Automatic processing integrated device for crayfish

Abstract

This invention provides an integrated automatic processing device for crayfish, comprising: a frame, an inverted slide assembly, a Z-shaped cantilever, an adaptive clamping mechanism, a deveining mechanism, a head removal mechanism, and a back-opening and gill-removing mechanism. The inverted slide assembly is mounted on the frame. The lower end of the Z-shaped cantilever is fixedly connected to a slider. The adaptive clamping mechanism is mounted on the Z-shaped cantilever to fix the crayfish body. The deveining mechanism is coaxially arranged with the adaptive clamping mechanism. The head removal mechanism and the back-opening and gill-removing mechanism are sequentially arranged above the moving path. This invention achieves physical isolation between the transmission area and the processing area through the inverted slide and the Z-shaped cantilever, avoiding contamination and jamming. It employs a single-servo linkage type double-claw adaptive clamping, reducing the power source. Deveining is achieved through clamping and pulling; head removal uses an electric push rod-driven arc-shaped rotary cutter in conjunction with the slide's backward shearing; and back-opening and gill-removing uses a single motor-driven circular saw blade and a double-reverse steel wire brush, achieving integrated automatic processing of deveining, head removal, back-opening, and gill removal.

Description

Technical Field

[0001] This invention relates to the field of crayfish processing technology, and in particular to an integrated automatic crayfish processing device. Background Technology

[0002] As a popular aquatic food, the pre-processing steps of crayfish before cooking, such as removing the head, deveining, removing the intestinal tract, and removing the gills, directly affect the hygiene and taste of the final dish. Currently, these pre-processing steps in the catering industry, especially in small and medium-sized stores, are mainly done manually.

[0003] Currently, crayfish pre-processing relies heavily on manual labor, presenting numerous intractable industry challenges: First, manual processing is extremely inefficient, handling only 120-180 crayfish per hour, failing to meet the concentrated processing demands during peak restaurant seasons and becoming a core constraint on service speed; second, labor costs remain high, accounting for over 30% of store operating costs, with labor shortages prevalent during peak seasons; third, manual operations lack standardized procedures, resulting in significant variations in head removal, back-opening depth, and the completeness of shrimp vein removal, leading to inconsistent post-cooking quality and impacting brand reputation; fourth, manual processing carries a high risk of cross-contamination, making hygiene control difficult and failing to meet modern food safety regulations; and fifth, processes such as shrimp vein and gill removal require high skill levels, have long training cycles, and staff turnover can easily cause fluctuations in processing quality.

[0004] To replace manual pre-processing, some crayfish processing equipment has appeared on the market, but their technical solutions have obvious defects and cannot be adapted to the actual use scenarios of small and medium-sized restaurants and small processing plants. 1. Limited functionality and insufficient integration: Existing equipment is mostly independent models for cleaning, sorting, and single head / back removal, which cannot integrate the entire process of shrimp vein removal, head removal, back removal, and gill removal. Multiple machines are required to work together, resulting in a large footprint, complicated process connections, and no substantial improvement in processing efficiency.

[0005] 2. Poor applicability of large-scale equipment: Large-scale automated crayfish processing lines are bulky and expensive, and require a high level of expertise from the installation site and operators. They are only suitable for large-scale aquatic product processing enterprises and cannot be adapted to the compact kitchen space and limited budget of small and medium-sized catering stores.

[0006] 3. Integrated equipment lacks functionality and is prone to failure: Although some integrated lobster processing devices integrate functions such as head removal, back opening, and shrimp vein removal, they do not have a gill removal mechanism, making it impossible to complete the core process of gill cleaning; moreover, the transmission structure mostly adopts an upright sliding table layout, with precision components such as lead screws and guide rails directly exposed in the processing area, which are easily jammed by shrimp shell debris and sewage pollution, resulting in a high equipment failure rate and difficulty in daily maintenance.

[0007] 4. Redundant structure, high cost and high operating threshold: Existing equipment mostly uses multiple power sources to independently drive each process. There are many motors and controllers, resulting in redundant structure, complex control logic, high overall cost and failure rate, and cumbersome operation, making it unsuitable for ordinary catering practitioners to quickly get started. Summary of the Invention

[0008] In view of this, the purpose of the present invention is to provide an integrated automatic processing device for crayfish, which realizes the integrated automatic processing of crayfish by removing the shrimp vein, head, back, and gills.

[0009] The technical solution adopted by this invention to solve its technical problem is: An integrated automatic crayfish processing device is provided, comprising: a frame, an inverted slide assembly, a Z-shaped cantilever, an adaptive clamping mechanism, a deveining mechanism, a head removal mechanism, and a back-opening and gill-removing mechanism. The inverted slide assembly is mounted on the frame. The lower end of the Z-shaped cantilever is fixedly connected to the slider of the inverted slide assembly and can move along the axial direction of the inverted slide assembly. The adaptive clamping mechanism is mounted on the Z-shaped cantilever and located on one side of the inverted slide assembly, used to fix the crayfish body. The deveining mechanism is mounted on the frame on one side of the inverted slide assembly, corresponding to the adaptive clamping mechanism, and is located on the same axis as the adaptive clamping mechanism, and can clamp the crayfish tail on the adaptive clamping mechanism. The head removal mechanism and the back-opening and gill-removing mechanism are sequentially mounted on the frame above the moving path of the adaptive clamping mechanism, and can sequentially perform head removal, back-opening, and gill removal processing actions on the crayfish.

[0010] Preferably, the back-opening and gill-removing mechanism includes a drive motor, a transmission belt, a back-opening assembly, and a gill-removing assembly; the drive motor is fixedly mounted on the frame, and the output shaft of the drive motor is connected to the back-opening assembly and the gill-removing assembly respectively via the transmission belt; the back-opening assembly includes a saw blade shaft and a circular saw blade mounted on the saw blade shaft, which can rotate to cut the back of the crayfish; the gill-removing assembly includes two brush disc shafts and two wire brush discs, the two wire brush discs rotating in opposite directions, used to brush away the gills on both sides of the crayfish.

[0011] Preferably, the transmission belt is an O-shaped round belt, and the output shaft of the drive motor, the saw blade shaft, and the brush disc shaft are respectively provided with U-shaped grooved pulleys; the O-shaped round belt is wound between each U-shaped grooved pulley, and the two brush disc shafts achieve opposite rotation through cross-winding of the belt, and the belt segment connected to the brush disc shaft has spatial torsion to realize the conversion of the power transmission direction.

[0012] Preferably, the inverted slide assembly includes a stepper motor, a lead screw, a slider, and a mounting rail. The mounting rail is fixed to the frame along the axial direction of the frame. The lead screw is arranged below the mounting rail along the axial direction of the mounting rail and is connected to the stepper motor for transmission. The slider is threadedly engaged with the lead screw and is slidably connected to the mounting rail.

[0013] Preferably, the head removal mechanism includes an electric push rod, an arc-shaped rotary blade, and a rotary blade support; the arc-shaped rotary blade is rotatably connected to the rotary blade support, one end of the electric push rod is hinged to the frame and the other end is hinged to the arc-shaped rotary blade, and can drive the arc-shaped rotary blade to swing at a set angle to pierce the shrimp head and hook the skull, and achieve complete separation of the shrimp head by cooperating with the shearing force generated by the backward movement of the inverted slide assembly.

[0014] Preferably, it also includes a curtain-type unloading structure, which is set on the frame between the head removal mechanism and the shrimp line removal mechanism, and is located above the moving path of the adaptive clamping mechanism. It can make the processed crayfish fall off the adaptive clamping mechanism. The head removal mechanism, the shrimp line removal mechanism and the lower frame of the curtain-type unloading structure are respectively provided with material boxes.

[0015] Preferably, the shrimp deveining mechanism includes a mounting base, a clamp, and a transmission rope. The clamp is fixed to the frame by the mounting base. One end of the transmission rope is connected to the clamp, and the other end is connected to the arc-shaped rotary cutter. The arc-shaped rotary cutter is rotated by an electric push rod to drive the clamping and releasing of the clamp.

[0016] Preferably, the adaptive clamping mechanism includes a contoured base plate, a linkage-type gripper assembly, and a gripper drive; the contoured base plate is mounted on a Z-shaped cantilever to support the lobster's abdomen; the linkage-type gripper assembly includes an active turntable, a first link, a second link, a first gripper, and a second gripper; the two ends of the first link are respectively hinged to the active turntable and the first gripper, and the two ends of the second link are respectively hinged to the active turntable and the second gripper; the gripper drive is connected to the active turntable to drive the active turntable to rotate, thereby driving the first gripper and the second gripper to open and close synchronously relative to each other through the first link and the second link, so as to clamp or release the lobster body, and the relative inner sides of the first gripper and the second gripper are provided with contoured curved surfaces, and anti-slip pins are provided on both the contoured base plate and the contoured curved surfaces; the adaptive clamping mechanism is also provided with a magnetic rotating rod to fix the lobster claws.

[0017] Preferably, the Z-shaped cantilever includes an upper bearing portion, a middle bending portion, and a lower connecting portion; the lower connecting portion is tenon-and-mortise mated with the slider and bolted in place, and the upper bearing portion is provided with an adaptive clamping mechanism.

[0018] Preferably, it also includes a timing control system, which includes a main control unit, a position sensor, an angle sensor, and an emergency stop module. The position sensor is used to detect the displacement position of the slider, and the angle sensor is used to detect the rotation angle of the arc-shaped rotary blade. The main control unit controls the actions of the inverted slide assembly, the head removal mechanism, the back opening and gill removal mechanism, and the shrimp vein removal mechanism according to a preset timing sequence based on the detection signals from the sensors.

[0019] The beneficial effects of this invention are: This invention provides an integrated automatic crayfish processing device. Through the cooperation of an inverted slide assembly and a Z-shaped cantilever, precision transmission components such as lead screws and guide rails are arranged on one side of the processing area, achieving physical isolation between the transmission system and the processing area. This fundamentally prevents contaminants such as crayfish shell fragments and wastewater from entering the transmission pair, solving the problems of easy jamming and high failure rate of traditional equipment. It significantly improves the operational stability and service life of the equipment in humid and oily environments. The adaptive clamping mechanism uses a single servo motor-driven linkage type double-claw synchronous centering clamping mechanism, combined with a contoured curved surface and anti-slip tooth design, which can adapt to the clamping requirements of crayfish tails of different sizes, reducing the number of power sources and lowering manufacturing costs. The shrimp vein removal mechanism uses a servo-driven micro-gripper to hold and pull the shrimp vein, which is then completely extracted by the reverse movement of the slide table. The head removal mechanism uses an electric push rod to drive an arc-shaped rotary cutter to pierce the shrimp head at a set angle and hook the skull. The shearing force generated by the retraction of the slide table is used to separate the head and thorax. The back-opening and gill removal mechanism uses only one drive motor. The spatial torsion reversal is achieved through an O-shaped round belt and a U-shaped grooved pulley. The belt is crisscrossed to make the two wire brushes rotate in opposite directions, completing the two processes of rotating and cutting the shrimp back and brushing the shrimp gills in opposite directions at the same time. This greatly simplifies the number of power sources and the overall structure of the machine, while ensuring processing accuracy and stability. It can complete the entire process of removing the shrimp vein, head, back, and gills of crayfish in one go. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of an integrated automatic crayfish processing device according to Embodiment 1 of the present invention.

[0021] Figure 2 This is a schematic diagram of the inverted slide assembly according to Embodiment 1 of the present invention.

[0022] Figure 3 This is a schematic diagram of the adaptive clamping mechanism of Embodiment 1 of the present invention mounted on a Z-shaped cantilever.

[0023] Figure 4 This is a schematic diagram of the linkage gripper assembly of Embodiment 1 of the present invention.

[0024] Figure 5 This is a schematic diagram of the connection structure between the shrimp deveining mechanism and the head-removing mechanism in Embodiment 1 of the present invention.

[0025] Figure 6 This is a schematic diagram of the back-opening and gill-removing mechanism of Embodiment 1 of the present invention.

[0026] Figure 7 This is a reference image of the actual product of the present invention.

[0027] In the diagram: 1. Frame; 2. Inverted slide assembly; 21. Stepper motor; 22. Drive screw; 23. Slider; 24. Mounting slide rail; 3. Z-shaped cantilever; 31. Upper bearing section; 32. Middle bending section; 33. Lower connecting section; 4. Adaptive clamping mechanism; 41. Contouring base plate; 42. Linkage gripper assembly; 421. Active turntable; 422. First link; 423. Second link; 424. First gripper; 425. Second gripper; 43. Gripper drive component; 44. Anti-locking mechanism. 45. Sliding needle; 5. Magnetic rotating rod; 6. Shrimp deveining mechanism; 7. Mounting base; 8. Clamp; 9. Transmission rope; 10. Head removal mechanism; 11. Electric push rod; 12. Arc-shaped rotating blade; 13. Rotating blade support; 14. Back opening and gill removal mechanism; 15. Drive motor; 16. Transmission belt; 17. Back opening assembly; 18. Saw blade shaft; 19. Circular saw blade; 10. Gill removal assembly; 11. Brush disc shaft; 12. Steel wire brush disc; 13. Curtain-type unloading structure; 14. Material box; 15. Timing control system.

[0028] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Example 1 like Figure 1As shown, an integrated automatic crayfish processing device includes: a frame 1, an inverted slide assembly 2, a Z-shaped cantilever 3, an adaptive clamping mechanism 4, a deveining mechanism 5, a head removal mechanism 6, and a back-opening and gill-removing mechanism 7. The inverted slide assembly 2 is mounted on the frame 1. The lower end of the Z-shaped cantilever 3 is fixedly connected to the slider 23 of the inverted slide assembly 2 and can move along the axial direction of the inverted slide assembly 2. The adaptive clamping mechanism 4 is mounted on the Z-shaped cantilever 3 and located on one side of the inverted slide assembly 2, used to fix the crayfish body. The deveining mechanism 5 is mounted on the frame 1 on one side of the inverted slide assembly 2, corresponding to the adaptive clamping mechanism 4, and is located on the same axis as the adaptive clamping mechanism 4, and can clamp the tail of the crayfish on the adaptive clamping mechanism 4. The head removal mechanism 6 and the back-opening and gill-removing mechanism 7 are sequentially mounted on the frame 1 above the moving path of the adaptive clamping mechanism 4, and can sequentially perform head removal, back-opening, and gill removal processing actions on the crayfish.

[0031] It should be noted that the frame 1 serves as the overall support structure, providing a fixed foundation for all components. The inverted slide assembly 2 is mounted on the frame 1, and its slider 23 moves axially under drive, driving the Z-shaped cantilever 3, which is fixedly connected to it, to perform precise linear reciprocating motion. Due to the inverted layout of the slide, the precision transmission components are located on one side or above one side of the processing area, effectively preventing contaminants from entering. The lower end of the Z-shaped cantilever 3 is fixedly connected to the slider 23, and the upper end carries the adaptive clamping mechanism 4, which transmits the linear motion of the slide to the processing platform below, realizing the accurate transfer of the shrimp body between different workstations. The adaptive clamping mechanism 4 is set on the Z-shaped cantilever 3, and its gripper components firmly fix the crayfish body to the processing platform to prevent the shrimp body from shifting during processing. The shrimp deveining mechanism 5... The adaptive clamping mechanism 4 is mounted on the frame 1 on one side of the inverted slide assembly 2 and is located on the same axis as the adaptive clamping mechanism 4. When the slide delivers the shrimp body to this station, the shrimp deveining mechanism 5 can accurately clamp the tail of the shrimp body, and then completely pull out the shrimp line with the reverse movement of the slide. The head removal mechanism 6 and the back opening and gill removal mechanism 7 are sequentially mounted on the frame 1 above the moving path of the adaptive clamping mechanism 4. When the slide drives the adaptive clamping mechanism 4, which is fixed with the shrimp body, to pass through these stations in sequence, the head removal mechanism 6 first performs the head removal action to separate the shrimp head from the shrimp body. Then the back opening and gill removal mechanism 7 performs the back opening and gill removal actions to complete the back cutting and gill brushing, thereby realizing the fully automated processing of shrimp deveining, head removal, back opening and gill removal of crayfish.

[0032] Furthermore, such as Figure 6As shown, the back-opening and gill-removing mechanism 7 includes a drive motor 71, a transmission belt 72, a back-opening assembly 73, and a gill-removing assembly 74. The drive motor 71 is fixedly mounted on the frame 1. The output shaft of the drive motor 71 is connected to the back-opening assembly 73 and the gill-removing assembly 74 via the transmission belt 72. The back-opening assembly 73 includes a saw blade shaft 731 and a circular saw blade 732 mounted on the saw blade shaft 731, which can rotate to cut the back of the shrimp. The gill-removing assembly 74 includes two brush disc shafts 741 and two wire brush discs 742. The two wire brush discs 742 rotate in opposite directions and are used to brush away the gills on both sides of the crayfish.

[0033] It should be noted that the drive motor 71 is fixedly mounted on the frame 1 as a single power source. Its output shaft is connected to the back-opening assembly 73 and the gill removal assembly 74 via the transmission belt 72, transmitting the rotational power of the motor to both assemblies simultaneously. The back-opening assembly 73 includes a saw blade shaft 731 and a circular saw blade 732 mounted on the saw blade shaft 731. When the drive motor 71 drives the saw blade shaft 731 to rotate at high speed via the transmission belt 72, the circular saw blade 732 rotates synchronously. When the slide moves the crayfish to the back-opening station, the high-speed rotating circular saw blade 732 rotates along the center line of the crayfish's back. The cutting mechanism uses a rotating cutting motion to break open the shrimp shell, thus achieving the back-opening function. The gill removal component 74 includes two brush disc shafts 741 and two wire brush discs 742. The drive motor 71 drives the two brush disc shafts 741 to rotate through the transmission belt 72, and the two wire brush discs 742 rotate in opposite directions, that is, one rotates clockwise and the other rotates counterclockwise. When the slide table sends the crayfish head between the two opposing rotating wire brush discs 742, the counter-rotating brush filaments are simultaneously inserted into the gill cavity of the shrimp head from both sides. Through mechanical brushing action, the gill filament tissue is peeled off and brushed away from the shrimp body, thereby completing the gill removal function.

[0034] Furthermore, such as Figure 6 As shown, the transmission belt 72 is an O-shaped round belt, and the output shaft of the drive motor 71, the saw blade shaft 731, and the brush disc shaft 741 are respectively provided with U-shaped grooved pulleys; the O-shaped round belt is wound between each U-shaped grooved pulley, and the two brush disc shafts 741 achieve reverse rotation by cross-winding the belt, and the belt segment connected to the brush disc shaft 741 has spatial torsion to realize the conversion of the power transmission direction.

[0035] It should be noted that the transmission belt 72 is an O-type round belt, which has a circular cross-section and good flexibility, enabling multi-axis rotation and spatial torsion in confined spaces. U-shaped grooved pulleys are respectively installed on the output shaft of the drive motor 71, the saw blade shaft 731, and the brush disc shaft 741. The deep groove structure of the U-shaped grooved pulleys effectively restrains the O-type round belt, preventing it from derailing during high-speed operation or torsion. The O-type round belt is wound between the U-shaped grooved pulleys to form a complete transmission circuit. When the drive motor 71 rotates, the belt drives each grooved pulley to rotate synchronously. The two brush disc shafts 741 achieve opposite rotation through cross-winding of the belts, meaning the belt rotates in opposite directions on one of the brush disc shafts 741. The U-shaped grooved wheel of the first brush disc rotates in an open manner, while the U-shaped grooved wheel of the second brush disc 741 rotates in a crisscross manner. This winding method makes the rotation directions of the two grooved wheels naturally opposite, thereby realizing the opposing rotation of the two wire brush discs 742. At the same time, the belt segment connected to the brush disc shaft 741 has spatial torsion. That is, after the belt is output from the horizontal plane of the drive motor 71 shaft, it is torsionally transitioned to the vertical plane of the brush disc shaft 741 after a ninety-degree torsion. The flexible characteristics of the belt are used to convert the rotational power in the horizontal direction into the rotational power in the vertical direction, realizing the spatial conversion of the power transmission direction. This satisfies the different directional requirements of the saw blade rotating to cut the shrimp back in the vertical plane and the brush disc rotating to brush the shrimp gills in the horizontal plane.

[0036] Furthermore, such as Figure 2 As shown, the inverted slide assembly 2 includes a stepper motor 21, a transmission screw 22, a slider 23, and a mounting rail 24. The mounting rail 24 is fixed on the frame 1 along the axial direction. The transmission screw 22 is arranged below the mounting rail 24 along the axial direction and is connected to the stepper motor 21. The slider 23 is threadedly engaged with the transmission screw 22 and is slidably connected to the mounting rail 24.

[0037] It should be noted that the mounting slide rail 24 is fixed to the frame 1 along the axial direction, providing a precise guiding reference for the linear motion of the slide table; the transmission screw 22 is arranged axially below the mounting slide rail 24 and is connected to the stepper motor 21. The stepper motor 21 serves as a power source, and its output shaft drives the transmission screw 22 to rotate. The stepper motor 21 can precisely control the rotation angle and speed to achieve accurate positioning of the slide table; the slider 23 is threadedly engaged with the transmission screw 22 and slidably connected to the mounting slide rail 24. When the transmission screw 22 rotates, it drives the transmission screw 22 to rotate. The meshing action converts the rotational motion of the lead screw into the linear motion of the slider 23, which moves axially along the mounting rail 24. Since the transmission lead screw 22 is located below the mounting rail 24, meaning the entire lead screw transmission mechanism is situated at the bottom of the mounting rail 24, this inverted layout suspends the Z-shaped cantilever 3 and the processing platform carried by the slider 23 in different areas. Meanwhile, precision transmission components such as the lead screw and guide rail are located on one side of the processing area. This physically isolates the transmission system from pollutants such as wastewater and shrimp shell fragments generated in the processing area below, ensuring smooth movement and precise positioning of the slider 23. Furthermore, such as Figure 5 As shown, the head removal mechanism 6 includes an electric push rod 61, an arc-shaped rotating blade 62, and a rotating blade support 63. The arc-shaped rotating blade 62 is rotatably connected to the rotating blade support 63. One end of the electric push rod 61 is hinged to the frame 1, and the other end is hinged to the arc-shaped rotating blade 62. It can drive the arc-shaped rotating blade 62 to swing at a set angle to pierce the shrimp head and hook the skull. The shearing force generated by the backward movement of the inverted slide assembly 2 can achieve complete separation of the shrimp head.

[0038] It should be noted that the rotary cutter support 63 is fixed to the frame 1, providing a stable rotational support foundation for the arc-shaped rotary cutter 62. The arc-shaped rotary cutter 62 is rotatably connected to the rotary cutter support 63 through the optical axis mounting hole at its top, and can swing around the fixed axis in a circular motion. The cutting edge of the arc-shaped rotary cutter 62 is conical and has micro-hooked teeth at the rear of the cutting edge. One end of the electric push rod 61 is hinged to the frame 1 to form a fixed fulcrum, and the other end is hinged to the middle of the arc-shaped rotary cutter 62 through a spherical bearing, forming a two-degree-of-freedom floating pair. When the electric push rod 61 is energized and extends, its thrust is transmitted to the arc-shaped rotary cutter 62 through the hinge point, driving the arc-shaped rotary cutter 62 to swing downward around the rotary cutter support 63. The shrimp head is pierced at a set angle and hooked onto the inside of the skull with micro-hooks. When the electric push rod 61 retracts, it pulls the arc-shaped rotating blade 62 to swing upward and reset. In the decapitation process, the inverted slide assembly 2 moves the Z-shaped cantilever 3, which is fixed with the shrimp body, to the decapitation station. The electric push rod 61 extends and drives the arc-shaped rotating blade 62 to swing and pierce into and hook onto the skull. Then, the inverted slide assembly 2 moves the shrimp body backward a short distance. At this time, the shrimp body tends to move backward while the arc-shaped rotating blade 62 remains hooked. The relative motion between the two generates a shearing and tearing force, which cuts the connecting tissue between the shrimp head and the shrimp body, thereby achieving complete separation of the shrimp head.

[0039] Furthermore, such as Figure 5 As shown, it also includes a curtain-type unloading structure 8, which is set on the frame 1 between the head removal mechanism 6 and the shrimp line removal mechanism 5, and is located above the moving path of the adaptive clamping mechanism 4. It can make the processed crayfish fall off the adaptive clamping mechanism 4. The head removal mechanism 6, the shrimp line removal mechanism 5 and the lower frame 1 of the curtain-type unloading structure 8 are respectively provided with material boxes (9).

[0040] It should be noted that when the adaptive clamping mechanism 4 carries the crayfish from the initial station to the head removal, back opening, and gill removal station, the processing platform moves the crayfish from the outside to the inside through the curtain. The curtain, pushed inwards, swings inwards around the hinge to open, making way for the crayfish. After passing through, the curtain automatically returns to its original position and closes under gravity or elasticity. After the crayfish completes all processing steps such as head removal, back opening, and gill removal, the inverted slide assembly 2 drives the adaptive clamping mechanism 4 to move in the opposite direction and return to its original position. At this time, the grippers of the adaptive clamping mechanism 4 are released, and the crayfish is in a free-placed state. When the crayfish's tail... When the curtain comes into contact, since the curtain can only open inwards and not outwards, it forms a one-way blocking structure. Under the driving force of the slide continuing to move outwards, the curtain scrapes the crayfish off the processing platform of the adaptive clamping mechanism 4, causing the crayfish to detach from the adaptive clamping mechanism 4 and fall into the collection container below, thus achieving automatic unloading without an additional power source. The feed boxes 9 corresponding to the head removal mechanism 6, the shrimp vein removal mechanism 5, and the curtain-type unloading structure 8 can respectively collect the removed shrimp heads, shrimp veins, and processed shrimp meat. The waste generated by the back-opening and gill removal mechanism 7 shares a feed box 9 with the head removal mechanism 6.

[0041] Furthermore, such as Figure 5 As shown, the shrimp deveining mechanism 5 includes a mounting base 51, a clamp 52, and a transmission rope 53. The clamp 52 is fixed to the frame 1 by the mounting base 51. One end of the transmission rope 53 is connected to the clamp 52, and the other end is connected to the arc-shaped rotary cutter 62. The electric push rod 61 pushes the arc-shaped rotary cutter 62 to rotate, thereby driving the clamp 52 to clamp and release.

[0042] It should be noted that the mounting base 51 is fixedly mounted on the frame 1, providing a stable mounting foundation for the clamp 52; the clamp 52 is fixed to the frame 1 via the mounting base 51. This clamp 52 is a miniature gripper, initially in a closed / open position, used to grip the exposed shrimp vein at the tail of the crayfish; one end of the transmission rope 53 is connected to the drive end of the clamp 52, and the other end is connected to the arc-shaped rotating blade 62 of the head-removing mechanism 6, forming a flexible linkage transmission path; when the electric push rod 61 pushes the arc-shaped rotating blade 62 to rotate and perform the head-removing action, the rotational motion of the arc-shaped rotating blade 62 is transmitted through... The transmission rope 53 is transmitted to the drive end of the clamp 52, pulling the clamp 52 to close / open, thereby clamping / releasing the root of the shrimp line; when the electric push rod 61 retracts and drives the arc-shaped rotating blade 62 to rotate in the opposite direction to reset, the transmission rope 53 moves in the opposite direction, releasing the tension on the clamp 52, and the clamp 52 opens / closes under the action of its own spring preload; through this mechanical linkage design, there is no need to configure a separate drive motor 71 for the shrimp line removal mechanism 5. The clamping and releasing control of the clamp 52 can be realized by using the same power source that drives the arc-shaped rotating blade 62 through the electric push rod 61 in the head removal mechanism 6.

[0043] Furthermore, such as Figure 3 and Figure 4 As shown, the adaptive clamping mechanism 4 includes a contoured base plate 41, a linkage-type gripper assembly 42, and a gripper drive 43. The contoured base plate 41 is mounted on the Z-shaped cantilever 3 to support the lobster's abdomen. The linkage-type gripper assembly 42 includes an active turntable 421, a first connecting rod 422, a second connecting rod 423, a first gripper 424, and a second gripper 425. The two ends of the first connecting rod 422 are respectively hinged to the active turntable 421 and the first gripper 424, and the two ends of the second connecting rod 423 are respectively hinged to the active turntable 421 and the first gripper 425. The second gripper 425; the gripper drive 43 is connected to the active turntable 421 and is used to drive the active turntable 421 to rotate, thereby driving the first gripper 424 and the second gripper 425 to open and close synchronously relative to each other through the first link 422 and the second link 423, so as to grip or release the lobster body. The relative inner sides of the first gripper 424 and the second gripper 425 are provided with contoured curved surfaces. Anti-slip pins 44 are provided on both the contoured base plate 41 and the contoured curved surfaces. The adaptive clamping mechanism 4 is also provided with a magnetic suction rotating rod 45 to fix the shrimp claws.

[0044] It should be noted that the contoured base plate 41 is located on the upper bearing portion 31 of the Z-shaped cantilever 3, and its surface shape conforms to the outline of the crayfish's abdomen, serving to stably support the crayfish's abdomen and provide a positioning reference. The linkage-type gripper assembly 42 includes an active turntable 421, a first connecting rod 422, a second connecting rod 423, a first gripper 424, and a second gripper 425. The two ends of the first connecting rod 422 are hinged to the active turntable 421 and the first gripper 424, respectively, and the two ends of the second connecting rod 423 are hinged to the active turntable 421 and the second gripper 425, respectively, forming a symmetrical linkage transmission structure. The gripper drive 43 is connected to the active turntable 421. When the gripper drive 43 is energized, it drives the active turntable 421 to rotate around its axis, and the two hinge points on the active turntable 421 rotate accordingly. The rotation of the first link 422 and the second link 423 respectively drive the first gripper 424 and the second gripper 425 to swing synchronously towards the center or open outward around their respective fixed axes, realizing the relative opening and closing movement of the two grippers. Due to the symmetry of the linkage mechanism, the two grippers always maintain the centered movement, thereby gripping or releasing the crayfish tail. At the same time, the inner sides of the first gripper 424 and the second gripper 425 are provided with contoured curved surfaces optimized according to the contour of the crayfish tail. These contoured curved surfaces can closely fit the shape of the crayfish tail, so that the gripping force is evenly distributed on the surface of the crayfish tail. The contoured base plate 41 and the anti-slip pins 44 provided on the contoured curved surfaces are embedded in the crayfish shell when gripping, preventing the crayfish tail from slipping or rotating during processing, thereby realizing adaptive and stable gripping of crayfish tails of different sizes.

[0045] Furthermore, such as Figure 3 As shown, the Z-shaped cantilever 3 includes an upper bearing portion 31, a middle bending portion 32, and a lower connecting portion 33; the lower connecting portion 33 is tenon-and-mortise connected to the slider 23 and bolted in place, and the upper bearing portion 31 is provided with an adaptive clamping mechanism 4.

[0046] It should be noted that the upper bearing part 31 is used to set the adaptive clamping mechanism 4, providing a stable installation platform for the clamping mechanism; the middle bending part 32 adopts a bending design, so that the cantilever extends downward from the upper bearing part 31 to form a space avoidance, bypassing the execution mechanism of the middle station, and vertically offsetting the upper bearing part 31 and the lower connecting part 33, thereby avoiding interference between the cantilever and other mechanisms during movement; the lower connecting part 33 and the slider 23 of the inverted slide assembly 2 are fixedly connected by mortise and tenon joint and bolt locking. The mortise and tenon structure realizes positioning and initial limit, and the bolt provides fastening force to prevent loosening. The combination of the two forms a double fixation; when the slider 23 moves axially under the drive of the inverted slide assembly 2, the lower connecting part 33 moves synchronously with the slider 23. Through the rigid transmission of the middle bending part 32, it drives the upper bearing part 31 and the adaptive clamping mechanism 4 on it to move together, thereby accurately transmitting the linear motion of the top of the slider 23 to the bottom processing area, realizing the transfer of crayfish between various processing stations.

[0047] Furthermore, it also includes a timing control system 10, which includes a main control unit, a position sensor, an angle sensor, and an emergency stop module. The position sensor is used to detect the displacement position of the slider 23, and the angle sensor is used to detect the rotation angle of the arc-shaped rotary blade 62. The main control unit controls the actions of the inverted slide assembly 2, the head removal mechanism 6, the back opening and gill removal mechanism 7, and the shrimp vein removal mechanism 5 according to the detection signals of the sensors and in a preset timing sequence.

[0048] It should be noted that the main control unit uses a microcontroller as the control core, responsible for receiving detection signals from various sensors, executing preset control programs, and outputting control commands. The position sensors employ multiple limit switches arranged along the travel direction of the inverted slide assembly 2. When the slider 23 moves to the shrimp deveining station, head removal station, back-opening and gill removal station, or the origin station, the trigger block on the slider 23 touches the corresponding limit switch. The limit switch generates an electrical signal and sends it to the main control unit, which then determines the real-time displacement position of the slider 23. The angle sensors include a potentiometer built into the electric push rod 61 and an angle feedback module for the servo motor. The potentiometer detects the extension and retraction displacement of the electric push rod 61 in real time and converts it into the rotation angle of the arc-shaped rotary cutter 62. The angle feedback module detects the opening and closing angle of the servo-driven gripper in real time. Both sensors convert the angle... The degree signal is sent to the main control unit; the emergency stop module adopts a mushroom-shaped emergency stop button independent of the main control system power supply circuit. After pressing the emergency stop button, the power supply of all actuators is directly cut off, and the equipment status is forcibly locked; after receiving the detection signals from the position sensor and angle sensor, the main control unit compares and judges them with the preset timing control program. When the slider 23 reaches the designated position and the arc-shaped rotary cutter 62 is in the correct position, the main control unit sends start and stop commands to the stepper motor 21 driver of the inverted slide assembly 2, the electric push rod 61 drive plate of the head removal mechanism 6, the drive motor 71 of the back opening and gill removal mechanism 7, and the servo drive module of the shrimp line removal mechanism 5 in sequence according to the preset timing. This controls each mechanism to perform feeding, retraction, clamping, cutting, and brushing actions in sequence, thereby realizing the full-process automated timing control.

[0049] The working principle and usage method of an integrated automatic crayfish processing device according to this embodiment: This embodiment provides an integrated automatic crayfish processing device. An inverted slide assembly 2 provides precise axial linear power, driving a Z-shaped cantilever and an adaptive clamping mechanism 4 to stably transfer crayfish at each workstation. The adaptive clamping mechanism 4 uses a single-power-source linkage-type double-claw structure to achieve contour-following centering clamping of the crayfish, providing reliable positioning for each processing step. The device operates in a coordinated sequence of removing the shrimp vein, head, and back and gill removal. The shrimp vein removal mechanism 5 is mechanically linked to the head removal mechanism 6 via a transmission rope 53. The clamp 52 holds the shrimp vein, and the slide retraction completes the complete extraction of the shrimp vein. The head removal mechanism 6 uses an electric push rod 61 to drive an arc-shaped rotating blade 62 to pierce and hook the shrimp skull at a set angle. Combined with the shearing force generated by the slide retraction, the shrimp head is completely separated from the body. The back and gill removal mechanism 7 is powered by a single motor connected to a U-shaped belt. The grooved wheel completes the spatial power transmission and reversal, synchronously driving the circular saw blade 732 to rotate and open the back, and the double steel wire brush 742 to rotate in the opposite direction to brush away the shrimp gills. After processing, the curtain-type unloading structure 8 uses the blocking force of the slide table return to automatically scrape the processed crayfish off the adaptive clamping mechanism 4. Throughout the process, all mechanisms work together precisely according to the preset time sequence, and the entire process of removing the shrimp vein, head, back, and gills of crayfish can be automated without human intervention.

[0050] During use, after the equipment is powered on, the main control unit of the timing control system 10 performs an initialization self-test, driving the inverted slide assembly 2 to reset the slider 23 and the Z-shaped cantilever 3 to the origin position. The grippers of the adaptive clamping mechanism 4 are in the open state, the arc-shaped rotary blade 62 of the head removal mechanism 6 and the clamp 52 of the shrimp vein removal mechanism 5 are both in the standby position, and the drive motor 71 of the back-opening and gill-removing mechanism 7 is in the off state. The crayfish is placed belly-down on the contoured base plate 41 of the upper bearing part 31 of the Z-shaped cantilever 3, with the tail facing the shrimp vein removal mechanism 5. After pressing the clamping switch, the crayfish automatically... The servo motor driving the active turntable 421 of the clamping mechanism 4 rotates, which in turn drives the first gripper 424 and the second gripper 425 to close synchronously towards the center via the first link 422 and the second link 423. The contoured curved surface and anti-slip teeth securely fix the shrimp tail, while the front magnetic rotating rod fixes the shrimp claws. After pressing the start button, the main control unit controls the stepper motor 21 to drive the slider 23 to move forward according to a preset timing sequence. When the position sensor detects that the slider 23 has reached the deveining station, the clamp 52 of the deveining mechanism 5 closes in conjunction with the transmission rope 53 to clamp the root of the shrimp vein. Then, the stepper motor... Stepper motor 21 drives slider 23 to move in the opposite direction for a short distance, using relative motion to completely pull out the shrimp vein; slider 23 continues to move forward to the head removal station, the main control unit commands electric push rod 61 to extend, driving arc-shaped rotary blade 62 to swing down at a set angle, its pointed conical blade tip pierces into the shrimp head and hooks the inside of the skull with micro-hooks, then stepper motor 21 drives slider 23 to retreat a short distance, generating shearing force to separate the shrimp head from the shrimp body, then electric push rod 61 retracts to drive arc-shaped rotary blade 62 to reset, the shrimp head stuck at the blade tip is knocked off by rotary blade support 63 under the action of inertia and gravity; Slider 23 continues to move forward to the back-opening and gill-removing station. At this time, the drive motor 71 of the back-opening and gill-removing mechanism 7 has been started. It drives the circular saw blade 732 to rotate at high speed to cut the shrimp back through the O-shaped circular belt and the U-shaped groove wheel, and the two counter-rotating wire brushes 742 brush away the gill filaments on both sides of the shrimp head. After all the processing is completed, the stepper motor 21 drives slider 23 to move in the reverse direction to the origin station. During this process, the grippers of the adaptive clamping mechanism 4 open, and the one-way blocking characteristic of the curtain-type unloading structure 8 scrapes the processed crayfish off the processing platform into the collection container.

[0051] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is only used to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

[0052] In the description of this invention, it should be understood that the terms "upper", "lower", "upper end", "lower end", "upper surface", "lower surface", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing this invention 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, and therefore should not be construed as a limitation of this invention.

Claims

1. An integrated automatic processing device for crayfish, characterized in that, include: The machine comprises a frame (1), an inverted slide assembly (2), a Z-shaped cantilever (3), an adaptive clamping mechanism (4), a shrimp deveining mechanism (5), a head removal mechanism (6), and a back-opening and gill removal mechanism (7). The inverted slide assembly (2) is mounted on the frame (1). The lower end of the Z-shaped cantilever (3) is fixedly connected to the slider (23) of the inverted slide assembly (2) and can move along the axial direction of the inverted slide assembly (2). The adaptive clamping mechanism (4) is mounted on the Z-shaped cantilever (3) and is located on the inverted slide assembly (2). On one side, the shrimp body is fixed. The shrimp line removal mechanism (5) is set on the frame (1) on one side of the inverted slide assembly (2) and is located on the same axis as the adaptive clamping mechanism (4). It can clamp the tail of the crayfish on the adaptive clamping mechanism (4). The head removal mechanism (6) and the back opening and gill removal mechanism (7) are set on the frame (1) above the moving path of the adaptive clamping mechanism (4) and can perform head removal, back opening and gill removal processing actions on the crayfish in sequence.

2. The integrated automatic crayfish processing device as described in claim 1, characterized in that: The back-opening and gill-removing mechanism (7) includes a drive motor (71), a transmission belt (72), a back-opening assembly (73), and a gill-removing assembly (74). The drive motor (71) is fixedly installed on the frame (1). The output shaft of the drive motor (71) is connected to the back-opening assembly (73) and the gill-removing assembly (74) respectively via the transmission belt (72). The back-opening assembly (73) includes a saw blade shaft (731) and a circular saw blade (732) installed on the saw blade shaft (731), which can rotate to cut the back of the shrimp. The gill-removing assembly (74) includes two brush shafts (741) and two wire brushes (742). The two wire brushes (742) rotate in opposite directions and are used to brush the gills off both sides of the crayfish.

3. The integrated automatic crayfish processing device as described in claim 2, characterized in that: The transmission belt (72) is an O-shaped round belt. The output shaft of the drive motor (71), the saw blade shaft (731) and the brush disc shaft (741) are respectively provided with U-shaped grooved pulleys. The O-shaped round belt is wound between each U-shaped grooved pulley. The two brush disc shafts (741) achieve reverse rotation by cross-winding the belts. The belt segment connected to the brush disc shaft (741) has spatial torsion to realize the conversion of the power transmission direction.

4. The integrated automatic crayfish processing device as described in claim 1, characterized in that: The inverted slide assembly (2) includes a stepper motor (21), a transmission screw (22), a slider (23), and a mounting rail (24). The mounting rail (24) is fixed on the frame (1) along the axial direction of the frame (1). The transmission screw (22) is arranged below the mounting rail (24) along the axial direction of the mounting rail (24) and is connected to the stepper motor (21) for transmission. The slider (23) is threadedly engaged with the transmission screw (22) and is slidably connected to the mounting rail (24).

5. The integrated automatic crayfish processing device as described in claim 1, characterized in that: The head removal mechanism (6) includes an electric push rod (61), an arc-shaped rotary blade (62), and a rotary blade support (63). The arc-shaped rotary blade (62) is rotatably connected to the rotary blade support (63). One end of the electric push rod (61) is hinged to the frame (1), and the other end is hinged to the arc-shaped rotary blade (62). It can drive the arc-shaped rotary blade (62) to swing at a set angle to pierce the shrimp head and hook the skull. The shearing force generated by the backward movement of the inverted slide assembly (2) can achieve complete separation of the shrimp head.

6. The integrated automatic crayfish processing device as described in claim 4, characterized in that: It also includes a curtain-type unloading structure (8), which is set on the frame (1) between the head removal mechanism (6) and the shrimp line removal mechanism (5) and is located above the moving path of the adaptive clamping mechanism (4), and can make the processed crayfish fall off the adaptive clamping mechanism (4). The head removal mechanism (6), the shrimp line removal mechanism (5) and the curtain-type unloading structure (8) are respectively provided with material boxes (9) on the frame (1) below them.

7. The integrated automatic crayfish processing device as described in claim 4, characterized in that: The shrimp deveining mechanism (5) includes a mounting base (51), a clamp (52), and a transmission rope (53). The clamp (52) is fixed on the frame (1) by the mounting base (51). One end of the transmission rope (53) is connected to the clamp (52), and the other end is connected to the arc-shaped rotary cutter (62). The arc-shaped rotary cutter (62) is rotated by the electric push rod (61) to drive the clamp (52) to clamp and release.

8. The integrated automatic crayfish processing device as described in claim 1, characterized in that: The adaptive clamping mechanism (4) includes a contoured base plate (41), a linkage gripper assembly (42), and a gripper drive (43). The contoured base plate (41) is mounted on the Z-shaped cantilever (3) and is used to support the lobster's abdomen. The linkage gripper assembly (42) includes an active turntable (421), a first link (422), a second link (423), a first gripper (424), and a second gripper (425). The two ends of the first link (422) are respectively hinged to the active turntable (421) and the first gripper (424), and the two ends of the second link (423) are respectively hinged to the active turntable (421). The first claw (424) and the second claw (425) are connected to the active turntable (421) and are used to drive the active turntable (421) to rotate. Then, through the first link (422) and the second link (423), the first claw (424) and the second claw (425) are driven to open and close synchronously relative to each other to clamp or release the lobster body. The first claw (424) and the second claw (425) are provided with contoured curved surfaces on their relative inner sides. Anti-slip pins (44) are provided on both the contoured base plate (41) and the contoured curved surface. The adaptive clamping mechanism (4) is also provided with a magnetic rotating rod (45) to fix the shrimp claw.

9. The integrated automatic crayfish processing device as described in claim 1, characterized in that: The Z-shaped cantilever (3) includes an upper bearing part (31), a middle bending part (32) and a lower connecting part (33); the lower connecting part (33) is tenon-and-mortise connected to the slider (23) and bolted, and the upper bearing part (31) is provided with an adaptive clamping mechanism (4).

10. The integrated automatic crayfish processing device as described in claim 1, characterized in that: It also includes a timing control system (10), which includes a main control unit, a position sensor, an angle sensor and an emergency stop module. The position sensor is used to detect the displacement position of the slider (23), and the angle sensor is used to detect the rotation angle of the arc-shaped rotary blade (62). The main control unit controls the actions of the inverted slide assembly (2), the head removal mechanism (6), the back opening and gill removal mechanism (7) and the shrimp vein removal mechanism (5) according to the detection signal of the sensor and according to the preset timing.

Images