Grabbing type shrimp peeling module
The integrated shrimp-peeling module, with its servo motor-driven conveyor belt and AI detection, enables rapid and stable shrimp transport and precise grasping. This solves the problems of low automation and unstable quality in existing shrimp-peeling modules, improving peeling efficiency and product consistency.
Patent Information
- Application Number
- CN202520115894.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-17
- Publication Date
- 2026-01-23
- Estimated Expiration
- 2035-01-17
AI Technical Summary
Existing shrimp-peeling modules have low automation, low efficiency, and inconsistent peeling quality. They are also difficult to adapt to shrimp of different sizes and shapes, resulting in excessive manual intervention, limited efficiency improvement, and inconsistent product quality.
A gripping shrimp-peeling module was designed, integrating a material distribution device, a queuing vision device, a displacement gripping device, a queuing feeding device, a shrimp head and tail peeling device, and a material preparation device. The material preparation conveyor belt driven by a servo motor achieves fast and stable conveying of shrimp. Combined with an AI model, the module performs accurate detection and adaptive gripping of shrimp, and uses a flexible claw and clamping mechanism to gently peel the shrimp head and tail.
It achieves a high degree of automation in the shrimp peeling process, improves peeling efficiency and quality consistency, reduces human intervention, ensures the integrity and safety of the shrimp, and enhances the smoothness and accuracy of the peeling process.
Smart Images
Figure CN223816874U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of shrimp peeling equipment technology, and more specifically, it relates to a gripping shrimp peeling module. Background Technology
[0002] In the food processing industry, shrimp peeling has always been a tedious and time-consuming task, traditionally relying mainly on manual labor. With the advancement of technology and the development of automation, shrimp peeling modules have emerged, aiming to improve the efficiency and accuracy of shrimp peeling.
[0003] However, existing shrimp-peeling modules still have some significant design and technical problems that limit their effectiveness in practical applications, such as:
[0004] 1. Low level of automation: Most existing shrimp-peeling modules can only achieve partial automation, and many steps still require manual intervention, resulting in limited overall efficiency improvement. In particular, there is a lot of manual intervention in the process of shrimp screening, grabbing, and conveying, which affects the speed and consistency of shrimp peeling.
[0005] Second, low shrimp peeling efficiency: Due to insufficient automation, existing shrimp peeling modules are inadequate when processing large quantities of shrimp. The slow peeling speed cannot meet the needs of large-scale production, limiting its application in industrial production.
[0006] 3. Unstable shrimp peeling quality: In the process of peeling and removing heads and tails, the existing modules often use fixed mechanical or pneumatic methods, which are difficult to adapt to shrimp of different sizes and shapes, resulting in inconsistent shrimp peeling quality and affecting the quality of the final product.
[0007] Therefore, this utility model provides a gripping shrimp peeling module. Utility Model Content
[0008] In view of the above-mentioned problems of existing technology, the purpose of this utility model is to provide a gripping shrimp peeling module, which achieves a high degree of automation in shrimp peeling through integrated design, improves shrimp peeling efficiency and quality, and ensures stable delivery through the material preparation device, thereby improving the accuracy and safety of shrimp peeling.
[0009] The objective of this utility model can be achieved through the following technical solutions:
[0010] A gripping shrimp peeling module includes a dispensing device, a queuing vision device, a displacement gripping device, a queuing feeding device, a shrimp head and tail peeling device, a preparation device, and a frame assembly. The shrimp outlet of the dispensing device is connected to the shrimp inlet of the queuing feeding device. The queuing vision device is located at the rear of the queuing feeding device. The displacement gripping device is located above the middle section of the queuing feeding device. The preparation device is located beside the front middle section of the queuing feeding device. The shrimp outlet of the preparation device is connected to the shrimp inlet of the shrimp head and tail peeling device. The dispensing device, queuing vision device, displacement gripping device, queuing feeding device, shrimp head and tail peeling device, and preparation device are all fixedly mounted on the frame assembly. The dispensing device is located at the rear of the frame assembly.
[0011] As a further preferred technical solution of this utility model, the material preparation device includes a material preparation mounting plate. The material preparation device is fixedly mounted on the frame assembly via the material preparation mounting plate. A motor mounting bracket is fixed to the lower side of the material preparation mounting plate. A servo motor is fixed on the motor mounting bracket. A main drive wheel is mounted on the output shaft of the servo motor. The servo motor drives the material preparation conveyor belt through the main drive wheel, a drive belt, and a driven drive wheel. A guide side plate is provided on both the left and right sides of the material preparation conveyor belt. A pair of through-beam laser sensors are also provided on the left and right sides of the front end of the material preparation conveyor belt. The pair of through-beam laser sensors are mounted on an L-shaped sensing bracket. The L-shaped sensing bracket is fixed to the material preparation mounting plate. A motor protective baffle is screwed onto the motor mounting bracket via studs.
[0012] As a further preferred technical solution of this utility model, the shrimp head and tail peeling device includes a feeding hopper, an upper peeling component and a lower peeling component. The shrimp outlet of the feeding hopper is connected to the shrimp inlet of the upper peeling component. The upper peeling component is connected to the lower peeling component. Both the upper peeling component and the lower peeling component are covered with a protective shell. The feeding hopper is provided with an arc-shaped guide slope for connecting the shrimp outlet of the material preparation device.
[0013] The upper stripping assembly includes a rotating sleeve, a rotating drive mechanism, and a separating mechanism. The rotating sleeve is fitted around the outer periphery of the lower part of the feed hopper. An auxiliary sleeve is fitted inside the rotating sleeve. The auxiliary sleeve has through holes extending along its circumference through its inner and outer sides. The separating mechanism is installed on the outer periphery of the rotating sleeve. The rotating drive mechanism drives the rotating sleeve to rotate relative to the feed hopper via a belt.
[0014] The outer peripheral wall of the rotating sleeve is provided with a movable groove extending radially therefrom, and the separation mechanism is movably disposed in the movable groove. The rotating sleeve is also provided with a guide groove that extends around the outer periphery of the feed hopper. The separation mechanism is provided with a guide rod that is confined within the guide groove. The separation mechanism includes a pin and a movable block. The movable block is movably mounted on the rotating sleeve, and the pin is fixed to the movable block and used for shrimp peeling operations.
[0015] As a further preferred technical solution of this utility model, the lower stripping assembly includes a clamping mechanism, a first guide rail slider mechanism, a second guide rail slider mechanism, a clamping transmission mechanism, a clamping 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 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 clamping drive mechanism is connected to the first guide rail slider mechanism through the clamping transmission mechanism. The loading mechanism is connected to one side of the clamping mechanism.
[0016] The clamp transmission mechanism includes a crank and a guide bracket. The crank is fixedly connected to the output shaft of the clamp drive mechanism. A first sliding groove is provided on the crank, and a second sliding groove is provided on the guide bracket. The guide shaft of the first guide rail slider mechanism passes through and is limited to the first sliding groove and the second sliding groove.
[0017] 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 the hinge seat, and a spring is connected between the hinge rod and the hinge seat. The shock absorber is located on the right side of the hinge rod.
[0018] As a further preferred technical solution of this utility model, the dispensing device includes a vibrating plate and a laser-sensing dispensing component. The shrimp outlet of the vibrating plate is connected to the shrimp inlet of the laser-sensing dispensing component. The laser-sensing dispensing component is mounted on the frame via a raised plate. The laser-sensing dispensing component is provided with a dispensing mounting plate. A dispensing drive mechanism is provided at the bottom of the dispensing mounting plate. A dispensing conveyor belt is connected to the upper part of the dispensing mounting plate via screw posts. The dispensing drive mechanism drives the dispensing conveyor belt. Baffles are provided on the left and right sides of the dispensing conveyor belt. A pair of through-beam laser sensors are provided on the left and right sides of the front and rear ends of the dispensing conveyor belt. The pair of through-beam laser sensors are mounted on an L-shaped sensing bracket, which is fixed to the dispensing mounting plate.
[0019] As a further preferred technical solution of this utility model, the frame assembly includes a main frame and a sub-frame. Both the main frame and the sub-frame are composed of several profiles connected together. The main frame has three layers. A waste material receiving trough is fixed to the front side of the third layer of the main frame. The inlet of the waste material receiving trough is connected to the outlet of the queuing feeding device. A shrimp head discharge receiving trough and a shrimp tail discharge receiving trough are fixed to the front side of the second layer of the main frame. The inlet of the shrimp head discharge receiving trough is connected to the upper peeling component. The inlet of the shrimp tail discharge receiving trough is connected to the lower peeling component. An installation platform is also provided on the second layer of the main frame. The shrimp head and shrimp tail peeling device is installed and fixed on the installation platform. A gantry frame is provided in the middle of the third layer of the main frame. The displacement gripping device is installed and fixed on the gantry frame. The laser sensing material distribution component of the queuing feeding device, the material preparation device, the queuing vision device, and the material distribution device is also installed and fixed on the third layer of the main frame.
[0020] The upper part of the sub-frame is provided with a shelf, and the shelf has a rounded rectangular through hole. The four corners of the through hole have screw holes, and the sub-frame is screwed to the vibratory feeder through the screw holes of its shelf.
[0021] The main frame has triangular pieces at the four corners of its bottom, and anti-vibration and anti-slip feet are screwed onto the triangular pieces of the main frame. The bottom of the sub-frame has a pipe plug, and anti-vibration and anti-slip feet are screwed onto the pipe plug of the sub-frame.
[0022] As a further preferred technical solution of this utility model, the queuing vision device is mounted on the frame assembly via a screw plate. The queuing vision device is provided with a screw base, which is screwed onto the screw plate. A column is embedded in the middle of the screw base. A first clamping seat is clamped at the middle of the upper section of the column, and a second clamping seat is clamped at the middle section of the column. The first clamping seat is screwed to a vision camera mounting plate, and a vision camera is screwed onto the vision camera mounting plate. The second clamping seat is screwed to a vision light source mounting plate, and the vision light source mounting plate is screwed to a vision light source plate.
[0023] As a further preferred technical solution of this utility model, the queuing feeding device is installed on the frame assembly via an L-shaped component. The queuing feeding device is a belt conveyor, which includes a conveying frame, a belt, a driving roller mechanism, a driven roller mechanism, and a conveying drive mechanism. Several support rods are provided on the frame. The driving roller mechanism is provided on the front side of the frame, and the driven roller mechanism is provided on the rear side of the frame. The belt is sleeved on the driving roller mechanism and the driven roller mechanism. 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 drive mechanism. The conveying drive mechanism is fixed on one side of the conveying frame. Through-beam sensors are provided on the left and right sides of the conveying frame. The belt is a concave conveying belt.
[0024] As a further preferred technical solution of this utility model, the displacement gripping device includes a threaded mounting plate, which is fixed to the main frame. The displacement gripping device includes a linear drive assembly, a mechanical gripper assembly, and a cable chain. The mechanical gripper assembly is connected to the linear drive assembly. One end of the cable chain is connected to the mechanical gripper assembly, and the other end of the cable chain is connected to the gantry of the main frame. The linear drive assembly includes a drive motor, a transmission mechanism, a housing, a screw seat, and a slide. The transmission mechanism is located inside the housing and is driven by the drive motor. A screw seat is provided on the rear side of the housing, and the screw seat is screwed onto the threaded mounting plate between the displacement gripping device and the main frame. A slotted photoelectric sensor is installed on the upper side of the housing, and a trigger plate corresponding to the slotted photoelectric sensor is provided on the upper side of the slide.
[0025] As a further preferred technical solution of this utility model, the mechanical gripper assembly includes a mechanical gripper mounting plate, a pneumatic slide, a rotary cylinder, an electric push rod, a clamp-type opening and closing mechanism, and flexible claws. The mechanical gripper assembly is screwed onto the slide of the linear drive assembly via the mechanical gripper mounting plate. The pneumatic slide is fixed on the mechanical gripper 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, which is connected to two pairs of flexible claws.
[0026] As described above, the gripping shrimp-peeling module provided by this utility model has the following beneficial effects:
[0027] 1. This utility model utilizes the aforementioned gripping shrimp-peeling module. Compared with existing technologies, its structure, incorporating a material distribution device, a queuing vision device, a displacement gripping device, a queuing feeding device, a shrimp head and tail peeling device, a material preparation device, and a frame assembly, organically combines multiple processes such as material distribution, queuing vision detection, displacement gripping, queuing feeding, shrimp head and tail peeling, and material preparation through integrated design. This achieves a high degree of automation in the shrimp-peeling process, significantly improving peeling efficiency, reducing manual intervention, and lowering labor costs. Specifically, this utility model is equipped with a queuing vision device that can accurately detect the posture and quality of shrimp and make judgments based on AI model big data, ensuring that only shrimp that meet the requirements are further processed, thereby improving the quality and consistency of the final product. Simultaneously, this utility model includes a displacement gripping device that adaptively and selectively grips shrimp based on the detection results of the queuing vision device. This intelligent screening and gripping method avoids the mixing of unqualified shrimp and also reduces shrimp damage caused by improper gripping.
[0028] 2. This utility model utilizes the aforementioned gripping shrimp-peeling module. Compared with existing technologies, due to its structure and the inclusion of a material preparation device, it significantly improves the efficiency and accuracy of shrimp peeling, ensuring a smooth peeling process. The material preparation device is driven by a servo motor to the main drive wheel, which in turn drives the material preparation conveyor belt via a transmission belt, achieving rapid and stable shrimp transport. This design not only improves the working efficiency of the shrimp peeling module but also ensures the stability of the shrimp during transport, laying a solid foundation for subsequent peeling operations. Simultaneously, the guide side plates on both sides of the material preparation conveyor belt effectively prevent shrimp from shifting or falling during transport, further enhancing peeling accuracy. Furthermore, the motor protective baffle fully considers safety and durability, effectively protecting the servo motor from external environmental interference and damage. This utility model simplifies the shrimp peeling process and improves the automation level of shrimp peeling by incorporating a material preparation device, making shrimp peeling operations more efficient and convenient.
[0029] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description
[0030] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0031] Figure 1 This is one of the structural schematic diagrams of a gripping shrimp peeling module according to this utility model application;
[0032] Figure 2 This is the second structural schematic diagram of a gripping shrimp peeling module according to this utility model application;
[0033] Figure 3 This is a structural schematic diagram of a displacement gripping device for a gripping shrimp peeling module according to this utility model application;
[0034] Figure 4 This is a schematic diagram of the queuing vision device for a gripping shrimp peeling module according to this utility model application.
[0035] Figure 5 This is a schematic diagram of the material preparation device for a gripping shrimp peeling module according to this utility model application;
[0036] Figure 6 This is a schematic diagram of the structure of a laser-sensing dispensing component of a gripping shrimp-peeling module according to this utility model application;
[0037] Figure 7 This is a schematic diagram of the structure of a shrimp head and tail peeling device (removing the protective shell) of a gripping shrimp peeling module according to this utility model application;
[0038] Figure 8 This is a cross-sectional view of the upper peeling component of a gripping shrimp peeling module according to this utility model application.
[0039] Summary of figure labels and their descriptions:
[0040] 100. Material distribution device; 110. Vibratory feeder; 120. Laser-sensored material distribution assembly; 121. Material distribution mounting plate; 122. Material distribution drive mechanism; 123. Material distribution conveyor belt; 124. Baffle plate; 200. Queueing vision device; 210. Screw-in base; 220. Column; 230. First clamping seat; 240. Second clamping seat; 250. Vision camera mounting plate; 260. Vision camera; 270. Vision light source mounting plate 280. Vision light source board; 300. Displacement gripping device; 310. Linear drive assembly; 311. Drive motor; 312. Transmission mechanism; 313. Housing; 314. Screw base; 315. Slide table; 320. Mechanical gripper assembly; 321. Mechanical gripper mounting plate; 322. Pneumatic slide table; 323. Rotary cylinder; 324. Electric push rod; 325. Clamp-type opening and closing mechanism; 326. Flexible gripper; 330. Trailer Chain; 400, Queuing feeding device; 500, Shrimp head and tail peeling device; 510, Feed hopper; 511, Arc-shaped guide slope; 520, Upper peeling assembly; 521, Rotating sleeve; 522, Rotating drive mechanism; 523, Separation mechanism; 524, Auxiliary sleeve; 530, Lower peeling assembly; 531, Clamping mechanism; 532, First guide rail slider mechanism; 533, Second guide rail slider mechanism; 534, Clamping transmission mechanism; 5 35. Fixture drive mechanism; 536. Loading mechanism; 540. Protective housing; 600. Material preparation device; 610. Material preparation mounting plate; 620. Motor mounting bracket; 630. Servo motor; 640. Main drive wheel; 650. Drive belt; 660. Driven wheel; 670. Material preparation conveyor belt; 680. Guide side plate; 690. Motor protective baffle; 700. Frame assembly; 710. Main frame; 720. Sub-frame. Detailed Implementation
[0041] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification.
[0042] It should be noted that the structures, proportions, and sizes depicted in the accompanying drawings are merely for illustrative purposes and to aid those skilled in the art. They are not intended to limit the scope of this invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, provided they do not affect the effectiveness or purpose of this invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of this invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of this invention. Specific structures can be described with reference to the accompanying drawings of the patent application.
[0043] This utility model provides a gripping shrimp-peeling module. Please refer to [link / reference]. Figures 1 to 8 As shown, the system includes a dispensing device 100, a queuing vision device 200, a displacement gripping device 300, a queuing feeding device 400, a shrimp head and tail peeling device 500, a material preparation device 600, and a frame assembly 700. The shrimp outlet of the dispensing device 100 is connected to the shrimp inlet of the queuing feeding device 400. The queuing vision device 200 is located at the rear of the queuing feeding device 400, and the displacement gripping device 300 is located above the middle section of the queuing feeding device 400. The queuing feeding device 400 is provided next to the front middle section of the queuing feeding device 400. The shrimp outlet of the queuing feeding device 600 is connected to the shrimp inlet of the shrimp head and tail peeling device 500. The dispensing device 100, the queuing vision device 200, the displacement gripping device 300, the queuing feeding device 400, the shrimp head and tail peeling device 500, and the queuing feeding device 600 are all fixedly installed on the frame assembly 700. The dispensing device 100 is located at the rear side of the frame assembly 700.
[0044] Combination Figure 1 , Figure 2 as well as Figure 5As shown, the material preparation device 600 includes a material preparation mounting plate 610. The material preparation device 600 is fixedly mounted on the frame assembly 700 via the material preparation mounting plate 610. A motor mounting bracket 620 is fixed to the lower side of the material preparation mounting plate 610. A servo motor 630 is fixed on the motor mounting bracket 620. A main drive wheel 640 is mounted on the output shaft of the servo motor 630. The servo motor 630 drives the material preparation conveyor belt 670 via the main drive wheel 640, a drive belt 650, and a driven drive wheel 660. A guide side plate 680 is provided on both the left and right sides of the material preparation conveyor belt 670. A pair of through-beam laser sensors are also provided on the left and right sides of the front end of the material preparation conveyor belt 670. The pair of through-beam laser sensors are mounted on an L-shaped sensing bracket, which is fixed to the material preparation mounting plate 610. The motor mounting bracket 620 is screwed with a motor... The machine protective baffle 690 and the material preparation device 600 greatly improve the efficiency and accuracy of shrimp peeling, ensuring the smooth progress of the shrimp peeling process. The material preparation device 600 drives the main transmission wheel 640 through the servo motor 630, which in turn drives the material preparation conveyor belt 670 via the transmission belt 650, realizing the rapid and stable transportation of shrimp. This design not only improves the working efficiency of the shrimp peeling module, but also ensures the stability of the shrimp during transportation, laying a solid foundation for subsequent shrimp peeling operations. At the same time, the guide side plates 680 set on the left and right sides of the material preparation conveyor belt 670 effectively prevent the shrimp from deviating or falling during transportation, further improving the accuracy of shrimp peeling. In addition, the setting of the motor protective baffle 690 also fully considers safety and durability, effectively protecting the servo motor 630 from interference and damage from the external environment. This utility model simplifies the shrimp peeling process and improves the automation level of shrimp peeling by setting the material preparation device 600, making shrimp peeling operations more efficient and convenient.
[0045] Combination Figure 1 , Figure 2 , Figure 7 as well as Figure 8 As shown, the shrimp head and tail peeling device 500 includes a feeding hopper 510, an upper peeling component 520, and a lower peeling component 530. The shrimp outlet of the feeding hopper 510 is connected to the shrimp inlet of the upper peeling component 520. The upper peeling component 520 is connected to the lower peeling component 530. Both the upper peeling component 520 and the lower peeling component 530 are covered with a protective shell 540. The feeding hopper 510 is provided with an arc-shaped guide slope 511 for connecting to the shrimp outlet of the preparation device 600.
[0046] The upper stripping assembly 520 includes a rotating sleeve 521, a rotating drive mechanism 522, and a separating mechanism 523. The rotating sleeve 521 is sleeved on the outer periphery of the lower part of the feed hopper 510. An auxiliary sleeve 524 is sleeved inside the rotating sleeve 521. The peripheral wall of the auxiliary sleeve 524 has a through hole that penetrates its inner and outer sides and extends along its circumference. The separating mechanism 523 is installed on the outer periphery of the rotating sleeve 521. The rotating drive mechanism 522 drives the rotating sleeve 521 to rotate relative to the feed hopper 510 via a belt.
[0047] The outer peripheral wall of the rotating sleeve 521 is provided with a movable groove extending radially therefrom. The separation mechanism 523 is movably disposed in the movable groove. The rotating sleeve 521 is also provided with a guide groove that extends around the outer periphery of the feed hopper 510. The separation mechanism 523 is provided with a guide rod that is confined within the guide groove. The separation mechanism 523 includes a pin and a movable block. The movable block is movably mounted on the rotating sleeve 521. The pin is fixed to the movable block and used for shrimp peeling operations.
[0048] The lower stripping assembly 530 includes a clamping mechanism 531, a first guide rail slider mechanism 532, a second guide rail slider mechanism 533, a clamping transmission mechanism 534, a clamping drive mechanism 535, and a loading mechanism 536. The extension direction of the first guide rail slider mechanism 532 is parallel to the axial direction of the feed hopper 510 and perpendicular to the extension direction of the second guide rail slider mechanism 533. The clamping mechanism 531 is fixed to the first guide rail slider mechanism 532. The slider of the first guide rail slider mechanism 532 is fixedly connected to the slider of the second guide rail slider mechanism 533. The clamping drive mechanism 535 is connected to the first guide rail slider mechanism 532 through the clamping transmission mechanism 534. The loading mechanism 536 is connected to one side of the clamping mechanism 531.
[0049] The clamp transmission mechanism 534 includes a crank and a guide bracket. The crank is fixedly connected to the output shaft of the clamp drive mechanism 535. A first sliding groove is provided on the crank, and a second sliding groove is provided on the guide bracket. The guide shaft of the first guide rail slider mechanism 532 passes through and limits the first sliding groove and the second sliding groove.
[0050] The loading mechanism 536 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 the hinge seat, and a spring is connected between the hinge rod and the hinge seat. The shock absorber is provided on the right side of the hinge rod.
[0051] Combination Figure 1 , Figure 2 as well as Figure 6 As shown, the feeding device 100 includes a vibratory feeder 110 and a laser-sensing feeding assembly 120. The shrimp outlet of the vibratory feeder 110 is connected to the shrimp inlet of the laser-sensing feeding assembly 120. The laser-sensing feeding assembly 120 is mounted on the frame via a raised plate. The laser-sensing feeding assembly 120 is provided with a feeding mounting plate 121. A feeding drive mechanism 122 is provided at the bottom of the feeding mounting plate 121. The upper part of the feeding mounting plate 121 is connected to a feeding conveyor via bolts. The material distribution drive mechanism 122 drives the material distribution conveyor belt 123. Baffle plates 124 are provided on both the left and right sides of the material distribution conveyor belt 123. A pair of through-beam laser sensors are provided on the left and right sides of the front and rear ends of the material distribution conveyor belt 123. The pair of through-beam laser sensors are mounted on an L-shaped sensing bracket, which is fixed to the material distribution mounting plate 121. The laser sensing material distribution device 100 ensures that shrimp are distributed one by one through the through-beam sensors.
[0052] The frame assembly 700 includes a main frame 710 and a sub-frame 720. Both the main frame 710 and the sub-frame 720 are composed of several profiles connected together. The main frame 710 has three layers. A waste material receiving trough is fixed to the front side of the third layer of the main frame 710. The inlet of the waste material receiving trough is connected to the outlet of the queuing feeding device 400. A shrimp head discharge receiving trough and a shrimp tail discharge receiving trough are fixed to the front side of the second layer of the main frame 710. The inlet of the shrimp head discharge receiving trough is connected to the upper peeling assembly 520, and the inlet of the shrimp tail discharge receiving trough is connected to the lower peeling assembly 520. The main frame 710 is connected to the component 530. An installation platform is also provided on the second layer of the main frame 710. The shrimp head and tail peeling device 500 is installed and fixed on the installation platform. A gantry frame is provided in the middle of the third layer of the main frame 710. The displacement gripping device 300 is installed and fixed on the gantry frame. The laser sensing dispensing component 120 of the queuing feeding device 400, the material preparation device 600, the queuing vision device 200, and the dispensing device 100 is also installed and fixed on the third layer of the main frame 710. The design of the frame component 700 ensures the stability of the module and the precise cooperation between the components.
[0053] The upper part of the sub-frame 720 is provided with a shelf, and the shelf has a rounded rectangular through hole. The four corners of the through hole are provided with screw holes. The sub-frame 720 is screwed to the vibratory feeder 110 through the screw holes of its shelf.
[0054] The main frame 710 has triangular pieces at its four bottom corners, and anti-vibration and anti-slip feet are screwed onto these triangular pieces. The sub-frame 720 has a pipe plug at its bottom, and anti-vibration and anti-slip feet are screwed onto the pipe plug. Both the main frame 710 and the sub-frame 720 are equipped with anti-vibration and anti-slip feet at their bottoms. These anti-vibration and anti-slip feet can efficiently absorb and disperse the vibrations and impacts generated during equipment operation, thereby effectively reducing the potential impact of vibration on the equipment itself. At the same time, they also enhance the adhesion between the equipment and the ground, effectively preventing the equipment from sliding due to external forces during operation, ensuring the stability of the equipment and the safety of operation.
[0055] Combination Figure 1 , Figure 2 as well as Figure 4 As shown, the queuing vision device 200 is mounted on the frame assembly 700 via a screw plate. The queuing vision device 200 is provided with a screw base 210, which is screwed onto the screw plate. A column 220 is embedded in the middle of the screw base 210. A first clamping seat 230 is held in the middle of the upper section of the column 220, and a second clamping seat 240 is held in the middle section of the column 220. The first clamping seat 230 is screwed to the vision camera mounting plate 250. A vision camera 260 is screwed onto the vision camera mounting plate 250, the second clamping seat 240 is screwed onto the vision light source mounting plate 270, and the vision light source mounting plate 270 is screwed onto the vision light source plate 280. By configuring the queuing vision device 200, this utility model can accurately detect the posture and quality of shrimp and make judgments based on AI model big data. This accurate detection ensures that only shrimp that meet the requirements will be further processed by the displacement gripping device 300, thereby improving the quality and consistency of the final product.
[0056] The queuing feeding device 400 is mounted on the frame assembly 700 via an L-shaped component. The queuing feeding device 400 is a belt conveyor and includes a conveying frame, a belt, a drive roller mechanism, a driven roller mechanism, and a conveying drive mechanism. Several support rods are provided on the frame. The drive roller mechanism is located on the front side of the frame, and the driven roller mechanism is located on the rear side of the frame. The belt is sleeved on the drive roller mechanism and the driven roller mechanism. The drive roller mechanism and the driven roller mechanism are driven by the belt. The input roller shaft end of the drive roller mechanism is driven by the conveying drive mechanism. The conveying drive mechanism is fixed on one side of the conveying frame. Through-beam sensors are provided on the left and right sides of the conveying frame. The belt is a recessed conveying belt.
[0057] Combination Figure 1 , Figure 2 as well as Figure 3 As shown, the displacement gripping device 300 includes a threaded mounting plate, which is fixed to the main frame 710. The displacement gripping device 300 includes a linear drive assembly 310, a mechanical gripper assembly 320, and a cable chain 330. The mechanical gripper assembly 320 is connected to the linear drive assembly 310. One end of the cable chain 330 is connected to the mechanical gripper assembly 320, and the other end is connected to the gantry of the main frame 710. The linear drive assembly 310 includes... The device includes a drive motor 311, a transmission mechanism 312, a housing 313, a screw seat 314, and a slide 315. The transmission mechanism 312 is housed within the housing 313 and is driven by the drive motor 311. A screw seat 314 is provided on the rear side of the housing 313 and is screwed onto a threaded mounting plate between the displacement gripping device 300 and the main frame 710. A slotted photoelectric sensor is mounted on the upper side of the housing 313, and a trigger plate corresponding to the slotted photoelectric sensor is provided on the upper side of the slide 315.
[0058] The mechanical gripper assembly 320 includes a mechanical gripper mounting plate 321, a pneumatic slide 322, a rotary cylinder 323, an electric push rod 324, a clamp-type opening and closing mechanism 325, and flexible claws 326. The mechanical gripper assembly is screwed onto the slide 315 of the linear drive assembly 310 via the mechanical gripper mounting plate 321. The pneumatic slide 322 is fixed on the mechanical gripper mounting plate 321. The movable end of the pneumatic slide 322 is connected to the rotary cylinder 323. The rotary end of the rotary cylinder 323 is connected to the electric push rod 324. The electric push rod 324 is connected to the clamp-type opening and closing mechanism 325. The clamp-type opening and closing mechanism 325 is connected to two pairs of flexible claws 326. The arrangement of the two pairs of flexible claws 326 ensures the integrity of the shrimp during the gripping process and ensures high accuracy and gripping efficiency.
[0059] The working process of this gripping shrimp-peeling module is as follows:
[0060] During operation, the vibrating plate 110 in the dispensing device 100 is first activated. Its vibration function is used to send the shrimp piled up in the plate into the laser sensing dispensing component 120 one by one in an orderly manner. After the laser sensing dispensing component 120 accurately identifies and distributes the shrimp one by one, they smoothly enter the queuing feeding device 400. During the conveying process of the queuing feeding device 400, the queuing vision device 200 plays a key role. It performs high-precision detection on the posture and quality of each shrimp and makes a comprehensive judgment based on the AI model big data. Then, the displacement grasping device 300 will flexibly grasp and screen each qualified shrimp according to the detection results provided by the queuing vision device 200. The successfully grasped shrimp are then accurately put into the preparation device 600 as spare materials for subsequent processing. These prepared shrimp are sent into the feed hopper 510 of the shrimp head and tail peeling device 500 in sequence.
[0061] During the peeling process, the clamping mechanism 531 firmly holds the shrimp tail, while the separating mechanism 523 precisely grasps the shrimp head. It is worth noting that the joint connecting the shrimp head and tail is a vulnerable part of the shrimp body. This invention, by cleverly rotating the separating mechanism 523, can gently twist the shrimp head, causing the shrimp head and tail to naturally separate at the joint. Compared with the traditional knife-cutting method, this peeling method can more effectively protect the integrity of the shrimp roe and shrimp meat, thereby improving the quality of the final product.
[0062] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.
Claims
1. A gripping shrimp-peeling module, characterized in that, The device includes a dispensing device, a queuing vision device, a displacement gripping device, a queuing feeding device, a shrimp head and tail peeling device, a preparation device, and a frame assembly. The shrimp outlet of the dispensing device is connected to the shrimp inlet of the queuing feeding device. The queuing vision device is located at the rear of the queuing feeding device. The displacement gripping device is located above the middle section of the queuing feeding device. The preparation device is located beside the front middle section of the queuing feeding device. The shrimp outlet of the preparation device is connected to the shrimp inlet of the shrimp head and tail peeling device. The dispensing device, queuing vision device, displacement gripping device, queuing feeding device, shrimp head and tail peeling device, and preparation device are all fixedly mounted on the frame assembly. The dispensing device is located at the rear of the frame assembly.
2. The shrimp-peeling module according to claim 1, characterized in that, The material preparation device includes a material preparation mounting plate, which is fixedly mounted on the frame assembly. A motor mounting bracket is fixed to the lower side of the material preparation mounting plate, and a servo motor is fixed on the motor mounting bracket. A main drive wheel is mounted on the output shaft of the servo motor. The servo motor drives the material preparation conveyor belt through the main drive wheel, a drive belt, and a driven drive wheel. A guide side plate is provided on both the left and right sides of the material preparation conveyor belt. A pair of through-beam laser sensors are also provided on the left and right sides of the front end of the material preparation conveyor belt. The pair of through-beam laser sensors are mounted on an L-shaped sensing bracket, which is fixed to the material preparation mounting plate. A motor protective baffle is screwed onto the motor mounting bracket.
3. The shrimp-peeling module according to claim 1, characterized in that, The shrimp head and tail peeling device includes a feeding hopper, an upper peeling component, and a lower peeling component. The shrimp outlet of the feeding hopper is connected to the shrimp inlet of the upper peeling component. The upper peeling component is connected to the lower peeling component. Both the upper peeling component and the lower peeling component are covered with protective shells. The feeding hopper is provided with an arc-shaped guide slope for connecting the shrimp outlet of the preparation device. The upper stripping assembly includes a rotating sleeve, a rotating drive mechanism, and a separating mechanism. The rotating sleeve is fitted around the outer periphery of the lower part of the feed hopper. An auxiliary sleeve is fitted inside the rotating sleeve. The auxiliary sleeve has through holes extending along its circumference through its inner and outer sides. The separating mechanism is installed on the outer periphery of the rotating sleeve. The rotating drive mechanism drives the rotating sleeve to rotate relative to the feed hopper via a belt. The outer peripheral wall of the rotating sleeve is provided with a movable groove extending radially therefrom, and the separation mechanism is movably disposed in the movable groove. The rotating sleeve is also provided with a guide groove that extends around the outer periphery of the feed hopper. The separation mechanism is provided with a guide rod that is confined within the guide groove. The separation mechanism includes a pin and a movable block. The movable block is movably mounted on the rotating sleeve, and the pin is fixed to the movable block and used for shrimp peeling operations.
4. The shrimp-peeling module according to claim 3, characterized in that, The lower stripping assembly includes a clamping mechanism, a first guide rail slider mechanism, a second guide rail slider mechanism, a clamping transmission mechanism, a clamping 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 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 clamping drive mechanism is connected to the first guide rail slider mechanism through the clamping transmission mechanism. The loading mechanism is connected to one side of the clamping mechanism. The clamp transmission mechanism includes a crank and a guide bracket. The crank is fixedly connected to the output shaft of the clamp drive mechanism. A first sliding groove is provided on the crank, and a second sliding groove is provided on the guide bracket. The guide shaft of the first guide rail slider mechanism passes through and is limited to the first sliding groove and the second sliding groove. 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 the hinge seat, and a spring is connected between the hinge rod and the hinge seat. The shock absorber is located on the right side of the hinge rod.
5. A gripping shrimp-peeling module according to claim 4, characterized in that, The feeding device includes a vibrating plate and a laser-sensing feeding assembly. The shrimp outlet of the vibrating plate is connected to the shrimp inlet of the laser-sensing feeding assembly. The laser-sensing feeding assembly is mounted on the frame via a raised plate. The laser-sensing feeding assembly is equipped with a feeding mounting plate. A feeding drive mechanism is provided at the bottom of the feeding mounting plate. A feeding conveyor belt is connected to the upper part of the feeding mounting plate via bolts. The feeding drive mechanism drives the feeding conveyor belt. Baffles are provided on the left and right sides of the feeding conveyor belt. A pair of through-beam laser sensors are provided on the left and right sides of the front and rear ends of the feeding conveyor belt. The pair of through-beam laser sensors are mounted on an L-shaped sensing bracket, which is fixed to the feeding mounting plate.
6. A gripping shrimp-peeling module according to claim 5, characterized in that, The frame assembly includes a main frame and a sub-frame, both of which are composed of several profiles connected together. The main frame has three layers. A waste material receiving trough is fixed to the front side of the third layer of the main frame, and the inlet of the waste material receiving trough is connected to the outlet of the queuing feeding device. A shrimp head discharge receiving trough and a shrimp tail discharge receiving trough are fixed to the front side of the second layer of the main frame. The inlet of the shrimp head discharge receiving trough is connected to the upper peeling component, and the inlet of the shrimp tail discharge receiving trough is connected to the lower peeling component. An installation platform is also provided on the second layer of the main frame, on which the shrimp head and shrimp tail peeling device is installed and fixed. A gantry frame is provided in the middle of the third layer of the main frame, on which the displacement gripping device is installed and fixed. A laser-sensing dispensing component of the queuing feeding device, the material preparation device, the queuing vision device, and the dispensing device is also installed and fixed on the third layer of the main frame. The upper part of the sub-frame is provided with a shelf, and the shelf has a rounded rectangular through hole. The four corners of the through hole have screw holes, and the sub-frame is screwed to the vibratory feeder through the screw holes of its shelf. The main frame has triangular pieces at the four corners of its bottom, and anti-vibration and anti-slip feet are screwed onto the triangular pieces of the main frame. The bottom of the sub-frame has a pipe plug, and anti-vibration and anti-slip feet are screwed onto the pipe plug of the sub-frame.
7. The shrimp-peeling module according to claim 1, characterized in that, The queuing vision device is mounted on the frame assembly via a screw plate. The queuing vision device is provided with a screw base, which is screwed onto the screw plate. A column is embedded in the middle of the screw base. A first clamping seat is clamped at the middle of the upper section of the column, and a second clamping seat is clamped at the middle section of the column. The first clamping seat is screwed to a vision camera mounting plate, and a vision camera is screwed onto the vision camera mounting plate. The second clamping seat is screwed to a vision light source mounting plate, and the vision light source mounting plate is screwed to a vision light source plate.
8. A gripping shrimp-peeling module according to claim 1, characterized in that, The queuing feeding device is mounted on the frame assembly via an L-shaped component. The queuing feeding device is a belt conveyor and includes a conveyor frame, a belt, a drive roller mechanism, a driven roller mechanism, and a conveyor drive mechanism. Several support rods are provided on the frame. The drive roller mechanism is located on the front side of the frame, and the driven roller mechanism is located on the rear side of the frame. The belt is fitted over the drive roller mechanism and the driven roller mechanism. The drive roller mechanism and the driven roller mechanism are driven by the belt. The input roller shaft end of the drive roller mechanism is driven by the conveyor drive mechanism. The conveyor drive mechanism is fixed to one side of the conveyor frame. Through-beam sensors are provided on the left and right sides of the conveyor frame. The belt is a recessed conveyor belt.
9. A gripping shrimp-peeling module according to claim 6, characterized in that, The displacement gripping device includes a threaded mounting plate, which is fixed to the main frame. The device includes a linear drive assembly, a mechanical gripper assembly, and a cable chain. The mechanical gripper assembly is connected to the linear drive assembly. One end of the cable chain is connected to the mechanical gripper assembly, and the other end is connected to the gantry of the main frame. The linear drive assembly includes a drive motor, a transmission mechanism, a housing, a screw-in seat, and a slide. The transmission mechanism is housed within the housing and is driven by the drive motor. A screw-in seat is provided on the rear side of the housing and screwed onto the threaded mounting plate between the displacement gripping device and the main frame. A slotted photoelectric sensor is mounted on the upper side of the housing, and a trigger plate corresponding to the slotted photoelectric sensor is provided on the upper side of the slide.
10. A gripping shrimp-peeling module according to claim 9, characterized in that, The mechanical gripper assembly includes a mechanical gripper mounting plate, a pneumatic slide, a rotary cylinder, an electric push rod, a clamp-type opening and closing mechanism, and flexible grippers. The mechanical gripper assembly is screwed onto the slide of the linear drive assembly via the mechanical gripper mounting plate. The pneumatic slide is fixed on the mechanical gripper 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, which is connected to two pairs of flexible grippers.