Processing equipment

Abstract

The invention relates to the technical field of food processing, and provides processing equipment. The processing equipment comprises a cutting device and a shelling mechanism, the cutting device is used for selectively cutting a to-be-shelled object, the to-be-shelled object is provided with a shell and a containing object contained in the shell, and the cutting device is at least used for cutting and penetrating through the shell of the to-be-shelled object; and the shelling mechanism is used for shelling the to-be-shelled object received from the cutting device, and the shelling mechanism applies force to the shell and is configured to apply preset acceleration to the to-be-shelled object, so that the shell is positioned on the shelling mechanism, and the contained object is separated from the shell by utilizing the inertia of the contained object. According to the processing equipment provided by the invention, the to-be-hulled object is hulled in an inertial hulling manner, and external rubbing, rolling and other operations do not need to be applied to the to-be-hulled object, so that the risk that the contained object is damaged is effectively reduced, and the hulling procedure is simplified and the efficiency of single-time hulling is improved due to the fact that the pre-operation is not needed.

Description

Technical Field

[0001] The present application relates to the technical field of food processing, and in particular to a processing device. Background Art

[0002] Ingredients like shrimp require shelling, such as the tails. For example, shrimp are made from frozen, headless tails. After thawing, opening the backs, peeling the shells, deveining, freezing, and packaging, the finished product is ready.

[0003] Currently, manual shelling is the primary method for shelling shrimp. The few existing shrimp processing equipment can be divided into two categories: disc-type and roller-type. Years of practical application have shown that both technologies have significant limitations, resulting in low user acceptance and limited widespread adoption.

[0004] The main problem with manual shelling and existing equipment is damage to the contents inside the object to be shelled, specifically, damage to the shrimp meat, which leads to low quality of the finished shrimp. At the same time, the shelling process is cumbersome and the shelling efficiency is low. Summary of the Invention

[0005] In view of this, the present application provides a processing equipment, the purpose of which is to solve the above technical problems to a certain extent.

[0006] The present application provides a processing device, which includes:

[0007] a cutting device, the cutting device being used to selectively cut an object to be shelled, the object to be shelled having a shell and an object contained in the shell, the cutting device being used to at least cut and penetrate the shell of the object to be shelled;

[0008] A shelling mechanism is used to shell the object to be shelled received from the cutting device, the shelling mechanism applies force to the shell, and is configured to apply a predetermined acceleration to the object to be shelled so that the shell is positioned in the shelling mechanism and the contents are separated from the shell by their own inertia.

[0009] On the basis of the above technical solution, optionally, the shelling mechanism further includes a clamping device, the clamping device including: a first clamping member and a second clamping member, the first clamping member and the second clamping member are spaced apart to define a clamping space for placing the object to be shelled, and the second clamping member can be close to and away from the first clamping member;

[0010] A driving mechanism is used to drive the first clamping member and the second clamping member to rotate, so that the second clamping member is close to the first clamping member, thereby making the first clamping member and the second clamping member clamp the object to be shelled.

[0011] Based on any of the above technical solutions, optionally, at least one of the first clamping member and the second clamping member is provided with a clamping tooth, the clamping tooth protruding from the at least one into the clamping space, and the clamping tooth is used to pierce the shell.

[0012] Based on any of the above technical solutions, optionally, the second clamping member can be deformed toward the first clamping member to be close to the first clamping member, and / or the second clamping member can be pivoted around the pivot axis to be close to the first clamping member.

[0013] Based on any of the above technical solutions, optionally, the first clamping member and the second clamping member both include a clamping body, the clamping body is a flexible member, the clamping body can undergo elastic deformation, and the thickness of the clamping body is greater than or equal to 0.05 mm and less than or equal to 0.3 mm.

[0014] Based on any of the above technical solutions, optionally, when the second clamping member does not clamp the object to be shelled, the clamping space has a first side and a second side opposite to each other, the first side has an opening portion, and the opening portion is used to allow the content to detach from the clamping space, and the clamping space gradually shrinks from the first side to the second side.

[0015] Based on any of the above technical solutions, optionally, the second clamping member is configured to have a predetermined mass so as to be able to approach the first clamping member when pivoting.

[0016] On the basis of any of the above technical solutions, optionally, the processing equipment further includes a force-applying member, and the force-applying member is used to apply a force to the second clamping member away from the first clamping member at least when the second clamping member is close to the first clamping member.

[0017] Based on any of the above technical solutions, optionally, when the second clamping member does not clamp the object to be shelled, the clamping space has a first side and a second side opposite to each other, the first side has an opening, and the opening is used to allow the contained object to be separated from the clamping space.

[0018] The at least one includes a clamping body and a plurality of clamping teeth, the clamping teeth are inclined toward the second side, and the plurality of clamping teeth are arranged at intervals.

[0019] Based on any of the above technical solutions, optionally, at least one of the at least one comprises a clamping body and a plurality of clamping teeth, and an angle between the clamping teeth and the clamping body is greater than or equal to 10 degrees and less than or equal to 80 degrees.

[0020] Based on any of the above technical solutions, optionally, at least one of them includes a clamping body and a plurality of clamping teeth, the clamping body has a thickness direction, and the size of the clamping teeth in the thickness direction of the clamping body is greater than or equal to 0.10 mm and less than or equal to 2.00 mm.

[0021] Based on any of the above technical solutions, optionally, at least one of the at least one comprises a clamping body and a plurality of clamping teeth, the clamping teeth comprising a connecting end and a piercing end, the connecting end being connected to the clamping body, and the diameter of the circumscribed circle of the cross section of the piercing end being less than 0.5 mm.

[0022] Based on any of the above technical solutions, optionally, at least one of the clamping teeth includes a clamping body and a plurality of clamping teeth, the plurality of clamping teeth are arranged at intervals, and at least one clamping tooth is arranged in a circular area with a diameter of 55 mm on the clamping body.

[0023] On the basis of any of the above technical solutions, optionally, the processing equipment further includes a blanking mechanism, which is arranged between the cutting device and the shelling mechanism, and is used to transport the to-be-shelled material received from the cutting device to the shelling mechanism, and the blanking mechanism includes:

[0024] Fixed seat;

[0025] A guide module, comprising a connecting rod assembly and a first guide member and a second guide member connected to the connecting rod assembly; the first guide member and the second guide member are arranged obliquely to form a guide groove for receiving the shelled object; the connecting rod assembly is movably connected to the fixing seat, and the connecting rod assembly can drive the first guide member and the second guide member to rotate synchronously to correspondingly adjust the opening and closing of the guide groove;

[0026] The pressing module includes a pressing block movably connected to the fixing seat. When the guide groove is in an open state, the pressing block can press down the object to be shelled, so that the object to be shelled falls through the opening of the guide groove and enters the shelling mechanism.

[0027] On the basis of any of the above technical solutions, optionally, the processing equipment further comprises a speed reduction mechanism having a body, wherein the body is connected to the shelling mechanism.

[0028] The body is formed with a deceleration recess, which is formed into an arc-shaped structure arched away from the shelling mechanism, and the deceleration recess runs through both ends of the extension direction of the body, and is used to provide a sliding path for the contents.

[0029] Based on any of the above technical solutions, optionally, the deceleration recess includes a first arc portion and a second arc portion connected in sequence, and the first arc portion is formed into an arc-shaped structure; from the first end of the first arc portion to the second end of the first arc portion, the first arc portion extends in a direction gradually away from the shelling mechanism, and the second arc portion is formed into an arc-shaped structure, and from the first end of the second arc portion to the second end of the second arc portion, the second arc portion extends in a direction gradually approaching the shelling mechanism.

[0030] On the basis of any of the above technical solutions, optionally, along the contour line of the deceleration recess, the bending radius of the deceleration recess is not less than 10 mm.

[0031] On the basis of any of the above technical solutions, optionally, the processing equipment further comprises a speed reduction mechanism having a body, wherein the body is connected to the shelling mechanism.

[0032] The body is formed with a deceleration recess, which is formed into an arc-shaped structure arched away from the shelling mechanism, and the deceleration recess runs through both ends of the extension direction of the body, and is used to provide a sliding path for the contents.

[0033] Based on any of the above technical solutions, optionally, the cutting device includes:

[0034] a first conveyor belt and a second conveyor belt, wherein the first conveyor belt has a first conveying surface, and the second conveyor belt has a second conveying surface, wherein the first conveying surface and the second conveying surface are both inclined relative to a horizontal direction to jointly define a trough portion, wherein the trough portion is used to convey the shelled object;

[0035] a correction wheel disposed above the grooved portion, the correction wheel being rotatable about a first axis coaxial with the correction wheel and further being swivellable about a second axis parallel to the first axis, the correction wheel being configured to press against the object to be shelled passing below the correction wheel;

[0036] A cutter is provided downstream of the correction wheel in the conveying direction of the first conveyor belt, and the cutter is capable of cutting the object to be shelled.

[0037] Based on any of the above technical solutions, optionally, the cutting device further includes a detection assembly, the detection assembly including a detection wheel and an encoder arranged with parallel axes, the detection assembly being arranged between the correction wheel and the cutter in the conveying direction, the detection wheel being rotatable about a third axis coaxial with the detection wheel, and the detection wheel being further rotatable about a fourth axis parallel to the third axis;

[0038] The detection wheel is arranged above the groove portion, and is used to continuously press the object to be shelled passing below the detection wheel, and the encoder obtains the swing state of the detection wheel during the object to be shelled passing through the detection wheel;

[0039] The cutting device further comprises a control mechanism, which is in communication with the encoder to receive the swing state to control the height of the cutter when cutting the object to be shelled.

[0040] Based on any of the above technical solutions, optionally, the cutter has a fifth axis, the cutter rotates around the fifth axis to cut the object to be shelled, and the cutter can also swing around a sixth axis parallel to the fifth axis;

[0041] In which, the cutting device also includes a mounting component and a cutting swing arm, the cutter is rotatably connected to the cutting swing arm so that it can rotate around the fifth axis, the cutting swing arm is rotatably connected to the mounting component, and the cutting swing arm can drive the cutter so that the cutter swings around the sixth axis.

[0042] Based on any of the above technical solutions, optionally, the cutting device further comprises a cutting pressure wheel, the cutting pressure wheel being arranged on the upstream side of the cutter in the conveying direction, the cutting pressure wheel being capable of rotating around a seventh axis coaxial with the cutting pressure wheel, and the cutting pressure wheel being capable of swinging around an eighth axis parallel to the seventh axis;

[0043] The cutting wheel is arranged above the groove portion to press the object to be shelled passing below the cutting wheel.

[0044] The cutting wheel has an annular groove arranged on the side of the cutting wheel, the annular groove is used to press the object to be shelled, and the cutter extends into the annular groove.

[0045] Based on any of the above technical solutions, optionally, the first conveyor belt has a first puncture portion protruding from the first conveying surface, the first puncture portion is used to puncture the object to be shelled, and the second conveyor belt has a second puncture portion protruding from the second conveying surface, the second puncture portion is used to puncture the object to be shelled;

[0046] The first conveying surface and the second conveying surface are at an angle of 45° to 90° to each other;

[0047] The first puncture portion and the second puncture portion both puncture the shell.

[0048] Based on any of the above technical solutions, optionally, the cutting device is used to detect the specifications of the object to be shelled and cut the object to be shelled according to the specifications when cutting the object to be shelled, and the shelling mechanism also shells the object to be shelled received from the cutting device according to the specifications.

[0049] On the basis of any of the above technical solutions, optionally, the shell is connected to the contents and has the shell-meat connecting force, the processing equipment also includes a shell-meat separation mechanism, the shell-meat separation mechanism is used to reduce the shell-meat connecting force of the object to be shelled, the shell has an open part connecting the internal environment of the shell and the external environment where the shell is located, the shell-meat separation mechanism includes a pressure fluid conveying element, the pressure fluid conveying element is used to introduce pressure fluid into the internal environment of the shell, so that the shell-meat connecting force of the object to be shelled is reduced.

[0050] Based on any of the above technical solutions, optionally, the shell has an extension direction, the shell has an open portion, the open portion is located on one side of the shell in the extension direction, the shell includes a plurality of shell portions connected sequentially in the extension direction, the shell has a connection strength reduction position, and the plurality of shell portions are divided into a plurality of groups by the connection strength reduction position;

[0051] providing one or more pressure fluid delivery elements for each of the groups;

[0052] The position where the connection strength decreases represents a position where the connection strength between the shell portions on both sides of the position is different from the connection strength between the shell portions on both sides of the position and the respective adjacent shell portions.

[0053] Based on any of the above technical solutions, optionally, the pressure fluid delivery element has a length direction, and the external dimension N of the pressure fluid delivery element on the flow cross section satisfies: N≤5mm, and the dimension in the length direction is greater than 0.1mm.

[0054] On the basis of any of the above technical solutions, optionally, the pressure fluid delivery element has a pressure fluid path, and the cross-sectional area of ​​the pressure fluid path is greater than or equal to 0.007 mm 2 .

[0055] On the basis of any of the above technical solutions, optionally, the pressure fluid introduction device includes a pressure fluid delivery element, the pressure fluid delivery element having a pressure fluid path for introducing pressure fluid into the internal environment of the housing, and the cross-sectional area of ​​the pressure fluid path is greater than or equal to 0.007mm 2 .

[0056] Based on any of the above technical solutions, optionally, the pressure fluid introduction device includes a pressure fluid delivery element and a pressure fluid source for providing pressure fluid to the pressure fluid delivery element, wherein the pressure fluid delivery element is used to introduce pressure fluid into the internal environment of the housing, wherein the pressure fluid delivery element has a pressure fluid path for introducing pressure fluid into the internal environment of the housing;

[0057] The pressure fluid source and the pressure fluid delivery element are configured so that the pressure fluid pressure P at the end of the pressure fluid path facing the object to be shelled satisfies: the external environmental pressure ≤ P ≤ the external environmental pressure + 0.5 MPa.

[0058] Based on any of the above technical solutions, optionally, the object to be shelled is shrimp, the shell is a shrimp shell, and the content is shrimp meat.

[0059] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] 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.

[0061] Figure 1 A schematic diagram showing a plan view of headless shrimp as an object to be shelled according to an embodiment of the present application is shown.

[0062] Figure 2 A schematic diagram showing another plan view of a headless shrimp as an object to be shelled according to an embodiment of the present application is shown.

[0063] Figure 3 Shown Figure 2A partial view of the . Figure 4 A schematic diagram showing the three-dimensional structure of a clamping device of a shelling mechanism in a processing device provided in an embodiment of the present application is shown;

[0064] Figure 5 A schematic plan view of the structure of a clamping device of a shelling mechanism in a processing device according to an embodiment of the present application is shown;

[0065] Figure 6 Showing a schematic structural diagram of the mounting base;

[0066] Figure 7 Show Figure 4 Enlarged view of part A;

[0067] Figure 8 A schematic diagram of the three-dimensional structure of the shelling mechanism is shown.

[0068] Figure 9 A schematic diagram showing a first embodiment of a clamping member;

[0069] Figure 10 Show Figure 9 Enlarged view of part A;

[0070] Figure 11 A schematic diagram showing a second embodiment of the clamping member;

[0071] Figure 12 Show Figure 11 Enlarged view of part B;

[0072] Figure 13 A schematic diagram showing a third embodiment of the clamping member;

[0073] Figure 14 A schematic structural diagram of the clamping device of the first embodiment is shown;

[0074] Figure 15 Shown is a structural schematic diagram of the shelling mechanism;

[0075] Figure 16 A diagram showing the relative positions of multiple clamping members when the clamping plate is a flexible member;

[0076] Figure 17 A diagram showing the relative positions of multiple clamping members in an embodiment when the clamping plate is a rigid member;

[0077] Figure 18 A diagram showing the relative positions of multiple clamping members in another embodiment when the clamping plate is a rigid member;

[0078] Figure 19 A diagram showing the relative positions of multiple clamping members in another embodiment when the clamping plate is a flexible member.

[0079] Figure 20 A schematic diagram of shrimps targeted by the shrimp cutting device provided in an embodiment of the present application is shown.

[0080] Figure 21 The shrimp cutting device provided in the embodiment of the present application is shown Figure 1 The shrimp in the perform a full back open operation.

[0081] Figure 22 The shrimp cutting device provided in the embodiment of the present application is shown Figure 1 The shrimp in the middle is opened with a 25% back opening operation.

[0082] Figure 23 The shrimp cutting device provided in the embodiment of the present application is shown Figure 1 The shrimp in the middle performs a one-five-open back opening operation.

[0083] Figure 24 A schematic diagram of the motion coordinates of the detection swing arm of the cutting device provided in an embodiment of the present application is shown.

[0084] Figure 25 A schematic diagram of the motion coordinates of the cutting swing arm of the cutting device provided in an embodiment of the present application is shown.

[0085] Figure 26 A schematic diagram showing a data acquisition flow chart of the back opening control method provided according to an embodiment of the present application is shown.

[0086] Figure 27 A schematic diagram of the entire shrimp cutting process of the back opening control method provided in an embodiment of the present application is shown.

[0087] Figure 28 A schematic diagram showing a flowchart of height data processing of a back opening control method provided in an embodiment of the present application is shown.

[0088] Figure 29 A schematic diagram showing a flow chart of length data processing according to the back opening control method provided in an embodiment of the present application is shown.

[0089] Figure 30 A schematic diagram showing a flow chart of a back opening control method provided according to an embodiment of the present application.

[0090] Figure 31 A schematic diagram of a three-dimensional image of a cutting device provided according to an embodiment of the present application is shown.

[0091] Figure 32 A schematic diagram of another three-dimensional image of a cutting device provided according to an embodiment of the present application is shown.

[0092] Figure 33 A schematic diagram showing the internal structure of the second transmission assembly of the cutting device provided according to an embodiment of the present application is shown.

[0093] Figure 34 A schematic diagram of the arrangement of a blanking mechanism provided according to an embodiment of the present application is shown;

[0094] Figure 35 A partial structural schematic diagram of a blanking mechanism provided according to an embodiment of the present application is shown;

[0095] Figure 36 Another schematic diagram showing a partial structure of the blanking mechanism provided according to an embodiment of the present application.

[0096] Figure 37 1 is a schematic diagram of the assembly of the speed reduction mechanism and the shelling mechanism according to an embodiment of the present application;

[0097] Figure 38 It is a schematic cross-sectional view of the deceleration mechanism and the shelling mechanism after assembly according to an embodiment of the present application.

[0098] Figure 39 A schematic diagram is shown in which gas is interposed between the shell and the contents when gas is used as the pressure fluid as an example.

[0099] Figure 40 A schematic diagram showing a cross-sectional view of an object to be shelled, taking a headless shrimp as an example of the object to be shelled.

[0100] Figure 41 The schematic diagram shows a cross-sectional view of an object to be shelled, taking headless shrimp as an example of the object to be shelled, after gas is used as the pressure fluid.

[0101] Figure 42 A schematic diagram of an experimental device for verifying the shell-meat separation mechanism of the processing equipment provided according to an embodiment of the present application is shown.

[0102] Figure 43 A schematic diagram of a double-air-needle example for verifying the shell-meat separation mechanism of the processing equipment provided according to an embodiment of the present application and a three-dimensional diagram of the experimental device is shown.

[0103] Figure 44 A schematic diagram showing a single air needle example for verifying the shell-meat separation mechanism of the processing equipment provided according to an embodiment of the present application and a plan view of the experimental device is shown.

[0104] Figure 45 A schematic diagram of a single gas needle example for verifying the shell-meat separation mechanism of the processing equipment provided according to an embodiment of the present application and a three-dimensional diagram of the experimental device is shown.

[0105] Figure 46 It is a schematic diagram of a three-dimensional diagram of a processing device provided according to an embodiment of the present application.

[0106] Figure 47It is a schematic diagram of the coordination between the clamping device and the shell-meat separation mechanism of the processing equipment provided in an embodiment of the present application.

[0107] Reference numerals:

[0108] 1-Mounting seat; 11-Resettling slot; 12-Fixing hole; 13-Connecting hole; 14-First opening; 15-Second opening; 16-Air outlet; 17-Water outlet; 2-First clamping member; 3-Second clamping member; 4-Clamping teeth; 5-Counterweight; 6-Drive mechanism; 61-Output shaft; 7-Mounting bracket; 8-Shelled shrimp; L1-First direction; L2-Second direction; L3-Third direction;

[0109] 21-clamping member; 211-clamping plate; 2111-fixed end; 2112-free end; 212-piercing member; 22-fixing member; 221-first fixing portion; 222-second fixing portion; 23-driving member; 271-connecting member; 272-rotating shaft;

[0110] 110 - cutter; 120 - cutting swing arm; 130 - first motor; 140 - third motor; 210 - cutting pressure wheel; 220 - pressure wheel swing arm; 310 - detection wheel; 320 - detection swing arm; 330 - encoder; 410 - correction wheel; 420 - correction swing arm; 421 - second housing; 422 - first arm; 423 - second arm; 424 - third wheel component; 425 - fourth wheel component; 430 - second motor; 510 - first conveyor belt; 520 - second conveyor belt; 530 - needle structure; 600 - mounting component; 700 - mounting bracket; 800 - conveyor belt motor;

[0111] 611-first fixed plate; 612-second fixed plate; 621-first blanking motor; 6221-first connecting rod; 6222-second connecting rod; 6223-third connecting rod; 6224-fourth connecting rod; 6225-fifth connecting rod; 6226-transmission member assembly; 6231-first guide member; 6232-second guide member; 624-support rod; 631-pressing rod; 632-pressing block; 64-shrimp cutting process;

[0112] 71-main body; 711-deceleration recess; 7111-first curved portion; 7112-second curved portion; 721-rotation center; 810-air needle. DETAILED DESCRIPTION

[0113] The following will clearly and completely describe the technical solution of this application in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0114] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0115] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0116] In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0117] According to the embodiment of the present application, a processing device is provided. Figures 1 to 47 Describe in detail the structure and working principle of the processing equipment.

[0118] The processing equipment includes a cutting device and a shelling mechanism. In an embodiment, the cutting device is used to selectively cut the object to be shelled. The object to be shelled has a shell and an object contained in the shell. The cutting device is used to at least cut and penetrate the shell of the object to be shelled.

[0119] In an embodiment, the shelling mechanism is used to shell the object to be shelled received from the cutting device. The shelling mechanism applies force to the shell and is configured to apply a predetermined acceleration to the object to be shelled so that the shell is positioned on the shelling mechanism and the contents are separated from the shell by their own inertia.

[0120] Thus, according to the processing equipment provided in the embodiment of the present application, the cutting device is used to selectively cut the objects to be shelled, that is, the cutting device can cut some objects to be shelled, and cannot cut some objects to be shelled. In this way, the cutting device can perform corresponding operations according to the needs of the operator and the instructions on whether to cut the objects to be shelled.

[0121] In the case where the cutting device performs a cutting operation on the object to be shelled, the cutting device is at least used to cut and penetrate the shell of the object to be shelled, so that the object to be shelled can be connected to the external atmosphere through the opening created by the shell of the object to be shelled by the cutting device, thereby reducing the close contact between the shell and the contents that may be caused by vacuum, and providing favorable conditions for the shelling of the object to be shelled. In addition, the cutting of the object to be shelled can also provide different types of contents after shelling. Taking the object to be shelled as shrimp as an example, the cutting operation can be, for example, a back-opening operation. Then, the presence of the cutting device can at least enable the processing equipment to produce back-opened shrimp and non-back-opened shrimp. Obviously, according to the specific cutting method that the cutting device can perform, the number of types of shrimp products corresponds to the number of cutting methods. When describing the cutting device later, the back-opening method of shrimp will be explained. According to the processing equipment provided in the embodiment of the present application, the shelling mechanism applies force to the shell. The force applied here has two aspects. On the one hand, the relative position of the object to be shelled relative to the shelling mechanism is maintained by applying force to the shell. On the other hand, during the shelling operation, the separation of the shell and the contents is further promoted by applying force to the shell to maintain the operation, that is, as mentioned in the above definition, the shell is positioned on the shelling mechanism.

[0122] It should be noted here that, although "positioning" has the meaning of confirming the position, as described above, positioning the shell on the shelling mechanism is intended to indicate that the shell will not leave the shelling mechanism before the shelling operation is completed, that is, before the contents are removed from the shell, and the shell may slip or shake relative to the shelling mechanism, which is also regarded as "the shell is positioned on the shelling mechanism".

[0123] According to the processing equipment provided in the embodiment of the present application, the shelling mechanism is configured to apply a predetermined acceleration to the object to be shelled, that is, the shelling mechanism causes the object to be shelled to move at a predetermined acceleration. During the movement at the predetermined acceleration, the shell is positioned in the shelling mechanism due to the force applied to the shell, for example, a centripetal force is applied to the shell, which prevents the shell from separating from the shelling mechanism. Then, due to its own inertia, the contents will separate from the shell at the predetermined acceleration, thereby achieving shelling. In short, according to the processing equipment provided in the embodiment of the present application, when performing the shelling operation, it is ensured that the shell is positioned relative to the shelling mechanism, and then the contents are forced to separate from the contents by relying on their own inertia during the movement of the object to be shelled.

[0124] Therefore, according to the processing equipment provided in the embodiment of the present application, the shelling operation is performed on the shelled object by using the inertial shelling method, without applying external kneading, rolling and other operations to the shelled object, which effectively reduces the risk of damage to the contents, and since no such pre-operation is required, the shelling process is simplified and the efficiency of single shelling is improved.

[0125] In addition, in an embodiment, the cutting device can also be used to detect the specifications of the object to be shelled, and cut the object to be shelled according to the specifications when cutting the object to be shelled. The shelling mechanism also shells the object to be shelled received from the cutting device according to the specifications, so that the cutting device can guide the shelling process according to the obtained specifications of the object to be shelled regardless of whether the cutting operation is performed on the object to be shelled.

[0126] In an embodiment, in addition to cutting through the shell, the cutting device can also cut the contents together with the shell to a certain depth according to actual needs.

[0127] In an embodiment, the shelling mechanism may apply force to the shell by, for example, clamping force from two opposite sides of the shell. This force may be understood as direct force, that is, direct contact force.

[0128] In an embodiment, the predetermined acceleration applied by the shelling mechanism may be, for example, angular acceleration, that is, the shelling mechanism causes the object to be shelled to rotate. In addition, the predetermined acceleration applied by the shelling mechanism may also be, for example, acceleration during linear motion.

[0129] As an example, the object to be shelled may naturally have the opening as described above. However, the opening as described above may also be obtained by processing the natural material, that is, the object to be shelled having the opening as described above is obtained after the natural material is processed.

[0130] For the latter example described above, the natural material can be, for example, shrimp, such as the decapod shrimp family represented by the white shrimp. The material to be shelled after processing is the shrimp tail left after removing the head. The open part is located at the connection position of the original shrimp head and shrimp tail. Because the shrimp head is removed, the shrimp shell is opened at the connection position of the original shrimp head and shrimp tail, forming the aforementioned open part.

[0131] The processing equipment provided in the embodiment of the present application is particularly suitable for shelling headless shrimp, and is particularly suitable for separating the shrimp shell and other covering outer shells (shells) and shrimp meat (contents) and reducing the vacuum suction caused by the shells during the shelling process. In order to clarify this point, it is necessary to explain it in conjunction with the structure of the headless shrimp.

[0132] Specifically, if Figures 1 to 3 As shown. Headless shrimp consists of six segments of the shell (shells 1, 2, 3, 4, 5, and 6, referred to as the shell section below), five tail limbs (tail limbs 1, 2, 3, 4, and 5, which are collectively referred to as a shell section and will be explained in detail later), the shrimp membrane in the shrimp abdomen, and the shrimp meat wrapped by the shell and tail limbs. The shell described above is a general term for the shrimp shell and the shrimp membrane in the shrimp abdomen.

[0133] In headless shrimp, the flanks and dorsal parts are connected by a hard shell and a continuous, soft membrane between adjacent shell parts. The belly is the membrane. The flanks, dorsal part, belly, and tail limbs enclose the shrimp meat in a relatively closed whole that is open toward the head.

[0134] In headless shrimp, the shrimp shell is hinged to the adjacent shrimp shell through a hinge joint, allowing the shrimp shells to rotate relative to each other and providing the main connecting force between adjacent shrimp shells. As for the shrimp membrane, its strength is relatively low and it is easy to be damaged and broken.

[0135] In headless shrimp, the joint between shells 3 and 4 is relatively weak and easily broken, while the other shell joints are stronger. In other words, the connection strength between shells 3 and 4 is significantly lower than the connection strength between shells 3 and 2, and the connection strength between shells 4 and 5. Furthermore, as an example, the thickness of each joint in the shrimp body can be approximately 0.5 mm, and the thickness of the shrimp shell can be approximately 0.1 mm.

[0136] In headless shrimp, shells 4, 5 and 6 are easier to form a whole through strong joints and the shrimp shells are relatively flat. Shells 1, 2 and 3 are easier to form a whole through strong joints and the shrimp shells are relatively round. The shape retention effect of the whole composed of shells 4, 5 and 6 is better than that of the whole composed of shells 1, 2 and 3.

[0137] In the headless shrimp, the tail limb 3 is strongly connected to the shell 6 through a hinge joint. The tail limb 3 is a cavity structure with a larger part toward the shrimp head and a smaller part toward the shrimp tail, and the cavity contains shrimp meat.

[0138] In headless shrimp, tail limbs 1 and 5 can be understood as bilaterally symmetrical, and are sheet-like cavity structures, in which the shrimp meat is contained; tail limbs 2 and 4 can be understood as bilaterally symmetrical, and are sheet-like cavity structures, in which the shrimp meat is contained.

[0139] In headless shrimp, tail limbs 1 and 2 are strongly connected to large joints through their respective small joints, and the small joints can rotate relative to the large joints; the large joints are strongly connected to the shell 6, and the large joints can rotate relative to the shell 6; the large joints have a cavity structure that is smaller toward the shrimp head and larger toward the shrimp tail, and the cavity contains shrimp meat.

[0140] In headless shrimp, the tail limbs 4 and 5 are strongly connected to the large joints through their respective small joints, and the small joints can rotate relative to the large joints; the large joints are strongly connected to the shell 6, and the large joints can rotate relative to the shell 6; the large joints have a cavity structure that is smaller towards the shrimp head and larger towards the shrimp tail, and the cavity contains shrimp meat.

[0141] Based on the above structure of headless shrimp, the shelling process causes the shrimp shell and shrimp meat to generate forces in opposite directions, thereby causing the shrimp shell and shrimp meat to move relative to each other, thereby separating the shrimp meat from the shrimp shell and tail limbs. The relative movement during the shelling process is as follows:

[0142] The shrimp shell and the shrimp meat exert opposing forces. Because the shrimp meat is soft, it undergoes elastic deformation as the force gradually increases. Then, because the shrimp shell is hard and has strong shape retention, as the elastic deformation increases, the shrimp meat gradually overcomes the bonding force between the shell and the meat, creating a gap between the shell and the meat. Subsequently, as the force further increases and transmits, the shrimp meat undergoes a detachment movement relative to the shell. Because the shrimp shells 4, 5, 6 and the tail limbs are tightly attached to the shrimp meat, a vacuum zone is created during the shell-meat separation process, hindering the relative movement of the shell and the meat.

[0143] Then, as the shrimp meat moves further, the shrimp meat in the large joint of the tail limb begins to move forward. Since the large joint has a cavity structure with a smaller part toward the shrimp head and a larger part toward the shrimp tail, the shrimp meat in the cavity will block the narrow area of ​​the head of the large joint during the movement toward the head, increasing the resistance to shelling. At the same time, a larger vacuum area will be generated in the tail limb, further hindering the relative movement of the shell and meat.

[0144] Finally, as the force in opposite directions between the shrimp shell and the shrimp meat gradually increases, part of the shrimp meat on the shrimp tail limbs detaches, the vacuum quickly disappears, the resistance of the large joints quickly disappears, the resistance between the shell and the meat drops sharply, the shell and the meat move rapidly relative to each other, and the shelling is completed.

[0145] Therefore, for headless shrimp with relatively tight connections between the shell and meat, the resistance that needs to be overcome by the shelling force can be summarized as follows. The first is the biofilm bonding force, which connects the shell and meat. Since the shrimp meat undergoes elastic deformation during the shelling process, separating the shell and meat from the shell, the biofilm bonding force must be overcome first. The strength of this bonding force is related to the degree of dehydration and freshness of the shrimp. For high-quality shrimp, the meat is well-moisturized and fresh, and the shell-meat biofilm bonding force is strong, while for low-quality shrimp, the biofilm bonding force is weak.

[0146] Next, as mentioned above, there's the vacuum. During the shell-meat separation process, as the shell and meat separate, creating a narrow gap, a local vacuum is generated. This is particularly pronounced in the small tail limbs. Furthermore, when the large joints of the tail limbs become clogged with shrimp meat, the vacuum increases significantly. The aforementioned cutting device can, to a certain extent, reduce this vacuum by cutting open the shrimp shell.

[0147] In addition, the shell-meat squeezing force is also one of the resistances to shelling. As mentioned above, because the large joint of the tail limb has a cavity structure with a small part towards the shrimp head and a large part towards the shrimp tail, the cavity contains the shrimp meat. Therefore, the shrimp meat in the cavity will block the narrow area of ​​the head of the large joint during its movement towards the head, thereby causing a large shell-meat squeezing force. In addition, the clamping and force applied to the meat or shell by the outside world may directly generate some secondary connecting forces, or may cause the shrimp body to deform and indirectly generate additional shell-meat connecting forces.

[0148] See also Figures 4 to 8 , a specific example of the shelling mechanism will be provided below. In this example, in combination with the aforementioned drawings, the first direction L1 intersects with the second direction L2, and the third direction L3 intersects with the plane determined by the first direction L1 and the second direction L2, wherein the intersection is preferably perpendicular. The following description will be given with reference to an example in which the first direction L1, the second direction L2 and the third direction L3 are perpendicular to each other.

[0149] like Figure 4 and Figure 5 As shown, the shelling mechanism includes a clamping device, that is, the shrimp shell clamping device mentioned in the following description, the clamping device may include a mounting seat 1, a first clamping member 2 and a second clamping member 3, the first clamping member 2 is fixed to the mounting seat 1, and the second clamping member 3 has a first end ( Figure 5 The left end in the perspective) is connected to the mounting base 1, and the second end of the second clamping member 3 in the first direction L1 ( Figure 5 The right end in the perspective is a free end, and the first end of the second clamping member 3 can be pivotally connected to the mounting base 1, so as to be able to pivot so that the free end approaches and moves away from the first clamping member 2. In addition, the second clamping member 3 can also be deformed to approach the first clamping member 2.

[0150] In the embodiment, the first clamping member 2 and the second clamping member 3 are spaced apart along the second direction L2, and the first clamping member 2 and the second clamping member 3 enclose a clamping space; the mounting seat 1 is used to be connected to the driving mechanism 6 so that the mounting seat 1 is driven to rotate by the driving mechanism 6.

[0151] When the clamping device is operating, the shelled shrimp 8 (i.e., the object to be shelled, i.e., the headless shrimp as described above) is placed in the clamping space, and the driving mechanism 6 can drive the mounting seat 1 to rotate. Since the first end of the second clamping member 3 in the first direction L1 is connected to the mounting seat 1, and the second end of the second clamping member 3 in the first direction L1 is a free end, under the action of inertia, the second clamping member 3 deforms, so that the first clamping member 2 and the second clamping member 3 both fit the shelled shrimp 8, thereby clamping the shelled shrimp 8 located in the clamping space. Since the second clamping member 3 can be deformed, it can tightly fit the curve of the shelled shrimp 8 through deformation, ensuring the stability of the clamping of the shelled shrimp 8.

[0152] In the embodiment of the present application, the first clamping member 2 and the second clamping member 3 can both be plate-shaped. When the second clamping member 3 is in an initial state (the initial state here refers to the state of the second clamping member 3 when the magnetic member adsorbs the second clamping member 3 and the mounting base 1 does not rotate), in the direction in which the first end of the second clamping member 3 points to the second end of the second clamping member 3, the distance between the first clamping member 2 and the second clamping member 3 in the second direction L2 gradually increases (that is, in the direction in which the first end of the second clamping member 3 points to the second end of the second clamping member 3). Figure 5 From the perspective, the size of the clamping space in the second direction L2 gradually increases from left to right).

[0153] Thus, the end portion of the clamping space located on the same side as the second end of the second clamping member 3 has a larger dimension in the second direction L2 (that is, Figure 5 From the perspective, the size of the clamping space in the second direction L2 is larger), which can better match the shrimp body curve, reduce the deformation of the second clamping member 3, and increase the life of the second clamping member 3.

[0154] Furthermore, at least one of the first clamping member 2 and the second clamping member 3 is provided with clamping teeth 4. The clamping teeth 4 are located within the clamping space, that is, they protrude into the clamping space from the clamping bodies of the first clamping member 2 and the second clamping member 3. When the drive mechanism 6 drives the mounting base 1 to rotate, so that the first clamping member 2 and the second clamping member 3 clamp the shelled shrimp 8, the clamping teeth 4 can penetrate the shell of the shelled shrimp 8, thereby improving the reliability of the clamping of the shelled shrimp 8.

[0155] Optionally, the clamping teeth 4 may be provided only on the first clamping member 2 , or only on the second clamping member 3 , or both of the first clamping member 2 and the second clamping member 3 .

[0156] Preferably, if Figure 5 As shown, the first clamping member 2 and the second clamping member 3 are both provided with a plurality of clamping teeth 4. The clamping teeth 4 on the first clamping member 2 protrude from the side of the first clamping member 2 facing the second clamping member 3 in the second direction L2 toward the interior of the clamping space, and the clamping teeth 4 on the first clamping member 2 are arranged at intervals. The clamping teeth 4 on the second clamping member 3 protrude from the side of the second clamping member 3 facing the first clamping member 2 in the second direction L2 toward the interior of the clamping space, and the clamping teeth 4 on the second clamping member 3 are arranged at intervals.

[0157] Optionally, the clamping teeth 4 on the first clamping member 2 may be arranged in a matrix shape, and the clamping teeth 4 on the second clamping member 3 may be arranged in a matrix shape.

[0158] Optionally, the clamping tooth 4 includes a clamping end and a fixed end. The fixed end of the clamping tooth 4 provided on the first clamping member 2 is connected to the first clamping member 2, and the clamping end of the clamping tooth 4 provided on the first clamping member 2 protrudes toward the inside of the clamping space. The fixed end of the clamping tooth 4 provided on the second clamping member 3 is connected to the second clamping member 3, and the clamping end of the clamping tooth 4 provided on the second clamping member 3 protrudes toward the inside of the clamping space. For any one of the clamping teeth 4, such as Figure 7 As shown, in the direction of the fixed end pointing to the clamping end, the cross-sectional area of ​​the clamping teeth 4 is gradually reduced. Like this, the volume of the clamping end is less, and this can facilitate the clamping end to pierce the shrimp shell of the shelled shrimp 8.

[0159] Furthermore, in this embodiment, the clamping teeth 4 can be tilted toward the end of the second clamping member 3 connected to the mounting base 1. This allows the clamping teeth 4 to penetrate the shelled shrimp 8 to a lesser depth, thereby reducing the resistance exerted by the clamping teeth 4 on the separation of the shrimp from the shell. Similarly, the clamping teeth 4 arranged on the first clamping member 2 can also be tilted in the same manner as the clamping teeth arranged on the second clamping member 3, thereby achieving the same function.

[0160] Optionally, the clamping teeth 4 can be fixed to the first clamping member 2 or the second clamping member 3 by welding or the like. In addition, the clamping teeth 4 can also be formed by cutting a tooth-shaped structure on the first clamping member 2 or the second clamping member 3, and then bending the tooth-shaped structure to form the clamping teeth 4.

[0161] Preferably, for any one of the clamping teeth 4, the clamping end extends relative to the fixed end toward the side where the first end of the second clamping member 3 is located, so that when the shrimp shell tends to move toward the second end of the second clamping member 3, the shrimp shell will have a tendency to move from the clamping end of the clamping tooth 4 toward the fixed end, so that the clamping tooth 4 can prevent the shrimp shell from escaping from the clamping space, thereby facilitating the separation of the shrimp shell from the shrimp meat.

[0162] In addition, since the clamping end of the clamping tooth 4 extends toward the side where the first end of the second clamping member 3 is located relative to the fixed end, the depth of the clamping tooth 4 penetrating into the shelled shrimp 8 is smaller, which can reduce damage to the shrimp.

[0163] In the embodiments of the present application, Figure 4 and Figure 5 As shown, the clamping device also includes a counterweight 5, which is fixed to the side of the second clamping member 3 facing away from the clamping space in the second direction L2. The overall inertia composed of the counterweight 5, the second clamping member 3 and the clamping teeth 4 arranged on the second clamping member 3 can provide sufficient clamping force to ensure the reliability of clamping the shelled shrimp 8.

[0164] Preferably, a plurality of counterweights 5 are provided on the second clamping member 3 , and the plurality of counterweights 5 are arranged at intervals in a direction from the first end of the second clamping member 3 to the second end of the second clamping member 3 .

[0165] Furthermore, when the clamping device is in use, the drive mechanism 6 rotates the mounting base 1, enabling the second clamping member 3 and the first clamping member 2 to clamp the shelled shrimp 8 under the combined inertia of the counterweight 5, the second clamping member 3, and the clamping teeth 4 provided on the second clamping member 3. The clamping teeth 4 on the first clamping member 2 and the clamping teeth 4 on the second clamping member 3 penetrate the shrimp shell, thereby applying a force to the shrimp shell toward the side of the first end of the second clamping member 3. As the mounting base 1 rotates, the shrimp shell separates from the shrimp under the action of centrifugal force, and the shrimp can escape from the opening of the clamping space located on the same side as the second end of the second clamping member 3, thereby achieving separation of the shrimp from the shell.

[0166] In the embodiments of the present application, Figure 4 、 Figure 5 and Figure 6 As shown, the mounting base 1 defines a seating groove 11. The first clamping member 2 is in contact with the wall of the seating groove 11 on a side facing away from the clamping space in the second direction L2, and the second clamping member 3 is located within the seating groove 11. Thus, both the first clamping member 2 and the second clamping member 3 are disposed within the seating groove 11, enabling the mounting base 1 to protect the first clamping member 2 and the second clamping member 3 from interference from the external environment.

[0167] Optionally, the first clamping member 2 can be fixed to the groove wall of the seating groove 11 by welding or the like. The first end of the second clamping member 3 in the first direction L1 can be fixedly connected or rotatably connected to the mounting seat 1. When the first end of the second clamping member 3 in the first direction L1 is fixedly connected to the mounting seat 1, the first end of the second clamping member 3 in the first direction L1 can be fixed to the groove wall of the seating groove 11 by welding; when the first end of the second clamping member 3 in the first direction L1 is rotatably connected to the mounting seat 1, the first end of the second clamping member 3 in the first direction L1 is bent to form a cylindrical structure or welded to a fixing seat with a cylindrical structure, and the rotating shaft passes through the cylindrical structure and is welded to the bottom wall of the seating groove 11, so that the second clamping member 3 can rotate.

[0168] like Figure 5 and Figure 6As shown, the mounting base 1 is formed with a first opening 14 and a second opening 15. The first opening 14 is connected to one side of the mounting groove 11 in the third direction L3, and the second opening 15 is connected to one side of the mounting groove 11 in the first direction L1. The second opening 15 and the second end of the second clamping member 3 are located on the same side in the first direction L1. When the clamping device is in use, the third direction L3 is the same as the direction of gravity. The first opening 14 is located above the mounting base 1, which facilitates the removal of the headed shrimp 8 from the shell through the side where the first opening 14 is located. The shrimp can fall into the clamping space enclosed by the first clamping member 2 and the second clamping member 3, for example, by being guided by a drop mechanism described later. After the shrimp is separated from the shell, it can be detached from the mounting groove 11 at the location of the second opening 15 and enter the deceleration mechanism described later for deceleration.

[0169] Preferably, in the direction from the first end of the second clamping member 3 to the second end of the second clamping member 3, the size of the accommodating groove 11 in the second direction L2 gradually increases (in the direction from the first end of the second clamping member 3 to the second end of the second clamping member 3). Figure 5 From the perspective, the size of the placement groove 11 in the second direction L2 gradually increases from left to right), which can meet the installation requirements of the second clamping member 3, so that there is a sufficiently large placement space between the first clamping member 2 and the second clamping member 3, thereby meeting the installation requirements for larger-sized shelled shrimp 8.

[0170] like Figure 5 and Figure 6 As shown, the mounting base 1 is provided with a connection hole 13 extending along the third direction L3. The connection hole 13 is used to cooperate with the drive mechanism 6. The connection hole 13 and the second opening 15 are respectively located on either side of the mounting base 1 in the first direction L1. In other words, the second opening 15 is located at the edge of the mounting base 1, which facilitates the detachment of the shrimp through the end where the second opening 15 is located under the action of centrifugal force.

[0171] Optionally, the mounting seat 1 and the output shaft 61 of the driving mechanism 6 can be fixedly connected by a key to ensure that the output shaft 61 can drive the mounting seat 1 to rotate.

[0172] The clamping device also includes a force-applying member capable of applying a force to the second clamping member 3 in a direction away from the first clamping member 2. Thus, when the mounting base 1 is not rotating, the second end of the second clamping member 3 is tilted relative to the first end of the first clamping member 2, in a direction away from the first clamping member 2, thereby facilitating the placement of the shelled shrimp 8 within the clamping space between the first clamping member 2 and the second clamping member 3. When the mounting base 1 rotates, the inertia of the second clamping member 3 overcomes the force applied by the force-applying member, and the first and second clamping members 2, 3 clamp the shrimp.

[0173] Optionally, the force applying member may be a structure such as a magnetic member, a spring, etc. that can apply force to the second clamping member 3 .

[0174] Preferably, the force applying member is a magnetic member ( Figures 4 to 6 (not shown in the figure), the mounting base 1 has a fixing hole 12 on one side in the second direction L2, and the magnetic member can be disposed in the fixing hole 12. The magnetic member and the first clamping member 2 are respectively located on either side of the second clamping member 3, and the magnetic member is capable of attracting the second clamping member 3. In this way, when the mounting base 1 is not rotated, the magnetic member attracts the second clamping member 3, causing the second end of the second clamping member 3 to tilt relative to the first end of the first clamping member 2 in a direction away from the first clamping member 2, thereby facilitating the placement of the shell-on shrimp 8 in the clamping space between the first clamping member 2 and the second clamping member 3.

[0175] Optionally, the magnetic element can also be fixed to the side of the second clamping member 3 facing away from the first clamping member 2. When the mounting base 1 is made of a material that can generate attraction with the magnetic element (such as iron, etc.), the magnetic element can generate attraction between the inner side wall of the mounting base 1 to ensure that when the mounting base 1 is not rotated, the second end of the second clamping member 3 is tilted relative to the first end of the first clamping member 2 in a direction away from the first clamping member 2. When the mounting base 1 is made of a material that cannot generate attraction with the magnetic element (such as hard plastic, etc.), another magnetic element can be provided on the wall of the mounting groove 11. The two magnetic elements attract each other to ensure that when the mounting base 1 is not rotated, the second end of the second clamping member 3 is tilted relative to the first end of the first clamping member 2 in a direction away from the first clamping member 2.

[0176] Preferably, the magnetic attraction member is a magnet.

[0177] When the first end of the second clamping member 3 in the first direction is fixedly connected to the mounting base 1, the mounting base 1 is initially not rotated, and the shelled shrimp 8 can enter the clamping space between the first clamping member 2 and the second clamping member 3 through the first opening of the mounting base 1. Then, the mounting base 1 rotates, and under the action of inertia, the second clamping member 3 deforms, so that the first clamping member 2 and the second clamping member 3 clamp the shelled shrimp 8, and the clamping teeth 4 on the first clamping member 2 and the second clamping member 3 penetrate the shrimp shell. As the mounting base 1 rotates, under the action of centrifugal force, the shrimp will be separated from the shrimp shell and leave the placement groove 11 through the second opening.

[0178] When the first end of the second clamping member 3 is rotatably connected to the mounting base 1 in the first direction, the mounting base 1 does not rotate, and the shelled shrimp 8 can enter the clamping space between the first clamping member 2 and the second clamping member 3 through the first opening of the mounting base 1. Then, the mounting base 1 rotates, and under the action of inertia, the second clamping member 3 rotates, so that the second clamping member 3 roughly conforms to the shape of the shelled shrimp 8. The second clamping member 3 then deforms, so that the second clamping member 3 tightly fits the shelled shrimp 8. At this time, the first clamping member 2 and the second clamping member 3 clamp the shelled shrimp 8, and the clamping teeth 4 on the first clamping member 2 and the second clamping member 3 penetrate the shrimp shell. As the mounting base 1 rotates, under the action of centrifugal force, the shrimp will be separated from the shrimp shell and leave the placement groove 11 through the second opening. Since the second clamping member 3 rotates first and then deforms, the deformation of the second clamping member 3 can be reduced, so that the internal stress of the second clamping member 3 is reduced, the service life of the second clamping member 3 is increased, and at the same time, the influence of the internal stress generated by the large deformation of the second clamping member 3 on the clamping force can be reduced.

[0179] In addition, the shelling mechanism also includes a driving mechanism 6 and the above-mentioned clamping device, and the driving mechanism 6 can drive the clamping device to rotate. The shelling device has the same technical effect as the above-mentioned clamping device, which will not be repeated here.

[0180] Optionally, the driving mechanism 6 can be a device such as an electric motor that can drive the mounting base 1 to rotate.

[0181] Furthermore, the shelling mechanism also includes a mounting bracket 7, which can be in an "L" shape. The driving mechanism 6 is fixed on the mounting bracket 7, and the output shaft 61 of the driving mechanism 6 passes through the mounting bracket 7 and is connected to the mounting seat 1. The mounting bracket 7 can be installed as needed to achieve the fixation of the entire shelling equipment.

[0182] In an embodiment, based on the above shelling mechanism, the following shelling control method can be used to implement the above operation of shelling shrimp using inertia.

[0183] Specifically, the clamping device is rotated at a second angular acceleration so that the second clamping member approaches the first clamping member, so that the clamping teeth pierce the shrimp shell;

[0184] The clamping device is rotated at a third angular acceleration that is smaller than the second angular acceleration so that the angular velocity of the clamping device is greater than or equal to the shelling angular velocity, thereby shelling the shrimp.

[0185] In this way, the shrimp is placed in the clamping space, and the clamping device is rotated, that is, it is accelerated at a predetermined angular acceleration, so that the second clamping member is urged to approach the first clamping member. Particularly, when the clamping device is rotated at the second angular acceleration, the clamping teeth on the second clamping member are urged to pierce the shrimp shell with a shell-breaking force greater than that of penetrating the shrimp shell, thereby forming an effective clamping of the shrimp. On this basis, the clamping device is accelerated at a smaller third angular acceleration, so that the second clamping member holds the shrimp with a smaller clamping force, and after accelerating to an angular velocity greater than or equal to the shelling angular velocity, the shrimp is removed from the shell. In this way, the inertial shelling of the shrimp is achieved, and the excessive clamping force during the clamping of the shrimp can be avoided, which will bring about secondary force obstacles to the shelling, and the damage to the shrimp caused by the shelling mechanism in the prior art that applies force to the shrimp through a mechanical structure is avoided, thereby ensuring the quality of the finished shrimp.

[0186] According to the shelling control method provided in an embodiment of the present application, optionally, the shelling control method further includes the following steps before the step of rotating the clamping device at a second angular acceleration so that the second clamping member approaches the first clamping member so that the clamping teeth pierce the shrimp shell:

[0187] The clamping device is rotated at a first angular acceleration that is smaller than the second angular acceleration, so that the second clamping member approaches the first clamping member.

[0188] In an embodiment, according to the shelling control method provided in an embodiment of the present application, in order to reduce the structural impact of the clamping teeth on the shrimp, the second clamping member can be first moved closer to the shrimp shell with a smaller first angular acceleration. In other words, a buffer stage is provided before the clamping teeth pierce the shrimp shell.

[0189] In an embodiment, according to the shelling control method provided in an embodiment of the present application, rotating the clamping device at a first angular acceleration less than the second angular acceleration so that the second clamping member approaches the first clamping member further includes:

[0190] The clamping device is accelerated to a first angular velocity with a first angular acceleration. At the first angular velocity, the centrifugal inertia force borne by the shrimp is smaller than the shelling force.

[0191] In this way, the centrifugal inertia force on the shrimp is prevented from reaching the shelling force during the buffering stage, thereby avoiding clamping failure caused by the clamping teeth not piercing the shrimp shell during the shrimp shelling process.

[0192] In an embodiment, according to the shelling control method provided in an embodiment of the present application, rotating the clamping device at a second angular acceleration so that the second clamping member approaches the first clamping member so that the clamping teeth pierce the shrimp shell further includes:

[0193] The clamping device is accelerated to a second angular velocity with a second angular acceleration. At the second angular velocity, the centrifugal inertia force borne by the shrimp is smaller than the shelling force.

[0194] In this way, damage to the shrimp meat or shelling failure caused by shelling is avoided when the shelling is clamped with a large clamping force (second angular acceleration).

[0195] According to the shelling control method provided in an embodiment of the present application, the shelling control method may further include: decelerating the clamping device to an angular velocity of 0 at a fourth angular acceleration, so that the second clamping member moves away from the first clamping member. In this way, after the shelling is completed, the clamping device is decelerated, thereby stopping the rotation of the clamping device.

[0196] Based on the technical features described above, the de-shelling control method will be further described below with reference to specific examples.

[0197] First, the shrimp body is placed in the shrimp body placement area, that is, the clamping space, of the clamping device of the shelling device described below.

[0198] Next, the processor matches the shrimp's dimensions based on the previous detection results or user input and calls preset motion parameters. The processor transmits these motion parameters to the driver, which controls the drive mechanism, or servo motor, according to the motion parameters.

[0199] Specifically, the driving device accelerates to a preset angular velocity w1 with a large angular acceleration w1' (the superscript here means "derivation", that is, the derivative of the angular velocity, so it represents the angular acceleration, and the superscripts in the following text are also understood in this way). During this process, the flexible tooth piece (that is, the second clamping member and the clamping teeth thereon) moves toward the shrimp body under the action of the inertial force generated by the angular acceleration and clings to the shrimp body. According to the angular acceleration inertial force F 加 =ma=mw'r, preset w1' value so that F 加1 >F 破壳 , that is, to achieve the large clamping force of the teeth to break the shell; according to the centrifugal inertia force F 离 =ma=mw 2 r, preset w1, so that F 离1 <F 脱壳 , which can ensure that the shrimps are not shelled during this process, avoiding damage to the shrimp meat caused by shelling during the high clamping force stage.

[0200] Then, the driving device accelerates to the preset angular velocity w2 with a small angular acceleration w2'. During this process, the inertial force generated by the angular acceleration of the flexible teeth decreases, and the flexible teeth generate a small holding force; as the angular velocity w2 continues to increase, when the centrifugal force of the shrimp is greater than the shelling force, shelling begins. According to the angular acceleration inertial force F 加 =ma=mw'r, preset w2' value so that F 加2 >F 保持 , to achieve the small clamping force of the teeth and ensure stable clamping during the shelling process; according to the centrifugal inertia force F 离=ma=mw 2 r, preset w2, so that F 离2 >F 脱壳 , you can achieve reliable shelling.

[0201] Finally, the driving device decelerates at a preset angular acceleration w3' to an angular velocity of 0. During this process, the flexible teeth move away from the shrimp body under the inertial force generated by the angular acceleration and remain in the open position.

[0202] The above method execution process is a process without configuring a buffer segment. For the process of configuring a buffer segment, see the following description.

[0203] First, the shrimp is placed in the shelling unit's shrimp storage area. The processor matches the shrimp's dimensions based on detection results from previous steps or user input and invokes preset motion parameters. The processor transmits these motion parameters to the actuator, which controls the movement of the actuator based on these parameters.

[0204] Then, the driving device accelerates to the preset angular velocity w1 with a small angular acceleration w1'. In this process, the flexible tooth piece moves toward the shrimp body under the action of the inertial force generated by the angular acceleration and adheres to the shrimp body. 加 =ma=mw'r, preset w1' value so that F 加1 Slightly greater than the holding force when the teeth are open, that is, the teeth move toward the shrimp body and reduce the structural impact of the teeth hitting the shrimp body; according to the centrifugal inertia force F 离 =ma=mw 2 r, preset w1, so that F 离1 <F 脱壳 , which can ensure that the shrimps are not shelled during the process, and avoid clamping failure caused by the teeth not piercing the shrimp shells during the shelling process.

[0205] Then, the driving device accelerates to the preset angular velocity w2 with a large angular acceleration w2'. In this process, the flexible tooth piece moves toward the shrimp body under the inertial force generated by the angular acceleration and adheres to the shrimp body. 加 =ma=mw'r, preset w2' value so that F 加2 >F 破壳 , that is, to achieve the large clamping force of the teeth to break the shell; according to the centrifugal inertia force F 离 =ma=mw 2 r, preset w2, so that F 离2 <F 脱壳 , which can ensure that the shrimps are not shelled during this process, avoiding damage to the shrimp meat caused by shelling during the high clamping force stage.

[0206] Then, the driving device accelerates to the preset angular velocity w3 with a small angular acceleration w3'. During this process, the inertial force generated by the angular acceleration of the flexible teeth decreases, and the flexible teeth generate a small holding force. As the angular velocity w3 continues to increase, when the centrifugal force of the shrimp is greater than the shelling force, shelling begins. According to the angular acceleration inertial force F 加 =ma=mw'r, preset w3' value so that F 加3 >F 保持 , to achieve the small clamping force of the teeth and ensure stable clamping during the shelling process; according to the centrifugal inertia force F 离 =ma=mw 2 r, preset w3, so that F 离3 >F 脱壳 , you can achieve reliable shelling.

[0207] Finally, the driving device decelerates at a preset angular acceleration w4' to an angular velocity of 0. During this process, the flexible teeth move away from the shrimp body under the inertial force generated by the angular acceleration and remain in the open position.

[0208] Based on the above description, the more specific forms of the first and second clamping members, especially the specific forms of the clamping teeth, will be further described. For ease of description, it should be noted that the unit structure having clamping teeth included in both the first and second clamping members will be referred to as the clamping member 21. At the same time, to distinguish the context in the description and facilitate reading, the clamping teeth provided on the clamping member 21 will be collectively referred to as the piercing member 212. A detailed description will be given below.

[0209] like Figures 9 to 15 As shown, the clamping member 21 includes a clamping plate 211 (i.e., a clamping body) and a plurality of piercing members 212 (i.e., clamping teeth), the clamping plate 211 includes a fixed end 2111 and a free end 2112 facing each other, the plurality of piercing members 212 are fixed on the same side of the clamping plate 211, and the piercing members 212 are inclined toward the fixed end 2111, and the plurality of piercing members 212 are arranged at intervals.

[0210] The piercing member 212 is tilted toward the fixed end 2111 of the clamping plate 211. This allows the piercing member 212 to penetrate the shelled shrimp 8 to a lesser depth, thereby reducing the resistance exerted by the piercing member 212 on the separation of the shelled shrimp from the shell. When the clamping member 21 is in use, the clamping member 21 can perform an inertial clamping operation on the shelled shrimp 8 according to the operating principles described above for the clamping device. Furthermore, because the piercing member 212 is tilted toward the fixed end 2111, the shrimp shell tends to move from the piercing end of the piercing member 212, which is away from the clamping plate 211, toward the connecting end connected to the clamping plate 211.

[0211] In this way, the piercing member 212 will apply a force to the shrimp shell in the opposite direction to the direction of the shrimp meat being separated, so as to reduce the risk of the shrimp meat and the shrimp shell being separated together, thereby achieving reliable clamping of the shrimp shell and improving the smoothness of the separation of the shrimp meat and the shrimp shell.

[0212] Furthermore, the piercing member 212 includes a connecting end and a piercing end, the connecting end is connected to the clamping plate 211, and the piercing end can pierce into the shrimp shell.

[0213] Furthermore, the angle a between the piercing member 212 and the clamping plate 211 is greater than or equal to 10 degrees and less than or equal to 80 degrees. When the angle a between the piercing member 212 and the clamping plate 211 is greater than 80 degrees, the shrimp shell has a smaller tendency to move toward the connection end where the piercing member 212 and the clamping plate 211 are connected. The risk of the piercing member 212 being separated from the shrimp shell is greater, which makes the reliability of the clamping member 21 for clamping the shrimp shell less reliable. When the angle a between the piercing member 212 and the clamping plate 211 is less than 10 degrees, the difficulty of the piercing member 212 penetrating the shrimp shell increases, and the risk of the piercing member 212 failing to penetrate the shrimp shell is greater. At the same time, the load on the connection end of the piercing member 212 is relatively large, and the service life of the piercing member 212 is relatively low.

[0214] When the angle a between the piercing member 212 and the clamping plate 211 is in the range of 10 degrees to 80 degrees, the risk of the piercing member 212 detaching from the shrimp shell is small, thereby improving the reliability of the shrimp shell clamping. At the same time, the piercing member 212 can be smoothly inserted into the shrimp shell, and the load on the connecting end of the piercing member 212 is relatively small, thereby improving the service life of the piercing member 212.

[0215] Optionally, the angle between the piercing member 212 and the clamping plate 211 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.

[0216] Furthermore, the dimension L of the piercing member 212 in the thickness direction of the clamping plate 211 is greater than or equal to 0.10mm and less than or equal to 2.00mm. The process of the piercing member 212 piercing the shrimp shell will cause a local pit deformation of the shelled shrimp 8. When the dimension L of the piercing member 212 in the thickness direction of the clamping plate 211 is less than 0.10mm, the local pit deformation causes the piercing end pressure of the piercing member 212 to be insufficient to pierce the shrimp shell, resulting in piercing failure; when the dimension L of the piercing member 212 in the thickness direction of the clamping plate 211 is greater than 2.00mm, the piercing size of the piercing member 212 is large, and the risk of damaging the shrimp membrane and shrimp meat on the surface of the shrimp is greater. When the dimension L of the piercing member 212 in the thickness direction of the clamping plate 211 is within the range of 0.10mm-2.00mm, the piercing member 212 can pierce the shrimp shell, and at the same time, the piercing size of the piercing member 212 is small, and the risk of damaging the shrimp membrane and shrimp meat on the surface of the shrimp is small.

[0217] Optionally, the dimension L of the piercing member 212 in the thickness direction of the clamping plate 211 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.

[0218] In addition, the piercing member 212 can be a sheet-like tooth-shaped structure, a cylindrical structure or a conical structure. When the piercing member 212 is a sheet-like tooth-shaped structure, the relative position of the piercing member 212 and the clamping plate 211 is as follows: Figure 9 and Figure 13 When the piercing member 212 is a cylindrical or conical structure, the relative position of the piercing member 212 and the clamping plate 211 is as shown; Figure 11 and Figure 15 As shown, although the shape of the piercing member 212 in the figure is different from that of a cylindrical or conical shape, this is only a schematic diagram and it should be understood that the description herein is correct. 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 212 is in the shape of a sheet-like toothed structure, a cylindrical structure, or a conical structure, the piercing member 212 can be fixed to the clamping plate 211 by welding. When the piercing member 212 is in the shape of a sheet-like toothed structure, the piercing member 212 can also be formed by cutting the toothed structure on the clamping plate 211 and then bending the toothed structure to form the piercing member 212.

[0219] 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.

[0220] Further, if Figure 9 、 Figure 11 and Figure 13 As shown, a plurality of piercing members 212 are arranged at intervals, and at least one piercing member 212 is arranged in a circular area with a diameter of 55 mm.

[0221] Optionally, multiple piercing members 212 can be arranged in a disorderly manner or in a matrix shape. When multiple piercing members 212 are arranged in a matrix shape, multiple piercing members 212 are divided into multiple groups. The piercing members 212 in each group are arranged at intervals along the length direction of the shell-on shrimp 8, and multiple groups are arranged at intervals along the height direction of the shell-on shrimp 8. The distance between two adjacent piercing members 212 in each group in the length direction of the shell-on shrimp 8 is less than or equal to 50 mm. The piercing members 212 in two adjacent groups correspond one to one, and the distance between the two corresponding piercing members 212 in the height direction of the shell-on shrimp 8 is less than or equal to 10 mm.

[0222] Optionally, the distance between two adjacent piercing members 212 in each group in the length direction of the shelled shrimp 8 can be 50mm, 49mm, 48mm or 47mm, etc., and the distance between the corresponding two piercing members 212 in the height direction of the shelled shrimp 8 can be 10mm, 9.9mm, 9.8mm or 9.7mm, etc.

[0223] like Figures 9 to 12 As shown, the clamping plate 211 can be a flexible member, which enables the clamping plate 211 to undergo elastic deformation so as to clamp the shelled shrimp 8. The thickness of the clamping plate 211 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 211 is greater than 0.3 mm, the rigidity of the clamping plate 211 is large, and there is a risk that the deformation of the clamping plate 211 cannot meet the demand; when the thickness of the clamping plate 211 is less than 0.05 mm, the rigidity of the clamping plate 211 is weak, and the risk of distortion is greater. When the thickness of the clamping plate 211 is within the range of 0.05 mm-0.3 mm, the deformation of the clamping plate 211 can meet the demand, and the clamping plate 211 itself has sufficient rigidity to avoid distortion of the clamping plate 211.

[0224] Optionally, when the clamping plate 211 is a flexible part, the clamping plate 211 can be a metal plate with a thickness in the range of 0.05mm-0.3mm, and the thickness of the clamping plate 211 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.

[0225] like Figure 14 As shown, the clamping plate 211 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 211 can be a larger metal plate, for example, the thickness of the clamping plate can be greater than 0.3 mm.

[0226] When the clamping plate 211 is a rigid member or a flexible member, the piercing member 212 may be a sheet-like tooth-shaped structure, a cylindrical structure, or a conical structure.

[0227] When the clamping plate 211 is a flexible part and is rotationally connected to the fixing part 22 described below, under the action of the driving part 23, the clamping plate 211 first rotates and then deforms, which can reduce the deformation of the clamping plate 211, reduce the internal stress of the clamping plate 211, thereby improving the service life of the clamping plate 211, and at the same time reduce the influence of the internal stress generated by the large deformation of the clamping plate 211 on the clamping force.

[0228] Therefore, according to the structures of the clamping member 21 and the piercing member 212 further described above, it can be understood that the first clamping member and the second clamping member described above can both have the clamping member 21 .

[0229] like Figure 14 and Figure 15 As shown, considering that the clamping member 21 serves as a unit structure of the first clamping member and the second clamping member, the first clamping member and the second clamping member can be obtained by combining multiple clamping members. Based on this combination form, various embodiments of the clamping device will be re-described later.

[0230] Specifically, the clamping device includes a fixing member 22 (essentially the mounting base 1 mentioned in the above description), a driving mechanism, a first clamping member and a second clamping member. The first clamping member includes at least one of the above-mentioned clamping members 21, and the second clamping member includes at least one of the above-mentioned clamping members 21. It should be reiterated here that the first clamping member and the second clamping member are both connected to the fixing member 22. A clamping space is formed between the first clamping member and the second clamping member. The clamping space is used to accommodate the shrimp 8 with shells. The driving mechanism can cause the first clamping member and the second clamping member to approach each other, thereby achieving the clamping of the shrimp shells.

[0231] Optionally, the fixing member 22 includes an integrally formed first fixing portion 221 and a second fixing portion 222, wherein the dimension of the first fixing portion 221 in the width direction of the clamping plate 211 is larger than the dimension of the second fixing portion 222 in the width direction of the clamping plate 211, and the cross-section of the entire fixing member 22 is "L"-shaped.

[0232] Optionally, the forms of the first clamping member and the second clamping member can be selected based on demand. The following will describe different forms of the first clamping member and the second clamping member in combination with Examples 1 to 9. It should be noted that the following examples can all be used in the above clamping device.

[0233] Example 1

[0234] In the first embodiment, Figure 14 and Figure 15 As shown, the first clamping member includes a clamping component 21, wherein the clamping plate 211 of the clamping component 21 is a flexible component, and the fixed end 2111 of the clamping plate 211 of the first clamping component is fixed to the first fixing portion 221. The second clamping member includes a clamping component 21, wherein the clamping plate 211 of the second clamping component is a flexible component, and the fixed end 2111 of the clamping plate 211 of the second clamping component is fixed to the first fixing portion 221. When the shell-on shrimp 8 is not being clamped, the distance between the two clamping plates 211 gradually increases in the direction from the fixed end 2111 to the free end 2112, so as to facilitate the clamping of the shell-on shrimp 8.

[0235] Optionally, the fixed end 2111 of the clamping plate 211 in the first clamping member may be rotatably connected to the first fixing portion 221 , and the fixed end 2111 of the clamping plate 211 in the second clamping member may also be rotatably connected to the first fixing portion 221 .

[0236] Furthermore, the driving mechanism here can, for example, clamp the shelled shrimp 8 by directly pushing and pulling the first clamping member and the second clamping member. The driving mechanism includes a plurality of driving members 23, which are divided into two groups, and the driving members 23 are arranged at intervals in each group, wherein the driving members 23 in one group can apply force to the first clamping member, and the driving members 23 in the other group can apply force to the second clamping member. When the clamping device is not clamping the shelled shrimp 8, the ends of the telescopic ends of the driving members 23 are connected to the clamping plates 211, so that the two clamping plates 211 remain open to facilitate placing the shelled shrimp 8 in the clamping space. When the clamping device is clamping the shelled shrimp 8, the shelled shrimp 8 can be placed in the clamping space, and the driving members 23 are both extended, so that the two clamping members 21 are close to each other, so that the piercing members 212 in the two clamping members 21 respectively pierce the shrimp shells of the shelled shrimp 8, thereby clamping the shelled shrimp 8.

[0237] Optionally, the driving member 23 may be a cylinder, a linear motor, an electric telescopic rod, a linear module, etc.

[0238] Example 2

[0239] In this embodiment, one of the clamping members 21 in the first clamping member can be Figure 9 and Figure 11The clamping member 21 shown in the figure, at this time, the first clamping member includes a clamping member 21, the clamping plate 211 of the clamping member 21 in the first clamping member is a flexible member, and the fixed end 2111 of the clamping plate 211 in the first clamping member is fixed to the first fixing portion 221; one clamping member 21 in the second clamping member can be Figure 13 In the clamping member shown in FIG, the second clamping member includes a clamping member 21. The clamping plate 211 in the clamping member 21 is a rigid member. The clamping plate 211 in the second clamping member is fixed to the first fixing portion 221, and one end of the clamping plate 211 in the width direction is fixed to the second fixing portion 222, thereby fixing the second clamping member relative to the fixing member 22. Since the clamping plate 211 in the second clamping member is a rigid member, the risk of twisting of the shell-on shrimp 8 can be reduced.

[0240] Furthermore, the drive mechanism may include multiple drive members 23, which are arranged at intervals. Each of the multiple drive members 23 applies force to the first clamping member. The drive members 23 may be a cylinder, a linear motor, an electric telescopic rod, a linear module, etc. When the clamping device is not clamping the shelled shrimp 8, the first clamping member and the second clamping member remain open. When the clamping device of this embodiment is used to clamp the shelled shrimp 8, the shelled shrimp 8 can be placed in the clamping space. The multiple drive members 23 are extended to apply force to the first clamping member, so that the piercing members 212 in the first clamping member and the second clamping member respectively penetrate into the shelled shrimp 8, thereby clamping the shelled shrimp 8.

[0241] Optionally, the fixed end 2111 of the clamping plate 211 in the first clamping member can be rotatably connected to the first fixed portion 221. When multiple driving members 23 apply force to the first clamping member, the clamping plate 211 in the first clamping member first rotates to roughly fit the shelled shrimp 8, and then the clamping plate 211 in the first clamping member is deformed to achieve stable clamping of the shelled shrimp 8.

[0242] Alternatively, the drive mechanism of the present application may also employ a motor, the output shaft of which is fixedly connected to the first fixing portion 221, thereby driving the fixing member 22 to rotate. When the fixed end 2111 of the clamping plate 211 in the first clamping member is fixedly connected to the first fixing portion 221, the fixing member 22, the first clamping member, and the second clamping member rotate as a whole. Under the action of inertia, the clamping plate 211 in the first clamping member deforms, causing the piercing members 212 in the first and second clamping members to penetrate the shrimp shell, thereby clamping the shrimp shell.

[0243] At the same time, during the rotation process, the peeled shrimp detaches from the shrimp shell under the action of centrifugal force, thereby achieving the separation of the shrimp shell and the peeled shrimp. When the fixed end 2111 of the clamping plate 211 in the first clamping member is rotatably connected to the first fixing portion 221, the entire body formed by the fixing member 22, the first clamping member, and the second clamping member rotates. Under the action of inertia, the clamping plate 211 in the first clamping member first rotates to roughly fit the peeled shrimp 8 with the shell. Afterwards, the clamping plate 211 in the first clamping member deforms so that the clamping plate 211 in the first clamping member is closely fitted with the peeled shrimp 8 with the shell. At this time, the piercing members 212 in the first clamping member and the second clamping member penetrate the shrimp shell, thereby achieving the clamping of the shrimp shell. At the same time, during the rotation process, the peeled shrimp detaches from the shrimp shell under the action of centrifugal force, thereby achieving the separation of the shrimp shell and the peeled shrimp.

[0244] Optionally, a magnet may be provided on the telescopic end of the driving member 23 , and the connection between the telescopic end of the driving member 23 and the clamping plate 211 is achieved by attracting the clamping plate 211 through the magnet.

[0245] Example 3

[0246] In this embodiment, one of the clamping members 21 in the first clamping member can be Figure 9 and Figure 11 The clamping member 21 shown in FIG. 2 is a first clamping member comprising a clamping member 21. The clamping plate 211 of the clamping member 21 in the first clamping member is a flexible member. The fixed end 2111 of the clamping plate 211 in the first clamping member is fixed to the first fixed portion 221. The second clamping member may be a Figure 16 In the form shown in FIG, the second clamping member includes a plurality of clamping members 21, the plurality of clamping plates 211 of the plurality of clamping members 21 in the second clamping member are all flexible members, and the plurality of fixed ends 2111 of the plurality of clamping plates 211 in the second clamping member are all fixed to the first fixing portion 221. Optionally, the number of clamping members 21 in the second clamping member can be two, three, or more.

[0247] Optionally, the fixed end 2111 of the clamping plate 211 in the first clamping member may be rotatably connected to the first fixing portion 221 , and the fixed end 2111 of the clamping plate 211 in the second clamping member may also be rotatably connected to the first fixing portion 221 .

[0248] Furthermore, the clamping plate 211 in the second clamping member is divided into a cloth area and a vacant area. The cloth area is located on the side where the free end 2112 is located, and the vacant area is located on the side where the fixed end 2111 is located. The multiple piercing members 212 are all located in the cloth area. For two adjacent clamping plates 211 in the multiple clamping plates 211 of the second clamping member, the length of the clamping plate 211 closer to the clamping space is shorter than the length of the vacant area of ​​the clamping plate 211 farther from the clamping space, so that the positions of the piercing members 212 on the multiple clamping plates 211 are staggered. When the multiple clamping plates 211 are deformed, the piercing members 212 on the multiple clamping plates 211 pierce different positions of the shrimp shell.

[0249] In addition, the driving mechanism includes a plurality of driving members 23, and the plurality of driving members 23 are divided into two groups. The driving members 23 are arranged at intervals in each group, and the driving members 23 in one group can apply force to the first clamping member, and the driving members 23 in the other group can respectively apply force to the layout areas of the plurality of clamping plates 211 in the second clamping member. An avoidance hole can be opened on the clamping plate 211 located on the outside, so that the telescopic end of the driving member 23 can pass through the avoidance hole and connect with the corresponding clamping plate 211, so that the driving member 23 can apply force to the corresponding clamping plate 211. The driving member 23 can be a cylinder, a linear motor, an electric telescopic rod, a linear module, etc.

[0250] When the fixed end 2111 of the clamping plate 211 in the first clamping member is fixedly connected to the first fixed part 221, and the fixed end 2111 of the clamping plate 211 in the second clamping member is rotatably connected to the first fixed part 221, the shelled shrimp 8 can be placed in the clamping space, and one group of driving members 23 applies force to the first driving mechanism to deform the clamping plate 211 in the first driving mechanism, and the driving members 23 in the other group apply force to the cloth area of ​​multiple clamping plates 211 in the second clamping member, so that the multiple clamping plates 211 are rotated to roughly fit the shelled shrimp 8 and deform in the cloth area to tightly fit the shelled shrimp 8, thereby achieving clamping of the shelled shrimp 8.

[0251] When the fixed end 2111 of the clamping plate 211 in the first clamping member is rotatably connected to the first fixed part 221, and the fixed end 2111 of the clamping plate 211 in the second clamping member is rotatably connected to the first fixed part 221, the shrimp 8 with shell can be placed in the clamping space, and a group of driving members 23 applies force to the first driving mechanism, so that the clamping plate 211 in the first driving mechanism rotates to roughly fit the shrimp 8 with shell and then deforms to tightly fit the shrimp 8 with shell, and the driving members 23 in the other group apply force to the cloth area of ​​multiple clamping plates 211 in the second clamping member, so that multiple clamping plates 211 rotate to roughly fit the shrimp 8 with shell and deform in the cloth area to tightly fit the shrimp 8 with shell, thereby achieving clamping of the shrimp 8 with shell.

[0252] In addition, the second clamping member clamps the shelled shrimp 8 through the piercing members 212 on multiple clamping plates 211, which can reduce the interference of the internal stress of the clamping plate 211 extending along the extension direction of the piercing member 212, so as to reduce the interference of the clamping force extending along the normal direction of the piercing member 212 by the internal stress of other piercing members 212.

[0253] Optionally, the second clamping member may also be Figure 19 In the form shown in the figure, at this time, the second clamping member includes multiple clamping members 21, and the multiple clamping plates 211 of the multiple clamping members 21 in the second clamping member are all flexible members. A block structure integrally formed with the clamping plate 211 is formed on the side where the fixed ends 2111 of the multiple clamping plates 211 in the second clamping member are located, and the multiple fixed ends 2111 of the multiple clamping plates 211 of the multiple clamping members 21 in the second clamping member all extend into the fixing groove, and the multiple blocks on the multiple clamping plates 211 can be rotatably connected to the first fixed part 221 through the same rotating shaft 272, or the multiple block structures on the multiple clamping plates 211 are respectively rotatably connected to the first fixed part 221 through the corresponding rotating shaft 272.

[0254] All clamping plates 211, except the smallest one, are provided with through-holes. Arranged by volume, the through-holes of the larger clamping plates 211 of two adjacent clamping plates 211 allow the smaller one to pass through. During use, the multiple clamping plates 211 in the second clamping member are rotated to roughly fit the shelled shrimp 8 and deform in the fabric area to tightly fit the shelled shrimp 8. The piercing members 212 on the multiple clamping members 21 are capable of piercing different locations of the shelled shrimp 8, thereby effectively clamping the shelled shrimp 8.

[0255] Example 4

[0256] In this embodiment, one of the clamping members 21 in the first clamping member can be Figure 9 and Figure 11 The clamping member 21 shown in FIG. 2 is a first clamping member comprising a clamping member 21. The clamping plate 211 of the clamping member 21 in the first clamping member is a flexible member. The fixed end 2111 of the clamping plate 211 in the first clamping member is fixed to the first fixed portion 221. The second clamping member may be a Figure 17 In the form shown in FIG, the second clamping member includes a plurality of clamping members 21, wherein the plurality of clamping plates 211 of the plurality of clamping members 21 in the second clamping member are all rigid members, and the plurality of fixed ends 2111 of the plurality of clamping plates 211 of the plurality of clamping members 21 in the second clamping member are all rotatably connected to the fixing member 22. Optionally, the number of clamping members 21 in the second clamping member can be two, three, or more.

[0257] Optionally, the fixed end 2111 of the clamping plate 211 in the first clamping member may also be rotatably connected to the first fixing portion 221 .

[0258] like Figure 17 As shown, a fixing groove is provided on the first fixing portion 221, and the second clamping member further includes a plurality of connecting members 271, each of which corresponds to a plurality of clamping plates 211 in the second clamping member. The fixed ends 2111 of the clamping plates 211 are connected to the corresponding connecting members 271. Parts of the connecting members 271 extend into the fixing groove and are connected to the first fixing portion 221 via a rotating shaft 272. For two adjacent clamping plates 211 in the plurality of clamping plates 211 of the second clamping member, the sum of the length of the clamping plate 211 close to the clamping space and the length of the corresponding connecting member 271 is less than the length of the corresponding connecting member 271 of the clamping plate 211 away from the clamping space, so that the positions of the piercing members 212 on the plurality of clamping plates 211 are staggered. When the plurality of clamping plates 211 in the second clamping member rotate under the drive of the driving mechanism, the piercing members 212 on the plurality of clamping plates 211 respectively pierce different positions of the shrimp shell.

[0259] In addition, the driving mechanism includes a plurality of driving members 23, which are divided into two groups. The driving members 23 are arranged at intervals in each group. The driving members 23 in one group can apply force to the first clamping member, causing the clamping plate 211 in the first clamping member to deform (when the clamping plate 211 in the first clamping member is rotatably connected to the fixing member 22, the clamping plate 211 in the first clamping member rotates first and then deforms). The driving members 23 in the other group respectively apply force to the plurality of clamping plates 211, causing the clamping plates in the second clamping member to rotate. The driving members 23 can be cylinders, linear motors, electric telescopic rods, linear modules, etc. When the clamping device of this embodiment is used to clamp the shelled shrimp 8, the shelled shrimp 8 can be placed in the clamping space. The driving members 23 in one group apply force to the first driving mechanism, causing the clamping plate 211 in the first driving mechanism to deform, and the driving members 23 in the other group respectively drive the plurality of clamping plates 211 to rotate, thereby clamping the shelled shrimp 8.

[0260] Taking the second clamping member including three tooth mechanisms, each group of which can include six driving members 23 as an example, the six driving members 23 corresponding to the first clamping member respectively apply force to different positions of the clamping plate 211 in the first clamping member. The two driving members 23 close to the fixed member 22 in the other group can apply force to the inner clamping plate 211, the two middle driving members 23 can apply force to the middle clamping member, and the two driving members 23 farthest from the fixed member 22 can apply force to the outer clamping plate 211.

[0261] Optionally, the second clamping member may be Figure 18In the form shown in the figure, at this time, the second clamping member includes multiple clamping members 21, and the multiple clamping plates 211 of the multiple clamping members 21 in the second clamping member are all rigid members. The multiple fixed ends 2111 of the multiple clamping plates 211 of the multiple clamping members 21 in the second clamping member all extend into the fixing groove, and the multiple fixed ends 2111 of the multiple clamping plates 211 can be rotatably connected to the first fixing part 221 through the same rotating shaft 272, or the multiple fixed ends 2111 in the multiple clamping plates 211 are respectively rotatably connected to the first fixing part 221 through the corresponding rotating shaft 272.

[0262] All clamping plates 211 except the smallest one are provided with escape openings. Arrange the clamping plates 211 in order of volume, and the escape openings of the larger clamping plates 211 between two adjacent clamping plates 211 allow the smaller clamping plates 211 to pass through. In this manner, the piercing members 212 on the multiple clamping members 21 can penetrate different positions of the shelled shrimp 8.

[0263] Example 5

[0264] In this embodiment, one of the clamping members 21 in the first clamping member can be Figure 14 The clamping member 21 shown in FIG. 1 is a first clamping member comprising a clamping member 21. The clamping plate 211 of the clamping member 21 in the first clamping member is a rigid member. The fixed end 2111 of the clamping plate 211 in the first clamping member is fixed to the first fixing portion 221. One end of the clamping plate 211 in the width direction is fixed to the second fixing portion 222, thereby fixing the second clamping member relative to the fixing member 22. The second clamping member can be used Figure 16 In the structure shown, the second clamping member includes multiple clamping components 21, the multiple clamping plates 211 of the multiple clamping components 21 in the second clamping member are all flexible members, and the multiple fixed ends 2111 of the multiple clamping plates 211 in the second clamping member are all fixed to the first fixing portion 221.

[0265] Optionally, the fixed end 2111 of the clamping plate 211 in the second clamping member may also be rotatably connected to the first fixing portion 221 .

[0266] Furthermore, the clamping plate 211 in the second clamping member is divided into a cloth area and a vacant area. The cloth area is located on the side where the free end 2112 is located, and the vacant area is located on the side where the fixed end 2111 is located. The multiple piercing members 212 are all located in the cloth area. For two adjacent clamping plates 211 in the multiple clamping plates 211 of the second clamping member, the length of the clamping plate 211 closer to the clamping space is shorter than the length of the vacant area of ​​the clamping plate 211 farther from the clamping space, so that the positions of the piercing members 212 on the multiple clamping plates 211 in the second clamping member are staggered. When the multiple clamping plates 211 are deformed, the piercing members 212 on the multiple clamping plates 211 in the second clamping member respectively pierce different positions of the shrimp shell.

[0267] In addition, the driving mechanism may include a plurality of driving members 23, and the plurality of driving members 23 are arranged at intervals. The plurality of driving members 23 can respectively apply force to the layout areas of the plurality of clamping plates 211 in the second clamping member. An avoidance hole can be opened on the clamping plate 211 located on the outer side so that the telescopic end of the driving member 23 can pass through the avoidance hole and connect with the corresponding clamping plate 211, so that the driving member 23 can apply force to the corresponding clamping plate 211. The driving member 23 can be a cylinder, a linear motor, an electric telescopic rod, a linear module, etc.

[0268] When the fixed end 2111 of the clamping plate 211 in the second clamping member is rotatably connected to the first fixed part 221, the shrimp with shell 8 can be placed in the clamping space, and multiple driving members 23 respectively apply force to the cloth area of ​​the multiple clamping plates 211 in the second clamping member, so that the multiple clamping plates 211 respectively rotate to roughly fit the shrimp with shell 8 and deform in the cloth area to tightly fit the shrimp with shell 8, thereby achieving clamping of the shrimp with shell 8.

[0269] Optionally, the second clamping member may also be Figure 19 The structure shown in .

[0270] Example 6

[0271] In this embodiment, one of the clamping members 21 in the first clamping member can be Figure 13 The clamping member 21 shown in FIG. 1 is a first clamping member comprising a clamping member 21. The clamping plate 211 of the clamping member 21 in the first clamping member is a rigid member. The fixed end 2111 of the clamping plate 211 in the first clamping member is fixed to the first fixing portion 221. One end of the clamping plate 211 in the width direction is fixed to the second fixing portion 222, thereby fixing the second clamping member relative to the fixing member 22. The second clamping member can be used Figure 17 In the structure shown, the second clamping member includes multiple clamping components 21, and the multiple clamping plates 211 of the multiple clamping components 21 in the second clamping member are all rigid members, and the multiple fixed ends 2111 of the multiple clamping plates 211 of the multiple clamping components 21 in the second clamping member are all rotatably connected to the fixing member 22.

[0272] like Figure 17 As shown, a fixing groove is provided on the first fixing portion 221, and the second clamping member also includes a plurality of connecting members 271, and the plurality of connecting members 271 correspond to the plurality of clamping plates 211 in the second clamping member respectively. The fixed ends 2111 of the clamping plates 211 are connected to the corresponding connecting members 271. Parts of the connecting members 271 extend into the fixing groove and are connected to the first fixing portion 221 via a rotating shaft 272. For two adjacent clamping plates 211 in the plurality of clamping plates 211 of the second clamping member, the sum of the length of the clamping plate 211 close to the clamping space and the length of the corresponding connecting member 271 is less than the length of the connecting member 271 corresponding to the clamping plate 211 away from the clamping space, so that the piercing members 212 on the plurality of clamping plates 211 in the second clamping member are staggered. When the plurality of clamping plates 211 in the second clamping member rotate under the drive of the driving mechanism, the piercing members 212 on the plurality of clamping plates 211 respectively pierce different positions of the shrimp shell.

[0273] Furthermore, the drive mechanism may include multiple drive members 23 arranged at intervals, each of which applies force to the multiple clamping plates 211. The drive members 23 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 shelled shrimp 8, the shelled shrimp 8 can be placed in the clamping space, and the multiple drive members 23 drive the multiple clamping plates 211 in the second clamping member to rotate, thereby clamping the shelled shrimp 8.

[0274] Taking the second clamping member including three tooth mechanisms and the driving mechanism including six driving members 23 as an example, the two driving members 23 close to the fixed member 22 can apply force to the inner clamping plate 211, the two middle driving members 23 can apply force to the middle clamping member, and the two driving members 23 farthest from the fixed member 22 can apply force to the outer clamping plate 211.

[0275] Optionally, the second clamping member may also be Figure 18 The structure shown in .

[0276] Example 7

[0277] In this embodiment, the first clamping member and the second clamping member can both be Figure 16 In the structure shown, the first clamping member includes a plurality of clamping members 21, wherein the plurality of clamping plates 211 of the plurality of clamping members 21 in the first clamping member are all flexible members, and the plurality of fixed ends 2111 of the plurality of clamping plates 211 in the first clamping member are all fixed to the first fixing portion 221. The second clamping member includes a plurality of clamping members 21, wherein the plurality of clamping plates 211 of the plurality of clamping members 21 in the second clamping member are all flexible members, and the plurality of fixed ends 2111 of the plurality of clamping plates 211 in the second clamping member are all fixed to the first fixing portion 221.

[0278] Optionally, the fixed ends 2111 of the clamping plates 211 in the first clamping member may both be rotatably connected to the first fixing portion 221 , and the fixed ends 2111 of the clamping plates 211 in the second clamping member may also both be rotatably connected to the first fixing portion 221 .

[0279] Furthermore, the clamping plate 211 is divided into a cloth area and a vacant area. The cloth area is located on the side where the free end 2112 is located, and the vacant area is located on the side where the fixed end 2111 is located. The multiple piercing members 212 are all located on the cloth area. For two adjacent clamping plates 211 among the multiple clamping plates 211 of the first clamping member, the length of the clamping plate 211 close to the clamping space is shorter than the length of the vacant area of ​​the clamping plate 211 away from the clamping space. For two adjacent clamping plates 211 among the multiple clamping plates 211 of the second clamping member, the length of the clamping plate 211 close to the clamping space is shorter than the length of the vacant area of ​​the clamping plate 211 away from the clamping space. The piercing members 212 on different clamping plates 211 in the first clamping member respectively pierce different positions of the shrimp shell, and the piercing members 212 on different clamping plates 211 in the second clamping member respectively pierce different positions of the shrimp shell.

[0280] In addition, the driving mechanism includes a plurality of driving members 23, and the plurality of driving members 23 are divided into two groups. The driving members 23 are arranged at intervals in each group. The driving members 23 in one group can respectively apply force to the cloth areas of the plurality of clamping plates 211 in the first clamping member, and the driving members 23 in the other group can respectively apply force to the cloth areas of the plurality of clamping plates 211 in the second clamping member. The driving members 23 can be cylinders, linear motors, electric telescopic rods, linear modules, etc.

[0281] When the fixed ends 2111 of the clamping plates 211 in the first clamping member are rotatably connected to the first fixed portion 221, and the fixed ends 2111 of the clamping plates 211 in the second clamping member are rotatably connected to the first fixed portion 221, the shrimp 8 with shells can be placed in the clamping space, and a group of driving members 23 respectively apply force to the cloth areas of the multiple clamping plates 211 in the first clamping member, so that the multiple clamping plates 211 in one group are respectively rotated to roughly fit the shrimp 8 with shells and deform in the cloth area, and the driving members 23 in another group respectively apply force to the cloth areas of the multiple clamping plates 211 in the second clamping member, so that the multiple clamping plates 211 in the other group are respectively rotated to roughly fit the shrimp 8 with shells and deform in the cloth area, thereby achieving clamping of the shrimp 8 with shells.

[0282] Optionally, the first clamping member and the second clamping member may both be Figure 19 The structure shown in FIG, or one of the first clamping member and the second clamping member adopts Figure 16 The structure shown in the other adopts Figure 19 The structure shown in .

[0283] Example 8

[0284] In this embodiment, the first clamping member can be Figure 16 In the structure shown, the first clamping member includes a plurality of clamping members 21, the plurality of clamping plates 211 of the plurality of clamping members 21 in the first clamping member are all flexible members, and the plurality of fixed ends 2111 of the plurality of clamping plates 211 in the first clamping member are all fixed to the first fixing portion 221. The second clamping member can be Figure 17 In the structure shown, the multiple clamping plates 211 of the multiple clamping members 21 in the second clamping member are all rigid members, and the multiple fixed ends 2111 of the multiple clamping plates 211 of the multiple clamping members 21 in the second clamping member are all rotatably connected to the fixing member 22.

[0285] Optionally, the fixed ends 2111 of the clamping plates 211 in the first clamping member may also be rotatably connected to the first fixing portion 221 .

[0286] Furthermore, the clamping plate 211 in the first clamping member is divided into a cloth area and a vacant area, the cloth area is located on the side where the free end 2112 is located, and the vacant area is located on the side where the fixed end 2111 is located, and multiple piercing members 212 are all located on the cloth area; for two adjacent clamping plates 211 among the multiple clamping plates 211 of the first clamping member, the length of the clamping plate 211 close to the clamping space is shorter than the length of the vacant area of ​​the clamping plate 211 away from the clamping space, and the piercing members 212 on different clamping plates 211 in the first clamping member respectively pierce different positions of the shrimp shell.

[0287] Furthermore, a fixing groove is defined in the first fixing portion 221, and the second clamping member further includes a plurality of connecting members 271. Each of the plurality of connecting members 271 corresponds to a plurality of clamping plates 211 in the second clamping member. A fixing end 2111 of each clamping plate 211 is connected to a corresponding connecting member 271. Portions of the connecting members 271 extend into the fixing groove and are connected to the first fixing portion 221 via a rotating shaft 272. For two adjacent clamping plates 211 in the second clamping member, the sum of the length of the clamping plate 211 closer to the clamping space and the length of the corresponding connecting member 271 is less than the length of the corresponding connecting member 271 of the clamping plate 211 farther from the clamping space. When the plurality of clamping plates 211 in the second clamping member rotate under the drive mechanism, the piercing members 212 on the plurality of clamping plates 211 pierce different locations of the shrimp shell.

[0288] In addition, the driving mechanism includes a plurality of driving members 23, which are divided into two groups. The driving members 23 are arranged at intervals in each group. The driving members 23 in one group can respectively apply force to the plurality of clamping plates 211 in the first clamping member, and the driving members 23 in the other group can respectively apply force to the plurality of clamping plates 211 in the second clamping member. The driving members 23 can be cylinders, linear motors, electric telescopic rods, linear modules, etc.

[0289] When the fixed ends 2111 of the clamping plates 211 in the first clamping member are rotatably connected to the first fixed portion 221, the shrimp 8 with shells can be placed in the clamping space, and a group of driving members 23 respectively apply force to the cloth areas of the multiple clamping plates 211 in the first clamping member, so that the multiple clamping plates 211 in one group rotate to roughly fit the shrimp 8 with shells and deform in the cloth area, and the driving members 23 in the other group drive the multiple clamping plates 211 in the second clamping member to rotate, thereby achieving clamping of the shrimp 8 with shells.

[0290] Optionally, the first clamping member may also be Figure 19 The structure shown in FIG, the second clamping member can also be used Figure 18 The structure shown in .

[0291] Example 9

[0292] In this embodiment, the first clamping member can be Figure 17 or Figure 18 In the structure shown in FIG, the second clamping member can be Figure 17 or Figure 18 In the structure shown in FIG, the multiple clamping plates 211 of the multiple clamping members 21 in the first clamping member are all rigid members, and the multiple fixed ends 2111 of the multiple clamping plates 211 of the multiple clamping members 21 in the first clamping member are all rotatably connected to the fixing member 22. The multiple clamping plates 211 of the multiple clamping members 21 in the second clamping member are all rigid members, and the multiple fixed ends 2111 of the multiple clamping plates 211 of the multiple clamping members 21 in the second clamping member are all rotatably connected to the fixing member 22.

[0293] Furthermore, each clamping plate 211 is provided with a corresponding connecting member 271. A fixing slot is defined in the first fixing portion 221. The fixing end 2111 of the clamping plate 211 is connected to the corresponding connecting member 271. Part of the connecting member 271 extends into the fixing slot and is connected to the first fixing portion 221 via a rotating shaft 272. For two adjacent clamping plates 211 among the plurality of clamping plates 211 of the first clamping member, the sum of the length of the clamping plate 211 closer to the clamping space and the length of the corresponding connecting member 271 is less than the length of the corresponding connecting member 271 of the clamping plate 211 farther from the clamping space.

[0294] For two adjacent clamping plates 211 of the second clamping member, the sum of the length of the clamping plate 211 closer to the clamping space and the length of the corresponding connecting member 271 is less than the length of the corresponding connecting member 271 of the clamping plate 211 farther from the clamping space. When the first and second clamping members rotate under the drive mechanism, the piercing members 212 on the clamping plates 211 in the first clamping member respectively penetrate different positions of the shrimp shell, and the piercing members 212 on the clamping plates 211 in the second clamping member respectively penetrate different positions of the shrimp shell.

[0295] In addition, the drive mechanism includes a plurality of drive members 23, which are divided into two groups. The drive members 23 are arranged at intervals within each group. The drive members 23 in one group can apply force to the multiple clamping plates 211 in the first clamping member, and the drive members 23 in the other group can respectively apply force to the multiple clamping plates 211 in the second clamping member. The drive members 23 can be cylinders, linear motors, electric telescopic rods, linear modules, etc. When using the clamping device of this embodiment to clamp shell-on shrimp 8, the shell-on shrimp 8 can be placed in the clamping space. The drive members 23 in one group rotate the multiple clamping plates 211 in the first drive mechanism, while the drive members 23 in the other group rotate the multiple clamping plates 211 in the second clamping member, thereby clamping the shell-on shrimp 8.

[0296] The first clamping member and the second clamping member are both Figure 17 In the structure shown, each group can include six driving members 23. Among the six driving members 23 corresponding to the first clamping member, the two driving members 23 close to the fixed member 22 can apply force to the clamping plate 211 close to the inner side of the first clamping member, the two middle driving members 23 can apply force to the clamping plate 211 located in the middle of the first clamping member, and the two driving members 23 farthest from the fixed member 22 can apply force to the clamping plate 211 close to the outer side of the first clamping member; among the six driving members 23 corresponding to the second clamping member, the two driving members 23 close to the fixed member 22 can apply force to the clamping plate 211 close to the inner side of the second clamping member, the two middle driving members 23 can apply force to the clamping plate 211 located in the middle of the second clamping member, and the two driving members 23 farthest from the fixed member 22 can apply force to the clamping plate 211 close to the outer side of the second clamping member.

[0297] Optionally, in the above-mentioned embodiments 1 to 9, a magnet may be provided on the telescopic end of the driving member 23, and the connection between the telescopic end of the driving member 23 and the clamping plate 211 can be achieved by attracting the clamping plate 211 with the magnet. When the clamping plate 211 is a flexible member, and the fixed end 2111 of the clamping plate 211 is rotatably connected to the first fixing portion 221, the fixed end 2111 of the clamping plate 211 in the first clamping member can be bent to form a cylindrical structure or fixedly connected to a fixing seat with a cylindrical structure, and the first fixing portion 221 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 221, thereby achieving the rotational connection between the fixed end 2111 of the clamping plate 211 and the first fixing portion 221.

[0298] In addition, in the above-mentioned embodiments 1 to 9, the clamping force applied to the shelled shrimp 8 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 shelled shrimp 8 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 shelled shrimp 8 is less than or equal to 0.1N / mm. Due to the high strength of the shrimp shell, the piercing member 212 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 212 can penetrate the shrimp shell. Since the shrimp meat is soft and has a certain degree of 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.

[0299] Optionally, the first scheduled time and the second scheduled time can be selected according to needs.

[0300] Based on the technical features described above, now combined with Figures 20 to 33 The specific cutting method of the cutting device for treating the shelled object, that is, the shrimp, is specifically described. Among them, the cutting position of the shrimp is the back. Therefore, in essence, the cutting device is to open the back of the shrimp, and the back opening method can be executed according to the back opening control method, which is specifically as follows.

[0301] Disposing a detection element capable of swinging around a first swing axis, causing the shrimp to pass outside the detection element, thereby causing the detection element to swing around the first swing axis, so as to obtain back height data of the shrimp;

[0302] intercepting a travel distance from the shrimp's travel path according to a time point when the detection element starts to swing and a time point when the detection element ends to obtain length data of the shrimp;

[0303] Combining the back height data and the length data to obtain back contour data;

[0304] Compensating the back contour data according to a preset cutting amount of the shrimp to obtain compensated actual back contour data;

[0305] A cutting operation is performed on the shrimp according to the actual back contour data to open the back of the shrimp.

[0306] In this way, the shrimp is detected by the detection element, forcing the shrimp to pass outside the detection element. The detection element's swinging motion allows the shrimp's back height and length data to be acquired, and the shrimp's back contour data to be derived from these two data points. Subsequently, in an embodiment, the cut-in depth is determined by the amount by which the cutter moves downward from the back's position after contact with the shrimp's back. Thus, when performing the back-opening operation on the shrimp, the shrimp can be cut based on the back contour data compensated for the cut-in depth, providing favorable data support for the back-opening process and ensuring stable back-opening depth and length.

[0307] In this embodiment, the shrimp back profile data is essentially a curved line, a two-dimensional curve. In actual cutting, if the shrimp's abdomen faces downward and its back faces upward, then the back-opening operation is performed by using a cutter to cut the shrimp's back. Therefore, the back profile data is defined by two dimensions: one is the height direction (hereinafter referred to as the depth direction, given the cutting action), and the other is the shrimp's conveying direction, that is, the shrimp's length.

[0308] In an embodiment, the length data of the back profile data is detected from the moment the shrimp body begins to contact the outside of the detection element to the moment the shrimp no longer contacts the detection element. The height data of the back profile data is represented by the swing amplitude of the detection element.

[0309] In an embodiment, the above-mentioned length data can be obtained as follows. Specifically, the shrimp can be conveyed at a constant speed. Since the shrimp's body causes the detection element to swing, the time from the detection element's start of swinging to the detection element's reset is the end of detection. The product of this time and the shrimp's conveying speed is the shrimp's body length, which is the above-mentioned length data.

[0310] In an embodiment, the swing amplitude refers to the amplitude by which the detection element is lifted when the shrimp passes beneath it. For example, the detection element may be a detection wheel, which may be rotatably mounted on a detection swing arm. The detection swing arm may be connected to an encoder, and the encoder axis may also be the first swing axis. The encoder can then be used to obtain the swing amplitude, swing start time, and swing stop time of the detection element.

[0311] In an embodiment, a control mechanism that is communicatively connected to the encoder can be provided to obtain data detected by the encoder, and then the data can be processed into back contour data by the control mechanism. At the same time, the control mechanism can be communicatively connected to a structure that controls the motion trajectory of the cutter so as to perform a back-opening operation on the shrimp according to the back contour data. This will be explained in detail in the subsequent description of the cutting device that executes the back-opening control method.

[0312] According to the back opening control method provided in an embodiment of the present application, the above configuration includes a detection element capable of swinging about a first swing axis, prompting the shrimp to pass outside the detection element, thereby prompting the detection element to swing about the first swing axis, and obtaining the shrimp back contour data. The steps may also include:

[0313] The back contour data is compensated according to the compression amount of the shrimp by the detection element to obtain the compensated back contour data.

[0314] According to the back-opening control method provided in the embodiment of the present application, in the back-opening control method, the obtained back contour data is also compensated according to the compression amount of the shrimp by the detection element to obtain the compensated back contour data. That is to say, after the back contour data is obtained by detection, compensation is performed according to the compression amount of the shrimp, and the back contour data is compensated according to the cutting amount as mentioned above. In this way, it is ensured that when the cutting operation is performed on the shrimp, the shrimp can be cut more accurately.

[0315] In the embodiment, when the shrimp passes through the outside of the detection element, the detection element will squeeze the shrimp, which will cause the shrimp to deform and be compressed. Therefore, the height data in the back contour data detected by the detection element is actually the height data of the shrimp body after compression. The actual height data of the shrimp body is greater than the height data. Therefore, according to the back opening control method provided in the embodiment of the present application, this part of the height difference that was originally compressed is compensated to the detected height data by compensation, so as to avoid the situation where the cutting is too shallow due to only using the back contour data obtained by the detection data as the basis for cutting.

[0316] In an embodiment, the required height difference to be compensated can be obtained through experiments. For example, the actual height data can be obtained by measuring the height of shrimp within a certain size range. The shrimp is then passed outside a detection element to obtain the detected height data. The difference between the two is calculated. After multiple experiments on the same shrimp and the height data differences of different shrimp within the same size range are statistically analyzed, the compensated height difference of shrimp within that size range is obtained. Based on this method, a table of compensated height differences can be created for consecutive size ranges. This height difference table can be stored in a memory for access by the control mechanism.

[0317] According to the back opening control method provided in an embodiment of the present application, the back contour data is compensated according to the compression amount of the shrimp by the detection element, and the step of obtaining the compensated back contour data may further include:

[0318] The shrimp body is divided into multiple segments according to the shrimp joints, and different compensation amounts are performed on each segment of the shrimp body according to the hardness of the shrimp joints.

[0319] As mentioned above, in addition to the height difference compensation steps provided above, different height difference compensations are also provided for different sections based on the hardness of each joint of the shrimp body. This is because harder joints will cause the shrimp body to deform less under pressure, while softer joints will cause the shrimp body to deform more under pressure. The former require less compensation, while the latter require more. In this way, this compensation method further ensures that the cutting depth of the back is more accurate.

[0320] According to the back opening control method provided in an embodiment of the present application, the step of compensating the back contour data according to the compression amount of the shrimp by the detection element and obtaining the compensated back contour data may further include:

[0321] Depending on the size of the shrimp, smaller compensation amounts are provided for larger shrimp and larger compensation amounts are provided for smaller shrimp.

[0322] It's also understandable that because shrimp batches are divided into size ranges, larger shrimp have harder shells that are less compressible, while smaller shrimp have softer shells that are more compressible. Therefore, a smaller compensation amount is provided for larger shrimp, while a larger compensation amount is provided for smaller shrimp.

[0323] According to the back-opening control method provided in an embodiment of the present application, the above-described configuration of a detection element capable of swinging about a first swing axis causes a shrimp to pass outside the detection element, thereby causing the detection element to swing about the first swing axis to obtain shrimp back profile data. The step further includes calculating the shrimp back profile data based on the detection element's swing radius and swing angle. This will be further illustrated in the following specific examples.

[0324] According to the back opening control method provided in an embodiment of the present application, the steps of causing the shrimp to pass outside the detection element, thereby causing the detection element to swing around the first swing axis to obtain the shrimp back contour data include:

[0325] The shrimp is forced to pass through the outside of the detection element, and the height points on the shrimp are obtained through the detection element. Then the first judgment is performed: whether the detection conditions are met at this time, and a fault tolerance time is set after the first judgment. Then the second judgment is performed: whether the detection conditions are met at this time. If so, continue to collect height data. If not, re-acquire the height points on the shrimp.

[0326] In this way, according to the back opening control method provided in the embodiment of the present application, the accuracy and reliability of high-level data collection are ensured through repeated judgment and setting of fault-tolerant time.

[0327] According to the back opening control method provided in an embodiment of the present application, the step of causing the shrimp to pass outside the detection element, thereby causing the detection element to swing around the first swing axis to obtain the shrimp back contour data further includes:

[0328] After collecting the height data, determine whether there is a height mutation point in the height data. If there is a height mutation point, replace the height mutation point with the same data as the previous point. If there is no height mutation point, compensate the collected height data and convert it into a swing angle.

[0329] According to the back contour data, the shrimp is cut to open the back, including:

[0330] A cutter configured to swing about a second swing axis parallel to the first swing axis;

[0331] According to the swinging angle, the shrimp performs a cutting operation to open the back of the shrimp.

[0332] In the embodiment, by eliminating height mutation points, a continuous back contour curve that conforms to the shrimp back condition is obtained, thereby ensuring that the cutting process can be performed stably when the shrimp back is opened according to the back contour curve.

[0333] Based on the above description, the data compensation process is specifically illustrated here.

[0334] Specifically, at the encoder level, data compensation refers to processing the raw data detected and collected by the encoder after it is converted into vertical displacement and processing the length data in the horizontal direction.

[0335] In the depth direction, that is, in the height direction, shrimps of the same size have different degrees of softness and hardness in different joints: the shrimp head is softer and has a larger compensation amount, while the tail limbs are harder and have a smaller compensation amount. Figure 20 As shown, in terms of compensation amount, H1>H2>H3>H4>H6>H5.

[0336] In addition, as mentioned above, shrimps of different sizes (i.e. different specifications) have different degrees of hardness and softness of the same joints. The shells of small shrimps are relatively soft, so the deformation is large, and the corresponding compensation is large. The shells of large shrimps are relatively hard, so the deformation is small, and the corresponding compensation is small. Figure 20 As shown in the figure, for the same segment of shrimp body, H1 of large shrimp is less than H1 of small shrimp, and the compensation amount differences of other segments are also the same.

[0337] In the embodiment, different shrimp cutting methods and different cutting depths can be set, and the cutting depths at the same position are inconsistent, such as Figure 21 Full open back, Figure 22 Two-five opening Figure 23 As shown in Figure 15, the operator sets the cutting depth h c When fully opened h b =h d =0,h c >0, 25 open h b <0,h c >0,h d <0, one five open h b =0,h c >0,h d <0; for example, the operator sets the cutting depth h c , choose the 250-250 shrimp cutting method, the corresponding depth compensation Δh in the third section is: Δh=H3+h c .

[0338] In the embodiment, the detection element is in a rising process from the starting detection position to the sixth position, and the length of the data collected in this process is as follows: Figure 20 As shown in L7, the tail limb does not need to be cut, so this section of data is removed. The remaining positions from L1 to L6 are the shrimp body as described above. The detection element is a descending process from leaving the shrimp head position to the end detection position. During this process, the length of the sample is as follows: Figure 20 As shown in L0, this section of data does not need to be cut and is directly discarded. In addition, shrimp with broken tail limbs or broken joints are cut as normal shrimp without special treatment.

[0339] In an embodiment, the lengths of the joints at the same position of shrimps of different sizes are different, such as Figure 20 As shown, L1 to L6 are different due to the different sizes of shrimps, so when the shrimps are cut in different ways, the corresponding lengths of a, b, c, and d are different.

[0340] Based on the above description, the encoder data conversion method is further described. In this embodiment, since the encoder collects data in the form of pulse numbers and the shrimp cutting action is the vertical displacement of the cutter, the pulse number is converted into vertical displacement to ensure that the cutter can perform the cutting operation.

[0341] In the embodiment, the following is the process of converting the number of pulses collected by the encoder into the angle of rotation of the detected swing arm: the number of pulses collected by the encoder is n, the number of pulses per encoder rotation is N=3600, and the detected rotation angle α is:

[0342]

[0343] like Figure 24 As shown, the angle of rotation of the detection swing arm is converted into the vertical displacement of the detection wheel. The rotation radius r of the detection swing arm, the rotation angle α, and the known angle α1, the displacement y of the detection swing arm movement is:

[0344]

[0345] The displacement of the detection arm is compensated to obtain new displacement data. The compensated data in the height direction is Δh (based on the height of the acquisition point, downward is positive, upward is negative). The compensated data Y is: Y = y + Δh.

[0346] like Figure 25 As shown, the compensated data is converted into the angle of rotation of the cutting swing arm. The cutting swing arm rotation radius R, known angles β1 and β2, the angle β of the cutting swing arm rotation is:

[0347]

[0348] The horizontal displacement of the detection and cutting swing arms has a relatively small impact on shrimp cutting and can be ignored.

[0349] In addition, it is necessary to Figure 24 and Figure 25 The expressions that appear in the text are as follows:

[0350] The meaning of the collection point: at a certain collection moment, the shrimp body pushes the detection wheel to a certain position, and records the height data of the detection swing arm at that position.

[0351] for Figure 24 The starting point in the parameter is the reference point of the detection wheel. That is, the swing angle of the detection wheel is based on this point, and the angle between the subsequent detection swing arm and the starting point (reference point) is calculated when the detection wheel is at the collection point.

[0352] for Figure 25 The starting point in the figure means: the reference point of the subsequent cutting swing arm. The height of the cutting swing arm is the distance it swings downward based on this point.

[0353] for Figure 25 The meaning of the cutting point is: the position where the cutting arm reaches after the collected data is compensated and converted and the processed data swings from the starting point.

[0354] As for α1, it is known because the rotation center of the detection swing arm is fixed and known at the structural level, the horizontal direction is determined, and the starting point position can be determined by adjusting the hard limit (generally, the detection wheel is a fixed distance above the lowest plane or is level with the lowest plane), so the angle between the two is determined and known.

[0355] As for β1, it is known because the rotation center of the cutting swing arm is fixed and known at the structural level, the horizontal direction is determined, and the starting point position is determined and known by setting the zero point by the software, so the angle between the two is determined and known.

[0356] As for β2, it is known because the distance between the lowest plane and the rotation center is known, and the tangent position of the tool landing point and the lowest plane is known, so β2 is known.

[0357] Figure 24 The lowest plane and Figure 25 The lowest planes are on the same level. Figure 24 The starting point and Figure 25 When the tool drop point is at its lowest position, the detection wheel is tangent to the lowest plane.

[0358] Next, the above cutting device is further introduced to execute the above back opening control method. Figures 31 to 33 The structure and working principle of the cutting device are described in detail.

[0359] According to the cutting device provided in the embodiment of the present application, the cutting device includes the detection element and the cutter mentioned in the above description, and also includes a first conveyor belt 510 , a second conveyor belt 520 and a correction wheel 410 .

[0360] In an embodiment, the first conveyor belt 510 has a first conveying surface, and the second conveyor belt 520 has a second conveying surface. Both the first conveying surface and the second conveying surface are inclined relative to the horizontal direction to jointly define a trough-shaped portion, which is used to convey the material to be cut, that is, shrimp.

[0361] In an embodiment, the correction wheel 410 is arranged above the groove-shaped portion, and the correction wheel 410 can rotate around a first axis coaxial with the correction wheel 410. The correction wheel 410 can also swing around a second axis parallel to the first axis. The correction wheel 410 is used to press on the material to be cut passing from under the correction wheel 410.

[0362] In an embodiment, the cutter as described above is disposed downstream of the correction wheel 410 in the conveying direction of the first conveyor belt 510 , and the cutter is capable of cutting the material to be cut.

[0363] Thus, according to the cutting device provided in the embodiment of the present application, the cutting device uses the first conveyor belt 510 and the second conveyor belt 520 to define a trough portion to convey the material to be cut, ensuring that the material to be cut obtains a stable posture in the trough portion, especially the strip-shaped material can be confined in the trough portion with its own extension direction as the direction of being conveyed, and to a certain extent, it will not tip over. On this basis, according to the cutting device provided in the embodiment of the present application, when the material to be cut passes under the correction wheel 410, the material is subjected to the pressure of the correction wheel 410 and moves toward the bottom side of the trough portion, so that its position can be corrected by the first conveying surface and the second conveying surface, so that its own extension direction is consistent with the conveying direction of the first conveyor belt 510, which facilitates the use of the cutter to cut the material along the extension direction of the material itself.

[0364] In an embodiment, the first conveyor belt 510 and the second conveyor belt 520 can both be conveyor belts. As an example, the structure driving each conveyor belt may include two wheel structures arranged side by side, namely a driving wheel and a driven wheel. The driving wheel can be driven by a conveyor belt motor 800, which can also be fixed to the mounting member 600 mentioned later. The conveyor belt is sleeved on the outside of the two wheel structures. It can be understood that the axes of the two wheel structures are inclined relative to the horizontal direction, thereby ensuring that the first conveying surface and the second conveying surface can also be inclined.

[0365] Therefore, in fact, the first conveying surface and the second conveying surface can be formed into a trough portion with a V-shaped cross section, or a trough portion with a cross section approximately similar to a V-shaped cross section, which is particularly beneficial for causing the extending direction of strip-shaped materials, such as shrimp, to be consistent with the direction in which they are conveyed.

[0366] In an embodiment, a mounting bracket 700 may be provided, and the wheel structure may be rotatably provided on the mounting bracket via a bearing.

[0367] According to the cutting device provided in an embodiment of the present application, the cutting device may include a second transmission assembly and a second motor 430. The second motor 430 may be arranged on the mounting member 600. The second transmission assembly may be arranged in the correction swing arm 420. The second transmission assembly may transmit and connect the second motor 430 and the correction wheel 410 so that the second motor 430 can drive the correction wheel 410 to rotate around the first axis.

[0368] In an embodiment, as an example, the mounting member 600 may be a vertically arranged mounting plate, and the mounting plate and the correction swing arm 420 may be rotatably connected, for example, a hole is opened on the mounting plate, and a bearing is arranged on the outside of the correction swing arm 420 to be rotatably connected to the mounting plate.

[0369] In an embodiment, the conveyor motor 800 mentioned in the above description may also be disposed on the mounting member 600. Specifically, the conveyor motor 800 and the second motor 430 may be fixed to the same side of the mounting member 600 of the mounting plate, and the mounting plate may be provided with a hole for the motor shaft of the conveyor motor 800 to pass through, so that the conveyor motor 800 can be in driving connection with the first conveyor belt 510 located on the other side of the mounting plate.

[0370] In an embodiment, the end of the motor shaft of the conveyor motor 800 can be provided with a wheel structure (not shown in the figure), and the driving wheel of the first conveyor belt can be, for example, connected to the wheel structure by transmission. For example, the driving wheel can be coaxially connected to another wheel structure (not shown in the figure), that is, the other wheel structure is the same as the driving wheel, and the axis is inclined relative to the horizontal plane. For example, an axis structure (not shown in the figure) can be provided between the other wheel structure and the driving wheel. In order to maintain the axis structure, the cutting device can also be provided with a horizontally arranged retaining plate on the side where the first conveyor belt 510 is located, and the axis structure is inserted in the retaining plate and can be rotatably connected to the retaining plate, for example, a bearing (not shown in the figure) is sleeved on the outside of the axis structure.

[0371] In an embodiment, the other wheel structure and the wheel structure at the end of the motor shaft of the conveyor motor 800 can be connected by a belt (not shown in the figure), that is, the belt is arranged on the outside of the wheel structure at the end and the outside of the other wheel structure. In this way, the wheel structure at the end can drive the other wheel structure to rotate when the conveyor motor 800 drives the wheel structure at the end to rotate, and then the other wheel structure drives the driving wheel to rotate.

[0372] It should be noted that the belts mounted on the outer sides of the terminal wheel structure and the outer sides of the other wheel structure can be synchronous belts, and both the terminal wheel structure and the other wheel structure can be synchronous wheels. It should also be noted that due to the tilted axis of the other wheel structure, the synchronous belt may be twisted, as long as such twisting does not cause interference with the synchronous belt itself.

[0373] In addition, on the side of the mounting plate where the first conveyor belt 510 is located, another motor and a corresponding transmission structure (not shown in the figure) can be set up with reference to the above conveyor belt motor 800 to drive the second conveyor belt 520. Since the principle and setting method are the same, they will not be repeated here.

[0374] According to the cutting device provided in the embodiment of the present application, the second transmission assembly may include: a third wheel component 424 and a fourth wheel component 425. In the embodiment, the third wheel component 424 may be coaxially connected to the second motor 430, the fourth wheel component 425 may be transmission-connected to the third wheel component 424, and the fourth wheel component 425 may be coaxially connected to the correction wheel 410, for example, coaxially connected to the correction wheel 410 via a shaft.

[0375] In an embodiment, the correction swing arm 420 may have a second shell (that is, the second shell is rotatably connected to the mounting plate), and the third wheel component 424 and the fourth wheel component 425 are both arranged inside the second shell, wherein the third wheel component 424 and the fourth wheel component 425 are both capable of rotating relative to the second shell.

[0376] As an example, power can be transmitted between the third wheel member 424 and the fourth wheel member 425 via a belt. As an example, the sides of the third wheel member 424 and the fourth wheel member 425 can both have an annular groove for a belt to be disposed on the third wheel member 424 and the fourth wheel member 425 in a manner that does not protrude from the outside of the third wheel member 424 and the fourth wheel member 425. Alternatively, the third wheel member 424 and the fourth wheel member 425 are both synchronous wheels, and power can be transmitted between them via a synchronous belt.

[0377] On this basis, if Figure 33 As shown, the second housing includes a first arm portion 422 with the first axis as its axis, a second arm portion 423 with the second axis as its axis, and a second housing body 421 connected between the first arm portion 422 and the second arm portion 423. The motor shaft of the second motor 430 can be coaxially connected to the shaft portion disposed in the first arm portion 422, and a shaft member coaxial with the correction wheel 410 is disposed in the second arm portion 423. A bearing can be disposed between the shaft portion in the first arm portion 422 and the first arm portion 422, i.e., the bearing is sleeved on the outside of the motor shaft. Therefore, the motor shaft and the aforementioned shaft member can both rotate relative to their respective arms.

[0378] In the embodiment, the end of the shaft portion in the first arm portion 422 is fixedly connected to the third wheel member 424 as described above, and the end of the shaft member as described above is fixedly connected to the fourth wheel member 425 as described above. In addition, as described above, the third wheel member 424 and the fourth wheel member 425 can be connected to each other by a transmission such as a belt or a synchronous belt.

[0379] It should be noted that even if the second motor 430 does not drive the correction wheel 410 to rotate, it is sufficient for the correction wheel 410 to correct the posture of the material by applying pressure to the material. The purpose of the correction wheel 410 being driven by the second motor 430 is to match the movement speed of the object with the rotation speed of the correction wheel 410, reduce the resistance between the material and the correction wheel 410, thereby ensuring that the material and the first conveyor belt 510 and the second conveyor belt 520 move at the same speed without slipping, thereby improving the stability of shrimp feeding.

[0380] In addition, as described later, the first conveyor belt 510 may further include a first pricking portion protruding from the first conveying surface, and the second conveyor belt 520 may further include a second pricking portion protruding from the second conveying surface, and both the first pricking portion and the second pricking portion are used to pierce the object to be cut, such as a shrimp body. In an embodiment, because the curve of the shrimp back cut by the cutter 110 is essentially a two-dimensional curve, it is defined by two dimensions: length (horizontal axis) and height (vertical axis). The height is obtained by the encoder described later, that is, it is calculated by detecting the swing of the pressure wheel, and the length can be obtained by the pricking portion piercing the shrimp body, ensuring that the shrimp body and the conveyor belt do not slip during the transportation of the shrimp body and that the conveyor belt is accurately driven (for example, the conveyor belt is driven by a servo motor) without position deviation to ensure the accuracy of the obtained length.

[0381] In addition, in the embodiment, the correction wheel 410 can correct the posture of the shrimp body when pressing the shrimp body, and on the other hand, as mentioned above, it promotes the piercing part to penetrate the shrimp body when pressing the shrimp body, ensuring that there is no slippage between the subsequent shrimp body and the conveyor belt, and ensuring that the detection wheel 310 described below detects accurately and the cutter 110 cuts accurately.

[0382] According to the cutting device provided in the embodiment of the present application, the cutting device includes the above-mentioned detection assembly, and the detection assembly may include the above-mentioned detection elements arranged with parallel axes, that is, the detection wheel 310 and the above-mentioned encoder 330 (that is, the axes of the detection wheel 310 and the encoder 330 are parallel). The detection assembly is arranged between the correction wheel 410 and the cutter in the conveying direction. The detection wheel 310 can rotate around a third axis coaxial with the detection wheel 310, and the detection wheel 310 can also swing around a first swing axis parallel to the third axis.

[0383] In an embodiment, a detection wheel 310 may be positioned above the grooved portion. The detection wheel 310 may be configured to continuously press against the material to be cut as it passes beneath the detection wheel 310. The encoder 330 then detects the rotational state of the detection wheel 310 as the material to be cut passes through the detection wheel 310. In an embodiment, the cutting device further includes a control mechanism that communicates with the encoder 330 to receive the rotational state and control the height at which the cutter cuts the material to be cut.

[0384] In an embodiment, the detection wheel 310 is caused to swing at a different angle as the material passes through it. The encoder 330 obtains the change in this process, which is received by the controller. The subsequent cutter is controlled accordingly based on this change to cut the material with the same height change, such as cutting the back of a shrimp, so that the shrimp can be cut according to the contour of the shrimp itself, ensuring the accuracy of the cutting.

[0385] In the embodiment, since the detection wheel 310 is continuously pressed against the material to be cut passing thereunder, this contact detection method allows the detection wheel 310 to exert pressure on the shrimp body when the material to be cut, such as shrimp, passes by. In addition, the detection wheel 310 always fits the shrimp, thereby reducing detection interference.

[0386] In an embodiment, the detection wheel 310 also has a corresponding swing arm, namely the detection swing arm 320. A bearing can be provided inside the detection swing arm 320, which is coaxial with the detection wheel 310, to reduce the rotational resistance of the detection wheel 310 and the resistance between the material and the detection wheel 310, thereby ensuring that the material and the first conveyor belt 510 and the second conveyor belt 520 move at the same speed without slipping, thereby improving the stability of shrimp feeding. In other words, a bearing is provided inside the detection swing arm 320, which is sleeved on the outside of the shaft of the detection wheel 310, to ensure that the detection wheel 310 can rotate relative to the detection swing arm 320. In addition, the detection swing arm 320 can be, for example, a solid swing arm structure, which can be rotatably connected to the mounting member 600 by, for example, a bearing, and connected to the encoder 330 provided on the mounting member 600, that is, the detection swing arm 320 is coaxially arranged with the encoder 330 to obtain the swinging of the detection swing arm 320 through the encoder 330.

[0387] In an embodiment, the continuous pressing of the material by the detection wheel 310 mentioned in the above description can be achieved by the deadweight of the detection wheel 310 and the detection swing arm 320, that is, when the material is transported by the two conveyor belts as above, the above-mentioned material, such as shrimp, passes through the position of the detection wheel 310 and will use its own back to overcome the deadweight of the detection wheel 310 and the detection swing arm 320, and lift the detection wheel 310. Due to the aforementioned deadweight, the detection wheel 310 always has a downward movement tendency after being lifted up, so that continuous pressing of the material can be achieved.

[0388] According to the cutting device provided in the embodiment of the present application, the cutter may have a fifth axis, and the cutter may rotate around the fifth axis to cut the material to be cut. The cutter may also swing around the second swing axis as mentioned above which is parallel to the fifth axis.

[0389] In an embodiment, the cutting device may further include a mounting member 600 and a cutting swing arm 120, the cutter may be rotatably connected to the cutting swing arm 120 so as to be able to rotate around a fifth axis, the cutting swing arm 120 may be rotatably connected to the mounting member 600, and the cutting swing arm 120 may drive the cutter 110 so that the cutter swings around a second swing axis.

[0390] The cutting device provided according to an embodiment of the present application may include a first transmission assembly and a first motor 130. The first motor 130 may be arranged on the mounting member 600. The first transmission assembly may be arranged in the cutting swing arm 120. The first transmission assembly may transmit and connect the first motor 130 and the cutter so that the first motor 130 can drive the cutter to rotate around the fifth axis.

[0391] Here, a third transmission assembly can be set on the outside of the cutting swing arm 120. The third transmission assembly may include a driving wheel, a driven wheel and a conveyor belt, which is connected to the third motor 140 with a driving wheel through the conveyor belt. For example, the outside of the cutting swing arm 120 may have a driven wheel, and the driving wheel and the driven wheel are connected by the conveyor belt, so that the cutting swing arm 120 rotates relative to the mounting component 600. The rotation method here can still be achieved through the bearing, so that the cutting swing arm 120 is driven by the third motor 140 to rotate, and then the cutter 110 is driven to swing around the sixth axis.

[0392] Similar to the above second transmission assembly, the first transmission assembly may include a first wheel component and a second wheel component. The first wheel component may be coaxially connected to the first motor 130 , the second wheel component may be transmission-connected to the first wheel component, and the second wheel component may be coaxially connected to the cutter.

[0393] In an embodiment, the cutting swing arm 120 may have a first housing, and the first wheel component and the second wheel component may be disposed inside the first housing, wherein the first wheel component and the second wheel component may be rotatable relative to the first housing.

[0394] As mentioned in the above description, here, the form of the first transmission component can be exactly the same as the form of the second transmission component, including the transmission method between the first wheel component and the second wheel component, and the transmission method between the first wheel component and the second wheel component can also be belt drive. In addition, bearings can be used between them and the two arms of the first shell to be set between the inner walls of their respective arms. The setting form of the first motor 130 can be the same as that of the second motor 430, so it will not be repeated here.

[0395] The cutting device provided in accordance with an embodiment of the present application may further include a cutting wheel 210. The cutting wheel 210 may be disposed upstream of the cutter in the conveying direction. The cutting wheel 210 may rotate about a seventh axis coaxial with the cutting wheel 210 and may also swing about an eighth axis parallel to the seventh axis. The cutting wheel 210 may also swing by providing a wheel swing arm 220 rotatably connected to the mounting plate, similar to that described above.

[0396] In an embodiment, the cutting wheel 210 may be disposed above the grooved portion to press the material to be cut passing below the cutting wheel 210. Furthermore, the cutting wheel 210 may have an annular groove disposed on the side thereof, the annular groove being used to press the material to be cut, and the cutter extending into the annular groove.

[0397] In this embodiment, the cutting wheel 210 is configured substantially identically to the correction wheel, differing in that it is positioned immediately adjacent to and upstream of the cutter. This proximity is reflected in the cutter extending into an annular groove of the cutting wheel 210. The function of the cutting wheel 210 is to use the annular groove to locate the position and posture of the material, ensuring accurate and stable cutting by the cutter. Since the cutter extends into the annular groove, it is readily understood that when the cutting wheel 210 presses against the material, the material is immediately cut by the cutter, resulting in instantaneous coordination between the cutter and the cutting wheel 210.

[0398] According to the cutting device provided in an embodiment of the present application, as a specific example, the cutting device may further include a correction swing arm 420, the correction wheel 410 may be rotatably connected to the correction swing arm 420 so as to be able to rotate around a first axis, and the correction swing arm 420 is rotatably connected to the mounting member 600 so that the correction wheel 410 swings around a second axis.

[0399] According to the cutting device provided in the embodiment of the present application, the first conveyor belt 510 may have a first needling portion (for example, a needle structure 530) protruding from the first conveying surface, and the first needling portion is used to pierce into the material to be cut. The second conveyor belt 520 has a second needling portion (for example, a needle structure 530) protruding from the second conveying surface, and the second needling portion is used to pierce into the material to be cut, thereby facilitating the positioning of the material to be cut. As an example, as mentioned above, the material to be cut may be shrimp, and the first needling portion and the second needling portion both pierce the shrimp shell, and the cutter performs back-opening cutting on the shrimp.

[0400] In addition, as an example, the angle between the first conveying surface and the second conveying surface is 45° to 90°. Too small an angle may cause the material to be cut to be over-clamped, and too large an angle may make it difficult to straighten the material posture. This angle range makes it easy for shrimps of different sizes to be well centered and penetrated.

[0401] In addition, the sides of the correction wheel 410 and the detection wheel 310 as above can have annular grooves, for example, they can be consistent with the annular grooves of the cutting and pressing wheel 210, both of which are V-shaped cross-section grooves, and the sides of the correction wheel 410 and the detection wheel 310 can also be outer cylindrical surfaces.

[0402] In an embodiment, a dropping mechanism may be provided between the cutting device and the shelling mechanism to transfer the cut shrimps into the clamping space of the shelling mechanism. The structure and working principle of the dropping mechanism are as follows.

[0403] In this embodiment, the feeding mechanism is specifically arranged between the shrimp cutting process 64 and the shelling process in the shrimp production, so that it can receive the shrimp bodies led out by the shrimp cutting process 64, and guide the shrimp bodies to a posture convenient for the shelling process, and then stably transport them to the corresponding position of the shelling process, thereby effectively improving the efficiency of shrimp production. Figures 34 to 36 As shown, the blanking mechanism in this embodiment includes a fixing seat, a guide module and a pressing module. The guide module is used to receive the shrimp body, and the pressing module is used to press the shrimp body downward to the shelling process. The specific structure of the above-mentioned parts of the blanking mechanism according to the present application will be described in detail below.

[0404] In this embodiment, if Figures 34 to 36 As shown, the fixed base includes a first fixed plate 611 and a second fixed plate 612 connected to each other, which are arranged vertically to form a T-shaped structure of the fixed base, so as to facilitate the flexible arrangement of the guide module and the pressing module. The guide module includes a first blanking motor 621 connected to the first fixed plate 611, and its output shaft is perpendicular to the first fixed plate 611. In addition, the guide module also includes a connecting rod assembly and a first guide member 6231 and a second guide member 6232 connected to the connecting rod assembly. The first blanking motor 621 can control the movement of the connecting rod assembly, and thus the movement of the first guide member 6231 and the second guide member 6232 to adjust their opening and closing and the opening angle.

[0405] In this embodiment, if Figures 34 to 36 As shown, the guide module also includes a transmission component group 6226. The output shaft of the first blanking motor 621 passes through the first fixed plate 611 through a corresponding through hole and is connected to the first end of the transmission component group 6226 in the extension direction. The second end of the transmission component group 6226 in the extension direction is rotationally connected to the first fixed plate 611. In addition, the extension direction of the transmission component group 6226 is perpendicular to the axial direction of the output shaft of the first blanking motor 621, that is, the transmission component group 6226 is always parallel to the first fixed plate 611. Specifically, the transmission component group 6226 in this embodiment is formed as a conveyor belt mechanism. The first end of the transmission belt is mounted on the output shaft of the first blanking motor 621, and the second end of the transmission belt is mounted on a rotating shaft rotationally connected to the first fixed plate 611.

[0406] Furthermore, the connecting rod assembly in this embodiment also includes a first connecting rod 6221, a second connecting rod 6222, a third connecting rod 6223, a fourth connecting rod 6224 and a fifth connecting rod 6225. The first guide member 6231 and the second guide member 6232 are fixedly connected to the third connecting rod 6223 and the fourth connecting rod 6224 respectively, so that the first blanking motor 621 can transmit power to the first connecting rod 6221 through the transmission member group 6226, thereby driving the first connecting rod 6221 to swing, and then the first connecting rod 6221 drives the above-mentioned connecting rods to swing, thereby achieving the technical effect of adjusting the opening and closing of the first guide member 6231 and the second guide member 6232.

[0407] Specifically, if Figures 34 to 36 As shown, the first connecting rod 6221 is formed into a bent structure, and its bending part is fixedly connected to the second end of the transmission member group 6226, that is, its bending part is fixedly connected to the rotating shaft of the transmission member group 6226; the first end of the second connecting rod 6222 away from the guide groove is rotatably connected to the first end of the first connecting rod 6221 away from the guide groove; the first end of the third connecting rod 6223 is rotatably connected to the second end of the second connecting rod 6222, and its second end is rotatably connected to the first fixed plate 611; the first end of the fourth connecting rod 6224 is rotatably connected to the second end of the first connecting rod 6221 through the fifth connecting rod 6225, and its second end is rotatably connected to the first fixed plate 611 (that is, the two ends of the fifth connecting rod 6225 are rotatably connected to the first connecting rod 6221 and the fourth connecting rod 6224 respectively). In this way, when the rotating shaft of the transmission member group 6226 is driven to rotate by the first blanking motor 621, the above-mentioned connecting rods can all swing synchronously.

[0408] More specifically, in this embodiment, both the first guide member 6231 and the second guide member 6232 are formed into plate-like structures. To enhance the stability of the first guide member 6231 and the second guide member 6232, support rods 624 are provided at the first ends of the third connecting rod 6223 and the fourth connecting rod 6224, respectively. The two support rods 624 are connected to the first guide member 6231 and the second guide member 6232, respectively. Furthermore, both the first guide member 6231 and the second guide member 6232 are formed from flexible materials, i.e., they possess a certain degree of elasticity, which facilitates the correct alignment of the shrimp.

[0409] It should be noted that, during the swinging process of the third link 6223 and the fourth link 6224, an angle is always formed between the line connecting the two plane rotation center points of the third link 6223 and the line connecting the two plane rotation center points of the fourth link 6224 (each link has two rotation axes, and the two rotation axes are respectively located at the two ends of the link. The two rotation axes are projected onto the plane, which are the rotation center points on the two planes, and the line connecting the two rotation center points forms a straight line); similarly, an angle is always formed between the plane in which the guide groove is formed by the first guide member and the plane in which the guide groove is formed by the second guide member. The swinging of the connecting rod assembly can adjust the size of the above two angles accordingly.

[0410] Furthermore, when the shrimp body has not entered the guide module, the connecting rod assembly is controlled by the motor to be in the first state position. At this time, the bottom ends of the first guide member 6231 and the second guide member 6232 are in reliable contact, so that the first guide member 6231 and the second guide member 6232 form a V-shaped guide groove; preferably, the angle between the first guide member 6231 and the second guide member 6232 is greater than 60 degrees, thereby reducing the pressure angle of the first guide member 6231 and the second guide member 6232 on the shrimp body, so that the shrimp can enter smoothly without bending; in addition, the guide groove in a closed state can prevent the shrimp's small tail limbs from being stuck in the gap, resulting in the failure of shrimp entry.

[0411] When the shrimp is fully within the guide slot, the control link assembly swings to the second position. At this point, the bottom ends of the first and second guide members 6231 and 6232 separate, opening the guide slot. Preferably, the angle between the first and second guide members 6231 and 6232 is less than 45 degrees, effectively guiding the shrimp. This ensures that when the pressing block 632 presses down on the shrimp, the center plane of the pressing block 632 approximately coincides with the center plane of the shrimp. Furthermore, the shrimp is guided downward by the pressing block 632 and, in the absence of external force, will not freely fall through the opening. When the pressing block 632 presses down on the shrimp, the flexible deformation of the first and second guide members 6231 and 6232 exerts a force on the shrimp, further guiding it. In other words, the size of the opening is not fixed and can be flexibly adjusted based on actual conditions, such as the shrimp's size, to achieve the aforementioned technical effects.

[0412] It should be further noted that there are no specific limitations on the number of connecting rods in the connecting rod assembly or the specifications of each connecting rod. These limitations should be determined based on practical considerations, such as the position of the shrimp during the shrimp cutting process 64, as long as the aforementioned guide grooves can stably support the shrimp. Furthermore, the specific rotational structure employed between the connecting rods is not limited and can be achieved, for example, using a rotating shaft and bearings. This is conventional in the art and will not be further described.

[0413] In this embodiment, if Figure 34 As shown, the pressing module includes a cylinder connected to the second fixed plate 612 and a swing assembly connected to the cylinder, and the pressing block 632 is connected to the cylinder through the swing assembly. Specifically, the swing assembly includes a pressing rod 631, and the two ends of the pressing rod 631 in the extension direction are respectively connected to the output shaft of the cylinder and the pressing block 632, so that the pressing rod 631 can be controlled to swing through the cylinder, thereby driving the pressing block 632 to rise and fall. In this way, the shrimp body can be pressed down from the opening of the guide groove to the corresponding position of the shelling module by the pressing block 632; it should be noted that the pressing block 632 has a certain speed during the process of pressing down, and it should be ensured that the movement acceleration of the pressing block 632 is greater than the free fall acceleration g value (i.e. 9.8m / s 2 ) to ensure that the pressing block 632 is always in contact with the shrimp body during the shrimp pressing process, and the shrimp body is not in a free fall state, so as to ensure that the shrimp body always maintains an accurate posture (that is, the posture adjusted by the above-mentioned guiding module).

[0414] Furthermore, a limiting recess corresponding to the shrimp body is formed on the bottom end surface of the pressing block 632, which is used to limit the shrimp body during the downward pressing process, that is, to ensure that the shrimp body has no displacement relative to the pressing block 632, so that the shrimp body can be accurately pressed onto the shelling device of the shelling process.

[0415] It should be noted that the specific implementation of the swing assembly is not fixed. For example, in this embodiment, two pressing rods 631 are provided; alternatively, the lifting and lowering of the pressing block 632 can be controlled by a component such as a cylinder. Furthermore, details such as the assembly method and specifications of the fixing base, and the connection between the driving component (i.e., the first blanking motor 621) and the cylinder and corresponding components are not detailed here, as they are all conventional techniques in the art.

[0416] According to the present application, the blanking mechanism is positioned between the shrimp cutting process 64 and the shelling process. The connecting rod assembly in the guide module can adjust the rotation of the first guide member 6231 and the second guide member 6232, thereby regulating the opening and closing of the guide slot. Furthermore, the angle of the guide slot can be adjusted, thereby stably receiving the shrimp bodies in the shrimp cutting process 64 and guiding them in the correct direction. When the shrimp bodies are in a posture that matches the action of the shelling process, the pressing block 632 in the pressing module can press the shrimp bodies from the opening of the guide slot to the shelling process. That is, the shrimp bodies are not in a free-fall state and can always fall accurately into the shelling process in the correct posture to facilitate the shelling of the shrimp bodies. Thus, through this blanking mechanism, the shrimp bodies can be stably and accurately transferred from the shrimp cutting process 64 to the shelling process, thereby improving the efficiency of the shrimp production process.

[0417] In addition, when the shrimps are removed from the shelling mechanism, in order to prevent the shrimps from being damaged due to inertia of flying out, the processing equipment provided in the embodiment of the present application is also equipped with a deceleration mechanism, which will be described in detail below.

[0418] The deceleration mechanism is formed with a body 71 and is connected to the shelling mechanism. As mentioned above, the shelling mechanism can use inertia to realize the shelling of the shrimp body. After the shelling, the shrimp body with a high speed enters the body 71 under the action of inertia to realize the deceleration of the shrimp body. Figures 37 and 38 As shown, the main body 71 is formed into an arc-shaped structure that arches in the direction away from the shelling mechanism. The main body 71 is formed with a deceleration recess 711, and the deceleration recess 711 is also formed into an arc-shaped structure that arches in the direction away from the shelling mechanism (that is, the deceleration recess 711 in this embodiment has a similar structure to the main body 71); in addition, the deceleration recess 711 runs through both ends of the extension direction of the main body 71 to facilitate the introduction and export of the shrimp body.

[0419] In this embodiment, if Figures 37 and 38 As shown, the shelling mechanism is formed into a rectangular parallelepiped structure, which is also formed with a shelling groove corresponding to the shrimp body, and the direction in which the shrimp body escapes from the shelling mechanism is the extension direction of the shelling groove, that is, the length direction of the shelling mechanism. The body 71 is connected to the first end of the shelling mechanism in the length direction, and the second end of the shelling mechanism is provided with a rotation center 721 (the rotation center 721 is specifically formed as a rotating shaft connected perpendicularly to the shelling mechanism). The shelling mechanism can drive the body 71 to rotate synchronously around the rotation center, thereby utilizing centrifugal force to achieve shelling of the shrimp body. In addition, the extension direction of the rotation center 721 is set as the height direction of the shelling mechanism, correspondingly, the width direction of the shelling mechanism can be confirmed.

[0420] Specifically, in this embodiment, Figures 37 and 38 As shown, the deceleration recess 711 includes a first curved portion 7111 and a second curved portion 7112 connected in sequence. The first end of the first curved portion 7111 is connected to the first end of the shelling mechanism in the longitudinal direction to facilitate the introduction of the shrimp body, and the first curved portion 7111 is located at the first end of the shelling mechanism in the width direction. The first curved portion 7111 is formed into an arc-shaped structure, and along the curvature direction of the first curved portion 7111, from the first end of the first curved portion 7111 to the second end of the first curved portion 7111, the first curved portion 7111 extends in a direction gradually away from the rotation center 721. During the actual shelling process of the shrimp body, the shelled shrimp body enters the portion of the deceleration recess 711 located at the first curved portion 7111. Under the action of centrifugal force and inertial force, the shrimp body is still in an accelerated state.

[0421] Furthermore, along the curvature of the second curved portion 7112, the second curved portion 7112 is also formed into an arc-shaped structure, and along the curvature of the second curved portion 7112, from the first end of the second curved portion 7112 to the second end of the second curved portion 7112, the second curved portion 7112 extends in a direction gradually approaching the rotation center 721, so that the first end of the second curved portion 7112 is located at the first end in the length direction of the shelling mechanism, and the second end of the second curved portion 7112 is located at the second end in the width direction of the shelling mechanism. In this arrangement, the portion of the deceleration recess 711 located at the second curved portion 7112 can gradually reduce the sliding speed of the shelled shrimp body, that is, achieve deceleration of the shrimp body.

[0422] It should be noted that the connection between the first curved portion 7111 and the second curved portion 7112 has a smooth transition, and the main body 71 described below also has a complete structure with a smooth transition.

[0423] In this embodiment, the linear structure of the main body 71 is similar to the deceleration recess 711, that is, two curved portions are also formed, so that the main body 71 is also formed into an arc-shaped structure that arches in the direction away from the shelling mechanism. In this way, the shrimp body with a higher initial velocity after shelling first moves in the direction away from the shelling mechanism (the rotation center 721), and then moves in the direction close to the shelling mechanism (the rotation center 721). The curved deceleration recess 711 can decelerate under the action of centrifugal force, thereby effectively avoiding the problem that the shrimp body is thrown off at high speed, causing the shrimp meat to be damaged and difficult to collect.

[0424] Preferably, the linear structure of the first end of the deceleration recess 711, which interfaces with the shelling groove of the shelling mechanism, is formed into a line segment, which then transitions into the aforementioned arc structure to facilitate receiving the shrimp body. That is, the deceleration recess 711 essentially comprises a line segment portion, a first curved portion 7111, and a second curved portion 7112, which are connected in sequence. The first end of the first curved portion 7111 is connected to the shelling mechanism via the line segment portion.

[0425] It should be noted that there is no restriction on the specific shape of the deceleration recess 711. For example, (its cross-section) can be formed into an arc shape or a V-shape, so that the liquid carried by the shrimp body is concentrated in the bottom area of ​​the deceleration recess 711 under the action of centrifugal force, which can lubricate the inner surface of the deceleration recess 711 during the sliding of the shrimp body to reduce damage to the shrimp meat; in addition, the deceleration recess 711 should be able to keep the shrimp body relatively in the bottom area of ​​the deceleration recess 711 to avoid the shrimp body sliding up and down during the deceleration movement and causing damage to the shrimp meat.

[0426] It should be further noted that the specific specifications of the body 71 (and the deceleration recess 711) are not limited, as long as they can achieve the above-mentioned technical effects. However, the bending radius of the deceleration recess 711 along the inner contour line should be no less than 10 mm to avoid excessive bending of the shrimp body due to a too small bending radius, which may damage the shrimp meat.

[0427] According to the deceleration mechanism and shelling device of the present application, the deceleration mechanism is formed with a body 71 connected to the shelling mechanism. The body 71 and the deceleration recess 711 are both formed into an arc-shaped structure that arches away from the shelling mechanism. The deceleration recess 711 extends through both ends of the body 71. In this way, the shrimp bodies after being shelled by inertia can directly enter the deceleration recess 711. After passing through the curved deceleration recess 711, they are decelerated by centrifugal force, effectively preventing the shrimp bodies from being thrown off at high speed, resulting in damage to the shrimp meat and difficulty in collection.

[0428] Based on the technical features described above, combined with Figures 39 to 45 The processing equipment may further include a shell-meat separation mechanism. In an embodiment, the shell-meat separation mechanism is used to reduce the shell-meat connection force of the shelled material. The shell is connected to the content and has a shell-meat connection force, that is, the shrimp shell and the shrimp meat have a shell-meat connection force. The shell has an opening that connects the internal environment of the shell with the external environment of the shell.

[0429] Specifically, the shell-meat separation mechanism includes a pressure fluid delivery element for introducing a pressure fluid into the internal environment of the shell, so that the shell-meat connection force of the object to be shelled is reduced;

[0430] The shelling mechanism applies force to at least the shell and is configured to promote separation of the shell and the contents with reduced shell-meat connection force.

[0431] Thus, according to the processing equipment provided by the embodiment of the present application, the pressure fluid introduced into the internal environment of the object to be shelled is used to force the pressure fluid to enter between the contents of the object to be shelled and the shell, so that the contents and the shell are separated by the fluid, thereby reducing the original shell-meat connection force between the contents and the shell, making it easier for the contents that have been separated from the shell by the pressure fluid to move relative to the shell, thereby reducing the shelling force required for shelling, making shelling easier and more efficient. At the same time, due to the separation effect of the pressure fluid, it is easier to ensure the integrity of the contents, avoiding the situation where the contents are torn and still attached to the shell due to the tearing of the shell-meat connection force and the external shelling force.

[0432] Furthermore, due to the relative movement of the contents relative to the shell during shelling, the original location of the contents is no longer filled. Furthermore, when the shell and the contents are bound to a certain degree, the external air pressure cannot or cannot fully flow into the empty area of ​​the shell through the opening to achieve pressure balance.

[0433] Therefore, a certain degree of vacuum is generated in the aforementioned area, which provides a vacuum suction force that hinders the movement of the contents toward the opening, and also increases the shelling force required, which is not conducive to the shelling process. At the same time, because the shelling force directly acts on the contents, excessive shelling force is not conducive to ensuring the integrity of the contents.

[0434] According to the shell-meat separation mechanism provided in the embodiment of the present application, Figures 39 to 41 As shown, Figure 39 A schematic diagram showing the pressure fluid between the housing and the contents, Figure 40 and Figure 41 The relative positions of the shell and the contents before and after the introduction of the pressure fluid are shown in contrast. The pressure fluid is schematically shown as pressurized gas, the shell is schematically shown as a shrimp shell, and the contents are schematically shown as shrimp meat. Figures 39 to 41 Since the pressurized fluid is introduced between the shell and the contents, the pressurized fluid is conducive to promoting the balance between the above-mentioned areas and the external air pressure, that is, it is conducive to reducing the pressure difference between the above-mentioned areas and the external air pressure, thereby effectively reducing the vacuum degree in these areas and reducing the vacuum suction provided by these areas, thereby reducing the required shelling force, and at the same time helping to ensure the integrity of the contents.

[0435] In an embodiment, the purpose of the shell-meat separation mechanism is to reduce the shell-meat connection force of the shelled object, that is, to separate the shell and the contents contained therein from each other to obtain at least one of the two. In an embodiment, the pressure fluid can be, for example, a pressurized gas, and the subsequent description uses gas as an example. In addition, as an example, the pressure fluid can also be, for example, a pressurized liquid. It should be noted that the description of the structure, shape, and size related to the gas delivery element, such as the gas delivery element, also applies to the liquid delivery element.

[0436] As mentioned in the above description, with respect to the relatively important biofilm connection force, vacuum negative pressure and shell-meat squeezing force in the shelling resistance, the shell-meat separation mechanism provided in the embodiment of the present application can effectively reduce these three resistances by introducing gas between the shell and the meat.

[0437] As mentioned in the above description, when compressed gas is introduced into the shrimp shell and shrimp meat, the shrimp side, shrimp back, shrimp abdomen and tail limbs wrap the shrimp meat into a relatively closed whole open toward the shrimp head. The gas will diffuse rapidly and basically fill the entire shrimp shell and shrimp meat area. Under the action of the gas, the shrimp shell expands and the shrimp meat contracts, destroying the biofilm connection, thereby reducing the biofilm connection force.

[0438] As for the vacuum suction generated by the vacuum negative pressure, since the gas introduced has a certain pressure and good gas fluidity, it can enter the small areas where the shrimp shell and shrimp meat are closely attached, thereby retaining some gas in each small area. During the shelling process, the presence of gas in the gap can reduce the vacuum negative pressure.

[0439] Since the gas has a certain pressure, the shrimp shell expands. Therefore, during the shelling process, the large joints of the shrimp shell expand and become larger, which will significantly reduce the squeezing force on the internal shrimp meat, thereby reducing the shell-meat squeezing force. Figures 42 to 45 As shown, Figures 42 to 45 The shell-meat separation mechanism, the shrimp meat clamping device, and the shelling drive device configured to obtain subsequent experimental data are schematically shown. Combined with these drawings, according to the shell-meat separation mechanism provided in the embodiment of the present application, the ventilation method can be to utilize a gas delivery element such as an air needle, which can be inserted into the shell to introduce gas into the shell.

[0440] According to the shell-meat separation mechanism provided in the embodiment of the present application, the gas is introduced into the internal environment of the shell, and the gas introduction position can be located outside the opening portion; the shell is opened at the gas introduction position to introduce gas into the internal environment of the shell, so that the gas enters between the contents and the shell.

[0441] According to the shell-meat separation mechanism provided in an embodiment of the present application, after confirming the gas inlet position in the area outside the opening portion of the shell, the gas inlet position is opened and then gas is introduced therein. Providing the gas inlet position in the area outside the opening portion can better promote the flow of gas between the shell and the accommodating portion. In other words, the gas path can be relatively shortened. As an example, the gas inlet position can be, for example, the insertion position of the gas needle mentioned above. As the gas needle is inserted into the shell, the gas inlet position is opened.

[0442] According to the shell-meat separation mechanism provided in the embodiment of the present application, multiple pressure fluid delivery elements can be set, corresponding to multiple gas entry positions, and these gas entry positions are distributed on the shell according to the shape of the shell.

[0443] In this way, according to the shell-meat separation mechanism provided in the embodiment of the present application, multiple gas inlet positions can further shorten the diffusion path of the gas, thereby ensuring that the gas can be fully introduced between the shell and the contents.

[0444] Furthermore, as described above, in embodiments, the distribution of gas inlet locations can be based on the shape of the shell. For example, if the shell is strip-shaped, the gas inlet locations can be distributed along its extending direction. In other examples, if the shell has a curved surface, the gas inlet locations can be distributed along the changing area of ​​the curved surface. In general, whether the shell is a strip-shaped shell such as a shrimp shell or other shell shapes, the gas inlet locations can be arranged along the changing trend of its outer surface.

[0445] According to the shell-meat separation mechanism provided in an embodiment of the present application, as described above, as an example, the shell may have an extension direction, the open portion may be located on one side of the shell in the extension direction, the shell may include multiple shell portions connected in sequence in the extension direction, and the shell may have a position where the connection strength is reduced, and the aforementioned multiple shell portions can be divided into multiple groups by the position where the connection strength is reduced.

[0446] Therefore, in this example, the step of distributing the plurality of gas inlet locations on the shell according to the shape of the shell may include providing one or more gas inlet locations for each group. In an embodiment, a location with reduced connection strength may represent a location where the connection strength between the shell portions on either side of the location is lower than the connection strength between the shell portions on either side of the location and their respective adjacent shell portions.

[0447] In an embodiment, the connection strength reduction position causes a significant reduction in connection strength at that position, and the extension trend presented when extending to the connection strength reduction position is different from the previous extension trend. For example, the extension trend of a previous continuous group was relatively straight, but due to the sudden reduction in connection strength, the next portion begins to bend relative to the previous relatively straight portion, causing the extension trend to change.

[0448] Therefore, due to changes in extension trends, such as the tendency of the connection strength to decrease from being relatively straight to being curved, the gas flowing through the shell will experience greater pressure loss after passing through such curved locations. This will also reduce the space available for gas flow at these locations relative to relatively straight locations. Therefore, it is considered to configure corresponding gas inlet locations for the groups on both sides of the location where the connection strength decreases, to minimize the possibility that the gas in one group on either side of the location is completely supplied by the gas in the other group passing through the curved location. This will further facilitate the comprehensive diffusion of gas between the shell and the contents.

[0449] As mentioned in the above description, shells 1 to 6 can be used as the shell parts mentioned above, and shells 1 to 3 and shells 4 to 6 can be used as two groups respectively. Because the hinge points between the two (i.e., the connection strength is reduced), that is, the hinge force between shells 3 and 4 is weak, this also causes shells 4 to 6 to bend relative to shells 1 to 3. Therefore, gas inlet positions and corresponding gas needles can be configured for both groups. For example, gas needles can be inserted into the corresponding shell parts to introduce gas into the corresponding gas inlet positions.

[0450] Based on the above description, the following still takes the headless shrimp as an example and combines the experimental data to illustrate the distribution of the gas introduction position.

[0451] like Figures 42 to 45 As shown, an experimental structure experiment is set up (the experimental structure here is essentially the shelling method performed by the external clamping mechanism mentioned in the above description. The reason for adopting this type of experimental structure is that it directly applies force to the shrimp meat, which is more likely to cause damage to the shrimp meat, and thus it is easier to highlight the significant effect of the shell-meat separation mechanism during the experiment. At the same time, the straight-line example of the pulling shelling method is also easy to measure the shelling force). The tail limbs and shrimp meat are clamped separately, and compressed air is introduced into different parts of the shrimp body. Then, opposite directions of force are applied between the shrimp meat and the shrimp shell, and the magnitude of the force is recorded. The experimental record is as follows, among which, the tail limb retention situation: that is, the tail limb part that is successfully retained on the main body of the shrimp meat after shelling, "0" means not retained; the total mass is the total mass of the headless shrimp.

[0452]

[0453] Table 1: 10 groups of comparative examples of non-ventilated shelling

[0454]

[0455] Table 2: 10 groups of examples for selecting gas inlet positions at the shell 1

[0456]

[0457]

[0458] Table 3: 10 groups of examples for selecting gas inlet positions at shell 2

[0459]

[0460] Table 4: 10 groups of examples for selecting gas inlet positions at shell 3

[0461]

[0462] Table 5: 10 groups of examples for selecting gas inlet positions at the shell 4

[0463]

[0464]

[0465] Table 6: 10 groups of examples for selecting gas inlet positions at the shell 5

[0466]

[0467] Table 7: 10 groups of examples for selecting gas inlet positions at the shell 6

[0468]

[0469] Table 8: 10 groups of examples of selecting gas inlet positions at shell 2 and shell 6

[0470]

[0471] Table 9: Statistics and summary of the data in Tables 1 to 8 above

[0472] The experiment found that since shells 4, 5 and 6 are easier to form a whole through strongly connected joints, shells 1, 2 and 3 are easier to form a whole through strongly connected joints. When a ventilation point is set for shells 4, 5 and 6 and sufficient compressed gas is introduced, the shelling force is significantly reduced; when a ventilation point is set for shells 2 and 3 and sufficient compressed gas is introduced, the shelling force is reduced, but the effect is slightly worse than ventilation from shells 4, 5 and 6; when a ventilation point is set for shell 1 and sufficient compressed gas is introduced, the gas filling effect is poor due to the open head of the shrimp shell, and the effect of reducing the shelling force is not obvious.

[0473] The experiment also found that when sufficient compressed air was introduced into shells 2 and 3 through a single ventilation point, the separation of shells 1, 2, and 3 from the internal shrimp meat was significantly greater than when sufficient compressed air was introduced into shells 4, 5, and 6 through a single ventilation point. When sufficient compressed air was introduced into shells 2 through 6 through a single ventilation point, the tail limb retention rate was significantly improved.

[0474] Therefore, setting a point between shells 4 to 6 and between shells 2 and 3 to introduce sufficient compressed gas can achieve a good shell-meat separation effect and tail limb retention rate.

[0475] In addition, in the shelling device, the air needle can be arranged at least at one point, and can be arranged near the front side of the shrimp body support platform. It is preferred to arrange two air needles on the same side (such as Figure 45), the spacing between the two air needles varies for shrimps of different sizes. When the shrimp body length (excluding the tail limbs) is 50mm, the preferred spacing between the two air needles is 15-45mm. When the shrimp body length (excluding the tail limbs) is 90mm, the preferred spacing between the two air needles is 20-65mm. In general, to accommodate shrimp of different lengths and specifications, the preferred spacing between the two air needles is between 15-45mm.

[0476] According to the shell-meat separation mechanism provided in the embodiment of the present application, the external dimension N of the gas delivery element on the flow cross section satisfies: N≤5mm, and the dimension in the length direction is greater than 0.1mm.

[0477] In embodiments, an excessively large external dimension of the flow cross-section, for example, greater than 5 mm, makes it difficult to insert the gas delivery element into the housing, or even if inserted, damages the integrity of the housing. In embodiments, it should be noted that the gas delivery element has a lengthwise direction as mentioned above, i.e., the gas delivery element extends along the lengthwise direction. Furthermore, the "flow cross-section" mentioned above refers to the flow cross-section of the gas flow path within the gas delivery element. The flow cross-section at a particular location along the gas flow path should be understood to include the portion of the gas flow path intercepted by a plane perpendicular to the gas flow direction at that location as the flow cross-section at that location.

[0478] In embodiments, in conjunction with the above description, when the gas flow path is not a straight path, such as a zigzag path, the gas flow direction may be different at different locations along the gas flow path. As an example, the gas flow path may also be a straight path, and the direction of extension may be the length direction of the gas delivery element. Therefore, the flow cross section herein refers to the portion of the gas flow path intercepted by a plane perpendicular to the length direction.

[0479] In the embodiments, the "external dimensions of the flow cross-section" mentioned above should be understood to include the external dimensions of the resulting flow cross-section. These external dimensions affect both the integrity of the housing when the gas delivery element penetrates the housing and the dimensions of the gas delivery path within the gas delivery element. Therefore, the external dimensions can essentially ensure the integrity of the housing by limiting the diameter of the circumscribed circle of the flow cross-section.

[0480] Therefore, the above "N ≤ 5 mm" should be understood to include the following meaning: the diameter of the circumscribed circle of the flow cross-section is less than or equal to 5 mm. Furthermore, a gas delivery element with a longitudinal dimension greater than 0.1 mm facilitates its use in penetrating various shells, such as shrimp shells, which are typically 0.1 mm thick. Because the gas delivery element has a longitudinal dimension greater than 0.1 mm, it has sufficient length to penetrate the shrimp shell. For example, the length of the gas delivery element can be 0.2 mm, 0.3 mm, 0.4 mm, or even longer.

[0481] As an example, N may be 4.5 mm, 4.6 mm, 4.7 mm, 4.8 mm or 4.9 mm.

[0482] According to the shell-meat separation mechanism provided in the embodiment of the present application, the cross-sectional area of ​​the gas path of the gas delivery element is greater than or equal to 0.007 mm 2 As an example, the cross section of the gas path may be circular, for example.

[0483] Thus, according to the shell-meat separation mechanism provided in the embodiment of the present application, the cross-sectional area of ​​the gas path is greater than or equal to 0.007 mm 2 This is beneficial for ensuring good gas flow and reducing the pressure drop of the gas, thus avoiding the energy loss of the gas and reducing the effect of the flow between the shell and the contents. Specifically, the cross-sectional area can be the area of ​​the flow cross section as above, which can be, for example, 0.008 mm 2 , 0.009mm 2 , 0.010mm 2 or 0.011mm 2 , or even bigger.

[0484] In an embodiment, as an example, the gas path here can be provided by a gas delivery element as described above, which has been briefly mentioned in the above description. In fact, in the example where the gas delivery element is a gas needle, the gas path can be served by a hollow channel inside the gas needle.

[0485] Furthermore, for the example of headless shrimp as the object to be shelled, the length of the gas delivery element may be greater than or equal to 0.1 mm, thereby ensuring that the gas delivery element is long enough to easily penetrate into the shrimp shell.

[0486] According to the shell-meat separation mechanism provided in the embodiment of the present application, the gas pressure P at the end of the gas path facing the object to be shelled is configured so that P satisfies: external environment pressure ≤ P ≤ external environment pressure + 0.5 MPa.

[0487] Thus, according to the shell-meat separation mechanism provided in the embodiment of the present application, since the gas needs to quickly fill the shell and diffuse, the gas pressure at the outlet at the end of the gas path is greater than the ambient gas pressure. However, at the same time, it is necessary to avoid excessive gas pressure that may damage the contents such as shrimp meat. Therefore, the gas pressure is configured to be less than or equal to the external ambient pressure + 0.5Mpa.

[0488] The shell-meat separation mechanism provided in the embodiments of the present application can reduce the shelling force when used to shell headless shrimp. By introducing a pressurized fluid into the gap between the shrimp shell and the shrimp meat, the shrimp shell expands and the shrimp meat contracts under the pressure of the pressurized fluid, thereby reducing the biofilm connection force, vacuum negative pressure, and shell-meat squeezing force, significantly reducing the shelling force by 20%-50%.

[0489] The shell-meat separation mechanism provided by the embodiments of the present application can also improve shrimp meat retention. By introducing pressurized fluid into the gap between the shrimp shell and the shrimp meat, the shrimp shell expands and the shrimp meat contracts under the action of the gas pressure, thereby reducing the biofilm connection force, vacuum negative pressure, and shell-meat squeezing force. This significantly reduces the stress on the small tail limbs during the shelling process, greatly improving the tail limb retention rate.

[0490] In an embodiment, as an example, the shelling mechanism may include a shrimp body supporting platform and a shrimp shell clamping device, and the pressure fluid introduction device may include an air needle, an air source and an air needle power device.

[0491] In an embodiment, the shrimp body support platform can be used as a platform for placing the processed shrimp bodies to provide reliable support for the shrimp bodies.

[0492] In an embodiment, a shrimp shell clamping device is used to clamp the shrimp shell during the shelling process. The surface of the clamping device facing the shrimp shell may be provided with clamping teeth for piercing the shrimp shell during the clamping process. The shrimp shell clamping device may have a continuous or segmented clamping structure, which will be explained later. Once the shrimp shell is clamped, the shrimp meat can be clamped by an external clamping mechanism and pulled out of the shrimp shell.

[0493] In one embodiment, the air needle serves as a terminal conduit for compressed gas, piercing the shrimp shell and ventilating the interior of the shell. A gas source, such as a gas cylinder, provides compressed gas to the system. An air needle power unit, such as a gas cylinder, provides power to move the air needle toward or away from the shrimp.

[0494] According to the processing equipment provided in the embodiment of the present application, in terms of ventilation timing, this ventilation timing belongs to dynamic ventilation (i.e., ventilation during the shelling process). Since the shell is always expanding and separating from the contents, and the vacuum negative pressure area generated during the shelling process will be quickly replenished with gas and dissipated due to the presence of compressed gas, the shelling resistance will be significantly reduced.

[0495] According to the shelling method provided in the embodiment of the present application, in terms of ventilation timing, this ventilation timing belongs to static ventilation (ventilation before shelling, no ventilation during shelling). After the ventilation is completed and during the shelling process, the shell will partially rebound and fit tightly against the contents again, which will cause the shelling resistance to partially recover, but the overall effect is still better than no ventilation.

[0496] Still taking the headless shrimp as an example, Figure 44As shown, the experimental structure shown in the figure is set up, the tail limbs and shrimp meat are clamped separately, and compressed air is introduced at different time periods, and then opposite directions of force are applied between the shrimp meat and the shrimp shell, and the magnitude of the force is recorded. The experimental records are as follows, among which, the tail limb retention situation is: that is, the tail limb part that is successfully retained on the main body of the shrimp meat after shelling, "0" still means that it is not retained, and the total mass is the total mass of the headless shrimp.

[0497]

[0498] Table 10: Comparative examples of three groups without ventilation

[0499]

[0500] Table 11: Three groups of embodiments with static ventilation and gas inlet located at the shell 6

[0501]

[0502] Table 12: Three groups of embodiments with dynamic ventilation and gas inlet located at the shell 6

[0503]

[0504] Table 13: Statistics and summary of the data in Tables 10 to 12

[0505] As found in the above experiments, when static ventilation is used, after ventilation is completed and during the shelling process, the shrimp shell will partially rebound and re-attach to the shrimp meat, which will cause the local biological connection force, vacuum negative pressure and shell-meat squeezing force to partially recover, but the overall effect is better than without ventilation, and the shelling force is reduced by about 15%.

[0506] As the above experiments also found, during dynamic ventilation, the shrimp shell continues to expand and separate from the shrimp meat, and the vacuum negative pressure area generated during the shelling process will be quickly replenished with gas and dissipated due to the presence of compressed gas, thereby significantly reducing the local biological connection force, vacuum negative pressure and shell-meat squeezing force, and the shelling force is reduced by about 50%.

[0507] See also Figure 47 , Figure 47 The figure shows the cooperation mode of the clamping device and the shell-meat separation mechanism. The air needle 810 of the shell-meat separation mechanism is shown. In an embodiment, the shell-meat separation mechanism can be located on the side where the first clamping member 2 of the clamping device is located, that is, on the left side in the figure. As an example, two air needles 810 can be provided, and through holes are provided on the mounting seat of the clamping device for the corresponding air needles 810 to pass through. The air needles 810 can be extended and retracted in the above manner, thereby penetrating the shrimp shell and delivering gas between the shrimp shell and the shrimp meat. After the shell-meat separation is achieved, the air needles are retracted, and the shelling operation is then performed by the clamping device in a rotating manner.

[0508] Still see Figure 47 An air outlet 16 may be provided at the bottom of the mounting base 1. The air outlet 16 may be connected to an external air source, so that after shelling, the shrimp shells can be blown out of the mounting base 1 by the air blown out of the air outlet 16. In addition, a water outlet 17 may be provided on the side of the receiving tank 11 of the mounting base 1. The water outlet 17 may be connected to an external water pump to flush water into the receiving tank, thereby cleaning the receiving tank 11.

[0509] Finally, see Figure 46 , which shows a schematic diagram of a three-dimensional diagram of the processing equipment, with letters indicating the various mechanisms or devices mentioned above. Specifically, the upstream side of the cutting device C is connected to the feeding mechanism H, the outer side of the cutting device C is provided with a control mechanism G, the downstream side of the cutting device C is provided with a blanking mechanism D, the downstream side of the blanking mechanism D is provided with a shelling mechanism E, and the downstream side of the shelling mechanism E is provided with a blanking mechanism F.

[0510] In this embodiment, the feeding mechanism H uses a dual-inclined conveyor belt, similar to the one used by the cutting device C, to transport the shrimp. This conveyor belt is not equipped with needles. Instead, two elastic plates with tapered openings can be installed on the platforms on either side of the conveyor belt to gather the shrimp toward the small opening formed by the two elastic plates, keeping them upright on the conveyor belt. Furthermore, wear-resistant blocks can be installed on the inner sides of the two elastic plates at the location of the small opening. A correction pressure wheel can be installed downstream of the small opening, i.e., on the side adjacent to the cutting device C. This correction pressure wheel is also rotatable and is connected to the motor via a transmission assembly within the correction swing arm, allowing the motor to control its direction and speed.

[0511] Similarly, the loading mechanism H also has a mounting plate for rotatably connecting to the correction swing arm, to which the motor is fixed. In one embodiment, the loading mechanism H can be slightly higher than the cutting device C, allowing the shrimp, whose posture has been corrected by the correction roller, to slide onto the conveyor belt of the cutting device C at the speed provided by the conveyor belt. Furthermore, the unloading mechanism F can be a wider conveyor belt.

[0512] The above are only preferred embodiments of the present application and do not limit the scope of protection of the present application. All equivalent structural transformations made based on the contents of the present application specification and drawings under the innovative concept of the present application, or direct / indirect application in other related technical fields are included in the scope of protection of the present application.

Claims

1. A processing equipment, characterized in that, The processing equipment includes: a cutting device, the cutting device being used to selectively cut an object to be shelled, the object to be shelled having a shell and an object contained in the shell, the cutting device being used to at least cut and penetrate the shell of the object to be shelled; A shelling mechanism is used to shell the object to be shelled received from the cutting device, the shelling mechanism applies force to the shell, and is configured to apply a predetermined acceleration to the object to be shelled so that the shell is positioned in the shelling mechanism and the contents are separated from the shell by their own inertia.

2. The processing equipment according to claim 1, characterized in that The shelling mechanism further includes a clamping device, the clamping device including: a first clamping member and a second clamping member, the first clamping member and the second clamping member are spaced apart to define a clamping space for placing the object to be shelled, and the second clamping member can be close to and away from the first clamping member; A driving mechanism is used to drive the first clamping member and the second clamping member to rotate, so that the second clamping member is close to the first clamping member, thereby making the first clamping member and the second clamping member clamp the object to be shelled.

3. The processing equipment according to claim 2, characterized in that At least one of the first clamping member and the second clamping member is provided with a clamping tooth, the clamping tooth protruding from the at least one into the clamping space, and the clamping tooth is used to pierce the shell.

4. The processing equipment according to claim 2, characterized in that The second clamping member can be deformed toward the first clamping member to be closer to the first clamping member, and / or the second clamping member can be pivoted about a pivot axis to be closer to the first clamping member.

5. The processing equipment according to claim 4, characterized in that The first clamping member and the second clamping member each include a clamping body, which is a flexible member capable of elastic deformation. The thickness of the clamping body is greater than or equal to 0.05 mm and less than or equal to 0.3 mm.

6. The processing equipment according to claim 2, characterized in that When the second clamping member does not clamp the object to be shelled, the clamping space has a first side and a second side opposite to each other, the first side has an opening portion, and the opening portion is used to allow the contained object to escape from the clamping space. From the first side to the second side, the clamping space gradually shrinks.

7. The processing equipment according to claim 2, characterized in that The second clamping member is configured to have a predetermined mass so as to be able to approach the first clamping member when pivoting.

8. The processing equipment according to claim 2, characterized in that The processing equipment further includes a force applying member configured to apply a force to the second clamping member to move away from the first clamping member at least when the second clamping member is close to the first clamping member.

9. The processing equipment according to claim 3, characterized in that When the second clamping member does not clamp the object to be shelled, the clamping space has a first side and a second side opposite to each other, the first side has an opening, and the opening is used to allow the contained object to be separated from the clamping space. The at least one includes a clamping body and a plurality of clamping teeth, the clamping teeth are inclined toward the second side, and the plurality of clamping teeth are arranged at intervals.

10. The processing equipment according to claim 3, characterized in that The at least one includes a clamping body and a plurality of clamping teeth, and an included angle between the clamping teeth and the clamping body is greater than or equal to 10 degrees and less than or equal to 80 degrees.

11. The processing equipment according to claim 3, characterized in that The at least one includes a clamping body and a plurality of clamping teeth, the clamping body has a thickness direction, and a dimension of the clamping teeth in the thickness direction of the clamping body is greater than or equal to 0.10 mm and less than or equal to 2.00 mm.

12. The processing equipment according to claim 3, characterized in that The at least one comprises a clamping body and a plurality of clamping teeth, wherein the clamping teeth comprise a connecting end and a piercing end, wherein the connecting end is connected to the clamping body, and the diameter of the circumscribed circle of the cross section of the piercing end is less than 0.5 mm.

13. The processing equipment according to claim 3, characterized in that The at least one comprises a clamping body and a plurality of clamping teeth, wherein the plurality of clamping teeth are arranged at intervals, and at least one clamping tooth is arranged in a circular area with a diameter of 55 mm on the clamping body.

14. The processing equipment according to any one of claims 1 to 13, characterized in that The processing equipment further includes a blanking mechanism, which is arranged between the cutting device and the shelling mechanism, and is used to transport the shelled material received from the cutting device to the shelling mechanism, and the blanking mechanism includes: Fixed seat; A guide module, comprising a connecting rod assembly and a first guide member and a second guide member connected to the connecting rod assembly; the first guide member and the second guide member are arranged obliquely to form a guide groove for receiving the shelled object; the connecting rod assembly is movably connected to the fixing seat, and the connecting rod assembly can drive the first guide member and the second guide member to rotate synchronously to correspondingly adjust the opening and closing of the guide groove; The pressing module includes a pressing block movably connected to the fixing seat. When the guide groove is in an open state, the pressing block can press down the object to be shelled, so that the object to be shelled falls through the opening of the guide groove and enters the shelling mechanism.

15. The processing equipment according to claim 14, characterized in that The processing equipment further includes a speed reducing mechanism having a body, wherein the body is connected to the shelling mechanism. The body is formed with a deceleration recess, which is formed into an arc-shaped structure arched away from the shelling mechanism, and the deceleration recess runs through both ends of the extension direction of the body, and is used to provide a sliding path for the contents.

16. The processing equipment according to claim 15, characterized in that The deceleration recess includes a first arc portion and a second arc portion connected in sequence, the first arc portion is formed into an arc-shaped structure; from the first end of the first arc portion to the second end of the first arc portion, the first arc portion extends in a direction gradually away from the shelling mechanism, and the second arc portion is formed into an arc-shaped structure, from the first end of the second arc portion to the second end of the second arc portion, the second arc portion extends in a direction gradually approaching the shelling mechanism.

17. The processing equipment according to claim 15, characterized in that Along the contour line of the deceleration recess, the bending radius of the deceleration recess is not less than 10 mm.

18. The processing equipment according to any one of claims 1 to 13, characterized in that The processing equipment further includes a speed reducing mechanism having a body, wherein the body is connected to the shelling mechanism. The body is formed with a deceleration recess, which is formed into an arc-shaped structure arched away from the shelling mechanism, and the deceleration recess runs through both ends of the extension direction of the body, and is used to provide a sliding path for the contents.

19. The processing equipment according to any one of claims 1 to 13, characterized in that The cutting device comprises: a first conveyor belt and a second conveyor belt, wherein the first conveyor belt has a first conveying surface, and the second conveyor belt has a second conveying surface, wherein the first conveying surface and the second conveying surface are both inclined relative to a horizontal direction to jointly define a trough portion, wherein the trough portion is used to convey the shelled object; a correction wheel disposed above the grooved portion, the correction wheel being rotatable about a first axis coaxial with the correction wheel and further being swivellable about a second axis parallel to the first axis, the correction wheel being configured to press against the object to be shelled passing below the correction wheel; A cutter is provided downstream of the correction wheel in the conveying direction of the first conveyor belt, and the cutter is capable of cutting the object to be shelled.

20. The processing equipment according to claim 19, characterized in that The cutting device further includes a detection assembly, the detection assembly including a detection wheel and an encoder arranged parallel to each other. The detection assembly is arranged between the correction wheel and the cutter in the conveying direction. The detection wheel is rotatable about a third axis coaxial with the detection wheel and is further swivellable about a fourth axis parallel to the third axis. The detection wheel is arranged above the groove portion, and is used to continuously press the object to be shelled passing below the detection wheel, and the encoder obtains the swing state of the detection wheel during the object to be shelled passing through the detection wheel; The cutting device further comprises a control mechanism, which is in communication with the encoder to receive the swing state to control the height of the cutter when cutting the object to be shelled.

21. The processing equipment according to claim 20, characterized in that The cutter has a fifth axis, and the cutter rotates around the fifth axis to cut the shelled object. The cutter can also swing around a sixth axis parallel to the fifth axis. In which, the cutting device also includes a mounting component and a cutting swing arm, the cutter is rotatably connected to the cutting swing arm so that it can rotate around the fifth axis, the cutting swing arm is rotatably connected to the mounting component, and the cutting swing arm can drive the cutter so that the cutter swings around the sixth axis.

22. The processing equipment according to claim 20, characterized in that The cutting device further comprises a cutting wheel, which is arranged on the upstream side of the cutter in the conveying direction, and is capable of rotating about a seventh axis coaxial with the cutting wheel, and is also capable of swinging about an eighth axis parallel to the seventh axis; The cutting wheel is arranged above the groove portion to press the object to be shelled passing below the cutting wheel. The cutting wheel has an annular groove arranged on the side of the cutting wheel, the annular groove is used to press the object to be shelled, and the cutter extends into the annular groove.

23. The processing equipment according to claim 19, characterized in that The first conveyor belt has a first puncture portion protruding from the first conveying surface, the first puncture portion is used to puncture the object to be shelled, and the second conveyor belt has a second puncture portion protruding from the second conveying surface, the second puncture portion is used to puncture the object to be shelled; The first conveying surface and the second conveying surface are at an angle of 45° to 90° to each other; The first puncture portion and the second puncture portion both puncture the shell.

24. The processing equipment according to any one of claims 1 to 13, characterized in that The cutting device is used to detect the specifications of the object to be shelled and cut the object to be shelled according to the specifications when cutting the object to be shelled. The shelling mechanism also shells the object to be shelled received from the cutting device according to the specifications.

25. The processing equipment according to any one of claims 1 to 13, characterized in that The shell is connected to the content and has a shell-meat connecting force. The processing equipment also includes a shell-meat separation mechanism, which is used to reduce the shell-meat connecting force of the object to be shelled. The shell has an open part that connects the internal environment of the shell and the external environment where the shell is located. The shell-meat separation mechanism includes a pressure fluid conveying element, which is used to introduce pressure fluid into the internal environment of the shell, so that the shell-meat connecting force of the object to be shelled is reduced.

26. The processing equipment according to claim 15, characterized in that The shell is connected to the content and has a shell-meat connecting force. The processing equipment also includes a shell-meat separation mechanism, which is used to reduce the shell-meat connecting force of the object to be shelled. The shell has an open part that connects the internal environment of the shell and the external environment where the shell is located. The shell-meat separation mechanism includes a pressure fluid conveying element, which is used to introduce pressure fluid into the internal environment of the shell, so that the shell-meat connecting force of the object to be shelled is reduced.

27. The processing equipment according to claim 26, characterized in that The shell has an extension direction, the shell has an open portion, the open portion is located on one side of the shell in the extension direction, the shell includes a plurality of shell portions connected sequentially in the extension direction, the shell has a connection strength reduction position, and the plurality of shell portions are divided into a plurality of groups by the connection strength reduction position; providing one or more pressure fluid delivery elements for each of the groups; The position where the connection strength decreases represents a position where the connection strength between the shell portions on both sides of the position is different from the connection strength between the shell portions on both sides of the position and the respective adjacent shell portions.

28. The processing equipment according to claim 26, characterized in that The pressure fluid conveying element has a length direction, and an external dimension N of the pressure fluid conveying element on a flow cross section satisfies: N≤5 mm, and a dimension in the length direction is greater than 0.1 mm.

29. The processing equipment according to claim 28, characterized in that The pressure fluid delivery element has a pressure fluid path, the cross-sectional area of ​​the pressure fluid path is greater than or equal to 0.007 mm 2 .

30. The processing equipment according to claim 26, characterized in that The pressure fluid inlet device comprises a pressure fluid delivery element having a pressure fluid path for introducing pressure fluid into the internal environment of the housing, wherein the cross-sectional area of ​​the pressure fluid path is greater than or equal to 0.007 mm 2 .

31. The processing equipment according to claim 26, characterized in that The pressure fluid introduction device includes a pressure fluid delivery element and a pressure fluid source for providing pressure fluid to the pressure fluid delivery element, wherein the pressure fluid delivery element is used to introduce pressure fluid into the internal environment of the housing, wherein the pressure fluid delivery element has a pressure fluid path for introducing pressure fluid into the internal environment of the housing; The pressure fluid source and the pressure fluid delivery element are configured so that the pressure fluid pressure P at the end of the pressure fluid path facing the object to be shelled satisfies: the external environmental pressure ≤ P ≤ the external environmental pressure + 0.5 MPa.

32. The processing equipment according to any one of claims 1 to 13, characterized in that The object to be shelled is shrimp, the shell is a shrimp shell, and the content is shrimp meat.

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