Automatic sectioning and impurity-removing processing device for salted sea cucumber raw materials

Abstract

The invention belongs to the technical field of trepang treatment, and discloses an automatic sectioning and impurity-removing processing device for salted trepang raw materials. The rack main body is used for supporting the conveying device, the pressing device, the expanding and supporting device and the material receiving device; the conveying device is used for continuously and automatically conveying the sea cucumbers and ensuring that the sea cucumbers are conveyed to corresponding positions without damage; the sectioning device is used for sectioning the belly of the sea cucumber to expose the interior of the sea cucumber; the pressing device is used for pressing and fixing the sea cucumber, so that the sectioning device sectioning the abdomen of the sea cucumber; the expanding and supporting device is used for expanding and supporting curled skin of the sectioned sea cucumbers and exposing sand mouths of the heads of the sea cucumbers; the sand nozzle removing device is used for positioning a sand nozzle part of the head of the sea cucumber and completely removing the sand nozzle part; the spraying device is used for cleaning the interiors of abdominal cavities of the sea cucumbers in the processing treatment process and flushing silt and other impurities in the abdominal cavities of the sea cucumbers; and the material collecting device is used for uniformly collecting the processed sea cucumbers, so that subsequent processing operation is facilitated.

Description

Technical Field

[0001] The invention belongs to the technical field of sea cucumber processing and relates to an automatic cutting and impurity removal processing device for salted sea cucumber raw materials. Background Art

[0002] The pre-processing of salted sea cucumber raw materials includes a series of operations such as abdominal dissection, sand spout removal and cleaning, which is an important processing link to ensure the appearance and edible quality of sea cucumber products. For high-quality sea cucumber products, the pre-processing process requirements for raw materials are particularly strict, mainly manifested in: in terms of cutting, the cutting line is required to be continuous and straight, located in the midline of the abdomen, and the tail end is retained without cutting; in terms of impurities removal, the sand spout must be completely removed, there must be no scratches inside the abdominal cavity, and the silt, sand and other impurities attached to the fascia and folds of the abdominal cavity must be removed. Due to the strict process regulations and complex operating movements of the above-mentioned processing process, the existing mechanized processing methods are difficult to meet the above technical requirements. The pre-processing of high-quality sea cucumber products is basically done manually, which is time-consuming and inefficient. High-quality, automated salted sea cucumber raw material cutting and impurity removal equipment is a pre-processing processing equipment urgently needed by the sea cucumber industry.

[0003] At present, my country has developed some equipment for the pre-treatment of salted sea cucumber raw materials, which are generally processing equipment for sea cucumber laparotomy. For example, patent CN212185021U discloses a method for processing the sea cucumber by inserting a conical plug-in end column into the interior of the sea cucumber and moving the sea cucumber downward, and the method prevents the head and tail from being completely cut open through manual control. For example, patents CN220987460U and CN221307050U use the reciprocating motion of the cutter to completely cut open the head and tail of the sea cucumber after fixing the sea cucumber, thereby improving the efficiency of sea cucumber laparotomy. Traditional mechanical devices cannot achieve automatic laparotomy of sea cucumbers, and adding a sensor device can improve its accuracy. For example, patent CN207590040U uses a signal transmitter to detect sea cucumbers on a conveyor belt and control the laparotomy knife to perform laparotomy. In addition, there are some processing equipment for removing sand spits from sea cucumbers, such as patent CN111631253A, which clamps sea cucumbers by a grid-shaped clamp body, uses a hand-held dissecting and washing knife to cut open the sea cucumber abdomen, and then uses a scraper equipped with a buffer spring to scrape out impurities such as sea cucumber viscera and mucus. For example, patents CN215958092U and patent CN220712734U use a support assembly to open the sea cucumber abdomen and then use a scraping assembly to remove the sea cucumber sand spits. In the current factory processing and production, the processing equipment only for a single processing step cannot adapt to the efficient production of the factory, so it is necessary to design a device that can automatically process sea cucumbers to improve the processing efficiency and quality of sea cucumbers, such as patent CN114052064A proposes a control system for sea cucumber processing equipment, adopts a fully automatic cutting device to cut open the sea cucumber after being straightened and remove the sand spits, and this method completes the sea cucumber's cut open and sand spits removal process.

[0004] The above-mentioned method of cutting and removing impurities from salted sea cucumber raw materials still has many shortcomings in meeting the pre-processing requirements of high-quality sea cucumber products: (1) It is impossible to accurately cut sea cucumbers of different body lengths. There may be problems such as the cutting line deviating from the midline of the abdomen, the head and tail of smaller sea cucumbers being completely cut, and the cutting of larger sea cucumbers being incomplete. (2) When scraping to remove the sand spits, the scraper position is too high to completely remove the sand spits close to the head of the sea cucumber. If the position is too low, it will cause damage to the inner wall of the sea cucumber's abdominal cavity, affecting the appearance of the sea cucumber. (3) The simple opening component does not fully take into account the curled structure of the sea cucumber. Directly opening the sea cucumber will cause operation failure, and the artificial positioning of the sea cucumber's abdomen will result in low processing efficiency. Summary of the invention

[0005] In view of the above-mentioned deficiencies, the present invention provides an automated cutting and impurity removal processing device for salted sea cucumber raw materials. The sea cucumbers are placed on a conveyor belt with grooves and conveyed in sequence. The abdomen of the sea cucumber is centered and facing upward and coincides with the center mark line of the groove. The sea cucumber is positioned and measured by an industrial camera, and a downward pressure device is used to fix the sea cucumber to ensure that the section line is continuous and straight when the sea cucumber is cut open, and is located at the midline of the abdomen, and the tail end is retained without being cut; thereafter, an expansion device is used to expand the curled cortex of the sea cucumber to fully expose the sand spit on the head, and the exposed sand spit is positioned by an industrial camera, and a contoured mechanical claw is used to simulate the manual removal method to remove the sand spit, to ensure that the sand spit on the head of the sea cucumber is completely removed without scratching the inner wall of the abdominal cavity, and the inner wall of the abdominal cavity of the sea cucumber is cleaned, so as to achieve the pre-treatment processing of high-quality salted sea cucumber raw materials.

[0006] The technical solution of the present invention:

[0007] The invention discloses an automatic cutting and impurity removing processing device for salted sea cucumber raw materials, comprising a frame body 1, a conveying device 2, a cutting device 3, a pressing device 4, an expanding device 5, a sand spit removing device 6, a spraying device 7 and a material collecting device 8; the frame body 1 is used to support the conveying device 2, the pressing device 4, the expanding device 5 and the material collecting device 8; the conveying device 2 is used to automatically and continuously convey the sea cucumbers and ensure that the sea cucumbers are transported to the corresponding positions without loss of quality; the cutting device 3 is used to cut open the abdomen of the sea cucumber to expose the inside of the sea cucumber; the pressing device 4 is used to press down and fix the sea cucumber so that the cutting device 3 cuts the abdomen of the sea cucumber; the expanding device 5 is used to expand the curled cortex of the cut sea cucumber to expose the sand spit part of the head of the sea cucumber; the sand spit removing device 6 is used to locate the sand spit part of the head of the sea cucumber and completely remove it; the spraying device 7 is used to clean the inside of the abdominal cavity of the sea cucumber during the processing and rinse the mud and other impurities in the abdomen of the sea cucumber; the material collecting device 8 is used to collect the processed sea cucumbers in a unified manner to facilitate subsequent processing operations.

[0008] The frame body 1 is a frame structure welded from stainless steel, including a bearing seat hole 11, a protective plate 12, a motor support frame 13, a pressing device guide rail 14, an expansion device support frame 15 and a discharge guide plate 16; the frame body 1 is mainly composed of a support leg and front and rear side plates on the upper part of the support leg, a sealing plate of an integral structure is provided at the head end, and a discharge guide plate 16 is provided at the end to connect the collecting device 8 to collect the processed sea cucumbers; bearing seat holes 11 are symmetrically opened on the front and rear side plates; a protective plate 12 is provided on the inner side of the head end of the front side plate to prevent mud and sand from splashing when washing the sea cucumbers; a motor support frame 13 is provided below the head ends of the two side plates; a pressing device guide rail 14 is provided in the middle of the front side plate to support the pressing device 4 to fix the sea cucumber; an expansion device support frame 15 is provided near the end of the rear side plate to support the expansion device 5 to flatten the sea cucumber cortex;

[0009] The conveying device 2 includes a conveying motor 21, a conveying driving sprocket 22, a conveying chain 23, a conveying driven sprocket 24, a conveying driving shaft 25, a driving pulley 26, a conveying belt 27, a driven pulley 28 and a conveying driven shaft 29; the transmission motor 21 is connected and fixed to the motor support frame 13 through an L-shaped fixing piece; the conveying driving sprocket 22 is connected to the conveying motor 21 through a key; the conveying driving shaft 25 cooperates with the bearing seat hole 11 to realize rotation; the conveying driven sprocket 24 and two driving pulleys 26 are respectively arranged on the conveying driving shaft 25, wherein the two driving pulleys 26 are respectively arranged on both sides of the conveying belt 27; the conveying driven sprocket 24 is connected to the conveying driving shaft 25 through a key, and the conveying The driven sprocket 24 and the conveying driving sprocket 22 are matched and transmitted through the conveying chain 23; the driving pulley 26 is connected to the conveying driving shaft 25 through a key; the conveying driven shaft 29 is also connected to the two driven pulleys 28 through a key, and the conveying driven shaft 29 cooperates with the bearing seat hole 11 to realize rotation; the conveyor belt 27 is installed on the driving pulley 26 and the driven pulley 28, and the conveying driving sprocket 22 is driven to rotate by the transmission motor 21, and the conveying driven sprocket 24 is driven to rotate through the conveying chain 23, so that the driving pulley 26 on the conveying driving shaft 25 connected to the transmission driven sprocket 24 is rotated, and the driving pulley 26 drives the driven pulley 28 to rotate by driving the conveyor belt 27, so as to form a continuous transmission belt transmission;

[0010] The dissecting device 3 includes a first base 31, a first truss manipulator 32, a first drive motor 33, a first cylinder 34, a first industrial camera 35, a terminal dissecting tool holder 36 and a dissecting knife 37; a first base 31 is provided at the bottom of the left and right sides of the dissecting device body to keep the first truss manipulator 32 stable and not prone to tipping; the first truss manipulator 32 is used to support the terminal dissecting tool holder 36 and the dissecting knife 37 to achieve precise cutting of the belly of the sea cucumber; the first drive motor 33 and the first cylinder 34 are respectively provided at the upper end of the first truss manipulator 32 to drive it to move flexibly in the operating space; the first industrial camera 35 is connected and fixed to the truss at the upper end of the first truss manipulator 32 to take pictures of the sea cucumber; after converting the collected image into a grayscale image, a Gaussian filter is used for denoising to reduce the noise points in the image, and then the image is converted into a binary image to facilitate the extraction of the contour. The edge of the sea cucumber is extracted by the Canny edge detection algorithm, and then all contours in the image are identified and extracted, and the maximum contour is finally found. By fitting the sea cucumber contour with an ellipse, the center position of the sea cucumber and the area where the head is located are determined, and the corresponding coordinate information is provided. According to the position coordinates, the truss manipulator is controlled to move precisely to ensure that the cutting position is accurately aligned with the head of the sea cucumber, the cutting line is along the midline of the sea cucumber abdomen, and the cutting length is 80% of the midline of the abdomen to ensure that the tail end is not cut.

[0011] The terminal cutting tool holder 36 includes a tool holder base 361, a cutting device bearing support 362, a cutting knife bearing 363 and a cutting knife driving motor 364; the cutting device bearing support 362 is fixed on the tool holder base 361 to support the terminal cutting tool holder 36 stably; the cutting knife bearing 363 and the cutting knife driving motor 364 are arranged between the two cutting device bearing supports 362, and cooperate with the cutting knife 37 to support the cutting knife 37 to rotate and cut the sea cucumber.

[0012] The pressing device 4 includes a pressing plate 41, an L-shaped fixing plate 42 and a pressing cylinder 43; the pressing plate 41 cooperates with the pressing device guide rail 14 to constrain the moving trajectory of the pressing device 4; the L-shaped fixing plate 42 is fixedly connected to the pressing plate 41, on which the pressing cylinder 43 is installed, and is fixed to the outer side of the pressing device guide rail 14 by bolts to support the pressing device 4 to move and fix the sea cucumber.

[0013] The expansion device 5 includes an expansion cylinder 51 and an elbow U-shaped expansion member 52; the expansion cylinder 51 is fixed on the connection and is located below the mechanical clamp 66, and is used to expand the curled cortical structure of the sea cucumber to facilitate exposure and obtain the sand spit structure of its head.

[0014] The sand spit removal device 6 comprises a second base 61, a second truss manipulator 62, a second drive motor 63, a second cylinder 64, a second industrial camera 65 and a mechanical gripper 66; a second base 61 is arranged at the bottom of the left and right sides of the main body of the sand spit removal device to keep the second truss manipulator 62 stable and not easy to fall; the second truss manipulator 62 is used to support the mechanical gripper 66 to achieve accurate removal of the sand spit of the sea cucumber; the second drive motor 63 and the second cylinder 64 are respectively arranged at the upper end of the second truss manipulator 62, and drive it to move flexibly in the operation space; the second industrial camera 65 is fixed on the truss at the upper end of the second truss manipulator 62, and the image is first converted into a grayscale image by shooting the stretched sea cucumber to simplify subsequent processing. Then, the threshold segmentation method is applied to binarize the image, so as to effectively separate the sea cucumber and the sand spit area from the background. By analyzing the binary image, the accurate coordinate information of the sand spit is determined. Finally, the mechanical gripper accurately removes the sea cucumber sand spit by simulating human hand movements according to the positioning results.

[0015] The mechanical gripper 66 is arranged on the sand spit removal device 6 and is fixedly connected to the second truss manipulator 62 through an end connector 661 that simulates a human wrist with a certain inclination angle; the mechanical gripper cylinder 662 cooperates with the gripper 663 and is fixedly connected to the end connector 661 through bolts to support the mechanical gripper 66 to position and remove the sea cucumber sand spit.

[0016] The spray device 7 includes a base 71, a water inlet 72, a spray support column 73 and a spray hole 74; the spray support column 73 is fixed on the base 71 and is used to support the spray device 7; the water inlet 72 is opened on the spray support column 73 and is connected to an external water pipe so that the spray hole 74 can effectively clean the mud and other impurities in the abdomen of the sea cucumber.

[0017] The collecting device 8 is connected to the frame body 1 through the unloading guide plate 16, and a proper amount of water is placed in the device tank so that the quality of the sea cucumbers will not be damaged after collection and processing.

[0018] Effects and benefits of the present invention:

[0019] (1) The automatic cutting and impurity removal processing device for salted sea cucumber raw materials of the present invention has a cutting device that uses an industrial camera to locate the position of the sea cucumber in real time, measures the body length of the sea cucumber, and realizes automatic cutting by a cutting knife. Visual technology is used to control the tool to cut at the midline position of the sea cucumber abdomen, thereby avoiding the problem that traditional tools only perform a single reciprocating motion and cannot fully adapt to sea cucumbers of different sizes. The downward pressure device can control the downward pressure to fix the sea cucumber in the U-shaped groove of the conveyor belt, thereby avoiding the sea cucumber from shifting during cutting, resulting in product damage and affecting the appearance of the sea cucumber.

[0020] (2) The expansion device of the automatic cutting and impurity removal processing device for salted sea cucumber raw materials of the present invention adopts an elbow U-shaped structure, which is gradually inserted into the abdomen of the cut sea cucumber from the head, so that the abdominal cavity of the sea cucumber is fully expanded, and the expanded sea cucumber is clamped and fixed by the expansion device and the U-shaped groove, so that the sand mouth on the head and the fascia and folds in the abdominal cavity that are easy to hide fine silt and sand are exposed, which is convenient and reliable for the subsequent removal of the sand mouth and cleaning of silt and sand. The sand mouth removal device adopts a contoured mechanical clamp to simulate the method of manually clamping and removing the sand mouth of the sea cucumber, so as to remove the exposed sand mouth on the head of the sea cucumber, thereby avoiding the traditional scraping method that causes incomplete removal of the sand mouth and damages the sea cucumber cortex to affect the appearance.

[0021] (3) The automatic cutting and impurity removal processing device for salted sea cucumber raw materials of the present invention adopts a U-shaped groove belt transmission. On the one hand, the U-shaped structure cooperates with the pressing device and the expansion device to ensure the stable state of the sea cucumber during the cutting and sand mouth removal process, further improving the processing effect. On the other hand, during the uninterrupted continuous feeding process of the conveyor belt, the cutting device and the sand mouth removal device work simultaneously, which significantly improves the processing efficiency. The system can automatically complete the cutting of the sea cucumber abdomen, the removal of the sand mouth on the head, and the cleaning of the sea cucumber abdominal cavity at the same time, thereby achieving full automation and improving the productivity of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of an automatic cutting and impurity removal processing device for salted sea cucumber raw materials provided in an embodiment of the present invention.

[0023] Figure 2 It is a schematic diagram of a frame main body and a material receiving device of an automatic cutting and impurity removal processing device for salted sea cucumber raw materials provided in an embodiment of the present invention.

[0024] Figure 3A It is a structural schematic diagram of a conveying device of an automatic cutting and impurity removal processing device for salted sea cucumber raw materials provided in an embodiment of the present invention.

[0025] Figure 3B It is a partial schematic diagram of the conveying device of the automatic cutting and impurity removal processing device for salted sea cucumber raw materials provided in an embodiment of the present invention implementing sea cucumber transportation.

[0026] Figure 4A and Figure 4B It is a structural schematic diagram of a cutting device and a terminal cutting tool holder of an automatic cutting and impurity removal processing device for salted sea cucumber raw materials provided in an embodiment of the present invention.

[0027] Figure 5A It is a structural schematic diagram of a pressing device of an automatic cutting and impurity removal processing device for salted sea cucumber raw materials provided in an embodiment of the present invention.

[0028] Figure 5B It is a partial schematic diagram of the cutting device and the pressing device of the automatic cutting and impurity removal processing device for salted sea cucumber raw materials provided in an embodiment of the present invention performing sea cucumber abdominal cutting.

[0029] Fig. 6A It is a structural schematic diagram of the expansion device of the automatic cutting and impurity removal processing device for salted sea cucumber raw materials provided in an embodiment of the present invention.

[0030] Figure 6B It is a partial schematic diagram of the expansion device of the automatic cutting and impurity removal processing device for salted sea cucumber raw materials provided in an embodiment of the present invention implementing the expansion of the curled cortex of the sea cucumber.

[0031] Fig. 7A and Figure 7B It is a structural schematic diagram of a sand spout removal device and a terminal mechanical clamp of an automated cutting and impurity removal processing device for salted sea cucumber raw materials provided in an embodiment of the present invention.

[0032] Figure 7C It is a partial schematic diagram of the sand spit removal device of the automatic cutting and impurity removal processing device for salted sea cucumber raw materials provided in an embodiment of the present invention, in the process of removing the sand spit from sea cucumbers.

[0033] Figure 8 It is a schematic diagram of a spray device of the automatic cutting and impurity removal processing device for salted sea cucumber raw materials provided in an embodiment of the present invention.

[0034] In the figure: 1 frame body; 2 conveying device; 3 cutting device; 4 pressing device; 5 expansion device; 6 sand nozzle device; 7 spray device; 8 receiving device; 11 bearing seat hole; 12 protection plate; 13 motor support frame; 14 pressing device guide rail; 15 expansion device support frame; 16 unloading guide plate; 21 conveying motor; 22 conveying driving sprocket; 23 conveying chain; 24 conveying driven sprocket; 25 conveying driving sprocket; 26 driving pulley; 27 conveyor belt; 28 driven pulley; 29 conveying driven shaft; 31 first base; 32 first truss manipulator; 33 first driving motor; 34 first air cylinder; 35 first industrial camera; 36 end cutting tool holder; 37 cutting knife; 361 tool holder base; 362 cutting device bearing support; 363 cutting knife bearing; 364 cutting knife drive motor; 41 lower pressure plate; 42 L-type fixing plate; 43 lower pressure cylinder; 51 expansion cylinder; 52 elbow U-shaped expansion piece; 61 second base; 62 second truss manipulator; 63 second drive motor; 64 second cylinder; 65 second industrial camera; 66 mechanical gripper; 661 end connector; 662 mechanical gripper cylinder; 663 gripper; 71 base; 72 water inlet; 73 spray support column; 74 spray hole. DETAILED DESCRIPTION

[0035] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings and technical solutions.

[0036] Figure 1 Schematic diagram of the structure of the automatic cutting and impurity removal device for salted sea cucumber raw materials provided in an embodiment of the present invention. Figure 1 As shown, in this embodiment, an automatic cutting and impurity removal processing device for salted sea cucumber raw materials includes a frame body 1, a conveying device 2, a cutting device 3, a pressing device 4, a supporting device 5, a sand removal device 6, a spraying device 7, and a material receiving device 8; the frame body 1 is used to support the conveying device 2, the pressing device 4, the supporting device 5 and the material receiving device 8, and to determine the position of each device; the conveying device 2 is used to automatically and continuously transport the sea cucumbers and ensure that the sea cucumbers are transported to each processing device without loss of quality; the cutting device 3 is used to cut open the abdomen of the sea cucumber , exposing the inside of the sea cucumber; the pressing device 4 is used to press down and fix the sea cucumber so that the cutting device 3 can cut the abdomen of the sea cucumber; the expanding device 5 is used to expand the curled cortex of the cut sea cucumber, exposing the sand spit part of the sea cucumber head; the sand spit removing device 6 is used to locate the sand spit part of the sea cucumber head and remove it completely; the spraying device 7 is used to clean the inside of the sea cucumber abdominal cavity during the sand spit removal process, and rinse the mud and other impurities in the sea cucumber abdomen; the collecting device 8 is used to collect the processed sea cucumbers in a unified manner to facilitate subsequent processing operations.

[0037] Figure 2 Schematic diagram of the frame body and material receiving device of the automatic cutting and impurity removal processing device for salted sea cucumber raw materials provided in an embodiment of the present invention. Figure 2 As shown, the frame body 1 is a frame structure welded by stainless steel of different sizes, which includes a bearing seat hole 11, a protective plate 12, a motor support frame 13, a pressing device guide rail 14, an expansion device support frame 15 and a discharge guide plate 16. The bearing seat holes 11 are symmetrically arranged on the front and rear sides of the overall frame body 1; a protective plate 12 is arranged on the inner side of the front end of the overall frame body 1 to prevent mud and sand from splashing when washing the sea cucumber; a motor support frame 13 is arranged below the front end of the overall frame body 1; a pressing device guide rail 14 is arranged in the middle of the overall frame body 1 to support the pressing device 4 to fix the sea cucumber; an expansion device support frame 15 is arranged on the rear side of the overall frame body 1, and a hole is arranged on the expansion device support frame 15 to support the expansion device 5 to flatten the sea cucumber cortex; a discharge guide plate 16 is arranged on the rear side of the overall frame body 1 to connect the collecting device 8 to collect the processed sea cucumber.

[0038] like Figure 2 As shown, the collecting device 8 is connected to the frame body 1 through the unloading guide plate 16, and a proper amount of water is placed in the device tank so that the quality of the sea cucumbers will not be damaged after collection and processing.

[0039] Figure 3A Schematic diagram of the structure of the conveying device of the automatic cutting and impurity removal processing device for salted sea cucumber raw materials provided in the embodiment of the present invention. Figure 3A As shown, the conveying device 2 includes a conveying motor 21, a conveying driving sprocket 22, a conveying chain 23, a conveying driven sprocket 24, a conveying driving shaft 25, a driving pulley 26, a conveyor belt 27, a driven pulley 28 and a conveying driven shaft 29; the transmission motor 21 is connected and fixed to the motor support frame 13 at the lower end of the front side of the frame body 1 through an L-shaped fixing piece, and the conveying driving sprocket 22 is connected to the conveying motor 21 through a key; the bearing seat hole 11 is located on the front side of the frame body 1, and is used to support the rotation of the conveying driving shaft 25, and the conveying driven sprocket 24 and two driving pulleys 26 are respectively arranged on the conveying driving shaft 25, wherein the two driving pulleys are respectively arranged on both sides of the conveyor belt 27, and the conveying driven sprocket 24 and the conveying driving shaft 25 are connected by a key. The conveying driven sprocket 24 and the conveying driving sprocket 22 are connected, and the transmission is transmitted by the conveying chain 23; the driving pulley 26 is connected to the conveying driving shaft 25 by a key; the conveying driven shaft 29 is also connected to two driven pulleys 28 by a key, and the conveying driven shaft 29 cooperates with the bearing seat hole 11 on the rear side of the frame body 1 to support rotation; the conveyor belt 27 is installed on the driving pulley 26 and the driven pulley 28, and the transmission motor 21 drives the conveying driving sprocket 22 to rotate, and drives the transmission driven sprocket 24 to rotate through the conveying chain 23, so that the driving pulley 26 on the conveying driving shaft 25 connected to the transmission driven sprocket 24 is rotated, and the driving pulley 26 drives the driven pulley 28 to rotate by driving the conveyor belt 27, so as to form a continuous transmission belt transmission. Figure 3B It is a partial schematic diagram of the conveying device of the automatic cutting and impurity removal processing device for salted sea cucumber raw materials provided in the embodiment of the present invention in the implementation of sea cucumber transportation. The conveyor belt 27 is a groove conveyor belt, and its U-shaped groove can be closer to the arc shape of the back of the sea cucumber, reducing the rolling and sliding of the sea cucumber during transportation, making the position of the sea cucumber more stable during transportation; the marking line located in the middle of the groove is used to ensure that the midline position of the abdomen of the sea cucumber is at the same position as the marking line when cutting.

[0040] Figure 4A and Figure 4B Schematic diagram of the structure of the cutting device and the end cutting tool holder of the automatic cutting and impurity removal processing device for salted sea cucumber raw materials provided in the embodiment of the present invention. Figure 4A and Figure 4BAs shown, the cutting device 3 is used to cut the belly of the sea cucumber, and includes a first base 31, a first truss manipulator 32, a first drive motor 33, a first cylinder 34, a first industrial camera 35, an end cutting tool holder 36 and a cutting knife 37; a first base 31 is arranged at the bottom of the left and right sides of the overall cutting device body, which supports and fixes the first truss manipulator 32; the first truss manipulator 32 is used to support the end cutting tool holder 36 and the cutting knife 37, and fix the positions of the tool holder 36 and the cutting knife 37 to ensure accurate opening of the belly of the sea cucumber; the first drive motor 33 and the first cylinder 34 are respectively arranged at the upper end of the first truss manipulator 32 to provide motive force for the precise movement of the truss manipulator; the first industrial camera 35 is fixed to the truss at the upper end of the first truss manipulator 32 by bolt connection, and moves the conveyor 2 with the belly facing upward The sea cucumber is accurately positioned, and the opening position and body length of the sea cucumber are determined to ensure that the sea cucumber is accurately cut by the slicing knife and the tail end is not cut, and the sea cucumber is sliced ​​in cooperation with the downward pressure device 4 to ensure that the incision is not too deep to avoid excessive damage to the meat, and to ensure that the slicing knife is at a shallow angle to the sea cucumber body and slides slowly to avoid accidental injury; the terminal cutting knife holder 36 includes a knife holder base 361, a cutting device bearing support 362, a slicing knife bearing 363 and a slicing knife drive motor 364; the knife holder base 361 is fixedly connected to the cutting device bearing support 362 by bolts to ensure the stability of the terminal cutting knife holder 36; the slicing knife bearing 363 is precisely coordinated with the slicing knife drive motor 364, and is installed on the bearing support 362 of the cutting device in cooperation with the slicing knife 37, thereby providing a stable support for the slicing knife 37 and realizing its efficient rotation and cutting during the sea cucumber slicing process.

[0041] Figure 5A Schematic diagram of the structure of the pressing device of the automatic cutting and impurity removal processing device for salted sea cucumber raw materials provided in the embodiment of the present invention. Figure 5A As shown, the pressing device 4 includes a pressing plate 41, an L-shaped fixing plate 42 and a pressing cylinder 43; the pressing plate 41 is arranged on the pressing device guide rail 14 to constrain the moving trajectory of the pressing device 4; the L-shaped fixing plate 42 is fixedly connected to the pressing cylinder 43 and then fixed to the upper outer side of the pressing device guide rail 14 by bolts to fix the cylinder position and support the pressing device 4 to move up and down, thereby realizing the pressing and fixing of the sea cucumber. Figure 5B FIG. 1 is a partial schematic diagram of the cutting device and the pressing device of the sea cucumber automatic processing device provided in the embodiment of the present invention in the process of cutting the sea cucumber abdomen. Figure 5BIt is a partial schematic diagram of the cutting device and the pressing device of the automatic cutting and impurity removal processing device for salted sea cucumber raw materials provided in the embodiment of the present invention in the implementation of the sea cucumber belly cutting. The pressing plate 41 is located directly above the sea cucumber, and the pressing cylinder 43 provides a downward pressure to press down and fix the sea cucumber. During the pressing process, the sea cucumber deforms so that the cortex fits more closely to the U-shaped groove conveyor belt 27 to avoid excessive downward pressure causing cortical damage. The sea cucumber is photographed using an industrial camera to accurately identify and determine the starting point of the cutting of the sea cucumber. The precise positioning of the starting point of the cutting can directly affect the subsequent processing quality. Through the image data captured by the camera, the system can calculate the best position for cutting. Then, the first truss manipulator 32 realizes the movement up, down, left and right, and flexibly adjusts the position of the cutting knife so that the cutting knife 37 can accurately align with the abdomen of the sea cucumber for cutting. The cutting knife 37 is controlled by the cutting knife drive motor 364 to achieve a smooth cutting action. In order to ensure that the depth of the sectioning meets the requirements, the cutter 37 is used in conjunction with the lower pressing plate 41. This design can not only ensure the consistency of the sectioning depth, but also effectively prevent the sea cucumber body wall from being damaged due to too deep sectioning. This can ensure that the incision is clean and smooth, and can protect the integrity of the sea cucumber and avoid causing the quality of the product to decline. The end point of the sectioning is fixed at a position one centimeter away from the tail of the sea cucumber. Through the fixed position set in advance, it is ensured that each sectioning ends at a precise distance. When the cutter 37 moves to the end point, the industrial camera monitors the entire sea cucumber in real time to ensure that the cutter stops rotating at a precise position to avoid overcutting or not being in place. Finally, after the cutter stops moving, the first truss manipulator 32 moves upward to complete a complete sectioning process.

[0042] Fig. 6A Schematic diagram of the structure of the expansion device of the automatic cutting and impurity removal processing device for salted sea cucumber raw materials provided in the embodiment of the present invention. Fig. 6A As shown, the expansion device 5 is used to expand the curled cortex of the sea cucumber to fully expose the sand spit part of the head, including an expansion cylinder 51 and an elbow U-shaped expansion member 52; the expansion cylinder 51 is fixed to the expansion device support frame 15 by bolt connection, and the elbow U-shaped expansion member 52 is assembled on the expansion cylinder 51 and is located below the mechanical clamp 66, and is used to expand the curled cortical structure of the sea cucumber so as to expose and obtain the sand spit structure of its head. Figure 6B It is a partial schematic diagram of the expansion device of the automatic cutting and impurity removal processing device for salted sea cucumber raw materials provided in an embodiment of the present invention, during the expansion of the curled cortex of the sea cucumber. The elbow U-shaped expansion member 52 is located at the front end of the processed sea cucumber. During the expansion process, the front end of the elbow U-shaped expansion member 52 is curved and bent downward, which can apply force more evenly, avoiding local excessive force causing damage to the cortex of the sea cucumber and affecting the appearance of the sea cucumber. In addition, the elbow U-shaped expansion member 52 can well avoid interference with the clamping jaws 663 of the mechanical clamping jaws 66, which affects the sand spit removal effect.

[0043] Fig. 7A and Figure 7B This is a schematic diagram of the structure of the sand removal device and the end mechanical gripper of the automatic cutting and impurity removal processing device for salted sea cucumber raw materials provided in an embodiment of the present invention. Fig. 7A and Figure 7B As shown, the sand spit removal device 6 is used to accurately remove the sand spit on the head of the sea cucumber, including a second base 61, a second truss manipulator 62, a second drive motor 63, a second cylinder 64, a second industrial camera 65, and a mechanical gripper 66; a second base 61 is provided at the bottom of the left and right sides of the main body of the overall sand spit removal device to keep the second truss manipulator 62 stable and not tipping over; the second truss manipulator 62 is used to support the mechanical gripper 66 to accurately remove the sand spit of the sea cucumber; the second drive motor 63 and the second cylinder 64 are respectively provided at the upper end of the second truss manipulator 62 to drive it to move flexibly in the operating space; the second industrial camera 65 is fixed to the truss at the upper end of the second truss manipulator 62 by bolt connection, and the image is first converted into a grayscale image by shooting the stretched sea cucumber to simplify subsequent processing. Then, the threshold segmentation method is applied to binarize the image, thereby effectively separating the sea cucumber and the sand spit area from the background. By analyzing the binary image, the accurate coordinate information of the sand spit is determined, and the mechanical gripper 66 is controlled to remove the sand spit of the sea cucumber by simulating human hands according to the positioning. In view of the diversity of the shapes of the sand spit, it is necessary to avoid damaging the meat and inner wall of the sea cucumber during the removal of the sand spit, especially the part close to the sand spit. The mechanical gripper 66 is installed on the sand spit removal device 6 to ensure the efficiency and accuracy of the grasping process. The mechanical gripper 66 is connected to the device body through the end connector 661, and the upper part of the end connector 661 is in an inclined state, so that the mechanical gripper 66 forms a certain angle with the vertical direction. Such a design gives the mechanical gripper 66 the characteristics of nonlinear motion during operation, ensuring that its motion trajectory during grasping is curved. The design of curved motion helps to achieve a highly accurate grasping effect during the sea cucumber processing process, especially for the grasping operation of the root position of the sea cucumber. Through the optimization of the angle, the mechanical gripper 66 can more flexibly avoid other parts of the sea cucumber, ensuring that the root of the sea cucumber is accurately aligned and grasped without damaging the surrounding tissue, especially the delicate operation link of removing the sand spit. The mechanical gripper cylinder 662 cooperates with the gripper 663 and is fixedly connected to the end connector 661 by bolts to support the mechanical gripper 66 to position and remove the sea cucumber sand spit. Figure 7CIt is a partial schematic diagram of the sand spout removal device of the salted sea cucumber raw material automatic cutting and impurity removal processing device provided in the embodiment of the present invention in the implementation of the sea cucumber sand spout removal. The mechanical gripper 66 is located directly above the processed sea cucumber, and forms a certain angle with the vertical direction through the end connector 661. When the mechanical gripper 66 grabs the sand spout, the running trajectory is an arc. The purpose of this design is to ensure that when the mechanical gripper 66 contacts the inner wall of the sea cucumber, the gripper 663 adopts a structure that simulates nail clippers and only sets a cutting tip on the inside, so that the outer part can be accurately tangent to the inner wall of the sea cucumber without damaging the inner wall of the sea cucumber, so as to achieve the effective separation of the sand spout and the connecting part of the inner wall of the sea cucumber. Through this design, no matter how the shape of the sand spout changes, the sand spout can be accurately removed to ensure the accuracy and consistency of the processing. During the grabbing process, the mechanical gripper 66 will remain in a clamped state to ensure that the clamping force is sufficient to support the stable operation of the sea cucumber. In the process of removing the sand spout, the mechanical gripper 66 can provide sufficient stability and control to ensure that the sand spout part is completely separated. This not only prevents sand spout residue from affecting subsequent processing, but also ensures the efficiency of the entire processing process and the quality of the finished product.

[0044] Figure 8 It is a schematic diagram of the spray system of the automatic cutting and impurity removal processing device for salted sea cucumber raw materials in the present invention. According to the figure, the spray device 7 is composed of a base 71, a water inlet 72, a spray support column 73 and a spray hole 74. The spray support column 73 is used to stabilize and support the entire spray system, while the water inlet 72 is connected to an external water pipe to ensure continuous water supply during the processing. When removing the sand spout, the design of the spray hole 74 can effectively clean the mud and other impurities in the abdomen of the sea cucumber, ensuring the efficiency and cleanliness of cutting and impurity removal.

[0045] The description presented in the above exemplary embodiments is only used to illustrate the technical solution of the present invention, and is not intended to be exhaustive, nor is it intended to limit the present invention to the precise form described. Obviously, it is possible for a person of ordinary skill in the art to make many changes and variations based on the above teachings. The exemplary embodiments are selected and described to explain the specific principles of the present invention and its practical application, so that other technicians in the field can easily understand, implement and use the various exemplary embodiments of the present invention and its various selected forms and modified forms. The scope of protection of the present invention is intended to be defined by the attached claims and their equivalent forms.

Claims

1. An automatic cutting and impurity removal processing device for salted sea cucumber raw materials, characterized in that: The automatic cutting and impurity removal processing device for salted sea cucumber raw materials comprises a frame body (1), a conveying device (1), a cutting device (3), a pressing device (4), an expanding device (5), a sand mouth removing device (6), a spraying device (7) and a material receiving device (8); the frame body (1) is used to support the conveying device (1), the pressing device (4), the expanding device (5) and the material receiving device (8); the conveying device (1) is used to automatically and continuously convey the sea cucumbers and ensure that the sea cucumbers are transported to corresponding positions without loss of quality; the cutting device (3) is used to cut open the abdomen of the sea cucumber to expose the inside of the sea cucumber; the pressing device (4) is used to press down and fix the sea cucumber so that the cutting device (3) cuts the abdomen of the sea cucumber; the expanding device (5) is used to expand the curled cortex of the cut sea cucumber to expose the sand mouth part of the head of the sea cucumber; the sand mouth removing device (6) is used to locate the sand mouth part of the head of the sea cucumber and completely remove it; The spray device (7) is used to clean the interior of the sea cucumber's abdominal cavity during the processing and to rinse away mud and other impurities in the sea cucumber's abdomen; the collecting device (8) is used to collect the processed sea cucumbers in a unified manner to facilitate subsequent processing operations.

2. The automatic cutting and impurity removal processing device for salted sea cucumber raw materials according to claim 1 is characterized in that: The frame body (1) is a frame structure welded from stainless steel, comprising a bearing seat hole (11), a protective plate (12), a motor support frame (13), a guide rail for a pressing device (14), a support frame for an expansion device (15) and a discharge guide plate (16); the frame body (1) is mainly composed of a support leg and front and rear side plates on the upper part of the support leg, a sealing plate of an integral structure is provided at the head end, and a discharge guide plate (16) is provided at the tail end for connecting to a receiving device (8) to collect the processed materials The invention relates to a sea cucumber; bearing seat holes (11) are symmetrically opened on the two side plates; a protective plate (12) is arranged on the inner side of the head end of the front side plate to prevent mud and sand from splashing when washing the sea cucumber; a motor support frame (13) is arranged below the head ends of the two side plates; a pressing device guide rail (14) is arranged in the middle of the front side plate to support the pressing device (4) to fix the sea cucumber; and an expansion device support frame (15) is arranged near the end of the rear side plate to support the expansion device (5) to flatten the sea cucumber cortex.

3. The automatic cutting and impurity removal processing device for salted sea cucumber raw materials according to claim 2 is characterized in that: The conveying device (1) comprises a conveying motor (21), a conveying driving sprocket (22), a conveying chain (23), a conveying driven sprocket (24), a conveying driving shaft (25), a driving pulley (26), a conveying belt (27), a driven pulley (28) and a conveying driven shaft (29); the transmission motor 21 is connected and fixed to the motor support frame (13) through an L-shaped fixing piece; the conveying driving sprocket (22) is connected to the conveying motor (21) through a key; the conveying driving shaft (25) cooperates with the bearing seat hole (11) to realize rotation; the conveying driven sprocket (24) and two driving pulleys (26) are respectively arranged on the conveying driving shaft (25), wherein the two driving pulleys (26) are respectively arranged on both sides of the conveying belt (27); the conveying driven sprocket (24) is connected to the conveying driving shaft (25) through a key, and at the same time The transmission driven sprocket (24) and the transmission driving sprocket (22) are matched and transmitted through the transmission chain (23); the driving pulley (26) and the transmission driving shaft (25) are connected by a key; the transmission driven shaft (29) is also connected to the two driven pulleys (28) by a key, and the transmission driven shaft (29) cooperates with the bearing seat hole (11) to realize rotation; the conveyor belt (27) is installed on the driving pulley (26) and the driven pulley (28), and the transmission driving sprocket (22) is driven to rotate by the transmission motor 21, and the transmission driven sprocket (24) is driven to rotate by the transmission chain (23), so that the driving pulley (26) on the transmission driving shaft (25) connected to the transmission driven sprocket 24 is rotated, and the driving pulley (26) drives the driven pulley (28) to rotate by driving the conveyor belt (27), so as to form a continuous transmission belt transmission.

4. The automatic cutting and impurity removal processing device for salted sea cucumber raw materials according to claim 3 is characterized in that: The cutting device (3) comprises a first base (31), a first truss manipulator (32), a first driving motor (33), a first cylinder (34), a first industrial camera (35), a terminal cutting tool holder (36) and a cutting knife (37); the first base (31) is arranged at the bottom of the left and right sides of the cutting device body to keep the first truss manipulator (32) stable and not prone to tipping over; the first truss manipulator (32) is used to support the terminal cutting tool holder (36) and the cutting knife (37) to achieve precise cutting of the belly of the sea cucumber; the first driving motor (33) and the first cylinder (34) are respectively arranged at the upper end of the first truss manipulator (32). Used to drive it to move flexibly in the operating space; the first industrial camera (35) is connected and fixed to the truss at the upper end of the first truss manipulator (32) to take pictures of the sea cucumber; wherein the terminal cutting tool holder (36) includes a tool holder base 361, a cutting device bearing support 362, a cutting knife bearing 363 and a cutting knife drive motor 364; the cutting device bearing support 362 is fixed on the tool holder base 361 to support the terminal cutting tool holder (36) stably; the cutting knife bearing 363 and the cutting knife drive motor 364 are arranged between the two cutting device bearing supports 362, and cooperate with the cutting knife (37) to support the cutting knife (37) to rotate and cut the sea cucumber.

5. The automatic cutting and impurity removal processing device for salted sea cucumber raw materials according to claim 4 is characterized in that: The pressing device (4) comprises a pressing plate (41), an L-shaped fixing plate (42) and a pressing cylinder (43); the pressing plate (41) cooperates with the pressing device guide rail (14) to constrain the moving track of the pressing device (4); the L-shaped fixing plate (42) is fixedly connected to the pressing plate (41), and the pressing cylinder (43) is installed on the L-shaped fixing plate and fixed to the outer side of the pressing device guide rail (14) by bolts to support the pressing device (4) to move and fix the sea cucumber.

6. The automatic cutting and impurity removal processing device for salted sea cucumber raw materials according to claim 5 is characterized in that: The expansion device (5) comprises an expansion cylinder (51) and an elbow U-shaped expansion member (52); the expansion cylinder (51) is fixed on the connection and is located below the mechanical clamp (66), and is used to expand the curled cortical structure of the sea cucumber so as to expose and obtain the sand spit structure of its head.

7. The automatic cutting and impurity removal processing device for salted sea cucumber raw materials according to claim 6 is characterized in that: The sand spit removal device (6) comprises a second base (61), a second truss manipulator (62), a second drive motor (63), a second cylinder (64), a second industrial camera (65) and a mechanical gripper (66); a second base (61) is arranged at the bottom of the left and right sides of the main body of the sand spit removal device to keep the second truss manipulator (62) stable and not prone to tipping over; the second truss manipulator (62) is used to support the mechanical gripper (66) to achieve accurate removal of the sand spit part of the sea cucumber; the second drive motor (63) and the second cylinder (64) are respectively arranged at the upper end of the second truss manipulator (62) and drive it to move flexibly in the operating space; the second industrial camera (65) is fixed on the truss at the upper end of the second truss manipulator (62) to take pictures of the spread sea cucumber.

8. The automatic cutting and impurity removal processing device for salted sea cucumber raw materials according to claim 7 is characterized in that: The mechanical gripper (66) is arranged on the sand spout removal device (6) and is fixedly connected to the second truss manipulator (62) through an end connector (661) simulating a human wrist with a certain inclination angle; the mechanical gripper cylinder (662) cooperates with the gripper (663) and is fixedly connected to the end connector (661) through bolts to support the mechanical gripper (66) to position and remove the sea cucumber sand spout.

9. The automatic cutting and impurity removal processing device for salted sea cucumber raw materials according to claim 8, characterized in that: The spray device (7) comprises a base (71), a water inlet hole (72), a spray support column (73) and a spray hole (74); the spray support column (73) is fixed on the base (71) and is used to support the spray device (7); the water inlet hole (72) is opened on the spray support column (73) and is connected to an external water pipe so that the spray hole (74) can effectively clean the mud and other impurities in the abdomen of the sea cucumber.

10. The automatic cutting and impurity removal processing device for salted sea cucumber raw materials according to claim 8, characterized in that: The material collecting device (8) is connected to the frame body (1) via a material discharging guide plate (16). A proper amount of water is placed in the groove of the material collecting device (8) so that the quality of the sea cucumbers will not be damaged after collection and processing.

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