Clamping piece, clamping device, shelling equipment and shrimp meat production line

Abstract

The invention provides a clamping piece, a clamping device, shelling equipment and a shrimp meat production line, and relates to the technical field of shrimp meat production. The clamping piece comprises a clamping plate and a plurality of piercing pieces, the clamping plate comprises a fixed end and a free end which are opposite to each other, the piercing pieces are fixed to the same side of the clamping plate, the piercing pieces incline towards the fixed end, and the piercing pieces are arranged at intervals. When the clamping piece is used, the depth of the piercing piece piercing into the shrimp body is small, so that the resistance generated by the piercing piece to the separation of the shrimp meat and the shrimp shell is reduced. When the inserting piece is inserted into the shrimp meat and moves in the direction away from the shrimp body, the shrimp meat has the moving tendency towards the free end so as to drive the shrimp shell to have the moving tendency towards the free end, the piercing piece inclines towards the fixed end, and the shrimp shell has the tendency of moving from the piercing end to the connecting end. The piercing piece applies force opposite to the shrimp meat separation direction to the shrimp shell, so that the risk that the shrimp meat and the shrimp shell are separated together is reduced, reliable clamping of the shrimp shell is achieved, and therefore the separation smoothness of the shrimp meat and the shrimp shell is improved.

Description

Technical Field

[0001] The present application relates to the technical field of shrimp production, and in particular to a clamping member, a clamping device, a shelling device and a shrimp production line. Background Art

[0002] Shrimp, rich in high-quality protein, minerals, and vitamins, is a popular aquatic food. During shrimp processing, the shells need to be peeled. Manual shelling is inefficient, so automated equipment that can automatically shell the shrimp has begun to emerge.

[0003] Existing shelling devices include a shrimp meat clamping device and a shrimp shell clamping device. During shelling, the shrimp body is first clamped with the shrimp shell clamping device, followed by the shrimp meat clamping device, which then applies force to the shrimp meat to remove the shrimp meat from the shell. Existing shrimp shell clamping devices generally use a rigid base with a long spike structure embedded in it. During the shelling process, the long spike structure vertically penetrates the shrimp shell, thus achieving a stable structural clamping of the shrimp body.

[0004] However, due to the thin thickness of the shrimp shell, the long spike structure will penetrate into the shrimp meat at the same time after penetrating the shrimp shell, and the penetration depth is deep, which will create resistance to the separation of the shrimp meat and the shrimp shell; at the same time, in order to avoid the failure of the shrimp shell clamping during the separation of the shrimp shell and the shrimp meat, it is necessary to always use a large pressure to make the long spike penetrate the shrimp shell. The large pressure further squeezes the shrimp shell and the shrimp meat, affecting the smoothness of the separation of the shrimp shell and the shrimp meat. Summary of the Invention

[0005] In view of this, the present application provides a clamping device, a shelling device and a shrimp production line to solve the problem that due to the thin thickness of the shrimp shell, the long sharp thorn structure will pierce the shrimp meat at the same time after piercing the shrimp shell and the penetration depth is deep, which will create resistance to the separation of the shrimp meat and the shrimp shell; at the same time, in order to avoid the failure of the shrimp shell clamping during the separation of the shrimp shell and the shrimp meat, it is necessary to always use a large pressure to make the long sharp thorn pierce the shrimp shell, and the large pressure further squeezes the shrimp shell and the shrimp meat, affecting the smoothness of the separation of the shrimp shell and the shrimp meat.

[0006] According to a first aspect of the present application, a clamping member is provided, which includes a clamping plate and a plurality of piercing members, the clamping plate includes a fixed end and a free end opposite to each other, the plurality of piercing members are fixed on the same side of the clamping plate, and the piercing members are inclined toward the fixed end, and the plurality of piercing members are arranged at intervals.

[0007] Preferably, the included angle between the piercing member and the clamping plate is greater than or equal to 10 degrees and less than or equal to 80 degrees.

[0008] Preferably, a dimension of the piercing member in a thickness direction of the clamping plate is greater than or equal to 0.10 mm and less than or equal to 2.00 mm.

[0009] Preferably, the piercing member comprises a connecting end and a piercing end, the connecting end is connected to the clamping plate, and the diameter of the circumscribed circle of the cross section of the piercing end is less than 0.5 mm.

[0010] Preferably, the plurality of piercing members are arranged at intervals, and at least one piercing member is arranged in a circular area with a diameter of 55 mm.

[0011] Preferably, the clamping plate is a flexible member, the clamping plate can undergo elastic deformation, and the thickness of the clamping plate is greater than or equal to 0.05 mm and less than or equal to 0.3 mm.

[0012] Preferably, the fixed end is used for fixed connection or rotational connection with the fixing member.

[0013] According to the second aspect of the present application, a clamping device is provided, which includes a fixing member, a driving mechanism, a first clamping mechanism and a second clamping mechanism, the first clamping mechanism includes at least one of the above-mentioned clamping members, the second clamping mechanism includes at least one of the above-mentioned clamping members, the first clamping mechanism and the second clamping mechanism are both connected to the fixing member, a clamping space is formed between the first clamping mechanism and the second clamping mechanism, the clamping space is used to accommodate the shrimp body, and the driving mechanism can drive the first clamping mechanism and the second clamping mechanism to approach each other.

[0014] Preferably, the first clamping mechanism includes a clamping member, the clamping plate of the clamping member in the first clamping mechanism is a flexible member, and the fixed end of the clamping plate in the first clamping mechanism is fixedly connected or rotatably connected to the fixing member;

[0015] The second clamping mechanism includes a clamping member, the clamping plate in the second clamping mechanism is a flexible member, and the fixed end of the clamping plate in the second clamping mechanism is fixedly connected or rotationally connected to the fixing member.

[0016] Preferably, the first clamping mechanism includes a clamping member, the clamping plate of the clamping member in the first clamping mechanism is a flexible member, and the fixed end of the clamping plate in the first clamping mechanism is fixedly connected or rotatably connected to the fixing member;

[0017] The second clamping mechanism includes a clamping member, the clamping plate of the clamping member in the second clamping mechanism is a rigid member, and the clamping plate in the second clamping mechanism is fixed to the fixing member.

[0018] Preferably, the first clamping mechanism includes a clamping member, the clamping plate of the clamping member in the first clamping mechanism is a flexible member, and the fixed end of the clamping plate in the first clamping mechanism is fixedly connected or rotatably connected to the fixing member;

[0019] The second clamping mechanism includes a plurality of clamping members, the plurality of clamping plates of the plurality of clamping members in the second clamping mechanism are all flexible members, and the plurality of fixed ends of the plurality of clamping plates in the second clamping mechanism are all fixedly connected or rotationally connected to the fixing members.

[0020] Preferably, the clamping plate in the second clamping mechanism is divided into a cloth area and a vacant area, the cloth area is located on the side where the free end is located, the vacant area is located on the side where the fixed end is located, and the multiple piercing members are all located on the cloth area.

[0021] Preferably, the first clamping mechanism includes a clamping member, the clamping plate of the clamping member in the first clamping mechanism is a flexible member, and the fixed end of the clamping plate in the first clamping mechanism is fixedly connected or rotatably connected to the fixing member;

[0022] The second clamping mechanism includes a plurality of clamping members, the plurality of clamping plates of the plurality of clamping members in the second clamping mechanism are all rigid members, and the plurality of fixed ends of the plurality of clamping plates of the plurality of clamping members in the second clamping mechanism are all rotatably connected to the fixing member.

[0023] Preferably, the second clamping mechanism further includes a plurality of connecting members, which respectively correspond to the plurality of clamping plates in the second clamping mechanism, the fixed ends of the clamping plates are connected to the corresponding connecting members, and the connecting members are rotatably connected to the fixed members.

[0024] Preferably, the first clamping mechanism includes one clamping member, the clamping plate of the clamping member in the first clamping mechanism is a rigid member, and the clamping plate in the first clamping mechanism is fixed to the fixing member;

[0025] The second clamping mechanism includes a plurality of clamping members, the plurality of clamping plates of the plurality of clamping members in the second clamping mechanism are all flexible members, and the plurality of fixed ends of the plurality of clamping plates in the second clamping mechanism are all fixedly connected or rotationally connected to the fixing members.

[0026] Preferably, the clamping plate in the second clamping mechanism is divided into a cloth area and a vacant area, the cloth area is located on the side where the free end is located, the vacant area is located on the side where the fixed end is located, and the multiple piercing members are all located on the cloth area.

[0027] Preferably, the first clamping mechanism includes one clamping member, the clamping plate of the clamping member in the first clamping mechanism is a rigid member, and the clamping plate in the first clamping mechanism is fixed to the fixing member;

[0028] The second clamping mechanism includes a plurality of clamping members, the plurality of clamping plates of the plurality of clamping members in the second clamping mechanism are all rigid members, and the plurality of fixed ends of the plurality of clamping plates of the plurality of clamping members in the second clamping mechanism are all rotatably connected to the fixing member.

[0029] Preferably, the second clamping mechanism further includes a plurality of connecting members, which respectively correspond to the plurality of clamping plates in the second clamping mechanism, the fixed ends of the clamping plates are connected to the corresponding connecting members, and the connecting members are rotatably connected to the fixed members.

[0030] Preferably, the first clamping mechanism includes a plurality of clamping members, the plurality of clamping plates of the plurality of clamping members in the first clamping mechanism are all flexible members, and the plurality of fixed ends of the plurality of clamping plates in the first clamping mechanism are all fixedly connected or rotatably connected to the fixing members;

[0031] The second clamping mechanism includes a plurality of clamping members, the plurality of clamping plates of the plurality of clamping members in the second clamping mechanism are all flexible members, and the plurality of fixed ends of the plurality of clamping plates in the second clamping mechanism are all fixedly connected or rotationally connected to the fixing members.

[0032] Preferably, the clamping plate is divided into a cloth area and a vacant area, the cloth area is located on the side where the free end is located, the vacant area is located on the side where the fixed end is located, and the multiple piercing elements are all located on the cloth area.

[0033] Preferably, the first clamping mechanism includes a plurality of clamping members, the plurality of clamping plates of the plurality of clamping members in the first clamping mechanism are all flexible members, and the plurality of fixed ends of the plurality of clamping plates in the first clamping mechanism are all fixedly connected or rotatably connected to the fixing members;

[0034] The second clamping mechanism includes a plurality of clamping members, the plurality of clamping plates of the plurality of clamping members in the second clamping mechanism are all rigid members, and the plurality of fixed ends of the plurality of clamping plates of the plurality of clamping members in the second clamping mechanism are all rotatably connected to the fixing member.

[0035] Preferably, the clamping plate in the first clamping mechanism is divided into a cloth area and a vacant area, the cloth area is located on the side where the free end is located, the vacant area is located on the side where the fixed end is located, and the plurality of piercing elements are all located on the cloth area;

[0036] The second clamping mechanism further includes a plurality of connecting members, which respectively correspond to the plurality of clamping plates in the second clamping mechanism. The fixed ends of the clamping plates are connected to the corresponding connecting members, and the connecting members are rotatably connected to the fixing members.

[0037] Preferably, the first clamping mechanism includes a plurality of clamping members, the plurality of clamping plates of the plurality of clamping members in the first clamping mechanism are all rigid members, and the plurality of fixed ends of the plurality of clamping plates of the plurality of clamping members in the first clamping mechanism are all rotatably connected to the fixed member;

[0038] The second clamping mechanism includes a plurality of clamping members, the plurality of clamping plates of the plurality of clamping members in the second clamping mechanism are all rigid members, and the plurality of fixed ends of the plurality of clamping plates of the plurality of clamping members in the second clamping mechanism are all rotatably connected to the fixing member.

[0039] Preferably, each of the clamping plates is correspondingly provided with a connecting piece, the fixed end of the clamping plate is connected to the corresponding connecting piece, and the connecting piece is rotatably connected to the fixing piece.

[0040] Preferably, the driving mechanism is capable of applying force to both the first clamping mechanism and the second clamping mechanism so that the shrimp body is subjected to a clamping force;

[0041] During the first predetermined time, the linear density of the clamping force in the longitudinal direction of the shrimp body is greater than or equal to 0.15 N / mm;

[0042] From the first predetermined time to the second predetermined time, the distribution linear density of the clamping force in the longitudinal direction of the shrimp body is less than or equal to 0.1 N / mm.

[0043] Preferably, the driving mechanism includes a plurality of driving members, which are divided into two groups. The driving members are arranged at intervals in each group, wherein the driving members in one group can apply force to the first clamping mechanism, and the driving members in the other group can apply force to the second clamping mechanism.

[0044] Preferably, the driving mechanism includes a plurality of driving members, which are arranged at intervals, and each of the plurality of driving members can apply force to the first clamping mechanism.

[0045] Preferably, the driving mechanism includes a plurality of driving members, which are arranged at intervals, and each of the plurality of driving members can apply force to the second clamping mechanism.

[0046] According to a third aspect of the present application, a shelling device is provided, comprising the above-mentioned clamping device.

[0047] Preferably, the shelling device further comprises an insert and a power device, wherein the power device is connected to the insert to drive the insert to move, and the insert is used to be inserted into the shrimp meat of the shrimp body.

[0048] According to a fourth aspect of the present application, a shrimp production line is provided, comprising the above-mentioned shelling equipment.

[0049] In the clamping member of the present application, the piercing member is inclined toward the fixed end of the clamping plate, which reduces the depth of the piercing member penetrating the shrimp body, thereby reducing the resistance generated by the piercing member to the separation of the shrimp meat and the shrimp shell. When the clamping member of the present application is used, the piercing member penetrates the shrimp shell of the shrimp body, and the power device can drive the inserting member to be inserted into the shrimp meat. When the inserting member moves away from the shrimp body, the shrimp meat has a tendency to move toward the free end. Because there is a bonding force between the shrimp meat and the shrimp shell, the shrimp shell has a tendency to move toward the free end. Because the piercing member is inclined toward the fixed end, the shrimp shell has a tendency to move from the piercing end of the piercing member away from the clamping plate toward the connecting end connected to the clamping plate. In this way, the piercing member applies a force to the shrimp shell in the opposite direction to the direction of the shrimp meat separating, thereby reducing the risk of the shrimp meat and the shrimp shell separating together, achieving reliable clamping of the shrimp shell, and thus improving the smoothness of the separation of the shrimp meat and the shrimp shell. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0051] Figure 1 A schematic diagram showing a first embodiment of a clamping member;

[0052] Figure 2 Show Figure 1 Enlarged view of part A;

[0053] Figure 3 A schematic diagram showing a second embodiment of the clamping member;

[0054] Figure 4 Show Figure 3 Enlarged view of part B;

[0055] Figure 5 A schematic diagram showing a third embodiment of the clamping member;

[0056] Figure 6 A schematic structural diagram of the clamping device of the first embodiment is shown;

[0057] Figure 7Shown is a structural schematic diagram of a shelling device;

[0058] Figure 8 A diagram showing the relative positions of multiple clamping members when the clamping plate is a flexible member;

[0059] Figure 9 A diagram showing the relative positions of multiple clamping members in an embodiment when the clamping plate is a rigid member;

[0060] Figure 10 A diagram showing the relative positions of multiple clamping members in another embodiment when the clamping plate is a rigid member;

[0061] Figure 11 A diagram showing the relative positions of multiple clamping members in another embodiment when the clamping plate is a flexible member.

[0062] Icons: 1-clamping member; 11-clamping plate; 111-fixed end; 112-free end; 12-piercing member; 2-fixing member; 21-first fixing part; 22-second fixing part; 3-driving member; 4-shrimp body; 5-power device; 6-insertion member; 71-connecting member; 72-rotating axis. DETAILED DESCRIPTION

[0063] The following detailed description is provided to help the reader gain a comprehensive understanding of the methods, devices, and / or systems described herein. However, various changes, modifications, and equivalents of the methods, devices, and / or systems described herein will be apparent upon understanding the disclosure of this application. For example, the order of operations described herein is merely illustrative and is not limited to the order set forth herein. Rather, except for operations that must occur in a particular order, changes may be made that will be apparent upon understanding the disclosure of this application. Furthermore, descriptions of features known in the art may be omitted for clarity and brevity.

[0064] The features described herein may be implemented in different forms and should not be construed as being limited to the examples described herein. Rather, the examples described herein have been provided merely to illustrate some of the many possible ways to implement the methods, devices, and / or systems described herein that will be apparent upon understanding the disclosure of this application.

[0065] Throughout the specification, when an element (such as a layer, region, or substrate) is described as being “on,” “connected to,” “coupled to,” “over,” or “overlaying” another element, it may be directly “on,” “connected to,” “coupled to,” “over,” or “overlaying” another element, or one or more other elements may be present between them. In contrast, when an element is described as being “directly on,” “directly connected to,” “directly coupled to,” “directly over,” or “directly covering” another element, there may be no other elements intervening therebetween.

[0066] As used herein, the term "and / or" includes any one of the associated listed items and any combination of any two or more items.

[0067] Although terms such as "first," "second," and "third" may be used herein to describe various members, components, regions, layers, or portions, these members, components, regions, layers, or portions are not limited by these terms. Rather, these terms are used only to distinguish one member, component, region, layer, or portion from another member, component, region, layer, or portion. Thus, a first member, component, region, layer, or portion in the examples described herein may also be referred to as a second member, component, region, layer, or portion without departing from the teachings of the examples.

[0068] For ease of description, spatial relational terms such as "above," "upper," "below," and "lower" may be used herein to describe the relationship of one element to another element as shown in the accompanying drawings. Such spatial relational terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the accompanying drawings. For example, if the device in the accompanying drawings is turned over, an element described as being "above" or "upper" relative to another element would subsequently be "below" or "lower" relative to the other element. Thus, the term "above" includes both the orientations "above" and "below," depending on the spatial orientation of the device. The device may also be positioned in other ways (e.g., rotated 90 degrees or in other orientations), and the spatial relational terms used herein will be interpreted accordingly.

[0069] The terms used herein are intended only to describe various examples and are not intended to limit the present disclosure. Unless the context clearly indicates otherwise, the singular is intended to include the plural. The terms "comprise," "include," and "have" list the presence of stated features, quantities, operations, components, elements, and / or combinations thereof, but do not preclude the presence or addition of one or more other features, quantities, operations, components, elements, and / or combinations thereof.

[0070] Due to manufacturing techniques and / or tolerances, variations in the shapes shown in the drawings may occur. Therefore, the examples described herein are not limited to the specific shapes shown in the drawings but include changes in shapes that occur during manufacturing.

[0071] The features of the examples described herein can be combined in various ways that will be apparent after understanding the disclosure of the present application. In addition, although the examples described herein have various configurations, other configurations are possible as will be apparent after understanding the disclosure of the present application.

[0072] According to a first aspect of the present application, a clamping member 1 is provided, such as Figures 1 to 5 As shown, the clamping member 1 includes a clamping plate 11 and a plurality of piercing members 12. The clamping plate 11 includes a fixed end 111 and a free end 112 that are opposite to each other. The plurality of piercing members 12 are fixed to the same side of the clamping plate 11 and are inclined toward the fixed end 111. The plurality of piercing members 12 are arranged at intervals. The piercing members 12 are inclined toward the fixed end 111 of the clamping plate 11, which reduces the depth of penetration of the piercing members 12 into the shrimp body 4, thereby reducing the resistance of the piercing members 12 to the separation of the shrimp meat and the shell. When the clamping member 1 is in use, the piercing member 12 penetrates the shrimp shell of the shrimp body 4, and the power device 5 can drive the inserting member 6 to be inserted into the shrimp meat. When the inserting member 6 moves away from the shrimp body, the shrimp meat has a tendency to move toward the free end 112. Because there is a bonding force between the shrimp meat and the shrimp shell, the shrimp shell will have a tendency to move toward the free end 112. Since the piercing member 12 is inclined toward the fixed end 111, the shrimp shell will have a tendency to move from the piercing end of the piercing member 12 away from the clamping plate 11 toward the connecting end connected to the clamping plate 11. In this way, the piercing member 12 applies a force to the shrimp shell in the opposite direction to the direction of the shrimp meat detaching, thereby reducing the risk of the shrimp meat and the shrimp shell detaching together, achieving reliable clamping of the shrimp shell, and thus improving the smoothness of the separation of the shrimp meat and the shrimp shell.

[0073] Furthermore, the piercing member 12 includes a connecting end and a piercing end, the connecting end is connected to the clamping plate 11, and the piercing end can pierce into the shrimp shell.

[0074] Furthermore, the angle a between the piercing member 12 and the clamping plate 11 is greater than or equal to 10 degrees and less than or equal to 80 degrees. When the angle a between the piercing member 12 and the clamping plate 11 is greater than 80 degrees, the shrimp shell has a smaller tendency to move toward the connecting end where the piercing member 12 and the clamping plate 11 are connected, and the risk of the piercing member 12 being separated from the shrimp shell is greater, which makes the reliability of the clamping member 1 for clamping the shrimp shell poor; when the angle a between the piercing member 12 and the clamping plate 11 is less than 10 degrees, the difficulty of the piercing member 12 penetrating the shrimp shell increases, and the risk of the piercing member 12 failing to penetrate the shrimp shell is greater. At the same time, the load on the connecting end of the piercing member 12 is relatively large, and the service life of the piercing member 12 is relatively low. When the angle a between the piercing member 12 and the clamping plate 11 is in the range of 10 degrees to 80 degrees, the risk of the piercing member 12 detaching from the shrimp shell is small, thereby improving the reliability of the shrimp shell clamping. At the same time, the piercing member 12 can be smoothly inserted into the shrimp shell, and the load on the connecting end of the piercing member 12 is relatively small, thereby improving the service life of the piercing member 12.

[0075] Optionally, the angle between the piercing member 12 and the clamping plate 11 can be 10 degrees, 15 degrees, 18 degrees, 20 degrees, 23 degrees, 25 degrees, 30 degrees, 38 degrees, 40 degrees, 42 degrees, 50 degrees, 55 degrees, 60 degrees, 61 degrees, 65 degrees, 70 degrees, 72 degrees, 75 degrees or 80 degrees, etc.

[0076] Furthermore, the dimension L of the piercing member 12 in the thickness direction of the clamping plate 11 is greater than or equal to 0.10mm, and less than or equal to 2.00mm. The process of the piercing member 12 piercing the shrimp shell will cause a local pit deformation of the shrimp body 4. When the dimension L of the piercing member 12 in the thickness direction of the clamping plate 11 is less than 0.10mm, the local pit deformation causes the pressure of the piercing end of the piercing member 12 to be insufficient to pierce the shrimp shell, resulting in piercing failure; when the dimension L of the piercing member 12 in the thickness direction of the clamping plate 11 is greater than 2.00mm, the piercing size of the piercing member 12 is large, and the risk of damage to the shrimp membrane and shrimp meat on the surface of the shrimp is greater. When the dimension L of the piercing member 12 in the thickness direction of the clamping plate 11 is within the range of 0.10mm-2.00mm, the piercing member 12 can pierce the shrimp shell, and at the same time, the piercing size of the piercing member 12 is small, and the risk of damage to the shrimp membrane and shrimp meat on the surface of the shrimp is small.

[0077] Optionally, the dimension L of the piercing member 12 in the thickness direction of the clamping plate 11 can be 0.10mm, 0.13mm, 0.15mm, 0.20mm, 0.22mm, 0.25mm, 0.30mm, 0.33mm, 0.40mm, 0.45mm, 0.46mm, 0.50mm, 0.55mm, 0.60mm, 0.67mm, 0.70mm, 0.76mm, 0.80mm, 0.86mm, 0.90mm, 0.96mm, 1.00mm, 1.50mm, 2.00mm, etc.

[0078] In addition, the piercing member 12 can be a sheet-like tooth-shaped structure, a cylindrical structure or a conical structure. When the piercing member 12 is a sheet-like tooth-shaped structure, the relative position of the piercing member 12 and the clamping plate 11 is as follows: Figure 1 and Figure 2 When the piercing member 12 is a cylindrical or conical structure, the relative position of the piercing member 12 and the clamping plate 11 is as shown; Figure 3 and Figure 4 As shown. The diameter of the circumscribed circle of the cross-section of the piercing end is less than 0.5 mm, so that the piercing end can penetrate the shrimp shell with less tip pressure. Optionally, when the piercing member 12 is in the shape of a sheet-like toothed structure, a cylindrical structure, or a conical structure, the piercing member 12 can be fixed to the clamping plate 11 by welding. When the piercing member 12 is in the shape of a sheet-like toothed structure, the piercing member 12 can also be formed by cutting a toothed structure into the clamping plate 11 and then bending the toothed structure to form the piercing member 12.

[0079] Optionally, the diameter of the circumscribed circle of the cross section of the piercing end may be 0.49 mm, 0.48 mm, 0.47 mm or 0.46 mm, etc.

[0080] Furthermore, if Figure 1 、 Figure 3 and Figure 5 As shown, a plurality of piercing members 12 are arranged at intervals, and at least one piercing member 12 is arranged in a circular area with a diameter of 55 mm.

[0081] Optionally, multiple piercing members 12 can be arranged in a disordered manner or in a matrix shape. When multiple piercing members 12 are arranged in a matrix shape, the multiple piercing members 12 are divided into multiple groups. The piercing members 12 in each group are arranged at intervals along the length direction of the shrimp body 4, and multiple groups are arranged at intervals along the height direction of the shrimp body 4. The distance between two adjacent piercing members 12 in each group in the length direction of the shrimp body 4 is less than or equal to 50 mm. The piercing members 12 in two adjacent groups correspond one to one, and the distance between the two corresponding piercing members 12 in the height direction of the shrimp body 4 is less than or equal to 10 mm.

[0082] Optionally, the distance between two adjacent piercing members 12 in each group in the length direction of the shrimp body 4 can be 50mm, 49mm, 48mm or 47mm, etc., and the distance between the corresponding two piercing members 12 in the height direction of the shrimp body 4 can be 10mm, 9.9mm, 9.8mm or 9.7mm, etc.

[0083] like Figures 1 to 4As shown, the clamping plate 11 can be a flexible member, which enables the clamping plate 11 to undergo elastic deformation to facilitate clamping the shrimp body 4. The thickness of the clamping plate 11 is greater than or equal to 0.05 mm and less than or equal to 0.3 mm. When the thickness of the clamping plate 11 is greater than 0.3 mm, the rigidity of the clamping plate 11 is relatively large, and there is a risk that the deformation of the clamping plate 11 cannot meet the demand; when the thickness of the clamping plate 11 is less than 0.05 mm, the rigidity of the clamping plate 11 is relatively weak, and the risk of twisting and deformation is relatively high. When the thickness of the clamping plate 11 is in the range of 0.05 mm-0.3 mm, the deformation of the clamping plate 11 can meet the demand, and the clamping plate 11 itself has sufficient rigidity to avoid twisting and deformation of the clamping plate 11.

[0084] Optionally, when the clamping plate 11 is a flexible part, the clamping plate 11 can be a metal plate with a thickness in the range of 0.05mm-0.3mm, and the thickness of the clamping plate 11 can be 0.05mm, 0.07mm, 0.10mm, 0.13mm, 0.15mm, 0.18mm, 0.20mm, 0.22mm, 0.25mm, 0.27mm or 0.30mm, etc.

[0085] like Figure 5 As shown, the clamping plate 11 can also be a rigid part (the rigid part here is relative to the flexible part mentioned above, and the rigid part in this solution refers to a structure that cannot undergo visible deformation). At this time, the clamping plate 11 can be a larger metal plate, for example, the thickness of the clamping plate can be greater than 0.3 mm.

[0086] When the clamping plate 11 is a rigid member or a flexible member, the piercing member 12 may be a sheet-like tooth-shaped structure, a cylindrical structure or a conical structure.

[0087] When the clamping plate 11 is a flexible part and is rotationally connected to the fixing part 2 described below, under the action of the driving part 3, the clamping plate 11 first rotates and then deforms, which can reduce the deformation of the clamping plate 11, reduce the internal stress of the clamping plate 11, thereby improving the service life of the clamping plate 11, and at the same time reduce the influence of the internal stress generated by the large deformation of the clamping plate 11 on the clamping force.

[0088] According to a second aspect of the present application, a clamping device is provided, such as Figure 6 and Figure 7 As shown, the clamping device includes a fixing member 2, a driving mechanism, a first clamping mechanism and a second clamping mechanism. The first clamping mechanism includes at least one of the above-mentioned clamping members 1, and the second clamping mechanism includes at least one of the above-mentioned clamping members 1. The first clamping mechanism and the second clamping mechanism are both connected to the fixing member 2. A clamping space is formed between the first clamping mechanism and the second clamping mechanism. The clamping space is used to accommodate the shrimp body 4. The driving mechanism can drive the first clamping mechanism and the second clamping mechanism to approach each other, thereby achieving the clamping of the shrimp shell.

[0089] Optionally, the fixing member 2 includes an integrally formed first fixing portion 21 and a second fixing portion 22, the dimension of the first fixing portion 21 in the width direction of the clamping plate 11 being larger than the dimension of the second fixing portion 22 in the width direction of the clamping plate 11, and the cross-section of the entire fixing member 2 is "L"-shaped.

[0090] Optionally, the forms of the first clamping mechanism and the second clamping mechanism can be selected based on demand. The following will describe different forms of the first clamping mechanism and the second clamping mechanism in combination with Embodiments 1 to 9.

[0091] Example 1

[0092] In the first embodiment, Figure 6 and Figure 7 As shown, the first clamping mechanism includes a clamping member 1, wherein the clamping plate 11 of the clamping member 1 in the first clamping mechanism is a flexible member, and the fixed end 111 of the clamping plate 11 in the first clamping mechanism is fixed to the first fixing portion 21. The second clamping mechanism includes a clamping member 1, wherein the clamping plate 11 in the second clamping mechanism is a flexible member, and the fixed end 111 of the clamping plate 11 in the second clamping mechanism is fixed to the first fixing portion 21. When the shrimp body 4 is not clamped, the distance between the two clamping plates 11 gradually increases in the direction from the fixed end 111 to the free end 112, so as to facilitate clamping of the shrimp body 4.

[0093] Optionally, the fixed end 111 of the clamping plate 11 in the first clamping mechanism may be rotatably connected to the first fixing portion 21 , and the fixed end 111 of the clamping plate 11 in the second clamping mechanism may also be rotatably connected to the first fixing portion 21 .

[0094] Furthermore, the driving mechanism includes a plurality of driving members 3, which are divided into two groups. The driving members 3 are arranged at intervals in each group, wherein the driving members 3 in one group can apply force to the first clamping mechanism, and the driving members 3 in the other group can apply force to the second clamping mechanism. When the clamping device does not clamp the shrimp body 4, the ends of the telescopic ends of the driving members 3 are connected to the clamping plates 11, so that the two clamping plates 11 remain open to facilitate the placement of the shrimp body 4 in the clamping space. When the clamping device clamps the shrimp body 4, the shrimp body 4 can be placed in the clamping space, and the driving members 3 are all extended, so that the two clamping members 1 are close to each other, so that the piercing members 12 in the two clamping members 1 respectively pierce the shrimp shells of the shrimp body 4, thereby achieving the clamping of the shrimp body 4.

[0095] Optionally, the driving member 3 may be a cylinder, a linear motor, an electric telescopic rod, a linear module, etc.

[0096] Example 2

[0097] In this embodiment, one of the clamping members 1 in the first clamping mechanism can be Figure 1 and Figure 3 The clamping member 1 shown in the figure, at this time, the first clamping mechanism includes a clamping member 1, the clamping plate 11 of the clamping member 1 in the first clamping mechanism is a flexible member, and the fixed end 111 of the clamping plate 11 in the first clamping mechanism is fixed to the first fixing portion 21; a clamping member 1 in the second clamping mechanism can be used Figure 5 In the clamping member shown in FIG, the second clamping mechanism includes a clamping member 1. The clamping plate 11 in the clamping member 1 is a rigid member. The clamping plate 11 in the second clamping mechanism is fixed to the first fixing portion 21, and one end of the clamping plate 11 in the width direction is fixed to the second fixing portion 22, thereby fixing the second clamping mechanism relative to the fixing member 2. Since the clamping plate 11 in the second clamping mechanism is a rigid member, the risk of twisting of the shrimp body 4 can be reduced.

[0098] Furthermore, the drive mechanism may include multiple drive members 3, which are arranged at intervals. Each of the multiple drive members 3 applies force to the first clamping mechanism. The drive members 3 may be a cylinder, a linear motor, an electric telescopic rod, a linear module, etc. When the clamping device is not clamping the shrimp body 4, the first clamping mechanism and the second clamping mechanism remain open. When the clamping device of this embodiment is used to clamp the shrimp body 4, the shrimp body 4 can be placed in the clamping space, and the multiple drive members 3 are extended to apply force to the first clamping mechanism, so that the piercing members 12 in the first clamping mechanism and the second clamping mechanism respectively penetrate into the shrimp body 4, thereby clamping the shrimp body 4.

[0099] Optionally, the fixed end 111 of the clamping plate 11 in the first clamping mechanism can be rotatably connected to the first fixed part 21. When multiple driving members 3 apply force to the first clamping mechanism, the clamping plate 11 in the first clamping mechanism first rotates to roughly fit the shrimp body 4, and then the clamping plate 11 in the first clamping mechanism is deformed to achieve stable clamping of the shrimp body 4.

[0100] Alternatively, the drive mechanism of the present application may employ a motor, the output shaft of which is fixedly connected to the first fixing portion 21, thereby driving the fixing member 2 to rotate. When the fixed end 111 of the clamping plate 11 in the first clamping mechanism is fixedly connected to the first fixing portion 21, the fixing member 2, the first clamping mechanism, and the second clamping mechanism rotate as a whole. Under the action of inertia, the clamping plate 11 in the first clamping mechanism deforms, causing the piercing members 12 in the first and second clamping mechanisms to penetrate the shrimp shell, thereby clamping the shrimp shell. Simultaneously, during the rotation process, the shrimp peel is separated from the shrimp shell by the action of centrifugal force, thereby separating the shrimp shell from the shrimp peel. When the fixed end 111 of the clamping plate 11 in the first clamping mechanism is rotatably connected to the first fixing portion 21, the fixing member 2, the first clamping mechanism, and the second clamping mechanism rotate as a whole. Under the action of inertia, the clamping plate 11 in the first clamping mechanism first rotates until it roughly fits the shrimp body 4. Then, the clamping plate 11 in the first clamping mechanism deforms, making it fit tightly against the shrimp body 4. At this time, the piercing members 12 in the first and second clamping mechanisms penetrate the shrimp shell, thereby clamping the shrimp shell. At the same time, during the rotation process, the shrimp meat is separated from the shrimp shell by the action of centrifugal force, thereby separating the shrimp shell from the shrimp meat.

[0101] Optionally, a magnet may be provided on the telescopic end of the driving member 3 , and the connection between the telescopic end of the driving member 3 and the clamping plate 11 is achieved by attracting the clamping plate 11 through the magnet.

[0102] Example 3

[0103] In this embodiment, one of the clamping members 1 in the first clamping mechanism can be Figure 1 and Figure 3 The clamping member 1 shown in FIG. 1 , at this time, the first clamping mechanism includes a clamping member 1, the clamping plate 11 of the clamping member 1 in the first clamping mechanism is a flexible member, and the fixed end 111 of the clamping plate 11 in the first clamping mechanism is fixed to the first fixing portion 21. The second clamping mechanism can be used Figure 8 In the form shown in FIG, the second clamping mechanism includes a plurality of clamping members 1, the plurality of clamping plates 11 of the plurality of clamping members 1 in the second clamping mechanism are all flexible members, and the plurality of fixed ends 111 of the plurality of clamping plates 11 in the second clamping mechanism are all fixed to the first fixing portion 21. Optionally, the number of clamping members 1 in the second clamping mechanism can be two, three, or more.

[0104] Optionally, the fixed end 111 of the clamping plate 11 in the first clamping mechanism may be rotatably connected to the first fixing portion 21 , and the fixed end 111 of the clamping plate 11 in the second clamping mechanism may also be rotatably connected to the first fixing portion 21 .

[0105] Furthermore, the clamping plate 11 in the second clamping mechanism is divided into a cloth area and an empty area. The cloth area is located on the side where the free end 112 is located, and the empty area is located on the side where the fixed end 111 is located. The multiple piercing members 12 are all located in the cloth area. For two adjacent clamping plates 11 in the multiple clamping plates 11 of the second clamping mechanism, the length of the clamping plate 11 closer to the clamping space is shorter than the length of the empty area of ​​the clamping plate 11 farther from the clamping space, so that the positions of the piercing members 12 on the multiple clamping plates 11 are staggered. When the multiple clamping plates 11 are deformed, the piercing members 12 on the multiple clamping plates 11 respectively pierce different positions of the shrimp shell.

[0106] In addition, the driving mechanism includes a plurality of driving members 3, and the plurality of driving members 3 are divided into two groups. The driving members 3 are arranged at intervals in each group. The driving members 3 in one group can apply force to the first clamping mechanism, and the driving members 3 in the other group can respectively apply force to the layout areas of the plurality of clamping plates 11 in the second clamping mechanism. An avoidance hole can be opened on the clamping plate 11 located on the outside so that the telescopic end of the driving member 3 can pass through the avoidance hole and be connected to the corresponding clamping plate 11, so that the driving member 3 can apply force to the corresponding clamping plate 11. The driving member 3 can be a cylinder, a linear motor, an electric telescopic rod, a linear module, etc.

[0107] When the fixed end 111 of the clamping plate 11 in the first clamping mechanism is fixedly connected to the first fixed part 21, and the fixed end 111 of the clamping plate 11 in the second clamping mechanism is rotatably connected to the first fixed part 21, the shrimp body 4 can be placed in the clamping space, and one group of driving members 3 applies force to the first driving mechanism to deform the clamping plate 11 in the first driving mechanism, and the driving members 3 in another group apply force to the cloth areas of multiple clamping plates 11 in the second clamping mechanism, so that the multiple clamping plates 11 are rotated to roughly fit the shrimp body 4 and deform in the cloth area to tightly fit the shrimp body 4, thereby achieving clamping of the shrimp body 4.

[0108] When the fixed end 111 of the clamping plate 11 in the first clamping mechanism is rotatably connected to the first fixed part 21 and the fixed end 111 of the clamping plate 11 in the second clamping mechanism is rotatably connected to the first fixed part 21, the shrimp body 4 can be placed in the clamping space, and one group of driving parts 3 applies force to the first driving mechanism, so that the clamping plate 11 in the first driving mechanism rotates to roughly fit the shrimp body 4 and then deforms to tightly fit the shrimp body 4, and the driving parts 3 in another group apply force to the cloth areas of multiple clamping plates 11 in the second clamping mechanism, so that multiple clamping plates 11 rotate to roughly fit the shrimp body 4 and deform in the cloth area to tightly fit the shrimp body 4, thereby achieving clamping of the shrimp body 4.

[0109] In addition, the second clamping mechanism clamps the shrimp body 4 through the piercing members 12 on multiple clamping plates 11, which can reduce the interference of the internal stress of the clamping plate 11 extending along the extension direction of the piercing member 12, so as to reduce the interference of the clamping force extending along the normal direction of the piercing member 12 by the internal stress of other piercing members 12.

[0110] Optionally, the second clamping mechanism may also be Figure 11 In the form shown in FIG, at this time, the second clamping mechanism includes a plurality of clamping members 1, and the plurality of clamping plates 11 of the plurality of clamping members 1 in the second clamping mechanism are all flexible members. A block structure integrally formed with the clamping plate 11 is formed on the side where the fixed ends 111 of the plurality of clamping plates 11 in the second clamping mechanism are located. The plurality of fixed ends 111 of the plurality of clamping plates 11 of the plurality of clamping members 1 in the second clamping mechanism are all extended into the fixing groove. The plurality of blocks on the plurality of clamping plates 11 can be rotatably connected to the first fixing portion 21 through the same rotating shaft 72, or the plurality of block structures on the plurality of clamping plates 11 are rotatably connected to the first fixing portion 21 through the corresponding rotating shafts 72. All the clamping plates 11 except the smallest one are provided with through-holes. All the clamping plates 11 are sorted according to their volumes. Among the two adjacent clamping plates 11, the through-hole opened by the larger clamping plate 11 can allow the smaller clamping plate 11 to pass through. During use, the multiple clamping plates 11 in the second clamping mechanism are rotated to roughly fit the shrimp body 4 and deformed in the cloth area to fit tightly to the shrimp body 4. The piercing members 12 on the multiple clamping members 1 can respectively penetrate into different positions of the shrimp body 4, thereby achieving clamping of the shrimp body 4.

[0111] Example 4

[0112] In this embodiment, one of the clamping members 1 in the first clamping mechanism can be Figure 1 and Figure 3 The clamping member 1 shown in FIG. 1 , at this time, the first clamping mechanism includes a clamping member 1, the clamping plate 11 of the clamping member 1 in the first clamping mechanism is a flexible member, and the fixed end 111 of the clamping plate 11 in the first clamping mechanism is fixed to the first fixing portion 21. The second clamping mechanism can be used Figure 9 In the form shown in FIG, the second clamping mechanism includes a plurality of clamping members 1, the plurality of clamping plates 11 of the plurality of clamping members 1 in the second clamping mechanism are all rigid members, and the plurality of fixed ends 111 of the plurality of clamping plates 11 of the plurality of clamping members 1 in the second clamping mechanism are all rotatably connected to the fixing member 2. Optionally, the number of clamping members 1 in the second clamping mechanism can be two, three, or more.

[0113] Optionally, the fixed end 111 of the clamping plate 11 in the first clamping mechanism may also be rotatably connected to the first fixing portion 21 .

[0114] like Figure 9As shown, a fixing groove is provided on the first fixing portion 21, and the second clamping mechanism further includes a plurality of connecting members 71, each corresponding to a plurality of clamping plates 11 in the second clamping mechanism. The fixing ends 111 of the clamping plates 11 are connected to the corresponding connecting members 71. Parts of the connecting members 71 extend into the fixing groove and are connected to the first fixing portion 21 via a rotating shaft 72. For two adjacent clamping plates 11 in the plurality of clamping plates 11 of the second clamping mechanism, the sum of the length of the clamping plate 11 close to the clamping space and the length of the corresponding connecting member 71 is less than the length of the corresponding connecting member 71 of the clamping plate 11 away from the clamping space, so that the positions of the piercing members 12 on the plurality of clamping plates 11 are staggered. When the plurality of clamping plates 11 in the second clamping mechanism rotate under the drive of the driving mechanism, the piercing members 12 on the plurality of clamping plates 11 respectively pierce different positions of the shrimp shell.

[0115] In addition, the driving mechanism includes a plurality of driving members 3, which are divided into two groups. The driving members 3 are arranged at intervals in each group. The driving members 3 in one group can apply force to the first clamping mechanism so that the clamping plate 11 in the first clamping mechanism can be deformed (when the clamping plate 11 in the first clamping mechanism is rotationally connected to the fixed member 2, the clamping plate 11 in the first clamping mechanism rotates first and then deforms). The driving members 3 in the other group respectively apply force to the plurality of clamping plates 11 so that the clamping plates in the second clamping mechanism can rotate. The driving members 3 can be cylinders, linear motors, electric telescopic rods, linear modules, etc. When the clamping device of this embodiment is used to clamp the shrimp body 4, the shrimp body 4 can be placed in the clamping space. The driving members 3 in one group apply force to the first driving mechanism so that the clamping plate 11 in the first driving mechanism is deformed. The driving members 3 in the other group respectively drive the plurality of clamping plates 11 to rotate, thereby clamping the shrimp body 4.

[0116] Taking the second clamping mechanism including three tooth mechanisms, each group of which can include six driving members 3 as an example, the six driving members 3 corresponding to the first clamping mechanism respectively apply force to different positions of the clamping plate 11 in the first clamping mechanism. The two driving members 3 close to the fixed member 2 in the other group can apply force to the inner clamping plate 11, the two middle driving members 3 can apply force to the middle clamping member, and the two driving members 3 farthest from the fixed member 2 can apply force to the outer clamping plate 11.

[0117] Optionally, the second clamping mechanism may be Figure 10In the form shown in FIG, at this time, the second clamping mechanism includes a plurality of clamping members 1, and the plurality of clamping plates 11 of the plurality of clamping members 1 in the second clamping mechanism are all rigid members. The plurality of fixed ends 111 of the plurality of clamping plates 11 of the plurality of clamping members 1 in the second clamping mechanism are all extended into the fixing groove. The plurality of fixed ends 111 of the plurality of clamping plates 11 can be rotatably connected to the first fixing portion 21 through the same rotating shaft 72, or the plurality of fixed ends 111 in the plurality of clamping plates 11 are rotatably connected to the first fixing portion 21 through the corresponding rotating shaft 72. Except for the clamping plate 11 with the smallest volume, the other clamping plates 11 are all provided with a avoidance opening. All the clamping plates 11 are sorted according to volume. Among the two adjacent clamping plates 11, the avoidance opening opened by the clamping plate 11 with the larger volume can allow the clamping plate 11 with the smaller volume to pass through. At this time, the piercing members 12 on the plurality of clamping members 1 can respectively pierce different positions of the shrimp body 4.

[0118] Example 5

[0119] In this embodiment, one of the clamping members 1 in the first clamping mechanism can be Figure 5 The clamping member 1 shown in FIG. 1 is a first clamping mechanism comprising a clamping member 1. The clamping plate 11 of the clamping member 1 in the first clamping mechanism is a rigid member. The fixed end 111 of the clamping plate 11 in the first clamping mechanism is fixed to the first fixing portion 21. One end of the clamping plate 11 in the width direction is fixed to the second fixing portion 22, thereby fixing the second clamping mechanism relative to the fixing member 2. The second clamping mechanism can be used Figure 8 In the structure shown, the second clamping mechanism includes multiple clamping members 1, the multiple clamping plates 11 of the multiple clamping members 1 in the second clamping mechanism are all flexible members, and the multiple fixed ends 111 of the multiple clamping plates 11 in the second clamping mechanism are all fixed to the first fixing portion 21.

[0120] Optionally, the fixed end 111 of the clamping plate 11 in the second clamping mechanism may also be rotatably connected to the first fixing portion 21 .

[0121] Furthermore, the clamping plate 11 in the second clamping mechanism is divided into a cloth area and an empty area. The cloth area is located on the side where the free end 112 is located, and the empty area is located on the side where the fixed end 111 is located. The multiple piercing members 12 are all located in the cloth area. For two adjacent clamping plates 11 in the multiple clamping plates 11 of the second clamping mechanism, the length of the clamping plate 11 closer to the clamping space is shorter than the length of the empty area of ​​the clamping plate 11 farther from the clamping space, so that the positions of the piercing members 12 on the multiple clamping plates 11 in the second clamping mechanism are staggered. When the multiple clamping plates 11 are deformed, the piercing members 12 on the multiple clamping plates 11 in the second clamping mechanism respectively pierce different positions of the shrimp shell.

[0122] In addition, the driving mechanism may include multiple driving members 3, and the multiple driving members 3 are arranged at intervals. The multiple driving members 3 can respectively apply force to the layout areas of the multiple clamping plates 11 in the second clamping mechanism. An avoidance hole can be opened on the clamping plate 11 located on the outside, so that the telescopic end of the driving member 3 can pass through the avoidance hole and connect with the corresponding clamping plate 11, so that the driving member 3 can apply force to the corresponding clamping plate 11. The driving member 3 can be a cylinder, a linear motor, an electric telescopic rod, a linear module, etc.

[0123] When the fixed end 111 of the clamping plate 11 in the second clamping mechanism is rotatably connected to the first fixed part 21, the shrimp body 4 can be placed in the clamping space, and multiple driving parts 3 respectively apply force to the cloth areas of multiple clamping plates 11 in the second clamping mechanism, so that the multiple clamping plates 11 respectively rotate to roughly fit the shrimp body 4 and deform in the cloth area to tightly fit the shrimp body 4, thereby achieving clamping of the shrimp body 4.

[0124] Optionally, the second clamping mechanism may also be Figure 11 The structure shown in .

[0125] Example 6

[0126] In this embodiment, one of the clamping members 1 in the first clamping mechanism can be Figure 5 The clamping member 1 shown in FIG. 1 is a first clamping mechanism comprising a clamping member 1. The clamping plate 11 of the clamping member 1 in the first clamping mechanism is a rigid member. The fixed end 111 of the clamping plate 11 in the first clamping mechanism is fixed to the first fixing portion 21. One end of the clamping plate 11 in the width direction is fixed to the second fixing portion 22, thereby fixing the second clamping mechanism relative to the fixing member 2. The second clamping mechanism can be used Figure 9 In the structure shown, the second clamping mechanism includes multiple clamping members 1, and the multiple clamping plates 11 of the multiple clamping members 1 in the second clamping mechanism are all rigid members. The multiple fixed ends 111 of the multiple clamping plates 11 of the multiple clamping members 1 in the second clamping mechanism are all rotatably connected to the fixing member 2.

[0127] like Figure 9As shown, a fixing groove is provided on the first fixing portion 21, and the second clamping mechanism further includes a plurality of connecting members 71, each corresponding to a plurality of clamping plates 11 in the second clamping mechanism. The fixing ends 111 of the clamping plates 11 are connected to the corresponding connecting members 71. Parts of the connecting members 71 extend into the fixing groove and are connected to the first fixing portion 21 via a rotating shaft 72. For two adjacent clamping plates 11 in the plurality of clamping plates 11 of the second clamping mechanism, the sum of the length of the clamping plate 11 close to the clamping space and the length of the corresponding connecting member 71 is less than the length of the corresponding connecting member 71 of the clamping plate 11 away from the clamping space, so that the piercing members 12 on the plurality of clamping plates 11 in the second clamping mechanism are staggered. When the plurality of clamping plates 11 in the second clamping mechanism rotate under the drive of the driving mechanism, the piercing members 12 on the plurality of clamping plates 11 respectively pierce different positions of the shrimp shell.

[0128] Furthermore, the drive mechanism may include multiple drive members 3 arranged at intervals, each of which applies force to the multiple clamping plates 11. The drive members 3 may be a cylinder, a linear motor, an electric telescopic rod, a linear module, etc. When the clamping device of this embodiment is used to clamp the shrimp body 4, the shrimp body 4 can be placed in the clamping space, and the multiple drive members 3 drive the multiple clamping plates 11 in the second clamping mechanism to rotate, thereby clamping the shrimp body 4.

[0129] Taking the second clamping mechanism including three tooth mechanisms and the driving mechanism including six driving members 3 as an example, the two driving members 3 close to the fixed member 2 can apply force to the inner clamping plate 11, the two middle driving members 3 can apply force to the middle clamping member, and the two driving members 3 farthest from the fixed member 2 can apply force to the outer clamping plate 11.

[0130] Optionally, the second clamping mechanism may also be Figure 10 The structure shown in .

[0131] Example 7

[0132] In this embodiment, both the first clamping mechanism and the second clamping mechanism can adopt Figure 8 In the structure shown, the first clamping mechanism includes a plurality of clamping members 1, the plurality of clamping plates 11 of the plurality of clamping members 1 in the first clamping mechanism are all flexible members, and the plurality of fixed ends 111 of the plurality of clamping plates 11 in the first clamping mechanism are all fixed to the first fixing portion 21. The second clamping mechanism includes a plurality of clamping members 1, the plurality of clamping plates 11 of the plurality of clamping members 1 in the second clamping mechanism are all flexible members, and the plurality of fixed ends 111 of the plurality of clamping plates 11 in the second clamping mechanism are all fixed to the first fixing portion 21.

[0133] Optionally, the fixed ends 111 of the clamping plates 11 in the first clamping mechanism may be rotatably connected to the first fixing portion 21 , and the fixed ends 111 of the clamping plates 11 in the second clamping mechanism may also be rotatably connected to the first fixing portion 21 .

[0134] Furthermore, the clamping plate 11 is divided into a cloth area and a vacant area. The cloth area is located on the side where the free end 112 is located, and the vacant area is located on the side where the fixed end 111 is located. The multiple piercing members 12 are all located on the cloth area. For two adjacent clamping plates 11 among the multiple clamping plates 11 of the first clamping mechanism, the length of the clamping plate 11 close to the clamping space is shorter than the length of the vacant area of ​​the clamping plate 11 away from the clamping space. For two adjacent clamping plates 11 among the multiple clamping plates 11 of the second clamping mechanism, the length of the clamping plate 11 close to the clamping space is shorter than the length of the vacant area of ​​the clamping plate 11 away from the clamping space. The piercing members 12 on different clamping plates 11 in the first clamping mechanism respectively pierce different positions of the shrimp shell, and the piercing members 12 on different clamping plates 11 in the second clamping mechanism respectively pierce different positions of the shrimp shell.

[0135] In addition, the driving mechanism includes a plurality of driving members 3, which are divided into two groups. The driving members 3 are arranged at intervals in each group. The driving members 3 in one group can respectively apply force to the cloth areas of the plurality of clamping plates 11 in the first clamping mechanism, and the driving members 3 in the other group can respectively apply force to the cloth areas of the plurality of clamping plates 11 in the second clamping mechanism. The driving members 3 can be cylinders, linear motors, electric telescopic rods, linear modules, etc.

[0136] When the fixed ends 111 of the clamping plates 11 in the first clamping mechanism are all rotatably connected to the first fixing part 21, and the fixed ends 111 of the clamping plates 11 in the second clamping mechanism are all rotatably connected to the first fixing part 21, the shrimp body 4 can be placed in the clamping space, and a group of driving members 3 respectively apply force to the cloth areas of multiple clamping plates 11 in the first clamping mechanism, so that the multiple clamping plates 11 in one group are respectively rotated to roughly fit the shrimp body 4 and deformed in the cloth area, and the driving members 3 in another group respectively apply force to the cloth areas of multiple clamping plates 11 in the second clamping mechanism, so that the multiple clamping plates 11 in the other group are respectively rotated to roughly fit the shrimp body 4 and deformed in the cloth area, thereby achieving clamping of the shrimp body 4.

[0137] Optionally, the first clamping mechanism and the second clamping mechanism may both adopt Figure 11 The structure shown in FIG, or one of the first clamping mechanism and the second clamping mechanism adopts Figure 8 The structure shown in the other adopts Figure 11 The structure shown in .

[0138] Example 8

[0139] In this embodiment, the first clamping mechanism can be Figure 8 In the structure shown, the first clamping mechanism includes a plurality of clamping members 1, the plurality of clamping plates 11 of the plurality of clamping members 1 in the first clamping mechanism are all flexible members, and the plurality of fixed ends 111 of the plurality of clamping plates 11 in the first clamping mechanism are all fixed to the first fixing portion 21. The second clamping mechanism can be Figure 9 In the structure shown, the multiple clamping plates 11 of the multiple clamping members 1 in the second clamping mechanism are all rigid members, and the multiple fixed ends 111 of the multiple clamping plates 11 of the multiple clamping members 1 in the second clamping mechanism are all rotatably connected to the fixing member 2.

[0140] Optionally, the fixed ends 111 of the clamping plates 11 in the first clamping mechanism may also be rotatably connected to the first fixing portion 21 .

[0141] Furthermore, the clamping plate 11 in the first clamping mechanism is divided into a cloth area and a vacant area, the cloth area is located on the side where the free end 112 is located, and the vacant area is located on the side where the fixed end 111 is located, and multiple piercing members 12 are all located on the cloth area; for two adjacent clamping plates 11 among the multiple clamping plates 11 of the first clamping mechanism, the length of the clamping plate 11 close to the clamping space is shorter than the length of the vacant area of ​​the clamping plate 11 away from the clamping space, and the piercing members 12 on different clamping plates 11 in the first clamping mechanism respectively pierce different positions of the shrimp shell.

[0142] Furthermore, a fixing groove is formed on the first fixing portion 21, and the second clamping mechanism further includes a plurality of connecting members 71, each corresponding to a plurality of clamping plates 11 in the second clamping mechanism. The fixed ends 111 of the clamping plates 11 are connected to the corresponding connecting members 71, and a portion of the connecting member 71 extends into the fixing groove and is connected to the first fixing portion 21 via a rotating shaft 72. For two adjacent clamping plates 11 in the plurality of clamping plates 11 of the second clamping mechanism, the sum of the length of the clamping plate 11 close to the clamping space and the length of the corresponding connecting member 71 is less than the length of the corresponding connecting member 71 of the clamping plate 11 away from the clamping space. When the plurality of clamping plates 11 in the second clamping mechanism rotate under the drive of the driving mechanism, the piercing members 12 on the plurality of clamping plates 11 respectively pierce different positions of the shrimp shell.

[0143] In addition, the driving mechanism includes multiple driving members 3, which are divided into two groups. The driving members 3 are arranged at intervals in each group. The driving members 3 in one group can respectively apply force to the multiple clamping plates 11 in the first clamping mechanism, and the driving members 3 in the other group can respectively apply force to the multiple clamping plates 11 in the second clamping mechanism. The driving members 3 can be cylinders, linear motors, electric telescopic rods, linear modules, etc.

[0144] When the fixed ends 111 of the clamping plates 11 in the first clamping mechanism are all rotatably connected to the first fixed part 21, the shrimp body 4 can be placed in the clamping space, and a group of driving parts 3 respectively apply force to the cloth areas of multiple clamping plates 11 in the first clamping mechanism, so that the multiple clamping plates 11 in one group rotate to roughly fit the shrimp body 4 and produce deformation in the cloth area, and the driving parts 3 in the other group drive the multiple clamping plates 11 in the second clamping mechanism to rotate, thereby achieving clamping of the shrimp body 4.

[0145] Optionally, the first clamping mechanism may also be Figure 11 The structure shown in FIG, the second clamping mechanism can also be used Figure 10 The structure shown in .

[0146] Embodiment 9

[0147] In this embodiment, the first clamping mechanism can be Figure 9 or Figure 10 In the structure shown in FIG, the second clamping mechanism can be used Figure 9 or Figure 10 In the structure shown in FIG, the multiple clamping plates 11 of the multiple clamping members 1 in the first clamping mechanism are all rigid members, and the multiple fixed ends 111 of the multiple clamping plates 11 of the multiple clamping members 1 in the first clamping mechanism are all rotatably connected to the fixed member 2. The multiple clamping plates 11 of the multiple clamping members 1 in the second clamping mechanism are all rigid members, and the multiple fixed ends 111 of the multiple clamping plates 11 of the multiple clamping members 1 in the second clamping mechanism are all rotatably connected to the fixed member 2.

[0148] Furthermore, each clamping plate 11 is correspondingly provided with a connecting member 71, a fixing groove is provided on the first fixing portion 21, and the fixing end 111 of the clamping plate 11 is connected to the corresponding connecting member 71. Part of the connecting member 71 extends into the fixing groove and is connected to the first fixing portion 21 through the rotating shaft 72. For two adjacent clamping plates 11 among the multiple clamping plates 11 of the first clamping mechanism, the sum of the length of the clamping plate 11 close to the clamping space and the length of the corresponding connecting member 71 is less than the length of the connecting member 71 corresponding to the clamping plate 11 away from the clamping space. For two adjacent clamping plates 11 among the multiple clamping plates 11 of the second clamping mechanism, the sum of the length of the clamping plate 11 close to the clamping space and the length of the corresponding connecting member 71 is less than the length of the connecting member 71 corresponding to the clamping plate 11 away from the clamping space. When the first clamping mechanism and the second clamping mechanism rotate under the drive of the driving mechanism, the piercing members 12 on the multiple clamping plates 11 in the first clamping mechanism respectively pierce different positions of the shrimp shell, and the piercing members 12 on the multiple clamping plates 11 in the second clamping mechanism respectively pierce different positions of the shrimp shell.

[0149] In addition, the drive mechanism includes a plurality of drive members 3, which are divided into two groups. The drive members 3 are arranged at intervals within each group. The drive members 3 in one group can apply force to the multiple clamping plates 11 in the first clamping mechanism, and the drive members 3 in the other group can respectively apply force to the multiple clamping plates 11 in the second clamping mechanism. The drive members 3 can be cylinders, linear motors, electric telescopic rods, linear modules, etc. When the clamping device of this embodiment is used to clamp the shrimp body 4, the shrimp body 4 can be placed in the clamping space. The drive members 3 in one group rotate the multiple clamping plates 11 in the first drive mechanism, while the drive members 3 in the other group drive the multiple clamping plates 11 in the second clamping mechanism to rotate, thereby clamping the shrimp body 4.

[0150] The first clamping mechanism and the second clamping mechanism both adopt Figure 9 In the structure shown, each group can include six driving members 3. Among the six driving members 3 corresponding to the first clamping mechanism, the two driving members 3 close to the fixed member 2 can apply force to the clamping plate 11 close to the inner side of the first clamping mechanism, the two middle driving members 3 can apply force to the clamping plate 11 located in the middle of the first clamping mechanism, and the two driving members 3 farthest from the fixed member 2 can apply force to the clamping plate 11 close to the outer side of the first clamping mechanism; among the six driving members 3 corresponding to the second clamping mechanism, the two driving members 3 close to the fixed member 2 can apply force to the clamping plate 11 close to the inner side of the second clamping mechanism, the two middle driving members 3 can apply force to the clamping plate 11 located in the middle of the second clamping mechanism, and the two driving members 3 farthest from the fixed member 2 can apply force to the clamping plate 11 close to the outer side of the second clamping mechanism.

[0151] Optionally, in the above-mentioned embodiments one to nine, a magnet may be provided on the telescopic end of the driving member 3, and the connection between the telescopic end of the driving member 3 and the clamping plate 11 can be achieved by attracting the clamping plate 11 with the magnet. When the clamping plate 11 is a flexible member, and the fixed end 111 of the clamping plate 11 is rotatably connected to the first fixing portion 21, the fixed end 111 of the clamping plate 11 in the first clamping mechanism can be bent to form a cylindrical structure or fixedly connected to a fixing seat with a cylindrical structure, and the first fixing portion 21 can be provided with a fixing groove, and the cylindrical structure is located in the fixing groove, and the rotating shaft passes through the cylindrical structure and the first fixing portion 21, thereby achieving the rotational connection between the fixed end 111 of the clamping plate 11 and the first fixing portion 21.

[0152] In addition, in the above-mentioned embodiments 1 to 9, the clamping force exerted on the shrimp body 4 can be adjusted by adjusting the force applied by the driving mechanism. Preferably, within the first predetermined time, the linear density of the clamping force in the longitudinal direction of the shrimp body 4 is greater than or equal to 0.15N / mm; and within the first predetermined time to the second predetermined time, the linear density of the clamping force in the longitudinal direction of the shrimp body 4 is less than or equal to 0.1N / mm. Due to the high strength of the shrimp shell, the piercing member 12 requires a large breakthrough force to penetrate the shrimp shell. Therefore, a large clamping force is required within the first predetermined time to ensure that the piercing member 12 can penetrate the shrimp shell. Since the shrimp meat is soft and has a certain deformation ability, a large clamping force during the shelling process will cause the shrimp meat to be squeezed and deformed, thereby increasing the force required for shelling and reducing the quality of the shrimp. Therefore, a smaller clamping force is used within the first predetermined time to the second predetermined time to improve the quality of the shrimp.

[0153] Optionally, the first scheduled time and the second scheduled time can be selected according to needs.

[0154] According to a third aspect of the present application, a shelling device is provided, such as Figure 7 As shown, the shelling device includes the above-mentioned clamping device.

[0155] Furthermore, the shelling device also includes an insert 6 and a power device 5. The power device 5 is connected to the insert 6 to drive the insert 6 to move. The insert 6 is used to be inserted into the shrimp meat of the shrimp body 4. After the clamping device clamps the shrimp body 4, the power device 5 drives the insert 6 to be inserted into the shrimp meat of the shrimp body 4. Thereafter, the power device 5 drives the insert 6 to move in a direction away from the fixed end 111, thereby peeling the shrimp meat from the shell.

[0156] Optionally, the power device 5 may be a manipulator or the like.

[0157] According to a fourth aspect of the present application, a shrimp production line is provided, which includes the above-mentioned shelling equipment.

[0158] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A clamping member, characterized in that: The clamping member includes a clamping plate and multiple piercing members, the clamping plate includes a fixed end and a free end facing each other, the multiple piercing members are fixed on the same side of the clamping plate, and the piercing members are inclined toward the fixed end, and the multiple piercing members are arranged at intervals.

2. The clamping member according to claim 1, characterized in that The included angle between the piercing member and the clamping plate is greater than or equal to 10 degrees and less than or equal to 80 degrees.

3. The clamping member according to claim 1, characterized in that A dimension of the piercing member in a thickness direction of the clamping plate is greater than or equal to 0.10 mm and less than or equal to 2.00 mm.

4. The clamping member according to claim 1, characterized in that The piercing member includes a connecting end and a piercing end, the connecting end is connected to the clamping plate, and the diameter of the circumscribed circle of the cross section of the piercing end is less than 0.5 mm.

5. The clamping member according to claim 1, characterized in that The plurality of piercing members are arranged at intervals, and at least one piercing member is arranged in a circular area with a diameter of 55 mm.

6. The clamping member according to any one of claims 1 to 5, characterized in that: The clamping plate is a flexible member, and can undergo elastic deformation. The thickness of the clamping plate is greater than or equal to 0.05 mm and less than or equal to 0.3 mm.

7. The clamping member according to any one of claims 1 to 5, characterized in that: The fixed end is used for fixed connection or rotational connection with the fixing member.

8. A clamping device, characterized in that: The clamping device includes a fixing member, a driving mechanism, a first clamping mechanism and a second clamping mechanism, the first clamping mechanism includes at least one clamping member according to any one of claims 1 to 5, the second clamping mechanism includes at least one clamping member according to any one of claims 1 to 5, the first clamping mechanism and the second clamping mechanism are both connected to the fixing member, a clamping space is formed between the first clamping mechanism and the second clamping mechanism, the clamping space is used to accommodate the shrimp body, and the driving mechanism can drive the first clamping mechanism and the second clamping mechanism to approach each other.

9. The clamping device according to claim 8, characterized in that: The first clamping mechanism includes a clamping member, the clamping plate of the clamping member in the first clamping mechanism is a flexible member, and the fixed end of the clamping plate in the first clamping mechanism is fixedly connected or rotatably connected to the fixing member; The second clamping mechanism includes a clamping member, the clamping plate in the second clamping mechanism is a flexible member, and the fixed end of the clamping plate in the second clamping mechanism is fixedly connected or rotationally connected to the fixing member.

10. The clamping device according to claim 8, characterized in that The first clamping mechanism includes a clamping member, the clamping plate of the clamping member in the first clamping mechanism is a flexible member, and the fixed end of the clamping plate in the first clamping mechanism is fixedly connected or rotatably connected to the fixing member; The second clamping mechanism includes a clamping member, the clamping plate of the clamping member in the second clamping mechanism is a rigid member, and the clamping plate in the second clamping mechanism is fixed to the fixing member.

11. The clamping device according to claim 8, characterized in that The first clamping mechanism includes a clamping member, the clamping plate of the clamping member in the first clamping mechanism is a flexible member, and the fixed end of the clamping plate in the first clamping mechanism is fixedly connected or rotatably connected to the fixing member; The second clamping mechanism includes a plurality of clamping members, the plurality of clamping plates of the plurality of clamping members in the second clamping mechanism are all flexible members, and the plurality of fixed ends of the plurality of clamping plates in the second clamping mechanism are all fixedly connected or rotationally connected to the fixing members.

12. The clamping device according to claim 11, characterized in that The clamping plate in the second clamping mechanism is divided into a cloth area and a vacant area. The cloth area is located on the side where the free end is located, and the vacant area is located on the side where the fixed end is located. The multiple piercing members are all located on the cloth area.

13. The clamping device according to claim 8, characterized in that The first clamping mechanism includes a clamping member, the clamping plate of the clamping member in the first clamping mechanism is a flexible member, and the fixed end of the clamping plate in the first clamping mechanism is fixedly connected or rotatably connected to the fixing member; The second clamping mechanism includes a plurality of clamping members, the plurality of clamping plates of the plurality of clamping members in the second clamping mechanism are all rigid members, and the plurality of fixed ends of the plurality of clamping plates of the plurality of clamping members in the second clamping mechanism are all rotatably connected to the fixing member.

14. The clamping device according to claim 13, characterized in that The second clamping mechanism further includes a plurality of connecting members, which respectively correspond to the plurality of clamping plates in the second clamping mechanism. The fixed ends of the clamping plates are connected to the corresponding connecting members, and the connecting members are rotatably connected to the fixing members.

15. The clamping device according to claim 8, characterized in that The first clamping mechanism includes a clamping member, the clamping plate of the clamping member in the first clamping mechanism is a rigid member, and the clamping plate in the first clamping mechanism is fixed to the fixing member; The second clamping mechanism includes a plurality of clamping members, the plurality of clamping plates of the plurality of clamping members in the second clamping mechanism are all flexible members, and the plurality of fixed ends of the plurality of clamping plates in the second clamping mechanism are all fixedly connected or rotationally connected to the fixing members.

16. The clamping device according to claim 15, characterized in that The clamping plate in the second clamping mechanism is divided into a cloth area and a vacant area. The cloth area is located on the side where the free end is located, and the vacant area is located on the side where the fixed end is located. The multiple piercing members are all located on the cloth area.

17. The clamping device according to claim 8, characterized in that The first clamping mechanism includes a clamping member, the clamping plate of the clamping member in the first clamping mechanism is a rigid member, and the clamping plate in the first clamping mechanism is fixed to the fixing member; The second clamping mechanism includes a plurality of clamping members, the plurality of clamping plates of the plurality of clamping members in the second clamping mechanism are all rigid members, and the plurality of fixed ends of the plurality of clamping plates of the plurality of clamping members in the second clamping mechanism are all rotatably connected to the fixing member.

18. The clamping device according to claim 17, characterized in that The second clamping mechanism further includes a plurality of connecting members, which respectively correspond to the plurality of clamping plates in the second clamping mechanism. The fixed ends of the clamping plates are connected to the corresponding connecting members, and the connecting members are rotatably connected to the fixing members.

19. The clamping device according to claim 8, characterized in that The first clamping mechanism includes a plurality of clamping members, the plurality of clamping plates of the plurality of clamping members in the first clamping mechanism are all flexible members, and the plurality of fixed ends of the plurality of clamping plates in the first clamping mechanism are all fixedly connected or rotatably connected to the fixing members; The second clamping mechanism includes a plurality of clamping members, the plurality of clamping plates of the plurality of clamping members in the second clamping mechanism are all flexible members, and the plurality of fixed ends of the plurality of clamping plates in the second clamping mechanism are all fixedly connected or rotationally connected to the fixing members.

20. The clamping device according to claim 19, characterized in that The clamping plate is divided into a cloth area and a vacant area. The cloth area is located on the side where the free end is located, and the vacant area is located on the side where the fixed end is located. The multiple piercing elements are all located on the cloth area.

21. The clamping device according to claim 8, characterized in that The first clamping mechanism includes a plurality of clamping members, the plurality of clamping plates of the plurality of clamping members in the first clamping mechanism are all flexible members, and the plurality of fixed ends of the plurality of clamping plates in the first clamping mechanism are all fixedly connected or rotatably connected to the fixing members; The second clamping mechanism includes a plurality of clamping members, the plurality of clamping plates of the plurality of clamping members in the second clamping mechanism are all rigid members, and the plurality of fixed ends of the plurality of clamping plates of the plurality of clamping members in the second clamping mechanism are all rotatably connected to the fixing member.

22. The clamping device according to claim 21, characterized in that The clamping plate in the first clamping mechanism is divided into a cloth area and a vacant area, the cloth area is located on the side where the free end is located, the vacant area is located on the side where the fixed end is located, and the multiple piercing elements are all located on the cloth area; The second clamping mechanism further includes a plurality of connecting members, which respectively correspond to the plurality of clamping plates in the second clamping mechanism. The fixed ends of the clamping plates are connected to the corresponding connecting members, and the connecting members are rotatably connected to the fixing members.

23. The clamping device according to claim 8, characterized in that The first clamping mechanism includes a plurality of clamping members, wherein the plurality of clamping plates of the plurality of clamping members in the first clamping mechanism are all rigid members, and the plurality of fixed ends of the plurality of clamping plates of the plurality of clamping members in the first clamping mechanism are all rotatably connected to the fixed member; The second clamping mechanism includes a plurality of clamping members, the plurality of clamping plates of the plurality of clamping members in the second clamping mechanism are all rigid members, and the plurality of fixed ends of the plurality of clamping plates of the plurality of clamping members in the second clamping mechanism are all rotatably connected to the fixing member.

24. The clamping device according to claim 23, characterized in that Each of the clamping plates is correspondingly provided with a connecting piece, the fixed end of the clamping plate is connected to the corresponding connecting piece, and the connecting piece is rotatably connected to the fixing piece.

25. The clamping device according to any one of claims 8 to 24, characterized in that The driving mechanism is capable of applying force to both the first clamping mechanism and the second clamping mechanism so that the shrimp body is subjected to a clamping force; During the first predetermined time, the linear density of the clamping force in the longitudinal direction of the shrimp body is greater than or equal to 0.15 N / mm; From the first predetermined time to the second predetermined time, the distribution linear density of the clamping force in the longitudinal direction of the shrimp body is less than or equal to 0.1 N / mm.

26. The clamping device according to any one of claims 9, 11-14 and 19-24, characterized in that The driving mechanism includes a plurality of driving members, which are divided into two groups. The driving members are arranged at intervals in each group, wherein the driving members in one group can apply force to the first clamping mechanism, and the driving members in the other group can apply force to the second clamping mechanism.

27. The clamping device according to claim 10, characterized in that The driving mechanism includes a plurality of driving members, which are arranged at intervals, and each of the plurality of driving members can apply force to the first clamping mechanism.

28. The clamping device according to any one of claims 15 to 18, characterized in that The driving mechanism includes a plurality of driving members, which are arranged at intervals, and each of the plurality of driving members can apply force to the second clamping mechanism.

29. A shelling device, characterized in that: The shelling device comprises the clamping device according to any one of claims 8-28.

30. The shelling device according to claim 29, characterized in that The shelling device further comprises an insert and a power device, wherein the power device is connected to the insert to drive the insert to move, and the insert is used to be inserted into the shrimp meat of the shrimp body.

31. A shrimp production line, characterized in that: The shrimp production line includes the shelling equipment according to claim 29 or 30.

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