Automatic chiton shucking machine

Abstract

This invention relates to the field of shell processing equipment technology, and proposes an automatic shelling machine for scallops to solve the problem of difficulty in aligning the scallop shells with the seams. The machine includes a frame, on which a directional feeding mechanism and a directional shelling mechanism are provided. The directional feeding mechanism includes a feeding hopper, a conveyor belt, a straightening feeding device, and a first cooperative drive device. The directional shelling mechanism includes a clamping and cutting device, a shelling device, and a second cooperative drive device.

Description

Technical Field

[0001] This invention relates to the field of shell processing equipment technology, and in particular to an automatic shelling machine for comb-shaped scallops. Background Technology

[0002] The comb-scallop belongs to the genus *Combium* of the family Pectinidae in the order Pectinidae. It is a typical marine bivalve molluskaloid, with a fan-shaped, thin yet hard shell. Multiple radial ribs are distributed on the shell surface, accompanied by spiny projections, giving it a distinctive species characteristic. This molluskaloid has a wide natural distribution and is a core species for large-scale aquaculture in the coastal areas of northern my country, possessing extremely high economic and edible value.

[0003] From a nutritional and processing perspective, the adductor muscle of the scallop possesses both medicinal and edible properties. Rich in essential nutrients such as potassium, iron, magnesium, and selenium, it is a high-quality raw material for the deep processing of aquatic products. To meet the demands of long-distance transportation and long-term preservation, the industry typically separates the adductor muscle of the scallop and freezes it to produce dried scallops, or further processes it into dried products. With its delicious taste and rich nutritional value, it is highly favored in domestic and international markets.

[0004] Currently, many small and medium-sized processing plants and frontline aquaculture farmers still use the traditional manual shelling method, which is not only labor-intensive, inefficient, and costly, but also prone to food safety hazards due to improper operation, making it difficult to adapt to the needs of large-scale, industrialized production. Although some automated shelling equipment has entered the market, existing equipment generally suffers from high purchase costs, large footprint, and poor adaptability, failing to meet the needs of small and medium-sized processing entities. Therefore, there is a vast potential for technological substitution and upgrading.

[0005] At a deeper level, the physiological structural characteristics of the scallop further exacerbate the difficulty of developing and applying automated shell-opening equipment. The two shells of the scallop exhibit natural asymmetry. When the shells are placed vertically with the opening facing upwards, the left and right shells cannot be of the same size, resulting in an inconsistent position of the opening gap. Even with auxiliary tooling to roughly align the opening gaps, minute deviations in the closed state of the shells place extremely high demands on the positioning accuracy of the equipment. Simultaneously, the irregular wavy edge of the scallop opening significantly increases the difficulty of accurately aligning the equipment with the opening and successfully completing the shell-opening operation. Existing automated equipment struggles to overcome these structural defects, resulting in a low success rate and severely hindering the intelligent and efficient development of the scallop deep-processing industry.

[0006] This case arose in order to resolve the aforementioned issues. Summary of the Invention

[0007] Therefore, in view of the above problems, the present invention proposes an automatic shelling machine for scallops to solve the problem of difficulty in aligning the slits when opening the shell of scallops.

[0008] To solve the above-mentioned technical problems, the solution adopted by the present invention is: an automatic scallop shelling machine, including a frame, on which a directional feeding mechanism and a directional shelling mechanism are provided; the directional feeding mechanism includes a feeding hopper, a conveyor belt, a aligning feeding device, and a first coordinating drive device; the directional shelling mechanism includes a clamping and cutting device, a shelling device, and a second coordinating drive device; the conveyor belt is horizontally arranged on the frame in the front-back direction, the feeding hopper is fixedly arranged on the frame above the front end of the conveyor belt, and a feeding baffle is slidably arranged at the bottom of the feeding hopper; the aligning feeding device is arranged on the frame behind the conveyor belt; the first coordinating drive device simultaneously drives the feeding baffle, the conveyor belt, and the aligning feeding device to operate; The clamping and cutting device includes a gripper, a push rod, a steering guide block, a cutting blade, and a cutting motor. The steering guide block is fixedly mounted on the frame below the rear end of the conveyor belt. The push rod slides back and forth through the horizontal channel of the steering guide block. The gripper is fixed to the rear end of the push rod between the steering guide block and the aligning feeding device. A horizontal clamping cavity for horizontally clamping the scallop is formed inside the gripper. The cutting motor is fixed to the frame on one side behind the aligning feeding device. The cutting blade is fixedly sleeved on the rotating shaft of the cutting motor along the sliding direction parallel to the push rod. A flipping structure is provided between the push rod and the steering guide block to flip the scallop ninety degrees after cutting the hinge part and transport it to the shelling device. The shelling device includes a first clamping block, a second clamping block, a mounting rod, a clamping spring, a shell-opening knife, two scrapers, two drive turntables, a drive shaft, and a longitudinal guide seat. The first and second clamping blocks are arranged left and right behind the cutting blade. One end of the mounting rod is slidably mounted on the frame, and the other end is fixed to the first or second clamping block. The clamping spring is sleeved on the mounting rod, with one end abutting against the first or second clamping block and the other end abutting against the frame. A longitudinal clamping cavity for receiving scallops is formed between the first and second clamping blocks. The shell-opening knife is positioned above the longitudinal clamping cavity, and a scraper is formed in the middle of the shell-opening knife from bottom to top. The meat opening is provided, with a scraper positioned at the upper end of the meat opening. A drive shaft is horizontally rotatable above the shell-opening knife. Drive turntables are located on the front and rear sides of the shell-opening knife and fixedly sleeved on the drive shaft. The inner walls of the two drive turntables are eccentrically provided with lifting annular grooves for driving the shell-opening knife to lift and lower. The front and rear faces of the shell-opening knife are provided with lifting sliders that slide and cooperate with the lifting annular grooves. A longitudinal guide seat is fixedly mounted on the frame and has a guide channel for the shell-opening knife and scraper to pass through. The frame is provided with a clamping drive structure that is synchronously driven by the drive shaft to clamp or release the comb-shaped scallops using the first clamping block and the second clamping block. The second cooperative drive device simultaneously drives the push rod to slide and the drive shaft to rotate.

[0009] A further improvement is that an opening and closing structure is provided between the shell-opening knife and the drive rotating disk to drive the two scrapers to open and then close to remove the soft body of the scallop.

[0010] A further improvement is made to the opening and closing structure, which includes a pressure rod, a first return spring, two opening and closing blocks, two opening and closing rods, and a pressure block. The upper middle part of the shell-opening knife has an installation channel communicating with the meat scraping opening from top to bottom. The pressure rod is longitudinally slidably disposed in the installation channel. The first return spring is sleeved on the upper end of the pressure rod, and the two ends of the first return spring abut against the top of the pressure rod and the top of the shell-opening knife, respectively. The two opening and closing blocks are rotatably hinged to the bottom sides of the pressure rod. The scraper is fixedly disposed at the bottom of the opening and closing blocks. The opening and closing blocks have an opening and closing groove that is obliquely opened outward. The opening and closing rod slides through the opening and closing groove. The two ends of the opening and closing rod are fixed to the inner wall of the meat scraping opening. The pressure block is located above the pressure rod and is fixedly disposed on the inner wall of the drive disc inside the lifting ring groove.

[0011] A further improvement is that the pressing surface of the pressing block forms a first arc-shaped pressing surface and a second arc-shaped pressing surface that adapt to the irregular curvature of the comb-hole scallop shell, and the top of the pressing rod is provided with an arc-shaped abutment surface.

[0012] A further improvement is that the lifting ring groove is provided with a notch to prevent the shell-opening knife from moving upward under the reaction force of the comb-shaped scallop.

[0013] A further improvement is made to the clamping drive structure, which includes a first clamping crank, a second clamping crank, a first clamping cam, a second clamping cam, a first horizontal guide seat, and a second horizontal guide seat. The first and second horizontal guide seats are slidably disposed on the frame outside the first and second clamping blocks, respectively. The first and second clamping blocks are respectively disposed on the first and second horizontal guide seats. The first and second clamping cams are fixedly sleeved on one end of the drive shaft. The first and second clamping cranks are respectively disposed on the left and right sides of the drive disc. The upper section of the first and second clamping cranks is horizontal, and the middle section is horizontal. The first and second clamping cranks have an inclined section that slopes in the front-back direction and a vertical section at the bottom. The inner ends of the horizontal sections of the first and second clamping cranks are hinged to the frame. The free ends of the horizontal sections of the first and second clamping cranks are located below the first and second clamping cams, respectively. The free ends of the lower sections of the first and second clamping cranks are vertically provided with hinge grooves. Fixed rods slide through the hinge grooves. The two ends of the two fixed rods are fixedly mounted on the first and second horizontal guide seats, respectively. Reset structures for driving the first and second clamping cranks to reset and clamp are respectively provided between the outer sides of the first and second horizontal guide seats and the frame.

[0014] A further improvement is that: the free ends of the horizontal sections of the first clamping crank and the second clamping crank are respectively provided with clearance grooves, and a top wheel is rotatably provided in the opening of the clearance groove.

[0015] A further improvement is made to the reset structure, which includes a second reset spring and a first spring rod. The outer end of the first spring rod is fixedly mounted on the frame, and the inner end of the first spring rod slides through the first horizontal guide seat or the second horizontal guide seat. The inner end of the first spring rod is fixedly provided with a first anti-detachment protrusion. The second reset spring is sleeved on the first spring rod, with one end of the second reset spring abutting against the frame and the other end abutting against the first horizontal guide seat or the second horizontal guide seat.

[0016] A further improvement is that the flipping structure includes a steering groove formed axially on the outer wall of the push rod and a steering protrusion fixedly disposed on the inner wall of the horizontal channel. The front and rear sections of the steering groove are parallel to the axial direction, the middle section of the steering groove is spiraled at 90 degrees, and the steering protrusion slides into the steering groove.

[0017] A further improvement is made to the gripper, which includes an upper gripping plate, a lower gripping plate, a mounting block, a gripping rod, and a gripping spring. The mounting block is fixedly mounted on the push rod. The upper and lower gripping plates are respectively hinged to the upper and lower ends of the mounting block. The gripping rod extends longitudinally through the mounting block. The fixed ends of the upper and lower gripping plates are provided with gripping grooves. The gripping rod passes through the gripping grooves. An anti-disengagement block is fixedly mounted at the end of the gripping rod. The gripping spring is sleeved on the gripping rod. One end of the gripping spring abuts against the mounting block, and the other end of the gripping spring abuts against the fixed end of the upper or lower gripping plate.

[0018] A further improvement is that the second cooperative drive device includes a second motor and a drive shaft. The drive shaft is rotatably mounted on the frame in the front-back direction. The second motor is fixedly mounted on the frame and drives the drive shaft to rotate. The front end of the drive shaft is provided with a first drive part for driving the push rod to slide linearly in the front-back direction, and the rear end of the drive shaft is provided with a second drive part for driving the drive shaft to rotate.

[0019] A further improvement is made: the first drive unit includes a guide groove, a guide rod, a first connecting rod, a second connecting rod, and a rotating seat. The front end of the push rod is rotatably mounted on the rotating seat. The guide groove is mounted on the frame along the front-rear direction. The guide rod is horizontally slidably mounted in the guide groove. The front end of the guide rod is fixedly mounted on the rotating seat. One end of the first connecting rod is horizontally rotatably hinged to the rear end of the guide rod. The other end of the first connecting rod is horizontally rotatably hinged to one end of the second connecting rod. A 90-degree reversing transmission structure is provided between the front end of the transmission shaft and the other end of the second connecting rod.

[0020] A further improvement is that the second drive unit includes a first gear, a second gear, and a first gear chain. The first gear is fixedly sleeved on the rear end of the transmission shaft, the second gear is fixedly sleeved on the drive shaft, and the first gear chain is wound around the first gear and the second gear.

[0021] A further improvement is that a sorting plate is rotatably mounted on the frame below the longitudinal clamping cavity, and a sorting cam is fixedly sleeved on the drive shaft below the sorting plate.

[0022] A further improvement is made to the alignment and feeding device, which includes a feeding trough, an alignment rod, a horizontal support plate, several feeding guide rods, a receiving plate, and a clamping auxiliary plate. The feeding trough is located behind the conveyor belt and mounted on the frame. The bottom of the feeding trough has a feeding opening that conforms to the shape of a comb-shaped scallop. The surface of the feeding trough has a guide slope around the feeding opening to guide the material towards the center of the opening. The feeding guide rods are fixedly mounted on the bottom surface of the feeding trough around the feeding opening. The receiving plate is located below the feeding guide rods. Fixedly mounted on the frame, the receiving plate has a clamping opening extending through it in the front-to-back direction. The upper surface of the receiving plate has limiting protrusions on the left and right sides of the clamping opening to restrict the left and right movement of the comb-shaped scallop. The clamping auxiliary plate is located at the rear end of the clamping opening and is damped and rotatably mounted on the frame. The aligning rod is located above the guide slope, and the horizontal support plate is located below the discharge port. The frame is provided with a rotation drive structure for synchronously driving the aligning rod and the horizontal support plate to rotate.

[0023] A further improvement is made to the rotation drive structure, which includes a rotating shaft, a rotating block, a fixed shaft, a rotating shaft sleeve, a lever, a lever, a third return spring, and a traction link. The rotating shaft is vertically rotatably mounted on the frame above the discharge port. The rotating block is fixed to the lower end of the rotating shaft. The aligning rod is fixed to the lower surface of the rotating block. The fixed shaft is vertically fixed to the frame on the side of the discharge trough. The rotating shaft sleeve is rotatably mounted on the fixed shaft. The horizontal support plate is fixed to the lower end of the rotating shaft sleeve. The horizontal support plate has an opening for avoiding the discharge guide rod. The lever is horizontally fixed to the upper end of the rotating shaft sleeve above the rotating block. The lever is fixed to the upper surface of the rotating block. The traction link is horizontally fixed to the top of the fixed shaft. One end of the third return spring is fixed to the lever, and the other end is fixed to the traction link.

[0024] A further improvement is made to the first cooperative drive device, which includes a first motor, a third gear, a fourth gear, a fifth gear, a sixth gear, a first bevel gear, a second bevel gear, a first gear shaft, a second gear shaft, a third connecting rod, a fourth connecting rod, a second gear chain, and a third gear chain. The first motor is fixedly mounted on the frame, and the rotating shaft of the first motor is connected to the conveyor belt. The first gear shaft is rotatably mounted on the frame above the conveyor belt, and the second gear shaft is rotatably mounted on the frame above the first gear shaft. The third gear is fixedly sleeved on a conveyor shaft of the conveyor belt, and the fourth gear is fixedly sleeved on the first gear shaft. On a gear shaft, a second gear chain is wound around the third and fourth gears. A first bevel gear is fixedly sleeved on the first gear shaft, and a second bevel gear is fixedly sleeved on the lower end of the second gear shaft. The first bevel gear and the second bevel gear mesh and drive each other. A fifth gear is fixedly sleeved on the second gear shaft, and a sixth gear is fixedly sleeved on the rotating shaft. A third gear chain is wound around the fifth and sixth gears. The rear end of a third connecting rod is fixedly disposed on the upper end of the second gear shaft. The rear end of a fourth connecting rod is horizontally hinged to the front end of the third connecting rod, and the front end of the fourth connecting rod is hinged to the rear end of the feeding baffle.

[0025] By adopting the aforementioned technical solution, the beneficial effects of the present invention are: 1. The various devices and structures of this equipment are designed around the precision, efficiency, and coordination of automated shelling of scallops, while also taking into account the miniaturization and low cost of the equipment. It is suitable for the needs of small and medium-sized processing entities and solves industry pain points such as low efficiency of manual shelling, poor compatibility of existing equipment, and difficulty in aligning scallops when opening shells. It realizes integrated automated processing of "feeding, alignment, clamping, cutting, flipping, shell opening, meat scraping and shell-meat separation", reducing manual intervention and reducing the labor intensity of workers.

[0026] The directional feeding mechanism enables orderly feeding, proper posture alignment, and precise feeding of scallops, providing standardized scallop postures for subsequent shelling processes, avoiding processing failures caused by disordered scallop placement, and improving the overall success rate of equipment processing.

[0027] The directional shelling mechanism completes the core shelling processes of scallops, including clamping, cutting the hinge, rotating the shell, opening, and scraping the meat. All components work closely together with high precision, achieving efficient separation of the scallop shell from its soft tissue. The clamping and cutting device precisely clamps the scallop, accurately cuts the hinge, and rotates the shell after cutting, creating favorable conditions for the subsequent shelling process. This ensures the scallop's opening faces upwards, increasing the success rate of shelling. The shelling device vertically clamps the scallop, tears the shell, scrapes off the soft tissue, and initially separates the shell from the meat, with smooth workflow.

[0028] 2. The feeding baffle is slidably positioned at the bottom of the feeding hopper, allowing comb-shaped scallops to fall one by one, avoiding conveyor belt congestion and processing jamming caused by feeding multiple scallops simultaneously, ensuring orderly and continuous feeding. The guide slope of the feeding chute and the feeding port, which matches the shape of the scallop, provide initial posture guidance, causing the scallops to converge towards the center of the feeding port. Combined with the feeding guide rod, this restricts the horizontal movement of the scallops during their descent, ensuring stable descent posture. The alignment rod and horizontal support plate work together to rotate the scallop's hinge to a set position before releasing it, achieving precise alignment of the scallop's posture. This provides a unified processing benchmark for subsequent cutting and shell-opening processes, solving the problem of shell alignment difficulties caused by scallop shell asymmetry. The limiting protrusions on the receiving plate and the clamping auxiliary plate restrict the scallop's lateral movement and position it, facilitating precise clamping by the subsequent grippers and improving the efficiency and accuracy of the clamping process.

[0029] 3. The first collaborative drive device uses a single first motor as the power source to simultaneously drive the feeding baffle, conveyor belt and straightening and unloading device, simplifying the equipment drive structure, reducing the use of motors and other drive components, and lowering equipment purchase and maintenance costs; it improves the coordination of each component, enabling the feeding, conveying and straightening and unloading processes to be synchronized, avoiding single process jams that affect the overall processing efficiency, while making the equipment structure more compact and reducing the machine's footprint.

[0030] 4. The gripper is an elastic clamping structure composed of an upper clamping plate, a lower clamping plate, and a clamping spring. It can adapt to the shape of the flat scallop to open and clamp it, and automatically retract and reset after the scallop is removed. It adapts to the differences between individual comb-shaped scallops and improves the adaptability of the equipment. The internal arc-shaped horizontal clamping cavity realizes the centered horizontal stable clamping of the scallop and avoids the cutting position deviation caused by the scallop shifting during the cutting process.

[0031] The horizontal channel of the steering guide block guides the sliding of the push rod, ensuring the straightness of the push rod's movement and avoiding clamping and cutting position deviations caused by push rod offset, thus improving processing accuracy. The flipping structure consists of a spiral 90-degree steering groove on the outer wall of the push rod and a steering protrusion on the inner wall of the horizontal channel. After cutting the hinge part of the scallop, the scallop flips 90 degrees as the push rod slides, turning the originally horizontally clamped scallop into a vertical state, with the cut opening facing upwards. This allows the shell-opening knife to be precisely aligned with the scallop opening, completely solving the problem of difficult shell-opening alignment caused by the narrow and unstable position of the scallop opening.

[0032] 5. The clamping drive structure is synchronously driven by the drive shaft. Through the cooperation of the cam, clamping crank, and horizontal guide seat, the first and second clamping blocks are automatically clamped and released. It is synchronized with the shell opening process, eliminating the need for manual operation and improving the degree of automation. The top wheel of the clamping crank slides against the cam, reducing friction between the cam and the crank, reducing component wear, and extending the service life of the equipment. The hinged slide groove is designed to adapt to the flipping action of the clamping crank, ensuring smooth horizontal sliding of the clamping blocks and avoiding jamming.

[0033] The first and second clamping blocks are positioned to the left and right, forming a longitudinal clamping cavity in the middle. This cavity holds the scallop in its upright position after it has been flipped over, ensuring stable vertical clamping and preventing the scallop from swaying during the shell-opening process. The clamping spring provides elastic clamping force, adaptable to scallops of different sizes, while also buffering the reaction force during shell opening, protecting the clamping blocks and the frame structure.

[0034] 6. The eccentrically positioned lifting annular groove on the drive turntable slides in conjunction with the lifting slider of the shell-opening knife, driving the shell-opening knife to rise and fall vertically along the guide channel of the guide seat. During descent, it precisely inserts into the opening after the scallop has been cut, tearing the two halves of the shell apart for efficient shell opening. The locking mechanism on the lifting annular groove effectively prevents the shell-opening knife from moving upwards under the reaction force of the comb-shaped scallop, ensuring the shell-opening knife's opening stroke, guaranteeing thorough shell tearing, and improving the success rate of shell opening.

[0035] The opening and closing structure enables the scraper to open and then close. The shell-opening blade first tears the shell, and the scraper opens and extends into the shell as the shell-opening blade descends, then closes to completely remove the soft part of the scallop. This clean and thorough scraping reduces soft part residue and improves the utilization rate of scallop processing. The first and second arc-shaped pressing surfaces of the pressing block cooperate with the arc-shaped abutting surface of the pressing rod to achieve precise control of the scraper's opening and closing action. It is synchronously driven by the drive turntable, eliminating the need for a separate drive component and simplifying the structure. The first return spring enables the automatic reset of the pressing rod and scraper, preparing for the next scraping action and improving the degree of automation.

[0036] 7. The second collaborative drive device uses a single second motor as a power source, simultaneously driving the push rod to slide and the drive shaft to rotate, thereby coordinating all core shelling processes, including clamping, cutting, flipping, clamping, shell opening, meat scraping, and sorting. This improves the synchronization and coordination of each process. One rotation of the drive shaft completes the entire process of "clamping the scallop with the clamping block, raising and lowering the shell-opening knife, opening and closing the scraper to scrape the meat, releasing the scallop with the clamping block, and sorting and collecting with the sorting plate." The process is seamless, significantly improving equipment processing efficiency; reducing the use of drive motors simplifies the equipment structure and lowers equipment purchase, energy consumption, and maintenance costs; it also makes the layout of the core components more compact, reducing the machine's footprint and adapting to the site requirements of small and medium-sized processing plants. Attached Figure Description

[0037] Figure 1 This is a three-dimensional structural schematic diagram of the automatic shelling machine for scallops according to an embodiment of the present invention.

[0038] Figure 2 This is a top view of the automatic shelling machine for scallops according to an embodiment of the present invention.

[0039] Figure 3 This is a side view of the automatic shelling machine for scallops according to an embodiment of the present invention.

[0040] Figure 4 This is a three-dimensional structural diagram of the directional feeding mechanism and the directional shelling mechanism in the automatic scallop shelling machine of the present invention.

[0041] Figure 5 This is a three-dimensional structural diagram of the directional feeding mechanism in the automatic shelling machine for scallops according to an embodiment of the present invention.

[0042] Figure 6 This is a side view of the directional feeding mechanism in the automatic shelling machine for scallops according to an embodiment of the present invention.

[0043] Figure 7 This is a three-dimensional structural diagram of the alignment and feeding device in the automatic scallop shelling machine of the present invention.

[0044] Figure 8 This is a schematic diagram of the internal structure of the aligning and feeding device in the automatic scallop shelling machine of the present invention.

[0045] Figure 9 This is a three-dimensional structural diagram of the directional shelling mechanism in the automatic shelling machine for scallops according to an embodiment of the present invention.

[0046] Figure 10 This is a side view of the directional shelling mechanism in the automatic shelling machine for scallops according to an embodiment of the present invention.

[0047] Figure 11 This is a side view of the shelling device in the automatic shelling machine for scallops according to an embodiment of the present invention.

[0048] Figure 12 This is a top view of the shelling device in the automatic shelling machine for scallops according to an embodiment of the present invention.

[0049] Figure 13 This is a schematic diagram of the internal structure of the shelling device in the automatic shelling machine for scallops according to an embodiment of the present invention.

[0050] Figure 14 This is a schematic diagram of the opening and closing structure in the automatic shelling machine for scallops according to an embodiment of the present invention. Detailed Implementation

[0051] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0052] refer to Figures 1 to 14 The present invention discloses an automatic shelling machine for scallops, including a frame 10, on which a directional feeding mechanism 11 and a directional shelling mechanism 12 are provided. The directional feeding mechanism 11 includes a feeding hopper 13, a conveyor belt 14, a straightening feeding device 15, and a first cooperative drive device.

[0053] The conveyor belt 14 is horizontally arranged on the frame 10 in the front-back direction. The feeding hopper 13 is fixedly arranged on the frame 10 above the front end of the conveyor belt 14. The bottom of the feeding hopper 13 is slidably inserted with a feeding baffle 16 to allow the comb-shaped scallops to fall one by one. The straightening and feeding device 15 is arranged on the frame 10 behind the conveyor belt 14. The first cooperative drive device simultaneously drives the feeding baffle 16, the conveyor belt 14 and the straightening and feeding device 15 to operate.

[0054] The aligning and unloading device 15 includes a loading trough 17, aligning rods 18, a horizontal support plate 19, four loading guide rods 20 that restrict the horizontal movement of the comb-shaped scallops during their descent, a receiving plate 21, and a clamping auxiliary plate 22. The loading trough 17 is located behind the conveyor belt 14 and mounted on the frame 10. The bottom of the loading trough 17 has a loading port 23 that matches the shape of the comb-shaped scallop. The surface of the loading trough 17 has a guide slope 24 around the loading port 23 to guide the scallops towards the center of the loading port 23. The loading guide rods 20 are fixedly mounted around the loading port 23. The bottom surface of the feeding trough 17 has a receiving plate 21 fixedly mounted on the frame 10 below the feeding guide rod 20. The receiving plate 21 has a clamping opening 25 extending through it in the front-to-back direction. Limiting protrusions 26 restrict the left-to-right movement of the comb-shaped scallop are provided on the upper surface of the receiving plate 21 on the left and right sides of the clamping opening 25. The clamping auxiliary plate 22 is located at the rear end of the clamping opening 25 and is rotatably mounted on the frame 10 using a torsion spring for positioning and damping. This allows the clamping auxiliary plate 22 to be vertical without external force and to return to a vertical position after the external force is removed. The clamping auxiliary plate 22 cooperates with the limiting protrusions 26 to facilitate the subsequent clamping of the comb-shaped scallop by the gripper 52. The aligning rod 18 is located above the guide slope 24, and the horizontal support plate 19 is located below the feeding port 23. The frame 10 is equipped with a rotation drive structure for synchronously driving the aligning rod 18 and the horizontal support plate 19.

[0055] The rotation drive structure includes a rotating shaft 27, a rotating block 28, a fixed shaft 29, a rotating bushing 30, a lever 31, a lever 32, a third return spring 33, and a traction link 34. The rotating shaft 27 is vertically rotatably mounted on the frame 10 above the discharge port 23. The rotating block 28 is fixed to the lower end of the rotating shaft 27. The aligning rod 18 is fixed to the lower surface of the rotating block 28. The fixed shaft 29 is located on the side of the discharge trough 17 and vertically fixed to the frame 10. The rotating bushing 30 is rotatably sleeved on the fixed shaft 27. On the fixed shaft 29, the horizontal support plate 19 is fixedly installed at the lower end of the rotating bushing 30. The horizontal support plate 19 has an opening 35 for avoiding the unloading guide rod 20. The lever 32 is horizontally fixed above the rotating block 28 at the upper end of the rotating bushing 30. The lever block 31 is fixed on the upper surface of the rotating block 28. The traction link 34 is horizontally fixed at the top of the fixed shaft 29. One end of the third return spring 33 is fixed on the lever 32 and the other end is fixed on the traction link 34.

[0056] The rotating shaft 27 drives the rotating block 28, the lever 31 and the aligning rod 18 to rotate. The aligning rod 18 pushes the combed scallops in the feeding trough 17 to rotate horizontally, so that the joint of the combed scallops rotates to the set position and falls onto the horizontal support plate 19. The rotating block 28 continues to rotate, and the lever 31 pushes the lever 32 to drive the horizontal support plate 19 to rotate and release the combed scallops. The combed scallops fall along the feeding guide rod 20 onto the receiving plate 21, waiting for the subsequent gripper 52 to hold them away. At the same time, the third reset spring 33 drives the lever 32 and the horizontal support plate 19 to reset.

[0057] The first collaborative drive device includes a first motor 36, a third gear 37, a fourth gear 38, a fifth gear 39, a sixth gear 40, a first bevel gear 41, a second bevel gear 42, a first gear shaft 43, a second gear shaft 44, a third connecting rod 45, a fourth connecting rod 46, a second gear chain 47, and a third gear chain 48. The first motor 36 is fixedly mounted on the frame 10, and the rotation shaft of the first motor 36 is connected to the conveyor belt 14. The first gear shaft 43 is rotatably mounted on the frame 10 above the conveyor belt 14, and the second gear shaft 44 is rotatably mounted on the frame 10 above the first gear shaft 43. The third gear 37 is fixedly sleeved on a conveyor shaft of the conveyor belt 14, and the fourth gear 38 is fixedly sleeved on the first gear shaft 45. On gear shaft 43, the second gear chain 47 is wound around the third gear 37 and the fourth gear 38. The first bevel gear 41 is fixedly sleeved on the first gear shaft 43, and the second bevel gear 42 is fixedly sleeved on the lower end of the second gear shaft 44. The first bevel gear 41 and the second bevel gear 42 mesh and transmit power. The fifth gear 39 is fixedly sleeved on the second gear shaft 44, and the sixth gear 40 is fixedly sleeved on the rotating shaft 27. The third gear chain 48 is wound around the fifth gear 39 and the sixth gear 40. The rear end of the third connecting rod 45 is fixedly disposed on the upper end of the second gear shaft 44, and the rear end of the fourth connecting rod 46 is horizontally hinged to the front end of the third connecting rod 45. The front end of the fourth connecting rod 46 is hinged to the rear end of the feeding baffle 16. Under the action of the first cooperative drive device, the power source of the conveyor belt 14, the feeding hopper 13, and the rotating block 28 all come from the first motor 36, which is conducive to a compact equipment structure, reduces equipment costs, and improves equipment efficiency due to the high degree of cooperation between components.

[0058] The directional shell removal mechanism 12 includes a clamping and cutting device 49, a shell removal device 50, and a second cooperative driving device 51.

[0059] The clamping and cutting device 49 includes a gripper 52, a push rod 53, a steering guide block 54, a cutting disc 55, and a cutting motor 56. The gripper 52 includes an upper gripping piece 57, a lower gripping piece 58, a mounting block 59, a gripping rod 60, and a gripping spring 61. The mounting block 59 is fixedly mounted on the push rod 53. The upper gripping piece 57 and the lower gripping piece 58 are respectively hinged to the upper and lower ends of the mounting block 59. The gripping rod 60 is longitudinally inserted through the mounting block 59. The fixed ends of the upper gripping piece 57 and the lower gripping piece 58 are provided with gripping grooves 62. The gripping rod 60 passes through the gripping grooves 62. An anti-detachment block is fixedly mounted at the end of the gripping rod 60. The gripping spring 61 is sleeved on the gripping rod 60. One end of the gripping spring 61 abuts against the mounting block 59, and the other end of the gripping spring 61 abuts against the fixed end of the upper gripping piece 57 or the lower gripping piece 58. The steering guide block 54 is fixedly mounted on the frame 10 below the rear end of the conveyor belt 14. The push rod 53 slides back and forth through the horizontal channel of the steering guide block 54. The gripper 52 is fixed to the rear end of the push rod 53 between the steering guide block 54 and the alignment and feeding device 15. The gripper 52 forms a horizontal clamping cavity 63 for horizontally clamping the comb-shaped scallop. The upper clamping plate 57 and the lower clamping plate 58 are opened by the action of the flat comb-shaped scallop, allowing the scallop to enter the horizontal clamping cavity. After the scallop is removed, the upper clamping plate 57 and the lower clamping plate 58 retract under the action of the clamping spring 61, awaiting the next clamping action. The cutting motor 56 is fixedly mounted on the frame 10 on one side behind the alignment and feeding device 15. The cutting blade 55 is fixedly sleeved on the rotating shaft of the cutting motor 56 along the sliding direction parallel to the push rod 53. A flipping structure is provided between the push rod 53 and the steering guide block 54 to flip 90 degrees after the scallop hinge is cut, allowing it to be transported to the shelling device 50. The flipping structure includes a steering groove 64 axially formed on the outer wall of the push rod 53 and a steering protrusion fixedly disposed on the inner wall of the horizontal channel. The front section 641 and the rear section 643 of the steering groove 64 are parallel to the axial direction, and the middle section 642 of the steering groove 64 is spiraled 90 degrees. The steering protrusion slides into the steering groove 64. This flipping structure allows the push rod 53 to rotate 90 degrees after the scallop, held by the push rod 53, slides along the steering guide block 54 to complete the cut, thus positioning the horizontally held scallop vertically and ensuring the opening formed by the cutting hinge faces upwards.

[0060] The shell removal device 50 includes a first clamping block 65, a second clamping block 66, a mounting rod 67, a clamping spring 68, a shell-opening knife 69, two scrapers 70, two drive turntables 71, a drive shaft 72, and a longitudinal guide seat 73. The first clamping block 65 and the second clamping block 66 are arranged left and right behind the cutting blade 55. One end of the mounting rod 67 is slidably mounted on the frame 10, and the other end of the mounting rod 67 is fixed to the first clamping block 65 or the second clamping block 66. The clamping spring 68 is sleeved on the mounting rod 67, with one end of the clamping spring 68 abutting against the first clamping block 65 or the second clamping block 66, and the other end of the clamping spring 68 abutting against the frame 10. A space is formed between the first clamping block 65 and the second clamping block 66. The longitudinal clamping cavity 74 receives the scallop delivered by the gripper 52. The shell-opening knife 69 is located above the longitudinal clamping cavity. The shell-opening knife 69 has a meat-scraping opening 75 in the middle from bottom to top. The scraper 70 is located at the upper end of the meat-scraping opening 75. The drive shaft 72 is horizontally rotatably located above the shell-opening knife 69. The drive turntable 71 is located on the front and rear sides of the shell-opening knife 69 and is fixedly sleeved on the drive shaft 72. The inner walls of the two drive turntables 71 are eccentrically provided with lifting ring grooves 76 for driving the shell-opening knife 69 to lift and lower to open the shell. The front and rear faces of the shell-opening knife 69 are provided with lifting sliders that slide and cooperate with the lifting ring grooves 76. The lifting ring grooves 76 are provided with a locking slot 78 to prevent the shell-opening knife 69 from moving upward under the reaction force of the scallop. The longitudinal guide seat 73 is fixedly mounted on the frame 10. The longitudinal guide seat 73 is provided with a guide channel 79 through which the shell-opening knife 69 and the scraper 70 pass. The frame 10 is provided with a clamping drive structure that is synchronously driven by the drive shaft 72 to clamp or release the comb-shaped scallops by the first clamping block 65 and the second clamping block 66.

[0061] The clamping drive structure includes a first clamping crank 80, a second clamping crank 81, a first clamping cam 82, a second clamping cam 83, a first horizontal guide seat 84, and a second horizontal guide seat 85. The first horizontal guide seat 84 and the second horizontal guide seat 85 are slidably disposed on the frame 10 outside the first clamping block 65 and the second clamping block 66, respectively. The first clamping block 65 and the second clamping block 66 are respectively disposed on the first horizontal guide seat 84 and the second horizontal guide seat 85. The first clamping cam 82 and the second clamping cam 83 are fixedly connected. A clamping crank 80 and a clamping crank 81 are respectively disposed on the left and right sides of the drive disc, and are fixedly sleeved at one end of the drive shaft 72. The upper section of the first clamping crank 80 and the second clamping crank 81 is horizontal, the middle section is inclined in the front-back direction, and the lower end is vertical. The inner ends of the horizontal sections of the first clamping crank 80 and the second clamping crank 81 are hinged to the frame 10. The free ends of the horizontal sections of the first clamping crank 80 and the second clamping crank 81 are respectively located below the first clamping cam 82 and the second clamping cam 83. The free ends of the horizontal sections of the first clamping crank 80 and the second clamping crank 81 are respectively provided with clearance grooves 86 for avoiding the clamping cams. An abutment wheel 87 is rotatably disposed in the opening of the clearance groove 86 to slide against the first clamping cam 82 or the second clamping cam 83. The lower free ends of the first clamping crank 80 and the second clamping crank 81 are vertically provided with hinged grooves 88 to accommodate the flipping of the clamping cranks. Fixed rods 89 slide through the hinged grooves 88. The two ends of the two fixed rods 89 are respectively fixed on the first horizontal guide seat 84 and the second horizontal guide seat 85. Reset structures for driving the first clamping crank 80 and the second clamping crank 81 to reset and clamp are respectively provided between the outer sides of the first horizontal guide seat 84 and the second horizontal guide seat 85 and the frame 10. The reset structure includes a second reset spring 90 and a first spring rod 91. The outer end of the first spring rod 91 is fixedly mounted on the frame 10, and the inner end of the first spring rod 91 slides through the first horizontal guide seat 84 or the second horizontal guide seat 85. A first anti-detachment protrusion is fixedly provided on the inner end of the first spring rod 91. The second reset spring 90 is sleeved on the first spring rod 91, with one end of the second reset spring 90 abutting against the frame 10 and the other end abutting against the first horizontal guide seat 84 or the second horizontal guide seat 85.

[0062] An opening and closing structure is also provided between the shell-opening knife 69 and the drive rotating disk to drive the two scrapers 70 to open and then close to remove the soft body of the scallop. The opening and closing structure includes a pressure rod 92, a first return spring 93, two opening and closing blocks 94, two opening and closing rods 95, and a pressure block 96. The upper middle part of the shell-opening knife 69 has an installation channel communicating with the meat scraping opening 75 from top to bottom. The pressure rod 92 is longitudinally slidably disposed in the installation channel. The first return spring 93 is sleeved on the upper end of the pressure rod 92, and the two ends of the first return spring 93 abut against the top of the pressure rod 92 and the top of the shell-opening knife 69, respectively. The two opening and closing blocks 94 are rotatably hinged to the bottom sides of the pressure rod 92. The scraper 70 is fixedly disposed at the bottom of the opening and closing blocks 94. The opening and closing blocks 94 have an opening and closing groove 99 obliquely opened outward. The opening and closing rods 95 slide through the opening and closing grooves 99. The two ends of the opening and closing rods 95 are fixed to the inner wall of the meat scraping opening 75. The pressure block 96 is located above the pressure rod 92 and is fixedly disposed on the inner wall of the drive disc inside the lifting ring groove 76. The pressing surface of the pressing block 96 forms a first arc-shaped pressing surface and a second arc-shaped pressing surface that adapt to the irregular curvature of the comb-hole scallop shell, and the top of the pressing rod is provided with an arc-shaped abutment surface.

[0063] The second cooperative drive device 51 simultaneously drives the push rod 53 to slide and the drive shaft 72 to rotate. The second cooperative drive device 51 includes a second motor 97 and a transmission shaft 98. The transmission shaft 98 is rotatably mounted on the frame 10 in the front-back direction. The second motor 97 is fixedly mounted on the frame 10. The second motor 97 drives the transmission shaft 98 to rotate. The front end of the transmission shaft 98 is provided with a first drive part for driving the push rod 53 to slide linearly in the front-back direction, and the rear end of the transmission shaft 98 is provided with a second drive part for driving the drive shaft 72 to rotate. The first drive unit includes a guide groove (not shown in the figure), a guide rod 100, a first connecting rod 101, a second connecting rod 102, and a rotating seat 103. The front end of the push rod 53 is rotatably mounted on the rotating seat 103. The guide groove is mounted on the frame 10 along the front-rear direction. The guide rod 100 is horizontally slidably mounted in the guide groove. The front end of the guide rod 100 is fixedly mounted on the rotating seat 103. One end of the first connecting rod 101 is horizontally rotatably hinged to the rear end of the guide rod 100. The other end of the first connecting rod 101 is horizontally rotatably hinged to one end of the second connecting rod 102. A 90-degree reversing transmission structure 104 for driving the second connecting rod 102 to rotate horizontally is provided between the front end of the transmission shaft 98 and the other end of the second connecting rod 102. The second drive unit includes a first gear 105, a second gear 106, and a first gear chain 107. The first gear 105 is fixedly sleeved on the rear end of the drive shaft 98, the second gear 106 is fixedly sleeved on the drive shaft 72, and the first gear chain 107 is wound around the first gear 105 and the second gear 106.

[0064] A sorting plate 108 for separating and collecting the shells and flesh of the comb-shaped scallop is rotatably mounted on the frame 10 below the longitudinal clamping cavity. A sorting cam 109 for driving the sorting rod to rotate is fixedly sleeved on the drive shaft 98 below the sorting plate 108.

[0065] The second motor 97 drives the drive shaft 72. The rotation of the drive shaft 72 drives the drive turntable 71 to rotate. Driven by the lifting ring groove 76 and the lifting slider, the shell-opening knife 69 slides vertically up and down along the guide channel of the guide seat. When it descends, it tears open the two halves of the scallop shell, and when it rises, it returns to its original position. The scraper 70 is located inside the shell-opening knife 69. The shell-opening knife 69 acts first to open the scallop shell, and the scraper 70 acts later to scrape off the soft part of the scallop after opening. The pressure block 96 used to drive the scraper 70 to open and close is located on the drive turntable 71 and is driven synchronously by the drive turntable 71. The first clamping cam 82 and the second clamping cam 83 are also fixed on the drive shaft 72. One rotation of the drive shaft 72 drives the shell-opening knife 69 to rise and fall once, and also drives the cams to rotate once, so that the first clamping block 65 and the second clamping block 66 complete one clamping cycle. The sorting cam is also fixed on the drive shaft 72. The drive shaft 72 rotates one revolution to adjust the tilt direction of the sorting plate, separating and collecting the shells and meat of the combed scallop after shelling. Clamping, shelling, meat removal, and sorting are all driven by the same drive shaft 72, which helps to improve the synchronization of cooperation between components, increase efficiency, and at the same time reduce the number of drive components, making the structure between components more compact and helping to reduce the size of the equipment.

[0066] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions above are merely illustrative of the principles of the present invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope. All such changes and modifications fall within the scope of the present invention as claimed, which is defined by the appended claims and their equivalents.

Claims

1. An automatic scallop shucking machine comprising a frame, characterised in that: The frame is equipped with a directional feeding mechanism and a directional shelling mechanism; the directional feeding mechanism includes a feeding hopper, a conveyor belt, a straightening feeding device, and a first cooperative drive device; the directional shelling mechanism includes a clamping and cutting device, a shelling device, and a second cooperative drive device. The conveyor belt is horizontally mounted on the frame in the front-rear direction. The feeding hopper is fixedly mounted on the frame above the front end of the conveyor belt. A feeding baffle is slidably mounted on the bottom of the feeding hopper. The straightening and feeding device is mounted on the frame behind the conveyor belt. The first co-drive device simultaneously drives the feeding baffle, the conveyor belt, and the straightening and feeding device. The clamping and cutting device includes a gripper, a push rod, a steering guide block, a cutting blade, and a cutting motor. The steering guide block is fixedly mounted on the frame below the rear end of the conveyor belt. The push rod slides back and forth through the horizontal channel of the steering guide block. The gripper is fixed to the rear end of the push rod between the steering guide block and the aligning feeding device. A horizontal clamping cavity for horizontally clamping the scallop is formed inside the gripper. The cutting motor is fixed to the frame on one side behind the aligning feeding device. The cutting blade is fixedly sleeved on the rotating shaft of the cutting motor along the sliding direction parallel to the push rod. A flipping structure is provided between the push rod and the steering guide block to flip the scallop ninety degrees after cutting the hinge part and transport it to the shelling device. The shelling device includes a first clamping block, a second clamping block, a mounting rod, a clamping spring, a shell-opening knife, two scrapers, two drive turntables, a drive shaft, and a longitudinal guide seat. The first and second clamping blocks are arranged left and right behind the cutting blade. One end of the mounting rod is slidably mounted on the frame, and the other end is fixed to the first or second clamping block. The clamping spring is sleeved on the mounting rod, with one end abutting against the first or second clamping block and the other end abutting against the frame. A longitudinal clamping cavity for receiving scallops is formed between the first and second clamping blocks. The shell-opening knife is positioned above the longitudinal clamping cavity. The shell-opening knife has a meat-scraping opening from bottom to top in the middle. The scraper is located at the upper end of the meat-scraping opening. The drive shaft is horizontally rotatable above the shell-opening knife. The drive turntable is located on the front and rear sides of the shell-opening knife and is fixedly sleeved on the drive shaft. The inner walls of the two drive turntables are eccentrically provided with lifting annular grooves for driving the shell-opening knife to lift and lower. The front and rear faces of the shell-opening knife are provided with lifting sliders that slide and cooperate with the lifting annular grooves. The longitudinal guide seat is fixedly installed on the frame. The longitudinal guide seat is provided with a guide channel for the shell-opening knife and the scraper to pass through. The frame is provided with a clamping drive structure that is synchronously driven by the drive shaft to clamp or release the comb-shaped scallop. The second collaborative drive device simultaneously drives the push rod to slide and the drive shaft to rotate.

2. The automatic shelling machine for comb-shaped scallops according to claim 1, characterized in that: An opening and closing structure is also provided between the shell-opening knife and the drive rotating disk to drive the two scrapers to open and then close to remove the soft body of the scallop.

3. The automatic shelling machine for comb-shaped scallops according to claim 2, characterized in that: The opening and closing structure includes a pressure rod, a first return spring, two opening and closing blocks, two opening and closing rods, and a pressure block. The upper middle part of the shell-opening knife has an installation channel communicating with the meat scraping opening from top to bottom. The pressure rod is longitudinally slidably disposed in the installation channel. The first return spring is sleeved on the upper end of the pressure rod, and the two ends of the first return spring abut against the top of the pressure rod and the top of the shell-opening knife, respectively. The two opening and closing blocks are rotatably hinged to the bottom sides of the pressure rod. The scraper is fixedly disposed at the bottom of the opening and closing blocks. The opening and closing blocks have an opening and closing groove that is obliquely opened outward. The opening and closing rod slides through the opening and closing groove. The two ends of the opening and closing rod are fixed to the inner wall of the meat scraping opening. The pressure block is located above the pressure rod and is fixedly disposed on the inner wall of the drive disc inside the lifting ring groove.

4. The automatic shelling machine for comb-shaped scallops according to claim 3, characterized in that: The pressing surface of the pressing block forms a first arc-shaped pressing surface and a second arc-shaped pressing surface that adapt to the irregular curvature of the comb-hole scallop shell, and the top of the pressing rod is provided with an arc-shaped abutment surface.

5. The automatic shelling machine for comb-shaped scallops according to claim 1, characterized in that: The lifting ring groove is provided with a notch to prevent the shell-opening knife from moving upward under the reaction force of the comb-shaped scallop.

6. The automatic shelling machine for comb-shaped scallops according to claim 1, characterized in that: The clamping drive structure includes a first clamping crank, a second clamping crank, a first clamping cam, a second clamping cam, a first horizontal guide seat, and a second horizontal guide seat. The first and second horizontal guide seats are slidably disposed on the frame outside the first and second clamping blocks, respectively. The first and second clamping blocks are respectively disposed on the first and second horizontal guide seats. The first and second clamping cams are fixedly sleeved on one end of the drive shaft. The first and second clamping cranks are respectively disposed on the left and right sides of the drive disc. The upper sections of the first and second clamping cranks are horizontal, and the middle sections are horizontal along the front and back. The inclined section is tilted in the direction and the lower end is vertical. The inner ends of the horizontal sections of the first clamping crank and the second clamping crank are hinged to the frame. The free ends of the horizontal sections of the first clamping crank and the second clamping crank are respectively located below the first clamping cam and the second clamping cam. The free ends of the lower sections of the first clamping crank and the second clamping crank are vertically provided with hinge grooves. Fixed rods slide through the hinge grooves. The two ends of the two fixed rods are respectively fixed to the first horizontal guide seat and the second horizontal guide seat. The outer sides of the first horizontal guide seat and the second horizontal guide seat are respectively provided with reset structures for driving the first clamping crank and the second clamping crank to reset and clamp.

7. The automatic shelling machine for comb-shaped scallops according to claim 6, characterized in that: The free ends of the horizontal sections of the first clamping crank and the second clamping crank are respectively provided with clearance grooves, and a top wheel is rotatably arranged in the opening of the clearance groove.

8. The automatic shelling machine for comb-shaped scallops according to claim 6, characterized in that: The reset structure includes a second reset spring and a first spring rod. The outer end of the first spring rod is fixedly mounted on the frame, and the inner end of the first spring rod slides through the first horizontal guide seat or the second horizontal guide seat. The inner end of the first spring rod is fixedly provided with a first anti-detachment protrusion. The second reset spring is sleeved on the first spring rod, with one end of the second reset spring abutting against the frame and the other end abutting against the first horizontal guide seat or the second horizontal guide seat.

9. The automatic shelling machine for comb-shaped scallops according to claim 1, characterized in that: The flipping structure includes a steering groove formed axially on the outer wall of the push rod and a steering protrusion fixedly disposed on the inner wall of the horizontal channel. The front and rear sections of the steering groove are parallel to the axial direction, the middle section of the steering groove is spiraled at 90 degrees, and the steering protrusion slides into the steering groove.

10. The automatic shelling machine for comb-shaped scallops according to claim 1, characterized in that: The gripper includes an upper gripping plate, a lower gripping plate, a mounting block, a gripping rod, and a gripping spring. The mounting block is fixedly mounted on the push rod. The upper and lower gripping plates are respectively hinged to the upper and lower ends of the mounting block. The gripping rod extends longitudinally through the mounting block. The fixed ends of the upper and lower gripping plates are provided with gripping grooves. The gripping rod passes through the gripping grooves. An anti-detachment block is fixedly mounted at the end of the gripping rod. The gripping spring is sleeved on the gripping rod. One end of the gripping spring abuts against the mounting block, and the other end of the gripping spring abuts against the fixed end of the upper or lower gripping plate.

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