356 faces the working surface 314 when the head-removing restraint device 350 is in its restrained position. When the head-removing restraint device 350 is moved from its storage position to its restrained position as described herein, the beveled edge 356 may facilitate the contact portion 355 of the head-removing restraint device 350 through the shrimp.

[0324] The decapitation restraint device 350 also includes an optional restraint notch 354 located in the contact portion 355, terminating at the end portion 353. The restraint notch 354 opens toward the working surface and is located on the shrimp when the decapitation restraint device 350 is in its restrained position relative to the working surface 314 as described herein. In one or more embodiments, the restraint notch 354 may provide clearance for the shrimp's veins during the decapitation process, such that the veins are not severed by the contact portion of the decapitation restraint device 350 when the decapitation restraint device 350 moves into its restrained position.

[0325] In one or more embodiments, the constraint notch 354 may have a depth dr, which is measured between the bevel edge 356 and the notch end 353 in a direction transverse to the processing axis 311. In one or more embodiments, the depth dr may be long enough that the decapitation constraint device 350 can be used with shrimp of various sizes while still providing constraint during decapitation and reducing the possibility of cutting off the mud veins during the decapitation process.

[0326] Figure 42 An exemplary embodiment of a key-shaped member 360 is depicted, which can be used in one or more embodiments of the head removal device as described herein. Figure 43An enlarged view of a portion of the key-shaped member 360 is depicted, in a ready position near the contact portion 355 of the head-removing restraint device as described herein, wherein the working portion 365 of the key-shaped member is located within a guide defined by the wing 359 of the head-removing restraint device 350.

[0327] The working portion 365 of the spoon-shaped member 360 is configured to contact and at least partially cut off the shrimp on the working surface near the cephalothorax junction, as described herein, when the spoon-shaped member 360 is in its ready position and the decapitation restraint device 350 is in its restraint position. The working portion 365 of the spoon-shaped member 360 extends downward from a mounting portion 367 for mounting the spoon-shaped member 360 in the decapitation device 340. In one or more embodiments, the mounting portion 367 of the spoon-shaped member 360 may include features such as... Figure 42 (as seen in the pin or post), which is configured to define the key axis 361, about which the key 360 rotates as it moves from its ready position to its final position.

[0328] Figure 42 An exemplary embodiment of the spoon-shaped member 360 depicted includes an optional beveled outer edge 366 located on the working portion 365 of the spoon-shaped member 360. When the spoon-shaped member 360 is in its ready position and the head-removing restraint device 350 is in its restrained position, a portion of the beveled outer edge 366 faces the working surface 314. As described herein, when the head-removing restraint device 350 moves from its storage position to its restrained position and the spoon-shaped member 360 is in its ready position, the beveled outer edge 366 may facilitate the working portion 365 of the spoon-shaped member 360 through the shrimp.

[0329] The spoon-shaped member 360 also includes an optional spoon-shaped recess 364 located in the working portion 365, wherein the spoon-shaped recess 364 terminates at an end 363. As described herein, when the spoon-shaped member 360 is in its ready position and the decapitation restraint device 350 is in its restrained position relative to the working surface 314, the spoon-shaped recess 364 opens toward the working surface and the shrimp is positioned thereon. In one or more embodiments, the spoon-shaped recess 364 may provide clearance for the shrimp's veins during the decapitation process, such that the veins are not severed by the working portion 365 of the spoon-shaped member 360 when the spoon-shaped member is in the ready position and the decapitation restraint device 350 is moved to its restrained position.

[0330] In one or more embodiments, the spoon-shaped notch 364 may have a depth ds, which is measured from the opening of the spoon-shaped notch 364 to the end 363 of the spoon-shaped notch 364 (i.e., in the direction along the length of the spoon-shaped notch 364). In one or more embodiments, the opening of the spoon-shaped notch 364 may be defined by a line extending between the outer edge 366 of the bevel and the junction of the opening of the spoon-shaped notch 364. In one or more embodiments, the depth ds of the spoon-shaped notch 364 may be long enough that the spoon 360 can be used for shrimp of various sizes while still providing the function of separating the cephalothorax during decapitation and reducing the possibility of cutting off the mud veins during decapitation.

[0331] In one or more embodiments, the key-shaped recess 364 may have a depth ds, which is measured from the distal end of the working portion 365 of the key-shaped member 360 (where the distal end of the working portion of the key-shaped member 360 may be defined by a line connecting the engagement of the beveled outer edge 366 of the opening of the key-shaped recess 364) to the end 363 of the key-shaped recess 364, and is 10 mm or greater, and optionally, the depth of the key-shaped recess is 20 mm or less. The width of the recess near the midpoint of the depth of the key-shaped recess 364 may, for example, be 2 mm or greater at the lower end and 4 mm or less at the upper end. When the key-shaped member 360 is in its ready position and the head-removal restraint device 350 is in its restrained position, the depth ds of the key-shaped recess 364 may extend transversely to the processing axis 311 extending along the working surface 314 (e.g., as shown in the example) along the length of the recess. Figure 32 Measured in the direction shown in the figure.

[0332] refer to Figures 39-41 and Figure 43 One or more embodiments of the key-shaped member and the head-removal restraint device may include a key-shaped member, the head-removal restraint device having a guide for one or more embodiments of the head-removal device as described herein, wherein the width of the key-shaped member is smaller than the guide width of the guide. This relationship may be, for example... Figure 43 As seen in the image, the working portion 365 of the spoon-shaped member 360 is fitted inside the guide, which is defined by a wing 359 extending from the contact portion 355 away from the head restraint device 350.

[0333] In one or more embodiments, as described herein, the width of the key and the width of the guide can be measured at the widest point of the working portion of the key located in the guide (which can also be described as, in the case of the key moving from the ready position to the final position, as the working portion of the key moves away from the contact portion of the head restraint device, in the direction transverse to the path of the working portion of the key). In one or more embodiments, the maximum width of the working portion of the key located in the guide can be described as having 50% or more, 60% or more, 70% or more, 80% or more, or 90% of the guide width at that location. In one embodiment, the width of the working portion of the key may be approximately 16 mm in a guide width of approximately 22 mm.

[0334] In one or more embodiments of the head removal device as described herein, the head removal device includes a head removal restraint device having a contact portion (the contact portion having a beveled edge) and a working portion of a spoon-shaped member having a beveled outer edge. When the spoon-shaped member 360 is in a ready position, the beveled outer edge 366 of the working portion 365 of the spoon-shaped member 360 and the beveled edge 356 of the contact portion 355 of the head removal restraint device 350 are adjacent to each other, such that the working portion 365 of the spoon-shaped member 360 is close to the contact portion 355 of the head removal restraint device 350. In such an arrangement, when the spoon-shaped member 360 is in the ready position, the bevel on the beveled outer edge 366 of the spoon-shaped member 360 and the beveled edge 356 of the head removal restraint device 350 are away from each other, such that the working portion 365 of the spoon-shaped member 360 and the contact portion 355 of the head removal restraint device 350 form a double beveled edge.

[0335] One or more embodiments of the decapitation device described herein may include a cephalothorax sensor configured to detect the cephalothorax junction between the cephalothorax and the abdominal segment of a shrimp. Figures 44-45 It can be used to describe the detection of the cephalothorax junction and the correct positioning of the decapitation restraint device and the key-shaped piece based on the detection of the cephalothorax junction.

[0336] like Figure 38 Many components of the head-removal device 340 described in the text are still... Figures 44-45 The image depicts a head-removing restraint device 350 and a head-removing restraint device actuator 352, both of which are located on a shuttle 344 of the head-removing device to rotate about an axis 351. The shuttle 344 is attached to a frame 342 to move along one or more sliders 343 aligned with the shuttle axis 341. Figures 44-45 The image also depicts a shrimp 302 located on a working surface 314, which is constrained by a clamp 312 for transporting or conveying the shrimp along the processing axis 311. Figures 44-45Other features depicted include a key actuator 362 for moving the key 360 from its ready position adjacent to the head-removing restraint device 350 to its final position as described herein.

[0337] In one or more embodiments, the cephalothorax sensor can detect the cephalothorax junction located between the cephalothorax and the first abdominal segment of a shrimp. In one or more embodiments, a controller operatively connected to the cephalothorax sensor (see, for example, [link to relevant documentation]). Figure 34 The controller 390 can be configured to detect changes in opacity between the cephalothorax and abdominal segments of a shrimp on a working surface, and to identify the cephalothorax junction based at least in part on changes in opacity. Generally, the cephalothorax of a shrimp is darker or optically denser than the abdomen (e.g., due to the viscera located within the cephalothorax and the thicker shell of the cephalothorax), which facilitates optical detection of the cephalothorax junction as described herein. In one or more alternative embodiments, the location of the cephalothorax junction can be determined based on a measured length of the shrimp (measured using one or more measuring devices and methods described herein), thus eliminating the need for optical detection of the cephalothorax junction.

[0338] As described above Figures 36-37 As described, an illustrative embodiment of a cephalothorax sensor may include a transmitter and a receiver, wherein when a shrimp is positioned between the transmitter and the receiver, the transmitter emits light energy that passes through the shrimp before reaching the receiver. Changes in the light energy reaching the receiver as the cephalothorax sensor moves along the length of the shrimp can be used to identify the cephalothorax junction.

[0339] Apart from Figures 36-37 For example, in conjunction with the illustrative head-removal device 340 and referring to Figures 44-45 As implemented, transmitter 368 and receiver 369 may be located on shuttle 344 such that transmitter 368 and receiver 369 are positioned on opposite sides of shrimp 302, which is located on working surface 314, with head-removing device 340 positioned above shrimp 302. Transmitter 368 and receiver define an optical path, which, in one or more embodiments, may be located above working surface 314.

[0340] refer to Figures 44-45 The shuttle 344 can move along the shuttle axis 341 aligned with the processing axis 311. This movement can be achieved using, for example, a combination of... Figure 34 and Figure 35 The described shuttle actuator is used to achieve this. As described herein, a head-removing restraint device 350 and a key-like member 360 are mounted on the shuttle 344 of the head-removing device. In one or more embodiments, a system controller (e.g., Figure 34The controller 390 can be configured to operate the shuttle actuator 345 to position the shuttle 344 of the de-heading device, such that the de-heading restraint device 350 is positioned on the first abdominal segment of the shrimp 302 on the working surface 314.

[0341] Specifically, when the head-removing restraint device 350 is in the restrained position of the shrimp 302 on the working surface 314, the head-removing restraint device can be positioned near the cephalothorax joint of the shrimp 302. In one or more embodiments, the head-removing restraint device 350 can preferably be located on the ventral side of the cephalothorax joint. When positioned in this way, when the head-removing restraint device is in the restrained position of the shrimp 302 on the working surface 314, the spoon-shaped member 360 can preferably contact the shrimp 302 on the working surface 314 on the cephalothorax side of the head-removing restraint device 350, near the cephalothorax joint of the shrimp 302. In one or more embodiments, the spoon-shaped member 360 can preferably contact the shrimp 302 on the working surface 314 at the cephalothorax joint of the shrimp 302.

[0342] like Figure 44 As seen, the shuttle 344 of the decapitation device can be positioned such that the cephalothorax sensor (represented by transmitter 368 in this view) is positioned to detect the shrimp 302 on the working surface 314 within its abdomen. Specifically, the cephalothorax sensor can be positioned near the clamp 312. When operating the cephalothorax sensor, the shuttle 344 can move toward the cephalothorax of the shrimp 302 (i.e., away from the clamp 312), wherein the controller identifies the cephalothorax junction when a signal received from the receiver 369 of the cephalothorax sensor 368 / 369 indicates that the amount of energy received by the receiver has decreased below a selected cephalothorax junction threshold.

[0343] If the selected cephalothorax junction threshold is fixed, the opacity of an individual shrimp can vary to the point that detection of the cephalothorax junction may be difficult. Therefore, one or more embodiments of the decapitation device as described herein may include a controller configured to calibrate the cephalothorax sensor on one or more abdominal segments of each shrimp 302 on the working surface 314 before operating the shuttle actuator 345 to position the decapitation device shuttle, such that the decapitation restraint device is correctly positioned on the shrimp on the ventral side of the cephalothorax junction.

[0344] Figure 45 The diagram depicts a deheading device 340 (along with the orientation of the shuttle axis 341 and the processing axis 311) after the shuttle 344 has moved along the abdomen of a shrimp 302 located on the working surface 314. In the depicted illustration, the cephalothorax sensor (made by...) Figure 45The transmitter 368 (represented in the text) is located at the cephalothorax joint. Knowing the location of the cephalothorax joint, the shuttle actuator 345 can be operated to move the shuttle such that when moved from its storage position to its restrained position, the head-removing restraint device 350 is located on the ventral side of the cephalothorax joint, and when the head-removing restraint device 350 is in its restrained position, the spoon-shaped member (… Figure 45 (Not visible in the middle) is positioned near the cephalothorax junction, preferably at the cephalothorax junction.

[0345] Figures 46-47 Operation of an exemplary embodiment of a head-removing device 340 for removing the head of a shrimp 302 is described. To facilitate viewing the operation of the head-removing device, the side plates of the shuttle 344 have been removed, exposing the components located between the side plates of the shuttle 344. Figures 46-47 The components depicted include a head-removing restraint device 350 and a head-removing restraint device actuator 352, together with a key-shaped member 360 (including...). Figure 47 The spoon-shaped part 360 (working portion 365) and the spoon-shaped actuator 362 are shown. These components are shown when the head-removing restraint device 350 is in its restrained position on the abdomen of the shrimp 302, and the shrimp 302 is restrained on the working surface 314 using the clamp 312. Figures 46-47 It is the key-shaped axis 361 that extends through the mounting portion 367 of the key-shaped component 360.

[0346] In particular, Figure 46 In the process, when the spoon-shaped member 360 is in its ready position relative to the head-removing restraint device 350, the head-removing restraint device 350 is shown in a position on the abdomen of the shrimp 302, such that the working part of the spoon-shaped member is positioned near the cephalothorax junction of the shrimp 302, preferably at the cephalothorax junction of the shrimp 302. The working part 365 of the spoon-shaped member 360 is in Figure 46 It is not visible in the middle because it is located on the opposite side of the wing 359, which is used to guide the cephalothorax of the shrimp during removal. As discussed herein, it may be preferred that the head removal restraint device 350 is located on the first abdominal segment of the shrimp 302, such that the head removal restraint device 350 can be described as being on the ventral side of the cephalothorax junction as discussed herein, the junction between the first abdominal segment of the shrimp 302 and its cephalothorax.

[0347] Figure 47A decapitation device 340 is depicted after the spoon-shaped member 360 has moved from its ready position to its final position. Specifically, the spoon-shaped member 360 has rotated about its axis 361, such that the working portion 365 of the spoon-shaped member 360 is now spaced away from the decapitation restraint device 350 that continues to restrain the abdomen of the shrimp 302 onto the working surface 314. In the exemplary embodiments of the decapitation device depicted herein, although the spoon-shaped member 360 rotates as it moves between its ready and final positions, one or more embodiments of the decapitation device as described herein may include a working portion of the spoon-shaped member that moves with a linear or translational motion as it moves from its ready position to its final position.

[0348] After completing the movement from the ready position to the final position, one or more embodiments of the deheading device described herein may include the spoon 360 moving back to its ready position and the deheading restraint 350 moving back to its storage position, so that another shrimp 302 can move along the processing axis 311 to a selected deheading position on the working surface 314.

[0349] In one or more embodiments, the head-removing restraint device actuator 352 may be in the form of a force-limiting single-acting piston capable of moving the head-removing restraint device 350 between its stored position and its constrained position, as described herein. The head-removing restraint device actuator 352 may include force-limiting features (e.g., a spring-return cylinder) such that the force exerted on the head-removing restraint device at the selected head-removing position 302 on the working surface 314 does not exceed a selected force value. Although a spring-loaded pneumatic piston is used to provide the reciprocating motion required to move the head-removing restraint device 350 between its stored position and constrained position, many other mechanisms can be used to provide the reciprocating motion, such as double-acting pistons, single-acting pistons, spring mechanisms, hydraulic actuators, motors, magnetic actuators, etc.

[0350] A spoon-shaped actuator 362 in the form of a damped pneumatic actuator can facilitate the removal of the head or cephalothorax of a shrimp using a decapitation device as described herein. The spoon-shaped actuator provides sufficient force to the spoon 360 during controlled movement to remove the cephalothorax of the shrimp 302. In one illustrative embodiment, a finite-sized orifice can be used to control the flow of hydraulic fluid within the actuator to provide a damping effect that may be beneficial for controlling the removal of the shrimp head in the decapitation device described herein.

[0351] exist Figures 48-49A cross-sectional view is depicted in the figure, illustrating an illustrative embodiment of a damped key actuator 362, which can be used in one or more embodiments of the head-removal device described herein. As depicted in those figures, the key actuator 362 is in the form of a hydraulically damped pneumatic actuator, comprising a main piston 372 and a floating piston 378 located within an actuator housing 370. The main piston 372 is located within an inner housing 384, i.e., it is itself located within the actuator housing 370. A main piston port 373 is in fluid communication with a main piston volume 374 located within the actuator housing 370. A floating piston port 375 is in fluid communication with a floating piston volume 376 also located within the actuator housing 370.

[0352] The key-shaped actuator 362 also includes a working piston volume 380 located within the actuator housing 370 between the main piston 372 and the floating piston 378. A flow control orifice 382 and a damping fluid are both located within the working piston volume 380. In one or more embodiments, the damping fluid may be, for example, mineral oil, although many other hydraulic fluids can be used instead of mineral oil. The flow control orifice 382 divides the working piston volume 380 into a main portion and a floating portion, wherein the main portion of the working piston volume 380 is located between the main piston 372 and the flow control orifice 382, ​​and the floating portion of the working piston volume 380 is located between the floating piston 378 and the flow control orifice 382.

[0353] More specifically, the flow control orifice 382 provides a fluid passage between the main portion and the floating portion of the working piston volume 380. In the depicted embodiment, the flow control orifice 382 is located in an end plug 386, which... Figure 49 The view of the damping key-shaped actuator 362 depicted in the figure shows both the actuator housing 370 and the inner housing 38 enclosed at the right end. Figure 49A This is a perspective view of the actuator housing 370, inner housing 384, and end plug 386 (where the actuator housing 370 and inner housing 384 are depicted in dashed lines to allow the end plug 386 to be seen), wherein the flow control orifice 382 is provided in the form of a machined groove formed in the end plug 386, which allows fluid to pass between the main portion and the floating portion of the working piston volume 380 during the use of the spoon actuator 362.

[0354] When at least a portion of the damping fluid is located in the main portion of the working piston volume 380 (i.e., the main portion of the working piston volume 380 located between the main piston 372 and the flow control orifice 382), fluid (e.g., air) introduced into the main piston volume 374 through the main piston orifice 373 forces the damping fluid out of the main portion of the working piston volume 380 through the flow control orifice 382 and into the floating portion, thereby causing the main piston 372 to move relative to the actuator housing 370 in a first direction. This movement of the main piston 372 relative to the actuator housing 370 in the first direction can occur when the main piston 372 moves from... Figure 48 Its position to Figure 49 This can be seen from the movement of its position within.

[0355] When at least a portion of the damping fluid is located in the floating portion of the working piston volume 380 (i.e., the flow portion of the working piston volume 380 located between the floating piston 378 and the flow control orifice 382), fluid (e.g., air) introduced into the floating piston volume 376 through the floating piston orifice 375 forces the damping fluid out of the floating portion of the working piston volume 380 through the flow control orifice 382 and into the main portion, so that the main piston 372 moves relative to the actuator housing 370 in the second direction. The movement of the main piston 372 relative to the actuator housing 370 in the second direction can be achieved by the main piston 372 moving from... Figure 49 Its position to Figure 48 This can be seen from the movement of its position within.

[0356] The flow control orifice 382 can take many forms, such as an opening formed by drilling, milling, etc. (see, for example) Figure 49A ( ), needle valve, or any other suitable flow limiting structure that can limit the flow rate of liquid moving between the main part and the floating part of the working piston volume 380.

[0357] In one or more embodiments of the damping actuator as described herein, the main piston volume 374 may have a maximum main piston volume greater than the volume of the damping fluid in the working piston volume 380. In one or more embodiments of the damping actuator as described herein, the floating piston volume 376 may have a maximum floating piston volume greater than the volume of the damping fluid in the working piston volume 380. In one or more embodiments of the damping actuator as described herein, both the main piston volume 374 and the floating piston volume 376 may have a maximum piston volume greater than the volume of the damping fluid in the working piston volume 380.

[0358] Figure 50 Various shrimp processed by an illustrative embodiment of the head-removal device as described herein are depicted. In particular, Figure 50The shrimp depicted illustrate a potential advantage of the decapitation apparatus and method described herein. Shrimp 302a, 302c, and 302d differ from shrimp 302b in that shrimp 302b retains a significant portion of the neck meat. As described herein, proper shaping and positioning of the decapitation restraint device and spoon-shaped piece in the decapitation apparatus, and the use of force-limiting actuators for moving the decapitation restraint device from its storage position to its restrained position and speed-limiting damping actuators for moving the spoon-shaped piece from its ready position to its final position, can result in a substantial amount of neck meat remaining in the shrimp processed using the decapitation apparatus and method described herein. However, it should be understood that, in one or more embodiments, a clean cut during cephalothorax removal may be preferable to retaining the neck meat. In one or more embodiments, increasing the force of the decapitation restraint device can facilitate a cleaner, more precise cut at the cephalothorax junction.

[0359] Peeling equipment and methods

[0360] As discussed herein, one or more embodiments of the shrimp processing systems and methods described herein may include a shelling device and method for removing the shrimp shell. In one or more embodiments, the shelling device may remove the shell segments (abdominal segments) on the dorsal side of the shrimp's abdomen, as well as the gastropods (soft appendages) and thoracic legs (walking legs) on the ventral side of the shrimp's abdomen. In one or more alternative embodiments, the shelling device and method described herein may remove only the gastropods (soft appendages) and thoracic legs (walking legs) on the ventral side of the shrimp's abdomen, leaving the shell segments on the dorsal side of the shrimp's abdomen intact.

[0361] The shrimp processing systems and methods described herein relate to a shelling process performed individually on each shrimp, while the shrimp is located in a selected position within a shelling apparatus as described herein. In one or more embodiments, during the shelling process, the shrimp can be restrained at the junction between the last ventral shell segment (e.g., the sixth shell segment) and the tail / tail foot of each shrimp by clamps acting on its abdomen.

[0362] Figures 51-52 This is a simplified diagram depicting an illustrative embodiment of the peeling device 440 as described herein, while Figure 53 The control system of the shelling equipment is depicted in the form of a schematic block diagram. Figure 51 The shelling device 440 depicted includes a lower roller assembly 450 and an upper assembly 460. For example... Figures 51-52 As depicted herein, the lower roller assembly 450 and the upper assembly 460 are located on opposite sides of the processing axis 411 passing through the shelling device 440. As discussed herein, the processing axis 411 defines the passage of shrimp through the processing system described herein (which includes, for example,...) Figures 51-52 The paths of each station in the peeling device 440 depicted in the text.

[0363] As in other devices used in the shrimp processing system described herein, shrimp moving along the processing axis 411 can be supported by a working surface 414. In an embodiment of the depicted peeling device 440, the working surface 414 is divided into two segments located on each side of the lower roller assembly 450 and the upper assembly 460, wherein the shrimp is supported between the lower roller assembly 450 and the upper assembly 460 during the actual peeling process. As a result, the working surface 414 serves to support the shrimp as it moves into the space between the lower roller assembly 450 and the upper assembly 460 and to support the shrimp after it has left the space between the lower roller assembly 450 and the upper assembly 460.

[0364] The lower roller assembly 450 includes a pair of lower rollers mounted side-by-side for rotation about axis 451, and the upper assembly 460 includes a pair of upper rollers mounted side-by-side for rotation about axis 461. Figure 51 In the view depicted, only one lower roller of the lower roller assembly 450 and only one upper roller of the upper assembly 460 are visible because the second roller in each assembly is located at... Figure 51 Behind the upper and lower rollers as seen in the image.

[0365] Figure 52 This is a top view taken along the roller shuttle axis 441, which extends through the lower roller assembly 450 and the upper assembly 460 in a direction generally transverse to the processing axis 411. As a result, the upper roller pair of the upper assembly 460... Figure 52 As can be seen, the lower roller pair of the lower roller assembly 450 is in Figure 52 They are not visible because they are located below the upper component 460.

[0366] One or more embodiments of the shelling apparatus described herein include a roller shuttle configured to move one or both of a lower roller assembly 450 and an upper roller assembly 460 between a receiving position and an operating position. When the lower roller assembly 450 and upper roller assembly 460 are in the receiving position, they are positioned further apart than when they are in the operating position. Reference Figure 51 The shelling device 440 is designed such that when the lower roller assembly 450 and the upper assembly 460 move from their receiving positions to their operating positions, the upper assembly 460 moves while the lower roller assembly 450 remains stationary. However, it should be understood that the shelling device as described herein can be designed such that when the lower roller assembly 450 and the upper assembly 460 move between their receiving positions and operating positions, the lower roller assembly 450 moves while the upper assembly 460 remains stationary, or alternatively, both the lower roller assembly 450 and the upper assembly 460 move.

[0367] The movement of the upper component 460 is in Figure 51 As shown, the upper component 460, depicted in solid lines, is in the receiving position, while the upper component 460' (shown in dashed lines) depicts the position of the upper component 460 in such a case that the lower roller component 450 and the upper component 460 are in their operating positions to remove the shell of the shrimp located between the lower roller component 450 and the upper component 460.

[0368] exist Figures 51 to 52 Another feature depicted, which may be found in one or more embodiments of the shelling apparatus as described herein, is an alignment device 470 positioned on the working surface 414 such that shrimp moving along the processing axis 411 between the lower roller assembly 450 and the upper assembly 460 pass through the alignment device 470. As discussed herein, the shrimp moves along the processing axis 411 through the processing station, with the shrimp tail oriented first. In other words, the shrimp's tail passes between the lower roller assembly 450 and the upper assembly 460, followed by the shrimp's abdomen.

[0369] In one or more embodiments, the shrimp can be oriented such that its dorsal side faces the upper roller assembly 460, and its ventral side faces the lower roller assembly 450. As a result, the abdominal and thoracic legs located on the ventral side of the shrimp preferably contact the alignment device 470, allowing them to be aligned along the ventral side of the shrimp so that they can be removed by the lower roller assembly 450. More specifically, the abdominal and thoracic legs (if present) can preferably be aligned such that they extend along the abdomen of the shrimp and away from its tail.

[0370] Alignment device 470 can take various forms, including, for example, a bristle layer facing upwards away from the working surface 414 in a direction aligned with the shuttle axis 441. While a bristle layer can be used for alignment device 470, many other textured surfaces can also be used to provide the alignment function described herein. For example, pillars, rough surfaces (e.g., sandpaper-like or other structured surfaces), channels, etc., can be used instead of a bristle layer for aligning the ventral and thoracic legs on a shrimp passing through alignment device 470. One example of a potentially suitable alignment device could be a portion of a brush having polyester bristles approximately 0.2 mm in diameter (see, for example, “Food-Grade Tight-Seal Strip Brush” No. T7442T11 from McCarthair Carr Company (mcmaster.com).

[0371] Figure 53 It is a schematic block diagram depicting a control system that can be connected to... Figures 51-52The shelling device 440 described herein is used in conjunction with the control system, which includes a controller 490 and a conveying system 492 operatively connected to the controller. As mentioned herein, the conveying system 492 is used to move shrimp into and out of the shelling device 440. The controller 490 is also operatively connected to a lower roller assembly driver 452 and an upper roller assembly driver 462, as well as a roller shuttle actuator 446.

[0372] In one or more embodiments, a lower roller assembly driver 452 is operatively connected to the lower roller pair and configured to rotate a first lower roller about a first lower roller axis passing through the first lower roller, and to rotate a second lower roller about a second lower roller axis passing through the second lower roller. An upper roller assembly driver 462 is operatively connected to the upper roller pair and configured to rotate a first upper roller about a first upper roller axis passing through the first upper roller, and to rotate a second upper roller about a second upper roller axis passing through the second upper roller.

[0373] As described herein, controller 490 can also be operatively connected to the shuttle actuator for moving one or both of the lower roller assembly 450 and the upper assembly 460 between their receiving and operating positions.

[0374] Although controller 490 is described as a single controller, where all control functions can be performed by a single controller (although backup and / or redundant controllers may be provided to assist in the event of a failure of the main controller), one or more alternative embodiments of the shelling device may include a set of distributed controllers, where those parts of the device require controllers with dedicated controllers, and networks may be used to interconnect the various controllers to facilitate the processing of shrimp by the shelling device. Furthermore, controller 490 (or any other controller used in a shelling device as described herein) may be separate from or integrated into the system controller, such as in combination for controlling, etc. Figure 2 The control system of the shrimp processing system described herein is the controller 90.

[0375] The controller used in one or more embodiments of the peeling device described herein may be provided in any suitable form and may include, for example, memory and a controller. For example, the controller may be in the form of one or more microprocessors, field-programmable gate arrays (FPGAs), digital signal processors (DSPs), microcontrollers, application-specific integrated circuit (ASIC) state machines, etc. The controller may include one or more suitable input devices (e.g., keyboards, touchscreens, mice, trackballs, etc.) configured to allow a user to operate the device, and display devices (e.g., monitors (which may or may not be touchscreens), indicator lights, etc.) configured to convey information to the user.

[0376] exist Figures 54A-54D An illustrative embodiment of the shelling device described herein is depicted. Specifically, Figure 54A This is a perspective view of an illustrative embodiment of the depicted peeling device. Figure 54B yes Figure 54A A side view of an illustrative embodiment of a shelling apparatus, wherein the upper roller assembly and the lower roller assembly are in the operating positions as described herein; and Figure 54C yes Figure 54A A side view of an illustrative embodiment of a peeling apparatus, wherein the upper roller assembly and the lower roller assembly are in the receiving position as described herein. Figures 54A-54D Each of these drawings provides at least a portion of a shrimp 402, schematically depicted, but these drawings do not include clamps on the downstream side of the peeling device 440 for holding the tail of the shrimp 402 on the working surface 414. However, it should be understood that during the peeling process, the tail of the shrimp 402 is held on the downstream working surface 414 by clamps similar to, for example, clamps 212 and 312 depicted in conjunction with the vein-cutting device and decapitation device described herein.

[0377] The shelling apparatus includes a lower roller assembly 450 and an upper assembly 460, the lower roller assembly 450 including a pair of lower rollers and the upper assembly 460 including a pair of upper rollers. Each of the lower rollers of the lower roller assembly 450 rotates about its own axis 451, while each of the upper rollers of the upper assembly 460 rotates about its own axis 461. In one or more embodiments, these axes 451 and 461 may preferably be substantially aligned with a processing axis 411 along which the shrimp passes during entry into and exit from the shelling apparatus 440.

[0378] In the illustrated embodiment depicted, the upper assembly 460 is attached to the roller shuttle 444 for moving the upper assembly 460 toward and away from the lower roller assembly 450 (to their operating positions (see...) Figure 54A and Figure 54B ) and their receiving locations (see Figure 54C (The roller assembly moves between the rollers). Roller shuttle 444 is supported on frame 442, which also supports roller shuttle actuator 446. In the depicted embodiment, roller shuttle actuator 446 is operatively connected to roller shuttle 444 using drive pulley 447 and belt 448. In the depicted embodiment, roller shuttle actuator 446 may be in the form of an electric motor rotating drive pulley 447. However, it should be understood that many other drive mechanisms can be used to move roller shuttle 444 toward and away from lower roller assembly 450. For example, hydraulic and / or pneumatic pistons, magnetic actuators, etc., can be used instead of the combined... Figures 54A-54CThe illustrative embodiment of the shelling device 440 depicted herein describes an electric motor and drive belt system. Furthermore, in one or more embodiments, the weight of individual rollers 444 can be selected and / or adjusted to apply the desired force to the dorsal surface of the shrimp 402 located in the shelling device 440, thus eliminating the need for a driving force other than gravity.

[0379] The lower roller assembly 450 and the upper assembly 460 are located between working surfaces 414, one of which is upstream of the lower roller assembly 450 and the upper assembly 460, while the other is downstream of these roller assemblies. As a result, shrimp moving in and out of the peeling position between the lower roller assembly 450 and the upper assembly 460 move away from the upstream working surface 414 and onto the downstream working surface 414 as they pass along the processing axis 411 through the peeling device 440.

[0380] exist Figures 54A-54C Other components depicted include a lower roller assembly driver 452 and an upper roller assembly driver 462, the lower roller assembly driver 452 being operatively connected to the lower roller of the lower roller assembly 450, and the upper roller assembly driver 462 being operatively connected to the upper roller of the upper assembly 460. In the depicted illustrative embodiment, the upper roller assembly driver 462 may preferably be mounted on the roller shuttle 444 such that the upper roller assembly driver 462 moves together with the upper assembly 460 to simplify the driving of the upper rollers about their axes as described herein.

[0381] Although the axes 451 and 461 about which the rollers of the lower roller assembly 450 and the upper roller assembly 460 rotate can be generally aligned with the processing axis 411, in one or more embodiments, the axis 451 of one or more lower rollers may not be parallel to one or more of the axes 461 of the upper rollers. For example, in one or more embodiments, when moving along the processing axis 411 in the processing direction described herein, the axis 451 of one or more lower rollers may converge directly above the axis 461 of the upper rollers. The convergence between the axis 451 of the lower rollers and the axis 461 of the upper rollers is... Figure 54BThe diagram schematically depicts an angle β, where angle β is the angle formed between the axis 451 of the lower roller and the axis 461 of the upper roller. In one or more embodiments, the convergence angle β can be greater than 0°, 1° or more, 2° or more, 3° or more, 4° or more, or 5° or more. At the upper end, the convergence angle β can be less than 5°, less than 4°, less than 3°, less than 2°, less than 1°, or greater than 0°. In one or more embodiments, the convergence of the axis 451 of the lower roller and the axis 461 of the upper roller can advantageously result in the removal of a shell segment closer to the shrimp's tail before removing the shell segment closer to the cephalothorax. This is advantageous because the shell segments slightly overlap at their junction, with the posterior edge of the shell segment closer to the cephalothorax positioned above the leading edge of the next successive shell segment.

[0382] Another optional feature found in one or more embodiments of the shelling apparatus as described herein refers to a cleaning nozzle 476 on the upper roller of the upper assembly 460. The cleaning nozzle 476 may be configured to direct water or other cleaning fluid onto the rollers of both the lower roller assembly and the upper roller assembly to remove the ventral foot, thoracic foot, shell segments, and other debris between shelling processes.

[0383] Figure 54D An enlarged view of the lower roller assembly 450 and the upper assembly 460 is depicted. Figure 54D One feature depicted in the enlarged view is the rib 454, which extends outward away from the lower roller and along the length of the lower roller. Figure 54D The enlarged view also shows the shell engagement pin 464 extending outward from the upper roller of the upper component 460.

[0384] Figure 54D Another feature depicted is a support plate 467, which connects to the end of the upper roller of the upper assembly 460, which is positioned opposite to the roller shuttle 444 and from which the upper roller of the upper assembly 460 extends. The support plate 467 helps maintain the proper relationship between the upper rollers of the pair of upper assemblies 460 as they rotate to remove shell segments from the shrimp, as described herein.

[0385] Another exemplary embodiment of the shelling device described herein Figures 55A-55D Depicted in the text. Specifically, Figure 55A This is a perspective view of another illustrative embodiment of the shelling device 440' as described herein, wherein the upper roller assembly and the lower roller assembly are in the receiving position as described herein; Figure 55B yes Figure 55A A perspective view of the shelling device 440', wherein the upper roller assembly and the lower roller assembly are in the operating positions as described herein; Figure 55C yes Figure 55BAn enlarged side view of the peeling device, depicting the relationship between the clamps, working surface, and lower roller of this illustrative embodiment; and Figure 55D yes Figure 55C A further enlarged view of a portion of the shelling equipment depicted in the image.

[0386] The shelling device 440' includes a lower roller assembly 450' and an upper assembly 460', the lower roller assembly 450' including a pair of lower rollers, and the upper assembly 460' including a pair of upper rollers. Each lower roller of the lower roller assembly 450' rotates about its own axis 451', while each upper roller of the upper assembly 460' rotates about its own axis 461'. In one or more embodiments, these axes 451' and 461' may preferably be generally aligned with a processing axis 411' along which the shrimp passes as it enters and exits the shelling device 440'. The lower rollers of the lower roller assembly 450' extend between a tail end 456' and a head end 458', wherein the tail end 456' is downstream of the head end 458' (although not numbered, the upper rollers of the shelling device described herein also extend between a tail end and a head end, and are also arranged such that the tail end is downstream of the head end of the upper rollers).

[0387] In the illustrative embodiment depicted, the upper assembly 460' is attached to the roller shuttle 444', in connection with this document. Figures 54A-54D In a similar manner to the peeling device 440 described in the text, the roller shuttle 444' moves the upper assembly 460' toward and away from the lower roller assembly 450'.

[0388] The lower roller assembly 450' and the upper assembly 460' are located between the working surfaces 414', one of which is upstream of the lower roller assembly 450' and the upper assembly 460', while the other is downstream of these roller assemblies. As a result, shrimp entering or exiting the peeling position between the lower roller assembly 450' and the upper assembly 460' move away from the upstream working surface 414' and onto the downstream working surface 414' as they pass along the processing axis 411' through the peeling device 440'.

[0389] Figures 55A-55B Other components depicted include a lower roller assembly driver 452' and an upper roller assembly driver 462', the lower roller assembly driver 452' being operatively connected to the lower roller of the lower roller assembly 450', and the upper roller assembly driver 462' being operatively connected to the upper roller of the upper assembly 460'. In the depicted illustrative embodiment, the upper roller assembly driver 462' may preferably be mounted on the roller shuttle 444' such that the upper roller assembly driver 462' moves together with the upper assembly 460' to simplify the driving of the upper rollers about their axes as described herein.

[0390] Although the axes 451' and 461' about which the rollers of the lower roller assembly 450' and upper assembly 460' rotate may be generally aligned with the processing axis 411', in one or more embodiments, one or more of the axes 451' of the lower rollers may not be parallel to one or more of the axes 461' of the upper rollers and / or the processing axis 411'. For example, in one or more embodiments, when moving along the processing axis 411' in the processing direction as described herein, one or more axes 451' of the lower rollers may converge directly above the axis 461' of the upper roller. In an illustrative embodiment of the shelling device 440', one or both of the axes 451' of the lower rollers may also converge with the processing axis 411' as they move along the processing axis 411'.

[0391] exist Figure 55C The diagram schematically depicts the convergence between the axis 451' of the lower roller, the axis 461' of the upper roller, and the processing axis 411'. Angle θ is the angle formed between the axis 451' of the lower roller and the processing axis 411'. In one or more embodiments, the convergence angle θ can be greater than 0°, 1° or greater, 2° or greater, 3° or greater, 4° or greater, or 5° or greater. At the upper end, the convergence angle θ can be 5° or less, 4° or less, 3° or less, 2° or less, 1° or less, or greater than 0°.

[0392] exist Figure 55C The document also describes that angle ε is the angle formed between the axis 461' of the upper roller and the processing axis 411'. In one or more embodiments, the convergence angle ε can be greater than 0°, 1° or greater, 2° or greater, 3° or greater, 4° or greater, or 5° or greater. At the upper end, the convergence angle ε can be 5° or less, 4° or less, 3° or less, 2° or less, 1° or less, or greater than 0°.

[0393] In one or more embodiments, the convergence between any pair of axes 451' of the lower roller, 461' of the upper roller, and 411' of the processing axis can advantageously result in the removal of shell segments closer to the tail of the shrimp before removing those segments positioned closer to the cephalothorax. This is advantageous because the shell segments slightly overlap at their junctions, with the posterior edge of the shell segment closer to the cephalothorax positioned above the leading edge of the next successive shell segment.

[0394] Another optional feature that may be found in one or more embodiments of the peeling apparatus as described herein is the offset between the tail end 456' of the lower roller of the lower roller assembly 450' and the working surface 414' adjacent to the tail end 456' of the lower roller of the lower roller assembly 450'. This offset (as measured in the direction transverse to the axis 451' of the lower roller) Figure 55DThe instructions are as follows do This results in the lower roller of the lower roller assembly 450' being positioned closer to the tail end of the corresponding upper roller of the upper roller assembly 460' than the adjacent portion of the working surface 414' seen in Figure 55. This offset is significant compared to the alternative arrangement where the tail end of the lower roller is flush with or even below the working surface 414'. do This causes the ventral surface of the shrimp to rise slightly, while its tail remains in the clamp 412' located above the working surface 414'. (Offset) do It can improve the removal of the ventral foot and soft appendages on the ventral surface of shrimp being peeled in a peeling device, as well as the shell segments closer to the tail.

[0395] Combination Figures 55A-55D Another optional feature depicted in the alternative embodiment of the shelling device 440' is the addition of a clamping arm 480' to the shelling device 440'. In the illustrated embodiment depicted, the clamping arm 480' terminates at a working end 482' configured to act on the dorsal surface of the tail portion of a shrimp held in a clamp 412'. In one or more embodiments, the working end 482' provides a clamping force to the shrimp's tail to help hold the shrimp in the clamp 412' during the shelling process. This clamping force is applied by members 484' and 486' that jointly support the working end 482'. In the illustrated embodiment, the working surface 414' of the clamping arm 480' is connected to the roller shuttle 444' via members 484' and 486'. In the depicted embodiment, the clamping force provided at the working surface 414' is controlled by an elastic connection between the support 488' and the member 486' attached to the shuttle 44', wherein the elastic connection allows the member 486' to rotate about the clamping axis 481'. The elastic connection may include one or more of an elastic material, a torsion spring, etc.

[0396] In one or more embodiments, the clamping arm 480' may be described as configured to, for example... Figure 55A The elevation position seen in Figure 55B The pressing position seen (and partly in) Figure 55D (As seen) it moves between. It is in position with the clamping arm 480'. Figure 55A Compared to when the clamping arm is in the raised position, when the clamping arm is in the 480' position Figure 55B and Figure 55D When the clamping position is reached, the working end 482' of the clamping arm 480' is positioned closer to the working surface 414' of the peeling device 440'.

[0397] In an embodiment where the clamping arm 480' is operably connected to the roller shuttle 444', the clamping arm 480' is in a raised position (e.g., when the lower roller assembly 450' and the upper assembly 460' are in the receiving position) Figure 55A(as seen in the image), while when the lower roller assembly 450' and the upper assembly 460' are in the operating position, the clamping arm 480' is in the clamping position (e.g., as shown in the image). Figure 55B (As seen in the text).

[0398] In one or more embodiments of any shelling apparatus as described herein, the lower roller can be used to remove the ventral legs and any thoracic legs present on the ventral side of the shrimp located between the lower roller assembly 450 and the upper assembly 460. To facilitate the capture of those features, the lower roller may include raised features to aid in the capture of the ventral legs and any thoracic legs on the ventral side of the shrimp located above the lower roller. In one embodiment, the raised features may be in the form of ribs extending along the length of the lower roller of the lower roller assembly 450, wherein the ribs define an inner diameter and an outer diameter for each roller, wherein the inner diameter is located at the base of each rib and the outer diameter is located at the outermost position of each rib.

[0399] Figure 56 An exemplary embodiment of the lower roller pair of the lower roller assembly 450 is schematically depicted, configured to capture and remove the ventral proboscis and any thoracic proboscis present on the ventral side of a shrimp located between the lower roller assembly 450 and the upper assembly 460. The concept described in conjunction with the lower roller assembly 450 can be used in conjunction with any shelling device or method described herein. Each roller includes an inner diameter representing the base of a raised feature on each lower roller. Each roller also includes an outer diameter 455 representing the outermost portion of the raised feature on each lower roller. Figure 56 As seen, it is preferable that the outer diameter of one roller is located between the inner and outer diameters of the opposite roller, so that the protrusions interfere with each other when the rollers rotate about their axis 451.

[0400] Interference between protrusions on the paired lower roller assemblies 450 may involve complementary engagement of those protrusions (e.g., ribs from one roller engaging within the space between ribs on the opposite roller) and / or interference may involve deformation of one or both sets of protrusions on the lower rollers of the lower roller assembly 450. Instead of elongated ribs, one or more alternative types of protrusions may include, for example, an elastic mesh wound around the rollers of the lower roller assembly 450, or a structured surface on the rollers of the lower roller assembly 450 (in the form of pins or posts, knurled). Furthermore, the protrusions on the rollers of the lower roller assembly 450 may be identical or different. For example, in one or more embodiments, one roller may be provided with elongated ribs extending along the length of the roller, while the opposite roller may be without protrusions or provided with a different set of protrusions. In one or more embodiments, the protrusions may be made of an elastomer or resilient material that deforms during the capture and / or removal of the ventral and any thoracic legs of shrimp located between the rollers of the lower roller assembly 450.

[0401] Figures 57-58An exemplary embodiment of an upper roller pair of an upper assembly 460, which may be used in one or more embodiments of a shelling apparatus as described herein, is depicted. The upper rollers of the upper assembly 460 may define a head end 468 and a tail end 469, wherein the head end 468 is located upstream of the tail end 469 along a processing axis 411. In other words, the head end 468 of the upper rollers of the upper assembly 460 is positioned further away from the tail of the shrimp being processed compared to the tail end 469. Each roller of the upper assembly 460 rotates about an axis 461 and is located on opposite sides of the processing axis 411 along which the shrimp moves in and out of positions between the upper rollers of the upper assembly 460 for shelling.

[0402] In one or more embodiments, one or both of the upper rollers of the upper assembly 460 may include a shell engagement pin 464 projecting outward from the outer surface of the upper roller of the upper assembly 460 (see also...). Figure 54D The shell engagement pin 464 is located on the roller of the upper assembly 460. The shell engagement pin 464 may be configured to pierce or capture a segment of the shell on the shrimp's abdomen when forced against it. For example, in one or more embodiments, the shell engagement pin 464 may have a tapered portion whose cross-sectional area decreases as the axis of the roller on which the shell engagement pin 464 is located moves away from it. In one or more embodiments, the shell engagement pin 464 may be located in a recess 465 or 466 formed in the outer surface of one or both of the upper rollers of the upper assembly 460.

[0403] In one or more embodiments, the surface area density of the shell engagement pins 464 can be increased as the upper roller moves from the head end 468 to the tail end 469 of the upper assembly 460 along the axis 461 of the upper roller. The surface area density of the shell engagement pins 464 can be increased using various methods. For example, in one or more embodiments, the spacing between the shell engagement pins 464 can be decreased as the upper assembly 460 moves from the head end 468 to the tail end 469 of the roller. For example, a reduced spacing can be seen in the shell engagement pins 464 located in a recess 465 on the upper assembly 460 roller.

[0404] Another way to reduce the spacing between the shell engagement pins 464 as the roller moves from the head end 468 to the tail end 469 of the upper assembly 460 is by including more than one row of shell engagement pins 464. For example, in Figure 57In the illustrative embodiment of the upper roller of the upper assembly 460 depicted herein, a second row of shell engagement pins 464 is disposed on each roller of the upper assembly 460. In one or more embodiments, the first row of shell engagement pins 464 may extend more than 80% or less, 70% or less, 60% or less, or 50% or less of the length of the upper roller measured from its head end 468 to its tail end 469. The second row of shell engagement pins may extend more than 50% or more, 60% or more, 70% or more, 80% or more, 90% or more, or substantially all of the length of the upper roller of the upper assembly 460 measured from its head end 468 to its tail end 469.

[0405] Combination Figure 57 Another optional feature of the upper rollers is that one or both rollers of the upper assembly 460 may be tapered, such that the rollers of the upper assembly 460 form a truncated cone that tapers gradually as the rollers move from the tail end 469 to the head end 468. In one or more embodiments, the truncated cone may define an apex angle of 10° or less, 8° or less, 6° or less, 4° or less, or 2° or less, measured relative to the axis 461 about which the rollers of the upper assembly 460 rotate during use. The use of tapered rollers allows for a closer fit to the shape of the shrimp's belly located between the upper rollers of the upper assembly 460, thereby enhancing the contact between the shell engagement pin 464 and the shrimp shell.

[0406] The use of the tapered upper roller of the upper assembly 460 also helps to remove shell segments closer to the tail of the shrimp before removing those closer to the cephalothorax. As discussed above regarding the combined axes of the converging upper and lower rollers, it is advantageous to remove the last shell segment first because the shell segments slightly overlap at their junction, with the posterior edge of the shell segment closer to the cephalothorax positioned above the leading edge of the next successive shell segment. In one or more embodiments, a tapered roller may be used in addition to, or in place of, the converging upper and lower roller axes.

[0407] You can refer to this. Figure 51 Figure 54 Figure 56 and Figure 58 This describes the operation of removing the shell segment from the dorsal side of the shrimp and removing the abdominal and thoracic legs from the ventral side of the shrimp using the lower roller assembly 450 and the upper assembly 460.

[0408] refer to Figure 56 Controller (see, for example) Figure 53A controller 490 is operatively connected to a lower roller assembly driver 452 for rotating the lower rollers of a lower roller assembly 450 as described herein. The controller can be configured to operate the lower roller assembly driver 452 such that each lower roller rotates about a capture arc, wherein the rollers of opposite lower roller assemblies 450 rotate in opposite directions on their respective capture arcs. Figure 56 As depicted, each roller of the lower roller assembly 450 can rotate on the capture arc 457.

[0409] In one or more embodiments, the capture arc may be defined by time and / or distance. For example, capture arc 457 may be the result of rotating the roller of lower roller assembly 450 for a selected time period using a lower roller assembly driver. Alternatively, capture arc 457 may be the result of rotating the roller of lower roller assembly 450 over a selected rotational distance. For example, capture arc 457 may involve rotation on arcs such as 20° or greater, 30° or greater, 45° or greater, 60° or greater, 75° or greater, 90° or greater.

[0410] In other embodiments, the capture arc 457 may be variable. For example, in one or more embodiments, the lower roller assembly driver may cause one or both rollers of the lower roller assembly 450 to rotate until a selected amount of rotational resistance is encountered, by which the capture of the ventral and thoracic legs present on the ventral side of the shrimp is defined.

[0411] In one or more embodiments, the rotation of the first and second rollers of the lower roller assembly 450 about their respective capture arcs 457 can collect and retain at least one abdominal foot, most of the abdominal feet, and preferably all of the abdominal feet and any thoracic feet of the shrimp located between the lower roller assembly 450 and the upper assembly 460 on the ventral side of the abdomen after decapitation. Furthermore, capturing the abdominal and thoracic feet can also help position and / or straighten the shrimp's abdomen before attempting to remove the shell segment from the dorsal side of the shrimp's abdomen.

[0412] After the lower rollers of the lower roller assembly 450 are rotated about their respective capture arcs, the roller shuttle actuator 446 can be operated to move the upper assembly 460 toward the lower roller assembly 450, so that the lower roller assembly 450 and the upper assembly 460 move from the receiving position to the operating position, in which the upper roller of the upper assembly 460 contacts the shell segment on the dorsal side of the shrimp's abdomen.

[0413] In one or more embodiments, the shuttle actuator 446 may be configured to provide a limited force to the abdomen of a shrimp located between the lower roller assembly 450 and the upper assembly 460. For example, in one or more embodiments where the shuttle actuator 446 is in the form of an electric motor, a torque sensor may be used to determine the force applied to the shrimp located between the lower roller assembly 450 and the upper assembly 460 as the upper roller assembly moves against the shrimp's abdomen. Alternatively, many other techniques and methods (e.g., pressure-controlled pneumatic cylinders or force-limiting pneumatic cylinders) may be used to control the force applied to the shrimp's abdomen located between the lower roller assembly 450 and the upper assembly 460.

[0414] After the roller shuttle actuator 446 moves the roller shuttle 444 carrying the upper assembly 460 into position such that the upper rollers of the upper assembly 460 contact the dorsal side of the shrimp's abdomen with sufficient force, the upper roller assembly driver 462 can be operated by the controller such that each upper roller of the upper assembly 460 rotates about a peeling arc sufficient to remove the shell segment from the shrimp's abdomen.

[0415] Figure 58 An example of a peeling arc 480 is depicted. In one or more embodiments, the peeling arc 480 of the upper roller of the upper assembly 460 may be in opposite directions. In other words, the upper roller of the upper assembly 460 may rotate in opposite directions such that the shell segment on the shrimp's dorsal side located between the upper rollers of the upper assembly 460 is pulled into the gap between the rollers of the upper assembly 460 as the shell segment is removed from the shrimp's abdomen. In one or more embodiments, the peeling arc 480 may involve the roller of the upper assembly 460 rotating on an arc of 90° or greater, 120° or greater, 150° or greater, 180° or greater, 240° or greater, 300° or greater, or 360° or greater.

[0416] Essentially, while the upper rollers of the upper assembly 460 rotate around their peeling arc 480, the lower roller assembly driver 452 causes the lower rollers of the lower roller assembly 450 to rotate around their axis on the removal arc, so that while the upper rollers of the upper assembly 460 remove the shell segment from the dorsal side of the shrimp's abdomen, the abdominal legs and thoracic legs are removed from the ventral side of the shrimp's abdomen. As a result, the shell segment on the dorsal side of the shrimp's abdomen and the abdominal legs and thoracic legs on the ventral side of the shrimp's abdomen can be removed simultaneously.

[0417] In one or more embodiments, before attempting to remove the shell segment from the dorsal side of the shrimp's abdomen, the lower roller of the lower roller assembly 450 rotates through a removal arc (see, for example, see...). Figure 56The removal arc 458 can be greater than the capture arc 457 through which the lower roller of the lower roller assembly 450 rotates to capture the ventral and thoracic feet. In one or more embodiments, the removal arc can involve the lower roller of the lower roller assembly rotating through an arc of 60° or greater, 70° or greater, 80° or greater, 90° or greater, 120° or greater, 150° or greater, 180° or greater, 240° or greater, 300° or greater, or 360° or greater.

[0418] After the lower roller assembly is operated to remove the ventral and thoracic legs from the shrimp's ventral side and the shell segments from its dorsal side, the conveying system can be used to remove the shrimp from its position between the lower roller assembly 450 and the upper assembly 460 for further processing. However, in general, it should be noted that the peeling station can preferably be located at the end of the shrimp processing system production line, so that the shrimp, after being processed by the peeling equipment as described herein, are ready to be unloaded from clamps or other restraints, and, if necessary, sorted from the shrimp based on the size or other physical characteristics known from the processing at any other station in the shrimp processing system described herein.

[0419] As discussed above, one or more embodiments of the shelling apparatus and method described herein can remove only the ventral appendages (soft appendages) and thoracic appendages (walking legs) on the ventral side of the shrimp's abdomen, leaving the shell segment on the dorsal side of the shrimp's abdomen intact. For example, such shrimp can be sold as "shell-on" shrimp and / or "peel-and-eat" shrimp, where the shelling process is simplified because the ventral appendages (soft appendages) and thoracic appendages (walking legs) on the ventral side of the shrimp's abdomen have already been removed from the shrimp's abdomen.

[0420] The aforementioned shelling device can be used to perform this selective removal process by simply keeping the upper roller of the upper assembly 460 stationary about the perspective axis, while operating the lower roller as discussed above to remove the ventral prolegs (soft appendages) and thoracic prolegs (walking legs) on the ventral side of the shrimp's abdomen. However, as discussed above, it may be advantageous to move the upper assembly 460 and the lower roller assembly 450 between a receiving position and an operating position, wherein the upper assembly 460 is used to stabilize the shrimp during the removal of the ventral prolegs (soft appendages) and thoracic prolegs (walking legs).

[0421] Although the above combination can be used Figures 51-58 The shelling apparatus and methods described and discussed are used to remove the gastropods (soft appendages) and thoracic legs (walking legs) while leaving the shell segments on the dorsal side of the shrimp's abdomen intact. However, one or more alternative embodiments of the shelling apparatus and methods may involve replacing the upper roller assembly with a stabilizing unit, which may be referred to herein as the upper assembly.

[0422] exist Figure 59The diagram schematically depicts an illustrative embodiment of an arrangement for the upper assembly to replace the upper roller assembly. More specifically, the lower roller assembly 450' is depicted as including a lower roller that rotates about an axis 451' of the lower roller in a manner similar to that described above with respect to the lower roller assembly 450. Figure 59 The abdomen of shrimp 402' is also depicted in a cross-sectional view. The abdomen of shrimp 402' extends along the processing axis 411', which is generally aligned with the axis 451' of the lower roller.

[0423] Figure 59 It also includes the upper component 460', which is combined in a manner similar to that described above. Figures 51-58 The shelling device described herein is used to remove the gastropods (soft appendages) and thoracic legs (walking legs) during the process, and the upper component 460' can be used to stabilize the dorsal surface of the shrimp 402'.

[0424] Similar to the above regarding combination Figures 51-58 The peeling apparatus depicted and described is such that the upper assembly 460' and the lower roller assembly 450' are movable toward and away from each other between a receiving position and an operating position. Although one or both of the upper assembly 460' and the lower roller assembly 450' can be moved to place those assemblies in the receiving or operating position as needed, the upper assembly 460' is shown in the receiving position as spaced apart from the lower roller assembly 450', as the upper assembly 460'' (shown in dashed lines). It should be understood that, alternatively, the lower roller assembly 450' can move toward the stationary upper assembly 460', as described herein. Figures 51-58 As discussed in the description and depiction of the peeling components.

[0425] Shell-section separator equipment and methods

[0426] As discussed herein, one or more embodiments of the shrimp processing systems and methods described herein may include shell segment separator devices and methods for separating shrimp shell segments. As discussed herein, it should be understood that the shell segment separator separates shell segments located on the dorsal surface of the abdomen of a shrimp being processed using the system described herein. In one or more embodiments, the separation of adjacent pairs of shell segments may facilitate the neat removal (during peeling) of the abdominal shell segments located in front of the last abdominal shell segment (where the last abdominal shell segment is the shell segment located in front of the shrimp tail) (i.e., closest to the cephalothorax).

[0427] In some shrimp species, physiological structures or connections between the last ventral shell segment and adjacent ventral shell segments may lead to tearing of one or both of them. In shrimp species comprising, for example, six ventral shell segments (see, for example, [link to relevant documentation]). Figure 3As described in this article, removing the ventral shell segment without separating the fifth and sixth ventral shell segments may result in tearing of one or both of the fifth or sixth ventral shell segments.

[0428] Similar to other shrimp processing systems and methods described herein, the shell segment separator device operates individually on each shrimp, with the shrimp positioned in a selected location relative to the shell segment separator device as described herein. In one or more embodiments, the shrimp may be restrained by clamps acting on the shrimp's abdomen at the junction between the last ventral shell segment (e.g., the sixth shell segment) and the tail / tail.

[0429] Figure 60 This is a perspective view of an illustrative embodiment of the shell-segment separator device 540 as described herein, and Figure 61 The control system of the shell-section separator is described in the form of a block diagram. Figure 60 The shell segment separator device 540 depicted includes a first shell segment retainer 550 and a second shell segment retainer 560, positioned along a processing axis 511 passing through the shell segment separator device 540. As discussed herein, the processing axis 511 defines the passage of shrimp through various stations in the processing system described herein (including, for example...). Figure 60 The path of the shell-section separator device 540 depicted in the diagram. It can also be found in... Figure 60 The shrimp 502 is seen constrained by clamp 512, with the shrimp 502 in a selected position on the working surface relative to the shell separator device 540.

[0430] The shell segment separator device 540 also includes a carriage 544 located above a working surface 514, wherein the carriage 544 is movable along a carriage axis 541 to position the working portion of the shell segment separator device 540 relative to the shrimp when the shrimp is in a selected position on the working surface 514. Furthermore, the shell segment separator device 540 includes a separation shuttle 570 configured to move along a shuttle axis 571 to move a second shell segment holder 560 relative to a first shell segment holder 550, thereby separating adjacent shell segments on the shrimp 502 as described herein. Actuators for physically moving the carriage 544 and the separation shuttle 570 along their respective axes are located within the housing 542 of the shell segment separator device 540, as described herein. Figure 60 As described herein. Although the described actuator provides translational motion to separate adjacent shell segments, rotational motion can also be used, especially if the axis of rotation relative to the rotational motion is far enough from the processing axis 511, which functionally results in an approximately linear motion along the processing axis 511 at the location where the shell segments are separated as described herein.

[0431] Figure 61 This is a schematic block diagram describing a control system that can be connected to... Figure 60The shell separator device 540 depicted herein is used in conjunction with the control system, which includes a controller 590 and a conveying system 592 operatively connected to the controller 590. As mentioned herein, the conveying system 592 is used to move shrimp into and out of selected positions relative to the shell separator device 540. The controller 590 is also operatively connected to a first retainer actuator 555, a second retainer actuator 565, and a separator actuator 575.

[0432] A first retainer actuator 555 is provided to move the first shell segment retainer 550 between its ready configuration and its holding configuration. A second retainer actuator 565 is provided to move the second shell segment retainer 560 between its ready configuration and its holding configuration. A separation actuator 575 is provided to move the second shell segment retainer 560 between its initial position and its separated position after operating the first retainer actuator 555 to move the first shell segment retainer 550 from its ready configuration to its holding configuration and operating the second retainer actuator 565 to move the second shell segment retainer 560 from its ready configuration to its holding configuration. In the illustrated illustrative embodiment, the separation actuator 575 causes a separation shuttle 570 to move, with the second shell segment retainer positioned on the separation shuttle 570, to move the second shell segment retainer 560 between its initial position and its separated position.

[0433] Figure 62 and Figure 63 yes Figure 60 An enlarged perspective view of the shell segment separator device, wherein the first shell segment holder 550 and the second shell segment holder 560 are in their respective ready configurations. As depicted, shrimp 502 are constrained in clamps 512 at selected positions on the working surface 514, wherein shrimp 502 are aligned along the processing axis 511.

[0434] In the illustrated embodiment, the first shell segment retainer 550 includes a pair of jaws 552 configured to rotate about an axis 551. Each jaw 552 includes one or more pins 554 configured to pierce the ventral shell segment of the shrimp 502 when moved to their retaining configuration as described herein. Although both jaws 552 include pins 554, it should be understood that in one or more alternative embodiments, the pins may not be located on the two jaws 552 of the first shell segment retainer 550 of the shell segment separator device as described herein.

[0435] refer to Figure 63The diagram depicts a first retainer actuator 555, configured to move the shuttle 556 relative to the carriage 544 to rotate the grippers 552 about their respective axes 551. While the depicted first retainer actuator 555 is in the form of a pneumatic cylinder, any actuator described herein can take any suitable form, including, for example, an electric motor, a hydraulic motor, a piston (hydraulic and / or pneumatic), a solenoid, etc.

[0436] Similarly, the second shell segment retainer 560 includes a pair of grippers 562 configured to rotate about axis 551. Each gripper 562 also includes one or more pins 564 configured to pierce the ventral shell segment of the shrimp 502 upon movement to their holding configuration as described herein. Again, while both grippers 562 include pins 564, it should be understood that in one or more alternative embodiments, the pins may not be located on the two grippers 562 of the second shell segment retainer 560 of the shell segment separator device as described herein.

[0437] When the first shell segment holder 550 is fixed in place relative to the carriage 544, the second shell segment holder 560 is mounted on the separating shuttle 570 to move relative to the first shell segment holder 550 and the carriage 544. As described herein, the first shell segment holder 550 and the second shell segment holder 560 are mounted on the carriage 544 to move along the processing axis 511. The movement of the carriage 544 causes the first shell segment holder 550 and the second shell segment holder 560 to move relative to the clamp 512 that restrains the shrimp 502 on the working surface 514, so that the first shell segment holder 550 and the second shell segment holder 560 can be properly positioned, wherein the engagement of adjacent shell segment pairs is located between the first shell segment holder 550 and the second shell segment holder 560.

[0438] In one or more embodiments, data from a measuring device as described herein can be used to achieve proper positioning of the shell segment separator device 540 relative to the clamps 512 and / or shrimp 502 on the working surface 514, wherein the approximate location of the joint between selected adjacent shell segments is determined based on the size of each shrimp.

[0439] Figure 64 yes Figure 63 An enlarged perspective view of a shell segment separator device, wherein a first shell segment retainer 550 and a second shell segment retainer 560 are in their respective retaining configurations. With respect to an exemplary embodiment of the first shell segment retainer 550 and the second shell segment retainer 560, the retaining configuration of the two shell segment retainers involves their respective grippers... Figures 62-63 The ready configuration seen in the image rotates to Figure 64The retaining configuration is as seen in the diagram. Specifically, compared to the grippers 552 of the first housing retainer 550 and the grippers 562 of the second housing retainer 560 in their respective retaining configurations, the grippers 552 of the first housing retainer 550 and the grippers 562 of the second housing retainer 560 are positioned further apart in their respective ready configurations (see, for example, [link to diagram]). Figure 64 ).

[0440] Although the two jaws 552 of the first shell retainer 550 and the two jaws 562 of the second shell retainer 560 rotate as they move between their respective ready and retaining configurations, in one or more alternative embodiments, the corresponding retainer actuators for moving the shell retainers between their ready and retaining configurations constitute the jaws of one or both of the first shell retainer 550 and the second shell retainer 560.

[0441] Referring to the illustrative embodiments depicted with reference to the first shell retainer 550 and the second shell retainer 560, both the first shell retainer 550 and the second shell retainer 560 can be described as being positioned closer to the working surface 514 when they are in their respective retaining configurations than when they are in their respective ready configurations.

[0442] refer to Figures 62-64 The difference between the ready configuration and the holding configuration of the first shell segment retainer 550 can be described as follows: The first shell segment retainer 550 is configured such that when Figures 62-63 When the first shell retainer 550 is in a ready configuration, it allows a shrimp (e.g., shrimp 502) to be positioned between the first shell retainer 550 and the working surface 514. Furthermore, the first shell retainer 550 is configured such that when the first shell retainer 550 is in a ready configuration... Figure 64 When held in the configuration shown, the first shell segment of a shrimp (e.g., shrimp 502) located between the first shell segment holder 550 and the working surface 514 is held in a selected position on the working surface 514. Relative to the illustrated embodiment of the first shell segment holder 550, it can be seen that when the first shell segment holder 550 is in... Figure 64 When the holding configuration is as seen, positioning the shrimp (e.g., shrimp 502) between the first shell segment retainer 550 and the working surface 514 would be difficult, if not impossible.

[0443] Refer again Figures 62-64 The difference between the ready configuration and the holding configuration of the second shell segment retainer 560 can be described as follows: The second shell segment retainer 560 is configured such that when the second shell segment retainer 560 is in Figures 62-63In the ready configuration seen herein, a shrimp (e.g., shrimp 502) can be positioned between the second shell retainer 560 and the working surface 514. Furthermore, the second shell retainer 560 is configured such that when the second shell retainer 560 is in a position as Figure 64 When held in the configuration shown, the second shell segment of a shrimp (e.g., shrimp 502), located between the second shell segment holder 560 and the working surface 514, is held in a selected position on the working surface 514 relative to the second shell segment holder 560. For the illustrated embodiment of the second shell segment holder 560, it can be seen that when the second shell segment holder 560 is in the position shown... Figure 64 When the holding configuration is as seen, positioning the shrimp (e.g., shrimp 502) between the second shell retainer 560 and the working surface 514 would be difficult, if not impossible.

[0444] You can refer to this. Figures 65-66 The operation of an illustrative embodiment of the shell-segment separator device 540 described herein is discussed. Figure 65 yes Figure 64 A side view of the shell segment separator device, with the second shell segment retainer 560 in its initial position. Figure 66 This occurs after the second shell retainer 560 has moved from its initial position to the separated position. Figure 64 Side view of the shell-segment separator device 540.

[0445] In the illustrative embodiment of the shell segment separator device 540 depicted, the separator actuator is used to separate the second shell segment retainer 560 from... Figure 65 The initial position seen in the image is moved to... Figure 66 The separation position seen in the image. It is located with the second shell segment retainer 560. Figure 65 Compared to the initial position seen in the diagram, when the second shell segment retainer 560 is in... Figure 66 When the separation position is as seen, the second shell segment retainer 560 is positioned further away from the first shell segment retainer 550. For example... Figures 65-66 As seen, the second shell retainer 560 can also be described as moving away from the clamp 512, which holds the shrimp 502 in a selected position relative to the shell separator device 540. In the illustrated embodiment depicted, the second shell retainer 560 moves along the processing axis 511 as it moves between its initial position and a separated position, wherein the first shell retainer 550 and the second shell retainer 560 are aligned on the processing axis 511.

[0446] As described herein, after operating the first shell segment retainer 550 from its ready configuration to its holding configuration and the second retainer actuator 560 from its ready configuration to its holding configuration, the separation actuator causes the second shell segment retainer 560 to move from its initial position to its separated position. In one or more embodiments, the initial position and the separated position may be separated from each other by a selected separation distance 566 along the processing axis 511 (see...). Figure 66 ).

[0447] As a result, the movement of the second shell segment holder 560 to its separation position causes the shell segment held by the second shell segment holder 560 to move away from the shell segment held by the first shell segment holder 550, thereby separating the two shell segments as discussed herein. Separation or movement between two adjacent shell segments disrupts or severs the connection between them to allow for neat separation at the junction between the two adjacent shell segments, as described herein. Separation of adjacent shell segments is not intended to remove the adjacent shell segments from the shrimp's abdomen. Rather, after separation using the shell segment separation device described herein, the shell segments remain attached to the shrimp's abdomen.

[0448] In one or more embodiments, the positions of the first shell retainer 550 and the second shell retainer 560 can be described relative to a clamp 512 for restraining the shrimp in a selected position relative to the shell separator device 540. For example, the first shell retainer 550 can be described as being located along a processing axis 511 between the second shell retainer 560 and the clamp 512. In one or more embodiments, the first shell retainer 550 may preferably be held stationary or in a fixed position relative to the clamp 512, and the second shell retainer 560 may be movable relative to both the first shell retainer 550 and the clamp 512 (in the illustrated embodiment depicted, a separation shuttle 570 is used). However, in one or more alternative embodiments, the first shell retainer 550 may also be movable relative to the clamp 512 and / or the second shell retainer 560.

[0449] although Figure 60 and Figures 62-66 The illustrative embodiments of the shell segment separator device described herein include a shell segment retainer having grippers that move between a ready configuration and a retaining configuration, but the shell segment separator device described herein may not include movable grippers. Figures 67-70 An optional illustrative embodiment of a shell segment separator device excluding movable grippers is depicted.

[0450] Figures 67-70The shell segment separation apparatus depicted includes shell segment retainers 650 and 660 positioned opposite (e.g., above) a working surface 614, along which a processing axis 611 extends. Because the shell segment retainers 650 and 660 are aligned along the processing axis 611, in Figure 67 and Figure 68 Only the shell retainer 650 is visible in the middle. Figure 67 In this configuration, shell retainers 650 and 660 are in a ready configuration in which the distance between the shell retainers 650 and 660 and the working surface 614 is sufficient to allow the shrimp to be positioned between the shell retainers 650 and 660 and the working surface 614.

[0451] In comparison, Figures 68-70 In this embodiment, shell retainers 650 and 660 are in their retaining configuration such that a shrimp shell segment positioned between the shell retainers 650 and 660 and the working surface 614 is held in a selected location on the working surface 614. In the depicted embodiment, the shell retainers 650 and 660 are positioned closer to the working surface 614 in their retaining configuration compared to when the shell retainers are in their ready configuration.

[0452] Figures 67-70 The illustrated exemplary embodiment of the shell retainer 650 is depicted, which includes a notch 652 configured to receive the ventral side of a shrimp, such that the notch rests on or faces the dorsal surface of the shrimp at a selected location on the working surface 614, wherein the ventral surface of the shrimp faces or rests on the working surface 614. Similarly, Figures 69-70 The illustrated embodiment of the shell retainer 660 is depicted, which includes a notch 662 configured to receive the abdomen of a shrimp such that the notch 662 rests on or faces the dorsal surface of the shrimp at a selected location on the working surface 614, wherein the ventral surface of the shrimp faces or rests on the working surface 614.

[0453] Figures 67-70 The illustrative embodiment of the shell segment retainer 650 depicted also includes a pin 654 positioned in a notch 652 such that the pin engages (e.g., pierces) a shell segment on the dorsal surface of a shrimp at a selected location on the working surface 614, wherein the ventral surface of the shrimp faces or rests on the working surface 614. Similarly, Figures 69-70 The illustrated embodiment of the shell segment retainer 660 depicted also includes a pin 664 positioned in a notch 662 such that the pin 664 engages (e.g., pierces) a shell segment on the dorsal surface of a shrimp at a selected location on the working surface 614, wherein the ventral surface of the shrimp faces or rests on the working surface 614.

[0454] Figures 69-70 The cross-sectional views can be used to describe the shell segment retainers 650 and 660 from their initial positions (see, for example, see...). Figure 69 ) to the separation location (see, for example) Figure 70 The movement of ). In particular, with those in Figure 70 Compared to the separated position, the shell retainers 650 and 660 are in the same position. Figure 69 They were initially closer together. In other words, in Figure 69 The distance di between the shell segment retainers 650 and 660 in the separated position is less than that in Figure 70 The distance ds between the shell segment retainers 650 and 660 in the separated position (or conversely, in Figure 70 The distance ds between the shell segment retainers 650 and 660 in the separated position is greater than that in Figure 69 The distance di between the shell segment retainers 650 and 660 in their initial positions.

[0455] Although not depicted, it should be understood that another illustrative embodiment of the shell segment separator device may include having movable grippers (such as, for example, in...). Figure 60 and Figures 62-66 A shell segment retainer (as depicted in the text) and including notches and pins (such as...) Figures 67-70 (as depicted in the text) a shell segment retainer.

[0456] For the method, shell segment separation may involve separating adjacent shell segments on the abdomen of a shrimp (e.g., shrimp 502), wherein the method includes holding a first shell segment on the shrimp abdomen in a fixed position relative to a processing axis (e.g., processing axis 511), moving a second shell segment on the shrimp abdomen away from the first shell segment in a direction aligned with the processing axis, while holding the first shell segment in a fixed position. Furthermore, after the adjacent shell segments are separated, the first and second shell segments remain attached to the shrimp abdomen.

[0457] In one or more embodiments of shell segment separation as described herein, adjacent shell segments can be described as the last ventral shell segment of the shrimp (i.e., the shell segment closest to the tail) and adjacent shell segments located on the opposite side of the last ventral shell segment. For a shrimp having, for example, six ventral shell segments, the last ventral shell segment would be the sixth shell segment, and the adjacent or second ventral shell segment would be the fifth shell segment. In the illustrated embodiment depicted, the shell segment separator device 540 uses a first shell segment holder 550 to hold the sixth shell segment in a fixed position, while the shell segment separator device 540 uses a second shell segment holder 560 to move the fifth shell segment away from the sixth shell segment.

[0458] While the shell segment separator apparatus and the method of using the apparatus may preferably involve separating the last shell segment from adjacent shell segments, alternative embodiments of the shell segment separator apparatus and method described herein may involve separating any adjacent pairs of shell segments on shrimp treated using the shrimp processing system described herein.

[0459] Explanatory aspects

[0460] The following are illustrative aspects of the shrimp processing equipment and methods described in this article.

[0461] In independent aspect E1, one or more embodiments of the shrimp peeling device include: a lower roller assembly comprising a first lower roller, a second lower roller, and a lower roller assembly driver operably connected to the first lower roller and the second lower roller, wherein the lower roller assembly driver is configured to cause the first lower roller to rotate about a first lower roller axis and to cause the second lower roller to rotate about a second lower roller axis, wherein the first lower roller axis is aligned with the second lower roller axis; and an upper roller assembly comprising a first upper roller, a second upper roller, and an upper roller assembly driver operably connected to the first upper roller and the second upper roller, wherein the upper roller assembly driver is configured to cause the first upper roller to rotate about a first upper roller axis and to cause the second lower roller to rotate about a first lower roller axis. The second upper roller rotates about the second upper roller axis, wherein the first upper roller axis is aligned with the second upper roller axis, and wherein the first upper roller extends from the tail end to the head end along the first upper roller axis, and further wherein the second upper roller extends from the tail end to the head end along the second upper roller axis; a roller shuttle configured to move one or both of the lower roller assembly and the upper roller assembly between a receiving position and an operating position, wherein when the lower roller assembly and the upper roller assembly are in the receiving position, compared to when the lower roller assembly and the upper roller assembly are in the operating position, the lower roller assembly and the upper roller assembly are positioned further apart from each other in a direction transverse to the first lower roller axis and the first upper roller axis; and a controller operatively connected to The lower roller assembly driver, upper roller assembly driver, and roller shuttle, and the controller, are configured to: operate the roller shuttle to move one or both of the lower roller assembly and the upper roller assembly between a receiving position and an operating position; operate the lower roller assembly driver such that a first lower roller rotates about a first lower roller axis on a first capture arc, and a second lower roller rotates about a second lower roller axis on a second capture arc, wherein the first lower roller and the second lower roller rotate in opposite directions on their respective capture arcs; after the first lower roller and the second lower roller have rotated in opposite directions on their respective capture arcs, operate the roller shuttle to move the lower roller assembly and the upper roller assembly from the receiving position to the operating position; operate the upper roller assembly driver... The device is configured to cause a first upper roller to rotate on a first peeling arc about a first upper roller axis and a second upper roller to rotate on a second peeling arc about a second lower roller axis, wherein after the roller shuttle moves the lower roller assembly and the upper roller assembly from the receiving position to the operating position, the first upper roller and the second upper roller rotate in opposite directions on their respective peeling arcs; and to operate the lower roller assembly driver to cause the first lower roller to rotate on a first removal arc about a first lower roller axis and the second lower roller to rotate on a second removal arc about a second lower roller axis, wherein when the lower roller assembly and the upper roller assembly are in the operating position, the first lower roller and the second lower roller rotate in opposite directions on their respective removal arcs;The controller is configured to operate the upper roller assembly driver such that the first and second upper rollers rotate in opposite directions on their respective peeling arcs, while simultaneously operating the lower roller assembly driver such that the first and second lower rollers rotate in opposite directions on their respective removal arcs.

[0462] In aspect E2 according to aspect E1, the first lower roller includes a first lower roller outer surface, the first lower roller outer surface including protrusions defining a first inner diameter and a first outer diameter, wherein the second lower roller includes a second lower roller outer surface, the second lower roller outer surface including protrusions defining a second inner diameter and a second outer diameter, wherein the first lower roller outer surface and the second lower roller outer surface overlap between the first lower roller and the second lower roller, such that the second outer diameter is located between the first inner diameter and the first outer diameter between the first lower roller and the second lower roller.

[0463] In aspect E3 according to any one of aspects E1 to E2, the first lower roller includes a plurality of ribs extending outwardly away from the axis of the first lower roller, wherein the plurality of ribs extend along the length of the first lower roller. In aspect E4 according to aspect E3, the plurality of ribs extend along the length of the first roller in a direction aligned with the axis of the first lower roller.

[0464] In aspect E5 according to any one of aspects E3 to E4, the plurality of ribs are made of a resilient elastomeric material.

[0465] In aspect E6 according to any one of aspects E1 to E5, the second lower roller includes a second plurality of ribs extending outwardly away from the axis of the second lower roller, wherein the second plurality of ribs extend along the length of the second lower roller.

[0466] In aspect E7 according to aspect E6, the second plurality of ribs extend along the length of the second roller in a direction aligned with the axis of the second lower roller.

[0467] In aspect E8 according to any one of aspects E6 to E7, the second plurality of ribs are made of a resilient elastomeric material.

[0468] In aspect E9, which is based on any one of aspects E1 to E8, the capturing arc is equal to or less than the removing arc.

[0469] In aspect E10 according to any one of aspects E1 to E9, the first upper roller includes a plurality of shell engagement pins projecting outward from the first upper roller.

[0470] In aspect E11 of aspect E10, a plurality of pins extend outward from at least one recess formed in the outer surface of the first upper roller, wherein the outer diameter of the first upper roller outside the at least one recess is greater than the outer diameter of the first upper roller inside the at least one recess.

[0471] In aspect E12 according to any one of aspects E10 to E11, the surface area density of the plurality of shell engagement pins increases as they move along the axis of the first upper roller from the head end to the tail end. In aspect E13 according to any one of aspects E12, the plurality of shell engagement pins are arranged in pairs on the first upper roller, wherein the first row of the pairs is aligned with the axis of the first upper roller and extends from the tail end toward the head end beyond 80% or less, 70% or less, 60% or less, 50% or less, 40% or less, or 30% or less of the length of the first upper roller measured from the head end to the tail end. In aspect E14 according to aspect E13, the second row of the pairs includes shell engagement pins that extend beyond 50% or more, 60% or more, 70% or more, 80% or more, 90% or more, or substantially the entire length of the first upper roller measured from the head end to the tail end.

[0472] In aspect E15 according to any one of aspects E13 to E14, when moving from the head end of the first upper roller toward the tail end through at least a portion of at least one row, the interval between the shell engagement pins in at least one of the paired rows decreases.

[0473] In aspect E16 according to any one of aspects E10 to E15, the shell engagement pin includes a tapered portion whose cross-sectional area decreases as it moves away from the axis of the first upper roller.

[0474] In aspect E17 according to any one of aspects E10 to E16, the second upper roller includes a second plurality of shell engagement pins projecting outward from the second upper roller. In aspect E18 according to aspect E17, the second plurality of pins extend outward from at least one recess formed in the outer surface of the second upper roller, wherein the outer diameter of the second upper roller outside the at least one recess is greater than the outer diameter of the second upper roller inside the at least one recess.

[0475] In aspect E19 according to any one of aspects E17 to E18, the surface area density of the second plurality of shell engagement pins increases as the second upper roller moves from its head end to its tail end along its axis. In aspect E20 according to aspect E19, the second plurality of shell engagement pins are arranged in pairs on the second upper roller, wherein the first row of the pairs is aligned with the axis of the second upper roller and extends from the tail end toward the head end beyond 80% or less, 70% or less, 60% or less, or 50% or less, 40% or less, or 30% or less of the length of the second upper roller measured from its head end to its tail end. In aspect E21 according to aspect E20, the second row of the pairs includes shell engagement pins that extend beyond 50% or more, 60% or more, 70% or more, 80% or more, 90% or more, or substantially the entire length of the second upper roller measured from its head end to its tail end.

[0476] In aspect E22 according to any one of aspects E20 to E21, when moving from the head end to the tail end of at least a portion of at least one row, the spacing between the shell engagement pins of the second plurality of shell engagement pins in at least one row of the paired rows decreases.

[0477] In aspect E23 according to any one of aspects E17 to E22, the shell engagement pin includes a tapered portion whose cross-sectional area decreases as it moves away from the axis of the second upper roller.

[0478] In aspect E24 according to any one of aspects E1 to E23, the first upper roller includes a truncated cone that tapers gradually as it moves from the tail end of the first upper roller toward the head end. In aspect E25 according to aspect E24, the truncated cone defines an apex angle of 10 degrees or less, 8 degrees or less, 6 degrees or less, 4 degrees or less, or 2 degrees or less.

[0479] In aspect E26 according to any one of aspects E1 to E25, the second upper roller includes a truncated cone that tapers gradually as it moves from the tail end of the second upper roller toward the head end. In aspect E27 according to aspect E26, the truncated cone of the second upper roller defines an apex angle of 10 degrees or less, 8 degrees or less, 6 degrees or less, 4 degrees or less, or 2 degrees or less.

[0480] In aspect E28 according to any one of aspects E1 to E27, the roller shuttle includes a force-limiting drive configured to stop the movement of one or both of the lower roller assembly and the upper roller assembly from the receiving position to the operating position when the upper roller assembly contacts the chuck located between the upper roller assembly and the lower roller assembly.

[0481] In aspect E29 according to any one of aspects E1 to E28, when the lower roller assembly and the upper roller assembly are moved from the receiving position to the operating position, the roller shuttle causes the upper roller assembly to move.

[0482] In aspect E30 according to any one of aspects E1 to E29, the first upper roller axis and the first lower roller axis form a first angle, wherein the first angle is greater than 0 degrees, 1 degree or more, 2 degrees or more, or 3 degrees or more.

[0483] In aspect E31 according to any one of aspects E1 to E30, the second upper roller axis and the second lower roller axis form a second angle, wherein the second angle is greater than 0 degrees, 1 degree or more, 2 degrees or more, or 3 degrees or more.

[0484] In aspect E32 according to any one of aspects E1 to E29, the first upper roller axis and the first lower roller axis form a first angle, wherein the second upper roller axis and the second lower roller axis form a second angle, and wherein both the first angle and the second angle are greater than 0 degrees, 1 degree or more, 2 degrees or more, or 3 degrees or more.

[0485] In aspect E33 according to any one of aspects E1 to E32, the axis of the first upper roller and the axis of the second upper roller are aligned with each other.

[0486] In aspect E34 according to any one of aspects E1 to E33, the axis of the first lower roller and the axis of the second lower roller are aligned with each other.

[0487] In aspect E35 according to any one of aspects E1 to E34, the controller is configured to, after operating the upper roller assembly driver to rotate the first upper roller and the second upper roller in opposite directions on their respective peeling arcs and simultaneously operating the lower roller assembly driver to rotate the first lower roller and the second lower roller in opposite directions on their respective removal arcs, operate the roller shuttle to move the lower roller assembly and the upper roller assembly from the operating position to the receiving position. In aspect E36 according to aspect E35, the controller is configured to, after operating the upper roller assembly driver to rotate the first upper roller and the second upper roller in opposite directions on their respective peeling arcs and simultaneously operating the lower roller assembly driver to rotate the first lower roller and the second lower roller in opposite directions on their respective removal arcs, and after operating the roller shuttle to move the lower roller assembly and the upper roller assembly from the operating position to the receiving position, operate the upper roller assembly to rotate the first upper roller about the first upper roller axis on the cleaning arc and to rotate the second upper roller about the second upper roller axis on the cleaning arc.

[0488] In aspect E37 according to any one of aspects E1 to E36, both the first lower roller and the second lower roller include a tail end and a head end, wherein the tail ends of the first lower roller and the second lower roller are positioned close to the tail ends of the first upper roller and the second upper roller, and wherein the head ends of the first lower roller and the second lower roller are positioned close to the head ends of the first upper roller and the second upper roller, and wherein the device includes a working surface located adjacent to the tail ends of the first lower roller and the second lower roller, wherein the working surface adjacent to the tail ends of the first roller and the second roller is offset from the tail ends of the first lower roller and the second lower roller, such that when measured in a direction transverse to the axis of the first lower roller, the tail end of the first lower roller is positioned closer to the tail end of the first upper roller than the working surface, and wherein when measured in a direction transverse to the axis of the second lower roller, the tail end of the second lower roller is positioned closer to the tail end of the second upper roller than the working surface.

[0489] In aspect E38 according to any one of aspects E1 to E37, both the first lower roller and the second lower roller include a tail end and a head end, wherein the tail ends of the first lower roller and the second lower roller are positioned near the tail ends of the first upper roller and the second upper roller, and wherein the head ends of the first lower roller and the second lower roller are positioned near the head ends of the first upper roller and the second upper roller, and wherein the device further includes: a working surface positioned adjacent to the tail ends of the first lower roller and the second lower roller; a working surface; and a clamping arm configured to move between a raised position and a clamping position, wherein the clamping arm includes a working end that is closer to the working surface when the clamping arm is in the clamping position than when the clamping arm is in the raised position.

[0490] In aspect E39 of aspect E38, the clamping arm is operably connected to the roller shuttle such that the clamping arm is in a raised position when the lower roller assembly and the upper roller assembly are in the receiving position, and wherein the clamping arm is in a clamping position when the lower roller assembly and the upper roller assembly are in the operating position.

[0491] Independent aspect E40 is a method for peeling shrimp using a device such as any one of aspects E1 to E39.

[0492] In independent aspect F1, one or more embodiments of the shrimp processing equipment include: a lower roller assembly comprising a first lower roller, a second lower roller, and a lower roller assembly driver operably connected to the first and second lower rollers, wherein the lower roller assembly driver is configured to rotate the first lower roller about a first lower roller axis and to rotate the second lower roller about a second lower roller axis, wherein the first lower roller axis is aligned with the second lower roller axis; an upper assembly; a roller shuttle configured to move one or both of the lower roller assembly and the upper assembly between a receiving position and an operating position, wherein, compared to when the lower roller assembly and the upper assembly are in the operating position, when the lower roller assembly and the upper assembly are in the receiving position, the lower roller assembly and the upper assembly are positioned further apart from each other in a direction transverse to the first lower roller axis and the first upper roller axis; a controller operably connected to the lower roller assembly driver and the roller shuttle, the controller being configured to The mechanism comprises: operating the roller shuttle to move one or both of the lower roller assembly and the upper assembly between a receiving position and an operating position; operating the lower roller assembly driver to rotate the first lower roller about the first lower roller axis on a first capture arc and to rotate the second lower roller about the second lower roller axis on a second capture arc, wherein the first lower roller and the second lower roller rotate in opposite directions on their respective capture arcs; after rotating the first lower roller and the second lower roller in opposite directions on their respective capture arcs, operating the roller shuttle to move the lower roller assembly and the upper assembly from the receiving position to the operating position; and operating the lower roller assembly driver to rotate the first lower roller about the first lower roller axis on a first removal arc and to rotate the second lower roller about the second lower roller axis on a second removal arc, wherein when the lower roller assembly and the upper assembly are in the operating position, the first lower roller and the second lower roller rotate in opposite directions on their respective removal arcs.

[0493] In aspect F2 according to aspect F1, the first lower roller includes a first lower roller outer surface, the first lower roller outer surface including protrusions defining a first inner diameter and a first outer diameter, wherein the second lower roller includes a second lower roller outer surface, the second lower roller outer surface including protrusions defining a second inner diameter and a second outer diameter, wherein the first lower roller outer surface and the second lower roller outer surface overlap between the first lower roller and the second lower roller, such that the second outer diameter is located between the first inner diameter and the first outer diameter between the first lower roller and the second lower roller.

[0494] In aspect F3 according to any one of aspects F1 to F2, the first lower roller includes a plurality of ribs extending outwardly away from the axis of the first lower roller, wherein the plurality of ribs extend along the length of the first lower roller. In aspect F4 according to aspect F3, the plurality of ribs extend along the length of the first roller in a direction aligned with the axis of the first lower roller. In aspect F5 according to any one of aspects F3 to F4, the plurality of ribs are made of a resilient elastomeric material.

[0495] In aspect F6 according to any one of aspects F1 to F5, the second lower roller includes a second plurality of ribs extending outwardly away from the axis of the second lower roller, wherein the second plurality of ribs extend along the length of the second lower roller. In aspect F7 according to aspect F6, the second plurality of ribs extend along the length of the second roller in a direction aligned with the axis of the second lower roller. In aspect F8 according to any one of aspects F6 to F7, the second plurality of ribs are made of a resilient elastomeric material.

[0496] In aspect F9, which is based on any one of aspects F1 to F8, the capturing arc is equal to or less than the removing arc.

[0497] In aspect F10 according to any one of aspects F1 to F9, the roller shuttle includes a force limiting drive configured to stop the movement of the lower roller assembly and the upper assembly from the receiving position to the operating position when the upper assembly contacts the chuck located between the upper roller assembly and the lower roller assembly.

[0498] In aspect F11 according to any one of aspects F1 to F10, when the lower roller assembly and the upper assembly are moved from the receiving position to the operating position, the roller shuttle causes the upper assembly to move.

[0499] In aspect F12 according to any one of aspects F1 to F11, the controller is configured to, after operating the lower roller assembly driver to rotate the first lower roller about the first lower roller axis through a first capture arc and to rotate the second lower roller about the second lower roller axis through a second capture arc, operate the roller shuttle to move the lower roller assembly and the upper assembly from the operating position to the receiving position. In aspect F13 according to aspect F12, the controller is configured to, after operating the roller shuttle to move the lower roller assembly and the upper assembly from the operating position to the receiving position, operate the lower roller assembly driver to rotate the first lower roller about the first lower roller axis through a first removal arc and to rotate the second lower roller about the second lower roller axis through a second removal arc.

[0500] In aspect F14 according to any one of aspects F1 to F13, the first lower roller and the second lower roller each extend from the tail end to the head end along the first lower roller axis and the second lower roller axis, and wherein the device includes a working surface positioned adjacent to the tail ends of the first lower roller and the second lower roller, wherein the working surface adjacent to the tail ends of the first roller and the second roller is offset from the tail ends of the first lower roller and the second lower roller, such that when measured in a direction transverse to the first lower roller axis, the tail end of the first lower roller is positioned closer to the upper component than the working surface, and wherein when measured in a direction transverse to the second lower roller axis, the tail end of the second lower roller is positioned closer to the upper component than the working surface.

[0501] In aspect F15 according to any one of aspects F1 to F14, the first lower roller and the second lower roller each extend from the tail end to the head end along the axis of the first lower roller and the axis of the second lower roller, and wherein the device further includes: a working surface positioned adjacent to the tail end of the first lower roller and the second lower roller; the working surface; and a clamping arm configured to move between a raised position and a clamping position, wherein the clamping arm includes a working end that is positioned closer to the working surface when the clamping arm is in the clamping position compared to when the clamping arm is in the raised position.

[0502] In aspect F16 according to aspect F15, the clamping arm is operably connected to the roller shuttle such that the clamping arm is in a raised position when the lower roller assembly and the upper assembly are in the receiving position, and wherein the clamping arm is in a clamping position when the lower roller assembly and the upper assembly are in the operating position.

[0503] Independent aspect F17 includes a method of using the apparatus of any one of aspects F1 to F16 to process shrimp to remove pedipalps and / or pleopods from the shrimp.

[0504] In independent aspect G1, one or more embodiments of the shrimp peeling method include: capturing at least one ventral foot attached to the shrimp's abdomen between the first and second lower rollers by rotating each of the first and second lower rollers on a capture arc, wherein the first and second lower rollers rotate in opposite directions; after rotating the first and second lower rollers on their respective capture arcs, contacting the shrimp's ventral shell segment with the first and second upper rollers; rotating the first upper roller on a first peeling arc and rotating the second upper roller on a second peeling arc, wherein the first and second upper rollers rotate in opposite directions on their respective peeling arcs; and rotating the first lower roller on a first removal arc and rotating the second lower roller on a second removal arc, wherein the first and second lower rollers rotate in opposite directions on their respective removal arcs; wherein after contacting the shrimp's ventral shell segment with the first and second upper rollers, the method includes rotating the first and second upper rollers on their respective peeling arcs while simultaneously rotating the first and second lower rollers on their respective removal arcs.

[0505] In aspect G2 of the method according to aspect G1, as the first lower roller and the second lower roller rotate about their removal arc, the first upper roller and the second upper roller rotate about their peeling arc to remove two or more abdominal shell segments and captured foot from the shrimp.

[0506] In aspect G3 according to aspect G1, as the first lower roller and the second lower roller rotate around their rem...

Claims

1. A shrimp processing device, comprising: A lower roller assembly (450; 450') includes a first lower roller, a second lower roller, and a lower roller assembly driver (452; 452') operatively connected to the first lower roller and the second lower roller, wherein the lower roller assembly driver (452; 452') is configured to rotate the first lower roller about a first lower roller axis and to rotate the second lower roller about a second lower roller axis, wherein the first lower roller axis is aligned with the second lower roller axis; Upper component (460; 460'); A roller shuttle (444; 444') is configured such that one or both of the lower roller assembly (450; 450') and the upper assembly (460; 460') can move between a receiving position and an operating position, wherein, compared to when the lower roller assembly (450; 450') and the upper assembly (460; 460') are in the operating position, the lower roller assembly (450; 450') and the upper assembly (460; 460') are positioned further apart from each other in a direction transverse to the axis of the first lower roller. A controller (490), operatively connectable to a lower roller assembly driver (452; 452') and a roller shuttle (444; 444'), said controller being configured to: Operate the shuttle (444; 444') such that one or both of the lower roller assembly (450; 450') and the upper assembly (460; 460') move between the receiving position and the operating position; Operate the lower roller assembly driver (452; 452') to rotate the first lower roller about the first lower roller axis on the first capture arc and to rotate the second lower roller about the second lower roller axis on the second capture arc, wherein the first lower roller and the second lower roller rotate in opposite directions on their respective capture arcs; After the first and second lower rollers are rotated in opposite directions on their respective capture arcs, the roller shuttle (444; 444') is operated so that the lower roller assembly (450; 450') and the upper assembly (460; 460') move from the receiving position to the operating position; and The lower roller assembly driver (452; 452') is operated to rotate the first lower roller about the first lower roller axis on the first removal arc and to rotate the second lower roller about the second lower roller axis on the second removal arc, wherein when the lower roller assembly and the upper assembly (460; 460') are in the operating position, the first lower roller and the second lower roller rotate in opposite directions on their respective removal arcs.

2. The shrimp processing equipment according to claim 1, wherein, The capturing arc is equal to or less than the removing arc.

3. The shrimp processing equipment according to claim 1, wherein, The controller (490) is configured to, after operating the lower roller assembly driver (452; 452') to rotate the first lower roller about the first lower roller axis through the first capture arc and to rotate the second lower roller about the second lower roller axis through the second capture arc, operate the roller shuttle (444; 444') to move the lower roller assembly (450; 450') and the upper assembly (460; 460') from the operating position to the receiving position.

4. The shrimp processing equipment according to claim 3, wherein, The controller (490) is configured to, after operating the roller shuttle (444; 444') to move the lower roller assembly (450; 450') and the upper assembly (460; 460') from the operating position to the receiving position, operate the lower roller assembly driver (452; 452') to rotate the first lower roller about the first lower roller axis through the first removal arc and to rotate the second lower roller about the second lower roller axis through the second removal arc.

5. The shrimp processing equipment according to claim 1, wherein, The controller (490) is configured to, after operating the roller shuttle (444; 444') to move the lower roller assembly (450; 450') and the upper assembly (460; 460') from the operating position to the receiving position, operate the lower roller assembly driver (452; 452') to rotate the first lower roller about the first lower roller axis through the first removal arc and to rotate the second lower roller about the second lower roller axis through the second removal arc.

6. The shrimp processing equipment according to claim 1, wherein, The first lower roller includes a first lower roller outer surface, the first lower roller outer surface including protrusions defining a first inner diameter and a first outer diameter, wherein the second lower roller includes a second lower roller outer surface, the second lower roller outer surface including protrusions defining a second inner diameter and a second outer diameter, wherein the first lower roller outer surface and the second lower roller outer surface overlap between the first lower roller and the second lower roller, such that the second outer diameter is located between the first inner diameter and the first outer diameter between the first lower roller and the second lower roller.

7. The shrimp processing equipment according to claim 1, wherein, The first lower roller includes a plurality of ribs (454) extending outward away from the axis of the first lower roller, wherein the plurality of ribs (454) extend along the length of the first lower roller.

8. The shrimp processing equipment according to claim 1, wherein, The second lower roller includes a plurality of second ribs (454) extending outward away from the axis of the second lower roller, wherein the plurality of second ribs (454) extend along the length of the second lower roller.

9. The shrimp processing equipment according to any one of claims 1-8, wherein, The roller shuttle (444; 444') includes a force limiting drive configured to stop the movement of the lower roller assembly (450; 450') and the upper roller assembly (460; 460') from the receiving position to the operating position when the upper assembly (460; 460') contacts the shrimp located between the upper roller assembly (460; 460') and the lower roller assembly (450; 450').

10. The shrimp processing equipment according to any one of claims 1-8, wherein, When the lower roller assembly (450; 450') and the upper assembly (460; 460') are moved from the receiving position to the operating position, the roller shuttle (444; 444') moves the upper assembly (460; 460').

11. The shrimp processing equipment according to any one of claims 1-8, wherein, The first lower roller and the second lower roller each extend along the first lower roller axis from the tail end (456; 456') to the head end (458; 458'), and the device includes working surfaces (414, 414') positioned adjacent to the tail ends (456; 456') of the first lower roller and the second lower roller, wherein the working surfaces (414, 414') adjacent to the tail ends (456; 456') of the first roller and the second lower roller extend from the first lower roller axis from the tail end (456; 456') of the first lower roller. The tail ends (456; 456') of the first and second lower rollers are offset such that, when measured in a direction transverse to the axis of the first lower roller, the tail end of the first lower roller is positioned closer to the upper assembly (460; 460') than the working surface (414, 414'), and wherein, when measured in a direction transverse to the axis of the second lower roller, the tail end of the second lower roller is positioned closer to the upper assembly (460; 460') than the working surface (414, 414').

12. The shrimp processing equipment according to any one of claims 1-8, wherein, The first lower roller and the second lower roller each extend from the tail end (456') to the head end (458') along the first lower roller axis and the second lower roller axis, and wherein the device further includes: a working surface (414') positioned adjacent to the tail end (456') of the first lower roller and the second lower roller; the working surface (414'); and a clamping arm (480') configured to move between a raised position and a clamping position, wherein the clamping arm includes a working end (482') which is positioned closer to the working surface when the clamping arm (480') is in the clamping position compared to when the clamping arm (480') is in the raised position.

13. The shrimp processing equipment according to claim 12, wherein, The clamping arm (480') is operatively connected to the roller shuttle (444') such that the clamping arm (480') is in a raised position when the lower roller assembly (450') and the upper assembly (460') are in the receiving position, and wherein the clamping arm (480') is in a clamping position when the lower roller assembly (450') and the upper assembly (460') are in the operating position.

14. A method for removing abdominal legs from shrimp, comprising: Multiple ventral legs (105) attached to the abdomen (104) of a shrimp (102; 402) are captured between the first and second lower rollers by causing each of the first and second lower rollers to rotate on the capture arc, wherein the first and second lower rollers rotate in opposite directions; After the first and second lower rollers are rotated on their respective capture arcs, the ventral shell segment of the shrimp (102; 402) is brought into contact with the upper assembly (460; 460'); and After the ventral shell segment of the shrimp (102; 402) comes into contact with the upper assembly (460; 460'), the first lower roller is rotated on the first removal arc and the second lower roller is rotated on the second removal arc, wherein the first lower roller and the second lower roller rotate in opposite directions on their respective removal arcs.

15. The method according to claim 14, wherein, The method includes moving the shrimp (102; 402) to a shelling position between the first and second lower rollers before each of the first and second lower rollers rotates on its respective capture arc.

16. The method of claim 14, wherein, The capture includes capturing most of the ventral foot (105) on the shrimp (102; 402), and wherein the first lower roller and the second lower roller rotate about their removal arc to remove most of the ventral foot from the shrimp.

17. The method according to claim 16, wherein, The method includes moving the shrimp (102; 402) to a shelling position between the first and second lower rollers before each of the first and second lower rollers rotates on its respective capture arc.

18. The method according to any one of claims 14 to 17, wherein, Before capturing the multiple gastropods (105), the method includes aligning the multiple gastropods (105) attached to the abdomen (104) of the shrimp (102; 402) such that the multiple gastropods (105) extend away from the tail (106) of the shrimp (102; 402).

19. The method according to claim 18, wherein, Aligning multiple ventral legs (105) includes sliding the shrimp (102; 402) over multiple bristles (470) before positioning the shrimp (102; 402) between the first lower roller and the second lower roller.

20. The method according to any one of claims 14 to 17, wherein, The method includes removing the foot (105) while leaving the abdominal shell segment on the dorsal side of the abdomen (104) of the shrimp (102; 402) intact.

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