Shelling device and control method

Abstract

The invention provides a shelling device and a control method. The shelling device comprises a preset action output mechanism and a fixing assembly used for fixing an object to be shelled. The output end of the preset action output mechanism is connected with the fixing assembly. The preset action output mechanism is used for driving the output end of the preset action output mechanism to output accelerated motion and / or decelerated motion, so that the fixing assembly conducts accelerated motion and / or decelerated motion along with the output end, and the to-be-hulled object is driven to conduct accelerated motion and / or decelerated motion along with the fixing assembly. The unshelling object which is not fixed by the fixing assembly in the to-be-shelled object is released based on inertia in the acceleration or deceleration process; a discharge port is formed in the fixing assembly and used for enabling the hulled object to be separated from the fixing assembly in the acceleration or deceleration direction; therefore, the separation of the hulled object in the to-be-hulled object is completely realized, and the defect of the hulled object is reduced.

Description

Technical Field

[0001] This application relates to the field of food processing, and more specifically, to a shelling device and control method. Background Technology

[0002] Some shelled foods require shelling to obtain the desired product. While there are relatively mature shelling devices for some shelled foods, such as peanuts, rice, wheat, and coffee beans, these mechanized shelling devices often use principles like friction, impact, vibration, and sieving to break the shell and separate the shell and meat in batches, which are not suitable for all foods. For example, shrimp meat has a complex shell structure (many joints and spikes), and mechanical shelling can easily damage the meat. Furthermore, high-end restaurants have a high demand for whole shrimp meat. Therefore, currently, shrimp meat sold in the market is mainly peeled manually.

[0003] The few existing shrimp processing equipment can be divided into two categories: disc-type and roller-type. After years of market testing, both of these technical routes have significant limitations. They are prone to damaging the shrimp meat inside the shell, and the small tail and leg parts of the shrimp meat are severely damaged. This not only affects the appearance of the shrimp meat, but also results in the tail and leg meat accounting for about 2% of the total weight of the shrimp meat, causing a loss and waste of shrimp meat. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a shelling device and a control method for the shelling device, wherein the shelling device can perform shelling processing on a specific type of product to be shelled, achieve a more complete separation of the shelled object from the product to be shelled, and reduce the damage to the shelled object.

[0005] This application provides a shelling device, which includes: a preset action output mechanism and a fixing component for fixing the object to be shelled; the output end of the preset action output mechanism is connected to the fixing component.

[0006] The preset action output mechanism is used to drive its output end to output acceleration and / or deceleration, so that the fixing component follows the output end to perform acceleration and / or deceleration, and drives the object to be unshelled to follow the fixing component to perform acceleration and / or deceleration, so that the object to be unshelled that is not fixed by the fixing component in the object to be unshelled can be unshelled based on inertia during acceleration or deceleration.

[0007] The fixing component is provided with a discharge port, which is used to allow the shelled object to be ejected from the fixing component in the direction of acceleration or deceleration.

[0008] In some embodiments, in the shelling device, the fixing component applies force at multiple points on the outer surface of the object to be shelled when fixing the object to be shelled.

[0009] In some embodiments, in the shell-removing device, the fixing component is a clamping fixing member; the clamping fixing member includes two clamping parts, both of which are connected to the preset action output mechanism;

[0010] The two clamping parts have two oppositely arranged sides, and the two sides are used to place the object to be shelled, and the two sides clamp the object to be shelled when they come close together.

[0011] In some embodiments, in the desquamation device, at least one side of the clamping fastener is provided with a puncture area opposite to the side of the object to be desquamated, and the puncture area is provided with barbs extending toward the object to be desquamated.

[0012] The barbs are arranged continuously or in segments along the length of the object to be descrambled, so as to apply force at multiple points to different parts of the object to be descrambled.

[0013] In some embodiments, in the shelling device, the barbs are inclined in the direction away from the discharge port, and the inclination angle of the barbs is 10°-80°; the net height of the barbs is 0.10-2.00mm.

[0014] In some embodiments, in the desquamation device, the barbs are arranged at intervals, with at least one barb arranged in a circular area with a diameter of 55 mm, and the diameter of the outer circle of the tip of the barb is less than 0.5 mm; the clamping breaking force of the clamping part has a linear density of distribution along the length direction of the object to be desquamated not less than 0.15 N / mm, and the clamping holding force of the clamping part has a linear density of distribution along the length direction of the object to be desquamated not more than 0.1 N / mm.

[0015] In some embodiments, in the shell-removing device, at least one of the two clamping portions in the clamping fastener is a movable clamping portion; the movable clamping portion moves toward the other clamping portion.

[0016] In some embodiments, in the shell-removing device, the movable clamping part in the fixing assembly moves under the drive of clamping power; the clamping power is output by a clamping power mechanism or is the inertial force of the movable clamping part.

[0017] In some embodiments, when the clamping force is the inertial force of the movable clamping part in the shell-removing device, the mass of the movable clamping part is greater than a preset mass threshold, so that the movable clamping part generates a clamping breakthrough force and / or clamping holding force that meets the requirements.

[0018] In some embodiments, the preset mass threshold in the shelling device is 5g.

[0019] In some embodiments, the movable clamping part of the shell-removing device includes a counterweight.

[0020] In some embodiments, in the shell-removing device, the material of a single clamping part of the fixing component is rigid or flexible, and / or the structure of the single clamping part is an integral toothed plate or a segmented toothed plate; the segmented toothed plate includes multiple toothed plate segments of different lengths, and the end of each toothed plate opposite to the discharge port is connected to the preset action output mechanism.

[0021] In some embodiments, in the shelling device, the two opposite sides of the two clamping parts in the clamping fastener form a V-shape, wherein the end of the movable clamping part facing away from the discharge port is connected to the preset action output mechanism.

[0022] In some embodiments, in the shell-removing device, the preset action output mechanism is a rotary acceleration / deceleration output mechanism, a linear acceleration / deceleration output mechanism, or a vibration output mechanism;

[0023] The rotary acceleration / deceleration output mechanism includes: a first driving member, a rotating shaft, and a rotating arm; the first driving member is rotatably connected to the rotating arm via the rotating shaft; the fixing component is disposed on the rotating arm at a position away from the rotating shaft.

[0024] The linear acceleration / deceleration output mechanism includes: a second driving member and a support platform, wherein the second driving member and the support platform are connected; and the support platform and the fixed component are connected.

[0025] The vibration output mechanism is connected to the fixed component.

[0026] In some embodiments, when the preset action output mechanism in the shell-removing device is a rotary acceleration / deceleration output mechanism or a linear acceleration / deceleration output mechanism, the fixing component is a vertical clamping component or an up-and-down clamping component.

[0027] Both clamping parts of the vertical clamping member are connected to the rotating arm; the two opposite sides of the two clamping parts are both perpendicular to the rotation plane; the rotation plane is the plane containing the circle formed by rotating any point on the rotating arm of the rotary acceleration and deceleration output mechanism around the rotation axis, or the end face of the bearing plane of the linear acceleration and deceleration output mechanism;

[0028] One end of each of the two clamping parts of the upper and lower clamping member is connected to the rotating arm, and at least one of the two oppositely arranged sides of the two clamping parts is parallel to the rotation plane.

[0029] In some embodiments, when the preset action output mechanism is a vibration output mechanism in the shelling device, the discharge port of the fixing component is vertically downward.

[0030] In some embodiments, the deshelling device further includes a pressure fluid delivery assembly; the pressure fluid delivery assembly introduces pressure fluid into the internal environment of the object to be deshelled, so that the pressure fluid enters between the shell of the object and the object to be deshelled.

[0031] In some embodiments, in the shelling device, the fixing component is a puncture-type fixing component; the puncture-type fixing component includes at least one puncture needle, the puncture needle is inclined and facing away from the discharge port, and punctures the shell of the object to be shelled to fix the object to be shelled.

[0032] In some embodiments, the desquamation device includes a pressure fluid delivery port in the puncture needle, through which pressure fluid is introduced into the internal environment of the object to be desquamated.

[0033] In some embodiments, in the decapsulation device, the inclination angle of the puncture needle is 10°-80°, the diameter of the puncture needle does not exceed 5mm, and the length dimension is greater than 5mm.

[0034] In some embodiments, in the shelling device, the object to be shelled is shrimp, and the shelling target is shrimp meat.

[0035] In some embodiments, the shelling device further includes:

[0036] A controller is electrically connected to the preset action output mechanism to control the operation of the preset action output mechanism.

[0037] In some embodiments, the shelling device further includes a collector:

[0038] The collector is located at the outlet of the fixed component to collect the shelled objects that have been removed.

[0039] In some embodiments, a control method for a shelling device is also provided, applied to the shelling device, the device comprising: a preset action output mechanism and a fixing component for fixing the object to be shelled; the output end of the preset action output mechanism is connected to the fixing component;

[0040] The preset action output mechanism is used to drive its output end to output acceleration and / or deceleration, so that the fixing component follows the output end to perform acceleration and / or deceleration, and drives the object to be unshelled to follow the fixing component to perform acceleration and / or deceleration, so that the object to be unshelled that is not fixed by the fixing component in the object to be unshelled can be unshelled based on inertia during acceleration or deceleration.

[0041] The fixing component is provided with a discharge port, which is used to allow the shelled object to be ejected from the fixing component in the direction of acceleration or deceleration;

[0042] The control method includes:

[0043] When the fixing component secures the object to be unpacked, the output end of the preset motion output mechanism is controlled to output accelerated motion and / or decelerated motion based on the preset motion parameters.

[0044] In some embodiments, before controlling the output end of the preset action output mechanism to output accelerated motion and / or decelerated motion based on preset motion parameters, the control method further includes:

[0045] In response to receiving an input motion parameter command, the preset motion parameters are determined;

[0046] and / or,

[0047] In response to receiving an input object type identifier, the preset motion parameters are determined based on the motion parameters pre-associated with the object type identifier; wherein different object type identifiers are associated with different preset motion parameters.

[0048] and / or,

[0049] In response to receiving the parameters of the object to be deshelled detected by the detection device, the preset motion parameters are determined based on the pre-configured association table between the parameters of the object to be deshelled and the preset motion parameters;

[0050] and / or,

[0051] In response to receiving the parameters of the object to be unshelled detected by the detection device, the parameters of the object to be unshelled are processed based on the pre-configured parameter calculation rules to calculate the preset motion parameters that match the parameters of the object to be unshelled.

[0052] In some embodiments, the control method of the shelling device, wherein processing the parameters of the object to be shelled based on pre-configured parameter calculation rules to calculate preset motion parameters matching the parameters of the object to be shelled includes:

[0053] The type and specification parameters of the object to be unshelled, the pre-set unshelling force for each object, and the attribute parameters of the fixing component are used to determine the preset motion parameters that match the object to be unshelled.

[0054] In some embodiments, in the control method of the shelling device, the device further includes a pressure fluid delivery assembly; the pressure fluid delivery assembly introduces pressure fluid into the internal environment of the object to be shelled, so that the pressure fluid enters between the shell of the object and the object to be shelled; the method further includes:

[0055] Before or during the uncoating process, pressurized fluid is introduced between the shell of the object to be uncoated and the object to be uncoated, based on preset motion parameters.

[0056] This application provides an inertial shrimp shelling device and control method. The device includes: a preset action output mechanism and a fixing component for fixing the object to be shelled; the output end of the preset action output mechanism is connected to the fixing component; the preset action output mechanism is used to drive its output end to output acceleration and / or deceleration motion, so that the fixing component follows the output end to perform acceleration and / or deceleration motion, causing the object to be shelled to follow the fixing component to perform acceleration and / or deceleration motion, so that the shelling object not fixed by the fixing component in the object to be shelled is released based on inertia during acceleration or deceleration; the fixing component is provided with a discharge port for allowing the shelling object to be released from the fixing component along the acceleration or deceleration direction; during the process of the shelling object being released, the shelling object does not directly contact the device itself, and no force is directly applied to the shelling object through a mechanical mechanism. This reduces damage to the shelled object from mechanical equipment, maintaining its integrity and appearance. Inertial shelling can achieve extremely high inertial force instantaneously, quickly reaching the required shelling force. The entire shelling process can be completed rapidly, resulting in high shelling productivity. For shrimp shelling, traditional methods apply force to the shrimp meat at a point, transmitting the force from the point of application through the shrimp meat to the surrounding area. This is not effective for shrimp meat with small cross-sections and low strength, easily causing localized breakage. In contrast, inertial shelling relies on the shrimp meat's own mass to generate force, which is evenly distributed throughout the shrimp body. This reduces the need for force transmission for shrimp meat with small cross-sections and low strength, resulting in less shrimp meat damage and a high shrimp meat retention rate. Inertial shelling can clamp only the shell without clamping the shrimp meat, thus requiring less stringent requirements on the cut length and depth of the shrimp meat and shell, allowing for a variety of shrimp processing methods. Attached Figure Description

[0057] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1A schematic diagram of the inertial shrimp shelling device described in an embodiment of this application is shown;

[0059] Figure 2 This document shows a schematic diagram of the shrimp's body morphology as described in an embodiment of this application;

[0060] Figure 3 An embodiment of this application is shown. Figure 2 Enlarged schematic diagram of the mid-tail limb structure;

[0061] Figure 4 A schematic diagram of the experimental apparatus described in an embodiment of this application is shown;

[0062] Figure 5 A schematic diagram of the structure of the rotary acceleration / deceleration inertial uncoiling device according to an embodiment of this application is shown;

[0063] Figure 6 A schematic diagram of the vertical clamping member described in an embodiment of this application is shown;

[0064] Figure 7 A schematic diagram of the structure of the upper and lower clamping member described in an embodiment of this application is shown;

[0065] Figure 8 This diagram illustrates another arrangement of the shrimp in the fixing component described in this application embodiment;

[0066] Figure 9 A schematic diagram illustrating the principle of rotational acceleration and deceleration as described in an embodiment of this application is shown;

[0067] Figure 10 This paper presents a simulation diagram illustrating the relationship between the shrimp detachment time and the rotation radius r as described in an embodiment of this application.

[0068] Figure 11 A schematic diagram of the shell-removing device based on linear acceleration and deceleration inertial shell removal according to an embodiment of this application is shown;

[0069] Figure 12 A schematic diagram of the structure of the shell-removing device based on vibration inertia as described in the embodiments of this application is shown;

[0070] Figure 13 A schematic diagram of one structure of the barbed teeth described in an embodiment of this application is shown;

[0071] Figure 14 This illustration shows another structural schematic diagram of the barbed teeth described in an embodiment of this application;

[0072] Figure 15 This diagram illustrates the tilt direction of the barbs described in an embodiment of this application.

[0073] Figure 16An example diagram of barbed teeth with an inclination angle greater than 80° as described in an embodiment of this application is shown;

[0074] Figure 17 An example diagram of the barbed teeth with an inclination angle of less than 10° as described in the embodiments of this application is shown;

[0075] Figure 18 A schematic diagram showing the net height of the barbs according to an embodiment of this application is provided;

[0076] Figure 19 A schematic diagram of the rigid toothed structure described in an embodiment of this application is shown;

[0077] Figure 20 A schematic diagram of the segmented flexible toothed structure described in an embodiment of this application is shown;

[0078] Figure 21 A schematic diagram of the segmented rigid toothed structure described in an embodiment of this application is shown;

[0079] Figure 22 A flowchart of the control method for the shell-removing device described in an embodiment of this application is shown.

[0080] Explanation of reference numerals in the attached figures:

[0081] 101. Preset motion output mechanism; 102. Fixed component; 1011. First driving component; 1012. Rotating shaft; 1013. Rotating arm; 1014. Second driving component; 1015. Bearing platform; 1016. Vibrator; 103. Barbed teeth; 104. Headless shrimp; 201. First shrimp shell; 202. Second shrimp shell; 203. Third shrimp shell; 204. Fourth shrimp shell; 205. Fifth shrimp shell; 206. Sixth shrimp shell; 300. First joint; 301. First caudal limb; 302. Second caudal limb; 303. Third caudal limb; 304. Fourth caudal limb; 305. Fifth caudal limb; 306. Second joint; 307. Third joint. Detailed Implementation

[0082] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0083] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0084] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0085] Some shelled foods require shelling to obtain the desired product. While there are relatively mature shelling devices for some shelled foods, such as peanuts, rice, wheat, and coffee beans, these mechanized shelling devices often use principles like friction, impact, vibration, and sieving to break the shell and separate the shell and meat in batches, which are not suitable for all foods. For example, shrimp meat has a complex shell structure (many joints and spines), a strong connection between the shell and the meat, and tender meat. Therefore, mechanical shelling can easily damage the meat. Furthermore, high-end restaurants have a high demand for whole shrimp meat. Therefore, currently, shrimp meat sold in the market is mainly peeled manually.

[0086] The few existing shrimp processing equipment can be divided into two categories: disc-type and roller-type. After years of market testing, both of these technical routes have significant limitations. They are prone to damaging the shrimp meat inside the shell, and the small tail and leg parts of the shrimp meat are severely damaged. This not only affects the appearance of the shrimp meat, but also results in the tail and leg meat accounting for about 2% of the total weight of the shrimp meat, causing a loss and waste of shrimp meat.

[0087] Based on this, this application provides an inertial shrimp shelling device and control method. The device includes: a preset action output mechanism and a fixing component for fixing the object to be shelled; the output end of the preset action output mechanism is connected to the fixing component; the preset action output mechanism is used to drive its output end to output acceleration and / or deceleration motion, so that the fixing component follows the output end to perform acceleration and / or deceleration motion, causing the object to be shelled to follow the fixing component to perform acceleration and / or deceleration motion, so that the shelling object not fixed by the fixing component in the object to be shelled is released based on inertia during acceleration or deceleration; the fixing component is provided with a discharge port for allowing the shelling object to be released from the fixing component along the acceleration or deceleration direction; during the process of the shelling object being released, the shelling object does not directly contact the device itself, and the shelling object is not directly controlled by a mechanical mechanism. Inertial deshelling reduces damage to the shelled object from mechanical equipment, maintaining its integrity and appearance. It can achieve extremely high inertial force instantaneously, quickly reaching the required deshelling force, allowing the entire deshelling process to be completed rapidly with high productivity. For shrimp deshelling, traditional methods apply force in a point-like manner, transmitting the force from the point of application through the shrimp meat to the surrounding area. This is ineffective for shrimp meat with small cross-sections and low strength, easily causing localized breakage. In contrast, inertial deshelling relies on the shrimp's own mass to generate force, which is evenly distributed throughout the shrimp body. This reduces the need for force transmission for shrimp meat with small cross-sections and low strength, resulting in less shrimp meat loss and a higher meat retention rate. Furthermore, inertial deshelling only clamps the shell, not the meat, thus requiring less stringent requirements on the cut length and depth, enabling a wide variety of shrimp processing methods.

[0088] Please refer to Figure 1 , Figure 1 A schematic diagram of the shelling device according to an embodiment of this application is shown; the shelling device includes: a preset action output mechanism 101 and a fixing component 102 for fixing the object to be shelled; the output end of the preset action output mechanism 101 is connected to the fixing component 102.

[0089] The preset action output mechanism 101 is used to drive its output end to output acceleration and / or deceleration, so that the fixing component 102 follows the output end to perform acceleration and / or deceleration, thereby causing the object to be unshelled to follow the fixing component 102 to perform acceleration and / or deceleration, so that the object to be unshelled that is not fixed by the fixing component 102 can be unshelled based on inertia during acceleration or deceleration.

[0090] The fixing component 102 is provided with a discharge port, which is used to allow the shelled object to be ejected from the fixing component 102 in the direction of acceleration or deceleration.

[0091] The preset action output mechanism is a rotary acceleration / deceleration output mechanism, a linear acceleration / deceleration output mechanism, or a vibration output mechanism.

[0092] In other words, the shell-removing device can be based on rotational acceleration and deceleration inertial shell removal, linear acceleration and deceleration inertial shell removal, or vibration inertial shell removal.

[0093] In some embodiments, the shelling device further includes:

[0094] A controller electrically connected to the drive unit to control the operation of the drive unit.

[0095] In some embodiments, the object to be shelled has a shell and a shell-to-meat object contained within the shell, the shell being connected to the shell-to-meat object and having the shell-meat connection force.

[0096] In some embodiments, the object to be unshelled has an open opening directly or after processing, so that the object to be unshelled moves toward the open opening under the action of inertial force and is released from the open opening.

[0097] In some embodiments, the opening of the object to be unshelled connects the internal environment of the shell to the external environment where the shell is located.

[0098] In some embodiments, the object to be shelled includes a cavity for accommodating the object, the portion of which is larger toward the opening and the portion of which is smaller away from the opening; specifically, the portion of which is larger toward the opening is larger than the portion of which is smaller away from the opening.

[0099] The object to be unshelled and the object to be unshelled can move relative to each other, specifically, they can move relative to each other in a particular direction.

[0100] The specific direction is the direction towards the open opening of the object to be shelled.

[0101] In some embodiments, the object to be shelled is a shrimp, and the shelling target is shrimp meat.

[0102] When the object to be shelled is a shrimp, specifically, the shrimp needs to be decapitated to have an opening so that the shrimp meat can be extracted from the opening of the decapitated shrimp.

[0103] In practice, depending on the coordination with upstream and downstream equipment, the shrimp can be processed first to obtain headless shrimp, and then the headless shrimp can be fixed by the fixing component; or, the shrimp can be fixed by the fixing component first, and then the shrimp head can be removed.

[0104] Please refer to Figure 2 , Figure 2A schematic diagram of the shrimp body morphology described in the embodiments of this application is shown.

[0105] Please refer to Figure 3 , Figure 3 An embodiment of this application is shown. Figure 2 Enlarged schematic diagram of the mid-tail limb structure.

[0106] Please refer to Figure 2 and Figure 3 The headless shrimp consists of 6 shrimp shell segments (first shrimp shell 201, second shrimp shell 202, third shrimp shell 203, fourth shrimp shell 204, fifth shrimp shell 205, and sixth shrimp shell 206), 5 tail limb segments (first tail limb 301, second tail limb 302, third tail limb 303, fourth tail limb 304, and fifth tail limb 305), the shrimp abdominal membrane, and the shrimp meat wrapped by the shrimp shell and tail limbs.

[0107] The sides and back of the shrimp are connected by a hard shell and a continuous, soft membrane between adjacent shells, forming a whole. The abdomen is a membrane. The sides, back, abdomen, and tail legs wrap the shrimp meat into a relatively closed whole that is open towards the head.

[0108] The shrimp shell is hinged to adjacent shrimp shells at points, allowing relative rotation between the shells and providing the main connecting force between adjacent shells; the shrimp membrane has low strength and is easily damaged and broken.

[0109] The joint between the third shrimp shell 203 and the fourth shrimp shell 204 in the first joint 300 between shrimp shells is relatively weak and easily broken, while the first joint 300 between other shells is stronger.

[0110] The thickness of the first joint of each shrimp body is about 0.5 mm, and the thickness of the shrimp shell is about 0.1 mm.

[0111] The fourth shrimp shell 204, the fifth shrimp shell 205, and the sixth shrimp shell 206 are more easily assembled into a whole through strong joints and the shrimp shells are relatively flat. The first shrimp shell 201, the second shrimp shell 202, and the third shrimp shell 203 are more easily assembled into a whole through strong joint 300 and the shrimp shells are relatively rounded. The overall shape retention effect of the fourth shrimp shell 204, the fifth shrimp shell 205, and the sixth shrimp shell 206 is better than that of the overall shape retention effect of the first shrimp shell 201, the second shrimp shell 202, and the third shrimp shell 203.

[0112] The third caudal limb 303 is strongly connected to the sixth shrimp shell 206 by a hinge joint; the third caudal limb 303 is a hollow structure with a larger portion facing the shrimp head and a smaller portion facing the shrimp tail, and the cavity contains shrimp meat.

[0113] The first caudal limb 301 and the fifth caudal limb 305 are symmetrical about the left and right, and have a sheet-like hollow structure that contains shrimp meat; the second caudal limb 302 and the fourth caudal limb 304 are symmetrical about the left and right, and have a sheet-like hollow structure that contains shrimp meat.

[0114] The first caudal limb 301 and the second caudal limb 302 are strongly connected to the third joint 307 via their respective second joints 306 and third joints 307. The second joint 306 is rotatable relative to the third joint 307. The third joint 307 is strongly connected to the sixth shrimp shell 206, and the third joint 307 is rotatable relative to the sixth shrimp shell 206. The third joint 307 has a hollow structure that is smaller towards the shrimp head and larger towards the shrimp tail, and the cavity contains shrimp meat. The second joint 306 is also referred to as the small joint, and the third joint 307 is also referred to as the large joint.

[0115] The fourth caudal limb 304 and the fifth caudal limb 305 are strongly connected to the third joint 307 via their respective second joint 306, and the second joint 306 is rotatable relative to the third joint 307; the third joint 307 is strongly connected to the sixth shrimp shell 206, and the third joint 307 is rotatable relative to the sixth shrimp shell 206; the third joint 307 has a hollow structure that is smaller towards the shrimp head and larger towards the shrimp tail, and the cavity contains shrimp meat.

[0116] In existing technologies, the disc-type approach uses separate clamps for the shrimp shell and shrimp meat, and the relative movement of the two clamping mechanisms provides opposing forces for the headless shrimp to shed its shell; the roller-type approach uses an extrusion method to squeeze the shrimp meat out of the shell, applying opposing extrusion forces to the shrimp meat and the shell to achieve shedding. Both technologies apply force to the shrimp meat through mechanisms, resulting in varying degrees of damage to the shrimp meat and poor quality of the finished shrimp meat product.

[0117] From a mechanical perspective, the process of removing the head and shell of shrimp involves creating opposing forces between the shrimp shell and the shrimp meat. When this force reaches the required peeling force, the shrimp shell and shrimp meat begin to move relative to each other, thus achieving the peeling of the headless shrimp.

[0118] The experimental setup was used to measure various parameters during the molting process of headless shrimp. Please refer to [reference needed]. Figure 4 , Figure 4 A schematic diagram of the experimental device described in the embodiment of this application is shown. The experimental device includes a shrimp meat clamping mechanism 401 and a tail limb clamping mechanism 402. The shrimp meat clamping mechanism 401 clamps the shrimp meat, and the tail limb clamping mechanism 402 clamps the tail limb. The two clamping mechanisms move relative to each other, applying opposite forces between the shrimp meat and the shrimp shell, and recording the magnitude of the applied forces, so that the shrimp meat and the shrimp shell of the headless shrimp 104 are separated. The measurement results are shown in Table 1 below.

[0119]

[0120]

[0121] Table 1

[0122] In existing technical solutions, the shell is removed by applying forces in opposite directions to the shrimp meat and the shrimp shell.

[0123] In this embodiment, the forces between the shrimp shell and the shrimp meat in opposite directions are generated by inertia.

[0124] Specifically, the shell-removing device described in this application embodiment uses acceleration and deceleration motion to achieve inertial shell removal.

[0125] Please refer to Figure 5 , Figure 5 A schematic diagram of the structure of the rotary acceleration and deceleration inertial unpacking device according to an embodiment of this application is shown; wherein, the rotary acceleration and deceleration output mechanism 101 includes: a first driving member 1011, a rotating shaft 1012 and a rotating arm 1013; the first driving member 1011 is rotatably connected to the rotating arm 1013 through the rotating shaft 1012; the fixing component is disposed on the rotating arm 1013 at a position away from the rotating shaft 1011.

[0126] A device derived from rotational acceleration and deceleration inertial unpacking must include at least the following four parts: a rotating shaft, a rotating arm, a fixed assembly, and a first driving component;

[0127] The rotating shaft and the rotating arm are rotatably connected or fixedly connected, and the rotating shaft provides reliable support for the rotating arm during the rotation of the rotating arm.

[0128] The rotating arm is equipped with a fixed component to support the rotating end. The rotating arm can move in a circle or swing around the center of the rotation axis, thereby driving the fixed component to move synchronously.

[0129] The fixed component is connected to the rotating arm and rotates synchronously with the rotating arm.

[0130] The first driving component drives the rotating arm to rotate; when the rotating shaft is fixedly connected to the rotating arm, it can also drive the rotating shaft to rotate, thereby indirectly driving the rotating arm to rotate.

[0131] The shelling process is as follows: the fixed component reliably clamps the shrimp shell, and the rotating arm moves in a circular acceleration and deceleration motion around the center of the rotation axis under the action of the first driving component; when the angular acceleration increases to the angular acceleration required for the headless shrimp to shed its shell, the shrimp meat separates from the shell because the shrimp shell is fixed, and the shrimp meat is thrown out, thus completing the shelling process.

[0132] The first driving component is rotatably connected to the rotating arm via a rotating shaft. Specifically, the rotating shaft and the rotating arm are rotatably connected or fixed, and the rotating shaft provides reliable support for the rotating arm during rotation.

[0133] The connection relationship between the rotating shaft, the first driving member, and the rotating arm is determined based on the structural and spatial positional relationship between the first driving member and the rotating arm, and can be implemented in various ways.

[0134] In some embodiments, the rotating shaft is the rotating shaft in the first driving member, or an independent rotating shaft connected to the rotating arm, or a rotating shaft integrally formed with the rotating arm;

[0135] One end of the rotating arm is provided with a connecting part, and the rotating arm can be rotatably connected to or fixedly connected to the rotating shaft through the connecting part; the driving component is connected to the rotating shaft.

[0136] In an optional embodiment, one end of the rotating arm is provided with a first connecting part, and the rotating arm is rotatably or fixedly connected to the rotating shaft through the first connecting part;

[0137] The first driving member is fixedly connected to the rotating shaft, and the fixing component is disposed at the other end of the rotating arm away from the connecting part.

[0138] In an optional embodiment, the first driving member includes a driving body and a rotating shaft connected to the driving body;

[0139] One end of the fixing component is provided with a second connecting part, and the fixing component is fixedly connected to the second rotating shaft through the second connecting part.

[0140] The first driving element can be one of the following:

[0141] The electric motor, the cylinder drive mechanism including the linear-circular motion conversion component, the hydraulic motor drive mechanism, and the transmission mechanism that connects to the upper-level drive mechanism.

[0142] Specifically, the electric motor and hydraulic motor drive mechanism directly output rotational motion.

[0143] The cylinder drive mechanism converts linear reciprocating motion into continuous rotation via a linear-to-circular motion conversion component. For example, the linear-to-circular motion conversion component can be a crank-slider mechanism.

[0144] In some embodiments, the first drive component is fixed by a mounting bracket, for example, the drive component is fixed to the frame of the production line by a mounting bracket.

[0145] The shelling device can be part of an automated production line. Therefore, the driving component of the shelling device can be a transmission mechanism that connects to the upper-level driving mechanism, thereby facilitating synchronous operation with other equipment in the automated production line (such as conveyor belts, sorting machines, packaging machines, etc.).

[0146] The rotating arm serves to support the fixing component. In some embodiments, the rotating arm is provided with a surface for placing the object to be shelled; in other words, the supporting component is used to provide the surface for placing the object to be shelled to the fixing component.

[0147] Specifically, the discharge port of the fixing component corresponds to the open opening of the object to be shelled, for example, to the direction of the head of the shrimp.

[0148] The fixing component includes a fixing area, which fixes the object to be shelled along the relative movement direction of the shell of the object to be shelled and the object to be shelled.

[0149] The fixed area has a discharge port on the side facing the relative motion direction, so that the object to be shelled can be removed from the discharge port under the action of the inertial force generated by the rotation acceleration and deceleration.

[0150] The fixing component is disposed on the rotating arm at a position away from the rotating axis. Specifically, the fixing component can be a protruding design or an embedded design relative to the rotating arm; that is, the fixing component can protrude from the rotating arm or be disposed in a groove opened on the rotating arm.

[0151] The protruding design typically uses bolts, clips, or other connection methods to connect the fixing components and the rotating arm, making it easy to install, disassemble, and replace the fixing components separately after the main body of the rotating arm is machined.

[0152] By embedding the fixed components inside the rotating arm, the radial dimensions are reduced, resulting in a more compact and streamlined overall structure. The mass is also distributed closer to the axis of rotation, which helps reduce rotational inertia, improves dynamic balance performance, and makes it more suitable for high-speed motion or high-precision scenarios.

[0153] When the fixing component fixes the object to be unshelled, it applies force at multiple points on the outer surface of the object.

[0154] The fixing component can have various specific structures; for example, the fixing component is a clamping fixing member and / or a piercing fixing member.

[0155] In other words, the fixing component can be a clamping fixing member, a piercing fixing member, or a combination of clamping fixing members and piercing fixing members.

[0156] In some embodiments, in the shell-removing device, the fixing component is a clamping fixing member; the clamping fixing member includes two clamping parts, both of which are connected to the preset action output mechanism;

[0157] The two clamping parts have two oppositely arranged sides, and the two sides are used to place the object to be shelled, and the two sides clamp the object to be shelled when they come close together.

[0158] When the shelling device is a preset action output mechanism that is a rotation acceleration and deceleration output mechanism, both clamping parts are connected to the rotating arm of the shelling device.

[0159] In some embodiments, the two clamping members cooperate to clamp the object to be deshelled.

[0160] The clamping fastener is a vertical clamping fastener or an up-and-down clamping fastener.

[0161] The vertical clamping member or the top-bottom clamping member is suitable for a shell-removing device where the preset action output mechanism is a rotary acceleration / deceleration output mechanism or a linear acceleration / deceleration output mechanism.

[0162] Both clamping parts of the vertical clamping member are connected to the rotating arm; the two opposite sides of the two clamping parts are both perpendicular to the rotation plane; the rotation plane is the plane containing the circle formed by rotating any point on the rotating arm of the rotary acceleration and deceleration output mechanism around the rotation axis, or the end face of the bearing plane of the linear acceleration and deceleration output mechanism;

[0163] One end of each of the two clamping parts of the upper and lower clamping member is connected to the rotating arm, and at least one of the two oppositely arranged sides of the two clamping parts is parallel to the rotation plane.

[0164] For the rotary acceleration and deceleration output mechanism, the plane containing the circle formed by any point on the rotating arm rotating around the rotation axis is defined as the rotation plane. The clamping force direction of the vertical clamping member and the clamping force direction of the upper and lower clamping members are respectively basically perpendicular to the rotation plane and basically parallel to the rotation plane. The relationship between the clamping force direction and the rotation plane is related to the rotation direction.

[0165] For the linear acceleration and deceleration output mechanism, the clamping force direction of the vertical clamping member is basically parallel to the end face (either the upper or lower end face) of the bearing platform, and the clamping force direction of the upper and lower clamping members is basically perpendicular to the end face (either the upper or lower end face) of the bearing platform.

[0166] In other words, the difference between the vertical clamping member and the top-bottom clamping member is that the direction of the clamping force is basically vertical.

[0167] For example, please refer to Figure 5 The two clamping parts in the fixing assembly are perpendicular to the plane of rotation, making them vertical clamping components, and the direction of their clamping force is parallel to the plane of rotation.

[0168] Taking rotary deceleration shell removal as an example, depending on the clamping method, the clamping fastener can be set in the following two ways: one clamping part opens and closes in the direction close to or away from the rotation axis, thereby clamping the shrimp shell; or, one clamping part opens and closes in the direction close to or away from the rotating arm mounting surface, thereby pressing the shrimp onto the headless shrimp placement surface of the other clamping part, thereby clamping the shrimp shell.

[0169] In some embodiments, the two clamping portions of the upper and lower clamping member are arranged one above the other, and one end of each of the two clamping portions of the upper and lower clamping member is connected to the rotating arm 1013.

[0170] The two clamping parts of the upper and lower clamping member are referred to as the second clamping parts.

[0171] In some embodiments, please refer to Figure 6 , Figure 6 A schematic diagram of the structure of the upper and lower clamping member is shown; one of the clamping parts and the rotating arm 1013 of the upper and lower clamping member are integrated as a whole, and cooperate with the other clamping part to clamp the object to be deshelled.

[0172] Please refer to Figure 6 Establish a coordinate system: Figure 6 This is a top view; the Z-axis is not shown. The Z-axis is orthogonal to the X and Y axes, as shown below. Figure 6 As shown, the two clamping parts are vertically arranged one above the other on the rotating arm 1013 along the Z-axis direction, that is, the two clamping parts are arranged along the Z-axis direction.

[0173] In some embodiments, the upper and lower clamping member further includes a support rod; the support rod is connected to the rotating arm 1013 and also to one end of the second clamping part, thereby supporting the second clamping part to approach the rotating arm 1013.

[0174] Please refer to Figure 7 , Figure 7 A schematic diagram of the vertical clamping member is shown; the two clamping parts of the vertical clamping member are vertically arranged on the rotating arm 1013, one on the left and one on the right.

[0175] The two clamping parts of the vertical clamping member are referred to as the first clamping part.

[0176] Please refer to Figure 7 Establish a coordinate system. Figure 7 This is a top view; the Z-axis is not shown, and it is orthogonal to the X and Y axes. Figure 7 As shown, the two clamping parts are vertically arranged on the rotating arm 1013, one on the left and one on the right, along the X-axis direction. In other words, the two clamping parts are arranged along the X-axis direction.

[0177] In some optional embodiments, the first clamping part of the vertical clamping member is specifically a clamping plate; it can also be a set of clamping rods, the set of clamping rods including multiple clamping rods (two or more), the set of clamping rods can be arranged in a straight line, or they can be arranged in a curve to match different clamping positions on the shells of different headless shrimp 104.

[0178] Please refer to Figure 7 When the fixing component 102 is a vertical clamping member, the first clamping part of the vertical clamping member opens and closes along the headless shrimp placement surface of the rotating arm 1013, thereby clamping the shrimp shell. The headless shrimp placement surface is the end face used to place the headless shrimp, for example, the clamping area on the rotating arm located between the two clamping parts of the vertical clamping member.

[0179] Please refer to Figure 6 The second clamping part of the upper and lower clamping member moves closer to or further away from the headless shrimp placement surface of the rotating arm 1013, thereby pressing the shrimp onto the headless shrimp placement surface and clamping the shrimp shell; at this time, the headless shrimp placement surface is the end face of the clamping part or the end face of the rotating arm.

[0180] Please refer to Figure 7 , Figure 8 , Figure 7 The shrimp body in the fixing component 102 described herein is arranged in one manner; Figure 8 This diagram illustrates another arrangement of the shrimp in the fixing component 102 described in this application embodiment.

[0181] like Figure 7 and Figure 8 As shown, depending on the arrangement of the shrimp, the shrimp can be placed on the surface where the headless shrimp are placed in the following three ways: (e.g.) Figure 7 The shrimp shown should have its belly pressed firmly against the side where the headless shrimp is placed, or its back pressed firmly against the side where the headless shrimp is placed. Figure 8 The shrimp shown is placed close to the headless shrimp surface, but in all three cases, the shrimp head faces the tangent of the rotational movement.

[0182] Depending on the rotation form of the rotating arm 1013, rotational acceleration and deceleration motion can be divided into the following two types: circular motion and circumferential oscillation.

[0183] Different ways of placing headless shrimp 104 and the rotation mode of the rotating arm 1013 can be combined in a cross-combination. The preferred combination is: the shrimp abdomen is close to the surface where the headless shrimp is placed, the clamping mechanism moves inward and outward along the surface where the headless shrimp is placed, and the rotating arm makes a circular motion.

[0184] In some embodiments, the length of the clamping member in the clamping fastener matches the overall length of the headless shrimp 104 to clamp the headless shrimp 104 from top to bottom; or the length of the clamping member matches the length of the shrimp's tail limbs to clamp only the shrimp's tail limbs to fix the shrimp.

[0185] In some embodiments, in the shelling device, the fixing component is a puncture-type fixing component; the puncture-type fixing component includes at least one puncture needle, the puncture needle is inclined and facing away from the discharge port, and punctures the shell of the object to be shelled to fix the object to be shelled.

[0186] The piercing needle is inserted obliquely into the shrimp shell from the head of the shrimp, while applying a force to the shrimp body downwards and to prevent the shrimp shell from coming out. This prevents the shrimp shell from moving in the direction of the shrimp meat coming out during rotation, and also prevents the shrimp body from moving upwards.

[0187] In some embodiments, the puncture needle in the decapsulation device is a stationary puncture needle or a positional puncture needle.

[0188] The permanent puncture needle is positioned at an angle on the rotating arm 1013 regardless of whether the object to be decapitated is in place.

[0189] The aforementioned positioning puncture needle is a puncture needle whose position can be changed by extension or rotation, and which fixes the object to be decapitated after it is in place.

[0190] The puncture needle of the puncture-type fixation device has an inclination angle of 10°-80°, a diameter of no more than 5mm, and a length dimension greater than 5mm.

[0191] When the tilt angle of the puncture needle is less than 10°, the horizontal force is too large, the effective puncture depth of the needle body is insufficient, and a longer needle body is required to fix the shrimp shell, and the rigidity of the puncture needle itself decreases; when the tilt angle of the puncture needle is greater than 80°, it approaches vertical puncture, loses the barb effect, and the fixation effect is relatively poor.

[0192] The diameter of the puncture needle is determined based on the gap between the shrimp meat and the shrimp shell, while also taking into account the strength of the puncture needle.

[0193] In some embodiments, the puncture needle can be combined with the clamping mechanism. For example, the puncture needle is used to fix the part of the headless shrimp 104 near the head; and a vertical clamping structure is used to fix the middle part of the headless shrimp 104.

[0194] Alternatively, use a piercing needle to fix the part of the headless shrimp 104 near the head; use an upper and lower clamping structure to fix the tail limbs of the headless shrimp 104.

[0195] Please refer to Figure 9 , Figure 9 A schematic diagram illustrating the principle of rotational acceleration and deceleration as described in an embodiment of this application is shown; as follows: Figure 9As shown, the analysis of headless shrimp molting shows that the molting force is not continuous throughout the entire process. The continuous molting force travels only about 10 mm. When the shrimp meat travels beyond this value, the molting force rapidly decreases to 0. This travel is the distance the shrimp meat travels through the large joint of the tail leg to break through the joint and molt. Figure 9 Chinese r 虾 Let be the radius of rotation of the shrimp's center of mass, Fe be the direction of the tangential force on the shrimp's center of mass, and V be the linear velocity of the shrimp's center of mass.

[0196] According to the linear acceleration formula a=ω′r, we get ω′=a / r;

[0197] according to Figure 9 The geometric relationship shown is: L = 2rsin(θ / 2); the kinematic relationship is: θ = 1 / 2ω't. 2 , and thus

[0198] Where a is the linear acceleration; r is the radius of rotation of the shrimp's center of mass (e.g., ...). Figure 9 r in 虾 (as shown); ω'—rotational angular acceleration; t—acceleration time; L—length required for shell-meat separation, a constant value, approximately 10mm; θ—acceleration angle.

[0199] When using rotational acceleration and deceleration for inertial shell removal, it is necessary to ensure reliable shell removal, that is, to ensure reliable shell removal for the types of headless shrimp allowed by the equipment, thereby improving the yield rate; it is also necessary to ensure short shell removal time, short shrimp meat extraction time, high shell removal efficiency, and high shrimp meat production and processing efficiency.

[0200] According to theoretical calculations of inertial force, it is necessary to integrate the inertial force at each point of each object according to the object's shape characteristics. For ease of subsequent description, the shrimp is equivalent to a point-like object with its mass concentrated at one point. All parameters of this point are equivalent to those of the shrimp, and the center of mass is called the shrimp's center of mass.

[0201] Given that the mass m of the shrimp meat is a constant and the magnitude of the molting force F is a constant under ideal conditions where external interference to the shrimp body is ignored, it is only necessary to design the equivalent acceleration a value of the shrimp meat to realize the molting by utilizing the inertia of the shrimp meat.

[0202] The equivalent acceleration 'a' of the shrimp is related to the shrimp's mass. The smaller the shrimp's mass, the greater the equivalent acceleration 'a' required to successfully molt. The minimum mass shrimp requires an equivalent acceleration 'a' of approximately 1100 m / s² to molt. To ensure that headless shrimp of different masses can molt reliably, the design acceleration should be greater than the equivalent acceleration required for the minimum mass shrimp to molt. Theoretically, a design of a = 1200 m / s² can guarantee the reliable molting of headless shrimp.

[0203] Analysis of the shrimp meat revealed that the shrimp meat extraction time was... Analysis of the shrimp rotation radius and molting time plotted (as shown in the figure below) shows that when the rotation radius r is greater than 30mm, the shrimp molting time is basically constant.

[0204] Please refer to Figure 10 , Figure 10 A simulation diagram illustrating the relationship between shrimp shelling time and rotation radius r as described in the embodiments of this application is shown. Based on the basic structure of the equipment and the above conclusion that "when the rotation radius r is greater than 30mm, the shrimp shelling time is basically constant," and considering that the headless shrimp itself has a certain width, the length of the rotating arm should be at least 30mm, taking into account the space required for placing the headless shrimp and arranging the equipment structure. In order to accommodate larger headless shrimp and improve the versatility of the derivative shelling equipment, the length of the rotating arm is preferably 50mm or more. However, as the length of the rotating arm increases, the weight of the rotating mechanism, the required space, and the power consumption of the equipment increase. Therefore, the rotation radius should not be too large within the feasible range, preferably below 500mm.

[0205] Because the headless shrimp relies on the rotating arm for reliable support and rotational power, the rotational speed and angular acceleration of the rotating arm are the same as those of the headless shrimp during the molting process.

[0206] Please refer to Figure 11 , Figure 11 A schematic diagram of the unpacking device based on linear acceleration and deceleration inertial unpacking according to an embodiment of this application is shown;

[0207] The linear acceleration / deceleration output mechanism 101 includes: a second driving member 1014 and a supporting platform 1015, wherein the second driving member 1014 and the supporting platform 1015 are connected; the supporting platform 1014 is connected to the fixing component 102, and the outlet of the fixing component 102 is oriented in the same direction as the linear motion direction.

[0208] Specifically, the direction of linear movement can be towards the shrimp's tail and accelerate rapidly, or towards the shrimp's head and decelerate rapidly.

[0209] In other words, a shelling device derived from linear acceleration and deceleration inertia shelling must include at least the following three parts: a shrimp carrying platform, a fixing component, and a second driving component.

[0210] The shrimp carrying platform is set up to install the shrimp shell fixing component and to place the shrimp body. The shrimp carrying platform is connected to the power mechanism. The fixing component is installed on the shrimp carrying platform and moves synchronously with the shrimp carrying platform. The fixing component has a protrusion on the surface opposite to the shrimp, which can penetrate the shrimp shell and provide reliable shrimp shell clamping during the process of removing the head and shelling the shrimp. The second driving component is connected to the shrimp carrying platform and drives the shrimp carrying platform to perform linear acceleration and deceleration motion.

[0211] The shelling process is as follows: the fixed component reliably clamps the shrimp shell, and the shrimp carrying platform moves in a straight line with acceleration and deceleration under the action of the second drive component; when the acceleration increases to the acceleration required for the headless shrimp to shed its shell, the shrimp meat separates from the shell because the shrimp shell is clamped and fixed, thus completing the shelling process.

[0212] The analysis process of linear acceleration and deceleration inertial shedding motion is as follows: Analyzing the shrimp's shedding process, the shortest time required for the shrimp to complete the shedding process is... The minimum initial velocity during the shrimp peeling process should be: In the actual shrimp peeling process, to ensure that the shrimp meat's velocity is above 0 after deceleration, the initial velocity of the shrimp meat is... Where L is the length required for shell and flesh separation, a constant; a is the acceleration.

[0213] Please refer to Figure 12 , Figure 12 A schematic diagram of the unshelling device based on vibration inertia unshelling described in the embodiments of this application is shown; as follows: Figure 12 As shown, the device derived from the vibration inertia shelling method must include at least the following two parts: a vibrator 1016 and a fixing component 102; the shrimp shell fixing component 102 is connected to the vibrator 1016 and moves synchronously with the moving parts of the vibrator 1016. The fixing component 102 has a protrusion on the surface opposite to the shrimp, which can penetrate the shrimp shell to provide reliable shell clamping during the shelling process of the headless shrimp; the vibrator 1016 is connected to the fixing component 102 and drives the shrimp shell fixing component 102 to drive the headless shrimp to vibrate back and forth; the shelling process is as follows: the fixing component 102 reliably clamps the shrimp shell, and the shrimp shell fixing component 102 vibrates under the action of the vibrator 1016; when the vibration acceleration increases to the acceleration required for the headless shrimp to shell, the shrimp meat separates from the shrimp shell because the shrimp shell is clamped and fixed, thus completing the shelling.

[0214] The design and analysis of the vibration inertial uncoating motion parameters are as follows.

[0215] Taking simple harmonic motion as an example, the formula for acceleration in simple harmonic motion is:

[0216]

[0217] Where: a—acceleration; A—amplitude; ω—angular frequency; —Initial phase angle;

[0218] V – linear velocity of the shrimp's center of mass; m – mass of the shrimp; E – kinetic energy of the system; maximum acceleration a according to the above formula. max =Aω 2 Maximum speed V max =Aω, the maximum energy of the system Let a=a max =Aω 2 Substitution

[0219] The lower the energy required for shrimp shelling, the lower the energy consumption of the related mechanisms that drive the shelling process. This reduces the overall energy consumption of the module, lowers the requirements for the drive components, and makes the structure easier to implement. Therefore, the smaller the overall vibration amplitude, the better. However, considering that the acceleration a is a constant value, the lower the amplitude, the higher the frequency. To ensure the overall lifespan of the mechanism, the lower the frequency, the better the fatigue life. Therefore, it is recommended that the overall frequency be designed below 6000Hz.

[0220] The rotary acceleration / deceleration shell removal device, the linear acceleration / deceleration shell removal device, and the vibration acceleration / deceleration shell removal device can all use clamping or piercing fasteners.

[0221] For the clamping fastener, the two clamping parts have two oppositely arranged side surfaces, and the two side surfaces are used to place the object to be shelled. When the two side surfaces are brought close together, the object to be shelled is clamped. Based on this, at least one side surface of the clamping fastener is provided with a puncture area opposite to the side surface of the object to be shelled, and the puncture area is provided with barbs extending toward the object to be shelled.

[0222] The barbs are arranged continuously or in segments along the length of the object to be descrambled, so as to apply force at multiple points to different parts of the object to be descrambled.

[0223] When the barbs are arranged continuously, they can be arranged uniformly or non-uniformly.

[0224] In the clamping fastener, at least one of the two clamping parts is a movable clamping part; the movable clamping part moves toward the other clamping part.

[0225] Please refer to Figure 13 and Figure 14 , Figure 13 and Figure 14 Each of the following schematic diagrams illustrates a structural representation of the barbed teeth described in an embodiment of this application; as shown below. Figure 13 and Figure 14 As shown, the barbs can be designed as a plate-like toothed structure, a cylindrical structure, or a conical structure.

[0226] When the clamping fastener comes into contact with the object to be shelled (such as a headless shrimp), at least some of the barbs penetrate the shrimp shell, thereby securing the headless shrimp.

[0227] In some embodiments, the fixing assembly further includes a clamping power mechanism that drives the movable clamping part to move; when both clamping parts are movable, the clamping power mechanism drives both movable clamping parts to move; when one clamping part is movable, the clamping power mechanism drives one movable clamping part to move.

[0228] In other words, the two clamping parts of the fixing component can be opened or clamped.

[0229] In some embodiments, the clamping portion provided with barbs may be referred to as a toothed plate.

[0230] Taking shrimp as an example, the process of the two toothed plates of the clamping fixing component clamping the headless shrimp is as follows: In the initial state, the toothed plates are open under the action of the clamping power device, and there is space between the two toothed plates for placing the shrimp body; when the shrimp body is placed between the two toothed plates, the clamping power device drives the toothed plates to move towards the shrimp body and clamp it. During this process, the clamping power device provides greater pressure, causing the barbs on the toothed plates to pierce the shrimp shell; after the barbs on the toothed plates pierce the shrimp shell, the clamping power device changes the pressure to a smaller pressure, thereby ensuring that the force when the toothed plates contact the shrimp body is gentle and can maintain this gentle force, so that the damage to the shrimp body is minimal when it detaches from the shell under the action of inertial force, and it is easier to detach.

[0231] The barbs are inclined away from the discharge port, and the inclination angle of the barbs is 10°-80°; the net height of the barbs is 0.10-2.00mm.

[0232] Please refer to Figure 15 The tilting direction of the barbs 103 is opposite to the movement direction of the shrimp shell of the headless shrimp 104; the arrow in the figure indicates the movement direction of the shrimp shell of the headless shrimp 104; defining the direction of the shrimp meat detachment as forward, then the opposite direction is backward, so the barbs 103 of the tooth plate are set to tilt backward; that is to say, during the detachment process, the shrimp meat will cause the shrimp shell of the headless shrimp 104 to have a forward movement tendency, and the backward tilting design of the barbs on the tooth plate can cause the shrimp shell of the headless shrimp 104 to have a tendency to pierce into the shrimp shell of the headless shrimp 104 under the forward movement tendency (e.g. Figure 15 This ensures reliable clamping.

[0233] When the inclination angle of the barbed teeth 103 is greater than 10° or less than 80°, please refer to... Figure 16 and Figure 17 , Figure 16 An example diagram of barbed teeth with an inclination angle greater than 80° is shown; Figure 17 An example diagram of barbed teeth with an inclination angle of less than 10° is shown; as follows: Figure 16 As shown, the barb's backward tilt angle β is greater than 80°. When the headless shrimp 104's shell moves forward, the tendency of the barb to penetrate into the shrimp 104's shell decreases, making it easier for the barb to detach from the tip, thus reducing the gripping reliability; as Figure 17 As shown, the back tilt angle β of the barb tooth 103 is less than 10°, which increases the difficulty of initial barb insertion and the load at the root of the barb is relatively large, resulting in reduced insertion reliability and lifespan.

[0234] Please refer to Figure 18 , Figure 18 A schematic diagram of the net height of the barbs described in an embodiment of this application is shown; as follows: Figure 18 As shown, the net height h of the barb 103 refers to the vertical height from the root of the tooth to the tip of the tooth, which is the total height from the tip of the tooth to the mounting base. In this embodiment, the net height of the barb 103 is 0.10-2.00 mm. The process of the barb piercing the shell of the headless shrimp 104 will cause local pitting deformation in the shrimp body. When the net height of the barb 103 is less than 0.10 mm, the local pitting deformation will cause the pressure of the barb head to be insufficient to pierce the shell of the headless shrimp 104, resulting in piercing failure. When the net height of the barb 103 is greater than 2.00 mm, the barb will penetrate too much into the shrimp body, causing damage to the shrimp membrane and shrimp meat on the surface of the shrimp meat.

[0235] In some embodiments, the barbs are spaced apart, with at least one barb arranged in a circular area with a diameter of 55 mm, and the diameter of the outer circle of the tip of the barb is less than 0.5 mm; the clamping breaking force of the clamping part has a linear density of not less than 0.15 N / mm along the length of the object to be deshelled, and the clamping holding force of the clamping part has a linear density of not more than 0.1 N / mm along the length of the object to be deshelled.

[0236] The barbs are arranged at intervals, with at least one barb arranged within a circular area with a diameter of 55 mm. In other words, the barbs in the toothed plate of the descraping device can be arranged in an orderly or disordered manner.

[0237] Here, when the barbs in the toothed plate of the descraping device are arranged in segments, at least one barb is arranged in a circular area with a diameter of 55 mm only in each segment.

[0238] The ordered arrangement means that the barbs are arranged according to a certain rule or pattern to form a predictable geometric structure; specifically, the spacing, angle, direction and other parameters of the barbs follow fixed rules (such as equidistant arrangement, symmetrical distribution, spiral arrangement, etc.).

[0239] The disordered arrangement means that the arrangement of the barbs has no fixed pattern and presents a random or unstructured distribution. Specifically, at least one parameter among the parameters such as the spacing, angle, and direction of the barbs has no clear pattern.

[0240] In some embodiments, the spacing between adjacent barbs in the same segment of the desquamation device along the length of the object to be desquamated is no greater than 50 mm, and the spacing between adjacent barbs along the height of the object to be desquamated is no greater than 10 mm. The spacing between different adjacent barbs in the desquamation device can be the same or different.

[0241] In other words, the layout of the barbs matches the shape of the headless shrimp. Since the joint between the third and fourth segments of the shrimp shell is relatively weak and easily broken, when the barbs are arranged in segments, at least one segment of the barbs corresponds to the first three segments of the shrimp shell, and at least one segment of the barbs corresponds to the last three segments of the shrimp shell, thereby fixing the shrimp shell in segments and preventing the shrimp shell from breaking off at the joint between the third and fourth segments of the shrimp shell during the molting process.

[0242] When the barbs are arranged in segments, the barbs in each segment can be arranged in an ordered manner (e.g., uniformly) or in a disordered manner (e.g., non-uniformly).

[0243] It should be noted that when the barbs are arranged continuously instead of in segments, the barbs of the entire clamping part can be arranged in an orderly manner (e.g., uniformly) or in a disordered manner (e.g., non-uniformly).

[0244] The spacing between adjacent barbs along the height direction of the shrimp to be molted should not exceed 10mm, which is determined based on the height of the shrimp.

[0245] The spacing of the barbs along the length of the object to be shelled is no more than 50mm, which is determined based on the length of the object (shrimp) to be shelled, and can ensure the reliability of segmented fixation of small-sized shrimp bodies and shells.

[0246] It should be noted that the distance between the barbs should not be too close, because excessively dense barbs will cause puncture failure. When multiple teeth contact the shrimp shell at the same time, the total pressure applied by the clamping power mechanism is distributed to each tooth tip, resulting in insufficient pressure of a single tooth to penetrate the shrimp shell, thus causing puncture failure.

[0247] In addition, to ensure that the pressure of a single barb is sufficient to penetrate the shrimp shell, the diameter of the outer circle of the tip of the barb is less than 0.5 mm; this makes it easier to penetrate the shrimp shell with less tip pressure.

[0248] Because shrimp shells have high strength, the barbs of the clamping device need a large breaking force to penetrate the shell, so a large clamping force is required in the initial stage of clamping. However, because shrimp meat is soft and has a certain degree of deformability, if a large clamping force is maintained during the peeling process, the shrimp meat will be squeezed and deformed, which will increase the peeling force and reduce the quality of the shrimp meat.

[0249] Therefore, the toothed blades are designed with backward-tilted barbs. During the shelling process, the shrimp meat will cause the shrimp shell to move forward. The backward-tilted design of the barbs on the toothed blades can cause the barbs to tend to pierce into the shrimp shell as the shrimp shell moves forward. Therefore, once the barbs pierce into the shrimp shell, only a small clamping force is needed to ensure that the toothed blades and the shrimp shell fit together.

[0250] Therefore, the shrimp shell clamping adopts a multi-segment force clamping design. The linear density of the toothed clamping breakthrough force along the length of the shrimp body is not less than 0.15 N / mm, and the linear density of the toothed clamping holding force along the length of the shrimp body is not higher than 0.1 N / mm.

[0251] The clamping power mechanism applies pressure (i.e., clamping power) to the clamping part, and the clamping power can be generated by a cylinder, high-pressure fluid, linear motor, etc.

[0252] In some embodiments, the clamping power may also rely on the inertial force of the toothed plates for clamping; when the clamping power is the inertial force of the movable clamping part, the mass of the movable clamping part is greater than a preset mass threshold, so that the movable clamping part generates a clamping breakthrough force and / or clamping retention force that meets the requirements.

[0253] In some embodiments, the preset mass threshold is 5g.

[0254] In some embodiments, the movable clamping part includes a counterweight. That is, if the mass of the movable clamping part itself is insufficient to generate sufficient clamping breaking force and / or clamping holding force, the counterweight is configured to make the inertial force meet the requirements of the barbs breaking through the shrimp shell and the teeth clamping the shrimp shell.

[0255] It should be noted that for rotational acceleration and deceleration inertial release, linear motion inertial release, and vibration inertial release, a clamping power mechanism or corresponding operation is usually required to apply additional clamping force so that the movable clamping part generates the required clamping breakthrough force and / or clamping retention force.

[0256] For example, please refer to Figure 5 For molting due to rotational acceleration and deceleration, the centrifugal force generated by the rotational acceleration can cause the movable clamping part (located on the inner side near the rotation axis) to move outward (to the side away from the rotation axis), so that the movable clamping part can generate the required clamping and breaking force to pierce the shrimp shell, and generate a certain clamping and holding force on the shrimp.

[0257] For inertial uncoupling during linear motion, please refer to... Figure 11For example, a clamping power mechanism can drive a linear acceleration / deceleration output mechanism to perform linear acceleration / deceleration motion, thereby causing the fixing component to move in two directions, so that the movable clamping part generates a clamping breakthrough force and / or clamping holding force that meets the requirements. Specifically, the clamping power mechanism can first cause the fixing component to perform linear acceleration / deceleration motion in the first direction (the direction of movement of the movable clamping part), so that the movable clamping part generates a clamping breakthrough force that meets the requirements, piercing the shrimp shell and fixing the shrimp. Then, the linear acceleration / deceleration output mechanism can drive the fixing component to perform linear acceleration / deceleration motion in the second direction (the direction of shrimp meat removal), so that the shrimp meat can be removed. In some embodiments, the movement in both directions can also be performed simultaneously.

[0258] In some embodiments, the two opposing sides of the two clamping portions in the clamping fastener form a V-shape, wherein the end of the movable clamping portion facing away from the discharge port is connected to the preset action output mechanism.

[0259] The two clamping parts form a V-shaped clamping area, with a wider opening and a narrower tip. The shrimp's body is usually curved or irregularly cylindrical, with a wider head and a narrower tail, making it close to a V-shape overall. In this way, the two sloping sides of the V-shape can naturally contact and apply pressure to the curved outer side of the shrimp's body, better matching the shrimp's body curve.

[0260] The material of a single clamping part of the fixing component is rigid or flexible, and / or the structure of the single clamping part is an integral toothed plate or a segmented toothed plate; the segmented toothed plate includes multiple toothed plate segments of different lengths, and the end of each toothed plate opposite to the discharge port is connected to the preset action output mechanism.

[0261] In other words, the toothed structure of the clamping part can be divided into: integral rigid toothed piece, integral flexible toothed piece, segmented flexible toothed piece, and segmented rigid toothed piece; in addition to the combination of rigid toothed pieces on both sides, the toothed pieces on both sides of the clamping fastener can also be freely combined with other toothed piece types, such as one side being rigid and the other side being flexible; one side being integral and the other side being segmented; one side being integral rigid toothed piece and the other side being segmented flexible toothed piece, etc.

[0262] Among them, the integral processing of the gear plate reduces assembly steps and lowers costs; the segmented gear plate, due to the inclusion of multiple gear plate segments of different lengths, can reduce the stress on each gear plate segment during high-speed rotation and improve durability.

[0263] Please refer to Figure 19 , Figure 19 A schematic diagram of a rigid toothed plate structure is shown; the rigid toothed plate has a certain thickness as its base, and the toothed plate cannot produce deformation visible to the naked eye. There are barbs on the base of the toothed plate.

[0264] Rigid teeth have strong resistance to deformation, small deformation during high-speed rotation, and long lifespan. However, the shape of rigid teeth does not perfectly match the shrimp, and the number of barbs that actually contact the shrimp shell is relatively small, resulting in relatively weak clamping force. In other words, the fixation effect on the shrimp shell is relatively poor, and it is easy to generate high pressure in local areas of the shrimp shell, leading to squeezing damage to the shrimp meat.

[0265] The flexible toothed blade has self-adaptive wrapping properties, which can elastically deform and fit irregular surfaces (such as curved shrimp bodies), increasing the effective contact area. More barbs actually come into contact with the shrimp shell, resulting in stronger clamping force.

[0266] The flexible toothed plate can be made of flexible metal, high-performance polymer with sufficient strength, etc.

[0267] The shrimp shell clamping structure (fixing component) can use a rigid toothed plate on one side and a segmented or flexible toothed plate on the other side. There is no clamping power device on the rigid toothed plate side, and the shrimp body is pressed onto the rigid toothed plate under the action of the clamping power device on the other side. Compared with flexible toothed plates or segmented toothed plates on both sides, this method can avoid the twisting of the shrimp body caused by the asymmetry of the clamping points on both sides relative to the center plane after clamping.

[0268] Please refer to Figure 20 , Figure 20 The diagram shows a segmented flexible toothed plate structure according to an embodiment of this application. The segmented flexible toothed plate structure divides the original flexible toothed plate into multiple segments. Each segment of the flexible toothed plate is fixedly or rotatably connected to the base. Compared with the flexible toothed plate, the segmented flexible toothed plate can reduce the interference of internal stress of the flexible toothed plate along the toothed plate direction, and reduce the interference of internal stress of other toothed plates on the clamping force along the normal direction of the toothed plate.

[0269] Please refer to Figure 21 , Figure 21 The diagram shows a segmented rigid toothed plate structure according to an embodiment of this application. The segmented rigid toothed plate structure divides the original flexible toothed plate into multiple rigid toothed plates. Each rigid toothed plate is rotatably connected to the base. Compared with the flexible toothed plate, the segmented rigid toothed plate has higher strength and no internal stress interference, but its fit with the shrimp body is slightly worse.

[0270] When using the shelling device described in this application to shell shrimp, since there is a shell-meat connection force between the shrimp shell and the shrimp meat, if the shell-meat connection force can be reduced, the shrimp meat will be easier to remove under the action of inertial force, and the inertial force required for removal will be reduced.

[0271] Based on this, in some embodiments, the deshelling device further includes a pressure fluid delivery component; the pressure fluid delivery component introduces pressure fluid into the internal environment of the object to be deshelled, so that the pressure fluid enters between the shell of the object and the object to be deshelled.

[0272] By introducing pressurized fluid between the shell of the object to be shelled and the object to be shelled, such as between the shrimp shell and the shrimp meat, the shell-meat connection force between the shrimp shell and the shrimp meat is reduced. This makes it easier for the object to be shelled, which has already been separated from the shell by the pressurized fluid, to move relative to the shell. This reduces the inertial force required for shelling, making shelling easier and more efficient. At the same time, due to the separation effect of the pressurized 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 under the tearing of the shell-meat connection force and the external shelling force.

[0273] In some embodiments, when the fixing component is a puncture-type fixing component, a pressure fluid delivery hole is provided in the puncture needle of the puncture-type fixing component. Pressure fluid is introduced into the internal environment of the object to be deshelled through the pressure fluid delivery hole. In this way, the puncture needle simultaneously achieves the two functions of reliably fixing the object to be deshelled and separating the object from the shell by means of fluid.

[0274] The pressure fluid can be water, gas, etc.

[0275] In some embodiments, the shell-removing device includes a venting needle in the fixing device, and the venting needle has an inflation hole. The air inlet of the inflation hole is connected to an external air source, thereby introducing gas into the interior of the object to be shelled, so that the gas enters between the object to be shelled and the shell.

[0276] In some embodiments, the inertial shrimp-shelling device further includes: a collector.

[0277] The collector is located at the outlet of the fixed component to collect the shelled objects that have been removed.

[0278] The target equivalent acceleration of the object to be shed is related to the mass and type of the object to be shed. The type affects the shell-meat connection force, and the mass affects the magnitude of the inertial force.

[0279] Based on this, the target equivalent acceleration for removing the object from its shell is determined as follows:

[0280] Determine the target of the uncoating process for the material to be uncoated;

[0281] The target equivalent acceleration for exfoliating the object is determined based on the minimum parameters of the object to be exfoliated.

[0282] Alternatively, in some embodiments, the target equivalent acceleration for removing the object from its shell is determined by the following method:

[0283] Determine the quality level of the object to be deshelled;

[0284] For each mass level, the minimum parameters of the object to be shelled under that mass level are determined, and the target equivalent acceleration of the object to be shelled under that mass level is determined based on the minimum parameters of the object to be shelled under that mass level; wherein, the object to be shelled under each mass level is shelled based on the target equivalent acceleration of that mass level.

[0285] The motion parameters of the preset action output mechanism are determined based on the fact that the equivalent acceleration of the object to be unpacked relative to the clamping part is greater than or equal to the target equivalent acceleration required for unpacking.

[0286] In some embodiments, the device further includes a controller electrically connected to the preset action output mechanism to control the operation of the preset action output mechanism.

[0287] The controller controls the operation of the preset action output mechanism. Specifically, it controls the start or stop of the drive component and controls the movement process of the drive component, such as rotational acceleration and deceleration, linear acceleration and deceleration, and vibration.

[0288] When the fixing component secures the object to be unpacked, the output end of the preset motion output mechanism is controlled to output accelerated motion and / or decelerated motion based on the preset motion parameters.

[0289] In some embodiments, before controlling the output terminal of the preset motion output mechanism to output accelerated motion and / or decelerated motion based on preset motion parameters, the control method further includes:

[0290] In response to receiving an input motion parameter command, the preset motion parameters are determined;

[0291] and / or,

[0292] In response to receiving an input object type identifier, the preset motion parameters are determined based on the motion parameters pre-associated with the object type identifier; wherein different object type identifiers are associated with different preset motion parameters.

[0293] and / or,

[0294] In response to receiving the parameters of the object to be deshelled detected by the detection device, the preset motion parameters are determined based on the pre-configured association table between the parameters of the object to be deshelled and the preset motion parameters;

[0295] and / or,

[0296] In response to receiving the parameters of the object to be unshelled detected by the detection device, the parameters of the object to be unshelled are processed based on the pre-configured parameter calculation rules to calculate the preset motion parameters that match the parameters of the object to be unshelled.

[0297] In response to receiving an input object type identifier, the preset motion parameter is determined based on the preset motion parameter pre-associated with the object type identifier; wherein, different object type identifiers are associated with different preset motion parameters, that is, in some embodiments, the association between the object type identifier and the preset motion parameter is pre-set, and the matching preset motion parameter rotation acceleration parameter is automatically selected based on the real-time input object type identifier.

[0298] The type identifier of the product to be shelled can be the quality grade of the product to be shelled; the type identifier of the product to be shelled can be manually entered, such as the type identifier of shrimp in each batch of production plan, or it can be determined by the equipment automatically identifying the type of the product to be shelled.

[0299] The quality grade of the material to be unshelled refers to the different quality ranges of the material to be unshelled.

[0300] In response to receiving the parameters of the object to be unshelled detected by the detection device, the preset motion parameters are determined based on a pre-configured association table between the object parameters and motion parameters; that is, motion parameters matching the object parameters are determined based on parameters such as mass and length of the object to be unshelled detected and sent by other devices.

[0301] The process of processing the parameters of the object to be unshelled based on pre-configured parameter calculation rules, and calculating preset motion parameters matching the parameters of the object to be unshelled, includes:

[0302] The type and specification parameters of the object to be unshelled, the pre-set unshelling force for each object, and the attribute parameters of the fixing component are used to determine the preset motion parameters that match the object to be unshelled.

[0303] The species parameters include the species of shrimp, such as shrimp of species A, shrimp of species B, etc.; different shrimp have different shell thicknesses and hardness, and the corresponding preset motion parameters when they detach, such as angular acceleration, linear acceleration, etc.

[0304] The specifications of the material to be unshelled include mass, length, etc.

[0305] The attribute parameters of the fixing component include the position and weight of the clamping device.

[0306] When the object to be shelled is shrimp, the shelling device described in the embodiments of this application has several advantages, as follows:

[0307] Minimal damage to shrimp meat: The inertial shelling mechanism allows the shrimp meat to detach by relying solely on the inertia of the shrimp meat, without the need for any mechanism to contact the shrimp meat and apply force. This zero-contact shrimp meat gripping minimizes damage to the shrimp meat.

[0308] High production efficiency: Inertial shelling can achieve extremely high inertial force in an instant, thereby quickly reaching the required shelling force. The entire shelling process can be completed quickly (within 0.2s), resulting in high shrimp production efficiency.

[0309] High shrimp meat retention rate: Traditional peeling methods apply force to the shrimp meat in a point-like manner, and the peeling force is transmitted from the point of application through the shrimp meat to the surrounding area. For shrimp meat with small cross-section and low strength, the force cannot be transmitted well, which can easily cause local shrimp meat to break. In contrast, inertial peeling relies on the force generated by the shrimp meat's own mass. The peeling force is evenly distributed throughout the shrimp body along with the shrimp meat's own mass. The demand for force transmission for shrimp meat with small cross-section and low strength is low, resulting in less shrimp meat loss and a high shrimp meat retention rate.

[0310] Multiple processing options: The inertial shelling method can hold only the shrimp shell without holding the shrimp meat, so the requirements for the cut length and depth of the shrimp meat and shell are relatively low, thus enabling a variety of shrimp processing options.

[0311] Based on the same inventive concept, this application also provides a control method for a shell-removing device corresponding to the shell-removing device. Since the principle of the control method in this application is similar to that of the shell-removing device described above in this application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0312] Please refer to Figure 22 , Figure 22 A flowchart of a control method for a shelling device according to an embodiment of this application is shown. The control method for the shelling device is applied to a shelling device, which includes: a preset action output mechanism and a fixing component for fixing the object to be shelled; the output end of the preset action output mechanism is connected to the fixing component.

[0313] The preset action output mechanism is used to drive its output end to output acceleration and / or deceleration, so that the fixing component follows the output end to perform acceleration and / or deceleration, and drives the object to be unshelled to follow the fixing component to perform acceleration and / or deceleration, so that the object to be unshelled that is not fixed by the fixing component in the object to be unshelled can be unshelled based on inertia during acceleration or deceleration.

[0314] The fixing component is provided with a discharge port, which is used to allow the shelled object to be ejected from the fixing component in the direction of acceleration or deceleration;

[0315] Please refer to Figure 22 The control method includes the following steps S2201:

[0316] S2201. When the fixing component fixes the object to be unpacked, the output end of the preset motion output mechanism is controlled to output accelerated motion and / or decelerated motion based on the preset motion parameters.

[0317] In some embodiments, before controlling the output end of the preset action output mechanism to output accelerated motion and / or decelerated motion based on preset motion parameters, the control method further includes:

[0318] In response to receiving an input motion parameter command, the preset motion parameters are determined;

[0319] and / or,

[0320] In response to receiving an input object type identifier, the preset motion parameters are determined based on the motion parameters pre-associated with the object type identifier; wherein different object type identifiers are associated with different preset motion parameters.

[0321] and / or,

[0322] In response to receiving the parameters of the object to be deshelled detected by the detection device, the preset motion parameters are determined based on the pre-configured association table between the parameters of the object to be deshelled and the preset motion parameters;

[0323] and / or,

[0324] In response to receiving the parameters of the object to be unshelled detected by the detection device, the parameters of the object to be unshelled are processed based on the pre-configured parameter calculation rules to calculate the preset motion parameters that match the parameters of the object to be unshelled.

[0325] In some embodiments, the control method of the shelling device, wherein processing the parameters of the object to be shelled based on pre-configured parameter calculation rules to calculate preset motion parameters matching the parameters of the object to be shelled includes:

[0326] The type and specification parameters of the object to be unshelled, the pre-set unshelling force for each type of object, and the attribute parameters of the fixing component are used to determine the motion parameters that match the object to be unshelled.

[0327] In some embodiments, in the control method of the shelling device, the device further includes a pressure fluid delivery assembly; the pressure fluid delivery assembly introduces pressure fluid into the internal environment of the object to be shelled, so that the pressure fluid enters between the shell of the object and the object to be shelled; the method further includes:

[0328] Before or during the uncoating process, pressurized fluid is introduced between the shell of the object to be uncoated and the object to be uncoated, based on preset motion parameters.

[0329] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces; the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

[0330] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0331] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0332] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a platform server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0333] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A shelling device, characterized in that, The device includes: a preset action output mechanism and a fixing component for fixing the object to be shelled; the output end of the preset action output mechanism is connected to the fixing component. The preset action output mechanism is used to drive its output end to output acceleration and / or deceleration motion, so that the fixing component follows the output end to perform acceleration and / or deceleration motion, thereby causing the object to be unshelled to follow the fixing component to perform acceleration and / or deceleration motion, so that the unshelled object in the object to be unshelled that is not fixed by the fixing component can be unshelled based on inertia during acceleration or deceleration.

2. The shelling device according to claim 1, characterized in that, The fixing component is provided with a discharge port, which is used to allow the shelled object to be ejected from the fixing component in the direction of acceleration or deceleration.

3. The shelling device according to claim 1, characterized in that, When the fixing component fixes the object to be unshelled, it applies force at multiple points on the outer surface of the object.

4. The shelling device according to claim 1 or 3, characterized in that, The fixing component is a clamping type fixing member; the clamping type fixing member includes two clamping parts, both of which are connected to the preset action output mechanism; The two clamping parts have two oppositely arranged sides, and the two sides are used to place the object to be shelled, and the two sides clamp the object to be shelled when they come close together.

5. The shelling device according to claim 4, characterized in that, The clamping fastener has at least one side surface provided with a puncture area opposite to the side surface of the object to be deshelled, and the puncture area is provided with barbs extending toward the object to be deshelled; The barbs are arranged continuously or in segments along the length of the object to be descrambled, so as to apply force at multiple points to different parts of the object to be descrambled.

6. The shelling device according to claim 5, characterized in that, The barbs are inclined in the direction away from the discharge port, and the inclination angle of the barbs is 10°-80°; the net height of the barbs is 0.10-2.00mm.

7. The shelling device according to claim 5 or 6, characterized in that, The barbs are spaced apart, with at least one barb arranged within a circular area with a diameter of 55 mm. The outer diameter of the circumscribed circle of the tip of the barb is less than 0.5 mm. The clamping force of the clamping part has a linear density of not less than 0.15 N / mm along the length of the object to be deshelled, and the clamping holding force of the clamping part has a linear density of not more than 0.1 N / mm along the length of the object to be deshelled.

8. The shelling device according to claim 4, characterized in that, At least one of the two clamping parts in the clamping fastener is a movable clamping part; the movable clamping part moves toward the other clamping part.

9. The shelling device according to claim 8, characterized in that, The movable clamping part in the fixing assembly moves under the drive of clamping power; the clamping power is output by the clamping power mechanism or is the inertial force of the movable clamping part.

10. The shelling device according to claim 9, characterized in that, When the clamping force is the inertial force of the movable clamping part, the mass of the movable clamping part is greater than a preset mass threshold, so that the movable clamping part generates a clamping breakthrough force and / or clamping holding force that meets the requirements.

11. The shelling device according to claim 10, characterized in that, The preset mass threshold is 5g.

12. The shelling device according to claim 11, characterized in that, The movable clamping part includes a counterweight.

13. The shelling device according to claim 4, characterized in that, The material of a single clamping part of the fixing component is rigid or flexible, and / or the structure of the single clamping part is an integral toothed plate or a segmented toothed plate; the segmented toothed plate includes multiple toothed plate segments of different lengths, and the end of each toothed plate opposite to the discharge port is connected to the preset action output mechanism.

14. The shelling device according to claim 8, 9 or 10, characterized in that, The two opposing sides of the two clamping parts in the clamping fastener form a V-shape, wherein the end of the movable clamping part facing away from the discharge port is connected to the preset action output mechanism.

15. The shelling device according to claim 1, characterized in that, The preset action output mechanism is a rotary acceleration / deceleration output mechanism, a linear acceleration / deceleration output mechanism, or a vibration output mechanism; The rotary acceleration / deceleration output mechanism includes: a first driving member, a rotating shaft, and a rotating arm; the first driving member is rotatably connected to the rotating arm via the rotating shaft; the fixing component is disposed on the rotating arm at a position away from the rotating shaft. The linear acceleration / deceleration output mechanism includes: a second driving component and a support platform, wherein the second driving component and the support platform are connected; and the support platform and the fixed component are connected. The vibration output mechanism is connected to the fixed component.

16. The shelling device according to claim 15, characterized in that, When the preset action output mechanism is a rotary acceleration / deceleration output mechanism or a linear acceleration / deceleration output mechanism, the fixing component is a vertical clamping component or an up-and-down clamping component. Both clamping parts of the vertical clamping member are connected to the rotating arm; the two opposite sides of the two clamping parts are both perpendicular to the rotation plane; the rotation plane is the plane containing the circle formed by rotating any point on the rotating arm of the rotary acceleration and deceleration output mechanism around the rotation axis, or the end face of the bearing plane of the linear acceleration and deceleration output mechanism; One end of each of the two clamping parts of the upper and lower clamping member is connected to the rotating arm, and at least one of the two oppositely arranged sides of the two clamping parts is parallel to the rotation plane.

17. The shelling device according to claim 15, characterized in that, When the preset action output mechanism is a vibration output mechanism, the discharge port of the fixed component is vertically downward.

18. The shelling device according to claim 1, characterized in that, The device further includes a pressure fluid delivery assembly; the pressure fluid delivery assembly introduces pressure fluid into the internal environment of the object to be deshelled, so that the pressure fluid enters between the shell of the object and the object to be deshelled.

19. The shelling device according to claim 2, characterized in that, The fixing component is a puncture-type fixing component; the puncture fixing component includes at least one puncture needle, which is inclined and faces away from the discharge port, and punctures the shell of the object to be shelled to fix the object to be shelled.

20. The shelling device according to claim 19, characterized in that, The puncture needle is provided with a pressure fluid delivery hole, through which pressure fluid is introduced into the internal environment of the object to be decapitated.

21. The shelling device according to claim 20, characterized in that, The puncture needle has an inclination angle of 10°-80°, a diameter not exceeding 5mm, and a length dimension greater than 5mm.

22. The shelling device according to claim 1, characterized in that, The object to be shelled is shrimp, and the shelling target is shrimp meat.

23. The shelling device according to claim 1, characterized in that, The device further includes: A controller is electrically connected to the preset action output mechanism to control the operation of the preset action output mechanism.

24. The shelling device according to claim 1, characterized in that, The device further includes: a collector. The collector is located at the outlet of the fixed component to collect the shelled objects that have been removed.

25. A control method for a shelling device, characterized in that, An apparatus for shelling is provided, the apparatus comprising: a preset action output mechanism and a fixing component for fixing the object to be shelled; the output end of the preset action output mechanism is connected to the fixing component. The preset action output mechanism is used to drive its output end to output acceleration and / or deceleration, so that the fixing component follows the output end to perform acceleration and / or deceleration, and drives the object to be unshelled to follow the fixing component to perform acceleration and / or deceleration, so that the object to be unshelled that is not fixed by the fixing component in the object to be unshelled can be unshelled based on inertia during acceleration or deceleration. The fixing component is provided with a discharge port, which is used to allow the shelled object to be ejected from the fixing component in the direction of acceleration or deceleration; The control method includes: When the fixing component secures the object to be unpacked, the output end of the preset motion output mechanism is controlled to output accelerated motion and / or decelerated motion based on the preset motion parameters.

26. The control method for the shelling device according to claim 25, characterized in that, Before the output terminal of the preset motion output mechanism outputs accelerated motion and / or decelerated motion based on preset motion parameters, the control method further includes: In response to receiving an input motion parameter command, the preset motion parameters are determined; and / or, In response to receiving an input object type identifier, the preset motion parameters are determined based on the motion parameters pre-associated with the object type identifier; wherein different object type identifiers are associated with different preset motion parameters. and / or, In response to receiving the parameters of the object to be deshelled detected by the detection device, the preset motion parameters are determined based on the pre-configured association table between the parameters of the object to be deshelled and the preset motion parameters; and / or, In response to receiving the parameters of the object to be unshelled detected by the detection device, the parameters of the object to be unshelled are processed based on the pre-configured parameter calculation rules to calculate the preset motion parameters that match the parameters of the object to be unshelled.

27. The control method for the shelling device according to claim 26, characterized in that, The process of processing the parameters of the object to be unshelled based on pre-configured parameter calculation rules, and calculating preset motion parameters matching the parameters of the object to be unshelled, includes: The type and specification parameters of the object to be unshelled, the pre-set unshelling force for each object, and the attribute parameters of the fixing component are used to determine the preset motion parameters that match the object to be unshelled.

28. The control method for the shelling device according to claim 25, characterized in that, The device further includes a pressure fluid delivery assembly; the pressure fluid delivery assembly introduces pressure fluid into the internal environment of the object to be deshelled, so that the pressure fluid enters between the shell of the object to be deshelled and the object to be deshelled. The method further includes: Before or during the uncoating process, pressurized fluid is introduced between the shell of the object to be uncoated and the object to be uncoated, based on preset motion parameters.

Images