Shrimp processing system, processing device and method

Abstract

A shrimp processing method and system, the system comprising: a plurality of grippers, where each gripper is configured to hold a shrimp near a tail of the shrimp; a plurality of processing stations including at least one data collection station capable of collecting data of the shrimps held in the clamps and at least one functional station capable of replacing the shrimps held in the clamps; a transport system connecting the plurality of processing stations, the transport system configured to move the plurality of grippers between the plurality of processing stations; and a controller operably connected to the transport system and the processing stations, the controller configured to operate the transport system and selectively activate each processing station.

Description

[0001] Divisional application

[0002] This application is a divisional application. The application number of the original application is 202180012965.0, the application date is February 5, 2021, and the name of the invention is "Shrimp processing system, processing equipment and method".

[0003] Related applications

[0004] This application claims the benefit under 35 U.S.C. §119 of U.S. Provisional Application Serial No. 62 / 971,653, filed on February 7, 2020, and entitled “SHRIMP PROCESSING SYSTEM, PROCESSING APARATUS AND METHODS,” which is incorporated herein by reference in its entirety. Technical Field

[0005] Shrimp processing systems, processing equipment used in the processing systems, and methods are described herein. The processing systems may include one or more of a restraining device, a measuring device, a de-heading device, a shelling device, and a shell segment separation device, and the methods may include one or more processes performed by different devices. Background Art

[0006] Processing of shrimp for human consumption may include measuring the shrimp so that they can be appropriately grouped by size (larger shrimp generally sell for more than smaller shrimp based on weight, such as pounds or kilograms). In some cases, this is the only processing performed, with the consumer selecting the whole shrimp and performing the selected further processing in preparing the shrimp for consumption.

[0007] Other shrimp processing may include removing the shrimp's head (e.g., cephalothorax), removing the shell segment covering the abdomen and associated limbs (e.g., gastropods), removing the shrimp's mud veins, etc.

[0008] In many cases, the above-described processing is done manually - even for commercial quantities of shrimp. Automated equipment designed to perform some shrimp processing often results in relatively high losses of edible shrimp meat, which in turn results in reduced revenue, since shrimp are typically sold by weight. For example, the process of shelling and deveining may involve cutting open the back or dorsal side of the shrimp's abdomen to remove the mud vein, and optionally removing the shell segments on the abdomen. Such processing often results in a loss of shrimp meat, and therefore a loss of revenue. Summary of the invention

[0009] In one or more embodiments, the shrimp processing systems and methods described herein provide for processing shrimp at one or more processing stations, wherein individual shrimp are transferred between stations using a conveyor 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 individual shrimp, cutting the mud veins of individual shrimp, decapping individual shrimp, deshelling individual shrimp; separating adjacent abdominal shell segments on individual shrimp, etc.

[0010] The shrimp processing systems and methods described herein can solve many problems associated with processing shrimp for human consumption. Although many problems associated with shrimp processing and solutions provided by the shrimp processing systems and methods described herein are further described below, those problems may include, for example, the inability to accurately determine the size and sorting of shrimp, contamination of shrimp meat by viscera located in the cephalothorax, loss of shrimp meat during processing, failure to remove mud veins, etc.

[0011] The shrimp processing stations in the shrimp processing systems as described herein may be described as data collection stations or functional stations. Data collection regarding the physical characteristics of the shrimp may be performed at a processing station characterized as a data collection station, while one or more physical characteristics of each shrimp may be changed 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 are measured / determined. Examples of functional stations may include, for example, a mud vein cutting station, a head removal station, a shelling station, a shell segment separation station, etc. The specific order of the processing stations may 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.

[0012] Although processing stations may be identified as "data collection stations" or "functional stations," a single processing station may be both a data collection station and a functional station. For example, shrimp mud veins may be measured and cut 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.

[0013] 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" refers to a conveyor system capable of transporting shrimp between processing stations without direct human intervention, i.e., the conveyor system does not require a person to carry or transport the shrimp between processing stations.

[0014] One or more embodiments of the shrimp processing systems described herein may include processing stations arranged in series so that each shrimp passes through each type of processing station in the system. In such a system, as each shrimp passes through a processing station, the processing station may or may not be activated, depending on whether the shrimp is to undergo the processing performed at that station.

[0015] In one or more embodiments of the shrimp processing systems and methods described herein, individual shrimp can be restrained in a fixture that is configured to capture each shrimp near its tail. Accurately fixing the position of each shrimp on the fixture improves the accuracy and efficiency of various treatments that can be performed on each shrimp. In particular, accurately fixing the position of each shrimp allows for accurate measurement of the shrimp and location of various anatomical features, which facilitates processing of the shrimp, including, for example, severing the mud vein at one or more selected locations, determining the size of the shrimp, removing the head of the shrimp (and any attached anatomical features), removing the shrimp shell, removing the ventral foot of each shrimp, separating adjacent shell segments of each shrimp, and the like.

[0016] In one or more embodiments of a clamp for restraining shrimp in a shrimp handling system and / or method as described herein, the clamp can be configured to force the shrimp's tail / caudal foot to fan out, wherein the fanned tail helps retain the shrimp by the clamp. In particular, the fanned tail may hinder removal of the shrimp from the clamp until such removal is desired.

[0017] In one or more embodiments of the shrimp processing systems and methods described herein, in which 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 the shrimp based on their size after processing. In other words, the shrimp processing systems and methods described herein may allow for selective processing (e.g., shelling, de-heading, etc.) of one or more sizes of shrimp while allowing one or more other shrimp of different sizes to pass through the processing system with intact shells and / or heads. In addition, in the case of selective processing, shrimp of different sizes may be automatically sorted based on the size of the shrimp, regardless of whether the shrimp have been shelled, de-headed, etc. In still other embodiments, even shrimp of the same size may be selectively processed (e.g., shelled, de-headed, etc.) to allow for sale in the shell or in the shell as desired.

[0018] One type of shrimp processing station described herein may be described as a cutting station, wherein the mud veins of individual shrimp are cut at selected locations along the abdomen of the shrimp. Cutting the mud veins may help remove the mud veins from each shrimp, for example, during the process of removing the head / cephalothorax from the abdomen of the shrimp, where the mud veins remain attached to the viscera in the cephalothorax (and its associated anatomical features) when the cephalothorax (and its associated anatomical features) is separated from the abdomen of the shrimp. In shrimp processing systems and methods where deheading is performed by a machine (e.g., a deheading station described herein), cutting the mud veins in each shrimp prior to deheading may help with automated processing of the shrimp by providing shrimp that are substantially free of mud veins. Even in cases where deheading is not performed by a machine but is performed manually, cutting the mud veins prior to removing the shrimp head may also help remove the mud veins with the cephalothorax (and its associated anatomical features) to provide shrimp that are substantially free of mud veins.

[0019] 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 their size. When used in conjunction with a processing station that cuts off the mud veins of individual shrimps, measuring each shrimp before cutting may help to accurately cut off the mud veins at one or more selected locations along the abdomen of the shrimp. Although the length of the shrimp can be used to determine the weight of the shrimp, the length of the shrimp can also provide the location between selected shell segments on the abdomen of the shrimp and / or the location of the junction between the cephalothorax and the abdomen. For example, the junction location between the fifth and sixth shell segments on the abdomen of the shrimp can generally be associated with the overall length of the shrimp. In one or more embodiments, the mud veins of the shrimp can be cut at or near the junction between the fifth and sixth shell segments (or for shrimps with more than six abdominal shell segments, between the rearmost shell segment and the adjacent shell segment closer to the cephalothorax of the shrimp). Although it is also possible to cut off the mud veins at other selected locations, the junction between the rearmost shell segment and the adjacent shell segment (e.g., the fifth and sixth shell segments) provides removal of substantially all mud veins when the cephalothorax is removed from the shrimp.

[0020] One or more embodiments of the shrimp processing system described herein may also include a processing station in the form of a de-heading station in which the cephalothorax and the viscera located therein are removed from the shrimp. Removal of the cephalothorax using the de-heading station and method described herein also removes anatomical features associated with the cephalothorax, such as short and long antennae, antennal scales, chelae, frontal swords, and many, if not all, of the ventral feet. In addition, the cephalothorax and the viscera located therein are mechanically removed (as opposed to the hydrodynamic removal used in some automated methods) to avoid contamination of the shrimp meat with the viscera during removal. In one or more embodiments of the de-heading station and method described herein, the de-heading station may be operated by determining the location of the junction between the cephalothorax and the abdomen of each shrimp so that no significant portion of the abdominal shrimp meat is removed with the cephalothorax.

[0021] In addition, one or more embodiments of the de-heading stations and methods described herein can result in additional shrimp meat (sometimes referred to as neck meat) being retained on the belly of the shrimp. The additional shrimp meat increases the weight of the shrimp and can therefore increase the revenue generated from the sale of shrimp processed using the shrimp processing systems and methods described herein.

[0022] One or more embodiments of the shrimp processing systems described herein may also include a processing station in the form of a shelling station, wherein the abdominal shell segments are removed from the dorsal side of the abdomen (abdominal segments) of the shrimp and the pleura (femoral limbs) and thoracic limbs (legs for walking) found on the ventral side of the abdomen of the shrimp are removed. In one or more alternative embodiments, the shelling station may remove only the pleura (femoral limbs) and thoracic limbs (legs for walking) found on the ventral side of the abdomen of the shrimp, leaving the shell segments on the dorsal side of the abdomen of the shrimp intact. Doing so may allow the shrimp to better retain flavor and / or firmness during storage, cooking, etc.

[0023] One potential advantage of the deshelling stations and methods described herein is that, in one or more embodiments, the deshelling process can be performed on raw shrimp that have been retained for a significantly reduced period of time after harvest (e.g., 2 hours or less, 1 hour or less, etc.), compared to many deshelling processes that must retain the raw shrimp for a relatively long period of time after harvest (e.g., 24 hours or more) to improve the deshelling process. In some cases, retaining the raw shrimp for a longer period of time after harvest to improve deshelling may result in a loss of marketable product due to spoilage, etc. In addition, retaining the raw shrimp for a longer period of time after harvest to improve deshelling may be detrimental to the firmness and flavor of the shrimp.

[0024] One or more embodiments of the shrimp processing systems described herein may include a processing station in the form of a shell segment separation station, wherein adjacent abdominal shell segments on the dorsal side of the abdomen of the shrimp are separated. Separating adjacent abdominal shell segments on the dorsal side of the abdomen of the shrimp may facilitate removal of the abdominal shell segments in, for example, a shelling station as described herein. Without separation of adjacent abdominal shell segments on the dorsal side of the abdomen of the shrimp, some shelling processes may result in tearing or incomplete removal of one or more shell segments that are desired to be removed from the abdomen of the shrimp. In particular, it may be advantageous to separate the rearmost abdominal shell segment (i.e., the shell segment closest to the tail of the shrimp) and the adjacent abdominal shell segment (i.e., the shell segment positioned closer to the cephalothorax of the shrimp) so that the adjacent abdominal shell segment and all shell segments positioned closer to the cephalothorax may be cleanly removed without tearing the rearmost abdominal shell segment or the adjacent abdominal shell segment.

[0025] Although the processing stations described herein are discussed in conjunction with a shrimp processing system that includes two or more processing stations described herein, it should be understood that each processing station can independently constitute one or more aspects of the present invention. In other words, the present invention can consist entirely of a measuring station in one aspect. In another aspect, the present invention can consist entirely of a mud vein severing station. In another aspect, the present invention can consist entirely of a decapping station. In yet another aspect, the present invention can consist entirely of a shelling station. In yet another aspect, the present invention can consist entirely of an adjacent abdominal shell separation station. In yet another aspect, the present invention can consist entirely of a fixture configured to hold shrimp. In still other aspects, the present invention can consist entirely of methods of performing one or more processing on shrimp, such as measuring shrimp, severing the mud vein of shrimp at a selected location, decapping shrimp, separating adjacent abdominal shell segments on shrimp, removing ventral and thoracic feet found on the ventral side of the abdomen of shrimp, shelling shrimp, sorting shrimp, and the like.

[0026] In a first aspect, one or more embodiments of a clamp configured to restrain 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, wherein the clamping axis extends 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 gap between the first jaw face and the second jaw face; wherein when moving away from the base between the first jaw face and the second jaw face along the clamping axis, the distance between the first jaw face and the second jaw face across the receiving gap 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 configured to resist movement of the first jaw away from the second jaw along the clamping axis, and the spring member configured to resist movement of the first jaw away from the base along a clamping direction aligned with the clamping axis, wherein a shrimp located between the pair of jaws is pressed against the base between the pair of jaws by the spring member and the first jaw.

[0027] In one or more embodiments of the clamp according to the first aspect, the clamp also includes a body attached to the base, and wherein the spring member includes an arm extending between the first jaw and the body, 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.

[0028] In one or more embodiments of the clamp according to the first aspect, the clamp further comprises a body attached to the base, and wherein the spring member comprises an arm extending between the first jaw and the body, 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 the clamping axis.

[0029] In one or more embodiments of the clamp according to the first aspect, the clamp also includes a body attached to the base, and wherein the spring member includes an arm extending between the first jaw and the body, 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, 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 the second jaw along the clamping axis.

[0030] In one or more embodiments of the clamp according to the first aspect, the first jaw is configured to rotate about a first rotation axis extending between the first jaw and the base when the shrimp is positioned between the first jaw face and the second jaw face, and wherein, optionally, the first rotation axis extends through an arm extending between the first jaw and the body. In one or more embodiments, the first jaw includes a first jaw support positioned proximate to the first jaw face, wherein the first jaw support is positioned between the first jaw face and an outer portion of the first jaw, wherein the outer portion of the first jaw is spaced apart from the base to provide clearance for the first jaw to rotate about the first rotation axis.

[0031] In one or more embodiments of the clamp according to the first aspect, the spring member operably attached to the first jaw includes a first spring member and the clamp includes a second spring member operably attached to the second jaw, the second spring member being configured to resist movement of the second jaw away from the first jaw along the clamping axis, and the second spring member being configured to resist movement of the second jaw away from the base in a clamping direction aligned with the clamping axis, wherein the shrimp tail located between the pair of jaws is pressed against the base between the pair of jaws by the first spring member, the first jaw, the second spring member and the second jaw. In one or more embodiments, the clamp further includes a body attached to the base, and wherein the second spring member includes an arm extending between the second first jaw and the body, 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. In one or more embodiments, the clamp further comprises a body attached to the base, and wherein the second spring member comprises an arm extending between the second jaw and the body, 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 the clamping axis. In one or more embodiments, the clamp further comprises a body attached to the base, and wherein the second spring member comprises an arm extending between the second jaw and the body, 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 the clamping axis.

[0032] In one or more embodiments of the clamp according to the first aspect, the second jaw is configured to rotate about a second rotation axis extending between the second jaw and the base when the shrimp is located between the first jaw face and the second jaw face, and wherein, optionally, the second rotation axis extends through an arm extending between the second jaw and the body. In one or more embodiments, the second jaw includes a second jaw support positioned proximate to the second jaw face, wherein the second jaw support is located between the second jaw face and an outer portion of the second jaw, wherein the outer portion of the second jaw is spaced apart from the base to provide clearance for the second jaw to rotate about the second rotation axis.

[0033] In one or more embodiments of the clamp according to the first aspect, the distance between the body and the receiving slot in a direction transverse to the clamping axis is selected to allow the tail of a shrimp captured in the clamp to be positioned between the receiving slot and the body.

[0034] In one or more embodiments of the clamp according to the first aspect, the distance between the body and the receiving slit in a direction transverse to the clamping axis 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 groove width measured at the midpoint between the base and the narrowest part of the receiving slit in the direction of the clamping axis, and optionally, the distance between the body and the receiving slit in a direction transverse to the clamping axis is 24 times or less, 22 times or less, 20 times or less, 18 times or less, or 16 times or less of the groove width measured at the midpoint between the base and the narrowest part of the receiving slit in the direction of the clamping axis.

[0035] In a second aspect, one or more embodiments of a method of restraining shrimp as described herein include: providing a clamp comprising a first jaw and a second jaw located on a base, wherein the first jaw faces the second jaw, and wherein the first jaw and the second jaw define a receiving gap between the first jaw and the second jaw; inserting the shrimp into the receiving gap between the first jaw and the second jaw so that the tail of the shrimp is located on the clamping side of the first jaw and the second jaw, and the cephalothorax of the shrimp is located on the handling side of the first jaw and the second jaw; after inserting the shrimp into the receiving gap between the first jaw and the second jaw, using the first jaw to press the tail of the shrimp toward the base.

[0036] In one or more embodiments of the method of restraining shrimp according to the second aspect, pressing the tail of the shrimp toward the base using the first jaw causes the tail to form an expanded tail fan on the gripping sides of the first and second jaws.

[0037] In one or more embodiments of the method of restraining shrimp according to the second aspect, pressing the tail of the shrimp toward the base using the first clamping jaw includes, after inserting the shrimp into the receiving slot, applying a continuous clamping force to the shrimp using the first clamping jaw in a clamping direction aligned with a clamping axis extending through the base and the receiving slot between the first clamping jaw and the second clamping jaw.

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

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

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

[0041] In one or more embodiments of the method of restraining a shrimp according to the second aspect, the method includes, after inserting the shrimp into the receiving slot, applying a continuous clamping force to the shrimp using the second jaw in a clamping direction aligned with a clamping axis extending through the first jaw and the second jaw.

[0042] In one or more embodiments of the method of restraining a shrimp according to the second aspect, the method includes, after inserting the shrimp into the receiving slot, applying a continuous clamping force to the shrimp using the first jaw and the second jaw in a clamping direction aligned with a clamping axis extending through the first jaw and the second jaw.

[0043] In one or more embodiments of the method of restraining shrimp according to the second aspect, the clamp includes a body, and wherein the first jaw is connected to the body by a first arm, and wherein when the shrimp is inserted into the receiving slot, the first jaw rotates about a first rotation axis extending between the first jaw and the body above the base. In one or more embodiments, the second jaw is connected to the body by a second arm and the second jaw is attached to the body by the second arm, and wherein when the shrimp is inserted into the receiving slot, the second jaw rotates about a second rotation axis extending between the second jaw and the body above the base.

[0044] In a third aspect, one or more embodiments of a mud vein cutting device as described herein include: a vein cutting module comprising a blade and a blade actuator, the blade comprising a sharp working edge, the blade actuator being configured to move the blade between a storage position and a cutting position; an optional measurement module configured to measure the length of a shrimp held in a clamp moving through the measurement module along a measuring direction; a controller operably connected to the blade actuator and the optional measurement module, wherein the controller is configured to: optionally receive a signal indicating the length of the shrimp from the measurement 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 substantially transverse to the measuring direction.

[0045] In a fourth aspect, one or more embodiments of a method of severing a mud vein of a shrimp as described herein include: positioning a 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 the cephalothorax to the tail of the shrimp, wherein the blade penetrates the shrimp shell at a selected depth proximate to a junction between a rearmost abdominal shell segment and an adjacent abdominal shell segment of the shrimp, wherein the rearmost abdominal shell segment is located between the adjacent abdominal shell segments and the tail of the shrimp.

[0046] In a fifth aspect, one or more embodiments of a shrimp deheading apparatus as described herein include: a head-removing restraint positioned relative to a work surface; a head-removing restraint actuator configured to move the head-removing restraint between a storage position and a restrained position relative to the work surface, wherein when the head-removing restraint is in the storage position, the head-removing restraint is spaced apart from the work surface to allow the shrimp to be positioned between the head-removing restraint and the work surface, and wherein the head-removing restraint is closer to the work surface when the head-removing restraint is in the restrained position than when the head-removing restraint is in the storage position, so that the head-removing restraint is configured to force the shrimp located between the head-removing restraint and the work surface against the work surface when the head-removing restraint is in the restrained position; a spoon; and a spoon actuator configured to move the spoon along a spoon path between a ready position and a final position relative to the head-removing restraint, wherein when the spoon is in the ready position, the spoon is moved relative to the work surface. When the spoon is in the ready position, the working portion of the spoon is close to the cephalothorax side of the head restraint device, and when the spoon is in the final position, the working portion of the spoon is spaced apart from the cephalothorax side of the head restraint device, so that when the spoon moves from the ready position to the final position, the working portion of the spoon is configured to separate the head of the shrimp on the working surface from the abdomen of the shrimp; and a controller, which is operably connected to the head restraint device actuator and the spoon actuator, the controller being configured to: operate the head restraint device actuator to move the head restraint device from the storage position to the restrained position, after operating the head restraint device actuator to move the head restraint device to the restrained position, operate the spoon actuator to move the spoon from the ready position to the final position along the spoon path, and after operating the spoon actuator to move the spoon to the final position, operate the head restraint device actuator to return the head restraint device to the storage position.

[0047] In a sixth aspect, one or more embodiments of a method for removing a shrimp head include: constraining the abdomen of the shrimp in a fixed position on a work surface; moving a spoon-shaped member through the shrimp near a cephalothorax junction of the shrimp, 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 constraining the abdomen of the shrimp in a fixed position on the work surface, wherein moving the spoon-shaped member away from the abdomen separates the cephalothorax of the shrimp from the abdomen of the shrimp.

[0048] In a seventh aspect, one or more embodiments of a shrimp peeling apparatus as described herein include: a lower roller assembly comprising a first lower roller, a second lower roller, and a lower roller assembly drive operably connected to the first lower roller and the second lower roller, wherein the lower roller assembly drive is configured to rotate the first lower roller about a first lower roller axis and 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 roller assembly comprising a first upper roller, a second upper roller, and an upper roller assembly drive operably connected to the first upper roller and the second upper roller, wherein the upper roller assembly drive is configured to rotate the first upper roller about the first upper roller axis and causing the second upper roller to rotate 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 along the first upper roller axis from the tail end to the head end, and further the second upper roller extends along the second upper roller axis from the tail end to the head end; 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, the lower roller assembly and the upper roller assembly are positioned farther apart from each other in a direction transverse to the first lower roller axis and the first upper roller axis than when the lower roller assembly and the upper roller assembly are in the operating position; and a controller operably connected To the lower roller assembly drive, the upper roller assembly drive and the roller shuttle, the controller is configured to: operate the roller shuttle to move one or both of the lower roller assembly and the upper roller assembly between the receiving position and the operating position; operate the lower roller assembly drive to rotate the first lower roller around the first lower roller axis on the first capturing arc, and to rotate the second lower roller around the second lower roller axis on the second capturing arc, wherein the first lower roller and the second lower roller rotate in opposite directions on their respective capturing arcs; after the first lower roller and the second lower roller rotate in opposite directions on their respective capturing 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 drive operating the lower roller assembly drive to rotate the first lower roller about the first lower roller axis on a first stripping arc and the second upper roller about the second lower roller axis on a second stripping arc, 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 stripping arcs; and operating the lower roller assembly drive to rotate the first lower roller about the first lower roller axis on a first removal arc and the second lower roller about the second lower roller axis on a second removal arc, 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;wherein the controller is configured to operate the upper roller assembly drive to rotate the first upper roller and the second upper roller in opposite directions on their respective stripping arcs, and simultaneously operate the lower roller assembly drive to rotate the first lower roller and the second lower roller in opposite directions on their respective removal arcs.;

[0049] In an eighth aspect, one or more embodiments of a shrimp processing apparatus configured as a deshelling apparatus for removing pleura and / or pleura from shrimp as described herein include: a lower roller assembly including a first lower roller, a second lower roller, and a lower roller assembly drive operably connected to the first lower roller and the second lower roller, wherein the lower roller assembly drive is configured to rotate the first lower roller about a first lower roller axis and 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 when the lower roller assembly and the upper assembly are in the receiving position, the lower roller assembly and the upper assembly are positioned farther apart from each other in a direction transverse to the first lower roller axis and the first upper roller axis than when the lower roller assembly and the upper assembly are in the operating position; an upper assembly operably connected to the lower roller assembly drive and A controller for a roller shuttle, the controller being configured to: operate 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; operate the lower roller assembly driver to rotate the first lower roller about the first lower roller axis on a first capturing arc and the second lower roller about the second lower roller axis on a second capturing arc, wherein the first lower roller and the second lower roller rotate in opposite directions on their respective capturing arcs; after rotating the first lower roller and the second lower roller in opposite directions on their respective capturing arcs, operate the roller shuttle to move the lower roller assembly and the upper assembly from the receiving position to the operating position; and operate the lower roller assembly driver to rotate the first lower roller about the first lower roller axis on a first removal arc and 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.

[0050] In a ninth aspect, one or more embodiments of a method of peeling shrimp as described herein may include: capturing at least one abdominal foot attached to the abdomen of a shrimp between a first lower roller and a 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 stripping arc and rotating the second upper roller on a second stripping arc, wherein the first upper roller and the second upper roller rotate in opposite directions on their respective stripping 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 stripping arcs while rotating the first lower roller and the second lower roller on their respective removal arcs.

[0051] In a tenth aspect, one or more embodiments of a method for peeling shrimp to remove only its ventral limbs and / or ventral limbs as described herein may include: capturing a plurality of ventral limbs attached to the abdomen of the shrimp between a first lower roller and a 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 an upper assembly after rotating the first lower roller and the second lower roller on their respective capture arcs; and rotating the first lower roller on a first removal arc and the second lower roller on a second removal arc after the abdominal shell segment of the shrimp contacts the upper assembly, wherein the first lower roller and the second lower roller rotate on their respective removal arcs in opposite directions.

[0052] In an eleventh aspect, one or more embodiments of a shell segment separator apparatus as described herein may include: a first shell segment holder positioned opposite a working surface; a second shell segment holder positioned opposite the working surface; a first holder actuator operably connected to the first shell segment holder and configured to move the first shell segment holder from a ready configuration to a holding configuration, wherein the first shell segment holder is configured to allow shrimp to be positioned between the first shell segment holder and the working surface when the first shell segment holder is in the ready configuration, and wherein the first shell segment holder is configured to position the shrimp between the first shell segment holder and the working surface when the first shell segment holder is in the holding configuration a first shell segment of the shrimp being held in a selected position on the working surface; a second holder actuator operably connected to the second shell segment holder and configured to move the second shell segment holder from a ready configuration to a holding configuration, wherein the second shell segment holder is configured to allow the shrimp to be positioned between the second shell segment holder and the working surface when the second shell segment holder is in the ready configuration, and the second shell segment holder is configured to hold a second shell segment of the shrimp located between the second shell segment holder and the working surface in a selected position relative to the second shell segment holder when the second shell segment holder is in the holding configuration; and a separation actuator operably connected to the second shell segment holder, the separation actuator The invention relates to a method of controlling a first segment retainer and a second segment retainer to a first segment retainer and a second segment retainer configured to move one or both of the first segment retainer and the second segment retainer relative to each other between an initial position and a separated position, wherein when the first segment retainer and the second segment retainer are in the separated position, the second segment retainer is positioned further away from the first segment retainer than when the first segment retainer and the second segment retainer are in the initial position, wherein when one or both of the first segment retainer and the second segment retainer are moved between the initial position and the separated position, one or both of the first segment retainer and the second segment retainer move along the processing axis; and a controller operably connected to the first retainer actuator, the second retainer actuator, and the second segment retainer. and a separation actuator, wherein the controller is configured to: operate the first retainer actuator to move the first shell segment retainer from the ready configuration to the holding configuration; operate the second retainer actuator to move the second shell segment retainer from the ready configuration to the holding configuration; after operating the first retainer actuator to move the first shell segment retainer from the ready configuration to the holding configuration and operating the second retainer actuator to move the second shell segment retainer from the ready configuration to the holding configuration, operate the separation actuator to move one or both of the first shell segment retainer and the second shell segment retainer so as to move the first shell segment retainer and the second shell segment retainer from the initial position to the separated position.

[0053] In a twelfth aspect, one or more embodiments of a method for separating adjacent shell segments on the abdomen of a shrimp as described herein may include: maintaining a first shell segment on the abdomen of the shrimp, wherein the first shell segment is optionally maintained 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 maintaining the first shell segment in a fixed position, wherein the second shell segment is adjacent to the first shell segment; wherein after moving the second shell segment away from the first shell segment, the first shell segment and the second shell segment remain attached to the abdomen of the shrimp.

[0054] In a thirteenth aspect, one or more embodiments of a shrimp processing system as described herein may include: a plurality of clamps, wherein each of the plurality of clamps is configured to hold a shrimp near the tail of the shrimp; a plurality of processing stations, comprising at least one data collection station and at least one functional station, wherein the data collection station is capable of collecting data about the shrimp held in each of the plurality of clamps, and the functional station is capable of replacing the shrimp held in each of the plurality of clamps; a conveyor system connecting the plurality of processing stations, wherein the conveyor system is configured to move the plurality of clamps between the plurality of processing stations; and a controller, which is operably connected to the conveyor system and the plurality of processing stations, the controller being configured to: operate the conveyor system so that the plurality of clamps move through the plurality of processing stations; and selectively activate each of the plurality of processing stations.

[0055] In one or more embodiments of the shrimp handling systems described herein, a plurality of clamps are magnetically attached to the conveyor system.

[0056] In one or more embodiments of the shrimp processing system described herein, the conveyor system includes a plurality of clamp mounts, wherein the plurality of clamps are attached to the conveyor system via the plurality of clamp mounts. In one or more embodiments, two or more clamps of the plurality of clamps are attached to each clamp mount of the plurality of clamp mounts.

[0057] In one or more embodiments of the shrimp handling systems described herein, the clamp mount is magnetically attached to the conveyor system.

[0058] In one or more embodiments of the shrimp handling system described herein, the conveyor system includes a plurality of mounting bosses, wherein each fixture mount includes one or more blocks, wherein each block is configured to be attached 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 permanent magnet pair, 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.

[0059] In one or more embodiments of the shrimp handling systems described herein, the conveyor system includes one or more belts extending between a plurality of handling stations, wherein the one or more belts move through the plurality of handling stations in a conveying direction, and wherein a plurality of mounting bosses are attached to the one or more belts, and further wherein the plurality of mounting bosses are cantilevered from the one or more belts to which the plurality of mounting bosses are attached. In one or more embodiments, the plurality of mounting bosses cantilevered from the one or more belts to which the plurality of mounting bosses are attached are cantilevered from the one or more belts along their leading edges defined by the conveying direction.

[0060] In one or more embodiments of the shrimp handling systems described herein, a plurality of mounting bosses cantilevered from the one or more belts to which they are attached are cantilevered from the one or more belts along their trailing edges defined by the conveying direction.

[0061] In one or more embodiments of the shrimp handling systems described herein, a conveyor system advances a plurality of grippers from a loading end to an ejection end, and wherein the conveyor system includes an ejection station at the ejection end configured to eject shrimp held in the plurality of grippers from the plurality of grippers.

[0062] In one or more embodiments of the shrimp handling systems described herein, the ejection station includes a plurality of plungers, wherein each plunger of the plurality of plungers includes a withdrawn position and an ejection position, and wherein in the presence of a shrimp held in a clamp at the ejection station, the plunger moves from the withdrawn position to the ejection position to force the shrimp out of the clamp. In one or more embodiments, the plunger is configured to act on an abdominal segment adjacent to the clamp.

[0063] In one or more embodiments of the shrimp handling system described herein, each of the plurality of clamps comprises: a pair of jaws positioned on a base, wherein the pair of jaws comprises a first jaw and a second jaw facing each other across a clamping axis, wherein the clamping axis extends between the first jaw and the second jaw; wherein the first jaw comprises a first jaw face and the second jaw comprises 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 the first jaw face and the second jaw face are disposed at a position away from the first jaw face and the second jaw face along the clamping axis. When the base between the pair of jaws moves, the distance between the first jaw face and the second jaw face across the receiving gap 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; 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 clamping direction aligned with the clamping axis, wherein the shrimp located between the pair of jaws is pressed against the base between the pair of jaws by the spring member and the first jaw.

[0064] In one or more embodiments of the shrimp processing systems described herein, a data collection station of the plurality of processing stations includes a measurement station configured to measure a length of a shrimp held in each of the plurality of grips.

[0065] In one or more embodiments of the shrimp processing systems described herein, a functional station of the plurality of processing stations includes a mud vein cutting device configured to cut mud veins of the shrimp.

[0066] In one or more embodiments of the shrimp processing systems described herein, a functional station of the plurality of processing stations includes a deheading device configured to remove shrimp heads.

[0067] In one or more embodiments of the shrimp processing systems described herein, a functional station in the plurality of processing stations includes a shelling device configured to remove shrimp shells.

[0068] In one or more embodiments of the shrimp processing systems described herein, a functional station of the plurality of processing stations includes a shell segment separator device configured to separate adjacent pairs of shell segments of the shrimp.

[0069] In one or more embodiments of the shrimp processing systems described herein, the plurality of processing stations includes two or more functional stations selected from: a mud vein severing device configured to sever the mud veins of the shrimp, a head removal device configured to remove the shrimp head, a shelling device configured to remove the shrimp shell, and a shell segment separator device for separating adjacent shell segment pairs of the shrimp.

[0070] 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 of a plurality of clamps moving through the measurement module in a measurement direction, the measurement module including a non-contact sensor configured to detect the clamp and the shrimp held in the clamp, the non-contact sensor operably connected to a controller to transmit a signal indicative of energy received by the non-contact sensor, wherein the controller is further configured to: identify a junction between the clamp and the shrimp held in the clamp based on the 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 between the clamp and the shrimp held in the clamp based at least in part 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 based at least in part 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 the signal received from the non-contact sensor reaches or drops below a selected clamp threshold.

[0071] In one or more embodiments of the shrimp processing systems described herein, the controller is configured to determine the length of the shrimp when the signal received from the non-contact sensor meets or exceeds a selected antenna threshold.

[0072] In one or more embodiments of the shrimp processing systems described herein, the non-contact sensor comprises an optical sensor or an ultrasonic sensor.

[0073] In one or more embodiments of the shrimp processing systems described herein, the controller is configured to operate the non-contact sensor to calibrate the non-contact sensor before each shrimp held in the fixture passes the non-contact sensor in a measuring direction.

[0074] In one or more embodiments of the shrimp processing systems described herein, the controller is configured to operate the non-contact sensor to calibrate the non-contact sensor after a selected number of shrimp held in the fixture pass through the non-contact sensor in a measuring direction.

[0075] In one or more embodiments of the shrimp processing systems described herein, the controller includes a central controller that controls the conveying system and the plurality of processing stations.

[0076] In a fourteenth aspect, one or more embodiments of a 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 conveyor system connecting the plurality of processing stations; collecting data about each shrimp in the plurality of loaded clamps in at least one of the plurality of processing stations; and performing one or more actions on each shrimp in the plurality of loaded clamps in at least one of the plurality of processing stations.

[0077] In one or more embodiments of a 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 conveyor system connecting the plurality of processing stations; collecting data about each shrimp in the plurality of loaded clamps in at least one of the plurality of processing stations; and performing one or more actions on each shrimp in the plurality of loaded clamps in at least one of the plurality of processing stations.

[0078] In one or more embodiments of the method of processing shrimp as described herein, a plurality of clamps are arranged in groups of two or more clamps on a conveyor system, wherein transporting each loaded clamp between a plurality of processing stations includes simultaneously transporting the groups of two or more clamps between the plurality of processing stations.

[0079] In one or more embodiments of the method for processing shrimp 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 the groups of two or more processing stations; collecting data of the shrimp in each group of two or more clamps at each group of 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 group of two or more clamps at each group of 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.

[0080] In one or more embodiments of the method of processing shrimp as described herein, collecting data includes measuring the length of each shrimp, and optionally, assigning a weight to each shrimp based at least in part on the length of each shrimp. 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.

[0081] In one or more embodiments of a method of processing shrimp as described herein, performing one or more actions on each shrimp includes severing a mud vein at a selected location of each shrimp, wherein the method includes identifying the selected location based at least in part on a length of each shrimp.

[0082] In one or more embodiments of the methods of processing shrimp as described herein, performing one or more actions on each shrimp includes severing a mud vein at a selected location on each shrimp.

[0083] In one or more embodiments of the methods of processing shrimp as described herein, performing one or more actions on each shrimp includes removing the head from each shrimp.

[0084] In one or more embodiments of the method of processing shrimp as described herein, performing one or more actions on each shrimp includes severing a mud vein on each shrimp near the tail of the shrimp prior to removing the head from each shrimp.

[0085] In one or more embodiments of the method of processing shrimp as described herein, performing one or more actions on each shrimp includes severing a mud vein on each shrimp near the tail of the shrimp and, optionally, removing a head from each shrimp after severing the mud vein.

[0086] In one or more embodiments of the method of processing shrimp as described herein, the method includes, prior to removing the head from each shrimp, identifying the cephalothorax junction between the cephalothorax and the abdomen of each shrimp. In one or more embodiments, identifying the cephalothorax junction and removing the shrimp's head are performed at a single processing station.

[0087] In one or more embodiments of the methods of processing shrimp as described herein, performing one or more actions on each shrimp includes removing the abdominal shell segment from each shrimp.

[0088] In one or more embodiments of the methods of processing shrimp as described herein, performing one or more actions on each shrimp includes removing one or more gastropods from each shrimp.

[0089] In one or more embodiments of the methods of processing shrimp as described herein, performing one or more actions on each shrimp includes simultaneously removing the abdominal shell segment and one or more gastropods from each shrimp.

[0090] 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 past a non-contact sensor along a measuring direction; identifying a junction 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 a length of the shrimp held in the clamp after identifying a junction between the clamp and the shrimp held in the clamp based at least in part on a signal received from the non-contact sensor as the shrimp passes through the non-contact sensor; and optionally, determining a weight of the shrimp held in the clamp after determining the length of the shrimp, the weight being based at least in part on the length of the shrimp.

[0091] In one or more embodiments of the method of measuring shrimp according to the fifteenth aspect, identifying the junction between the clamp and the shrimp includes determining when a signal received from the non-contact sensor reaches or falls below a selected clamp threshold.

[0092] In one or more embodiments of the method of measuring a shrimp according to the fifteenth aspect, determining the length of the shrimp includes determining when a signal received from the non-contact sensor reaches or exceeds a selected antennae threshold indicating that at least one antenna of the shrimp is passing the non-contact sensor.

[0093] In one or more embodiments of the method of measuring shrimp according to the fifteenth aspect, the non-contact sensor includes an optical sensor or an ultrasonic sensor.

[0094] In one or more embodiments of the method of measuring shrimp according to the fifteenth aspect, the method further comprises calibrating the non-contact sensor before each shrimp held in the fixture passes the non-contact sensor in the measuring direction.

[0095] In one or more embodiments of the method of measuring shrimp according to the fifteenth aspect, the method further comprises calibrating the non-contact sensor after a selected number of shrimp pass through the non-contact sensor in the measuring direction.

[0096] In a sixteenth aspect, one or more embodiments of a clamp 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 gap between the first jaw face and the second jaw face, wherein when moving away from the base between the first jaw face and the second jaw face in a clamping direction transverse to the clamping direction, the distance between the first jaw face and the second jaw face in the clamping direction narrows; a biasing device, which is operably 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 clamping direction, wherein the tail of the shrimp located between the pair of jaws is pressed against the base between the pair of jaws by the first jaw.

[0097] In a seventeenth aspect, one or more embodiments of a clamp 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 direction; wherein the first jaw and the second jaw define a receiving gap between the first jaw and the second jaw, wherein the width of the receiving gap in the clamping direction narrows when moving away from the base between the first jaw and the second jaw in a clamping direction transverse to the clamping direction; wherein the clamp is configured to apply a clamping force and a clamping force to a tail of the shrimp located between the pair of jaws, wherein the clamping force acts along the clamping direction and wherein the clamping force presses the tail toward the base.

[0098] As used herein, the term "shrimp" should be interpreted as referring to crustaceans harvested for human consumption, which are known as shrimp or prawns, for example, in the suborders Pieocyemata (Shrimp) and Dendrobranchiata (Prawns). In addition, because the physical characteristics of shrimp that can be processed using the shrimp processing systems and methods described herein may vary widely, any dimensions discussed herein are provided only as general guidance, and any such dimensions may need to be further refined based on, for example, the size, species, and / or general condition of the shrimp being processed to optimize the operation of the shrimp processing systems and methods described herein.

[0099] If used herein, relative terms such as above, below, top, bottom, etc. (unless otherwise indicated in the specification and / or claims) are intended merely to help describe the various features of the shrimp processing systems and methods described herein and should not be construed as requiring any specific orientation of the shrimp processing systems, shrimp processed by the systems, and / or methods described herein.

[0100] If used herein, the term "substantially" has the same meaning as "significantly" and can be understood to modify the latter 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 significantly" and can be understood to have the opposite meaning of "substantially", i.e., modifying the latter term by no more than 25%, no more than 10%, no more than 5%, or no more than 2%.

[0101] Numerical values ​​used herein include normal variations in measurements as would be expected by one skilled in the art and should be understood to have the same meaning as "about" and encompass a typical range of error, such as ±5% of the stated value.

[0102] Terms such as "a", "an" and "the" are not intended to refer to only a single entity, but include the general class that may be illustrated using a specific example.

[0103] The terms "a" and "an" and "the" are used interchangeably with the term "at least one." The phrases "at least one" and "including at least one" followed by a list of items refer to any one of the items in the list and any combination of two or more items in the list.

[0104] As used herein, the term "or" is generally used in its ordinary sense, including "and / or," unless the content clearly dictates otherwise. The term "and / or" refers to one or all of the listed elements or any combination of two or more of the listed elements.

[0105] Recitations of numerical ranges by endpoints include all numbers subsumed within that range (e.g., 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.) Where a range of values ​​is "up to" or "at least" a particular value, then that value is included in that range.

[0106] The words "preferred" and "preferably" refer to embodiments that may provide certain benefits under certain circumstances. However, other embodiments may also be preferred under the same or other circumstances. In addition, the recitation of one or more preferred embodiments does not mean that other embodiments are not useful and is not intended to exclude other embodiments from the scope of the present disclosure, including the claims.

[0107] The above summary of the invention is not intended to describe every embodiment or every implementation of the shrimp processing systems, processing stations and methods described herein. Instead, 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0108] Figure 1A is a block diagram of an illustrative embodiment of a shrimp processing system as described herein.

[0109] Figure 1B is a perspective view of an illustrative embodiment of an unloading station that may be used to unload or eject shrimp that have been processed in the shrimp processing systems described herein.

[0110] Figure 1C After the shrimp is ejected / unloaded from the jig as described in this article Figure 1B Side view of the unloading station shown in .

[0111] Figure 2 is a block diagram of a control system that may be implemented in one illustrative embodiment of a shrimp processing system as described herein.

[0112] Figure 3 One illustrative embodiment of shrimp that may be processed using one or more embodiments of the shrimp processing systems and methods described herein is depicted.

[0113] Figure 4 is a perspective view of an illustrative embodiment of a clamp that may be used to restrain shrimp as described herein.

[0114] Figure 5 yes Figure 4 An enlarged front view of the clamp in a direction transverse to both axes 121 and 123.

[0115] Figure 6 yes Figure 4 A top plan view of a jig holding a shrimp.

[0116] Figure 7 is a perspective view of a portion of a shrimp handling 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 conveyor element of a conveyor system to facilitate movement of shrimp through the handling system according to the methods described herein.

[0117] Figure 8 is an exploded view depicting one illustrative embodiment of structure for attaching a clamp mount to a conveying element in one or more embodiments of the shrimp handling systems described herein.

[0118] Fig. 9 yes Figure 8 An enlarged view of a structure after assembly, in which a portion of the structure is depicted as transparent to make components located therein visible.

[0119] Fig.10 is along Fig. 9 The line 10-10 in Fig. 9 Magnified cross-sectional view of .

[0120] Fig.11 Describe the maintenance Figure 7-10 Shrimp in a jig on a jig mount as shown in .

[0121] Figure 12-13 An alternative embodiment of a fixture and fixture mounting system that may be used in conjunction with the processing systems and methods described herein is depicted.

[0122] Fig.14 Another alternative embodiment of a fixture and fixture mounting system that may be used in conjunction with the processing systems and methods described herein is depicted.

[0123] Fig.15 is a block diagram of a control system that may be implemented in one illustrative embodiment of an integrated measurement and mud vein cutting device that may be used in one or more shrimp processing systems as described herein.

[0124] Figure 16-Figure 21 Various views are depicted of one illustrative embodiment of a mud vein cutting device apparatus as described herein.

[0125] Fig. 22 One illustrative embodiment of a blade that may be used in one or more embodiments of a mud vein severing device as described herein is depicted.

[0126] Fig.23 describe Figure 16-Figure 21 The severing restraint device of the mud vein severing apparatus shown in FIG. 1 is in position on a larger shrimp (where the shrimp is depicted in a cross-sectional view).

[0127] Fig.24 Depiction Fig.23 The cutting restraint device of the mud vein cutting device shown in FIG. 1 is in position on a smaller shrimp (where the shrimp is also depicted in a cross-sectional view).

[0128] Fig.25A One illustrative embodiment of a severance-restricting device that may be used in one or more embodiments of a mud vein severing apparatus as described herein is depicted.

[0129] Fig.25B is along Fig.25A The line 25B-25B in Fig.25A Cross-sectional view of the shear restraint in FIG.

[0130] Fig.25C It was taken along line 25C-25C Fig.25A An enlarged cross-sectional view of the cut-off restraint device, the line 25C-25C and Fig.25A The axis 253 in the middle extends together.

[0131] Fig.25D It is a depiction Fig.25A Side view of a shear restraint in position on a larger shrimp.

[0132] Fig.25E It is a depiction Fig.25A A side view of a cut-off restraint device in position on a smaller shrimp to illustrate the effect of the beveled surface of the notch on larger and smaller shrimp, as discussed herein.

[0133] Fig.26 is a perspective view of an illustrative embodiment of a measurement module that may be used in one or more embodiments of the shrimp processing systems described herein.

[0134] Fig. 27 yes Fig.26 An enlarged view of a portion of the measurement module depicted in FIG.

[0135] Fig.28 is a perspective view of an illustrative embodiment of a measurement module that may be used in one or more embodiments of the shrimp processing systems described herein.

[0136] Fig.29 yes Fig.28 An enlarged view of a portion of the measurement module depicted in FIG.

[0137] Fig.30 Depicted Figure 26-Figure 29 , showing energy distribution between a transmitter and a receiver in a depicted illustrative embodiment of a measurement module for use in a shrimp processing system as described herein.

[0138] Figure 31-Figure 33 Depicted are stages in one illustrative embodiment of shrimp deheading as described herein.

[0139] Fig.34 is a schematic block diagram of components in one illustrative embodiment of a shrimp deheading apparatus as described herein.

[0140] Fig.35 is a perspective view of an illustrative embodiment of a shrimp deheading apparatus as described herein.

[0141] Figure 36-Figure 37 yes Fig.35 A partial enlarged view of the shrimp deheading equipment depicted in FIG.

[0142] Fig.38 yes Fig.35 2. An opposite side perspective view of a shrimp deheading device with a portion of the shuttle removed to expose components within the shuttle of the shrimp deheading device.

[0143] Figure 39-Figure 41One illustrative embodiment of a deheading restraint device that may be used in one or more embodiments of the shrimp deheading apparatus as described herein is depicted.

[0144] Fig.42 is an enlarged view of one illustrative embodiment of a spoon used in one or more embodiments of a deheading apparatus as described herein.

[0145] Fig.43 yes Fig.42 An enlarged view of a portion of the spoon depicted in FIG. 1 is positioned within a guide on a deheading restraint used in one or more embodiments of the deheading apparatus described herein.

[0146] Figure 44-Figure 45 An illustrative embodiment of a deheading apparatus is depicted for use in identifying the location of a cephalothorax junction on a shrimp as part of the deheading process described herein.

[0147] Figure 46-Figure 47 An illustrative embodiment of a deheading apparatus is depicted for removing the cephalothorax from shrimp as part of the deheading process described herein.

[0148] Figure 48-Figure 49 One illustrative embodiment of a damping actuator is depicted that may be used to move one or more embodiments of a spoon in one or more embodiments of a deheading apparatus described herein.

[0149] Fig.49A yes Figure 48-Figure 49 A perspective view of a portion of the damping actuator of an actuator.

[0150] Fig.50 Depicts various shrimps after the de-heading process.

[0151] Figure 51-Figure 52 is a schematic diagram of an illustrative embodiment of a deshelling apparatus that may be used in one or more embodiments of the shrimp processing systems described herein.

[0152] Fig.53 is a schematic block diagram of a control system that may be used in one illustrative embodiment of a shelling apparatus that may be used in one or more embodiments of a shrimp processing system as described herein.

[0153] Fig.54A is a perspective view of an illustrative embodiment of a shelling apparatus as described herein.

[0154] Fig.54B yes Fig.54A A side view of an illustrative embodiment of a shelling apparatus with an upper roller assembly and a lower roller assembly in an operating position as described herein.

[0155] Fig.54C yes Fig.54A A side view of an illustrative embodiment of a shelling apparatus with an upper roller assembly and a lower roller assembly in a receiving position as described herein.

[0156] Fig.54D It is an enlarged perspective view of a portion of the shelling equipment depicted in Figure 54.

[0157] Fig.55A is a perspective view of another illustrative embodiment of a shelling apparatus as described herein with an upper roller assembly and a lower roller assembly in a receiving position as described herein.

[0158] Fig.55B yes Fig.55A A perspective view of a shelling apparatus with an upper roller assembly and a lower roller assembly in an operating position as described herein.

[0159] Fig.55C yes Fig.55B An enlarged side view of a shelling apparatus depicting the relationship between the clamp, work surface and lower roller of this illustrative embodiment.

[0160] Fig.55D yes Fig.55C A further enlarged view of a portion of the shelling equipment depicted in FIG.

[0161] Fig.56 is a schematic diagram illustrating one illustrative embodiment of a lower roller assembly and the relationship between the rotation of rollers in the lower roller assembly in one or more embodiments of a shelling apparatus as described herein.

[0162] Fig.57 is a schematic diagram illustrating one illustrative embodiment of an upper roller pair that may be used in one or more embodiments of the shelling apparatus described herein.

[0163] Fig.58 are taken along their respective axes Fig.57 Schematic diagram of the upper roller.

[0164] Fig.59 is a schematic diagram depicting an illustrative embodiment of an alternative shelling device configured to remove the ventral and thoracic legs from the ventral side of the abdomen of a shrimp while leaving the shell segment on the dorsal side intact.

[0165] Fig.60 is a perspective view of an illustrative embodiment of a shell segment separator apparatus that may be used in one or more embodiments of the shrimp processing systems described herein.

[0166] Fig.61is a schematic block diagram of a control system that may be used in one illustrative embodiment of a shell section separator apparatus that may be used in one or more embodiments of a shrimp processing system as described herein.

[0167] Fig.62 and Fig.63 yes Fig.60 An enlarged perspective view of a shell segment separator apparatus of FIG. 1 , wherein a first shell segment holder and a second shell segment holder are in a ready configuration.

[0168] Fig.64 yes Fig.63 An enlarged perspective view of a shell segment separator apparatus of FIG. 1 , wherein a first shell segment retainer and a second shell segment retainer are in a retaining configuration.

[0169] Fig.65 yes Fig.64 Side view of a shell segment separator device with the second shell segment holder in an initial position.

[0170] Fig.66 After the second segment retainer has moved from the initial position to the separated position Fig.64 Side view of a shell section separator device.

[0171] Fig.67 Another illustrative embodiment of a shell segment separator apparatus that may be used in one or more embodiments of a shrimp processing system as described herein is depicted, wherein the depicted shell segment holder is in a ready configuration, the view being taken along a processing axis through the shell segment separator apparatus.

[0172] Fig.68 Depicted Fig.67 A shell segment separator apparatus is shown in which the shell segment retainer is depicted in a retaining configuration.

[0173] Fig.69 It is along Fig.68 The line 69-69 in Fig.68 A cross-sectional view of a shell segment separator device with a first shell segment holder and a second shell segment holder in an initial position.

[0174] Fig.70 yes Fig.69 View of a shell segment separator device, wherein a first shell segment holder and a second shell segment holder are moved into a separated position.

[0175] Although the above-mentioned drawings (which may be drawn to scale or not) illustrate embodiments of the present invention, other embodiments are also conceivable as noted in the discussion. In all cases, this disclosure presents the present invention by way of representation and not limitation. It should be appreciated that numerous other modifications and embodiments can be devised by those skilled in the art, which fall within the scope of the present invention. DETAILED DESCRIPTION

[0176] In the following description, reference is made to the accompanying drawings which form a part of this specification and in which are shown by way of illustration specific embodiments. It should be understood that other embodiments may be utilized and changes may be made without departing from the scope of the present invention.

[0177] Figure 1A 1 is a block diagram of an illustrative embodiment of a modular shrimp processing system as described herein. The shrimp processing system includes a series of stations that can perform one or more functions. In the illustrative embodiment depicted, the leftmost station L can be described as a loading station in which shrimp 2 are loaded onto a clamp 12 so that each shrimp 2 can be held and processed by the depicted shrimp processing system.

[0178] In the depicted embodiment, a plurality of grippers 12 are disposed on gripper mount 10. However, in one or more alternative embodiments, each gripper 12 may be individually movable through a shrimp handling system as described herein, i.e., gripper mount 10 carrying a plurality of grippers 12 is optional.

[0179] Figure 1A Also depicted is a conveyor system 15 for moving the clamp mount 10 through the shrimp processing system. In the illustrated embodiment, the conveyor system 15 uses a pair of conveyor elements 17 to which the clamp mount 10 is attached, which can be used to move the clamp mount 10 through the processing station group to process the shrimp loaded on the clamp. The conveyor element 17 can be in the form of a belt, chain, etc., such as used in any suitable conventional conveying device. Although the depicted embodiment of the conveyor system 15 includes the conveyor element 17, other embodiments of the conveyor system used in the shrimp processing system described herein can include only one conveyor element or three conveyor elements or more conveyor elements as needed to move the clamp 12 through the shrimp processing system.

[0180] The shrimp processing system also includes a series of groups P1, P2, P3 of processing stations 16 at which one or more processes may be performed on each shrimp 2 loaded onto the grippers 12 as the shrimp pass through the processing system. It may be preferred that the number of processing stations 16 in each group P1, P2, P3 matches the number of grippers 12 disposed on each gripper mount 10 (in the depicted embodiment, which includes four grippers 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.

[0181] In one or more embodiments, the conveyor system 15 can convey or move the grippers 12 into selected locations in each processing station 16 so that the equipment at each processing station 16 can operate based on having the grippers 12 carrying the shrimp 2 at the selected locations. Each successive gripper 12 is moved into each selected location in the processing station 16 to help the processing station accurately process the shrimp held in the grippers 12. Moving the grippers 12 carrying the shrimp 2 into selected locations in the processing station 16 can be distinguished from shrimp processing systems and methods that move shrimp through shrimp processing systems (e.g., systems that entrain the shrimp in water, etc.) without controlling the position of the shrimp. As discussed herein, for example, many of the processing stations 16 are designed to act on specific features found in the shrimp in the grippers 12, and accurately locating these features as successive shrimp are moved into each selected location facilitates effective and efficient processing of the shrimp using the shrimp processing systems described herein.

[0182] The unloading station U is located after the processing station groups P1 , P2 , P3 , where the shrimps 2 can be unloaded / released from the clamps 12 on each clamp mount 10 after passing through the processing station groups P1 , P2 , P3 .

[0183] Figure 1A The illustrative embodiment of the shrimp processing system depicted in also includes an optional sorting station S at which the shrimp 2 can be separated into bins or other containers 18 based on one or more characteristics (such as, for example, weight, length, shelled, deshelled, etc.).

[0184] In the depicted embodiment, the conveyor system 15 advances the gripper 12 from the loading end L to the unloading station U. In one or more embodiments, the conveyor system can include an ejection station at the unloading station U configured to eject the shrimp from the gripper 12. In one or more embodiments, the ejection station can be a set of plungers that act on the shrimp 2 located in the gripper 12.

[0185] Figure 1B and Figure 1COne illustrative embodiment of a set of plungers in one illustrative embodiment of an unloading station U is depicted, which can be used to eject or remove shrimp 2 from a gripper 12, which can be carried on a gripper mount 10 using a conveying element 17, as discussed herein. The plungers 13 are mounted to press shrimp 2 out of the gripper 12 using an actuator 19 (e.g., a solenoid-operated, hydraulically-operated, pneumatically-operated piston). When the shrimp 2 carried in the gripper 12 is moved into position, the actuator 19 is moved in a Figure 1B When the shrimp 2 is in position on the plunger 13, the actuator 19 can be actuated to press the shrimp 2 out of the clamp 12, such as Figure 1C In the illustrative embodiment depicted, plunger 13 may be described as having an arcuate surface that acts on the ventral side of shrimp 2 to preferably reduce or eliminate damage to shrimp 2 during the unloading / ejecting process. In one or more embodiments, actuator 19 may be operably connected to a control system for operating conveyor system 15 and / or any other equipment used in the shrimp processing system described herein.

[0186] refer to Figure 2 , depicts 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 operably connected to the processing stations of the shrimp processing system. The illustrative shrimp processing system depicted includes a processing station 93 for measuring, a processing station 94 for cutting mud veins, a processing station 95 for decapping shrimp, a processing station 96 for shelling shrimp (where shelling may include removing the abdominal shell segment on the dorsal surface together with removing the abdominal and thoracic legs from the ventral surface, or removing the abdominal and thoracic legs from the ventral surface while leaving the shell segment on the dorsal surface intact), a processing station 97 for separating adjacent abdominal shell segments on shrimp, and an ejection / sorting station 98. The shrimp processing system also includes a conveyor system 92 operably connected to the controller and operably connected to each processing station to enable the gripper carrying the shrimp to move through the various processing stations as described herein.

[0187] Despite the combination Figure 2 While the illustrative embodiment of the shrimp processing system depicts controller 90 as being in the form of a single controller in which all control functions may be performed by the single controller (although backup and / or redundant controllers may be provided to assist in the event of a failure of the primary controller), one or more alternative embodiments of the shrimp processing system may include a distributed set of controllers in which each processing station requires a dedicated controller and a network may be used to interconnect the various controllers to facilitate processing of the shrimp by the shrimp processing system.

[0188] The controller used in one or more embodiments of the shrimp processing system as described herein may be provided in any suitable form and may include, for example, a 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 any suitable input devices (e.g., keyboards, touch screens, mice, trackballs, etc.) and display devices (e.g., monitors (which may or may not be touch screens), indicator lights, etc.), wherein the input devices are configured to allow a user to operate the device and the display devices are configured to convey information to the user.

[0189] Despite Figure 2 Although depicted as separate, it should be understood that one or more processing stations may be combined in one or more embodiments of the shrimp processing system described herein. For example, Figure 1A The processing station group P1 in the shrimp processing system depicted in FIG. 1 can be configured so that in each processing station 16 in the group, both the shrimp 2 is measured and the mud vein of the shrimp 2 on the restrained clamp 12 is cut (thus in Figure 2 93 and 94 perform both functions described for processing stations 93 and 94 in the system depicted in FIG. 1 ). Other combinations of processing steps may also be incorporated into a single processing station.

[0190] Additionally, some processes (such as measurements) may be performed more than once per shrimp. For example, in one or more embodiments, shrimp may be measured as part of a process for cutting mud veins in shrimp passing through a shrimp processing system, and may be measured again to assist in other processing (such as de-heading, sorting, shell segment separation, etc.).

[0191] Although all of the various shrimp processing devices described herein may preferably be incorporated into a single shrimp processing system or method, it should be understood that any of the individual devices described herein may be used in a stand-alone configuration, wherein only the functions performed by the particular device are performed for each shrimp passing through the device or method. For example, a single station may be provided for de-heading shrimp that is not preceded by a mud vein cutting device or a measuring device or method. Similarly, a single station may be provided for shelling shrimp that have not been processed by a de-heading device or that have had their heads removed by another process or device prior to being conveyed to a shelling device as described herein.

[0192] Furthermore, any two or more of the different shrimp processing devices described herein may be incorporated into the shrimp processing systems and methods as described herein. For example, the shrimp processing systems or methods described herein may include a measuring device and a mud vein cutting device, wherein the measuring device and the mud vein cutting device are provided as separate processing stations in the shrimp processing system or combined in an integrated processing station of the shrimp processing system.

[0193] In another variation, a shrimp processing system or method as described herein may include a measuring device and a shell segment separator device as described herein, wherein the measuring device and the shell segment separator device are provided as separate processing stations in the shrimp processing system or combined in an integrated processing station in the shrimp processing system.

[0194] In another variation, a shrimp processing system or method as described herein may include a measuring device and a deheading device as described herein, wherein the measuring device and the deheading 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] A method of processing shrimp as described herein, whether or not used with a processing system as described herein, may include loading a single shrimp into each of a plurality of fixtures, thereby providing a plurality of loaded fixtures, wherein each loaded fixture restrains only one shrimp at a time. The method may also include transporting each loaded fixture carrying shrimp between the 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 the loaded fixture in 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 the plurality of loaded fixtures in at least one of the plurality of processing stations.

[0196] In one or more embodiments of the methods described herein, the fixtures can be arranged on a conveying system in the form of groups consisting of two or more fixtures, wherein transporting each loaded fixture between multiple processing stations includes simultaneously transporting the groups consisting of two or more fixtures between multiple processing stations.

[0197] In methods where processing stations are arranged in groups of two or more processing stations, the methods described herein may include transporting groups of two or more loaded clamps between the groups of two or more processing stations, and collecting data about the shrimp in each group of two or more clamps at each group of two or more processing stations, the processor being configured to collect the data before transporting each group of two or more clamps from the group of two or more processing stations. In addition, the method may include performing one or more actions on the shrimp in each group of two or more clamps at each group of two or more processing stations, the processing stations being configured to perform one or more actions before transporting each group of two or more clamps from the group of two or more processing stations configured to perform the one or more actions.

[0198] In one or more methods of processing shrimp as described herein, collecting data can include measuring the length of each shrimp while, for example, each shrimp is in a clamp as described herein. In one or more embodiments of the methods described herein, a weight can be assigned to each shrimp based at least in part on the length of each shrimp measured in one or more methods described herein.

[0199] One or more methods of processing shrimp as described herein may include performing an action such as severing a mud vein in each shrimp at a selected location of the shrimp. In one or more embodiments, the method may include identifying a selected location where the mud vein is to be severed based at least in part on a length of each shrimp measured during one or more methods of processing shrimp as described herein.

[0200] One or more methods of processing shrimp as described herein may include removing a head from each shrimp, wherein the head is optionally removed after severing a mud vein on each shrimp near the tail of the shrimp. Removing the head according to one or more methods of processing shrimp as described herein may include identifying a cephalothorax junction between the cephalothorax and the abdomen of each shrimp prior to removing the head from each shrimp.

[0201] One or more methods of processing shrimp as described herein may include separating adjacent abdominal shell segments on a dorsal surface of the abdomen of the shrimp prior to removing the abdominal shell segments from the shrimp.

[0202] One or more methods of processing shrimp as described herein may include simultaneously removing the abdominal shell segment and one or more gastropods from each shrimp. One or more methods of processing shrimp as described herein may include simultaneously removing the one or more gastropods from each shrimp while leaving the abdominal shell segment intact.

[0203] Illustrative examples of shrimp processing systems and shrimp processing methods are given below in conjunction with various illustrative examples of shrimp processing stations and methods performed at these processing stations. It should be understood that the processing stations and methods performed at the stations are only examples of the processing stations that can be used herein in conjunction with FIG. Figure 2 The processing stations and methods described are illustrative examples of processing stations and methods in the processing systems, and other alternative processing stations and methods may be used in the shrimp processing systems as described herein.

[0204] To aid in the discussion of shrimp handling stations and the methods performed at them, together with a description of the various anatomical features of shrimp, Figure 3102 is depicted in one example of a shrimp that may be processed using the shrimp processing systems and methods described herein. The depicted shrimp 102 includes an abdomen 104 that terminates in a tail / caudal peduncle 106 (although the proper name for this anatomical feature is the caudal peduncle, for simplicity it will be referred to herein simply as the "tail"). An appendage called a telson 107 is located above the dorsal surface of the tail 106. While the depicted shrimp 102 includes an abdomen 104 having six segments, other shrimp that may be processed using the shrimp processing systems described herein may have more or fewer segments forming the shrimp abdomen.

[0205] The head or cephalothorax 108 of the shrimp 102 is attached to the abdomen 104 at an end opposite the tail 106. The cephalothorax 108 contains the internal organs of the shrimp 102, and also carries various features, such as antennae, xiphoid, etc. Removal of the head or cephalothorax 108 using the processing systems and methods described herein results in the removal of features directly attached to the cephalothorax 108.

[0206] The shrimp 102 also includes appendages in the form of pleura 105 (sometimes referred to as pleurae) attached to the ventral side of the abdomen 104. Additional appendages 109 are also attached to the ventral side of the shrimp 102 in front of the abdomen 104, i.e., the ventral side of the cephalothorax 108. These appendages 109 may include, for example, pleurae (sometimes referred to as "walking legs") and chelae. 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.

[0207] The abdomen 104 includes six segments located between the cephalothorax 108 and the tail / caudal peduncle 106 and telson 107. The segments are numbered starting at the cephalothorax 108 and continuing toward the tail 106, with the abdominal segment closest to the cephalothorax 108 being referred to as the first segment and the abdominal segment closest to the telson 106 / telson 107 being referred to as the sixth segment. Each abdominal segment includes a shell segment located on the dorsal side of the abdomen.

[0208] The shrimp processing systems and methods described herein rely on the handling of individual shrimp that are held and moved through the system for individual handling. In one or more embodiments, each shrimp may be held near its tail / caudal foot using a clamp, but other locations for restraining shrimp for handling in the shrimp processing systems and methods described herein are also contemplated.

[0209] Shrimp handling system fixture and method

[0210] Figure 4-6An exemplary embodiment of a clamp is depicted that may be used in one or more exemplary embodiments of the shrimp processing systems and methods described herein. The clamp 112 is configured to capture and hold shrimp near the tail. The illustrated embodiment of the clamp 112 is only one example of a clamp that may be used to capture and hold shrimp processed in the shrimp processing systems and methods described herein.

[0211] An exemplary embodiment of the clamp 112 is located on the base 110 (see, for example, Figure 5 Although the base 110 is shown as being separate and distinct from the clamp 112 , in one or more embodiments, the base 110 may form an integral part of the clamp 112 .

[0212] The clamp 112 includes a body 120 attached to the 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 via the arms 122. Each jaw 124 includes a jaw face 125, wherein the jaw faces 125 on opposing jaws 124 face each other along a clamping axis 121 extending between the jaws 124.

[0213] The jaw faces 125 on each jaw 124 define a receiving gap between the jaw faces 125. In one or more embodiments, the distance between the jaw faces 125 across the receiving gap narrows in a direction aligned with the clamping axis 121 when moving away from the base 110 between the jaw faces 125 along the clamping axis 123, wherein the clamping axis 123 extends through the base 110 between the jaw faces 125 (in other words, through the receiving gap between the jaw faces 125).

[0214] In the illustrative embodiment of the clamp 112 depicted, one or both of the arms 122 connecting each jaw 124 to the body 120 serve as spring members to operably attach 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, a shrimp positioned in a 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.

[0215] refer to Figure 6, in a direction transverse to the clamping axis 121 and the compression axis 123, the distance between the body 120 and the receiving slot defined between the faces 125 of the jaws 124 can be selected to allow the tail 106 of a shrimp captured in the clamp 112 to be positioned between the receiving slot of the clamp 112 and the body 120. In one or more embodiments, the distance between the body 120 and the receiving slot is 4 or more times, 6 or more times, 8 or more times, 10 or more times, 14 or more times, 16 or more times, 18 or more times, or 20 or more times the width of the receiving slot measured at the midpoint between the narrowest portion of the receiving slot and the base 110 measured in a direction aligned with the clamping axis 123. In one or more embodiments, the distance between the body 120 and the receiving gap can be 24 times or less, 22 times or less, 20 times or less, 18 times or less, or 16 times or less of the receiving gap width, wherein the receiving gap width is measured at the midpoint between the narrowest portion of the receiving gap measured in a direction aligned with the clamping axis 123 and the base 110.

[0216] Likewise, reference Figure 6 In addition to helping and holding the shrimp in place within the clamp 112, the compressive force along the compressive axis 123 can also compress the base of the shrimp's tail 106 against the base 110 where the clamp 112 is positioned. In one or more embodiments, this action can force the shrimp's tail 106 to fan out or spread out, such as Figure 6 Thus, when tail 106 is expanded, the leading edge of tail 106 can act on jaws 124 of clamp 112 to further help block the shrimp from being removed from clamp 112 in a direction transverse to both clamping axis 121 and compression axis 123.

[0217] Another optional feature depicted in conjunction with the clamp 112 is located in a bracket 126 on each jaw 124. In one or more embodiments, raising the jaws 124 off the base 110 can provide clearance between the arm 122 and the base 110 so that the jaws 124 can rotate about a rotation axis 127 extending through the arm 122 (see, for example, FIG. Figure 4 127 ), the arms 122 extend from the jaws 124 to the body 120. In one or more embodiments, rotation of the jaws 124 about the rotation axis 127 can maintain the center of pressure applied by the jaws 124 on shrimp of different sizes above the centerline where the jaws 124 of the clamp 112 contact the shrimp of different sizes.

[0218] It should be understood that rotation of the jaws 124 may occur even without the bracket 126. Furthermore, it should be understood that while in the depicted embodiment of the clamp 112, the jaws 124 are both rotatable about their respective axes of rotation 127, in one or more embodiments, only one jaw 124 may be configured to rotate about the axis of rotation 127.

[0219] In one or more embodiments of a clamp for restraining shrimp as described herein, the clamp 112 may be constructed of a polymeric material that provides sufficient strength and resilience to form the arms 122 and jaws 124 to provide the functionality of the clamp 112 as described herein. Alternatively, the clamp 112 may be constructed of various components assembled together to provide the various features of a clamp capable of restraining shrimp as described herein and their functionality. For example, the arms 124 may be formed of spring steel or some other resilient material that is different from the material used for the body 120 and / or the jaws 124 of the clamp 112. Other variations, such as overmolded spring steel mechanisms, are also known to those skilled in the art.

[0220] In one or more embodiments of a method of restraining shrimp as described herein, the method may include providing a clamp having a first jaw and a second jaw positioned on a base, wherein the jaws define a receiving slot therebetween, inserting the shrimp into the receiving slot such that the tail of the shrimp is located on a gripping side of the jaws and the cephalothorax of the shrimp is located on a handling side of the jaws. Although not required, in one or more embodiments, the method may also include pressing the tail of the shrimp toward the base such that the tail forms an expanded tail fan on the gripping side of the jaws.

[0221] Described with respect to an illustrative embodiment of a clamp 112, the method may include providing a clamp 112 having a first jaw and a second jaw 124 on a base 110. The jaws 124 define a receiving slot therebetween. The shrimp is inserted into the receiving slot such that the tail 106 of the shrimp is located on a gripping side of the jaws 124 (in other words, the side of the jaws 124 facing the body 120 of the clamp 112) and the cephalothorax of the shrimp is located on a handling side of the jaws 124 (in other words, the side of the jaws 124 facing away from the body 120 of the clamp 112). In the illustrated embodiment, the abdomen 104 of the shrimp is also located on the handling side of the jaws 124 because the jaws 124 act on the shrimp at the junction between the tail 106 and the abdomen 104. In one or more embodiments, the jaws 124 act in conjunction with the spring member / arm 122 to force the shrimp toward or against the base 110 such that the tail forms an expanded tail fan on the clamp side of the jaws 124. The expanded tail fan can further resist removal of the shrimp from the clamp 112 in a direction transverse to both the clamping axis 121 and the compression axis 123.

[0222] In one or more embodiments of the method of restraining a shrimp in a clamp as described herein, the compressive force on the shrimp along the clamping axis 123 toward the base can be described as a continuous compressive force. In other words, the force may be present as long as the shrimp is retained in the clamp. In one or more embodiments, the compressive force provided by the clamp can be assisted when the jaws of the clamp widen as they approach the base where the clamp is positioned (or narrow as they move away from the base where the clamp is positioned) because the force vectors applied to the shrimp by the angled faces of the jaws of the clamp can help provide the compressive force to the shrimp due to the shape of the shrimp, as described herein.

[0223] Additionally, one or more embodiments of the method of restraining a shrimp in a clamp as described herein may involve rotation of one or both jaws of the clamp, as discussed above in conjunction with the exemplary embodiment of the clamp 112. In particular, the clamp 112 includes a body 120 and a first jaw 124 connected to the body 120 by a first arm 122 and a second jaw 124 connected to the body 120 by a second arm 122. In one or more embodiments, when a shrimp is inserted into a receiving slot formed between the first jaw and the second jaw 124, one or both of the jaws 124 may rotate about a rotation axis 127 located above the base 110 and extending between the rotating jaw 124 and the body 120.

[0224] Figure 7 is a perspective view of a set of clamps 112 that may be used in one or more embodiments of a shrimp processing system as described herein. The set of clamps 112 may be depicted as being attached to a clamp mount 110, wherein a plurality of clamp mounts 110 are attached to a conveyor element 117 of a conveyor system for moving the clamps 112 mounted on the clamp mounts 110 through a shrimp processing system as described herein. In the depicted embodiment, the conveyor element 117 is in the form of a belt that may be driven by any suitable mechanism to move the clamp mounts 110 and the clamps 112 located thereon through a shrimp processing system as described herein.

[0225] Although the exemplary embodiment of the depicted clamp mount 110 carries four clamps 112, it should be understood that the clamp mount 110 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. Figure 7 Conveyor element 117 is depicted, but it should be understood that a conveyor system for advancing clamps 112 and any clamp mounts 110 through a shrimp handling system as described herein may include as few as one conveyor element or three or more conveyor elements, depending on the specific design of the conveyor system.

[0226] Furthermore, while conveyor element 117 is in the form of a belt, it should be understood that conveyor elements used in shrimp handling systems as described herein may take any of a variety of forms common to conveyor systems including, but not limited to, belts, chains, and the like.

[0227] In the illustrative embodiment depicted, the delivery element 117 carries a mounting boss 132, wherein each clamp mount 110 includes a corresponding mounting block 130, wherein each block 130 is configured to attach to the mounting boss 132 on the delivery element 117. The blocks 130 may be attached to the mounting boss 132 by any suitable technique or combination of techniques, including, for example, mechanical fasteners, adhesives, clamps, interference fits, mechanical interlocks, and the like.

[0228] refer to Figure 8-Figure 10 , depicts in more detail one exemplary embodiment of a set of mounting bosses 132 and a block 130 for attaching a clamp mount 110 to a conveying element 117. In the illustrative embodiment depicted, the mounting bosses 132 and the block 130 are attached to each other using magnetic attraction. In particular, each of the mounting bosses and the block carries a permanent magnet to hold the block 130 on the mounting bosses 132, which in turn holds the clamp mount 110 on the conveying element 117 for movement through a shrimp handling system as described herein.

[0229] refer to Figure 8-Figure 9 In the depicted embodiment, the mounting block 130 (which is shown as transparent to enable viewing of the components contained therein) is attached to the clamp mount 110 using a pair of mechanical fasteners. The mounting block also includes a pair of magnets 134 that are positioned over mating features 136 formed in the clamp mount 110.

[0230] The mating features 136 are designed to mate with complementary mating features 137 on the mounting boss 132 to help align and retain the clamp mount 110 to the mounting boss 132 on the conveying element 117. Although the mating features 136 are depicted as being in the form of recesses / grooves / holes and the complementary mating features 137 on the mounting boss 132 are depicted as being in the form of protrusions, it will be appreciated that any pair of complementary mating features on the clamp mount 110 and mounting boss 132 may provide the same functionality as Figure 8-Figure 9 Illustrative pairs of complementary mating features are depicted in .

[0231] refer to Fig.10 , which is along Fig. 910, mounting boss 132, and mounting block 130, it can be seen that in the illustrative embodiment depicted, mounting boss 132 includes a complementary pair of magnets 135 positioned to magnetically attract magnet 134 attached to mounting block 130 of clamp mount 110. It may be preferred that pairs of magnets 134 and 135 be provided in mounting block 130 and mounting boss 132 so that magnets 134 and 135 form a compact magnetic field to reduce the likelihood that magnetic fields associated with mounting block 130 and mounting boss 132 will affect any electrical or magnetic components of the shrimp handling system as described herein. The relationship between the complementary mating features 136 and 137 on clamp mount 110 and mounting boss 132 may also be in Fig.10 as seen in the cross-sectional view.

[0232] In one or more embodiments, Figure 8-Figure 10 The use of magnets and complementary mating features as seen in the drawings can provide a relatively easy to clean connection system for holding the clamp mount 110 in place on the conveying element 117 of the shrimp handling system as described herein. However, many other structures and / or techniques for holding the clamp mount on the conveying element of the conveying system will be understood to be suitable for use in place of the combination Figure 8-Figure 10 The depicted illustrative embodiments of the mounting block 130 , the clamp mount 110 , and the mounting bosses 132 are described.

[0233] refer to Figure 7 and Fig.11 Another optional feature of one or more embodiments of the shrimp handling system as described herein can be seen in the offset between the gripper 112 and the conveyor element 117 used to hold and move the shrimp through the handling system. In particular, Fig.11 Depicted is a pair of shrimp 102 held in a clamp 112 attached to a clamp mount 110 that is moved in a processing direction 101 using a conveyor element 117. The shrimp 102 are supported during movement in the processing direction 101 by work surfaces 114 located on opposite sides of the conveyor element 117. These work surfaces are able to support the shrimp 102 held in the clamp 112 because the conveyor element 117 is not aligned with the clamp 112 in the processing direction 101.

[0234] In one or more embodiments, supporting the restrained shrimp on a work surface 114 that is separate and distinct from the conveying element 117 can improve the cleanliness and sanitation of the shrimp handling system because the work surface 114 can be cleaned and / or replaced separately during use to limit contamination and improve sanitation.

[0235] Although one exemplary embodiment of a clamp that can be used to restrain shrimp as described herein within a shrimp handling system is depicted in the foregoing figures, it should be understood that other alternative clamps can be used to provide restraint and movement of shrimp within a system as described herein. Figure 12-13 An illustrative embodiment of an optional clamp 112' is depicted in Figure 1, which may be used in one or more shrimp processing systems as described herein. The clamp 112' includes jaws 124' mounted on a body 120' that are spring-loaded to move toward each other. The shape and spring-loaded mounting of the jaws 124' provide a clamping force along a clamping axis 121' and, preferably, a clamping force along a clamping axis 123' that extends through a receiving slot located between opposing jaws 124'.

[0236] refer to Fig.13 , the clamp 112' may also be disposed on the clamp mount 110' for movement through the conveyor system using a conveyor element 117' offset from the clamp 112' such that the shrimp 102' may be supported on a work surface 114' that is offset from the conveyor element 117'.

[0237] Another alternative illustrative embodiment of the clamp 112" is Fig.14 , where clamps 112" are carried on clamp mounts 110". Each clamp 112" is depicted as restraining a shrimp 102" on a work surface 114", while the clamp mounts 110" carrying the clamps 112" are moved through the processing system using conveying elements 117" located between the work surfaces 114". The clamps 112" include spring elements 122", which are used to provide pressure to the shrimp 102" to hold the shrimp 102" in the clamps 112".

[0238] It should be understood that Figure 12-14 Only two alternative illustrative embodiments of clamps are depicted that may be used to hold shrimp in a processing system for processing according to the methods described herein. Many other clamps may be used to restrain shrimp for processing in the systems and methods described herein.

[0239] Measuring and cutting mud vein device and method

[0240] The processing station in one or more embodiments of the shrimp processing system as described herein is a station that can be used to measure shrimp and a station that can be used to cut the mud vein of shrimp. In one or more embodiments, the same processing station can be used to measure shrimp and cut the mud vein of shrimp.

[0241] Fig.15290 is a schematic block diagram depicting components that may be found in such a system configured to both measure and devein the mud veins of shrimp. The depicted station includes a measurement module 260 and a vein deveining module 270 as well as a controller 290 and a conveyor system 292.

[0242] The measurement module 260 may preferably be a non-contact measurement module configured to measure the shrimp without 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 transmit and receive energy, such as light energy, ultrasonic energy, etc. Although depicted separately, the transmitter 262 and the receiver 264 may be combined in a transceiver that relies on reflected energy to measure the shrimp.

[0243] The pulse cutting module 270 may include a variety of components, including a cutting module driver 271, a cutting restraint actuator 252 (operably connected to the cutting restraint) and a blade actuator 245 (operably connected to the blade). The cutting module driver 271, the cutting restraint actuator 252 and the blade actuator 245 may all be connected to a controller 292 to control the movement of the pulse cutting module 270, the cutting restraint actuator 252 and the blade actuator 245.

[0244] Control of the conveyor system 292 by the controller 290 may be used to move the shrimp into and out of the measurement module 260 and / or the vein decapping module 270 .

[0245] Although the illustrative embodiments of the combined shrimp measurement and mud vein cutting device (such as Fig.15 The controller 290 depicted in the drawings (as depicted in the drawings) may be in the form of a single controller where all control functions may be performed by the single controller (although backup and / or redundant controllers may be provided to assist in the event of a failure of the primary controller), one or more alternative embodiments of the shrimp measurement and mud vein cutting device may include a set of distributed controllers where those portions of the device require dedicated controllers, and a network may be used to interconnect the various controllers to facilitate processing of shrimp by the measurement and mud vein cutting device. In addition, the controller 290 (or any other controller used in the mud vein cutting device as described herein) may be separate from or integrated into the system controller, such as in conjunction with a controller for controlling the shrimp. Figure 2 The control system of the shrimp processing system depicted in FIG. 9 depicts controller 90 .

[0246] The controller used in one or more embodiments of the shrimp measurement and mud vein separation device as described herein can be provided in any suitable form and can include, for example, a memory and a controller. For example, the controller can be in the form of one or more microprocessors, field programmable gate arrays (FPGAs), digital signal processors (DSPs), microcontrollers, application specific integrated circuits (ASIC) state machines, etc. The controller can include one or more any suitable input devices (e.g., keyboards, touch screens, mice, trackballs, etc.) and display devices (e.g., monitors (which may or may not be touch screens), indicator lights, etc.), wherein the input devices are configured to allow a user to operate the device, and the display devices are configured to convey information to the user.

[0247] An illustrative embodiment of the mud vein cutting device 240 is Figure 16-25E and an illustrative embodiment of the measurement module 260 is depicted in Figure 26-30 In one or more embodiments, although the mud vein cutting device 240 and the measurement module 260 can be integrated into the above combination Figure 1A and Figure 2 The illustrative shrimp processing system depicted in FIG. 1 is described in detail in a single processing station in a processing station group (e.g., group P1), but they are Figure 16-Figure 30 are described separately in the , as they can also be provided as separate processing stations.

[0248] Figure 16-Figure 23 2 is located above a work surface 214 on which shrimp 202 is positioned for processing. In one or more embodiments, shrimp 202 can be restrained in a clamp 212 such that the tail 206 of shrimp 202 is located on one side of the clamp and the remainder of shrimp 202 is located on an opposite side of the clamp 212. As discussed herein, the clamp 212 can be moved to a selected position relative to the vein cutting device 240 such that each shrimp processed by the vein cutting device 240 is located in the same selected position.

[0249] The processing station is supported above the working surface 214 (and any shrimp 202 located thereon) on a frame 242, wherein the components of the processing station are located on a carriage 244 that moves along a slide 243 that is aligned with an axis 241. The depicted embodiment of the carriage 244 includes side panels that extend downwardly from an upper portion of the carriage 244, although many other variations of the support structure are possible. In one or more embodiments, the axis 241 along which the carriage 244 moves is preferably aligned with the processing axis 211 that passes through the working surface 214. As a result, movement of the carriage 244 along the slide 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, wherein one or more selected locations on the shrimp 202 are positioned on the working surface 214.

[0250] The vein cutting module of the depicted integrated measurement and mud vein cutting device includes a blade assembly 248 and a blade actuator 245, the blade actuator 245 being 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, wherein the blade carriage 246 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 can be in the form of a double-acting air actuator / piston, although many other mechanisms can be used to provide the required reciprocating motion to move the blade actuator 245 and the blade assembly 248 between its storage position and the cutting position, for example, a double-acting piston, a single-acting piston, a spring mechanism, a hydraulic actuator, a motor, a magnetic drive, etc.

[0251] When the blade assembly 248 moves between its storage position and the severing position, the blade carriage 246 moves along the blade carriage axis 247, and therefore, the severing direction along which the blade assembly 248 moves is aligned with the blade carriage axis 247. In one or more embodiments, the severing direction / blade carriage axis 247 can be transverse to the processing direction 211.

[0252] The vein cutting module also includes a cutting restraint 250 configured to fix the position of the shrimp 202 in the clamp 212 held on the working surface 214. The cutting restraint 250 is operably attached to a cutting restraint actuator 252, which is configured to be in a retracted position (e.g., Fig.16 shown) and constraint positions (e.g. Fig.17 When the cutting restraint device 250 is in the restraining position, the shrimp 202 held in the clamp 212 is restrained by the cutting restraint device 250 in the selected cutting position on the working surface 214.

[0253] In the depicted embodiment, when Fig.16The withdrawal position seen in Fig.17 250 is moved between the restraining positions as seen in FIG. 25 and FIG. 25A , the cut restraint actuator 252 causes the cut restraint 250 to rotate about the axis 251. In one or more embodiments, the cut restraint actuator can be in the form of a force-limited single-acting piston that applies a small downward force when the cut restraint 250 is moved to the restraining position and a larger upward or retracting force when the cut restraint 250 is moved from the restraining position back to the withdrawn position. The small downward force can be selected so that the cut restraint 250 does not excessively damage the shrimp when the cut restraint is in its restraining position. In one or more embodiments, the upward or retracting force can be provided by a spring located within the cut restraint actuator 252.

[0254] Although the illustrative embodiment of the cut-off restraint actuator 252 depicted is in the form of a force-limited single-acting piston, many other mechanisms may be used to provide the reciprocating motion required to move the cut-off restraint 250 between its withdrawn and restrained positions, for example, a double-acting piston, a single-acting piston, a spring mechanism, a hydraulic actuator, a motor, a magnetic drive, etc.

[0255] Fig.16 The series of operations of the mud vein cutting processing station described in the Figure 16-Figure 21 To describe. Fig.16 In the embodiment of the present invention, shrimp 202 restrained in a clamp 212 carried on a clamp mount 210 is moved into a selected cutting position on a working surface 214. Shrimp 202, clamp 212 and clamp mount 210 are moved along a processing direction aligned with processing axis 211 to place shrimp 202 in the selected cutting position on working surface 214. Blade assembly 248 on blade carriage 246 is in a storage position and cutting restraint 250 is in a Fig.16 in its withdrawn position.

[0256] When the shrimp 202 is in the selected severing position on the working surface 214, the severing restraint actuator 252 can be operated to move the severing restraint 250 from its position in the selected severing position. Fig.16 The shrimp 202 is restrained by the clamp 212 on the working surface so that the cut-off restraint device 250 is in a position such as Figure 17-Figure 18 When the shrimp 202 held in the clamp 212 is in the selected cutting position on the working surface 214 and the cutting restraint device 250 is in the position as shown in FIG. Figure 17-Figure 18 In the restrained position as seen in FIG. 2 , the cut restraint 250 is located between the blade assembly 248 and the clamp 212 restraining the shrimp 202.

[0257] When in such Figure 17-Figure 18, the exemplary embodiment of the cutting restraint 250 is positioned on the abdomen of the shrimp 202, proximate to the clamp 212 restraining the shrimp 202. However, it should be understood that other locations for the cutting restraint 250 are possible in alternative embodiments of the cutting apparatus as described herein. Figure 17-Figure 18 As seen in FIG. 1 , the blade assembly 248 on the blade carriage 246 is in the storage position (in Fig.17 , the storage position is offset to the right along the blade carriage axis 247).

[0258] like Figure 17-Figure 18 2, with the shrimp 202 in the selected cutting position on the working surface 214 and the cutting restraint 250 in the restraining position to restrain the shrimp on the working surface 214, the blade actuator 245 can be activated to move the blade assembly 248 from its storage position to its cutting position (e.g., Figure 19-20 214). The blade assembly 248 is moved from its storage position to its cutting position using the blade actuator 245 in a cutting direction aligned with the blade carriage axis 247, thereby causing the blade assembly 248 to move generally transverse 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 restrained on the working surface 214 by the clamp 212 and the cutting restraint 250. This movement of the blade assembly 248 preferably severs the mud veins in the shrimp 202.

[0259] Although Figure 19-20 As seen in FIG. 2 , shrimp 202 remains in the selected cutting position on work surface 214 and cutting restraint 250 remains in the restrained position, but blade actuator 245 is preferably activated to move blade assembly 248 from its cutting position back to its storage position (e.g., as Figure 17-Figure 18 ). Using blade actuator 245 to move blade assembly 248 from its severing position to its storage position while shrimp 202 is still restrained by both severing restraint 250 and clamp 212 can prevent undesired movement of shrimp 202 during the return of blade assembly 248 to its storage position.

[0260] By holding the shrimp 202 in the selected severing position on the working surface 214, the severing restraining device 250 can be removed from its restraining position (e.g., Figure 17-Figure 20 As seen in FIG. 21 , the work surface 214 is retracted upwardly away from the work surface 214 to a position as shown in FIG. Fig.16 and Fig.21 246 and 248. The movement of the severance restraint 250 may be accomplished using a severance restraint actuator 252 as described herein. Additionally, movement of the severance restraint 250 may also result in movement of the blade actuator 245, blade carriage 246, and blade assembly 248 away from the working surface 214 and the shrimp 202 located thereon.

[0261] Although the depicted embodiment of the mud vein severing device 240 uses a stationary blade that moves relative to the shrimp, one or more alternative embodiments of the mud vein severing device as described herein may include rotating blades, water jets, etc., which can be used to sever mud veins in shrimp as described herein.

[0262] Fig. 22 One illustrative embodiment of a blade assembly 248 for use in a mud vein cutting device as described herein is depicted. In particular, the blade assembly 248 can be in the form of a blade holder 249a and a replaceable blade 249b that can be attached to the blade holder 249a. In one or more embodiments, the blade 249b can be in the form of a #10 scalpel blade or other conventional cutting instrument to allow for easy and quick replacement of the blade as needed. Figure 23-Figure 24 Blade 249b is depicted in an enlarged view, where it can be seen that blade 249b includes cutting edge 249c, where blade 249b is attached to holder 249a of blade assembly 248. In one or more embodiments, cutting edge 249c of blade 249b faces upward or away from the ventral side of the shrimp in a selected severing position as the blade moves along the severing path.

[0263] In the illustrative embodiment depicted, the cutting edge 249c of the blade 249b is a curved edge. The curved edge of the blade 249b can reduce the likelihood of the blade breaking during use in severing the mud veins of shrimp being processed by the shrimp processing system described herein.

[0264] In one or more embodiments, it may be preferred that the blade assembly 248 be moved from its storage position to its cutting position in a direction that results in a cutting action of the mud veins in the shrimp 202. Figure 16-Figure 21 , the shrimp 202 constrained in the selected cutting position on the working surface 214 is aligned generally along the processing axis 211, so that when the cutting direction / knife blade actuator axis 247 is oriented generally transverse to the processing axis 211, movement of the blade assembly 248 along the cutting direction aligned with the blade actuator axis 247 provides the desired mud vein cutting action in the shrimp 202.

[0265] Figure 23-Figure 24 The relative positions of the shear restraint 250 on a pair of shrimps 202 of different sizes are depicted to illustrate the adaptability provided by the notch 254 in the shear restraint 250 based on the shrimps of different sizes. As discussed herein, and as Figure 23-Figure 24 , the path of the cutting edge 249c of the blade 249b is fixed relative to the cutting restraint 250. In other words, the cutting edge 249c of the blade 249b passes through the same portion of the notch 254 in the cutting restraint 250 regardless of the size of the shrimp 202.

[0266] In particular, Fig.23 A larger shrimp 202 is depicted in a selected cutting position and aligned with a processing axis 211 on a working surface 214 of a shrimp processing system as described herein. Fig.24 A smaller shrimp 202 is depicted in a selected cut-off position and aligned with a processing axis 211 on a working surface 214 of a shrimp processing system as described herein. The shrimps 202 are each shown in cross-section with a mud vein 203 located near the dorsal side of the shrimp 202.

[0267] Figure 23-Figure 24 The notch 254 depicted in the cutting restraint 250 can help determine the height of the ventral side of the shrimp shell and set the cutting depth relative to that height for a blade of a mud vein cutting device as described herein. Figure 23-Figure 24 254. The axis 257 depicted in FIG. 254 may indicate, for example, the path of a blade used to sever a shrimp's vein relative to the notch 254. In particular, the axis 257 may indicate the path of the lowermost end 249d of the cutting edge 249c of the blade assembly 248. The axis 257 is generally parallel to the severing direction / blade actuator axis 247 along which the blade assembly 248 moves during the severing process.

[0268] refer to Figure 23-Figure 24 , axis 257 can define a severing depth d along a vertical axis extending through working surface 214 and shrimp 202. Using a severing restraint having a notch, such as severing restraint 250, to define the cutting depth relative to the back side of the shrimp shell can help ensure that the cutting depth on a shrimp restrained in a selected severing position as described herein is deep enough to sever the mud vein without undesirably cutting too deep into the shrimp being processed by the mud vein severing device.

[0269] As mentioned above, Fig.24 A smaller shrimp 202 is depicted in a selected cut-off position and also aligned with a processing axis 211 on a working surface 214 of a shrimp processing system as described herein. Fig.24 Also depicted is an axis 257 along which the lowermost end 249d of the cutting edge 249c moves as the blade 249b penetrates the smaller shrimp 202 to sever the mud vein 203.

[0270] Fig.23 and Fig.24A comparison of the two diagrams shows that the axis 257 (along which the lowermost end 249d of the cutting edge 249c moves to sever the mud vein 203 in the larger and smaller shrimps 202) is in the same position relative to the severing restraint 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 sever the mud vein 203 of the shrimp 202.

[0271] The height of the blade 249b relative to the path of the severing restraint 250 is fixed to provide accurate and repeatable severing of the mud veins in shrimps of relatively widely varying sizes because, as a percentage of the “height” of the abdomen of the shrimp 202, the mud veins 203 in larger shrimp are located closer to the dorsal side of the shrimp (e.g., more Fig.23 Larger shrimp and Fig.24 The location of the mud vein 203 of the smaller shrimp).

[0272] You can refer to Fig.23 and Fig.24 Another feature seen is that in most cases, the cutting edge 249c of the blade 249b will force the mud veins 203 of the larger and smaller shrimps 202 away from the ventral side of the shrimp 202 and toward the dorsal side of the shrimp 202 (i.e., away from the working surface 214 that the ventral side of the larger and smaller shrimps 202 faces). In some cases, this lifting action can help sever the mud veins 203, which can be relatively tough and / or resilient in some cases. Although the lifting action occurs with the 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 the shrimp 202.

[0273] As discussed herein, the severing restraint 250 used in one or more embodiments of the mud vein severing apparatus described herein preferably includes a notch 254. The notch 254 is configured to receive the shrimp 202 held in the clamp 212 in a selected severing 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 for positioning of a blade for severing the mud vein of the shrimp as described herein.

[0274] Figure 25A-Figure 25E Various features of the depicted illustrative embodiment are shown with respect to a notch 254. In particular, the notch 254 can be described as extending inwardly from a leading edge 255 of the restraining device 250 along a notch axis 253 toward a notch end 256. When the restraining device 250 is in its restraining position proximate to a working surface as described herein, the notch axis 253 can preferably be transverse to the processing axis 211. Furthermore, the notch 254 can preferably be wider proximate to the leading edge 255 of the restraining device 250 and narrower as it approaches the notch end 256 distal from those leading edges.

[0275] In one or more embodiments, the recess 254 may preferably have a sloped surface 258 that widens in one direction along the process axis 211. For example, this feature can be seen in Figure 25B-Figure 25E Due to the bevel 258, the notch 254 is wider on one side of the shear restraint 250 than on the opposite side of the shear restraint 250. In one or more embodiments, this widening may preferably be associated with a widening of the shrimp's abdomen as one moves from the shrimp's tail toward its cephalothorax, and thus, may help restrain the shrimp when the shear restraint 250 is in its restraining position on the shrimp.

[0276] Fig.25C 25 is an enlarged cross-sectional view of the cut-off restraint 250 taken along the notch axis 253. As can be seen from this figure, in addition to Fig.25B In addition to changing the width of the notch 254 as seen in the figure, the bevel 258 forming the notch 254 also changes the height or depth of the notch 254 between the caudal side 259t and the cephalothoracic side 259c of the cut-off restraint 250. In one or more embodiments, the bevel 258 can define an angle α relative to the treatment axis 211. In one or more embodiments, the angle α can be 15 degrees or more, 30 degrees or more, 45 degrees or more, or 60 degrees or more at the lower end, and can be 75° or less, 60° or less, 45° or less, or 30° or less at the upper end.

[0277] Fig.25D and Fig.25E The shear restraint 250 is depicted on two shrimps 202 of different sizes to illustrate the effect the ramp 258 has when the shear restraint 250 is placed on shrimps of different sizes. Fig.25D , a larger shrimp 202 is depicted with the ventral side facing the working surface 214. In embodiments where the cut restraint 250 is rotated into position (see, e.g., Figure 16-Figure 21 The mud vein cutting device depicted in Fig.25E The more vertical angle of the cut restraint device 250 when placed on a smaller shrimp as seen in FIG. Fig.25D The angle at which the restraining device 250 is cut (indicated by the notch axis 253) is less vertical when placed on a larger shrimp as seen in FIG.

[0278] 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 shrimps of different sizes can be accommodated at least in part by the bevel 258 of the notch 254. Additionally, in one or more embodiments, the accommodation of the bevel 258 for larger shrimps can also help to align the axis 257 (which defines the cutting depth, as described above in connection with the present invention) with the larger shrimps. Figure 23-Figure 24 The movement of the axis 257 in question is to move further down or deeper into the shrimp 202 and conversely move the axis 257 upward toward the dorsal side of the shrimp 202 on smaller shrimp.

[0279] exist Figure 26-Figure 30 An illustrative embodiment of an assembly that can be used to provide a measurement module that can be used to measure shrimp in one or more embodiments of a shrimp processing system as described herein is depicted in . Although described and depicted separately, in one or more embodiments of a processing station described herein, the mud vein cutting device and the shrimp measurement module can be integrated into the same processing station. In one or more embodiments, the measurement module described herein can preferably use a non-contact sensor that is configured to measure the length of a shrimp held in a fixture moving 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.

[0280] Regardless of whether the measurement module is integrated into the same processing station as the mud vein severing device, the measurement module can preferably be positioned so that shrimp moving through the shrimp processing system as described herein are measured before, or at least when they reach the selected severing position to sever the mud vein. Doing so can allow the system to use the length of the shrimp to appropriately position the mud vein severing device relative to each shrimp to accurately and effectively sever the mud veins of the shrimp processed using the shrimp processing system described herein.

[0281] refer to Fig.26 and Fig.28 , the measurement module components are located on opposite sides of the measurement direction / processing axis 211, so that shrimp moving along the processing axis 211 pass between the components of the measurement module. In particular, the illustrative embodiment of the measurement module depicted 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 array of infrared transmitters that produce multipath beams, 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.

[0282] refer to Figure 26-Figure 27 and Fig.30 , in the embodiment shown, an emitter 262 is formed (at Figure 26-Figure 27 An array of emitters (arranged vertically in FIG. 26 ) typically transmits light across an opening between emitters 262 and receivers 264. Figure 28-Figure 30 In one or more embodiments, the receiver 264 may have an aperture over which light emitted by the transmitter 262 is received such that only light within the depicted fan-shaped distribution of energy 266 between the transmitter 262 and the receiver 264 is received by the receiver 264 .

[0283] In operation, it may be preferred to calibrate the contactless sensor before a shrimp held in a fixture passes through the contactless sensor in a measurement direction. In one or more embodiments, it may be preferred to calibrate the contactless sensor before each shrimp held in a fixture passes through the contactless sensor in a measurement direction. Calibrating the contactless sensor before each shrimp held in a fixture passes through the contactless sensor may provide a more robust and accurate measurement of the shrimp passing through the contactless sensor. In one or more optional embodiments, it may be preferred to calibrate the contactless sensor after a selected number of shrimp have passed through the contactless sensor (as opposed to calibrating the contactless sensor before each shrimp passes through the contactless sensor).

[0284] During the measurement process, the transmitter 262 continuously transmits light energy across the gap between the transmitter 262 and the receiver 264 while the shrimp restrained in the fixture passes between the transmitter 262 and the receiver 264 along the processing axis 211. The controller (to which the transmitter 262 and the receiver 264 are operably attached) monitors the energy received by the receiver 264 to identify the joint between the fixture and the shrimp held in the fixture as the shrimp held in the fixture is moved past the non-contact sensor. In one or more embodiments, when the amount of energy transmitted by the transmitter 262 reaches the receiver 264 below a selected fixture threshold (indicating that energy blockage is consistent with the fixture passing between the transmitter 262 and the receiver 264), a selected portion of the fixture (such as, for example, the leading edge of the fixture restraining the shrimp) can be identified as the fixture and shrimp pass between the transmitter 262 and the receiver 264 along the processing axis 211, thereby detecting the joint.

[0285] As the shrimp and the clamp continue to pass between the transmitter 262 and the receiver 264, the controller continues to monitor the energy received by the receiver 264. When the shrimp is located between the transmitter 262 and the receiver 264, the amount of energy received by the receiver 264 decreases due to being blocked by the shrimp's abdomen and cephalothorax. However, as the shrimp's cephalothorax passes between the transmitter 262 and the receiver 264, the energy received by the receiver 264 increases as the cephalothorax completes its passage between the transmitter 262 and the receiver 264.

[0286] When the energy reaching receiver 264 increases to a level above a selected antennae threshold (referred to as the antennae threshold because, presumably, only the antennae of the shrimp may be located between transmitter 262 and receiver 264 after the cephalothorax has passed between transmitter 262 and receiver 264) (at which point the cephalothorax of the shrimp has passed between transmitter 262 and receiver 264), a length measurement of the shrimp is determined.

[0287] Since the controller is also operatively connected to the delivery system (see, e.g., Fig.15264) for moving the shrimp held in the gripper past the measurement module between the transmitter 262 and the receiver 264 so that the length of the shrimp can be determined based on the distance traveled by the shrimp using the conveyor system. In particular, the distance traveled by the shrimp in the time between identifying the leading edge of the gripper (as determined by the energy received by the receiver 264 falling below a selected gripper threshold) and identifying the end of the cephalothorax of the shrimp (as determined by the energy received by the receiver 264 being above a selected antenna threshold) is used as a measure of the length of the shrimp.

[0288] Although one illustrative embodiment of the measurement module may rely on infrared energy transmitted and received by a non-contact sensor, other forms of non-contact sensing may be used in place of and / or in addition to infrared energy transmission 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, imaging systems (using one or more cameras, etc.), etc. In still other alternative embodiments, contact sensing may be used to determine the length of the shrimp, such as using a mechanical follower, a fluid ejector, etc.

[0289] By determining the length of the shrimp, the controller can optionally be configured to determine the weight of the shrimp based at least in part on the length of the shrimp. In some embodiments, the weight of the shrimp held in the clamp can be based entirely on the length of the shrimp, as measured using the measurement module described herein.

[0290] Furthermore, once the length of the shrimp has been determined, this information can be used to position the vein severing device relative to that particular shrimp so that the vein severing device can sever the shrimp's mud vein at a selected location on the shrimp. Figure 3 It may be preferred to sever the mud vein of the shrimp 102 near the junction between the rearmost abdominal shell segment and the adjacent abdominal shell segment, wherein the rearmost abdominal shell segment is located between the adjacent abdominal shell segment and the tail of the shrimp. For example, in a shrimp 102 having a six-segment abdomen, it may be preferred to sever the mud vein near the junction between the fifth and sixth shell segments in the abdomen 104. Severing 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 rearmost / sixth abdominal segment (the width, sometimes referred to as the portion of the mud vein "hindgut") remaining when the majority of the mud vein is removed from the abdomen 104 between the rearmost / sixth abdominal segment and the cephalothorax of the shrimp 102.

[0291] Because the length of shrimp 202 is known, the general location of the junction between the rearmost 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 properly positioned so that the blade cuts the mud vein near the junction between the rearmost shell segment and the adjacent shell segments (e.g., the fifth and sixth shell segments).

[0292] As above combined Figure 16-Figure 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 the work surface 214. The carriage 244 can be moved using a vein cutting module drive (see, e.g., Fig.15 The cut-off module driver 271 in Figure 16-Figure 23 As shown in , the pulse cutting module driver (271) operably attached to the slide 244 to move the slide 244 can take any suitable form, including, for example, an electric motor, a hydraulic motor, a piston (hydraulic and / or pneumatic), a solenoid, etc.

[0293] Moving the carriage 244 also moves the blade assembly 248 along the processing axis 211 because both the blade actuator 245 and the blade carriage 246 are mounted on the carriage 244 along with the severing restraint 250 and its associated components. As a result, knowing the position of the blade assembly 248 relative to the carriage 244 and the measurement of the shrimp 202 in the selected severing position on the working surface 214 (which provides the general location of the junction between the fifth shell segment and the sixth shell segment on the shrimp 202), Figure 16-Figure 23 The mud vein severing device depicted in FIG. 2 can position the blade assembly 248 so that the blade assembly 248 severs the mud vein near a selected joint on the shrimp 202 when the shrimp 202 is moved from its storage position to its severing position, as described herein.

[0294] Heading device and method

[0295] As discussed herein, one or more embodiments of the shrimp processing systems and methods described herein may include a processing station and method for deheading individual shrimp. As used herein, "deheading" of shrimp means removing the head / cephalothorax (and substantially all viscera located therein) from the abdomen of the shrimp. In one or more embodiments, a deheading restraint may be used to restrain the shrimp to a work surface during deheading, wherein in one or more embodiments, the deheading restraint is positioned at the junction between the abdomen and the cephalothorax of the shrimp (referred to herein as the "cephalothorax junction").

[0296] In one or more embodiments, the shrimp is headed in a manner that also results in the removal of a majority of the mud veins, but the mud veins need not be removed during deheading. Removal of the mud veins during deheading may be facilitated if the mud veins are cut at a selected location along the abdomen prior to deheading the shrimp. In one or more embodiments, the mud veins may be cut near the junction between the last shell segment and the adjacent shell segment (e.g., the fifth shell segment and the sixth shell segment) on the abdomen prior to deheading the shrimp as described herein.

[0297] The shrimp processing systems and methods described herein include a deheading process that is performed individually on each shrimp while the shrimp is restrained by a deheading restraint that acts on the shrimp at a location near the cephalothorax junction. In one or more embodiments, the shrimp may also be restrained by a clamp acting on its abdomen between the cephalothorax junction and the tail, but no additional restraint is required for the deheading process. For example, in one or more embodiments, the shrimp may be restrained by a clamp acting on the abdomen near the tail of the shrimp.

[0298] Figure 31-Figure 33 is a simplified diagram depicting one illustrative embodiment of a deheading process and apparatus as described herein, and Fig.34 The header removal device is depicted in the form of a schematic block diagram. Fig.31 , the shrimp 302 is positioned on the working surface 314. The shrimp 302 is positioned so that it extends along the handling axis 311 away from the clamp 312 attached to the clamp mount 310. More specifically, the shrimp 302 is restrained by the clamp 312 near its tail so that the abdomen 304 and the cephalothorax 308 of the shrimp extend away from the clamp 312 on the working surface 314.

[0299] The head-removal restraint 350 is positioned opposite the working surface 314. Fig.31 The head restraint is depicted in its storage position so that the shrimp 302 can be positioned between the head restraint 350 and the work surface 314. The spoon 360 is also positioned between the head restraint 350 and the work surface 314. Fig.31 , where the spoon 360 is in its ready position, in which the spoon 360 is located near the cephalothorax side of the head removal restraint 350 (where the cephalothorax side of the head removal restraint 350 is the side of the head removal restraint that faces the cephalothorax 308 of the shrimp 302).

[0300] Head restraint device 350 Fig.32 is depicted in its restrained position, with the head-removing restraint 350 in the position shown in FIG. Fig.31 When moved to its restrained position, the head restraint 350 is configured to press the shrimp 302 located between the head restraint 350 and the work surface 314 against the work surface 314. Fig.32In the embodiment of the present invention, the spoon 360 is held in its ready position adjacent to the cephalothoracic side of the deheading restraint 350. Fig.32 and Fig.32 In the illustrative embodiment depicted in FIG. 1 , the deheading restraint 350 and the spoon 360 may sever the shrimp 302 at a location proximate the cephalothorax junction 303 of the shrimp 302 (ie, the junction 303 between the abdomen 304 and the cephalothorax 308 of the shrimp).

[0301] refer to Fig.33 , the head restraint device 350 is maintained at Fig.32 , while the spoon 360 has moved to its final position spaced from the cephalothoracic side of the head-removing restraint 350. The spoon 360 is moved from Fig.32 Its ready position as seen in Fig.33 The movement to its final position as seen in FIG. 3 separates the head / cephalothorax 308 from the abdomen 304 of the shrimp 302 on the work surface 314 .

[0302] exist Fig.33 300 and the working portion of the spoon 360 moves closer to the working surface 314 as the spoon 360 moves away from the abdomen 304 and the deheading restraint 350 of the shrimp.

[0303] 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 vein 303 from the abdomen 304 of the shrimp 302. Removal of the mud vein 303 may be facilitated if the mud vein is severed within the abdomen 304 prior to removing the cephalothorax 308 of the shrimp from the abdomen 304 of the shrimp 302. As discussed herein, for example, it may be desirable to sever the mud vein 303 in the abdomen 304 near the junction between the last shell segment and the adjacent shell segment (e.g., the fifth shell segment and the sixth shell segment) on the abdomen 304.

[0304] Described in different ways, Figure 31-Figure 33The de-heading process described in the foregoing can be described as a method in which the abdomen 304 of the shrimp 302 is constrained in a fixed position on the working surface 314, and the spoon 360 is moved through the shrimp near the cephalothorax junction 303 of the shrimp 302 (the cephalothorax junction 303 is located between the cephalothorax 308 and the first abdominal segment in the abdomen 304 of the shrimp 302). Moving the spoon 360 through the shrimp near the cephalothorax junction 303 can include moving the spoon 360 toward the working surface 314. The method also includes moving the spoon 360 away from the abdomen 304 while the abdomen 304 of the shrimp 302 is constrained in a fixed position on the working surface 314.

[0305] refer to Fig.34 , an illustrative embodiment of a deheading apparatus as described herein is depicted in a schematic block diagram in which a deheading restraint 350 and a deheading restraint actuator 352 are carried on a deheading apparatus shuttle 344 along with a spoon 360 and a spoon actuator 362 .

[0306] The shuttle actuator 345 is operably connected to the controller 390, wherein the shuttle actuator 345 is used to move the shuttle so that the spoon 360 and the head restraint 350 are positioned at a selected position of the shrimp during the head removal process. The head restraint actuator 352 is operably connected to the controller 390, wherein the head restraint actuator is used to move the head restraint between its storage position and its restraining position, as described herein. The spoon actuator is operably connected to the controller 390, wherein the spoon actuator 362 is used to move the spoon 360 from its ready position to its final position to remove the cephalothorax of the shrimp restrained by the head restraint 350.

[0307] In one or more embodiments, the controller 390 is also operably connected to an optional cephalothorax sensor to assist in identifying the cephalothorax junction as described herein. In one or more embodiments of the shrimp processing system as described herein, wherein a measurement module is used to measure the shrimp being processed, as described herein, the measurement can be used to identify an area that may be located at the cephalothorax junction to accelerate the identification of the cephalothorax junction. In one or more optional 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 illustrative embodiment depicted, the cephalothorax sensor includes a transmitter 368 and a receiver 369, wherein the transmitter 368 transmits energy that is 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.

[0308] A conveyor system 392 is also operably attached to the controller 390, wherein the conveyor system is used to move individual shrimp into a position on the work surface where the shrimp can be acted upon by the deheading restraint device 350 and the spoon 360, as described herein.

[0309] Despite the combination Fig.34 The controller 390 depicted in the illustrative embodiment of the deheading device depicted in the embodiment of the present invention may be in the form of a single controller, wherein all control functions may be performed by the single controller (although backup and / or redundant controllers may be provided to assist in the event of a failure of the primary controller), one or more alternative embodiments of the shrimp deheading device may include a set of distributed controllers, wherein those portions of the device that require dedicated controllers, and a network may be used to interconnect the various controllers to facilitate the processing of shrimp by the deheading device. In addition, the controller 390 (or any other controller used in the deheading device as described herein) may be separate from or integrated into the system controller, such as in conjunction with a controller for controlling the shrimp. Figure 2 Controller 90 is described in the control system of the shrimp processing system depicted in FIG.

[0310] The controller used in one or more embodiments of the head removal device as described herein can be provided in any suitable form and can include, for example, a memory and a controller. For example, the controller can be in the form of one or more microprocessors, field programmable gate arrays (FPGAs), digital signal processors (DSPs), microcontrollers, application specific integrated circuits (ASIC) state machines, etc. The controller can include one or more any suitable input devices (e.g., keyboards, touch screens, mice, trackballs, etc.) and display devices (e.g., monitors (which may or may not be touch screens), indicator lights, etc.), the input devices are configured to allow a user to operate the device, and the display devices are configured to convey information to the user.

[0311] Fig.35 340 is depicted in one or more embodiments of the shrimp processing systems and methods described herein. The depicted de-heading device 340 is positioned above a selected de-heading position above a working surface 314 positioned along a processing axis 311. As described herein, individual shrimp are moved along the processing axis 311 into the selected de-heading position in the direction of the arrows, which are located below the working surface 314 and the axis 311, such that they are located at a position on the working surface 314 (e.g., the selected de-heading position) at which the de-heading device 340 acts.

[0312] The header removal device includes a header removal device 344 supported on a frame 342 above the work surface 314. In the illustrative embodiment depicted, the shuttle 344 is configured to move along a shuttle axis 341 aligned with the processing axis 311. In one or more embodiments, the shuttle 344 can move along one or more slides 343 aligned with the shuttle axis 341. The shuttle 344 can move using a shuttle actuator 345 that is operably connected to the shuttle 344 using any suitable drive system.

[0313] The exemplary embodiment of the head removal apparatus 340 also includes a head removal restraint 350 located above the work surface 314 and a head removal restraint actuator 352 operably connected to move the head removal restraint actuator 352 in a storage position (eg, Fig.35 shown) and restrained positions (as seen in e.g. Figure 46-Figure 47 351 (described more fully below). In the illustrative embodiment depicted, movement of the head restraint 350 from its storage position to its restraining position involves rotating the head restraint 350 about axis 351. Fig.35 Not visible in the drawing, but the de-heading device includes a spoon operably connected to a spoon actuator 362 for moving the spoon from its ready position to its final position as described herein.

[0314] Fig.35 Also depicted is a portion of an optional cephalothorax sensor that can be used to determine where the shuttle 344 is positioned to properly place the de-heading restraint 350 on the shrimp located on the work surface 314. In particular, Fig.35 A receiver 369 of the non-contact cephalothorax sensor system is depicted along one side of the shuttle 344 .

[0315] Figure 36-Figure 37 yes Fig.35 340. In particular, Fig.36 A head removal restraint 350 is depicted along with a portion of a head removal restraint actuator 352, both carried by a shuttle 344 which is supported by a frame 342 for movement along a slide 343 defining a shuttle axis 341. Fig.36 Also depicted is a spoon actuator 362 and a working surface 314 extending along a treatment axis 311 , as described herein.

[0316] Fig.37is a slightly more magnified view depicting a projection of a receiver 369 of a non-contact cephalothorax sensor system and a beam path (depicted in dashed lines) emanating from a transmitter 368 and directed 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, such as in e.g. Figure 36-Figure 37 In one or more embodiments, as shown in Fig.37 As depicted in , the beam path may preferably be transverse to the processing axis 311. After the shrimp is positioned within the selected de-heading position on the working surface 314, 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.

[0317] Fig.38 is from Fig.35 340 is a view of the deheading device 340 taken from the opposite side as depicted in , wherein one side of the shuttle 344 is removed to expose components located within the shuttle 344. Fig.38 Also included is shrimp 302 located in what may be referred to as a selected de-headed position on work surface 314. As described herein, shrimp 302 is restrained by clamp 312 carried on clamp mount 310 in a manner similar to other clamps and clamp mounts.

[0318] Also exposed by removing one side of the shuttle 344 is a drive mechanism 346 and a belt 347, which is operably connected to the exemplary embodiment of the shuttle actuator 345 depicted, and the belt 347 moves the shuttle 344 along the processing axis 311 as needed to properly position the head restraint 350 above the shrimp 302 in the selected head removal position on the work surface 314. Although the belt 347 and drive mechanism 346 are used in the embodiment of the shuttle actuator 345 depicted, many other mechanisms can be used to move the shuttle 344, as described herein (e.g., a screw and follower, a rack and pinion, etc.). As described herein, the head restraint 350 is rotated about the head restraint axis 351 using the head restraint actuator 352 to move the head restraint 350 between its storage position and the restrained position, as described herein (in Fig.38 , the head-removal restraint device 350 is in its storage position).

[0319] Other features exposed by removing a portion of the shuttle 344 are the spoon 360 and the spoon actuator 362. In the exemplary embodiment of the depicted deheading device 340, the spoon actuator 362 is operably connected to the spoon 360 to rotate the spoon 360 about the spoon axis 361.

[0320] Figure 39-Figure 41Various views depicting an illustrative embodiment of a head restraint 350 that can be used in one or more embodiments of a head removal apparatus as described herein. The head restraint 350 includes a contact portion 355 configured to contact and at least partially sever a shrimp located on a work surface near the cephalothorax junction of the shrimp when the head restraint is in its restraining position as described herein. The contact portion 355 extends downwardly from a mounting portion 357 for mounting the head restraint 350 in the head removal apparatus 340.

[0321] The exemplary embodiment of the depicted deheading restraint 350 also includes a guide 358 extending away from the contact portion 355 of the deheading restraint 350 in the direction of the process axis 311. In the depicted exemplary embodiment, the guide 358 is in the form of a pair of wings 359 extending away from the contact portion 355 of the deheading restraint 350.

[0322] Another optional feature described in conjunction with the illustrative embodiment of the head restraint 350 is a beveled edge 356 on the contact portion 355, wherein when the head restraint 350 is in its restraining position, the beveled edge 356 faces the work surface 314. The beveled edge 356 can assist the contact portion 355 of the head restraint 350 in passing through the shrimp when the head restraint 350 is moved from its storage position to its restraining position as described herein.

[0323] The head-off restraint 350 also includes an optional restraint notch 354 in the contact portion 355, the restraint notch 354 terminating at the end 353. The restraint notch 354 is open toward the working surface and the shrimp is seated thereon when the head-off restraint 350 is in its restraining position relative to the working surface 314 as described herein. In one or more embodiments, the restraint notch 354 can provide clearance for the mud veins of the shrimp during the head-off process so that the mud veins are not severed by the contact portion of the head-off restraint 350 when the head-off restraint 350 is moved into its restraining position.

[0324] In one or more embodiments, the restraining notch 354 can 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 can be long enough so that the deheading restraint device 350 can be used with shrimps of various sizes while still providing a restraining function during the deheading process and reducing the possibility of severing mud veins during the deheading process.

[0325] Fig.42 Depicted is one exemplary embodiment of a spoon 360 that may be used in one or more embodiments of a deheading apparatus as described herein. Fig.43An enlarged view of a portion of the spoon 360 is depicted when the spoon 360 is in a ready position proximate a contact portion 355 of a deheading restraint as described herein, with a working portion 365 of the spoon located within a guide defined by the wings 359 of the deheading restraint 350 .

[0326] The working portion 365 of the spoon 360 is configured to contact and at least partially sever the shrimp on the working surface near the cephalothorax junction of the shrimp when the spoon 360 is in its ready position and the decapitation restraint 350 is in its restraining position, as described herein. The working portion 365 of the spoon 360 extends downwardly from a mounting portion 367, which is used to mount the spoon 360 in the decapitation device 340. In one or more embodiments, the mounting portion 367 of the spoon 360 may include features (such as, for example, Fig.42 ), which is configured to define a spoon-shaped member axis 361 about which the spoon-shaped member 360 rotates when moving from its ready position to its final position.

[0327] Fig.42 The exemplary embodiment of the spoon 360 depicted in FIG. 1 includes an optional beveled outer edge 366 located on the working portion 365 of the spoon 360. When the spoon 360 is in its ready position and the deheading restraint 350 is in its restraining position, a portion of the beveled outer edge 366 faces the working surface 314. As described herein, when the deheading restraint 350 is moved from its storage position to its restraining position while the spoon 360 is in its ready position, the beveled outer edge 366 can facilitate the working portion 365 of the spoon 360 to pass through the shrimp.

[0328] The spoon 360 also includes an optional spoon notch 364 in the working portion 365, wherein the spoon notch 364 terminates at the end 363. As described herein, when the spoon 360 is in its ready position and the deheading restraint 350 is in its restraining position relative to the working surface 314, the spoon notch 364 is open toward the working surface and the shrimp is positioned thereon. In one or more embodiments, the spoon notch 364 can provide clearance for the mud veins of the shrimp during the deheading process so that the mud veins are not cut by the working portion 365 of the spoon 360 when the spoon is in the ready position and the deheading restraint 350 is moved to its restraining position.

[0329] In one or more embodiments, the spoon recess 364 can have a depth ds, which is measured from the opening of the recess 364 to the end 363 of the spoon recess 364 (i.e., in a direction along the length of the spoon recess 364). In one or more embodiments, the opening of the spoon recess 364 can be defined by a line extending between the junction of the beveled outer edge 366 and the opening of the spoon recess 364. In one or more embodiments, the depth ds of the spoon recess 364 can be long enough so that the spoon 360 can be used for shrimps of various sizes while still providing the function of separating the cephalothorax during decapitation, as well as reducing the possibility of severing the mud vein during decapitation.

[0330] In one or more embodiments, the spoon recess 364 can have a depth ds, measured from the distal end of the working portion 365 of the spoon 360 (wherein the distal end of the working portion of the spoon 360 can be defined by a line connecting the junction of the chamfered outer edges 366 at the opening of the recess 364) to the end 363 of the recess 364, that is 10 mm or greater, and optionally, wherein the depth of the spoon recess is 20 mm or less. The width of the recess near the midpoint of the depth of the recess 364 can be, for example, 2 mm or greater on the lower end and 4 mm or less on the upper end. When the spoon 360 is in its ready position and the head removal restraint 350 is in its restrained position, the depth ds of the spoon recess 364 can be along the length of the recess transverse to the processing axis 311 extending along the working surface 314 (such as, for example Fig.32 Measured in the direction shown in ).

[0331] refer to Figure 39-Figure 41 and Fig.43 , one or more embodiments of a spoon and a deheading restraint may include a spoon having a guide for use in one or more embodiments of a deheading apparatus as described herein, wherein the width of the spoon is less than the guide width of the guide. This relationship may be, for example, Fig.43 , where the working portion 365 of the spoon 360 fits within a guide defined by wings 359 extending away from the contact portion 355 of the head removal restraint 350.

[0332] In one or more embodiments, as described herein, the spoon width and guide width can be measured at the widest point of the working portion of the spoon located in the guide (which can also be described as being in a direction transverse to the path of the working portion of the spoon as the working portion of the spoon moves away from the contact portion of the de-heading restraint device as the spoon moves from the ready position to the final position). In one or more embodiments, the maximum width of the working portion of the spoon 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, at a guide width of approximately 22 mm, the width of the working portion of the spoon can be approximately 16 mm.

[0333] In one or more embodiments of the deheading device as described herein, the deheading device includes a deheading restraint having a contact portion having a beveled edge and a working portion of a spoon having a beveled outer edge, and when the spoon 360 is in the ready position, the beveled outer edge 366 of the working portion 365 of the spoon 360 and the beveled edge 356 of the contact portion 355 of the deheading restraint 350 are adjacent to each other, so that the working portion 365 of the spoon 360 is close to the contact portion 355 of the deheading restraint 350. In such an arrangement, when the spoon 360 is in the ready position, the bevel on the beveled outer edge 366 of the spoon 360 and the beveled edge 356 of the deheading restraint 350 are away from each other, so that the working portion 365 of the spoon 360 and the contact portion 355 of the deheading restraint 350 form a double beveled edge.

[0334] One or more embodiments of the deheading devices described herein may include a cephalothorax sensor configured to detect a cephalothorax junction between the cephalothorax and the abdominal segments of the shrimp. Figure 44-Figure 45 It can be used to describe the detection of the head-chest junction and the correct positioning of the dehead restraint and spoon based on the detection of the head-chest junction.

[0335] like Fig.38 Many components of the head removal device 340 depicted in FIG. Figure 44-Figure 45 , includes a head removal restraint 350 and a head removal restraint actuator 352, both of which are located on a head removal shuttle 344 to rotate about an axis 351. The shuttle 344 is attached to a frame 342 to move along one or more slides 343 aligned with the shuttle axis 341. Figure 44-Figure 45 Also depicted is a shrimp 302 positioned on a working surface 314 , with the shrimp 302 being restrained by a fixture 312 that is used to transport or convey the shrimp along a processing axis 311 . Figure 44-Figure 45Other features depicted in include a spoon actuator 362 for moving the spoon 360 from its ready position adjacent the deheading restraint 350 to its final position as described herein.

[0336] In one or more embodiments, the cephalothorax sensor can detect the cephalothorax junction between the cephalothorax and the first abdominal segment of the shrimp. In one or more embodiments, a controller (e.g., see Fig.34 The controller 390 in the embodiment of the present invention can be configured to detect a change in opacity between the cephalothorax and the abdominal segments of the shrimp on the work surface, and identify the cephalothorax junction based at least in part on the change in opacity. In general, the cephalothorax of a shrimp is darker or more optically dense 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 optional embodiments, the location of the cephalothorax junction can be determined based on a measured length of the shrimp (measured using, for example, one or more of the measurement devices and methods described herein), such that optical detection of the cephalothorax junction is not required.

[0337] As above combined Figure 36-Figure 37 As described, one 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 transmits 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 may be used to identify the cephalothorax junction.

[0338] Apart from Figure 36-37 , as described in conjunction with the illustrative head removal device 340 and with reference to Figure 44-Figure 45 As implemented, the transmitter 368 and the receiver 369 can be located on the shuttle 344 such that the transmitter 368 and the receiver 369 are located on opposite sides of the shrimp 302, the shrimp 302 is located on the working surface 314, and the de-heading device 340 is located above the shrimp 302. The transmitter 368 and the receiver define an optical path, which can be located above the working surface 314 in one or more embodiments.

[0339] refer to Figure 44-Figure 45 , the shuttle 344 can move along the shuttle axis 341 aligned with the processing axis 311. This movement can be used in conjunction with, for example Fig.34 and Fig.35 As described herein, the head removal restraint 350 and the spoon 360 are mounted on the head removal device shuttle 344. In one or more embodiments, the system controller (e.g., Fig.34The controller 390 in the apparatus may be configured to operate the shuttle actuator 345 to position the deheading device shuttle 344 so that the deheading restraint 350 is positioned on the first abdominal segment of the shrimp 302 on the working surface 314.

[0340] In particular, when the head restraint 350 is in the restrained position of the shrimp 302 on the working surface 314, the head restraint can be positioned near the cephalothorax junction of the shrimp 302. In one or more embodiments, the head restraint 350 can be preferably located on the ventral side of the cephalothorax junction. When so positioned, when the head restraint is in the restrained position of the shrimp 302 on the working surface 340, the spoon 360 can preferably contact the shrimp 302 on the working surface 340 on the cephalothorax side of the head restraint 350, near the cephalothorax junction of the shrimp 302. In one or more embodiments, the spoon 360 can preferably contact the shrimp 302 on the working surface 314 at the cephalothorax junction of the shrimp 302.

[0341] like Fig.44 3, the de-heading device shuttle 344 can be positioned so that the cephalothorax sensor (as represented by the transmitter 368 in this view) is positioned within its abdomen to detect the shrimp 302 on the working surface 314. In particular, the cephalothorax sensor can be positioned near the clamp 312. When operating the cephalothorax sensor, the shuttle 344 can be moved toward the cephalothorax of the shrimp 302 (i.e., away from the clamp 312), wherein the controller identifies the cephalothorax junction when the signal received from the receiver 369 of the cephalothorax sensor 368 / 369 indicates that the amount of energy received by the receiver has dropped below a selected cephalothorax junction threshold.

[0342] If the selected cephalothorax junction threshold is fixed, the opacity of individual shrimp can vary to the extent that detection of the cephalothorax junction may be difficult, and thus one or more embodiments of the deheading device apparatus 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 work surface 314 prior to operating the shuttle actuator 345 to position the deheading device shuttle so that the deheading restraint is properly positioned on the shrimp on the ventral side of the cephalothorax junction.

[0343] Fig.45 Decapitation apparatus 340 is depicted after shuttle 344 has moved along the abdomen of shrimp 302 located on work surface 314 (along with the directions of shuttle axis 341 and processing axis 311). In the depicted illustration, the cephalothorax sensor (by Fig.45368 in the figure) is located at the head-chest joint. With the location of the head-chest joint known, the shuttle actuator 345 can be operated to move the shuttle so that when moving from its storage position to its restraining position, the head-removing restraint 350 is located on the ventral side of the head-chest joint, and when the head-removing restraint 350 is in its restraining position, the spoon-shaped member ( Fig.45 The thoracotomy junction (not visible in FIG) is positioned proximal to, and preferably at, the thoracotomy junction.

[0344] Figure 46-Figure 47 The operation of an exemplary embodiment of a de-heading device 340 for removing the head of a shrimp 302 is described. To facilitate viewing of the operation of the de-heading device, the side panels of a shuttle 344 have been removed so that components located between the side panels of the shuttle 344 are exposed. Figure 46-Figure 47 Among the components depicted in FIG. 3 are a head-removal restraint 350 and a head-removal restraint actuator 352 together with a spoon-shaped member 360 (including Fig.47 360) and the spoon actuator 362. These components are shown when the head-off restraining device 350 is in its restraining position on the abdomen of the shrimp 302, which is restrained on the working surface 314 using the clamp 312. Figure 46-Figure 47 It is the spoon axis 361 that extends through the mounting portion 367 of the spoon 360 .

[0345] In particular, Fig.46 , when the spoon 360 is in its ready position relative to the deheading restraint 350, the deheading restraint 350 is shown in a position on the abdomen of the shrimp 302 so that the working portion of the spoon is in a position near the cephalothorax junction of the shrimp 302, preferably at the cephalothorax junction of the shrimp 302. The working portion 365 of the spoon 360 is in a position on the abdomen of the shrimp 302. Fig.46 350 is not visible in the drawing. Because it is located on the opposite side of the wing 359, which is used to guide the shrimp's cephalothorax during removal. As discussed herein, it may be preferred that the deheading restraint 350 be located on the first abdominal segment of the shrimp 302, so that the deheading restraint 350 can be described as being on the ventral side of the cephalothorax junction, which is the junction between the first abdominal segment of the shrimp 302 and its cephalothorax, as discussed herein.

[0346] Fig.47Deheading device 340 is depicted after spoon 360 has moved from its ready position to its final position. In particular, spoon 360 has been rotated about spoon axis 361 such that working portion 365 of spoon 360 is now spaced away from deheading restraint 350 that continues to restrain the abdomen of shrimp 302 to working surface 314. In the depicted exemplary embodiment of a deheading device as described herein, while spoon 360 rotates when moving between its ready position and its final position, one or more embodiments of a deheading device as described herein may include a working portion of the spoon that moves in a linear or translational motion when moving from its ready position to its final position.

[0347] After completing the movement from the ready position to the final position, one or more embodiments of the deheading apparatus 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 be moved along the processing axis 311 into a selected deheading position on the working surface 314.

[0348] In one or more embodiments, the head restraint actuator 352 can be in the form of a force-limited single-acting piston that is capable of moving the head restraint 350 between its storage position and its restraining position, as described herein. The head restraint actuator 352 can include a force-limiting feature (e.g., a spring return cylinder) so that the force of the head restraint on the shrimp 302 in the selected head removal position 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 restraint 350 between its storage position and the restraining position, many other mechanisms can be used to provide the reciprocating motion, such as a double-acting piston, a single-acting piston, a spring mechanism, a hydraulic actuator, a motor, a magnetic drive, etc.

[0349] Removal of the head or cephalothorax of a shrimp using a deheading apparatus as described herein may be facilitated by a spoon 362 in the form of a damped pneumatic actuator that provides sufficient force to spoon 360 in a controlled motion to remove the cephalothorax of shrimp 302. In one illustrative embodiment, a finite size orifice may be used to control the flow of hydraulic fluid within the actuator to provide a damping action that may be beneficial in controlling shrimp head removal in a deheading apparatus as described herein.

[0350] exist Figure 48-Figure 49, an illustrative embodiment of a damping spoon actuator 362 is depicted in cross-sectional view in FIG. 3, which may be used in one or more embodiments of the de-heading apparatus described herein. As depicted in those figures, the actuator 362 is in the form of a hydraulically damped pneumatic actuator that includes 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, which itself is located within the actuator housing 370. The main piston port 373 is in fluid communication with a main piston volume 374 located in the actuator housing 370. The floating piston port 375 is in fluid communication with a floating piston volume 376 also located in the actuator housing 370.

[0351] The actuator 362 also includes a working piston volume 380 located in 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 in the working piston volume 380. In one or more embodiments, the damping fluid can be in the form of, for example, mineral oil, although many other hydraulic fluids can be used in place 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 orifice 382 and the floating portion of the working piston volume 380 is located between the floating piston 378 and the orifice 382.

[0352] 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 that is located in the working piston volume 380. Fig.49 Both the actuator housing 370 and the inner housing 38 are enclosed at the right end of the view of the damping spoon actuator 362 depicted in FIG. Fig.49A 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 phantom 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 use of the actuator 362.

[0353] 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 master piston 372 and the orifice 382), fluid (e.g., air) introduced into the master piston volume 374 through the master piston port 373 forces the damping fluid to exit the main portion of the working piston volume 380 through the orifice 382 and into the floating portion to move the master piston 372 in the first direction relative to the actuator housing 370. Movement of the master piston 372 in the first direction relative to the actuator housing 370 can be achieved by moving the master piston 372 from the main portion of the working piston volume 380 to the floating portion. Fig.48 Its position in Fig.49 This can be seen in the movement of its position.

[0354] When at least a portion of the damping fluid is located in the floating portion of the working piston volume 380 (i.e., the flowing portion of the working piston volume 380 located between the floating piston 378 and the orifice 382), fluid (e.g., air) introduced into the floating piston volume 376 through the floating piston port 375 forces the damping fluid to exit the floating portion of the working piston volume 380 through the orifice 382 and into the main portion to move the main piston 372 relative to the actuator housing 370 in the second direction. Movement of the main piston 372 relative to the actuator housing 370 in the second direction can be achieved when the main piston 372 moves from the floating portion of the working piston volume 380 to the main portion. Fig.49 Its position in Fig.48 This can be seen in the movement of its position.

[0355] The flow control orifice 382 may take a variety of forms, such as an opening formed by drilling, milling, etc. (see, e.g., Fig.49A ), a needle valve, or any other suitable flow restriction structure that can limit the flow rate of liquid moving between the main portion and the floating portion of the working piston volume 380.

[0356] In one or more embodiments of the damping actuator as described herein, the master piston volume 374 can have a maximum master piston volume that is greater than the volume of 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 can have a maximum floating piston volume that is greater than the volume of damping fluid in the working piston volume 380. In one or more embodiments of the damping actuator as described herein, both the master piston volume 374 and the floating piston volume 376 can have a maximum piston volume that is greater than the volume of damping fluid in the working piston volume 380.

[0357] Fig.50 Various shrimps are depicted being processed by an illustrative embodiment of a deheading apparatus as described herein. In particular, Fig.50The shrimp depicted in exemplify one potential advantage of the head removal apparatus and head removal method as described herein. Shrimp 302a, 302c, and 302d differ from shrimp 302b in that shrimp 302b retains a significant portion of neck meat 303. As described herein, properly forming and positioning the head removal restraint and spoon in the head removal apparatus, as well as using a force-limited actuator for moving the head removal restraint from its storage position to its restrained position and a speed-limited damping actuator for moving the spoon from its ready position to its final position, may result in a significant amount of neck meat 303 being retained on shrimp processed using the head removal apparatus and method described herein. However, it should be understood that in one or more embodiments, making a clean cut during the removal of the cephalothorax may be preferred to retaining the neck meat. In one or more embodiments, increasing the force of the head removal restraint may help to cut the shrimp at the cephalothorax junction in a cleaner, more defined manner.

[0358] Shelling equipment and method

[0359] 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 shrimp shells. In one or more embodiments, the shelling device may remove the shell segments (abdominal segments) on the dorsal side of the shrimp abdomen as well as the ventral limbs (femoral limbs) and thoracic limbs (legs for walking) on ​​the ventral side of the shrimp abdomen. In one or more alternative embodiments, the shelling device and method described herein may only remove the ventral limbs (femoral limbs) and thoracic limbs (legs for walking) on ​​the ventral side of the shrimp abdomen, leaving the shell segments on the dorsal side of the shrimp abdomen intact.

[0360] The shrimp handling systems and methods described herein involve a deshelling process that is performed individually on each shrimp while the shrimp is in a selected position in a deshelling apparatus as described herein. In one or more embodiments, during the deshelling process, the shrimp can be restrained by a clamp acting on its abdomen at the junction between the last abdominal shell segment (e.g., the sixth shell segment) and the tail / caudal foot of each shrimp.

[0361] Figure 51-Figure 52 is a simplified diagram depicting an illustrative embodiment of a shelling apparatus 440 as described herein, and Fig.53 The shelling equipment control system is depicted in the form of a schematic block diagram. Fig.51 The shelling device 440 depicted in FIG. 4 includes a lower roller assembly 450 and an upper roller assembly 460. Figure 51-Figure 52 As depicted in FIG. 4 , the lower roller assembly 450 and the upper roller assembly 460 are located on opposite sides of a processing axis 411 that passes through the shelling device 440. As discussed herein, the processing axis 411 defines the shrimp through the processing system described herein (which, for example, includes Figure 51-Figure 52 The paths of the various stations in the shelling device 440) are depicted in FIG.

[0362] As in other devices used in the shrimp processing system described herein, shrimp moving along the processing axis 411 can be supported by the working surface 414. In the depicted embodiment of the peeling device 440, the working surface 414 is divided into two sections located on each side of the lower roller assembly 450 and the upper roller assembly 460, wherein the shrimp is supported between the lower roller assembly 450 and the upper roller assembly 460 during the actual peeling process. As a result, the working surface 414 is used to support the shrimp moving into the space between the lower roller assembly 450 and the upper roller assembly 460 and to support the shrimp after the shrimp leaves the space between the roller assemblies 450 and 460.

[0363] The lower roller assembly 450 includes a pair of lower rollers mounted side by side for rotation about an axis 451, and the upper roller assembly 460 includes a pair of upper rollers mounted side by side for rotation about an axis 461. Fig.51 In the view depicted in FIG. 4 , only one lower roller of the lower roller assembly 450 and only one upper roller of the upper roller assembly 460 are visible because the second roller in each assembly is located Fig.51 Behind the upper and lower rollers as seen in Figure 1.

[0364] Fig.52 4 is an upper view taken along the roller shuttle axis 441, which extends through the lower roller assembly 450 and the upper roller assembly 460 in a direction generally transverse to the process axis 411. As a result, the upper roller pair of the upper roller assembly 460 is Fig.52 The lower roller pair 450 is visible in Fig.52 460 because they are located below the upper roller assembly 460.

[0365] One or more embodiments of the shelling apparatus described herein include a roller shuttle configured to move one or both of the lower roller assembly 450 and the upper roller assembly 460 between a receiving position and an operating position. When the lower roller assembly 450 and the upper roller assembly 460 are in the receiving position, the lower roller assembly 450 and the upper roller assembly 460 are positioned farther from each other than when the lower roller assembly 450 and the upper roller assembly 460 are in the operating position. Fig.51 , the shelling device 440 is designed so that when the lower roller assembly 450 and the upper roller assembly 460 move from their receiving positions to their operating positions, the upper roller 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 so that when the roller assemblies 450 and 460 move between their receiving positions and operating positions, the lower roller assembly 450 moves while the upper roller assembly 460 remains stationary, or alternatively, both the lower roller assembly 450 and the upper roller assembly 460 move.

[0366] The movement of the upper roller assembly 460 is Fig.51, where the roller assembly 460 depicted in solid lines is in a receiving position, while the upper roller assembly 460′ (shown in phantom lines) depicts the position of the upper roller assembly 460 in a situation where the upper roller assembly 450 and the lower roller assembly 460 are in their operating positions to remove the shells of shrimp located between the upper roller assembly 450 and the lower roller assembly 460.

[0367] exist Figure 51 to Figure 52 Another feature depicted that may be found in one or more embodiments of the peeling apparatus as described herein is an alignment device 470 positioned on the working surface 414 such that shrimp moving between the lower roller assembly 450 and the upper roller assembly 460 along the processing axis 411 pass through the alignment device 470. As discussed herein, the shrimp move through the processing station along the processing axis 411 with the shrimp tail oriented first. In other words, the shrimp tail passes between the upper roller assembly 450 and the lower roller assembly 460, followed by the shrimp belly.

[0368] In one or more embodiments, the shrimp may be oriented such that the dorsal side of the shrimp faces the upper roller assembly 460, while the ventral side of the shrimp faces the lower roller assembly 450. As a result, the abdominal and thoracic feet located on the ventral side of the shrimp preferably contact the alignment device 470 so that the abdominal and thoracic feet may be aligned along the ventral side of the shrimp to facilitate their removal by the lower roller assembly 450. More specifically, the abdominal and thoracic feet (if present) may preferably be aligned so that they extend along the abdomen of the shrimp and away from its tail.

[0369] The alignment device 470 can take many forms, including, for example, a bristle layer facing upward away from the working surface 414 in a direction aligned with the shuttle axis 441. Although the bristle layer can be used for the alignment device 470, many other textured surfaces can also be used to provide the alignment function described herein. For example, columns, rough surfaces (e.g., sandpaper-like or other structured surfaces, etc.), channels, etc. can be used instead of bristle layers to align the ventral and thoracic feet on the shrimp passing through the alignment device 470. An example of a possible suitable alignment device can be a part of a brush having polyester bristles with a diameter of approximately 0.2 mm (e.g., see, "Food-Grade Tight-Seal Strip Brush" No. T7442T11 from McMaster Carr Company (mcmaster.com)).

[0370] Fig.53 is a schematic block diagram depicting a control system that can be used with Figure 51-Figure 52The control system includes a controller 490 and a conveyor system 492 operably connected to the controller. As mentioned herein, the conveyor system 492 can be used to move shrimp into and out of the peeling device 440. The controller 490 is also operably connected to the lower roller assembly drive 452 and the upper roller assembly drive 462, as well as the roller shuttle actuator 446.

[0371] In one or more embodiments, a lower roller assembly drive 452 is operably connected to the lower roller pair and configured to rotate the first lower roller about a first lower roller axis 451 passing through the first lower roller, and to rotate the second lower roller about a second lower roller axis 451 passing through the second lower roller. An upper roller assembly drive 462 is operably connected to the upper roller pair and configured to rotate the first upper roller about a first upper roller axis 461 passing through the first upper roller, and to rotate the second upper roller about a second upper roller axis 461 passing through the second upper roller.

[0372] As described herein, the controller 490 is also operably connected to the roller shuttle actuator for moving one or both of the lower roller assembly 450 and the upper roller assembly 460 between their receiving and operating positions.

[0373] Although controller 490 is described in terms of a single controller in which all control functions may be performed by the single controller (although backup and / or redundant controllers may be provided to assist in the event of a failure of the primary controller), one or more alternative embodiments of the shelling apparatus may include a set of distributed controllers in which those portions of the apparatus that require dedicated controllers may be interconnected using a network to facilitate processing of the shrimp by the shelling apparatus. Additionally, controller 490 (or any other controller used in a shelling apparatus as described herein) may be separate from or integrated into a system controller, such as in conjunction with a controller for controlling the components of the shelling apparatus. Figure 2 The control system of the shrimp processing system depicted in FIG. 9 depicts controller 90 .

[0374] The controller used in one or more embodiments of the shelling device described herein can be provided in any suitable form and can, for example, include a memory and a controller. For example, the controller can be in the form of one or more microprocessors, field programmable gate arrays (FPGAs), digital signal processors (DSPs), microcontrollers, application specific integrated circuits (ASIC) state machines, etc. The controller can include one or more any suitable input devices (for example, keyboards, touch screens, mice, trackballs, etc.) configured to allow a user to operate the device, and a display device (for example, a monitor (which may or may not be a touch screen), an indicator light, etc.) configured to convey information to the user.

[0375] exist Figure 54A-Figure 54D An illustrative embodiment of the shelling device described herein is depicted in FIG. In particular, Fig.54A is a perspective view of an illustrative embodiment of the shelling apparatus depicted, Fig.54B yes Fig.54A A side view of an illustrative embodiment of a shelling apparatus of , wherein the upper roller assembly and the lower roller assembly are in an operating position as described herein; and Fig.54C yes Fig.54A A side view of an illustrative embodiment of a shelling apparatus of , wherein the upper roller assembly and the lower roller assembly are in a receiving position as described herein. Figure 54A-Figure 54D 4 and 5. In each of the drawings, at least a portion of a shrimp 402 is schematically depicted, which do not include a clamp for holding the tail of the shrimp 402 on the working surface 414 on the downstream side of the deveining device 440. However, it should be understood that the tail of the shrimp 402 is held on the downstream working surface 414 during the deveining process by a clamp similar to the clamps 212 and 312 depicted in conjunction with the vein cutting device and the head removal device described herein, for example.

[0376] The shelling apparatus includes a lower roller assembly 450, which includes a lower roller pair, and an upper roller assembly 460, which includes an upper roller pair. Each of the lower rollers 450 rotates about its own axis 451, and each of the upper rollers 460 rotates about its own axis 461. In one or more embodiments, these axes 451 and 461 can preferably be generally aligned with the processing axis 411 along which the shrimp pass when moving in and out of the shelling apparatus 440.

[0377] In the illustrative embodiment depicted, the upper roller assembly 460 is attached to the shuttle 444 for moving the upper roller assembly 460 toward and away from the lower roller assembly 450 (to move between their operational positions (see Fig.54A and Fig.54B ) and their receiving locations (see Fig.54C ) between the roller assemblies). The shuttle 444 is supported on a frame 442, which also supports a roller shuttle actuator 446, which in the depicted embodiment is operably connected to the roller shuttle 444 using a drive pulley 447 and a belt 448. In the depicted embodiment, the roller shuttle actuator 446 can be in the form of an electric motor that rotates the drive pulley 447. However, it should be understood that many other drive mechanisms can be used to move the roller shuttle 444 toward and away from the lower roller assembly 450. For example, hydraulic and / or pneumatic pistons, magnetic drives, etc. can be used instead of incorporating Figure 54A-Figure 54CThe electric motor and drive belt system described in the illustrative embodiment of the peeling device 440 depicted in FIG. In addition, in one or more embodiments, the weight of the individual roller shuttles 444 can be selected and / or adjusted to exert a desired force on the dorsal surface of the shrimp 402 located in the peeling device 440, thereby eliminating the need for a driving force other than gravity.

[0378] The lower roller assembly 450 and the upper roller assembly 460 are located between the pair of working surfaces 414, with one working surface 414 located upstream of the roller assemblies 450 and 460 and the other working surface 414 located downstream of the roller assemblies. As a result, shrimp moving in and out of the peeling position between the lower roller assembly 450 and the upper roller assembly 460 move away from the upstream working surface 414 and onto the downstream working surface 414 as they pass through the peeling apparatus 440 along the processing axis 411.

[0379] exist Figure 54A-Figure 54C Other components depicted in the drawings include a lower roller assembly drive 452 operably connected to the lower rollers of the lower roller assembly 450 and an upper roller assembly drive 462 operably connected to the upper rollers of the upper roller assembly 460. In the illustrative embodiment depicted, the upper roller assembly drive 462 may preferably be mounted on the roller shuttle 444 so that the upper roller assembly drive 462 moves with the upper roller assembly 460 to simplify driving the upper rollers about their axes as described herein.

[0380] 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 process axis 411, in one or more embodiments, one or more of the lower roller axes 451 can be non-parallel to one or more of the upper roller axes 461. For example, in one or more embodiments, when moving along the process axis 411 in the process direction described herein, one or more of the lower roller axes 451 can converge with the upper roller axis 461 directly above the corresponding lower roller. The convergence between the lower roller axis 451 and the upper roller axis 461 is Fig.54B, where angle β is the angle formed between the lower roller axis 451 and the upper roller axis 461. In one or more embodiments, the convergence angle β 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 β can be 5° or less, 4° or less, 3° or less, 2° or less, 1° or less, or greater than 0°. In one or more embodiments, the convergence of the lower roller axis 451 and the upper roller axis 461 can beneficially result in the removal of shell segments closer to the shrimp's tail before removing shell segments closer to the shrimp's cephalothorax. This is beneficial because the shell segments overlap slightly at their junction, with the trailing edge of the shell segment closer to the cephalothorax being located above the leading edge of the next successive shell segment.

[0381] Another optional feature that may be found in one or more embodiments of the shucking apparatus as described herein is a cleaning nozzle 476 directed to the upper roller of the upper roller assembly 460. The cleaning nozzle 476 may be configured to direct water or other cleaning fluid to the rollers of both the lower roller assembly and the upper roller assembly to remove gastric feet, thoracic feet, shell segments, and other debris between shucking processes.

[0382] Fig.54D An enlarged view of the upper roller assembly 450 and the lower roller assembly 460 is depicted. Fig.54D One feature depicted in the enlarged view of is a rib 454 that extends outwardly away from the lower roller and along the length of the lower roller. Fig.54D Also visible in the enlarged view of FIG. 4 is the shell engagement pin 464 extending outwardly from the upper roller 460 .

[0383] Fig.54D Another feature depicted in the drawings is a support plate 467 that connects the ends of the upper rollers 460 that are positioned opposite the roller shuttle 444 and from which the upper rollers 460 extend. The support plate 467 helps maintain the proper relationship between the pair of upper rollers 460 as they rotate to remove shell segments from shrimp as described herein.

[0384] Another exemplary embodiment of a shelling device as described herein is Figure 55A-Figure 55D In particular, Fig.55A is a perspective view of another illustrative embodiment of a shelling apparatus 440' as described herein, with an upper roller assembly and a lower roller assembly in a receiving position as described herein; Fig.55B yes Fig.55A A perspective view of a shelling apparatus 440' with the upper roller assembly and the lower roller assembly in an operating position as described herein; Fig.55C yes Fig.55B An enlarged side view of a shelling apparatus depicting the relationship between the clamp, the work surface, and the lower roller of the illustrative embodiment; and Fig.55D yes Fig.55C A further enlarged view of a portion of the shelling equipment depicted in FIG.

[0385] The shelling device 440' includes a lower roller assembly 450' and an upper roller assembly 460', wherein the lower roller assembly 450' includes a lower roller pair and the upper roller assembly 460' includes an upper roller pair. Each lower roller 450' rotates about its own axis 451', and each upper roller 460' rotates about its own axis 461'. In one or more embodiments, these axes 451' and 461' can preferably be generally aligned with the processing axis 411' along which the shrimp passes when moving into and out of the shelling device 440'. The lower roller 450' extends between a tail end 456' and a head end 458', wherein the tail end 456' is located 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 with the tail end located downstream of the head end of the upper roller).

[0386] In the illustrative embodiment depicted, the upper roller assembly 460' is attached to the shuttle 444' to be used in conjunction with the present invention. Figures 54A-54D In a manner similar to that described above for shelling apparatus 440, the shuttle 444' moves the upper roller assembly 460' toward and away from the lower roller assembly 450'.

[0387] The lower roller assembly 450' and the upper roller assembly 460' are located between the pair of working surfaces 414', with one working surface 414' located upstream of the roller assemblies 450' and 460' and the other working surface 414' located downstream of these roller assemblies. As a result, shrimp entering and exiting the peeling position between the lower roller assembly 450' and the upper roller assembly 460' move away from the upstream working surface 414' and onto the downstream working surface 414' as they pass through the peeling device 440' along the processing axis 411'.

[0388] Figure 55A-Figure 55B Other components depicted in the drawings include a lower roller assembly drive 452', which is operably connected to the lower rollers of the lower roller assembly 450', and an upper roller assembly drive 462', which is operably connected to the upper rollers of the upper roller assembly 460'. In the illustrative embodiment depicted, the upper roller assembly drive 462' may preferably be mounted on the roller shuttle 444' so that the upper roller assembly drive 462' moves with the upper roller assembly 460' to simplify the driving of the upper rollers about their axes as described herein.

[0389] Although the axes 451′ and 461′ about which the rollers of the lower roller assembly 450′ and the upper roller assembly 460′ rotate may be generally aligned with the processing axis 411′, in one or more embodiments, one or more of the lower roller axes 451′ may not be parallel to the upper roller axis 461′ and / or one or more of the processing axis 411′. For example, in one or more embodiments, when moving along the processing axis 411′ in a processing direction as described herein, one or more lower roller axes 451′ may converge with the upper roller axis 461′ directly above the corresponding lower roller. In the illustrative embodiment of the shelling device 440′, one or both of the lower roller axes 451′ may also converge with the processing axis 411′ when moving along the processing axis 411′.

[0390] exist Fig.55C Schematically depicting the convergence between the lower roller axis 451', the upper roller axis 461', and the processing axis 411'. Angle θ is the angle formed between the lower roller axis 451' 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°.

[0391] exist Fig.55C Also depicted in FIG. 4 , the angle ε is the angle formed between the upper roller axis 461′ and the process axis 411′. In one or more embodiments, the convergence angle ε It may 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 may be 5° or less, 4° or less, 3° or less, 2° or less, 1° or less, or greater than 0°.

[0392] In one or more embodiments, the convergence between any pair of the lower roller axis 451', the upper roller axis 461', and the processing axis 411' can beneficially result in the removal of shell segments closer to the shrimp tail before removing shell segments located closer to the shrimp cephalothorax. This is beneficial because the shell segments overlap slightly at their junctions, with the trailing edge of the shell segment closer to the cephalothorax being located above the leading edge of the next successive shell segment.

[0393] Another optional feature that may be found in one or more embodiments of the shelling apparatus as described herein is an offset between the trailing end 456' of the lower roller 450' and the working surface 414' adjacent to the trailing end 456' of the lower roller 450'. The offset (e.g., Fig.55D55 ) results in the tail end 456' of the lower roller 450' being positioned closer to the tail end of the corresponding upper roller 460' than the adjacent portion of the working surface 414' as seen in FIG. 55 . The offset do results in a slight elevation of the ventral surface of the shrimp with its tail held in the clamp 412' above the working surface 414', compared to an alternative arrangement where the tail end of the lower roller is flush with or even below the working surface 414'. The offset do can improve the removal of the ventral surface of the shrimp being shelled in the shelling apparatus, as well as the removal of the shell segments closer to the shrimp tail.

[0394] Combination Figure 55A-Figure 55D Another optional feature depicted in the alternative embodiment of the shelling device 440' depicted is the addition of a clamping arm 480' to the shelling device 440'. In the illustrative embodiment depicted, the clamping arm 480' terminates at a working end 482' that is configured to act on the dorsal surface of the tail of the shrimp held in the fixture 412'. In one or more embodiments, the working end 482' provides a clamping force to the tail of the shrimp to help hold the shrimp in the fixture 412' during the shelling process. The clamping force is applied by members 484' and 486' that jointly support the working end 482'. In the depicted embodiment, the working surface 482' of the clamping arm 480' is connected to the roller shuttle 444' through members 484' and 486'. In the depicted embodiment, the compression force provided at the working surface 482' is controlled by a resilient connection between a support 488' attached to the roller shuttle 44' and a member 486', wherein the resilient connection allows the member 486' to rotate about the compression axis 481'. The resilient connection may include one or more of a resilient material, a torsion spring, etc.

[0395] In one or more embodiments, the clamping arm 480' can be described as being configured to Fig.55A The elevated position and Fig.55B The compression position seen in Fig.55D and the clamping arm 480′ is in Fig.55A Compared to the raised position, when the clamping arm 480' is in Fig.55B and Fig.55D In the clamping position, the working end 482' of the clamping arm 480' is positioned closer to the working surface 414' of the shelling device 440'.

[0396] In embodiments where the clamp arm 480' is operably connected to the roller shuttle 444', the clamp arm 480' is in a raised position (e.g., Fig.55A ), and when the lower roller assembly 450' and the upper roller assembly 460' are in the operating position, the clamping arm 480' is in the clamping position (as shown in FIG. Fig.55B).

[0397] In one or more embodiments of any of the peeling devices as described herein, the lower rollers can be used to remove the ventral feet and any thoracic feet present on the ventral side of the shrimp located between the upper roller assembly 450 and the lower roller assembly 460. To facilitate capturing those features, the lower rollers can include raised features to help capture the ventral feet and any thoracic feet on the ventral side of the shrimp located above the lower rollers. In one embodiment, the raised features can be in the form of ribs extending along the length of the lower roller 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.

[0398] Fig.56 An exemplary embodiment of a lower roller pair 450 is schematically depicted, which is configured to capture and remove the ventral feet and any thoracic feet present on the ventral side of a shrimp located between the upper roller assembly 450 and the lower roller assembly 460. The concepts described in conjunction with rollers 450 can be used in conjunction with any of the shelling devices or methods described herein. Each roller includes an inner diameter 454, which represents the base of the raised features on each lower roller. Each roller also includes an outer diameter 455, which represents the outermost portion of the raised features on each lower roller. As shown in FIG. Fig.56 As seen in , it is preferred that the outer diameter of one roller is located between the inner and outer diameters of the opposing roller so that when the rollers rotate about their axes 451, the raised features interfere with each other.

[0399] The interference between the raised features on the lower roller pair 450 may involve complementary engagement of those raised features (e.g., ribs from one roller fit into the space between ribs on the opposing roller) and / or the interference may involve deforming one or both sets of raised features on the lower roller 450. In lieu of the elongated ribs, one or more optional types of raised features may include, for example, an elastic mesh wrapped around the rollers 450, a structured surface on the rollers 450 (which is in the form of pins or columns, knurling). In addition, the raised features on the rollers 450 may be the same or different. For example, in one or more embodiments, one roller may be provided with elongated ribs extending along the length of the rollers, while the opposing roller may not be provided with raised features or may be provided with different sets of raised features. In one or more embodiments, the raised features may be composed of an elastomeric or resilient material that deforms during capture and / or removal of the ventral feet and any thoracic feet on the shrimp located between the rollers 450.

[0400] Figure 57-Figure 58An exemplary embodiment of an upper roller pair 460 that can be used in one or more embodiments of a shelling apparatus as described herein is depicted. The upper rollers 460 can define a head end 468 and a tail end 469, wherein the head end 468 is located upstream of the tail end 469 along the processing axis 411. In other words, the head end 468 of the upper rollers 460 is located farther from the tail of the shrimp being processed than the tail end 469. Each roller 460 rotates about an axis 461 and is located on opposite sides of the processing axis 411 along which the shrimp moves into and out of position between the upper rollers 460 for shelling.

[0401] In one or more embodiments, one or both of the upper rollers 460 may include a shell engagement pin 464 (see also FIG. 4 ) that protrudes outwardly from the outer surface of the upper roller 460. Fig.54D The shell engagement pin 464 may be configured to pierce or capture shell segments on the abdomen of a shrimp when forced against the shrimp. For example, in one or more embodiments, the shell engagement pin 464 may have a tapered body that decreases in cross-sectional area as it moves away from the axis of the roller on which the shell engagement pin 464 is located. 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 460.

[0402] In one or more embodiments, the surface area density of the shell engagement pins 464 can increase when moving from the head end 468 to the tail end 469 of the roller 460 along the upper roller axis 461. The surface area density of the shell engagement pins 464 can be increased using a variety of methods. For example, in one or more embodiments, the spacing between the pins 464 can decrease when moving from the head end 468 to the tail end 469 of the roller 460. For example, the reduced spacing can be seen in the pins 464 located in the recesses 465 on the roller 460.

[0403] Another way that the spacing between the pins 464 can be reduced when moving from the leading end 468 to the trailing end 469 of the roller 460 is by including more than one row of pins 464. Fig.57 In the illustrative embodiment of the upper roller 460 depicted in FIG, a second row of pins 464 is provided on each roller 460. In one or more embodiments, the first row of pins 464 can extend over 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 can extend over 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 460 measured from its head end 468 to its tail end 469.

[0404] Combination Fig.57Another optional feature of the upper rollers depicted in FIG. 4 is that one or both of the rollers 460 may be tapered such that the rollers 460 form a frustoconical shape that tapers as one moves from the tail end 469 to the head end 468 of the rollers 460. In one or more embodiments, the frustoconical shape may define a vertex 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 460 rotate during use. The use of tapered rollers may more closely conform to the shape of the belly of the shrimp located between the upper rollers 460, thereby enhancing contact between the shell engagement pins 464 and the shrimp shells.

[0405] The use of tapered upper roller 460 may also help remove shell segments closer to the shrimp's tail before removing shell segments closer to the shrimp's cephalothorax. As discussed above in conjunction with the converging axes of the upper and lower rollers, it is beneficial to remove the rearmost shell segments first because the shell segments overlap slightly at their junction, with the trailing edge of the shell segment closer to the cephalothorax being located above the leading edge of the next successive shell segment. In one or more embodiments, tapered rollers may be used in addition to, or in lieu of, converging upper and lower roller axes.

[0406] You can refer to Fig.51 Figure 54 Fig.56 and Fig.58 The operation of the lower roller assembly 450 and the upper roller assembly 460 to remove the shell segments from the dorsal side of the shrimp and the ventral side of the abdomen of the shrimp will be described.

[0407] refer to Fig.56 , controller (see for example Fig.53 The controller 490 in the embodiment of the present invention is operably connected to the lower roller assembly driver 452 for rotating the lower rollers 450 as described herein, and the controller can be configured to operate the lower roller assembly driver 452 so that each lower roller rotates around a capture arc, wherein the opposing rollers 450 rotate in opposite directions on their respective capture arcs. Fig.56 As depicted in , each roller 450 can rotate on a capture arc 457.

[0408] In one or more embodiments, the capture arc can be defined by time and / or distance. For example, the capture arc 457 can be the result of rotating the roller 450 for a selected period of time using the lower roller assembly driver. Alternatively, the capture arc 457 can be the result of rotating the roller 450 over a selected rotational distance. For example, the capture arc 457 can involve rotation over an arc of 20° or greater, 30° or greater, 45° or greater, 60° or greater, 75° or greater, 90° or greater, etc.

[0409] In other embodiments, capture arc 457 may be variable. For example, in one or more embodiments, the lower roller assembly drive may rotate one or both of rollers 450 until a selected amount of rotational resistance is encountered, by which capture of the ventral and thoracic pods present on the ventral side of the shrimp is defined.

[0410] In one or more embodiments, rotating the first and second rollers 450 about their respective capture arcs 457 can collect and retain at least one ventral foot on the ventral side of the abdomen of the shrimp located between the upper roller assembly 450 and the lower roller assembly 460 after decapitation, a majority of the ventral feet on the ventral side of the shrimp, and preferably all of the ventral feet and any thoracic feet. In addition, capturing the ventral feet and thoracic feet can also help position and / or straighten the abdomen of the shrimp before attempting to remove shell segments from the dorsal side of the abdomen of the shrimp.

[0411] After rotating the lower rollers of lower roller assembly 450 about their respective capture arcs, roller shuttle actuator 446 can be operated to move upper roller assembly 460 toward lower roller assembly 450, so that upper roller assembly 450 and lower roller assembly 460 move from a receiving position to an operating position in which the upper rollers of upper roller assembly 460 contact the shell segments on the dorsal side of the shrimp abdomen.

[0412] In one or more embodiments, roller shuttle actuator 446 can be configured to provide a limited force to the belly of the shrimp between lower roller assembly 450 and upper roller assembly 460. For example, in one or more embodiments where roller shuttle actuator 446 is in the form of an electric motor, a torque sensor can be used to determine the force applied to the shrimp between lower roller assembly 450 and upper roller assembly 460 as the upper roller assembly moves against the shrimp's belly. Alternatively, many other techniques and methods (e.g., pressure-controlled pneumatic cylinders or force-limited pneumatic cylinders, etc.) can be used to control the force applied to the shrimp's belly between lower roller assembly 450 and upper roller assembly 460.

[0413] After the roller shuttle actuator 446 moves the roller shuttle 444 carrying the upper roller assembly 460 into position so that the upper rollers of the upper roller assembly 460 contact the dorsal side of the shrimp's abdomen with sufficient force, the upper roller assembly drive 462 can be operated by the controller to rotate each upper roller 460 about a stripping arc sufficient to remove shell segments from the shrimp's abdomen.

[0414] Fig.58An example of a stripping arc pair 480 is depicted. In one or more embodiments, the stripping arcs 480 of the upper rollers 460 can be in opposite directions. In other words, the upper rollers 460 can rotate in opposite directions so that shell segments on the dorsal side of the shrimp between the upper rollers 460 are pulled into the gap between the rollers 460 as the shell segments are removed from the belly of the shrimp. In one or more embodiments, the stripping arc 480 can involve the rollers 460 rotating over an arc of 90° or more, 120° or more, 150° or more, 180° or more, 240° or more, 300° or more, or 360° or more.

[0415] Substantially while the upper rollers 460 rotate about their stripping arcs 480, the lower roller assembly drivers 452 can rotate the lower rollers 450 about their axes in a removal arc to remove the ventral and thoracic feet from the ventral side of the shrimp abdomen while the upper rollers 460 remove the shell segments from the dorsal side of the shrimp abdomen. As a result, the shell segments on the dorsal side of the shrimp abdomen and the ventral and thoracic feet on the ventral side of the shrimp abdomen can be removed simultaneously.

[0416] In one or more embodiments, the lower roller 450 is rotated through a removal arc (see, e.g., Fig.56 The removal arc 458 in the lower roller assembly can be greater than the capture arc 457 through which the lower roller 450 rotates to capture the ventral and thoracic pods. 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 more, 70° or more, 80° or more, 90° or more, 120° or more, 150° or more, 180° or more, 240° or more, 300° or more, or 360° or more.

[0417] After the lower roller assembly is operated to remove the ventral and thoracic legs on the ventral side of the shrimp and the shell segments on the dorsal side of the shrimp, the conveyor system can be used to remove the shrimp from its position between the lower roller assembly 450 and the upper roller assembly 460 for further processing. In general, however, it should be noted that the de-shelling station can be preferably located at the end of the shrimp processing system production line so that the shrimp are ready to be unloaded from the clamps or other restraining devices after being processed by the de-shelling equipment as described herein and, if necessary, sorted therefrom based on size or other physical characteristics known about the shrimp from processing in any other station in the shrimp processing system described herein.

[0418] As discussed above, one or more embodiments of the peeling apparatus and methods described herein can remove only the ventral pleura (femoral limbs) and thoracic pleura (legs for walking) on ​​the ventral side of the abdomen of the shrimp, leaving intact the shell segments on the dorsal side of the abdomen of the shrimp. For example, such shrimp can be sold as "shell-on" shrimp and / or "peel and eat" shrimp, wherein the peeling process is simplified because the ventral pleura (femoral limbs) and thoracic pleura (legs for walking) on ​​the ventral side of the abdomen of the shrimp will have been removed from the abdomen of the shrimp.

[0419] The above-described peeling apparatus may be used to perform this selective removal process by simply holding the upper rollers of the upper roller assembly 460 stationary about the perspective axis while operating the lower rollers as discussed above to remove the ventral limbs (femoral limbs) and thoracic limbs (legs for walking) on ​​the ventral side of the shrimp abdomen. However, as discussed above, it may be beneficial to move the upper roller assembly 460 and the lower roller assembly 450 between a receiving position and an operating position, wherein the upper roller assembly 460 is used to stabilize the shrimp during the removal of the ventral limbs (femoral limbs) and thoracic limbs (legs for walking).

[0420] Although the above combination can be used Figure 51-58 The shelling apparatus and methods described and discussed accomplish the removal of the pleura (femoral limbs) and thoracic limbs (walking legs) while leaving intact the shell segments on the dorsal side of the shrimp abdomen, but one or more optional 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 an upper assembly.

[0421] exist Fig.59 One illustrative embodiment of an arrangement of an upper assembly for replacing an upper roller assembly is schematically depicted in More specifically, lower roller assembly 450 ′ is depicted as including a lower roller that rotates about a lower roller axis 451 ′ in a manner similar to that described above with respect to lower roller assembly 450 . Fig.59 The abdomen of shrimp 402' is also depicted in cross-sectional view. The abdomen of shrimp 402' extends along a processing axis 411', which is generally aligned with lower roller axis 451'.

[0422] Fig.59 Also includes an upper component 460 ', in a similar manner to the above combined Figure 51-58 The upper assembly 460' can be used to stabilize the dorsal surface of the shrimp 402' during removal of the ventral limbs (feet) and thoracic limbs (walking legs) in the manner described by the de-shelling apparatus depicted and described.

[0423] Similar to the above about combining Figure 51-58 In the manner depicted and described with respect to the shelling apparatus, upper assembly 460' and 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 upper assembly 460' and lower roller assembly 450' can be moved to place those assemblies in the receiving position or the operating position as desired, upper assembly 460' is shown as spaced apart from lower roller assembly 450' in the receiving position as upper assembly 460" (shown in phantom). It should be understood that, alternatively, lower roller assembly 450' can be moved toward stationary upper assembly 460', as described herein in conjunction with Figure 51-Figure 58 The shelling assembly depicted and described is as discussed above.

[0424] Shell section separator apparatus and method

[0425] As discussed herein, one or more embodiments of the shrimp processing systems and methods described herein may include a shell segment separator apparatus and method 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 shrimp processed using the systems described herein. In one or more embodiments, the separation of adjacent shell segment pairs can facilitate the neat removal (during shelling) of the abdominal shell segments that are located in front of (i.e., closest to the cephalothorax) the rearmost abdominal shell segment (where the rearmost abdominal shell segment is the shell segment located in front of the shrimp tail).

[0426] In some species of shrimp, the anatomy or connection between the rearmost abdominal shell segment and the adjacent abdominal shell segment may result in tearing of one or both of the rearmost abdominal shell segment and the adjacent abdominal shell segment. In shrimps comprising, for example, six abdominal shell segments (see, e.g., Figure 3 ), as described herein, removing the abdominal shell segments without separating the fifth and sixth abdominal shell segments may result in tearing of one or both of the fifth or sixth abdominal shell segments.

[0427] As with other shrimp processing systems and methods described herein, the shell segment separator device is performed individually on each shrimp while the shrimp is in a selected position relative to the shell segment separator device as described herein. In one or more embodiments, the shrimp can be restrained by a clamp that acts on the abdomen of the shrimp at the junction between the last abdominal shell segment (e.g., the sixth shell segment) and the tail / caudal foot of each shrimp.

[0428] Fig.60 is a perspective view of an illustrative embodiment of a shell segment separator apparatus 540 as described herein, and Fig.61 The shell separator plant control system is depicted in block diagram form. Fig.60 The shell separator device 540 depicted in FIG. 5 includes a first shell segment holder 550 and a second shell segment holder 560, which are positioned along a processing axis 511 passing through the shell segment separator device 540. As discussed herein, the processing axis 511 defines the shrimp through the various stations in the processing system described herein (including, for example, Fig.60 The shell separator device 540) is depicted in FIG. Fig.60 5. Shrimp 502 is seen restrained by clamp 512, where shrimp 502 is in a selected position on a work surface relative to shell segment separator apparatus 540.

[0429] The shell segment separator device 540 also includes a carriage 544 located above the working surface 514, wherein the carriage 544 is movable along a carriage axis 541 to position the working portion of the shell segment separator 540 relative to the shrimp when the shrimp is in a selected position on the working surface 514. In addition, the shell segment separator device 540 also includes a separation shuttle 570, which is configured to move along a shuttle axis 571 to move the second shell segment holder 560 relative to the first shell segment holder 550 to separate 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 shown in FIG. Fig.60 Although the actuator depicted provides translational motion to separate adjacent shell segments, rotational motion may also be used, particularly if the axis of rotation relative to which the rotational motion is made is sufficiently distant from the processing axis 511 that functionally results in approximately linear motion along the processing axis 511 at the location where the shell segments are separated as described herein.

[0430] Fig.61 is a schematic block diagram describing a control system that can be used with Fig.60 540. The control system includes a controller 590 and a conveyor system 592 operably connected to the controller 590. As mentioned herein, the conveyor system 592 can be used to move shrimp into and out of a selected position relative to the shell segment separator device 540. The controller 590 is also operably connected to the first retainer actuator 555, the second retainer actuator 565, and the separation actuator 575.

[0431] A first retainer actuator 555 is provided to move the first segment retainer 550 between its ready configuration and its holding configuration. A second retainer actuator 565 is provided to move the second segment retainer 560 between its ready configuration and its holding configuration. A separation actuator 575 is provided to move the second segment retainer 560 between its initial position and its separation position after operating the first retainer actuator 555 to move the first segment retainer 550 from its ready configuration to its holding configuration and operating the second retainer actuator 565 to move the second segment retainer 560 from its ready configuration to its holding configuration. In the illustrative embodiment depicted, the separation actuator 575 moves the separation shuttle 570 on which the second segment retainer is located to move the second segment retainer 560 between its initial position and its separation position.

[0432] Fig.62 and Fig.63 yes Fig.605. An enlarged perspective view of a shell segment separator apparatus of FIG. 5, wherein a first shell segment holder 550 and a second shell segment holder 560 are in their respective ready configurations. As depicted, shrimp 502 is restrained in a fixture 512 in a selected position on a working surface 514, wherein shrimp 502 is aligned along a processing axis 511.

[0433] In the illustrative embodiment depicted, the first shell segment holder 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 abdominal 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, pins may not be located on both jaws 552 of the first shell segment holder 550 of the shell segment separator apparatus as described herein.

[0434] refer to Fig.63 , a first retainer actuator 555 is depicted and is configured to move the shuttle 556 relative to the carriage 544 to rotate the jaws 552 about their respective axes 551. Although the depicted first retainer actuator 555 is in the form of a pneumatic cylinder, any actuator described herein may take any suitable form, including, for example, an electric motor, a hydraulic motor, a piston (hydraulic and / or pneumatic), a solenoid, etc.

[0435] Similarly, the second shell segment holder 560 includes a pair of jaws 562 configured to rotate about the axis 551. Each jaw 562 also includes one or more pins 564 that are configured to pierce the abdominal shell segment of the shrimp 502 when moved to their retaining configuration as described herein. Likewise, while both jaws 562 include pins 564, it should be understood that in one or more alternative embodiments, pins may not be located on both jaws 562 of the second shell segment holder 560 of the shell segment separator apparatus as described herein.

[0436] When the first segment holder 550 is fixed in position relative to the carriage 544, the second segment holder 560 is mounted on the separation shuttle 570 for movement relative to the first segment holder 560 and the carriage 544. As described herein, the first segment holder 550 and the second segment holder 560 are mounted on the carriage 544 for movement along the processing axis 511. Movement of the carriage 544 causes the first segment holder 550 and the second segment holder 560 to move relative to the clamp 512 that restrains the shrimp 502 on the working surface 514, so that the first segment holder 550 and the second segment holder 560 can be properly positioned with the junction of adjacent segments pairs located between the first segment holder 550 and the second segment holder 560.

[0437] In one or more embodiments, data from a measurement device as described herein can be used to achieve proper positioning of the shell segment separator device 540 relative to the clamp 512 and / or shrimp 502 on the work surface 514, wherein the approximate location of the joint between selected adjacent shell segments is determined based on the size of each shrimp.

[0438] Fig.64 yes Fig.63 1, wherein the first segment retainer 550 and the second segment retainer 560 are in their respective holding configurations. With respect to the exemplary embodiment of the first segment retainer 550 and the second segment retainer 560, the holding configurations of the two segment retainers involve their respective jaws being moved from Figure 62-Figure 63 The ready configuration seen in the Fig.64 In particular, the jaws 552 of the first segment retainer 550 and the jaws 562 of the second segment retainer 560 are positioned farther apart when in their respective ready configurations than when the jaws 552 of the first segment retainer 550 and the jaws 562 of the second segment retainer 560 are in their respective retaining configurations (see, for example, Fig.64 ).

[0439] Although the two jaws 552 of the first shell segment retainer 550 and the two jaws 562 of the second shell segment retainer 560 rotate when moving between their respective ready configurations and holding configurations, in one or more optional embodiments, the corresponding retainer actuators for moving the shell segment retainers between their ready configurations and holding configurations constitute the jaws of one or both of the first shell segment retainer 550 and the second shell segment retainer 560.

[0440] With reference to the depicted illustrative embodiments of the first and second segment retainers 550, 560, both the first and second segment retainers 550, 560 can be described as being positioned closer to the working surface 514 when in their respective retained configurations than when in their respective ready configurations.

[0441] refer to Figure 62-Figure 64 The difference between the ready configuration and the retained configuration of the first shell segment retainer 550 can be described as follows: the first shell segment retainer 550 is configured as follows: Figure 62-Figure 63 The first shell segment holder 550 shown in FIG. 5 is in a ready configuration to allow a shrimp (e.g., shrimp 502) to be positioned between the first shell segment holder 550 and the working surface 514. In addition, the first shell segment holder 550 is configured such that when the first shell segment holder 550 is in a Fig.645, a first shell segment of a shrimp (e.g., shrimp 502) located between the first shell segment retainer 550 and the working surface 514 is retained in a selected position on the working surface 514. With respect to the illustrated illustrative embodiment of the first shell segment retainer 550, it can be seen that when the first shell segment retainer 550 is in the Fig.64 Positioning a shrimp, such as shrimp 502 , between first shell segment retainer 550 and working surface 514 may be difficult, if not impossible, when in its retained configuration as seen in FIG.

[0442] Reference again Figure 62-Figure 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 Figure 62-Figure 63 , allowing a shrimp (e.g., shrimp 502) to be positioned between the second segment holder 560 and the work surface 514. In addition, the second segment holder 560 is configured such that when the second segment holder 560 is in the ready configuration as shown in FIG. Fig.64 , a second shell segment of a shrimp (e.g., shrimp 502) located between the second shell segment retainer 560 and the working surface 514 is retained in a selected position on the working surface 514 relative to the second shell segment retainer 560. For the illustrated illustrative embodiment of the second shell segment retainer 560, it can be seen that when the second shell segment retainer 560 is in the position shown in FIG. Fig.64 Positioning a shrimp, such as shrimp 502, between second shell segment retainer 560 and working surface 514 may be difficult, if not impossible, when in its retained configuration as seen in FIG.

[0443] You can refer to Figure 65-Figure 66 The operation of the depicted illustrative embodiment of the shell section separator apparatus 540 is discussed. Fig.65 yes Fig.64 A side view of a shell segment separator apparatus with the second shell segment retainer 560 in its initial position, Fig.66 After the second shell segment retainer 560 has moved from the initial position to the separated position Fig.64 Side view of the shell section separator device 540.

[0444] In the depicted illustrative embodiment of the segment separator apparatus 540, the separation actuator is used to separate the second segment retainer 560 from the Fig.65 The initial position seen in the figure is moved to Fig.66 The separated position seen in FIG. and the second shell segment retainer 560 are in Fig.65 Compared to the initial position seen in FIG. 1 , when the second shell segment retainer 560 is in Fig.66 In the separated position as shown in FIG. 5 , the second shell segment retainer 560 is positioned further away from the first shell segment retainer 550. Figure 65-Figure 66 5, the second shell segment holder 560 can also be described as moving away from the clamp 512 that holds the shrimp 502 in a selected position relative to the shell segment separator device 540. In the illustrative embodiment depicted, the second shell segment holder 560 moves along the processing axis 511 when moving between its initial position and the separated position, wherein the first shell segment holder 550 and the second shell segment holder 560 are aligned on the processing axis 511.

[0445] As described herein, after operating the first segment retainer 550 from its ready configuration to its retaining configuration and operating the second retainer actuator 560 from its ready configuration to its retaining configuration, the separation actuator causes the second 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 can be separated from each other by a selected separation distance 566 (see FIG. 5 ) along the process axis 511. Fig.66 ).

[0446] 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. The separation or movement between two adjacent shell segments destroys or severs the connection between the adjacent shell segments to allow a clean separation at the joint between the two adjacent shell segments, as described herein. The separation of adjacent shell segments is not intended to remove the adjacent shell segments from the abdomen of the shrimp. On the contrary, after separation using the shell segment separation device described herein, the shell segments remain attached to the abdomen of the shrimp.

[0447] In one or more embodiments, the positions of the first segment holder 550 and the second segment holder 560 can be described relative to the clamp 512, which is used to restrain the shrimp in a selected position relative to the segment separator device 540. For example, the first segment holder 550 can be described as being located between the second segment holder 560 and the clamp 512 along the processing axis 511. In one or more embodiments, the first segment holder 550 can preferably remain stationary or in a fixed position relative to the clamp 512, and the second segment holder 560 can be moved relative to both the first segment holder 550 and the clamp 512 (in the illustrative embodiment depicted, using the second holder shuttle 570). However, in one or more alternative embodiments, the first segment holder 550 can also be moved relative to the clamp 512 and / or the second segment holder 560.

[0448] although Fig.60 and Figure 62-Figure 66The illustrative embodiment of the shell segment separator apparatus described in includes a shell segment holder having jaws that move between a ready configuration and a holding configuration, but the shell segment separator apparatus described herein may not include movable jaws. Figure 67-Figure 70 An alternative illustrative embodiment of a shell segment separator apparatus is depicted that does not include movable jaws.

[0449] Figure 67-Figure 70 The shell segment separation apparatus depicted in FIG. 6 includes shell segment holders 650 and 660 positioned opposite (e.g., above) a working surface 614 along which a processing axis 611 extends. Because the shell segment holders 650 and 660 are aligned along the processing axis 611, Fig.67 and Fig.68 Only the shell segment retainer 650 is visible. Fig.67 6, shell segment holders 650 and 660 are in a ready configuration in which shell segment holders 650 and 660 are spaced apart from work surface 614 a distance sufficient to allow shrimp to be positioned between shell segment holders 650 and 660 and work surface 614.

[0450] In comparison, Figure 68-Figure 70 6, shell segment holders 650 and 660 are in their retaining configurations such that shell segments of shrimp positioned between shell segment holders 650 and 660 and working surface 614 are retained in selected positions on working surface 614. In the depicted embodiment, shell segment holders 650 and 660 are positioned closer to working surface 614 in their retaining configurations than when the shell segment holders are in their ready configurations.

[0451] Figure 67-Figure 70 , which includes a notch 652 configured to receive the ventral portion 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, with the ventral surface of the shrimp facing or resting on the working surface 614. Similarly, Figure 69-Figure 70 , an illustrative embodiment of a shell segment holder 660 is depicted that includes a notch 662 configured to receive the ventral portion 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, with the ventral surface of the shrimp facing or resting on the working surface 614.

[0452] Figure 67-Figure 70The illustrative embodiment of the shell segment holder 650 depicted in also includes a pin 654 positioned in the notch 652 such that the pin engages (e.g., pierces) a shell segment on the dorsal surface of the shrimp in a selected position on the working surface 614, wherein the ventral surface of the shrimp faces or rests on the working surface 614. Similarly, Figure 69-Figure 70 The depicted illustrative embodiment of the shell segment retainer 660 depicted in also includes a pin 664 positioned in the recess 662 such that the pin 664 engages (e.g., pierces) a shell segment on a dorsal surface of a shrimp in a selected location on the working surface 614, wherein the ventral surface of the shrimp faces or rests on the working surface 614.

[0453] Figure 69-Figure 70 The cross-sectional view can be used to describe the shell segment retainers 650 and 660 from the initial position (see, for example Fig.69 ) to the separation position (see for example Fig.70 ) movement. In particular, Fig.70 Compared with the separated position of the shell segment retainers 650 and 660, the shell segment retainers 650 and 660 are in the Fig.69 In other words, Fig.69 The distance di between the shell segment retainers 650 and 660 in the separated position is less than Fig.70 The distance ds between the shell segment holders 650 and 660 in the separated position (or vice versa) Fig.70 The distance ds between the shell segment retainers 650 and 660 in the separated position is greater than that in Fig.69 The distance di between the shell segment holders 650 and 660 in the initial position.

[0454] Although not depicted, it should be understood that yet another illustrative embodiment of the shell segment separator apparatus may include a housing having movable jaws (such as, for example, Fig.60 and Figure 62-Figure 66 A shell segment retainer (as depicted in Figure 67-Figure 70 A shell segment retainer (as depicted in ).

[0455] For methods, shell segment separation can involve separating adjacent shell segments on the abdomen of a shrimp (e.g., shrimp 502), wherein the method includes maintaining a first shell segment on the abdomen of the shrimp in a fixed position relative to a processing axis (e.g., processing axis 511), 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 maintaining the first shell segment in the fixed position. In addition, after the adjacent shell segments are separated, the first shell segment and the second shell segment remain attached to the abdomen of the shrimp.

[0456] In one or more embodiments of shell segment separation as described herein, adjacent shell segments can be described as the rear-most abdominal shell segment of the shrimp (i.e., the shell segment closest to the shrimp tail) and the adjacent shell segment on the opposite side of the rear-most abdominal shell segment. For a shrimp having, for example, six abdominal shell segments, the rear-most abdominal shell segment would be the sixth shell segment, and the adjacent shell segment or the second abdominal shell segment would be the fifth shell segment. In the illustrative embodiment depicted, the shell segment separator device 540 uses the first shell segment holder 550 to hold the sixth shell segment in a fixed position, while the shell segment separator device 540 uses the second shell segment holder 560 to move the fifth shell segment away from the sixth shell segment.

[0457] Although the shell segment separator apparatus and methods of using the apparatus may preferably be directed to separating the rearmost shell segment and adjacent shell segments, alternative embodiments of the shell segment separator apparatus and methods described herein may be directed to separating any adjacent pairs of shell segments on shrimp processed using the shrimp processing systems described herein.

[0458] Illustrative aspects

[0459] Following are some additional illustrative aspects of the shrimp processing systems, shrimp processing stations, and methods described herein.

[0460] Mud vein cutting equipment

[0461] In independent aspect A1, a mud vein cutting device as described herein comprises: a mud vein cutting module comprising a blade and a blade actuator, the blade comprising 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 moving through the measuring module along a measuring direction; a controller operably 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 substantially transverse to the measuring direction.

[0462] In aspect A2 according to aspect A1, the cutting edge of the blade comprises a curved edge.

[0463] In aspect A3 according to any one of aspects A1 to A2, when the blade moves along the cutting path, the cutting edge of the blade faces away from the ventral side of the shrimp in the selected cutting position.

[0464] In aspect A4 according to any one of aspects A1 to A3, the cut-off path includes a straight line path.

[0465] In aspect A5 according to any one of aspects A1 to A4, the pulse cutting module includes a cutting constraint device, which is configured to fix the position of the shrimp held in the clamp, wherein the cutting constraint device is operably attached to a cutting constraint device actuator, and the cutting constraint device actuator is configured to move the cutting constraint device between a withdrawn position and a restraining position, wherein when the cutting constraint device is in the restraining position, the shrimp in the clamp held in the selected cutting position is restrained by the cutting constraint device, and wherein the cutting constraint device actuator is operably connected to a controller, wherein the controller is configured to operate the cutting constraint actuator to move the cutting constraint device to the restraining position before the blade actuator is operated to move the blade along the cutting path when the shrimp held in the clamp is in the selected cutting position.

[0466] In aspect A6 according to aspect A5, when the shrimp held in the clamp is in the selected cutting position and the cutting restraint is in the restraining position, the cutting restraint is located between the blade and the clamp.

[0467] In aspect A7 according to any one of aspects A5 to A6, the restraining device actuator comprises a force limiting actuator configured to apply a selected force to the shrimp through the shearing restraining device when the shearing restraining device is in the restraining position.

[0468] In aspect A8 according to any one of aspects A5 to A7, the position of the cutting path is fixed relative to the cutting restraint device, so that the cutting restraint device is configured to set the position of the blade relative to the shrimp held in the selected cutting position by the clamp when the cutting restraint device is in the restraining position.

[0469] In aspect A9 according to any one of aspects A5 to A8, the cut restraint comprises a notch, and wherein the notch is configured to contact the back side of the shrimp held in the clamp in the selected cut position, wherein the position of the cut path is fixed relative to the notch.

[0470] In aspect A10 according to aspect A9, the notch comprises a beveled surface extending from the caudal side of the shearing restraint to the cephalothoracic side of the restraint, and the notch is on the cephalothoracic side of the shearing restraint than on the caudal side of the shearing restraint.

[0471] In aspect A11 according to any one of aspects A5 to A10, the controller is configured to operate the blade actuator to return the blade from the cutting position to the storage position after operating the blade actuator to move the blade from the storage position to the cutting position and before operating the cutting restraint device actuator to return the cutting restraint device to the withdrawn position.

[0472] In aspect A12 according to any one of aspects A1 to A11, the pulse cutting module includes a pulse cutting module driver configured to move the blade and the blade actuator along the measuring direction, wherein the pulse cutting module driver is operably connected to the controller, and wherein the controller is configured to operate the pulse cutting module to adjust the position of the blade along the measuring direction before actuating the blade actuator.

[0473] In any of the embodiments of the mud vein severing apparatus, the controller is configured to operate the vein severing module to adjust a position of the blade along the measuring direction based at least in part on the length of the shrimp.

[0474] In aspect A13 according to any one of aspects A1 to A12, the measurement module includes a non-contact sensor configured to detect a clamp and a shrimp held in the clamp, the non-contact sensor being operably connected to a controller to transmit a signal indicative of energy received by the non-contact sensor, wherein the controller is configured to: identify a junction between the clamp and the shrimp held in the clamp based on the signal received from the non-contact sensor when the shrimp held in the clamp moves past the non-contact sensor; after identifying the junction between the clamp and the shrimp held in the clamp, determine a length of the shrimp held in the clamp based at least in part on the signal received from the non-contact sensor; and optionally, after determining the length of the shrimp held in the clamp, determine a weight of the shrimp held in the clamp based at least in part on the length of the shrimp held in the clamp.

[0475] In aspect A14 according to aspect A13, the controller is configured to identify the junction between the clamp and the shrimp when the signal received from the non-contact sensor reaches or drops below a selected clamp threshold.

[0476] In aspect A15 according to any one of aspects A13 to A14, the controller is configured to determine the length of the shrimp when the signal received from the non-contact sensor reaches or exceeds a selected antenna threshold.

[0477] In aspect A16 according to any one of aspects A13 to A15, the non-contact sensor includes an optical sensor or an ultrasonic sensor.

[0478] In aspect A17 according to any one of aspects A13 to A16, the controller is configured to operate the non-contact sensor to calibrate the non-contact sensor before each shrimp held in the fixture passes the non-contact sensor in the measuring direction.

[0479] In aspect A18 according to any one of aspects A13 to A16, the controller is configured to operate the non-contact sensor to calibrate the non-contact sensor after a selected number of shrimps held in the fixture pass the non-contact sensor in the measuring direction.

[0480] Independent aspect B0 comprises a method of deveining shrimp using the apparatus according to any one of aspects A1 to A18.

[0481] How to cut mud veins

[0482] In an independent aspect B1, a method of severing shrimp mud veins comprises: positioning a 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 the cephalothorax to the tail of the shrimp, wherein the blade penetrates the shrimp shell at a selected depth proximate to the junction between the rearmost abdominal shell segment and an adjacent abdominal shell segment of the shrimp, wherein the rearmost abdominal shell segment is located between the adjacent abdominal shell segment and the tail of the shrimp.

[0483] In aspect B2 according to aspect B1, the method includes determining a location of a junction between a rearmost abdominal shell segment and an adjacent abdominal shell segment of the shrimp based at least in part on a length of the shrimp.

[0484] In aspect B3 according to any one of aspects B1 to B2, the method comprises measuring the length of the shrimp before moving the blade through the shrimp.

[0485] In aspect B4 according to any one of B1 to B3, the cutting edge of the blade faces the dorsal surface of the shrimp and away from the ventral surface of the shrimp. In aspect B5 according to aspect B4, the cutting edge of the blade is curved along the length of the blade.

[0486] In aspect B6 according to any one of aspects B1 to B5, the cut-off path includes a straight line path.

[0487] In aspect B7 according to any one of aspects B1 to B6, the method further comprises adjusting the position of the blade along the length of the shrimp as the blade passes through the shrimp along the cutting path so that the blade passes through the shrimp at a position proximate to a junction between a rearmost abdominal shell segment and an adjacent abdominal shell segment of the shrimp. In aspect B8 according to aspect B7, adjusting the position of the blade comprises adjusting the position of the blade based at least in part on a measured length of the shrimp.

[0488] In aspect B9 according to any one of aspects B1 to B8, the method further includes determining the height of the dorsal surface of the shrimp near the junction between the rearmost abdominal shell segment and the adjacent abdominal shell segment before moving the blade through the shrimp. In aspect B10 according to aspect B9, determining the height of the dorsal surface of the shrimp near the junction between the rearmost abdominal shell segment and the adjacent abdominal shell segment includes contacting the dorsal surface of the rearmost shell segment with a shrimp restraint device before moving the blade through the shrimp. In aspect B11 according to aspect B10, the position of the severance path is fixed relative to the shrimp restraint device. In aspect B12 according to aspect B11, the shrimp restraint device includes a notch, and wherein the method includes restraining the shrimp from moving in a direction aligned with the severance path.

[0489] In aspect B13 according to any one of aspects B10 to B12, the method comprises forcing the shrimp restraint device against the dorsal surface of the shrimp using a force-limiting actuator.

[0490] In aspect B14 according to any one of aspects B1 to B13, the method comprises restraining the shrimp from moving in a direction aligned with the cutting path before moving the blade through the shrimp along the cutting path. In aspect B15 according to aspect E14, moving the blade through the shrimp along the cutting path comprises moving the blade from a storage position to a cutting position, and wherein the method comprises returning the blade from the cutting position to the storage position after moving the blade from the storage position through the shrimp along the cutting path. In aspect B16 according to aspect B15, returning the blade from the cutting position to the storage position comprises moving the blade along the cutting path.

[0491] In aspect B17 according to any one of aspects B14 to B16, the method comprises restraining the shrimp from moving in a direction aligned with the severing path while returning the blade from the severing position to the storage position.

[0492] Head removal equipment

[0493] In an independent aspect C1, a shrimp head-off device comprises: a head-off restraint positioned relative to a work surface; a head-off restraint actuator configured to move the head-off restraint between a storage position and a restraint position relative to the work surface, wherein when the head-off restraint is in the storage position, the head-off restraint is spaced apart from the work surface to allow the shrimp to be positioned between the head-off restraint and the work surface, and wherein the head-off restraint is closer to the work surface when the head-off restraint is in the restraint position than when the head-off restraint is in the storage position, so that the head-off restraint is configured to force the shrimp located between the head-off restraint and the work surface against the work surface when the head-off restraint is in the restraint position; a spoon; and a spoon actuator configured to move the spoon along a spoon path between a ready position and a final position relative to the head-off restraint, wherein when the spoon is in the ready position, A working portion of the spoon is proximate to the cephalothorax side of the head restraint, and when the spoon is in the final position, the working portion of the spoon is spaced apart from the cephalothorax side of the head restraint, so that when the spoon moves from the ready position to the final position, the working portion of the spoon is configured to separate the head of the shrimp on the working surface from the abdomen of the shrimp; and a controller operably connected to the head restraint actuator and the spoon actuator, the controller being configured to: operate the head restraint actuator to move the head restraint from the storage position to the restraint position, after operating the head restraint actuator to move the head restraint to the restraint position, operate the spoon actuator to move the spoon from the ready position to the final position along the spoon path, and after operating the spoon actuator to move the spoon to the final position, operate the head restraint actuator to return the head restraint to the storage position.

[0494] In aspect C2 according to aspect C1, the controller is configured to, after operating the dehead restraint device actuator to return the dehead restraint device to the storage position, operate the spoon actuator to return the spoon to the ready position.

[0495] In aspect C3 according to aspect C1, the controller is configured to operate the spoon actuator to return the spoon to the ready position before operating the dehead restraint device actuator to return the dehead restraint device to the storage position.

[0496] In aspect C4 according to any of aspects C1 to C3, the head restraint device actuator comprises a force limiting actuator configured to apply a compressive restraint force up to a selected restraint force limit on the shrimp located on the work surface between the head restraint device and the work surface.

[0497] In aspect C5 according to any one of aspects C1 to C4, the spoon actuator comprises a speed-limiting actuator configured to move the working portion of the spoon from the ready position to the final position at a selected maximum speed.

[0498] In aspect C6 according to any one of aspects C1 to C5, the working part of the spoon moves closer to the working surface when moving along the spoon path after leaving the ready position than when the working part of the spoon is in the ready position. In aspect C7 according to aspect C6, the working part of the spoon is closest to the working surface when the working part of the spoon is at a selected position along the spoon path that is between the ready position and the final position.

[0499] In aspect C8 according to any one of aspects C1 to C7, the working portion of the spoon includes a spoon recess including a spoon recess opening that faces the working surface when the spoon is in the ready position and the head-off restraint is in the restraining position. In aspect C9 according to aspect C8, the head-off restraint includes a restraining recess, wherein the restraining recess opening faces the working surface and any shrimp located between the restraining recess and the working surface, and wherein the spoon recess is aligned with and adjacent to the restraining recess when the working portion of the spoon is in the ready position. In aspect C10 according to any one of aspects C8 to C9, when the head-off restraint is in the restraining position, the spoon recess has a depth measured from the working surface to an end of the spoon recess distal to the working surface that is sufficient to clear mud veins of shrimp located on the working surface between the head-off restraint and the working surface so that the spoon does not cut through the mud veins. In aspect C11 according to any one of aspects C8 to C10, in a direction transverse to the spoon path, the spoon recess is wider at the spoon recess opening than at the spoon recess end of the spoon recess located away from the working surface. In aspect C12 according to any one of aspects C8 to C11, when the head removal restraint is in the restraining position and the working part of the spoon is in the ready position, the spoon recess has a depth measured from the working surface to the spoon recess end away from the working surface, which is 10 mm or more, and optionally, the depth of the spoon recess is 20 mm or less.

[0500] In aspect C13 according to any one of aspects C1 to C12, the head-removing restraint defines a contact portion configured to contact a shrimp located on the working surface between the contact portion and the working surface when the head-removing restraint is in the restraining position, and wherein the head-removing restraint includes a guide extending away from the contact portion, wherein when the head-removing restraint is in the restraining position, the head of the shrimp located on the working surface between the contact portion and the working surface is located within the guide of the head-removing restraint, and wherein the working portion of the spoon moves away from the contact portion and through the guide when moving from the ready position to the final position. In aspect C14 according to aspect C13, the guide includes a pair of wings defining a channel between the pair of wings, wherein when the head-removing restraint is in the restraining position, the head of the shrimp located on the working surface between the contact portion and the working surface is located in the channel between the pair of wings, and wherein when the spoon moves from the ready position to the final position, the working portion of the spoon moves between the pair of wings during at least a portion of the path of the working portion of the spoon. In aspect C15 according to any one of aspects C13 to C14, the working portion of the spoon comprises a spoon width that is less than a guide width of the guide, wherein the spoon width and the guide width are measured transversely to the spoon path. In aspect C16 according to aspect C15, the maximum width of the working portion of the spoon when measured within the guide is 50% or more, 60% or more, 70% or more, 80% or more, or 90% of the guide width.

[0501] In aspect C17 according to any one of aspects C1 to C16, the working portion of the spoon comprises a beveled outer edge.

[0502] In aspect C18 according to any one of aspects C1 to C16, the head removal restraint comprises a beveled edge facing the working surface when the head removal restraint is in the restraining position.

[0503] In aspect C19 according to any one of aspects C1 to C16, the working part of the spoon-shaped member includes a beveled outer edge, and the head removal restraint device includes a beveled edge facing the working surface when the head removal restraint device is in the restraining position, wherein when the spoon-shaped member is in the ready position, the beveled outer edge of the working part of the spoon-shaped member and the beveled edge of the head removal restraint device are adjacent to each other, so that the beveled outer edge of the working part of the spoon-shaped member and the beveled edge of the head removal restraint device are away from each other, wherein when the spoon-shaped member is in the ready position, the working part of the spoon-shaped member and the head removal restraint device form a double beveled edge.

[0504] In aspect C20 according to any one of aspects C1 to C19, the deheading device includes a cephalothorax sensor operably connected to the controller, the cephalothorax sensor being configured to detect a cephalothorax junction between the cephalothorax and the abdominal segment of the shrimp on the working surface. In aspect C21 according to aspect C20, the controller is configured to detect a change in opacity between the cephalothorax and the abdominal segment of the shrimp on the working surface and identify the cephalothorax junction based at least in part on the change in opacity. In aspect C22 according to any one of aspects C20 to C21, the deheading device includes a deheading restraint positioner operably connected to the controller, wherein the controller is configured to operate the deheading restraint positioner to position the deheading restraint device on the first abdominal segment of the shrimp on the working surface proximate to the cephalothorax junction when the deheading restraint device is in a restrained position on the shrimp on the working surface.

[0505] In aspect C23 according to aspect C22, the controller is configured to calibrate the cephalothorax sensor on the abdominal segment of the shrimp on the working surface before operating the head restraint positioner to position the head restraint device on the first abdominal segment of the shrimp on the working surface.

[0506] In aspect C24 according to aspect C22, the controller is configured to calibrate the cephalothorax sensor on the abdominal segment of the shrimp on the working surface after moving the head restraint device to the storage position and before operating the head restraint device positioner to position the head restraint device on the first abdominal segment of the shrimp on the working surface.

[0507] In aspect C25 according to any one of aspects C20 to C24, the head removal device includes a spoon positioner operably connected to a controller, wherein the controller is configured to operate the spoon positioner to position the spoon when the head removal restraint device is located in a restraint position of the shrimp on the working surface and the spoon moves from the ready position toward the working surface so that the spoon contacts the shrimp on the working surface near the cephalothorax junction on the cephalothorax side of the head removal restraint device.

[0508] In aspect C26 according to aspect C25, the controller is configured to, when the head-off restraint device is in a restraining position of a shrimp on a working surface and the spoon moves from a ready position toward the working surface, calibrate the cephalothorax sensor on the abdominal segment of the shrimp on the working surface before operating the spoon positioner to position the spoon so that the spoon contacts the shrimp on the working surface at the cephalothorax junction near the cephalothorax side of the head-off restraint device.

[0509] In aspect C27 according to any one of aspects C25 to C26, the controller is configured to calibrate the cephalothorax sensor on the abdominal segment of the shrimp on the working surface after moving the spoon to the ready position and before operating the spoon positioner to position the spoon so that the spoon contacts the shrimp on the working surface at the cephalothorax junction near the cephalothorax side of the head restraint device, when the head restraint device is in the restraining position of the shrimp on the working surface and the spoon is moving from the ready position toward the working surface.

[0510] In aspect C28 according to any one of aspects C20 to C27, the head removal device includes a head removal device shuttle and a shuttle actuator configured to move the head removal device shuttle, wherein the shuttle actuator is operably connected to a controller, wherein the head removal restraint, the head removal restraint actuator, the spoon, and the spoon actuator are mounted on the head removal device shuttle, and wherein the controller is configured to operate the shuttle actuator to position the head removal device shuttle so that when the head removal restraint is in a restraining position of the shrimp on the working surface, the head removal restraint is positioned on the first abdominal segment of the shrimp adjacent to the cephalothorax junction, and when the head removal restraint is in a restraining position of the shrimp on the working surface and the working portion of the spoon is moving toward the working surface from the ready position, the spoon contacts the shrimp on the working surface adjacent to the cephalothorax junction on the cephalothorax side of the head removal restraint. In aspect C29 according to aspect C28, the cephalothorax sensor is mounted on the head removal device shuttle.

[0511] In aspect C30 according to any one of aspects C28 to C29, the controller is configured to calibrate the cephalothorax sensor on the abdominal segment of the shrimp on the working surface before operating the shuttle actuator to position the head removal device shuttle as follows: the head removal device shuttle is positioned so that when the head removal restraint device is in the restraint position of the shrimp on the working surface, the head removal restraint device is positioned on the first abdominal segment of the shrimp on the working surface adjacent to the cephalothorax junction, and the head removal device shuttle is positioned so that when the head removal restraint device is in the restraint position of the shrimp on the working surface and the working portion of the spoon-shaped member is moving from the ready position toward the working surface, the working portion of the spoon-shaped member contacts the shrimp on the working surface at the cephalothorax junction adjacent to the cephalothorax side of the head removal restraint device.

[0512] In aspect C31 according to any one of aspects C1 to C30, the spoon-shaped member actuator includes a hydraulically damped pneumatic actuator, which includes: a main piston and a floating piston located in an actuator housing; a main piston port, which is connected to the main piston volume fluid located in the actuator housing; a floating piston port, which is connected to the floating piston volume fluid located in the actuator housing; a working piston volume in the actuator housing between the main piston and the floating piston; and a flow control orifice and a damping liquid in the working piston volume, wherein the flow control orifice divides the working piston volume into a main part and a floating part; wherein when at least a portion of the damping liquid When the main portion of the working piston volume is located in the main portion of the working piston volume, fluid introduced into the main piston volume through the main piston port forces the damping fluid to leave the main portion through the flow control orifice to enter the floating portion so as to cause the floating piston to move in a first direction relative to the actuator housing; and when at least a portion of the damping fluid is located in the floating portion of the working piston volume, fluid introduced into the floating piston volume through the floating piston port forces the damping fluid to leave the floating portion through the flow control orifice to enter the main portion so as to cause the floating piston to move in a second direction relative to the actuator housing, wherein the first direction is opposite to the second direction.

[0513] In aspect C32 according to aspect C31, the flow control orifice consists essentially of an opening through which the damping fluid passes when moving between the main part and the floating part of the working volume. In aspect C33 according to aspect C31, the flow control orifice comprises a needle valve.

[0514] In aspect C34 according to any of aspects C31 to C33, the master piston volume comprises a maximum master piston volume which is greater than the volume of the damping fluid in the working piston volume.

[0515] In aspect C35 according to any one of aspects C31 to C33, the floating piston volume comprises a maximum floating piston volume which is greater than the volume of the damping liquid in the working piston volume.

[0516] In aspect C36 according to any one of aspects C31 to C33, the master piston volume includes a maximum master piston volume, which is larger than the volume of damping liquid in the working piston volume; and wherein the floating piston volume includes a maximum floating piston volume, which is larger than the volume of damping liquid in the working piston volume.

[0517] Head removal method

[0518] In independent aspect D1, one or more embodiments of a method for removing a shrimp head include: constraining the abdomen of the shrimp in a fixed position on a work surface; moving a spoon-shaped member through the shrimp near a cephalothorax junction of the shrimp, 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 constraining the abdomen of the shrimp in a fixed position on the work surface, wherein moving the spoon-shaped member away from the abdomen separates the cephalothorax of the shrimp from the abdomen of the shrimp.

[0519] In aspect D2 according to aspect D1, restraining the abdomen comprises forcing the abdomen against the working surface using a head-removing restraint, wherein the abdomen is located between the head-removing restraint and the working surface. In aspect D3 according to aspect D2, restraining the abdomen comprises forcing the abdomen against the working surface by moving the head-removing restraint toward the working surface.

[0520] In aspect D4 according to any one of aspects D1 to D3, constraining the abdomen comprises constraining a first abdominal segment of the abdomen of the shrimp, wherein the first abdominal segment is proximate to the cephalothorax of the shrimp. In aspect D5 according to aspect D4, the method further comprises determining a location of a cephalothorax junction prior to constraining the first abdominal segment of the shrimp. In aspect D6 according to aspect D5, determining a location of the cephalothorax junction comprises optically detecting the cephalothorax junction.

[0521] In aspect D7 according to any one of aspects D5 to D6, determining the location of the cephalothorax junction comprises detecting the cephalothorax junction using a cephalothorax sensor, and wherein the method comprises calibrating the cephalothorax sensor on the abdominal segment of the abdomen before detecting the cephalothorax junction. In aspect D8 according to aspect D7, for each shrimp in the plurality of shrimps, the method comprises calibrating the cephalothorax sensor on the abdominal segment before detecting the cephalothorax junction.

[0522] In aspect D9 according to any one of aspects D1 to D8, moving the spoon away from the abdomen comprises moving a working portion of the spoon along a spoon path that is arcuate over at least a portion of the spoon path. In aspect D10 according to aspect D9, as the spoon moves away from the abdomen of the shrimp, the working portion of the spoon moves closer to the working surface.

[0523] In aspect D11 according to any of aspects D1 to D10, the method comprises moving the spoon away from the abdomen constrained in the fixed position after moving the spoon through the shrimp.

[0524] In aspect D12 according to any of aspects D1 to D11, moving the spoon away from the abdomen constrained in a fixed position comprises removing mud veins from the shrimp while moving the spoon away from the abdomen segment.

[0525] In aspect D13 according to aspect D12, the method includes severing the mud vein of the shrimp before moving the spoon away from the abdominal segment. In aspect D14 according to aspect D13, severing the mud vein includes severing the mud vein at a selected position closer to the shrimp tail than the cephalothorax of the shrimp. In aspect D15 according to aspect D14...

Claims

1. A clamp configured to restrain a shrimp, the clamp comprising: a pair of jaws positioned on the 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 surface and the second jaw surface define a receiving slot between the first jaw surface and the second jaw surface; wherein a distance between the first jaw face and the second jaw face across the receiving slot narrows in a direction aligned with the clamping axis when moving along the clamping axis away from a base between the first jaw face and the second jaw face, wherein the clamping axis extends through the base between the first jaw face and the second jaw face; as well as A spring member operably attached to the first jaw, the spring member configured to resist movement of the first jaw away from the second jaw along the clamping axis, and the spring member configured to resist movement of the first jaw away from the base along a clamping direction aligned with the clamping axis, wherein a shrimp located between the pair of jaws is pressed against the base between the pair of jaws by the spring member and the first jaw.

2. The clamp according to claim 1, characterized in that: The clamp also includes a body attached to the base, and wherein the spring member includes an arm extending between the first jaw and the body, 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.

3. The clamp according to claim 1, characterized in that: The clamp also includes a body attached to the base, and wherein the spring member includes an arm extending between the first jaw and the body, the arm 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 the clamping axis.

4. The clamp according to claim 1, characterized in that: The clamp also includes a body attached to the base, and wherein the spring member includes an arm extending between the first jaw and the body, 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, 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 the second jaw along the clamping axis.

5. The clamp according to any one of claims 2 to 4, characterized in that The first jaw is configured to rotate about a first rotation axis extending between the first jaw and the base when the shrimp is positioned between the first jaw face and the second jaw face, and wherein, optionally, the first rotation axis extends through an arm extending between the first jaw and the body.

6. The clamp according to claim 5, characterized in that: The first jaw includes a first jaw support positioned proximate to the first jaw face, wherein the first jaw support is located between the first jaw face and an outer portion of the first jaw, wherein the outer portion of the first jaw is spaced apart from the base to provide clearance for rotating the first jaw about a first rotational axis.

7. The clamp according to any one of claims 1 to 6, characterized in that: The spring member operably attached to the first jaw includes a first spring member, and the clamp includes a second spring member operably attached to the second jaw, the second spring member being configured to resist movement of the second jaw away from the first jaw along a clamping axis, and the second spring member being configured to resist movement of the second jaw away from the base along a clamping direction aligned with the clamping axis, wherein a shrimp tail located between the pair of jaws is pressed against the base between the pair of jaws by the first spring member, the first jaw, the second spring member, and the second jaw.

8. The clamp according to claim 7, characterized in that: The clamp further includes a body attached to the base, and wherein the second spring member includes an arm extending between the second first jaw and the body, 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.

9. The clamp according to claim 7, characterized in that: The clamp also includes a body attached to the base, and wherein the second spring member includes an arm extending between the second jaw and the body, 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 the clamping axis.

10. The clamp according to claim 7, characterized in that: The clamp also includes a body attached to the base, and wherein the second spring member includes an arm extending between the second jaw and the body, 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 the clamping axis.

11. The clamp according to any one of claims 7 to 10, characterized in that The second jaw is configured to rotate about a second rotation axis extending between the second jaw and the base when the shrimp is positioned between the first jaw face and the second jaw face, and wherein, optionally, the second rotation axis extends through an arm extending between the second jaw and the body.

12. The clamp according to claim 11, characterized in that The second jaw includes a second jaw support positioned proximate to the second jaw face, wherein the second jaw support is located between the second jaw face and an outer portion of the second jaw, wherein the outer portion of the second jaw is spaced apart from the base to provide clearance for rotating the second jaw about the second rotation axis.

13. The clamp according to any one of claims 2 to 12, characterized in that The distance between the body and the receiving slot in a direction transverse to the clamping axis is selected to allow the tail of a shrimp captured in the clamp to be positioned between the receiving slot and the body.

14. The clamp according to any one of claims 2 to 12, characterized in that The distance between the body and the receiving slit in a direction transverse to the clamping axis 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 the width of the groove measured at the midpoint between the base and the narrowest part of the receiving slit in the direction transverse to the clamping axis, and optionally, the distance between the body and the receiving slit in a direction transverse to the clamping axis is 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 groove measured at the midpoint between the base and the narrowest part of the receiving slit in the direction transverse to the clamping axis.

15. A method of restraining shrimp, the method comprising: providing a clamp including a first jaw and a second jaw on a base, wherein the first jaw faces the second jaw, and wherein the first jaw and the second jaw define a receiving slot between the first jaw and the second jaw; Inserting the shrimp into the receiving slot between the first jaw and the second jaw so that the tail of the shrimp is located on the gripping sides of the first jaw and the second jaw and the cephalothorax of the shrimp is located on the handling sides of the first jaw and the second jaw; After the shrimp is inserted into the receiving slot between the first and second jaws, the first jaw is used to press the tail of the shrimp toward the base.

16. The method according to claim 15, characterized in that Using the first jaw to press the shrimp's tail toward the base causes the tail to form an expanded tail fan on the gripping sides of the first and second jaws.

17. The method according to any one of claims 15 to 16, characterized in that Using the first jaw to compress the tail of the shrimp toward the base includes, after inserting the shrimp into the receiving slot, applying a continuous compressive force to the shrimp using the first jaw in a compressive direction aligned with a compressive axis extending through the base and the receiving slot between the first jaw and the second jaw.

18. The method according to any one of claims 15 to 16, characterized in that Using the first jaw to compress the tail of the shrimp toward the base includes, after inserting the shrimp into the receiving slot, using the second jaw to apply a continuous compressive force to the shrimp in a compressive direction aligned with a compressive axis extending through the base and the receiving slot between the first jaw and the second jaw.

19. The method according to any one of claims 15 to 16, characterized in that Using the first jaw to compress the tail of the shrimp toward the base includes, after inserting the shrimp into the receiving slot, applying a continuous compressive force to the shrimp using the first jaw and the second jaw in a compressive direction aligned with a compressive axis extending through the base and the receiving slot between the first jaw and the second jaw.

20. The method according to any one of claims 15 to 19, characterized in that The method includes applying a continuous clamping force to the shrimp using the first jaw in a clamping direction aligned with a clamping axis extending through the first jaw and the second jaw after inserting the shrimp into the receiving slot.

21. The method according to any one of claims 15 to 19, characterized in that The method includes applying a continuous gripping force to the shrimp using the second jaw in a gripping direction aligned with a gripping axis extending through the first jaw and the second jaw after inserting the shrimp into the receiving slot.

22. The method according to any one of claims 15 to 19, characterized in that The method includes applying a continuous clamping force to the shrimp using the first and second jaws in a clamping direction aligned with a clamping axis extending through the first and second jaws after inserting the shrimp into the receiving slot.

23. The method according to any one of claims 15 to 19, characterized in that The clamp includes a body, and wherein the first jaw is connected to the body by a first arm, and wherein the first jaw rotates about a first rotation axis extending between the first jaw and the body above the base when a shrimp is inserted into the receiving slot.

24. The method according to claim 23, characterized in that The second jaw is connected to the body by a second arm and the second jaw is attached to the body by the second arm, and wherein the second jaw rotates about a second rotation axis located above the base and extending between the second jaw and the body when the shrimp is inserted into the receiving slot.

25. A method of measuring shrimp held in a fixture, the method comprising: The shrimp held in the fixture is moved past the non-contact sensor in the measurement direction; while moving the shrimp held in the clamp, identifying a junction between the clamp and the shrimp based on a signal received from the non-contact sensor; determining a length of the shrimp held in the clamp after identifying a junction between the clamp and the shrimp held in the clamp based at least in part on a signal received from the non-contact sensor as the shrimp passes the non-contact sensor; as well as Optionally, the weight of the shrimp held in the fixture is determined after determining the length of the shrimp, the weight being based at least in part on the length of the shrimp.

26. The method according to claim 25, characterized in that Identifying the junction between the gripper and the shrimp includes determining when a signal received from the non-contact sensor reaches a selected gripper threshold or falls below a selected gripper threshold.

27. The method according to any one of claims 25 to 26, characterized in that Determining the length of the shrimp includes determining when a signal received from the non-contact sensor reaches or exceeds a selected antennae threshold value, the antennae threshold value indicating that at least one antenna of the shrimp is passing the non-contact sensor.

28. The method according to any one of claims 25 to 27, characterized in that Non-contact sensors include optical sensors or ultrasonic sensors.

29. The method according to any one of claims 25 to 28, characterized in that The method also includes calibrating the non-contact sensor before each shrimp held in the fixture passes the non-contact sensor in the measurement direction.

30. The method according to any one of claims 25 to 28, characterized in that The method also includes calibrating the non-contact sensor after a selected number of shrimp pass the non-contact sensor in a measuring direction.

31. A clamp configured to restrain a shrimp, comprising: a pair of jaws positioned on the 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 the clamping direction; wherein the first jaw surface and the second jaw surface define a receiving gap between the first jaw surface and the second jaw surface, wherein a distance between the first jaw surface and the second jaw surface in the clamping direction narrows when moving away from the base between the first jaw surface and the second jaw surface in a clamping direction transverse to the clamping direction; A biasing device operably attached to the pair of jaws, the biasing device resisting movement of the first jaw in a clamping direction away from the second jaw, and the biasing device resisting movement of the first jaw in a pressing direction away from the base, wherein a tail of a shrimp located between the pair of jaws is pressed against the base between the pair of jaws by the first jaw.

32. A clamp configured to restrain a shrimp, the clamp comprising: a pair of jaws positioned on the 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 slot between the first jaw and the second jaw, wherein the receiving slot narrows in a width in the clamping direction when moving away from the base between the first jaw and the second jaw in a clamping direction transverse to the clamping direction; The clamp is configured to apply a clamping force and a compressing force to a tail of the shrimp located between the pair of jaws, wherein the clamping force acts in a clamping direction and wherein the compressing force presses the tail toward the base.

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