Grabbing type shrimp peeling equipment

Abstract

The utility model belongs to the technical field of shrimp peeling equipment, and discloses grabbing type shrimp peeling equipment which comprises a feeding device, a laser induction material distribution device, a conveying device, a posture detection device, a grabbing device, a shrimp peeling device and a rack. A discharging port of the laser induction material distribution device corresponds to a feeding port of the conveying device, the posture detection device is arranged on the front section of the conveying device, the grabbing device is arranged on the upper portion of the conveying device, and the shrimp peeling devices are arranged at the bottom of the conveying device. The laser induction material distribution device, the conveying device, the posture detection device, the grabbing device and the shrimp peeling device are all fixed on the rack, and the feeding device is arranged on the front side of the rack. According to the utility model, the completeness of shrimp yellow and shrimp meat is ensured, the requirement of large-scale production is met, and the finished product quality and the market competitiveness of shrimp products are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of shrimp peeling equipment, and more specifically, it relates to a grasping type shrimp peeling equipment. Background Art

[0002] In the catering and food processing industries, shrimp, as a popular ingredient, its processing process has always been an important production link. Especially in the production process of shrimp products, the separation of the shrimp head and the shrimp body is a key step. However, most of the traditional shrimp head separation methods rely on manual operation, which is not only inefficient but also costly, and it is difficult to meet the needs of large-scale production.

[0003] With the development of automation technology, some automated shrimp peeling equipments have gradually emerged on the market, but most of these equipments adopt the method of directly cutting with a knife. Although this method improves the production efficiency to a certain extent, its disadvantages are also obvious. Since the connecting part between the shrimp head and the shrimp body has a complex structure, and the shrimp roe and the shrimp meat have high taste and nutritional value, when using a knife to directly cut, the accuracy requirements for the cutting position are extremely high. Once the position is inaccurate, it is very easy to cause the shrimp roe to be damaged or the shrimp meat to be cut off, thus affecting the finished product quality and market value of the shrimp products.

[0004] Therefore, the utility model provides a grasping type shrimp peeling equipment. Summary of the Utility Model

[0005] In view of the above problems existing in the prior art, the purpose of the utility model is to provide a grasping type shrimp peeling equipment, which can ensure the integrity of the shrimp roe and the shrimp meat and meet the needs of large-scale production, so as to improve the finished product quality and market competitiveness of the shrimp products.

[0006] The purpose of the utility model can be achieved by the following technical solutions:

[0007] A grasping type shrimp peeling equipment, comprising a feeding device, a laser induction material distribution device, a conveying device, an attitude detection device, a grasping device, a shrimp peeling device and a frame. The feeding port of the feeding device corresponds to the feeding port of the laser induction material distribution device, the discharging port of the laser induction material distribution device corresponds to the feeding port of the conveying device, the attitude detection device is arranged at the front section of the conveying device, the grasping device is arranged above the conveying device, the shrimp peeling device is arranged at the bottom of the conveying device, the laser induction material distribution device, the conveying device, the attitude detection device, the grasping device and the shrimp peeling device are all fixed on the frame, and the feeding device is arranged at the front side of the frame.

[0008] As a further preferred technical solution of the present utility model, the shrimp peeling device includes a feeding hopper, an upper shrimp peeling assembly, and a lower shrimp peeling assembly. The feeding hopper is connected to the upper shrimp peeling assembly, the upper shrimp peeling assembly is connected to the lower shrimp peeling assembly, and protective shells are sleeved outside both the upper shrimp peeling assembly and the lower shrimp peeling assembly;

[0009] The upper shrimp peeling assembly includes a rotating sleeve, a rotation driving mechanism, and a separating mechanism. The rotating sleeve is sleeved on the outer periphery of the lower part of the feeding hopper. Through holes penetrating through the inner and outer sides of the feeding hopper and extending along its circumferential direction are formed in the peripheral wall of the feeding hopper. The separating mechanism is installed on the rotating sleeve, and the rotation driving mechanism drives the rotating sleeve to rotate relative to the feeding hopper;

[0010] An activity groove extending along its radial direction is formed in the outer peripheral wall of the rotating sleeve. The separating mechanism is movably arranged in the activity groove. The rotating sleeve is also provided with a guiding groove that extends around the outer periphery of the feeding hopper. The separating mechanism is provided with a guiding rod that is limited in the guiding groove. The separating mechanism includes a pin and an activity block. The activity block is movably installed on the rotating sleeve, and the pin is fixed to the activity block and is used for shrimp peeling operation.

[0011] As a further preferred technical solution of the present utility model, the lower shrimp peeling assembly includes a shrimp body clamping mechanism, a first guide rail slider mechanism, a second guide rail slider mechanism, a clamp transmission mechanism, a clamp driving mechanism, and a loading mechanism. The extending direction of the first guide rail slider mechanism is parallel to the axial direction of the feeding hopper and perpendicular to the extending direction of the second guide rail slider mechanism. The shrimp body clamping mechanism is fixed to the first guide rail slider mechanism. The slider of the first guide rail slider mechanism is fixedly connected to the slider of the second guide rail slider mechanism. The clamp driving mechanism is connected to the first guide rail slider mechanism through the clamp transmission mechanism. The loading mechanism is connected to one side of the shrimp body clamping mechanism;

[0012] The clamp transmission mechanism includes a crank and a guiding bracket. The crank is fixedly connected to the output shaft of the clamp driving mechanism. A first sliding groove is formed in the crank, and a second sliding groove is formed in the guiding bracket. The guiding shaft of the first guide rail slider mechanism passes through and is limited in the first sliding groove and the second sliding groove;

[0013] The loading mechanism includes a loading seat, a hinge rod, a spring, and a shock absorber. The loading seat is connected to the hinge rod. The hinge rod is hinged to a hinge seat. A spring is also connected between the hinge rod and the hinge seat. The shock absorber is arranged beside the right side of the hinge rod.

[0014] As a further preferred technical solution of the present utility model, the laser induction material distribution device is installed on the frame through a spacer block. The laser induction material distribution device is provided with a mounting base plate. A material distribution driving mechanism is arranged at the bottom of the mounting base plate. A conveyor is connected to the upper part of the mounting base plate through a screw column. The material distribution driving mechanism drives the conveyor. Baffles are arranged on both the left and right sides of the conveyor. Opposite sensors are arranged on the left and right sides of the front and rear parts of the conveyor.

[0015] As a further preferred technical solution of the present utility model, the conveying device is installed on the frame through an L-shaped part. The conveying device is a belt conveyor. The conveying device includes a conveying frame, a belt, a driving roller mechanism, a driven roller mechanism and a conveying driving mechanism. A number of support rods are arranged on the frame. The driving roller mechanism is arranged at the front side part of the frame. The driven roller mechanism is arranged at the rear side part of the frame. The driving roller mechanism and the driven roller mechanism are sleeved with the belt. The driving roller mechanism and the driven roller mechanism are driven by the belt. The input roller shaft end of the driving roller mechanism is in transmission connection with the conveying driving mechanism. The conveying driving mechanism is fixed on one side of the conveying frame. Opposite sensors are arranged on both the left and right sides of the conveying frame. The belt is a concave conveying belt.

[0016] As a further preferred technical solution of the present utility model, the attitude detection device is installed on the frame through a screw plate. The attitude detection device is provided with a screw base. The screw base is screwed on the screw plate. A support rod is embedded in the middle of the screw base. A first clamping seat is clamped at the middle part of the upper section of the support rod. A second clamping seat is clamped at the middle section of the support rod. The first clamping seat is screwed with a first connecting piece. An attitude detection camera is screwed on the first connecting piece. The second clamping seat is screwed with a second connecting piece. The second connecting piece is screwed with an optical filter plate.

[0017] As a further preferred technical solution of the present utility model, the grasping device is installed on the frame through a screw plate. The grasping device includes a linear motion component, a mechanical claw component and a drag chain. The mechanical claw component is connected with the linear motion component. One end of the drag chain is connected with the mechanical claw component. The other end of the drag chain is connected with the frame. The linear motion component includes a driving motor, a transmission mechanism, a housing, a screw seat and a sliding table. The transmission mechanism is a belt transmission mechanism. The belt of the transmission mechanism is connected with the sliding table. The transmission mechanism is arranged in the housing. The transmission mechanism is driven by the driving motor. A screw seat is arranged on the front side surface of the housing. The screw seat is screwed on the screw plate between the grasping device and the frame. Groove type photoelectric sensors are installed on both the upper and lower sides of the housing. Trigger pieces corresponding to the groove type photoelectric sensors are arranged on both the upper and lower sides of the sliding table.

[0018] As a further preferred technical solution of the present utility model, the mechanical claw assembly includes a mechanical claw mounting plate, a pneumatic slide table, a rotary cylinder, an electric push rod, a clamp type opening and closing mechanism, and a flexible claw. The mechanical claw assembly is screwed to the slide table of the linear motion assembly through the mechanical claw mounting plate. The pneumatic slide table is fixed on the mechanical claw mounting plate. The movable end of the pneumatic slide table is connected with the rotary cylinder. The rotary end of the rotary cylinder is connected with the electric push rod. The electric push rod is connected with the clamp type opening and closing mechanism. The clamp type opening and closing mechanism is connected with the flexible claw.

[0019] As a further preferred technical solution of the present utility model, the feeding device includes a vibrating bowl and a bracket. The bracket is composed of several profiles connected together. A placing plate is arranged on the upper part of the bracket. A through hole in the shape of a rounded rectangle is opened on the placing plate. Threaded holes are opened at the four corners of the through hole. The bracket is screwed to the vibrating bowl through the threaded holes of its placing plate.

[0020] As a further preferred technical solution of the present utility model, the machine frame is composed of several profiles connected together. The machine frame has three layers. A stepped frame is arranged on the second layer of the machine frame. A shelling groove plate is arranged on the stepped frame. The shelling groove plate corresponds to the feeding hopper. A discharge groove plate is arranged beside the right side of the shelling groove plate. Both the shelling groove plate and the discharge groove plate are screwed to the stepped frame through an L-shaped part. The shelling device is screwed and fixed on the second layer of the machine frame. A gantry is arranged in the middle of the third layer of the machine frame. The grasping device is screwed and fixed on the gantry. The laser induction sorting device, the conveying device and the attitude detection device are screwed and fixed on the third layer of the machine frame. A recovery groove plate is screwed on the inner side of the rear end of the machine frame. The feeding port of the recovery groove plate corresponds to the feeding port of the conveying device;

[0021] Triangular parts are arranged at the four corners of the bottom of the machine frame. Anti-vibration and anti-slip foot cups are screwed on the triangular parts of the machine frame. Pipe plugs are installed at the bottom of the bracket. Anti-vibration and anti-slip foot cups are screwed on the pipe plugs of the bracket.

[0022] As described above, a grasping type shrimp peeling device provided by the present utility model has the following beneficial effects:

[0023] 1. For the grasping type shrimp peeling device of the present utility model, during use, the vibrating disk of the feeding device vibrates to send the shrimps in the disk into the laser induction feeding device one by one. After the shrimps are fed one by one by the laser induction feeding device, they enter the conveying device. When the shrimps are conveyed by the conveying device, the attitude detection device accurately detects the attitude and quality of the shrimps and makes an AI model judgment. The grasping device adaptively and selectively grasps the shrimps according to the detection results of the attitude detection device, and after grasping, puts the shrimps into the feeding hopper of the shrimp peeling device. The shrimp body clamping mechanism clamps the shrimp body, and the separation mechanism clamps the shrimp head. The connecting joint of the shrimp head and the shrimp body is the vulnerable position of the shrimp. By rotating the separation mechanism to twist the shrimp head, the shrimp head and the shrimp tail are disconnected at the joint, which can better ensure the integrity of the shrimp roe and the shrimp meat compared with the conventional knife cutting method.

[0024] 2. For the grasping type shrimp peeling device of the present utility model, through the settings of the grasping device, the attitude detection device and the laser induction feeding device, after the shrimps are fed by the laser induction feeding device, it is ensured that the shrimps are conveyed one by one on the conveying device. This one-by-one conveying method facilitates the attitude detection device to accurately detect the attitude and quality of the shrimps one by one, and screens the quality of the shrimps through the AI model. The detection and screening results of the attitude detection device ensure the accurate grasping of the shrimps by the grasping device, avoiding grasping the vulnerable position of the shrimps, resulting in damage to the shrimp roe or the shrimp meat. And the grasping device is provided with flexible claws to grasp the shrimps, further protecting the shrimps and ensuring the integrity of the shrimps during processing.

[0025] The additional aspects and advantages of the present utility model will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings.

[0027] Figure 1 One of the structural schematic diagrams of a grasping type shrimp peeling device for the application of the present utility model;

[0028] Figure 2 Two of the structural schematic diagrams of a grasping type shrimp peeling device for the application of the present utility model;

[0029] Figure 3 For Figure 1 The enlarged schematic diagram at I in

[0030] Figure 4 For Figure 2Enlarged schematic view at position II

[0031] Figure 5 Structural schematic diagram of the grasping device of a grasping type shrimp peeling device for the application of the present utility model

[0032] Figure 6 Structural schematic diagram of the shrimp peeling device (removing the protective shell) of a grasping type shrimp peeling device for the application of the present utility model

[0033] Figure 7 Cross-sectional view of the upper shrimp peeling assembly of a grasping type shrimp peeling device for the application of the present utility model

[0034] Summary of reference numerals and their descriptions

[0035] 100, feeding device; 110, vibrating bowl; 120, bracket; 200, laser induction material separation device; 210, mounting base plate; 220, material separation driving mechanism; 230, conveyor; 240, baffle; 300, conveying device; 400, attitude detection device; 410, screwed base; 420, support rod; 430, first clamping seat; 440, second clamping seat; 450, attitude detection camera; 460, optical filter plate; 500, grasping device; 510, linear motion assembly; 511, driving motor; 512, transmission mechanism; 513, housing; 514, screwed seat; 515, sliding table; 520, mechanical claw assembly; 521, mechanical claw mounting plate; 522, pneumatic sliding table; 523, rotary cylinder; 524, electric push rod; 525, clamp type opening and closing mechanism; 526, flexible claw; 530, drag chain; 600, shrimp peeling device; 610, feeding hopper; 620, upper shrimp peeling assembly; 621, rotating sleeve; 622, rotating driving mechanism; 623, separation mechanism; 630, lower shrimp peeling assembly; 631, shrimp body clamping mechanism; 632, first guide rail slider mechanism; 633, second guide rail slider mechanism; 634, clamp transmission mechanism; 635, clamp driving mechanism; 636, loading mechanism; 700, frame Detailed implementation manners

[0036] The following specific embodiments illustrate the implementation manners of the present utility model. Those skilled in the art can easily understand other advantages and effects of the present utility model from the content disclosed in this specification

[0037] It should be noted that the structures, proportions, sizes, etc. shown in the attached drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the implementation conditions of the present utility model. Therefore, they do not have substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the efficacy and purpose that the present utility model can achieve, should still fall within the scope covered by the technical content disclosed in the present utility model. At the same time, the terms such as "upper", "lower", "left", "right", "middle", and "one" cited in this specification are only for the convenience of clear description and are not used to limit the scope of implementation of the present utility model. The change or adjustment of their relative relationship, without substantial change in the technical content, should also be regarded as the scope of implementation of the present utility model. The specific structure can be described with reference to the attached drawings of the patent application.

[0038] The present utility model provides a grasping type shrimp peeling device. Please refer to Figures 1 to 7 as shown, which includes a feeding device 100, a laser induction material distribution device 200, a conveying device 300, an attitude detection device 400, a grasping device 500, a shrimp peeling device 600, and a frame 700. The feeding port of the feeding device 100 corresponds to the feeding port of the laser induction material distribution device 200. The discharging port of the laser induction material distribution device 200 corresponds to the feeding port of the conveying device 300. The attitude detection device 400 is arranged at the front section of the conveying device 300. The grasping device 500 is arranged above the conveying device 300. The shrimp peeling device 600 is arranged at the bottom of the conveying device 300. The laser induction material distribution device 200, the conveying device 300, the attitude detection device 400, the grasping device 500, and the shrimp peeling device 600 are all fixed on the frame 700. The feeding device 100 is arranged at the front side of the frame 700.

[0039] Specifically, the specific structure of the shrimp peeling device 600 is as follows. Combining Figure 6 and Figure 7 as shown, the shrimp peeling device 600 includes a feeding hopper 610, an upper shrimp peeling assembly 620, and a lower shrimp peeling assembly 630. The feeding hopper 610 is connected to the upper shrimp peeling assembly 620. The upper shrimp peeling assembly 620 is connected to the lower shrimp peeling assembly 630. The upper shrimp peeling assembly 620 and the lower shrimp peeling assembly 630 are both externally sleeved with protective shells.

[0040] The upper shrimp peeling assembly 620 includes a rotating sleeve 621, a rotating drive mechanism 622 and a separating mechanism 623. The rotating sleeve 621 is sleeved on the outer periphery of the lower part of the feeding hopper 610. A through hole penetrating through its inner and outer sides and extending along its circumferential direction is formed in the peripheral wall of the feeding hopper 610. The separating mechanism 623 is installed on the rotating sleeve 621, and the rotating drive mechanism 622 drives the rotating sleeve 621 to rotate relative to the feeding hopper 610.

[0041] An activity groove extending along its radial direction is formed in the outer peripheral wall of the rotating sleeve 621. The separating mechanism 623 is movably arranged in the activity groove. The rotating sleeve 621 is also provided with a guiding groove which extends around the outer periphery of the feeding hopper 610. The separating mechanism 623 is provided with a guiding rod which is limited in the guiding groove. When the rotating drive mechanism 622 drives the rotating sleeve 621 to drive the separating assembly to rotate, the guiding rod moves along the guiding groove and enables the separating assembly to move along the radial direction of the feeding pipeline. The separating mechanism 623 includes a pin and a movable block. The movable block is movably installed on the rotating sleeve 621, and the pin is fixed to the movable block and is used for shrimp peeling operation.

[0042] The lower shrimp peeling assembly 630 includes a shrimp body clamping mechanism 631, a first guide rail slider mechanism 632, a second guide rail slider mechanism 633, a clamp transmission mechanism 634, a clamp drive mechanism 635 and a loading mechanism 636. The extending direction of the first guide rail slider mechanism 632 is parallel to the axial direction of the feeding hopper 610 and perpendicular to the extending direction of the second guide rail slider mechanism 633. The shrimp body clamping mechanism 631 is fixed to the first guide rail slider mechanism 632. The slider of the first guide rail slider mechanism 632 is fixedly connected to the slider of the second guide rail slider mechanism 633. The clamp drive mechanism 635 is connected to the first guide rail slider mechanism 632 through the clamp transmission mechanism 634. The loading mechanism 636 is connected to one side of the shrimp body clamping mechanism 631.

[0043] The clamp transmission mechanism 634 includes a crank and a guiding bracket 120. The crank is fixedly connected to the output shaft of the clamp drive mechanism 635. A first sliding groove is formed in the crank, and a second sliding groove is formed in the guiding bracket 120. The guiding shaft of the first guide rail slider mechanism 632 passes through and is limited in the first sliding groove and the second sliding groove.

[0044] The loading mechanism 636 includes a loading seat, a hinge rod, a spring and a shock absorber. The loading seat is connected to the hinge rod, the hinge rod is hinged to a hinge seat, a spring is further connected between the hinge rod and the hinge seat, and the shock absorber is arranged beside the right side of the hinge rod.

[0045] Specifically, the specific structure of the laser induction material distribution device 200 is as follows. In combination with Figure 1 and Figure 3 As shown, the laser induction material distribution device 200 serves as a transition between the feeding device 100 and the conveying device 300 to ensure that the shrimp can enter the conveying device 300 smoothly and orderly. The laser induction material distribution device 200 is installed on the frame 700 through a heightening block. The laser induction material distribution device 200 is provided with an installation base plate 210. A material distribution driving mechanism 220 is arranged at the bottom of the installation base plate 210. A conveyor 230 is connected to the upper part of the installation base plate 210 through a screw column. The material distribution driving mechanism 220 drives the conveyor 230. Baffles 240 are arranged on both the left and right sides of the conveyor 230. Opposite sensors are arranged on the left and right sides of the front and rear parts of the conveyor 230. The laser induction material distribution device ensures that the shrimp come out one by one through the opposite sensors.

[0046] Specifically, the specific structure of the conveying device 300 is as follows. In combination with Figure 1 and Figure 2 As shown, the conveying device 300 conveys the shrimp from the laser induction material distribution device 200 to subsequent workstations such as posture detection, grasping, and shrimp peeling. The conveying device 300 is installed on the frame 700 through an L-shaped part. The conveying device 300 is a belt conveyor. The conveying device 300 includes a conveying frame, a belt, a driving roller mechanism, a driven roller mechanism, and a conveying driving mechanism. A number of support rods are arranged on the frame. The driving roller mechanism is arranged at the front side part of the frame. The driven roller mechanism is arranged at the rear side part of the frame. The driving roller mechanism and the driven roller mechanism are sleeved with the belt. The driving roller mechanism and the driven roller mechanism are driven by the belt. The input roller shaft end of the driving roller mechanism is driven by the conveying driving mechanism. The conveying driving mechanism is fixed on one side of the conveying frame. Opposite sensors are arranged on both the left and right sides of the conveying frame. The belt is a concave conveying belt to ensure that the shrimp body can be stable in the middle position without deviation, so as to ensure that the shrimp is in a specified position during grasping and improve the grasping success rate of the grasping device 500.

[0047] Specifically, the specific structure of the posture detection device 400 is as follows. In combination with Figure 2 and Figure 4As shown, the posture detection device 400 detects the posture and quality of the shrimp on the conveying device 300, and sends the posture and quality information of the shrimp to the grasping device 500. The posture detection device 400 is installed on the frame 700 through a screwed plate. The posture detection device 400 is provided with a screwed base 410, and the screwed base 410 is screwed on the screwed plate. A support rod 420 is embedded in the middle of the screwed base 410. A first clamping seat 430 is clamped in the middle of the upper section of the support rod 420, and a second clamping seat 440 is clamped in the middle section of the support rod 420. The first clamping seat 430 is screwed to a first connecting member, and a posture detection camera 450 is screwed on the first connecting member. The second clamping seat is screwed to a second connecting member, and the second connecting member is screwed to the optical filter plate 460.

[0048] Specifically, the specific structure of the grasping device 500 is as follows. In combination with Figure 1 、 Figure 2 and Figure 5 As shown, according to the result of the posture detection device 400, the grasping device 500 accurately grasps the qualified-quality shrimp in various postures and puts them into the peeling device for processing. The grasping device 500 is installed on the frame 700 through a screwed plate. The grasping device 500 includes a linear motion component 510, a mechanical claw component 520 and a drag chain 530. The mechanical claw component 520 is connected to the linear motion component 510. One end of the drag chain 530 is connected to the mechanical claw component 520, and the other end of the drag chain 530 is connected to the frame 700. The linear motion component 510 includes a driving motor 511, a transmission mechanism 512, a housing 513, a screwed seat 514 and a sliding table 515. The transmission mechanism 512 is a belt transmission mechanism 512. The belt of the transmission mechanism 512 is connected to the sliding table 515. The transmission mechanism 512 is placed in the housing 513. The transmission mechanism 512 is driven by the driving motor 511. A screwed seat 514 is arranged on the front side of the housing 513. The screwed seat 514 is screwed on the screwed plate between the grasping device 500 and the frame 700. Groove-shaped photoelectric sensors are installed on both the upper and lower sides of the housing 513. Trigger pieces of the groove-shaped photoelectric sensors are arranged on both the upper and lower sides of the sliding table 515;

[0049] The mechanical claw assembly 520 includes a mechanical claw mounting plate 521, a pneumatic slide 522, a rotary cylinder 523, an electric push rod 524, a clamp type opening and closing mechanism 525, and a flexible claw 526. The mechanical claw assembly 520 is screwed to the slide 515 of the linear motion assembly 510 through the mechanical claw mounting plate 521. The pneumatic slide 522 is fixed on the mechanical claw mounting plate 521. The movable end of the pneumatic slide 522 is connected to the rotary cylinder 523. The rotary end of the rotary cylinder 523 is connected to the electric push rod 524. The electric push rod 524 is connected to the clamp type opening and closing mechanism 525. The clamp type opening and closing mechanism 525 is connected to the flexible claw 526.

[0050] It should be noted that: the existing structure of the mechanical claw assembly 520 can be replaced by a cylinder module or a parallel robot.

[0051] Specifically, the specific structure of the feeding device 100 is as follows. Combining Figure 1 and Figure 2 as shown, the feeding device 100 includes a vibrating bowl 110 and a bracket 120. The feeding device 100 is used to convey the shrimp to be peeled from the inside of the vibrating bowl 110 to the laser induction sorting device 200. The bracket 120 is composed of several profiles connected. An object placing plate is arranged on the upper part of the bracket 120. A round-cornered rectangular through hole is opened on the object placing plate. The through hole is used for the heat dissipation of the vibrating bowl 110. Screwing holes are opened at the four corners of the through hole. The bracket 120 is screwed to the vibrating bowl 110 through the screwing holes of its object placing plate.

[0052] It should be noted that: for the grab-type shrimp peeling device of the present invention, through the settings of the grabbing device 500 and the attitude detection device 400, during transportation, the attitude of the shrimp is accurately detected to enable the grabbing device 500 to accurately grab the shrimp, avoiding grabbing the fragile position of the shrimp and causing damage to the shrimp roe or the shrimp meat. And the grabbing device 500 is provided with a flexible claw 526 to grab the shrimp, further protecting the shrimp and ensuring the integrity of the shrimp during processing.

[0053] The frame 700 serves as the support structure of the entire device, fixing and supporting components such as the feeding device 100, the laser induction material separation device 200, the conveying device 300, the attitude detection device 400, the grasping device 500, and the shrimp peeling device 600. The frame 700 is composed of several profiles connected together. The frame 700 has three layers. A stepped frame is provided on the second layer of the frame 700. A shelling trough plate is provided on the stepped frame. The shelling trough plate corresponds to the feeding hopper 610. An outlet trough plate is provided beside the right side of the shelling trough plate. Both the shelling trough plate and the outlet trough plate are screwed to the stepped frame through an L-shaped part. The shrimp peeling device 600 is screwed and fixed on the second layer of the frame 700. A gantry is provided in the middle of the third layer of the frame 700. The grasping device 500 is screwed and fixed on the gantry. The laser induction material separation device 200, the conveying device 300, and the attitude detection device 400 are screwed and fixed on the third layer of the frame 700. A recovery trough plate is screwed inside the rear end of the frame 700. The inlet of the recovery trough plate corresponds to the inlet of the conveying device 300. The design of the frame 700 ensures the stability of the device and the precise cooperation between components.

[0054] Triangular parts are provided at the four corners of the bottom of the frame 700. Anti-vibration and anti-slip foot cups are screwed on the triangular parts of the frame 700. A pipe plug is installed at the bottom of the bracket 120. Anti-vibration and anti-slip foot cups are screwed on the pipe plug of the bracket 120. The anti-vibration and anti-slip foot cups can effectively absorb and disperse the vibration and impact force generated during the operation of the device, reduce the influence of vibration on the device itself, and increase the adhesion between the device and the ground, preventing the device from slipping due to external forces during operation, ensuring the stability and safety of the device.

[0055] The working process of the grasping type shrimp peeling device of the present utility model is as follows:

[0056] During use, the vibrating disk 110 of the feeding device 100 vibrates to send the shrimps in the disk into the laser induction material separation device 200 one by one. After being separated by the laser induction material separation device 200 one by one, the shrimps enter the conveying device 300. When the shrimps are being conveyed by the conveying device 300, the attitude detection device 400 precisely detects the attitude and quality of the shrimps and makes an AI model judgment. The grasping device 500 adaptively and selectively grasps the shrimps according to the detection results of the attitude detection device 400. After grasping, the shrimps are put into the feeding hopper 610 of the shrimp peeling device 600. The shrimp body clamping mechanism 631 clamps the shrimp body, and the separation mechanism 623 clamps the shrimp head. The connecting joint between the shrimp head and the shrimp body is the vulnerable position of the shrimp. By rotating the separation mechanism 623 to twist the shrimp head, the shrimp head and the shrimp tail are disconnected at the joint, which can better ensure the integrity of the shrimp yellow and the shrimp meat compared with the conventional knife-cutting method.

[0057] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above-described exemplary embodiments, and the present utility model can be implemented in other specific forms without departing from the spirit or basic characteristics of the present utility model. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present utility model. Any reference signs in the claims should not be construed as limiting the claims involved.

Claims

1. A grabbing type shrimp peeling device, characterized in that: It includes a feeding device, a laser sensing material dividing device, a conveying device, a posture detection device, a gripping device, a shrimp peeling device and a frame. The feeding port of the feeding device corresponds to the feeding port of the laser sensing material dividing device, the discharging port of the laser sensing material dividing device corresponds to the feeding port of the conveying device, the front section of the conveying device is provided with the posture detection device, the upper part of the conveying device is provided with a gripping device, and the bottom of the conveying device is provided with the shrimp peeling device. The laser sensing material dividing device, the conveying device, the posture detection device, the gripping device and the shrimp peeling device are all fixed on the frame, and the feeding device is provided at the front side of the frame.

2. The grabbing type shrimp peeling device according to claim 1, characterized in that: The shrimp peeling device comprises a feeding hopper, an upper shrimp peeling assembly and a lower shrimp peeling assembly, wherein the feeding hopper is connected to the upper shrimp peeling assembly, the upper shrimp peeling assembly is connected to the lower shrimp peeling assembly, and the upper shrimp peeling assembly and the lower shrimp peeling assembly are both covered with a protective shell; The upper shrimp peeling assembly includes a rotating sleeve, a rotating driving mechanism and a separating mechanism, wherein the rotating sleeve is arranged on the outer periphery of the lower part of the feeding hopper, and the peripheral wall of the feeding hopper is provided with a through hole penetrating the inner and outer sides thereof and extending along the circumference thereof, the separating mechanism is installed on the rotating sleeve, and the rotating driving mechanism drives the rotating sleeve to rotate relative to the feeding hopper; The outer peripheral wall of the rotating sleeve is provided with a movable groove extending along its radial direction, and the separation mechanism is movably arranged in the movable groove. The rotating sleeve is also provided with a guide groove, and the guide groove extends around the outer periphery of the feeding hopper. The separation mechanism is provided with a guide rod, and the guide rod is limited in the guide groove. The separation mechanism includes a pin and a movable block, and the movable block is movably installed on the rotating sleeve. The pin is fixed to the movable block and is used for shrimp peeling operations.

3. The grabbing type shrimp peeling device according to claim 2, characterized in that: The lower shrimp peeling assembly includes a shrimp body clamp mechanism, a first guide rail slider mechanism, a second guide rail slider mechanism, a clamp transmission mechanism, a clamp drive mechanism and a loading mechanism, the extension direction of the first guide rail slider mechanism is parallel to the axial direction of the feed hopper and perpendicular to the extension direction of the second guide rail slider mechanism, the shrimp body clamp mechanism is fixed to the first guide rail slider mechanism, the slider of the first guide rail slider mechanism is fixedly connected to the slider of the second guide rail slider mechanism, the clamp drive mechanism is connected to the first guide rail slider mechanism through the clamp transmission mechanism, and the loading mechanism is connected to one side of the shrimp body clamp mechanism; The clamp transmission mechanism comprises a crank and a guide bracket, the crank is fixedly connected to the output shaft of the clamp driving mechanism, a first slide groove is provided on the crank, a second slide groove is provided on the guide bracket, and a guide shaft of the first guide rail slider mechanism is provided with a limiter and the first slide groove and the second slide groove; The loading mechanism includes a loading seat, an articulated rod, a spring and a shock absorber. The loading seat is connected to the articulated rod, the articulated rod is articulated to the articulated seat, a spring is further connected between the articulated rod and the articulated seat, and the shock absorber is arranged on the right side of the articulated rod.

4. The grabbing type shrimp peeling device according to claim 1, characterized in that: The laser induction material dividing device is installed on the frame through a raising block, and is provided with a mounting base plate. A material dividing drive mechanism is provided at the bottom of the mounting base plate, and the upper part of the mounting base plate is connected to a conveyor through a screw column. The material dividing drive mechanism drives the conveyor, and baffles are provided on the left and right sides of the conveyor, and opposing sensors are provided on the left and right sides of the front and rear of the conveyor.

5. The grabbing type shrimp peeling device according to claim 1, characterized in that: The conveying device is installed on the frame through an L-shaped piece. The conveying device is a belt conveyor. The conveying device includes a conveying frame, a belt, an active roller mechanism, a driven roller mechanism and a conveying drive mechanism. A plurality of support rods are arranged on the frame. The active roller mechanism is arranged on the front side of the frame, and the driven roller mechanism is arranged on the rear side of the frame. The active roller mechanism and the driven roller mechanism are outer-mounted with the belt. The active roller mechanism and the driven roller mechanism are driven by the belt. The input roller shaft end of the active roller mechanism is driven by the conveying drive mechanism. The conveying drive mechanism is fixed on one side of the conveying frame. The left and right sides of the conveying frame are provided with a corresponding sensor. The belt is a concave conveying belt.

6. The grabbing type shrimp peeling device according to claim 1, characterized in that: The posture detection device is installed on the frame through a screw plate. The posture detection device is provided with a screw base. The screw base is screwed on the screw plate. A support rod is embedded in the middle of the screw base. A first clamping seat is clamped at the middle of the upper section of the support rod. A second clamping seat is clamped at the middle section of the support rod. The first clamping seat is screwed to the first connecting member. A posture detection camera is screwed on the first connecting member. The second clamping seat is screwed to the second connecting member. The second connecting member is screwed to the optical filter plate.

7. The grabbing type shrimp peeling device according to claim 1, characterized in that: The grabbing device is installed on the frame through a screw plate. The grabbing device includes a linear motion component, a mechanical claw component and a drag chain. The mechanical claw component is connected to the linear motion component, one end of the drag chain is connected to the mechanical claw component, and the other end of the drag chain is connected to the frame. The linear motion component includes a driving motor, a transmission mechanism, a shell, a screw seat and a slide. The transmission mechanism is a belt transmission mechanism. The belt of the transmission mechanism is connected to the slide. The transmission mechanism is placed in the shell. The transmission mechanism is driven by the driving motor. A screw seat is provided on the front side of the shell. The screw seat is screwed on the screw plate between the grabbing device and the frame. Groove-type photoelectric sensors are installed on the upper and lower sides of the shell, and trigger sheets for the groove-type photoelectric sensors are provided on the upper and lower sides of the slide.

8. The grabbing type shrimp peeling device according to claim 7, characterized in that: The mechanical claw assembly includes a mechanical claw mounting plate, a pneumatic slide, a rotary cylinder, an electric push rod, a clamp-type opening and closing mechanism and a flexible claw. The mechanical claw assembly is screwed to the slide of the linear motion assembly through the mechanical claw mounting plate. The pneumatic slide is fixed to the mechanical claw mounting plate. The movable end of the pneumatic slide is connected to the rotary cylinder. The rotary end of the rotary cylinder is connected to the electric push rod. The electric push rod is connected to the clamp-type opening and closing mechanism, and the clamp-type opening and closing mechanism is connected to the flexible claw.

9. The grabbing type shrimp peeling device according to claim 3, characterized in that: The feeding device includes a vibrating plate and a bracket, the bracket is composed of a plurality of profiles connected together, a placement plate is arranged on the upper part of the bracket, a rounded rectangular through hole is opened on the placement plate, screw holes are opened at the four corners of the through hole, and the bracket is screwed to the vibrating plate through the screw holes of its placement plate.

10. The grabbing type shrimp peeling device according to claim 9, characterized in that: The frame is composed of a plurality of profiles connected together, and the frame is provided with three layers. A step frame is provided on the second layer of the frame, and a shelling slot plate is provided on the step frame, and the shelling slot plate corresponds to the feeding hopper. A discharging slot plate is provided on the right side of the shelling slot plate, and the shelling slot plate and the discharging slot plate are both screwed to the step frame through an L-shaped piece. The shrimp peeling device is screwed and fixed on the second layer of the frame, a gantry is provided in the middle of the third layer of the frame, and the grabbing device is screwed and fixed on the gantry, and the laser sensing material dividing device, the conveying device and the posture detection device are screwed and fixed on the third layer of the frame, and a recovery slot plate is screwed on the inner side of the rear end of the frame, and the feed port of the recovery slot plate corresponds to the feed port of the conveying device; The four corners of the bottom of the frame are all provided with triangular pieces, and shockproof and anti-skid foot cups are screwed on the triangular pieces of the frame. A pipe plug is installed at the bottom of the bracket, and a shockproof and anti-skid foot cup is screwed on the pipe plug of the bracket.

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