A fully automatic multifunctional fresh shrimp shelling machine

Abstract

This invention belongs to the technical field of shrimp processing equipment and discloses a fully automatic multi-functional fresh shrimp peeling machine. The machine frame is equipped with an eddy current input device, a chute device, a robotic arm module, a hinged plastic support module, a track module, shrimp body grippers, a worm gear transmission device, a shrimp head cutting device, a shrimp back opening device, a shrimp vein sweeping device, a shrimp insertion device, an output module, and a water circulation system. The eddy current input device transports fresh shrimp to the chute device with their heads facing a fixed position. The robotic arm module transports the fresh shrimp from the chute device to the hinged plastic support module. The hinged plastic support module moves the fresh shrimp and cuts their heads using the shrimp head cutting device. The track module has multiple shrimp body grippers connected in sequence, and the worm gear transmission device drives the shrimp body grippers to circulate on the track module. The beneficial effects of this invention are: it can automatically complete a series of steps such as transporting shrimp, removing shrimp heads, removing shrimp shells, removing shrimp veins, and cleaning; it is environmentally friendly and ensures the quality of the finished product.

Description

Technical Field

[0001] This invention relates to the field of shrimp processing equipment technology, and in particular to a fully automatic multi-functional fresh shrimp peeling machine. Background Technology

[0002] In the domestic shrimp processing equipment sector, shrimp processing equipment serves as a core component of the aquatic product processing industry, playing a crucial role throughout the entire shrimp production process, from raw material handling to finished product packaging. It provides irreplaceable support for the industry's efficiency, quality, safety, and large-scale development. Currently, manual shrimp peeling and semi-automatic shrimp peeling machines are still prevalent in China. While there has been continuous optimization towards automation, shortcomings remain, such as poor product quality due to manual operation, seasonal labor shortages, and food hygiene issues.

[0003] Currently, mainstream shrimp peeling equipment generally suffers from several common problems: During shrimp transportation, workers on an assembly line must manually place the shrimp into the designated slots, making it impossible to achieve fully automated processing of the entire shrimp meat. Due to the assembly line nature of the equipment, it occupies a large area, reducing production efficiency. The lack of a water circulation system, or the existence of only a rudimentary one, leads to water waste during the shrimp washing process. Taking the multi-functional shrimp peeling equipment described in Chinese Patent 200920195244.4 as an example, it includes a chain conveyor belt, a rotating worktable, a shrimp cutting device, a deveining device, and a shrimp meat-shell separation device. After setting the parameters, workers manually place the headless shrimp into the slot, where a roller rotates, a cutting mechanism opens the back, a brush removes the intestines, and after washing, a shrimp-piercing lifting system peels off the shell. This machine has a large overall footprint, low overall efficiency, and lacks a water circulation system in the washing device, neglecting the importance of water resources.

[0004] Therefore, it is necessary to provide a fully automatic multi-functional shrimp peeling machine. Relying on a mechanical system, easy maintenance, and a simplified control system, this fully automatic multi-functional shrimp peeling machine can automatically complete a series of steps such as transporting shrimp, removing shrimp heads, removing shrimp shells, removing shrimp veins, and cleaning, reducing labor input, being environmentally friendly, and ensuring the quality of the finished product. Summary of the Invention

[0005] This invention discloses a fully automatic multi-functional shrimp peeling machine, which can effectively solve the technical problems involved in the background art.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows:

[0007] A fully automatic multi-functional shrimp peeling machine includes a frame, on which are mounted a vortex input device, a chute device, a robotic arm module, a hinged plastic support module, a track module, a shrimp body gripper device, a worm gear transmission device, a shrimp head cutting device, a shrimp back opening device, a shrimp vein sweeping device, a shrimp insertion device, an output module, and a water circulation system. The vortex input device conveys fresh shrimp to the chute device with their heads facing a fixed position. The robotic arm module conveys the fresh shrimp from the chute device to the hinged plastic support module. The hinged plastic support module moves the fresh shrimp and cuts their heads via the shrimp head cutting device. The track module is equipped with... The shrimp body gripper device, with its worm gear transmission, is used to drive the shrimp body gripper device to move (cyclically or reciprocally) on the track module. The shrimp body gripper device grabs the shrimp body with the head removed from the hinged plastic support module. The shrimp body gripper device drives the shrimp body to pass sequentially through the shrimp back opening device and the shrimp line sweeping device for processing. The shrimp insertion device fixes the processed shrimp body and separates it from the shrimp shell of the shrimp body gripper device. The output module includes a shrimp shell collection box and a shrimp head collection box. The water circulation system includes a large water tank corresponding to the vortex input device and a small water tank corresponding to the shrimp line sweeping device.

[0008] As a preferred improvement of the present invention: the eddy current input device includes an input tank, a water pump, a hose, and a water pipe clamping sleeve. The input tank is mounted on the frame, and the input tank is connected to the water pump via the hose. The water pump is connected to the large water tank. The water pipe clamping sleeve is provided at the outlet of the input tank, and a water outlet is provided on the side wall of the water pipe clamping sleeve. The chute device includes a trough support, a synchronous belt slide three, and a guide rail one mounted on the frame. The slider of the synchronous belt slide three is connected to a water trough support one. The water trough support one is connected to the guide rail one via a flange slider. A water trough support two is mounted on the water trough support one, and two fresh shrimp are mounted on the water trough support two. The plastic tray, with a Y-shaped trough module fixed on the trough support, includes a Y-shaped trough, a Y-shaped component, and a 694Z bearing. The Y-shaped trough is installed on the trough support, and the Y-shaped component is installed on the upper surface of the Y-shaped trough via the 694Z bearing. The inlet of the Y-shaped trough is connected to the water pipe clamping sleeve via an input water pipe. The Y-shaped trough has two outlets. The Y-shaped component sequentially guides fresh shrimp into the two outlets of the Y-shaped trough. The synchronous belt slide moves the plastic tray containing the fresh shrimp between the outlets of the Y-shaped trough and the robotic arm module. Water from the vortex input device and the trough device flows back to the large water tank via a water guide device. Specifically, the water pump creates a vortex in the input bucket, causing the shrimp to enter the water pipe clamping sleeve head-down after being placed in. Shrimp can be placed manually or in a container. The robotic arm grabs the shrimp and places them on a conveyor belt, which then guides them into the input bucket, achieving a fully automated process.

[0009] As a preferred improvement of the present invention: the robotic arm module includes a second synchronous belt slide, the output end of which is connected to a first synchronous belt slide, and the output end of the first synchronous belt slide is connected to a gripper main beam. The second synchronous belt slide drives the first synchronous belt slide to move horizontally, and the first synchronous belt slide drives the gripper main beam to move vertically. The gripper main beam is provided with two horizontally arranged slide rails, each slide rail slidably connected to a gripper frame. The gripper frame has an inclined slot, and each gripper frame has two grippers at its bottom. Each gripper has a rotatably connected gripper triangular head at its bottom, and the gripper triangular head is also connected to the gripper via a gripper tension spring. The gripper main beam is provided with an optical axis. A gripper top plate is fixed above the optical axis. A micro motor is installed on the gripper top plate. An SCS8UU box-type slider is slidably connected to the optical axis. The SCS8UU box-type slider is connected to a fixed beam. The output end of the micro motor is connected to a pin. The pin passes through the fixed beam and is inserted into the inclined slot of the gripper frame. The micro motor drives the pin to move up and down, thereby causing the gripper frame to move horizontally. The two grippers move in opposite directions. The gripper frame drives the gripper to move and grab the fresh shrimp in the plastic tray of the fresh shrimp that has been rinsed. The synchronous belt slide drives the gripper triangular head to move down. The gripper triangular head contacts the plastic tray of the fresh shrimp that has been rinsed and rotates under force, thereby causing the fresh shrimp to stand up.

[0010] As a preferred improvement of the present invention: the hinged plastic tray module includes a chain with trunnions, a positioning plate, and four supports mounted on the frame. NE205E bearings are mounted on the supports. One NE205E bearing is connected to sprocket shaft one, and the other three NE205E bearings are connected to sprocket shaft two. Both sprocket shaft one and sprocket shaft two are equipped with chain meshing gears. The chain with trunnions connects to the four chain meshing gears. Multiple fixing plates are mounted on the chain with trunnions, and shrimp plastic trays are mounted on the fixing plates. Sprocket shaft one is connected to a 25W motor via a LYCA-2030 plum blossom coupling. The 25W motor is mounted on a motor bracket one. The positioning plate is positioned corresponding to the chain with trunnions. The robotic arm module places the shrimp in the shrimp plastic tray, and the 25W motor drives the chain with trunnions to rotate, causing the shrimp plastic tray to pass through the shrimp head cutting device.

[0011] As a preferred improvement of the present invention: a plurality of shrimp body gripper devices are slidably connected to the track module in sequence; the track module includes a middle track mounted on the frame, and an inner ring module, an upper track module, and a lower track module are mounted on the middle track; the shrimp body gripper device includes a track clamp, the track clamp being slidably connected to the inner ring module via rubber wheels; two opposing shrimp tail clamps are hinged to the track clamp, and a shrimp tail clamp tension spring (for resetting) is provided between the two shrimp tail clamps; two opposing shrimp body clamps are hinged to the track clamp, and a shrimp body clamp tension spring is provided between the two shrimp body clamps; both the shrimp body clamps and the shrimp tail clamps are provided with shrimp tail clamp axles, and a second rubber wheel (as a shrimp body gripper) is mounted on the shrimp tail clamp axle. The inner ring module has a protrusion corresponding to the position of the second rubber wheel (trigger point for opening and closing of the clamp and shrimp tail clamp); a slotted slider is slidably connected to the shrimp body clamp, the upper end of the slotted slider is fixed with a shrimp body gripper, and the lower end is connected to a second connector, the second connector is mounted on the first connector via a 694Z bearing, the first connector is connected to a semi-circular pin via a standard type split fixing ring, the semi-circular pin is connected to the lower wheel axle frame, a guide wheel is mounted on the lower wheel axle frame (as the trigger point for the up and down movement of the shrimp body clamp), the guide wheel is located between the upper track module and the lower track module, and a protrusion is provided between the upper track module and the lower track module; a long bolt is mounted on the track clamp, and the worm gear transmission device is used to drive the long bolt.

[0012] As a preferred improvement of the present invention: the worm gear transmission device includes a worm motor base and two worm bases mounted on the frame. The two worm bases are arranged opposite each other and each is equipped with a cylindrical roller bearing NH204E. A worm shaft is connected between the two cylindrical roller bearings NH204E. A transmission worm is provided on the worm shaft. Worm bushings are provided on both sides of the transmission worm. A worm gear motor is fixed on the worm motor base. The worm gear motor is connected to one end of the worm shaft through a LYCA-4050 plum blossom coupling. The transmission worm is arranged corresponding to the position of the long bolt, and at least one of the long bolts is in contact with the transmission worm.

[0013] As a preferred improvement of the present invention: the shrimp head cutting device includes a motor bracket two mounted on the frame, a brushed permanent current DC high-speed motor mounted on the motor bracket two, the brushed permanent current DC high-speed motor being connected to a feeding rod via a LYCA-1422 plum blossom coupling, and a 60mm circular saw blade being fixed on the feeding rod.

[0014] As a preferred improvement of the present invention: the shrimp back-opening device includes a cutting base mounted on the frame, a motor bracket on the cutting base, a JGB37-545 DC geared motor on the motor bracket, the output end of the JGB37-545 DC geared motor being connected to a shrimp back-opening connecting shaft via a CFCA-D20-25 plum blossom coupling, and a 44-tooth-5-S3M100-B synchronous pulley mounted on the shrimp back-opening connecting shaft; a fixed cutter head seat on the cutting base, an F608ZZ flange bearing mounted on the fixed cutter head seat, and a second shrimp back-opening connecting shaft connected to the F608ZZ flange bearing; a 100mm circular saw blade is connected to one end of the second shrimp back-opening connecting shaft, and an 18-tooth-5-S3M100-K synchronous pulley is connected to the other end; the 44-tooth-5-S3M100-B synchronous pulley and the 18-tooth-5-S3M100-K synchronous pulley are connected by a shrimp back-opening synchronous belt.

[0015] As a preferred improvement of the present invention: the shrimp-sweeping device includes a shrimp-sweeping line base mounted on the frame, the shrimp-sweeping line base being provided with two spaced-apart 698ZZ bearings, and a shrimp-sweeping line shaft one and a shrimp-sweeping line shaft two respectively connected to the two 698ZZ bearings. One end of the shrimp-sweeping line shaft one and one end of the shrimp-sweeping line shaft two are each provided with arc-shaped HTD5M-A teeth, the two arc-shaped HTD5M-A teeth being connected by a shrimp-sweeping line timing belt. The other end of the shrimp-sweeping line shaft one is provided with a shrimp-sweeping line disc one. The other end of the shrimp-sweeping shaft two is provided with a shrimp-sweeping disc two; a 31ZY motor is installed on the shrimp-sweeping base, and the output end of the 31ZY motor is connected to one end of the shrimp-sweeping shaft one through a CI-19×23-3×8 coupling; the shrimp-sweeping device also includes a plastic spray pipe, one end of which is connected to the small water tank through a cleaning water pump, and the other end is set towards the shrimp-sweeping disc one and the shrimp-sweeping disc two. The water at the shrimp-sweeping device flows back to the small water tank through the water guiding device two, and a filter screen is provided in the small water tank.

[0016] As a preferred improvement of the present invention: the shrimp insertion device includes an electric cylinder base fixed on the frame, the electric cylinder base is provided with a 24V-30mm 75-stroke electric cylinder and a waterproof base, the 24V-30mm 75-stroke electric cylinder is located inside the waterproof base, and the output end of the 24V-30mm 75-stroke electric cylinder passes upward through the waterproof base and is connected to the shrimp-retrieving needle, a support body is provided above the waterproof base, a shrimp feeding groove is provided above the support body, the shrimp feeding groove has a straight groove opening, and the 24V-30mm 75-stroke electric cylinder drives the shrimp-retrieving needle to move at the straight groove opening.

[0017] The beneficial effects of this invention are as follows:

[0018] This invention provides a fully automatic multifunctional shrimp peeling device, including a vortex input module, a robotic arm module, and a shrimp head cutting module. With the help of the vortex input module, the shrimp can enter the device more evenly, facilitating the precise operation of subsequent steps such as the robotic arm module and the shrimp head cutting module. This makes the peeling process smoother and more efficient, significantly improving the speed and efficiency of shrimp peeling and better ensuring the integrity of the shrimp after peeling. It is suitable for large-scale shrimp processing scenarios, reducing processing costs and improving production efficiency. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0020] Figure 1 This is a schematic diagram of a fully automatic multi-functional shrimp peeling machine according to the present invention;

[0021] Figure 2 Side view of a fully automatic multi-functional shrimp peeling machine Figure 1 ;

[0022] Figure 3 for Figure 2 Enlarged diagram of the middle section;

[0023] Figure 4 Side view of a fully automatic multi-functional shrimp peeling machine Figure 2 ;

[0024] Figure 5 This is a schematic diagram of the frame structure of the present invention;

[0025] Figure 6 A schematic diagram of a partial assembly of the water circulation system;

[0026] Figure 7 This is a schematic diagram of the eddy current input device of the present invention;

[0027] Figure 8 This is a schematic diagram of the slide module structure of the present invention;

[0028] Figure 9 This is a schematic diagram of the robotic arm module structure of the present invention. Figure 1 ;

[0029] Figure 10 This is a schematic diagram of the robotic arm module structure of the present invention. Figure 2 ;

[0030] Figure 11 This is a schematic diagram of the optical axis limiting device of the present invention;

[0031] Figure 12 This is a schematic diagram of the second optical axis limiting device of the present invention;

[0032] Figure 13 This is a schematic diagram of the hinge plastic support module structure of the present invention;

[0033] Figure 14 This is a schematic diagram of the track module structure of the present invention;

[0034] Figure 15 This is a schematic diagram of the shrimp body gripper module structure of the present invention;

[0035] Figure 16 This is a schematic diagram of the worm gear transmission device of the present invention;

[0036] Figure 17 This is a schematic diagram of the shrimp head cutting device of the present invention;

[0037] Figure 18 This is a schematic diagram of the shrimp back-opening device of the present invention;

[0038] Figure 19 This is a schematic diagram of the cutting base structure of the present invention;

[0039] Figure 20 This is a schematic diagram of the shrimp-sweeping device of the present invention;

[0040] Figure 21 This is a schematic diagram of the shrimp insertion device of the present invention;

[0041] Figure 22 This is a schematic diagram of the four-structure support plate of the present invention;

[0042] Figure 23 This is a schematic diagram of the three-structure support plate of the present invention;

[0043] Figure 24 This is a schematic diagram of the process of clamping the shrimp tail in this invention;

[0044] Figure 25 This is a schematic diagram of the long bolt movement mechanism of the present invention.

[0045] In the diagram: 1-Eddy current input device mounting position, 2-Aluminum profile one, 4-Slide rail device mounting position, 5-Aluminum profile two, 6-Aluminum profile, 7-Robot arm module mounting position, 8-Aluminum profile three, 9-Aluminum profile four, 12-Hinge plastic support module mounting position, 13-Aluminum profile five, 14-Support frame, 15-Aluminum profile seven, 16-Aluminum profile eight, 17-Rail module mounting position, 18-Rail support, 19-Aluminum profile nine, 20-Rail support clamp, 21-Support rod, 22-Aluminum profile ten, 23-Hinge, 24-Washer, 25-Bent hinge, 26-Straight hinge, 27-Aluminum profile eleven, 28-Waterproof plate five, 29-Shrimp back opening device mounting hole, 30-Shrimp line sweeping device mounting hole, 90-Fixing plate one, 91-Fixing plate II. 100-Frame, 101-Support Plate 1, 102-Support Plate 2, 103-Support Plate 4, 104-Waterproof Plate 3 Mounting Position, 110-Support Plate 3, 111-Rail Support Mounting Hole, 112-Worm Gear Motor Base Mounting Hole, 113-Worm Gear Base Mounting Hole, 200-Eddy Current Input Device, 210-Input Bucket, 211-Water Pump, 212-Hose, 213-Water Pipe Clamping Sleeve, 300-Slide Mechanism, 310-Input Water Pipe, 320-Y-Type Slotting Module, 321-Y-Type Slotting, 322-Y-Type Component, 323-694Z Bearing, 330-Slotting Support, 340-Water-Passing Plastic Support Module, 350-Synchronous Belt Slide Table 3, 341-Guide Rail 1, 342-Flange Slider, 343- Angle support column, 344-Water trough support bracket one, 345-Water trough support bracket two, 346-Water-transfer shrimp plastic tray, 347-20-20JJ corner fitting, 400-Robot arm module, 411-Synchronous belt slide table one, 412-Synchronous belt slide table two, 413-Micro motor, 414-Gripper, 415-Slide rail two, 417-Gripper frame, 418-Gripper triangular head, 419-Gripper tension spring, 420-Optical axis limiting device one, 421-2040 aluminum profile 230mm, 422-Ear plate, 423-230mm optical axis, 424-SCS8UU box-type slider, 430-Optical axis limiting device two, 431-2040 aluminum profile 530mm, 433-530mm optical axis, 441-Carbon fiber thin rod 442-Grab top plate, 443-Optical shaft one, 444-SCS8UU box-type slider, 445-Horizontal optical shaft support, 446-Pin shaft, 447-Fine pin shaft, 448-Grab main beam, 449-Connector one, 450-Connector two, 451-Cross connector one, 452-Cross connector two, 453-Fixing plate, 454-Fixing plate spacer, 455-Fixing beam, 500-Hinge plastic support module, 501-Chain with trunnion, 502-Shrimp plastic support, 503-Chain meshing gear, 504-Support, 505-NE205E bearing, 506-Sprocket shaft one, 507-Sprocket shaft two, 508-Sprocket shaft sleeve, 509-Fixing strip, 510-Positioning plate, 511-25W motor512-LYCA-2030 plum blossom coupling, 513-motor bracket one, 600-track module, 601-intermediate track, 610-inner ring one, 611-inner ring two, 612-inner ring three, 613-inner ring four, 614-inner ring five, 615-inner ring six, 616-inner ring seven, 617-inner ring eight, 618-inner ring nine, 619-inner ring ten, 620-inner ring eleven, 621-inner ring twelve, 622-inner ring thirteen, 623-inner ring fourteen, 630-upper track one, 631-upper track two, 632-upper track three, 633-upper track four, 634-upper track five, 635-upper track six, 636-upper track seven, 637-upper track eight, 638-upper track nine, 639-upper track Track 10, 640-Upper Track 11, 641-Upper Track 12, 642-Upper Track 13, 643-Upper Track 14, 650-Lower Track 1, 651-Lower Track 2, 652-Lower Track 3, 653-Lower Track 4, 654-Lower Track 5, 655-Lower Track 6, 656-Lower Track 7, 657-Lower Track 8, 658-Lower Track 9, 659-Lower Track 10, 660-Lower Track 11, 661-Lower Track 12, 662-Lower Track 13, 663-Lower Track 14, 700-Shrimp Body Gripper Device, 701-Rubber Wheel, 702-Rubber Wheel 2, 703-Guide Wheel, 704-Shrimp Tail Clamp, 705-Rail Clamp, 706-Shrimp Tail Clamp Axle, 707-Shrimp Body Clamp, 708-Connector Device 1, 709-Connector 2, 710-Slotted slider, 711-Shrimp body gripper, 712-Semi-circular pin, 713-Lower wheel axle bracket, 714-Z969 bearing, 715-694Z bearing, 716-Standard type split retaining ring, 717-Long bolt, 718-Shrimp tail clamp spring, 719-Shrimp body clamp spring, 800-Worm gear drive device, 801-Worm gear motor base, 802-LYCA-4050 plum blossom coupling, 803-Worm base, 804-Cylindrical roller bearing NH204E, 805-Worm bushing, 806-Worm shaft, 807-Transmission worm, 808-Wheel motor, 900-Shrimp head cutting device, 901-Motor bracket 2, 902-Brushed permanent current DC high-speed motor, 90 3-LYCA-1422 plum blossom coupling, 904-feeding rod, 905-60mm circular saw blade, 1000-shrimp back opening device, 1001-cutting base, 1002-fixed cutter head seat, 1003-bearing cover, 1004-JGB37-545 DC geared motor, 1005-motor bracket, 1007-44-tooth-5-S3M100-B synchronous pulley, 1008-18-tooth-5-S3M100-K synchronous pulley, 1009-shrimp back opening synchronous belt, 1010-100mm circular saw blade, 1011-saw blade bar rear lock type, 1012-saw blade bar nut lock, 1013-F608ZZ flange bearing, 1014-shrimp back opening connecting shaft, 1015-shrimp back opening connecting shaft II1016-CFCA-D20-25 Plum Blossom Coupling, 1100-Shrimp Line Sweeping Device, 1102-Shrimp Line Sweeping Base, 1103-31ZY Motor, 1104-CI-19×23-3×8 Coupling, 1105-Arc-shaped Gear HTD5M-A, 1106-Shrimp Line Sweeping Synchronous Belt, 1107-Shrimp Line Sweeping Shaft One, 1108-Shrimp Line Sweeping Shaft Two, 1109-Shrimp Line Sleeve, 1110-Shrimp Line Sweeping Reel One, 1111-Shrimp Line Sweeping Reel Two, 1113-698ZZ Bearing, 1200-Shrimp Insertion Device, 1201-24V-30mm 75-stroke electric cylinder, 1202-electric cylinder base, 1203-shrimp-retrieving needle, 1204-support body, 1205-anti-collision rubber, 1206-waterproof base, 1207-shrimp feeding trough, 1310-feeding trough, 1320-shrimp shell collection box, 1330-shrimp head collection box, 1401-large water tank, 1402-small water tank, 1403-water baffle, 1404-water baffle two, 1405-water baffle three, 1406-water baffle four, 1407-fixed plate corner support. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0047] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0048] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0049] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0050] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0051] Please see Figure 1 As shown, the present invention provides a fully automatic multi-functional shrimp peeling machine, which consists of a frame, a vortex input device, a chute module, a robotic arm module, a hinged plastic support module, a track module, a shrimp body gripper module, a worm gear transmission device, a shrimp head cutting device, a shrimp back opening device, a shrimp vein sweeping device, a shrimp insertion device, an output module, a water circulation collection system, and other support plates.

[0052] Please see Figure 5 As shown, the frame is composed of several aluminum profiles of different specifications, several corner brackets, and several support plates, mainly providing installation positions and overall support for the machine.

[0053] Please see Figure 7 As shown, the vortex input device consists of an input tank, a water pump, a hose, and a water pipe clamping sleeve. The input tank is bolted to the frame through a hinged hole. One end of the hose is inserted into the water pump outlet, and the other end is inserted into a pre-drilled hole in the wall of the conveying tank and pressed tightly against the inner wall of the conveying tank. One end of the water pipe clamping sleeve is fastened to the output port of the input tank, and the other end is fastened to the input water pipe of the chute device. Preferably, the input tank is bolted to the frame through a hinged hole, one end of the hose is inserted into the water pump outlet, and the other end is inserted into a pre-drilled hole in the wall of the conveying tank and pressed tightly against the inner wall of the conveying tank. One end of the water pipe clamping sleeve is fastened to the output port of the input tank, and the other end is fastened to the input water pipe of the chute device. Water is drawn into the input tank by the pump to form a vortex flow. Through the centrifugal force of the water vortex, it is ensured that the shrimp are placed head down when entering the chute.

[0054] Please see Figure 8As shown, the chute device consists of a thick flexible tube, a Y-shaped trough module, trough supports, a water-passing plastic tray module, and a synchronous belt slide table 3. The Y-shaped trough module consists of a Y-shaped trough, a Y-shaped component, and a 694Z bearing. The 694Z bearing is glued to the round hole on the back of the Y-shaped trough, and the short shaft of the Y-shaped component is inserted into the 694Z bearing on the front of the Y-shaped trough. The water-passing plastic tray module consists of a guide rail and flange slider, corner supports, water-passing trough bracket one, water-passing trough bracket two, water-passing shrimp plastic tray, and 20-20JJ corner fittings. The four corner supports are bolted to the four open holes of water-passing trough bracket one using reamed holes, and then bolted to the flange slider. Two water-passing trough bracket twos are vertically glued to water-passing trough one using waterproof adhesive. Two water-passing shrimp plastic trays are connected to the top of water-passing trough bracket two using waterproof adhesive. The third synchronous belt slide is positioned below the first water trough support, and the slide block in the third synchronous belt slide is connected to the first water trough support with bolts. The first guide rail is connected to the frame with bolts using reamed holes. The flange slide block cooperates with the guide rail, allowing the synchronous belt slide to drive the water-carrying plastic support module to move under the constraint of the guide rail. One end of the thick hose is fastened to the water pipe clamp sleeve, and the other end is connected to the inlet of the Y-shaped slot. The slot support is connected to the frame with bolts using reamed holes. The Y-shaped slot module is glued to the slot support, and the Y-shaped outlet is aligned with the position of the water-carrying plastic support module when it is close to the outside of the frame.

[0055] Please see Figures 9-12As shown, the robotic arm module consists of synchronous belt slide 1, synchronous belt slide 2, optical axis limiting device 1, optical axis limiting device 2, miniature electric cylinder, gripper, slide rail 2, flange slider, gripper frame, gripper triangular head, gripper tension spring, carbon fiber thin rod, gripper top plate, optical axis 1, SCS8UU box-type slider, horizontal optical axis support, pin, thin pin, gripper main beam fixing beam, connector 1, connector 2, cross connector 1, cross connector 2, fixing plate, fixing plate spacer, etc. Optical axis limiting device 1 consists of SCS8UU box-type slider, 2040 aluminum profile 230mm, lug, horizontal optical axis support, 530mm optical axis, etc. Two lugs are bolted to both ends of the 2042 aluminum profile. The two ends of the 230mm optical shaft are inserted into the horizontal optical shaft support, and the locking bolts of the horizontal optical shaft support are tightened. Using reamed hole bolts, the horizontal optical shaft supports at both ends of the optical shaft are connected to the lugs at both ends of the 230mm 2040 aluminum profile. The composition and installation of the second optical shaft limiting device are similar to the first optical shaft limiting device; simply replace the 230mm 2040 aluminum profile with a 530mm 2040 aluminum profile, the 230mm optical shaft with a 530mm optical shaft, and the SCS8UU box-type slider with an SCS8LUU box-type slider. Two rails are bolted to both sides of the main beam of the gripper, and the flange slider is placed on the rail. The gripper frame is bolted to the flange slider, and then four grippers are connected using reamed hole bolts. M3*15 bolts are screwed into the small holes on both sides of the gripper. The center hole of the gripper's triangular head is connected to the groove below the gripper using a thin pin. A carbon fiber rod is inserted into the square hole of the gripper's triangular head and secured with glue. One end of the gripper tension spring is fitted onto the bolts on both sides of the gripper, and the other end onto the carbon fiber rod. Two horizontal optical axis supports are bolted together above the gripper's main beam using reamed holes. The optical axes are inserted into the horizontal optical axis supports and tightened. A box-type slider is placed in one of the optical axes, and the fixing beam is bolted to the threaded hole of the box-type slider. The horizontal optical axis support is inserted above the optical axis and then bolted to the gripper's top plate using reamed holes. The trunnion of the miniature electric cylinder is bolted to the gripper's top plate using reamed holes. Pins are inserted into the angled slot of the gripper frame, the center optical hole of the fixing beam, and the optical hole of the miniature electric cylinder's telescopic rod. Connector 1 and Connector 2 are bolted to both sides of the main beam of the gripper. Connector 1 is then bolted to the slider on the synchronous belt slide 1. After connecting connector 1 to the slider on the synchronous belt slide 2, bolts are used to secure it to the body, fixing plate spacer 1, fixing plate, body, fixing plate spacer 2, and fixing plate of the synchronous belt slide 1. Connector 2 is bolted to the SCS8UU box-type slider on the optical axis limiting device 1. After connecting connector 2 to the SCS8LUU box-type slider on the optical axis limiting device 2, bolts are used to secure it to the 2040 aluminum profile 230mm, fixing plate spacer 1, fixing plate, and 2040 aluminum profile 230mm, fixing plate spacer 2, and fixing plate of the optical axis limiting device 1.

[0056] Specifically, the robotic arm module uses an electric cylinder telescopic rod that drives a connected pin via a limiting optical axis. The pin moves horizontally up and down in a slot within the gripper frame, allowing the gripper frame to move parallel within the horizontal track. Simultaneously, the grippers mounted on the gripper frame and the opposite grippers achieve clamping and releasing functions through the reverse movement of the two gripper frames. 42-stepper motors in synchronous belt slides one and two drive the synchronous belt to achieve horizontal and vertical movement of the robotic arm device. During vertical movement, the robotic arm descends, causing the gripper's triangular head to contact one side. Because one of the lower tips of the triangular head is at an angle to the plane, the triangular head rotates until one side of the triangular head is fully in contact with the plane, and one side of the gripper's triangular head presses against the shrimp's abdominal legs. At this point, the grippers on both sides clamp and move the triangular heads inward, while the other side pushes the shrimp's back, causing the shrimp's back to face upward, and the shrimp's back is then clamped by the gripper. The robotic arm then rises, and the gripper's triangular head returns to its original position through the tension of a spring, achieving the goal of gripping the shrimp with its back facing upward.

[0057] Please see Figure 13 As shown, the hinged plastic support module consists of a chain with trunnions, a shrimp-shaped plastic support, chain meshing gears, supports, NE205E bearings, sprocket shaft one, sprocket shaft two, sprocket bushings, fixing strips, positioning plates, a 25W motor, a LYCA-2030 plum blossom coupling, and a motor bracket. The fixing strips are connected to the chain trunnions at one end using bolts with reamed holes, with one trunnion separating the two fixing strips. The other end of the fixing strip is connected to the shrimp-shaped plastic support, with the trunnion-equipped end of the support away from the chain. Four supports are connected to the frame using bolts with reamed holes, with the internal round holes interlocking with the NE205E bearings. The chain meshing gears are embedded in sprocket shaft one and sprocket shaft two, and then the sprocket bushings are embedded. Sprocket shaft one and sprocket shaft two are interlocked with the NE205E bearings in the supports. One end of sprocket shaft one is connected to the 25W motor using a LYCA-2030 plum blossom coupling. The 25W motor is bolted to the motor mounting holes of the motor bracket using reamed holes. The positioning plate is placed below the upper part of the chain.

[0058] Please see Figure 14 As shown, the track module consists of a middle track, inner rings 1-14, upper tracks 1-14, and lower tracks 1-14. Use set screws to fix inner ring 1 to the threaded hole on the inner side of the upper center of the middle track. Then, use set screws to fix inner rings 2-14 in a clockwise direction, starting with inner ring 1. Use set screws to fix upper track 1 to the upper threaded holes on both sides of the lower center of the middle track. Then, use set screws to fix upper tracks 2-14 in a clockwise direction, starting with upper track 1. Use set screws to fix lower track 1 to the lower threaded holes on both sides of the lower center of the middle track. Then, use set screws to fix lower tracks 2-14 in a clockwise direction, starting with lower track 1.

[0059] Please see Figure 15 As shown, the shrimp body gripper module consists of a rubber wheel, a second rubber wheel, a guide wheel, a shrimp tail clamp, a track clamp, a shrimp tail clamp axle, a shrimp body clamp, connector one, connector two, connector three, a shrimp body gripper, a threaded rod, a lower wheel axle bracket, Z969 bearings, 694Z bearings, a standard type split fixing ring, and long bolts. Using the track clamp as a base, two 694Z bearings are respectively embedded into the two smaller holes of the shrimp tail clamp, and connected to the two shrimp tail clamps with bolts through the reamed holes. A shrimp tail clamp spring connects the protruding cylinders of the two shrimp tail clamps. Two 694Z bearings are respectively embedded into the two larger holes of the shrimp body clamp. After embedding eight Z969 bearings into rubber wheel 1, they are then connected to the track clamp with bolts through the reamed holes. After embedding four 694Z bearings into four rubber wheels, connect the four 694Z bearings to the four shrimp tail clamp axles using bolts through reamed holes. Then connect two of the shrimp tail clamp axles to two shrimp tail clamps using bolts through reamed holes, and connect the other two shrimp tail clamp axles to two shrimp body clamps in the same way. Connect the two shrimp tail clamps to the track clamps using bolts through reamed holes, and connect shrimp tail clamp springs between the protruding cylinders of the two shrimp tail clamps. Connect the two shrimp body clamps to the track clamps in the same way, and connect shrimp body clamp springs between the protruding cylinders of the two shrimp body clamps. Then embed two slotted sliders into the slots of the two shrimp body clamps. Connect the four shrimp body grippers to the two slotted sliders using bolts through reamed holes, and then connect the two connectors to the two slotted sliders using bolts through reamed holes. Embed the two 694Z bearings into the two connectors, and then connect them to the two connectors using bolts through reamed holes. Insert the two semicircular pins into the two lower wheel axle brackets respectively, and then connect the four guide wheels evenly to the two lower wheel axle brackets with an interference fit. Align the semicircular segments of the two semicircular pins with the semicircular segments of the two connectors, and then tighten the semicircular segment fit using a standard split retaining ring. Finally, bolt the long bolt into the hole above the track clamp near the shrimp tail clamp to complete the assembly.

[0060] Specifically, the shrimp body gripper module is integrated with the track and slides along the track. There are protrusions on the inner ring of the track. As the gripper moves, it first passes over these protrusions, opening the second rubber wheel and causing the shrimp tail clamp to open, followed by the shrimp body clamp, ready to grip the shrimp tail and body. Then, it passes over the recessed section, where the two sets of second rubber wheels contract via tension springs one and two, respectively clamping the shrimp tail and body clamps tightly. Simultaneously, there are arched sections on the track at horizontal levels. When the gripper passes over these arched sections, the guide wheel rises along the track, pushing connectors one, two, and three upwards under the constraint of the slots in the shrimp body clamps, and raising the shrimp body gripper to secure the shrimp body. The guide wheel then lowers along the track, and the shrimp body gripper, constrained by the slots in the shrimp body clamps, lowers to fix the shrimp body in the limiting groove of the track clamp, preventing it from sliding. This machine is a fully automatic multi-functional shrimp peeling machine. To adapt to industrial processes, shrimp can enter the vortex input device in any posture without any human intervention.

[0061] Please see Figure 16 As shown, the worm gear drive consists of a 25W motor, a worm motor base, an LYCA-4050 perforated coupling, a worm base, cylindrical roller bearings NH204E, a worm sleeve, a worm shaft, and a transmission worm. A key is inserted into the keyway in the worm shaft, and the transmission worm is inserted into the keyed portion of the worm shaft. The worm sleeve is inserted into both sides of the transmission worm on the worm shaft. The cylindrical roller bearings NH204E are interference-fitted with the worm base, and both ends of the worm shaft are inserted into the cylindrical roller bearings NH204E in the worm base. The 25W motor is connected to the worm motor base using reamed bolts, and the LYCA-4050 perforated coupling is used to connect one end of the 25W motor shaft to one end of the worm shaft.

[0062] Please see Figures 18-19As shown, the shrimp back-opening device consists of a cutting base, a fixed cutter head seat, a bearing cover, a JGB37-545 DC geared motor, a motor bracket, a shrimp back-opening motor protective shell, a 44-tooth-5-S3M100-B synchronous pulley, an 18-tooth-5-S3M100-K synchronous pulley, a shrimp back-opening synchronous belt, a 100mm circular saw blade, a saw blade bar rear lock type, a saw blade bar nut lock, an F608ZZ flange bearing, a shrimp back-opening connecting shaft, a second shrimp back-opening connecting shaft, and a CFCA-D20-25 plum blossom coupling, etc. First, use bolts to fix the JGB37-545 DC geared motor bracket to the four 3.5mm threaded holes on the base plate of the cutting base. Then, use reamed bolts to install the JGB37-545 DC geared motor on the motor bracket and use bolts through the six 6.3mm circumferential holes on the middle plate of the cutting base to fix the JGB37-545 DC geared motor to the cutting base. Next, use a CFCA-D20-25 plum blossom coupling to connect the output shaft of the JGB37-545 DC geared motor to the opening back connecting shaft, and fix the 44-tooth-5-S3M100-B synchronous pulley to the connecting shaft through a keyway fit. Use bolts to fix the fixed cutter head seat to the upper plate of the cutting base, and then install the F608ZZ flange bearings in the grooves on both sides of the fixed cutter head seat. Use bolts to fix the bearing caps to the cutter head seat. The 18-tooth -5-S3M100-K timing pulley is fixed to one end of the shrimp-back connecting shaft two via a keyway fit, and the other end is inserted into the F608ZZ flange bearing on the fixed cutter head seat. A 100mm circular saw blade is inserted into the 8mm mounting hole of the saw blade holder rear lock type, and then the 100mm circular saw blade is locked in place using the saw blade holder nut. Then, a CFCA-D20-25 plum blossom coupling is used to connect the other end of the shrimp-back connecting shaft two to the installed saw blade holder rear lock type. The shrimp-back timing belt is then fitted between the 44-tooth -5-S3M100-B timing pulley and the 18-tooth -5-S3M100-K timing pulley.

[0063] Please see Figure 20As shown, the shrimp-sweeping device consists of a water pump, water pipe, plastic spray nozzle, shrimp-sweeping base, 31ZY motor, CI-19×23-3×8 coupling, arc-shaped gear HTD5M-A, shrimp-sweeping timing belt, shrimp-sweeping shaft one, shrimp-sweeping shaft two, shrimp-sweeping bushing, shrimp-sweeping reel one, shrimp-sweeping reel two, 31ZY motor water shield, and 698ZZ bearing. The 31ZY motor is fixed to the shrimp-sweeping base using bolts, and the 31ZY motor water shield is also fixed to the shrimp-sweeping base using bolts to cover the 31ZY motor. The 698ZZ bearing is interference-fitted with the vertical hole on the shrimp-sweeping line base. For the first shrimp-sweeping line shaft, the arc-shaped HTD5M-A tooth is first inserted via a keyway, then the 698ZZ bearing is inserted from the other end. Next, the shrimp-sweeping line sleeve and the first shrimp-sweeping line disc are inserted sequentially. Finally, a CI-19×23-3×8 coupling is used to connect it to the 31ZY motor shaft. For the second shrimp-sweeping line shaft, the arc-shaped HTD5M-A tooth is first inserted via a keyway, then the 698ZZ bearing is inserted from the other end. Next, the shrimp-sweeping line sleeve and the second shrimp-sweeping line disc are inserted sequentially. A shrimp-sweeping line timing belt is fitted between the two arc-shaped HTD5M-A toothed sections. A water pipe is inserted into the water pump outlet, and the other end of the water pipe is connected to a plastic spray nozzle, which is aligned with the first shrimp-sweeping line disc.

[0064] Please see Figure 21 As shown, the shrimp-inserting device consists of a 24V-30mm 75-stroke electric cylinder, an electric cylinder base, a shrimp-retrieving needle, 4.2*12 screws, 4.2*3 nuts, a support body, anti-collision rubber, a waterproof base, and a shrimp-feeding trough. First, insert the thinner end of the 24V-30mm 75-stroke electric cylinder along the hole above the waterproof base. Then, align the five holes of the 24V-30mm 75-stroke electric cylinder with the five holes of the electric cylinder base and connect them with reamed bolts. Connect the electric cylinder base and the waterproof base to the mounting plate 4 on the frame using reamed bolts. Align the two holes on the two anti-collision rubbers with the four medium-sized holes on the support body and connect them with reamed bolts. Insert the thinner end of the 24V-30mm 75-stroke electric cylinder into the slot below the shrimp-retrieving needle, and then secure it with 4.2*12 screws and 4.2*3 nuts. Assemble the base slot of the support body from top to bottom along the 24V-30mm 75-stroke electric cylinder, and align the four holes on the base with the four holes on the waterproof base, then connect them with reamed bolts. Finally, align the four small holes on the shrimp feeding trough with the four smaller holes on the support body, and connect them with reamed bolts, while ensuring that the needle on the shrimp-retrieving needle can pass smoothly through the two straight slots on the shrimp feeding trough.

[0065] Please see Figure 17As shown, the shrimp head cutting device consists of a second motor bracket, a brushed permanent current DC high-speed motor, a LYCA-1422 plum blossom coupling, a feed rod, and a 60mm circular saw blade. The brushed permanent current DC high-speed motor is bolted to the motor bracket. The 60mm circular saw blade is fixed under a lock nut in the feed rod. The LYCA plum blossom coupling connects the shaft of the brushed permanent current DC high-speed motor to the feed rod. The second motor bracket is connected to the frame in the middle section of the hinged plastic support module using bolts with reamed holes.

[0066] The output module consists of a feeding trough, a shrimp shell collection box, and a shrimp head collection box. The water circulation system consists of several waterproof panels of different sizes, water pipes, a large water tank, and a small water tank. Four waterproof panels are used to enclose the input bucket with waterproof adhesive. Water pipes are connected to the circular opening of the lower support plate using waterproof adhesive, with the other end of the water pipe connected to the large water tank. Waterproof panels are used to seal the perimeter and bottom of the shrimp-rinsing plastic tray. A circular opening in the lower waterproof panel is used to connect a water pipe, with the other end of the water pipe connected to the large water tank. A waterproof panel is used to enclose the area around the shrimp-removing device, with the semi-circular opening on the lower waterproof panel aligned with the opening of the small water tank.

[0067] Example 1

[0068] The fully automatic multi-functional shrimp peeling machine consists of a frame 100, a vortex input device 200, a chute module 300, a robotic arm module 400, a hinged plastic support module 500, a track module 600, a shrimp body gripper module 700, a worm gear transmission device 800, a shrimp head cutting device 900, a shrimp back opening device 1000, a shrimp vein sweeping device 1100, a shrimp inserting device 1200, an output module 1300, a water circulation collection system 1400, and other support plates and support rods.

[0069] The frame 100 is composed of several aluminum profiles of different specifications, several corner brackets, and several support plates, mainly providing installation position and overall support for the machine.

[0070] The eddy current input device 200 consists of an input tank 210, a water pump 211, a flexible hose 212, and a water pipe clamping sleeve 213. The input tank 210 is bolted to the frame 200 through a reamed hole. One end of the flexible hose 212 is inserted into the outlet of the water pump 211, and the other end is inserted into a pre-drilled hole in the wall of the input tank 210 and pressed tightly against the inner wall of the input tank 210. One end of the water pipe clamping sleeve 213 is fastened to the outlet of the input tank 210, and the other end is fastened to the input water pipe of the chute device 300.

[0071] The chute device 300 consists of an inlet water pipe 310, a Y-shaped trough module 320, a trough support 330, a water-passing plastic support module 340, and a synchronous belt slide table 350. The Y-shaped trough module consists of a Y-shaped trough 321, a Y-shaped component 322, and a 694Z bearing 323. The 694Z bearing 323 is glued into the round hole on the back of the Y-shaped trough 321, and the short shaft of the Y-shaped component 322 is inserted into the 694Z bearing 323 on the front of the Y-shaped trough 321. The water-passing plastic support module 340 consists of a guide rail 341, a flange slider 342, a corner support 343, a water-passing trough support 344, a water-passing trough support 345, a water-passing shrimp plastic support 346, and a 20-20JJ corner piece 347. Four corner supports 343 are bolted to the four holes of the water trough bracket 1344 using reamed holes, and then bolted to the flange slider 342. Two water trough brackets 345 are vertically glued to the water trough 344 using waterproof adhesive. Two shrimp trays 346 are attached to the top of the water trough brackets 345 using waterproof adhesive. The synchronous belt slide 350 is placed below the water trough bracket 344, and bolts are used to connect the slider in the water trough bracket 344 to the slider in the synchronous belt slide 350. The guide rail 341 is bolted to the frame 100 using reamed holes. The flange slider 342 cooperates with the guide rail 341 to allow the synchronous belt slide 350 to drive the shrimp tray module 340 to move under the constraint of the guide rail 341. One end of the inlet water pipe 310 is fastened to the water pipe clamping sleeve 213, and the other end is connected to the inlet of the Y-shaped trough module 320. The trough support 330 is connected to the frame 100 using bolts with reamed holes. The Y-shaped trough module 320 is glued to the trough support 330, and the Y-shaped outlet is aligned with the position of the water-passing plastic support module 340 near the outside of the frame 100.

[0072] The robotic arm module 400 consists of a synchronous belt slide table 411, a synchronous belt slide table 412, an optical axis limiting device 420, an optical axis limiting device 430, a micro motor 413, a gripper 414, a slide rail 415, a flange slider 342, a gripper frame 417, a gripper triangular head 418, a gripper tension spring 419, a carbon fiber thin rod 441, a gripper top plate 442, an optical axis 443, an SCS8UU box-type slider 444, a horizontal optical axis support 445, a pin 446, a thin pin 447, a gripper main beam 448, a connector 449, a connector 450, a cross connector 451, a cross connector 452, a fixing plate 453, a fixing plate spacer 454, and a fixing beam 455. The optical axis limiting device 420 consists of an SCS8UU box-type slider 424, a 2040 aluminum profile 230mm 421, lugs 422, a horizontal optical axis support 445, and a 230mm optical axis 423. The two lugs 423 are bolted to both ends of the 2040 aluminum profile 230mm 421. The two ends of the 230mm optical axis 423 are inserted into the horizontal optical axis support 445, and the locking bolts of the horizontal optical axis support 445 are tightened. The horizontal optical axis support 445 at both ends of the optical axis is connected to the lugs 422 at both ends of the 2040 aluminum profile 230mm 421 using bolts with reamed holes. The composition and installation of the optical axis limiting device 2 430 are similar to those of the optical axis limiting device 1 420. The only difference is that the 230mm 421 aluminum profile of 2040 is replaced with a 530mm 431 aluminum profile of 2040, the 230mm optical axis 423 is replaced with a 530mm optical axis 433, and the SCS8UU box-type slider 424 is replaced with an SCSL8UU box-type slider 444. Two rails 2 415 are fastened to both sides of the main beam 448 of the gripper with bolts, and the flange slider 342 is placed on the rails 2 415. The gripper frame 417 is fixed to the flange slider 342 with bolts, and then four grippers 414 are connected with bolts using reamed holes. M3*15 bolts are screwed into the small holes on both sides of the grippers 414. The center hole of the gripper triangular head 418 is connected to the groove below the gripper 414 using a fine pin 447. A carbon fiber rod 441 is inserted into the square hole of the gripper triangular head 418 and fixed with glue. One end of the gripper tension spring 419 is fitted onto the bolts on both sides of the gripper 414, and the other end is fitted onto the carbon fiber rod 441. Two horizontal optical axis supports 445 are connected above the gripper main beam 448 using bolts with reamed holes. Optical axis 443 is inserted into the horizontal optical axis support 445 and tightened. An SCS8UU box-type slider 444 is placed in optical axis 443. A fixing beam 455 is bolted to the threaded hole of the SCS8UU box-type slider 444. The horizontal optical axis support 445 is inserted above optical axis 443 and then connected to the gripper top plate 442 using bolts with reamed holes. The trunnion of the miniature electric cylinder 413 is connected to the gripper top plate 442 using bolts with reamed holes. Use pin 446 to insert into the inclined slot of the gripper frame 417, the center light hole of the fixed beam 455, and the light hole of the telescopic rod of the miniature electric cylinder 413.Connector 1 449 and connector 2 450 are fixed to both sides of the main beam 448 of the gripper with bolts. Then, connector 1 449 is fixed to the slider on the timing belt slide 1 411 with bolts. After cross connector 1 451 is fixed to the slider on the timing belt slide 2 412 with bolts, it is fixed to the machine body, fixing plate spacer 454, fixing plate 453 and the machine body, fixing plate spacer 454, fixing plate 453 on both sides with bolts. Connector 2 450 is fixed to the SCS8UU box slider 444 on the optical axis limiting device 1 420 using bolts. After the cross connector 2 452 is fixed to the SCS8LUU box slider 444 on the optical axis limiting device 2 430 using bolts, it is fixed to the 2040 aluminum profile 230mm 431, fixing plate spacer 454, fixing plate 453 and the 2040 aluminum profile 230mm 431, fixing plate spacer 454, fixing plate 453 on both sides using bolts.

[0073] The hinged plastic support module 500 consists of a chain 501 with trunnions, a shrimp plastic support 502, a chain meshing gear 503, a support 504, an NE205E bearing 505, a sprocket shaft 1 506, a sprocket shaft 2 507, a sprocket bushing 508, a fixing strip 509, a positioning plate 510, a 25W motor 511, a LYCA-2030 plum blossom coupling 512, and a motor bracket 1 513. The fixing strip 509 is connected to the trunnion of the chain 501 at one end using a bolt with a reamed hole; two fixing strips 509 are spaced one trunnion apart. The other end of the fixing strip 509 is connected to the shrimp plastic support 502, with the trunnion-equipped end of the shrimp plastic support 502 away from the chain 501. Four supports 504 are connected to the frame 100 using bolts with reamed holes; the internal round holes are interference-fitted with the NE205E bearing 505. Chain meshing gear 503 is embedded in sprocket shaft one 506 and sprocket shaft two 507, and then sprocket shaft sleeve 508 is embedded. Sprocket shaft one 506 and sprocket shaft two 507 are interference-fitted with NE205E bearing 505 in support 504. One end of sprocket shaft one 506 is connected to 25W motor 511 using LYCA-2030 sprocket coupling 512. 25W motor 511 is connected to motor mounting hole in motor bracket 513 using reamed bolts. Positioning plate 510 is placed below the upper part of chain 501.

[0074] The track module 600 consists of a middle track 601, inner rings 1 to 14 (610 to 623), upper tracks 1 to 14 (630 to 643), and lower tracks 1 to 14 (650 to 663). Inner ring 1 (610) is fixed to the threaded hole on the inner side of the upper center of the middle track 601 using set screws. Then, starting with inner ring 1 (610), inner rings 2 to 14 (611 to 623) are fixed clockwise using set screws. Upper track 1 (630) is fixed to the upper threaded holes on both sides of the lower center of the middle track 601 using set screws. Then, starting with upper track 1 (630), upper tracks 2 to 14 (631 to 643) are fixed clockwise using set screws. Lower track 1 (650) is fixed to the lower threaded holes on both sides of the lower center of the middle track 601 using set screws. Then, starting with lower track 1, lower tracks 2 to 14 (651 to 663) are fixed clockwise using set screws.

[0075] The shrimp body gripper module 700 consists of a rubber wheel 701, a second rubber wheel 702, a guide wheel 703, a shrimp tail clamp 704, a track clamp 705, a shrimp tail clamp axle 706, a shrimp body clamp 707, a first connector 708, a second connector 709, a slotted slider 710, a shrimp body gripper 711, a semi-circular pin 712, a lower wheel axle bracket 713, a Z969 bearing 714, a 694Z bearing 715, a standard type split fixing ring 716, a long bolt 717, a shrimp tail clamp tension spring 718, and a shrimp body clamp tension spring 719. Using the track clamp 705 as a base, two 694Z bearings 715 are respectively embedded into the two smaller holes of the shrimp tail clamp 704. Bolts are used to connect the two shrimp tail clamps 704 through reamed holes. A shrimp tail clamp spring 718 connects the protruding cylinders between the two shrimp tail clamps. Two 694Z bearings 715 are respectively embedded into the two larger holes of the shrimp body clamp 707. Eight Z969 bearings 714 are respectively embedded into the rubber wheel 701, and then connected to the track clamp 705 with bolts through the reamed holes. Four 694Z bearings 715 are respectively embedded into four rubber wheels 702, and then the four 694Z bearings 702 are respectively connected to the four shrimp tail clamp wheel axles 706 through the reamed holes with bolts. Two of the shrimp tail clamp wheel axles 706 are then connected to two shrimp tail clamps 704 with bolts through the reamed holes. The other two shrimp tail clamp wheel axles 706 are connected to two shrimp body clamps 707 in the same way. Two shrimp tail clamps 704 are connected to the track clamp 705 via bolts through reamed holes. Shrimp tail clamp springs 718 are connected between the protruding cylinders of the two shrimp tail clamps 704. Two shrimp body clamps 707 are then connected to the track clamp 705 in the same manner. Shrimp body clamp springs 719 are connected between the protruding cylinders of the two shrimp body clamps 707. Two slotted sliders 710 are then inserted into the slots of the two shrimp body clamps 707. Four shrimp body grippers 711 are connected to the two slotted sliders 710 via bolts through reamed holes. Two connectors 709 are then connected to the two slotted sliders 710 via bolts through reamed holes. Two 694Z bearings 715 are inserted into the two connectors 708 and then connected to the two connectors 709 via bolts through reamed holes. Insert the two semicircular pins 712 into the two lower wheel axle brackets 713 respectively, and then connect the four guide wheels 703 evenly to the two lower wheel axle brackets 713 with an interference fit. Align the semicircular petals of the two semicircular pins 712 with the semicircular petals of the two connectors 708, and then tighten the semicircular petal engagement using a standard split retaining ring 716. Finally, bolt the long bolt 717 into the hole 720 on the side of the track clamp 705 near the shrimp tail clamp 704, thus completing the assembly.

[0076] The worm gear drive 800 consists of a 25W motor, a worm motor base 801, a LYCA-4050 perforated coupling 802, a worm base 803, cylindrical roller bearings NH204E804, a worm bushing 805, a worm shaft 806, and a transmission worm 807. A key is inserted into the keyway in the worm shaft 806, and the transmission worm 807 is inserted into the keyed portion of the worm shaft 806. The worm bushing 805 is inserted into both sides of the transmission worm 807 on the worm shaft 806. The cylindrical roller bearings NH204E804 are interference-fitted with the worm base 803, and both ends of the worm shaft 806 are inserted into the cylindrical roller bearings NH204E804 in the worm base 803. Connect the 25W motor to the worm motor base 801 using reamed bolts, and connect the 25W motor shaft to one end of the worm shaft 806 using a LYCA-4050 plum blossom coupling 802.

[0077] The shrimp head cutting device 900 consists of a motor bracket 2901, a brushed permanent current DC high-speed motor 902, a LYCA-1422 plum blossom coupling 903, a feed rod 904, and a 60mm circular saw blade 905. The brushed permanent current DC high-speed motor 902 is bolted to the motor bracket 2901. The 60mm circular saw blade 905 is fixed under a locking nut in the feed rod. The shaft of the brushed permanent current DC high-speed motor 902 is connected to the feed rod 904 using the LYCA plum blossom coupling 903. The motor bracket 2901 is connected to the frame 100 in the middle section of the hinge plastic support module 500 using reamed bolts.

[0078] The shrimp back-opening device 1000 consists of a cutting base 1001, a fixed cutter head seat 1002, a bearing cover 1003, a JGB37-545 DC geared motor 1004, a motor bracket 1005, a shrimp back-opening motor protective shell 1006, a 44-tooth -5-S3M100-B synchronous pulley 1007, an 18-tooth -5-S3M100-K synchronous pulley 1008, a shrimp back-opening synchronous belt 1009, a 100mm circular saw blade 1010, a saw blade bar rear lock type 1011, a saw blade bar nut lock 1012, an F608ZZ flange bearing 1013, a shrimp back-opening connecting shaft 1014, a second shrimp back-opening connecting shaft 1015, and a CFCA-D20-25 plum blossom coupling 1016, etc. First, use bolts to fix the JGB37-545 DC geared motor bracket 1005 to the four 3.5mm threaded holes 1020 on the bottom plate of the cutting base 1001. Then, use reamed bolts to install the JGB37-545 DC geared motor 1004 on the motor bracket 1005 and use bolts to fix the JGB37-545 DC geared motor 1004 to the cutting base 1001 through the six 6.3mm circumferential holes 1021 in the middle plate of the cutting base 1001. Then, use a CFCA-D20-25 plum blossom coupling 1016 to connect the output shaft of the JGB37-545 DC geared motor 1004 to the shrimp back opening connecting shaft 1014. Finally, fix the 44-tooth-5-S3M100-B synchronous pulley 1007 to the shrimp back opening connecting shaft 1014 through a keyway fit. Secure the fixed cutter head holder 1002 to the upper plate 1022 of the cutting base 1001 using bolts. Then, install the F608ZZ flange bearings 1013 into the grooves on both sides of the fixed cutter head holder 1001. Secure the bearing cover 1003 to the fixed cutter head holder 1002 using bolts. Fix the 18-tooth-5-S3M100-K synchronous pulley 1008 to one end of the shrimp-back connecting shaft 1015 via a keyway, and insert the other end into the F608ZZ flange bearing 1013 on the fixed cutter head holder 1002. Insert the 100mm circular saw blade 1010 into the 8mm mounting hole of the saw blade shank rear lock type 1011, and then use the saw blade shank nut lock 1012 to lock the 100mm circular saw blade 1010. Then use the CFCA-D20-25 plum blossom coupling 1016 to connect the other end of the shrimp back connecting shaft 1015 to the installed saw blade shank rear lock type 1011. Fit the shrimp back synchronous belt 1009 between the 44-tooth-5-S3M100-B synchronous pulley 1007 and the 18-tooth-5-S3M100-K synchronous pulley 1008.

[0079] The shrimp-sweeping device 1100 consists of a water pump, a hose, a plastic spray pipe, a shrimp-sweeping base 1102, a 31ZY motor 1103, a CI-19×23-3×8 coupling 1104, an arc-shaped gear HTD5M-A 1105, a shrimp-sweeping synchronous belt 1106, a shrimp-sweeping shaft one 1107, a shrimp-sweeping shaft two 1108, a shrimp-sweeping bushing 1109, a shrimp-sweeping disc one 1110, a shrimp-sweeping disc two 1111, a 31ZY motor water shield 1112, and a 698ZZ bearing 1113. Use bolts to fix the 31ZY motor 1103 to the shrimp-sweeping line base 1102. Use bolts to fix the 31ZY motor water shield 1112 to the shrimp-sweeping line base 1102 to cover the 31ZY motor 1103. The 698ZZ bearing 1113 is interference-fitted with the vertical hole on the shrimp-sweeping line base 1102. First, insert the arc-shaped toothed HTD5M-A1105 into the shrimp-sweeping line shaft 1107 through the keyway, and then insert the 698ZZ bearing 1113 from the other end. Then, insert the shrimp-sweeping line bushing 1109 and the shrimp-sweeping line disc 1110 in sequence. Finally, use the CI-19×23-3×8 coupling 1104 to connect with the shaft of the 31ZY motor 1103. First, insert the arc-shaped toothed HTD5M-A1105 into the shrimp-sweeping spool 1108 via a keyway. Then, insert the 698ZZ bearing 1113 from the other end, followed by the shrimp-sweeping spool sleeve 1109 and the shrimp-sweeping spool disc 1111. A shrimp-sweeping timing belt 1106 is then fitted between the two arc-shaped toothed HTD5M-A1105. A flexible hose is inserted into the water pump outlet, and the other end of the hose is connected to a plastic spray nozzle 1101, which is aligned with the shrimp-sweeping spool disc 1110.

[0080] The shrimp-inserting device 1200 consists of a 24V-30mm 75-stroke electric cylinder 1201, an electric cylinder base 1202, a shrimp-retrieving needle 1203, a support body 1204, anti-collision rubber 1205, a waterproof base 1206, and a shrimp-feeding trough 1207. First, insert the thinner end of the 24V-30mm 75-stroke electric cylinder 1201 through the hole above the waterproof base 1206. Then, align the five holes of the 24V-30mm 75-stroke electric cylinder 1201 with the five holes of the electric cylinder base 1202 and connect them with reamed bolts. Connect the electric cylinder base 1202 and the waterproof base 1206 to the support plate 3103 on the frame 100 using reamed bolts. Align the two holes on the two anti-collision rubbers 1205 with the four medium-sized holes on the support body 1204 and connect them with reamed bolts. Insert the thinner end of the 24V-30mm 75-stroke electric cylinder 1201 into the slot below the shrimp-retrieving needle 1203 and secure it. Assemble the base slot of the support body 1204 along the 24V-30mm 75-stroke electric cylinder 1201 from top to bottom, aligning the four holes on the base with the four holes on the waterproof base 1206, and then connect them with reamed bolts. Finally, align the four small holes on the shrimp-feeding trough 1207 with the four smaller holes on the support body and connect them with reamed bolts, while ensuring that the needle tip on the shrimp-retrieving needle 1203 can pass smoothly through the two straight slots on the shrimp-feeding trough.

[0081] The output module 1300 consists of a feeding trough 1310, a shrimp shell collection box 1320, a shrimp head collection box 1330, etc.

[0082] The water circulation system consists of several baffles of different specifications, hoses, a large water tank 1401, a small water tank 1402, and corner supports 1407. Four baffles 1403 are vertically installed on the support plate 1101 of the frame 100 using waterproof adhesive to surround the input tank 210. A hose is connected to the circular opening of the lower support plate 1101 using waterproof adhesive, with the other end of the hose connected to the large water tank 1401. A second baffle 1404 is installed around the square groove in the center of the support plate 2102 of the frame 100 using waterproof adhesive. A hose is connected to the circular opening of the support plate 2102 using waterproof adhesive, with the other end of the hose connected to the large water tank 1401. A third baffle 1405 is vertically installed at position 104. A fourth baffle 1406 surrounds the area around the shrimp-sweeping device. The corner supports 1407 use bolts with reamed holes to fix the fourth support plate 103 to the fifth baffle 28. The semi-circular opening on the lower support plate 3110 is aligned with the opening of the small water tank.

[0083] The eddy current input device 200 is installed at position 1 of the frame 100. The four holes on the input barrel arm are connected to the aluminum profile 12 and the water baffle 1403 using reamed bolts. The water pump 211 is placed in the large water tank 1401. The chute device 300 is installed at position (4) of the frame. The chute support is connected to the aluminum profile 25 using reamed bolts. The guide rail is connected to the aluminum profile 6 using reamed bolts. The synchronous belt slide 350 is connected to the support frame 14 using reamed bolts. The robot module 400 is installed at position (7) of the frame 100. The body of the synchronous belt slide 2412 is placed on the aluminum profile 38. The two are fixed with fixing plate 190. The 2040 aluminum profile 530mm 431 of the optical axis limiting device 2430 is placed on the aluminum profile 49 and fixed with fixing plate 291. The hinged plastic support module 500 is installed at position (12) of the frame 100. The four supports at the bottom are connected to the aluminum profile 513 with hinged bolts, the two supports on the upper right side are connected to the aluminum profile 65 with hinged bolts, and the other side is installed to the aluminum profile 715 with hinged bolts. The right side of the positioning plate 510 is connected to the aluminum profile 65 with hinged bolts, and the other side is connected to the aluminum profile 715 with hinged bolts. The left side of the motor bracket is connected to the aluminum profile 816 with hinged bolts, and the other side is connected to the aluminum profile 53 with hinged bolts. The track module 600 is installed at (17) of the frame 100. The three protruding holes below the track module 600 are connected to the track support 18 using hinged bolts. The track support 18 is fixed to the support plate 110 at the hole (111) on the frame 100 using hinged bolts. The three protruding holes above the track module are connected to the track support 18 using hinged bolts. The track support 18 is fixed to the aluminum profile 19 using hinged bolts. A track support clamp 20 is installed between the two. The protruding holes of the arc track of the track module 600 are connected to the support rod 21 using hinged bolts. The support rod 21 is connected to the track support 18 using hinged bolts. The track support 18 is connected to the aluminum profile 22 using hinged bolts. The shrimp body gripper module 700 is mounted on the track module 600. Two shrimp body gripper modules 700 are connected by a hinge 23, which consists of a washer 24, a bent hinge 25, and a straight hinge 26. The two parallel holes of the bent hinge 25 are aligned with the slots of the straight hinge 26 and connected by a pin. The washer 24 is clamped in the round hole of the straight hinge 26. The left end of the hinge 23 is bolted to the hole 721 in the track clamp 705 via a hinged hole, and the right end is bolted to the hole 722 in another track clamp 705 via a hinged hole. The worm gear drive device 800 is mounted on the support plate 110 of the frame 100. The worm motor base 801 is bolted to the hole 112 in the support plate 110 via a hinged hole, and the worm base 803 is bolted to the hole 113 in the support plate 110 via a hinged hole.The motor bracket 2 901 in the shrimp head cutting device 900 is bolted to the aluminum profile 11 27 using a reamed hole. The shrimp back opening device 1000 is installed in the hole 29 of the water-separating plate 5 28. The shrimp line sweeping device 1100 is installed in the hole 30 of the water-separating plate 5 28. The shrimp inserting device 1200 is installed on the support plate 4 103.

[0084] Working principle:

[0085] The machine is driven by an external power supply, which provides eddy current and mechanical power. Fresh shrimp are fed into the inlet, and the external power supply drives the motor to generate eddy currents. Under the centrifugal force of the eddy currents, the shrimp heads face inwards and flow into the inlet, entering the Y-shaped dividing module 320 through the inlet water pipe 310. The rotation of the Y-shaped dividing component 322 allows two shrimp to simultaneously enter the water-absorbing shrimp tray 346. The water-absorbing tray module 340 is driven inwards along the guide rail 341 by the synchronous belt slide 350. During the movement of the shrimp, a robotic arm grips them. When gripping, one side of the gripper triangular head 418 on the gripper 414 lowers to fix the shrimp's legs, while the other side of the gripper triangular head 418 scoops up the shrimp's body, thus turning the shrimp from lying on its side to standing upright. Then, driven by the synchronous belt slide 411, the robotic arm grips the shrimp, and then the synchronous belt slide 412 drives the robotic arm to move inwards along the optical axis limiting device. When the shrimp reaches directly above the shrimp tray 502, the robotic arm places the shrimp into the groove of the tray. A 25W motor 511 then drives a gear to rotate counter-clockwise, which in turn drives a chain 501 with trunnions to rotate counter-clockwise. Finally, the chain 501 with trunnions drives the shrimp tray 502 (which has a notch corresponding to the shrimp head cutting device) to rotate counter-clockwise. As the shrimp tray 502 rotates, it passes the shrimp head cutting device, which separates the shrimp head from the body. When the shrimp head and body reach the track module, the shrimp body is gripped by the shrimp body gripper module and enters the subsequent process, while the shrimp head continues to rotate counter-clockwise with the shrimp tray 502 until it falls into the shrimp head collection box 1330 under gravity at the edge corner.

[0086] A worm gear drive connects to the shrimp body gripper module via a long bolt, driving it to move along a pre-designed trajectory on the track module. When the shrimp body gripper module reaches directly below the shrimp plastic tray 502, it pushes the shrimp tail clamp 704 open along the track module, allowing the shrimp body gripper module to continue moving forward while the shrimp tail clamp 704 clamps and secures the shrimp tail. Driven along the trajectory, the shrimp body clamp 707 rises and opens, then descends and clamps and secures the shrimp body, thus fixing the shrimp body in the groove of the track clamp 705. The shrimp body continues to move along the track. The shrimp back is cut open by the shrimp back opening device and the 100mm circular saw blade 1010. Then, the shrimp line sweeping device, driven by the 31ZY motor 1103, drives the CI-19×23-3×8 coupling 1104 and the arc-shaped toothed HTD5M-A1105 to rotate rapidly. The shrimp line sweeping synchronous belt 1106 simultaneously drives the first shrimp line sweeping disc 1110 and the second shrimp line sweeping disc 1111 (with brush) to rotate rapidly and clean the shrimp line. There is also a shrimp line rinsing step inside the shrimp line sweeping device. Driven by the water pump, clean water enters the water hose and is finally sprayed out through the plastic spray pipe to clean the shrimp line.

[0087] Then, the shrimp meat passes through the shrimp insertion device 1200. As it passes, the shrimp-removing needle 1203 on the device pierces the shrimp meat, while the shrimp body gripper module 700 continues to move along the track. Under the action of the shrimp tail clamp 704 clamping the shrimp tail shell, the shrimp meat is separated from the shell. At this point, the shrimp meat is inserted into the shrimp-removing needle 1203. Driven by the 24V-30mm 75-stroke electric cylinder 1201, the needle 1203 extends and retracts. When it retracts downwards, the shrimp meat on the needle 1203 is blocked by the shrimp feeding trough 1207, thus detaching from the needle 1203 and sliding along the trough into one side of the feeding trough 1310. The shrimp meat then slides out of the feeding trough 1310 for collection. Simultaneously, when the shrimp body gripper module 700 reaches the other side of the feeding trough 1310, the shrimp tail clamp 704 opens under the action of the track, and the shrimp shell falls into the shrimp shell collection box 1320. It should be further noted that any other components used to achieve the above effects should fall within the inventive concept of this invention and should be protected within the scope of this invention.

[0088] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. Other modifications can be easily made by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A fully automatic multi-functional shrimp peeling machine, characterized in that: Includes a frame (100), on which are provided an eddy current input device (200), a chute device (300), a robotic arm module (400), a hinged plastic support module (500), a track module (600), a shrimp body gripper device (700), a worm gear transmission device (800), a shrimp head cutting device (900), a shrimp back opening device (1000), a shrimp line sweeping device (1100), a shrimp insertion device (1200), an output module, and a water circulation system; The eddy current input device (200) transports fresh shrimp to the chute device (300) with the shrimp heads facing a fixed position. The robotic arm module (400) transports the fresh shrimp from the chute device (300) to the hinged plastic support module (500). The hinged plastic support module (500) moves the fresh shrimp and cuts the shrimp heads through the shrimp head cutting device (900). The track module (600) is equipped with the shrimp body gripper device (700). The worm gear transmission device (800) drives the shrimp body gripper device (700) to move on the track module (600). The shrimp body gripper device (700) moves from the... The hinged plastic support module (500) grips the shrimp body with the head cut off. The shrimp body gripping device (700) drives the shrimp body to pass through the shrimp back opening device (1000) and the shrimp line sweeping device (1100) for processing. The shrimp insertion device (1200) fixes the processed shrimp body and separates it from the shrimp shell of the shrimp body gripping device (700). The output module includes a shrimp shell collection box (1320) and a shrimp head collection box (1330). The water circulation system includes a large water tank (1401) corresponding to the vortex input device (200) and a small water tank (1402) corresponding to the shrimp line sweeping device (1100).

2. The fully automatic multi-functional shrimp peeling machine according to claim 1, characterized in that: The eddy current input device (200) includes an input tank (210), a water pump (211), a hose (212), and a water pipe clamping sleeve (213). The input tank (210) is installed on the frame (100). The input tank (210) is connected to the water pump (211) through the hose (212). The water pump (211) is connected to the large water tank (1401). The water pipe clamping sleeve (213) is provided at the outlet of the input tank (210). The side wall of the water pipe clamping sleeve (213) is provided with a water outlet. The chute device (300) includes a trough support (330), a synchronous belt slide table three (350), and a guide rail one (341) mounted on the frame (100). The slider of the synchronous belt slide table three (350) is connected to a water trough bracket one (344). The water trough bracket one (344) is connected to the guide rail one (341) through a flange slider (342). A water trough bracket two (345) is mounted on the water trough bracket one (344). Two water trough plastic trays (346) for rinsing fresh shrimp are mounted on the water trough bracket two (345). A Y-shaped trough module (320) is fixed on the trough support (330). The Y-shaped trough module (320) includes a Y-shaped trough (321) and Y-shaped components. (322) and 694Z bearing (323), the Y-shaped groove (321) is installed on the groove support (330), the Y-shaped component (322) is installed on the upper surface of the Y-shaped groove (321) through the 94Z bearing (323), the inlet of the Y-shaped groove (321) is connected to the water pipe clamping sleeve (213) through the input water pipe (310), the Y-shaped groove (321) has two outlets, the Y-shaped component (322) sequentially guides fresh shrimp into the two outlets of the Y-shaped groove (321), the synchronous belt slide table three (350) drives the water-washed fresh shrimp plastic tray (346) to move between the outlet of the Y-shaped groove (321) and the robotic arm module (400); The water at the eddy current input device (200) and the chute device (300) flows back to the large water tank (1401) through the water guiding device.

3. The fully automatic multi-functional shrimp peeling machine according to claim 1, characterized in that: The robotic arm module (400) includes a second synchronous belt slide (412), the output end of which is connected to a first synchronous belt slide (411), and the output end of the first synchronous belt slide (411) is connected to a gripper main beam (448). The second synchronous belt slide (412) drives the first synchronous belt slide (411) to move horizontally, and the first synchronous belt slide (411) drives the gripper main beam (448) to move vertically. The main beam (448) of the gripper is provided with two horizontally arranged slide rails (415), and a gripper frame (417) is slidably connected to each slide rail (415). The gripper frame (417) is provided with a slanted groove, and two grippers (414) are provided at the bottom of each gripper frame (417). The gripper triangular head (418) is rotatably connected at the bottom of the gripper (414), and the gripper triangular head (418) is also connected to the gripper (414) through a gripper tension spring (419). The main beam (448) of the gripper is provided with an optical axis (443), and a gripper top plate (442) is fixed above the optical axis (443). A micro motor (413) is provided on the gripper top plate (442). An SCS8UU box-type slider (444) is slidably connected to the optical axis (443). The SCS8UU box-type slider (444) is connected to a fixed beam (455). The output end of the micro motor (413) is connected to a pin (446). The pin (446) passes through the fixed beam (455) and is inserted into the gripper frame (448). In the inclined slot of 17), the micro motor (413) drives the pin (446) to move up and down, thereby causing the gripper frame (417) to move horizontally, and the two gripper frames (417) move in opposite directions. The gripper frame (417) drives the gripper (414) to move, thereby grabbing the fresh shrimp in the plastic tray (346) of the fresh shrimp. The synchronous belt slide (411) drives the gripper triangular head (418) to move down. The gripper triangular head (418) contacts the plastic tray (346) of the fresh shrimp and rotates under force, thereby causing the fresh shrimp to stand up.

4. The fully automatic multi-functional shrimp peeling machine according to claim 1, characterized in that: The hinge support module (500) includes a chain (501) with trunnions, a positioning plate (510), and four supports (504) mounted on the frame (100). NE205E bearings (505) are mounted on the supports (504). One of the NE205E bearings (505) is connected to sprocket shaft one (506), and the other three NE205E bearings (505) are connected to sprocket shaft two (507). Both sprocket shaft one (506) and sprocket shaft two (507) are equipped with chain meshing gears (503). The chain (501) with trunnion is connected to four chain meshing gears (503). Multiple fixing plates (509) are installed on the chain (501) with trunnion. Fresh shrimp plastic trays (502) are provided on the fixing plates (509). The sprocket shaft (506) is connected to a 25W motor (511) through a LYCA-2030 plum blossom coupling (512). The 25W motor (511) is installed on a motor bracket (513). The positioning plate (510) is set corresponding to the chain (501) with trunnion. The robotic arm module (400) places the fresh shrimp on the fresh shrimp tray (502), and the 25W motor (511) drives the chain (501) with trunnion to rotate, so that the fresh shrimp tray (502) passes through the shrimp head cutting device (900).

5. The fully automatic multi-functional shrimp peeling machine according to claim 1, characterized in that: The track module (600) is slidably connected to a plurality of shrimp body gripper devices (700) connected in sequence. The track module (600) includes an intermediate track (601) installed on the frame (100). An inner ring module, an upper track module and a lower track module are installed on the intermediate track (601). The shrimp body gripper device (700) includes a track clamp (705), which is slidably connected to the inner ring module via a rubber wheel (701). Two opposing shrimp tail clamps (704) are hinged on the track clamp (705), and a shrimp tail clamp tension spring (718) is provided between the two shrimp tail clamps (704). Two opposing shrimp body clamps (707) are hinged on the track clamp (705), and a shrimp body clamp tension spring (719) is provided between the two shrimp body clamps (707). Both the shrimp body clamps (707) and the shrimp tail clamps (704) are provided with shrimp tail clamp axles (706), and a second rubber wheel (702) is installed on the shrimp tail clamp axle (706). The inner ring module has a protrusion corresponding to the position of the second rubber wheel (702). A slotted slider (710) is slidably connected to the shrimp body clamp (707). A shrimp body gripper (711) is fixed at the upper end of the slotted slider (710), and a connector two (709) is connected to the lower end. The connector two (709) is mounted on the connector one (708) through a 694Z bearing (715). The connector one (708) is connected to a semi-circular pin (712) through a standard type split fixing ring (716). The semi-circular pin (712) is connected to the lower wheel axle frame (713). A guide wheel (703) is mounted on the lower wheel axle frame (713). The guide wheel (703) is located between the upper track module and the lower track module. A protrusion two is provided between the upper track module and the lower track module. The track clamp (705) is equipped with a long bolt (717), and the worm gear transmission device (800) is used to drive the long bolt (717).

6. The fully automatic multi-functional shrimp peeling machine according to claim 5, characterized in that: The worm gear transmission device (800) includes a worm motor base (801) and two worm bases (803) mounted on the frame (100). The two worm bases (803) are arranged opposite to each other and each is equipped with a cylindrical roller bearing NH204E (804). A worm shaft (806) is connected between the two cylindrical roller bearings NH204E (804). A transmission worm (807) is provided on the worm shaft (806). Worm shaft sleeves (805) are provided on both sides of the worm (807). A worm motor (808) is fixed on the worm motor base (801). The worm motor (808) is connected to one end of the worm shaft (806) through a LYCA-4050 plum blossom coupling (802). The transmission worm (807) is set at the position corresponding to the long bolt (717), and at least one of the long bolts (717) is in contact with the transmission worm (807).

7. The fully automatic multi-functional shrimp peeling machine according to claim 1, characterized in that: The shrimp head cutting device (900) includes a motor bracket two (901) mounted on the frame (100), a brushed permanent current DC high-speed motor (902) mounted on the motor bracket two (901), the brushed permanent current DC high-speed motor (902) is connected to a feed rod (904) through a LYCA-1422 plum blossom coupling (903), and a 60mm circular saw blade (905) is fixed on the feed rod (904).

8. The fully automatic multi-functional shrimp peeling machine according to claim 1, characterized in that: The shrimp back-opening device (1000) includes a cutting base (1001) mounted on the frame (100). The cutting base (1001) is provided with a motor bracket (1005). The motor bracket (1005) is provided with a JGB37-545 DC geared motor (1004). The output end of the JGB37-545 DC geared motor (1004) is connected to the shrimp back-opening connecting shaft (1014) through a CFCA-D20-25 plum blossom coupling (1016). A 44-tooth-5-S3M100-B synchronous pulley (1007) is mounted on the shrimp back-opening connecting shaft (1014). The cutting base (1001) is provided with a fixed cutter head seat (1002), and an F608ZZ flange bearing (1013) is installed on the fixed cutter head seat (1002). The F608ZZ flange bearing (1013) is connected to a second shrimp back opening connecting shaft (1015). One end of the second shrimp back opening connecting shaft (1015) is connected to a 100mm circular saw blade (1010), and the other end is connected to an 18-tooth-5-S3M100-K synchronous pulley (1008). The 44-tooth-5-S3M100-B synchronous pulley (1007) and the 18-tooth-5-S3M100-K synchronous pulley (1008) are connected by a shrimp back opening synchronous belt (1009).

9. The fully automatic multi-functional shrimp peeling machine according to claim 1, characterized in that: The shrimp-sweeping device (1100) includes a shrimp-sweeping base (1102) mounted on the frame (100). The shrimp-sweeping base (1102) is provided with two spaced 698ZZ bearings (1113). The two 698ZZ bearings (1113) are respectively connected to a first shrimp-sweeping shaft (1107) and a second shrimp-sweeping shaft (1108). One end of the first shrimp-sweeping shaft (1107) and one end of the second shrimp-sweeping shaft (1108) are provided with arc-shaped teeth HTD5M-A (1105). The two arc-shaped teeth HTD5M-A (1105) are connected by a shrimp-sweeping synchronous belt (1106). The other end of the first shrimp-sweeping shaft (1107) is provided with a first shrimp-sweeping disc (1110), and the other end of the second shrimp-sweeping shaft (1108) is provided with a second shrimp-sweeping disc (1111). A 31ZY motor (1103) is installed on the shrimp-sweeping line base (1102). The output end of the 31ZY motor (1103) is connected to one end of the shrimp-sweeping line shaft (1107) through a CI-19×23-3×8 coupling (1104). The shrimp-sweeping device (1100) also includes a plastic spray pipe. One end of the plastic spray pipe is connected to the small water tank (1402) via a cleaning water pump, and the other end is set toward the first shrimp-sweeping disc (1110) and the second shrimp-sweeping disc (1111). The water at the shrimp-sweeping device (1100) flows back to the small water tank (1402) through the second water guide device. The small water tank (1402) is equipped with a filter screen.

10. The fully automatic multi-functional shrimp peeling machine according to claim 1, characterized in that: The shrimp insertion device (1200) includes an electric cylinder base (1202) fixed on the frame (100). The electric cylinder base (1202) is provided with a 24V-30mm 75-stroke electric cylinder (1201) and a waterproof base (1206). The 24V-30mm 75-stroke electric cylinder (1201) is located inside the waterproof base (1206), and the output end of the 24V-30mm 75-stroke electric cylinder (1201) passes upward through the waterproof base (1206) and is connected to the shrimp-removing needle (1203). A support body (1204) is provided above the waterproof base (1206), and a shrimp feeding groove (1207) is provided above the support body (1204). The shrimp feeding groove (1207) has a straight groove opening. The 24V-30mm 75-stroke electric cylinder (1201) drives the shrimp-removing needle (1203) to move at the straight groove opening.

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