Multi-head grabbing type automatic shrimp peeling machine

Abstract

The utility model belongs to the technical field of shrimp peeling equipment, and discloses a multi-head grabbing type automatic shrimp peeling machine which comprises a plurality of grabbing type shrimp peeling modules, a vibration disc feeding module, a discharging device and a rack assembly. The upper part of the rear outer side of the rack assembly is provided with the vibration disc feeding module used for supplying shrimps to the grabbing type shrimp peeling modules, and the lower part of the front inner side of the rack assembly is provided with the discharging device used for conveying shrimp heads, shrimp tails and unqualified shrimps after raw materials are processed by the grabbing type shrimp peeling modules; the vibration disc feeding module comprises a feeding module welding frame, a feeding assembly, a feeding module protection assembly and a long linear single-shaft driver, and the vibration disc feeding module is fixedly installed on the rack assembly. The automatic shrimp peeling machine improves shrimp peeling efficiency, reduces cost, enhances stability, achieves automatic classification through the discharging device, and improves classification precision and overall quality.

Description

Technical Field

[0001] This utility model belongs to the technical field of shrimp peeling equipment, and more specifically, it relates to a multi-head gripping automatic shrimp peeling machine. Background Technology

[0002] In the food processing industry, especially in seafood processing, peeling shrimp is a tedious and time-consuming task. Traditional shrimp peeling methods mostly rely on manual operation, which not only requires a large amount of manpower but is also inefficient and cannot meet the needs of large-scale production. With the advancement of technology and the development of automation, shrimp peeling lines have emerged as a new type of seafood processing equipment.

[0003] Existing shrimp-peeling methods have improved shrimp-peeling efficiency and yield to some extent, and reduced labor costs, but there are still some problems that need to be solved in practical applications:

[0004] 1. Low classification accuracy: Existing shrimp peeling equipment often lacks an effective classification mechanism at the discharge stage, resulting in peeled shrimp heads and tails being mixed together, causing inconvenience for subsequent processing. This not only reduces the overall quality of the product but also increases the difficulty and cost of subsequent processing.

[0005] Second, there is still a significant amount of manual intervention: Although the shrimp-peeling process has been partially automated, manual intervention and adjustments are still required in certain stages, such as feeding the feeding device and adjusting the shrimp-peeling device. This not only increases labor costs but may also lead to hygiene problems during the shrimp-peeling process.

[0006] Therefore, this utility model provides a multi-head gripping automatic shrimp peeling machine. Utility Model Content

[0007] In view of the above-mentioned problems of existing technology, the purpose of this utility model is to provide a multi-head gripping automatic shrimp peeling machine, which improves shrimp peeling efficiency, reduces costs, enhances stability, and enables automatic sorting of the output device, thereby improving sorting accuracy and overall quality.

[0008] The objective of this utility model can be achieved through the following technical solutions:

[0009] A multi-head gripping automatic shrimp peeling machine includes several gripping shrimp peeling modules, a vibrating feeder module, a discharge device, and a frame assembly. The gripping shrimp peeling modules are arranged linearly on the frame assembly. The vibrating feeder module for supplying shrimp to the gripping shrimp peeling modules is installed on the upper rear outer side of the frame assembly. The discharge device for conveying shrimp heads, shrimp tails, and unqualified shrimp after the gripping shrimp peeling modules have processed the raw materials is installed on the lower front inner side of the frame assembly.

[0010] The vibratory feeder module includes a feeding module welding frame, a feeding component, a feeding module protective component, and a long linear single-axis driver. The vibratory feeder module is fixedly mounted on the frame assembly via the feeding module welding frame. The feeding module welding frame is screwed to the feeding module protective component. The long linear single-axis driver is screwed to the feeding module welding frame. The feeding component is connected to the long linear single-axis driver.

[0011] As a further preferred technical solution of this utility model, the frame assembly includes a support frame composed of several profiles connected together. The support frame is provided with four support layers, and a waterproof tabletop is laid on the third and fourth support layers of the support frame.

[0012] The support frame is provided with support frames on both the left and right sides. A first electrical box device is provided on the support frame on the right side of the support frame. The first electrical box device includes a first electrical box cabinet. The first electrical box cabinet is provided with several power distribution devices and power control devices. A display screen, a touch screen, several control buttons, a keyboard, and a mouse are provided on the outer surface of the first electrical box cabinet. A second electrical box device is provided on the support frame on the left side of the support frame. The second electrical box device includes a second electrical box cabinet. The second electrical box cabinet is provided with several power distribution devices and power control devices.

[0013] The bottom of the support frame is provided with a triangular piece, and the triangular piece of the support frame is screwed with shockproof and anti-slip feet.

[0014] As a further preferred technical solution of this utility model, the gripping shrimp peeling module includes a feeding device, a distributing device, a queuing device, a visual recognition device, a displacement gripping device, a material preparation device, and a shrimp head and tail peeling device. The feeding device is located below the vibrating feeder module. The visual recognition device is fixedly installed on the waterproof plate of the fourth support layer of the support frame. The displacement gripping device is fixedly installed on the front frame of the fourth support layer of the support frame. The distributing device, the queuing device, and the material preparation device are all fixedly installed on the waterproof plate of the third support layer of the support frame. The shrimp head and tail peeling device is fixedly installed on the second support layer of the support frame. The shrimp head and tail peeling device includes a feeding hopper, an upper peeling component, and a lower peeling component. The feeding hopper is connected to the upper peeling component, and the upper peeling component is connected to the lower peeling component.

[0015] As a further preferred technical solution of this utility model, the discharge device is fixedly installed on the first support layer of the support frame. The discharge device includes an inner discharge tray, an outer discharge frame, a discharge belt, a drive roller mechanism, a driven roller mechanism, and a discharge drive mechanism. The discharge device is fixedly installed on the first support layer of the support frame through the outer discharge frame and an L-shaped fixing member. The discharge drive mechanism drives the drive roller mechanism. The drive roller mechanism is located at the left end of the discharge belt, and the driven roller mechanism is located at the right end of the discharge belt. Both the drive roller mechanism and the driven roller mechanism are fixed on the outer discharge frame. The inner discharge tray is connected to the outer discharge frame and placed inside the discharge belt. Wear-resistant strips are provided between the upper inner part of the discharge belt and the inner discharge tray, and between the lower outer part of the discharge belt and the inner discharge tray.

[0016] The upper outer side of the discharge belt is equipped with a discharge baffle, which divides the area into a shrimp head discharge channel, a shrimp tail discharge channel, and a non-conforming discharge channel. The shrimp tail discharge channel has a shrimp tail discharge trough at its end. The discharge baffle is fixed with a shrimp head receiving guide trough and a shrimp tail receiving guide trough. The inlet of the shrimp head receiving guide trough corresponds to the discharge port of the upper peeling component, and the outlet of the shrimp head receiving guide trough corresponds to the shrimp head discharge channel. The inlet of the shrimp tail receiving guide trough corresponds to the discharge port of the lower peeling component, and the outlet of the shrimp tail receiving guide trough corresponds to the shrimp tail discharge channel.

[0017] As a further preferred technical solution of this utility model, the third support layer of the support frame has a non-conforming product discharge through hole on the tabletop waterproof plate corresponding to the discharge port of the queuing device. A return pipe is provided in the non-conforming product discharge through hole, and the discharge port of the return pipe corresponds to the non-conforming product discharge channel. The third support layer has a material preparation discharge through hole corresponding to the discharge port of the material preparation device. A material preparation discharge through hole is provided at the edge of the material preparation discharge through hole, and a material inlet hopper is provided in the material preparation discharge through hole. A connection water-blocking ring is provided at the connection between the material distribution device and the queuing device on the tabletop waterproof plate of the third support layer. A material distribution device waterproof pipe is provided at the bottom of the material distribution device on the tabletop waterproof plate of the third support layer.

[0018] The support frame is equipped with an operation panel assembly for each gripping shrimp peeling module. The operation panel assembly includes a control panel, an indicator light group, and a control button group.

[0019] The third support layer has an industrial computer and several control valve assemblies installed on its waterproof platform, and the first support layer has an air storage tank connected to the several control valve assemblies.

[0020] As a further preferred technical solution of this utility model, the feeding component includes a feeding hopper, a feeding opening mechanism, a feeding fixing plate, and a feeding reinforcing plate. The feeding component is connected to the long linear single-axis driver through the feeding fixing plate and the feeding reinforcing plate. The feeding fixing plate is screwed to the feeding hopper. The feeding reinforcing plate is screwed to the feeding fixing plate and the feeding hopper. The feeding opening mechanism is screwed to the feeding hopper. The feeding opening mechanism is located at the discharge port of the feeding hopper.

[0021] The feeding module welding frame is provided with several feeding module hanging plates and feeding module nut plates. The feeding module welding frame is screwed to the frame assembly through several feeding module hanging plates and feeding module nut plates.

[0022] As a further preferred technical solution of this utility model, the shrimp outlet of the feed hopper of the shrimp head and tail peeling device 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, and the feed hopper is provided with an arc-shaped guide slope for connecting the shrimp outlet of the feed preparation device.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] The loading mechanism includes a loading seat, a hinge rod, a spring, a hinge seat, 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 also connected between the hinge rod and the hinge seat. The shock absorber is located on the right side of the hinge rod.

[0028] As a further preferred technical solution of this utility model, the material preparation device is set next to the queuing device. The material preparation device is installed on the waterproof plate of the third support layer by studs. The material preparation device is a belt conveyor. 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 of the belt conveyor.

[0029] The queuing device’s inlet is connected to the dispensing device’s outlet. The queuing device is mounted on the waterproof platform of the third support layer via an L-shaped fastener. The queuing device is a belt conveyor. A pair of laser sensors are also provided on the left and right sides of the middle section of the queuing device.

[0030] The displacement gripping device includes a screw-mounted plate, which is fixed to the front frame of the fourth support layer of the support 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 front frame of the fourth support layer. The linear drive assembly includes a drive motor, a transmission mechanism, a housing, a screw-mounted base, and a slide. The transmission mechanism is housed within the housing and is driven by the drive motor. A screw-mounted base is provided on the rear side of the housing and screwed onto the screw-mounted plate. 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.

[0031] As a further preferred technical solution of this utility model, the inlet of the material distribution device is connected to the outlet of the material supply device, the outlet of the material distribution device is connected to the inlet of the queuing device, the material distribution device is installed on the waterproof platform of the third support layer by studs, the material distribution device is provided with a material distribution mounting plate, the bottom of the material distribution mounting plate is provided with a material distribution driving mechanism, the upper part of the material distribution mounting plate is connected to a material distribution conveyor belt by studs, the material distribution driving mechanism drives the material distribution conveyor belt, the left and right sides of the material distribution conveyor belt are provided with baffles, the front end and the left and right sides of the rear end of the material distribution conveyor belt are provided with a pair of through-beam laser sensors, the pair of through-beam laser sensors are installed on an L-shaped sensing bracket, and the L-shaped sensing bracket is fixed on the material distribution mounting plate;

[0032] The feeding device includes a feeding vibratory plate, a vibratory plate support, and a weight-adding sand box. The discharge port of the feeding vibratory plate is connected to the inlet of the distributing device. The feeding vibratory plate is placed on the upper surface of the vibratory plate support, and the weight-adding sand box is placed inside the vibratory plate support. The bottom of the vibratory plate support is provided with shock-absorbing and anti-slip feet.

[0033] A visual recognition hole is provided on the fourth support layer of the support frame. The visual recognition hole is located above the middle section of the queuing device. The visual recognition device is installed on the visual recognition hole. The visual recognition device includes a visual light source plate, a visual camera, a visual camera mounting plate, and a visual light source mounting plate. The visual light source plate is embedded in the visual recognition hole. The visual light source plate is screwed to the visual light source mounting plate. The visual light source mounting plate is screwed to the visual camera mounting plate. The visual camera mounting plate is screwed to the visual camera.

[0034] As described above, the multi-head gripping automatic shrimp peeling machine provided by this utility model has the following beneficial effects:

[0035] 1. This utility model utilizes the above-mentioned multi-head gripping automatic shrimp peeling machine. Compared with the prior art, due to its structure, by integrating the functional modules of the vibrating plate feeding module, the gripping shrimp peeling module, and the discharge device, it realizes the automated feeding, identification, gripping, peeling, and discharge of shrimp, which significantly improves the efficiency and output of shrimp peeling. Furthermore, this utility model reduces the intervention of manual operation through automated processing, lowers labor costs, and improves the stability and reliability of the production line.

[0036] 2. This utility model utilizes the aforementioned multi-head gripping automatic shrimp peeling machine. Compared with the prior art, due to its structure, this utility model is equipped with a discharge device. Through the coordinated action of the discharge belt, the active roller mechanism, the driven roller mechanism, and the discharge drive mechanism, the automatic classification and conveying of shrimp heads, shrimp tails, and substandard shrimp are realized. In particular, the wear-resistant strips and discharge baffles on the discharge belt not only improve the stability and durability of the discharge process, but also, by dividing the discharge into different channels, enable the shrimp heads, shrimp tails, and substandard products to be accurately and efficiently enriched and collected. The discharge device not only simplifies the subsequent processing procedures, but also improves the classification accuracy and overall quality of the products.

[0037] 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

[0038] 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.

[0039] Figure 1 This is one of the structural schematic diagrams of a multi-head gripping automatic shrimp peeler according to this utility model application;

[0040] Figure 2 This is the second structural schematic diagram of a multi-head gripping automatic shrimp peeler according to this utility model application;

[0041] Figure 3 A cross-sectional view of a multi-head gripping automatic shrimp peeler according to this utility model application;

[0042] Figure 4This is a schematic diagram of the feeding device of a multi-head gripping automatic shrimp peeler according to this utility model application;

[0043] Figure 5 This is a schematic diagram of the structure of the visual recognition device for a multi-head gripping automatic shrimp peeling machine according to this utility model application;

[0044] Figure 6 This is a schematic diagram of the displacement gripping device of a multi-head gripping automatic shrimp peeler according to this utility model application;

[0045] Figure 7 This is a schematic diagram of the shrimp head and tail peeling device (removing the protective shell) of a multi-head gripping automatic shrimp peeling machine according to this utility model application;

[0046] Figure 8 This is a cross-sectional view of the upper peeling component of the shrimp head and tail peeling device of a multi-head gripping automatic shrimp peeling machine according to this utility model application.

[0047] Figure 9 This is a schematic diagram of the material dispensing device of a multi-head gripping automatic shrimp peeler according to this utility model application;

[0048] Figure 10 This is one of the structural schematic diagrams of the vibratory feeder module of a multi-head gripping automatic shrimp peeler according to this utility model application;

[0049] Figure 11 This is the second structural schematic diagram of the vibratory feeder module of a multi-head gripping automatic shrimp peeler for this utility model application;

[0050] Figure 12 for Figure 11 Enlarged schematic diagram of point I in the middle;

[0051] Figure 13 This is a schematic diagram of the discharge device of a multi-head gripping automatic shrimp peeler according to this utility model application;

[0052] Figure 14 This is a cross-sectional view of the discharge device of a multi-head gripping automatic shrimp peeling machine according to this utility model application.

[0053] Summary of figure labels and their descriptions:

[0054] 1000. Shrimp-peeling gripping module; 1100. Feeding device; 1110. Feeding vibratory feeder; 1120. Vibratory feeder support; 1130. Weight-adding sandbox; 1200. Visual recognition device; 1210. Visual light source plate; 1220. Visual camera; 1230. Visual camera mounting plate; 1240. Visual light source mounting plate; 1300. Displacement gripping device; 1310. Linear drive assembly; 1311. Drive motor; 1312. Transmission mechanism; 1313. Housing; 1314. Threaded connector; 1315. Slide table; 1320. Mechanical gripper assembly; 1321. Mechanical gripper mounting plate; 1322. Pneumatic slide table; 1323. Rotary cylinder 1324. Electric push rod; 1325. Clamp-type opening and closing mechanism; 1326. Flexible claw; 1400. Queuing device; 1500. Shrimp head and tail peeling device; 1510. Feed hopper; 1511. Arc-shaped guide slope; 1520. Upper peeling assembly; 1521. Rotating sleeve; 1522. Rotary drive mechanism; 1523. Separation mechanism; 1524. Auxiliary sleeve; 1530. Lower peeling assembly; 1531. Clamping mechanism; 1532. First guide rail slider mechanism; 1533. Second guide rail slider mechanism; 1534. Clamping transmission mechanism; 1535. Clamping drive mechanism; 1536. Loading mechanism; 1600. Material preparation device; 1700. Separation Material feeding device; 1710, material distribution mounting plate; 1720, material distribution drive mechanism; 1730, material distribution conveyor belt; 1740, baffle plate; 2000, vibratory feeder module; 2100, module welding frame; 2110, feeding module hanging plate; 2120, feeding module nut plate; 2200, feeding assembly; 2210, feeding hopper; 2220, feeding door opening mechanism; 2230, feeding fixing plate; 2240, feeding reinforcing plate; 2300, feeding module protective assembly; 2400, long linear single-axis driver; 3000, discharge device; 3100, discharge inner support; 3200, discharge outer frame; 3210, discharge baffle; 3211, shrimp head receiving device. Guide trough; 3212, Shrimp tail receiving guide trough; 3300, Discharge belt; 3310, Shrimp head discharge channel; 3320, Shrimp tail discharge channel; 3330, Unqualified discharge channel; 3400, Active roller mechanism; 3500, Driven roller mechanism; 3600, Discharge drive mechanism; 3700, Wear-resistant strip; 3800, Shrimp tail discharge trough; 4000, Frame assembly; 4100, Support frame; 4110, Return pipe; 4120, Operation panel assembly; 4130, Industrial control computer; 4140, Control valve assembly; 4150, Air storage tank; 4200, First electrical box device; 4210, Display screen; 4220, Touch screen; 4300, Second electrical box device. Detailed Implementation

[0055] 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.

[0056] 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.

[0057] This utility model provides a multi-head gripping automatic shrimp peeling machine. Please refer to [link / reference]. Figures 1 to 14 As shown, the system includes several gripping shrimp peeling modules 1000, a vibratory feeder module 2000, a discharge device 3000, and a frame assembly 4000. The gripping shrimp peeling modules 1000 are arranged linearly on the frame assembly 4000. The vibratory feeder module 2000 for supplying shrimp to the gripping shrimp peeling modules 1000 is installed on the upper rear outer side of the frame assembly 4000. The discharge device 3000 for conveying shrimp heads, shrimp tails, and unqualified shrimp after the gripping shrimp peeling modules 1000 have processed the raw materials is installed on the lower front inner side of the frame assembly 4000.

[0058] Combination Figure 10 and Figure 11 As shown, the vibratory feeder module 2000 includes a feeding module welding frame 2100, a feeding component 2200, a feeding module protective component 2300, and a long linear single-axis driver 2400. The vibratory feeder module 2000 is fixedly mounted on the frame assembly 4000 via the feeding module welding frame 2100. The feeding module welding frame 2100 is screwed to the feeding module protective component 2300. The long linear single-axis driver 2400 is screwed to the feeding module welding frame 2100. The feeding component 2200 is connected to the long linear single-axis driver 2400.

[0059] The rack assembly 4000 includes a support rack 4100 composed of several profiles connected together. The support rack 4100 is provided with four support layers. The third and fourth support layers of the support rack 4100 are both covered with a waterproof tabletop.

[0060] The support frame 4100 is provided with support frames on both the left and right sides. A first electrical box device 4200 is provided on the support frame on the right side of the support frame. The first electrical box device 4200 includes a first electrical box cabinet. The first electrical box cabinet is provided with a number of power distribution devices and power control devices. A display screen 4210, a touch screen 4220, a number of control buttons, a keyboard, and a mouse are provided on the outer surface of the first electrical box cabinet. A second electrical box device 4300 is provided on the support frame on the left side of the support frame. The second electrical box device 4300 includes a second electrical box cabinet. The second electrical box cabinet is provided with a number of power distribution devices and power control devices.

[0061] The bottom of the support frame 4100 is provided with a triangular piece, and the triangular piece of the support frame is screwed with anti-vibration and anti-slip feet.

[0062] Combination Figure 3 As shown, the gripping shrimp peeling module 1000 includes a feeding device 1100, a distributing device 1700, a queuing device 1400, a visual recognition device 1200, a displacement gripping device 1300, a material preparation device 1600, and a shrimp head and tail peeling device 1500. The feeding device 1100 is located below the vibrating feeder module 2000. The visual recognition device 1200 is fixedly installed on the waterproof plate of the fourth support layer of the support frame 4100. The displacement gripping device 1300 is fixedly installed on the fourth support layer of the support frame 4100. On the front frame, the dispensing device 1700, the queuing device 1400, and the preparation device 1600 are all fixedly installed on the waterproof plate of the third support layer of the support frame 4100. The shrimp head and tail peeling device 1500 is fixedly installed on the second support layer of the support frame 4100. The shrimp head and tail peeling device 1500 includes a feeding hopper 1510, an upper peeling component 1520, and a lower peeling component 1530. The feeding hopper 1510 is connected to the upper peeling component 1520, and the upper peeling component 1520 is connected to the lower peeling component 1530.

[0063] Combination Figure 13 and Figure 14As shown, the discharge device 3000 is fixedly installed on the first support layer of the support frame 4100. The discharge device 3000 includes an inner discharge tray 3100, an outer discharge frame 3200, a discharge belt 3300, a drive roller mechanism 3400, a driven roller mechanism 3500, and a discharge drive mechanism 3600. The discharge device 3000 is fixedly installed on the first support layer of the support frame 4100 via the outer discharge frame 3200 and an L-shaped fastener. The discharge drive mechanism 3600 drives the drive roller mechanism 3400. The drive roller mechanism 3400 is located at the left end of the discharge belt 3300, the driven roller mechanism 3500 is located at the right end of the discharge belt 3300, the drive roller mechanism 3400 and the driven roller mechanism 3500 are both fixed on the discharge outer frame 3200, the discharge inner support 3100 is connected to the discharge outer frame 3200 and placed inside the discharge belt 3300, and wear-resistant strips 3700 are provided between the upper inner part of the discharge belt 3300 and the discharge inner support 3100, and between the lower outer part of the discharge belt 3300 and the discharge inner support 3100.

[0064] The upper outer side of the discharge belt 3300 is provided with a discharge baffle 3210, which divides the area into a shrimp head discharge channel 3310, a shrimp tail discharge channel 3320, and a defective discharge channel 3330. The shrimp tail discharge channel 3320 is provided with a shrimp tail discharge trough 3800 at its end. The discharge baffle 3210 is fixed with a shrimp head receiving guide trough 3211 and a shrimp tail receiving guide trough 3212. The inlet of the shrimp head receiving guide trough 3211 corresponds to the discharge point of the upper peeling component 1520, and the outlet of the shrimp head receiving guide trough 3211 corresponds to the shrimp head discharge channel 3310. The inlet of the shrimp tail receiving guide trough 3212 corresponds to the discharge point of the lower peeling component 1530, and the outlet of the shrimp tail receiving guide trough 3212 corresponds to the shrimp tail discharge channel 3320.

[0065] The third support layer of the support frame 4100 has a non-conforming product discharge through hole on the tabletop waterproof plate corresponding to the discharge port of the queuing device 1400. A return pipe 4110 is installed in the non-conforming product discharge through hole, and the discharge port of the return pipe 4110 corresponds to the non-conforming discharge channel 3330. The third support layer has a material preparation discharge through hole corresponding to the discharge port of the material preparation device 1600. A material preparation discharge through hole has a waterproof edge of a feeding hopper 1510 on its edge, and a feeding hopper 1510 is installed in the material preparation discharge through hole. A connecting water-blocking ring is installed at the connection between the material distribution device 1700 and the queuing device 1400 on the tabletop waterproof plate of the third support layer. A material distribution device 1700 waterproof pipe is installed at the bottom of the material distribution device 1700 on the tabletop waterproof plate of the third support layer.

[0066] The support frame 4100 is equipped with an operation panel assembly 4120 for each gripping shrimp peeling module 1000. The operation panel assembly 4120 includes a control panel, an indicator light group, and a control button group.

[0067] The third support layer has an industrial control computer 4130 and several control valve assemblies 4140 installed on its waterproof platform. The first support layer has an air storage tank 4150 connected to the several control valve assemblies 4140.

[0068] Combination Figure 10 and Figure 12 As shown, the feeding assembly 2200 includes a feeding hopper 2210, a feeding opening mechanism 2220, a feeding fixing plate 2230, and a feeding reinforcing plate 2240. The feeding assembly 2200 is connected to the long linear single-axis driver 2400 through the feeding fixing plate 2230 and the feeding reinforcing plate 2240. The feeding fixing plate 2230 is screwed to the feeding hopper 2210. The feeding reinforcing plate 2240 is screwed to the feeding fixing plate 2230 and the feeding hopper 2210. The feeding opening mechanism 2220 is screwed to the feeding hopper 2210. The feeding opening mechanism 2220 is located at the discharge port of the feeding hopper 2210.

[0069] The feeding module welding frame 2100 is provided with a plurality of feeding module hanging plates 2110 and feeding module nut plates 2120. The feeding module welding frame 2100 is screwed to the frame assembly 4000 through the plurality of feeding module hanging plates 2110 and feeding module nut plates 2120.

[0070] Combination Figure 7As shown, the shrimp outlet of the feed hopper 1510 of the shrimp head and tail peeling device 1500 is connected to the shrimp inlet of the upper peeling component 1520. The upper peeling component 1520 is connected to the lower peeling component 1530. Both the upper peeling component 1520 and the lower peeling component 1530 are covered with a protective shell 1313. The feed hopper 1510 is provided with an arc-shaped guide slope 1511 for connecting to the shrimp outlet of the preparation device 1600.

[0071] The upper stripping assembly 1520 includes a rotating sleeve 1521, a rotating drive mechanism 1522, and a separating mechanism 1523. The rotating sleeve 1521 is sleeved on the outer periphery of the lower part of the feed hopper 1510. An auxiliary sleeve 1524 is sleeved inside the rotating sleeve 1521. The peripheral wall of the auxiliary sleeve 1524 has a through hole that penetrates its inner and outer sides and extends along its circumference. The separating mechanism 1523 is installed on the outer periphery of the rotating sleeve 1521. The rotating drive mechanism 1522 drives the rotating sleeve 1521 to rotate relative to the feed hopper 1510 via a belt.

[0072] The outer peripheral wall of the rotating sleeve 1521 is provided with a movable groove extending radially therefrom. The separation mechanism 1523 is movably disposed in the movable groove. The rotating sleeve 1521 is also provided with a guide groove, which extends around the outer periphery of the feed hopper 1510. The separation mechanism 1523 is provided with a guide rod, which is confined within the guide groove. The separation mechanism 1523 includes a pin and a movable block. The movable block is movably mounted on the rotating sleeve 1521. The pin is fixed to the movable block and is used for shrimp peeling operations.

[0073] Combination Figure 7 and Figure 8 As shown, the lower stripping assembly 1530 includes a clamping mechanism 1531, a first guide rail slider mechanism 1532, a second guide rail slider mechanism 1533, a clamping transmission mechanism 1534, a clamping drive mechanism 1535, and a loading mechanism 1536. The extension direction of the first guide rail slider mechanism 1532 is parallel to the axial direction of the feed hopper 1510 and perpendicular to the extension direction of the second guide rail slider mechanism 1533. The clamping mechanism 1531 is fixed to the first guide rail slider mechanism 1532. The slider of the first guide rail slider mechanism 1532 is fixedly connected to the slider of the second guide rail slider mechanism 1533. The clamping drive mechanism 1535 is connected to the first guide rail slider mechanism 1532 through the clamping transmission mechanism 1534. The loading mechanism 1536 is connected to one side of the clamping mechanism 1531.

[0074] The clamp transmission mechanism 1534 includes a crank and a guide bracket. The crank is fixedly connected to the output shaft of the clamp drive mechanism 1535. 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 1532 passes through and limits the first sliding groove and the second sliding groove.

[0075] The loading mechanism 1536 includes a loading seat, a hinge rod, a spring, a hinge seat, 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 also connected between the hinge rod and the hinge seat. The shock absorber is provided on the right side of the hinge rod.

[0076] The material preparation device 1600 is located next to the queuing device 1400. The material preparation device 1600 is installed on the waterproof plate of the third support layer by studs. The material preparation device 1600 is a belt conveyor. 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 of the belt conveyor.

[0077] The inlet of the queuing device 1400 is connected to the outlet of the distributing device 1700. The queuing device 1400 is installed on the waterproof platform of the third support layer by an L-shaped fastener. The queuing device 1400 is a belt conveyor. A pair of laser sensors are also provided on the left and right sides of the middle section of the queuing device 1400.

[0078] Combination Figure 6 As shown, the displacement gripping device 1300 includes a screw-mounted plate. The displacement gripping device 1300 is fixed to the front frame of the fourth support layer of the support frame 4100 via the screw-mounted plate. The displacement gripping device 1300 includes a linear drive assembly 1310, a mechanical gripper assembly 1320, and a cable chain. The mechanical gripper assembly 1320 is connected to the linear drive assembly 1310. One end of the cable chain is connected to the mechanical gripper assembly 1320, and the other end of the cable chain is connected to the front frame of the fourth support layer. The drive assembly 1310 includes a drive motor 1311, a transmission mechanism 1312, a housing 1313, a screw base 1314, and a slide 1315. The transmission mechanism 1312 is housed within the housing 1313 and is driven by the drive motor 1311. A screw base 1314 is provided on the rear side of the housing 1313 and is screwed onto the screw mounting plate. A slotted photoelectric sensor is mounted on the upper side of the housing 1313, and a trigger plate corresponding to the slotted photoelectric sensor is provided on the upper side of the slide 1315.

[0079] Combination Figure 9 As shown, the inlet of the material distribution device 1700 is connected to the outlet of the material supply device 1100, and the outlet of the material distribution device 1700 is connected to the inlet of the queuing device 1400. The material distribution device 1700 is mounted on the waterproof platform of the third support layer by studs. The material distribution device 1700 is provided with a material distribution mounting plate 1710, and a material distribution drive mechanism 1720 is provided at the bottom of the material distribution mounting plate 1710. The upper part of 710 is connected to a material distribution conveyor belt 1730 via a screw thread. The material distribution drive mechanism 1720 drives the material distribution conveyor belt 1730. Baffle plates 1740 are provided on the left and right sides of the material distribution conveyor belt 1730. 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 1730. The pair of through-beam laser sensors are mounted on an L-shaped sensing bracket, which is fixed to the material distribution mounting plate 1710.

[0080] Combination Figure 4 As shown, the feeding device 1100 includes a feeding vibratory plate 1110, a vibratory plate support 1120, and a weight-adding sand box 1130. The discharge port of the feeding vibratory plate 1110 is connected to the inlet of the distributing device 1700. The feeding vibratory plate 1110 is placed on the upper surface of the vibratory plate support 1120, and the weight-adding sand box 1130 is placed inside the vibratory plate support 1120. The bottom of the vibratory plate support 1120 is provided with shock-absorbing and anti-slip feet.

[0081] Combination Figure 5 As shown, a visual recognition hole is provided on the fourth support layer of the support frame 4100. The visual recognition hole is located above the middle section of the queuing device 1400. The visual recognition device 1200 is installed on the visual recognition hole. The visual recognition device 1200 includes a visual light source plate 1210, a visual camera 1220, a visual camera mounting plate 1230, and a visual light source mounting plate 1240. The visual light source plate 1210 is embedded in the visual recognition hole. The visual light source plate 1210 is screwed to the visual light source mounting plate 1240. The visual light source mounting plate 1240 is screwed to the visual camera mounting plate 1230. The visual camera mounting plate 1230 is screwed to the visual camera 1220.

[0082] The working process of this multi-head gripping automatic shrimp peeling machine is as follows:

[0083] The multi-head gripping automatic shrimp peeling machine designed in this utility model has a precise and efficient working process. At the beginning of operation, the vibratory feeder module 2000 starts, feeding shrimp one by one and in an orderly manner into the feeding device 1100 of each gripping shrimp peeling module 100—the feeding vibratory feeder 1110. The vibratory feeder uses its powerful vibration function to ensure that the shrimp piled up in the feeder can be neatly arranged and sent one by one into the dispensing device 1700 for precise identification and distribution.

[0084] Subsequently, these shrimp, after initial sorting, smoothly entered the queuing device 1400. During the transport process in the queuing device 1400, the visual recognition device 1200 plays a crucial role. This device performs high-precision detection on the posture and quality of each shrimp, and at the same time, combines AI model big data to make a comprehensive judgment to ensure the accuracy and efficiency of subsequent processing.

[0085] Next, the displacement gripping device 1300 will flexibly and adaptively grip and screen each qualified shrimp according to the detection results provided by the vision recognition device 1200. These successfully gripped shrimp will be accurately put into the preparation device 1600 as spare materials for subsequent processing. The prepared shrimp will be sent into the feed hopper 1510 of the shrimp head and tail peeling device 1500 in a predetermined order, ready for the next peeling operation.

[0086] During the peeling process, the shrimp tail is firmly held by the clamping mechanism 1531, while the separating mechanism 1523 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 cleverly rotates the separating mechanism 1523, gently twisting the shrimp head, causing the shrimp head and tail to naturally separate at the joint. Compared to traditional knife-cutting methods, this peeling method can more effectively protect the integrity of the shrimp roe and meat, thus significantly improving the quality of the final product.

[0087] After the peeling operation is completed, the shrimp heads and tails are conveyed to the discharge device 3000. At the same time, the shrimp that are not grasped by the displacement gripping device 1300 are conveyed to the same discharge device 3000 through the return pipe 4110. Finally, the shrimp heads, tails and unqualified shrimp are collected in the storage box for subsequent processing and classification.

[0088] 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 multi-head, grab-type, automatic shelling machine for shelling shrimp, characterized in that, The machine frame assembly comprises a support frame connected by several sections, the support frame is provided with four layers of support layers, the third layer of support layer and the fourth layer of support layer of the support frame are both paved with a waterproof plate of a table top; The left side and the right side of the support frame are both provided with a support frame, the support frame on the right side of the support frame is provided with a first electric box device, the first electric box device comprises a first electric box cabinet, a plurality of power distribution devices and control devices are arranged in the first electric box cabinet, a display screen, a touch screen, a plurality of control buttons, a keyboard and a mouse are arranged on the outer surface of the first electric box cabinet, the support frame on the left side of the support frame is provided with a second electric box device, the second electric box device comprises a second electric box cabinet, a plurality of power distribution devices and control devices are arranged in the second electric box cabinet; 2. The multi-head, grabbing, automatic shelled shrimp peeling machine according to claim 1, characterized in that, The bottom of the support frame is provided with a triangular piece, and an anti-vibration and anti-skid foot cup is screwed on the triangular piece of the support frame. The grabbing type shrimp peeling module comprises a feeding device, a distributing device, a queuing device, a visual recognition device, a displacement grabbing device, a standby device and a shrimp head and tail peeling device, the feeding device is arranged below the vibration disc feeding module, the visual recognition device is fixedly installed on the waterproof plate of the table top of the fourth layer of support layer of the support frame, the displacement grabbing device is fixedly installed on the front frame of the fourth layer of support layer of the support frame, the distributing device, the queuing device and the standby device are all fixedly installed on the waterproof plate of the table top of the third layer of support layer of the support frame, the shrimp head and tail peeling device is fixedly installed on the second layer of support layer of the support frame, the shrimp head and tail peeling device comprises an inlet hopper, an upper peeling assembly and a lower peeling assembly, the inlet hopper is connected with the upper peeling assembly, and the upper peeling assembly is connected with the lower peeling assembly. ​ 3. The multi-head, grabbing, automatic shelled shrimp peeling machine according to claim 2, characterized in that, ​ 4. The multi-head, grabbing, automatic shelled shrimp peeling machine according to claim 3, characterized in that, The discharging device is fixedly installed on the first layer of the support frame, and comprises a discharging inner holder, a discharging outer frame, a discharging belt, a driving roller mechanism, a driven roller mechanism and a discharging driving mechanism. The outer upper part of the discharging belt is provided with a discharging baffle and is divided into a shrimp head discharging channel, a shrimp tail discharging channel and an unqualified discharging channel through the discharging baffle.

5. The multi-head, grabbing, automatic shelled shrimp peeling machine according to claim 4, characterized in that, The discharging baffle is provided with a shrimp head receiving guide groove and a shrimp tail receiving guide groove, the inlet of the shrimp head receiving guide groove corresponds to the discharging position of the upper stripping assembly, the outlet of the shrimp head receiving guide groove corresponds to the shrimp head discharging channel, the inlet of the shrimp tail receiving guide groove corresponds to the discharging position of the lower stripping assembly, and the outlet of the shrimp tail receiving guide groove corresponds to the shrimp tail discharging channel. The third layer of the support frame is provided with an unqualified product discharging through hole corresponding to the discharging port of the queuing device, a reflux pipe is arranged in the unqualified product discharging through hole, the outlet of the reflux pipe corresponds to the unqualified discharging channel, a material preparation discharging through hole is arranged on the waterproof plate of the third layer of the support frame corresponding to the discharging port of the material preparation device, a material hopper waterproof edge is arranged on the edge of the material preparation discharging through hole, a material hopper is arranged in the material preparation discharging through hole, a connecting water-proof ring is arranged on the waterproof plate of the third layer of the support frame at the connection position of the material preparation device and the queuing device, and a material preparation device waterproof pipe is arranged at the bottom of the material preparation device. The support frame is provided with an operation panel assembly corresponding to each grabbing type shrimp peeling module, and the operation panel assembly comprises a control panel, a prompt light group and a control button group. The third layer of the support frame is provided with a work computer and a plurality of control air valve assemblies, and the first layer of the support frame is provided with a gas storage tank connected with the plurality of control air valve assemblies.

6. The multi-head, grabbing, automatic sheller according to claim 1, wherein, The feeding assembly comprises a feeding hopper, a feeding door opening mechanism, a feeding fixing plate and a feeding reinforcing plate, the feeding assembly is connected with the long straight line single shaft driver through the feeding fixing plate and the feeding reinforcing plate, the feeding fixing plate is screwed with the feeding hopper, the feeding reinforcing plate is screwed with the feeding fixing plate and the feeding hopper, the feeding door opening mechanism is screwed with the feeding hopper, and the feeding door opening mechanism is arranged at the discharging port of the feeding hopper. The feeding module welding frame is screwed with the rack assembly through the feeding module hanging plates and the feeding module nut plates.

7. The multi-head, grabbing, automatic shelling machine for shelled shrimp according to claim 3, wherein, The shrimp outlet of the feeding hopper of the shrimp head and shrimp tail stripping device is connected with the shrimp inlet of the upper stripping assembly, the upper stripping assembly is connected with the lower stripping assembly, the upper stripping assembly and the lower stripping assembly are both externally provided with protective shells, and an arc-shaped guide slope surface for connecting the shrimp outlet of the preparation device is arranged in the feeding hopper. The upper stripping assembly comprises a rotating sleeve, a rotating driving mechanism and a separating mechanism, the rotating sleeve is sleeved on the outer periphery of the lower part of the feeding hopper, an auxiliary sleeve is sleeved in the rotating sleeve, a through hole extending through the inner and outer sides of the auxiliary sleeve and extending along the circumference of the auxiliary sleeve is formed in the peripheral wall of the auxiliary sleeve, the separating mechanism is installed on the outer periphery of the rotating sleeve, and the rotating driving mechanism drives the rotating sleeve to rotate relative to the feeding hopper through a belt. The outer peripheral wall of the rotating sleeve is provided with a movable groove extending in the radial direction, the separating mechanism is movably arranged in the movable groove, the rotating sleeve is also provided with a guide groove extending around the outer periphery of the feeding hopper, the separating mechanism is provided with a guide rod, the guide rod is limited in the guide groove, and the separating mechanism comprises a pin and a movable block.

8. The multi-head, grabbing, automatic shelling machine according to claim 3 or 7, characterized in that, The lower stripping assembly comprises a clamp mechanism, a first guide rail sliding block mechanism, a second guide rail sliding block mechanism, a clamp transmission mechanism, a clamp driving mechanism and a loading mechanism, the extension direction of the first guide rail sliding block mechanism is parallel to the axial direction of the feeding hopper and perpendicular to the extension direction of the second guide rail sliding block mechanism, the clamp mechanism is fixed to the first guide rail sliding block mechanism, the sliding block of the first guide rail sliding block mechanism is fixedly connected with the sliding block of the second guide rail sliding block mechanism, the clamp driving mechanism is connected with the first guide rail sliding block mechanism through the clamp transmission mechanism, and the loading mechanism is connected to one side of the clamp mechanism. The clamp transmission mechanism comprises a crank and a guide support, the crank is fixedly connected with the output shaft of the clamp driving mechanism, a first sliding groove is formed in the crank, the guide support is provided with a second sliding groove, and the guide shaft of the first guide rail sliding block mechanism penetrates the first sliding groove and the second sliding groove. The loading mechanism comprises a loading seat, a hinged rod, a spring, a hinged seat and a shock absorber, the loading seat is connected with the hinged rod, the hinged rod is hinged with the hinged seat, and the spring is further connected between the hinged rod and the hinged seat, and the shock absorber is arranged on the right side of the hinged rod.

9. The multi-head, grabbing, automatic sheller according to claim 3, wherein, The material preparation device is arranged beside the queuing device, the material preparation device is mounted on the tabletop waterproof plate of the third layer support layer through a stud, the material preparation device is a belt conveyor, and a pair of opposite laser sensors are further arranged on the left side and the right side of the front end of the material preparation conveying belt of the belt conveyor. The feeding port of the queuing device is connected with the discharging port of the material distribution device, the queuing device is mounted on the tabletop waterproof plate of the third layer support layer through an L-shaped fixing piece, the queuing device is a belt conveyor, and a pair of opposite laser sensors are further arranged on the left side and the right side of the middle section of the queuing device. The displacement grabbing device comprises a screw mounting plate, the displacement grabbing device is fixed on the front frame of the fourth layer support layer of the support rack through the screw mounting plate, the displacement grabbing device comprises a linear drive assembly, a mechanical clamp jaw assembly and a drag chain, the mechanical clamp jaw assembly is connected with the linear drive assembly, one end of the drag chain is connected with the mechanical clamp jaw assembly, the other end of the drag chain is connected with the front frame of the fourth layer support layer, the linear drive assembly comprises a driving motor, a transmission mechanism, a housing, a screw seat and a sliding table, the transmission mechanism is arranged in the housing, the transmission mechanism is driven by the driving motor, the screw seat is arranged on the back side of the housing, the screw seat is screwed on the screw mounting plate, a slot photoelectric sensor is mounted on the upper side of the housing, and a trigger piece corresponding to the slot photoelectric sensor is arranged on the upper side of the sliding table.

10. The multi-head, grabbing, automatic sheller according to claim 3, wherein, The feeding port of the material distribution device is connected with the discharging port of the material supply device, the discharging port of the material distribution device is connected with the feeding port of the queuing device, the material distribution device is mounted on the tabletop waterproof plate of the third layer support layer through a stud, the material distribution device is provided with a material distribution mounting plate, a material distribution driving mechanism is arranged at the bottom of the material distribution mounting plate, a material distribution conveying belt is connected to the upper part of the material distribution mounting plate through a screw column, the material distribution driving mechanism drives the material distribution conveying belt, a blocking plate is arranged on the left side and the right side of the material distribution conveying belt, a pair of opposite laser sensors are arranged on the left side and the right side of the front end and the rear end of the material distribution conveying belt, the pair of opposite laser sensors are mounted on an L-shaped sensing support, and the L-shaped sensing support is fixed on the material distribution mounting plate. The feeding device comprises a feeding vibrating disc, a vibrating disc support and a weight sand box, the discharge port of the feeding vibrating disc is connected with the feeding port of the distributing device, the feeding vibrating disc is arranged on the upper end surface of the vibrating disc support, the weight sand box is arranged in the vibrating disc support, and the bottom of the vibrating disc support is provided with shockproof and antiskid foot cups. The fourth layer support layer of the support frame is provided with a visual identification hole, the visual identification hole is arranged above the middle section of the queuing device, the visual identification device is installed on the visual identification hole, the visual identification device comprises a visual light source plate, a visual camera, a visual camera mounting plate and a visual light source mounting plate, the visual light source plate is embedded in the visual identification hole, the visual light source plate is screwed with the visual light source mounting plate, the visual light source mounting plate is screwed with the visual camera mounting plate, and the visual camera mounting plate is screwed with the visual camera.

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