An intelligent shrimp peeling robot

Abstract

The application discloses a kind of intelligent shelling robot, including temporary storage mechanism, vibrating disk mechanism and shelling station, the shelling station includes mesa and multi-station carousel assembly, the mesa is at least arranged with first station, second station, third station, fourth station, fifth station and sixth station around the multi-station carousel assembly, a group of clamp assemblies is respectively arranged in each station, and multiple groups of the clamp assemblies are connected with cam mechanism arranged in the middle of the multi-station carousel assembly;The intelligent shelling robot can classify and process and transport shelled shrimp to be shelled by the arrangement of the temporary storage mechanism, the vibrating disk mechanism, carousel assembly and multiple stations, can automatically complete the operation of cleaning, decapitation, opening back, removing shrimp line, shelling and other shelling operations, without manual operation, so that batch shelling is convenient and fast.

Description

Technical Field

[0001] This invention relates to the field of food processing technology, specifically to an intelligent shrimp-peeling robot. Background Technology

[0002] Shrimp is not only highly nutritious but also delicious. However, the difficulty in eating shrimp lies in peeling the shell. The shell and shrimp meat are very close together and difficult to separate. Cooked shrimp are not only scalding hot, but the broth will also splatter, making them inconvenient to eat. Moreover, there are many types of shrimp and various ways to peel them. Whether in a factory or at home, peeling shrimp has always been a time-consuming and laborious task.

[0003] While automated shrimp-peeling equipment exists in shrimp processing plants, its bulky size makes it unsuitable for home use and difficult to adapt for kitchen and bathroom appliances, hindering the development of a more convenient method for peeling shrimp. Therefore, designing a robot that can replace manual labor, increase production efficiency, and improve waste utilization would undoubtedly provide significant convenience to the daily lives of most people. Summary of the Invention

[0004] The purpose of this invention is to address the problems existing in the prior art by providing an intelligent shrimp-peeling robot.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A smart shrimp-peeling robot includes:

[0007] A temporary storage facility is used to receive and identify shrimp to be peeled.

[0008] An adjustable vibrating plate mechanism is located below the temporary storage mechanism. Shrimp identified by the temporary storage mechanism fall into the vibrating plate mechanism for screening and sorting.

[0009] The shrimp peeling station is located on one side of the vibratory feeder mechanism. The shrimp peeling station includes a table and a multi-station turntable assembly located in the middle of the table. The table has at least a first station, a second station, a third station, a fourth station, a fifth station, and a sixth station arranged around the multi-station turntable assembly. The multi-station turntable assembly is correspondingly provided with multiple compartments. Each compartment is provided with a set of clamping assemblies. The multiple sets of clamping assemblies are connected to a cam mechanism located in the middle of the multi-station turntable assembly.

[0010] The first station is connected to the vibrating plate mechanism; the second station is a head removal station for removing the shrimp head; the third station is a back-opening station for cutting open the shrimp back; the fourth station is a shrimp vein removal station; the fifth station is a shell removal station; and the sixth station is a cleaning station.

[0011] This intelligent shrimp-peeling robot, through the arrangement of the temporary storage mechanism, the vibrating plate mechanism, the turntable assembly and multiple workstations, can classify and transport the shrimp to be peeled. It can automatically complete the peeling operations such as cleaning, removing the head, opening the back, removing the shrimp vein, and removing the shell, without manual operation, making batch shrimp peeling convenient and fast.

[0012] The shrimp-peeling station, through the multi-station turntable assembly and the arrangement of six stations, can complete the shrimp processing. The divisions on the multi-station turntable assembly correspond to the six stations. First, the shrimp falls into the first station's first station's first station's first station's first station's first station's first station's first station's first station's second station's second station's second station's sixth station's complete processing is moved to the first station's second station's first station's second station's second station's third station's first station's second station's third station's second station's third station's fourth station's fifth station's fifth station's fifth station's sixth station's fifth ...

[0013] Furthermore, the temporary storage mechanism includes a first temporary storage cylinder and a second temporary storage cylinder disposed below the first temporary storage cylinder. An openable and closable partition is provided between the first and second temporary storage cylinders. The partition has a partition channel connecting the first and second temporary storage cylinders, and a rotating door is provided at the partition channel. The second temporary storage cylinder has a shrimp dropping opening corresponding to the vibrating plate mechanism. A first camera located inside the second temporary storage cylinder is also provided below the partition.

[0014] Furthermore, the vibratory feeder mechanism includes a vibratory feeder base, on which a vibratory feeder cylinder is provided. A spiral conveying disc is provided inside the vibratory feeder cylinder. A first screening mechanism, a second screening mechanism, and a third screening mechanism are sequentially provided on the vibratory feeder cylinder along the conveying path. The first screening mechanism is provided with a first screening plate that can move up and down on the conveying disc. The second screening mechanism is provided with a rotatable second screening plate on the conveying disc. The third screening mechanism is provided with an adjustable arc-shaped plate. The conveying disc has a notch at the arc-shaped plate.

[0015] Furthermore, the first screening mechanism includes a first mounting plate disposed outside the vibrating disc cylinder, a first drive motor disposed on the first mounting plate, and the output end of the first drive motor being connected to the first screening plate via a gear and rack mechanism to move the first screening plate up and down; the second screening mechanism includes a second mounting plate disposed outside the vibrating disc cylinder, a second drive motor disposed on the second mounting plate, the output end of the second drive motor extending into the vibrating disc cylinder and connected to the second screening plate via a bevel gear mechanism; the third screening mechanism includes a third mounting plate disposed outside the vibrating disc cylinder, a first cylinder disposed on the third mounting plate, and the output end of the first cylinder being connected to the arc-shaped plate.

[0016] Furthermore, the multi-station turntable assembly includes an outer turntable and an inner turntable arranged coaxially. The outer turntable and the inner turntable are connected by several radial plates. The outer turntable is an operating area, and the cam mechanism is arranged in the middle of the inner turntable.

[0017] Furthermore, the clamp assembly includes a connecting rod and a clamp. One end of the connecting rod is connected to the cam mechanism, and the other end extends radially outward to the clamp and is provided with a push-pull block. The clamp is rotatably mounted on a clamp seat, which is mounted on the multi-station turntable assembly. The clamp has a clamping arm and a drive handle that is inclined to the clamping arm. The drive handle has a groove-shaped structure that connects to the push-pull block.

[0018] Furthermore, the second station includes at least one cutter rotatable in a vertical plane, the table and the multi-station turntable assembly are provided with a clearance groove at the second station, the cutter is rotatably arranged in the clearance groove, and a cutter driver is provided below the table to connect to and drive the cutter; the third station includes a back-opening blade rotatable on the table, and a back-opening driver is provided below the table to connect to and drive the back-opening blade; the fourth station includes a brush rotatable on the table, and a brush driver is provided below the table to connect to and drive the brush.

[0019] Furthermore, the fifth workstation includes a rotatable workstation support plate mounted on the table surface. One end of the workstation support plate extends above the multi-station turntable assembly. A second cylinder is mounted on the workstation support plate, and a needle plate is mounted on the output end of the second cylinder. The needle plate is equipped with a plurality of meat-removing needles. A baffle is mounted at the end of the workstation support plate, and the baffle is equipped with needle holes for the meat-removing needles to pass through. A shrimp meat storage area is also provided on one side of the workstation support plate.

[0020] Furthermore, the sixth workstation includes a rotatable fork mounted on the worktable, a fork driver connected to and driving the fork is provided below the worktable, and a shrimp shell storage compartment is provided on the side of the worktable near the fork to move the shrimp shells into the shrimp shell storage compartment.

[0021] Furthermore, the platform is also equipped with several water spray pipes, and a waste treatment module is provided below the platform. The waste treatment module is used to receive liquid, shrimp heads, shrimp veins and shrimp shells on the platform.

[0022] Compared with the prior art, the beneficial effects of the present invention are: 1. This intelligent shrimp-peeling robot, through the arrangement of the temporary storage mechanism, the vibrating plate mechanism, the turntable assembly, and multiple workstations, can classify and transport the shrimp to be peeled, and can automatically complete the shrimp-peeling operations such as cleaning, head removal, back opening, shrimp vein removal, and shell removal without manual operation, making batch shrimp peeling convenient and fast; 2. The temporary storage mechanism can temporarily store shrimp and perform simple processing on them to identify the type and size of the shrimp, which is beneficial for subsequent shrimp transportation and screening sorting; 3. The vibrating plate mechanism can continuously move the shrimp from bottom to top... While moving along the track, the shrimp's shape is constantly and slightly adjusted. During the shrimp's movement, a series of screening devices push shrimp that do not meet the shape requirements to the bottom for readjustment. This process is repeated continuously until all shrimp leave the vibrating plate in the same shape, facilitating subsequent processing. 4. The shrimp peeling station, through the multi-station turntable assembly and the arrangement of six stations, quickly completes the functions of washing, back-opening, removing the shrimp vein, and shelling shrimp in a turntable assembly line manner, achieving the goal of automated, fast, and convenient shrimp processing. 5. The waste treatment module can crush the inedible parts of the shrimp with a stirring mechanism, which can be used as fertilizer. Attached Figure Description

[0023] Figure 1 This is a three-dimensional structural diagram of an intelligent shrimp-peeling robot according to the present invention;

[0024] Figure 2 This is a top view schematic diagram of the intelligent shrimp-peeling robot of the present invention;

[0025] Figure 3 This is a schematic diagram of the closed temporary storage mechanism of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure when the temporary storage mechanism of the present invention is activated;

[0027] Figure 5 This is a schematic diagram showing the cooperation between the vibratory feeder mechanism and the temporary storage mechanism of the present invention;

[0028] Figure 6 This is a schematic diagram of the vibratory feeder mechanism of the present invention;

[0029] Figure 7 This is a schematic diagram of the internal structure of the vibratory feeder mechanism of the present invention;

[0030] Figure 8 This is a schematic diagram of the multi-station workbench layout of the present invention;

[0031] Figure 9 This is a schematic diagram of the bottom structure of the tabletop of the present invention;

[0032] Figure 10 This is a partially enlarged structural schematic diagram of the clamp assembly of the present invention;

[0033] Figure 11 This is a partially enlarged structural diagram of the fifth workstation of the present invention;

[0034] Figure 12 This is a schematic diagram of the waste treatment module of the present invention;

[0035] In the diagram: 1. Temporary storage mechanism; 101. First temporary storage cylinder; 102. Second temporary storage cylinder; 103. Partition; 104. Revolving door; 105. First camera; 106. Shrimp dropping opening; 107. Connecting ear; 108. Connecting seat; 109. Tilting motor; 2. Vibrating plate mechanism; 201. Vibrating plate base; 202. Vibrating plate cylinder; 203. Conveying plate; 204. First screening mechanism; 2041. First mounting plate; 2042. First drive motor; 2043. Gear rack and pinion. Mechanism; 2044, First screening plate; 205, Second screening mechanism; 2051, Second mounting plate; 2052, Second drive motor; 2053, Bevel gear mechanism; 2054, Second screening plate; 206, Third screening mechanism; 2061, Third mounting plate; 2062, First cylinder; 2063, Arc plate; 207, Notch; 3, Conveyor belt; 301, Conveyor belt camera; 4, Tabletop; 5, Multi-station turntable assembly; 501, Outer turntable; 502, Inner turntable; 50 3. Radial plate; 6. Cam mechanism; 7. Clamp assembly; 701. Connecting rod; 702. Push-pull block; 703. Clamping arm; 704. Drive handle; 705. Slotted structure; 706. Clamp seat; 707. Guide slide; 8. First station; 9. Second station; 901. Cutting blade; 902. Relief groove; 903. Cutting blade driver; 10. Third station; 1001. Back-opening blade; 1002. Back-opening driver; 11. Fourth station; 1101. Brush; 1102. Brush driver 12. Fifth station; 1201. Second cylinder; 1202. Needle plate; 1203. Meat-taking needle; 1204. Baffle; 1205. Station support plate; 13. Sixth station; 1301. Fork; 1302. Fork driver; 14. Shrimp meat storage area; 15. Shrimp shell storage compartment; 16. Water spray pipe; 17. Waste treatment module; 1701. Mixer housing; 1702. Mixing motor; 1703. Mixing shaft; 1704. Spiral blade; 1705. Feed inlet. Detailed Implementation

[0036] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] In the description of this invention, it should be noted that the terms "middle," "upper," "lower," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Example 1

[0038] A smart shrimp-peeling robot, such as Figures 1-12 As shown, it includes:

[0039] Temporary storage facility 1 is used to receive shrimp to be peeled and to identify the shrimp to be peeled;

[0040] An adjustable vibrating plate mechanism 2 is located below the temporary storage mechanism. Shrimp identified by the temporary storage mechanism 1 fall into the vibrating plate mechanism 2 for sieving and sorting.

[0041] The shrimp peeling station is located on one side of the vibrating plate mechanism 2. The shrimp peeling station includes a table 4 and a multi-station turntable assembly 5 located in the middle of the table 4. The table 4 has at least a first station 8, a second station 9, a third station 10, a fourth station 11, a fifth station 12 and a sixth station 13 arranged around the multi-station turntable assembly 5. The multi-station turntable assembly 5 is provided with multiple compartments. Each compartment is provided with a set of clamping assemblies 7. The multiple sets of clamping assemblies 7 are connected to a cam mechanism 6 located in the middle of the multi-station turntable assembly.

[0042] The first station 8 is connected to the vibrating plate mechanism 2; the second station 9 is the head removal station, used to remove the shrimp head; the third station 10 is the back opening station, used to cut open the shrimp back; the fourth station 11 is the shrimp vein removal station; the fifth station 12 is the shell removal station; and the sixth station 13 is the cleaning station.

[0043] This intelligent shrimp-peeling robot, through the arrangement of the temporary storage mechanism 1, the vibrating plate mechanism 2, the turntable assembly and multiple workstations, can classify and transport the shrimp to be peeled. It can automatically complete the peeling operations such as cleaning, removing the head, opening the back, removing the shrimp vein, and removing the shell, without manual operation, making batch shrimp peeling convenient and fast.

[0044] The temporary storage mechanism 1 can temporarily store shrimp and perform simple processing on them to identify the type and size of the shrimp, which is beneficial for the subsequent transportation, screening and sorting of the shrimp.

[0045] After receiving the shrimp from the temporary storage mechanism, the vibrating plate mechanism 2 allows the shrimp to move continuously from bottom to top along the track while its shape is constantly and slightly adjusted. During the movement of the shrimp, a series of screening devices push shrimp whose shape does not meet the requirements to the bottom for readjustment. This process is repeated continuously to ensure that all shrimp leave the vibrating plate in the same shape, which facilitates subsequent processing.

[0046] The shrimp-peeling station, through the multi-station turntable assembly and the arrangement of six stations, can complete the shrimp processing. The divisions on the multi-station turntable assembly correspond to the six stations. First, the shrimp falls into the first station's first station's first station's first station's first station's first station's first station's first station's first station's second station's second station's second station's sixth station's complete processing is moved to the first station's second station's first station's second station's second station's third station's first station's second station's third station's second station's third station's fourth station's fifth station's fifth station's fifth station's sixth station's fifth ...

[0047] The clamping assembly 7 can clamp the shrimp that are transported to the turntable and properly restrain them so that the tools at each workstation can process the shrimp.

[0048] Furthermore, in combination Figure 3 and Figure 4 As shown, the temporary storage mechanism 1 includes a first temporary storage cylinder 101 and a second temporary storage cylinder 102 disposed below the first temporary storage cylinder 101. An openable and closable partition 103 is provided between the first temporary storage cylinder 101 and the second temporary storage cylinder 102. The partition 103 is provided with a partition channel connecting the first temporary storage cylinder 101 and the second temporary storage cylinder 102. A rotating door 104 is provided at the partition channel. The second temporary storage cylinder 102 is provided with a shrimp dropping port 106 corresponding to the vibrating plate mechanism. A first camera 105 is also provided below the partition 103 and located inside the second temporary storage cylinder 102.

[0049] The arrangement of the first temporary storage cylinder 101, the second temporary storage cylinder 102, and the partition 103 allows the temporary storage mechanism 1 to have two independent temporary storage areas, namely the first temporary storage area and the second temporary storage area. This arrangement avoids the problem of a large number of shrimp being piled together, making individual identification impossible. Because a large number of shrimp will be intertwined and stacked, direct visual recognition would result in low accuracy and efficiency due to cluttered background information and incomplete information caused by mutual occlusion.

[0050] Therefore, an innovative rotating door 104 mechanism is adopted between the first temporary storage area and the second temporary storage area. The rotating door 104 can allow a small number of shrimp to enter the second temporary storage area through intermittent rotation. In the second temporary storage area, a first camera 105 identifies the shrimp. Based on the identification result, it can be determined whether it is necessary to allow some shrimp to enter the second temporary storage area. After the visual identification is completed, the second temporary storage cylinder will be fully opened, allowing all the shrimp to fall into the vibrating plate mechanism for screening and sorting.

[0051] The upper end of the first temporary storage cylinder 101 is provided with several connecting lugs 107, which can be used to install the entire temporary storage mechanism in the equipment or housing. The partition 103 is connected to the second temporary storage cylinder 102. For the second temporary storage cylinder 102, the partition is its upper end plate, and a lower end plate is also provided below the second temporary storage cylinder. The shrimp inlet 106 is located on the outer periphery of the second temporary storage cylinder 102. The lower outer side of the first temporary storage cylinder 101 is provided with a connecting seat 108. The connecting seat 108 is provided with a flip shaft, which is connected to the partition 103. The connecting seat 108 is provided with a flip motor 109 that is connected to and drives the flip shaft. The partition 103 can be opened or closed automatically by driving the flip motor 109, that is, the second temporary storage cylinder 102 can be opened downwards.

[0052] Furthermore, in combination Figure 5 and Figure 6 As shown, the vibratory feeder mechanism 2 includes a vibratory feeder base 201, on which a vibratory feeder cylinder 202 is mounted. Inside the vibratory feeder cylinder 202 is a spirally upward-moving conveyor disc 203. Along the conveying path, the vibratory feeder cylinder 202 is sequentially equipped with a first screening mechanism 204, a second screening mechanism 205, and a third screening mechanism 206. The first screening mechanism 204 has a first screening plate that can move up and down on the conveyor disc. The second screening mechanism 205 has a rotatable second screening plate on the conveyor disc. The third screening mechanism 206 has an adjustable arc-shaped plate. The conveyor disc 203 has a notch 207 at the arc-shaped plate. The vibratory feeder cylinder 202 also contains a second camera (one or more), which can capture images of shrimp on the conveyor disc 203. The screening mechanisms can be adjusted according to the type and size of the shrimp.

[0053] The vibratory feeder mechanism described in this application is an adjustable vibratory feeder. This structure generates two types of vibrations via an electromagnet: a vertical vibration in the vertical direction and a torsional vibration at a certain angle to the vertical direction. Objects (such as shrimp) on the conveyor plate 203 receive both an upward vertical vibration force and an upward force along the inclined plane. The torsional vibration force along the inclined plane causes the object to move upward along the track, while the vertical vibration force causes the object to continuously and slightly adjust its shape. During operation, the object moves continuously upward along the track while its shape is constantly and slightly adjusted. During this movement, a series of screening devices pushes objects whose shape does not meet the requirements to the bottom for readjustment. This process is repeated continuously until all shrimp leave the vibratory feeder in the same shape, facilitating subsequent processing.

[0054] The vibrating plate mechanism, through its three screening mechanisms, can screen shrimp based on their stacking degree, angle, and direction. The first screening mechanism 204 can move the first screening plate up and down according to the shrimp's shape, preventing them from stacking during upward transport and facilitating subsequent arrangement. The second screening mechanism 205, through the rotation of the second screening plate, can adjust the shrimp's placement angle on the transport path, ensuring the shrimp's head or tail faces the direction of travel. The arc-shaped plate on the third screening mechanism 206, in conjunction with the notch, can adjust the shrimp's back orientation. If the shrimp's back faces inward (towards the center of the cylinder), when passing the conveyor plate with the arc-shaped notch, the shrimp's center of gravity is on the inside, with most of its weight suspended, causing it to fall to the bottom of the vibrating plate base for rearrangement. After multiple screenings and arrangements by these mechanisms, all the shrimp are neatly arranged and transported forward via conveyor belt to the first workstation of the shrimp-peeling station.

[0055] Specifically, the first screening mechanism 204 includes a first mounting plate 2041 disposed outside the vibrating disc cylinder 202. A first drive motor 2042 is provided on the first mounting plate 2041. The output end of the first drive motor 2042 is connected to the first screening plate 2044 through a gear and rack mechanism 2043 (gear and rack) to make the first screening plate 2044 move up and down. The output end of the first drive motor 2042 is connected to the gear, which meshes with the rack. The rack is vertically arranged on the outside of the vibrating disc cylinder 202. The other side of the rack is connected to the first screening plate 2044. The vibrating disc cylinder 202 is provided with a vertical groove through which the first screening plate 2044 moves and can move up and down within a certain range. The height of the first screening plate 2044 relative to the conveying disc is controlled by the up and down movement to ensure that only a single shrimp passes through and to avoid stacking during conveying.

[0056] The second screening mechanism 205 includes a second mounting plate 2051 disposed outside the vibrating disc cylinder 202. A second drive motor 2052 is disposed on the second mounting plate 2051. The output end of the second drive motor 2052 extends into the vibrating disc cylinder 202 and is connected to the second screening plate 2054 through a bevel gear mechanism 2053 (a pair of bevel gears). The second screening plate 2054 is connected to a transmission shaft. The transmission shaft is installed on the inner side of the conveying disc 203 and is rotatably connected to the conveying disc 203. The end of the transmission shaft is connected to the output shaft of the second drive motor 2052 through the bevel gear mechanism 2053, converting its rotational motion into the rotational motion of the transmission shaft, thereby controlling the swing of the second screening plate 2054. This allows for adjustment of the angle and direction of the shrimp on the conveying disc.

[0057] The third screening mechanism 206 includes a third mounting plate 2061 disposed outside the vibrating disc cylinder 202. The third mounting plate 2061 is provided with a first cylinder 2062, and the output end of the first cylinder 2062 is connected to the arc plate 2063. There is a pair of arc plates 2063, which extend through the vibrating disc cylinder 202 to the notch 207. By controlling the radial position of the arc plates 2063, the size of the notch 207 can be adjusted to screen shrimp or control their inward and outward orientation.

[0058] Because the spacing between shrimps after being arranged by the vibrating plate is still inconsistent, segmented conveyor belts are used to adjust the spacing to adapt to the working rhythm of the multi-station turntable assembly. A conveyor belt camera 301 above conveyor belt 3 visually recognizes the shrimp entering the conveyor belt, acquiring their position and orientation information. This information is then fed back to the turntable and conveyor belts, causing each segmented conveyor belt to adjust its speed according to the shrimp's position and the turntable's working rhythm. This ensures that when the shrimp are transported forward onto the turntable, they are aligned with the clamping positions and proceed to subsequent processing.

[0059] Furthermore, the multi-station turntable assembly 5 includes an outer turntable 501 and an inner turntable 502 arranged coaxially. The outer turntable 501 and the inner turntable 502 are connected by several radial plates 503. The outer turntable 501 has an operating area, and the cam mechanism 6 is located in the middle of the inner turntable 502. The outer turntable 501 and the inner turntable 502 together constitute a turntable structure that can rotate synchronously. This arrangement gives the turntable structure a hollow structure, which reduces weight and allows the washing water and debris to flow downwards into the subsequent waste treatment module. The entire turntable structure is driven to rotate by a drive mechanism below, and a photoelectric switch is also provided below to identify its position.

[0060] Furthermore, in combination Figure 8 and Figure 10As shown, the clamp assembly 7 includes a connecting rod 701 and a clamp. One end of the connecting rod 701 is connected to the cam mechanism 6, and the other end extends radially outward to the clamp and is provided with a push-pull block 702. The clamp is rotatably mounted on a clamp seat 706, which is mounted on the multi-station turntable assembly. The clamp has a clamping arm 703 and a drive handle 704 that is inclined to the clamping arm 703. The drive handle 704 has a groove structure 705 that is connected to the push-pull block 702.

[0061] The push-pull block 702 is equipped with a pin that passes through the groove structure 705. When the connecting rod 701 moves radially back and forth, it drives the push-pull block 702 to pull the drive handle 704. When the drive handle 704 moves downward, the clamping arm 703 tilts upward, which is the relaxed state. When the drive handle 704 tilts upward, it causes the clamping arm 703 to press down, forming a clamping state. This clamping device is simple and practical, and can effectively clamp shrimp in each compartment. The clamping base 706 is bolted to the outer turntable 501. The inner turntable 502 is also equipped with a guide slide 707. The connecting rod 701 passes through the guide slide 707, which improves stability and directionality.

[0062] Each of the connecting rods 701 can be driven independently or together. In this embodiment, the cam mechanism 6 used extends the connecting rods according to the shape of the cam mechanism during the rotation of the turntable. The concave part extends the length less and the convex part extends the length more. The end of the connecting rod is connected to the groove structure, which can realize that the connecting rod extends to clamp the clamping arm and shortens to loosen the clamping arm. Thus, the clamping tightness can be adjusted according to the shape of the cam. This can realize the control of the clamping tightness of six clamps by one motor, without the need for other power control, reducing the overall machine cost and control difficulty. At the same time, the synchronization of the tightening and loosening at each station is higher and the continuity is better.

[0063] Furthermore, in combination Figure 8 and Figure 9 As shown, the second workstation 9 includes at least one cutter 901 that is rotatable in a vertical plane. The table 4 and the multi-station turntable assembly 5 are provided with a clearance groove 902 at the second workstation. The cutter 901 is rotatably arranged in the clearance groove 902. A cutter driver 903 is provided below the table 4 to connect to and drive the cutter 901.

[0064] In this embodiment, the cutter 901 is a pair that can rotate downwards to cut the shrimp head; the outer turntable has a pair of clearance grooves in each segment area to allow the cutter to pass through during cutting. The table surface 4 is also equipped with a push cylinder on the side of the cutter 901, which can extend a push plate to push the cut shrimp head out of the turntable.

[0065] The third workstation 10 includes a rotatable back-opening blade 1001 mounted on the work surface 4. A back-opening driver 1002 is provided under the work surface 4 to connect to and drive the back-opening blade 1001. The back-opening driver 1002 drives the back-opening blade 1001 to rotate, which can open the back of the shrimp held by the clamping arm so that the shrimp vein can be removed in the next step.

[0066] The fourth workstation 11 includes a rotatable brush 1101 mounted on the tabletop 4. A brush driver 1102, connected to and driving the brush 1101, is located under the tabletop 4. The brush driver 1102 drives the brush 1101 to rotate, brushing (or sweeping) out the shrimp vein at the back of the shrimp. The cutter driver, the back-opening driver, and the brush driver can all be driving components such as motors or cylinders.

[0067] Furthermore, in combination Figure 11 As shown, the fifth workstation 12 includes a workstation support plate 1205 mounted on the tabletop 4. One end of the workstation support plate 1205 extends above the multi-station turntable assembly. A second cylinder 1201 is mounted on the workstation support plate 1205. A needle plate 1202 is mounted at the output end of the second cylinder 1201. The needle plate 1202 is equipped with a plurality of meat-removing needles 1203 (pointed needles). A baffle 1204 is mounted at the end of the workstation support plate 1205. The baffle 1204 has needle holes through which the meat-removing needles 1203 pass. The workstation support plate 1205 is rotatable, and the tabletop is equipped with a motor that drives the workstation support plate 1205 to rotate. A shrimp meat storage area 14 is provided on the side of the workstation support plate 1205.

[0068] Multiple pointed needles extend forward from the baffle 1204 and insert into the shrimp meat. Then, the workstation support plate 1205 rotates to pull the shrimp meat out of the shrimp shell. After rotating to the adjacent shrimp meat storage area 14, the pointed needles retract and exit the baffle 1204. The shrimp meat cannot pass through the baffle 1204, detaches from the needles, and falls into the shrimp meat storage area 14.

[0069] Furthermore, the sixth workstation 13 includes a rotatable fork 1301 mounted on the tabletop 4. A fork driver 1302 connected to and driving the fork 1301 is provided below the tabletop 4. A shrimp shell storage compartment 15 is provided on the side of the tabletop 4 near the fork 1301. During rotation, the fork 1301 cleans the outer turntable and pushes shrimp shells and other debris into the shrimp shell storage compartment 15.

[0070] The shrimp shell storage compartment 15 can be a perforated compartment or a compartment with a discharge port, and is connected to the waste treatment module below through a pipe to collect these debris.

[0071] Furthermore, the tabletop 4 is also equipped with several water spray pipes 16, which can be set at the back-opening station, the shrimp deveining station, and the sixth station, etc., to spray water for rinsing.

[0072] Below the countertop 4, there is also a waste treatment module 17, which is used to receive liquid, shrimp heads, shrimp veins and shrimp shells on the countertop 4.

[0073] The waste treatment module 17 is a crushing and mixing machine, such as... Figure 12 As shown, the mixer includes a mixer housing 1701, a mixing shaft 1703 is provided inside the mixer housing 1701, a plurality of spiral blades 1704 are provided on the mixing shaft 1703, a mixing motor 1702 is provided below and connected to and drives the mixing shaft 1703, and a feed inlet 1705 is provided above; a receiving tray, chute or pipe or other components are provided below the table surface 4 to guide the debris cleaned off the table surface into the feed inlet 1705.

[0074] The waste treatment module 17 can crush the inedible parts of shrimp using a mixing mechanism, which can then be used as fertilizer. During the shrimp peeling process, the shrimp head is cut off first and pushed into the mixer; the remaining shrimp shells after peeling are also sent to the mixer, as is the wastewater from washing the shrimp during the peeling process. The mixing mechanism has spiral blades inside, which can mix and cut the waste during rapid rotation, breaking large pieces of waste into small fragments, ensuring thorough and uniform mixing, and preparing the waste for aerobic composting. The waste treatment module pre-treats shrimp heads, shrimp shells, and wastewater, and then the treated mixture can be poured out. The moisture content, oxygen supply, temperature, and pH value of the mixture can be adjusted as needed to change the degradation rate of organic matter and the quality of the final compost product. Composting food waste such as shrimp heads and shells can be an important part of green recycling, widely used as organic fertilizer or soil conditioner. This is a waste treatment method that has both economic and environmental benefits. Example 2

[0075] In this embodiment, the shrimp-peeling robot from Embodiment 1 is installed in a housing. The housing has an openable and closable shrimp inlet, integrating it into a single housing to function as a household appliance. This enables fully automatic, zero-intervention, and intelligent shrimp peeling. Users can directly pour shrimp into the robot without any pretreatment and select their desired mode (shelling, removing shells, obtaining shrimp meat, etc.) via the display screen on the housing. After a short wait, the desired shrimp can be obtained.

[0076] This product mainly consists of three modules: a vision module, a control module, and a mechanical module. The vision module primarily identifies shrimp and acquires information about them, including various cameras installed in the temporary storage mechanism, vibrating plate mechanism, and shrimp-peeling station. The control module receives information from the vision module and makes adjustments to control the mechanical module. The mechanical module contains the mechanical structure of the shrimp-peeling robot in Example 1 and is the main structure for realizing the shrimp-peeling function, handling and processing the shrimp. These three modules work together to quickly and automatically complete shrimp-peeling functions such as cleaning, deveining, removing the shrimp vein, and shelling, achieving a truly fast and convenient service.

[0077] The purchased shrimp are poured directly into the temporary storage area without any processing. The storage area then uses a camera to identify the shrimp and a visual recognition module to obtain information about the shrimp (type and size). Next, the opening of the temporary storage area opens, and the shrimp directly enters the vibrating feeder mechanism. The control module receives the information from the visual module and controls the drivers (motors, cylinders, etc.) of each screening mechanism on the vibrating feeder mechanism, adjusting each mechanism to suit the type and size of the shrimp. The vibrating feeder then begins working, neatly arranging all the shrimp from a disordered state and transporting them to the next step via a conveyor belt. Next, the multi-station turntable assembly starts working, with six stations performing steps such as feeding, head removal, back splitting, deveining, shell removal, and washing. These six functions, combined with the rotation of the turntable, create a streamlined process, completing all the steps of shrimp peeling.

[0078] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent shrimp-peeling robot, characterized in that, include: A temporary storage facility is used to receive and identify shrimp to be peeled. An adjustable vibrating plate mechanism is located below the temporary storage mechanism. Shrimp that have been identified in the temporary storage mechanism fall into the vibrating plate mechanism for screening and sorting. The shrimp peeling station is located on one side of the vibratory feeder mechanism. The shrimp peeling station includes a table and a multi-station turntable assembly located in the middle of the table. The table has at least a first station, a second station, a third station, a fourth station, a fifth station, and a sixth station arranged around the multi-station turntable assembly. The multi-station turntable assembly is correspondingly provided with multiple compartments. Each compartment is provided with a set of clamping assemblies. The multiple sets of clamping assemblies are connected to a cam mechanism located in the middle of the multi-station turntable assembly. The first station is connected to the vibrating plate mechanism; the second station is a head removal station for removing shrimp heads; the third station is a back-opening station for cutting open the shrimp back; the fourth station is a shrimp vein removal station; the fifth station is a shell removal station; and the sixth station is a cleaning station. The temporary storage mechanism includes a first temporary storage cylinder and a second temporary storage cylinder disposed below the first temporary storage cylinder. An openable and closable partition is provided between the first and second temporary storage cylinders. The partition has a partition channel connecting the first and second temporary storage cylinders, and a rotating door is provided at the partition channel. The second temporary storage cylinder has a shrimp dropping opening corresponding to the vibrating plate mechanism. A first camera located inside the second temporary storage cylinder is also provided below the partition. The vibratory feeder mechanism includes a vibratory feeder base, a vibratory feeder cylinder on the vibratory feeder base, a spiral conveying disc inside the vibratory feeder cylinder, and a first screening mechanism, a second screening mechanism, and a third screening mechanism sequentially arranged along the conveying path on the vibratory feeder cylinder. The first screening mechanism has a first screening plate that can move up and down on the conveying disc, the second screening mechanism has a rotatable second screening plate on the conveying disc, and the third screening mechanism has an adjustable arc plate. The conveying disc has a notch at the arc plate. The multi-station turntable assembly includes an outer turntable and an inner turntable arranged coaxially. The outer turntable and the inner turntable are connected by several radial plates. The outer turntable is an operating area, and the cam mechanism is arranged in the middle of the inner turntable. The clamping assembly includes a connecting rod and a clamp. One end of the connecting rod is connected to the cam mechanism, and the other end extends radially outward to the clamp and is provided with a push-pull block. The clamp is rotatably mounted on a clamping seat. The clamping seat is mounted on the multi-station turntable assembly. The clamp has a clamping arm and a drive handle arranged obliquely to the clamping arm. The drive handle has a groove structure that connects to the push-pull block.

2. The intelligent shrimp-peeling robot according to claim 1, characterized in that, The first screening mechanism includes a first mounting plate disposed outside the vibrating disc cylinder, a first drive motor disposed on the first mounting plate, the output end of the first drive motor being connected to the first screening plate via a gear and rack mechanism to move the first screening plate up and down; the second screening mechanism includes a second mounting plate disposed outside the vibrating disc cylinder, a second drive motor disposed on the second mounting plate, the output end of the second drive motor extending into the vibrating disc cylinder and connected to the second screening plate via a bevel gear mechanism; the third screening mechanism includes a third mounting plate disposed outside the vibrating disc cylinder, a first cylinder disposed on the third mounting plate, the output end of the first cylinder being connected to the arc-shaped plate.

3. The intelligent shrimp-peeling robot according to claim 1, characterized in that, The second station includes at least one cutter rotatable in a vertical plane. The table and the multi-station turntable assembly are provided with clearance grooves at the second station. The cutter is rotatably arranged in the clearance grooves. A cutter driver is provided below the table to connect to and drive the cutter. The third station includes a back-opening blade rotatable on the table. A back-opening driver is provided below the table to connect to and drive the back-opening blade. The fourth station includes a brush rotatable on the table. A brush driver is provided below the table to connect to and drive the brush.

4. The intelligent shrimp-peeling robot according to claim 1, characterized in that, The fifth workstation includes a rotatable workstation support plate mounted on the table. One end of the workstation support plate extends above the multi-workstation turntable assembly. A second cylinder is mounted on the workstation support plate, and a needle plate is mounted on the output end of the second cylinder. The needle plate is equipped with a plurality of meat-removing needles. A baffle is mounted at the end of the workstation support plate, and the baffle is equipped with needle holes for the meat-removing needles to pass through. A shrimp meat storage area is also provided on one side of the workstation support plate.

5. The intelligent shrimp-peeling robot according to claim 1, characterized in that, The sixth workstation includes a rotatable fork mounted on the worktable. A fork driver is provided below the worktable to connect to and drive the fork. A shrimp shell storage compartment is provided on the side of the worktable near the fork to move shrimp shells into the storage compartment.

6. The intelligent shrimp-peeling robot according to claim 1, characterized in that, The platform is also equipped with several water spray pipes, and a waste treatment module is located below the platform. The waste treatment module is used to receive liquids, shrimp heads, shrimp veins and shrimp shells on the platform.

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