A double-station crayfish automatic processing integrated device

Abstract

The application provides a double-station crayfish automatic processing integrated device, which comprises a rack, a shrimp body clamping assembly, a shrimp line removing assembly, a head removing assembly, a back opening and gill removing assembly and a back opening height adjusting assembly; the rack is provided with a mounting beam along an axis, and the left and right sides thereof form two independent processing stations, and each station is provided with the shrimp body clamping assembly through a driving assembly; the shrimp line removing assembly is arranged at the starting end of the driving assembly, and the head removing assembly and the back opening and gill removing assembly are sequentially arranged along a moving path. The application adopts a single large torque rudder to simultaneously drive the head removing assembly, the shrimp line removing assembly and the back opening height adjusting assembly through a power distribution mechanism, so that one rudder is used for three purposes; a single double-output shaft motor is used to simultaneously drive the back opening saw blades and the gill removing brush discs of the two stations. Through the linkage design of double-station parallel operation and multiple power extreme multiplexing, the application realizes efficient, low-cost, high-reliable and full-specification adaptive crayfish automatic continuous processing.

Description

Technical Field

[0001] This invention relates to the field of machinery, and in particular to an integrated automatic processing device for crayfish with two workstations. Background Technology

[0002] Crayfish, a popular aquatic ingredient, has spawned numerous distinctive culinary categories. Among them, Hunan-style crayfish requires four core pre-processing steps: head removal, deveining, back-opening, and gill removal. Currently, in the domestic crayfish processing industry chain, the main application scenarios such as small and medium-sized processing workshops and catering-supporting processing stations still rely primarily on manual operation for these pre-processing tasks. This manual pre-processing model is not only labor-intensive and has limited processing capacity per person, making it difficult to handle large-volume orders, but also results in processing quality entirely dependent on the operator's skill and work status, leading to inconsistent processing standards and frequent problems such as incomplete head removal, broken veins, uneven back-opening depth, and gill residue. Furthermore, rising labor costs are constantly squeezing processing profits, and manual operation cannot fully meet food processing hygiene control requirements, highlighting the increasingly prominent drawbacks of the traditional manual pre-processing model. Therefore, the food processing industry has a clear demand for crayfish processing equipment that can replace manual labor and achieve efficient automated pre-processing.

[0003] To address the aforementioned issues, some small-scale automated equipment or manual tools for crayfish pre-processing have emerged on the market. For example, there are semi-automatic or fully automatic devices with single-station designs, which use motors to drive a single processing station to sequentially complete feeding, processing, and unloading. While such solutions reduce the intensity of manual labor to some extent, their sequential "feeding-processing-unloading" working mode results in the equipment being idle during manual operation, leading to limited overall efficiency improvement. Typically, they can only replace one worker, and the processing volume per unit time is insufficient to meet the needs of large-scale production. Other solutions attempt to automate multiple processes by adding actuators, such as configuring separate motors or cylinders for actions like head removal, deveining, and back opening. However, this multi-power source design results in an extremely complex overall structure, cumbersome control logic, and significantly increased manufacturing costs. Furthermore, the synchronization requirements between multiple power units are extremely high, making timing misalignment prone to occur, leading to processing failures or equipment malfunctions.

[0004] Furthermore, existing technologies also have many shortcomings in the execution mechanisms of key processes. For example, traditional head-removing mechanisms often use pointed conical blades, which are difficult to effectively center and guide the shrimp head during insertion. For smaller crayfish (e.g., less than 4 qian), the blades are prone to slipping, leading to head removal failure. Existing shrimp clamping mechanisms are generally structurally redundant and cannot adapt to different sizes of crayfish, easily resulting in problems such as insecure clamping and processing position deviation. At the same time, the saw blade height in the back-opening process is mostly fixed and cannot be dynamically adjusted according to the size of the crayfish (e.g., 4 to 8 qian), resulting in inconsistent back-opening depths—smaller crayfish are easily cut through, while larger crayfish are not opened sufficiently. As for parallel operation systems integrating multiple workstations, existing solutions are mostly simple combinations of two independent devices, which are not only bulky and costly, but also lack effective power and motion coordination between workstations. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide an integrated automatic processing device for crayfish with dual workstations. Through the pure mechanical linkage design of dual-workstation parallel operation and multi-power extreme reuse, it realizes efficient, low-cost, highly reliable, and fully adaptive automatic continuous processing of crayfish.

[0006] The technical solution adopted by this invention to solve its technical problem is: A dual-station automatic crayfish processing integrated device is provided, comprising: a frame, electrical components, a crayfish body clamping component, a deveining component, a head removal component, a back-opening and gill-removing component, and a back-opening height adjustment component. The electrical components are electrically connected to each component. The frame is fixedly equipped with a mounting beam along its own axis. The left and right sides of the mounting beam form two independent processing stations. Each station is equipped with a crayfish body clamping component via a drive component. The crayfish body clamping component can reciprocate along the axial direction of the frame under the drive of the drive component. The deveining component is fixedly mounted on the frame at the starting end of the drive component. The head removal component and the back-opening and gill-removing component are arranged sequentially along the moving path of the crayfish body clamping component, and can sequentially complete the crayfish head removal, back-opening, and gill-removing processing actions as the crayfish body clamping component moves. The back-opening height adjustment component is connected between the head removal component and the back-opening and gill-removing component, and can adaptively adjust the back-opening depth according to the size and specifications of the crayfish.

[0007] Preferably, the head removal assembly includes a high-torque servo motor, a V-shaped head removal mechanism, and a drive shaft; the high-torque servo motor is fixedly mounted on the mounting beam, and the drive shaft is rotatably mounted laterally on the frame above the high-torque servo motor and is connected to the high-torque servo motor in a transmission manner; the two ends of the drive shaft are respectively provided with V-shaped head removal mechanisms at the processing positions on both sides of the mounting beam; and the high-torque servo motor can synchronously drive the head removal assembly, the shrimp line removal assembly, and the back opening height adjustment assembly to move.

[0008] Preferably, the V-shaped head removal mechanism includes a turntable, a V-shaped double-edged rotary blade, and a positioning hose. The turntable is fixed to the end of the drive shaft, and the V-shaped double-edged rotary blade is fixed on the turntable. The rotation of the turntable can drive the V-shaped double-edged rotary blade to swing, thereby completing the head removal operation of the crayfish. The positioning hoses are symmetrically arranged on the turntable on both sides of the V-shaped double-edged rotary blade, and the positioning hoses can correct the position of the crayfish's head when the V-shaped double-edged rotary blade is pressed down.

[0009] Preferably, the back-opening and gill removal assembly includes a dual-output shaft motor, a back-opening saw blade, and a gill removal brush disc; the dual-output shaft motor is arranged laterally on the frame via a back-opening height adjustment assembly, and the back-opening saw blade is respectively installed on the output shafts at both ends corresponding to the processing positions on both sides of the mounting beam; the gill removal brush disc is rotatably mounted on the frame via a brush disc shaft, and a U-shaped grooved wheel is fixed on the brush disc shaft. The brush disc shaft is connected to the output shaft of the dual-output shaft motor via an O-shaped round belt wound around the U-shaped grooved wheel, and the O-shaped round belts are arranged in a cross-wrap manner between the U-shaped grooved wheels corresponding to the two brush disc shafts in the same position to drive the two gill removal brush discs to rotate in opposite directions.

[0010] Preferably, the back opening height adjustment assembly includes a back opening adjustment plate, an eccentric wheel, and a support rod. The middle part of the back opening adjustment plate is rotatably mounted on the frame via the support rod, forming a fixed fulcrum. The eccentric wheel is coaxially fixed on the transmission shaft. One end of the back opening adjustment plate is mounted on the transmission shaft via the eccentric wheel, and the other end is connected and fixed to both ends of the dual output shaft motor. The back opening adjustment plate drives the dual output shaft motor to rise and fall by rotating synchronously with the transmission shaft via the eccentric wheel, thereby adjusting the back opening depth.

[0011] Preferably, the shrimp devein assembly is equipped with an openable and closable gripping claw. The gripping claw is connected to a high-torque servo motor via a gear linkage mechanism, and the opening and closing of the gripping claw can be controlled by the rotation of the high-torque servo motor. A detection switch is correspondingly provided above the gripping claw. The detection switch can detect the size of the crayfish when the gripping claw is holding the tail of the crayfish, and can control the back-opening height adjustment assembly to adjust the back-opening depth according to the detection signal.

[0012] Preferably, a feeding component is provided on the moving path of the shrimp body clamping component between the head removal component and the back-opening and gill removal component. The feeding component includes an active baffle and a curtain-type baffle. The active baffle is set on the frame between the curtain-type baffle and the back-opening and gill removal component and is connected to the drive device of the head removal component. The size of the crayfish is detected by a detection switch to determine whether it needs to be pressed down to pick up the material. The active baffle and the curtain-type baffle are respectively provided with material receiving boxes on the frame below them.

[0013] Preferably, the shrimp clamping assembly includes a mounting frame, a clamping drive component, a transmission link, a contouring gripper, and a shrimp belly contouring positioning structure. The clamping drive component, transmission link, contouring gripper, and shrimp belly contouring positioning structure are correspondingly arranged on the mounting frame. The transmission link connects the rotating end of the clamping drive component to the contouring gripper. The contouring gripper and the shrimp belly contouring positioning structure cooperate to center and clamp the crayfish. The mounting frame is also equipped with a limit switch corresponding to the contouring gripper. The limit switch can limit the maximum opening stroke and the maximum clamping stroke of the contouring gripper. The shrimp clamping assembly is also equipped with a flexible hose to fix the shrimp claw.

[0014] Preferably, the electrical components include a power supply, a PLC controller, and an electrical box. The electrical box is mounted on a frame, and the power supply and PLC controller are located inside the electrical box and electrically connected to the various components of the device. The PLC controller can regulate the operating sequence and action status of each component.

[0015] Preferably, the drive assembly includes two stepper motors and two sets of conveyor tracks; the two sets of conveyor tracks are symmetrically arranged on the lower surface of the mounting beam and slidably connected to the shrimp clamping assembly. The stepper motors are respectively arranged on the frame at the ends of the conveyor tracks, and each set of conveyor tracks is assembled from a synchronous pulley, a synchronous belt and a drag chain. The stepper motor drives the synchronous belt to rotate, thereby driving the shrimp clamping assembly at the corresponding workstation to move back and forth along the axial direction of the frame, and the two sets of conveyor tracks operate independently of each other.

[0016] The beneficial effects of this invention are: This invention provides an integrated automatic crayfish processing device with two workstations. It employs a dual-workstation, off-peak parallel operation mode, fully utilizing processing time differences to eliminate human-machine waiting time, effectively improving overall processing efficiency. It can replace multiple skilled operators, significantly reducing labor costs. The device innovatively achieves maximum reuse of the power source, relying on a single high-torque rudder mechanism to form a "one rudder, three functions" mechanical linkage architecture, simultaneously driving head removal, deveining, and back-opening height adjustment actions. A single dual-output shaft DC motor synchronously provides power to the back-opening and gill removal mechanisms of both workstations, significantly reducing the number of power components, simplifying the overall structure, and lowering manufacturing costs and maintenance difficulty. The head removal and deveining processes are seamlessly integrated. Employing a pure mechanical hard-linkage structure with gears and connecting rods, eliminating elastic transmission components such as springs, the device boasts high synchronization precision and effectively avoids issues like timing misalignment and component fatigue failure that can occur during long-term operation, significantly improving the stability of continuous operation. The V-shaped double-edged blade, combined with the front-mounted alignment hose head-removal structure, automatically corrects the crayfish head position, effectively solving the problem of small crayfish easily slipping off, greatly increasing the success rate of head removal, and is adaptable to crayfish of various sizes. The back-opening height adjustment mechanism reuses servo motor power, achieving adaptive height adjustment through an eccentric wheel and back-opening adjustment plate lever, eliminating the need for additional sensors and electronic control components. The adjustment response is rapid and highly precise, ensuring a uniform back-opening depth for different crayfish. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of an integrated automatic crayfish processing device with dual workstations according to the present invention.

[0018] Figure 2 This is a front view of an integrated automatic crayfish processing device with dual workstations according to the present invention.

[0019] Figure 3 This is a schematic diagram of the internal structure of a dual-station integrated automatic crayfish processing device according to the present invention.

[0020] Figure 4 This is a schematic diagram of the installation structure of the rear opening height adjustment component of the present invention.

[0021] Figure 5 This is a schematic diagram of the V-shaped head-removing mechanism of the present invention.

[0022] Figure 6 This is a schematic diagram of the installation structure of the back opening and gill removal assembly of the present invention.

[0023] Figure 7 This is a cross-sectional view of the electrical component of the present invention.

[0024] Figure 8 and Figure 9 This is a schematic diagram of the shrimp body clamping assembly of the present invention.

[0025] Figure 10 and Figure 11 This is a physical reference diagram of the present invention.

[0026] In the diagram: 1. Frame; 11. Mounting beam; 2. Electrical components; 21. Power supply; 22. PLC controller; 23. Electrical box; 3. Shrimp body clamping assembly; 31. Mounting bracket; 32. Clamping drive component; 33. Transmission linkage; 34. Contouring gripper; 35. Shrimp belly contouring positioning structure; 36. Limit switch; 4. Shrimp deveining assembly; 41. Clamping gripper; 42. Gear linkage mechanism; 43. Detection switch; 5. Head removal assembly; 51. High torque servo motor; 52. V-type head removal machine 521. Turntable; 522. V-shaped double-edged rotary cutter; 523. Alignment hose; 53. Drive shaft; 6. Back opening and gill removal assembly; 61. Dual output shaft motor; 62. Back opening saw blade; 63. Gill removal brush disc; 64. Brush disc shaft; 7. Back opening height adjustment assembly; 71. Back opening adjustment plate; 72. Eccentric wheel; 73. Support rod; 8. Material distribution assembly; 81. Active baffle; 82. Curtain-type baffle; 9. Drive assembly; 91. Stepper motor; 92. Conveyor track; 10. Unloading box.

[0027] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Example 1 like Figures 1-11As shown, a dual-station automatic crayfish processing integrated device includes: a frame 1, an electrical component 2, a crayfish body clamping component 3, a deveining component 4, a head removal component 5, a back-opening and gill-removing component 6, and a back-opening height adjustment component 7. The electrical component 2 is electrically connected to each component. The frame 1 is fixedly equipped with a mounting beam 11 along its own axis. The left and right sides of the mounting beam 11 form two independent processing stations. Each station is equipped with a crayfish body clamping component 3 via a drive component 9. Component 3 can reciprocate along the axial direction of the frame 1 under the drive of the drive component 9; the shrimp de-line component 4 is fixedly installed on the frame 1 at the starting end of the drive component 9; the head removal component 5 and the back opening and gill removal component 6 are arranged sequentially along the moving path of the shrimp body clamping component 3, and can sequentially complete the head removal, back opening, and gill removal processing of crayfish as the shrimp body clamping component 3 moves; the back opening height adjustment component 7 is connected between the head removal component 5 and the back opening and gill removal component 6, and can adaptively adjust the back opening operation depth according to the size and specifications of the crayfish.

[0030] It should be noted that the frame 1, as the overall load-bearing base of this device, has a mounting beam 11 fixedly erected along its own axis, providing a mounting foundation for various functional components. Two independent processing stations are divided on the left and right sides of the mounting beam 11, forming a dual-station operation layout. The electrical component 2 is electrically connected to all moving mechanisms and actuators within the device. On one hand, it provides power support to all power components of the entire machine; on the other hand, it uniformly controls the timing and operating status of each component, ensuring automated operation of the equipment. Each processing station is equipped with a drive component 9, which drives the shrimp clamping component 3 at the corresponding station to reciprocate along the axis of the frame 1. Relying on continuous conveying action, the shrimp are transported between processing areas. The shrimp clamping component 3 will... Throughout the processing, the crayfish are stably clamped to prevent displacement that could affect the processing results. The shrimp deveining component 4 is fixedly positioned at the starting position of the drive component 9. The head removal component 5 and the back-opening and gill removal component 6 are arranged sequentially along the moving path of the shrimp clamping component 3. As the shrimp clamping component 3 carries the crayfish forward, the crayfish will pass through the head removal component 5 and the back-opening and gill removal component 6 in turn, gradually completing the entire pre-processing steps of head removal, back opening, and gill removal. The back-opening height adjustment component 7, connected between the head removal component 5 and the back-opening and gill removal component 6, can automatically adapt and adjust according to the size of the crayfish being processed on-site, changing the working height of the back-opening operation in real time, so that crayfish of different sizes can maintain a consistent back-opening depth, meeting the processing requirements of multiple types of crayfish.

[0031] Furthermore, such as Figure 4As shown, the head removal assembly 5 includes a high-torque servo motor 51, a V-shaped head removal mechanism 52, and a drive shaft 53. The high-torque servo motor 51 is fixedly mounted on the mounting beam 11. The drive shaft 53 is rotatably mounted horizontally on the frame 1 above the high-torque servo motor 51 and is connected to the high-torque servo motor 51 in a transmission connection. The two ends of the drive shaft 53 are respectively provided with V-shaped head removal mechanisms 52 at the processing positions on both sides of the mounting beam 11. The high-torque servo motor 51 can synchronously drive the head removal assembly 5, the shrimp line removal assembly 4, and the back opening height adjustment assembly 7 to move.

[0032] It should be noted that the high-torque servo motor 51, fixed on the mounting beam 11, is the core power source and also bears the power output for the linkage of multiple mechanisms of the whole machine. The drive shaft 53 is mounted on the frame 1 above the high-torque servo motor 51 and forms a transmission cooperation with the servo motor. When the high-torque servo motor 51 is running, it can drive the drive shaft 53 to rotate synchronously. The two ends of the drive shaft 53 are respectively arranged with V-shaped trimming mechanisms 52 corresponding to the left and right processing stations. During the rotation of the drive shaft 53, it will synchronously drive the V-shaped trimming mechanisms 52 on both sides of the station to swing, completing the two... In the crayfish head removal process at the workstation, the high-torque servo motor 51 distributes multiple mechanical power streams through its own shaft. While driving the entire head removal assembly 5 to complete the head separation action, it also transmits power to the shrimp devein assembly 4 and the back opening height adjustment assembly 7 through the corresponding mechanical transmission structure. By relying on pure mechanical linkage, a single power source synchronously drives the operation of the three mechanisms, ensuring that the head removal operation, the shrimp devein gripper action, and the back opening height adjustment action are precisely synchronized. There is no need to add an independent power and electronic control timing structure, ensuring the coordinated and stable operation of multiple processes.

[0033] Furthermore, such as Figure 5 As shown, the V-shaped head removal mechanism 52 includes a turntable 521, a V-shaped double-edged rotary blade 522, and an alignment hose 523. The turntable 521 is fixed to the end of the drive shaft 53. The V-shaped double-edged rotary blade 522 is fixed on the turntable 521 and can swing through the rotation of the turntable 521 to complete the head removal operation of the crayfish. The alignment hoses 523 are symmetrically arranged on the turntable 521 on both sides of the V-shaped double-edged rotary blade 522, and the alignment hoses 523 can correct the position of the crayfish head when the V-shaped double-edged rotary blade 522 is pressed down.

[0034] It should be noted that the turntable 521 is fixed to the end of the drive shaft 53 and rotates synchronously with the drive shaft 53, providing a mounting carrier and swing power for the V-shaped double-edged rotary cutter 522. The V-shaped double-edged rotary cutter 522, fixed on the turntable 521, swings together with the turntable 521. Through the swinging motion, it cuts the connection between the crayfish head and body. The movement of the crayfish body clamping component 3 is used to detach the crayfish head. Using the V-shaped double-edged rotary cutter 522, the crayfish head can be completely removed while perfectly preserving the crayfish claws, thus completing the head removal operation. The alignment hoses 523, symmetrically arranged on both sides of the V-shaped double-edged rotary cutter 522, are at the front end of the cutting operation. When the V-shaped double-edged rotary cutter 522 swings down and presses down to cut, the alignment hoses 523 will first contact the crayfish head, guiding and correcting the crayfish head if its posture is off, so that the crayfish head is always on the standard cutting trajectory, preventing the crayfish head from slipping off and ensuring that the head removal operation is carried out smoothly.

[0035] Furthermore, such as Figure 6 As shown, the back-opening and gill removal assembly 6 includes a dual-output shaft motor 61, a back-opening saw blade 62, and a gill removal brush disc 63. The dual-output shaft motor 61 is arranged laterally on the frame 1 via the back-opening height adjustment assembly 7, and the back-opening saw blade 62 is respectively installed on the output shafts at both ends of the motor corresponding to the processing positions on both sides of the crossbeam 11. The gill removal brush disc 63 is rotatably mounted on the frame 1 via a brush disc shaft 64, and a U-shaped grooved wheel is fixed on the brush disc shaft 64. The brush disc shaft 64 is connected to the output shaft of the dual-output shaft motor 61 via an O-shaped round belt wound around the U-shaped grooved wheel. In the same work position, the O-shaped round belts are arranged in a cross-wrap manner between the U-shaped grooved wheels corresponding to the two brush disc shafts 64 to drive the two gill removal brush discs 63 to rotate in opposite directions.

[0036] It should be noted that the dual-output shaft motor 61 is horizontally arranged on the frame 1 via the back-opening height adjustment assembly 7. Each end of the motor extends an output shaft, corresponding to two independent processing stations on either side of the mounting beam 11. Each station's dual-output shaft motor 61 has a back-opening saw blade 62 mounted on its output shaft. When the motor operates, the output shaft directly drives the back-opening saw blade 62 to rotate at high speed, cutting open the back of the crayfish passing below. The gill-removing brush disc 63 is rotatably mounted on the frame 1 via the brush disc shaft 64, with two facing brush discs at each station. The gill removal brush disc 63 has a U-shaped grooved wheel fixed on its shaft 64. An O-shaped round belt connects the output shaft of the dual-output shaft motor 61 to the brush disc shaft 64, transmitting the motor's rotational power to the gill removal brush disc 63, causing it to rotate at high speed to remove the shrimp gills. Between the U-shaped grooved wheels corresponding to the two brush disc shafts 64 at the same workstation, the O-shaped round belt is arranged in a figure-eight cross-winding manner. When the motor drives the belt to rotate, the cross-winding causes the two gill removal brush discs 63 to rotate in opposite directions, thus brushing into the shrimp gill cavity from both sides simultaneously, achieving a more thorough gill removal cleaning effect.

[0037] Furthermore, such as Figure 4 As shown, the back opening height adjustment assembly 7 includes a back opening adjustment plate 71, an eccentric wheel 72, and a support rod 73. The back opening adjustment plate 71 is rotatably mounted on the frame 1 via the support rod 73, forming a fixed fulcrum. The eccentric wheel 72 is coaxially fixed on the transmission shaft 53. One end of the back opening adjustment plate 71 is mounted on the transmission shaft 53 via the eccentric wheel 72, and the other end is connected and fixed to both ends of the dual output shaft motor 61. The back opening adjustment plate 71 drives the dual output shaft motor 61 to rise and fall by rotating synchronously with the transmission shaft 53 via the eccentric wheel 72, thereby adjusting the back opening depth.

[0038] It should be noted that the eccentric wheel 72 is coaxially fixed on the drive shaft 53 of the high-torque servo motor 51. Therefore, when the servo motor drives the drive shaft 53 to rotate, the eccentric wheel 72 rotates synchronously with the drive shaft 53. The middle part of the back-opening adjustment plate 71 is rotatably mounted on the frame 1 through the support rod 73 and forms a fixed fulcrum. One end of the back-opening adjustment plate 71 contacts the outer circumferential surface of the eccentric wheel 72 through a roller or directly (i.e., the driving end of the eccentric wheel 72), and the other end is fixedly connected to the mounting base of the dual-output shaft motor 61. When the drive shaft 53 drives the eccentric wheel 72 to rotate, the eccentric wheel 72 generates circular motion due to the existence of the eccentricity. Its outer contour pushes one end of the back opening adjustment plate 71 to swing up and down around the fulcrum, while the other end of the back opening adjustment plate 71 swings in the opposite direction and drives the dual output shaft motor 61 to lift and lower as a whole. By pre-calibrating the rotation angle of the high-torque servo motor 51 corresponding to different sizes of crayfish, it can be achieved that: when the servo motor rotation angle is small, the eccentric wheel 72 pushes the back opening adjustment plate 71 with a small amplitude, the position of the dual output shaft motor 61 is low, and the back opening saw blade 62 cuts deeply (suitable for small-sized crayfish); when the servo motor rotation angle is large, the position of the motor is raised, and the saw blade cuts shallowly (suitable for large-sized crayfish), thus purely mechanically and without the need for additional sensors, adaptively adjusting the back opening depth.

[0039] Furthermore, such as Figure 1 As shown, the shrimp devein assembly 4 is equipped with an openable and closable gripping claw 41. The gripping claw 41 is connected to a high-torque servo motor 51 via a gear linkage mechanism 42, and the opening and closing of the gripping claw 41 can be controlled by the rotation of the high-torque servo motor 51. A detection switch 43 is correspondingly provided above the gripping claw 41. The detection switch 43 can detect the size of the crayfish when the gripping claw 41 is holding the tail of the crayfish, and can control whether the back opening height adjustment assembly 7 adjusts the back opening depth according to the detection signal.

[0040] It should be noted that the shrimp devein assembly 4 is equipped with an openable and closable gripping claw 41, which is used to clamp the shrimp vein exposed at the base of the shrimp tail after the crayfish's head has been removed. The gripping claw 41 is connected to a high-torque servo motor 51 via a gear linkage mechanism 42. When the high-torque servo motor 51 rotates, the drive gear on its output shaft drives the driven gear and linkage mechanism to move, thereby converting the rotational motion of the servo motor into the opening and closing action of the gripping claw 41, realizing synchronous opening and closing control of the gripper. A detection switch 43 (such as a photoelectric sensor or a contact sensor) is correspondingly provided above the gripping claw 41. When the gripping claw 41 closes and clamps the crayfish tail, the detection switch 43 is triggered, and the system detects the shrimp tail size or... The gripper travel is sensed to detect the size of the crayfish (e.g., whether it is a small or large crayfish); the detection switch 43 transmits the detection signal to the PLC controller 22 of the control system in real time. The PLC controller 22 determines whether the back-opening depth needs to be adjusted according to the preset threshold logic: if the crayfish is detected to be small, a command is issued to make the back-opening height adjustment component 7 perform an adjustment action (e.g., lower the height of the back-opening saw blade 62 to deepen the back opening); if the size is large, no adjustment is made or the adjustment is reversed, thereby avoiding small crayfish being cut through or large crayfish not being opened enough; this electronic feedback adjustment mechanism works in conjunction with the opening and closing action of the deveining gripper to ensure that the back-opening depth matches the actual size of the crayfish.

[0041] Furthermore, such as Figure 4 As shown, a feeding component 8 is provided on the moving path of the shrimp body clamping component 3 between the head removal component 5 and the back opening and gill removal component 6. The feeding component 8 includes an active baffle 81 and a curtain-type baffle 82. The active baffle 81 is set on the frame 1 between the curtain-type baffle 82 and the back opening and gill removal component 6, and is connected to the drive device of the head removal component 5. The size of the crayfish is detected by the detection switch 43 to determine whether it needs to be pressed down to pick up the material. The active baffle 81 and the curtain-type baffle 82 are respectively provided on the frame 1 below the frame 1 for receiving material feeding boxes 10.

[0042] It should be noted that the material distribution component 8 is composed of an active baffle 81 and a curtain-type baffle 82. The active baffle 81 is installed on the side of the curtain-type baffle 82 facing the back-opening and gill-removing component 6. During the operation of the equipment, the detection switch 43 will continuously collect the body shape data of the crayfish. The whole machine control system determines whether the active baffle 81 should perform a downward action to complete the material diversion based on the detected body shape information. The curtain-type baffle 82 can block the moving material and guide the discharge. The active baffle 81 and the curtain-type baffle 82 are respectively installed with a discharge box 10. After the diversion process, the crayfish will fall into the corresponding discharge box 10, thereby realizing the classification, reception and collection of the processed material.

[0043] Furthermore, such as Figure 8 and Figure 9As shown, the shrimp clamping assembly 3 includes a mounting frame 31, a clamping drive component 32, a transmission link 33, a contoured gripper 34, and a shrimp belly contoured positioning structure 35. The clamping drive component 32, the transmission link 33, the contoured gripper 34, and the shrimp belly contoured positioning structure 35 are correspondingly arranged on the mounting frame 31. The transmission link 33 connects the rotating end of the clamping drive component 32 to the contoured gripper 34. The contoured gripper 34 and the shrimp belly contoured positioning structure 35 cooperate with each other to center and clamp the crayfish. The mounting frame 31 is also equipped with a limit switch 36 corresponding to the contoured gripper 34. The limit switch 36 can limit the maximum opening stroke and the maximum clamping stroke of the contoured gripper 34. The shrimp clamping assembly 3 is also equipped with a flexible hose to fix the shrimp claws.

[0044] It should be noted that the mounting frame 31 serves as the overall load-bearing base, fixing all components to the drive assembly 9; the clamping drive component 32 uses a single DC geared motor, with a turntable fixed to its output shaft end; one end of the transmission connecting rod 33 is hinged to the eccentric position of the turntable, and the other end is hinged to the contour gripper 34. When the motor drives the turntable to rotate forward or backward, the connecting rod converts the rotational motion into the opening and closing linear motion of the contour gripper 34; the two contour grippers 34 are symmetrically arranged, with their inner surfaces conforming to the arc-shaped contour of the crayfish's back and equipped with anti-slip stainless steel pins for clamping the crayfish body from both sides; the crayfish belly contour positioning structure 35 is set on the mounting frame 31 between the two contour grippers 34, and its surface is shaped... The shape matches the curved surface of the shrimp's abdomen and is also equipped with anti-slip stainless steel needles. Together with the contoured gripper 34, it forms a two-way positioning cavity. When the contoured gripper 34 retracts inward, the shrimp body is pushed towards the contoured structure of the shrimp's abdomen, achieving automatic centering and clamping. The limit switch 36 is installed at the bottom of the gripper and the corresponding position of the mounting bracket 31. When the gripper opens to its maximum stroke or clamps to the preset position, the gripper touches the corresponding limit switch 36. The switch sends a signal to stop the motor immediately, thereby accurately controlling the opening and closing range of the gripper and avoiding damage to the shrimp body or jamming of the mechanism due to excessive stroke. The flexible hose can fix the shrimp claws firmly to the mounting bracket 31, preventing the V-shaped double-edged rotary blade 522 from damaging the shrimp claws during cutting.

[0045] Furthermore, such as Figure 7 As shown, the electrical component 2 includes a power supply 21, a PLC controller 22, and an electrical box 23. The electrical box 23 is mounted on the frame 1. The power supply 21 and the PLC controller 22 are mounted inside the electrical box 23 and are electrically connected to each component of the device. The PLC controller 22 can regulate the operating sequence and action status of each component.

[0046] It should be noted that the power supply 21 and the PLC controller 22 are integrated inside the electrical box 23. The power supply 21 is electrically connected to all moving parts, execution parts and detection parts of the device, and continuously provides stable working power to all kinds of components of the whole machine. The PLC controller 22 receives various detection signals during the operation of the equipment through circuit connection, and outputs control commands according to the preset program, accurately regulates the start-stop operation and action sequence of each component of the whole machine, coordinates all mechanisms to cooperate in an orderly manner, and ensures the automated and stable operation of the whole processing process.

[0047] Furthermore, such as Figure 3 As shown, the drive assembly 9 includes two stepper motors 91 and two sets of conveyor tracks 92. The two sets of conveyor tracks 92 are symmetrically arranged on the lower surface of the mounting beam 11 and are slidably connected to the shrimp body clamping assembly 3. The stepper motors 91 are respectively arranged on the frame 1 at the end of the conveyor track 92. Each set of conveyor tracks 92 is assembled from a synchronous pulley, a synchronous belt and a drag chain. The stepper motors 91 drive the synchronous belt to rotate, thereby driving the shrimp body clamping assembly 3 at the corresponding workstation to move back and forth along the axial direction of the frame 1. The two sets of conveyor tracks 92 operate independently of each other.

[0048] It should be noted that the two stepper motors 91 are respectively installed on the end frames 1 of the conveyor rails 92 at the two independent processing stations, serving as the power source for each station (since the two sets of conveyor rails 92 need to be controlled independently to achieve staggered parallel operation, a dual stepper motor 91 scheme is adopted to ensure timing flexibility); the two sets of conveyor rails 92 are symmetrically arranged on the lower surface of the mounting beam 11. Each set of conveyor rails 92 is assembled from synchronous pulleys, synchronous belts, and drag chains. The synchronous pulleys are installed at both ends of the rail, the synchronous belts are wrapped around the synchronous pulleys, and the drag chains are used to store and protect the follower cables. The shrimp body clamping assembly 3 is fixedly connected to the synchronous belt through a slider and slides along the rail; when the stepper motor 91 receives the pulse signal from the PLC controller 22, The motor output shaft rotates, driving the active synchronous pulley to rotate. The active synchronous pulley drives the synchronous belt to rotate, and the synchronous belt drives the shrimp body clamping assembly 3 fixed to it to move along the track direction. By controlling the forward and reverse rotation and rotation angle of the stepper motor 91, the reciprocating movement and precise positioning of the shrimp body clamping assembly 3 along the axis of the frame 1 can be realized. Since the stepper motors 91 of the two sets of conveyor tracks 92 are controlled independently, their synchronous belts do not interfere with each other. Therefore, the shrimp body clamping assemblies 3 of the two stations can move independently according to their respective processing sequences. When the shrimp body clamping assembly 3 of one station carries the crayfish backward for the head removal process, the shrimp body clamping assembly 3 of the other station can move forward independently to reset to the loading position, thereby realizing the parallel operation of the two stations.

[0049] The working principle and usage method of a dual-station automatic crayfish processing integrated device in this embodiment: This embodiment provides a dual-station automatic crayfish processing integrated device, which adopts a dual-station off-peak parallel operation mode, making full use of the processing time difference to eliminate human-machine waiting time, effectively improving the overall processing efficiency, and can replace multiple skilled operators, significantly reducing labor costs. The equipment achieves extreme power source reuse, relying on a single high-torque servo motor 51 to form a "one servo, three uses" mechanical linkage architecture, simultaneously driving the head removal, shrimp vein removal, and back opening height adjustment actions. Combined with a single dual-output shaft motor 61, it synchronously provides power to the back opening and gill removal mechanisms of both stations, significantly reducing the number of power components in the whole machine, simplifying the overall structure of the equipment, and reducing the equipment manufacturing cost and subsequent maintenance difficulty. The head removal and shrimp vein removal adopt a pure mechanical hard linkage structure with gears and connecting rods, eliminating elastic transmission components such as springs, resulting in high synchronization accuracy and effectively avoiding problems such as timing misalignment and component fatigue failure caused by long-term operation, greatly improving the stability of continuous operation. The V-shaped double-edged rotary blade 522, combined with the front-mounted alignment hose 523 for head removal, can... The automatic correction of the shrimp head position effectively solves the problem of small-sized crayfish easily slipping out, significantly improving the success rate of head removal and adapting to crayfish of various sizes. The back-opening height adjustment mechanism reuses servo motor power, achieving purely mechanical adaptive height adjustment through the eccentric wheel 72 and the back-opening adjustment plate 71 lever, without the need for additional sensors and electronic control components. The adjustment response is rapid and highly accurate, ensuring uniform back-opening depth for different crayfish. The linkage-type shrimp body adaptive clamping structure, combined with bidirectional contour positioning, anti-slip pins, and limit switches 36, can stably and centrally clamp the shrimp body while avoiding damage to the shell and meat, and effectively constrain the claw stroke to prevent abnormal mechanism operation. The back-opening and gill removal component 6 uses an O-shaped round belt and a U-shaped grooved wheel for cross-drive to achieve reverse rotation of the brush plate, eliminating the need for gear lubrication, complying with food processing hygiene standards, and making cleaning and maintenance more convenient. This solution eliminates component fatigue failure through rigid transmission, and the alternating operation of the dual workstations eliminates human-machine waiting time, ultimately achieving continuous automated batch processing of crayfish.

[0050] When using the equipment, first place it stably on the work site and connect the power supply 21. After powering on, thoroughly check the overall status of the machine, ensuring that both sets of conveyor tracks 92 are in the feeding position, the shrimp clamping assembly 3 maintains its maximum opening angle under the action of the limit switch 36, the high-torque servo motor 51, the dual-output shaft motor 61, all blades and brushes are in standby mode, and all transmission components such as linkages, gears, and belts are free from jamming or loosening. Then, the operator places the crayfish with its head facing forward and its back facing upward on the shrimp clamping assembly 3 at any workstation and starts the equipment. The drive unit 32, via the transmission linkage 33, drives the contour gripper 34 to cooperate with the shrimp belly contour structure to complete the centering gripping. The limit switch 36 controls the opening and closing stroke of the gripper throughout the process to avoid excessive gripping force that could damage the shrimp shell and meat. Next, the stepper motor 91 drives the shrimp body to move backward, and the high-torque servo motor 51 drives the transmission shaft 53 to rotate. The V-shaped double-edged rotary blade 522, in conjunction with the alignment hoses 523 on both sides, corrects the position of the shrimp head and completes the cutting. The shrimp head is blocked by the baffle and falls off. At the same time, the gear linkage mechanism 42 synchronously drives the shrimp vein removal gripper to open. Subsequently, the stepper motor 91... 1. The shrimp body moves forward, the high-torque servo motor 51 resets and controls the shrimp deveining jaws to close and clamp the shrimp line. The shrimp line is completely pulled out by the relative movement between the shrimp body and the fixed jaws. The detection switch 43 above the jaws simultaneously detects the crayfish's body shape. Then, the back-opening operation is performed. The eccentric wheel 72, coaxial with the drive shaft 53, works with the back-opening adjustment plate 71 lever to adaptively adjust the back-opening height. The dual-output shaft motor 61 drives the back-opening saw blade 62 to rotate at high speed, completing the back-cutting of the crayfish. Immediately afterwards, the dual-output shaft motor 61 drives the back-opening saw blade 62 to rotate at high speed through the U-shaped groove wheel and the cross-wound O-shaped round belt. Two sets of gill-removing brushes 63 rotate in opposite directions to thoroughly clean the shrimp gills. Finally, the stepper motor 91 drives the shrimp to retract. During the retraction, the shrimp clamping component 3 releases the crayfish, which falls into the feeding box 10 below under the action of the feeding component 8. During batch processing, the processing interval between the two workstations can be used to alternate feeding to achieve continuous operation. During the operation, shrimp shells and residues should be cleaned in time. If abnormal noise or material jamming occurs, the machine should be stopped immediately for troubleshooting. After all processing is completed, wait for all mechanisms to reset, turn off the power supply 21 in sequence, clean the whole machine and check and maintain the vulnerable parts.

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

[0052] In the description of this invention, it should be understood that the terms "upper", "lower", "upper end", "lower end", "upper surface", "lower surface", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0053] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

Claims

1. A dual-station automatic crayfish processing integrated device, characterized in that, include: The machine includes a frame (1), electrical components (2), shrimp body clamping components (3), shrimp vein removal components (4), head removal components (5), back-opening and gill removal components (6), and back-opening height adjustment components (7). The electrical components (2) are electrically connected to each component. The frame (1) is fixedly equipped with a mounting beam (11) along its own axis. The mounting beam (11) forms two independent processing stations on its left and right sides. Each station is equipped with a shrimp body clamping component (3) via a drive component (9). The shrimp body clamping component (3) can be adjusted by the drive component (9). Driven by 9), it moves back and forth along the axial direction of the frame (1); the shrimp removal assembly (4) is fixed on the frame (1) at the starting end of the drive assembly (9); the head removal assembly (5) and the back opening and gill removal assembly (6) are arranged sequentially along the moving path of the shrimp body clamping assembly (3), and can complete the head removal, back opening and gill removal processing of crayfish in sequence as the shrimp body clamping assembly (3) moves; the back opening height adjustment assembly (7) is connected between the head removal assembly (5) and the back opening and gill removal assembly (6), and can adaptively adjust the back opening operation depth according to the size and specifications of the crayfish.

2. The dual-station automatic crayfish processing integrated device as described in claim 1, characterized in that: The head removal assembly (5) includes a high-torque servo motor (51), a V-shaped head removal mechanism (52), and a drive shaft (53). The high-torque servo motor (51) is fixedly mounted on the mounting beam (11). The drive shaft (53) is rotatably mounted horizontally on the frame (1) above the high-torque servo motor (51) and is connected to the high-torque servo motor (51) in a transmission connection. The two ends of the drive shaft (53) are respectively provided with V-shaped head removal mechanisms (52) at the processing stations on both sides of the mounting beam (11). The high-torque servo motor (51) can synchronously drive the head removal assembly (5), the shrimp line removal assembly (4), and the back opening height adjustment assembly (7) to move.

3. The dual-station automatic crayfish processing integrated device as described in claim 2, characterized in that: The V-shaped head removal mechanism (52) includes a turntable (521), a V-shaped double-edged rotary blade (522), and a positioning hose (523). The turntable (521) is fixed to the end of the drive shaft (53). The V-shaped double-edged rotary blade (522) is fixed on the turntable (521) and can drive the V-shaped double-edged rotary blade (522) to swing through the rotation of the turntable (521) to complete the head removal operation of the crayfish. The positioning hose (523) is symmetrically arranged on the turntable (521) on both sides of the V-shaped double-edged rotary blade (522). The positioning hose (523) can correct the position of the crayfish head when the V-shaped double-edged rotary blade (522) is pressed down.

4. The integrated automatic crayfish processing device with dual workstations as described in claim 2, characterized in that: The back-opening and gill removal assembly (6) includes a dual-output shaft motor (61), a back-opening saw blade (62), and a gill removal brush disc (63). The dual-output shaft motor (61) is arranged laterally on the frame (1) through the back-opening height adjustment assembly (7), and the back-opening saw blade (62) is installed on the output shafts at both ends of the motor corresponding to the processing positions on both sides of the crossbeam (11). The gill removal brush disc (63) is rotatably mounted on the frame (1) through the brush disc shaft (64), and a U-shaped groove wheel is fixed on the brush disc shaft (64). The brush disc shaft (64) is connected to the output shaft of the dual-output shaft motor (61) through an O-shaped round belt wound on the U-shaped groove wheel. The O-shaped round belt is arranged in a cross-winding manner between the U-shaped groove wheels corresponding to the two brush disc shafts (64) in the same position to drive the two gill removal brush discs (63) to rotate in opposite directions.

5. The integrated automatic crayfish processing device with dual workstations as described in claim 4, characterized in that: The back opening height adjustment assembly (7) includes a back opening adjustment plate (71), an eccentric wheel (72), and a support rod (73). The back opening adjustment plate (71) is rotatably mounted on the frame (1) through the support rod (73) and forms a fixed fulcrum. The eccentric wheel (72) is coaxially fixed on the transmission shaft (53). One end of the back opening adjustment plate (71) is set on the transmission shaft (53) through the eccentric wheel (72), and the other end is connected and fixed to both ends of the dual output shaft motor (61). The back opening adjustment plate (71) drives the dual output shaft motor (61) to rise and fall by rotating synchronously with the transmission shaft (53) through the eccentric wheel (72), thereby realizing the adjustment of the back opening depth.

6. The dual-station automatic crayfish processing integrated device as described in claim 1, characterized in that: The shrimp devein assembly (4) is equipped with an openable gripper (41). The gripper (41) is connected to a high-torque servo motor (51) via a gear linkage mechanism (42), and the opening and closing of the gripper (41) can be controlled by the rotation of the high-torque servo motor (51). A detection switch (43) is correspondingly provided above the gripper (41). The detection switch (43) can detect the size of the crayfish when the gripper (41) is holding the tail of the crayfish, and can control whether the back opening height adjustment assembly (7) adjusts the back opening depth according to the detection signal.

7. The integrated automatic crayfish processing device with dual workstations as described in claim 6, characterized in that: A feeding component (8) is provided on the moving path of the shrimp body clamping component (3) between the head removal component (5) and the back opening and gill removal component (6). The feeding component (8) includes an active baffle (81) and a curtain-type baffle (82). The active baffle (81) is set on the frame (1) between the curtain-type baffle (82) and the back opening and gill removal component (6), and is connected to the drive device of the head removal component (5). The size of the crayfish is detected by the detection switch (43) to determine whether it needs to be pressed down to pick up the material. The active baffle (81) and the curtain-type baffle (82) are respectively provided on the frame (1) below the frame (1) for receiving material feeding boxes (10).

8. The dual-station automatic crayfish processing integrated device as described in claim 6, characterized in that: The shrimp clamping assembly (3) includes a mounting frame (31), a clamping drive (32), a transmission link (33), a contouring claw (34), and a shrimp belly contouring positioning structure (35). The clamping drive (32), the transmission link (33), the contouring claw (34), and the shrimp belly contouring positioning structure (35) are respectively arranged on the mounting frame (31). The transmission link (33) connects the rotating end of the clamping drive (32) to the contouring claw (34). The contouring claw (34) and the shrimp belly contouring positioning structure (35) cooperate with each other to center and clamp the crayfish. The mounting frame (31) is also provided with a limit switch (36) corresponding to the contouring claw (34). The limit switch (36) can limit the maximum opening stroke and the maximum clamping stroke of the contouring claw (34). The shrimp clamping assembly (3) is also provided with a flexible hose to fix the shrimp claw.

9. The integrated automatic crayfish processing device with dual workstations as described in claim 1, characterized in that: The electrical components (2) include a power supply (21), a PLC controller (22) and an electrical box (23). The electrical box (23) is mounted on the frame (1). The power supply (21) and the PLC controller (22) are mounted inside the electrical box (23) and are electrically connected to each component of the device. The PLC controller (22) can regulate the operating sequence and action status of each component.

10. The integrated automatic crayfish processing device with dual workstations as described in claim 1, characterized in that: The drive assembly (9) includes two stepper motors (91) and two sets of conveyor rails (92). The two sets of conveyor rails (92) are symmetrically arranged on the lower surface of the mounting beam (11) and are slidably connected to the shrimp body clamping assembly (3). The stepper motors (91) are respectively arranged on the frame (1) at the end of the conveyor rails (92). Each set of conveyor rails (92) is assembled from a synchronous wheel, a synchronous belt and a drag chain. The stepper motors (91) drive the synchronous belt to run, thereby driving the shrimp body clamping assembly (3) at the corresponding workstation to move back and forth along the axial direction of the frame (1). The two sets of conveyor rails (92) operate independently of each other.

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