Back opening control method, cutting device and production line

Abstract

The invention relates to the technical field of food processing, and provides a back opening control method, a cutting device and a production line. According to the back opening control method provided by the invention, the prawns are detected according to the detection element, and the prawns are prompted to pass through the outer side of the detection element, so that the back height data and the length data of the prawns are obtained through swinging of the detection element, and the back contour data of the prawns are obtained according to the two data. And then, after the cutter is in contact with the back of the prawn body, the back opening operation of the prawn can be executed only by further moving down the cut-in amount on the basis of the position of the back. Therefore, when the prawn is subjected to the back opening cutting operation, the prawn can be cut according to the actual back contour data compensated according to the cut-in amount, so that favorable data support is provided for the back opening process of the prawn, and the stability of the back opening depth and length is ensured.

Description

Technical Field

[0001] This application relates to the field of food processing technology, and in particular to a back-opening control method, a cutting device, and a production line. Background Technology

[0002] Shrimp meat, as the main form of consumption for white shrimp products, occupies a leading position in the shrimp processing industry. The raw material for shrimp meat production is headless frozen shrimp tails. After processes such as thawing, deveining, peeling, degumming, freezing, and packaging, the finished shrimp meat flows to downstream markets such as wholesale markets, supermarkets, e-commerce platforms, and catering companies.

[0003] Shrimp back-opening is a process in shrimp processing, and current technology still mainly relies on manual back-opening. Although there are some shrimp back-opening processes and corresponding equipment, there are still problems with the instability of the depth and length of the back-opening process, especially for shallow back-opening. Summary of the Invention

[0004] In view of this, this application provides a back opening control method, a cutting device and a production line, with the aim of solving the above-mentioned technical problems to a certain extent.

[0005] The first aspect of this application provides a method for controlling the back opening of shrimp, the method being used to perform a back opening operation on shrimp, the method comprising:

[0006] A detection element capable of swinging around a first swing axis is configured to cause a shrimp to pass outside the detection element, thereby causing the detection element to swing around the first swing axis to obtain the shrimp's back height data;

[0007] Based on the time point when the detection element starts to swing and the time point when the detection element ends to swing, the distance traveled is extracted from the shrimp's path to obtain the shrimp's length data.

[0008] By combining the back height data and the back length data, the back contour data is obtained;

[0009] Based on the preset cutting depth of the shrimp, the back contour data is compensated to obtain the compensated actual back contour data.

[0010] Based on the actual back contour data, a cutting operation is performed on the shrimp to open its back.

[0011] Based on the above technical solutions, optionally, after the back-opening control method compensates the back contour data according to a preset cutting amount for the shrimp to obtain the compensated actual back contour data, it further includes:

[0012] Based on the amount of compression of the shrimp by the detection element, the actual back contour data after compensation is further compensated.

[0013] The step of performing a cutting operation on the shrimp based on the actual back contour data to open the shrimp's back further includes:

[0014] Based on the further compensated actual back contour data, a cutting operation is performed on the shrimp to open its back.

[0015] Optionally, based on any of the above technical solutions, the further compensation of the compensated actual back contour data according to the compression amount of the shrimp by the detection element also includes:

[0016] The shrimp body is divided into multiple segments based on the joints of the shrimp, and different compensation amounts are applied to each segment of the shrimp body according to the hardness of the joints.

[0017] Optionally, based on any of the above technical solutions, the further compensation of the compensated actual back contour data according to the compression amount of the shrimp by the detection element also includes:

[0018] Based on the size of the shrimp, a smaller compensation amount is provided for larger-sized shrimp, and a larger compensation amount is provided for smaller-sized shrimp.

[0019] Optionally, based on any of the above technical solutions, the configuration of the detection element capable of swinging around the first swing axis, causing the shrimp to pass outside the detection element, and thus causing the detection element to swing around the first swing axis to obtain the shrimp's back height data, further includes:

[0020] The back height of the shrimp is calculated based on the swing radius and swing angle of the detection element.

[0021] Optionally, based on any of the above technical solutions, the configuration of the detection element capable of swinging around the first swing axis, causing the shrimp to pass outside the detection element, and thus causing the detection element to swing around the first swing axis to obtain the shrimp's back height data, further includes:

[0022] The shrimp is prompted to pass outside the detection element, and the height point on the shrimp is obtained through the detection element. Then, the first judgment is performed: it is determined whether the allowed detection conditions are met at this time, and a fault tolerance time is set after the first judgment. Then, the second judgment is performed: it is determined whether the allowed detection conditions are met at this time. If they are met, the back height data is collected again. If they are not met, the height point on the shrimp is re-acquired.

[0023] Optionally, based on any of the above technical solutions, the configuration of the detection element capable of swinging around the first swing axis, causing the shrimp to pass outside the detection element, and thus causing the detection element to swing around the first swing axis to obtain the shrimp's back height data, further includes:

[0024] After collecting back height data, it is determined whether there is a height change point in the back height data. If there is a height change point, the height change point is replaced with the same data as the previous point. If there is no height change point, the collected back height data is compensated and converted into swing angle.

[0025] The step of performing a cutting operation on the shrimp based on the actual back contour data to open the shrimp's back includes:

[0026] A cutter is configured to swing about a second swing axis parallel to the first swing axis;

[0027] Based on the swing angle, a cutting operation is performed on the shrimp to open its back.

[0028] A second aspect of this application provides a cutting apparatus, the cutting apparatus including the detection element, the cutting apparatus being used to perform the back opening control method as described above.

[0029] Based on the above technical solutions, optionally, the cutting device further includes:

[0030] A first conveyor belt and a second conveyor belt, the first conveyor belt having a first conveying surface and the second conveyor belt having a second conveying surface, both the first conveying surface and the second conveying surface being inclined relative to the horizontal direction to jointly define a trough-shaped portion, the trough-shaped portion being used to convey the material to be cut;

[0031] A correction wheel is disposed above the groove-shaped portion. The correction wheel is rotatable about a first axis coaxial with the correction wheel and can also swing about a second axis parallel to the first axis. The correction wheel is used to press against the material to be cut that passes under the correction wheel.

[0032] The cutting device includes a cutter, which is located downstream of the correction wheel in the conveying direction of the first conveyor belt, and the cutter is capable of cutting the material to be cut.

[0033] Optionally, based on any of the above technical solutions, the cutting device further includes an encoder, which is arranged parallel to the detection element. The detection element is arranged between the correction wheel and the cutter in the conveying direction, and the detection element is also capable of rotating about a third axis coaxial with the detection element.

[0034] The detection element is disposed above the groove-shaped portion. The detection element is used to continuously press on the material to be cut that passes below the detection element, and the encoder obtains the swing state of the detection wheel as the material to be cut passes through the detection element.

[0035] The cutting device further includes a control mechanism, which is communicatively connected to the encoder to receive the swing state and obtain the back contour data of the shrimp in order to control the height of the cutter when cutting the material to be cut.

[0036] Optionally, based on any of the above technical solutions, the cutting device further includes a mounting component and a cutting swing arm. The cutter is rotatably connected to the cutting swing arm so as to be able to rotate around the fifth axis. The cutting swing arm is rotatably connected to the mounting component, and the cutting swing arm can drive the cutter so that the cutter swings around the second swing axis.

[0037] Optionally, based on any of the above technical solutions, the cutting device further includes a cutting pressure roller, which is disposed upstream of the cutter in the conveying direction. The cutting pressure roller is capable of rotating around a seventh axis coaxial with the cutting pressure roller, and the cutting pressure roller is also capable of swinging around an eighth axis parallel to the seventh axis.

[0038] The cutting roller is positioned above the grooved portion to press against the material to be cut as it passes beneath the cutting roller.

[0039] The cutting roller has an annular groove on its side, which is used to press the material to be cut, and the cutter extends into the annular groove.

[0040] Optionally, based on any of the above technical solutions, the cutting device further includes a mounting component and a correction swing arm, wherein the correction wheel is rotatably connected to the correction swing arm so as to be able to rotate around the first axis, and the correction swing arm is rotatably connected to the mounting component so as to allow the correction wheel to swing around the second axis.

[0041] Based on any of the above technical solutions, optionally, the first conveyor belt has a first needle-punched part protruding from the first conveying surface, the first needle-punched part being used to pierce into the material to be cut, and the second conveyor belt has a second needle-punched part protruding from the second conveying surface, the second needle-punched part being used to pierce into the material to be cut;

[0042] The angle between the first conveying surface and the second conveying surface is 45° to 90°.

[0043] The material to be cut is shrimp. Both the first and second needle-piercing parts pierce the shrimp shell, and the cutter performs a back-opening cut on the shrimp.

[0044] A third aspect of this application provides a production line that includes the cutting device described above.

[0045] Thus, according to the back-opening control method provided in this application, the shrimp is detected by a detection element, causing the shrimp to pass outside the detection element. The shrimp's back height and length data are obtained through the rotation of the detection element, and then the shrimp's back contour data is obtained based on these two data. Next, in this embodiment, the cutting depth is a further downward movement of the cutting blade from its original position after contact with the shrimp's back, allowing the back-opening operation to be performed. Therefore, when performing the back-opening cutting operation, the shrimp can be cut based on the back contour data compensated for by the cutting depth, providing favorable data support for the back-opening process and ensuring stable back-opening depth and length.

[0046] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0047] 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.

[0048] Figure 1 A schematic diagram of a shrimp for which the back-opening control method provided according to an embodiment of this application is applied is shown.

[0049] Figure 2 The open-back control method provided according to embodiments of this application is illustrated for... Figure 1 The shrimp in the shrimp are fully opened from the back.

[0050] Figure 3 The open-back control method provided according to embodiments of this application is illustrated for... Figure 1 The shrimp are prepared by performing a 25-fold back-opening procedure.

[0051] Figure 4 The open-back control method provided according to embodiments of this application is illustrated for... Figure 1 The shrimp are prepared by opening their backs in five stages.

[0052] Figure 5A schematic diagram of the motion coordinates of the detection arm of the cutting device provided according to an embodiment of this application is shown.

[0053] Figure 6 A schematic diagram of the motion coordinates of the cutting arm of the cutting device provided according to an embodiment of this application is shown.

[0054] Figure 7 A schematic diagram of the data acquisition flowchart of the open-back control method provided according to an embodiment of this application is shown.

[0055] Figure 8 A schematic diagram of the entire process of cutting shrimp according to the back-opening control method provided in the embodiments of this application is shown.

[0056] Figure 9 A schematic diagram showing a flowchart of the height data processing of the open-back control method provided according to an embodiment of this application is illustrated.

[0057] Figure 10 A schematic diagram of a flowchart illustrating the length data processing of the open-back control method provided according to an embodiment of this application is shown.

[0058] Figure 11 A schematic diagram of a flowchart of an open-back control method provided according to an embodiment of this application is shown.

[0059] Figure 12 A schematic diagram showing a three-dimensional view of a cutting apparatus provided according to an embodiment of this application is provided.

[0060] Figure 13 A schematic diagram of another three-dimensional view of the cutting apparatus provided according to an embodiment of this application is shown.

[0061] Figure 14 A schematic diagram of the internal structure of the second transmission component of the cutting apparatus provided according to an embodiment of this application is shown.

[0062] Figure label:

[0063] 110 - Cutter; 120 - Cutting arm; 130 - First motor; 140 - Third motor;

[0064] 210 - Cutting pressure roller; 220 - Pressure roller swing arm;

[0065] 310 - Detector wheel; 320 - Detector swing arm; 330 - Encoder;

[0066] 410 - Correction wheel; 420 - Correction swing arm; 421 - Second shell body; 422 - First arm; 423 - Second arm; 424 - Third wheel component; 425 - Fourth wheel component; 430 - Second motor;

[0067] 510 - First conveyor belt; 520 - Second conveyor belt; 530 - Needle structure;

[0068] 600 - Mounting components; 700 - Mounting frame; 800 - Conveyor belt motor. Detailed Implementation

[0069] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0070] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0071] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0072] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0073] The first aspect of this application provides an open-back control method, which will be described below in conjunction with... Figures 1 to 14 The steps of the open-back control method are described in detail.

[0074] A first aspect of this application provides a back-opening control method for shrimp to perform a back-opening operation. The back-opening control method includes:

[0075] A detection element capable of swinging around a first swing axis is configured to cause a shrimp to pass by the outside of the detection element, thereby causing the detection element to swing around the first swing axis to obtain data on the height of the shrimp's back.

[0076] Based on the time when the detection element starts to swing and the time when the detection element stops swinging, the distance traveled is extracted from the shrimp's path to obtain the shrimp's length data.

[0077] By combining back height and length data, back contour data is obtained;

[0078] Based on the preset cutting depth of the shrimp, the back contour data is compensated to obtain the compensated actual back contour data; based on the actual back contour data, the shrimp is cut to open its back.

[0079] Thus, according to the back-opening control method provided in this application embodiment, the shrimp is detected by a detection element, causing the shrimp to pass outside the detection element. The shrimp's back height and length data are obtained through the rotation of the detection element, and then the shrimp's back contour data is obtained based on these two data. Next, in this embodiment, the cutting depth is a further downward movement of the cutting blade from its original position after contact with the shrimp's back, allowing the back-opening operation to be performed. Therefore, when performing the back-opening cutting operation, the shrimp can be cut based on the actual back contour data compensated for by the cutting depth, providing favorable data support for the back-opening process and ensuring stable back-opening depth and length.

[0080] In this embodiment, as described above, the shrimp's dorsal contour data is essentially a curve, that is, a two-dimensional curve. In actual cutting, if the shrimp's belly faces downwards and its back faces upwards, then the back-opening operation is performed by using a cutting blade to cut from the shrimp's back. Therefore, the dorsal contour data is defined by two dimensions: one is the height direction (which, according to the cutting action, can also be referred to as the depth direction below), and the other is the shrimp's transport direction, that is, the shrimp's length direction.

[0081] In this embodiment, the length data of the back contour is detected from the moment the shrimp's body begins to contact the outer side of the detection element until the shrimp no longer contacts the detection element. The height data of the back contour is characterized by the swing amplitude of the detection element.

[0082] In this embodiment, the length data above can be obtained in the following manner. Specifically, the shrimp can be transported at a constant speed. Since the shrimp's body causes the detection element to swing, the product of the time from when the detection element starts to swing (the start of detection) to when the detection element resets (the end of detection) and the shrimp's transport speed is the length of the shrimp's body, which is the length data above.

[0083] In this embodiment, the swing amplitude means the extent to which the detection element is raised when the shrimp passes under it. As an example, the detection element can be, for instance, a detection wheel rotatably mounted on a detection arm, which can be connected to an encoder. The encoder's axis can also be a first swing axis, thereby obtaining the swing amplitude, start time, and stop time of the detection element's swing through the encoder.

[0084] In this embodiment, the data detected by the encoder can be obtained by setting up a control mechanism that communicates with the encoder. Then, the control mechanism processes this data into back contour data. At the same time, the control mechanism can communicate with the structure that controls the movement trajectory of the cutter to perform a back-opening operation on the shrimp based on the back contour data. This will be explained in detail later when describing the cutting device that performs this back-opening control method.

[0085] According to the back-opening control method provided in the embodiments of this application, after compensating the back contour data based on a preset cutting amount for the shrimp to obtain the compensated actual back contour data, the back-opening control method may further include:

[0086] Based on the compression of the shrimp by the detection element, the actual back contour data after compensation is further compensated.

[0087] Based on the actual back contour data, the above-mentioned cutting operation for shrimp, including the back-opening of shrimp, also includes:

[0088] Based on further compensated data of the actual back contour, the shrimp are cut open to open their backs.

[0089] According to the back-opening control method provided in the embodiments of this application, the back-opening control method also compensates the obtained back contour data based on the compression amount of the shrimp by the detection element to obtain the compensated actual back contour data. That is, after obtaining the back contour data by detection, compensation is performed based on the compression amount of the shrimp, and the back contour data is also compensated based on the cutting amount mentioned above. In this way, it is ensured that the shrimp can be cut more accurately when the cutting operation is performed on the shrimp.

[0090] In this embodiment, when the shrimp passes outside the detection element, the detection element will squeeze the shrimp, causing the shrimp to deform and be compressed. Therefore, the height data in the back contour data detected by the detection element is actually the height data of the shrimp body after compression. The actual height data of the shrimp body is greater than this height data. Therefore, according to the back opening control method provided in this application embodiment, the height difference that was originally compressed is compensated into the detected height data by means of compensation, so as to avoid the situation of cutting too shallowly by using the back contour data obtained by the detection data as the cutting basis.

[0091] In this embodiment, the required height difference can be obtained experimentally. For example, the actual height data can be obtained by measuring the height of shrimp within a certain size range. Then, the shrimp is passed over the outside of the detection element to obtain the detected height data. The difference between the two is calculated. By conducting multiple experiments on the same shrimp and statistically analyzing the height differences of different shrimp within the same size range, the compensated height difference for that size range can be obtained. Based on this method, a compensated height difference table is created for consecutive size ranges. This height difference table can be stored in memory for the control mechanism to access.

[0092] In the embodiments, the term "specification" as used in the above description should be understood to include the following meanings: the size of the shrimp, such as its length.

[0093] According to the back opening control method provided in the embodiments of this application, the step of further compensating the compensated actual back contour data based on the compression amount of the shrimp by the detection element may further include:

[0094] The shrimp's body is divided into multiple segments based on its joints, and different compensation amounts are applied to each segment based on the hardness of its joints.

[0095] As mentioned above, based on the height difference compensation steps provided, the compensation is further refined to provide different height difference compensations for different segments according to the hardness of each joint of the shrimp's body. This is because harder joints result in less deformation of the shrimp body under pressure, while softer joints result in greater deformation of the shrimp body under pressure. The former requires less compensation, while the latter requires more. Thus, this compensation method further ensures a more accurate cutting depth for the back opening.

[0096] According to the back opening control method provided in the embodiments of this application, the step of further compensating the compensated actual back contour data based on the compression amount of the shrimp by the detection element may further include:

[0097] Based on the size of the shrimp, smaller compensation amounts are provided for larger-sized shrimp, and larger compensation amounts are provided for smaller-sized shrimp.

[0098] This is understandable, as shrimp batches are categorized by size range. Larger shrimp have harder shells and less compressibility, while smaller shrimp have softer shells and more compressibility. Therefore, smaller compensation is provided for larger shrimp, and larger compensation is provided for smaller shrimp.

[0099] According to the back-opening control method provided in the embodiments of this application, the above-configured detection element, capable of swinging around a first swing axis, causes the shrimp to pass outside the detection element, thereby causing the detection element to swing around the first swing axis to obtain the shrimp's back height data. The step further includes: calculating the shrimp's back height data based on the swing radius and swing angle of the detection element. This will be explained in detail in subsequent specific examples.

[0100] According to the back-opening control method provided in the embodiments of this application, the above-configured detection element, capable of swinging around a first swing axis, causes the shrimp to pass outside the detection element, thereby causing the detection element to swing around the first swing axis to obtain the shrimp's back height data. The steps include:

[0101] The shrimp is prompted to pass by the outside of the detection element. The height point on the shrimp is obtained through the detection element. Then, the first judgment is performed: it is determined whether the allowed detection conditions are met. After the first judgment, a fault tolerance time is set. Then, the second judgment is performed: it is determined whether the allowed detection conditions are met. If they are met, the back height data is collected again. If they are not met, the height point on the shrimp is re-acquired.

[0102] Thus, the back opening control method provided in the embodiments of this application ensures the accuracy and reliability of height data acquisition by repeatedly judging and setting the fault tolerance time.

[0103] According to the back-opening control method provided in the embodiments of this application, the above-configured detection element, capable of swinging around a first swing axis, causes the shrimp to pass outside the detection element, thereby causing the detection element to swing around the first swing axis to obtain the shrimp's back height data. The steps further include:

[0104] After collecting back height data, determine whether there is a height change point in the back height data. If there is a height change point, replace the height change point with the same data as the previous point. If there is no height change point, compensate the collected height data and convert it into swing angle.

[0105] Based on the actual back contour data, the shrimp undergoes a cutting operation to open its back, including:

[0106] A cutter is configured to swing about a second swing axis parallel to the first swing axis;

[0107] Depending on the swing angle, the shrimp is cut open to open its back.

[0108] In this embodiment, by eliminating height abrupt change points, a continuous back contour curve that conforms to the shrimp's back is ensured, thereby ensuring that the cutting process can be stably executed when the shrimp is opened according to the back contour curve.

[0109] Based on the above description, a specific example of the data compensation process is provided here.

[0110] Specifically, at the encoder level, data compensation refers to processing the height data and the length data in the horizontal direction after the raw data detected and collected by the encoder is converted into vertical displacement.

[0111] In the depth direction, or height direction, shrimp of the same size exhibit varying degrees of stiffness in different joints: the head is softer with greater compensation, while the tail is stiffer with less compensation. For example... Figure 1 As shown, in terms of compensation amount, H1>H2>H3>H4>H6>H5.

[0112] Furthermore, as mentioned above, the stiffness of the same joint varies among shrimp of different sizes (i.e., different specifications). Smaller shrimp have relatively softer shells, resulting in greater deformation and correspondingly greater compensation, while larger shrimp have relatively harder shells, resulting in less deformation and correspondingly less compensation. Figure 1 As shown, for the same shrimp body segment, the H1 of the larger shrimp is less than that of the smaller shrimp, and the difference in compensation amount for the remaining segments is also the same.

[0113] In the embodiments, different shrimp-cutting methods and different cutting depths can be set, with inconsistent cutting depths at the same location, such as... Figure 2 Full back opening Figure 3 25% and Figure 4 As shown in Figure 15, the operator sets the cutting depth h. c At that time, fully open h b =h d =0,h c >0, two-five opening h b <0, h c >0, h d <0, one five open h b =0,h c >0, h d <0; for example, the operator sets the cutting depth h. c Choosing the 2 / 5 cut shrimp method, the depth compensation Δh corresponding to the third section is: Δh=H3+h c .

[0114] In this embodiment, the detection element moves from the initial detection position to the sixth segment position in an ascending process, and the data collected during this process is as follows: Figure 1 As shown in L7, this data segment is discarded because the tail limbs do not need to be cut open. The remaining positions from L1 to L6 represent the shrimp body as described above. The detection element descends from the shrimp head position to the end of the detection process, and the acquisition length during this process is as follows... Figure 1As shown in L0, this data segment does not need to be cut and can be directly removed. Furthermore, shrimp with broken tail limbs or joints should be cut as normal shrimp without special treatment.

[0115] In this embodiment, shrimp of different sizes have different joint lengths at the same location, such as... Figure 1 As shown, L1 to L6 are not the same due to the different sizes of shrimp, so the lengths of a, b, c, and d are not the same when the shrimp is cut in different ways.

[0116] Based on the above description, the data conversion method of the encoder will be further explained. In this embodiment, since the encoder collects data as pulse counts and the shrimp-cutting action is the vertical displacement of the cutter, the pulse counts are converted into vertical displacements to ensure that the cutter can perform the cutting operation.

[0117] In this embodiment, the following is the process of converting the number of pulses collected by the encoder into the angle of rotation of the detected swing arm: the number of pulses collected by the encoder n, the number of pulses per revolution of the encoder N = 3600, and the detected rotation angle α is:

[0118]

[0119] like Figure 5 As shown, the rotation angle of the detection arm is converted into the vertical displacement of the detection wheel. Given the rotation radius r, rotation angle α, and known angle α1 of the detection arm, the displacement y of the detection arm is:

[0120]

[0121] The displacement of the probe arm is compensated to obtain new displacement data. The compensated data in the height direction is Δh (based on the height of the acquisition point, downward is positive and upward is negative), and the compensated data Y is: Y = y + Δh.

[0122] like Figure 6 As shown, the compensated data is converted into the rotation angle of the cutting arm. Given the rotation radius R of the cutting arm and the known angles β1 and β2, the rotation angle β of the cutting arm is:

[0123]

[0124] The horizontal displacement of the detection arm and the cutting arm during their movements has a relatively small impact on the shrimp cutting process and can be ignored.

[0125] In addition, it is also necessary to Figure 5 and Figure 6 The following statements are explained:

[0126] The meaning of the collection point: At a certain collection moment, the shrimp pushes the probe wheel to a certain position, and records the height data of the probe arm at that position.

[0127] for Figure 5 The starting point in the calculation refers to the reference point of the probe wheel. The angle of the probe wheel's swing is calculated based on this point, which is the reference point for the subsequent probe arm to reach the acquisition point and the starting point (reference point).

[0128] for Figure 6 The starting point in the diagram refers to the reference point for subsequent cutting of the swing arm. The descent height of the cutting swing arm is based on this point and represents the distance it swings downwards.

[0129] for Figure 6 The meaning of the "cutting point" in the text is: the position point where the data, after being compensated and converted, is received by the cutting arm after swinging from the starting point.

[0130] For α1, it is known because the rotation center of the probe arm is fixed and known at the structural level, the horizontal direction is determined, and the starting point position can be determined by adjusting the hard limit (generally, the probe wheel is fixed at a distance above the lowest plane or is level with the lowest plane). Therefore, the size of the included angle between the two is determined and known.

[0131] For β1, it is known because the center of rotation of the cutting arm is fixed and known at the structural level, the horizontal direction is determined, and the starting point position is determined and known by setting the zero point through software. Therefore, the size of the included angle between the two is determined and known.

[0132] β2 is known because the distance from the lowest plane to the center of rotation is known, and the position where the tool landing point is tangent to the lowest plane is known, so β2 is known.

[0133] Figure 5 The lowest plane and Figure 6 The lowest plane is on the same horizontal plane. Figure 5 The starting point and Figure 6 When the blade is at its lowest point, the probe wheel is tangent to the lowest plane.

[0134] A second aspect of this application provides a cutting apparatus for performing the above-described back-opening control method, which will be described below in conjunction with... Figures 12 to 14 Describe in detail the structure and working principle of the cutting device.

[0135] According to the embodiments of this application, the cutting device includes a detection element and a cutter 110 as described above, and also includes a first conveyor belt 510, a second conveyor belt 520, and a correction wheel 410.

[0136] In this embodiment, the first conveyor belt 510 has a first conveying surface and the second conveyor belt 520 has a second conveying surface. Both the first and second conveying surfaces are inclined relative to the horizontal direction to jointly define a trough-shaped portion, which is used to convey the material to be cut, namely shrimp.

[0137] In this embodiment, the correction wheel 410 is disposed above the groove-shaped portion. The correction wheel 410 is capable of rotating around a first axis coaxial with the correction wheel 410. The correction wheel 410 is also capable of swinging around a second axis parallel to the first axis. The correction wheel 410 is used to press against the material to be cut that passes under the correction wheel 410.

[0138] In an embodiment, the cutter 110 described above is located downstream of the correction wheel 410 in the conveying direction of the first conveyor belt 510, and the cutter is capable of cutting the material to be cut.

[0139] Thus, according to the cutting device provided in this application embodiment, the cutting device uses the first conveyor belt 510 and the second conveyor belt 520 to define a trough-shaped portion to transport the material to be cut, ensuring that the material to be cut obtains a stable posture within the trough-shaped portion. In particular, strip-shaped materials can be confined within the trough-shaped portion with their own extension direction as the direction of transport, and to a certain extent, they will not tip over. Based on this, according to the cutting device provided in this application embodiment, when the material to be cut passes under the correction wheel 410, the material is pressed by the correction wheel 410 and moves towards the bottom side of the trough-shaped portion, so that its position can be corrected by the first conveying surface and the second conveying surface, making its own extension direction consistent with the conveying direction of the first conveyor belt 510, which facilitates the cutting of the material along its own extension direction using the cutter 110.

[0140] In this embodiment, both the first conveyor belt 510 and the second conveyor belt 520 can be conveyor belts. As an example, the structure driving each conveyor belt may include two wheel structures arranged side by side, namely a driving wheel and a driven wheel. The driving wheel can be driven by a conveyor belt motor 800. The conveyor belt is sleeved on the outside of the two wheel structures. It is understood that the axes of the two wheel structures are inclined relative to the horizontal direction, thereby ensuring that the first conveying surface and the second conveying surface can also be inclined.

[0141] It should be noted that, although Figure 12 and Figure 14 The axes of the two wheel structures are horizontal, but Figure 12 and Figure 14 This only schematically illustrates the relative positional relationship between the two wheel structures. For the arrangement of the axes of the two wheel mechanisms, please refer to the textual description above.

[0142] Therefore, in practice, the first conveying surface and the second conveying surface can be formed as a trough with a V-shaped cross section, or a trough with a cross section approximately V-shaped, which is particularly advantageous for making the extension direction of strip-shaped materials, such as shrimp, consistent with the direction in which they are conveyed.

[0143] In this embodiment, a mounting bracket 700 may be provided, and the aforementioned wheel structure may be rotatably mounted on the mounting bracket via bearings.

[0144] According to the cutting device provided in the embodiments of this application, the cutting device may include a second transmission component and a second motor 430. The second motor 430 may be disposed on the mounting member 600, and the second transmission component may be disposed in the correction swing arm 420. The second transmission component may drive the second motor 430 and the correction wheel 410 to rotate around the first axis.

[0145] In an embodiment, as an example, the mounting member 600 can be a vertically arranged mounting plate, and the mounting plate and the correction arm 420 can be rotatably connected, for example, by opening a hole in the mounting plate and providing a bearing on the outside of the correction arm 420 to rotatably connect it to the mounting plate.

[0146] In this embodiment, the conveyor belt motor 800 mentioned above can also be mounted on the mounting member 600. Specifically, the conveyor belt motor 800 and the second motor 430 can both be fixed on the same side of the mounting plate that serves as the mounting member 600. The mounting plate can have a hole through which the motor shaft of the conveyor belt motor 800 passes, so that the conveyor belt motor 800 can be connected to the first conveyor belt 510 located on the other side of the mounting plate.

[0147] In this embodiment, the end of the motor shaft of the conveyor belt motor 800 may be provided with a wheel structure (not shown in the figure), and the drive wheel of the first conveyor belt may be connected to the wheel structure for transmission, for example. For example, the drive wheel may be coaxially connected to another wheel structure (not shown in the figure), that is, the other wheel structure is the same as the drive wheel, and the axis of both is inclined relative to the horizontal plane. For example, a shaft structure (not shown in the figure) may be provided between the other wheel structure and the drive wheel. In order to hold the shaft structure, the cutting device may also provide a horizontally arranged retaining plate on the side where the first conveyor belt 510 is located, the shaft structure passing through the retaining plate and being rotatably connected to the retaining plate, for example, by sleeved with a bearing (not shown in the figure) on the outside of the shaft structure.

[0148] In one embodiment, the other wheel structure and the wheel structure at the end of the motor shaft of the conveyor belt motor 800 can be connected by a belt (not shown in the figure). That is, the belt is sleeved on the outside of the end wheel structure and the outside of the other wheel structure. In this way, when the end wheel structure is driven to rotate by the conveyor belt motor 800, it can drive the other wheel structure to rotate, and then the other wheel structure can drive the drive wheel to rotate.

[0149] It should be noted that the belts fitted onto the outer sides of the end wheel structure and the other wheel structure can be synchronous belts, and both the end wheel structure and the other wheel structure can be synchronous pulleys. It should also be noted that since the axis of the other wheel structure is inclined, the synchronous belt can be torn, as long as this torsion does not cause interference within the synchronous belt itself.

[0150] In addition, on the side where the first conveyor belt 510 of the mounting plate is located, another motor and corresponding transmission structure (not shown in the figure) can be set up with reference to the above-mentioned conveyor belt motor 800 to drive the second conveyor belt 520. Since the principle and setting method are the same, they will not be described again here.

[0151] According to the cutting device provided in the embodiments of this application, the second transmission assembly may include a third wheel component 424 and a fourth wheel component 425. In the embodiments, the third wheel component 424 may be coaxially connected to the second motor 430, the fourth wheel component 425 may be drive-connected to the third wheel component 424, and the fourth wheel component 425 may be coaxially connected to the correction wheel 410, for example, by means of a shaft.

[0152] In an embodiment, the correction arm 420 may have a second housing (that is, the second housing is rotatably connected to the mounting plate), and the third wheel member 424 and the fourth wheel member 425 are both disposed inside the second housing, wherein the third wheel member 424 and the fourth wheel member 425 are both rotatable relative to the second housing.

[0153] As an example, power can be transmitted between the third wheel component 424 and the fourth wheel component 425 via a belt. As another example, the sides of both the third wheel component 424 and the fourth wheel component 425 may each have annular grooves, allowing the belt to be positioned on the third wheel component 424 and the fourth wheel component 425 in a manner that does not protrude from the outside of the third wheel component 424 and the fourth wheel component 425. Alternatively, both the third wheel component 424 and the fourth wheel component 425 may be synchronous pulleys, and power can be transmitted between them via a synchronous belt.

[0154] Based on this, such as Figure 14As shown, the second housing includes a first arm 422 with a first axis as its axis, a second arm 423 with a second axis as its axis, and a second housing body 421 connecting the first arm 422 and the second arm 423. The motor shaft of the second motor 430 can be coaxially connected to a shaft portion disposed within the first arm 422. A shaft member coaxial with the correction wheel 410 is disposed within the second arm 423. A bearing can be disposed between the shaft portion within the first arm 422 and the first arm 422, i.e., the bearing is sleeved on the outside of the motor shaft. Therefore, both the motor shaft and the aforementioned shaft member can rotate relative to their respective arm portions.

[0155] In this embodiment, the end of the shaft portion within the first arm 422 is fixedly connected to the third wheel member 424 as described above, and the end of the shaft member as described above is fixedly connected to the fourth wheel member 425 as described above. Furthermore, as described above, the third wheel member 424 and the fourth wheel member 425 can be connected by a drive mechanism such as a belt or a timing belt.

[0156] It should be noted that even if the second motor 430 does not drive the correction wheel 410 to rotate, the correction wheel 410 can still correct the posture of the material by applying pressure to it. The purpose of the correction wheel 410 being driven by the second motor 430 is to match the speed of the object's movement with the rotation speed of the correction wheel 410, reduce the resistance between the material and the correction wheel 410, thereby ensuring that the material moves at the same speed as the first conveyor belt 510 and the second conveyor belt 520 without slippage, and improving the stability of the shrimp delivery.

[0157] Furthermore, as described later, the first conveyor belt 510 may also have a first needle-like portion protruding from the first conveying surface, and the second conveyor belt 520 may also have a second needle-like portion protruding from the second conveying surface. Both the first and second needle-like portions are used to pierce the object to be cut, such as a shrimp body. In the embodiment, since the cutter 110 cuts the shrimp back curve, which is essentially a two-dimensional curve defined by two dimensions: length (horizontal axis) and height (vertical axis), the height is obtained by the encoder described later, i.e., calculated by the rotation of the detection pressure roller. The length can be ensured by the needle-like portion piercing the shrimp body, ensuring that there is no slippage between the shrimp body and the conveyor belt during the shrimp body transportation process and that there is no positional deviation in the precise drive of the conveyor belt (e.g., driven by a servo motor), thus guaranteeing the accuracy of the obtained length.

[0158] Furthermore, in this embodiment, the correction wheel 410 presses down on the shrimp body, which can correct the shrimp body posture on the one hand, and on the other hand, as mentioned above, promotes the needle part to penetrate the shrimp body when pressing down, ensuring that the shrimp body does not slip on the conveyor belt, and ensuring that the detection wheel 310 detects accurately and the cutter 110 cuts accurately.

[0159] According to the cutting device provided in the embodiments of this application, the cutting device includes the detection component as described above. The detection component may include the detection element as described above arranged parallel to the axis, namely the detection wheel 310 and the encoder 330 as described above (that is, the axes of the detection wheel 310 and the encoder 330 are parallel). The detection component is arranged in the conveying direction between the correction wheel 410 and the cutter 110. The detection wheel 310 can rotate around a third axis coaxial with the detection wheel 310. The detection wheel 310 can also swing around a first swing axis parallel to the third axis.

[0160] In one embodiment, the detection wheel 310 can be disposed above the grooved portion. The detection wheel 310 can be used to continuously press against the material to be cut as it passes beneath the detection wheel 310, and the encoder 330 acquires the swing state of the detection wheel 310 as the material to be cut passes through it. In another embodiment, the cutting device further includes a control mechanism, which is communicatively connected to the encoder 330 to receive the swing state and control the height at which the cutter cuts the material to be cut.

[0161] In this embodiment, the angle of the detector wheel 310 changes as the material passes through it. The encoder 330 acquires this change, which is received by the control mechanism. Based on this change, the subsequent cutter is controlled to cut the material in the same way as the height change, such as cutting the back of a shrimp. This allows the shrimp to be cut according to its own outline, ensuring the accuracy of the cut.

[0162] In the embodiment, since the detection wheel 310 continuously presses against the material to be cut passing underneath it, this contact detection gives the detection wheel 310 pressure on the shrimp body when the material to be cut, such as shrimp, passes by, and the detection wheel 310 always fits against the shrimp, which can reduce detection interference.

[0163] In this embodiment, the detection wheel 310 also has a corresponding swing arm, namely the detection swing arm 320. A bearing can be installed inside the detection swing arm 320, which is coaxial with the detection wheel 310, to reduce the rotational resistance of the detection wheel 310 and the resistance between the material and the detection wheel 310. This ensures that the material moves at the same speed as the first conveyor belt 510 and the second conveyor belt 520 without slippage, improving the stability of the conveying process. In other words, a bearing sleeved on the outer side of the shaft of the detection wheel 310 is provided inside the detection swing arm 320 to ensure that the detection wheel 310 can rotate relative to the detection swing arm 320. Furthermore, the detection swing arm 320 can be, for example, a solid swing arm structure, which can be rotatably connected to the mounting member 600 via, for example, a bearing, and connected to the encoder 330 mounted on the mounting member 600. That is, the detection swing arm 320 and the encoder 330 are coaxially arranged so that the encoder 330 can acquire the rotation of the detection swing arm 320.

[0164] In the embodiment, the continuous pressing of the material by the detection wheel 310 mentioned above can be achieved by the weight of the detection wheel 310 and the detection swing arm 320. That is, when the material is conveyed by the two conveyor belts, the material, such as shrimp, will use its back to overcome the weight of the detection wheel 310 and the detection swing arm 320 when it passes the position of the detection wheel 310, and lift the detection wheel 310 up. Because of its own weight, the detection wheel 310 always has a downward tendency after being lifted up, so it can achieve continuous pressing of the material.

[0165] According to the cutting device provided in the embodiments of this application, the cutter may have a fifth axis, the cutter may rotate around the fifth axis to cut the material to be cut, and the cutter may also swing around a second swing axis as described above, which is parallel to the fifth axis.

[0166] In an embodiment, the cutting device may further include a mounting member 600 and a cutting swing arm 120. The cutter 110 may be rotatably connected to the cutting swing arm 120 so as to be able to rotate about a fifth axis. The cutting swing arm 120 may be rotatably connected to the mounting member 600 and the cutting swing arm 120 may drive the cutter 110 so that the cutter 110 swings about a second swing axis.

[0167] According to the cutting device provided in the embodiments of this application, the cutting device may include a first transmission component and a first motor 130. The first motor 130 may be disposed on the mounting component 600, and the first transmission component may be disposed inside the cutting swing arm 120. The first transmission component may drive the first motor 130 and the cutter to rotate around the fifth axis.

[0168] A third transmission assembly can be installed on the outer side of the cutting arm 120. The third transmission assembly can include a drive wheel, a driven wheel, and a conveyor belt. The conveyor belt is connected to a third motor 140 with a drive wheel. For example, the outer side of the cutting arm 120 can have a driven wheel. The drive wheel and the driven wheel are connected by the conveyor belt, so that the cutting arm 120 rotates relative to the mounting member 600. The rotation can still be achieved by bearings, so that the cutting arm 120 is driven to rotate by the third motor 140, which in turn drives the cutter 110, so that the cutter 110 swings around the sixth axis.

[0169] Similar to the second transmission assembly described above, the first transmission assembly may include a first wheel component and a second wheel component. The first wheel component may be coaxially connected to the first motor 130, and the second wheel component may be drivenly connected to the first wheel component. The second wheel component is coaxially connected to the cutter 110.

[0170] In an embodiment, the cutting arm 120 may have a first housing, and both the first wheel component and the second wheel component may be disposed inside the first housing, wherein both the first wheel component and the second wheel component are rotatable relative to the first housing.

[0171] As mentioned above, the form of the first transmission component can be exactly the same as that of the second transmission component, including the transmission method between the first wheel component and the second wheel component. The transmission method between the first wheel component and the second wheel component can also be belt drive. In addition, they can also be connected to the two arms of the first housing by bearings between themselves and the inner walls of their respective arms. The configuration of the first motor 130 can be the same as that of the second motor 430, so it will not be described again here.

[0172] According to the cutting apparatus provided in the embodiments of this application, the cutting apparatus may further include a cutting pressure roller 210. The cutting pressure roller 210 may be disposed upstream of the cutter in the conveying direction. The cutting pressure roller 210 is capable of rotating about a seventh axis coaxial with the cutting pressure roller 210, and the cutting pressure roller 210 is also capable of swinging about an eighth axis parallel to the seventh axis. The cutting pressure roller 210 also achieves swinging by providing a pressure roller swing arm 220 rotatably connected to the mounting plate, similar to that described above.

[0173] In one embodiment, the cutting roller 210 may be disposed above the grooved portion for pressing down on the material to be cut as it passes below the cutting roller 210. Further, the cutting roller 210 may have an annular groove disposed on its side, the annular groove being used to press down on the material to be cut, and the cutter 110 extending into the annular groove.

[0174] In this embodiment, the cutting pressure roller 210 is arranged in a manner basically the same as the correction pressure roller, except that the cutting pressure roller 210 is located adjacent to the cutter and upstream of the cutter. This "adjacent" arrangement means that the cutter extends into the annular groove of the cutting pressure roller 210. The function of the cutting pressure roller 210 is to use the annular groove to position and position the material, ensuring accurate and stable cutting by the cutter 110. Since the cutter 110 extends into the annular groove, it is easy to understand that when the cutting pressure roller 210 presses down on the material, the material is immediately cut by the cutter 110, making the interaction between the cutter 110 and the cutting pressure roller 210 instantaneous.

[0175] According to the cutting device provided in the embodiments of this application, as a specific example, the cutting device may further include a correction arm 420, a correction wheel 410 which is rotatably connected to the correction arm 420 so as to be able to rotate around a first axis, and the correction arm 420 is rotatably connected to the mounting member 600 so as to make the correction wheel 410 swing around a second axis.

[0176] According to the cutting device provided in the embodiments of this application, the first conveyor belt 510 may have a first needle-like part (e.g., a needle structure 530) protruding from the first conveying surface. The first needle-like part is used to pierce into the material to be cut. The second conveyor belt 520 has a second needle-like part (e.g., a needle structure 530) protruding from the second conveying surface. The second needle-like part is used to pierce into the material to be cut, thereby facilitating the positioning of the material to be cut. As an example, as above, the material to be cut may be shrimp. Both the first needle-like part and the second needle-like part pierce the shrimp shell, and the cutter performs a back-opening cut on the shrimp.

[0177] In addition, as an example, the angle between the first conveying surface and the second conveying surface is 45° to 90°. Too small an angle may cause the material to be cut to be over-clamped, while too large an angle will make it difficult to straighten the material. This angle range is convenient for shrimp of different sizes to be well centered and for the spikes to penetrate well.

[0178] In addition, the sides of the correction wheel 410 and the detection wheel 310 can have annular grooves, for example, they can be the same as the annular grooves of the cutting pressure wheel 210, both being V-shaped cross-section grooves. The sides of the correction wheel 410 and the detection wheel 310 can also be outer cylindrical surfaces.

[0179] According to a second aspect of the embodiments of this application, a production line is provided. The production line includes the cutting device as described above and also has the above-mentioned beneficial effects, which will not be repeated here. The production line can be, for example, a shrimp peeling production line, that is, the cutting device as described above performs the back-opening operation on the shrimp as a preparatory step for peeling the shrimp.

[0180] The above are merely preferred embodiments of this application and do not limit the scope of protection of this application. Any equivalent structural transformations made based on the innovative concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the scope of protection of this application.

Claims

1. A method for controlling the opening of a rear hatch, characterized in that, The back-opening control method is used to perform a back-opening operation on shrimp. The back-opening control method includes: A detection element capable of swinging around a first swing axis is configured to cause a shrimp to pass outside the detection element, thereby causing the detection element to swing around the first swing axis to obtain the shrimp's back height data; Based on the time point when the detection element starts to rotate and the time point when the detection element ends to rotate, the distance traveled is extracted from the shrimp's path to obtain the shrimp's length data. By combining the back height data and the back length data, the back contour data is obtained; Based on the preset cutting depth of the shrimp, the back contour data is compensated to obtain the compensated actual back contour data. Based on the actual back contour data, a cutting operation is performed on the shrimp to open its back.

2. The method according to claim 1, characterized in that, The back-opening control method, after compensating the back contour data according to a preset cutting amount for the shrimp to obtain the compensated actual back contour data, further includes: Based on the amount of compression of the shrimp by the detection element, the actual back contour data after compensation is further compensated. The step of performing a cutting operation on the shrimp based on the actual back contour data to open the shrimp's back also includes: Based on the further compensated actual back contour data, a cutting operation is performed on the shrimp to open its back.

3. The method according to claim 2, characterized in that, The further compensation of the actual back contour data based on the compression of the shrimp by the detection element also includes: The shrimp body is divided into multiple segments based on the joints of the shrimp, and different compensation amounts are applied to each segment of the shrimp body according to the hardness of the joints.

4. The method according to claim 2, characterized in that, The further compensation of the actual back contour data based on the compression of the shrimp by the detection element also includes: Based on the size of the shrimp, a smaller compensation amount is provided for larger-sized shrimp, and a larger compensation amount is provided for smaller-sized shrimp.

5. The method according to claim 1, characterized in that, The configuration of the detection element, which can swing around a first swing axis, causes the shrimp to pass outside the detection element, thereby causing the detection element to swing around the first swing axis to obtain the shrimp's back height data. This also includes: The back height of the shrimp is calculated based on the swing radius and swing angle of the detection element.

6. The method according to claim 1, characterized in that, The configuration of the detection element, which can swing around a first swing axis, causes the shrimp to pass outside the detection element, thereby causing the detection element to swing around the first swing axis to obtain the shrimp's back height data. This also includes: The shrimp is prompted to pass outside the detection element, and the height point on the shrimp is obtained through the detection element. Then, the first judgment is performed: it is determined whether the allowed detection conditions are met at this time, and a fault tolerance time is set after the first judgment. Then, the second judgment is performed: it is determined whether the allowed detection conditions are met at this time. If they are met, the back height data is collected again. If they are not met, the height point on the shrimp is re-acquired.

7. The method according to claim 6, characterized in that, The configuration of the detection element, which can swing around a first swing axis, causes the shrimp to pass outside the detection element, thereby causing the detection element to swing around the first swing axis to obtain the shrimp's back height data. This also includes: After collecting back height data, it is determined whether there is a height change point in the back height data. If there is a height change point, the height change point is replaced with the same data as the previous point. If there is no height change point, the collected back height data is compensated and converted into swing angle. The step of performing a cutting operation on the shrimp based on the actual back contour data to open the shrimp's back includes: A cutter is configured to swing about a second swing axis parallel to the first swing axis; Based on the swing angle, a cutting operation is performed on the shrimp to open its back.

8. A cutting device, characterized in that, The cutting device includes the detection element, and the cutting device is used to perform the back opening control method as described in any one of claims 1 to 7.

9. The cutting device according to claim 8, characterized in that, The cutting device further includes: A first conveyor belt and a second conveyor belt, the first conveyor belt having a first conveying surface and the second conveyor belt having a second conveying surface, both the first conveying surface and the second conveying surface being inclined relative to the horizontal direction to jointly define a trough-shaped portion, the trough-shaped portion being used to convey the material to be cut; A correction wheel is disposed above the groove-shaped portion. The correction wheel is rotatable about a first axis coaxial with the correction wheel and can also swing about a second axis parallel to the first axis. The correction wheel is used to press against the material to be cut that passes under the correction wheel. The cutting device includes a cutter, which is located downstream of the correction wheel in the conveying direction of the first conveyor belt, and the cutter is capable of cutting the material to be cut.

10. The cutting device according to claim 9, characterized in that, The cutting device further includes an encoder, which is arranged parallel to the detection element. The detection element is arranged between the correction wheel and the cutter in the conveying direction. The detection element is also capable of rotating about a third axis coaxial with the detection element. The detection element is disposed above the groove-shaped portion. The detection element is used to continuously press on the material to be cut that passes below the detection element, and the encoder obtains the swing state of the detection element as the material to be cut passes through the detection element. The cutting device further includes a control mechanism, which is communicatively connected to the encoder to receive the swing state and obtain the back contour data of the shrimp in order to control the height of the cutter when cutting the material to be cut.

11. The cutting device according to claim 9, characterized in that, The cutting device further includes a mounting component and a cutting swing arm. The cutter is rotatably connected to the cutting swing arm so as to be able to rotate about a fifth axis. The cutting swing arm is rotatably connected to the mounting component and can drive the cutter so that the cutter swings about a second swing axis.

12. The cutting device according to claim 9, characterized in that, The cutting device further includes a cutting pressure roller, which is disposed upstream of the cutter in the conveying direction. The cutting pressure roller is capable of rotating about a seventh axis coaxial with the cutting pressure roller, and the cutting pressure roller is also capable of swinging about an eighth axis parallel to the seventh axis. The cutting roller is positioned above the grooved portion to press against the material to be cut as it passes beneath the cutting roller. The cutting roller has an annular groove on its side, which is used to press the material to be cut, and the cutter extends into the annular groove.

13. The cutting device according to claim 9, characterized in that, The cutting device further includes a mounting component and a correction arm. The correction wheel is rotatably connected to the correction arm so as to be able to rotate about the first axis. The correction arm is rotatably connected to the mounting component so as to allow the correction wheel to swing about the second axis.

14. The cutting device according to any one of claims 9 to 13, characterized in that, The first conveyor belt has a first needle-like portion protruding from a first conveying surface, the first needle-like portion being used to pierce into the material to be cut; the second conveyor belt has a second needle-like portion protruding from a second conveying surface, the second needle-like portion being used to pierce into the material to be cut. The angle between the first conveying surface and the second conveying surface is 45° to 90°. The material to be cut is shrimp. Both the first and second needle-piercing parts pierce the shrimp shell, and the cutter performs a back-opening cut on the shrimp.

15. A production line, characterized in that, The production line includes a cutting device as described in any one of claims 8 to 14.

Images