Multi-station rotary clamping type automatic shrimp peeling device and method

Abstract

The application discloses a multi-station rotary clamping type automatic shrimp peeling device and method, and belongs to the technical field of aquatic product processing equipment. The device comprises a rack, a whole shrimp conveying and head removing module, a station turntable clamping module, a back opening and thread removing and meat taking module, a shrimp meat transferring module and an automatic packaging module. The station turntable is provided with a plurality of shrimp tail clamping assemblies with two flexible shrimp clamping plates. A back opening and cutting mechanism, a cleaning mechanism and a meat taking mechanism are sequentially arranged along the rotating path of the clamping assembly. The same clamping assembly keeps clamping the shrimp tail and drives the shrimp body to sequentially complete back opening, thread removing and cleaning and meat taking. A guide wheel with an annular groove is arranged along an arc and forms an arc guide channel. A meat taking needle plate is relatively fixed with a meat taking plate and rotates, so that the meat taking needle body hooks shrimp meat through a needle seam, and the shrimp meat is blocked by the meat taking plate when the needle is retracted, so that the shrimp meat is taken off the needle. The obtained shrimp meat is transferred, fed and then bagged and heat sealed. The application can reduce repeated clamping and posture change, and realizes continuous operation of shrimp peeling and packaging.

Description

Technical Field

[0001] This invention belongs to the technical field of aquatic product processing equipment, specifically relating to a multi-station rotary clamping automatic shrimp peeling device and method. Background Technology

[0002] The processing of shrimp products typically includes steps such as head removal, deveining, separating the shell from the meat, cleaning, transportation, and packaging. Due to the soft, flexible, slippery surface of shrimp and the significant variation in individual size, manually performing these processes presents challenges such as high labor intensity, low processing efficiency, and inconsistent processing quality easily affected by human operation. Therefore, existing technologies have proposed various mechanized shrimp processing equipment.

[0003] For example, Chinese invention patent CN104206512B discloses a fully automatic shrimp peeling machine. This machine uses a conveyor unit to feed raw shrimp into peeling units of varying sizes, and utilizes reciprocating rollers, rotary rollers, rollers, and pressing components to repeatedly squeeze, knead, and tear the shrimp, gradually separating the shell from the meat. Another example is Chinese invention patent application CN113229317A, which discloses a shrimp peeling device. This device bends the conveyor belt upwards on both sides to clamp the conveyed shrimp, uses a cutting component to cut the shell, and squeezes the shrimp through a narrowing cavity in the peeling frame, causing the shrimp meat to exit from the discharge port while the shell is moved away with the conveyor belt.

[0004] The aforementioned existing technologies can achieve mechanized shelling of shrimp, but they are mainly designed around the squeezing, kneading, or pinching separation of shrimp shell and shrimp meat. Processes such as head removal, back opening, deveining, shell and meat separation, shrimp meat transfer, and packaging may still need to be completed by other equipment or manual operation. When multiple processing stages are set up separately, shrimp bodies or shrimp meat need to be transferred between different equipment, which easily increases intermediate conveying, repositioning, and manual unloading operations, and is also not conducive to the continuous connection of the processing rhythm of each stage.

[0005] Furthermore, the varying sizes and shapes of shrimp mean that when using squeezing or kneading methods for batch peeling, the matching relationship between the applied force and the shrimp body can easily affect the degree of shell separation and the integrity of the shrimp meat. If the shrimp lacks stable support, clamping, or guidance during head removal, back cutting, and meat extraction, it may roll, shift, or jump. If the peeled shrimp meat and shells are not separated in a timely manner, it will increase the complexity of subsequent screening, transfer, and packaging processes. Therefore, it is necessary to provide an automated shrimp peeling device and method that can improve the stability of the shrimp processing position and seamlessly integrate head removal, back cutting, deveining, meat extraction, shell-meat separation, shrimp meat transfer, and packaging. Summary of the Invention

[0006] The purpose of this invention is to provide a multi-station rotary clamping automatic shrimp peeling device and method to achieve continuous processing of whole shrimp, including conveying and removing the head, clamping the tail, opening the back, removing the shrimp vein, extracting the meat, transferring the shrimp meat, and bagging and sealing. This invention also aims to reduce the repeated clamping and posture changes of the shrimp between processes by using the same tail clamping component to carry the shrimp through multiple processing stations.

[0007] In a first aspect, the present invention provides a multi-station rotary clamping automatic shrimp peeling device, including a frame and a back-opening, deveining, and meat-removing module; it also includes a station turntable clamping module.

[0008] The workstation turntable clamping module includes a workstation turntable rotatably mounted on the frame and multiple shrimp tail clamping components mounted on the workstation turntable; each shrimp tail clamping component includes two flexible shrimp clamping plates that can open and close relative to each other.

[0009] The back-opening, de-line-removing, and meat-removing module includes a back-opening cutting mechanism, a cleaning mechanism, and a meat-removing mechanism arranged sequentially along the rotation path of the shrimp tail clamping assembly; the same shrimp tail clamping assembly, while holding the shrimp tail, passes through the back-opening station, the de-line-removing and cleaning station, and the meat-removing station in sequence.

[0010] The back-opening cutting mechanism includes a back-opening blade and multiple guide wheels, which are arranged along an arc centered on the rotation axis of the workstation turntable. The outer periphery of each guide wheel is provided with an annular groove with a U-shaped cross-section. The annular groove is used to correct the position of the shrimp body as it passes. The back-opening blade is used to cut the back of the shrimp body. The back-opening blade is located between two of the guide wheels.

[0011] The meat extraction mechanism includes a fixed meat extraction plate and a movable meat extraction needle plate. The meat extraction plate has a needle slit. The meat extraction needle plate has a meat extraction needle body aligned with the needle slit. The meat extraction needle body can pass through and exit the needle slit. After passing through the needle slit, the meat extraction needle body extends to the side of the meat extraction plate facing the shrimp tail clamping assembly to hook the passing shrimp meat. The shrimp shell remains in the shrimp tail clamping assembly until it is released above the input end of the conveyor belt. The airflow output by the first fan blows the shrimp shell away from the conveyor belt. During the process of the meat extraction needle body exiting the needle slit, the meat extraction plate blocks the shrimp meat from passing through the needle slit, so that the shrimp meat is removed from the meat extraction needle body.

[0012] Preferably, the shrimp tail clamping assembly further includes a clamping servo, a clamping gear, two clamping racks, and a clamping guide rail; both flexible shrimp clamping plates are slidably connected to the clamping guide rail; the two clamping racks are respectively connected to the two flexible shrimp clamping plates and respectively mesh with the opposite sides of the clamping gear; the clamping servo drives the clamping gear to rotate so that the two flexible shrimp clamping plates move closer or further apart synchronously.

[0013] Preferably, the meat-removing plate is inclined; one end of the meat-removing needle plate is rotatably connected to the frame; the connection position between the meat-removing needle plate and the frame is located at the bottom of the meat-removing plate or below the meat-removing plate; the meat-removing mechanism also includes a meat-removing drive motor, a meat-removing crank, and a meat-removing connecting rod; the meat-removing crank, meat-removing connecting rod, and meat-removing needle plate driven by the meat-removing drive motor are sequentially connected to form a crank-rocker mechanism; a plurality of meat-removing needles are arranged at intervals along the length direction of the meat-removing needle plate, and the tips of the meat-removing needles are bent toward the side closer to the shrimp entering the meat-removing station.

[0014] Preferably, the back-opening cutting mechanism further includes two guide support plates; the two guide support plates are fixed to the frame at intervals and are respectively provided with arc edges facing the workstation turntable, the center of the arc edge being located on the rotation axis of the workstation turntable; a plurality of guide wheels are rotatably connected between the two guide support plates and arranged at intervals along the arc edges; the back-opening blade is located between the last two guide wheels along the shrimp body movement direction, and its cutting edge extends into the movement path of the shrimp's back.

[0015] Preferably, the distance between the back-opening blade and the nearest upstream guide wheel is less than the minimum shrimp meat length, so that the shrimp body is constrained by the guide wheel when it comes into contact with the back-opening blade, thus improving the stability of the back-opening cutting. The minimum shrimp meat length refers to the minimum length of the shrimp meat after removing the head and tail from a shrimp body within a predetermined processing specification range.

[0016] Preferably, the distance between the downstream guide wheel and the brush on the cleaning mechanism is less than the minimum length of the shrimp meat, so that the shrimp body is constrained by the guide wheel when it comes into contact with the brush, thereby improving the stability of the shrimp body cleaning process.

[0017] Preferably, the workstation turntable includes a turntable spindle with its axis horizontally arranged and a turntable bracket coaxially fixed to the turntable spindle. The turntable spindle is connected to the turntable drive motor. The shrimp tail clamping assembly maintains its clamping on the shrimp tail during the process of passing through the back-opening workstation, the de-line cleaning workstation, and the meat extraction workstation.

[0018] Preferably, the multi-station rotary clamping automatic shrimp peeling device further includes a whole shrimp conveying and head-removing module, which includes a whole shrimp conveying mechanism, a pressing and restraining mechanism, and a head-removing and cutting mechanism. The whole shrimp conveying mechanism is provided with a V-shaped shrimp-carrying groove. The V-shaped shrimp-carrying groove can carry the shrimp body sequentially through the head-removing station and the clamping station. The head-removing and cutting mechanism and the pressing and restraining mechanism are located at the head-removing station. The head-removing and cutting mechanism includes a head-removing blade disposed on the movement path of the shrimp's neck. The pressing and restraining mechanism includes a soft limiting fixing plate, a movable pressure plate, and a spring disposed between the two. The spring provides an elastic pressing force to the movable pressure plate toward the V-shaped shrimp-carrying groove. The clamping station is located on the movement path of the shrimp tail clamping assembly.

[0019] The two flexible shrimp clamping plates are used to clamp the portion of the shrimp body that extends out of the V-shaped shrimp carrying groove at the clamping position.

[0020] Preferably, the multi-station rotary clamping automatic shrimp peeling device further includes a shrimp meat transfer module, which includes a conveying mechanism; the conveying mechanism includes a conveyor belt disposed below the meat-removing mechanism and a first fan; the air outlet direction of the first fan is opposite to the conveying direction of the conveyor belt; the first fan is used to blow away shrimp shells that fall onto the conveyor belt; the meat-removing plate is inclined; the bottom end of the meat-removing plate is located above the input end of the conveyor belt, and with the water flow passing through the water spray component, the shrimp meat on the meat-removing plate can slide onto the conveyor belt.

[0021] Preferably, the multi-station rotary clamping automatic shrimp peeling device further includes an automatic packaging module; the shrimp meat transfer module further includes a lifting and flipping mechanism; the lifting and flipping mechanism includes a lifting support plate and a flipping plate, the lifting support plate being driven by a power element to perform lifting movements; the flipping plate is rotatably connected to the lifting support plate and is driven by a power element to flip, switching between a receiving posture and a tilting posture; the flipping plate can receive shrimp meat output from the conveyor belt; the automatic packaging module includes a funnel, a packaging bag supply mechanism, and a heat-sealing and cutting mechanism; the inlet of the funnel is opposite to the raised flipping plate. The packaging bag supply mechanism includes a bag feeding drive motor and a packaging bag reel. A continuous bag structure is wound on the packaging bag reel. The continuous bag structure includes a base film and multiple cover bag films arranged sequentially along the length of the base film. The three edges of each cover bag film are fixed to the base film to form a packaging bag unit with a bag opening. The heat sealing and cutting mechanism includes a heat sealing heating plate and a heat sealing pressure plate facing each other. The output path of the continuous bag structure passes between the heat sealing heating plate and the heat sealing pressure plate. The heat sealing heating plate and the heat sealing pressure plate can move relative to each other to heat-press and seal the bag opening on the continuous bag structure.

[0022] Secondly, the present invention provides a multi-station rotary clamping automatic shrimp peeling method, using the multi-station rotary clamping automatic shrimp peeling device described in the first aspect. The multi-station rotary clamping automatic shrimp peeling method includes:

[0023] The two flexible shrimp clamping plates move towards each other to clamp the shrimp's tail.

[0024] While holding the shrimp tail, the shrimp body is moved sequentially through the back-opening station, the de-line cleaning station, and the meat extraction station via the workstation turntable.

[0025] At the back-opening station, the shrimp body passes sequentially through the annular grooves of multiple guide wheels, and a back-opening blade positioned between two of the guide wheels forms a back cut in the shrimp.

[0026] At the deveining and cleaning station, the cleaning mechanism removes the shrimp vein from the shrimp's back incision and cleans the shrimp body.

[0027] At the meat extraction station, the meat extraction needle passes through the needle seam of the meat extraction plate and extends to the side of the meat extraction plate facing the shrimp tail clamping assembly. When the shrimp tail clamping assembly passes by, the needle hooks the shrimp meat. The needle then exits the needle seam and is blocked from passing through the needle seam by the meat extraction plate, so that the shrimp meat is removed from the needle.

[0028] The present invention has the following beneficial effects:

[0029] 1. This invention provides a solution by circumferentially arranging multiple shrimp tail gripping components on a rotating turntable around a horizontal axis, and correspondingly arranging gripping, back-opening, de-line cleaning, and meat-removing stations along its rotation path. This allows different shrimp to be simultaneously moved into their respective stations when the turntable rotates. The same shrimp tail gripping component maintains a gripping state throughout the process from back-opening to meat removal, forming a unified gripping benchmark across multiple processes, reducing re-gripping and posture changes during transitions.

[0030] 2. This invention uses clamping gears to simultaneously mesh with two clamping racks located on opposite sides, driving two flexible shrimp clamping plates to move closer or further away along parallel clamping guide rails, thereby forming a symmetrical and flexible shrimp tail clamping structure; combined with grooved guide wheels arranged along the arc trajectory of the turntable and back-opening blades set between adjacent guide wheels at the end, the position of the shrimp body can be continuously constrained and corrected before and after back-opening, which helps to improve the stability of the clamping center and the back-opening position.

[0031] 3. This invention drives the meat-removing needle plate to swing back and forth through the meat-removing crank and meat-removing connecting rod, and causes multiple meat-removing needles with bent tips to periodically pass through the needle-passing slits on the meat-removing plate, enter the shrimp body through the shrimp back incision and pull the shrimp meat to move relative to the shrimp shell; the meat-removing plate further prevents the shrimp meat from returning with the meat-removing needle plate and guides the shrimp meat to fall, so that the actions of meat removal, needle withdrawal and meat unloading are connected to each other, reducing the possibility of the shrimp meat being carried back by the meat-removing needles.

[0032] 4. The present invention supports and laterally restricts the shrimp body through the two side walls of the V-shaped shrimp carrying trough. A pressing constraint mechanism consisting of a soft limiting fixing plate, a spring and a movable pressure plate is set on the feeding side of the head-removing blade. The movable pressure plate can float up and down with the size of the shrimp body and continuously apply downward elastic constraint. The inclined upward structure at the inlet end of the movable pressure plate can also guide the shrimp body to enter smoothly, which helps to suppress rolling and jumping during head removal and cutting.

[0033] 5. This invention uses a conveyor belt to receive the shrimp meat and a first fan with an air outlet direction opposite to the conveying direction to blow away the shrimp shells; a lifting screw drives a tilting plate to rise and fall between the conveyor belt and the funnel, and a tilting servo switches the receiving and tilting postures of the tilting plate. Combined with a continuous bag supply and heat sealing and cutting mechanism, the shell meat diversion, shrimp lifting, tilting feeding and bag sealing are connected in a continuous manner, reducing subsequent manual screening, pouring and packaging operations. Attached Figure Description

[0034] Figure 1 This is a three-dimensional structural diagram of the automatic shrimp peeling device provided in Embodiment 1 of the present invention.

[0035] Figure 2 This is a side view of the automatic shrimp peeling device provided in Embodiment 1 of the present invention.

[0036] Figure 3 This is a schematic diagram of another side of the automatic shrimp peeling device provided in Embodiment 1 of the present invention.

[0037] Figure 4 This is a three-dimensional structural diagram of the shrimp conveying mechanism in Embodiment 1 of the present invention.

[0038] Figure 5 for Figure 1 A magnified view of a portion of point A in the middle.

[0039] Figure 6 This is a three-dimensional structural diagram of the workstation turntable clamping module in Embodiment 1 of the present invention.

[0040] Figure 7 This is a three-dimensional structural diagram of the shrimp tail clamping component in Embodiment 1 of the present invention.

[0041] Figure 8 This is a three-dimensional structural diagram of the cutting component in Embodiment 1 of the present invention.

[0042] Figure 9 This is a three-dimensional structural diagram of the cleaning mechanism in Embodiment 1 of the present invention.

[0043] Figure 10 This is a three-dimensional structural diagram of the meat extraction mechanism in Embodiment 1 of the present invention.

[0044] Figure 11 This is a schematic diagram of the transmission structure of the meat-retrieving mechanism in Embodiment 1 of the present invention.

[0045] Figure 12 This is a three-dimensional structural diagram of the conveying mechanism in Embodiment 1 of the present invention.

[0046] Figure 13 This is a three-dimensional structural diagram of the lifting and flipping mechanism in Embodiment 1 of the present invention.

[0047] Figure 14 This is a three-dimensional structural diagram of the packaging bag supply mechanism and the heat sealing and cutting mechanism in Embodiment 1 of the present invention.

[0048] Explanation of reference numerals in the attached figures:

[0049] 100. Rack.

[0050] 200. Whole shrimp conveying and head-removing module; 210. Whole shrimp conveying mechanism; 211. Chain conveyor drive motor; 212. Sprocket; 213. Chain; 214. V-shaped shrimp carrying trough; 220. Head-removing and cutting mechanism; 221. Second drive motor; 222. Head-removing blade; 223. Shrimp head collection frame; 230. Pressing constraint mechanism; 231. Soft limit fixing plate; 232. Spring; 233. Movable pressure plate.

[0051] 300. Workstation turntable clamping module; 310. Workstation turntable; 311. Turntable drive motor; 312. Turntable spindle; 313. Turntable bracket; 320. Shrimp tail clamping assembly; 321. Clamping servo motor; 322. Clamping gear; 323. Clamping rack; 324. Clamping guide rail; 325. Flexible shrimp clamping plate; 326. Clamping support frame.

[0052] 400. Shrimp opening, de-threading, and meat extraction module; 410. Shrimp opening and cutting mechanism; 411. Shrimp body guide assembly; 412. Guide support plate; 413. Guide wheel; 414. Cutting assembly; 415. Shrimp opening drive motor; 416. Shrimp opening blade; 420. Cleaning mechanism; 421. Brush drive motor; 422. Brush shaft; 423. Brush; 430. Meat extraction mechanism; 431. Meat extraction drive motor; 432. Meat extraction drive shaft; 433. Meat extraction crank; 434. Meat extraction connecting rod; 435. Meat extraction needle plate; 436. Meat extraction driven shaft; 437. Meat extraction plate; 438. Meat extraction needle body; 439. Through-needle seam.

[0053] 500. Shrimp transfer module; 510. Conveying mechanism; 511. Conveying drive motor; 512. Conveying pulley; 513. Conveying belt; 520. Lifting and tilting mechanism; 521. Lifting drive motor; 522. Lifting screw; 523. Lifting guide rail; 524. Lifting support plate; 525. Tilting servo motor; 526. Tilting plate.

[0054] 600. Automatic packaging module; 610. Funnel; 620. Packaging bag supply mechanism; 621. Bag feeding drive motor; 622. Packaging bag roll; 630. Heat sealing and cutting mechanism; 631. Heat sealing drive motor; 632. Heat sealing crank; 633. Heat sealing connecting rod; 634. Heat sealing guide rail; 635. Heat sealing heating plate; 636. Heat sealing pressure plate. Detailed Implementation

[0055] The present invention will be further described below with reference to the accompanying drawings and embodiments. Unless otherwise stated, the same reference numerals in the various embodiments denote the same or corresponding structures.

[0056] Example 1: Overall Structure

[0057] like Figures 1 to 4 As shown, the automatic shrimp peeling device provided in this embodiment includes a frame 100, a whole shrimp conveying and head-removing module 200, a workstation turntable clamping module 300, a back-opening, de-delineating, and meat-removing module 400, a shrimp meat transfer module 500, an automatic packaging module 600, and a central control module. The frame 100 forms an installation space divided along the height and horizontal directions. The whole shrimp conveying and head-removing module 200 is located on the whole shrimp input side. The workstation turntable clamping module 300 is located in the middle of the frame 100 and is used to clamp the shrimp body and rotate it around the horizontal axis, so that the shrimp body passes through the clamping workstation, the back-opening workstation, the de-line cleaning workstation, and the meat-removing workstation in sequence. The back-opening cutting mechanism 410, the cleaning mechanism 420, and the meat-removing mechanism 430 in the back-opening, de-line, and meat-removing module 400 are arranged in sequence around the rotation path of the workstation turntable 310. The conveying mechanism 510 is located below or downstream of the meat-removing workstation. The lifting and flipping mechanism 520 connects the output position of the conveying mechanism 510 and the funnel 610. The automatic packaging module 600 is set in the packaging area corresponding to the funnel 610.

[0058] Whole shrimp are conveyed and deheaded in the shrimp conveying and deheading module 200; the shrimp tails are held by the shrimp tail clamping component 320 on the workstation turntable 310, and then sequentially undergo back-opening, deveining and cleaning with a brush, and meat extraction by a crank; the obtained shrimp meat is conveyed by the conveying mechanism 510 to the lifting and flipping mechanism 520, enters the packaging bag through the funnel 610, and completes the heat sealing of the packaging bag. The central control module coordinates the actions of the above modules.

[0059] like Figure 4 and Figure 5As shown, the whole shrimp conveying and head-removing module 200 includes a whole shrimp conveying mechanism 210, a pressing and restraining mechanism 230, and a head-removing and cutting mechanism 220. The whole shrimp conveying mechanism 210 includes a chain conveying drive motor 211, sprockets 212, a chain 213, and a V-shaped shrimp-carrying trough 214. The four sprockets 212 are rotatably connected to the frame 100 through corresponding sprocket shafts and are arranged in a rectangular pattern in the vertical plane; the chain 213 is sequentially wound around the four sprockets 212 to form a closed conveying loop.

[0060] The chain conveyor drive motor 211 is connected to one of the sprockets 212; the V-shaped shrimp trough 214 is fixed to the outside of the chain 213 by the bottom plate of the shrimp trough. When the chain conveyor drive motor 211 is working, it drives the sprocket 212 to rotate, and the sprocket 212 drives the chain 213 and the V-shaped shrimp trough 214 to move, thereby causing the whole shrimp to be processed to move laterally and pass through the head removal station and the clamping station in sequence.

[0061] The V-shaped shrimp trough 214 has an opening at the top and a trough body that is wider at the top and narrower at the bottom, with the two side walls supporting the shrimp. After the whole shrimp to be processed is placed in the V-shaped shrimp trough 214, the V-shaped trough surface restricts the lateral rolling of the shrimp, so that the shrimp are carried by the chain 213 to the head removal station and the clamping station in sequence.

[0062] The pressing and restraining mechanism 230 and the head-removing and cutting mechanism 220 are arranged at the head-removing station, and are used to press and restrain the shrimp body and cut off the shrimp head, respectively. The head-removing station is located on the conveying path of the V-shaped shrimp-carrying trough 214 and upstream of the clamping station; the clamping station is located at the conveying end of the V-shaped shrimp-carrying trough 214 and on the moving path of the shrimp tail clamping assembly 320.

[0063] The head-removing and cutting mechanism 220 includes a second drive motor 221, a head-removing blade 222, and a shrimp head collecting frame 223. The head-removing blade 222 is rotatably connected to the top of the frame 100 via a blade shaft and is located on the neck movement path of the shrimp carried by the V-shaped shrimp carrying groove 214. The second drive motor 221 is fixed to the top of the frame 100 and is drively connected to the blade shaft to drive the head-removing blade 222 to rotate.

[0064] The pressing and restraining mechanism 230 is installed on the frame 100 and is located on the side of the de-heading blade 222 near the feed direction of the V-shaped shrimp loading groove 214. It is used to elastically press the shrimp body before it enters the cutting area of ​​the de-heading blade 222 to limit the jumping of the shrimp body during the cutting process.

[0065] The pressing and restraining mechanism 230 includes a soft limiting plate 231, a spring 232, and a movable pressure plate 233. The soft limiting plate 231 is fixed to the frame 100 and located above the running path of the V-shaped shrimp carrying trough 214; the movable pressure plate 233 is located below the soft limiting plate 231 and can move up and down relative to the soft limiting plate 231; the spring 232 is located between the soft limiting plate 231 and the movable pressure plate 233, and is used to provide an elastic pressing force to the movable pressure plate 233 toward the V-shaped shrimp carrying trough 214. The V-shaped shrimp carrying trough 214 is provided with a clearance structure to avoid the movable pressure plate 233, so that the movable pressure plate 233 can contact the shrimp.

[0066] In some embodiments, the movable pressure plate 233 is provided with an inclined upward flipping structure at the end where the shrimp enters, which is used to guide the shrimp smoothly into the area below the movable pressure plate 233 and avoid the shrimp being blocked by the end of the movable pressure plate 233.

[0067] When the V-shaped shrimp trough 214 carries the shrimp into the head-removal station, the shrimp pushes the movable pressure plate 233 upward, causing the spring 232 to elastically deform. Under the action of the spring 232, the movable pressure plate 233 provides a downward elastic constraint on the shrimp, keeping it within the V-shaped shrimp trough 214. After the shrimp passes through, the spring 232 drives the movable pressure plate 233 to return to its original position. The shrimp head collection frame 223 is located below the head-removal blade 222 and is used to collect the shrimp heads that are cut off and fall off by the head-removal blade 222.

[0068] like Figure 6 and Figure 7 As shown, the workstation turntable clamping module 300 includes a workstation turntable 310, a turntable drive motor 311, and four shrimp tail clamping assemblies 320. The workstation turntable 310 includes a turntable spindle 312 and a turntable bracket 313; the axis of the turntable spindle 312 is horizontally set and rotatably connected to the frame 100, and the turntable bracket 313 is coaxially fixed to the turntable spindle 312. The turntable drive motor 311 is fixed in the middle of the frame 100 and is connected to the turntable spindle 312 for transmission to drive the workstation turntable 310 to rotate. The four shrimp tail clamping assemblies 320 rotate with the workstation turntable 310 and pass sequentially through the clamping station, the back-opening station, the de-threading and cleaning station, and the meat extraction station.

[0069] Four shrimp tail gripping assemblies 320 are arranged at circumferential intervals along the turntable bracket 313. Each shrimp tail gripping assembly 320 includes a gripping servo motor 321, a gripping gear 322, two gripping racks 323, two gripping guide rails 324, two flexible shrimp gripping plates 325, and a gripping support frame 326; the gripping support frame 326 is installed on the outer peripheral edge of the turntable bracket 313.

[0070] The clamping servo motor 321 is fixed to the clamping support frame 326 of the shrimp tail clamping assembly 320, and the output shaft of the clamping servo motor 321 is coaxially connected to the clamping gear 322. Two clamping guide rails 324 are parallel to each other and fixed at intervals to the end face of the clamping support frame 326; two flexible shrimp clamping plates 325 face each other; the two ends of each flexible shrimp clamping plate 325 are slidably connected to the two clamping guide rails 324 through sliders.

[0071] Two clamping racks 323 are fixed to two flexible shrimp-clamping plates 325, respectively, and are located on both sides of the clamping gear 322 and mesh with the clamping gear 322. When the clamping gear 322 rotates, it drives the two clamping racks 323 to move in opposite directions, thereby causing the two flexible shrimp-clamping plates 325 to move closer together to clamp the shrimp tail, or move away together to release the shrimp body. The outer contour of the flexible shrimp-clamping plate 325 is an arc shape with its center located on the axis of the workstation turntable 310.

[0072] When the headless shrimp reaches the clamping station, the clamping process stops. The shrimp tail clamping assembly 320 rotates to the clamping station, and the clamping servo motor 321 controls the flexible shrimp clamping plate 325 to close, clamping the shrimp body beyond the V-shaped shrimp carrying groove 214. The shrimp tail clamping assembly 320 continues to rotate, carrying the shrimp body away from the V-shaped shrimp carrying groove 214 and sequentially to the subsequent processing stations. During the back-opening, brush cleaning, and meat removal processes, the shrimp tail clamping assembly 320 maintains clamping on the shrimp tail. The unclamped portion of the upper part of the shrimp body is positioned by guide wheels. At the same time, the guide wheels press the unclamped portion of the shrimp body into the clamping groove space between the two flexible shrimp clamping plates 325, achieving clamping of the whole shrimp, thus allowing multiple processing stations to share the same clamping reference.

[0073] The back-opening, de-threading, and meat-removing module 400 includes a back-opening cutting mechanism 410, a cleaning mechanism 420, and a meat-removing mechanism 430, which correspond to the back-opening station, the de-threading and cleaning station, and the meat-removing station, respectively.

[0074] The shrimp-cutting mechanism 410 includes a shrimp-body guiding assembly 411 and a cutting assembly 414. The shrimp-body guiding assembly 411 includes two guide support plates 412 and multiple guide wheels 413. The two guide support plates 412 are vertically and spaced apart from each other on the frame 100, and each has an arc edge facing the workstation turntable 310; the center of the arc edge is located on the axis of the turntable spindle 312, so that the arc edge corresponds to the arc movement path formed by the shrimp body with the workstation turntable 310.

[0075] Multiple guide wheels 413 are rotatably connected between two guide support plates 412 and are arranged sequentially at intervals along the arc edge. Each guide wheel 413 has an annular groove on its outer circumferential surface. The cross-section of the annular groove is U-shaped, concave towards the inside of the guide wheel 413, with the groove opening facing the movement path formed by the shrimp body along the workstation turntable 310. Multiple annular grooves form an arc-shaped guide channel along the movement path. When the shrimp body enters the arc-shaped guide channel, the groove wall of the annular groove contacts the outer surface of the shrimp body to limit and correct the position of the shrimp body relative to the back-opening blade 416.

[0076] The distance from the edge of the annular groove to the axis of the turntable spindle 312 is less than the sum of the distance from the outer surface of the clamping support frame 326 to the axis of the turntable spindle 312 and the minimum shrimp body thickness; the minimum shrimp body thickness is the minimum value of the abdominal to back dimensions of the shrimp being processed; the distance from the bottom of the annular groove to the axis of the turntable spindle 312 is greater than the sum of the distance from the outer surface of the clamping support frame 326 to the axis of the turntable spindle 312 and the minimum shrimp body thickness.

[0077] like Figure 8 As shown, the cutting assembly 414 includes a back-opening drive motor 415, a back-opening blade shaft, and a back-opening blade 416. The back-opening blade shaft is rotatably connected to the frame 100, the back-opening drive motor 415 is fixed to the frame 100, and its output shaft is drively connected to the back-opening blade shaft; the back-opening blade 416 is coaxially fixed to the back-opening blade shaft. The back-opening blade 416 is located on the side of the arc-shaped guide channel corresponding to the shrimp's back, and its cutting edge extends into the movement path of the shrimp's back; when the shrimp body arrives at the back-opening station with the shrimp tail clamping assembly 320, the rotating back-opening blade 416 forms a cut along the shrimp's back. The back-opening blade 416 is located between the last two guide wheels 413, so that after the shrimp's back is cut, the last guide wheel 413 can correct the position of the cut shrimp body.

[0078] The distance between the back-opening blade 416 and the guide wheel 413 located upstream of and closest to the back-opening blade 416 along the shrimp's movement direction is less than the minimum shrimp meat length; the distance between the downstream guide wheel 413 and the brush 423 on the cleaning mechanism 420 is also less than the minimum shrimp meat length. Therefore, when the shrimp comes into contact with the back-opening blade 416 or the brush 423, it is still constrained by the adjacent guide wheel 413, improving the stability of the back-opening and cleaning process. The minimum shrimp meat length refers to the minimum length of the shrimp meat portion after removing the head and tail from a shrimp within a predetermined processing size range.

[0079] In this embodiment, both upstream and downstream are based on the direction of the shrimp's movement along the rotation path. Along the direction of the shrimp's movement, the position the shrimp passes through first is upstream, and the position it passes through last is downstream; for a single mechanism or workstation, the position closer to the shrimp's entry side is upstream, and the position closer to the shrimp's exit side is downstream.

[0080] like Figure 9 As shown, the cleaning mechanism 420 includes a brush drive motor 421, a brush shaft 422, and a brush 423. The brush drive motor 421 is fixed on the frame 100 and located on one side of the de-lacing cleaning station; the brush shaft 422 is rotatably connected to the frame 100 and is drively connected to the output shaft of the brush drive motor 421; the brush 423 is coaxially fixed on the brush shaft 422 and located outside the movement path formed by the shrimp body and the shrimp tail clamping assembly 320, and the bristles of the brush 423 can extend into the movement path of the shrimp's back area after opening. When the shrimp body passes through the de-lacing cleaning station, the rotating brush 423 contacts the shrimp's back incision to remove the shrimp vein and clean the shrimp body.

[0081] In some embodiments, the cleaning mechanism 420 further includes a water spraying component; the water spraying component is used to spray water onto the contact area between the brush 423 and the shrimp body to prevent contaminants such as shrimp veins from remaining on the brush 423 for a long time.

[0082] like Figure 10 and Figure 11 As shown, the meat extraction mechanism 430 includes a meat extraction drive motor 431, a meat extraction drive shaft 432, a meat extraction crank 433, a meat extraction connecting rod 434, a meat extraction needle plate 435, a meat extraction driven shaft 436, and a meat extraction plate 437. The meat extraction drive motor 431 is fixed on the frame 100, and its output shaft is connected to the meat extraction drive shaft 432 for transmission; one end of the meat extraction crank 433 is fixed on the meat extraction drive shaft 432.

[0083] The other end of the meat-removing crank 433 is rotatably connected to one end of the meat-removing connecting rod 434; the meat-removing driven shaft 436 is rotatably connected to the frame 100 and located at the bottom or below the meat-removing plate 437, used to support the swing of the meat-removing needle plate 435. One end of the meat-removing needle plate 435 is fixed to the meat-removing driven shaft 436; the other end of the meat-removing connecting rod 434 is rotatably connected to the side of the meat-removing needle plate 435, forming a crank-rocker mechanism to convert the rotational motion of the meat-removing drive shaft 432 into the reciprocating swing of the meat-removing needle plate 435.

[0084] The meat extraction plate 437 is tilted and fixed on the machine frame 100 at the meat extraction station. The meat extraction plate 437 is provided with a needle slit 439 aligned with the movement path of the shrimp back.

[0085] The meat extraction needle plate 435 has multiple meat extraction needles 438 on its side near the meat extraction plate 437, aligned with the needle seam 439 and facing the shrimp body; the multiple meat extraction needles 438 are arranged sequentially at intervals along the length of the meat extraction needle plate 435; the tip of each meat extraction needle 438 has a bending structure; the bending structure bends relative to the main body of the meat extraction needle 438 toward the side closer to the shrimp body entering the meat extraction station; the bending structure is used to hook the shrimp meat after the meat extraction needle 438 enters the shrimp body through the shrimp back incision, and to pull the shrimp meat relative to the shrimp shell when the meat extraction needle plate 435 swings back.

[0086] The meat-retrieving needle plate 435 can reciprocate between a retracted position and an extended position. During the reciprocating motion of the meat-retrieving needle plate 435, the meat-retrieving needles 438 periodically enter and exit above the meat-retrieving plate 437 via the needle seam 439. When the meat-retrieving needle plate 435 swings from the retracted position to the extended position, multiple meat-retrieving needles 438 enter the shrimp body through the shrimp back incision and hook the shrimp meat. The meat-retrieving needle plate 435 is then driven away from the shrimp shell by the meat-retrieving crank 433 and the meat-retrieving connecting rod 434, causing the hooked shrimp meat to move relative to the shrimp shell held by the shrimp tail clamping assembly 320, thereby separating the shrimp meat from the shrimp shell. The separated shrimp meat is separated from the meat-retrieving needles 438 by the obstruction of the meat-retrieving plate 437 and slides along the inclined meat-retrieving plate 437, falling onto the conveying mechanism 510 below the meat-retrieving station. The meat-retrieving needle plate 435 resets to enter the next meat-retrieving cycle.

[0087] In some embodiments, the meat extraction mechanism 430 further includes a water supply component; the water supply component is used to supply water to the top of the inclined upper surface of the meat extraction plate 437, so that a continuous water flow is formed on the inclined upper surface of the meat extraction plate 437; the continuous water flow can reduce the frictional resistance between the shrimp meat and the meat extraction plate 437 and push the shrimp meat to slide downwards, so that the shrimp meat can smoothly slide onto the conveying mechanism 510.

[0088] In some further embodiments, the water supply component in the meat-retrieving mechanism 430 and the water spraying component in the cleaning mechanism 420 can adopt a unified structure, so that the water sprayed onto the brush 423 can fall naturally to the top of the meat-retrieving plate 437, thereby achieving water reuse.

[0089] like Figure 12 and Figure 13 As shown, the shrimp transfer module 500 includes a conveying mechanism 510 and a lifting and tilting mechanism 520. The conveying mechanism 510 includes a conveying drive motor 511, a conveyor pulley 512, a conveyor belt 513, and a first fan (not shown in the figure). The conveying mechanism 510 is located below the meat-retrieving station. The input end of the conveyor belt 513 corresponds to the meat-retrieving area between the meat-retrieving needle plate 435 and the meat-retrieving plate 437 to receive shrimp falling from the meat-retrieving station. The conveying drive motor 511 drives the conveyor pulley 512 to rotate, and the conveyor pulley 512 drives the conveyor belt 513 to circulate, conveying the shrimp to the lifting and tilting mechanism 520.

[0090] The conveyor belt 513 is wound around the conveyor belt pulleys 512 at both ends, forming an upper carrying section and a lower return section; a conveyor belt support plate is provided below the upper carrying section of the conveyor belt 513 to support the conveyor belt 513. The output end of the conveyor belt 513 corresponds to the flip plate 526 in the receiving position, so that the shrimp can be moved from the conveyor belt 513 to the flip plate 526 of the lifting and flipping mechanism 520.

[0091] The first fan is fixed on the frame 100 and located above or to one side of the input end of the conveyor belt 513. The airflow from the first fan is directed towards the path from the shrimp meat and shells as they fall onto the conveyor belt 513 from the meat extraction station, and is opposite to the conveying direction of the conveyor belt 513. The airflow from the first fan is used to blow away the shrimp shells and allow the shrimp meat to fall onto the conveyor belt 513, thereby achieving shell-meat separation after meat extraction. The direction in which the shrimp shells are blown away is opposite to the direction of shrimp meat conveying, preventing the shrimp shells and shrimp meat from mixing again.

[0092] The lifting and tilting mechanism 520 includes a lifting drive motor 521, a lifting screw 522, two lifting guide rails 523, a lifting support plate 524, a tilting servo motor 525, and a tilting plate 526. The two lifting guide rails 523 are vertically and parallel to each other fixed on the frame 100, and the lifting screw 522 is located between the two lifting guide rails 523. The lifting support plate 524 is slidably connected to the two lifting guide rails 523 via a slider and is fixedly connected to a nut on the lifting screw 522. The lifting drive motor 521 is fixed on the frame 100, and its output shaft is drively connected to the lifting screw 522, used to drive the lifting support plate 524 to move up and down along the lifting guide rails 523.

[0093] The tilting plate 526 is rotatably connected to the lifting support plate 524. A tilting servo 525 is mounted on the lifting support plate 524, and its output shaft is drively connected to the tilting plate 526. The tilting servo 525 drives the tilting plate 526 to rotate, switching between a horizontal receiving posture and an inclined tilting posture. When the lifting support plate 524 is in the lower position, the tilting plate 526 in the receiving posture corresponds to the output end of the conveyor belt 513; when the lifting support plate 524 is in the upper position, the tilting plate 526 corresponds to the inlet of the funnel 610.

[0094] When the conveyor belt 513 transports the shrimp to the tilting plate 526 in a receiving position, the lifting drive motor 521 drives the lifting support plate 524 and the tilting plate 526 to rise to the inlet position of the funnel 610; the tilting servo motor 525 drives the tilting plate 526 to switch to a tilting position, allowing the shrimp to enter the funnel 610. The funnel 610 has an open top and a downward-convex inclined wall for receiving the shrimp and collecting them into a packaging bag.

[0095] like Figure 14As shown, the automatic packaging module 600 includes a funnel 610, a packaging bag supply mechanism 620, and a heat-sealing and cutting mechanism 630. The packaging bag supply mechanism 620 includes a bag feeding drive motor 621 and a packaging bag reel 622; the packaging bag reel 622 is rotatably connected to the frame 100; the bag feeding drive motor 621 is driven by the packaging bag reel 622 to output packaging bags for receiving shrimp. The packaging bag is a continuous bag structure wound on the packaging bag reel 622, and its output path passes below the funnel 610. The continuous bag structure includes a base film and multiple cover bags arranged sequentially along the length of the base film; each cover bag forms a packaging bag unit; the three edges of the cover bag are fixed to the base film to form a U-shaped bag body and a bag opening.

[0096] The heat-sealing and cutting mechanism 630 includes a heat-sealing drive motor 631, a heat-sealing crank 632, a heat-sealing connecting rod 633, a heat-sealing guide rail 634, a heat-sealing heating plate 635, and a heat-sealing pressure plate 636. The heat-sealing guide rail 634 is fixed to the frame 100 and extends laterally. The heat-sealing heating plate 635 is slidably connected to the heat-sealing guide rail 634. The heat-sealing pressure plate 636 is fixed to the frame 100 and faces the heat-sealing heating plate 635. The conveying path of the packaging bag passes between the heat-sealing heating plate 635 and the heat-sealing pressure plate 636. When the packaging bag reaches between the heat-sealing heating plate 635 and the heat-sealing pressure plate 636, the bag opening faces upward.

[0097] The heat-sealing drive motor 631 is fixed on the frame 100; one end of the heat-sealing crank 632 is connected to the output shaft of the heat-sealing drive motor 631; one end of the heat-sealing connecting rod 633 is rotatably connected to the other end of the heat-sealing crank 632; the other end of the heat-sealing connecting rod 633 is rotatably connected to the back of the heat-sealing heating plate 635. When the heat-sealing drive motor 631 drives the heat-sealing crank 632 to rotate, the heat-sealing connecting rod 633 pushes the heat-sealing heating plate 635 along the heat-sealing guide rail 634 to approach the heat-sealing pressure plate 636 to press the bag opening; the heat-sealing heating plate 635 heats up to seal and cut the bag opening.

[0098] During heat sealing, the opening of the packaging bag is located between the heat sealing heating plate 635 and the heat sealing pressure plate 636; after heat sealing, the two separate, leaving space for the packaging bag to fall and for the supply of the next packaging bag. The packaged shrimp falls into the storage box below the heat sealing and cutting mechanism 630, and the bag feeding drive motor 621 drives the packaging bag roll 622 again to output the packaging bag and enter the next packaging cycle.

[0099] In some embodiments, the heat-sealing and cutting mechanism 630 further includes a second fan; the second fan is disposed above the heat-sealing position and is vertically or inclined downwards. The second fan is used to apply airflow to the packaging bag located between the heat-sealing heating plate 635 and the heat-sealing pressure plate 636, so that the opening of the packaging bag opens and the shrimp meat falling from above can accurately fall into the packaging bag.

[0100] In some embodiments, the heat-sealing heating plate 635 and / or the heat-sealing pressure plate 636 are provided with spring blades to ensure that the packaging bag can be effectively cut.

[0101] The central control module is used to control various modules and mechanisms. In some embodiments, the central control module mainly includes a microcontroller, a touch-screen human-machine interface, photoelectric sensors, and limit switches. Photoelectric sensors detect the position of the shrimp at each processing station, and limit switches confirm the end point of the stroke of each linear motion mechanism. The microcontroller coordinates the start / stop sequence and speed of the drive motors 211, 311, 321, 415, 421, 431, 511, 521, 525, 621, 631, and heating components based on the detection signals. The touch-screen human-machine interface provides process control, parameter setting, status monitoring, and mode selection functions, and displays the operating status, production count, and fault alarm information. Working modes include fully automatic mode, single-cycle mode, and manual adjustment mode. Production cycle time, opening depth, cleaning time, heat sealing temperature, and heat sealing time can be set through the touch-screen human-machine interface.

[0102] In some embodiments, four shrimp tail gripping components 320 are arranged circumferentially along the turntable spindle 312. When one of the shrimp tail gripping components 320 is located at the gripping station, the other shrimp tail gripping components 320 are located at the back-opening station, the de-line cleaning station, and the meat extraction station, respectively, so that different shrimp can be processed simultaneously at multiple stations.

[0103] In some embodiments, during the process of the shrimp tail clamping assembly 320 moving from the clamping station to the meat extraction station, the clamping servo motor 321 maintains the clamping state; during the meat extraction process, the clamping servo motor 321 continues to drive the clamping gear 322 to rotate, so that the flexible shrimp clamping plate 325 further clamps the shrimp shell and prevents the shrimp shell from falling off prematurely.

[0104] In some embodiments, the two ends of the back-opening blade shaft and the brush shaft 422 are respectively provided with rotational supports, so that the back-opening blade 416 and the brush 423 form a stable processing area at the corresponding work station.

[0105] In some embodiments, the bottom plate of the flip plate 526 is provided with a plurality of through holes and baffles on both sides; the baffles are used to prevent shrimp from sliding off the sides, and the through holes are used to allow liquid or airflow to pass through.

[0106] In some embodiments, the central control module controls the corresponding actuators in the following sequence: shrimp positioning, head removal, shrimp tail clamping, turntable rotation, back opening, brush cleaning, meat extraction, shell and meat diversion, conveyor belt conveying, lifting to position, flipping and feeding, heat sealing and cutting, and mechanism reset. Actions requiring position confirmation proceed to the next action after the corresponding photoelectric sensor or limit switch provides a position signal.

[0107] In some embodiments, the central control module coordinates the start and stop times of each motor and servo motor according to the set production rhythm, and controls the brush cleaning action and heat sealing action according to the set cleaning time, heat sealing temperature and heat sealing time; the touch human-machine interface displays the equipment operating status, output count and fault alarm information in real time.

[0108] In some embodiments, the position of the back-opening blade 416 can be manually or automatically adjusted to adjust the back-opening depth, improving adaptability to shrimp of different sizes.

[0109] Example 2: Complete Processing Flow

[0110] This embodiment provides an automatic shrimp processing and packaging method, using the automatic shrimp peeling device provided in Embodiment 1.

[0111] The working process of the automated shrimp processing and packaging method is as follows:

[0112] S1, Loading: Place the whole shrimp to be processed into the V-shaped shrimp trough 214 installed on the chain 213, so that the shrimp body enters the conveying path of the whole shrimp conveying mechanism 210 along with the V-shaped shrimp trough 214. The head of the whole shrimp to be processed should be located at the end of the V-shaped shrimp trough 214 near the head-removing blade 222 and extend beyond the V-shaped shrimp trough 214.

[0113] S2, Conveying and positioning: The chain conveyor drive motor 211 drives the sprocket 212 to rotate, and the sprocket 212 drives the chain 213 and the V-shaped shrimp trough 214 to move, and the whole shrimp are conveyed to the head removal station in sequence.

[0114] S3, Pressing and Head Removal: Before the shrimp body reaches the head removal station, the movable pressure plate 233 presses the shrimp body elastically into the V-shaped shrimp loading groove 214 under the action of the spring 232; the second drive motor 221 drives the head removal blade 222 to rotate, the head removal blade 222 cuts off the shrimp head, and the cut shrimp head falls into the shrimp head collection frame 223.

[0115] S4, Shrimp Tail Clamping: After the head is removed, the shrimp body continues to move with the chain. When it reaches the clamping station, the turntable drive motor 311 drives the station turntable 310 to rotate, which drives the shrimp tail clamping assembly 320 to the clamping station, so that the tail of the shrimp body is located between the two flexible shrimp clamping plates 325. The clamping servo motor 321 drives the two flexible shrimp clamping plates 325 to move closer synchronously through the clamping gear 322 and the two clamping racks 323 to clamp the shrimp tail that extends out of the V-shaped shrimp carrying groove 214.

[0116] S5, Rotation and Back Opening: The turntable drive motor 311 drives the station turntable 310 to continue rotating, sending the shrimp body, which is held in the tail clamping state, to the back opening station. The shrimp body enters the arc guide channel formed by multiple guide wheels 413. The annular groove of the guide wheel 413 contacts the shrimp body and corrects the position of the shrimp body. The back opening drive motor 415 drives the back opening blade 416 to rotate. The back opening blade 416 forms a cut along the back of the shrimp body when it passes through.

[0117] S6, deveining and cleaning: The turntable drive motor 311 drives the turntable 310 at the work station to continue rotating, sending the shrimp body after the back is cut to the deveining and cleaning work station. The brush drive motor 421 drives the brush 423 to rotate. The bristles of the brush 423 contact the cut on the back of the shrimp to remove the shrimp vein and clean the shrimp body.

[0118] S7, Meat Removal: The turntable drive motor 311 drives the station turntable 310 to continue rotating, sending the shrimp body to the meat removal station. The meat removal drive motor 431 drives the meat removal crank 433 to rotate. The meat removal crank 433 and the meat removal connecting rod 434 drive the meat removal needle plate 435 to swing from the retracted position to the extended position. The meat removal needle body 438 enters the shrimp back incision and hooks the shrimp meat. The meat removal needle plate 435 then moves away from the shrimp shell, separating the shrimp meat from the shrimp shell.

[0119] S8, Shell and meat diversion and shrimp meat conveying: Shrimp meat slides from the meat-receiving plate 437 to the input end of the conveyor belt 513; the turntable drive motor 311 drives the station turntable 310 to continue rotating, conveying the clamped shrimp shells to the top of the input end of the conveyor belt 513 and releasing them; the airflow output by the first fan blows the shrimp shells away from the conveyor belt 513; the conveyor drive motor 511 drives the conveyor belt 513 to run, conveying the shrimp meat to the flipping plate 526 in the receiving posture.

[0120] S9, Lifting and Tilting Feeding: The lifting drive motor 521 drives the lifting support plate 524 and the tilting plate 526 to rise to the corresponding position of the funnel 610. The tilting servo motor 525 drives the tilting plate 526 to switch from the receiving posture to the tilting posture, so that the shrimp meat enters the packaging bag through the funnel 610.

[0121] S10, heat sealing and bag feeding: The heat sealing drive motor 631 drives the heat sealing heating plate 635 to approach the heat sealing pressure plate 636 through the heat sealing crank 632 and the heat sealing connecting rod 633. The heat sealing heating plate 635 heats up to complete the sealing and cutting of the packaging bag. The packaged shrimp falls into the storage box, and the bag feeding drive motor 621 drives the packaging bag roll 622 to output the next section of packaging bag.

[0122] By repeating the above steps, the continuous operation of removing the head, opening the back, deveining, extracting the meat, and packaging the shrimp can be achieved.

[0123] The above embodiments are used to illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention. Equivalent substitutions for component forms, installation positions, or driving methods, without departing from the concept of the present invention, can all be applied to the present invention.

Claims

1. A multi-station rotary clamping automatic shrimp peeling device, comprising a frame (100) and a back-opening, deveining, and meat-removing module (400); characterized in that, It also includes a workstation turntable clamping module (300); The workstation turntable clamping module (300) includes a workstation turntable (310) rotatably mounted on the frame (100) and a plurality of shrimp tail clamping components (320) mounted on the workstation turntable (310); each of the shrimp tail clamping components (320) includes two flexible shrimp clamping plates (325) that can open and close relative to each other. The back-opening and de-threading meat extraction module (400) includes a back-opening cutting mechanism (410), a cleaning mechanism (420) and a meat extraction mechanism (430) arranged sequentially along the rotation path of the shrimp tail clamping assembly (320). The back-cutting mechanism (410) includes a back-cutting blade (416) and multiple guide wheels (413). The multiple guide wheels (413) are arranged in an arc along the rotation axis of the workstation turntable (310). The outer peripheral edge of the guide wheel (413) is provided with an annular groove with a U-shaped cross section. The annular groove is used to correct the position of the shrimp body as it passes. The back-cutting blade (416) is used to cut the back of the shrimp body. The back-cutting blade (416) is located between two of the guide wheels (413). The meat extraction mechanism (430) includes a fixedly installed meat extraction plate (437) and a movable meat extraction needle plate (435); the meat extraction plate (437) is provided with a needle slit (439); the meat extraction needle plate (435) is provided with a meat extraction needle body (438) aligned with the needle slit (439); the meat extraction needle body (438) can pass through and exit the needle slit (439); after passing through the needle slit (439), the meat extraction needle body (438) extends to the side of the meat extraction plate (437) facing the shrimp tail clamping assembly (320) for hooking the passing shrimp meat; during the process of the meat extraction needle body (438) exiting the needle slit (439), the meat extraction plate (437) blocks the shrimp meat from passing through the needle slit (439) so that the shrimp meat is removed from the meat extraction needle body (438).

2. The multi-station rotary clamping automatic shrimp peeling device according to claim 1, characterized in that, The shrimp tail clamping assembly (320) also includes a clamping servo motor (321), a clamping gear (322), two clamping racks (323), and a clamping guide rail (324); both flexible shrimp clamping plates (325) are slidably connected to the clamping guide rail (324); the two clamping racks (323) are respectively connected to the two flexible shrimp clamping plates (325) and respectively mesh with the opposite sides of the clamping gear (322).

3. The multi-station rotary clamping automatic shrimp peeling device according to claim 1, characterized in that, The meat extraction plate (437) is inclined; one end of the meat extraction needle plate (435) is rotatably connected to the frame (100); the connection position between the meat extraction needle plate (435) and the frame (100) is located at the bottom of the meat extraction plate (437) or below the meat extraction plate (437); the meat extraction mechanism (430) also includes a meat extraction drive motor (431), a meat extraction crank (433) and a meat extraction connecting rod (434); the meat extraction crank (433), the meat extraction connecting rod (434) and the meat extraction needle plate (435) driven by the meat extraction drive motor (431) are connected in sequence to form a crank rocker mechanism; a plurality of meat extraction needles (438) are arranged at intervals along the length direction of the meat extraction needle plate (435), and the tip of the meat extraction needle (438) is bent toward the side that is close to the shrimp body and enters the meat extraction station.

4. The multi-station rotary clamping automatic shrimp peeling device according to claim 1, characterized in that, The back-opening cutting mechanism (410) also includes two guide support plates (412); the two guide support plates (412) are fixed to the frame (100) at intervals and are respectively provided with arc edges facing the work station turntable (310), the center of the arc edge is located on the rotation axis of the work station turntable (310); a plurality of guide wheels (413) are rotatably connected between the two guide support plates (412) and arranged at intervals along the arc edges; the back-opening blade (416) is located between the last two guide wheels (413) along the shrimp body movement direction, and its cutting edge extends into the movement path of the shrimp back.

5. The multi-station rotary clamping automatic shrimp peeling device according to claim 1, characterized in that, The distance between the back-opening blade (416) and the nearest upstream guide wheel (413) is less than the minimum shrimp meat length, so that the shrimp body is constrained by the guide wheel (413) when it comes into contact with the back-opening blade (416); the distance between the downstream guide wheel (413) and the brush (423) on the cleaning mechanism (420) is less than the minimum shrimp meat length, so that the shrimp body is constrained by the guide wheel (413) when it comes into contact with the brush (423).

6. The multi-station rotary clamping automatic shrimp peeling device according to claim 1, characterized in that, The workstation turntable (310) includes a turntable spindle (312) with its axis horizontally arranged and a turntable bracket (313) coaxially fixed to the turntable spindle (312). The turntable spindle (312) is connected to the turntable drive motor (311) for transmission. The shrimp tail clamping assembly (320) maintains clamping on the shrimp tail during the process of passing through the back-opening workstation, the de-line cleaning workstation and the meat extraction workstation.

7. The multi-station rotary clamping automatic shrimp peeling device according to claim 1, characterized in that, It also includes a whole shrimp conveying and head-removing module (200), which includes a whole shrimp conveying mechanism (210), a pressing and restraining mechanism (230), and a head-removing and cutting mechanism (220); the whole shrimp conveying mechanism (210) is provided with a V-shaped shrimp carrying trough (214); the V-shaped shrimp carrying trough (214) can carry the shrimp body through the head-removing station and the clamping station in sequence; the head-removing and cutting mechanism (220) and the pressing and restraining mechanism (230) are set in the head-removing station. The workstation includes a head-removing cutting mechanism (220) comprising a head-removing blade (222) disposed on the moving path of the shrimp neck; a pressing and restraining mechanism (230) comprising a soft limiting fixing plate (231), a movable pressure plate (233), and a spring (232); the spring (232) is used to provide elastic pressing force to the movable pressure plate (233) toward the V-shaped shrimp carrying groove (214); the clamping workstation is located on the moving path of the shrimp tail clamping assembly (320).

8. The multi-station rotary clamping automatic shrimp peeling device according to claim 1, characterized in that, It also includes a shrimp transfer module (500), which includes a conveying mechanism (510); the conveying mechanism (510) includes a conveyor belt (513) disposed below the meat extraction mechanism (430) and a first fan; the air outlet direction of the first fan is opposite to the conveying direction of the conveyor belt (513); the first fan is used to blow away the shrimp shells that fall onto the conveyor belt (513); the meat extraction plate (437) is inclined; the bottom end of the meat extraction plate (437) is located above the input end of the conveyor belt (513).

9. The multi-station rotary clamping automatic shrimp peeling device according to claim 8, characterized in that, It also includes an automatic packaging module (600); the shrimp transfer module (500) further includes a lifting and turning mechanism (520); the lifting and turning mechanism (520) includes a lifting support plate (524) and a turning plate (526), ​​the lifting support plate (524) is driven by a power element to perform lifting and lowering movements; the turning plate (526) is rotatably connected to the lifting support plate (524) and is driven by a power element to turn, switching between receiving posture and tilting posture; the turning plate (526) can receive shrimp meat output from the conveyor belt (513); the automatic packaging module (600) includes a funnel (610), a packaging bag supply mechanism (620) and a heat sealing mechanism. The cutting mechanism (630) is provided; the inlet of the funnel (610) corresponds to the rising flip plate (526); the packaging bag supply mechanism (620) includes a bag feeding drive motor (621) and a packaging bag reel (622), on which a continuous bag structure is wound; the heat sealing cutting mechanism (630) includes a heat sealing heating plate (635) and a heat sealing pressure plate (636) facing each other, and the output path of the continuous bag structure passes between the heat sealing heating plate (635) and the heat sealing pressure plate (636); the heat sealing heating plate (635) and the heat sealing pressure plate (636) can move relative to each other and heat-press to seal the bag opening on the continuous bag structure.

10. A multi-station rotary clamping automatic shrimp peeling method, characterized in that, The multi-station rotary clamping automatic shrimp peeling device as described in any one of claims 1 to 9 is used; the multi-station rotary clamping automatic shrimp peeling method includes: The two flexible shrimp clamping plates (325) move towards each other to clamp the shrimp's tail. While holding the shrimp tail, the shrimp body is driven by the turntable (310) through the back opening station, the de-line cleaning station and the meat extraction station in sequence. At the back-opening station, the shrimp body passes sequentially through the annular grooves of multiple guide wheels (413), and a back-opening blade (416) is used to form a back cut in the shrimp. At the deveining and cleaning station, the cleaning mechanism (420) removes the shrimp vein at the shrimp back incision and cleans the shrimp body; At the meat extraction station, the meat extraction needle (438) passes through the needle seam (439) of the meat extraction plate (437) and extends to the side of the meat extraction plate (437) facing the shrimp tail clamping assembly (320). When the shrimp tail clamping assembly (320) passes by, the needle hooks the shrimp meat. The needle (438) is then removed from the needle seam (439), and the meat extraction plate (437) blocks the shrimp meat from passing through the needle seam (439), so that the shrimp meat is removed from the needle (438).

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