Automatic scallop shelling equipment based on a conveyor belt

Abstract

The present application relates to a kind of scallop shelling equipment, specifically to a kind of automatic shelling equipment based on continuous conveying and multi-process collaborative operation of conveyer belt.The purpose is to provide a kind of scallop automatic shelling equipment based on conveyer belt, the equipment has the characteristics of high processing efficiency and automation level, compact structure, stable operation.The technical scheme is a kind of scallop automatic shelling equipment based on conveyer belt, including rack and the conveyer belt assembly arranged on the rack, characterized by: the rack is also provided with the feeding sorting mechanism for posture arrangement of the scallop to be processed, the self-adapting clamping mechanism symmetrically arranged on the both sides of the conveyer belt for clamping the lower half scallop, the displacement shelling mechanism for shelling the scallop and moving the upper half scallop sucked during shelling to the turnover mechanism, and the turnover mechanism for turning the upper half scallop sent to facilitate operator inspection.

Description

Technical Field

[0001] This invention relates to a scallop shell-opening device, specifically an automated shell-opening device based on continuous conveyor belt transport and multi-process collaborative operation. Background Technology

[0002] Scallops, as an important marine economic shellfish, are prized for their delicious and nutritious meat, rich in high-quality protein, various vitamins, and trace elements. They possess numerous health benefits, including improving eyesight, brain function, warming the stomach, promoting blood circulation, fighting cancer, and lowering cholesterol, thus holding a significant position in domestic and international seafood markets. With rising living standards and increasing demand for nutrition and health, the scallop processing industry is showing a trend towards large-scale and automated development.

[0003] Currently, scallop opening and processing technologies are mainly divided into two categories: inactivation-based opening and mechanical opening. CN209345928U uses steam heating to relax the scallop's adductor muscle, which has significant drawbacks: First, high-temperature treatment causes denaturation of the scallop adductor muscle protein, resulting in nutrient loss and affecting product quality and taste; second, the inactivation process is difficult to control precisely, easily leading to overcooking of the adductor muscle or incomplete opening. Mechanical opening technologies include counter-support opening, prying opening, and micro-incision opening. Hebei Agricultural University's "Scallop Counter-Support Mechanical Opening Device" uses the counter-support principle to achieve opening; CN201720346406 uses a pneumatic clamping device combined with an elastic cutting blade to cut along the inner wall of the upper shell to separate the adductor muscle; CN205030431U uses a mechanical shell removal method. Although mechanical shell-opening avoids heat damage, significant technical bottlenecks remain: first, its adaptability is weak, making it difficult to cope with individual differences in scallops and easily damaging the adductor muscle; second, the accuracy of feeding, sorting, and positioning is low, affecting the quality of shell opening; and third, the coordination of multiple processes is poor, lacking an effective turning and separation mechanism. In addition, technologies such as high-pressure processing are costly and time-consuming.

[0004] Therefore, there is an urgent need to develop an automatic scallop shell-opening device based on a conveyor belt. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the above-mentioned background technology and provide an automatic scallop shell-opening device based on a conveyor belt. This device has the characteristics of high processing efficiency and automation level, compact structure and stable operation.

[0006] The technical solution provided by this invention is: An automatic scallop shell-opening device based on a conveyor belt includes a frame and a conveyor belt assembly mounted on the frame. The device is characterized by the following features: the frame is further provided with a feeding and sorting mechanism for arranging the posture of the scallops to be processed, an adaptive clamping mechanism symmetrically arranged on both sides of the conveyor belt for clamping the lower half of the scallop, a displacement shell-opening mechanism for opening the scallop and moving the upper half of the scallop sucked up during the opening to a flipping mechanism, and a flipping mechanism for flipping the delivered upper half of the scallop for inspection by the operator. The feeding and sorting mechanism includes a first stepper motor mounted above the conveyor belt via a horizontal motor support, and a sorter driven by the first stepper motor and located above the conveyor belt. The adaptive clamping mechanism includes a linear guide rail and a positive and negative threaded screw arranged laterally on the frame, two connecting rod assemblies mirror-arranged on both sides of the frame width direction by a slider that cooperates with the linear guide rail and are respectively formed by several connecting rods being hinged in sequence, a screw nut that cooperates with the positive and negative threaded screw and connects the two connecting rod assemblies respectively, and a second stepper motor that drives the positive and negative threaded screw to clamp the two connecting rod assemblies with the lower shell of the scallop. The displacement shell-opening mechanism includes a lifting execution unit and a sponge suction cup that is driven by the lifting execution unit to move in the vertical direction and the length direction of the conveyor belt and opens the shell of the scallop by adsorbing the upper half of the scallop. The flipping mechanism includes a flipping connector hinged to the lifting actuator and movable along the length of the conveyor belt, and a flipping bucket driven by a second servo motor, to flip the upper half of the scallop conveyed by the sponge suction cup.

[0007] The conveyor belt assembly includes a drive roller and a driven roller that are rotatably supported at both ends of the frame along its length, a conveyor belt tensioned and sleeved on the drive roller and the driven roller, and a DC motor that drives the conveyor belt.

[0008] The motor transverse support is horizontally mounted and fixed to the frame. The first step motor is fixed to the motor transverse support and the sorter is fixed with its output shaft facing downward. Several scallop sorting plates are radially arranged on the sorter and suspended on the upper surface of the conveyor belt. The guide limit rod fixed to one side edge of the frame cooperates with the scallop sorting plates to sort and arrange the scallops.

[0009] The second stepper motor is fixed to one side of the frame width direction via a second stepper motor bracket, and the guide rail support frame connector is fixed to the corresponding other side of the frame. The positive and negative threaded rods are horizontally arranged below the conveyor belt and extend laterally to both sides of the frame width direction. Both ends are rotatably positioned on the second stepper motor bracket and the guide rail support frame connector via two first threaded rods. The motor shaft of the second stepper motor is coaxially connected to the positive and negative threaded rods via a coupling. The second linear guide and the third linear guide are arranged parallel to each other on both sides of the positive and negative threaded rods, and both ends are fixed to the second stepper motor bracket and the guide rail support frame connector, respectively.

[0010] Each linkage assembly is connected to a set of sliders via a connecting assembly; each connecting assembly includes a cover, an upper clamp, and a lower clamp that are fixed together from top to bottom; the cover and the upper clamp have a linkage movement clearance reserved on the side away from the clamping surface; a linkage center limiter is fixed in the center of the top of the cover, and the linkage center limiter is provided with a groove arranged along the width direction of the conveyor belt.

[0011] Each linkage assembly includes two linkage chains formed by three links hinged sequentially. One end of each linkage chain is hinged to the end of the clamping cap near the loading end and the end away from the loading end, respectively. The other ends of the two linkage chains are connected by a hinge shaft, which is also slidably positioned in the groove of the linkage center limiter. The height of the two linkage assemblies from the surface of the conveyor belt is between 10-15mm to ensure that only the lower half of the scallop is clamped during clamping, avoiding interference with shell opening. In the lifting actuator: a rectangular top plate is arranged horizontally, and two vertically arranged lead screws are respectively set at both ends of one diagonal of the top plate and cooperate with the tangential lead screw nuts fixed on the top plate to drive the top plate simultaneously; the bottom ends of the two lead screws are rotatably positioned on two lead screw supports connecting the frame, and two third stepper motors are also respectively mounted on the two lead screw supports and their output shafts are connected to the lead screws; two optical rods are arranged vertically on the other diagonal of the top plate and cooperate with the optical holes on the top plate to guide the vertical movement of the top plate.

[0012] The bottom surface of the top plate is provided with two linear guide rails arranged parallel to the conveyor belt. The upper surface of the top plate is provided with a synchronous belt parallel to the linear guide rails and an active synchronous pulley and a driven synchronous pulley for tensioning the synchronous belt. The sponge suction cup is connected to the slider on the linear guide rail through the suction cup displacement connector and is connected to an external air pump to ensure suction force, so as to achieve rapid positioning and movement in the horizontal direction.

[0013] The flipping mechanism includes two first linear guide rails symmetrically installed on both sides of the frame width direction and arranged along the length direction of the conveyor belt. Two flipping connectors are respectively installed on sliders that cooperate with the two first linear guide rails and are respectively hinged to the top plate through two transmission rods.

[0014] Each flipping connector is hinged with a driven rocker arm and a master rocker arm. A second servo motor is fixed to one of the flipping connectors and drives the master rocker arm. In the two flipping connectors, the swing ends of the two master rocker arms are hinged to the middle of the tipping bucket through the connected flipping side shaft, and the swing ends of the two driven rocker arms are hinged to the rear end of the tipping bucket through the connected flipping rod. This enables the flipping operation of the upper half of the scallop.

[0015] The beneficial effects of this invention are: This invention effectively solves the problems of discontinuous operation, poor adaptability, and insufficient multi-process coordination in existing technologies by constructing an automatic scallop shell-opening device based on a conveyor belt. This invention integrates four functional modules: feeding and sorting, adaptive clamping, displacement shell opening, and scallop flipping, forming an integrated assembly line operation that significantly improves processing efficiency and automation. Specifically, the adaptive clamping mechanism uses a combination of positive and negative threaded screws and a multi-link linkage structure, which can dynamically adjust the clamping width and achieve flexible fit, ensuring stable clamping of scallops of different sizes; the displacement shell opening mechanism combines a lifting and lateral synchronous belt drive system to achieve high-precision positioning of the suction cup and smooth edge cutting; and the flipping mechanism ensures orderly output after scallop separation. The entire machine has a compact structure, stable operation, and combines high efficiency, precision, and versatility, making it suitable for large-scale aquatic product processing scenarios. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present invention. Figure 2 for Figure 1 A three-dimensional schematic diagram of the structure of the conveyor belt.

[0017] Figure 3 for Figure 1 A three-dimensional structural diagram of the loading and unloading sorting mechanism.

[0018] Figure 4 for Figure 1 A three-dimensional structural diagram of the adaptive clamping mechanism (top view).

[0019] Figure 5 for Figure 1 A side view of the adaptive clamping mechanism.

[0020] Figure 6 for Figure 1 A three-dimensional structural diagram (top view) of the linkage assembly in the adaptive clamping mechanism shown.

[0021] Figure 7 for Figure 1 One of the three-dimensional structural schematic diagrams of the mid-displacement shell opening mechanism (side view).

[0022] Figure 8 forFigure 1 The second three-dimensional structural diagram of the mid-displacement shell opening mechanism (view from below).

[0023] Figure 9 for Figure 1 A three-dimensional structural diagram of the central flipping mechanism.

[0024] Figure 10 for Figure 1 The diagram shows the working state of the adaptive clamping mechanism when clamping a scallop.

[0025] Figure 11 for Figure 1 A schematic diagram of the flipping motion of the flipping mechanism.

[0026] Figure label: Detailed Implementation

[0027] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings.

[0028] Figure 1 The conveyor belt-based automatic scallop shell-opening device shown includes a frame 1, a conveyor belt assembly 2 mounted on the frame, a feeding and sorting mechanism 3 for orderly feeding scallops 71 (with their tails removed, where the upper and lower shells are still connected when the scallops are naturally open) to the conveyor belt after being sorted by size (preferably 100-160mm), an adaptive clamping mechanism 4 symmetrically arranged on both sides of the conveyor belt 21 and clamping the scallops to be processed, a displacement shell-opening mechanism 5 arranged around the adaptive clamping mechanism 4 and first opening the scallops (i.e., splitting the scallops to form an upper half scallop with scallop meat and an upper half scallop), and then moving the upper half scallop sucked up during the shell-opening process to the flipping mechanism, and a flipping mechanism 6 for flipping the delivered upper half scallop by 180 degrees.

[0029] like Figure 2 As shown, the frame 1 is a frame structure built with industrial aluminum profiles 11. Adjacent aluminum profiles 11 are connected by angle brackets 12 and locked in place with T-bolts and flange nuts, thus forming the rigid support body of the equipment.

[0030] The conveyor belt assembly 2 includes a conveyor belt 21, a belt support plate 22, a drive roller 23, a driven roller 24, roller bearing seats 25, a DC motor 26, and a DC motor bracket 27. The drive roller 23 and the driven roller 24 are rotatably mounted on roller bearing seats 25 at both ends of the frame 1 along the length direction via roller shafts, and their axes are parallel to each other. The DC motor 26 is fixedly mounted on one end of the frame 1 via the DC motor bracket 27, and its output shaft is connected to the rotating shaft of the drive roller 23 via a coupling. The conveyor belt 21 is tensioned and sleeved on the outer circumferential surface of the drive roller 23 and the driven roller 24 to form a closed conveying circuit. The belt support plate 22 is fixed on the frame 1 and located below the load-bearing section of the conveyor belt 21 to provide continuous support for the belt and load and prevent the belt from sagging during conveying.

[0031] like Figure 3 As shown, the feeding and sorting mechanism 3 includes a first stepper motor 31, a motor transverse support 32, a sorter 33, scallop sorting plates 34, and a guide limit rod 35. The motor transverse support 32 is horizontally spanned across the conveyor belt 21 and then fixed to both sides of the frame 1 in the width direction by T-bolts and nuts. The first stepper motor 31 is fixed in the center of the motor transverse support 32 with its output shaft facing downwards. The sorter 33 is coaxially connected to the output shaft of the first stepper motor 31 via a coupling. Several scallop sorting plates 34 arranged radially on the sorter are suspended from the upper surface of the conveyor belt and maintain a gap with the conveyor belt. One end of the guide limit rod 35 is fixedly connected to the frame on the side of the conveyor belt 21 by T-bolts and nuts, while the other end is inclined and extends out of the middle part of the conveyor belt and maintains a set distance from the upper surface of the conveyor belt. The spacing between the two scallop sorting plates is used for manually placing individual scallops. The scallops are then sorted by the combined action of the rotation of the first stepper motor 31 and the linear motion of the conveyor belt 21. (During sorting, the first stepper motor 31 rotates only 60° at a time. When the angle is completed, there will be enough space for the scallops to be output from between the two scallop sorting plates. After outputting one scallop, the first stepper motor 31 will stop rotating until the subsequent steps are completed, so as to ensure that only one scallop exists on the conveyor belt after the feeding and sorting mechanism 3 at any given time.) The guide limit rod 35 is fixedly connected to the frame 1 by a T-screw and nut, so that the scallops output from between the two scallop sorting plates after being sorted by the scallop sorting plate 34 are arranged in an orderly manner along the guide limit rod 35 to the vicinity of the center line of the conveyor belt and enter the next process one by one.

[0032] like Figure 4 , Figure 5 and Figure 6As shown, the adaptive clamping mechanism 4 includes a second stepper motor 41, a second stepper motor bracket 42, a forward and reverse threaded screw 43, a second linear guide rail 44, a third linear guide rail 45, a first upper clamp 46, a first lower clamp 47, a first clamp cover 48, a first slider connector 49, a first connecting rod center limiter 410, a second upper clamp 411, a second lower clamp 412, a second clamp cover 413, a second slider connector 414, a second connecting rod center limiter 415, an adaptive linkage mechanism 416, a guide rail motor base frame connector 417, a first threaded screw fixing support 418, and a guide rail support base frame connector 419.

[0033] like Figure 4 As shown, the second stepper motor 41 is fixed to one side of the frame 1 by the second stepper motor bracket 42, and the guide rail support frame connector 419 is fixed to the other side of the corresponding frame 1; the left section of the positive and negative threaded rod 43 has a right-hand thread and the right section has a left-hand thread, which is arranged horizontally and passes through the width direction of the frame below the conveyor belt 21. Both ends are rotatably positioned on the second stepper motor bracket 42 and the guide rail support frame connector 419 by two first threaded rod fixed support seats 418 respectively; the motor shaft of the second stepper motor 41 is coaxially connected to the positive and negative threaded rods through a coupling. The second linear guide rail 44 and the third linear guide rail 45 are arranged parallel to each other on both sides of the positive and negative threaded rod 43, and after being extended laterally, both ends are also fixed on the second stepper motor bracket 42 and the guide rail support frame connector 419, forming a dual redundant guide system; the first slider 49 and the second slider 414 are slidably assembled on the second linear guide rail 44 and the third linear guide rail 45, respectively, and the nuts fixed on the two sliders respectively cooperate with the left and right threaded sections of the positive and negative threaded rod 43; when the second stepper motor 41 drives the positive and negative threaded rod 43 to rotate, the first slider 49 and the second slider 414 move synchronously in the forward or reverse direction along the guide rail, thereby realizing the bidirectional adjustment of the clamping width of the adaptive clamping mechanism.

[0034] like Figure 5As shown, the first clamp 48, the first upper clamp 46, and the first lower clamp 47 are stacked and aligned vertically. A countersunk screw passes through the positioning hole on the side of the first clamp 48 and is then fixed to the first upper clamp 46 and the first lower clamp. A gap exists between the first upper clamp 46 and the first lower clamp 47, serving as movement space for the conveyor belt 21 and the belt support plate 22. The first lower clamp 47 is rigidly connected to the first slider 49 by a fastening screw engaging with a threaded hole on the first slider. Similarly, the second clamp 411, the second upper clamp 411, and the second lower clamp 412 are stacked and aligned vertically. A countersunk screw passes through the positioning hole on the side of the second clamp 413 and is then fixed to the second upper clamp 411 and the second lower clamp 412. The second lower clamp 412 is rigidly connected to the second slider 414 by a fastening screw engaging with a threaded hole on the second slider. The first clamp 48 and the first upper clamp 46 have a linkage movement gap reserved on the side away from the clamping surface, and the second clamp 413 and the second upper clamp 411 have a linkage movement gap reserved on the side away from the clamping surface, thereby providing the necessary space for the movement of the adaptive linkage mechanism 416.

[0035] like Figure 6 As shown, the adaptive linkage mechanism 416 includes two linkage assemblies respectively disposed on both sides of the central axis of the mechanism and arranged in a mirror-symmetrical manner; wherein the first linkage assembly includes a first link 4161, a second link 4162, and a third link 4163 that are sequentially hinged to form a linkage chain, and a fourth link 4164, a fifth link 4165, and a sixth link 4166 that are sequentially hinged to form a linkage chain; the second linkage assembly includes a seventh link 4167, an eighth link 4168, and a ninth link 4169 that are sequentially hinged to form a linkage chain, and a tenth link 41610, an eleventh link 41611, and a twelfth link 41612 that are sequentially hinged to form a linkage chain. The first link center limiter 410 is fixed on the first clamp 48, and the groove therein is arranged along the width direction of the conveyor belt and centered on the first clamp 48; one end of the first link 4161 (one end of the link chain) is hinged to one end of the first clamp 48 (near the feeding end), and the other end of the first link 4161 is sequentially hinged to one end of the second link 4162 and the third link 4163; one end of the sixth link 4166 (one end of the link chain) is hinged to the other end of the first clamp 48 (away from the feeding end), and the other end of the sixth link 4166 is sequentially hinged to one end of the fifth link 4165 and the fourth link 4164; the other end of the third link (the other end of the link chain) is hinged to the other end of the fourth link (the other end of the link chain), and the hinge shaft can also be slidably positioned in the groove of the first link center limiter 410.

[0036] The second link center limiter 415 is fixed on the second clamp 413, and the groove therein is arranged along the width direction of the conveyor belt and centered on the first clamp 413; one end of the seventh link 4167 (one end of the link chain) is hinged to one end of the second clamp 413 (the end near the feeding and sorting mechanism), and the other end of the seventh link 4167 is sequentially hinged to one end of the eighth link 4168 and the ninth link 4169; one end of the twelfth link 41612 (one end of the link chain) is hinged to the other end of the second clamp 413 (the end opposite to the feeding and sorting mechanism), and the other end of the twelfth link 41612 is sequentially hinged to one end of the eleventh link 41611 and the tenth link 41610; the other end of the ninth link (the other end of the link chain) is hinged to the other end of the tenth link (the other end of the link chain), and the hinge shaft can also be slidably positioned in the groove of the second link center limiter 415.

[0037] The aforementioned multiple connecting rods are sequentially hinged together by screws and nuts, forming a multi-stage linkage hinge mechanism. This mechanism generates folding and unfolding movements when the slider moves, thereby achieving adaptive adjustment of the clamping structure. The first connecting rod center limiter 410 is located in the middle of the first connecting rod assembly to limit its range of motion and prevent excessive unfolding or folding. The second connecting rod center limiter 415 is located in the middle of the second connecting rod assembly to limit its range of motion and prevent excessive unfolding or folding. The two connecting rod assemblies cooperate to ensure that the scallop is automatically positioned at the center of the adaptive clamping mechanism 4 when clamping it. Each batch of scallops is pre-screened to maintain relatively uniform specifications as much as possible to ensure reliable clamping. The height of the two connecting rod assemblies from the conveyor belt surface is between 10-15mm to ensure that only the lower half of the scallop is clamped during clamping, avoiding interference with shell opening. like Figure 7 , Figure 8 As shown, the displacement opening mechanism 5 includes: a lead screw 51, a slit lead screw nut 52, a third stepper motor 53, a guide shaft 54, a guide shaft support 55, a guide shaft fixing support 56, a second plate 57, a third plate 58, a fourth plate 59, a second aluminum column 510, a third aluminum column 511, a top plate 512, a fourth linear guide rail 513, a fifth linear guide rail 514, a fourth stepper motor 515, a synchronous belt 516, a driving synchronous pulley 517, a driven synchronous pulley 518, a double-slit bearing seat 519, a suction cup displacement connector 519, a fourth aluminum column 520, a fifth aluminum column 521, a fifth plate 522, a sixth plate 523, a suction cup connector 524, and a sponge suction cup 525.

[0038] like Figure 7As shown, the displacement opening mechanism 5 is also equipped with a lifting execution unit driven vertically by a lead screw 51; the rectangular top plate 512 is horizontally arranged and driven by two lead screws 51, the two lead screws are vertically arranged and their bottom ends are rotatably mounted on two lead screw supports through lead screw fixing supports, and the lead screw supports are fixed on the frame; a third stepper motor 53 is also fixed on the two lead screw supports respectively, and the output shaft of the third stepper motor 53 is connected to the lead screw through a coupling, thereby driving the lead screw 51 to rotate; the tangential lead screw nut 52 that cooperates with the lead screw 51 is fixed to the openings at both ends of one diagonal of the top plate by screws. When the lead screw 51 rotates, the top plate 512 can be vertically displaced along the axial direction of the lead screw 51 through the tangential lead screw nut 52; in order to ensure the smoothness and anti-sway capability of this linear displacement process, two smooth rods 54 are vertically arranged at the two smooth holes at the other two diagonal ends of the top plate. The lead screw support includes a second plate 57 and a fourth plate 59 arranged horizontally and vertically, and four second aluminum columns 510 arranged vertically. Both plates are identical rectangles, and the two ends of the four second aluminum columns are fixedly connected to the four corners of the two plates. The upper and lower ends of the two optical rods 54 are positioned and supported by optical holes on the top plate and optical axis fixing supports 56 fixed on the optical rod support, ensuring reliable guidance for the actuator driven by the lead screw nut 52 during movement and avoiding swaying, deflection, or jamming caused by relying solely on lead screw transmission. The optical rod support is fixed to the frame and has a similar structure to the lead screw support, including two third plates 58 arranged horizontally and vertically, and four third aluminum columns 511 arranged vertically. Both third plates are identical rectangles, and the two ends of the four third aluminum columns are fixedly connected to the four corners of the two third plates. The third plates 58 above the two lead screw supports are fixed with optical axis fixing supports 56 that support the optical rods 54. The above structure forms a stable three-dimensional mounting frame and facilitates modular adjustment of the execution position according to the different product dimensions.

[0039] like Figure 8As shown, the displacement shell opening mechanism 5 is installed on the frame 1; the top plate 512 serves as the installation reference component, and the lower surface of the top plate 512 is equipped with a fourth linear guide rail 513, a fifth linear guide rail 514, a fourth stepper motor 515, a synchronous belt 516, an active synchronous pulley 517, a driven synchronous pulley 518, and a suction cup displacement connector 519. The fourth linear guide rail 513 and the fifth linear guide rail 514 are arranged parallel to each other and parallel to the length direction of the conveyor belt 21. The sliders that cooperate with the two linear guide rails fix the suction cup displacement connector 519 together, thereby providing motion guidance for the suction cup displacement connector and the actuator connected thereto. A transverse displacement transmission assembly consisting of a fourth stepper motor 515, a driving synchronous pulley 517, a driven synchronous pulley 518, and a synchronous belt 516 is arranged between the fourth linear guide rail 513 and the fifth linear guide rail 514. The axle of the driving synchronous pulley 517 and the driven synchronous pulley 518 are arranged on the corresponding two side edges of the top plate, and the axles of the two synchronous pulleys are arranged vertically and their top ends are fixed to the bottom surface of the top plate. The fourth stepper motor 515 is fixed to the lower surface of the top plate, and the motor shaft passes vertically downward through the opening in the top plate and connects to the axle of the driving synchronous pulley 517. The synchronous belt 516 is tensioned between the axle of the driving synchronous pulley 517 and the driven synchronous pulley 518, and is connected to the suction cup displacement connector 519. Four fourth aluminum pillars 520 are vertically arranged and their tops are fixed to the suction cup displacement connectors. The lower part connects to the fifth plate 522 and the sixth plate 523, which are horizontally aligned and positioned vertically. A suction cup connector 524 is vertically mounted on the sixth plate 52, and a sponge suction cup 525 (purchased component) is installed at the bottom of the suction cup connector, forming the suction shell removal unit. The sponge suction cup 525 has a diameter between 50-100mm and is surrounded by sponge to ensure it can adapt to the uneven outer surface of the scallop. The sponge suction cup is connected to an external air pump to ensure suction power. The fourth stepper motor 515 outputs power, which is driven by the active synchronous pulley 517 and the synchronous belt 516. The suction cup displacement connector 519 and the two sliders move linearly back and forth along the fourth linear guide rail 513 and the fifth linear guide rail 514, driving the sponge suction cup 525 to quickly position and move horizontally. This achieves the positioning of the sponge suction cup above the scallop and carries the adsorbed scallop shell to the flipping mechanism 6.

[0040] like Figure 9 , Figure 11 As shown, the flipping mechanism 6 includes a P-type vertical bearing seat 61, a transmission rod 62, a first linear guide rail 63, a tipping bucket 64, a flipping connector 65, a second servo motor 66, a main rocker arm 67, a flipping side shaft 68, a driven rocker arm 69, and a flipping rod 70.

[0041] The flipping mechanism 6 includes two first linear guide rails 63 symmetrically installed on both sides of the width direction of the frame 1. The first linear guide rails 63 are arranged parallel to the length direction of the conveyor belt. Two flipping connectors 65 are respectively installed on the sliders of the two first linear guide rails 63. Two P-type vertical bearing seats 61 are fixedly installed at intervals on the top plate 512 of the displacement shell opening mechanism 5 to ensure the stability of the rotation center during the flipping action. One end of the two transmission rods 62 is rotatably connected to the two P-type vertical bearing seats 61, and the other end is rotatably connected to the two flipping connectors 65, thereby providing an installation reference and horizontal linear guide support for the flipping mechanism 6. This allows the flipping mechanism 6 to move closer to or further away from the displacement shell opening mechanism 5 under the drive of the transmission rods 62 while the top plate 512 moves up and down to open the shell, preventing interference between the mechanisms.

[0042] The second servo motor 66 is fixed to one of the flip connectors 65, and its output shaft is fixed to a main rocker arm 67; one end of the other main rocker arm 67 is hinged to the other flip connector 65; the other ends of the two main rocker arms 67 extend toward the feeding and sorting mechanism and are respectively fixed to the left and right sides of the middle of the tipping bucket through a flip side shaft 68. Two flipping connectors 65 are hinged to one end of the rocker arm 69 and located below the flipping side shaft 68. Two flipping connectors 65 extend from the other end of the rocker arm 69 toward the opposite direction of the material sorting mechanism and are hinged together to the flipping rod 70. The flipping bucket 64 is similar to a common winnowing basket, but it has an additional inclined baffle 641 covering the top of the flipping bucket. The inclined baffle extends from the bottom of the flipping bucket near the rear end toward the front opening of the flipping bucket. Its inclined surface faces the outside of the flipping bucket at an angle of 20°-40° relative to the bottom of the flipping bucket 64, and its length is 20mm-30mm. It is used to prevent the scallop shell (i.e., the upper half of the scallop) from slipping off prematurely during the flipping process, and at the same time ensures that the scallop shell will not remain in the flipping bucket after the flipping is completed. The rear side of the flipping bucket 64 is horizontally fixed to the middle of the flipping rod 70. The two flipping connectors 65 below the flipping rod 70 are also horizontally connected to a support rod to support the flipping bucket 64 and keep it at a distance from the conveyor belt to avoid interference.

[0043] When the second servo motor 66 is activated, it drives the driven rocker arm 69 to flip via the double rocker mechanism formed by the tipping bucket 64, the main rocker arm 67, and the driven rocker arm 69, thereby flipping the upper shell of the scallop. The movement process is as follows: Figure 11 As shown. Figure 11Figure a shows the initial state of the flipping mechanism 6. As the main rocker arm 67 rotates counterclockwise by 100°-120° until it is perpendicular to the ground, it reaches the state shown in Figure b. At this time, the scallop tilts counterclockwise, but it will not fall prematurely due to the obstruction of the inclined baffle. At this time, the driven rocker arm still maintains the inertia of clockwise rotation to overcome the dead point, as shown in Figure b. At this time, the tipping bucket has rotated 100°-120° relative to the ground. Then, the main rocker arm 67 rotates clockwise by the same angle to return to its original position. At the same time, the driven rocker arm 69 rotates clockwise to the maximum angle, reaching the state shown in Figure c. Figure c shows the end state of the flipping motion. At this time, the scallop will slide down against the inclined baffle of the tipping bucket 64 during the flipping process from Figure b to Figure c to complete the flipping. Subsequently, the main rocker arm repeats the previous rotation process to complete the reset and waits for the next flipping.

[0044] The purpose of setting up the flipping mechanism is that, since scallops may have defects such as shell, skirt, or adductor muscle, the upper shell of the scallop with the scallop meat facing down needs to be flipped over after opening the shell so that the operator can inspect and select it.

[0045] Working principle: After the equipment is started, the operator places the scallops (after the tails have been removed) onto the conveyor belt. The first step motor of the feeding and sorting mechanism drives the scallop sorting plate to rotate, organizing the messy scallops into an orderly queue. The scallops are then fed one by one onto the conveyor belt via guide and limit rods. A DC motor drives the conveyor belt to continuously transport the scallops to the processing station. At this time, the second step motor of the adaptive clamping mechanism drives the forward and reverse threaded screws to rotate, causing the slider connectors on both sides to move synchronously in opposite directions along the linear guide rail. Through two linkage assemblies, different sizes of scallops (such as...) are adaptively clamped. Figure 10 (As shown); then the third stepper motor of the displacement shell-opening mechanism drives the lead screw to rotate, causing the top plate to descend smoothly along the guide rod. The fourth stepper motor drives the sponge suction cup to move along the guide rail and accurately position it for shell opening. After shell opening, the sponge suction cup moves and carries the upper shell of the scallop to the tipping bucket for release. The second servo motor of the tipping mechanism drives the tipping bucket to rotate around the axis of the tipping rod 70. While the operator checks the freshness of the opened scallop, the upper and lower shells with scallop meat are unloaded in an orderly manner, realizing continuous assembly line operation.

Claims

1. An automatic scallop shell-opening device based on a conveyor belt, comprising a frame and a conveyor belt assembly (2) mounted on the frame, characterized in that: The frame is also equipped with a feeding and sorting mechanism (3) for sorting the posture of the scallops to be processed, an adaptive clamping mechanism (4) symmetrically arranged on both sides of the conveyor belt (21) for clamping the lower half of the scallop (71), a displacement shell opening mechanism (5) for opening the scallop and moving the upper half of the scallop sucked up during the shell opening to the flipping mechanism, and a flipping mechanism for flipping the delivered upper half of the scallop so that the operator can check it. The feeding and sorting mechanism includes a first step motor (31) mounted above the conveyor belt via a motor horizontal support (32) and a sorter (33) driven by the first step motor and located above the conveyor belt. The adaptive clamping mechanism (4) includes a linear guide rail and a positive and negative threaded screw (43) arranged laterally on the frame, two connecting rod assemblies arranged in the width direction of the frame by a slider that cooperates with the linear guide rail and are respectively formed by several connecting rods being hinged in sequence, a screw nut that cooperates with the positive and negative threaded screw and connects the two connecting rod assemblies respectively, and a second stepper motor (41) that drives the positive and negative threaded screw to clamp the two connecting rod assemblies with the lower shell of the scallop. The displacement shell-opening mechanism (5) includes a lifting execution unit and a sponge suction cup (525) that is driven by the lifting execution unit to move in the vertical direction and the length direction of the conveyor belt and opens the shell of the scallop by adsorbing the upper half of the scallop. The flipping mechanism (6) includes a flipping connector (65) hinged to the lifting actuator and movable in the length direction of the conveyor belt, and a flipping bucket (64) driven by a second servo motor to flip the upper half of the scallop conveyed by the sponge suction cup.

2. The scallop automatic shell-opening device based on a conveyor belt according to claim 1, characterized in that: The conveyor belt assembly includes an active roller (23) and a driven roller (24) rotatably positioned at both ends of the frame along its length, a conveyor belt (21) tensioned and sleeved on the active roller and the driven roller, and a DC motor (26) for driving the conveyor belt.

3. The scallop automatic shell-opening device based on a conveyor belt according to claim 2, characterized in that: The motor transverse support (32) is horizontally mounted and fixed on the frame. The first step motor (31) is fixed on the motor transverse support and the sorter (33) is fixed with its output shaft facing downward. Several scallop sorting plates (34) are radially arranged on the sorter and suspended on the upper surface of the conveyor belt. The guide limit rod (35) fixed on one side edge of the frame cooperates with the scallop sorting plates to sort and arrange the scallops.

4. The scallop automatic shell-opening device based on a conveyor belt according to claim 3, characterized in that: The second stepper motor (41) is fixed to one side of the frame width direction by the second stepper motor bracket (42), and the guide rail support frame connector (419) is fixed to the corresponding other side of the frame; the positive and negative threaded rods (43) are arranged horizontally below the conveyor belt (21) and extend laterally to both sides of the frame width direction, and the two ends are respectively fixed to the support seats (418) of the first threaded rods and rotatably positioned on the second stepper motor bracket (42) and the guide rail support frame connector (419); the motor shaft of the second stepper motor (41) is coaxially connected to the positive and negative threaded rods; the second linear guide rail (44) and the third linear guide rail (45) are arranged parallel to each other on both sides of the positive and negative threaded rods (43), and the two ends are respectively fixed on the second stepper motor bracket (42) and the guide rail support frame connector (419).

5. The automatic scallop shell-opening device based on a conveyor belt according to claim 4, characterized in that: Each linkage assembly is connected to a set of sliders via a connecting assembly; each connecting assembly includes a cover, an upper clamp, and a lower clamp that are fixed together from top to bottom; the cover and the upper clamp have a linkage movement clearance reserved on the side away from the clamping surface; a linkage center limiter is fixed in the center of the top of the cover, and the linkage center limiter is provided with a groove arranged along the width direction of the conveyor belt.

6. The scallop automatic shell-opening device based on a conveyor belt according to claim 5, characterized in that: Each linkage assembly includes two linkage chains formed by three linkages hinged sequentially. One end of each linkage chain is hinged to the end of the clamping cap near the loading end and the end away from the loading end, respectively. The other ends of the two linkage chains are connected by a hinge shaft, which can also be slidably positioned in the groove of the linkage center limiter. The height of the two linkage assemblies from the surface of the conveyor belt is between 10-15mm to ensure that only the lower half of the scallop can be clamped during clamping, thus avoiding affecting the opening of the shell.

7. The automatic scallop shell-opening device based on a conveyor belt according to claim 6, characterized in that: In the lifting execution unit: a rectangular top plate (512) is arranged horizontally, and two vertically arranged lead screws (51) are respectively set at both ends of one diagonal of the top plate and cooperate with the tangential lead screw nut (52) fixed on the top plate to drive the top plate simultaneously; the bottom ends of the two lead screws are rotatably positioned on two lead screw supports connecting the frame, and two third stepper motors (53) are also respectively installed on the two lead screw supports and their output shafts are connected to the lead screws; two light rods (54) are arranged vertically on the other diagonal of the top plate and cooperate with the light holes on the top plate to guide the vertical movement of the top plate.

8. The automatic scallop shell-opening device based on a conveyor belt according to claim 7, characterized in that: The bottom surface of the top plate (512) is provided with two linear guide rails arranged parallel to the conveyor belt. The upper surface of the top plate is provided with a synchronous belt (516) parallel to the linear guide rails and an active synchronous wheel (517) and a driven synchronous wheel (518) for tensioning the synchronous belt. The sponge suction cup (525) is connected to the slider on the linear guide rail through the suction cup displacement connector (519) and is connected to an external air pump to ensure suction, so as to achieve rapid positioning and movement in the horizontal direction.

9. The automatic scallop shell-opening device based on a conveyor belt according to claim 8, characterized in that: The flipping mechanism (6) includes two first linear guides (63) symmetrically installed on both sides of the frame width direction and arranged along the conveyor belt length direction. Two flipping connectors (65) are respectively installed on the sliders that cooperate with the two first linear guides (63) and are respectively hinged to the top plate through two transmission rods (62).

10. The automatic scallop shell-opening device based on a conveyor belt according to claim 9, characterized in that: Each flip connector (65) is hinged with a driven rocker arm (69) and a master rocker arm (67). A second servo motor (66) is fixed to one of the flip connectors and drives the master rocker arm. In the two flip connectors, the swing ends of the two master rockers are hinged to the middle of the tipping bucket (64) through the connected flip side shaft (68), and the swing ends of the two driven rockers are hinged to the rear end of the tipping bucket through the connected flip rod (70). This enables the flipping operation of the upper half of the scallop.

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