Penaeus vannamei processing device and processing method thereof

Abstract

The invention discloses a penaeus vannamei processing device and a processing method thereof, and relates to the technical field of aquatic product processing, the penaeus vannamei processing device comprises a conveyor belt, a six-claw transportation device, a head removing device, a back opening device, a line washing device, a shell removing device, a shell throwing device and a rack; the six-claw conveying device is arranged in the center of the rack, the conveying belt is arranged on the side of the rack, and the output end of the conveying belt faces the rack and is used for conveying prawns to the rack; the head removing device, the back opening device, the line washing device, the shell removing device and the shell throwing device are sequentially arranged on the rack in the transferring direction of the six-claw conveying device and located below the six-claw conveying device. The six-claw conveying device is a core transferring mechanism and can intermittently transfer shrimp bodies to all working procedure stations, and the whole process of head removing, back opening, line washing, shell removing and shell throwing is completed in sequence. The problems that existing equipment is low in yield, incomplete in shelling, incomplete in shrimp line removal and low in automation level are solved.

Description

Technical Field

[0001] This invention relates to the field of aquatic product processing, specifically to a processing apparatus and method for Litopenaeus vannamei. Background Technology

[0002] The whiteleg shrimp is one of the most widely farmed and processed economic shrimp species in my country. Shrimp processing typically involves key steps such as head removal, shell removal, and cleaning. Traditional processing relies heavily on manual labor, which suffers from low production efficiency, difficulty in hygiene control, and unstable shrimp breakage and defect rates, making it unsuitable for large-scale production.

[0003] While many commercially available processing equipment for whiteleg shrimp have achieved some degree of mechanization by replacing manual labor, they generally suffer from several drawbacks. Most equipment uses non-positional conveyors, which can easily cause the shrimp to shift and flip during processing, leading to deviations in head removal, uneven shell breaking depth, severe damage to the head and tail of the shrimp, and a low yield. Some devices use rigid roller pressing or scraping structures for shelling, which can easily cause compression damage to the shrimp meat and is difficult to adapt to the shell-meat bonding state of different sizes of whiteleg shrimp, often resulting in incomplete shelling and shell residue. Existing equipment often uses methods such as back-opening and devein removal or simple suction to remove the shrimp vein, resulting in incomplete removal, easy breakage and residue, and the removal of shrimp meat, directly affecting the edible quality and commercial value of the shrimp. Furthermore, existing processing equipment is mostly independent single-process equipment, with complex process connections, large footprint, low overall automation level, and insufficient stability during continuous operation. In addition, most of the equipment is not designed to mimic the shape and flexibility of the whiteleg shrimp, resulting in poor processing versatility and stringent requirements for raw material specifications, which further limits its promotion and application in actual production. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the present invention aims to provide a processing device and method for whiteleg shrimp, which solves the problems of low yield, incomplete shelling, incomplete removal of shrimp veins and low level of automation in the existing equipment. It can continuously complete the head removal, back opening, vein washing and shell removal of whiteleg shrimp, thereby improving the processing efficiency and shrimp meat quality of whiteleg shrimp.

[0005] This invention is achieved through the following technical solution: A processing apparatus for whiteleg shrimp includes a conveyor belt, a six-clawed transport device, a head removal device, a back-opening device, a line-washing device, a shell-removing device, a shell-throwing device, and a frame. The six-clawed transport device is arranged at the center of the frame, and the conveyor belt is located on the side of the frame with its output end facing the frame for transporting shrimp to the frame. The head removal device, back opening device, line washing device, shell removal device, and shell discarding device are arranged sequentially on the frame along the transport direction of the six-clawed transport device and located below the six-clawed transport device.

[0006] Furthermore, the conveyor belt includes a synchronous belt, a support frame, a first baffle, conveyor belt rollers, and a guide trough; synchronous pulleys are fixedly installed on both conveyor belt rollers, and the synchronous belt is meshed between the two synchronous pulleys; first baffles are provided on both sides of the synchronous belt, and a support frame is fixedly provided below the first baffles; multiple guide troughs for placing shrimp are evenly opened along the width direction on the synchronous belt, and the extension direction of the guide troughs is perpendicular to the conveying direction of the conveyor belt.

[0007] Furthermore, the six-jaw conveying device includes, from bottom to top, a bearing plate with a central hole, a symmetrical mounting base plate, and an equipment fixing base plate. A lifting cylinder is installed below the bearing plate with the central hole through its central hole. Guide shafts are symmetrically installed on both sides of the bearing plate with the central hole. The other end of the guide shaft is fixedly connected to the lower surface of the equipment fixing base plate. A flange-type stepped rotating shaft is installed on the upper surface of the equipment fixing base plate through a bearing seat. A six-arm connecting plate is fixedly installed at the power output end of the flange-type stepped rotating shaft. The power input end of the flange-type stepped rotating shaft is connected to a right-angle planetary gearbox through a universal joint. Six sets of grippers are evenly arranged on the six-arm connecting plate.

[0008] Furthermore, the gripper includes a cylinder fixed below the six-arm connecting plate. The lower part of the cylinder is fixedly connected to a pneumatic plate. Guide rods are fixedly arranged on both sides of the lower part of the pneumatic plate. The other end of the guide rods is slidably connected to the upper plate. The piston rod of the cylinder is located between the two guide rods and passes through the pneumatic plate and is fixedly connected to the upper plate. Side plates are fixedly arranged on both sides of the lower part of the upper plate. A gripper head is also provided in the lower center of the upper plate. A connecting rod is provided between the upper plate and the gripper head. The upper plate is hinged to the connecting rod, and the connecting rod is hinged to the gripper head. A connecting rod is provided between the side plate and the gripper head. The side plate is hinged to the connecting rod, and the connecting rod is fixedly connected to the gripper head.

[0009] Furthermore, the head removal device includes a drive motor assembly. The gear rotation shaft of the drive motor assembly is connected to a first gear. A first gear connecting rod is fixedly connected to the first gear. A first rocker arm is coaxially connected to the first gear connecting rod. The first gear meshes with a second gear. A second gear connecting rod and a second rocker arm are coaxially fixedly mounted on the second gear. One end of the first rocker arm and the second rocker arm are hinged to form a linkage node, and the other end is respectively connected to a set of blade slide rails. A blade slider is slidably assembled in the blade slide rails, and a blade is mounted on the blade slider along the direction of movement parallel to the rocker arm.

[0010] Furthermore, the back opening device includes a first DC motor, on the output shaft of the first DC motor a first active track sprocket is fixedly mounted, the first active track sprocket and the first track sprocket are connected by a first track drive; a blade shaft is fixedly mounted on the first track sprocket, and a rotary bearing and a circular blade are sequentially mounted on one side of the first track sprocket and on the blade shaft.

[0011] Furthermore, the washing device includes a second DC motor, on the output shaft of which a second active track sprocket is fixedly mounted, and the second active track sprocket and the second track sprocket are connected by a second track drive; a brush bucket shaft is fixedly mounted on the second track sprocket, and a bearing and a brush bucket are sequentially mounted on one side of the second track sprocket and on the brush bucket shaft, with a bearing riser seat provided below the bearing; the rotation direction of the brush bucket is opposite to the transfer direction of the six-jaw conveyor; a first nozzle is mounted on one end of the brush bucket shaft.

[0012] Furthermore, the shell removal device includes a needle slider, a slider slot, and a slider base arranged sequentially. One side of the slider slot has a trapezoidal through-hole groove, and the other side has a trapezoidal through-hole protrusion. The side of the needle slider that contacts the slider slot has a protrusion that matches the through-hole groove of the slider slot. The side of the slider base that contacts the slider slot has a groove that matches the protrusion of the slider slot. A rack is fixedly connected to the side of the slider slot, and the rack is driven by a stepper motor. A needle is fixedly connected to the upper end of the needle slider. A blocking guide shaft is arranged parallel to the other side of the needle slider. Flange-type locking nuts are fixedly installed on both sides of the blocking guide shaft. A slider block is rotatably mounted between the flange-type locking nuts on the blocking guide shaft. A first stop is provided in the middle of the slider block. The first stop is inclined outward from top to bottom. The bottom of the slider block is a sloping end face, with the side closer to the needle slider being lower. A shaped boss is fixedly connected to the bottom of the slider slot. The cross-section of the shaped boss is trapezoidal, with one side being an inclined surface, for engaging with the bottom of the slider block. The oblique end face fits; a guide shaft is provided at the bottom of the needle slider, the other end of the guide shaft passes through the irregular boss and two locking nuts in opposite directions are provided at its bottom, a spring is sleeved on the guide shaft, the bottom of the needle slider is connected above the spring and the irregular boss is connected below the spring, a second stop block is provided above the spring on the needle slider to cooperate with the first stop block, the second stop block includes an inclined plane and a horizontal plane, the inclined plane extends downward and outward from the vertical side wall of the needle slider, and its lower end is smoothly connected to the horizontal plane, the horizontal plane extends in the horizontal direction; A U-shaped limiting baffle is provided above the shrimp insertion needle. A limiting through groove that allows only the shrimp insertion needle to pass through is opened in the middle of the limiting baffle. Second baffles are arranged parallel to each other on both sides of the limiting baffle. The second baffles are fixed by vertical plates. A tapered guide cavity is installed at one end of the limiting baffle. A flexible tube is connected to the tapered guide cavity for collecting the peeled shrimp meat. A nozzle support is installed at the other end of the limiting baffle, and a second nozzle is installed through the nozzle support.

[0013] Furthermore, the shelling device includes a shrimp shell collection bucket and a shelling process platform. The shrimp shell collection bucket is fixedly installed on the shelling process platform. The frame adopts a three-layer structure, including a base plate, a partition plate, and a hollow partition plate arranged sequentially from bottom to top. The base plate and the partition plate are supported by a layer of support columns and a layer of support seats, and the partition plate and the hollow partition plate are supported by a second layer of support columns and a second layer of support seats. The head removal device, back opening device, line washing device, shell removal device, and shelling device are all fixedly installed on the hollow partition plate. The lifting cylinder of the six-claw transport device is fixedly installed on the partition plate through a cylinder support. The grippers of the six-claw transport device are arranged above the head removal device, back opening device, line washing device, shell removal device, and shelling device through the central hole of the hollow partition plate. A water bucket is fixedly installed on the partition plate through a water bucket support seat. Water is transported to the line washing device and the shell removal device by a water pump motor. A collection box guide rail is opened on the base plate and a collection box is installed for collecting the shelled shrimp meat.

[0014] A method for processing whiteleg shrimp according to any one of the processing apparatuses includes the following steps: Step 1. Manually feed the shrimp into the feed trough of the conveyor belt, so that the shrimp are placed along the length of the feed trough with their backs facing down. The synchronous belt drives the shrimp in the feed trough to be transported towards the machine frame until the shrimp are transported to the initial gripping position of the six-claw transport device. Step 2. The grippers of the six-claw conveyor move downward under the drive of the lifting cylinder. At the same time, the piston rod of the cylinder extends and, through the linkage of the connecting rod and the connecting rod, drives the gripper head to close, accurately grabbing the shrimp in the feed trough. Then, the lifting cylinder drives the grippers to rise and detach from the conveyor belt. Step 3. The right-angle planetary gearbox drives the flange-type stepped rotating shaft to rotate via the universal joint, transferring the grabbed shrimp to the top of the head-removing device. The lifting cylinder drives the gripper to descend, positioning the shrimp's head between the blades of the head-removing device. The drive motor unit then operates, causing the first and second gears to mesh and rotate. This, in turn, drives the blade slider to slide within the blade rail via the first and second rockers, allowing the blades to cut the shrimp's head. After the head-removing process is completed, the lifting cylinder drives the gripper to rise, and the shrimp is then transferred to the next station by the six-claw transport device. Step 4. The six-claw transport device transfers the headless shrimp to the top of the back-opening device. The lifting cylinder drives the gripper to descend so that the shrimp's back contacts the circular blade. The first DC motor drives the first track sprocket and blade shaft to rotate through the first track. The circular blade rotates at high speed to cut open the shrimp's back. After the back-opening is completed, the lifting cylinder drives the gripper to rise and transport the shrimp. Step 5. The shrimp with the back opened are transferred to the top of the washing device. The lifting cylinder drives the gripper to descend so that the shrimp with the back opened is close to the brush bucket. The second DC motor drives the second track sprocket and the brush bucket shaft to rotate through the second track. The brush bucket rotates in the opposite direction to wash the shrimp line. At the same time, the first nozzle sprays water to rinse and completely remove the shrimp line. After that, the lifting cylinder drives the gripper to rise and transfer the shrimp. Step 6. After washing, the shrimp are transferred to the top of the shelling device. The lifting cylinder drives the gripper to descend and place the shrimp on the shrimp needle. The limiting baffle limits the shrimp. The stepper motor drives the rack to move the slider slot. Under the action of the slider slot and the cooperation of the spring, the needle and slider move the shrimp. The slider block cooperates with the irregular protrusion to separate the shrimp shell from the shrimp meat. The second nozzle sprays water to rinse the shrimp meat. The shelled shrimp meat falls into the collection box through the converging guide cavity and the hose. Step 7. The six-claw transport device transfers the shrimp shells after the shrimp meat has been removed to the shrimp shell collection bin of the shell-discarding device. The claws release, and the shrimp shells fall into the shrimp shell collection bin, completing the shell-discarding process. Step 8. The six-claw transport device continues to rotate, and the grippers return to the initial gripping position. Repeat the above steps to achieve continuous automated processing of shrimp.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention utilizes a conveyor belt to transport the shrimp to be processed to the processing platform of the device. A six-claw transport device grabs the shrimp on the conveyor belt and then transports them to the respective processing platforms for processing according to the processing sequence. The head-removing device removes the shrimp head through a gear linkage and a blade slider. The back-opening device drives a circular blade to rotate and open the shrimp back. The intestinal tract washing device uses a rotating brush and high-pressure water jet to clean the shrimp intestinal tract. Finally, the shelling and shell-removing devices work together to obtain clean shrimp meat. A three-layer frame structure supports all processing devices and is equipped with a collection and water circulation structure to achieve classified collection of processed products and recycling of rinsing water. This device has a compact structure, stable operation, and a high degree of automation. It can efficiently complete the entire process of head removal, back opening, intestinal washing, and shelling of whiteleg shrimp, significantly improving processing efficiency and shrimp meat quality. At the same time, it realizes water resource recycling and tail material recovery, and is suitable for processing whiteleg shrimp of different sizes.

[0016] The conveyor belt of this invention uses a conveying structure that combines a synchronous belt with conveyor belt rollers, along with the limiting function of side baffles and guide troughs, to ensure that the shrimp move smoothly along a predetermined channel, effectively preventing the shrimp from falling or deviating, and providing a stable feeding foundation for subsequent processing.

[0017] The six-claw transport device of this invention is the core transfer mechanism. Through the equiangularly distributed gripper structure of the six-arm connecting plate, it simultaneously clamps multiple groups of shrimp and intermittently rotates them, stably transferring the shrimp to each processing station. The lifting action of its lifting cylinder can detach the shrimp from the conveyor belt. The right-angle planetary reducer drives the flange-type stepped rotating shaft to rotate through the universal joint, realizing the transfer of shrimp between each station. This avoids slipping and flipping of wet and slippery shrimp during the transfer process, ensuring the stability of the shrimp's posture when entering each process and providing a reliable guarantee for the accuracy of subsequent processing.

[0018] The head-removing device of this invention uses a gear connecting rod and blade slider cooperation structure, with a DC motor providing stable power to drive the blade to reciprocate along the slide rail to cut the shrimp head. It is suitable for shrimp of different sizes and ensures that the cutting position is accurately placed at the connection between the shrimp head and the shrimp body, effectively reducing shrimp meat waste.

[0019] The back-opening device of this invention, through the high-speed rotation of a circular rotating blade and the stable feeding of the shrimp body, can accurately open the shrimp back with a smooth and consistent cut, creating good processing conditions for the subsequent washing process; the washing device uses a brush bucket rotating in the opposite direction to brush the opening on the shrimp back, combined with high-pressure water jet rinsing, to remove the shrimp vein and residual impurities.

[0020] The shelling device of this invention restricts the movement of shrimp meat along with the shell by inserting shrimp needles, and effectively separates the shell and meat by working with baffles, avoiding the problem of shrimp meat breakage caused by traditional squeezing shelling and improving the shrimp meat integrity rate.

[0021] The three-layer frame structure of this invention integrates the process layer, water storage layer and collection layer. The water storage layer, consisting of a water tank and a water pump motor, forms a water circulation system that can filter and recycle the rinsing water used in the washing and shelling processes, greatly improving water resource utilization. The collection layer can collect shrimp meat, shrimp heads and shrimp shells separately, and the shrimp heads and shells can be further recycled to avoid resource waste.

[0022] In summary, this invention has a compact structure, a high degree of automation, high processing precision and high shrimp yield, and can be adapted to different sizes of whiteleg shrimp. It is suitable for large-scale continuous production and has high promotional value. Attached Figure Description

[0023] Figure 1 Assembly diagram of a processing device for whiteleg shrimp; Figure 2 This is a schematic diagram of the conveyor belt structure; Figure 3 This is a schematic diagram of the six-claw transport device; Figure 4 A schematic diagram of the gripper structure of a six-jaw transport device; Figure 5 This is a schematic diagram of the head-removal device; Figure 6 This is a schematic diagram of the drive motor assembly for the head removal device; Figure 7 This is a schematic diagram of the back opening device; Figure 8 This is a schematic diagram of the wire washing device; Figure 9 This is a schematic diagram of the shell removal device; Figure 10 for Figure 9 A detailed schematic diagram of a part of the image; Figure 11 for Figure 9 A magnified view of a local detail; Figure 12 This is a schematic diagram illustrating the working principle of the shell removal device; Figure 13 This is a schematic diagram of the shell ejection device; Figure 14 This is a schematic diagram of the frame structure.

[0024] In the diagram: 1-Frame, 2-Conveyor belt, 3-Six-jaw conveyor device, 4-Head removal device, 5-Back opening device, 6-Line washing device, 7-Shell removal device, 8-Shell ejection device, 201-Synchronous belt, 202-Support frame, 203-First baffle, 204-Conveyor belt roller, 205-Guide chute, 3101-Six-arm connecting plate, 3102-Flanged stepped rotating shaft, 3103-Bearing seat, 3104-Symmetrical mounting base plate, 3105-Bearing plate with center hole, 3106-Lifting cylinder, 3107-Right-angle planetary gearbox, 3108-Guide shaft, 3109-Universal shaft, 3110-Equipment fixing base Plate, 3201-Cylinder, 3202-Pneumatic Plate, 3203-Guide Rod, 3204-Side Plate, 3205-Connecting Rod, 3206-Gripper Head, 3207-Connecting Rod, 3208-Upper Plate, 4101-Blade Slide Rail, 4102-De-heading Process Platform, 4103-Blade Slider, 4104-Second Gear, 4105-Second Rocker, 4106-First Gear Connecting Rod, 4107-Second Gear Connecting Rod, 4108-First Gear and 4109-First Rocker, 4201-Third DC Motor, 4202-Gear Set, 4203-Gear Rotating Shaft, 4204-Motor Set Clamping Device, 50 1- Circular blade, 502- Blade shaft, 503- Back-opening process platform, 504- First motor support, 505- First DC motor, 506- Rotary bearing, 507- First track sprocket, 508- First track, 601- Brush bucket, 602- Washing line process platform, 603- Bearing riser, 604- Second track sprocket, 605- Second track, 606- Second DC motor, 607- Bearing, 608- Brush bucket shaft, 701- Shrimp insertion needle, 702- Second baffle, 703- Blocking guide shaft, 704- Slider block, 705- Spring, 706- Slider slot, 707- Second motor 708-Working platform, 709-Nozzle support, 710-Stepper motor, 711-Rack and pinion, 712-Slider base, 713-Needle slider, 714-Locking nut, 715-Flange-type locking nut, 801-Shrimp shell collection bucket, 802-Shelling process platform, 101-Hollow partition, 102-Second-layer support column, 103-Second-layer support base, 104-Partition, 105-First-layer support column, 106-First-layer support base, 107-Base plate, 108-Collection box guide rail, 109-Collection box, 110-Water bucket support base, 111-Cylinder support, 112-Water pump motor, 113-Water bucket. Detailed Implementation

[0025] The present invention will be further described in detail below with reference to specific embodiments. These descriptions are for explanation purposes only and are not intended to limit the scope of the invention.

[0026] The present invention will now be described in further detail with reference to the accompanying drawings. These descriptions are intended to explain the invention and not to limit it.

[0027] A processing device for whiteleg shrimp includes a conveyor belt 2, a six-claw transport device 3, a head removal device 4, a back-opening device 5, a line-washing device 6, a shell-removing device 7, a shell-throwing device 8, and a frame 1. The six-clawed transport device 3 is arranged at the center of the frame 1, and the conveyor belt 2 is located on the side of the frame 1 with its output end facing the frame 1 for transporting shrimp to the frame 1. The head removal device 4, back opening device 5, line washing device 6, shell removal device 7, and shell discarding device 8 are arranged sequentially on the frame 1 along the transfer direction of the six-clawed transport device 3 and are located below the six-clawed transport device 3.

[0028] The conveyor belt 2 includes a synchronous belt 201, a support frame 202, a first baffle 203, conveyor belt rollers 204, and a guide trough 205. Synchronous pulleys are fixedly installed on both conveyor belt rollers 204, and the synchronous belt 201 is meshed between the two synchronous pulleys. First baffles 203 are provided on both sides of the synchronous belt 201, and a support frame 202 is fixedly installed below the first baffles 203. Multiple guide troughs 205 for placing shrimp are evenly distributed along the width direction of the synchronous belt 201, and the extension direction of the guide troughs 205 is perpendicular to the conveying direction of the conveyor belt.

[0029] The six-jaw conveying device 3 includes, from bottom to top, a bearing plate 3105 with a central hole, a symmetrical mounting base plate 3104, and an equipment fixing base plate 3110. A lifting cylinder 3106 is installed below the bearing plate 3105 through its central hole. Guide shafts 3108 are symmetrically installed on both sides of the bearing plate 3105. The other end of the guide shafts 3108 is fixedly connected to the lower surface of the equipment fixing base plate 3110. A flange-type stepped rotating shaft 3102 is installed on the upper surface of the equipment fixing base plate 3110 through a bearing seat 3103. A six-arm connecting plate 3101 is fixedly installed at the power output end of the flange-type stepped rotating shaft 3102. The power input end of the flange-type stepped rotating shaft 3102 is connected to a right-angle planetary gearbox 3107 through a universal joint 3109. Six sets of grippers 32 are evenly arranged on the six-arm connecting plate 3101.

[0030] The gripper 32 includes a cylinder 3201 fixed below the six-arm connecting plate 3101. The lower part of the cylinder 3201 is fixedly connected to the pneumatic plate 3202. Guide rods 3203 are fixedly installed on both sides of the lower part of the pneumatic plate 3202. The other ends of the guide rods 3203 are slidably connected to the upper plate 3208. The piston rod of the cylinder 3201 is located between the two guide rods 3203 and passes through the pneumatic plate 3202 and is fixedly connected to the upper plate 3208. The lower sides of the upper plate 3208 are fixedly connected to the pneumatic plate 3202. A side plate 3204 is fixedly provided; a gripper head 3206 is also provided in the lower center of the upper plate 3208, and a connecting rod 3207 is provided between the upper plate 3208 and the gripper head 3206. The upper plate 3208 and the connecting rod 3207 are hinged together, and the connecting rod 3207 and the gripper head 3206 are hinged together; a connecting rod 3205 is provided between the side plate 3204 and the gripper head 3206, and the side plate 3204 and the connecting rod 3205 are hinged together. The connecting rod 3205 and the gripper head 3206 are fixedly connected.

[0031] The head removal device 4 includes a drive motor assembly. The gear rotation shaft 4203 of the drive motor assembly is connected to a first gear 4108. A first gear connecting rod 4106 is fixedly connected to the first gear 4108. A first rocker arm 4109 is coaxially connected to the first gear connecting rod 4106. The first gear 4108 meshes with a second gear 4104. A second gear connecting rod 4107 and a second rocker arm 4105 are coaxially fixedly mounted on the second gear 4104. One end of the first rocker arm 4109 and the second rocker arm 4105 are hinged to form a linkage node, and the other end is respectively connected to a set of blade slide rails 4101. A blade slider 4103 is slidably assembled in the blade slide rails 4101. A blade is mounted on the blade slider 4103 along the direction of movement parallel to the rocker arm.

[0032] The back opening device 5 includes a first DC motor 505, a first active track sprocket is fixedly mounted on the output shaft of the first DC motor 505, and the first active track sprocket and the first track sprocket 507 are connected by a first track 508; a blade shaft 502 is fixedly mounted on the first track sprocket 507, and a rotary bearing 506 and a circular blade 501 are sequentially mounted on one side of the first track sprocket 507 and on the blade shaft 502.

[0033] The washing device 6 includes a second DC motor 606, on which a second active track sprocket is fixedly mounted. The second active track sprocket and the second track sprocket 604 are connected by a second track 605. A brush barrel shaft 608 is fixedly mounted on the second track sprocket 604. A bearing 607 and a brush barrel 601 are sequentially mounted on one side of the second track sprocket 604 and on the brush barrel shaft 608. A bearing riser 603 is provided below the bearing 607. The rotation direction of the brush barrel 601 is opposite to the transfer direction of the six-jaw conveyor 3. A first nozzle is mounted on one end of the brush barrel shaft 608.

[0034] The shell removal device 7 includes a needle slider 713, a slider slot 706, and a slider base 712 arranged sequentially. One side of the slider slot 706 has a trapezoidal through-hole groove, and the other side has a trapezoidal through-hole protrusion. The side of the needle slider 713 that contacts the slider slot 706 has a protrusion that matches the through-hole groove of the slider slot 706. The side of the slider base 712 that contacts the slider slot 706 has a groove that matches the protrusion of the slider slot 706. A rack 711 is fixedly connected to the side of the slider slot 706, and the rack 711 is connected to a stepper motor 710. A needle 701 is fixedly connected to the upper end of the needle slider 713. A blocking guide shaft 703 is arranged parallel to the other side of the needle slider 713. Flange-type locking nuts 715 are fixedly arranged on both sides of the blocking guide shaft 703. A slider block 704 is rotatably mounted on the blocking guide shaft 703 between the flange-type locking nuts 715. A first stop is provided in the middle of the slider block 704. The first stop is inclined outward from top to bottom. The bottom of the slider block 704 is an inclined end face, with the side closer to the needle slider 713 being lower. A shaped boss is fixedly connected to the bottom of the slider slot 706. The cross-section of the shaped boss is trapezoidal, with one side being an inclined surface, for use with the slider. The bottom of the blocking 704 is inclined to fit; the bottom of the needle slider 713 is provided with a guide shaft, the other end of the guide shaft passes through the irregular boss and two locking nuts 714 in opposite directions are provided at its bottom, a spring 705 is sleeved on the guide shaft, the top of the spring 705 is connected to the bottom of the needle slider 713, the bottom of the spring 705 is connected to the irregular boss, the top of the spring 705 is provided on the needle slider 713 with a second stop block that cooperates with the first stop block, the second stop block includes an inclined plane and a horizontal plane, the inclined plane extends downward and outward from the vertical side wall of the needle slider 713, its lower end is smoothly connected to the horizontal plane, and the horizontal plane extends in the horizontal direction; A U-shaped limiting baffle is provided above the shrimp insertion needle 701. A limiting through groove that allows only the shrimp insertion needle 701 to pass through is opened in the middle of the limiting baffle. Second baffles 702 are arranged parallel to each other on both sides of the limiting baffle. The second baffles 702 are fixed by vertical plates. A tapered guide cavity is installed at one end of the limiting baffle. A flexible tube is connected to the tapered guide cavity for collecting the peeled shrimp meat. A nozzle support 709 is installed at the other end of the limiting baffle, and a second nozzle is installed through the nozzle support 709.

[0035] The shelling device 8 includes a shrimp shell collection bin 801 and a shelling process platform 802. The shrimp shell collection bin 801 is fixedly mounted on the shelling process platform 802. The frame 1 adopts a three-layer structure, including a base plate 107, a partition plate 104, and a hollow partition plate 101 arranged sequentially from bottom to top. The base plate 107 and the partition plate 104 are supported by a layer of support columns 105 and a layer of support bases 106. The partition plate 104 and the hollow partition plate 101 are supported by a second layer of support columns 102 and a second layer of support bases 103. The head-removing device 4, the back-opening device 5, the line-washing device 6, the shell-removing device 7, and the shelling device 8 are all fixedly mounted on the platform. On the hollow partition 101, the lifting cylinder 3106 of the six-claw transport device 3 is fixedly mounted on the partition 104 via the cylinder support 111. The grippers 32 of the six-claw transport device 3 are arranged above the head removal device 4, back opening device 5, line washing device 6, shell removal device 7, and shell throwing device 8 through the central hole of the hollow partition 101. A water bucket 113 is fixedly mounted on the partition 104 via a water bucket support 110. Water is transported to the line washing device 6 and the shell removal device 7 via a water pump motor 112. A collection box guide rail 108 is provided on the bottom plate 107 and a collection box 109 is installed for collecting the shelled shrimp.

[0036] The processing method for Litopenaeus vannamei according to the processing apparatus includes the following steps: Step 1. Manually feed the shrimp into the guide trough 205 of the conveyor belt 2, so that the shrimp are placed along the length of the guide trough 205 with their backs facing down. The synchronous belt 201 drives the shrimp in the guide trough 205 to be transported towards the frame 1 until the shrimp are transported to the initial gripping position of the six-claw transport device 3. Step 2. The gripper 32 of the six-claw conveyor 3 moves downward under the drive of the lifting cylinder 3106. At the same time, the piston rod of the cylinder 3201 extends and drives the gripper head 3206 to close through the linkage of the connecting rod 3207 and the connecting rod 3205, accurately grabbing the shrimp in the guide trough 205. Then the lifting cylinder 3106 drives the gripper 32 to rise and disengage from the conveyor belt 2. Step 3. The right-angle planetary gearbox 3107 drives the flange-type stepped rotating shaft 3102 to rotate via the universal joint 3109, transferring the grabbed shrimp to the top of the head-removing device 4. The lifting cylinder 3106 drives the gripper 32 to descend, so that the shrimp head is positioned between the blades of the head-removing device 4. The drive motor works, driving the first gear 4108 and the second gear 4104 to mesh and rotate. Then, through the first rocker arm 4109 and the second rocker arm 4105, the blade slider 4103 slides in the blade slide rail 4101, so that the blade cuts the shrimp head. After the head-removing process is completed, the lifting cylinder 3106 drives the gripper 32 to rise, and the six-claw transport device 3 transfers it to the next station. Step 4. The six-claw transport device 3 transfers the headless shrimp to the top of the back-opening device 5. The lifting cylinder 3106 drives the gripper 32 to descend so that the back of the shrimp contacts the circular blade 501. The first DC motor 505 drives the first track sprocket 507 and the blade shaft 502 to rotate through the first track 508. The circular blade 501 rotates at high speed to cut open the back of the shrimp. After the back-opening is completed, the lifting cylinder 3106 drives the gripper 32 to rise and transfer the shrimp. Step 5. The shrimp with the back opened is transferred to the top of the washing device 6. The lifting cylinder 3106 drives the gripper 32 to descend so that the shrimp with the back opened is close to the brush bucket 601. The second DC motor 606 drives the second track sprocket 604 and the brush bucket shaft 608 to rotate through the second track 605. The brush bucket 601 rotates in the opposite direction to wash the shrimp line. At the same time, the first nozzle sprays water to rinse and completely remove the shrimp line. After that, the lifting cylinder 3106 drives the gripper 32 to rise and transfer the shrimp. Step 6. After washing, the shrimp are transferred to the shelling device 7. The lifting cylinder 3106 drives the gripper 32 to descend and place the shrimp on the shrimp needle 701. The limiting baffle limits the shrimp. The stepper motor 710 drives the rack 711 to move the slider slot 706. Under the action of the slider slot 706 and the cooperation of the spring 705, the needle slider 713 causes the shrimp needle 701 to move the shrimp. The slider block 704 cooperates with the irregular protrusion to separate the shrimp shell from the shrimp meat. The second nozzle sprays water to rinse the shrimp meat. The shelled shrimp meat falls into the collection box 109 through the converging guide cavity and the hose. Step 7. The six-claw transport device 3 transfers the shrimp shells after peeling the shrimp meat to the shrimp shell collection bucket 801 above the shell-discarding device 8. The gripper 32 releases, and the shrimp shells fall into the shrimp shell collection bucket 801, completing the shell-discarding process. Step 8. The six-claw transport device 3 continues to rotate, and the gripper 32 returns to the initial gripping position. Repeat the above steps to achieve continuous automated processing of shrimp.

[0037] like Figure 1As shown, a processing device for whiteleg shrimp includes a frame 1, a conveyor belt 2, a six-claw transport device 3, a head removal device 4, a back-opening device 5, a line-washing device 6, a shell-removing device 7, and a shell-discarding device 8.

[0038] The conveyor belt 2, head removal device 4, back opening device 5, line washing device 6, shell removal device 7, and shell throwing device 8 are arranged sequentially along the conveying direction of the six-claw transport device 3. The gripper 32 of the six-claw transport device is located above each device and rotates counterclockwise from the top view of the device (the clockwise and counterclockwise directions mentioned below are all from the top view of the device), intermittently transferring the whiteleg shrimp between each station. The head removal device 4 is located on the side of the conveyor belt in a counter-clockwise direction and is used to remove the head of the whole whiteleg shrimp. The back opening device 5 is located on the side of the head removal device 4 in a counter-clockwise direction and is used to open the back of the whiteleg shrimp that has already been headed. The vein washing device 6 is located on the side of the back opening device 5 in a counter-clockwise direction and is used to clean the shrimp vein of the whiteleg shrimp that has already been headed and opened. The shell removal device 7 is located on the side of the vein washing device 6 in a counter-clockwise direction and is used to process the shrimp shells of the whiteleg shrimp that has already been headed, opened, and had its shrimp veins cleaned. Finally, the shell discarding device 8 is located on the side of the shell removal device 7 in a counter-clockwise direction and completes the collection of the shrimp shells of the whiteleg shrimp.

[0039] like Figure 2 As shown, the conveyor belt 2 includes a timing belt 201, a support frame 202, a first baffle 203, a conveyor belt roller 204, and a guide chute 205.

[0040] The support frame 202 is the only point of contact between the entire structure and the ground, supporting the conveyor belt 2. Above the support frame 202 are the first baffles 203 of the conveyor belt 2, supporting the rotation of the conveyor belt rollers 204 and limiting the lateral displacement of the guide troughs 205. The conveyor belt rollers 204 are located within the circular grooves of two identical first baffles 203, driving the synchronous belt 201 to rotate. The guide troughs 205 are connected by a chain, with grooves at the connection point, driven by the synchronous belt 201 to rotate around two axes.

[0041] like Figure 3 , Figure 4 As shown, the six-jaw conveyor device includes a six-arm connecting plate 3101, a flange-type stepped rotating shaft 3102, a bearing seat 3103, a symmetrical mounting base plate 3104, a bearing plate with a center hole 3105, a lifting cylinder 3106, a right-angle planetary reducer 3107, a guide shaft 3108, a universal joint 3109, an equipment fixing base plate 3110, a cylinder 3201, a pneumatic plate 3202, a guide rod 3203, a side plate 3204, a connecting rod 3205, a gripper head 3206, a connecting rod 3207, and an upper plate 3208.

[0042] The vertical lifting of the entire six-jaw conveyor relies on the lifting cylinder 3106. A bearing plate 3105 with a center hole is installed above the cylinder 3106 to support the weight of the entire device. The guide shaft 3108 is connected to the bearing plate 3105 with a center hole through the base. The top of the guide shaft 3108 is equipped with an equipment fixing base plate 3110. The bottom of the equipment fixing base plate 3110 is connected to the symmetrical mounting base plate 3104 through a fixing straight rod. The equipment fixing base plate 3110 is equipped with a bearing seat 3103, which can be connected to a right-angle planetary gearbox 3107, a universal shaft 3109 and a flange-type stepped rotating shaft 3102. A six-arm connecting plate 3101 is installed on the upper end of the flange-type stepped rotating shaft 3102. A six-jaw conveyor gripper 32 is installed below the end of the six-arm connecting plate 3101.

[0043] The six-jaw conveyor gripper 32 is a pneumatic gripper driven by a cylinder 3201. A pneumatic plate 3202 and a guide rod 3203 are connected below the cylinder 3201. The gripper structure below is connected through the guide rod 3203. The gripper structure consists of a side plate 3204, a connecting rod 3205, an upper plate 3208, a connecting rod 3207, and a gripper head 3206.

[0044] like Figure 5 , Figure 6 As shown, the de-heading device includes a blade slide rail 4101, a de-heading process platform 4102, a blade slider 4103, a second gear 4104, a second rocker arm 4105 and a first gear connecting rod 4106, a second gear connecting rod 4107, a first gear 4108 and a first rocker arm 4109, a third DC motor 4201, a gear set 4202, a gear rotating shaft 4203 and a motor set clamping device 4204.

[0045] The head removal device is driven by a third DC motor 4201. A gear set 4202 is provided next to the third DC motor 4201 for precise rotation speed control. The third DC motor 4201 and the gear set 4202 constitute a gear reduction group. The gear reduction group is installed on the inner wall of the head removal process platform 4102 by the motor clamping device 4204, and stable power transmission is achieved through the gear rotation shaft 4203.

[0046] The de-heading process platform 4102 adopts a rectangular hollow box shape with a lid and a fan-shaped bottom, which is stable and easy to install. The bottom of the box has a threaded hole, which can be connected to the hollow fan-shaped bottom with a screw of appropriate size. The lid has a through hole, which can be connected to the gear reduction group and the second gear 4104 above the lid through a locking nut and the first gear connecting rod 4106. The first gear connecting rod 4106 is responsible for connecting the second gear 4104 and the second rocker arm 4105. The second rocker arm 4105 then transmits kinetic energy to drive the blade slider 4103 to slide in a restricted manner. The blade slide rail 4101 provides precise sliding restriction for the blade slider 4103.

[0047] like Figure 7 As shown, the back-opening device includes a circular blade 501, a blade shaft 502, a back-opening process platform 503, a first motor support 504, a first DC motor 505, a rotary bearing 506, a first track sprocket 507, and a first track 508.

[0048] The back-opening process platform 503 adopts a rectangular hollow box shape with a lid and a fan-shaped bottom, which is stable and easy to install. The bottom of the box has threaded holes, which can be connected to the fan-shaped bottom with screws of appropriate size. The lid has through holes and horizontal grooves, which can be used to connect the first motor support 504 to the back-opening process platform 503 with locking screws and nuts. The same method can also be used to connect the rotary bearing 506 to the back-opening process platform 503. The circular blade 501 is mounted on the blade shaft 502 and suspended in the horizontal groove.

[0049] The back opening device is driven by a first DC motor 505 and is transmitted by a first track 508, two first track sprockets 507 and a rotary bearing 506. The two first track sprockets 507 are respectively mounted on the first motor support 504 and the rotary bearing 506.

[0050] like Figure 8 As shown, the washing device includes a brush bucket 601, a washing process platform 602, a bearing riser 603, a second track sprocket 604, a second track 605, a second DC motor 606, a bearing 607, and a brush bucket shaft 608.

[0051] The washing process platform 602 adopts a rectangular hollow box shape with a lid and a fan-shaped bottom, which is stable and easy to install. The bottom of the box has threaded holes for connection to the fan-shaped bottom using appropriately sized screws and nuts. A bearing riser 603 and a second DC motor 606 are fixedly connected at the top. The second DC motor 606 is the main drive source for the shrimp washing module. A second track sprocket 604 is coaxially mounted on its output end. The two sets of second track sprockets 604 are connected by a second track 605, which stably transmits the rotational torque output by the second DC motor 606 to the brush bucket shaft 608. Both ends of the brush bucket shaft 608 are mounted on the bearing riser 603 via bearings 607. The bearing riser 603 raises the installation height of the brush bucket shaft 608 and provides precise installation positioning for the bearings 607. The bearings 607 reduce frictional resistance during the rotation of the brush bucket shaft 608, ensuring smooth and stable rotation. A brush bucket 601 is coaxially fixed on the outer side of the brush bucket rotating shaft 608. The brush bucket 601 can rotate synchronously with the brush bucket rotating shaft 608 to perform shrimp vein brushing on the whiteleg shrimp that have been placed on the shrimp vein washing process platform 602 and have undergone head removal and back opening, thus completing the shrimp vein cleaning work.

[0052] like Figure 9 , 10As shown in Figure 11, the shelling device includes a shrimp-inserting needle 701, a second baffle 702, a blocking guide shaft 703, a slider block 704, a spring 705, a slider slot 706, a second motor support 707, a working platform 708, a nozzle support 709, a stepper motor 710, a rack 711, a slider base 712, a needle slider 713, a locking nut 714, and a flange-type locking nut 715.

[0053] The working platform 708 is the overall working platform of the shell removal device, with a second motor support 707, a nozzle support 709, and a slider base 712 connected above it. The slider base 712, slider slot 706, and needle slider 713 are connected by grooves, allowing only vertical movement between them. The slider base 712 is connected to the slider slot 706, which transmits the upward force of the stepper motor 710 driving the rack 711. Below the slider base 712 is a conical protrusion with a circular hole, the central hole of which passes through the guide shaft of the needle slider 713. A spring 705 is installed between the needle slider 713 and the protrusion of the slider slot 706. Below the protrusion, two opposing locking nuts 714 are connected to the guide shaft of the needle slider 713, responsible for driving the needle slider 713 to reset and limit its ejection. The needle slider 713 is connected to the groove in the slider slot 706, and the needle slider 713 drives the insertion needle 701 to move upward and reset downward. A second baffle 702 is placed above the shrimp needle 701 to detach the shrimp meat from the needle 701. A slider base 712 is connected to a blocking guide shaft 703, which causes the slider block 704 to rotate around the shaft. Two identical flange-type locking nuts 715 are located on both sides of the slider block 704 along the axial direction, preventing lateral displacement of the slider block. A gear at the rack 711 is connected to a stepper motor 710, which is supported by a second motor support 707. At the same height as the second baffle 702, a nozzle support 709 is placed to support the nozzle and spray pressurized water to flush the detached shrimp meat away from the baffle.

[0054] like Figure 12 As shown, the working principle of the shelling device is explained in detail.

[0055] First, the stepper motor starts operating, driving the rack 711 to move upward. Simultaneously, the slider slot 706 connected to the rack 711 moves upward, supported by the spring 705, driving the needle slider 713 upward. When the second stop on the needle slider 713 engages with the first stop in the middle of the slider block 704, the slider block 704 restricts the upward movement of the needle slider 713. At this time, under the action of the stepper motor 710 and the rack 711, the slider slot 706 continues to move upward, compressing the spring 705. The kinetic potential energy generated by the stepper motor 710 is converted into elastic potential energy by the spring. When the irregularly shaped boss on the slider slot 706 engages with the bottom inclined end face of the slider block 704, the slider... The upward movement of groove 706 causes slider block 704 to rotate around the blocking guide shaft 703. During the rotation, when the first stop in the middle of slider block 704 no longer contacts the second stop of needle slider 713, needle slider 713 is no longer blocked, the length of spring 705 returns to τ, and the elastic potential energy accumulated by spring 705 is released as a higher acceleration. At this time, the headless, backless and deveined whiteleg shrimp are transported by the six-claw transport device gripper 32 in a back-down posture to the top of the shelling device. The needle slider 713 drives the shrimp insertion needle 701 to move upward and insert the shrimp meat. The gripper 32 moves continuously, causing the shrimp shell to continue to move along the process sequence, but the shrimp meat is separated from the shrimp shell due to the restriction of the shrimp insertion needle 701. The stepper motor 710 reverses, driving the rack 711 and the slider slot 706 to move downwards. The irregular protrusion of the slider slot 706 connects with the locking nut 714 of the needle slider 713. The downward force generated by the stepper motor 710 is transmitted to the needle slider 713, which together drives the shrimp needle and shrimp meat to move downwards. The shrimp meat will detach from the shrimp needle due to the presence of the baffle and be washed away from the baffle by the water flow. The second stop of the needle slider 713 and the first stop in the middle of the slider block 704 are in an inclined state because they are connected in reverse. The needle slider 713 is no longer blocked by the slider block 704 and returns to the starting state along with the slider slot 706.

[0056] like Figure 13 As shown, the shell-discarding device includes a shrimp shell collection bucket 801 and a shell-discarding process platform 802.

[0057] The shell-discarding process platform 802 has a fan-shaped bottom that fits into the hollow partition 101. The shrimp shell collection bucket 801 is directly set on the shell-discarding process platform 802 for shrimp shell collection.

[0058] like Figure 14 As shown, the three-layer frame structure includes a hollow partition 101, a second-layer support column 102, a second-layer support base 103, a partition 104, a first-layer support column 105, a first-layer support base 106, a base plate 107, a collection box guide rail 108, a collection box 109, a water bucket support base 110, a cylinder support 111, a water pump motor 112, and a water bucket 113.

[0059] The water bucket 113 is made of food-grade plastic. A bucket support 110 secures the bucket 113 to the partition 104. The bucket 113 handles the water needs of the entire system. The water in the bucket 113 is manually replaced. A water pump motor 112 is connected to a centrifugal pump body, which has an inlet and an outlet. Multiple water pump motors 112 are installed between the hollow partition 101 and partition 104 to connect each water-using process to the bucket 113. After each process is completed, wastewater is collected and returned to the bucket 113 via pipes. This repeated return process replaces the water inside the bucket 113. A collection tank 109 is also connected to the bucket 113 via water pump motors 112 to prevent excessive water accumulation in the collection tank 109. All water flow between these facilities is achieved through water pipes.

[0060] The collection of shrimp is accomplished by the collection box 109, water pipe and shelling device. The nozzle support 709 is equipped with a nozzle and water pipe, which is responsible for rinsing the shrimp picked up by the shrimp needle 701. The shrimp enter the collection box 109 through the water pipe. The collection box 109 is connected to the bottom plate 107 through the collection box guide rail 108.

[0061] The overall device adopts a three-layer structure frame, which is connected to the base plate 107, partition plate 104 and hollow partition plate 101 through a first-layer support column 105, a second-layer support column 102, a first-layer support base 106 and a second-layer support base 103.

[0062] The working principle of the proposed processing device for whiteleg shrimp will be explained in detail below.

[0063] First, the whiteleg shrimp are loaded onto the feed chute 205 of the conveyor belt. The shrimp are then transported to a designated position, directly below the gripper 32 of the six-claw conveyor device, via the rolling transport of the synchronous belt 201 and the conveyor belt rollers 204. Cylinder 3106 drives the gripper 32 downwards, while cylinder 3201 drives the upper plate 3208 downwards. Due to the constraints of the side plate 3204 and guide rod 3203, the connecting rod 3207 follows suit, simultaneously causing the connecting rod 3205 and gripper head 3206 to close, thus grabbing the whiteleg shrimp. Next, cylinder 3106 drives the gripper 32 upwards. Once it reaches a designated height, the right-angle planetary reducer 3107 drives the gripper 32 to rotate counter-clockwise until it reaches a position directly above the next process step.

[0064] After the six-claw transport device 32 transports the whiteleg shrimp to the designated position for the head removal process, the third DC motor 4201 starts to run. Through the gear set 4202 and the gear rotating shaft 4203, it drives the second gear 4104 to rotate, which in turn drives the second rocker arm 4105 to rotate. The blade slider 4103 slides on the blade slide rail 4101, clamping in both directions. The blades come into contact and cut off the head of the whiteleg shrimp, allowing the whiteleg shrimp to enter the next process.

[0065] After being transported to the designated position for the back-opening process, the first DC motor 505 starts working, driving the circular blade 501 to rotate and perform back-opening on the headless whiteleg shrimp, which then enters the washing process.

[0066] After reaching the designated position for the line-washing process, the second DC motor 606 starts working, driving the brush bucket 601 to rotate slowly. The rotating part is directly facing the shrimp vein on the back of the whiteleg shrimp, and the shrimp vein is cleaned with the help of water flow. After completion, the shelling process begins.

[0067] Upon reaching the designated position in the shelling process, the stepper motor 710 drives the slider slot 706 and the needle slider 713 to move upward together via the rack 711. When the needle slider 713 connects with the first stop of the slider block 704 at the second stop, the needle slider 713 stops moving upward. The slider slot 706 compresses the spring 705 upward, accumulating elastic potential energy. When the irregular protrusion of the slider slot 706 lifts the slider block 704 until the first stop on the slider block 704 no longer blocks the needle slider 713, the elastic potential energy accumulated by the spring 705 is released. At this time, the headless, backless, and deveined whiteleg shrimp are transported by the six-claw transport device gripper 32 in a back-down position to the top of the shelling device. The needle slider 713 drives the shrimp-inserting needle 701 to move upward and insert into the shrimp meat. The gripper 32 moves intermittently, causing the shrimp shell to continue moving along the process sequence. The shrimp meat separates from the shrimp shell due to the restriction of the shrimp-inserting needle 701. The motor reverses and drives the shrimp needle 701 and the needle slider 713 to move downward. The shrimp meat is blocked by the baffle 702 and is removed from the shrimp needle 701. It is washed down by the water flow, and the shrimp shell enters the shelling process with the gripper 32 of the six-claw transport device.

[0068] After the shrimp meat is separated by the shelling device 7, the gripper 32 holds only the shrimp shell and moves above the shell-throwing device 8. The gripper 32 releases, and the shrimp shell falls into the shrimp shell collection bucket 801. The gripper 32 continues to move to the conveyor belt 2 to carry out the entire process from the beginning.

[0069] This integrated processing device for whiteleg shrimp is highly efficient, stable in operation, and produces shrimp meat with excellent cleanliness. It can efficiently complete the entire processing of whiteleg shrimp and is suitable for processing whiteleg shrimp of different sizes. This improves the applicability of the whiteleg shrimp processing device and has extremely high promotional value.

[0070] The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solution based on the technical concept proposed in this invention shall fall within the scope of protection of the claims of this invention.

Claims

1. A processing apparatus for Litopenaeus vannamei, characterized in that, It includes a conveyor belt (2), a six-claw transport device (3), a head removal device (4), a back opening device (5), a line washing device (6), a shell removal device (7), a shell ejection device (8), and a frame (1); The six-claw transport device (3) is arranged at the center of the frame (1), the conveyor belt (2) is located on the side of the frame (1), and the output end of the conveyor belt (2) is set towards the frame (1) for transporting shrimp to the frame (1); the head removal device (4), back opening device (5), line washing device (6), shell removal device (7), and shell throwing device (8) are arranged sequentially on the frame (1) and located below the six-claw transport device (3) along the transfer direction of the six-claw transport device (3).

2. The processing apparatus for whiteleg shrimp according to claim 1, characterized in that, The conveyor belt (2) includes a synchronous belt (201), a support frame (202), a first baffle (203), a conveyor belt roller (204), and a guide trough (205); synchronous pulleys are fixedly installed on both conveyor belt rollers (204), and the synchronous belt (201) is meshed between the two synchronous pulleys; the first baffle (203) is provided on both sides of the synchronous belt (201), and the support frame (202) is fixedly provided below the first baffle (203); a plurality of guide troughs (205) for placing shrimp are evenly opened along the width direction on the synchronous belt (201), and the extension direction of the guide trough (205) is perpendicular to the conveying direction of the conveyor belt.

3. The processing apparatus for whiteleg shrimp according to claim 1, characterized in that, The six-claw transport device (3) includes a bearing plate (3105) with a central hole, a symmetrical mounting base plate (3104), and an equipment fixing base plate (3110) arranged sequentially from bottom to top. A lifting cylinder (3106) is installed below the bearing plate (3105) through its central hole. Guide shafts (3108) are symmetrically installed on both sides of the bearing plate (3105). The other end of the guide shafts (3108) is fixedly connected to the lower surface of the equipment fixing base plate (3110). The upper surface of the fixed base plate (3110) of the equipment is equipped with a flange-type stepped rotating shaft (3102) through a bearing seat (3103). The power output end of the flange-type stepped rotating shaft (3102) is fixedly equipped with a six-arm connecting plate (3101). The power input end of the flange-type stepped rotating shaft (3102) is connected to the right-angle planetary gearbox (3107) through a universal joint (3109). Six sets of grippers (32) are evenly arranged on the six-arm connecting plate (3101).

4. The processing apparatus for Litopenaeus vannamei according to claim 3, characterized in that, The gripper (32) includes a cylinder (3201) fixed below the six-arm connecting plate (3101). The lower part of the cylinder (3201) is fixedly connected to the pneumatic plate (3202). Guide rods (3203) are fixedly provided on both sides of the lower part of the pneumatic plate (3202). The other end of the guide rods (3203) is slidably connected to the upper plate (3208). The piston rod of the cylinder (3201) is located between the two guide rods (3203) and passes through the pneumatic plate (3202) and is fixedly connected to the upper plate (3208). The lower sides of the upper plate (3208) are fixedly provided with... The upper plate (3208) has a side plate (3204); a gripper head (3206) is also provided in the lower center of the upper plate (3208); a connecting rod (3207) is provided between the upper plate (3208) and the gripper head (3206); the upper plate (3208) is hinged to the connecting rod (3207); the connecting rod (3207) is hinged to the gripper head (3206); a connecting rod (3205) is provided between the side plate (3204) and the gripper head (3206); the side plate (3204) is hinged to the connecting rod (3205); and the connecting rod (3205) is fixedly connected to the gripper head (3206).

5. The processing apparatus for Litopenaeus vannamei according to claim 1, characterized in that, The head removal device (4) includes a drive motor assembly. The gear rotation shaft (4203) of the drive motor assembly is connected to a first gear (4108). A first gear connecting rod (4106) is fixedly connected to the first gear (4108). A first rocker arm (4109) is coaxially connected to the first gear connecting rod (4106). The first gear (4108) meshes with a second gear (4104). A second gear connecting rod (4107) and a second rocker arm (4105) are coaxially fixedly arranged on the second gear (4104). One end of the first rocker arm (4109) and the second rocker arm (4105) are hinged to form a linkage node, and the other end is respectively connected to a set of blade slide rails (4101). A blade slider (4103) is slidably assembled in the blade slide rail (4101). A blade is installed on the blade slider (4103) along the parallel rocker arm movement direction.

6. The processing apparatus for Litopenaeus vannamei according to claim 1, characterized in that, The back opening device (5) includes a first DC motor (505), a first active track sprocket is fixedly installed on the output shaft of the first DC motor (505), and the first active track sprocket and the first track sprocket (507) are connected by a first track (508); a blade shaft (502) is fixedly installed on the first track sprocket (507), and a rotary bearing (506) and a circular blade (501) are sequentially installed on one side of the first track sprocket (507) and on the blade shaft (502).

7. The processing apparatus for Litopenaeus vannamei according to claim 1, characterized in that, The washing device (6) includes a second DC motor (606), on which a second active track sprocket is fixedly mounted. The second active track sprocket and the second track sprocket (604) are connected by a second track (605). A brush barrel shaft (608) is fixedly mounted on the second track sprocket (604). A bearing (607) and a brush barrel (601) are sequentially mounted on one side of the second track sprocket (604) and on the brush barrel shaft (608). A bearing riser seat (603) is provided below the bearing (607). The rotation direction of the brush barrel (601) is opposite to the transfer direction of the six-jaw transport device (3). A first nozzle is mounted on one end of the brush barrel shaft (608).

8. The processing apparatus for whiteleg shrimp according to claim 1, characterized in that, The shell removal device (7) includes a needle slider (713), a slider slot (706), and a slider base (712) arranged in sequence. The slider slot (706) has a trapezoidal through groove on one side and a trapezoidal through protrusion on the other side. The side of the needle slider (713) that contacts the slider slot (706) has a protrusion that matches the through groove of the slider slot (706). The side of the slider base (712) that contacts the slider slot (706) has a groove that matches the protrusion of the slider slot (706). A rack (711) is fixedly connected to the side of the slider slot (706), and the rack (711) is connected to a stepper motor (710) for transmission. A needle pin (701) is fixedly connected to the upper end of the needle slider (713). A blocking guide shaft (703) is arranged parallel to the other side of the needle slider (713). Flange-type locking nuts (715) are fixedly arranged on both sides of the blocking guide shaft (703). A slider block (704) is rotatably installed between the flange-type locking nuts (715) on the blocking guide shaft (703). A first stop is provided in the middle of the slider block (704). The first stop is inclined outward from top to bottom. The bottom of the slider block (704) is an inclined end face, and the side closer to the needle slider (713) is lower. A shaped boss is fixedly connected to the bottom of the slider slot (706). The cross-section of the shaped boss is trapezoidal, and one side is an inclined surface. The bottom inclined end face of the slider block (704) is engaged with the slider block (713); the bottom of the needle slider (713) is provided with a guide shaft, the other end of the guide shaft passes through the irregular boss and two locking nuts (714) in opposite directions are provided at its bottom, a spring (705) is sleeved on the guide shaft, the top of the spring (705) is connected to the bottom of the needle slider (713), the bottom of the spring (705) is connected to the irregular boss, the top of the spring (705) is located on the needle slider (713) and a second stop block is provided to engage with the first stop block. The second stop block includes an inclined plane and a horizontal plane. The inclined plane extends downward and outward from the vertical side wall of the needle slider (713) and its lower end is smoothly connected to the horizontal plane. The horizontal plane extends in the horizontal direction. A U-shaped limiting baffle is provided above the shrimp insertion needle (701). A limiting through groove that allows only the shrimp insertion needle (701) to pass through is provided in the middle of the limiting baffle. Second baffles (702) are arranged parallel to each other on both sides of the limiting baffle. The second baffles (702) are fixed by vertical plates. A tapered guide cavity is installed at one end of the limiting baffle. A hose is connected to the tapered guide cavity for collecting the peeled shrimp meat. A nozzle support (709) is installed at the other end of the limiting baffle. A second nozzle is installed through the nozzle support (709).

9. The processing apparatus for Litopenaeus vannamei according to claim 1, characterized in that, The shelling device (8) includes a shrimp shell collection bucket (801) and a shelling process platform (802). The shrimp shell collection bucket (801) is fixedly installed on the shelling process platform (802). The frame (1) adopts a three-layer structure frame, including a bottom plate (107), a partition plate (104), and a hollow partition plate (101) arranged sequentially from bottom to top. The bottom plate (107) and the partition plate (104) are supported by a layer of support columns (105) and a layer of support bases (106). The partition plate (104) and the hollow partition plate (101) are supported by a second layer of support columns (102) and a second layer of support bases (103). The head removal device (4), the back opening device (5), the line washing device (6), the shell removal device (7), and the shelling device (8) are all fixedly installed on the platform. On the hollow partition (101), the lifting cylinder (3106) of the six-claw transport device (3) is fixedly mounted on the partition (104) through the cylinder support (111). The gripper (32) of the six-claw transport device (3) is arranged above the head removal device (4), back opening device (5), line washing device (6), shell removal device (7), and shell throwing device (8) through the central hole of the hollow partition (101). A water bucket (113) is fixedly mounted on the partition (104) through a water bucket support (110). Water is transported to the line washing device (6) and the shell removal device (7) through a water pump motor (112). A collection box guide rail (108) is opened on the bottom plate (107) and a collection box (109) is installed to collect the shelled shrimp.

10. The method for processing Litopenaeus vannamei using the processing apparatus according to any one of claims 1-9, characterized in that, Includes the following steps: Step 1. Manually feed the shrimp into the guide trough (205) of the conveyor belt (2), so that the shrimp are placed along the length of the guide trough (205) with their backs facing down. The synchronous belt (201) drives the shrimp in the guide trough (205) to be transported towards the machine frame (1) until the shrimp are transported to the initial gripping position of the six-claw transport device (3). Step 2. The gripper (32) of the six-claw transport device (3) moves downward under the drive of the lifting cylinder (3106), and at the same time the piston rod of the cylinder (3201) extends. Through the linkage of the connecting rod (3207) and the connecting rod (3205), the gripper head (3206) is driven to close, accurately grabbing the shrimp in the guide trough (205). Then the lifting cylinder (3106) drives the gripper (32) to rise and disengage from the conveyor belt (2). Step 3. The right-angle planetary gearbox (3107) drives the flange-type stepped rotating shaft (3102) to rotate via the universal joint (3109), transferring the grabbed shrimp to the top of the head removal device (4). The lifting cylinder (3106) drives the gripper (32) to descend, so that the shrimp head is located between the blades of the head removal device (4). The drive motor works, driving the first gear (4108) and the second gear (4104) to mesh and rotate. Then, through the first rocker arm (4109) and the second rocker arm (4105), the blade slider (4103) slides in the blade slide rail (4101), so that the blade cuts the shrimp head. After the head removal process is completed, the lifting cylinder (3106) drives the gripper (32) to rise, and is transferred to the next station by the six-claw transport device (3). Step 4. The six-claw transport device (3) transfers the headless shrimp to the top of the back-opening device (5). The lifting cylinder (3106) drives the gripper (32) to descend so that the back of the shrimp contacts the circular blade (501). The first DC motor (505) drives the first track sprocket (507) and the blade shaft (502) to rotate through the first track (508). The circular blade (501) rotates at high speed to cut open the back of the shrimp. After the back is opened, the lifting cylinder (3106) drives the gripper (32) to rise and transfer the shrimp. Step 5. The shrimp with the back opened is transferred to the top of the washing device (6). The lifting cylinder (3106) drives the gripper (32) to descend so that the shrimp with the back opened is close to the brush bucket (601). The second DC motor (606) drives the second track sprocket (604) and the brush bucket shaft (608) to rotate through the second track (605). The brush bucket (601) rotates in the opposite direction to wash the shrimp line. At the same time, the first nozzle sprays water to rinse and completely remove the shrimp line. Then the lifting cylinder (3106) drives the gripper (32) to rise and transfer the shrimp. Step 6. After washing, the shrimp are transferred to the shelling device (7). The lifting cylinder (3106) drives the gripper (32) to descend and place the shrimp on the shrimp needle (701). The limiting baffle limits the shrimp. The stepper motor (710) drives the rack (711) to move the slider slot (706). Under the action of the slider slot (706) and the cooperation of the spring (705), the needle slider (713) causes the shrimp needle (701) to move the shrimp. The slider block (704) cooperates with the irregular protrusion to separate the shrimp shell from the shrimp meat. The second nozzle sprays water to rinse the shrimp meat. The shelled shrimp meat falls into the collection box (109) through the tapered guide cavity and the hose. Step 7. The six-claw transport device (3) transfers the shrimp shells after peeling the shrimp meat to the shrimp shell collection bucket (801) above the shell-discarding device (8). The claws (32) release, and the shrimp shells fall into the shrimp shell collection bucket (801), completing the shell-discarding process. Step 8. The six-claw transport device (3) continues to rotate, and the gripper (32) returns to the initial gripping position. Repeat the above steps to realize continuous automated processing of shrimp.

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