Shelling device and control method thereof

Abstract

The invention provides a hulling device and a control method of the hulling device. The hulling device comprises a driving part, a rotating arm and a fixing assembly used for fixing an object to be hulled. The driving piece is rotationally connected with the rotating arm through a rotating shaft; the fixing assembly is arranged at the position, away from the rotating shaft, of the rotating arm, and the rotating radius from the rotating shaft to the farthest end, away from the rotating shaft, of the fixing assembly is within a preset numerical value range; the driving part is used for driving the rotating arm to do rotary accelerated motion around the rotating shaft, so that the fixing assembly does rotary accelerated motion along with the rotating arm, a hulled object connected with the shell in the to-be-hulled object is driven to be separated under the action of centrifugal force, and the hulled object does not make direct contact with equipment in the hulling process; the unshelling object is less damaged, the shape is complete and attractive, and the production efficiency is high.

Description

Technical Field

[0001] This application relates to the field of food processing, and more specifically, to a shelling device and a control method for the shelling device. 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, shrimp meat currently 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, which can realize the shelling process of 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 of the shelled object.

[0005] In this embodiment of the application, a shelling device is provided, the device comprising: a driving member, a rotating arm, and a fixing component for fixing the object to be shelled;

[0006] The driving component is rotatably connected to the rotating arm via a rotating shaft; the fixing component is disposed on the rotating arm at a position away from the rotating shaft, and the rotation radius from the rotating shaft to the fixing component at the farthest point from the rotating shaft is within a preset value range;

[0007] The driving component is used to drive the rotating arm to rotate and accelerate around the rotating axis, so that the fixing component follows the rotating arm to rotate and accelerate, thereby causing the object to be unshelled and connected to the shell to be unshelled to be detached under the action of centrifugal force.

[0008] In some embodiments, in the shelling device, the fixing component has a discharge port on the side opposite to the rotating shaft, the discharge port being used to release the shelled object from the object to be shelled, which is fixed by the fixing component.

[0009] 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.

[0010] 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 rotating arm;

[0011] 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.

[0012] 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.

[0013] 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.

[0014] In some embodiments, in the peeling device, the barbs are inclined toward the direction of rotation axis, and the inclination angle of the barbs is 10°-80°; the net height of the barbs is 0.10-2.00mm.

[0015] 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.

[0016] 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.

[0017] In some embodiments, the shell-removing device further includes a clamping power mechanism in the fixing assembly, which drives the movable clamping part to move.

[0018] Alternatively, the fixing component may follow the rotating arm in a rotational acceleration motion, and the movable clamping part of the fixing component may be driven by the inertial force generated by the rotational acceleration motion.

[0019] In some embodiments, in the shell-removing device, when the movable clamping part of the fixing component is driven by the inertial force generated by the rotational acceleration motion, the mass of the movable clamping part is greater than a preset mass threshold, so as to generate a clamping breakthrough force and clamping retention force that meet the requirements during the rotational acceleration motion.

[0020] In some embodiments, when the movable clamping part of the fixing component is driven by the inertial force generated by the rotational acceleration motion, both clamping parts of the fixing component are arranged along the rotation direction of the rotating arm in the uncoiling device.

[0021] In some embodiments, the preset mass threshold in the shelling device is 5g.

[0022] In some embodiments, the movable clamping part of the shell-removing device includes a counterweight.

[0023] In some embodiments, in the shell removal 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 near the rotating shaft is connected to the rotating arm.

[0024] In some embodiments, in the shell-removing device, the two oppositely arranged sides of the two clamping portions in the clamping fastener form a V-shape, wherein the movable clamping portion is connected to the rotating arm at one end near the rotating shaft.

[0025] In some embodiments, in the shell-removing device, the clamping fixing member is a vertical clamping member or an up-and-down clamping member;

[0026] Both clamping parts of the vertical clamping member are connected to the rotating arm; the two oppositely arranged sides of the two clamping parts are perpendicular to the plane of rotation; the plane of rotation is the plane containing the circle formed by rotating any point on the rotating arm around the axis of rotation.

[0027] The two clamping parts of the upper and lower clamping member are both connected to the rotating arm at one end facing the rotating shaft, and at least one of the two oppositely arranged sides of the two clamping parts is parallel to the rotating plane.

[0028] 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 and the object to be deshelled.

[0029] 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, which is inclined and oriented toward the rotation axis, and punctures the shell of the object to be shelled to fix the object to be shelled.

[0030] 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.

[0031] 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.

[0032] In some embodiments, in the shelling device, the object to be shelled is shrimp, and the shelling target is shrimp meat.

[0033] In some embodiments, the shelling device further includes:

[0034] A controller electrically connected to the drive unit to control the operation of the drive unit.

[0035] In some embodiments, the driving element in the shell-removing device is one of the following:

[0036] 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.

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

[0038] Collectors:

[0039] The collector is located at the outlet of the fixed component to collect the shelled objects that have been removed.

[0040] In some embodiments, a control method for a shelling device is also provided, applied to the shelling device, the device comprising: a drive member, a rotating arm, and a fixing assembly for fixing the object to be shelled;

[0041] The driving component is rotatably connected to the rotating arm via a rotating shaft; the fixing component is disposed on the rotating arm at a position away from the rotating shaft, and the rotation radius from the rotating shaft to the fixing component at the farthest point from the rotating shaft is within a preset value range;

[0042] The driving component is used to drive the rotating arm to rotate and accelerate around the rotating axis, so that the fixing component follows the rotating arm to rotate and accelerate, thereby causing the object to be deshelled and connected to the shell to be deshelled to be detached under the action of centrifugal force.

[0043] The control method includes:

[0044] When the object to be unshelled is placed between the two clamping parts of the fixing component or when the fixing component fixes the object to be unshelled, the driving component is controlled to perform a rotation acceleration movement based on the preset rotation acceleration parameters, so that the driving component drives the rotating arm to perform a rotation acceleration movement around the rotation axis.

[0045] In some embodiments, in the control method of the shell-removing device, before controlling the driving member to perform rotational acceleration movement based on preset rotational acceleration parameters, the control method further includes:

[0046] In response to receiving the input rotation acceleration parameters, the preset rotation acceleration parameters are determined;

[0047] And / or,

[0048] In response to receiving an input object type identifier, the preset rotation acceleration parameters are determined based on the rotation acceleration parameters pre-associated with the object type identifier; wherein different object type identifiers are associated with different rotation acceleration parameters.

[0049] And / or,

[0050] In response to receiving the parameters of the object to be deshelled obtained by the detection device, the preset rotation acceleration parameters are determined based on a pre-configured correlation table between the parameters of the object to be deshelled and the rotation acceleration parameters.

[0051] And / or,

[0052] 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 a preset rotation acceleration parameter that matches the parameters of the object to be unshelled.

[0053] 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 a preset rotational acceleration parameter matching the parameters of the object to be shelled includes:

[0054] The type and specification parameters of the object to be shelled, the pre-set breaking force and shell-removing force of each object to be shelled, and the attribute parameters of the clamping device are used to determine the rotation acceleration parameters that match the object to be shelled.

[0055] In some embodiments, in the control method of the shell-removing device, the fixing component is a clamping fixing member; one of the two clamping parts in the clamping fixing member is a movable clamping part; when the fixing component follows the rotating arm to perform a rotational acceleration movement, the movable clamping part is driven by the inertial force generated by the rotational acceleration movement to move towards or away from the other clamping part.

[0056] The rotational acceleration parameters of the object to be unshelled include multi-stage acceleration; the multi-stage acceleration includes a first angular acceleration matching the clamping breakthrough force, a second angular acceleration matching the clamping holding force, and a third triangular acceleration that decelerates the object to 0 angular velocity after it is unshelled.

[0057] 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 and the object to be shelled; the method further includes:

[0058] Before or during the uncoating process, the drive component is controlled to rotate and accelerate based on preset rotation acceleration parameters. Pressurized fluid is then introduced between the shell of the object to be uncoated and the object to be uncoated.

[0059] This application provides an inertial shrimp shelling device and control method. The shelling device includes a driving component, a rotating arm, and a fixing component for fixing the object to be shelled. The driving component is rotatably connected to the rotating arm via a rotating shaft. The fixing component is located on the rotating arm at a position away from the rotating shaft, and the rotation radius from the rotating shaft to the fixing component at the farthest point of the rotating shaft is within a preset value range. The driving component drives the rotating arm to rotate and accelerate around the rotating shaft, so that the fixing component follows the rotating arm in rotating and accelerating motion, causing the object to be shelled connected to the shell to be detached under centrifugal force. During the detachment process, the object does not directly contact the device itself, and no force is directly applied to the object through mechanical mechanisms, thereby reducing damage to the object from mechanical equipment and maintaining the integrity and appearance of the object. Centrifugal inertial shelling can achieve extremely high centrifugal acceleration instantaneously, thereby quickly reaching the required shelling force. The entire shelling process can be completed rapidly, resulting in high shelling productivity.

[0060] For shrimp peeling, traditional 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. However, this method cannot effectively transmit force to shrimp meat with small cross-sections and low strength, which can easily cause localized breakage of the shrimp meat. In contrast, inertial peeling relies on the shrimp meat's own mass to generate force, and the peeling force is evenly distributed throughout the shrimp body along with the shrimp meat's mass. This reduces the need for force transmission to shrimp meat with small cross-sections and low strength, resulting in less shrimp meat damage and a higher shrimp meat retention rate. Inertial peeling can achieve peeling that only the shrimp shell is held without holding the shrimp meat, so the requirements for the cut length and depth of the shrimp meat and shell are lower, thus enabling a variety of shrimp processing methods. Attached Figure Description

[0061] 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.

[0062] Figure 1 A schematic diagram of the inertial shrimp shelling device described in an embodiment of this application is shown;

[0063] Figure 2 A schematic diagram of another inertial shrimp shelling device according to an embodiment of this application is shown;

[0064] Figure 3 This document shows a schematic diagram of the shrimp's body morphology as described in an embodiment of this application;

[0065] Figure 4 An embodiment of this application is shown. Figure 3 Enlarged schematic diagram of the mid-tail limb structure;

[0066] Figure 5 A schematic diagram of the experimental apparatus described in an embodiment of this application is shown;

[0067] Figure 6 A schematic diagram of the structure of the upper and lower clamping member described in an embodiment of this application is shown;

[0068] Figure 7 A schematic diagram of the vertical clamping member described in an embodiment of this application is shown;

[0069] Figure 8 This diagram illustrates another arrangement of the shrimp in the fixing component described in this application embodiment;

[0070] Figure 9 This diagram illustrates another arrangement of the shrimp in the fixing component described in this application embodiment;

[0071] Figure 10 A schematic diagram of the piercing fixation member according to an embodiment of this application is shown;

[0072] Figure 11 A schematic diagram of one structure of the barbed teeth described in an embodiment of this application is shown;

[0073] Figure 12 This illustration shows another structural schematic diagram of the barbed teeth described in an embodiment of this application;

[0074] Figure 13 This diagram illustrates the tilt direction of the barbs described in an embodiment of this application.

[0075] Figure 14 An example diagram of barbed teeth with an inclination angle greater than 80° as described in an embodiment of this application is shown;

[0076] Figure 15 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;

[0077] Figure 16 A schematic diagram showing the net height of the barbs according to an embodiment of this application is shown;

[0078] Figure 17 A schematic diagram of the rigid toothed structure described in an embodiment of this application is shown;

[0079] Figure 18 A schematic diagram of the segmented flexible toothed structure described in an embodiment of this application is shown;

[0080] Figure 19 A schematic diagram of the segmented rigid toothed structure described in an embodiment of this application is shown;

[0081] Figure 20 A schematic diagram of the centrifugal inertial shell-removing mechanism described in an embodiment of this application is shown;

[0082] Figure 21 A flowchart of the control method for the shell-removing device described in an embodiment of this application is shown.

[0083] Explanation of reference numerals in the attached figures:

[0084] 100. Drive component; 101. Rotating arm; 102. Fixing assembly; 103. Rotating shaft; 104. Headless shrimp; 105. Headless shrimp placement surface; 106. Piercing needle; 107. Barbed teeth; 108. Shrimp shell; 1021. Movable clamping part; 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; 301. Second caudal limb; 302. Third caudal limb; 304. Fourth caudal limb; 305. Fifth caudal limb; 306. Second joint; 307. Third joint; 401. Shrimp meat clamping mechanism; 402. Caudal limb clamping mechanism. Detailed Implementation

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] Based on this, this application provides an inertial shrimp shelling device and control method. The shelling device includes a driving component, a rotating arm, and a fixing component for fixing the object to be shelled. The driving component is rotatably connected to the rotating arm via a rotating shaft. The fixing component is disposed on the rotating arm at a position away from the rotating shaft, and the rotation radius of the rotating shaft and the fixing component at their farthest points from the rotating shaft is within a preset value range. The driving component drives the rotating arm to rotate and accelerate around the rotating shaft, so that the fixing component follows the rotating arm in rotating and accelerating motion, causing the object to be shelled connected to the shell to be detached under centrifugal force. During the detachment process, the object does not directly contact the device itself, and no force is directly applied to the object through a mechanical mechanism, thereby reducing the damage to the object caused by the mechanical equipment. Centrifugal inertial deshelling can achieve extremely high centrifugal acceleration in an instant, thus quickly reaching the required deshelling force. The entire deshelling process can be completed rapidly, resulting in high deshelling productivity. For shrimp deshelling, traditional deshelling methods apply force to the shrimp meat in a point-like manner, and the deshelling 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 breakage. In contrast, inertial deshelling relies on the shrimp meat's own mass to generate force, and the deshelling force is evenly distributed throughout the shrimp body with the shrimp meat's own mass. The force transmission requirement for shrimp meat with small cross-section and low strength is low, resulting in less shrimp meat damage and a high shrimp meat retention rate. The inertial deshelling method can achieve deshelling without deshelling the shrimp meat, so the requirements for the length and depth of the cuts in the shrimp meat and shell are lower, thus enabling a variety of shrimp processing methods.

[0091] Please refer to Figure 1 , Figure 1A schematic diagram of the inertial shrimp-shelling device described in an embodiment of this application is shown; as follows: Figure 1 As shown, the device includes: a drive unit 100, a rotating arm 101, and a fixing assembly 102 for fixing the object to be shelled;

[0092] The driving component 100 is rotatably connected to the rotating arm 101 via a rotating shaft 103; the fixing component 102 is disposed on the rotating arm at a position away from the rotating shaft 103, and the rotation radius from the rotating shaft 103 to the fixing component 102 at the farthest point of the rotating shaft is within a preset value range.

[0093] The driving component 100 is used to drive the rotating arm to rotate and accelerate around the rotating shaft 103, so that the fixing component 102 follows the rotating arm to rotate and accelerate, thereby causing the object to be unshelled and connected to the shell to be unshelled to be detached under the action of centrifugal force.

[0094] The farthest end of the fixing component from the rotation axis is the end of the fixing component that is furthest from the rotation axis; for example, when the rotation axis is on the inside, the farthest end of the fixing component from the rotation axis is the outermost part of the fixing component.

[0095] In some embodiments, in the shell-removing device, the rotation radius of the rotating shaft to the farthest end of the fixing component away from the rotating shaft is greater than 50 mm and less than 500 mm.

[0096] Please refer to Figure 2 , Figure 2 A schematic diagram of another shell-removing device is shown. (Compared to the above...) Figure 1 and Figure 2 The driving component can be located above the rotating arm or at approximately the same height as the rotating arm; that is, the driving component and the rotating arm can be arranged vertically or horizontally. The rotating shaft and the rotating arm also have various relative positional relationships. The fixing component can have various implementation forms.

[0097] It should be noted that during the process of the object to be unshelled being detached from its shell under centrifugal force, the driving component drives the rotating arm to rotate around the rotation axis to accelerate; however, during the entire control process, the driving component will also perform rotational deceleration and uniform motion, for example, after the shelling is completed, the driving component performs rotational deceleration.

[0098] In some embodiments, the shelling device further includes:

[0099] A controller electrically connected to the drive unit to control the operation of the drive unit.

[0100] 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.

[0101] In some embodiments, the object to be shelled has an open opening directly or after processing, so that the object to be shelled moves toward the open opening under the action of centrifugal force and is released from the open opening.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] The specific direction is the direction towards the open opening of the object to be shelled.

[0106] In some embodiments, the object to be shelled is a shrimp, and the shelling target is shrimp meat.

[0107] 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.

[0108] 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.

[0109] Please refer to Figure 3 , Figure 3 A schematic diagram of the shrimp body morphology described in the embodiments of this application is shown.

[0110] Please refer to Figure 4 , Figure 4 An embodiment of this application is shown. Figure 3 Enlarged schematic diagram of the mid-tail limb structure.

[0111] Please refer to Figure 3 and Figure 4The 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.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] The fourth shrimp shell 204, the fifth shrimp shell 205, and the sixth shrimp shell 206 are more easily assembled into a whole through the strong connection of the first joint 300, 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 the strong connection of the first 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] The experimental setup was used to measure various parameters during the molting process of headless shrimp. Please refer to [reference needed]. Figure 5 , Figure 5 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 the magnitude of the applied forces is recorded. The measurement results are shown in Table 1 below.

[0124]

[0125] Table 1

[0126] In existing technical solutions, the shell is removed by applying forces in opposite directions to the shrimp meat and the shrimp shell.

[0127] In this embodiment, the forces between the shrimp shell and the shrimp meat in opposite directions are generated by inertia.

[0128] Specifically, the shelling device described in this application embodiment uses centrifugal force to achieve inertial shelling.

[0129] Please refer to Figure 1 and 2 The shelling process is as follows: The object to be shelled is placed between the two clamping parts of the fixed component. The rotating arm rotates around the center of the rotation axis under the action of the driving component. As the rotation angular velocity increases, the centrifugal force generated by the object to be shelled increases. When the centrifugal force increases to the shelling force required for the object to be shelled to be shelled, the object to be shelled is thrown out because the object to be shelled is fixed, thus completing the shelling process.

[0130] When the object to be shelled is a shrimp, and the object to be shelled is shrimp meat, specifically, the headless shrimp is placed between the two clamping parts of the fixing component, and the rotating arm rotates around the center of the rotation axis under the action of the driving component. As the rotational angular velocity increases, the centrifugal force generated by the headless shrimp increases. When the centrifugal force increases to the shelling force required for the headless shrimp to shell, the shrimp meat separates from the shrimp shell because the shrimp shell is clamped and fixed, and the shrimp meat is thrown out, thus completing the shelling of the shrimp meat.

[0131] When the type of fixing component of the shell-removing device is different, the way the fixing component fixes the object to be shelled is different. In the embodiments of this application, the object to be shelled can be fixed in advance and then rotated and accelerated; or the object to be shelled can be adaptively fixed during the rotation and acceleration process.

[0132] The drive 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 driving component, and the rotating arm is determined based on the structural and spatial relationship between the driving component and the rotating arm, and can be implemented in various ways.

[0134] In some embodiments, the rotating shaft is the rotating shaft in the drive 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 driving component is fixedly connected to the rotating shaft, and the fixing component is located at the other end of the rotating arm away from the connecting part.

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

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

[0140] The driving component 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 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 rotating arm is also used to provide the surface for placing the object to be shelled to the fixing component.

[0147] The fixing component is positioned on the rotating arm away from the rotation axis. For details, please refer to... Figure 1 and Figure 2 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.

[0148] 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.

[0149] 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.

[0150] The fixing component has a discharge port on the side opposite to the rotation axis, and the discharge port is used to release the object to be shelled from the object to be shelled, which is fixed by the fixing component.

[0151] 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.

[0152] 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.

[0153] The fixed area has a discharge port on the side facing the relative direction of movement, so that the object to be shelled can be removed from the discharge port under the action of centrifugal force.

[0154] The discharge port is located at the farthest end of the fixing assembly away from the rotation axis. The rotating arm rotates around the rotation axis to remove the shelled object from the discharge port under the action of centrifugal force. The centrifugal force is in the direction away from the rotation axis. Therefore, the relative motion direction of the shelled object in the fixed object in the fixing assembly relative to the shell is consistent with the direction of the centrifugal force.

[0155] Taking shrimp as an example, the longitudinal axis of the shrimp in the fixing component is consistent with the direction of the line connecting the fixing component and the rotation axis.

[0156] When the fixing component fixes the object to be unshelled, it applies force at multiple points on the outer surface of the object.

[0157] In some embodiments, forces are applied to multiple points on the outer surface of the object to be deshelled, and there are intervals between the multiple force application points on the outer surface of the object to be deshelled.

[0158] It should be noted that the fixing component applies force at multiple points to the outer surface of the object to be unshelled, and can also apply continuous surface force to the object; for example, the fixing component covers at least part of the surface of the object to be unshelled with a large contact area, and applies force at multiple points by contacting some points on the surface of the object to be unshelled with a very small contact area, thereby achieving multi-point fixing. Continuous surface force and multi-point force can be applied at different stages, or can be applied to the object to be unshelled simultaneously. The fixing component can have various specific structures; for example, the fixing component is a clamping fixing member and / or a piercing fixing member.

[0159] The fixing component can be a clamping fixing member, a piercing fixing member, or a combination of clamping fixing members and piercing fixing members.

[0160] In some embodiments, in the shell-removing device, the clamping fixing member includes two clamping parts, both of which are connected to the rotating arm;

[0161] 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.

[0162] In some embodiments, the two clamping members cooperate to clamp the object to be deshelled.

[0163] Please refer to Figure 1 , Figure 2 and Figure 6 The clamping fasteners include vertical clamping fasteners or up-and-down clamping fasteners, depending on the expected direction of the clamping force.

[0164] Both clamping parts of the vertical clamping member are connected to the rotating arm; the two oppositely arranged sides of the two clamping parts are perpendicular to the plane of rotation; the plane of rotation is the plane containing the circle formed by rotating any point on the rotating arm around the axis of rotation.

[0165] The two clamping parts of the upper and lower clamping member are both connected to the rotating arm at one end facing the rotating shaft, and at least one of the two oppositely arranged sides of the two clamping parts is parallel to the rotating plane.

[0166] The clamping force direction of the vertical clamping member and the clamping force direction of the vertical clamping member are respectively basically perpendicular to the plane of rotation and basically parallel to the plane of rotation. The relationship between the clamping force direction and the plane of rotation is related to the direction of rotation.

[0167] In other words, the difference between the vertical clamping member and the top-bottom clamping member is that the direction of the clamping force applied to the object to be deshelled is basically vertical.

[0168] In some embodiments, the two clamping portions of the upper and lower clamping member are arranged one above the other, and the ends of the two clamping portions of the upper and lower clamping member facing the rotating shaft 103 are both connected to the rotating arm 101.

[0169] The two clamping parts of the upper and lower clamping member are referred to as the second clamping parts.

[0170] In some embodiments, please refer to Figure 6 , Figure 6A schematic diagram of the structure of the upper and lower clamping member is shown; one of the clamping parts and the rotating arm 101 in the upper and lower clamping member form an integral whole, and the end face of the rotating arm 101 facing the other clamping part cooperates with the other clamping part to clamp the object to be deshelled.

[0171] Please refer to Figure 6 Establish a coordinate system, and arrange the two clamping parts parallel to each other along the Z-axis on the rotating arm 101, one above the other.

[0172] In some embodiments, the upper and lower clamping member further includes a support rod; the support rod is connected to the rotating arm 101 and also to one end of the second clamping part facing the rotating shaft 103, thereby supporting the second clamping part to approach the rotating arm 101.

[0173] Please refer to Figure 7 , Figure 7 A schematic diagram of the vertical clamping member is shown; both of the two oppositely arranged sides of the vertical clamping member are perpendicular to the plane of rotation.

[0174] The two clamping parts of the vertical clamping member are referred to as the first clamping part.

[0175] Please refer to Figure 7 Establish a coordinate system. The two clamping parts of the vertical clamping member are vertically arranged one in front of the other on the rotating arm 101 along the Y-axis direction. Specifically, the two clamping parts are arranged along the Y-axis direction.

[0176] 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.

[0177] Please refer to Figure 7 When the fixing component 102 is a vertical clamping component, the first clamping part of the vertical clamping component moves inward and outward along the upper end face of the rotating arm 101 perpendicular to the rotating axis 103, thereby clamping the shrimp shell.

[0178] After the two clamping parts of the firmware assembly are installed on the upper end face of the rotating arm 101, it also has the function of installing or placing shrimp. Therefore, the area between the two clamping parts on the upper end face of the rotating arm 101 can also be called the shrimp placement surface after head removal.

[0179] Please refer to Figure 7The second clamping part of the vertical clamping member moves closer to or further away from the headless shrimp placement surface of the rotating arm 101, thereby pressing the shrimp onto the headless shrimp 104 placement surface and clamping the shrimp shell.

[0180] Please refer to Figure 7 , Figure 8 and Figure 9 , 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 according to an embodiment of this application. Figure 9 This diagram illustrates another arrangement of the shrimp in the fixing component 102 described in this application embodiment.

[0181] like Figure 7 , Figure 8 and Figure 9 As shown, depending on the arrangement of the shrimp, the shrimp bodies can be placed on the headless shrimp 104 placement surface in the following three ways: (e.g.) Figure 7 The shrimp shown has its belly pressed tightly against the surface of the headless shrimp (104). Figure 8 The shrimp shown is placed side-by-side with the headless shrimp 104. Figure 9 The shrimp's back is placed close to the headless shrimp 104; however, in all three cases, the shrimp's head faces away from the rotation axis 103.

[0182] Depending on the rotation form of the rotating arm 101, the rotational acceleration motion can be divided into the following two types: circular motion and circumferential oscillation.

[0183] Different ways of placing headless shrimp and the rotation mode of the rotating arm 101 can be combined in combination. The preferred combination is: the shrimp abdomen is close to the placement surface of the headless shrimp 104, the clamping mechanism moves inward and outward along the placement surface of the headless shrimp 104, the rotation axis is perpendicular to the placement surface of the headless shrimp, and the rotating arm makes a circular motion.

[0184] In some embodiments, the length of the upper and lower clamping member matches the overall length of the headless shrimp 104 to clamp the headless shrimp 104 from the top and bottom; or the length of the upper and lower clamping member matches the length of the shrimp's tail limbs to clamp only the shrimp's tail limbs, thereby fixing the shrimp.

[0185] In some embodiments, in the shelling device, the fixing component 102 is a puncture-type fixing component 102; the puncture fixing component includes at least one puncture needle 106, the puncture needle 106 is inclined and faces the direction of the rotation axis 103, and punctures the shell of the object to be shelled to fix the object to be shelled.

[0186] Please refer to Figure 10 , Figure 10A schematic diagram of the piercing fastener described in the embodiment of this application is shown; the piercing needle 106 is inserted obliquely into the shrimp shell from the head of the shrimp, and at the same time applies a force to the shrimp body facing downward and towards the rotation axis 103, which prevents the shrimp body from moving outward during rotation and also prevents the shrimp body from moving upward.

[0187] In some embodiments, the puncture needle 106 of the shell-removing device is a stationary puncture needle 106 or a stationary puncture needle 106.

[0188] The permanent puncture needle 106 is positioned at an angle on the rotating arm 101 regardless of whether the object to be decapitated is in place.

[0189] The positioning puncture needle 106 is a puncture needle 106 whose position can be changed by extension or rotation, and which fixes the object to be deshelled after it is in place.

[0190] The puncture needle 106 of the puncture-type fixation member 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 106 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 106 itself decreases; when the tilt angle of the puncture needle 106 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 106 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 106.

[0193] In some embodiments, the puncture needle 106 can be combined with the clamping mechanism. For example, the puncture needle 106 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 106 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] The clamping fastener has two opposing sides, with the object to be unshelled placed between the two sides, and the object to be unshelled clamped when the two sides come close together.

[0196] Based on this, at least one side of the fixing component is aligned with the axial direction of the rotating arm; or, the bottom surface between two sides of the fixing component is aligned with the axial direction of the rotating arm.

[0197] During rotation, the elongated shrimp will adhere to one side or the bottom surface under the action of inertial force (depending on the placement of the shrimp, the structure of the equipment, and the direction of rotation). This side or bottom surface is designated as the shrimp body support surface. Based on this, at least one of the sides (i.e., the shrimp body support surface) is aligned with the axial direction of the rotating arm; or, the bottom surface between the two sides of the fixing component is aligned with the axial direction of the rotating arm, so that the elongated shrimp is basically aligned with the axial direction of the rotating arm, which facilitates centrifugal shelling.

[0198] Based on this, at least one side of the clamping fastener is provided with a puncture area opposite to the side of the object to be deshelled, and the puncture area is provided with barbs extending toward the object to be deshelled.

[0199] 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.

[0200] 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.

[0201] Please refer to Figure 11 and Figure 12 , Figure 11 and Figure 12 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 11 and Figure 12 As shown, the barbs can be designed as a plate-like toothed structure, a cylindrical structure, or a conical structure.

[0202] 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.

[0203] 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.

[0204] In other words, the two clamping parts of the fixing component can be opened or clamped.

[0205] In some embodiments, the clamping portion provided with barbs may be referred to as a toothed plate.

[0206] 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 in an open state under the action of the clamping power device, and there is a space between the two toothed plates that can hold 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 the shrimp body. During this process, the clamping power device provides a large pressure, causing the barbs on the toothed plates to pierce into the shrimp shell; after the barbs on the toothed plates pierce into the shrimp shell, the clamping power device changes the pressure to a small 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 when it is separated from the shrimp shell under the action of centrifugal force is minimal and it is easier to get out.

[0207] The barbs are inclined toward the direction of rotation axis, and the inclination angle of the barbs is 10°-80°; the net height of the barbs is 0.10-2.00mm.

[0208] Please refer to Figure 13 The tilting direction of the barbs 107 is opposite to the movement direction of the shrimp shell 108; the arrow in the figure indicates the movement direction of the shrimp shell 108; defining the direction of the shrimp meat detachment as forward, then the direction opposite to it towards the rotation axis is backward, so the barbs 107 of the toothed plate are set to tilt backward; that is to say, during the detachment process, the shrimp meat will cause the shrimp shell 108 to have a forward movement tendency, and the backward tilting design of the barbs on the toothed plate can cause the barbs to have a tendency to pierce into the shrimp shell 108 under the forward movement tendency (e.g. Figure 13 This ensures reliable clamping.

[0209] When the inclination angle of the barbed teeth 107 is greater than 10° or less than 80°, please refer to... Figure 14 and Figure 15 , Figure 14 An example diagram of barbed teeth with an inclination angle greater than 80° is shown; Figure 15 An example diagram of barbed teeth with an inclination angle of less than 10° is shown; as follows: Figure 14 As shown, when the barb's backward tilt angle β is greater than 80°, the tendency of the barb to penetrate into the shrimp shell 108 decreases as the shrimp shell 108 moves forward, making it easier for the barb to detach from its tip and reducing the reliability of the gripping action; Figure 15 As shown, the back tilt angle β of the barb tooth 107 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.

[0210] Please refer to Figure 16 , Figure 16 A schematic diagram of the net height of the barbs described in an embodiment of this application is shown; as follows: Figure 16As shown, the net height h of the barb 107 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 107 is 0.10-2.00 mm. During the process of the barb piercing the shrimp shell 108, a pit deformation will be generated in the local area of ​​the shrimp body. When the net height of the barb 107 is less than 0.10 mm, the local pit deformation will cause the pressure of the barb head to be insufficient to pierce the shrimp shell 108, resulting in the failure of piercing. When the net height of the barb 107 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.

[0211] 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.

[0212] 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.

[0213] 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.

[0214] 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.).

[0215] The disordered arrangement refers to the random or unstructured distribution of the barbs, where the arrangement of the barbs has no fixed pattern. Specifically, at least one parameter among the parameters such as the spacing, angle, and direction of the barbs has no clear pattern. In some embodiments, the spacing between adjacent barbs in the same segment of the desquashing device along the length of the object to be desquashed is no greater than 50 mm, and the spacing between adjacent barbs along the height of the object to be desquashed is no greater than 10 mm. The spacing between different adjacent barbs in the desquashing device can be the same or different.

[0216] 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 corresponds to the first three segments of the shrimp shell and at least one segment 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 rotational shelling process.

[0217] 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.

[0218] 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.

[0219] 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.

[0220] 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.

[0221] 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.

[0222] 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.

[0223] 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.

[0224] 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.

[0225] In some embodiments, the clamping power can also rely on the inertial force of the toothed plates; for details, please refer to... Figure 1 The movable clamping part of the fixed component is driven by the inertial force generated by the rotational acceleration motion, thus eliminating the need for a separate clamping power mechanism for the fixed component and simplifying the structure of the shell-removing device; in particular, it eliminates the need to allocate independent control signals (such as solenoid valve control signals or motor drive signals) for this separate clamping power mechanism; the control program or logic no longer needs to include control sequences such as "start-clamp-hold-reset" for this clamping power mechanism, making the control logic simpler and more efficient, and reducing the difficulty of programming and debugging.

[0226] When the movable clamping part of the fixing component is driven by the inertial force generated by the rotational acceleration motion, the object to be unshelled is placed between the two clamping parts of the fixing component. The rotating arm rotates around the center of the rotation axis under the action of the driving component. Due to the inertia generated by the angular acceleration, the movable clamping part moves towards the fixed clamping part, thereby realizing the reliable clamping of the object to be unshelled. As the rotational angular velocity increases, the centrifugal force generated by the object to be unshelled increases. When the centrifugal force increases to the unshelling force required for the object to be unshelled to unshell, the object to be unshelled is thrown out because the object to be unshelled is fixed, thus completing the unshelling process.

[0227] When the object to be shelled is a shrimp, and the object to be shelled is shrimp meat, specifically, the headless shrimp is placed between the two clamping parts of the fixed component. The rotating arm rotates and accelerates around the center of the rotation axis under the action of the driving component. Due to the inertia generated by the angular acceleration, the movable clamping part moves towards the fixed clamping part, thereby realizing the reliable clamping of the headless shrimp. As the rotational angular velocity increases, the centrifugal force generated by the headless shrimp also increases. When the centrifugal force increases to the shelling force required for the headless shrimp to be shelled, the shrimp meat separates from the shrimp shell because the shrimp shell is clamped and fixed, and the shrimp meat is thrown out, completing the shelling of the shrimp meat.

[0228] In some embodiments, when the movable clamping part of the fixing component is driven by the inertial force generated by the rotational acceleration motion, the mass of the movable clamping part is greater than a preset mass threshold, so as to generate a clamping breakthrough force and clamping retention force that meet the requirements during the rotational acceleration motion.

[0229] In other words, the movable clamping part must have a certain mass.

[0230] In some embodiments, the preset mass threshold is 5g.

[0231] In some embodiments, the movable clamping part includes a counterweight; that is, when the mass of the movable clamping part itself does not meet a preset mass threshold, the mass of the movable clamping part needs to be adjusted by the counterweight.

[0232] When the movable clamping part of the fixing component is driven by the inertial force generated by the rotational acceleration motion, both clamping parts of the fixing component are arranged along the rotation direction of the rotating arm, thereby causing the movable clamping part to move towards the other clamping part during rotation. Figure 1 As shown, the movable clamping part 1021 of the fixing component 102 is driven by the inertial force generated by the rotational acceleration motion. This eliminates the need for a separate clamping power mechanism for the fixing component 102, simplifying the structure of the unpacking device. In particular, it eliminates the need to allocate independent control signals (such as solenoid valve control signals or motor drive signals) for this separate clamping power mechanism. The control program or logic no longer needs to include control sequences such as "start-clamp-hold-reset" for this clamping power mechanism, making the control logic simpler and more efficient, and reducing the difficulty of programming and debugging.

[0233] In some embodiments, when the movable clamping part 1021 of the fixing component 102 is driven by the inertial force generated by the rotational acceleration motion, a counterweight is provided on the movable clamping part 1021 so that the inertial force meets the requirements of the barbs breaking through the shrimp shell and the teeth clamping the shrimp shell.

[0234] like Figure 1 As shown, the two opposing sides of the two clamping parts in the clamping fastener form a V-shape, wherein the movable clamping part 1021 is connected to the rotating arm at one end near the rotating shaft, and the other end is a free end.

[0235] 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.

[0236] 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 near the rotating shaft is connected to the rotating arm.

[0237] 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.

[0238] 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.

[0239] Please refer to Figure 17 , Figure 17 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.

[0240] 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.

[0241] 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.

[0242] The flexible toothed plate can be made of flexible metal, high-performance polymer with sufficient strength, etc.

[0243] The shrimp shell clamping structure (fixed structure) 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 tightly 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 central plane after clamping.

[0244] Please refer to Figure 18 , Figure 18 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.

[0245] Please refer to Figure 19 , Figure 19 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.

[0246] 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 centrifugal force, and the centrifugal force required for removal will be reduced.

[0247] 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 and the object to be deshelled.

[0248] By introducing pressurized fluid between the shell and the object to be shelled, such as between the shrimp shell and the shrimp meat, the shell-meat bonding 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 centrifugal force required for shelling, making shelling easier and more efficient. At the same time, due to the separating 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 due to the shell-meat bonding force and the external shelling force.

[0249] 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.

[0250] The pressure fluid can be water, gas, etc.

[0251] 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.

[0252] In some embodiments, the inertial shrimp-shelling device further includes: a collector.

[0253] The collector is located at the discharge port of the fixing mechanism to collect the shelled objects that have been removed.

[0254] The parameters of the shelling device and the design requirements of the shelling structure are closely related, and will be analyzed in detail below.

[0255] Because the shelling device described in this application uses inertial shelling, the shrimp shell and shrimp meat generate forces in opposite directions under the action of inertia, thereby shelling the shrimp.

[0256] The formula for inertial force is as follows: F = ma;

[0257] in:

[0258] F – Inertial force;

[0259] m — mass;

[0260] a——Acceleration.

[0261] Based on the principle of inertial molting, shrimp can be molted by gripping the shell and using the inertia of the shrimp meat, or vice versa.

[0262] Based on the parameter table for headless shrimp molting, and combined with the inertial force formula, the equivalent acceleration values ​​required for molting using the shrimp shell's inertia and the equivalent acceleration values ​​required for molting using the shrimp meat's inertia can be calculated, as shown in Table 2 below:

[0263]

[0264] Table 2

[0265] Based on Table 2, the equivalent acceleration required for shrimp shell to detach from its shell due to inertia is much greater than that required for shrimp meat to detach from its shell due to inertia. This places higher demands on the driving components and results in a poorer implementation method and lower economic efficiency. Therefore, this solution uses the method of clamping the shrimp shell and using the shrimp meat to detach from its shell due to inertia.

[0266] The shelling device described in this embodiment specifically employs centrifugal shelling, and the centrifugal inertial shelling motion formula is as follows:

[0267] According to the formula for centrifugal acceleration, a = ω 2 r yields

[0268] The linear velocity formula is V = ωr; Substitute and get

[0269] in:

[0270] a — centrifugal acceleration;

[0271] ω — angular velocity of rotation;

[0272] r—radius of the center of mass rotation;

[0273] V – linear velocity of the center of mass.

[0274] There are many types of shrimp, with varying sizes and weights. It is essential to ensure the high versatility of the shelling device and to guarantee reliable shelling for the types of headless shrimp permitted by the equipment, thereby improving the yield.

[0275] In addition, the lower the linear velocity of the shrimp meat as it emerges, the less kinetic energy it has. During the subsequent deceleration and collection process, the requirements for the subsequent shrimp meat buffer structure are lower. The shrimp meat is less impacted during rapid deceleration, resulting in less damage to the shrimp meat. Therefore, it is necessary to ensure the linear velocity of the shrimp meat when it emerges.

[0276] Please refer to Figure 20 , Figure 20 A schematic diagram of the centrifugal inertial shell-removing mechanism described in an embodiment of this application is shown.

[0277] According to the theory, centrifugal force calculation requires integrating the centrifugal force at each point of each object according to the object's shape characteristics. For the sake of convenience in the following 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.

[0278] For individual shrimp and shrimp meat quality m 虾 As a constant, under ideal conditions where external disturbances to the shrimp are ignored, the molting force F is... 虾 Since the magnitude is constant, it is only necessary to design the equivalent acceleration a of the shrimp. 虾 The numerical value can be used to achieve the shelling of shrimp by utilizing the inertia of the shrimp.

[0279] Based on the principle of inertial molting, as shown in Table 2, the equivalent acceleration *a* of the shrimp is related to its mass. The smaller the shrimp mass, the greater the equivalent acceleration *a* required to successfully molt. After testing, the maximum equivalent acceleration *a* required for the smallest shrimp mass to complete molting was determined. 虾 Value approximately 1100 m / s 2 .

[0280] In one optional embodiment, to improve the versatility of the deshelling device and ensure reliable deshelling of headless shrimp of different masses, the design acceleration should be greater than the equivalent acceleration required for deshelling the minimum mass of shrimp. Subsequent theoretical steps are based on a... 虾 =1200m / s 2 The design ensures that headless shrimp can reliably shed their shells.

[0281] In one optional embodiment, to minimize the stripping velocity of the shrimp, the equivalent acceleration 'a' of the shrimp required to complete the peeling process can be determined based on the different mass units of shrimp. 虾 The values ​​are designed separately.

[0282] Meanwhile, the quality of shrimp meat is often positively correlated with parameters such as the length and size of the shrimp.

[0283] Based on this, the target equivalent acceleration for removing the object from its shell is determined as follows:

[0284] Determine the target of the uncoating process for the material to be uncoated;

[0285] The target equivalent acceleration for exfoliating the object is determined based on the minimum parameters of the object to be exfoliated.

[0286] Alternatively, in some embodiments, the target equivalent acceleration for removing the object from its shell is determined by the following method:

[0287] Determine the quality level of the object to be deshelled;

[0288] 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.

[0289] 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, the rotational acceleration parameter for the rotating arm to perform rotational acceleration motion is determined; wherein, the driving member drives the rotating arm to rotate based on the rotational acceleration parameter.

[0290] Taking shrimp as an example, let's analyze the shrimp. According to the formula for centrifugal inertial shell-shedding motion, the linear velocity of the shrimp as it sheds its shell is... Because a 虾 For a fixed value, if a smaller shrimp ejection speed is required, the smaller the shrimp rotation radius, the better.

[0291] Based on the basic structure of the equipment, to ensure reliable support of the rotating arm along the length of the headless shrimp, the length of the rotating arm increases proportionally with the radius of rotation of the shrimp's center of mass. According to the conclusion that "to obtain a smaller shrimp extraction velocity, the smaller the shrimp's rotation radius, the better," the shorter the rotating arm length, the better. However, headless shrimp themselves have a certain length, and considering the space required for placing the headless shrimp and arranging the equipment structure, the rotating arm length should be at least 50mm. To accommodate larger headless shrimp and improve the versatility of the decapitation equipment, the rotating arm length is preferably above 100mm. However, as the rotating arm length increases, the weight of the rotating mechanism, the required space, and the power consumption of the equipment also increase. Therefore, the rotation radius should not be too large within the feasible range, preferably below 500mm.

[0292] 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.

[0293] The specific calculated values ​​of the relevant parameters are shown in Table 3 below, under three different rotation radii:

[0294]

[0295] Table 3

[0296] The shelling device was tested using a rotating shaft, rotating arm, fixed components, and driving mechanism. The required rotational speed was approximately 30% higher than the theoretically measured value. Analysis revealed that this was due to secondary connection forces generated by the design of the fixed components. However, the overall shelling result was consistent with the theoretically expected shelling, indicating the feasibility of the solution. For the actual value exceeding the theoretical design value, further optimization of the structure and pretreatment of the headless shrimp can further reduce the required shelling force, thereby achieving shelling with a smaller acceleration.

[0297] In some embodiments, the device further includes a controller electrically connected to the drive element to control the operation of the drive element.

[0298] The controller controls the operation of the drive unit, specifically, it controls the start-up or shutdown of the drive unit and controls the rotation acceleration process of the drive unit.

[0299] When the object to be unshelled is placed between the two clamping parts of the fixing component or when the fixing component fixes the object to be unshelled, the driving component is controlled to perform a rotation acceleration movement based on the preset rotation acceleration parameters, so that the driving component drives the rotating arm to perform a rotation acceleration movement around the rotation axis.

[0300] In some embodiments, before controlling the drive component to perform rotational acceleration motion based on preset rotational acceleration parameters, the control method further includes:

[0301] In response to receiving the input rotation acceleration parameters, the preset rotation acceleration parameters are determined;

[0302] And / or,

[0303] In response to receiving an input object type identifier, the preset rotation acceleration parameters are determined based on the rotation acceleration parameters pre-associated with the object type identifier; wherein different object type identifiers are associated with different rotation acceleration parameters.

[0304] And / or,

[0305] In response to receiving the parameters of the object to be deshelled obtained by the detection device, the preset rotation acceleration parameters are determined based on a pre-configured correlation table between the parameters of the object to be deshelled and the rotation acceleration parameters.

[0306] And / or,

[0307] 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 a preset rotation acceleration parameter that matches the parameters of the object to be unshelled.

[0308] In response to receiving the input rotation acceleration parameters, the preset rotation acceleration parameters are determined. That is, the rotation acceleration parameters can be set directly during equipment installation, or the rotation acceleration parameters can be set according to a certain rule, such as setting the rotation acceleration parameters corresponding to each batch based on the rules of shrimp in the production plan of each batch.

[0309] In response to receiving an input object type identifier, the preset rotation acceleration parameters are determined based on the rotation acceleration parameters pre-associated with the object type identifier. Different object type identifiers are associated with different rotation acceleration parameters. In other words, in some embodiments, the association between the object type identifier and the rotation acceleration parameters is pre-set, and the matching rotation acceleration parameters are automatically selected based on the real-time input object type identifier.

[0310] 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.

[0311] The quality grade of the material to be unshelled refers to the different quality ranges of the material to be unshelled.

[0312] In response to receiving the parameters of the object to be unshelled detected by the detection device, the preset rotation acceleration parameters are determined based on a pre-configured association table between the parameters of the object to be unshelled and the rotation acceleration parameters. That is, the rotation acceleration parameters that match the parameters of the object to be unshelled are determined based on the mass, length and other parameters of the object to be unshelled detected and sent by other devices.

[0313] The process of processing the parameters of the object to be unshelled based on pre-configured parameter calculation rules, and calculating preset rotational acceleration parameters matching the parameters of the object to be unshelled, includes:

[0314] The type and specification parameters of the object to be shelled, the pre-set breaking force and shell-removing force of each object to be shelled, and the attribute parameters of the clamping device are used to determine the rotation acceleration parameters that match the object to be shelled.

[0315] The species parameters include the species of shrimp, such as species A shrimp, species B shrimp, etc.; different shrimp have different shell thicknesses and hardness, and therefore require different amounts of breaking force and clamping force when breaking the shell.

[0316] The specifications of the material to be unshelled include mass, length, etc.

[0317] The attribute parameters of the clamping device include the position and weight of the clamping device.

[0318] When the object to be shelled is shrimp, the centrifugal inertial shelling device described in the embodiments of this application has several advantages, as follows:

[0319] 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.

[0320] High production efficiency: Inertial shelling can achieve extremely high centrifugal acceleration 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.

[0321] 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.

[0322] 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.

[0323] Please refer to Figure 1 When the clamping fastener in the shell-removing device described in this application embodiment is clamped by inertial force, the rotational acceleration parameters of the object to be shelled include multi-stage acceleration; the multi-stage acceleration includes a first angular acceleration matching the clamping breakthrough force, a second angular acceleration matching the clamping holding force, and a third triangular acceleration that decelerates to 0 after the object is removed.

[0324] Specifically, the shrimp is placed in the shrimp placement area of ​​the shelling device (between the two clamping parts); the controller matches the shrimp specifications based on the detection results of the previous process or user input and calls the preset motion parameters; the controller transmits the preset motion parameters to the driver, and the driver controls the movement of the drive device according to the preset motion parameters.

[0325] Let the first acceleration be angular acceleration w1', the second acceleration be w2', and the third acceleration be w3'.

[0326] The drive unit accelerates the shrimp to a preset angular velocity w1 with a large angular acceleration w1'. During this process, the flexible toothed plate moves towards the shrimp body under the inertial force generated by the angular acceleration and adheres tightly to the shrimp body. Based on the inertial force F of the angular acceleration... 加 =ma=mw'r, preset the value of w1', so that F 加1 >F 破壳This achieves high clamping force for the toothed plates to break the shell; based on the centrifugal inertial force F 离 =ma=mw 2 r, with preset w1, such that F 离1 <F 脱壳 This ensures that the shrimp meat does not fall off its shell during the process, avoiding damage to the shrimp meat caused by shelling during the period of high clamping force.

[0327] The drive unit accelerates the shrimp to a preset angular velocity w2 with a small angular acceleration w2'. During this process, the inertial force generated by the angular acceleration of the flexible toothed plate decreases, and the flexible toothed plate generates a small holding force; as the angular velocity w2 continues to increase, the shrimp begins to molt when the centrifugal force exceeds the molting force. This is based on the angular acceleration and inertial force F. 加 =ma=mw'r, preset the value of w2', so that F 加2 >F 保持 This achieves a small clamping force to maintain the toothed plates and ensures stable clamping during the uncoating process; based on the centrifugal inertial force F 离 =ma=mw 2 r, preset w2, such that F 离2 >F 脱壳 This allows for reliable shell removal.

[0328] The drive unit decelerates to 0 angular velocity with a preset angular acceleration w3'. During this process, the flexible toothed plate moves away from the shrimp body under the inertial force generated by the angular acceleration and remains in the open position.

[0329] 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.

[0330] Please refer to Figure 21 , Figure 21 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, the device including: a driving member, a rotating arm, and a fixing component for fixing the object to be shelled;

[0331] The driving component is rotatably connected to the rotating arm via a rotating shaft; the fixing component is disposed on the rotating arm at a position away from the rotating shaft, and the rotation radius from the rotating shaft to the fixing component at the farthest point from the rotating shaft is within a preset value range;

[0332] The driving component is used to drive the rotating arm to rotate and accelerate around the rotating axis, so that the fixing component follows the rotating arm to rotate and accelerate, thereby causing the object to be deshelled and connected to the shell to be deshelled to be detached under the action of centrifugal force.

[0333] The control method includes the following step S2101:

[0334] S2101. When the object to be unshelled is placed between the two clamping parts of the fixing component or when the fixing component fixes the object to be unshelled, the driving component is controlled to perform a rotation acceleration movement based on the preset rotation acceleration parameters, so that the driving component drives the rotating arm to perform a rotation acceleration movement around the rotation axis.

[0335] In some embodiments, in the control method of the shell-removing device, before controlling the driving member to perform rotational acceleration movement based on preset rotational acceleration parameters, the control method further includes:

[0336] In response to receiving the input rotation acceleration parameters, the preset rotation acceleration parameters are determined;

[0337] And / or,

[0338] In response to receiving an input object type identifier, the preset rotation acceleration parameters are determined based on the rotation acceleration parameters pre-associated with the object type identifier; wherein different object type identifiers are associated with different rotation acceleration parameters.

[0339] And / or,

[0340] In response to receiving the parameters of the object to be deshelled obtained by the detection device, the preset rotation acceleration parameters are determined based on a pre-configured correlation table between the parameters of the object to be deshelled and the rotation acceleration parameters.

[0341] And / or,

[0342] 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 a preset rotation acceleration parameter that matches the parameters of the object to be unshelled.

[0343] 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 a preset rotational acceleration parameter matching the parameters of the object to be shelled includes:

[0344] The type and specification parameters of the object to be shelled, the pre-set breaking force and shell-removing force of each object to be shelled, and the attribute parameters of the clamping device are used to determine the rotation acceleration parameters that match the object to be shelled.

[0345] The shell-breaking force of the object to be shelled is the force required for the barbs of the fixing component to break through the shell of the object to be shelled; the shell-removing force is the force required for the object to be shelled to detach from the shell.

[0346] In some embodiments, in the control method of the shell-removing device, the fixing component is a clamping fixing member; one of the two clamping parts in the clamping fixing member is a movable clamping part; when the fixing component follows the rotating arm to perform a rotational acceleration movement, the movable clamping part is driven by the inertial force generated by the rotational acceleration movement to move towards or away from the other clamping part.

[0347] The rotational acceleration parameters of the object to be unshelled include multi-stage acceleration; the multi-stage acceleration includes a first angular acceleration matching the clamping breakthrough force, a second angular acceleration matching the clamping holding force, and a third triangular acceleration that decelerates the object to 0 angular velocity after it is unshelled.

[0348] 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 and the object to be shelled; the method further includes:

[0349] Before or during the uncoating process, the drive component is controlled to rotate and accelerate based on preset rotation acceleration parameters. Pressurized fluid is then introduced between the shell of the object to be uncoated and the object to be uncoated.

[0350] 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.

[0351] 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.

[0352] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0353] 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.

[0354] 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 drive unit, a rotating arm, and a fixing assembly for fixing the object to be shelled; The driving component is rotatably connected to the rotating arm via a rotating shaft; the fixing component is disposed on the rotating arm at a position away from the rotating shaft, and the rotation radius from the rotating shaft to the fixing component at the farthest point from the rotating shaft is within a preset value range; The driving component is used to drive the rotating arm to rotate and accelerate around the rotating axis, so that the fixing component follows the rotating arm to rotate and accelerate, thereby causing the object to be unshelled and connected to the shell to be unshelled to be detached under the action of centrifugal force.

2. The shelling device according to claim 1, characterized in that, The fixing component has a discharge port on the side opposite to the rotating shaft, and the discharge port is used to release the object to be shelled from the object to be shelled, which is fixed by the fixing component.

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 rotating arm; 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 toward the direction of rotation axis, 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 fixing assembly also includes a clamping power mechanism, which drives the movable clamping part to move. Alternatively, the fixing component may follow the rotating arm in a rotational acceleration motion, and the movable clamping part of the fixing component may be driven by the inertial force generated by the rotational acceleration motion.

10. The shelling device according to claim 9, characterized in that, When the movable clamping part of the fixed component is driven by the inertial force generated by the rotational acceleration motion, the mass of the movable clamping part is greater than a preset mass threshold, so as to generate a clamping breakthrough force and clamping retention force that meet the requirements during the rotational acceleration motion.

11. The shelling device according to claim 10, characterized in that, When the movable clamping part of the fixing component is driven by the inertial force generated by the rotational acceleration motion, both clamping parts of the fixing component are arranged along the rotation direction of the rotating arm.

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

13. The shell-removing device according to any one of claims 10-12, characterized in that, The movable clamping part includes a counterweight.

14. 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 near the rotating shaft is connected to the rotating arm.

15. The shelling device according to claim 8, characterized in that, The two opposing sides of the two clamping parts in the clamping fastener form a V-shape, wherein the movable clamping part is connected to the rotating arm at one end near the rotating shaft.

16. The shelling device according to claim 4, characterized in that, The clamping fastener is a vertical clamping fastener or an up-and-down clamping fastener; Both clamping parts of the vertical clamping member are connected to the rotating arm; the two oppositely arranged sides of the two clamping parts are perpendicular to the plane of rotation; the plane of rotation is the plane containing the circle formed by rotating any point on the rotating arm around the axis of rotation. The two clamping parts of the upper and lower clamping member are both connected to the rotating arm at one end facing the rotating shaft, and at least one of the two oppositely arranged sides of the two clamping parts is parallel to the rotating plane.

17. 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 and the object to be deshelled.

18. The shelling device according to claim 1 or 3, 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 oriented toward the rotation axis, and punctures the shell of the object to be unshelled to fix the object to be unshelled.

19. The shelling device according to claim 18, 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.

20. The shelling device according to claim 19, 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.

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

22. The shelling device according to claim 1, characterized in that, The device further includes: A controller electrically connected to the drive unit to control the operation of the drive unit.

23. The shelling device according to claim 1, characterized in that, The driving component is one of the following: 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.

24. The shelling device according to claim 2, 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, The device is used in a shelling apparatus, which includes: a drive unit, a rotating arm, and a fixing assembly for fixing the object to be shelled; The driving component is rotatably connected to the rotating arm via a rotating shaft; the fixing component is disposed on the rotating arm at a position away from the rotating shaft, and the rotation radius from the rotating shaft to the fixing component at the farthest point from the rotating shaft is within a preset value range; The driving component is used to drive the rotating arm to rotate and accelerate around the rotating axis, so that the fixing component follows the rotating arm to rotate and accelerate, thereby causing the object to be deshelled and connected to the shell to be deshelled to be detached under the action of centrifugal force. The control method includes: When the object to be unshelled is placed between the two clamping parts of the fixing component or when the fixing component fixes the object to be unshelled, the driving component is controlled to perform a rotation acceleration movement based on the preset rotation acceleration parameters, so that the driving component drives the rotating arm to perform a rotation acceleration movement around the rotation axis.

26. The control method for the shelling device according to claim 25, characterized in that, Before controlling the drive component to perform rotational acceleration motion based on preset rotational acceleration parameters, the control method further includes: In response to receiving the input rotation acceleration parameters, the preset rotation acceleration parameters are determined; And / or, In response to receiving an input object type identifier, the preset rotation acceleration parameters are determined based on the rotation acceleration parameters pre-associated with the object type identifier; wherein different object type identifiers are associated with different rotation acceleration parameters. And / or, In response to receiving the parameters of the object to be deshelled obtained by the detection device, the preset rotation acceleration parameters are determined based on a pre-configured correlation table between the parameters of the object to be deshelled and the rotation acceleration 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 a preset rotation acceleration parameter that matches 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 rotational acceleration parameters matching the parameters of the object to be unshelled, includes: The type and specification parameters of the object to be shelled, the pre-set breaking force and shell-removing force of each object to be shelled, and the attribute parameters of the clamping device are used to determine the rotation acceleration parameters that match the object to be shelled.

28. The control method for the shelling device according to claim 27, characterized in that, The fixing component is a clamping type fixing member; one of the two clamping parts in the clamping type fixing member is a movable clamping part; when the fixing component follows the rotating arm to perform a rotational acceleration movement, the movable clamping part is driven by the inertial force generated by the rotational acceleration movement to move towards or away from the other clamping part. The rotational acceleration parameters of the object to be unshelled include multi-stage acceleration; the multi-stage acceleration includes a first angular acceleration matching the clamping breakthrough force, a second angular acceleration matching the clamping holding force, and a third triangular acceleration that decelerates the object to 0 angular velocity after it is unshelled.

29. The control method for the shelling device according to claim 25, characterized in that, The apparatus further includes a pressurized fluid delivery assembly; the pressurized fluid delivery assembly introduces pressurized fluid into the internal environment of the object to be deshelled, so that the pressurized fluid enters between the shell and the object to be deshelled; the method further includes: Before or during the uncoating process, the drive component is controlled to rotate and accelerate based on preset rotation acceleration parameters. Pressurized fluid is then introduced between the shell of the object to be uncoated and the object to be uncoated.

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