A carousel type multi-station scallop taking device and method

Abstract

This invention discloses a rotary multi-station scallop adductor removal device and method. The device includes a frame, a multi-station rotating mechanism, a cutting mechanism, an adductor breaking mechanism, a shell opening mechanism, an adductor removal mechanism, and a shell ejection mechanism. The multi-station rotating mechanism includes a turntable and multiple clamping assemblies. The clamping assemblies are used to clamp scallops and sequentially transfer them to each station along with the turntable. The cutting mechanism forms incisions on the opening slit side and the hinge side of the scallop. The adductor breaking mechanism's adductor shovel extends into the shell through the opening slit side incision, severing the connection between the adductor and the upper shell. The shell opening mechanism, through the cooperation of a lower shell limiting assembly, a second clamping assembly, and a top shell assembly, limits the lower shell and releases the clamp before pushing it away from the upper shell. The adductor removal mechanism cuts the connection between the adductor and the lower shell with the adductor shovel and sucks up the adductor under negative pressure. The shell ejection mechanism ejects the empty lower shell after adductor removal. This device enables continuous adductor removal after a single clamping of scallops, reducing repeated clamping errors and lowering the risk of shell breakage and adductor damage.

Description

Technical Field

[0001] This invention belongs to the technical field of scallop processing equipment, specifically relating to a rotary multi-station scallop column extraction device and method. Background Technology

[0002] Scallops, as an important marine aquatic product, possess high nutritional and economic value. In recent years, with the increasing demand for aquatic products and the expansion of scallop farming, the scallop processing industry has seen a continuous increase in demand for automated, standardized, and continuous processing equipment. In scallop processing, the adductor muscle (or scallop adductor muscle) is usually one of the main target products. It is tightly connected to the inner walls of the upper and lower shells, and processing requires sequential steps including feeding and positioning, shell opening, adductor muscle separation, adductor muscle removal, and shell discharge. These operations place high demands on the scallop positioning accuracy, shell opening method, adductor muscle separation path, and subsequent collection stability.

[0003] Currently, scallop opening and adductor removal still largely rely on manual labor. Traditional methods typically involve operators using a knife to pry open the scallop shell through the opening, then severing the adductor from the shell and removing it. While this method requires relatively low equipment investment, it is labor-intensive, and its efficiency is significantly affected by the operator's skill level. Furthermore, different operators often struggle to maintain consistency in knife insertion position, prying force, cutting depth, and adductor removal techniques, easily leading to problems such as shell breakage, adductor tearing, residual scallop meat, or incomplete adductor removal. For large-scale processing scenarios, manual methods are insufficient to meet the requirements of continuous, efficient, and stable production.

[0004] Some processing companies use methods such as batch heating and steam blanching to assist in opening scallop shells. These methods primarily utilize high temperatures to denature and relax the adductor muscle, thus prompting the shell to open or facilitating subsequent meat extraction. While this method can improve opening efficiency to some extent, high-temperature treatment alters the tissue structure of the scallop meat, easily causing dehydration, decreased texture, and nutrient loss, making it unsuitable for processing scallop adductor muscles, which requires high freshness. Furthermore, during batch heating, different scallops are heated unevenly, potentially resulting in some scallops being overcooked or others not opening properly, thus affecting the quality of subsequent adductor muscle extraction and the overall product qualification rate.

[0005] Existing simple mechanical scallop opening equipment mostly uses rigid extrusion, blade cutting, or mechanical prying to separate the shells. This type of equipment has a relatively simple structure and low manufacturing cost, but it usually lacks zonal treatment of the scallop opening seam, hinge side, and adductor connection position. It is easy to forcefully apply force when the upper and lower shells and adductor are still strongly connected, causing problems such as shell breakage, adductor tearing, and scallop meat residue.

[0006] Furthermore, while some existing equipment can complete a single shell-opening or meat-removing action, there is a lack of unified positioning benchmarks between the various processes. When scallops are repeatedly transferred or re-clamped between cutting, shell-opening, adductor detachment, and adductor removal stages, positional errors can easily occur, making it difficult for subsequent blades or actuators to accurately target the intended area. Especially during adductor removal, if the previous shell-opening position is unstable or the adductor is not sufficiently exposed, the adductor removal blade can easily deviate from the base of the adductor, resulting in adductor residue inside the lower shell, or damage, scattering, and secondary contamination during removal.

[0007] Some high-end scallop processing equipment employs visual positioning, multi-axis robotic arms, servo actuators, and assembly line conveyor systems, enabling a high degree of automation. However, such equipment is typically complex in structure and expensive, requiring specific production sites, power supply, gas supply, and skilled maintenance personnel, making it unsuitable for direct application by most small and medium-sized aquatic product processing enterprises.

[0008] In summary, existing scallop shell opening and adductor removal equipment still suffers from several problems, including insufficient automation and continuity, positional deviations caused by repeated clamping, damage to the shell and adductor from direct prying or rigid shell opening, instability in the shell opening process due to insufficient lower shell limiting, easy breakage or scattering of the adductor during adductor removal and collection, and uncoordinated clamping and release actions. Therefore, there is an urgent need for a scallop adductor removal device that can adapt to the continuous processing requirements of scallops and achieve stable connections between positioning, cutting, adductor breaking, shell opening, adductor removal, and shell discarding. Summary of the Invention

[0009] The purpose of this invention is to provide a rotary multi-station scallop extraction device and method.

[0010] In a first aspect, the present invention provides a rotary multi-station scallop column extraction device, which includes a frame, characterized in that it further includes a multi-station rotating mechanism disposed on the frame, and a cutting mechanism, a column breaking mechanism, a shell opening mechanism, a column extraction mechanism and a shell discarding mechanism arranged sequentially along the circumference of the multi-station rotating mechanism and respectively corresponding to different stations.

[0011] The multi-station rotating mechanism includes a turntable and multiple clamping assemblies arranged circumferentially along the turntable. The clamping assemblies are used to clamp scallops and sequentially transfer them to each station along with the turntable.

[0012] The cutting mechanism is used to form cuts on the opening slit side and the hinge side of the scallop.

[0013] The column-breaking mechanism includes a column-breaking shovel, which is used to extend into the scallop shell through the incision on the side of the opening and cut off the connection between the adductor and the upper shell.

[0014] The shell-opening mechanism includes a second clamping assembly, a lower shell limiting assembly, and a top shell assembly. The lower shell limiting assembly is used to limit the lower shell through the side cut of the opening slit. The second clamping assembly is used to release the clamping assembly from the scallop. The top shell assembly is used to push away the upper shell after the lower shell is limited and the clamping of the scallop is released, so as to expose the adductor muscle inside the lower shell.

[0015] The adductor extraction mechanism includes a shovel assembly and a negative pressure adsorption assembly. The shovel assembly includes an adductor extraction shovel blade, which is used to sever the connection between the adductor and the lower shell. The negative pressure adsorption assembly is used to extract the material to be extracted from the lower shell using negative pressure. The material to be extracted can be complete scallop meat containing the adductor, or it can be waste. Waste can be, for example, the viscera of a scallop or the mud and sand inside the scallop.

[0016] The shell ejection mechanism is used to open the clamping assembly and push the empty lower shell after the column is removed out of the clamping assembly.

[0017] Preferably, the turntable has a clearance groove on the inner side of each clamping assembly; the top shell assembly includes a top shell drive and a top shell component, the top shell component being used to push the upper shell of the scallop near the hinge side in an inclined upward direction via the clearance groove under the drive of the top shell drive.

[0018] Preferably, the lower shell limiting assembly includes a lower shell limiting drive and a lower shell limiting member; the lower shell limiting member corresponds to the opening slit side cut of the scallop in the shell opening position, and can be inserted into the opening slit side cut under the drive of the lower shell limiting drive to limit the lower shell of the scallop.

[0019] Preferably, the clamping assembly includes a shell support and two single-sided clamping structures. The shell support has an arc-shaped support concave surface for supporting the scallop shell. The single-sided clamping structure includes a clamping arm and a clamping spring. The clamping arm has a clamping end near the shell support and a pressure-receiving end away from the shell support. The clamping spring is connected between the clamping arm and the turntable to provide a clamping and restoring force to the clamping arm.

[0020] Preferably, the rotary multi-station scallop column extraction device further includes a feeding mechanism located on the side of the cutting mechanism away from the column breaking mechanism; the feeding mechanism includes a first clamping drive and a feeding clamping block; the feeding clamping block is provided with two feeding clamping parts corresponding to the pressure ends of the two clamping arms respectively; the two feeding clamping parts are used to simultaneously press the pressure ends of the two clamping arms in the same clamping assembly under the drive of the first clamping drive, so that the clamping ends of the two clamping arms open relative to the shell support, so that the untreated scallops can be placed between the shell support and the clamping arms.

[0021] Preferably, the second clamping assembly includes a second clamping drive and a shell-opening clamping block; the shell-opening clamping block is used to simultaneously press the pressure ends of two clamping arms in the same clamping assembly under the drive of the second clamping drive, so as to release the clamping assembly from the scallop.

[0022] The shell ejection mechanism includes a third clamping assembly and a shell pushing assembly; the third clamping assembly includes a third clamping drive and a shell ejection clamping block, the shell ejection clamping block being used to simultaneously press the pressure ends of the two clamping arms in the clamping assembly at the shell ejection station under the drive of the third clamping drive, so as to release the clamping assembly from the empty lower shell after the column is removed; the shell pushing assembly includes a shell pushing drive and a shell pushing component, the shell pushing component being used to push the empty lower shell out of the clamping assembly under the drive of the shell pushing drive.

[0023] Preferably, the adductor breaking mechanism includes an adductor breaking drive and an adductor breaking shovel. The adductor breaking shovel is used to extend into the space between the upper and lower shells through the side cut of the opening under the drive of the adductor breaking drive, and to shovel the adductor along the inner surface of the upper shell. The shoveling assembly includes an oblique drive and an adductor shovel. The adductor shovel is used to enter the lower shell in an oblique direction under the drive of the oblique drive, and to shovel the adductor along the inner surface of the lower shell.

[0024] Preferably, the negative pressure adsorption assembly includes a lifting drive mechanism, a suction tube, and a negative pressure storage chamber. One end of the suction tube is connected to the negative pressure storage chamber, and the other end has a suction port structure facing the column picking position. The negative pressure storage chamber has a negative pressure interface for connecting a negative pressure source. The lifting drive mechanism is used to move the suction port structure (7221) of the suction tube (722) closer to or away from the clamping assembly.

[0025] Preferably, the cutting mechanism includes a cutting feed assembly, a cutting motor, and a cutting blade assembly; the cutting blade assembly includes a cutting shaft, a first blade, and a second blade, the cutting shaft being fixedly or driveably connected to the output end of the cutting motor; the first blade and the second blade are coaxial and spaced apart on the cutting shaft; the positions of the first blade and the second blade correspond to the opening slit side and the hinge side of the scallop at the cutting station, respectively; the cutting feed assembly is used to drive the cutting blade assembly to move, so that the first blade forms a cut on the opening slit side of the scallop, and the second blade forms a cut on the hinge side of the scallop.

[0026] Preferably, the first clamping drive, the second clamping drive, the third clamping drive, the lower shell limiting drive, the top shell drive, the push shell drive, the column breaking drive, and the oblique drive are all used to provide linear reciprocating driving force to the corresponding actuators. They can be cylinders, electric cylinders, hydraulic cylinders, linear motors, or linear drive modules composed of motors, lead screws, synchronous belts, and gear racks. Further optimized, the first clamping drive component uses a first clamping cylinder, the second clamping drive component uses a second clamping cylinder, the third clamping drive component uses a third clamping cylinder, the lower shell limiting drive component uses a lower shell limiting cylinder, the top shell drive component uses a top shell cylinder, the shell pushing drive component uses a shell pushing cylinder, the column breaking drive component uses a column breaking cylinder, and the inclined drive component uses an inclined cylinder; the piston rod end of each of the above cylinders serves as the output end of the corresponding drive component, and is connected to the feeding clamping block, the shell opening clamping block, the shell throwing clamping block, the lower shell limiting component, the top shell component, the shell pushing component, the column breaking shovel, and the column taking shovel, respectively, to drive the corresponding components to complete the clamping, limiting, shell opening, shell pushing, column breaking, or column taking actions.

[0027] Secondly, the present invention provides a rotary multi-station scallop skeletal extraction method, which employs the aforementioned rotary multi-station scallop skeletal extraction device, the method comprising:

[0028] The scallop is clamped by a clamping assembly with the hinged side of the scallop facing the center of the turntable and the opening slit side facing the outer periphery of the turntable, and the clamping assembly is sequentially transferred to each workstation along with the turntable.

[0029] At the cutting station, incisions are made on the opening slit side and the hinge side of the scallop by a cutting mechanism.

[0030] At the column breaking station, the column breaking shovel is inserted into the scallop shell through the side cut of the opening and cuts off the connection between the adductor and the upper shell.

[0031] At the shell-opening station, the lower shell is limited by the lower shell limiting component through the side cut of the opening slit, the clamping component releases the scallop from the clamping component by the second clamping component, and the upper shell is pushed away by the top shell component through the clearance space corresponding to the clearance groove of the turntable in an inclined upward direction to expose the adductor muscle inside the lower shell.

[0032] At the column extraction station, the connection between the adductor muscle and the lower shell is cut off by the column extraction shovel, and the adductor muscle inside the lower shell is extracted by negative pressure using a negative pressure adsorption component.

[0033] At the shell ejection station, the clamping assembly is opened by the shell ejection mechanism, and the empty lower shell after the column is removed is pushed out from the clamping assembly.

[0034] The present invention has the following beneficial effects.

[0035] 1. This invention creates cuts on both the opening slit side and the hinge side, allowing the shovel to enter the shell through the opening slit side cut, reducing shell breakage, adductor tearing, and meat residue caused by direct shell prying. Furthermore, the cooperation of the lower shell limiting component, the second clamping assembly, the top shell assembly, and the clearance groove ensures the lower shell is limited, the clamps are released, and the upper shell is directionally pushed away, completely exposing the meat. These actions are interconnected in space and time, improving the controllability of the upper shell detachment and reducing the risk of displacement of the lower shell during the opening process.

[0036] 2. This invention uses a turntable to carry multiple clamping components and arranges feeding, cutting, column breaking, shell opening, column removal and shell discarding stations along the circumference, so that the scallops can continuously pass through each processing stage after one positioning, reducing positional deviations caused by repeated clamping, and enabling multiple scallops to be processed in parallel at different stations.

[0037] 3. This invention uses an inclined column-retrieving shovel in conjunction with a negative pressure adsorption component to continuously complete the cutting off of the exposed clam root, clam adsorption, and temporary storage of the clam adsorption, reducing the impact of manual handling on the integrity of the clam adsorption, and reducing the possibility of clam adsorption scattering, secondary contact contamination, and unstable collection.

[0038] 4. This invention, through the cooperation of an arc-shaped support concave surface, double-sided clamping arms, clamping springs and multiple opening components, enables scallops to maintain stable clamping during stages such as transfer, cutting and column breaking, and releases them as needed during stages such as feeding, shell opening and shell discarding, taking into account both positioning reliability and mechanism clearance space. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of a rotary multi-station scallop extraction device provided in Embodiment 1 of the present invention.

[0040] Figure 2 This is a top view of the arrangement of the processing mechanisms in Embodiment 1 of the present invention.

[0041] Figure 3 This is a schematic diagram of the multi-station rotating mechanism in Embodiment 1 of the present invention.

[0042] Figure 4 This is a schematic diagram of the feeding mechanism in Embodiment 1 of the present invention.

[0043] Figure 5 This is a schematic diagram of the cutting mechanism in Embodiment 1 of the present invention.

[0044] Figure 6 This is a schematic diagram of the cutting mechanism cutting scallops in Embodiment 1 of the present invention.

[0045] Figure 7 This is a schematic diagram of the interrupting column mechanism in Embodiment 1 of the present invention.

[0046] Figure 8 This is a schematic diagram of the shell-opening mechanism in Embodiment 1 of the present invention.

[0047] Figure 9 This is a schematic diagram of the column-removing mechanism in Embodiment 1 of the present invention.

[0048] Figure 10 This is a schematic diagram of the shell ejection mechanism in Embodiment 1 of the present invention.

[0049] Explanation of reference numerals in the attached drawings: 100, frame; 200, multi-station rotary mechanism; 210, turntable; 211, clearance groove; 220, base plate; 230, main spindle; 240, clamping assembly; 241, shell support; 242, clamping arm; 2421, clamping end; 2422, pressure-bearing end; 243, clamping spring; 300, feeding mechanism; 310, first clamping bracket; 320, first clamping cylinder; 330, linear guide assembly; 340. 341. Feeding clamping block; 342. Feeding clamping part; 400. Notch structure; 410. Cutting mechanism; 420. First lifting drive assembly; 430. Cutting motor; 431. First blade; 432. Second blade; 433. Cutting shaft; 440. Cutting protective cover; 500. Column breaking mechanism; 510. Column breaking cylinder; 520. First tilt angle adjustment seat; 530. Column breaking scraper; 600. Shell opening mechanism; 610. 611. Second clamping assembly; 612. Second clamping bracket; 613. Opening clamping block; 620. Lower shell limiting assembly; 621. Lower shell limiting bracket; 622. Lower shell limiting cylinder; 623. Lower shell limiting component; 630. Top shell assembly; 631. Second tilt adjustment seat; 632. Top shell cylinder; 700. Column removal mechanism; 710. Shovel assembly; 711. Third tilt adjustment seat; 712. Inclined cylinder; 713. Column removal mechanism. 720. Shovel; 721. Negative pressure adsorption assembly; 722. Second lifting drive mechanism; 723. Suction tube; 724. Suction port structure; 725. Negative pressure storage chamber; 800. Shell ejection mechanism; 810. Third clamping assembly; 811. Third clamping bracket; 812. Third clamping cylinder; 813. Shell ejection clamping block; 820. Shell pushing assembly; 821. Shell pushing cylinder; 822. Shell pushing component; 900. Scallop; 910. Opening slit side; 920. Hinge side. Detailed Implementation

[0050] The present invention will be further described below with reference to the accompanying drawings.

[0051] Example 1

[0052] like Figure 1 and Figure 2As shown, a rotary multi-station scallop column extraction device includes a frame 100, a control drive module mounted on the frame 100, a multi-station rotating mechanism 200, and six processing stations arranged sequentially along the circumference of the multi-station rotating mechanism 200. The six processing stations are respectively equipped with a feeding mechanism 300, a cutting mechanism 400, a column breaking mechanism 500, a shell opening mechanism 600, a column extraction mechanism 700, and a shell discarding mechanism 800.

[0053] The multi-station rotating mechanism 200 is used to carry scallops 900 and sequentially transfer them to various processing stations; the loading mechanism 300 is used to open the clamps and assist the scallops 900 in being placed into them; the cutting mechanism 400 is used to cut the slit side 910 and the hinge side 920 of the scallop shell to form incisions; the slit side 910 of the scallop 900 is the side where the two shells can open to each other, and the hinge side 920 is the side where the two shells are connected to each other and form a rotation fulcrum. The adductor muscle 500 is used to extend into the shell through the incision on the slit side 910 and cut or sever the adductor muscle (i.e., the adductor muscle); the shell opening mechanism 600 is used to press the lower shell and push open the upper shell, whose connection with the scallop meat has been severed; the adductor muscle removal mechanism 700 is used to cut, suck, and transfer the adductor muscle from the lower shell; the shell discarding mechanism 800 is used to push the empty lower shell after removing the adductor muscle out of the clamp. Using the above mechanisms, the scallop 900 can complete continuous processing of feeding and positioning, cutting, column breaking, shell opening, column removal and shell discarding on the same turntable 210.

[0054] The frame 100 includes a profile frame, an electrical board, a protective plate, and multiple casters. The control and drive module includes a touch screen assembly, an air pump, a solenoid valve assembly, a driver assembly, a power supply, relays, a circuit breaker, and a controller. In this embodiment, the controller is a PLC.

[0055] The profile frame constitutes the main support structure of the scallop stalk extraction device. Its upper part forms a working platform for mounting the multi-station rotating mechanism 200 and various processing mechanisms, while its interior or sides form installation space for arranging electrical components, pneumatic components, and pipelines. The electrical board is fixed within the profile frame and is used to centrally install controllers, drivers, power supplies, relays, and circuit breakers. The solenoid valve assembly is installed within the frame 100 or below the working platform and is connected to each cylinder via pneumatic connectors. An air pump is installed within the profile frame to provide air for pneumatic actuators and the negative pressure stalk extraction process. A protective plate is located on the side of the profile frame to shield and protect the internal electrical components, pneumatic pipelines, and moving parts. The touchscreen assembly is located on the upper or side of the profile frame, facilitating mode selection, parameter setting, and status monitoring for the operator. Multiple casters are located at the bottom of the frame 100, making the scallop stalk extraction device easy to move.

[0056] like Figure 3As shown, the multi-station rotary mechanism 200 includes a turntable 210, a base plate 220, a spindle 230, bearings, a drive assembly, a positioning assembly, and multiple clamping assemblies 240. The base plate 220 is fixed to the working platform of the frame 100; the vertically oriented spindle 230 is mounted on the base plate 220, and the turntable 210 is rotatably connected to the spindle 230 through bearings, enabling the turntable 210 to rotate smoothly relative to the base plate 220.

[0057] The turntable 210 is a disc-shaped support component, with multiple clamping mounting positions evenly distributed circumferentially on it. Each clamping mounting position is equipped with a clamping assembly 240. The clamping assembly 240 is used to clamp the scallop 900. When clamping the scallop 900, the hinged side 920 of the scallop 900 faces the center of the turntable 210. In this embodiment, there are six clamping mounting positions. Each clamping mounting position is evenly distributed circumferentially along the central axis of the turntable 210, allowing the clamping assembly 240 to sequentially enter the working areas corresponding to the surrounding processing stations along with the turntable 210. The turntable 210 has a through-hole central mounting hole. The central mounting hole is used to mate with the spindle 230, bearing, or connecting seat; each clamping mounting position has a corresponding clamping mounting hole and a clearance groove 211. The clamping mounting hole is used to install the clamping assembly 240. The clearance groove 211 is used to avoid the movement path of the moving structures in each mechanism, thus avoiding motion interference.

[0058] The drive assembly includes a first gear, a second gear, and a station switching motor. The station switching motor is fixed to the base plate 220 or the frame 100 via a motor bracket. The first gear is mounted on the output shaft of the station switching motor; the second gear is fixed to the turntable 210. The first gear meshes with the second gear. When the station switching motor rotates, the first gear drives the second gear to rotate, which in turn drives the turntable 210 to rotate, causing the scallops 900 to sequentially reach each processing station.

[0059] The positioning assembly includes a positioning sensor, a sensor bracket, and a sensing trigger. The sensor bracket is mounted on the base plate 220 or the frame 100; the positioning sensor is mounted on the sensor bracket. The sensing trigger is fixed on the turntable 210 and moves with the turntable 210 to detect the origin or indexing position of the turntable 210.

[0060] The clamp assembly 240 includes a shell support 241 and two single-sided clamping structures. The shell support 241 is fixedly mounted on the clamp mounting position of the turntable 210 to support the scallop shell 900. The upper surface of the shell support 241 is provided with an arc-shaped support concave surface, which is adapted to the shape of the scallop shell 900 to improve the stability of the scallop 900 after placement. The two single-sided clamping structures are both mounted on the turntable 210 and are located at both ends of the shell support 241. The two single-sided clamping structures are used to press down on the left and right sides of the scallop 900 placed on the shell support 241.

[0061] The single-sided clamping structure includes a clamping arm 242 and a clamping spring 243. The bottom end of the clamping spring 243 is fixed to the turntable 210; the top end of the clamping spring 243 is fixed to the clamping arm 242. The two ends of the clamping arm 242 are respectively located at the clamping end 2421 near the shell support 241 and the pressure end 2422 away from the shell support 241. The clamping arm 242 is rotatably connected to the groove structure at the end of the shell support 241 by a pin. The pin is located between the clamping end 2421 and the pressure end 2422. The pin makes the clamping arm 242 form a lever structure.

[0062] The clamping spring 243 is located between the clamping arm 242 and the connecting pin, near the pressure end 2422. The clamping spring 243 supports the clamping arm 242 and provides a clamping and resetting force to the clamping arm 242. When the pressure end 2422 of the clamping arm 242 is subjected to downward pressure, it will cause the clamping end 2421 of the clamping arm 242 to tilt upward, thereby opening and resetting the clamping end of the clamping arm 242 relative to the shell support 241 by pressing and releasing the pressure end 2422 of the clamping arm 242.

[0063] After the scallop 900 is placed in the shell support 241, the two clamping arms 242 clamp the shell of the scallop 900 from both sides, so that the scallop 900 remains basically fixed during the process of transportation, cutting, breaking the column, opening the shell and removing the column on the turntable 210.

[0064] like Figure 4 As shown, the feeding mechanism 300 is located at the feeding station of the turntable 210. The feeding mechanism 300 includes a first clamping assembly. The first clamping assembly includes a first clamping bracket 310, a first clamping cylinder 320, a cylinder flange plate, a linear guide assembly 330, and a feeding clamping block 340. The first clamping bracket 310 is fixed to the frame 100; in this embodiment, the first clamping bracket 310 is fixed to the top of the main spindle 230 by a cantilever beam. The first clamping cylinder 320 is vertically mounted on the first clamping bracket 310 via the cylinder flange plate.

[0065] The linear guide assembly 330 includes an optical axis, a linear bearing, and a connecting plate. The linear bearing is fixed to the first clamping bracket 310 via the connecting plate. The optical axis is slidably connected to the linear bearing; the axis of the optical axis is parallel to the extension and retraction direction of the first clamping cylinder 320. The bottom ends of the two optical axes are respectively fixed to the two ends of the top surface of the feeding clamping block 340; the piston rod end of the first clamping cylinder 320 is fixed to the middle of the top surface of the feeding clamping block 340. The feeding clamping block 340 can be smoothly raised and lowered vertically under the drive of the first clamping cylinder 320.

[0066] The feeding clamping block 340 is located directly above the clamping assembly 240 at the feeding station. The bottom surface of the feeding clamping block 340 has downwardly extending feeding clamping portions 341 at both ends. The positions of the two feeding clamping portions 341 correspond to the positions of the pressure-bearing ends 2422 of the two clamping arms 242 of the clamping assembly 240. When the first opening cylinder 320 extends, the feeding clamping block 340 descends and presses the two clamping arms 242, causing the clamping assembly 240 at the feeding station to open. After the operator or external scallop transfer equipment places the scallop 900 into the shell support 241, the first opening cylinder 320 retracts, the feeding clamping block 340 rises, and the two clamping arms 242 reset and clamp the scallop 900 under the action of the clamping spring 243.

[0067] A notch structure 342 is formed between the two feeding clamping parts 341 on the feeding clamping block 340. The notch structure 342 can avoid the flipping movement of the scallop 900 body and the clamping arm 242, thereby avoiding motion interference. The two feeding clamping parts 341 on the feeding clamping block 340 form a symmetrical pressing structure, which can make the two clamping arms 242 open synchronously, avoiding the scallop 900 being placed skewed due to one side of the clamping arm 242 opening first or insufficient opening. With the feeding mechanism 300, the operator only needs to place the scallop 900, reducing the need for manual operation of directly bending the clamps.

[0068] In some embodiments, the feeding mechanism 300 further includes a scallop transfer assembly. The scallop transfer assembly is used to transfer the scallops 900 to be processed onto the shell support 241 at the feeding station. During feeding, the feeding clamping block 340 first presses the pressure ends 2422 of the two clamping arms 242, causing the clamping assembly 240 to open; subsequently, the scallop transfer assembly places the scallop 900 onto the arc-shaped support concave surface of the shell support 241, with the hinged side 920 of the scallop 900 facing the center of the turntable 210 and the opening slit side 910 facing the outer periphery of the turntable 210; after the scallop 900 is in place, the feeding clamping block 340 rises, and the two clamping arms 242 reset and clamp the scallop 900 shell under the action of the clamping spring 243. The function of the scallop transfer assembly can also be performed manually.

[0069] like Figure 5As shown, the cutting mechanism 400 is located at the cutting station and includes a first lifting drive assembly 410, a cutting motor 420, a cutting blade assembly 430, a cutting protective cover 440, a connecting bracket, and a baffle assembly. The first lifting drive assembly 410 includes a cutting bracket, a cutting slider, a first lead screw, and a first lifting motor. The cutting bracket includes a profile body and upper and lower baffles fixed to both ends of the profile body to form a stable vertical mounting base. The cutting bracket is fixed to the frame 100. The vertically arranged first lead screw is rotatably connected to the cutting bracket. The first lifting motor is fixed to the top of the cutting bracket, and its output shaft is fixed to the end of the first lead screw. The cutting slider is slidably connected to the cutting bracket in the vertical direction and forms a helical pair with the first lead screw via a nut.

[0070] The cutting motor 420 is fixed to the cutting slider via a motor bracket. The cutting blade assembly 430 includes a cutting shaft 433, a first blade 431, and a second blade 432. The first blade 431 and the second blade 432 are coaxial and fixed at a distance from each other on the cutting shaft 433. The first blade 431 is used to cut the opening slit side 910 of the scallop 900. The second blade 432 is used to cut the hinge side 920 of the scallop 900. The distance between the first blade 431 and the second blade 432 is set according to the size of the scallop 900 to ensure the formation of an opening while avoiding damage to the scallop meat. The cutting shaft 433 is fixed to the output shaft of the cutting motor 420. The cutting protective cover 440 is fixed to the cutting slider and covers the outside of the cutting blade assembly 430. The cutting protective cover 440 forms a cutting opening only on the side facing the scallop 900 to prevent cutting debris from splashing out and to improve safety.

[0071] The direction from the second blade 432 to the first blade 431 is aligned with the direction from the hinge side 920 to the opening slit side 910 of the scallop 900 at the cutting station. The first lifting drive assembly 410 is capable of driving the rotating cutting blade assembly 430 to move closer to or further away from the scallop 900 in the clamping assembly in a vertical or inclined direction.

[0072] After the turntable 210 transfers the scallop 900 to the cutting station, the cutting motor 420 starts, and the first lifting drive assembly 410 drives the cutting blade assembly 430 downward, causing the blade to cut the opening slit side 910 and the hinge side 920 of the scallop 900. This creates an opening structure on the opening slit side 910, and disconnects the connection between the upper and lower shells of the scallop 900 on the hinge side 920. The cutting lines of the scallop 900 on the opening slit side 910 and the hinge side 920 are as follows: Figure 6 As shown by the dotted line in the diagram. After the cutting is completed, the first lifting drive assembly 410 drives the cutting blade assembly 430 to exit, and the turntable 210 then transfers the scallop 900 to the next station.

[0073] like Figure 7 As shown, the column-breaking mechanism 500 is located at the column-breaking station and includes a column-breaking cylinder 510, a first tilt angle adjusting seat 520, and a column-breaking scraper 530. The column-breaking cylinder 510 is mounted on the first tilt angle adjusting seat 520. The first tilt angle adjusting seat 520 is fixed to the frame 100. The first tilt angle adjusting seat 520 is used to adjust the tilt angle of the column-breaking cylinder 510 relative to the turntable 210; the column-breaking scraper 530 is fixed to the piston rod end of the column-breaking cylinder 510. The column-breaking scraper 530 corresponds to the cut on the opening slit side 910 of the scallop 900 at the column-breaking station. The front end of the column-breaking scraper 530 is a thin-plate or wedge-shaped scraping structure, used to enter between the upper and lower shells along the opening slit side 910 cut under the drive of the column-breaking cylinder 510, cutting the connection between the adductor and the upper shell.

[0074] When the scallop 900 reaches the adductor separation station, the adductor separation cylinder 510 extends, driving the adductor separation blade 530 to penetrate into the scallop 900 shell through the opening slit side 910 cut, cutting or severing the connection between the adductor and the upper shell. After adductor separation is completed, the adductor separation cylinder 510 retracts, causing the adductor separation blade 530 to exit the shell. Because the adductor separation blade 530 utilizes the opening slit side 910 cut pre-formed by the cutting mechanism 400 as an inlet channel, it reduces shell breakage caused by direct prying and concentrates the adductor separation action on the connection area that needs to be cut.

[0075] like Figure 8 As shown, the shell-opening mechanism 600 is located at the shell-opening station and includes a second opening clamping assembly 610, a lower shell limiting assembly 620, and a top shell assembly 630. The lower shell limiting assembly 620 includes a lower shell limiting bracket 621, a lower shell limiting cylinder 622, and a lower shell limiting member 623. The lower shell limiting bracket 621 is fixed to the frame 100; the lower shell limiting cylinder 622 is mounted on the lower shell limiting bracket 621; and the lower shell limiting member 623 is fixed to the piston rod of the lower shell limiting cylinder 622. The lower shell limiting member 623 is sheet-shaped and aligned with the cut 910 on the opening side of the scallop 900 at the shell-opening station. The lower shell limiting cylinder 622 moves horizontally or tilted downwards towards the scallop 900. Driven by the lower shell limiting cylinder 622, the lower shell limiting member 623 can be inserted into the opening seam side 910 of the scallop 900 in the shell opening position, providing a limit to the lower shell of the scallop 900, preventing the scallop 900 from being lifted up or falling out of the shell support 241 when the top shell assembly 630 opens the upper shell.

[0076] The second clamping assembly 610 includes a second clamping bracket 611, a second clamping cylinder 612, and a shell-opening clamping block 613. The second clamping bracket 611 is fixed to the frame 100, specifically to the main spindle 230 via a cantilever beam in this embodiment. The second clamping cylinder 612 is mounted on the second clamping bracket 611. The shell-opening clamping block 613 is mounted on the second clamping cylinder 612 and can move vertically under the drive of the second clamping cylinder 612. The shell-opening clamping block 613 has a horizontally arranged U-shaped structure. The relative positions of the two ends of the shell-opening clamping block 613 match the relative positions of the pressure ends 2422 of the two clamping arms 242 of the same clamping assembly 240. The opening of the U-shaped shell-opening clamping block 613 faces outward to avoid obstructing the area above the clamping assembly 240 at the shell-opening station.

[0077] When the second clamping cylinder 612 drives the shell-opening clamping block 613 to move downward, the shell-opening clamping block 613 can simultaneously squeeze the pressure ends 2422 of the two clamping arms 242 on the clamping assembly 240 located at the shell-opening position, causing the clamping ends 2421 of the two clamping arms 242 to tilt upward, thereby relieving the clamping force on the scallop 900 at the shell-opening position. This second clamping action can provide movement space for opening the upper shell, avoiding excessive constraint on the scallop 900 shell when the top shell assembly 630 opens the upper shell.

[0078] The top shell assembly 630 includes a second tilt angle adjustment seat 631, a top shell cylinder 632, and a top shell component. The second tilt angle adjustment seat 631 is fixed to the frame 100; the top shell cylinder 632 is mounted on the second tilt angle adjustment seat 631. The second tilt angle adjustment seat 631 is used to adjust the tilt angle of the top shell cylinder 632 relative to the turntable 210; the top shell component is fixed to the piston rod end of the top shell cylinder 632. The top shell cylinder 632 is located on the side of the clamping assembly 240 at the shell opening station near the center of the turntable 210. The piston rod end of the top shell cylinder 632 is tilted upward, and the top shell component faces the upper shell of the scallop 900 at the shell opening station. Each clamping mounting position on the turntable 210 has a clearance groove 211 on its inner side. The clearance groove 211 is used to avoid the movement path of the top shell component, so that the top shell component can tilt upward through the turntable 210 and push the upper shell and lower shell apart. In some embodiments, the top shell may have a cylindrical structure.

[0079] When the scallop 900 reaches the shell-opening station, the lower shell limiting cylinder 622 drives the lower shell limiting component 623 to insert into the opening slit side 910 of the scallop 900, providing a limit to the lower shell; then, the second clamping assembly 610 presses the pressure end 2422 of the two clamping arms 242 to release the clamping assembly 240 from the scallop 900; the top shell component in the top shell assembly 630 is quickly pushed out and impacts the hinged side 920 of the upper shell that has been cut. Since the cutting mechanism 400 has cut the connection between the upper shell and the lower shell on the hinged side 920, and the column breaking mechanism 500 has cut or shoveled the adductor muscle, the upper shell can be separated from the lower shell and the scallop meat under the action of the top shell assembly 630 and is knocked away, which facilitates the subsequent adductor removal mechanism 700's operation on the adductor muscle.

[0080] like Figure 9 As shown, the column-removing mechanism 700 is located at the column-removing station. The column-removing mechanism 700 includes a shovel assembly 710 and a negative pressure adsorption assembly 720. The shovel assembly 710 is used to cut the connection between the adductor muscle and the lower shell. The shovel assembly 710 includes a third tilt angle adjustment seat 711, an inclined cylinder 712, and a column-removing shovel 713. The third tilt angle adjustment seat 711 is fixed to the frame 100; the inclined cylinder 712 is mounted on the third tilt angle adjustment seat 711. The third tilt angle adjustment seat 711 is used to adjust the tilt angle of the inclined cylinder 712 relative to the turntable 210; the inclined cylinder 712 is located on the side of the clamp assembly 240 at the column-removing station near the center of the turntable 210. The column-removing shovel 713 is fixed to the piston rod of the inclined cylinder 712. The piston rod of the inclined cylinder 712 is tilted towards the clamp assembly 240 at the column-removing station. The scallop removal blade 713 is set at an angle and aligned with the connection between the lower shell and the adductor muscle of the scallop 900 at the scallop removal position along the extension and retraction direction of the piston rod of the inclined cylinder 712. When the inclined cylinder 712 extends, the scallop removal blade 713 enters the lower shell along the inclined direction and performs a shoveling action along the inner surface of the lower shell or the root area of ​​the adductor muscle, severing the connection between the adductor muscle and the lower shell.

[0081] In this embodiment, the negative pressure adsorption assembly 720 is used to directly detach the intact oyster meat containing the adductor muscle from the lower shell using negative pressure, and then directly suck the oyster meat into the negative pressure storage chamber 723 through a negative pressure pipe. The negative pressure adsorption assembly 720 includes a second lifting drive mechanism 721, a suction tube 722, and a negative pressure storage chamber 723. Both the suction tube 722 and the negative pressure storage chamber 723 are mounted on the second lifting drive mechanism 721 and are driven by the second lifting drive mechanism 721 to perform lifting movements. One end of the suction tube 722 is connected to the negative pressure storage chamber 723. The negative pressure storage chamber 723 is used to store the object sucked in by the suction tube 722. The other end of the suction tube 722 has a downward-facing suction port structure 7221. The size of the suction port structure 7221 matches the size of the oyster meat. The suction port of the suction tube 722 is located directly above the clamp assembly 240 at the oyster meat removal station. The negative pressure storage chamber 723 is provided with a negative pressure interface. The negative pressure interface is equipped with a filter structure and is connected to a negative pressure source. The negative pressure source continuously provides negative pressure to the negative pressure storage chamber 723 through the negative pressure interface, causing the suction tube 722 to continuously generate suction.

[0082] The second lifting drive mechanism 721 includes a column-picking bracket, a column-picking slider, a second lead screw, and a second lifting motor. The column-picking bracket is fixed to the frame 100. The vertically arranged second lead screw is rotatably connected to the column-picking bracket. The second lifting motor is fixed to the top of the column-picking bracket, and its output shaft is fixed to the end of the second lead screw. The column-picking slider is slidably connected to the column-picking bracket in the vertical direction and forms a helical pair with the second lead screw through a nut. When the second lifting motor drives the second lead screw to rotate, the column-picking slider rises and falls along the column-picking bracket.

[0083] In some embodiments, the negative pressure storage chamber 723 has a material inlet on its side. The material inlet is closed by a movable door structure. The material inlet is used to remove the shellfish meat stored in the negative pressure storage chamber 723.

[0084] like Figure 10As shown, the shell-exploding mechanism 800 is located at the shell-exploding station and includes a third clamping assembly 810 and a shell-pushing assembly 820. The structure of the third clamping assembly 810 is the same as that of the second clamping assembly 610. Specifically, the third clamping assembly 810 includes a third clamping bracket 811, a third clamping cylinder 812, and a shell-exploding clamping block 813. The third clamping bracket 811 is fixed to the frame 100, specifically to the main spindle 230 via a cantilever beam in this embodiment. The third clamping cylinder 812 is mounted on the third clamping bracket 811. The shell-exploding clamping block 813 is mounted on the third clamping cylinder 812 and can move vertically under the drive of the third clamping cylinder 812. The structure of the shell-exploding clamping block 813 is the same as that of the shell-exploding clamping block 613. When the third opening cylinder 812 drives the shell-throwing clamping block 813 to move downward, the shell-throwing clamping block 813 can simultaneously squeeze the pressure ends 2422 of the two clamping arms 242 on the clamping assembly 240 located at the shell-throwing station, causing the clamping ends 2421 of the two clamping arms 242 to tilt upward, thereby relieving the clamping force on the empty lower shell at the shell-throwing station. This third opening action can provide movement space for the shell-pushing assembly 820 to push out the empty lower shell, avoiding interference between the shell-pushing component 822 and the clamping arms 242. When the third opening cylinder 812 is activated, the shell-throwing clamping block 813 presses down on the pressure ends 2422 of the clamping arms 242, causing the clamping assembly 240 to open and release the empty lower shell after the column is removed.

[0085] The shell-pushing assembly 820 includes a shell-pushing cylinder 821 and a shell-pushing component 822. The shell-pushing cylinder 821 is fixed to the third clamping bracket 811 by a cylinder bracket, with the piston rod end of the shell-pushing cylinder 821 facing the clamping position of the clamping assembly 240 at the shell-throwing station. The shell-pushing component 822 is installed at the piston rod end of the shell-pushing cylinder 821. The shell-pushing component 822 is used to push the empty lower shell outward after the clamping assembly 240 opens, causing the empty lower shell to disengage from the shell support seat 241. The shell-pushing component 822 can be rod-shaped, plate-shaped, or have a pushing surface at the end, with its pushing surface corresponding to the outer surface of the empty lower shell. When the shell-pushing cylinder 821 extends, the shell-pushing component 822 pushes the empty lower shell radially or approximately radially along the turntable 210; after leaving the shell support seat 241, the empty lower shell falls into the shell collection area.

[0086] When the scallop 900 reaches the shell-discarding station, the third clamping assembly 810 first presses the clamping arm 242, causing the clamping assembly 240 to open. Then, the shell-pushing cylinder 821 of the shell-pushing assembly 820 extends, driving the shell-pushing component 822 to push the empty lower shell out of the shell support 241. After the shell is pushed out, the shell-pushing cylinder 821 retracts, the third clamping assembly 810 resets, and the clamping arm 242 returns to the clamping state or the ready-to-load state under the action of the clamping spring 243. By using the sequence of opening the clamp first and then pushing the shell, the possibility of empty lower shells getting stuck in the clamping assembly 240 can be reduced, and interference between the shell-pushing component 822 and the clamping arm 242 can be avoided.

[0087] In this embodiment, each mechanism is fixed to the frame 100 by screws, nuts, T-bolts, right-angle connectors, and profile connectors. The installation positions of each cylinder bracket, slider, baffle, connecting plate, and clamping block can be adjusted according to the actual position of the corresponding workstation. The movement direction of each moving part corresponds to the position of the clamping assembly 240 after the indexing of the turntable 210, and clearance space is reserved between each workstation mechanism and the clearance groove 211 on the turntable 210, the clamping assembly 240, and adjacent workstation mechanisms to avoid interference when the turntable 210 is indexed and the actuators move. All exposed sharp edges, hole edges, and plate edges can be blunted, and lubrication points can be provided at moving parts to improve operational stability and maintenance safety.

[0088] In this embodiment, among the feeding mechanism 300, cutting mechanism 400, column breaking mechanism 500, shell opening mechanism 600, column removal mechanism 700, and shell ejection mechanism 800, the structure located inside the fixture assembly 240 at the corresponding processing station uses the spindle 230 or base plate 220 fixed on the frame 100 as the mounting base. The structure located outside the fixture assembly 240 at the corresponding processing station uses the frame 100 as the mounting base.

[0089] In some embodiments, the main shaft 230 is hollow and is used to pass through part of the air tube and wire.

[0090] The working process of this embodiment is as follows.

[0091] After the equipment starts, the controller first performs a reset or origin confirmation process. Positioning sensors detect the sensing triggers moving with the turntable 210 to determine the origin or indexing reference position of the turntable 210. Based on feedback from the positioning sensors, the controller controls the station switching motors, so that each clamping assembly 240 on the turntable 210 corresponds to the feeding mechanism 300, cutting mechanism 400, column breaking mechanism 500, shell opening mechanism 600, column picking mechanism 700, and shell ejection mechanism 800, respectively. An air pump provides air or negative pressure to each pneumatic actuator and negative pressure adsorption assembly 720, and the controller controls each cylinder to operate in a preset sequence via a solenoid valve assembly.

[0092] At the loading station, the controller controls the first clamping cylinder 320 to extend, which in turn drives the loading clamping block 340 to move downward. The loading clamping parts 341 at both ends of the loading clamping block 340 press the pressure ends 2422 of the two clamping arms 242 in the corresponding clamping assembly 240, causing the clamping ends 2421 of the two clamping arms 242 to open upward relative to the shell support 241. The operator or external scallop transfer equipment places the scallop 900 to be processed on the arc-shaped support concave surface of the shell support 241, with the hinged side 920 of the scallop 900 facing the center of the turntable 210 and the opening slit side 910 facing the outer periphery of the turntable 210. Subsequently, the first clamping cylinder 320 retracts, the feeding clamping block 340 rises and moves away from the pressure end 2422 of the clamping arm 242, and the two clamping arms 242 are reset under the action of the reset force of the clamping spring 243. The clamping end 2421 presses the shell of the scallop 900 from the left and right sides of the scallop 900, so that the scallop 900 is stably held in the clamping assembly 240.

[0093] After the material is loaded, the controller activates the station switching motor. The station switching motor drives the first gear to rotate, which in turn drives the second gear fixed to the turntable 210 to rotate, thus causing the turntable 210 to rotate around the main shaft 230 by one station angle. After the turntable 210 stops, the clamping assembly 240, which has clamped the scallop 900, enters the cutting station, and subsequent clamping assemblies 240 simultaneously enter adjacent stations. The positioning sensor detects the positioning status of the turntable 210, and after confirming that the turntable 210 has reached the indexing position, the actuators of each station begin to operate.

[0094] At the cutting station, the controller starts the cutting motor 420, causing the cutting shaft 433 to rotate the first blade 431 and the second blade 432. Simultaneously, the first lifting motor drives the first lead screw to rotate, which in turn moves the cutting slider downwards along the cutting support, bringing the cutting blade assembly 430 closer to the scallop 900 in the clamping assembly 240. Since the direction from the second blade 432 to the first blade 431 is consistent with the direction from the hinge side 920 to the opening slit side 910 of the scallop 900, the first blade 431 cuts the opening slit side 910 of the scallop 900, and the second blade 432 cuts the hinge side 920 of the scallop 900. The first blade 431 forms a cut on the opening slit side 910 of the scallop 900 for the subsequent cutting blade 530 to penetrate, while the second blade 432 cuts the hinge side 920 of the scallop 900, severing the connection between the upper and lower shells at the hinge side 920. After the cutting is completed, the first lifting motor reverses its direction, causing the cutting slider to rise, so that the first blade 431 and the second blade 432 exit the vicinity of the scallop 900 shell.

[0095] After cutting, the turntable 210 indexes again, transferring the scallop 900 with the pre-formed opening slit side 910 and hinge side 920 incisions to the adductor cutting station. At the adductor cutting station, the controller extends the adductor cutting cylinder 510, which drives the front end of the adductor cutting blade 530 through the opening slit side 910 incision into the space between the upper and lower shells, acting on the connection area between the adductor and the upper shell, thus severing the connection. Because the adductor cutting blade 530 enters the shell through the pre-formed opening slit side 910 incision by the cutting mechanism 400, the adductor cutting action does not require forcibly prying the scallop 900 open from the outside, reducing the risk of shell breakage and meat tearing. After adduct cutting, the adductor cutting cylinder 510 retracts, causing the adductor cutting blade 530 to exit the scallop 900 shell.

[0096] Subsequently, turntable 210 continues indexing, transferring the scallop 900 with the broken column to the shell-opening station. At the shell-opening station, the controller first controls the lower shell limiting cylinder 622 to operate, causing the lower shell limiting component 623 to insert into the incision 910 on the opening side of the scallop 900. The lower shell limiting component 623 limits the lower shell, preventing the scallop 900 from being lifted up or detached from the shell support 241 during the subsequent shell-opening process. Next, the controller controls the second opening clamping cylinder 612 to operate, causing the shell-opening clamping block 613 to move downwards. The shell-opening clamping block 613 simultaneously presses the pressure end 2422 of the two clamping arms 242, causing the clamping ends 2421 of the two clamping arms 242 to tilt upwards, thereby releasing the clamping force of the clamping assembly 240 on the scallop 900 shell. Subsequently, the top shell cylinder 632 extends, and the top shell component moves in an upward inclined direction. Because the turntable 210 has a clearance groove 211 inside the corresponding clamp mounting position, the top shell component can bypass the turntable 210 via the clearance groove 211 and approach the upper shell of the scallop 900. The top shell component pushes the upper shell from the side closest to the center of the turntable 210, acting near the cut hinge side 920 of the upper shell, causing the upper shell to open, separate, or detach relative to the restrained lower shell. Since the connection between the upper and lower shells at the hinge side 920 has been severed by the cutting mechanism 400, and the connection between the adductor muscle and the upper shell has been severed or scraped off by the adductor muscle breaking mechanism 500, the upper shell can separate from the lower shell and the scallop meat under the action of the top shell component, thereby exposing the adductor muscle inside the lower shell.

[0097] After the shell is opened, the turntable 210 continues indexing, transferring the clamp assembly 240, which retains the lower shell and adductor muscle, to the adductor muscle removal station. At the removal station, the controller activates the second lifting motor, which lowers the removal slider via the second lead screw, causing the suction tube 722 and the negative pressure storage chamber 723 mounted on the slider to descend synchronously. The suction port at the lower end of the suction tube 722 is close to the adductor muscle inside the lower shell. The negative pressure source provides negative pressure to the negative pressure storage chamber 723 via the negative pressure interface. The negative pressure is transmitted to the suction tube 722 through the negative pressure storage chamber 723, causing the suction port to adsorb the adductor muscle. Simultaneously, the controller extends the inclined cylinder 712, which drives the removal shovel 713 to enter the lower shell in an inclined direction, causing the removal shovel 713 to perform a shoveling action along the inner surface of the lower shell or the root area of ​​the adductor muscle, severing the connection between the adductor muscle and the lower shell. After the connection between the adductor muscle and the lower shell is severed, it detaches from the lower shell under the negative pressure of the suction tube 722 and enters the negative pressure storage chamber 723 through the suction tube 722. After the adductor muscle is removed, the second lifting motor reverses its direction, causing the suction tube 722 to rise and reset; the inclined cylinder 712 retracts, driving the adductor muscle removal blade 713 out of the lower shell area. In some embodiments, the adductor muscle removal blade 713 first cuts off the connection between the adductor muscle and the lower shell, and then the suction tube 722 moves downward to suck up the adductor muscle.

[0098] After the shell is removed, the turntable 210 continues indexing, transferring the empty lower shell to the shell-extracting station. At the shell-extracting station, the controller first activates the third clamping cylinder 812, which drives the shell-extracting clamping block 813 downwards. Simultaneously, the shell-extracting clamping block 813 presses down on the pressure ends 2422 of the two clamping arms 242, causing the clamping ends 2421 of the two clamping arms 242 to tilt upwards, releasing the clamping assembly 240 from the empty lower shell. Subsequently, the controller controls the shell-pushing cylinder 821 to extend, driving the shell-pushing component 822 to move radially or approximately radially outwards along the turntable 210. The shell-pushing component 822 contacts the outer surface of the empty lower shell and pushes it out of the shell support 241, allowing it to fall into the shell collection area. After the shell is pushed out, the shell-pushing cylinder 821 retracts, the third clamping cylinder 812 retracts, the shell-throwing clamping block 813 rises, and the clamping arm 242 is reset to the clamping state under the action of the clamping spring 243.

[0099] During continuous operation, each time the turntable 210 completes an indexing cycle, each clamping assembly 240 simultaneously enters the next processing station. That is, at any given moment, some clamping assemblies 240 are in the feeding stage, some in the cutting stage, some in the column breaking stage, some in the shell opening stage, some in the column removal stage, and some in the shell ejection stage. The controller, based on the turntable 210 positioning signal and the operational status of each cylinder and lifting drive mechanism, controls the actions of each mechanism according to a preset timing sequence, avoiding interference between the turntable 210's indexing movement and the extension actions of each mechanism. Through this cycle, the scallop 900 can sequentially complete feeding and positioning, cutting the opening slit side 910 and the hinge side 920, separating the adductor from the upper shell, removing the upper shell, separating the adductor from the lower shell, and ejecting the empty lower shell, achieving continuous column removal processing at multiple stations using a turntable.

[0100] Example 2

[0101] A rotary multi-station scallop extraction device, the difference between this embodiment and embodiment 1 is that: the suction port of the suction tube 722 in the negative pressure adsorption component 720 is only used to remove inedible waste from the scallop meat; the waste is, for example, the scallop viscera and the mud and sand inside the scallop.

[0102] In this embodiment, the negative pressure adsorption component 720 moves downward before the scooping component 710 cuts the connection between the clam meat and the lower shell, sucking up loosely attached waste from the clam meat. After the scooping component 710 cuts the connection between the clam meat and the lower shell, a separate automatic meat-removing mechanism is used to remove the clam meat from the lower shell; the automatic meat-removing mechanism can be a movable mechanical gripper. The mechanical gripper can be moved by a robotic arm or a linear module.

[0103] The specific process is as follows: the negative pressure adsorption component 720 first descends to above the lower shell, sucks away the waste through the suction tube 722, and then returns to its original position. Subsequently, the shovel component 710 cuts the connection between the adductor muscle and the lower shell, and then the adductor muscle is removed from the lower shell and transferred manually or by a separately set automatic meat-removing mechanism. The automatic meat-removing mechanism can be a movable mechanical gripper, a robotic arm, or a clamping structure driven by a linear module. Although this embodiment requires an additional automatic meat-removing mechanism, it can separate the shellfish meat from the waste.

Claims

1. A rotary multi-station scallop stalk extraction device, comprising a frame (100), characterized in that, It also includes a multi-station rotating mechanism (200) mounted on the frame (100), and a cutting mechanism (400), a column breaking mechanism (500), a shell opening mechanism (600), a column taking mechanism (700), and a shell throwing mechanism (800) arranged sequentially along the circumference of the multi-station rotating mechanism (200) and corresponding to different stations. The multi-station rotating mechanism (200) includes a turntable (210) and a plurality of clamping assemblies (240) arranged circumferentially along the turntable (210). The clamping assemblies (240) are used to clamp scallops (900) and sequentially transfer them to each station along with the turntable (210). The cutting mechanism (400) is used to form cuts on the opening slit side (910) and the hinge side (920) of the scallop (900); The column breaking mechanism (500) includes a column breaking shovel (530), which is used to extend into the shell of the scallop (900) through the cut on the opening side (910) and cut off the connection between the adductor and the upper shell. The shell-opening mechanism (600) includes a second clamping assembly (610), a lower shell limiting assembly (620), and a top shell assembly (630). The lower shell limiting assembly (620) is used to limit the lower shell through the side cut of the opening slit. The second clamping assembly (610) is used to release the clamping assembly (240) from the scallop (900). The top shell assembly (630) is used to push away the upper shell after the lower shell is limited and the clamping of the scallop (900) is released, so as to expose the adductor muscle inside the lower shell. The column extraction mechanism (700) includes a shovel assembly (710) and a negative pressure adsorption assembly (720). The shovel assembly (710) includes a column extraction shovel (713), which is used to cut the connection between the adductor muscle and the lower shell. The negative pressure adsorption assembly (720) is used to perform negative pressure adsorption on the material to be extracted located in the lower shell. The shell ejection mechanism (800) is used to open the clamp assembly (240) and eject the empty lower shell after the column is removed from the clamp assembly (240).

2. The rotary multi-station scallop extraction device according to claim 1, characterized in that: The turntable (210) is provided with a relief groove (211) on the inner side of each clamp assembly (240); the top shell assembly (630) includes a top shell drive and a top shell member, the top shell member being used to push the upper shell of the scallop (900) close to the hinge side (920) in an inclined upward direction through the relief groove (211 under the drive of the top shell drive.

3. The rotary multi-station scallop extraction device according to claim 1, characterized in that: The lower shell limiting assembly (620) includes a lower shell limiting drive and a lower shell limiting member (623); the lower shell limiting member (623) corresponds to the opening seam side (910) cut of the scallop (900) in the shell opening position, and can be inserted into the opening seam side (910) cut under the drive of the lower shell limiting drive to limit the lower shell of the scallop (900).

4. The rotary multi-station scallop extraction device according to claim 1, characterized in that: The clamp assembly (240) includes a shell support (241) and two single-sided clamping structures. The shell support (241) has an arc-shaped support concave surface for supporting the shell of a scallop (900). The single-sided clamping structure includes a clamping arm (242) and a clamping spring (243). The clamping arm (242) has a clamping end (2421) near the shell support (241) and a pressure end (2422) away from the shell support (241). The clamping spring (243) is connected between the clamping arm (242) and the turntable (210) to provide a clamping and restoring force to the clamping arm (242).

5. The rotary multi-station scallop extraction device according to claim 4, characterized in that: It also includes a feeding mechanism (300) located on the side of the cutting mechanism (400) away from the column breaking mechanism (500); the feeding mechanism (300) includes a first clamping drive and a feeding clamping block (340); the feeding clamping block (340) is provided with two feeding clamping parts (341) respectively corresponding to the pressure end (2422) of the two clamping arms (242); the two feeding clamping parts (341) are used to simultaneously press the pressure end (2422) of the two clamping arms (242) in the same clamping assembly (240) under the drive of the first clamping drive, so that the clamping end (2421) of the two clamping arms (242) opens relative to the shell support (241), so that the untreated scallops can be placed between the shell support (241) and the clamping arm (242).

6. The rotary multi-station scallop extraction device according to claim 4, characterized in that: The second clamping assembly (610) includes a second clamping drive and a shell-opening clamping block (613); the shell-opening clamping block (613) is used to simultaneously press the pressure end (2422) of two clamping arms (242) in the same clamping assembly (240) under the drive of the second clamping drive, so as to release the clamping assembly (240) from the scallop (900); The shell ejection mechanism (800) includes a third clamping assembly (810) and a shell pushing assembly (820); the third clamping assembly (810) includes a third clamping drive and a shell ejection pressing block (813), the shell ejection pressing block (813) is used to simultaneously press the pressed ends (2422) of the two clamping arms (242) in the clamping assembly (240) at the shell ejection station under the drive of the third clamping drive, so as to release the clamping assembly (240) from clamping the empty lower shell after the column is removed; The push-shell assembly (820) includes a push-shell drive and a push-shell component (822), the push-shell component (822) being used to push the empty lower shell out of the clamp assembly (240) under the drive of the push-shell drive.

7. The rotary multi-station scallop extraction device according to claim 1, characterized in that: The column breaking mechanism (500) includes a column breaking drive and a column breaking shovel (530). The column breaking shovel (530) is used to extend into the space between the upper and lower shells through the opening slit side (910) under the drive of the column breaking drive, and to shovel the adductor along the inner surface of the upper shell. The shovel assembly (710) includes an oblique drive and a column taking shovel (713). The column taking shovel (713) enters the lower shell in an inclined direction under the drive of the oblique drive, and to shovel the adductor along the inner surface of the lower shell.

8. The rotary multi-station scallop extraction device according to claim 1, characterized in that: The negative pressure adsorption assembly (720) includes a lifting drive mechanism, a suction tube (722), and a negative pressure storage chamber (723). One end of the suction tube (722) is connected to the negative pressure storage chamber (723), and the other end is provided with a suction port structure (7221) facing the column picking position. The negative pressure storage chamber (723) is provided with a negative pressure interface for connecting a negative pressure source. The lifting drive mechanism is used to drive the suction port structure (7221) of the suction tube (722) to move closer to or away from the clamp assembly.

9. The rotary multi-station scallop extraction device according to claim 1, characterized in that: The cutting mechanism (400) includes a cutting feed assembly, a cutting motor (420), and a cutting blade assembly (430). The cutting blade assembly (430) includes a cutting shaft (433), a first blade (431), and a second blade (432). The cutting shaft (433) is fixedly or drivenly connected to the output end of the cutting motor (420). The first blade (431) and the second blade (432) are coaxial and spaced apart on the cutting shaft (433). The positions of the first blade (431) and the second blade (432) correspond to the opening slit side (910) and the hinge side (920) of the scallop (900) at the cutting station, respectively. The cutting feed assembly is used to drive the cutting blade assembly (430) to move, so that the first blade (431) forms a cut on the opening slit side (910) of the scallop (900), and the second blade (432) forms a cut on the hinge side (920) of the scallop (900).

10. A method for extracting scallop columns using a rotary multi-station system, characterized in that, The method using the rotary multi-station scallop extraction device according to any one of claims 1 to 9 includes: The scallop (900) is clamped by the clamping assembly (240) with the hinged side (920) facing the center of the turntable (210) and the opening slit side (910) facing the outer periphery of the turntable (210), and the clamping assembly (240) is sequentially transferred to each workstation along with the turntable (210); At the cutting station, a cut is formed on the opening slit side (910) and the hinge side (920) of the scallop (900) by the cutting mechanism (400); At the column breaking station, the column breaking shovel (530) is inserted into the scallop (900) shell through the opening seam side (910) and the connection between the adductor and the upper shell is cut off. At the shell-opening station, the lower shell is limited by the lower shell limiting component (620) through the cut on the opening seam side (910), the clamping component (240) is released from the clamping of the scallop (900) by the second clamping component (610), and the upper shell is pushed away by the top shell component (630) through the clearance space corresponding to the clearance groove (211) of the turntable (210) in an inclined upward direction to expose the adductor muscle inside the lower shell; At the column extraction station, the connection between the adductor and the lower shell is cut off by the column extraction shovel (713), and the adductor inside the lower shell is extracted by negative pressure through the negative pressure adsorption assembly (720). At the shell ejection station, the clamping assembly (240) is opened by the shell ejection mechanism (800), and the empty lower shell after the column is removed is pushed out from the clamping assembly (240).

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