Procambarus clarkia head and intestine integrated automatic processing equipment

Abstract

This invention discloses an integrated automatic processing equipment for crayfish deheading and deveining, characterized by its relevance to the field of aquatic product processing technology. The equipment includes a frame, a feeding and conveying mechanism, a chain-type clamping and conveying mechanism, an orientation mechanism, a deheading mechanism, a deveining mechanism, and a diversion and collection mechanism. The feeding and conveying mechanism orderly conveys the crayfish to the crayfish clamps; the orientation mechanism uses visual recognition and mechanical correction to maintain a uniform orientation of the crayfish; the deheading mechanism removes the crayfish heads; the deveining mechanism uses a synchronous chain to drive a wire-stripping clamping and pulling assembly to extract the intestines; and the diversion and collection mechanism separately collects the crayfish heads and tails. This invention achieves continuous automated processing of crayfish from orderly feeding, head and tail orientation, deheading, deveining to diversion and collection, solving the problems of low manual efficiency and poor hygiene. It has the advantages of integrated operation, accurate orientation, reliable clamping, low damage, and hygiene friendliness.

Description

Technical Field

[0001] This invention relates to the field of aquatic product primary processing equipment technology, specifically to an integrated automatic processing equipment for removing the head and intestines of crayfish. Background Technology

[0002] As an important freshwater aquatic product, crayfish have high consumption and strong seasonality, requiring high efficiency, hygiene, and standardization in processing. Currently, pre-processing of crayfish, such as head removal and intestinal removal, largely relies on manual labor: workers must first identify the head and tail direction, then use scissors / knives to cut off the head, and then manually pull out the intestinal tract. This method suffers from problems such as high labor intensity, high labor costs, low processing efficiency, poor hygiene consistency, and the cutting position and intestinal removal effect being greatly affected by the operator's experience.

[0003] In order to reduce reliance on manual labor, although there are equipment on the market for sorting, conveying or local processing of aquatic products, there are still several key difficulties in the continuous integrated automatic operation of "removing head and intestines" for crayfish: (1) The crayfish have a slippery body surface, irregular shape and limited rigidity, making it difficult to maintain a stable posture during high-speed continuous operation; (2) The individual posture is random when feeding, and the head and tail directions are inconsistent. If there is no reliable orientation mechanism, it will directly lead to the deviation of the cutting position and the increase of the breakage rate; (3) Removing head and intestines are two processes with different mechanisms. If they are processed independently, they often need to be fed twice or manually transferred, making the system complex and inefficient. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide an integrated automatic processing equipment for removing the head and intestines of crayfish, so as to solve the problems of reliance on manual labor, low efficiency and difficulty in achieving integrated continuous operation in the prior art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] The present invention provides an integrated automatic processing equipment for removing the head and intestines of crayfish, including a frame, a feeding and conveying mechanism, a chain clamping and conveying mechanism, a directional mechanism, a head-removing mechanism, an intestinal-removing mechanism, and a diversion and collection mechanism.

[0007] The frame serves as the mounting base for the entire equipment. The feeding conveyor mechanism is mounted on the frame, with its output end connected to the input end of the chain-type clamping conveyor mechanism, used to orderly convey crayfish to the chain-type clamping conveyor mechanism. The chain-type clamping conveyor mechanism, mounted on the frame, includes a ring chain, crayfish clamps fixed to the ring chain, and sprockets driving the ring chain. The crayfish clamps are arranged at equal intervals along the extension direction of the ring chain, used to clamp the crayfish and allow them to pass sequentially through each processing station. The orientation mechanism is located on one side of the chain-type clamping conveyor mechanism, downstream of the output end of the feeding conveyor mechanism. The orientation mechanism serves as a guide and also adjusts the crayfish's posture to maintain a uniform orientation. The head-removing mechanism is mounted on the frame, downstream of the orientation mechanism, with its cutting part facing the cephalothorax connection of the crayfish in the clamp, used to remove the crayfish head. The gutting mechanism is mounted on the frame, downstream of the head-removing mechanism, with its clamping part facing the tail of the crayfish in the clamp, used to extract the intestine from the tail. The diversion and collection mechanism is installed on the frame and located below the output end of the chain clamping and conveying mechanism. Its collection inlet corresponds to the release position of the shrimp clamp and is used to collect shrimp heads and tails separately.

[0008] In a preferred embodiment, the orientation mechanism includes a directional guide rail mechanism and a visual orientation mechanism. The directional guide rail mechanism is fixed to the frame and extends along the movement direction of the chain clamping and conveying mechanism. The guide rail surface of the directional guide rail mechanism abuts against the movable end of the shrimp clamp, used to control the opening and closing action of the shrimp clamp and constrain the posture of the shrimp. The visual orientation mechanism is mounted on the frame, with its camera facing the shrimp inside the shrimp clamp, and its actuator corresponding to the position of the shrimp inside the shrimp clamp, used to identify the head and tail orientation and perform correction.

[0009] In a preferred embodiment, the directional guide rail mechanism sequentially includes a first guide rail, a second guide rail, and a third guide rail along the crayfish conveying direction. The first guide rail is fixed to the frame, and its guide rail surface controls the opening of the crayfish clamp to facilitate receiving crayfish. The second guide rail is fixed to the frame and located downstream of the first guide rail. The third guide rail is fixed to the frame and located downstream of the degumming mechanism, and its guide rail surface controls the opening of the crayfish clamp to release the processed crayfish heads and tails.

[0010] In a preferred embodiment, the visual orientation mechanism includes an image acquisition unit, an image recognition unit, and an execution mechanism. The image acquisition unit is a high-definition camera with its lens facing the shrimp clamp. The high-definition camera is fixed to the frame by a bracket and located at the end of the first guide rail and at the entrance of the second guide rail. The image recognition unit is integrated into the control system and electrically connected to the high-definition camera, used to analyze the image to determine the head and tail orientation. The execution mechanism is a servo actuator electrically connected to the control system. A guide plate is fixed to the servo arm of the servo actuator, extending into the side of the shrimp inside the shrimp clamp. The execution mechanism drives the guide plate to move horizontally and vertically, cooperating with a rotating lever to adjust and correct the shrimp's posture.

[0011] In a preferred embodiment, the feeding and conveying mechanism includes a feeding hopper, a flexible feeding wheel, and a synchronous belt conveyor. The feeding hopper has a discharge port at its bottom. The flexible feeding wheel is a latex impeller, rotatably mounted at the discharge port of the feeding hopper, and its outer edge has flexible protrusions. The input end of the synchronous belt conveyor is located below the latex impeller, and multiple baffles are vertically fixed on the synchronous belt surface of the synchronous belt conveyor, forming a space between adjacent baffles to accommodate shrimp.

[0012] In a preferred embodiment, the system further includes a transfer and feeding mechanism, which is a feeding wheel installed between the end of the synchronous belt conveyor and the starting end of the chain clamping conveyor. The outer edge of the feeding wheel is provided with flexible feeding teeth, and the rotation path of the flexible feeding teeth passes through the end of the synchronous belt and the entrance of the shrimp clamp, for smoothly feeding the crayfish from the synchronous belt into the shrimp clamp.

[0013] In a preferred embodiment, the head-removing mechanism includes a rotating blade, a motor that drives the rotating blade, and a blade position adjustment assembly. The rotating plane of the rotating blade is opposite to the cephalothorax connection of the shrimp body inside the shrimp clamp. The blade position adjustment assembly is connected to the blade shaft support of the rotating blade for fine-tuning the cutting position.

[0014] In a preferred embodiment, the degumming mechanism includes a second synchronous chain, multiple clamping assemblies, and a guide rail. The second synchronous chain is connected to the drive sprocket of the chain-type clamping and conveying mechanism via a transmission gear, achieving synchronous operation with the main chain. The multiple clamping assemblies are wire stripper-type clamping assemblies, fixed at equal intervals on the links of the second synchronous chain. The guide rail is a fourth section of guide rail, fixed to the frame and extending along part of the running trajectory of the second synchronous chain. The guide surface of the fourth section of guide rail abuts against the control end of the wire stripper-type clamping assembly, used to control the opening, closing, and pulling actions of the clamping assembly.

[0015] In a preferred embodiment, the shrimp clamp includes a support rod rotatably mounted on a ring chain, a rotating lever horizontally mounted on the support rod, a shrimp body fixing seat fixedly mounted at the upper end of the support rod, clamping bars rotatably mounted on both sides of the shrimp body fixing seat, the clamping bars on both sides of the shrimp body fixing seat being staggered, actuating plates cooperating with the clamping bars rotatably mounted on both sides of the shrimp body fixing seat, a torsion spring being mounted at the rotatable engagement point between the clamping bars and the shrimp body fixing seat, the rotating lever cooperating with a guide plate, and the actuating plates cooperating with a guide rail mechanism.

[0016] In a preferred embodiment, two rotating levers are arranged in a cross shape, with the upper rotating lever slidingly engaged with the first guide rail and the lower rotating lever slidingly engaged with the second guide rail, serving a guiding function.

[0017] The present invention also provides an integrated automatic processing method for removing the head and intestines of crayfish using any of the above-described devices, comprising the following steps:

[0018] S1. Feeding and clamping: Pour the crayfish into the feeding bucket, and push them out by the latex impeller to the baffle between the synchronous belt, and then push them into the crayfish clamp by the feeding wheel;

[0019] S2, Orientation: After the shrimp clamp closes through the first section of the guide rail, the direction of the head and tail is identified by a high-definition camera. The guide plate of the servo actuator adjusts the posture of the shrimp by turning the lever, so that it maintains a uniform orientation within the second section of the guide rail.

[0020] S3. Head Removal: The shrimp body is carried by the shrimp clips and passed through the rotating blade, where the shrimp head is removed.

[0021] S4. Degumming: The thread-peeling clamp-pull assembly clamps the shrimp tail under the guidance of the fourth section guide rail. After clamping the shrimp tail, it pulls relative to the shrimp body to pull out the intestine from the tail. Then the thread-peeling clamp-pull assembly opens to release waste and resets.

[0022] S5. Diversion: When the shrimp clamp passes through the third guide rail, it is opened sequentially by the actuating plate. The shrimp head falls into the shrimp head collection trough and the shrimp tail falls into the shrimp tail collection trough.

[0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] Integrated continuous operation: The head removal and gut removal processes are completed in the same chain clamping and conveying path, reducing manual transfer and realizing continuous and automated processing.

[0025] Orderly feeding and low damage: The combination of flexible feeding with latex impellers and synchronous belt baffles, along with the smooth handover of feeding rollers, reduces damage to shrimp.

[0026] Accurate orientation and high processing consistency: The combination of visual recognition and the correction method of the guide plate toggling the rotating lever ensures that the head and tail directions are consistent, improving the pass rate of cutting and degumming.

[0027] Stable and reliable clamping: The shrimp clamp adopts a structure in which the staggered clamping bars and the actuating plate work together, and with the torsion spring reset, it can stably clamp wet, slippery and irregularly shaped crayfish.

[0028] Reliable degumming effect: The synchronously driven wire stripper clamping and pulling assembly ensures accurate operation and low residue rate.

[0029] Hygiene and maintenance friendly: Key components are made of food-grade materials, can be quickly disassembled for cleaning, and can be diverted for collection to reduce human contact and improve hygiene. Attached Figure Description

[0030] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0031] Figure 2 This is a schematic diagram of the planar structure of the present invention;

[0032] Figure 3 For the present invention Figure 1 A magnified structural diagram of part A;

[0033] Figure 4 This is a partial structural diagram of the present invention;

[0034] Figure 5 For the present invention Figure 4 A schematic diagram of the enlarged structure of part B;

[0035] Figure 6 This is a schematic diagram of the shrimp clip structure of the present invention;

[0036] Figure 7 This is a schematic diagram of the processing flow of the present invention.

[0037] In the diagram: 1-Frame; 2-Feeding conveyor mechanism; 21-Feeding hopper; 22-Latex impeller; 221-Flexible protrusion; 23-Synchronous belt conveyor mechanism; 231-Synchronous belt; 232-Baffle; 3-Chain clamping conveyor mechanism; 31-Sprocket; 32-Annular chain; 33-Shrimp clamp; 331-Support rod; 332-Rotating lever; 333-Shrimp body fixing seat; 334-Clamping bar; 335-Actuating plate; 4-Directional guide rail mechanism; 41-First section guide rail; 42-Second section guide rail; 43-Third section guide rail; 5-Visual orientation mechanism; 51-High-definition camera; 52-Servo actuator; 521-Guide plate; 6-Head removal mechanism; 61-Rotating blade; 62-Motor; 63-Blade position adjustment assembly; 7-Intestinal removal mechanism; 71-Second synchronous chain; 72-Wire stripper clamp assembly; 73-Fourth section guide rail; 8-Diverting and collecting mechanism; 81-Shrimp head collecting trough; 82-Shrimp tail collecting trough; 10-Transfer and feeding mechanism; 101-Feeding wheel; 102-Flexible feeding teeth. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] like Figure 1 As shown in the figure, the crayfish head removal and deveining integrated automatic processing equipment provided in this embodiment includes a frame 1, and a feeding conveying mechanism 2, a chain clamping conveying mechanism 3, a directional mechanism, a head removal mechanism 6, a deveining mechanism 7, a diversion and collection mechanism 8 and a control system installed on the frame 1.

[0040] like Figure 4 As shown, the feeding and conveying mechanism 2 includes a feeding hopper 21, a latex impeller 22, and a synchronous belt conveyor 23. The feeding hopper 21 has a discharge port at its bottom. The latex impeller 22 is rotatably mounted at the discharge port of the feeding hopper 21 and is driven to rotate by a motor. Its outer edge has multiple flexible protrusions 221 for individually removing crayfish from the hopper. The input end of the synchronous belt conveyor 23 is located below the latex impeller 22. Multiple baffles 232 are vertically fixed to the surface of its synchronous belt 231, forming a space between adjacent baffles 232 to accommodate the crayfish. The synchronous belt 231 is driven by a drive wheel and a driven wheel, conveying the crayfish in a single, orderly line to the end.

[0041] like Figure 4As shown, a transfer and feeding mechanism 10 is installed between the end of the synchronous belt 231 and the starting end of the chain clamping and conveying mechanism 3. The transfer and feeding mechanism 10 is a feeding wheel 101, which is driven to rotate by a motor, and its outer edge is provided with flexible feeding teeth 102. The rotation path of the flexible feeding teeth 102 passes above the end of the synchronous belt 231 and the entrance of the shrimp clamp 33, thereby smoothly feeding the crayfish that have arrived at the end of the synchronous belt 231 into the shrimp clamp 33.

[0042] like Figure 1 As shown, the chain clamping and conveying mechanism 3 includes a sprocket 31, an annular chain 32, and multiple shrimp clamps 33 fixedly installed at equal intervals along the annular chain 32. The sprocket 31 is driven by a main drive motor, which drives the annular chain 32 to circulate.

[0043] like Figure 6 As shown, the shrimp clamp 33 includes a support rod 331 rotatably mounted on a ring chain 32. A rotating lever 332 is horizontally mounted on the support rod 331; in this embodiment, two rotating levers 332 are arranged in a cross shape. A shrimp body fixing seat 333 is fixedly mounted on the upper end of the support rod 331. Clamping bars 334 are rotatably mounted on both sides of the shrimp body fixing seat 333, and the clamping bars 334 are staggered to form a clamping cavity that adapts to the shape of the shrimp body. One clamping bar 334 corresponds to the head of the shrimp body, and the other clamping bar 334 corresponds to the tail of the shrimp body. A lever plate 335, which cooperates with the clamping bars 334, is also rotatably mounted on both sides of the shrimp body fixing seat 333. A torsion spring (not shown) is provided at the rotatable connection between the clamping bar 334 and the shrimp body fixing seat 333 to provide clamping force and keep the clamping bar 334 in an open state when no external force is applied.

[0044] like Figure 1 As shown, the orientation mechanism includes a directional guide rail mechanism 4 and a visual orientation mechanism 5. The directional guide rail mechanism 4 is fixed to the frame 1 and extends along the movement direction of the chain clamping and conveying mechanism 3. Specifically, the directional guide rail mechanism 4 includes a first guide rail 41, a second guide rail 42, and a third guide rail 43 in sequence along the crayfish conveying direction. The guide rail surface of the first guide rail 41 abuts against the rotating lever 332 located above, which is used to control the opening of the crayfish clamp 33 to facilitate the receiving of crayfish. The guide rail surface of the second guide rail 42 does not abut against the sides of the crayfish body and the actuating plate 335. Under the action of the torsion spring, it controls the crayfish clamp 33 to clamp the crayfish body and accurately position the crayfish body. The guide rail surface of the third guide rail 43 abuts against the actuating plate 335, which is used to control the opening of the crayfish clamp 33 to release the processed crayfish head and tail.

[0045] like Figure 1 , Figure 5As shown, the visual orientation mechanism 5 is mounted on the frame 1. The visual orientation mechanism 5 includes a high-definition camera 51, an image recognition unit (integrated into the control system), and a servo actuator 52. The lens of the high-definition camera 51 is oriented towards the shrimp clamp 33 to capture images of the shrimp. The high-definition camera 51 is mounted on the end of the first guide rail 41 via a bracket and is located at the entrance of the second guide rail 42. The image recognition unit is electrically connected to the high-definition camera 51 and is used to analyze the image to determine the head and tail orientation. Specifically, when the shrimp clamp moves the crayfish to the detection station, the photoelectric sensor triggers the high-definition camera 51 to capture a clear image of the shrimp in the clamp in real time. The image recognition unit locks the head and tail orientation of the shrimp, outputs a command signal, and synchronously sends it to the servo actuator 52 at the rear end, providing an orientation determination basis for shrimp orientation correction. The servo actuator 52 is electrically connected to the control system, and a guide plate 521 is fixed on its servo arm. The guide plate 521 extends into the side of the shrimp in the shrimp clamp 33 and corresponds to the position of the rotating lever 332 below. The servo actuator 52 can drive the guide plate 521 to move horizontally and vertically. By turning the lever 332, the posture of the shrimp can be adjusted so that it can reach a uniform orientation before entering the second guide rail 42. After receiving the head and tail orientation command of the shrimp, the servo actuator 52 can drive the guide plate 521 to move, which in turn drives the lever 332 to adjust the posture of the shrimp so that the head and tail of the shrimp are aligned.

[0046] like Figure 1 and Figure 3 As shown, the head-removing mechanism 6 is mounted on the frame 1, located in the processing area corresponding to the second guide rail 42. The head-removing mechanism 6 includes a rotating blade 61, a motor 62 that drives the rotating blade 61 to rotate at high speed, and a blade position adjustment assembly 63. The rotation plane of the rotating blade 61 is opposite to the cephalothorax connection point of the shrimp body inside the shrimp clamp 33. The blade position adjustment assembly 63 is connected to the blade shaft support of the rotating blade 61 and is used to fine-tune the cutting depth and position of the blade 61 to accommodate crayfish of different sizes.

[0047] like Figure 1 , Figure 2As shown, the gutting mechanism 7 is mounted on the frame 1, located downstream of the head-removing mechanism 6. The gutting mechanism 7 includes a second synchronous chain 71, multiple wire stripper-type clamping assemblies 72, and a fourth guide rail 73. The second synchronous chain 71 is connected to the drive sprocket 31 of the chain-type clamping and conveying mechanism 3 via a transmission gear, thereby achieving synchronous operation with the annular chain 32. Multiple wire stripper-type clamping assemblies 72 are fixed at equal intervals on the links of the second synchronous chain 71, with their spacing matching the spacing of the shrimp clamps 33 on the annular chain 32. The fourth guide rail 73 is fixed to the frame 1 and extends along part of the running trajectory of the second synchronous chain 71, with its guide rail surface abutting against the control end of the wire stripper-type clamping assembly 72. When the stripper-type clamping assembly 72 moves to the corresponding shrimp tail position, guided by the fourth guide rail 73, its jaws close and clamp the shrimp tail. Subsequently, as the second synchronous chain 71 continues to run, the stripper-type clamping assembly 72 and the shrimp clamp 33 undergo relative displacement, thereby pulling the shrimp line out of the shrimp tail. After pulling out the shrimp line, the stripper-type clamping assembly 72 opens under the guidance of another guide rail, releasing waste. The degumming mechanism 7 of this invention can be referenced from Chinese Patent No. CN201410826458, "A Degumming Machine for Procambarus clarkii".

[0048] like Figure 1 and Figure 2 As shown, the diversion and collection mechanism 8 is mounted on the frame 1, located below the output end of the chain clamping and conveying mechanism 3. The diversion and collection mechanism 8 includes a shrimp head collection trough 81 and a shrimp tail collection trough 82, with their collection inlets corresponding to the two opening positions on the third guide rail 43 corresponding to the shrimp head and shrimp tail, respectively. Before entering the third guide rail 43, the equipment is equipped with a switching guide rail or another set of guide plates. The guide plates act on the rotating lever 332 at the top, which is in a free state at this time, causing the shrimp clamp 33 to rotate as a whole to the preset sorting posture.

[0049] The control system includes a PLC controller, motor driver, image processing module, etc., and is electrically connected to various sensors, cameras, motors, and servo motors. It is used to receive signals and coordinate the timing of the actions of each mechanism according to a preset program.

[0050] like Figures 1 to 7 As shown, the integrated automatic processing method for removing the head and intestines of crayfish according to the present invention will be described in detail below with reference to the equipment structure. The process is as follows:

[0051] S1. Loading and initial clamping:

[0052] The crayfish are poured into the feeding bucket 21 and rotated out by the latex impeller 22 to the baffle 232 of the synchronous belt 231. At the starting end of the chain clamping and conveying mechanism 3, the upper moving lever 332 of the crayfish clamp 33 slides in the groove of the first guide rail 41. Under the constraint of the first guide rail 41, the actuating plate 335 of the crayfish clamp 33 is driven, so that the clamping bar 334 overcomes the torsion spring force and remains open. At this time, the feeding wheel 101 of the transfer feeding mechanism 10 rotates, and its flexible teeth 102 smoothly push the crayfish at the end of the synchronous belt 231 into the open crayfish clamp 33. After the crayfish enter, the crayfish clamp 33 continues to move forward with the ring chain 32. The upper rotating lever 332 disengages from the first guide rail 41, the actuating plate 335 loses external force, and the clamping bar 334 automatically closes under the action of the torsion spring, holding the crayfish. At this time, both the upper movable lever 332 and the lower movable lever 332 are in a free state.

[0053] S2, Visual Recognition and Orientation Correction:

[0054] The crayfish clamp 33 continues forward. When it passes the photoelectric switch, the system confirms that the clamp 33 has entered the visual inspection station. The high-definition camera 51 immediately captures an image of the crayfish, and the image recognition unit determines the head and tail orientation. The control system controls the servo actuator 52 to extend the guide plate 521 and block the movement of the lower movable lever 332 (moving the left or right side of the lower movable lever 332 determines whether the crayfish clamp 33 rotates clockwise or counterclockwise). After the lower movable lever 332 is moved, it causes the entire support rod 331 and the crayfish fixing seat 333 fixed on it to deflect, thereby allowing the crayfish to complete a 90° posture adjustment before entering the second guide rail 42, achieving a unified head and tail orientation. After the correction action is completed, the guide plate 521 returns to its original position.

[0055] S3, Limiting and Machining:

[0056] After correction, the lower movable lever 332 of the shrimp clamp 33 enters the constraint range of the second guide rail 42. Guided by the second guide rail 42, the shrimp clamp 33 maintains a precise clamping posture, stably limiting the shrimp body. Subsequently, the shrimp clamp 33 carries the oriented crayfish through the processing station in sequence:

[0057] Head removal: When the crayfish passes through the high-speed rotating blade 61, the rotating blade 61 precisely cuts into the cephalothorax connection of the crayfish and cuts off the head.

[0058] Degumming: After the head is removed, the crayfish continues to move forward. The thread-peeling clamp assembly 72 closes under the guidance of the fourth guide rail 73, clamping the tail. As the second synchronous chain 71 and the annular chain 32 operate synchronously, the thread-peeling clamp assembly 72 and the crayfish clamp 33 shift relative to each other, pulling the intestine out from the tail. Subsequently, the thread-peeling clamp assembly 72 opens, releasing the intestine and other waste, and resets. After completing the head and intestine removal processes, the lower movable lever 332 disengages from the second guide rail 42.

[0059] S4. Diversion: After all processing is completed, the shrimp clamp 33 continues forward. Before entering the third guide rail 43, the equipment is equipped with another set of guide plates. This guide plate acts on the upper rotating lever 332, which is in a free state at this time, causing the shrimp clamp 33 to rotate as a whole to the preset sorting posture. The shrimp clamp 33 moves to the third guide rail 43, where one of the actuating plates 335 opens the clamping bar 334 corresponding to the shrimp head, and the shrimp head falls into the shrimp head collection trough 81 under the action of gravity. The shrimp clamp 33 continues forward, and the third guide rail 43 acts on another actuating plate 335 to open the clamping bar 334 corresponding to the shrimp tail, and the degummed shrimp tail falls into the shrimp tail collection trough 82, completing the processing.

[0060] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the protection scope of the present invention.

Claims

1. An integrated automatic processing equipment for removing the head and intestines of crayfish, characterized in that, include Rack (1); The feeding conveyor (2) is installed on the frame (1), and its output end is connected to the input end of the chain clamping conveyor (3); A chain clamping and conveying mechanism (3) is installed on the frame (1) and includes an annular chain (32) and shrimp clamps (33) fixed on the annular chain (32), as well as a sprocket (31) for driving the annular chain (32). The shrimp clamps (33) are arranged at equal intervals along the extension direction of the annular chain (32). The orientation mechanism is set on one side of the chain clamping and conveying mechanism (3) and located downstream of the output end of the feeding conveying mechanism (2). The orientation mechanism is in contact with the shrimp body in the shrimp clamp (33). The head removal mechanism (6) is installed on the frame (1) and located downstream of the orientation mechanism, with its cutting part facing the cephalothorax connection of the shrimp body inside the shrimp clamp (33). The degumming mechanism (7) is installed on the frame (1) and located downstream of the head-removing mechanism (6), with its clamping part facing the tail of the shrimp inside the shrimp clamp (33); The diversion and collection mechanism (8) is installed on the frame (1) and located below the output end of the chain clamping and conveying mechanism (3). Its collection inlet corresponds to the release position of the shrimp clamp (33).

2. The integrated automatic processing equipment for removing the head and intestines of crayfish according to claim 1, characterized in that, The orientation mechanism includes: The directional guide rail mechanism (4) is fixed on the frame (1) and extends along the movement direction of the chain clamping and conveying mechanism (3). The guide rail surface of the directional guide rail mechanism (4) abuts against the movable end of the shrimp clamp (33). A visual orientation mechanism (5) is installed on the frame (1). The visual orientation mechanism (5) faces the shrimp in the shrimp clamp (33), and its execution end corresponds to the position of the shrimp in the shrimp clamp (33).

3. The integrated automatic processing equipment for removing the head and intestines of crayfish according to claim 2, characterized in that, The directional guide rail mechanism (4) includes, in sequence, the following components along the crayfish conveying direction: The first guide rail (41) is fixed on the frame (1), and its guide rail surface controls the opening of the shrimp clamp (33); The second guide rail (42) is fixed on the frame (1) and located downstream of the first guide rail (41); The third guide rail (43) is fixed on the frame (1) and located downstream of the degumming mechanism (7). Its guide rail surface controls the opening of the shrimp clamp (33).

4. The integrated automatic processing equipment for removing the head and intestines of crayfish according to claim 2, characterized in that, The visual orientation mechanism (5) includes: The image acquisition unit is a high-definition camera (51). The lens of the high-definition camera (51) is facing the shrimp clamp (33). The high-definition camera (51) is fixed on the frame (1) by a bracket and is located at the end of the first guide rail (41). The high-definition camera (51) is located at the entrance of the second guide rail (42). The image recognition unit is integrated into the control system and is electrically connected to the high-definition camera (51); The actuator is a servo actuator (52), which is electrically connected to the control system. A guide plate (521) is fixed on the servo arm of the servo actuator (52). The guide plate (521) extends into the side of the shrimp body inside the shrimp clamp (33). The actuator (52) drives the guide plate (521) to move horizontally and vertically.

5. The integrated automatic processing equipment for removing the head and intestines of crayfish according to claim 1, characterized in that, The feeding and conveying mechanism (2) includes: The feeding hopper (21) has a discharge port at its bottom; The flexible feeding wheel is a latex impeller (22), which is rotatably installed at the discharge port of the feeding bucket (21). The outer edge of the latex impeller (22) is provided with a flexible protrusion (221). The synchronous belt conveyor (23) has its input end located below the latex impeller (22). Multiple baffles (232) are vertically fixed on the synchronous belt (231) of the synchronous belt conveyor (23), and a space for accommodating shrimp is formed between adjacent baffles (232).

6. The integrated automatic processing equipment for removing the head and intestines of crayfish according to claim 4, characterized in that, It also includes a transfer and feeding mechanism (10), which is a feeding wheel (101) installed between the end of the synchronous belt conveyor (23) and the starting end of the chain clamping and conveying mechanism (3). The outer edge of the feeding wheel (101) is provided with flexible feeding teeth (102), and the rotation path of the flexible feeding teeth (102) passes through the end of the synchronous belt (231) and the entrance of the shrimp clamp (33).

7. The integrated automatic processing equipment for removing the head and intestines of crayfish according to claim 1, characterized in that, The head removal mechanism (6) includes a rotating blade (61), a motor (62) that drives the rotating blade (61), and a blade position adjustment assembly (63). The rotating plane of the rotating blade (61) is opposite to the cephalothorax connection of the shrimp body in the shrimp clamp (33). The blade position adjustment assembly (63) is connected to the blade shaft support of the rotating blade (61).

8. The integrated automatic processing equipment for removing the head and intestines of crayfish according to claim 1, characterized in that, The degumming mechanism (7) includes: The second synchronous chain (71) is connected to the drive sprocket (31) of the chain clamping and conveying mechanism (3) via a transmission gear; Multiple clamping and pulling components, which are wire stripper-type clamping and pulling components (72), are fixed at equal intervals on the links of the second synchronous chain (71); The guide rail, which is the fourth section of the guide rail (73), is fixed on the frame (1) and extends along part of the running trajectory of the second synchronous chain (71). The guide rail surface of the fourth section of the guide rail (73) abuts against the control end of the wire stripper clamp assembly (72).

9. The integrated automatic processing equipment for removing the head and intestines of crayfish according to claim 1, characterized in that, The shrimp clamp (33) includes a support rod (331) rotatably mounted on a ring chain (32). A rotating lever (332) is horizontally mounted on the support rod (331). A shrimp body fixing seat (333) is fixedly mounted at the upper end of the support rod (331). A clamping bar (334) is rotatably mounted on both sides of the shrimp body fixing seat (333). The clamping bars on both sides of the shrimp body fixing seat (333) are staggered. A lever plate (335) that cooperates with the clamping bar (334) is rotatably mounted on both sides of the shrimp body fixing seat (333). A torsion spring is provided at the rotatable joint between the clamping bar (334) and the shrimp body fixing seat (333). The rotating lever (332) cooperates with the guide plate (521). The lever plate (335) cooperates with the guide rail mechanism (4).

10. The integrated automatic processing equipment for removing the head and intestines of crayfish according to claim 1, characterized in that, The rotating lever (332) has two parts arranged in a cross shape. The upper rotating lever (332) is slidably engaged with the first section of the guide rail (41), and the lower rotating lever (332) is slidably engaged with the second section of the guide rail (42).

Images