A shrimp treatment device

Abstract

This invention belongs to the field of food processing machinery and automation equipment, and discloses a shrimp processing device, including a mounting frame, a conveying mechanism movably mounted on the mounting frame, a shrimp transfer mechanism mounted on the mounting frame with one end located near the conveying mechanism, and a shrimp head removal mechanism mounted on the mounting frame and located near the shrimp transfer mechanism. The shrimp transfer mechanism is used to transfer shrimp from the conveying mechanism to the shrimp head removal mechanism for head removal. Furthermore, the shrimp transfer mechanism also has an identification module, which identifies the shrimp and reverses their direction during transfer to facilitate head removal. This invention uses a real-time identification module to identify the connection between the shrimp head and body, and dynamically adjusts the clamping posture based on the shrimp's orientation, achieving high-precision, adaptive processing of shrimp in any orientation.

Description

Technical Field

[0001] This invention belongs to the field of food processing machinery and automation equipment, and specifically relates to a shrimp processing device. Background Technology

[0002] Currently, in shrimp processing production lines, the head removal process still generally relies on mechanical blocks for limiting or fixed-position cutting, lacking the ability to perceive and respond to individual differences in shrimp bodies. Due to the high randomness of shrimp body length, posture and orientation, traditional equipment has difficulty accurately locating the connection between the shrimp head and body, often resulting in off-center cutting, shrimp head residue or damage to shrimp meat, affecting subsequent shelling efficiency and product quality.

[0003] Some solutions attempt to incorporate photoelectric sensors or simple image detection, but due to limitations in processing speed and algorithm accuracy, they cannot achieve real-time orientation determination and dynamic stopping control under high-frequency conditions. Furthermore, the clamping mechanisms are mostly rigid, fixed structures that cannot adaptively adjust the clamping angle based on whether the shrimp's head is facing forward or backward, easily leading to clamping failure or shrimp slippage.

[0004] With the maturity of embedded vision modules such as K230, edge vision systems with low power consumption, high computing power, and millisecond-level inference capabilities can be deployed in industrial sites. However, how to efficiently convert visual recognition results into precise mechanical control commands and realize a closed-loop process of "recognition - positioning - stopping the belt - adaptive clamping - transfer - head cutting" remains a technical challenge that the industry urgently needs to overcome. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a shrimp processing device that uses a K230 vision module to identify key parts of the shrimp in real time. Combined with dynamic belt stop (conveyor belt stops running) control and bidirectional rotating grippers, it achieves high-precision gripping and accurate head removal of shrimp facing any direction, providing reliable front-end process support for fully automated shrimp processing.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A shrimp processing device, comprising, Mounting bracket The conveying mechanism is movably mounted on the mounting frame. A shrimp transfer mechanism is mounted on the mounting frame, with one end located near the conveying mechanism. The shrimp head removal mechanism is installed on the mounting frame and located near the shrimp transfer mechanism. It is used to transfer shrimp from the conveying mechanism to the shrimp head removal mechanism for shrimp head removal. In addition, the shrimp transfer mechanism also has an identification module, which can be used to identify the shrimp and change its direction during transfer so that the shrimp head removal mechanism can remove the shrimp head.

[0007] Preferably, the conveying mechanism includes, A vibrating hopper, movably mounted on the mounting frame, has hopper comb teeth at its end. A conveyor roller is rotatably mounted on the mounting frame, with its circumference located near the vibrating hopper, and its circumference having multiple conveyor roller comb teeth; the conveyor roller comb teeth extend along the radial direction of the conveyor roller, and the conveyor roller comb teeth are close to and misaligned with the hopper comb teeth; the multiple conveyor roller comb teeth and the limiting disc on the conveyor roller divide the conveyor roller into several storage areas, and one shrimp is placed in each storage area; A conveyor belt is rotatably mounted on the mounting frame and is located below the other side of the circumference of the conveyor roller, so that the shrimp on the conveyor roller fall onto the conveyor belt after the conveyor roller rotates.

[0008] Preferably, the shrimp head transfer mechanism includes, A gripping component, movably mounted on the mounting bracket and positioned above and near the end of the conveyor belt. The shrimp placement board is movably mounted on the mounting frame via a drive module and is located near the gripping component, which grips the shrimp on the conveyor belt onto the shrimp placement board.

[0009] Preferably, the grasping component includes, A fixing plate having a length direction and a width direction is mounted on the mounting bracket, and its width direction is consistent with the vertical direction; Slide 1 slides along its length on the vertical surface of the fixed plate via drive module 2. The first lifting module moves up and down along the vertical direction; A horizontal servo motor, wherein the fixed end of the horizontal servo motor is installed below the first lifting module via a connector, and its free end rotates horizontally along the vertical plane of the fixed plate. The opening and closing servo motor has its fixed end fixedly installed on the free end of the horizontal servo motor, and its free end is connected to a gripper. The gripping direction of the gripper matches the vertical direction.

[0010] Preferably, the vertical surface of the fixing plate has a slide rail, and the slide rail extends horizontally along the length direction, and the slide plate is slidably mounted on the slide rail; The second driving module includes, A timing belt, which is rotatably mounted on the vertical surface of the fixed plate, is arranged along the length direction; A synchronous belt motor, with its fixed end mounted on the fixed plate and its free end driving the synchronous belt to rotate along the length direction; The slide plate is mounted on the timing belt via a connector, and is used to drive the timing belt to rotate via a timing belt motor so that the slide plate slides on the track.

[0011] Preferably, the first lifting module includes a lead screw, which is rotatably mounted on a sliding plate via a connecting plate and is arranged in a vertical direction. A lead screw motor is installed above the connecting plate, and the free end of the lead screw motor is vertically downward and fixed to the end of the lead screw.

[0012] Preferably, the fixed end of the horizontal servo is installed below the lead screw via a connecting piece with two threads; The free end of the horizontal servo motor points vertically downward and is connected to the fixed end of the opening / closing servo motor via connector three.

[0013] Preferably, the free end of the opening / closing servo is rotatably sleeved with a gear one, the gear one being located on one side of the connecting member three, the circumferential surface of the gear one having a connecting arm one, the side wall of the connecting member three being hinged with a connecting arm two, and both the connecting arm one and the connecting arm two being located on the same side wall of the connecting member three, with the connecting arm one being located above the connecting arm two, and both the connecting arm one and the connecting arm two being hinged with a gripper arm, so that the connecting arm one, the connecting arm two and the gripper arm form a three-bar linkage mechanism, and the side wall of the connecting member three is also rotatably connected with a gear two, which meshes with the gear one, and the gear two has the same structure as the connecting arm one and the connecting arm two.

[0014] Preferably, the shrimp head removal mechanism includes a cutter and a second lifting module, and is located above the shrimp plate. The cutter is movably mounted on the mounting frame via the second lifting module, and moves vertically downwards until it cuts off the shrimp on the shrimp plate.

[0015] Preferably, the second lifting module includes, A linear guide rail is fixedly mounted on the mounting bracket along the vertical direction. Slide 2 is movably fitted onto the linear guide rail; The cam motor is fixedly mounted on the mounting bracket via a connector. The cam is fixedly sleeved on the free end of the cam motor. The top of the second sliding plate is equipped with a cam follower that cooperates with the cam; A spring is fitted onto the linear guide rail, with one top end connected to the slide plate and one bottom end fixed to the fixed end of the linear guide rail.

[0016] Preferably, the drive module one includes, Electromagnetic push rod one, its fixed end is fixedly mounted on the mounting frame via connector four; A connecting rod, one end of which is hinged to the free end of the electromagnetic push rod, and the other end of which is hinged to the shrimp plate, so that the shrimp plate is flipped downward from a horizontal state to form an opening, through which the headless shrimp fall to the next process; or it is flipped upward to a horizontal state to block the opening, and the head removal operation is completed on the shrimp plate in a horizontal state.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention identifies the connection between the shrimp head and body using a real-time recognition module, and dynamically adjusts the clamping posture based on the shrimp's orientation, achieving high-precision and adaptive processing of shrimp in any orientation.

[0018] 2. Compared with traditional methods that rely on fixed blocks for positioning or mechanical sensing, this invention does not require presetting the shrimp's orientation, thus avoiding damage to the shrimp meat or shrimp head residue caused by off-center cutting; the grippers automatically select the forward or reverse rotation gripping direction based on visual judgment, significantly improving gripping stability and success rate; and ensures that each cut is applied to the shrimp neck connection, resulting in high consistency in head cutting.

[0019] 3. The entire process in this invention is applicable to continuous, high-efficiency shrimp processing lines. This method can serve as the core front-end process module of an intelligent shrimp processing system, providing standardized input for subsequent processes such as shelling and cleaning, effectively improving the overall level of automation and product quality consistency. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 for Figure 1 Enlarged structural diagram of section A; Figure 3 for Figure 1 Enlarged structural diagram of section B; Figure 4 for Figure 1 Enlarged structural diagram of section C; Figure 5 for Figure 1 Enlarged structural diagram of section D; Figure 6 for Figure 1 Enlarged structural diagram of section E in the middle; Figure 7 This is a partial front view of the present invention; Figure 8 This is a front view of the grasping component in this invention; Figure 9 This is a schematic diagram of the shell removal component in this invention; Figure 10 This is a flowchart illustrating how shrimp shells are picked up from a conveyor belt and placed onto a shrimp plate by a gripping component in this invention.

[0021] In the diagram: 1. Vision recognition board; 2. Conveyor belt motor; 3. Conveyor belt; 4. Synchronous belt motor; 5. Mounting bracket; 6. Conveyor roller comb teeth; 7. Vibrating motor; 8. Crank-connecting rod mechanism; 9. Vibrating hopper; 10. Fixed plate; 11. Hopper comb teeth; 12. Conveyor roller; 13. Conveyor roller motor; 14. Gear 3; 15. Rubber roller 1 motor; 16. Rubber roller 2 motor; 17. Rubber roller 1; 18. Synchronous belt; 19. Lead screw motor; 20. Opening / closing servo motor 2 1. Shrimp head push block 22. Lead screw 23. Horizontal servo motor 24. Gear 1 25. Connecting arm 1 251. Gripper 26. Connecting arm 261. Gripper arm 262. Cam 27. Slide plate 2 28. Spring 29. Cam motor 30. Cam follower 31. Cutter 32. Six-bar linkage 33. Linear guide rail 34. Shrimp plate 35. Connecting rod 36. Electromagnetic push rod 1 37. Electromagnetic push rod 2 38. Slide rail 39. Slide plate 1 40. Detailed Implementation

[0022] To make the technical means, creative features, objectives and effects of this invention easier to understand, the following embodiments are described in detail with reference to the accompanying drawings. It should be noted that the description of these embodiments is for the purpose of helping to understand this invention, but does not constitute a limitation of this invention.

[0023] like Figure 1-10 As shown, a shrimp processing device includes, Mounting bracket 5, The conveying mechanism, movably mounted on the mounting frame 5, specifically includes: a vibrating hopper 9 movably mounted on the mounting frame 5, with hopper comb teeth 11 at its end; and a conveying roller 12 rotatably mounted on the mounting frame 5, with its circumference located near the vibrating hopper 9, and having multiple conveying roller comb teeth 6 on its circumference; the conveying roller comb teeth 6 extend radially along the conveying roller 12, and are close to and offset from the hopper comb teeth 11; the multiple conveying roller comb teeth 6 and the limiting disc on the conveying roller 12 divide the conveying roller 12 into several storage areas P, with one shrimp placed in each storage area P; The conveyor belt 3 is rotatably mounted on the mounting frame 5 and is located below the other side of the circumference of the conveyor roller 12, so that the shrimp on the conveyor roller 12 fall onto the conveyor belt 3 after the conveyor roller 12 rotates; specifically as follows... Figure 1 As shown, a conveyor belt motor 2 is installed on the mounting frame 5. The free end of the conveyor belt motor 2 is fixed to the end of the shaft where the conveyor belt 3 is located, so as to drive the conveyor belt motor 2. The free end of the conveyor belt motor 2 starts to rotate, thereby driving the shaft where the conveyor belt is located to rotate, and then driving the conveyor belt 3 to move, ultimately causing the conveyor belt 3 to transport shrimp. A shrimp head transfer mechanism is mounted on the mounting frame 5, with one end located near the conveying mechanism. The shrimp head transfer mechanism includes... The gripping assembly, movably mounted on the mounting frame 5 and located near the upper end of the conveyor belt 3, specifically includes: a fixed plate 10 having a length direction Q and a width direction H, mounted on the mounting frame 5, with its width direction H aligned with the vertical direction; a sliding plate 40, which slides along the length direction Q on the vertical surface of the fixed plate 10 via a drive module 2, specifically including: a synchronous belt 19 rotatably mounted on the vertical surface of the fixed plate 10, arranged along the length direction Q; and a synchronous belt motor 4, with its fixed end mounted on the fixed plate 10 and its free end driving the synchronous belt 19 to rotate along the length direction Q; the fixed plate 1... A slide rail 39 is provided on the vertical surface of the 0, and the slide rail 39 extends horizontally along the length direction Q. The slide plate 40 is slidably mounted on the slide rail 39. The slide plate 40 is mounted on the synchronous belt 19 through a connector, and is used to drive the synchronous belt 19 to rotate by the synchronous belt motor 4 so that the slide plate 40 slides on the slide rail 39. The first lifting module is raised and lowered in the vertical direction. Specifically, the first lifting module includes a lead screw 23, which is rotatably mounted on the slide plate 40 through a connecting plate, and the lead screw 23 is set in the vertical direction. A lead screw motor 20 is installed above the connecting plate, and the free end of the lead screw motor 20 is vertically downward and fixed to the end of the lead screw 23. The fixed end of the horizontal servo motor 24 is installed below the first lifting module through a connector 1, and its free end rotates horizontally along the vertical plane of the fixed plate 10. Specifically, the fixed end of the horizontal servo motor 24 is threadedly installed below the lead screw 23 through a connector 2; the free end of the horizontal servo motor 24 is vertically downward and connected to the fixed end of the opening and closing servo motor 21 through a connector 3. The opening / closing servo 21 has its fixed end fixedly mounted on the free end of the horizontal servo 24. A gripper 26 is connected to the free end of the servo 21, and the gripping direction of the gripper 26 matches the vertical direction. Specifically, a gear 25 is rotatably sleeved on the free end of the opening / closing servo 21. The gear 25 is located on one side of the connecting member three. A connecting arm 251 is located on the circumferential surface of the gear 25. A connecting arm 261 is hinged to the side wall of the connecting member three. Both connecting arms 251 and 261 are... Located on the same side wall of connector three, and with connecting arm one 251 located above connecting arm two 261, and both connecting arm one 251 and connecting arm two 261 are hinged with gripper arm 262, so that connecting arm one 251, connecting arm two 261 and gripper arm 262 form a three-bar linkage mechanism. Gear two is also rotatably connected to the side wall of connector three. Gear two meshes with gear one 25. Gear two has the same structure as connecting arm one 251 and connecting arm two 261. The shrimp placement plate 35 is movably mounted on the mounting frame 5 via a drive module 1 and is located near the gripping component. The gripping component grips the shrimp on the conveyor belt and places them onto the shrimp placement plate 35. Specifically, the drive module 1 includes an electromagnetic push rod 37, the fixed end of which is fixedly mounted on the mounting frame 5 via a connector 4; and a connecting rod 36, one end of which is hinged to the free end of the electromagnetic push rod 37, and the other end of which is hinged to the shrimp placement plate 35. This allows the shrimp placement plate 35 to flip downwards from a horizontal state, creating an opening through which the headless shrimp fall to the next process; or it can flip upwards to a horizontal state to seal the opening, and the head removal operation is completed on the shrimp placement plate 35 in a horizontal state. In addition, the mounting bracket 5 is equipped with an electromagnetic push rod 38 and a six-bar linkage 33. The free end of the electromagnetic push rod 38 is connected to the joint of the six-bar linkage 33. One end of the six-bar linkage 33 is connected to a push plate, which is located on one side of the shrimp plate 35.

[0024] A shrimp head removal mechanism is installed on the mounting frame 5 and located near the shrimp transfer mechanism. It is used to remove the heads of shrimp transferred from the conveying mechanism to the shrimp head removal mechanism via the shrimp transfer mechanism. Specifically, the shrimp head removal mechanism includes a cutter 32 and a second lifting module, located above the shrimp placement plate 35. The cutter 32 is movably mounted on the mounting frame via the second lifting module. The cutter 32 moves vertically downwards until it cuts off the shrimp on the shrimp placement plate 5. More specifically, the cutter 32 is movably mounted on the mounting frame 5 via the second lifting module. The second lifting module includes: a linear guide rail 34, which is fixedly mounted on the mounting frame 5 in a vertical direction; a sliding plate 28, which is movably sleeved on the linear guide rail 34; a cam motor 30, whose fixed end is fixedly mounted on the mounting frame 5 through a connector 3; a cam 27, which is fixedly sleeved on the free end of the cam motor 30; a cam follower 31 that cooperates with the cam 27 is installed on the top of the sliding plate 28; and a spring 29, which is sleeved on the linear guide rail 34, with one top end connected to the sliding plate 28 and one bottom end fixed to the fixed end of the linear guide rail 34.

[0025] The main processes of this shrimp head transfer facility are as follows: When the shrimp is transported by conveyor belt 3 to the visual detection area (the area that the K230 visual recognition board below can recognize for the grippers), the K230 visual recognition board 1 located directly above the conveyor belt 3 acquires a top-down view image of the shrimp in real time. The system analyzes the image based on a lightweight target detection model (such as NanoDet-Plus or YOLOv5-n model). That is, the shrimp transfer mechanism also has a recognition module, which can be used to change the direction of the shrimp during transfer so that the shrimp head removal mechanism can remove the shrimp head. The recognition module is the K230 visual recognition board and the control system. The recognition module (imaging module) on the K230 visual recognition board is aligned with the position of the shrimp held by the grippers to determine the orientation of the shrimp. That is, it accurately identifies the connection between the shrimp head and the shrimp body and simultaneously determines the orientation of the shrimp body, i.e., whether the shrimp head is facing forward or backward.

[0026] Based on the recognition results, the control system combines the preset pixel-physical coordinate mapping relationship to calculate the conveying distance required for the connection part to reach the preset cutting station, and controls the conveyor belt 3 to continue running for that distance and then stop immediately, so that the shrimp neck is accurately aligned with the subsequent clamping (i.e., aligned with the position of the clamping claw 26) and the cutting position (aligned with the position of the cutting blade 32). Next, the gripper 26 (preferably made of flexible material) descends above the shrimp body; based on the previously determined shrimp orientation, a horizontal servo drives the gripper to perform adaptive rotation: if the shrimp head is facing forward, the gripper 26 rotates clockwise to the gripping position; if the shrimp head is facing backward, the gripper 26 rotates counterclockwise to the gripping position; ensuring that the gripper 26 always stably grips the connection between the shrimp head and the shrimp body; the opening and closing of the gripper 26 is controlled by the opening and closing servo 21 in conjunction with gear one 25 and gear two, specifically: when the opening and closing servo 21 is activated, the free end of the opening and closing servo 21 drives gear one 25 to rotate, thereby driving the three-bar linkage to rotate, causing the gripper arm to rotate. At the same time, the rotation of gear one 25 also drives gear two relative to it. As gear one rotates, it rotates in the opposite direction. The three-bar linkage on gear two also moves relative to the three-bar linkage on gear one, causing the other gripper arm 261 to deflect. Ultimately, the two gripper arms 261 move closer or further apart, that is, the gripper formed by the two gripper arms 261 opens and closes. The gripping surface on the gripper arm 261 is preferably provided with anti-slip texture to prevent the shrimp from slipping off (wherein, (a) is the process of the gripper moving towards the top of the conveyor belt, (b) is the process of the gripper approaching the top of the conveyor belt and opening the gripper, (c) is the process of the gripper moving away from the conveyor belt after grabbing the shrimp, (d) is the process of the gripper approaching the shrimp rack, and (e) is the process of releasing the gripper). Among them, the lead screw motor 20 drives the lead screw 23 to move vertically up and down, which in turn drives the horizontal servo motor 24 below, as well as the opening and closing servo motor 21, the gripper, gear one, and gear two to move vertically up and down as a whole. After clamping is completed, the gripper 26 returns to its upright position and moves horizontally under the action of the synchronous belt 19 and the sliding plate 40, transferring the shrimp body from the end of the conveyor belt 2 to the fixed cutting station below the cutter 32. Next, the cam motor 30 is started. The cam 27 moves clockwise under the drive of the free end of the cam motor 30. During the circular motion, the cam 27 presses the cam follower 31 to move vertically, thereby driving the slide plate 28 to move vertically along the linear guide rail 34 where the linear bearing is located, thereby driving the cutter (26) to move downward in the vertical direction until the shrimp head is cut off; in addition, the spring 29 plays a buffering role.

[0027] Furthermore, after the head is cut off, the electromagnetic push rod 38 is activated, thereby driving the six-bar linkage 33 to move forward (e.g., Figure 5 (The green arrow in the figure shows the movement), which in turn drives the shrimp head pusher (20) to push away the shrimp head, leaving only the shrimp body with the shrimp shell; Reactivate electromagnetic push rod 37, thereby driving connecting rod 36 to move, which in turn pulls the shrimp plate 35 to flip (e.g.) Figure 5 (The red arrow deflects) to open the opening, allowing the shrimp to slide into the next process for further handling.

[0028] The entire process requires no human intervention, achieving high-precision recognition, adaptive clamping, and reliable head cutting of shrimp facing any direction, significantly improving the level of automation and processing consistency.

[0029] In addition, the processing device also includes a shrimp shell removal mechanism, which is mounted on the mounting frame 5 and located below the shrimp head transfer mechanism. Shrimp for head removal are transferred to the shrimp shell removal mechanism via the transfer mechanism for shell removal. The shrimp shell removal mechanism includes a rubber roller 17, which is rotatably mounted on the mounting frame 5 via a drive module 3 (specifically, the drive module 3 includes a rubber roller motor 15, the fixed end of which is fixedly mounted on the connector 5, and the free end of which is connected to the shaft of the rubber roller 17). The rubber roller 17 is inclined downwards on the mounting frame 5 from one side close to the shrimp plate 35 to the other side. Two rubber rollers 18 are rotatably mounted on the mounting frame 5 in the same manner as the rubber roller 17. The two rubber rollers 18 are driven synchronously by a drive module 4 (specifically, the drive module 4 includes a rubber roller motor 15). 6. Its fixed end is fixedly installed on connector five, and its free end is connected to the shaft of one of the rubber rollers 2 18; the other rubber roller 2 18 is rotatably sleeved on connector five, and two meshing gear sets are also rotatably installed on connector five. Gears 3 14 are also fixedly installed on the two rubber rollers 2 18, and the two gears 3 14 mesh with the gear sets. The two rubber rollers 2 18 are at the same height on the mounting frame 5 and are both higher than rubber roller 1 17, and the diameter of rubber roller 1 17 is larger than the diameter of rubber roller 2 18. Motor 16 of rubber roller 2 drives gears 3 14 to rotate, so that the two rubber rollers 2 18 rotate in opposite directions. Motor 15 of rubber roller 1 drives rubber roller 1 17 to rotate back and forth. The shrimp is squeezed and rubbed in the gap between rubber roller 1 17 and rubber roller 2, so that the shrimp meat is separated from the shrimp shell. After separation, subsequent operations are carried out.

[0030] The above embodiments are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Various modifications or variations that can be made by those skilled in the art without creative effort within the scope of the appended claims are still within the scope of protection of this patent.

Claims

1. A shrimp processing device, characterized in that, include: Mounting bracket The conveying mechanism is movably mounted on the mounting frame. A shrimp transfer mechanism is mounted on the mounting frame, with one end located near the conveying mechanism. The shrimp head removal mechanism is installed on the mounting frame and located near the shrimp transfer mechanism. It is used to transfer shrimp from the conveying mechanism to the shrimp head removal mechanism for shrimp head removal. In addition, the shrimp transfer mechanism also has an identification module, which can be used to identify the shrimp and change its direction during transfer so that the shrimp head removal mechanism can remove the shrimp head.

2. The shrimp processing device according to claim 1, characterized in that: The conveying mechanism includes, A vibrating hopper, movably mounted on the mounting frame, has hopper comb teeth at its end. A conveyor roller is rotatably mounted on the mounting frame, with its circumference located near the vibrating hopper, and its circumference having multiple conveyor roller comb teeth; the conveyor roller comb teeth extend along the radial direction of the conveyor roller, and the conveyor roller comb teeth are close to and misaligned with the hopper comb teeth; the multiple conveyor roller comb teeth and the limiting disc on the conveyor roller divide the conveyor roller into several storage areas, and one shrimp is placed in each storage area; A conveyor belt is rotatably mounted on the mounting frame and is located below the other side of the circumference of the conveyor roller, so that the shrimp on the conveyor roller fall onto the conveyor belt after the conveyor roller rotates.

3. The shrimp processing device according to claim 2, characterized in that: The shrimp head transfer mechanism includes: A gripping component, movably mounted on the mounting bracket and positioned above and near the end of the conveyor belt. The shrimp placement board is movably mounted on the mounting frame via a drive module and is located near the gripping component, which grips the shrimp on the conveyor belt onto the shrimp placement board.

4. The shrimp processing device according to claim 3, characterized in that: The crawling component includes, A fixing plate having a length direction and a width direction is mounted on the mounting bracket, and its width direction is consistent with the vertical direction; Slide 1 slides along its length on the vertical surface of the fixed plate via drive module 2. The first lifting module moves up and down along the vertical direction; A horizontal servo motor, wherein the fixed end of the horizontal servo motor is installed below the first lifting module via a connector, and its free end rotates horizontally along the vertical plane of the fixed plate. The opening and closing servo motor has its fixed end fixedly installed on the free end of the horizontal servo motor, and its free end is connected to a gripper. The gripping direction of the gripper matches the vertical direction.

5. The shrimp processing device according to claim 4, characterized in that: The fixed end of the horizontal servo is installed below the lead screw via a connecting piece with two threads; The free end of the horizontal servo motor points vertically downward and is connected to the fixed end of the opening / closing servo motor via connector three.

6. The shrimp processing device according to claim 5, characterized in that: The free end of the opening and closing servo motor is rotatably sleeved with a gear one, which is located on one side of the connecting member three. The circumferential surface of the gear one has a connecting arm one. A connecting arm two is hinged to the side wall of the connecting member three. Both the connecting arm one and the connecting arm two are located on the same side wall of the connecting member three, with the connecting arm one located above the connecting arm two. Both the connecting arm one and the connecting arm two are hinged with a gripper arm, so that the connecting arm one, the connecting arm two, and the gripper arm form a three-bar linkage mechanism. A gear two is also rotatably connected to the side wall of the connecting member three. The gear two meshes with the gear one and has the same structure as the connecting arm one and the connecting arm two.

7. The shrimp processing device according to claim 6, characterized in that: The shrimp head removal mechanism includes a cutter and a second lifting module, and is located above the shrimp plate. The cutter is movably mounted on the mounting frame via the second lifting module, and moves vertically downwards until it cuts off the shrimp on the shrimp plate.

8. The shrimp processing device according to claim 7, characterized in that: The second lifting module includes, A linear guide rail is fixedly mounted on the mounting bracket along the vertical direction. Slide 2 is movably fitted onto the linear guide rail; The cam motor is fixedly mounted on the mounting bracket via a connector. The cam is fixedly sleeved on the free end of the cam motor. The top of the second sliding plate is equipped with a cam follower that cooperates with the cam; A spring is fitted onto the linear guide rail, with one top end connected to the slide plate and one bottom end fixed to the fixed end of the linear guide rail.

Images