Automatic head shell removing method for crayfish and production device of crayfish

Abstract

The invention discloses an automatic head shell removing method for crayfish and a production device thereof, and relates to the technical field of crayfish processing. According to the method, mechanical property analysis is conducted on the crayfish of the specified variety in advance, the optimal clamping force range, the optimal cutting angle range and the optimal cutting rotating speed are determined, and the situation that the head shell and the meat of the crayfish are excessively damaged in the cutting process can be avoided. Meanwhile, before the head shell is cut and removed actually, a multi-point measurement method is adopted to calculate an average value in a head shell thickness measurement analysis link, the accuracy of cutting force calculation is improved, the accuracy of the cutting process is further ensured, the situation that head shell chippings enter the crayfish meat is reduced, and therefore the quality of the crayfish meat is improved, and the requirement of the market for high-quality crayfish processed products is met. A plurality of functional modules such as the parameter detection mechanism, the positioning and clamping mechanism, the head shell cutting mechanism and the head shell separating mechanism are integrated, all the mechanisms work cooperatively, a series of operation of removing the head shell of the crayfish can be automatically completed, and the automation level of production is improved.

Description

Technical Field

[0001] The invention relates to the technical field of crayfish processing, and in particular to an automatic crayfish head and shell removal method and a production device thereof. Background Art

[0002] In the crayfish processing industry, the traditional method of de-heading crayfish mainly relies on manual operation, which is inefficient and difficult to meet the needs of large-scale industrial production. At present, some companies try to use some simple mechanical devices to assist in de-heading crayfish, such as using simple tool fixtures, but most of these devices require manual assistance and have a low degree of automation.

[0003] In addition, some companies use automatic cutting equipment with poor control accuracy. These devices directly cut the crayfish head shell with force during the de-shelling process. This method not only greatly damages the crayfish head shell, but also often causes damage to the internal shrimp meat, reducing the quality of the shrimp meat. At the same time, the head shell debris can easily enter the internal shrimp meat, making it difficult to clean, further affecting the product quality and making it difficult to meet the market's requirements for high-quality crayfish processed products. Summary of the invention

[0004] To solve the above technical problems, the present invention is achieved through the following technical solutions: The present invention provides a method for automatically removing the head and shell of crayfish, which comprises the following steps: Step 1: Debugging of head and shell removal equipment: (i) Analyze the mechanical properties of designated crayfish through test equipment, calculate the elastic modulus of its shell, and analyze the yield strength of the crayfish shell. (ii) Construct a three-dimensional model based on the average size and shape of designated crayfish, combine the elastic modulus, and use finite element analysis software to simulate the process of clamping the crayfish with the claws, simulate the stress and strain distribution of the crayfish under different clamping forces, and determine the optimal clamping force range that can ensure stable clamping of the crayfish without excessive deformation, and determine the optimal clamping force range: F 1 ~F 2 . (III) Based on the yield strength of the crayfish shell, the cutting process at different cutting angles and rotation speeds was simulated using simulation software. The stress on the tool during cutting, the cracking pattern of the crayfish shell, and the damage to the shrimp meat were analyzed to obtain the optimal cutting angle range: θ 1 ~θ 2 , Optimal cutting speed: n 1 ~n 2 .

[0005] Step 2: Crayfish feeding and transmission: After being vibrated and fed by the feeding mechanism, the crayfish falls into the transmission mechanism, which drives the crayfish forward.

[0006] Step 3: Head shell cutting coordinate system detection and analysis: The crayfish arrives at the detection position of the multi-point sensor scanning device through the transmission mechanism, and the three-dimensional coordinate scanning of the crayfish head shell is performed to calculate the coordinate system position of the contact area between the tool and the head shell.

[0007] Step 4: Measurement and analysis of head shell thickness: After the cutting area detection and analysis of the crayfish head shell is completed, the transmission mechanism drives the thickness measuring equipment to measure and analyze the thickness of the crayfish head shell.

[0008] Step 5: Head shell cutting and separation: When the crayfish reaches the head shell cutting position, the positioning clamping mechanism is controlled to clamp the crayfish head shell according to the optimal clamping force parameters obtained from the experiment; according to the optimal cutting angle range, optimal cutting speed, and the actual coordinate system parameters and head shell thickness parameters of the current crayfish head shell surface obtained from the experiment, the tool is controlled to cut the crayfish head shell and separate the crayfish head shell that has been cut.

[0009] As a preferred technical solution for the automated de-heading and shelling method of the present invention: when analyzing the elastic modulus of the shell, a tensile test is performed on the crayfish shell using a material testing machine. Under normal temperature conditions, the crayfish shell is made into a standard test piece, tension is applied at a constant tensile speed, the tension and elongation data are recorded, and the elastic modulus is calculated according to Hooke's law.

[0010] As a preferred technical solution for the automated de-heading and shelling method of the present invention: when analyzing the yield strength of the crayfish shell, the crayfish is placed in a preset mold for a compression test, and pressure is slowly applied through a press to observe the deformation of the shell and determine the yield strength. After multiple tests, the yield strength of the crayfish shell of the corresponding variety is obtained.

[0011] As a preferred technical solution of the automatic head shell removal method of the present invention: when measuring and analyzing the thickness of the head shell, m measuring points are selected at different positions of the crayfish head shell by a laser or X-ray thickness gauge and a multi-point measurement method, and the thickness of the crayfish head shell is measured, which is recorded as H. 1 , H 2 , ..., H m The average thickness of these measurement points is calculated as the head shell thickness H, that is, , improve the accuracy of cutting force calculation.

[0012] The present invention provides a crayfish automatic head and shell removal production device, which mainly includes the following structures: (i) Feeding mechanism: equipped with a vibration plate for vibrating and directional output of crayfish, and a transmission mechanism located below the output end of the vibration plate. (ii) Parameter detection mechanism: including a multi-point position sensing scanning device for detecting the position information occupied by the crayfish carried by the transmission mechanism, and a thickness measuring device for detecting and analyzing the thickness of the crayfish head shell. (iii) Positioning and clamping mechanism: including multiple electric clamps for clamping the crayfish head shell, and a pressure sensing module for monitoring the extrusion contact stress between the electric clamp and the crayfish head shell. (iv) Head shell cutting mechanism: including a rotating tool, a motor for driving the rotating tool to rotate, a displacement component for adjusting the moving position of the rotating tool, and a hydraulic mechanism for controlling the cutting force of the rotating tool. The output end of the hydraulic mechanism is fixedly connected to the motor, and the output end of the displacement component is fixedly connected to the hydraulic mechanism. (v) Head shell separation mechanism: including a transverse rod fixedly connected to the electric clamp, and a servo moving device for driving the transverse rod to move horizontally.

[0013] As a preferred technical solution of the automated de-heading and shelling production device of the present invention: the vibration plate is driven by an electromagnetic vibrator, and a groove structure for carrying crayfish is provided on the surface of the transmission mechanism.

[0014] As a preferred technical solution for the automated head and shell removal production device of the present invention: taking the moving direction of the crayfish driven by the transmission mechanism as a reference: the positioning and clamping mechanism is located downstream of the parameter detection mechanism, and the head and shell cutting mechanism is located between the positioning and clamping mechanism and the parameter detection mechanism.

[0015] As a preferred technical solution of the automatic head shell removal production device of the present invention: the end of the electric clamp is equipped with an elastic rubber layer that is in contact with the crayfish head shell. The pressure sensing module uses a sheet varistor and is clamped inside the elastic rubber layer at the end of the electric clamp.

[0016] As a preferred technical solution of the automatic head shell removal production device of the present invention: the rotating tool is fixedly connected to the output shaft of the motor, and the rotating tool is equipped with a circle of serrated blades.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, mechanical properties of designated species of crayfish are analyzed in advance to determine the optimal clamping force range, optimal cutting angle range and optimal cutting speed, which can avoid excessive damage to the crayfish head shell and damage to the shrimp meat during the cutting process. At the same time, before the actual cutting and removing of the head shell, the head shell thickness measurement and analysis link uses a multi-point measurement method to calculate the average value, improve the accuracy of the cutting force calculation, further ensure the accuracy of the cutting process, reduce the situation of head shell debris entering the shrimp meat, thereby improving the quality of the shrimp meat and meeting the market's requirements for high-quality crayfish processed products.

[0018] 2. The automated head and shell removal production device of the present invention integrates multiple functional modules such as a parameter detection mechanism, a positioning and clamping mechanism, a head and shell cutting mechanism, and a head and shell separation mechanism. The various mechanisms work together to automatically complete a series of operations for removing the head and shell of crayfish without the need for frequent human involvement, thereby reducing labor costs and improving the level of production automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The figure is a schematic diagram of the overall top view of the structure of the automatic crayfish decapping production device of the present invention.

[0020] Figure 2 It is a front view of the positioning clamping mechanism in the present invention.

[0021] Figure 3 It is a side structural schematic diagram of the head shell cutting mechanism in the present invention.

[0022] Among them: 1-feeding mechanism, 101-vibration plate, 102-transmission mechanism, 1021-groove structure, 103-electromagnetic vibrator; 2-parameter detection mechanism, 201-multi-point sensing scanning device, 202-thickness measuring equipment; 3-positioning clamping mechanism, 301-electric clamping claw, 302-elastic rubber layer, 303-pressure sensing module; 4-head shell cutting mechanism, 401-rotating tool, 4011-serrated blade, 402-motor, 403-hydraulic mechanism, 404-displacement component, 5-head shell separation mechanism, 501-servo moving device, 502-transverse rod, 6-waste collection box. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0024] Embodiment 1: Combination Figure 1 , Figure 2 , Figure 3 The present invention designs an automatic crayfish head and shell removal production device, which mainly includes a feeding mechanism 1, a parameter detection mechanism 2, a positioning and clamping mechanism 3, a head and shell cutting mechanism 4, and a head and shell separation mechanism 5. The specific structural design is as follows: Feeding mechanism 1: It consists of a vibration plate 101 and a transmission mechanism 102. Driven by an electromagnetic vibrator 103, the vibration plate 101 realizes directional vibration output of the crayfish, ensuring that the crayfish enter the transmission mechanism 102 in an orderly manner. The groove structure 1021 on the surface of the transmission mechanism 102 can effectively carry the crayfish, drive it to move forward steadily, and complete the feeding task.

[0025] Parameter detection mechanism 2: includes a multi-point sensing scanning device 201 and a thickness measuring device 202. The multi-point sensing scanning device 201 detects the placement information of the crayfish on the transmission mechanism 102 and obtains the three-dimensional coordinate data of the head shell; the thickness measuring device 202 is used to measure the thickness of the crayfish head shell to provide accurate parameter support for the cutting operation.

[0026] Positioning and clamping mechanism 3: It is equipped with multiple electric clamps 301 and pressure sensing modules 303. The elastic rubber layer 302 at the end of the electric clamp 301 can increase the friction with the crayfish head shell and protect the head shell from being clamped. The pressure sensing module 303 uses a sheet varistor, which is clamped on the inner side of the elastic rubber layer 302 to monitor the extrusion contact stress between the electric clamp 301 and the crayfish head shell in real time to ensure that the clamping force is within the optimal range.

[0027] Head shell cutting mechanism 4: It is composed of a rotating tool 401, a motor 402, a hydraulic mechanism 403 and a displacement assembly 404. The rotating tool 401 is fixedly connected to the output shaft of the motor 402, and its circle of serrated blades 4011 can improve the cutting efficiency. The hydraulic mechanism 403 controls the cutting force of the rotating tool 401, and the displacement assembly 404 regulates the moving position of the rotating tool 401 to ensure that the cutting process is accurate and stable.

[0028] Head shell separation mechanism 5: includes a servo moving device 501 and a transverse rod 502. The servo moving device 501 drives the transverse rod 502 to move horizontally, thereby driving the electric clamp 301 fixedly connected to the transverse rod 502 to separate the crayfish head shell after cutting and collect waste, completing the last step of the entire head shell removal process.

[0029] Embodiment 2: The present invention designs a method for automatically removing the head and shell of crayfish, and the specific method is as follows: 1. Head shell removal equipment debugging Mechanical property analysis: Use a material testing machine to make a standard test piece of the crayfish shell at room temperature, apply tension at a constant tensile speed, record the tension and elongation data, and calculate the elastic modulus of the shell according to Hooke's law. Place the crayfish in a preset mold, slowly apply pressure through a press, observe the deformation of the shell to determine the yield strength, and conduct multiple tests to obtain the yield strength of the crayfish shell of the corresponding variety. This step provides a data basis for the subsequent determination of the optimal clamping force, cutting angle, and rotation speed.

[0030] Determine the optimal clamping force range: Build a three-dimensional model based on the average size and shape of the specified species of crayfish. Combined with the elastic modulus, use finite element analysis software to simulate the process of the clamping claw clamping the crayfish, analyze the stress and strain distribution of the crayfish under different clamping forces, and determine the optimal clamping force range F that can achieve stable clamping without excessive deformation. 1 ~F 2 , ensuring that the crayfish remain stable and not pinched during processing.

[0031] Determine the best cutting parameters: Based on the yield strength of the crayfish shell, use simulation software to simulate the cutting process at different cutting angles and speeds, analyze the stress on the tool, the crayfish shell rupture pattern, and the damage to the shrimp meat, and obtain the best cutting angle range θ 1 ~θ 2 , optimal cutting speed n 1 ~n 2 , ensuring the cutting process is efficient and accurate, reducing damage to the shrimp meat.

[0032] 2. Crayfish feeding and transmission The crayfish are vibrated and directed by the vibrating plate 101 of the feeding mechanism 1 and fall into the transmission mechanism 102. The vibrating plate 101 is driven by an electromagnetic vibrator 103, which can arrange the crayfish in a certain direction. The groove structure 1021 on the surface of the transmission mechanism 102 is used to carry the crayfish and drive it forward to transport the raw materials for the subsequent processing steps.

[0033] 3. Head Shell Cutting Coordinate System Detection and Analysis The crayfish arrives at the detection position of the multi-point sensor scanning device 201 along the transmission mechanism 102. The device performs a three-dimensional coordinate scan on the crayfish head shell, calculates the coordinate system position of the contact area between the tool and the head shell, provides position data support for precise cutting, and ensures that the tool can accurately act on the head shell cutting part.

[0034] 4. Skull Cap Thickness Measurement and Analysis After the head shell is cut and analyzed, the transmission mechanism 102 drives the crayfish through the thickness measuring device 202. A laser or X-ray thickness gauge is used, and a multi-point measurement method is used to select m measurement points at different positions of the crayfish head shell, and the measured thickness is recorded as H. 1 , H 2 , ..., H m , calculate the average value H as the head shell thickness to further ensure cutting accuracy and reduce the possibility of head shell debris entering the shrimp meat.

[0035] 5. Head shell cutting and separation When the crayfish reaches the head shell cutting position, the electric clamp 301 of the positioning clamping mechanism 3 clamps the crayfish head shell according to the optimal clamping force parameters obtained from the experiment. The rotating tool 401 of the head shell cutting mechanism 4, driven by the motor 402, cuts according to the optimal cutting angle range and the optimal cutting speed, combined with the actual coordinate system parameters and head shell thickness parameters of the current crayfish head shell surface. The servo moving device 501 of the head shell separation mechanism 5 drives the transverse rod 502 fixedly connected to the electric clamp 301 to move the cut crayfish head shell horizontally to the top of the waste collection box 6, and the electric clamp 301 releases the head shell, and then the servo moving device 501 drives the electric clamp 301 back to the initial position to prepare for the next operation.

[0036] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for automatically removing the head and shell of crayfish, characterized in that: The following contents are included: Step 1: Debugging of head shell removal equipment (a) Analyze the mechanical properties of designated species of crayfish using test equipment, test and calculate the elastic modulus of their shells, and analyze the yield strength of the crayfish shells; (ii) Construct a three-dimensional model based on the average size and shape of the specified species of crayfish, and use finite element analysis software to simulate the process of the clamping claws clamping the crayfish in combination with the elastic modulus, simulate the stress and strain distribution of the crayfish under different clamping forces, and determine the optimal clamping force range that can ensure that the crayfish is stably clamped without excessive deformation, and determine the optimal clamping force range: F1~F2; (3) Based on the yield strength of the crayfish shell, the cutting process at different cutting angles and rotation speeds was simulated using simulation software; By analyzing the stress on the cutter during cutting, the rupture pattern of the crayfish shell, and the damage to the shrimp meat, the optimal cutting angle range: θ1~θ2 and the optimal cutting speed: n1~n2 were obtained; Step 2: Crayfish feeding and transmission After the crayfish is vibrated and fed by the feeding mechanism, it falls into the transmission mechanism, and the transmission mechanism drives the crayfish forward; Step 3: Head Shell Cutting Coordinate System Detection and Analysis The crayfish arrives at the detection position of the multi-point sensor scanning device through the transmission mechanism, and the three-dimensional coordinate scanning of the crayfish head shell is performed to calculate the coordinate system position of the contact area between the tool and the head shell; Step 4: Skull Cap Thickness Measurement and Analysis After the cutting area of ​​the crayfish head shell is inspected and analyzed, the transmission mechanism drives the thickness measuring device to measure and analyze the thickness of the crayfish head shell; Step 5: Head shell cutting and separation When the crayfish reaches the head shell cutting position, the positioning clamping mechanism is controlled to clamp the crayfish head shell according to the optimal clamping force parameters obtained from the experiment; according to the optimal cutting angle range, optimal cutting speed, and the actual coordinate system parameters and head shell thickness parameters of the current crayfish head shell surface obtained from the experiment, the tool is controlled to cut the crayfish head shell and separate the crayfish head shell that has been cut.

2. The method for automatically removing the heads and shells of crayfish according to claim 1, characterized in that: When analyzing the elastic modulus of the shell, a material testing machine is used to conduct a tensile test on the crayfish shell. Under normal temperature conditions, the crayfish shell is made into a standard test piece, and tensile force is applied at a constant tensile speed. The tensile force and elongation data are recorded, and the elastic modulus is calculated according to Hooke's law.

3. The method for automatically removing the heads and shells of crayfish according to claim 1, characterized in that: When analyzing the yield strength of crayfish shells, the crayfish are placed in a preset mold for a compression test. Pressure is slowly applied through a press, the deformation of the shell is observed, and the yield strength is determined. After multiple tests, the yield strength of the crayfish shell of the corresponding variety is obtained.

4. The method for automatically removing the heads and shells of crayfish according to claim 1, characterized in that: When measuring and analyzing the thickness of the head shell, a laser or X-ray thickness gauge is used, and m measurement points are selected at different positions of the crayfish head shell using a multi-point measurement method to measure the thickness of the crayfish head shell, which are recorded as H1, H2, ..., H m ; The average thickness of these measurement points is calculated as the head shell thickness H, that is, , improve the accuracy of cutting force calculation.

5. An automated de-heading and shelling production device for realizing the automated de-heading and shelling method of crayfish in claim 1, characterized in that: include: A feeding mechanism (1): equipped with a vibration plate (101) for vibrating and directional output of crayfish, and a transmission mechanism (102) located below the output end of the vibration plate (101); The parameter detection mechanism (2) comprises a multi-point position sensing scanning device (201) for detecting the position information occupied by the crayfish carried by the transmission mechanism (102), and a thickness measuring device (202) for detecting and analyzing the thickness of the crayfish head shell; A positioning clamping mechanism (3): comprising a plurality of electric clamping claws (301) for clamping the crayfish head shell, and a pressure sensing module (303) for monitoring the extrusion contact stress between the electric clamping claws (301) and the crayfish head shell; The head shell cutting mechanism (4) comprises a rotating tool (401), a motor (402) for driving the rotating tool (401) to rotate, a displacement assembly (404) for regulating the moving position of the rotating tool (401), and a hydraulic mechanism (403) for controlling the cutting force of the rotating tool (401), wherein the output end of the hydraulic mechanism (403) is fixedly connected to the motor (402), and the output end of the displacement assembly (404) is fixedly connected to the hydraulic mechanism (403); The head shell separation mechanism (5) comprises a transverse movement rod (502) fixedly connected to the electric clamping claw (301), and a servo moving device (501) used for driving the transverse movement rod (502) to move transversely.

6. The automated head shelling production device according to claim 5, characterized in that: The vibration plate (101) is driven by an electromagnetic vibrator (103), and a groove structure (1021) for carrying crayfish is provided on the surface of the transmission mechanism (102).

7. The automated head shelling production device according to claim 5, characterized in that: Taking the direction in which the transmission mechanism (102) drives the crayfish to move as a reference: the positioning and clamping mechanism (3) is located downstream of the parameter detection mechanism (2), and the head shell cutting mechanism (4) is located between the positioning and clamping mechanism (3) and the parameter detection mechanism (2).

8. The automated head shelling production device according to claim 5, characterized in that: The end of the electric clamp (301) is provided with an elastic rubber layer (302) for extrusion contact with the crayfish head shell; The pressure sensing module (301) adopts a sheet-shaped varistor and is clamped inside the elastic rubber layer (302) at the end of the electric clamp (301).

9. The automated head shelling production device according to claim 5, characterized in that: The rotating tool (401) is fixedly connected to the output shaft of the motor (402), and the rotating tool (401) is provided with a circle of serrated blades (4011).

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