CN108208123B

CN108208123B - Automatic change cray and get meat equipment

Info

Publication number: CN108208123B
Application number: CN201810007048.3A
Authority: CN
Inventors: 不公告发明人
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-01-04
Filing date: 2018-01-04
Publication date: 2020-10-23
Anticipated expiration: 2038-01-04
Also published as: CN108208123A

Abstract

The invention discloses automatic crayfish meat taking equipment which comprises a crayfish flattening device, a crayfish conveying device, a crayfish forceps removing device, a crayfish head and tail removing device, a crayfish intestine and meat taking device and a crayfish forceps meat taking device. The crayfish flattening device can straighten and flatten crayfishes in a curling state; the crayfish conveying device can clamp the flattened crayfish on the crayfish flattening device and convey the crayfish to the crayfish clamp removing device, the crayfish head and tail removing device and the crayfish intestine and kernel removing device; the crayfish forceps removing device can realize automatic forceps removing of crayfish; the crayfish head and tail removing device can realize automatic head and tail removal of crayfish; the crayfish intestine and kernel removing device can automatically separate the crayfish intestine line and the crayfish kernels in the crayfish body; the meat taking device of the crayfish clamp can automatically take out the clamp meat in the crayfish clamp. The automatic crayfish meat taking equipment of this disclosure can handle crayfish with high efficiency and high quality.

Description

Automatic change cray and get meat equipment

Technical Field

The invention relates to the field of crayfish processing, in particular to automatic crayfish meat taking equipment.

Background

The crayfish is a freshwater economic shrimp and is popular with people because of delicious meat taste. For more convenient eating, preservation or transportation, the shells and heads of the fresh and alive crayfish can be removed after being cooked, and the crayfish meat can be packaged and encapsulated.

The existing crayfish shelling mainly comprises two methods of manual shelling and machine shelling. The manual shelling requires manual operation of a sheller, the speed is low, the efficiency is low, the cost is high, and the requirement of processing a large amount of crayfishes is difficult to realize. The existing machine shelling usually employs a squeezing process, i.e., squeezing the shrimp shell so that the shrimp meat protrudes and separates from the shrimp shell. However, the machine shelling method has the defects that the shrimp shells are easy to adhere to the extrusion roll shaft to influence the shelling efficiency, a large amount of broken shrimp shells are arranged on the shelled shrimp meat, the taste of the shelled shrimp is influenced by the need of watering for auxiliary shelling in the shelling process, and the like.

Therefore, the efficient and high-quality processing of crayfish becomes a technical problem which needs to be solved urgently in the field.

Disclosure of Invention

An object of the present invention is to provide a new technical solution of a crawfish processing apparatus which can process crawfish with high efficiency and high quality.

According to a first aspect of the invention, an automated crawfish meat extraction apparatus is provided.

The automatic crayfish meat taking equipment comprises a crayfish flattening device, a crayfish conveying device, a crayfish clamp removing device, a crayfish head and tail removing device, a crayfish intestine and meat taking device and a crayfish shrimp clamp meat taking device; wherein,

the crayfish flattening device comprises a flattening device base, a flattening device turnover mechanism and a flattening device clamping mechanism, wherein the flattening device turnover mechanism comprises a flattening device turning support assembly and a flattening device turning driving unit, the flattening device turning support assembly comprises a flattening connecting support and a flattening turning support, the flattening connecting support is arranged to be used for connecting the flattening device base and the flattening turning support, the flattening device turning driving unit is arranged to be used for driving the flattening turning support to rotate, and the flattening device clamping mechanism is arranged to be used for clamping and flattening crayfish;

the crayfish transporting device comprises a transporting device base, a transporting device base driving unit, a transporting device overturning mechanism and a transporting device clamping mechanism, wherein the transporting device base driving unit is arranged to drive the transporting device base to move, the transporting device overturning mechanism comprises a transporting device overturning support and a transporting device overturning driving unit, the transporting device overturning support is connected with the transporting device base, the transporting device overturning driving unit is arranged to drive the transporting device overturning support to rotate, the transporting device clamping mechanism is installed on the transporting device overturning support, and the transporting device clamping mechanism is arranged to clamp the edge part of the crayfish shell flattened by the flattening device clamping mechanism and keep the crayfish in a flattened state;

the crayfish pincers removing device comprises a crayfish head positioning mechanism and a pincers removing knife, the crayfish head positioning mechanism comprises a pair of crayfish head positioning blocks, a positioning block mounting plate and a crayfish head positioning block elastic connecting piece, a crayfish pincers limiting surface used for limiting the crayfish pincers is arranged on the crayfish head positioning block, a crayfish head positioning gap is formed between the pair of crayfish head positioning blocks, the crayfish head positioning block elastic connecting piece is connected with the crayfish head positioning block and the positioning block mounting plate, and the pincers removing knife is rotatably connected with the crayfish head positioning block to cut off the crayfish pincers of the crayfish on;

the crayfish head and tail removing device comprises a head and tail removing device support and a head and tail removing mechanism, the head and tail removing mechanism is installed on the head and tail removing device support, the head and tail removing mechanism comprises a head and tail clamp and a head and tail clamp driving unit, the head and tail clamp is arranged for clamping the head or the tail of a crayfish, and the head and tail clamp driving unit is arranged for driving the head and tail clamp to swing so as to separate the head or the tail of the crayfish from the body of the crayfish on the crayfish transporting device;

the device for removing the shrimp intestine and taking the shelled shrimps of the crayfish comprises a trunk positioning table, a shell breaking knife, a shrimp intestine line removing mechanism and a shrimp meat baffle block, the trunk positioning table, the shell breaking knife, the shrimp gut removing mechanism and the shrimp meat baffle block are arranged in sequence, the trunk positioning table has a trunk positioning surface configured to position a front surface of a trunk held on the crawfish transporting device, the shell breaking knife is arranged to be used for cutting the shell on the front side of the trunk, the shrimp gut removing mechanism comprises a shrimp gut removing mechanism base and a shrimp gut removing knife assembly, the shrimp gut removing cutter component comprises a gut removing cutter and an elastic gut removing cutter connecting piece, the elastic gut removing cutter connecting piece is connected with the shrimp gut removing mechanism base and the gut removing cutter, the shrimp meat stopper is arranged to abut against shrimp meat in the trunk so that the shrimp meat leaves the trunk;

the crayfish shrimp clamp meat taking device comprises a shrimp clamp transmission mechanism, a shrimp clamp positioning mechanism and a shrimp clamp meat taking mechanism, wherein the shrimp clamp transmission mechanism is arranged for transmitting shrimp clamps to the shrimp clamp positioning mechanism, the shrimp clamp positioning mechanism comprises a shrimp clamp positioning mechanism support, a shrimp clamp positioning block and a shrimp clamp positioning block driving unit, the shrimp clamp positioning block driving unit is installed on the shrimp clamp positioning mechanism support, the shrimp clamp positioning block driving unit is arranged for driving the shrimp clamp positioning block to press and fix the shrimp clamps transmitted by the shrimp clamp transmission mechanism, the shrimp clamp meat taking mechanism comprises a clamp tip clamping assembly, the clamp tip clamping assembly comprises a clamp tip clamping piece, a clamp tip clamping piece clamping driving unit and a clamp tip clamping piece shaking driving unit, the clamp tip clamping piece clamping driving unit is arranged for driving the clamp tip clamping piece to clamp or release the clamp tip of the shrimp clamps, the forceps tip clamping piece shaking drive unit is arranged to drive the forceps tip clamping piece with the forceps tip to shake

Optionally, the flattening device gripping mechanism comprises a flattening device gripping assembly and a flattening device flattening assembly;

the flattening device clamping assembly comprises a first clamping piece and a flattening device detection unit, the first clamping piece is installed on the flattening overturning bracket, the first clamping piece is arranged for clamping one end of the crayfish when the flattening device detection unit detects the crayfish, and the flattening device detection unit is arranged for detecting the position of the crayfish;

the flattening device flattening assembly comprises a flattening sliding piece, a second clamping piece and a flattening sliding piece driving unit, the flattening sliding piece is connected with the flattening overturning support in a sliding fit mode, the second clamping piece is installed on the flattening sliding piece, the second clamping piece is arranged to be used for clamping crayfish when the first clamping piece clamps one end of the crayfish, and the flattening sliding piece driving unit is arranged to be used for driving the flattening sliding piece to move along the direction of the flattening overturning support far away from the first clamping piece so as to flatten the crayfish.

Optionally, the turnover mechanism of the flattening device further comprises a telescopic unit of the turnover mechanism of the flattening device;

the expansion unit of the flattening device turnover mechanism is connected with the flattening device base and the flattening connecting support, and the length of the expansion unit of the flattening device turnover mechanism is adjustable so as to change the distance between the flattening connecting support and the flattening device base.

Optionally, the two sets of flattening assemblies of the flattening device are respectively located on two sides of the clamping assembly of the flattening device.

Optionally, the flattening device gripping mechanism further comprises a weight judgment unit;

the weight judging unit is configured to judge the weight of both sides of the first gripper so that the flattening device flattening assembly on the heavier side of the flattening device gripper assembly operates.

Optionally, the flattening device detection unit is a color sensor;

the color sensor is arranged to detect the eyes of the crawfish so that the first gripper grips the head of the crawfish.

Optionally, the flattening device clamping assembly further comprises a first clamping piece clamping unit;

the first clamping pieces are symmetrically arranged first clamping rods, and the first clamping piece clamping units are arranged for driving the first clamping rods to move towards or away from each other so as to clamp or release the crayfishes.

Optionally, the first clamping rod is a telescopic rod.

Optionally, the flattening device flattening assembly further comprises a second clamping and taking piece clamping unit;

the second clamping pieces are symmetrically arranged second clamping rods, and the second clamping piece clamping units are arranged for driving the second clamping rods to move towards or away from each other so as to clamp or release the crayfishes.

Optionally, the second clamping bar is a telescopic bar.

Optionally, the crayfish flattening device further comprises a flattening device main support and a flattening device base driving unit;

the flattening device base is connected with the flattening device main support in a sliding fit mode, and the flattening device base driving unit is arranged to be used for driving the flattening device base to move along the flattening device main support.

Optionally, the crawfish flattening device further comprises a crawfish straightening mechanism;

the crayfish straightening mechanism comprises a straightening mechanism support, a straightening mechanism conveying belt and a plurality of straightening mechanism rolling shafts arranged in parallel, wherein the straightening mechanism conveying belt and the straightening mechanism rolling shafts are both arranged on the straightening mechanism support;

the straightening mechanism rolling shafts are provided with gaps, and the straightening mechanism rolling shafts are configured to rotate so that crayfishes pass through the gaps between the adjacent straightening mechanism rolling shafts;

the straightening mechanism conveying belt is arranged to be used for conveying the crayfishes falling from the gap between the rolling shafts of the straightening mechanism to the working area of the flattening device clamping mechanism.

Optionally, the rolling shaft of the guide mechanism comprises a shaft center and a shaft sleeve, and the shaft sleeve is sleeved outside the shaft center.

Optionally, the crayfish flattening device further comprises a crayfish supply mechanism;

the crayfish supply mechanism comprises a crayfish storage box and a crayfish supply mechanism conveying belt;

the crayfish supply mechanism conveying belt is arranged to be used for conveying crayfish stored in the crayfish storage box to the crayfish guiding mechanism.

Optionally, the crawfish storage box comprises a crawfish storage box body and a plurality of crawfish baffles;

the crayfish storage box body is positioned above the conveying belt of the crayfish supply mechanism;

the crawfish baffle is configured for separating stacked crawfish such that a single layer of crawfish is transferred to the crawfish straightening mechanism.

Optionally, the transporter gripping mechanism is mounted on the transporter overturning stand and includes at least a pair of third gripping members arranged to grip an edge portion of the shrimp shell of the flattened crayfish and to hold the crayfish in the flattened state.

Optionally, the crawfish transporter further comprises a transporter base chute;

the transporter base slide is in sliding fit with the transporter base, and the transporter base drive unit is configured to drive the transporter base to move along the transporter base slide.

Optionally, the transportation device turnover mechanism further comprises a transportation device turnover mechanism telescopic unit;

the transport device turnover mechanism telescopic unit is connected with the transport device base and the transport device turnover support, and the length of the transport device turnover mechanism telescopic unit is adjustable so as to change the distance between the transport device turnover support and the transport device base.

Optionally, the telescopic unit of the transport device turnover mechanism is a telescopic rod.

Optionally, the transportation device gripping mechanism further comprises a third gripping member positioning member driving unit and a pair of third gripping member positioning members;

the third clamping and taking positioning piece is connected with the turnover bracket of the conveying device in a sliding fit manner, and the third clamping and taking positioning piece driving unit is arranged for driving the pair of third clamping and taking positioning pieces to move towards or away from each other;

the number of the third clamping pieces is two, and each third clamping piece positioning part is provided with a pair of the third clamping pieces.

Optionally, the transportation device gripping mechanism further comprises a gripping block driving unit;

the single third clamping piece comprises clamping blocks which are arranged in a mirror symmetry mode, and the clamping blocks are connected with the third clamping piece positioning piece in a sliding fit mode;

the gripping block driving unit is configured to drive the gripping blocks of the individual third gripping members to move toward and away from each other to grip or release an edge portion of a shrimp shell of the crayfish.

Optionally, the crayfish pincers removing device further comprises a pincers removing device bracket and a crayfish head positioning mechanism driving unit;

the positioning block mounting plate is connected with the clamp removing device bracket in a sliding fit manner;

the shrimp head positioning mechanism driving unit is installed on the de-nipper device bracket, and the shrimp head positioning mechanism driving unit is configured to drive the shrimp head positioning mechanism to move.

Optionally, the crawfish clamp removing device further comprises a crawfish clamp collecting box;

the shrimp head positioning block is provided with a shrimp clamp guiding surface, and the shrimp clamp guiding surface is used for guiding the shrimp clamps cut by the clamp removing knife to the shrimp clamp collecting box.

Optionally, the shrimp head positioning block has a shrimp head guiding surface arranged for guiding the shrimp head of the crayfish to the shrimp head positioning gap.

Optionally, the crayfish head and tail removing device further comprises a head and tail collecting box;

the head and tail removing mechanism further comprises a head and tail clamp telescopic unit;

the head and tail clamp telescopic unit is connected with the head and tail removing device support and the head and tail clamp driving unit, and the length of the head and tail clamp telescopic unit is adjustable so as to throw the shrimp heads and the shrimp tails separated from the trunk into the head and tail collecting box.

Optionally, the head-tail clamp telescopic unit is a telescopic rod.

Optionally, the head and tail removing mechanism further comprises a head and tail clamp bracket;

the head and tail clamp comprises a head and tail clamp clamping block driving unit and a pair of head and tail clamp clamping blocks, the head and tail clamp clamping block driving unit is installed on the head and tail clamp support, and the head and tail clamp clamping block driving unit is used for driving the pair of head and tail clamp clamping blocks to move towards or away from each other so as to clamp or release the heads or tails of the crayfish;

the head and tail clamp driving unit is used for driving the head and tail clamp support to rotate so that the head and tail clamp can shake.

Optionally, the trunk positioning table has a trunk guiding surface, and the trunk guiding surface is in smooth transition connection with the trunk positioning surface;

the trunk guide surface is arranged to guide a trunk clamped on the crawfish transporting device onto the trunk positioning surface.

Optionally, the cutting edge of the shell breaking knife has a guide section and a straight section, the guide section has an arc shape, the straight section has a linear shape, and the guide section is adjacent to the trunk positioning table compared to the straight section;

the straight section extends along the transport direction of the crayfish transport device, and the top end of the straight section is higher than the trunk locating surface.

Optionally, a gut removing knife mounting groove is arranged on the base of the shrimp gut removing mechanism;

the gut removing cutter is provided with a gut removing cutter positioning part;

the gut is got rid of sword elastic connector and is located the gut is got rid of in the sword mounting groove, just the gut is got rid of sword location portion with mounting groove clearance fit is got rid of to the gut.

Optionally, the gut removal knife further comprises a gut removal knife body and a gut removal knife blade;

the positioning part of the gut removing knife is fixedly connected with the gut removing knife main body;

the gut removal knife blade is located at the edge of the gut removal knife body, and the free end of the gut removal knife blade faces towards the direction of the gut removal knife body.

Optionally, the shrimp gut removal knife assembly comprises a pair of the gut removal knives;

the pair of the gut removing knives forms a spherical curved surface, and the cutting edges of the gut removing knives form a circular arc shape.

Optionally, the catgut removal knife elastic connector is a compression spring.

Optionally, the crayfish shrimp intestine and kernel removing device further comprises a shrimp intestine and kernel removing device bracket;

the shell breaking knife, the shrimp intestine line removing mechanism base and the shrimp meat baffle block are all installed on the shrimp intestine removing and meat taking device support.

Optionally, the shrimp intestine removing and kernel taking device support comprises a support enclosing plate, a shrimp intestine line baffle and a shrimp kernel baffle;

the support enclosing plate is provided with a V-shaped plate part and an extension plate part, the extension plate part extends from the free end of the V-shaped plate part to the direction far away from the tip end of the V-shaped plate part, and an included angle is formed at the joint of the extension plate part and the V-shaped plate part;

the shell breaking knife is positioned at the tip of the V-shaped plate part;

the shrimp gut line baffle is fixedly connected with the V-shaped plate part, the shrimp gut line baffle and the V-shaped plate part form a shrimp gut line collecting region, and the base of the shrimp gut line removing mechanism is fixedly connected with the shrimp gut line baffle;

the shrimp meat baffle is fixedly connected with the end part of the extension plate part, the shrimp meat baffle, the support enclosing plate and the shrimp sausage line baffle form a shrimp meat collecting area, and the shrimp meat baffle is fixedly connected with the shrimp meat baffle.

Optionally, the crayfish intestine and meat taking device further comprises a crayfish intestine line storage box and a crayfish meat storage box;

the shrimp gut receiving box corresponds to the shrimp gut collecting area so as to receive the shrimp gut;

the shrimp meat containing box corresponds to the shrimp meat collecting area to contain shrimp meat.

Optionally, the shrimp stop is made of a flexible material.

Optionally, the shrimp clamp positioning mechanism further comprises a shrimp clamp positioning transmission unit;

the shrimp clamp positioning and transmitting unit is used for holding shrimp clamps, so that the shrimp clamp positioning block can fixedly press the shrimp clamps transmitted by the shrimp clamp transmitting mechanism on the shrimp clamp positioning and transmitting unit.

Optionally, the shrimp clamp positioning and transmitting unit includes a plurality of parallel shrimp clamp positioning rolling shafts and a shrimp clamp positioning rolling shaft driving unit;

the shrimp clamp positioning rolling shaft driving unit is arranged to drive the shrimp clamp positioning rolling shaft to rotate so as to move the shrimp clamp on the shrimp clamp positioning rolling shaft.

Optionally, the shrimp clamp meat taking mechanism further comprises a shrimp clamp shell storage box;

the shrimp clamp shell containing box is arranged at the tail end of the shrimp clamp positioning and transmitting unit to collect shrimp clamp shells.

Optionally, the shrimp clamp conveying mechanism comprises a shrimp clamp conveying mechanism bracket, a shrimp clamp conveying belt, a shrimp clamp conveying press block and a shrimp clamp conveying press block elastic connecting piece;

the shrimp clamp conveying mechanism support is connected with the shrimp clamp conveying mechanism support through the shrimp clamp conveying press block elastic connecting piece, so that the shrimp clamp conveying press block applies acting force towards the shrimp clamp conveying belt to the shrimp clamps on the shrimp clamp conveying belt;

the shrimp clamp conveying belt is communicated with the shrimp clamp positioning and conveying unit so as to convey the shrimp clamps to the shrimp clamp positioning and conveying unit.

Optionally, the crawfish shrimp clamp meat taking device further comprises a shrimp clamp meat taking device bracket;

the shrimp clamp positioning mechanism also comprises a shrimp clamp positioning mechanism support first driving unit, a shrimp clamp leg cutting knife and a shrimp clamp leg cutting knife driving unit;

the shrimp clamp positioning mechanism support first driving unit is arranged on the shrimp clamp meat taking device support and is used for driving the shrimp clamp positioning mechanism support to apply acting force towards the shrimp clamp positioning and transmitting unit to the shrimp clamps on the shrimp clamp positioning and transmitting unit;

the shrimp clamp positioning mechanism support is provided with a shrimp clamp head limiting part, the shrimp clamp head limiting part is used for limiting the position of the head of the shrimp clamp, and the distance between the shrimp clamp head limiting part and the shrimp clamp positioning transmission unit is smaller than the distance between the shrimp clamp transmission pressing block and the shrimp clamp positioning transmission unit;

the shrimp clamp leg cutting knife driving unit is installed on the shrimp clamp positioning mechanism support, and the shrimp clamp leg cutting knife driving unit is set to be used for driving the shrimp clamp leg cutting knife to be cut off by the limit part of the shrimp clamp head is limited on the leg part of the shrimp clamp on the shrimp clamp positioning transmission unit.

Optionally, the crayfish forceps meat taking device further comprises a position sensor;

the position sensor is configured to detect positions of the shrimp clamp transmission block and the shrimp clamp head limiting portion to maintain a difference between a distance between the shrimp clamp head limiting portion and the shrimp clamp positioning transmission unit and a distance between the shrimp clamp transmission block and the shrimp clamp positioning transmission unit.

Optionally, the shrimp clamp positioning mechanism further comprises a shrimp clamp positioning transmission unit mounting bracket and a shrimp clamp positioning mechanism bracket second driving unit;

the shrimp clamp positioning and transmitting unit is arranged on the shrimp clamp positioning and transmitting unit mounting bracket, and the shrimp clamp positioning and transmitting unit mounting bracket is connected with the shrimp clamp positioning mechanism bracket;

the shrimp clamp positioning mechanism support second driving unit is installed on the shrimp clamp meat taking device support, and the shrimp clamp positioning mechanism support second driving unit is arranged to be used for driving the shrimp clamp positioning mechanism support to move along the conveying direction of the shrimp clamp positioning conveying unit.

Optionally, the shrimp clamp meat taking mechanism further comprises a shrimp clamp meat taking mechanism connecting bracket;

the shrimp clamp meat taking mechanism connecting support is arranged to be used for installing the clamp tip clamping assembly on the shrimp clamp positioning mechanism support.

Optionally, the shrimp clamp meat taking mechanism further comprises a clamp tip clamping assembly position adjusting piece;

the clamp point clamping assembly position adjusting piece is positioned between the shrimp clamp meat taking mechanism connecting support and the clamp point clamping assembly so as to adjust the clamping position of the clamp point clamping assembly.

Optionally, the shrimp clamp meat taking mechanism further comprises a clamp meat receiving box configured to collect clamp meat of the shrimp clamp.

Optionally, the shrimp clamp meat taking mechanism comprises a pair of clamp point clamping assemblies;

a pair of said jaw tip holding assemblies are arranged for holding side and main jaw tips of shrimp pincers, respectively.

Optionally, the jaw tip holder comprises a pair of disc-shaped clamping plates arranged in mirror symmetry;

the clamp point clamping piece shaking driving unit is used for driving the pair of disc-shaped clamping plates to rotate synchronously.

Optionally, the crayfish shrimp clamp meat taking device further comprises a shrimp clamp direction changing mechanism;

the shrimp clamp turning mechanism comprises a turning mechanism support, a turning mechanism clamping component rotary driving unit and a shrimp clamp orientation detection unit;

the direction-changing mechanism clamping assembly is used for clamping the shrimp pincers and conveying the clamped shrimp pincers to the shrimp pincers conveying mechanism, and the direction-changing mechanism clamping assembly is installed on the direction-changing mechanism support;

the shrimp clamp orientation detection unit is used for detecting the orientation of the shrimp clamp clamped by the direction-changing mechanism clamping component;

the direction-changing mechanism clamping component rotary driving unit is used for driving the direction-changing mechanism clamping component to rotate, so that the shrimp pincers clamped by the direction-changing mechanism clamping component are in the same direction.

Optionally, the steering mechanism clamping assembly includes a pair of symmetrically arranged steering mechanism clamping transmission elements and transmission element driving units;

the direction-changing mechanism clamping transmission element comprises a transmission element support and a direction-changing mechanism transmission belt, the direction-changing mechanism transmission belt is installed on the transmission element support, and the direction-changing mechanism transmission belt corresponds to the shrimp clamp transmission mechanism;

the conveying element driving unit is used for driving the conveying element supports of the pair of direction-changing mechanisms for clamping the conveying elements to move towards or away from each other, so that the direction-changing mechanisms can clamp or release the shrimp pincers through the conveying belts.

Optionally, the crayfish and shrimp clamp meat taking device further comprises a shrimp clamp correcting mechanism;

the shrimp clamp guiding mechanism comprises a shrimp clamp guiding mechanism transmission belt and a plurality of shrimp clamp guiding mechanism rolling shafts which are arranged in parallel;

gaps are reserved among the rolling shafts of the shrimp clamp guiding mechanisms, and the rolling shafts of the shrimp clamp guiding mechanisms are set to rotate so that the shrimp clamps penetrate through the gaps between the rolling shafts of the adjacent shrimp clamp guiding mechanisms;

the shrimp clamp guiding mechanism transmission belt is used for transmitting the shrimp clamps falling from the gap between the rolling shafts of the shrimp clamp guiding mechanism to the working area of the turning mechanism clamping assembly.

Optionally, the crayfish and shrimp clamp meat taking device further comprises a shrimp clamp feeding mechanism;

the shrimp clamp feeding mechanism comprises a shrimp clamp storage box and a shrimp clamp feeding mechanism conveying belt;

the shrimp clamp feeding mechanism conveying belt is arranged to be used for conveying the shrimp clamps stored in the shrimp clamp storage box to the shrimp clamp guiding mechanism.

Optionally, the shrimp clamp storage box comprises a shrimp clamp storage box body and a plurality of shrimp clamp baffles;

the shrimp clamp storage box body is positioned above a conveying belt of the shrimp clamp supply mechanism;

the shrimp clamp baffle is configured to separate stacked shrimp clamps such that a single layer of shrimp clamps is transferred to the shrimp clamp straightening mechanism.

Optionally, the crayfish forceps meat taking device further comprises a turning mechanism main support and a turning mechanism support driving unit;

the direction-changing mechanism support driving unit is installed on the direction-changing mechanism general support and is set to be used for driving the direction-changing mechanism support to move, so that the direction-changing mechanism clamping assembly is aligned to or separated from the guide mechanism conveying belt.

According to one embodiment of the present disclosure, the crayfish flattening device can straighten and flatten crayfish in a crayfish contracting state; the crayfish conveying device can clamp the flattened crayfish on the crayfish flattening device and convey the crayfish to the crayfish clamp removing device, the crayfish head and tail removing device and the crayfish intestine and kernel removing device; the crayfish forceps removing device can realize automatic forceps removing of crayfish; the crayfish head and tail removing device can realize automatic head and tail removal of crayfish; the crayfish intestine and kernel removing device can automatically separate the crayfish intestine line and the crayfish kernels in the crayfish body; the meat taking device of the crayfish clamp can automatically take out the clamp meat in the crayfish clamp. The automatic crayfish meat taking equipment of this disclosure can handle crayfish with high efficiency and high quality.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.

Fig. 1 is a schematic structural diagram of an embodiment of an automatic crawfish meat taking device of the present disclosure.

Fig. 2 is a schematic structural diagram of an embodiment of a crayfish flattening device of the present disclosure.

Fig. 3 is a partial structure schematic diagram of the crayfish flattening device according to the embodiment of the disclosure.

Fig. 4 is a schematic structural diagram of a view angle of an embodiment of a base of a flattening device, a turnover mechanism of the flattening device, and a clamping mechanism of the flattening device according to the disclosure.

Fig. 5 is a schematic structural diagram of another view angle of the embodiment of the base of the flattening device, the turnover mechanism of the flattening device, and the clamping mechanism of the flattening device of the disclosure.

FIG. 6 is an exploded view of an embodiment of a flattening device base, a flattening device turnover mechanism, and a flattening device clamping mechanism according to the disclosure.

Fig. 7 is a schematic structural view of an embodiment of a crayfish straightening mechanism of the present disclosure.

Fig. 8 is a schematic structural view of an embodiment of the crawfish feeding mechanism of the present disclosure.

Fig. 9 is a schematic structural view of an embodiment of the crawfish transportation device of the present disclosure.

Fig. 10 is an exploded view of an embodiment of the crawfish transporter of the present disclosure.

Fig. 11 is a cross-sectional view of an embodiment of the crawfish transport device of the present disclosure.

Fig. 12 is a schematic structural diagram of a perspective view of a crayfish forceps removing device according to an embodiment of the disclosure.

Fig. 13 is a schematic structural view of another perspective of the crayfish demeshing apparatus according to the present disclosure.

Fig. 14 is an exploded view of an embodiment of a crawfish delipper device of the present disclosure.

Fig. 15 is a schematic structural diagram of a perspective view of a crawfish tail-and-head removing device according to an embodiment of the disclosure.

Fig. 16 is a schematic structural diagram of another perspective view of the crawfish tail-and-head removing device according to the embodiment of the disclosure.

Fig. 17 is an exploded view of an embodiment of a crawfish tail-and-head removal device of the present disclosure.

FIG. 18 is a schematic structural diagram of an embodiment of the crayfish transporting device, the crayfish forceps removing device and the crayfish head and tail removing device of the disclosure.

Fig. 19 is a schematic structural diagram of an embodiment of the crayfish transporting device and the crayfish intestine and meat taking device disclosed by the disclosure.

Fig. 20 is a perspective view of an embodiment of a crawfish shrimp intestine and kernel removing device of the present disclosure.

Fig. 21 is a top view of fig. 20.

Fig. 22 is a cross-sectional view of fig. 20.

Fig. 23 is a schematic structural diagram of an embodiment of a shrimp gut removing mechanism of the present disclosure.

Figure 24 is an exploded view of an embodiment of a shrimp gut removal mechanism of the present disclosure.

Figure 25 is a cross-sectional view of an embodiment of a shrimp gut removal mechanism of the present disclosure.

Fig. 26 is a schematic structural diagram of a crayfish shrimp clamp meat extracting device according to an embodiment of the disclosure.

FIG. 27 is a cross-sectional view of an embodiment of a crayfish forceps meat extraction device of the present disclosure.

Fig. 28 is a partial structure schematic diagram of the meat taking device of the crayfish pincers of the present disclosure.

Fig. 29 is a schematic structural diagram of an embodiment of a shrimp clamp positioning mechanism and a shrimp clamp meat taking mechanism of the crayfish shrimp clamp meat taking device of the disclosure.

Fig. 30 is an exploded view of an embodiment of a shrimp clamp positioning mechanism and a shrimp clamp meat taking mechanism of the crayfish shrimp clamp meat taking device of the disclosure.

Fig. 31 is a sectional view of an embodiment of a shrimp clamp positioning mechanism and a shrimp clamp meat taking mechanism of the crayfish shrimp clamp meat taking device of the disclosure.

Fig. 32 is a schematic structural view of a clamp tip holding assembly of the crayfish clamp meat extracting device of the disclosure.

Fig. 33 is a schematic structural view of an embodiment of a shrimp clamp direction changing mechanism of the crayfish shrimp clamp meat extracting device of the disclosure.

Fig. 34 is an exploded view of an embodiment of a shrimp clamp direction changing mechanism of the crayfish shrimp clamp meat extracting device of the disclosure.

Fig. 35 is a schematic structural view of an embodiment of a shrimp clamp correcting mechanism of the crayfish shrimp clamp meat taking device of the disclosure.

Fig. 36 is a schematic structural view of an embodiment of a shrimp clamp feeding mechanism of the crayfish shrimp clamp meat taking device of the disclosure.

The figures are labeled as follows:

the device comprises a crayfish flattening device-1, a flattening device base-11, a flattening device turnover mechanism-12, a flattening device turnover bracket assembly-121, a flattening connecting bracket-1211, a flattening turnover bracket-1212, a flattening device turnover driving unit-122, a flattening device turnover mechanism telescopic unit-123, a flattening device clamping mechanism-13, a flattening device clamping assembly-131, a first clamping piece-1311, a flattening device detecting unit-1312, a first clamping piece clamping unit-1313, a flattening device flattening assembly-132, a flattening sliding piece-1321, a second clamping piece-1322, a second clamping piece clamping unit-1323, a flattening device main bracket-14, a flattening device base driving unit-15, a crayfish straightening mechanism-16 and a straightening mechanism bracket-161, a guiding mechanism conveying belt-162, a guiding mechanism rolling shaft-163, a crayfish supply mechanism-17, a crayfish storage box-171, a crayfish storage box body-1711, a crayfish baffle-1712, a crayfish supply mechanism conveying belt-172, a crayfish transporting device-2, a transporting device base-21, a transporting device overturning mechanism-22, a transporting device overturning bracket-221, a transporting device overturning driving unit-222, a transporting device overturning mechanism telescopic unit-223, a transporting device clamping mechanism-23, a third clamping piece-231, a clamping piece-2310, a third clamping piece positioning piece driving unit-232, a third clamping piece positioning piece-233, a clamping piece driving unit-234, a transporting device base slideway-24 and a crayfish clamping device-3, a shrimp head positioning mechanism-31, a shrimp head positioning block-311, a shrimp clamp limiting surface-3111, a shrimp head positioning gap-3112, a shrimp clamp guiding surface-3113, a shrimp head guiding surface-3114, a positioning block mounting plate-312, a shrimp head positioning block elastic connecting piece-313, a clamp removing knife-32, a clamp removing device support-33, a shrimp head positioning mechanism driving unit-34, a shrimp clamp collecting box-35, a crayfish head and tail removing device-4, a head and tail removing device support-41, a head and tail removing mechanism-42, a head and tail clamp-421, a head and tail clamp clamping block driving unit-4211, a head and tail clamp clamping block-4212, a head and tail clamp driving unit-422, a head and tail clamp telescopic unit-423, a head and tail clamp support-424, a head and tail collecting box-43, a crayfish shrimp intestine removing and kernel taking device-5, a trunk positioning table-51, a trunk positioning surface-511, a trunk guide surface-512, a shell-breaking knife-52, a guide section-521, a straight section-522, a gut-removing mechanism-53, a gut-removing mechanism base-531, a gut-removing knife mounting groove-5310, a gut-removing knife assembly-532, a gut-removing knife-5321, a gut-removing knife positioning portion-53211, a gut-removing knife body-53212, a gut-removing knife blade-53213, a gut-removing knife elastic connector-5322, a shrimp meat stopper-54, a shrimp meat-removing device support-55, a support enclosure-551, a V-shaped plate portion-5511, an extension plate portion-5512, a shrimp gut baffle-552, a shrimp meat baffle-553, a shrimp meat line-554, a shrimp meat collecting region-555, a shrimp clamp meat-taking device-6, a shrimp clamp transmission mechanism-61, a shrimp clamp transmission mechanism support-611, a shrimp clamp transmission belt-612, a shrimp clamp transmission block-613, a shrimp clamp transmission block elastic connector-614, a shrimp clamp positioning mechanism-62, a shrimp clamp positioning mechanism support-621, a shrimp clamp head limiting part-6210, a shrimp clamp positioning block-622, a shrimp clamp positioning block driving unit-623, a shrimp clamp positioning transmission unit-624, a shrimp clamp positioning rolling shaft-6240, a shrimp clamp positioning mechanism support first driving unit-625, a shrimp clamp leg cutting knife-626, a shrimp clamp positioning transmission unit mounting support-627, a shrimp clamp positioning mechanism support second driving unit-628, a shrimp clamp meat taking mechanism-63, a shrimp clamp tip clamping component-631, a shrimp tip clamping member-6311, a disc-shaped clamping plate-63110, a shrimp tip clamping member clamping driving unit-6312, a clamp point clamping piece shaking drive unit-6313, a shrimp clamp shell containing box-632, a shrimp clamp meat taking mechanism connecting support-633, a clamp point clamping component position adjusting component-634, a clamp meat containing box-635, a shrimp clamp meat taking device support-64, a position sensor-65, a shrimp clamp turning mechanism-66, a turning mechanism support-661, a turning mechanism clamping component-662, a turning mechanism clamping transmission element-6621, a transmission element support-66211, a turning mechanism transmission belt-66212, a transmission element drive unit-6622, a turning mechanism clamping component rotary drive unit-663, a shrimp clamp correcting mechanism-67, a correcting mechanism support-671, a correcting mechanism-672, a correcting mechanism rolling shaft-673, a shrimp clamp supply mechanism-68 and a shrimp clamp storage box-681, the shrimp clamp feeding device comprises a shrimp clamp storage box body-6811, a shrimp clamp baffle-6812, a shrimp clamp feeding mechanism transmission belt-682, a turning mechanism main support-69 and a turning mechanism support driving unit-70.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

As shown in fig. 1-36, the present disclosure provides an automated crayfish meat extraction apparatus. Automatic change cray and get meat equipment and include that cray exhibition is flat 1, cray conveyer 2, cray remove pincers device 3, cray remove head and the tail device 4, cray remove the shrimp intestines and get benevolence device 5 and cray shrimp pincers and get meat device 6.

The crayfish flattening device comprises a flattening device base 11, a flattening device turnover mechanism 12 and a flattening device clamping mechanism 13.

The flattening device inverting mechanism 12 includes a flattening device inverting bracket assembly 121 and a flattening device inverting drive unit 122. The flattened device flip bracket assembly 121 includes a flattened attachment bracket 1211 and a flattened flip bracket 1212. The flattened connection bracket 1211 may connect the flattening device base 11 and the flattened inversion bracket 1212. The connection between the flattened connection bracket 1211 and the connection flattening device base 11 may be, for example, welding, bolting, or the like. The connection between the flattened connecting bracket 1211 and the flattened inversion bracket 1212 may be, for example, a shaft connection or a bolt connection. The flattening device overturning driving unit 122 can drive the flattening overturning bracket 1212 to rotate. The flattening device inversion driving unit 122 may be, for example, a motor or a rotary cylinder. In particular, the flattening device flip driving unit 122 may be mounted on the flattening flip bracket 1212. Alternatively, the flattening device inversion driving unit 122 may be installed at a shaft connection between the flattening connection bracket 1211 and the flattening inversion bracket 1212 to more conveniently drive the flattening inversion bracket 1212 to rotate.

The spreader gripping mechanism 13 includes a spreader gripping assembly 131 and a spreader spreading assembly 132. The spreader clamp assembly 131 can clamp the crayfish, and the spreader 132 can spread the clamped crinkled crayfish.

The spreader gripper assembly 131 includes a first gripper 1311 and a spreader detection unit 1312. The first gripper 1311 is mounted on the flattened inversion bracket 1212. The first gripper 1311 may be, for example, a jaw that can be opened and closed, a pair of jaws that can be moved toward and away from each other, or the like. The first gripper 1311 may be mounted on the flattened inversion bracket 1212 by a snap-fit or slip-fit connection, or the like. When the flattening overturning bracket 1212 rotates, the first gripping member 1311 can drive the gripped crayfish to rotate together with the flattening overturning bracket 1212. The flattening device detecting unit 1312 may detect the position of the crayfish. The flattening device detection unit 1312 may be, for example, a position sensor or a color sensor. The first gripper 1311 may grip one end of the crawfish when the crawfish is detected by the spreader detection unit 1212. The end of the crawfish is generally referred to as the end of the torso of the crawfish. When the flattening device detecting unit 1312 is a color sensor, the flattening device detecting unit 1312 may detect the black eyes of the crawfish to judge the head position of the crawfish so that the first gripper 1311 may accurately grip the head of the crawfish. In particular, the spreader detection unit 1312 may be installed on the first gripper 1311 to rapidly and accurately grip one end of the crayfish.

The flattening device flattening assembly 132 includes a flattening slide member 1321, a second gripper 1322, and a flattening slide member driving unit (not shown in the drawings). The flattening slider 1321 is slidably coupled to the flattening flip frame 1212 such that when the flattening flip frame 1212 is rotated, the flattening slider 1321 rotates with the flattening flip frame 1212 and the flattening slider 1312 is movable relative to the flattening flip frame 1212. The sliding fit connection between the flattening slider 1321 and the flattening flip bracket 1212 may be achieved by dovetail and dovetail key fits, or the like. Second gripper 1322 is mounted on spreader slide 1321. Second gripper 1322 may be, for example, a jaw that can be opened and closed, or a pair of opposing jaws that can be moved toward and away from each other, or the like. Second gripper 1322 may be mounted to spreader slide 1321 by a snap-fit or slip-fit connection. The second gripping member 1322 can grip the crawfish while the first gripping member 1311 grips one end of the crawfish. Generally, the gripping position of the second gripper 1322 should be close to the gripping position of the first gripper 1311. The flattening slider driving unit may be, for example, a motor or a cylinder. The flattening slider driving unit may drive the flattening slider 1321 to move along the flattening flip bracket 1212 toward a direction away from the first gripper 1311 while the second gripper 1322 grips the crayfish to flatten the crayfish.

In use, the flattening device detection unit 1312 detects the position of the crawfish, and the first gripper 1311 grips one end of the crawfish. The second gripping member 1322 then grips the crawfish around its torso at a position close to the first gripping member 1311. The flattening slider driving unit then drives the flattening slider 1321 to move along the flattening flip bracket 1212 toward a direction away from the first gripper 1311, thereby flattening the crayfish in a crayfish collapsed state. The flattening device turning drive unit 122 may drive the flattening turning support 1212 to rotate, so that the flattening device gripping mechanism 13 rotates together with the flattening turning support 1212, thereby changing the position of the gripped crayfish on the flattening device gripping mechanism 13.

The clamping assembly 131 of the unfolding device of the crayfish unfolding device can clamp one end of the crayfish, the unfolding device 132 can clamp a part of the crayfish adjacent to the first clamping piece 1311, and the second clamping piece 1322 can move relative to the first clamping piece 1311, so that the crayfish in a folded state can be straightened and unfolded.

Optionally, the flattening device turnover mechanism 12 further includes a flattening device turnover mechanism telescopic unit 123. The stretching unit 123 of the flattening device turning mechanism can be, for example, a stretching rod or an air cylinder. The expansion unit 123 of the flattening device turnover mechanism connects the flattening device base 11 and the flattening connection support 1211, and the connection manner may be, for example, welding or bolting. The length of the telescoping unit 123 of the turning mechanism of the flattening device is adjustable to change the distance between the flattening connection bracket 1211 and the base 11 of the flattening device. The provision of the telescoping unit 123 of the turning-over mechanism of the flattening apparatus facilitates more convenient change of the position of the gripping mechanism 13 of the flattening apparatus, thereby changing the position of the gripped crayfish on the gripping mechanism 13 of the flattening apparatus. In an embodiment, the connecting bracket 1211 may have a lifting-lug structure to facilitate connection with the telescopic unit 123 of the turnover mechanism of the flattening apparatus.

Optionally, the flattening device flattening assemblies 132 include two sets, and the two sets of flattening device flattening assemblies 132 are respectively located at two sides of the flattening device gripping assembly 131. In this way, when the tail of the crawfish gripped by the gripper assembly 131 of the flattening device is directed to one of both sides of the gripper assembly 131 of the flattening device, the gripper assembly 132 of the flattening device can accurately grip and flatten the crawfish.

Alternatively, the flattening device gripping mechanism 13 further includes a weight judging unit (not shown in the figure). The weight judging unit may judge the weight of both sides of the first gripper 1311 to operate the spreader flattening assembly 132 of the heavier side of the spreader gripping assembly 131. The weight determination unit may be, for example, a weight detector or the like. According to the weight of the two sides of the first clamping piece 1311 judged by the weight judging unit, it can be known that the free end of the crayfish which is not clamped by the first clamping piece 1311 faces the heavier side of the first clamping piece 1311, at this time, the flattening device clamping component 131 clamps one end of the crayfish, and the flattening device flattening component 132 which is positioned on the heavier side of the first clamping piece 1311 can clamp the crayfish, so that the crayfish can be flattened.

Optionally, the flattening device detection unit 1312 is a color sensor. The color sensor may detect the eyes of the crawfish so that the first gripper 1311 grips the head of the crawfish. Since the color of the crawfish is black, different from the red color of the portion other than the eyes of the cooked crawfish, the color sensor can conveniently detect the eyes of the crawfish, so that the first gripper 1311 can grip the head of the crawfish.

Optionally, the spreader gripping assembly 131 further comprises a first gripper clamping unit 1313. The first gripper 1311 is a first gripper bar symmetrically disposed, and the first gripper clamping unit 1313 drives the first gripper bar to move toward or away from each other to grip or release the crayfish. The first gripper clamping unit 1313 may be, for example, a bidirectional telescopic cylinder or the like.

Further, the first clamping rod is a telescopic rod. When first gripper 1311 interferes with other components, first gripper bar may be retracted to avoid interference of spreader gripper assembly 131 with other components.

Optionally, the flattening device flattening assembly 132 further includes a second gripper clamping unit 1323. The second gripping members 1322 are symmetrically disposed on the second gripping rods, and the second gripping member clamping unit 1323 drives the second gripping rods to move toward or away from each other to grip or release the crayfish. The second gripper clamping unit 1323 may be, for example, a bidirectional telescopic cylinder or the like.

Further, the second clamping rod is a telescopic rod. When second gripper 1322 interferes with another component, the second gripper bar may retract to prevent spreader bar 132 from interfering with the other component.

Optionally, the crawfish flattening device further comprises a flattening device main bracket 14 and a flattening device base driving unit 15. The flattening device base 11 is connected with the flattening device main support 14 in a sliding fit mode, and the sliding fit connection between the flattening device base 11 and the flattening device main support 14 can be achieved through dovetail groove and dovetail key matching and the like. The spreader base driving unit 15 may be, for example, a cylinder or a motor. The spreader base drive unit 15 may drive the spreader base 11 to move along the spreader main frame 14.

The crayfish flattening device may be provided with a plurality of sets of assemblies of the flattening device base 11, the flattening device turning mechanism 12, the flattening device flattening member 13, and the flattening device base driving unit 15, which work in cooperation with each other, thereby efficiently and quickly gripping and flattening the crayfish. In a specific embodiment, the crawfish flattening device is provided with six sets of assemblies consisting of a flattening device base 11, a flattening device turnover mechanism 12, a flattening device flattening assembly 13 and a flattening device base driving unit 15.

Optionally, the crawfish flattening device further comprises a crawfish straightening mechanism 16. The crawfish straightening mechanism 16 comprises a straightening mechanism bracket 161, a straightening mechanism conveyor belt 162 and a plurality of straightening mechanism rolling shafts 163 arranged in parallel. The guide mechanism conveyor belt 162 and the guide mechanism rolling shaft 163 are both mounted on the guide mechanism support 161.

The rolling axes 163 of the straightening mechanism have a gap therebetween. The straightening mechanism rolling shafts 163 are configured to rotate so that crayfish pass through gaps between adjacent straightening mechanism rolling shafts 163. In particular, the rolling shaft 163 of the guiding mechanism may be driven by a gear. Further, the squaring mechanism rolling shafts 163 may be set to rotate forward and backward at intervals, so that the crayfish more efficiently passes through the gap between the adjacent squaring mechanism rolling shafts 163.

The straightening mechanism conveyor belt 162 may convey crayfish falling from the gap between the straightening mechanism rolling shafts 163 to the working area of the flattening device gripping mechanism 13. The clamping mechanism 13 of the flattening device can clamp and flatten the crayfishes conveyed by the conveying belt of the straightening mechanism one by one.

The cray straightening mechanism 16 may function to straighten cray. Specifically, since the boiled crayfish is in a collapsed state, the crayfish falling down onto the aligning mechanism conveyor belt 162 from the gap between the aligning mechanism rolling shafts 163 is all in contact with the aligning mechanism conveyor belt 162 on their side, which makes it easier for the flattening device gripping mechanism 13 to grip the crayfish by the first gripping member 1311.

In one embodiment, the number of the flat device gripping mechanisms 13 may correspond to the gaps between the rolling shafts 163 of the straightening mechanism, so that different flat device gripping mechanisms 13 can grip the crayfish falling from the gaps between the rolling shafts 163 of different straightening mechanisms onto the conveying belt 162 of the straightening mechanism.

Further, the rolling shaft 163 of the pilot mechanism includes a shaft core (not shown) and a shaft sleeve (not shown). The shaft sleeve is sleeved outside the shaft center. The rolling shaft 163 of the guiding mechanism with the structure can conveniently replace the shaft sleeve, thereby being better suitable for crayfishes with different sizes and specifications. In addition, the sleeve can be made of flexible materials such as rubber or collodion to avoid damage to crayfish.

Further, the crayfish flattening apparatus further includes a crayfish supply mechanism 17. The crayfish feeding mechanism 17 includes a crayfish storage bin 171 and a crayfish feeding mechanism conveyor belt 172. The crawfish feeding mechanism conveyor belt 172 may convey the crawfish stored in the crawfish storage bin 171 to the crawfish straightening mechanism 16. The crayfish feed mechanism 17 sets up the automation mechanized operation that is favorable to improving crayfish exhibition flat device, and the crayfish exhibition flat device just can continuously realize the exhibition flat operation of crayfish after pouring into crayfish storage box 171 with the crayfish of cooking.

Further, the crawfish storage bin 171 includes a crawfish storage bin body 1711 and a plurality of crawfish traps 1712. The crawfish storage bin housing 1711 is located above the crawfish feed mechanism conveyor 172. The side of the crayfish storage bin body 1711 facing the crayfish feeding mechanism conveyor belt 172 is provided with an opening for releasing crayfish onto the crayfish feeding mechanism conveyor belt 172. The crawfish shelter 1712 separates the stacked crawfish such that a single layer of crawfish is transferred to the crawfish straightening mechanism 16. The distance between the bottom surface of the plurality of crawfish baffles 1712 and the surface of the crawfish feeding mechanism conveyor belt 172 is different, so that crawfish stacked together is pushed flat, and finally the crawfish conveyed to the crawfish straightening mechanism 16 is single-layer.

The crawfish transporting device 2 comprises a transporting device base 21, a transporting device base driving unit (not shown in the figure), a transporting device turning mechanism 22 and a transporting device gripping mechanism 23.

The transporter base drive unit may drive the transporter base 21 to move. The transporter base drive unit may be, for example, a drive motor or an electric motor or the like, and may be disposed within the transporter base 21. In addition, the transportation device base 21 may further include a roller or the like, or the transportation device base 21 may be mounted on a rail, so that the transportation device base 21 moves more smoothly. The number of the transportation device bases 21 can be flexibly set according to actual requirements, for example, the number of the transportation device bases 21 is two.

The transporter turnover mechanism 22 includes a transporter turnover bracket 221 and a transporter turnover drive unit 222. The transporter overturning bracket 221 is connected with the transporter base 21, and the connection between the transporter overturning bracket and the transporter base can be realized through shaft connection or bolt connection and the like. The transporter turnover drive unit 222 may drive the transporter turnover stand 221 to rotate. The transporter overturning drive unit 222 may be, for example, a motor or a rotary cylinder, etc. In particular, the transporter inversion drive unit 222 may be mounted to the transporter inversion bracket 221. Alternatively, the transporter turnover drive unit 222 may be installed at a shaft connection between the transporter turnover stand 221 and the transporter base 21 to more conveniently drive the transporter turnover stand 221 to rotate.

The transporter gripping mechanism 23 is mounted on the transporter overturning bracket 221 so that the transporter gripping mechanism 23 can rotate together with the transporter overturning bracket 221. The transporting means gripping mechanism 23 includes at least one pair of third grippers 231. The third gripper 231 may be, for example, a retractable jaw, or a pair of jaws that can move toward or away from each other, or the like. The third gripper 231 may be mounted on the transporter tilt frame 221 by a snap fit or slip fit connection, or the like. The third gripping member 231 grips the edge portion of the shrimp shell of the flattened crayfish gripped by the flattening device gripping mechanism 13 and holds the crayfish in the flattened state. Generally, the individual third grippers 231 of the pair of third grippers 231 should grip the edge portions of the crawfish shell in the width direction of the torso thereof, respectively, to more stably and effectively maintain the crawfish in a flattened state.

In use, the flattening device detection unit 1312 detects the position of the crawfish, and the first gripper 1311 grips one end of the crawfish. The second gripping member 1322 then grips the crawfish around its torso at a position close to the first gripping member 1311. The flattening slider driving unit then drives the flattening slider 1321 to move along the flattening flip bracket 1212 toward a direction away from the first gripper 1311, thereby flattening the crayfish in a crayfish collapsed state. The flattening device overturning driving unit 122 can drive the flattening overturning bracket 1212 to rotate, and at this time, the flattening device clamping mechanism 13 rotates along with the flattening overturning bracket 1212, so that the crayfish clamped on the flattening device clamping mechanism 13 rotates to the working area of the transportation device clamping mechanism 23. Next, the third gripping member 231 grips the edge portion of the shrimp shell of the flattened crayfish gripped by the flattening device gripping mechanism 13, and holds the crayfish in the flattened state. The transporter base driving unit may drive the transporter base 21 to move so that the transporter gripping mechanism 23 carries the flattened crayfish to move to a desired position. The transporter turnover driving unit 222 may drive the transporter turnover stand 221 to rotate, so that the crayfish gripped on the transporter gripping mechanism 23 is rotated.

The gripping assembly 131 of the crayfish flattening apparatus 1 of the present disclosure can grip one end of the crayfish, the flattening apparatus flattening assembly 132 can grip a portion of the crayfish adjacent to the first gripping member 1311, and the second gripping member 1322 can be moved relative to the first gripping member 1311, thereby straightening and flattening the crayfish in a curled state. The transporting device clamping mechanism 23 of the crayfish transporting device 2 can clamp the crayfish spread on the crayfish spreading device 1 and transport the spread crayfish to a required position.

Optionally, the crawfish transporter 2 further comprises a transporter base chute 24. The transporter base slide 24 is in sliding fit connection with the transporter base 21. Those skilled in the art will be able to flexibly route the transporter base ramps 24 as required by the transport location. The transporter base drive unit may drive the transporter base 21 to move along the transporter base chute 24, so that the transporter gripping mechanism 23 moves with the transporter base 21 to a position where it can grip the crayfish on the spreader gripping mechanism 13, and so that the transporter gripping mechanism 23 moves with the transporter base 21 to other desired positions.

Optionally, the transporter turnover mechanism 22 further includes a transporter turnover mechanism telescoping unit 223. The transport turnover mechanism stretching unit 223 may be, for example, a stretching rod or a cylinder, etc. The transporter turnover mechanism expansion unit 223 connects the transporter base 21 and the transporter turnover stand 221 by, for example, welding, bolting, or shaft connection. The length of the telescoping unit 223 of the transporter turnover mechanism is adjustable to change the distance between the transporter turnover bracket 221 and the transporter base 21. The provision of the transporting device turning-mechanism retracting unit 223 facilitates more convenient change of the position of the transporting device gripping mechanism 23, thereby changing the position of the crayfish gripped on the transporting device gripping mechanism 23. In specific implementation, the telescopic unit 223 of the transport device turnover mechanism can be connected with the transport device turnover support 221 through a shaft, and the transport device turnover driving unit 222 is installed on the shaft so as to more conveniently drive the transport device turnover support 221 to rotate.

Further, the transport device turnover mechanism telescopic unit 223 is a telescopic rod.

Optionally, the transporting device gripping mechanism 23 further includes a third gripping member positioning member driving unit 232 and a pair of third gripping member positioning members 233. The third picking member positioning member driving unit 232 may be, for example, a motor or a bidirectional telescopic cylinder. The third picking member positioning member 233 is connected to the transporter reversing shelf 221 in a sliding fit so that the third picking member positioning member 233 can move relative to the transporter reversing shelf 221. The sliding fit connection between the third picking member positioning member 233 and the transport device turning bracket 221 may be achieved by dovetail groove and dovetail key fit, or the like. The third picking member positioning member driving unit 232 may drive the pair of third picking member positioning members 233 to move toward or away from each other, so that the pair of third picking member positioning members 233 move toward or away from each other. Two pairs of the third clamping members 231 are provided, and each of the third clamping member positioning members 233 is provided with a pair of the third clamping members 231. When the third picking member positioning member 233 is driven by the third picking member positioning member driving unit 232, the third picking member positioning member 233 can move relative to the transportation device turnover bracket 221, so as to drive the third picking members 231 to move toward or away from each other. This arrangement facilitates the adaptation of the crawfish transportation device 2 to crawfish of different length dimensions.

Further, the transporting device gripping mechanism 23 further includes a gripping block driving unit 234. The gripping block driving unit 234 may be, for example, a motor or a bidirectional telescopic cylinder, etc. The single third gripper 231 includes mirror-symmetrically disposed gripping blocks 2310, and the gripping blocks 2310 are slidably coupled to the third gripper positioning members 233 such that the mirror-symmetrically disposed gripping blocks 2310 can move toward and away from each other. The gripping block driving unit 234 may drive the gripping blocks 2310 of the individual third gripper 231 to move toward or away from each other to grip or release the edge portion of the shrimp shell of the crayfish. The sliding fit connection between the gripping block 2310 and the third gripping member locating element 233 may be achieved by dovetail and dovetail key fits, or the like.

When the transporting device gripping mechanism 23 is to grip the crawfish gripped on the flattening device gripping mechanism 13, the gripping block driving unit 234 moves back and forth the gripping blocks 2310, so that the third gripping member 231 is opened. Then, the gripping block driving unit 234 drives the gripping blocks 2310 to move toward each other, so that the third gripping member 231 grips, and the gripping of the edge portion of the shrimp shell of the crayfish is achieved.

The crayfish deliming device 3 includes a crayfish head positioning mechanism 31 and a deliming blade 32.

The crawfish tail and head removing device 4 comprises a tail and head removing device bracket 41 and a tail and head removing mechanism 42. A decapitation mechanism 42 is mounted on the decapsulating device frame 41.

The shrimp head positioning mechanism 31 includes a pair of shrimp head positioning blocks 311, a positioning block mounting plate 312, and a shrimp head positioning block elastic connector 313. The shrimp head positioning block elastic connector 313 may be, for example, an elastic sheet or a spring. The shrimp head positioning block 311 is provided with a shrimp clamp limiting surface 3111 for limiting the shrimp clamps. The shrimp clamp can abut against the shrimp clamp limiting surface 3111, so that the position of the shrimp clamp on the shrimp head positioning block 311 is limited. A shrimp head positioning gap 3112 is provided between the pair of shrimp head positioning blocks 311. The head of the crawfish may be inserted or caught into the head positioning gap 3112 to position the head of the crawfish between the pair of head positioning blocks 311. The shrimp head positioning block elastic connecting piece 313 connects the shrimp head positioning block 311 and the positioning block mounting plate 312, so that the pair of shrimp head positioning blocks 311 can move relative to each other, thereby changing the size of the shrimp head positioning gap 3112, and realizing effective positioning for the shrimp heads of crayfishes of different sizes. The connection between the shrimp head positioning block elastic connecting piece 313 and the shrimp head positioning block 311 and the positioning block mounting plate 312 can be realized by welding or bolt connection and the like. During specific implementation, the positioning block mounting plate 312 and the shrimp head positioning block elastic connecting piece 313 can both be of a split structure, so that different shrimp head positioning blocks 311 can be mounted.

The unclamping knife 32 is rotatably connected with the shrimp head positioning block 311. The clamp removing knife 32 can cut off the shrimp clamp of the crayfish to realize the removal of the shrimp clamp of the crayfish. The debarking knife 32 can be driven by a drive means, such as an electric motor or motor, to cut the shrimp pincers of the crayfish. Or, the unclamping knife 32 can be positioned by a positioning member such as a bolt after rotating to a certain position relative to the shrimp head positioning block 311, and when the shrimp head of the crawfish enters the shrimp head positioning gap 3112, the shrimp clamp limiting surface 3111 is used for limiting the shrimp clamp, so that the shrimp clamp can be cut off when contacting the unclamping knife 32. In addition, a knife slot for accommodating the unclamping knife 32 can be further arranged on the shrimp head positioning block 311, and the operating personnel can rotate the unclamping knife 32 to accommodate the unclamping knife 32 into the knife slot, so that the unclamping knife 32 or the operating personnel can be protected. Generally, the number of the unclamping blades 32 is the same as that of the shrimp head positioning blocks 311, that is, each shrimp head positioning block 311 is provided with one unclamping blade 32.

The decapping mechanism 42 includes a decapping clamp 421 and a decapping clamp driving unit 422. The end-to-end clamps 421 may be openable jaws, or may be opposing blocks that move toward and away from each other, for example. The head-and-tail jig driving unit 422 may be, for example, a rotary cylinder or a rotary motor. The head and tail clamp 421 can clamp the head or tail of the crayfish. The head and tail clamp driving unit 422 may drive the head and tail clamp 421 to swing to separate the head or tail of the crayfish from the trunk. The shaking may be, for example, swinging or rotating. The manner that the head and tail clamp driving unit 422 drives the head and tail clamp 421 to shake to remove the head or tail of the shrimp is similar to the manner of manually removing the head or tail of the shrimp, which is beneficial to cleanly and thoroughly removing the head or tail of the shrimp without residue. Moreover, the crayfish is not easy to be damaged by the head and tail removing mode, and the crayfish is favorably treated with high efficiency and high quality.

During the use, crayfish conveyor 2 clamp is getting the crayfish, and conveyor base drive unit drive conveyor base 21 removes for conveyor clamp is got mechanism 23 and is taken the crayfish to move to the working area that the crayfish removed pincers device 3. With the movement of the crawfish transporting device 2, the crawfish head is fed into the crawfish head positioning gap 3112, so that the crawfish head positioning mechanism 31 positions the crawfish head and the crawfish clamp limiting surface 3111 limits the crawfish clamp of the crawfish. Then the shrimp clamp of the crayfish is cut off by the clamp removing knife 32, and the clamp-removed crayfish is obtained. The crawfish transporter 2 then grabs the uncapped crawfish to move to the working area of the tail and head removing mechanism 42. The head and tail clamp 421 clamps the head or tail of the crayfish, and the head and tail clamp driving unit 422 drives the head and tail clamp 421 to swing so as to separate the head or tail of the crayfish from the body of the crayfish, respectively, and obtain the body part of the crayfish.

In particular, when the crawfish delimbing device 3 performs the delimbing operation, if the crawfish head on the crawfish transporting device 2 does not face the head positioning gap 3112, the transporting device overturning driving unit 222 can drive the transporting device overturning bracket 221 to rotate, so that the transporting device clamping mechanism 23 mounted on the transporting device overturning bracket 221 also rotates, thereby adjusting the orientation of the crawfish head to ensure that the crawfish head faces the head positioning gap 3112. When the crayfish heading and tailing device 4 performs the heading and tailing operation, the conveyor overturning driving unit 222 can drive the conveyor overturning bracket 221 to rotate after the crayfish heads, so that the tail of the crayfish enters the working area of the crayfish heading and tailing device 4 to achieve the heading and tailing of the crayfish.

The conveyor clamp mechanism 23 of the crawfish conveyor 2 of the present disclosure can clamp the crawfish and transport the crawfish to a required location. The position adjustment of the crayfish can be realized by driving the transportation device overturning bracket 221 to rotate by the transportation device overturning driving unit 222. The crayfish clamp removing device 3 can automatically remove the clamp of the crayfish, and the crayfish head and tail removing device 4 can automatically remove the head and the tail of the crayfish, so that the body part of the crayfish is obtained, and efficient high-quality processing of the crayfish is facilitated.

Optionally, the crawfish delimbing device 3 further comprises a delimbing device bracket 33 and a crawfish head positioning mechanism driving unit 34. The locating block mounting plate 312 is in sliding fit connection with the declamping apparatus bracket 33 such that the locating block mounting plate 312 is movable relative to the declamping apparatus bracket 33. The sliding fit connection between the positioning block mounting plate 312 and the nipper removing device bracket 33 can be realized by the dovetail groove and the dovetail key fit and the like. The shrimp head positioning mechanism driving unit 34 is installed on the nipper removing device bracket 33, and the shrimp head positioning mechanism driving unit 34 can drive the shrimp head positioning mechanism 31 to move. The shrimp head positioning mechanism driving unit 34 may be, for example, a motor or an air cylinder. The shrimp head positioning mechanism driving unit 34 drives the shrimp head positioning mechanism 31 to move, so that the position of the shrimp head positioning mechanism 31 can be changed, and the interference of the shrimp head positioning mechanism 31 with other structures is avoided. In specific implementation, the shrimp head positioning mechanism driving unit 34 may drive the shrimp head positioning mechanism 31, so that the shrimp head positioning gap 3112 between the pair of shrimp head positioning blocks 311 is increased to a position where the whole body of the crayfish can pass through the shrimp head positioning gap 3112.

Optionally, the crawfish delimitering device 3 further comprises a shrimp clamp collection box 35. The shrimp head positioning block 311 is provided with a shrimp clamp guide surface 3113. The shrimp clamp guide surface 3113 guides the shrimp clamps cut by the unclamping blade 32 to the shrimp clamp collecting box 35, thereby collecting the shrimp clamps. The position where the shrimp clamp collecting box 35 is disposed may be selected according to actual requirements, and for example, the shrimp clamp collecting box 35 may be mounted on the positioning block mounting plate 312.

Optionally, the shrimp head positioning block 311 has a shrimp head guide surface 3114. The shrimp head guide surface 3114 may guide the shrimp head of the crawfish to the shrimp head positioning gap 3112. Generally, the shrimp head guide surface 3114 may be an arcuate surface to more effectively guide the shrimp heads into the shrimp head positioning gap 3112.

Optionally, the crawfish heading and tailing device 4 further comprises a heading and tailing collecting box 43. The decapping mechanism 42 further includes a decapping clamp expansion unit 423. The head-to-tail clamp retracting unit 423 may be, for example, a retracting lever or a cylinder. The fore-and-aft clamp telescopic unit 423 connects the fore-and-aft removal device support 41 and the fore-and-aft clamp driving unit 422, and the connection manner may be, for example, welding or bolting. The head-tail clamp expansion unit 423 is adjustable in length to throw the shrimp heads and the shrimp tails separated from the trunk into the head-tail collection box 43. The fore-and-aft collection bin 43 may be mounted on the craniocaudal device support 41. The head and tail clamp extension unit 423 is provided to facilitate more convenient change of the position of the head and tail clamp 421, so that the heads and tails of the shrimps clamped by the head and tail clamp 421 are thrown into the head and tail collection box 43.

Further, the head-tail clamp extension unit 423 is an extension rod.

Optionally, the craniocaudal mechanism 42 also includes a craniocaudal clamp bracket 424. The head-tail clamp 421 includes a head-tail clamp block driving unit 4211 and a pair of head-tail clamp blocks 4212. The head and tail clamp block driving unit 4211 may be, for example, an air cylinder or a motor. The head and tail gripper block driving unit 4211 is installed on the head and tail gripper bracket 424, and the head and tail gripper block driving unit 4211 may drive the pair of head and tail gripper blocks 4212 to move toward or away from each other to grip or release the head or tail of the crayfish. In specific implementation, the head and tail clamp blocks 4212 can be connected with the head and tail clamp bracket 424 in a sliding fit manner. The leading and trailing clamp driving unit 422 may drive the leading and trailing clamp bracket 424 to rotate so that the leading and trailing clamp 421 rocks. When the head and tail clamp driving unit 422 drives the head and tail clamp bracket 424 to rotate, the head and tail clamp bracket 424 drives the head and tail clamp 421 to rotate together, so that the head and tail clamp 421 shakes to remove the head or tail of the crayfish.

The crayfish shrimp intestine removing and kernel taking device 5 comprises a trunk positioning table 51, a shell breaking knife 52, a shrimp intestine removing line mechanism 53 and a shrimp kernel stop block 54. The trunk positioning table 51, the shell breaking knife 52, the shrimp gut removing mechanism 53 and the shrimp meat stopper 54 are arranged in sequence. When the crawfish is subjected to the crawfish intestine removing and the crawfish kernel taking, the trunk of the crawfish sequentially passes through the trunk positioning table 51, the shell breaking knife 52, the crawfish intestine line removing mechanism 53 and the crawfish kernel stop block 54.

The torso positioning table 51 has a torso positioning surface 511. The trunk positioning surface 511 can position the front surface of the trunk held by the crayfish transporting device 2. The front of the torso of the crayfish may abut the torso locating surface 511 to thereby effect location of the torso. The front of the trunk refers to a surface of the crawfish where the trunk is surrounded by the shell, which is opposite to the abdomen of the trunk. The shell-breaking blade 52 may cut through the shell of the front of the torso. The blade of the shell-breaking knife 52 contacts the shell of the crawfish on the trunk thereof, thereby cutting the shell of the front of the trunk.

The shrimp gut removing mechanism 53 includes a shrimp gut removing mechanism base 531 and a shrimp gut removing cutter assembly 532. The shrimp gut removal knife assembly 532 includes a gut removal knife 5321 and a gut removal knife elastic connector 5322. The elastic connector 5322 is an elastic connector, such as a spring plate or a spring. The gut removal knife elastic connector 5322 connects the shrimp gut removal mechanism base 531 and the gut removal knife 5321. The connection between the elastic connector 5322 and the base 531 of the shrimp gut removing mechanism and the gut removing knife 5321 can be, for example, welding or bolting. The elastic connecting piece 5322 of the gut removing knife is beneficial to the gut removing knife 5321 to adapt to crayfishes of different sizes and can more thoroughly and effectively remove the gut of the crayfishes. Specifically, when the gut removing knife 5321 removes the shrimp gut, the gut removing knife elastic connector 5322 can be elastically deformed, ensuring that the gut removing knife 5321 is sufficiently in contact with the crayfish, thereby enabling the shrimp gut removing mechanism 53 to efficiently process crayfish of different sizes with high quality. Further, the shape of the blade edge of the gut removal knife 5321 may be set to a shape that does not scratch the shrimp meat while removing the shrimp gut, for example, the blade edge of the gut removal knife 5321 is in a circular arc shape or the like.

The shrimp stops 54 may abut the shrimp meat within the torso to keep the shrimp meat away from the torso. When the shrimp meat in the crayfish trunk leans against the shrimp meat stop block 54, the crayfish is continuously clamped and transported by the crayfish transporting device 2, so that the shrimp meat can be separated from the shell of the crayfish, and the purpose of taking the shrimp meat is achieved. The shape of the shrimp meat stopper 54 can be flexibly set according to actual requirements, for example, the shrimp meat stopper 54 has a polygonal shape such as a hexagon or an octagon to contact with the shrimp meat more fully.

During use, the crawfish transportation device 2 clamps the shells of the crawfishes and transports the crawfishes along a preset route. The body portion of the crawfish on the crawfish transporting device 2 is first brought into contact with the body positioning surface 511 of the body positioning table 51 so that the body of the crawfish is positioned at a fixed height. Under the driving of the crawfish transporting device 2, the crawfish is in contact with the shell breaking knife 52, and the shell breaking knife 52 cuts open the shell of the crawfish. The crayfish whose shell is cut is driven by the crayfish transporting device 2 to move continuously and enter the working area of the crayfish gut removing mechanism 53. When the crayfish comes into contact with the gut removal knife 5321, the gut removal knife 5321 passes through the cut shrimp shell and comes into contact with the shrimp gut in the shrimp meat. With the movement of the crawfish transport device 2, the crawfish intestine line is separated from the crawfish meat, and then the crawfish transport device 2 continues to move with the crawfish. When the crayfish moves to the position where the shrimp meat in the trunk contacts the shrimp meat stopper 54, the shrimp meat in the trunk is separated from the shell of the crayfish held by the crayfish transporting device 2 by the action of the shrimp meat stopper 54, and the purpose of taking out the shrimp meat is achieved.

This disclosed crayfish removes trunk location platform 51 that shrimp intestines got benevolence device 5 can fix a position the trunk of crayfish, and along with the transportation of crayfish conveyer 2, the trunk of crayfish gets rid of sword 5321 and shrimp meat dog 54 through broken shell sword 51, gut in proper order to automatically separate out shrimp intestines line and shrimp meat in the crayfish trunk.

Optionally, torso positioning table 51 has a torso guide surface 512. The trunk guide surface 512 is smoothly transitionally connected with the trunk positioning surface 511. The trunk guide surface 512 may guide the trunk held on the crawfish transporting device 2 to the trunk positioning surface 411. Generally, torso guiding surface 512 is curved.

Optionally, the cutting edge of the shell-breaking knife 52 has a guide section 521 and a straight section 522. The guide section 521 has an arc shape, the straight section 522 has a straight shape, and the guide section 521 is adjacent to the torso positioning table 51 compared to the straight section 522. Thus, in the transport direction of the crayfish transport device 2, the crayfish first comes into contact with the guide section 521 of the shell-breaking knife 52 and then comes into contact with the straight section 522 of the shell-breaking knife 52. The straight section 522 extends along the transporting direction of the crayfish transporting device 2, and the top end of the straight section 522 is higher than the trunk positioning surface 511. The height difference between the top end of the straight section 522 and the trunk positioning surface 511 can be set according to actual requirements, and the present invention is not further limited to this. The shell breaking knife 52 can efficiently and quickly cut the shell of the crayfish trunk, and the meat of the crayfish is not easily damaged.

Optionally, a gut removing knife mounting groove 5310 is arranged on the base 531 of the shrimp gut removing mechanism. The gut removal knife 5321 has a gut removal knife positioning portion 53211. The elastic connector 5322 of the gut removal knife is positioned in the gut removal knife mounting groove 5310, and the gut removal knife positioning portion 53211 is in clearance fit with the gut removal mounting groove 5310. The gut suture removing mounting groove 5310 can limit the gut suture removing knife positioning part 53211, so that the shaking amplitude of the gut suture removing knife 5321 in contact with the crayfish is controlled, and the gut suture removing knife 5321 is prevented from scratching the shrimp meat. In addition, the catgut removal knife mounting groove 5310 can control the elastic deformation amount of the catgut removal knife elastic connecting piece 5322, and avoid the catgut removal knife elastic connecting piece 5322 from generating excessive elastic deformation. In one embodiment, the shrimp gut removal mechanism base 531 is cylindrical in shape, the shrimp gut removal knife assembly 532 is located on an end surface of the shrimp gut removal mechanism base 531, and the cutting edge of the gut removal knife 5321 is higher than the height of the side surface of the shrimp gut removal mechanism base 531.

Further, the gut removal knife 5321 also includes a gut removal knife body 53212 and a gut removal knife blade 53213. The gut suture removing knife positioning part 53211 is fixedly connected with the gut suture removing knife main body 53212, and the fixed connection between the two can be realized by welding or integral forming and the like. The gut removal knife 5321 may be manufactured by integral molding. The gut removal knife edge 53213 is located at an edge of the gut removal knife body 53212, and a free end of the gut removal knife edge 53213 extends toward the gut removal knife body 53212. The extension of the gut suture removing knife edge 53213 towards the gut suture removing knife body 53212 is beneficial to better avoid the gut suture removing knife 5321 from scratching the shrimp meat.

Optionally, the shrimp gut cutter assembly 532 includes a pair of gut removal knives 5321. The pair of gut removal knives 5321 form a spherical curved surface, and the cutting edges of the pair of gut removal knives 5321 form a circular arc shape. That is, the pair of gut removing knives 5321 are formed in a shape of a complete partial curve on a sphere, and the cutting edges of the pair of gut removing knives 5321 are engaged and form a complete arc shape. The gut removal cutter assembly 532 of this configuration may better avoid scratching the shrimp meat while efficiently removing shrimp gut.

In a particular embodiment, the shrimp wire cutter assembly 532 includes a pair of wire removing knives 5321. The pair of gut removing knives 5321 are installed on the end surface of the cylindrical shrimp gut removing mechanism base 531 by the gut removing knife elastic connector 5322, and the pair of gut removing knives 5321 form a spherical curved surface and the cutting edges of the gut removing knives 5321 form an arc shape.

Optionally, the catgut removal knife elastic connector 5322 is a compression spring.

Optionally, the crawfish shrimp intestine and kernel removing device 5 further comprises a shrimp intestine and kernel removing device bracket 55. The shell breaking knife 52, the shrimp gut removing mechanism base 531 and the shrimp meat stopper 54 are all arranged on the shrimp gut removing and meat taking device bracket 55. The specific mounting means may be, for example, welding or bolting or connection via an intermediate connecting bracket, etc.

Further, the shrimp intestine removing and kernel taking device support 55 comprises a support enclosing plate 551, a shrimp intestine line baffle 552 and a shrimp kernel baffle 553. The holder fence 551 has a V-shaped plate portion 5511 and an extension plate portion 5512. The extension plate portion 5512 extends from a free end of the V-shaped plate portion 5511 toward a direction away from the tip of the V-shaped plate portion 5511, and a joint of the extension plate portion 5512 and the V-shaped plate portion 5511 has an included angle. The crust breaking knife 52 is located at the tip of the V-shaped plate portion 5511. The shrimp gut line baffle 552 is fixedly connected with the V-shaped plate portion 5511, the shrimp gut line baffle 552 and the V-shaped plate portion 5511 form a shrimp gut line collecting region 554, the shrimp gut line removing mechanism base 531 is fixedly connected with the shrimp gut line baffle 552, and the fixing connection can be achieved through welding or integrated forming and the like. The shrimp gut separated by the gut removal knife 5321 may enter the shrimp gut line collection region 554 and be restrained within the shrimp gut line collection region 554 by the shrimp gut baffle 552 and the V-shaped plate portion 5511. The shrimp meat baffle 553 is fixedly connected with the end of the extension board part 5512, the shrimp meat baffle 553, the bracket coaming 551 and the shrimp gut baffle 552 form a shrimp meat collecting area 555, and the shrimp meat baffle 54 is fixedly connected with the shrimp meat baffle 553, and the fixed connection can be realized by welding or integral forming and the like. Separated shrimp meat from the shrimp meat stop 54 can enter the shrimp meat collection area 555 and is limited in the shrimp meat collection area 555 by the shrimp meat baffle 553, the support baffle 551 and the shrimp gut baffle 552. The frame shroud 551 and the shrimp meat baffle 553 of the shrimp bowel removing apparatus frame 55 may form a pattern of triangles and rectangles with the shrimp gut baffle 552 located within the triangular portion of the pattern.

When the crayfish passes the gut removal knife 5321, the gut removal knife 5321 separates the gut from the crayfish and the separated gut falls into the gut collection area 554. When the crawfish passes the shrimp meat stopper 54, the shrimp meat stopper 54 can separate the shrimp meat from the shrimp shell, and the separated shrimp meat falls into the shrimp meat collecting region 555. The shrimp gut and the shrimp meat are separated in different areas, which is beneficial to obtaining higher-quality shrimp meat.

Further, the crayfish intestine and meat taking device 5 further includes a crayfish intestine line storage box (not shown) and a crayfish meat storage box (not shown). The shrimp wire receiving box corresponds to the shrimp wire collecting area 554 to receive the shrimp wire. The shrimp meat containing box corresponds to the shrimp meat collecting area 555 to contain the shrimp meat. The operating personnel can take away the shrimp gut of collecting in the shrimp gut line containing box and the shelled shrimp of collecting in the shelled shrimp containing box according to the demand.

Optionally, the shrimp stop 54 is made of a flexible material. The flexible material may be rubber or silicone, for example. The shrimp meat stop 54 made of a flexible material is beneficial to better avoid damaging the shrimp meat, thereby obtaining higher quality shrimp meat.

The crayfish shrimp clamp meat taking device 6 comprises a shrimp clamp transmission mechanism 61, a shrimp clamp positioning mechanism 62 and a shrimp clamp meat taking mechanism 63. It is particularly noted that shrimp pincers in this disclosure are also known as crayfish or crayfish. Herein, the head of the shrimp clamp refers to the palm section of the shrimp clamp; the legs of the shrimp clamp refer to parts except palm sections of the shrimp clamp, and generally, the parts from the wrist sections connected with the palm sections to the joints of the shrimp clamp and the shrimp trunk can be called the legs of the shrimp clamp; the main clamp of the shrimp clamp is a palm section part of the shrimp clamp, and the clamp tip of the main clamp is a free end of a fixed finger on the palm section of the shrimp clamp; the side pliers of the shrimp pliers refer to movable finger parts on the palm sections of the shrimp pliers, and the tips of the side pliers refer to free ends of the movable fingers on the palm sections of the shrimp pliers.

The shrimp clamp transporting mechanism 61 may transport the shrimp clamps to the shrimp clamp positioning mechanism 62. The shrimp clamp transporting mechanism 61 may be, for example, a conveyor belt or a robot arm.

The shrimp clamp positioning mechanism 62 includes a shrimp clamp positioning mechanism support 621, a shrimp clamp positioning block 622, and a shrimp clamp positioning block drive unit 623. The shrimp clamp positioning block driving unit 623 may be, for example, a cylinder or a motor. The shrimp clamp positioning block driving unit 623 is mounted on the shrimp clamp positioning mechanism support 621, and the shrimp clamp positioning block driving unit 623 may be mounted on the shrimp clamp positioning mechanism support 621 by means of bolts or connecting brackets or the like. The shrimp clamp positioning block driving unit 623 may drive the shrimp clamp positioning block 622 to press and fix the shrimp clamps transferred from the shrimp clamp transferring mechanism 61.

The shrimp clamp meat extracting mechanism 63 includes a clamp point holding assembly 631. The tip clamp assembly 631 includes a tip clamp 6311, a tip clamp drive 6312, and a tip clamp oscillation drive 6313. The jaw tip gripping members 6311 may be, for example, jaws or butt blocks, etc. The jaw tip holders 6311 may be used to hold the jaw tips of side-clamps of shrimp pliers. The forceps tip holding member holding drive unit 6312 can drive the forceps tip holding member 6311 to hold or release the forceps tips of the shrimp forceps. Specifically, when the clip gripping member 6311 is a clamping jaw, the clip gripping driving unit 6312 may be an air cylinder or a motor that drives the clip gripping member 6311 to open and close; when the tip holders 6311 are paired blocks, the tip holder driving unit 6312 may be an air cylinder or a motor that drives the tip holders 6311 to move toward or away from each other. The forceps tip holding member rocking drive unit 6313 may drive the forceps tip holding member 6311 to rock. The jaw tip holding member shaking drive unit 6313 may be, for example, a rotary cylinder or a rotary motor.

In use, the shrimp clamp transporting mechanism 61 transports the shrimp clamps to the work area of the shrimp clamp positioning mechanism 62. The shrimp clamp positioning block driving unit 623 drives the shrimp clamp positioning block 622 to press and fix the shrimp clamp transferred by the shrimp clamp transfer mechanism 61, and the shrimp clamp is positioned by the acting force applied to the shrimp clamp by the shrimp clamp positioning block 622. Then, the forceps tip holding member holding drive unit 6312 drives the forceps tip holding member 6311 to hold the side forceps tips of the shrimp forceps. Then, the forceps tip holding member rocking driving unit 6313 drives the forceps tip holding member 6311 holding the forceps tip to rock, and the side forceps of the shrimp forceps synchronously rock along with the forceps tip holding member 6311. Under the shaking action of the clamp point clamping piece 6311, the movable fingers on the palm section of the shrimp clamp carry clamp meat to be separated from the shrimp clamp shell together, so that the shrimp clamp can take the meat. The movable finger of the shrimp clamp is not easy to break by the mode that the shrimp clamp shakes to take out the meat, which is beneficial to taking out the clamp meat in the shrimp clamp with high efficiency and high quality.

The shrimp clamp positioning mechanism 62 can position the shrimp clamp transmitted by the shrimp clamp transmission mechanism 61, and the shrimp clamp meat taking mechanism 63 can separate out meat in the shrimp clamp in a shaking mode to automatically take out the clamp meat.

Optionally, the shrimp clamp positioning mechanism 62 further includes a shrimp clamp positioning transport unit 624. The shrimp clamp positioning and transferring unit 624 can hold the shrimp clamps and accurately convey the shrimp clamps to the lower side of the shrimp clamp positioning block 622, so that the shrimp clamp positioning block 622 presses the shrimp clamps transferred from the shrimp clamp transferring mechanism 61 onto the shrimp clamp positioning and transferring unit 624. The shrimp clamp positioning conveyor unit 624 may be, for example, a belt conveyor, a roller conveyor, or the like. In addition, after the shrimp clamp meat is taken out from the shrimp clamp, the shrimp clamp positioning transmission unit 624 may also transmit the shrimp clamp shells to the outside of the fixing area of the shrimp clamp positioning block 622, so that the shrimp clamp positioning block 622 may quickly position the next shrimp clamp.

Further, the shrimp clamp positioning transferring unit 624 includes a plurality of shrimp clamp positioning rolling shafts 6240 and a shrimp clamp positioning rolling shaft driving unit (not shown in the drawings) arranged in parallel. The shrimp clamp positioning rolling shaft driving unit can drive the shrimp clamp positioning rolling shaft 6240 to rotate so as to move the shrimp clamps on the shrimp clamp positioning rolling shaft 6240. The shrimp clamp positioning rolling shaft driving unit can be an electric motor or a motor and the like. In specific implementation, the plurality of shrimp clamp positioning rolling shafts 6240 can be set to be in gear transmission so as to ensure synchronous rotation of the different shrimp clamp positioning rolling shafts 6240.

Further, the shrimp clamp meat taking mechanism 63 further includes a shrimp clamp shell storage box 632. The shrimp clamp shell receiving box 632 is provided at the end of the shrimp clamp positioning transmission unit 6240 to collect shrimp clamp shells. After the shrimp clamp meat is removed, the shrimp clamp positioning and transporting unit 624 may transport the shrimp clamp shells to the end thereof for feeding the shrimp clamp shells into the shrimp clamp shell receiving box 632.

Further, the shrimp clamp transporting mechanism 61 includes a shrimp clamp transporting mechanism support 611, a shrimp clamp transporting belt 612, a shrimp clamp transporting block 613, and a shrimp clamp transporting block elastic connection 614. The shrimp clamp transport block flexible link 614 connects the shrimp clamp transport mechanism frame 611 and the shrimp clamp transport block 613 such that the shrimp clamp transport block 613 applies a force to the shrimp clamps on the shrimp clamp transport belt 612 toward the shrimp clamp transport belt 612. When the shrimp clamp conveyor belt 612 conveys the shrimp clamps to the action area of the shrimp clamp conveying block 613, the shrimp clamp conveying block 613 can elastically press and fix the shrimp clamps on the shrimp clamp conveyor belt 613. The shrimp clamp transfer block flexible connector 614 may be, for example, a spring or a leaf spring. Under the action of the elastic force of the shrimp clamp conveying block elastic connector 614, the shrimp clamp conveying blocks 613 can press and fix shrimp clamps with different sizes on the shrimp clamp conveying belt 613. The shrimp clamp transporting belt 612 communicates with the shrimp clamp positioning transporting unit 624 to transport the shrimp clamps to the shrimp clamp positioning transporting unit 624. It should be noted that the force of the shrimp clamp conveying block 613 should not affect the shrimp clamp conveying belt 612 to convey the shrimp clamps while the shrimp clamps are being held. In addition, to avoid the shrimp pincers from jamming at the shrimp pincers transport block 613, the shrimp pincers transport block 613 may be provided with a shrimp pincers introduction face to introduce the shrimp pincers under the shrimp pincers transport block 613.

Further, the crawfish shrimp clamp meat extracting device 6 further comprises a shrimp clamp meat extracting device bracket 64. The shrimp clamp positioning mechanism 62 further includes a shrimp clamp positioning mechanism support first drive unit 625, a shrimp clamp leg cutting blade 626, and a shrimp clamp leg cutting blade drive unit (not shown in the figures). The shrimp clamp positioning mechanism support first drive unit 625 and the shrimp clamp leg cutting blade drive unit may be, for example, a motor or an electric motor or the like. The shrimp clamp positioning mechanism support first driving unit 625 is mounted on the shrimp clamp meat taking device support 64, and the shrimp clamp positioning mechanism support first driving unit 625 may drive the shrimp clamp positioning mechanism support 621 to apply an acting force toward the shrimp clamp positioning transmission unit 624 to the shrimp clamps on the shrimp clamp positioning transmission unit 624, so that the shrimp clamp positioning mechanism support 621 may position the shrimp clamps on the shrimp clamp positioning transmission unit 624. The shrimp clamp positioning mechanism support 621 is provided with a shrimp clamp head limiting portion 6210, the shrimp clamp head limiting portion 6210 can limit the position of the head of the shrimp clamp, and the distance between the shrimp clamp head limiting portion 6210 and the shrimp clamp positioning transmission unit 624 is smaller than the distance between the shrimp clamp transmission pressing block 613 and the shrimp clamp positioning transmission unit 624. This arrangement allows the head of the shrimp clamp on the shrimp clamp positioning conveyor 624 to be located on one side of the shrimp clamp head restraint 6210 adjacent to the shrimp clamp conveyor belt 612 and the legs of the shrimp clamp to be located on the other side of the shrimp clamp head restraint 6210. The leg cutting blade driving unit is installed on the pincer positioning mechanism support 621, and the leg cutting blade driving unit can drive the leg cutting blade 626 to cut off the leg of the pincer which is limited on the pincer positioning transmission unit 624 by the head limiting part 6210.

When the shrimp pincers are conveyed from the shrimp pincers conveying belt 612 to the shrimp pincers positioning and conveying unit 624, the shrimp pincers positioning mechanism support first driving unit 625 drives the shrimp pincers positioning mechanism support 621 to position the shrimp pincers on the shrimp pincers positioning and conveying unit 624, the shrimp pincers head limiting part 6210 limits the position of the shrimp pincers, the head of the shrimp pincers is located on one side, adjacent to the shrimp pincers conveying belt 612, of the shrimp pincers head limiting part 6210, and the legs of the shrimp pincers are located on the other side of the shrimp pincers head limiting part 6210. Then, the leg cutting knife 626 cuts off the leg of the shrimp cracker by the driving of the leg cutting knife driving unit so that the head and the leg of the shrimp cracker are separated.

Further, the crayfish forceps meat extracting device 6 further includes a position sensor 65. The position sensor 65 may detect the positions of the shrimp head restraint portion 6210 and the shrimp head restraint portion 613 to maintain a difference between the distance between the shrimp head restraint portion 6210 and the shrimp positioning transmission unit 624 and the distance between the shrimp head restraint portion 62613 and the shrimp positioning transmission unit 624. The distance between the shrimp clamp transmission block 613 and the shrimp clamp positioning transmission unit 624 can be adjusted by the elastic force of the shrimp clamp transmission block elastic connector 614 according to the size of the shrimp clamp, and the distance between the shrimp clamp head limiting part 6210 and the shrimp clamp positioning transmission unit 624 can be adjusted by the driving of the shrimp clamp positioning mechanism bracket first driving unit 625. The difference between the distance between the pincer head limiting part 6210 and the pincer positioning transmission unit 624 and the distance between the pincer transmission pressing block 613 and the pincer positioning transmission unit 624 is kept at a certain value, so that the legs of the pincer can be effectively ensured to pass through the pincer head limiting part 6210, and the head of the pincer is positioned at the side of the pincer head limiting part 6210 adjacent to the pincer transmission belt 612. The position sensor 65 may be provided on the shrimp clamp positioning mechanism support 621 and/or the shrimp clamp transport block 613. In a specific embodiment, the shrimp clamp transmitting block 613 and the shrimp clamp head stopper 6210 may be disposed adjacent to each other so that the shrimp clamp can be stably positioned on the shrimp clamp positioning and transmitting unit 624.

Further, the shrimp clamp positioning mechanism 62 further includes a shrimp clamp positioning transmission unit mounting bracket 627 and a shrimp clamp positioning mechanism bracket second drive unit 628. The shrimp clamp positioning mechanism support second drive unit 628 may be, for example, an electric motor or a motor. The shrimp clamp positioning transmission unit 624 is mounted on the shrimp clamp positioning transmission unit mounting bracket 627, and the shrimp clamp positioning transmission unit mounting bracket 627 is connected with the shrimp clamp positioning mechanism bracket 621. The connection between the shrimp clamp positioning transmission unit mounting bracket 627 and the shrimp clamp positioning mechanism bracket 621 can be realized by clamping or welding and the like. When the shrimp clamp positioning mechanism support 621 moves, the shrimp clamp positioning transfer unit mounting support 627 moves with the shrimp clamp positioning mechanism support 621, so that the shrimp clamp positioning transfer unit 624 and the shrimp clamps thereon move with the shrimp clamp positioning mechanism support 621. The shrimp clamp positioning mechanism support second driving unit 628 is mounted on the shrimp clamp meat extracting apparatus support 64, and the shrimp clamp positioning mechanism support second driving unit 628 can drive the shrimp clamp positioning mechanism support 621 to move in the conveying direction of the shrimp clamp positioning conveying unit 624. Thus, the shrimp clamp positioning mechanism support second driving unit 628 drives the shrimp clamp positioning mechanism support 621 to move along the conveying direction of the shrimp clamp positioning conveyor unit 624, and the shrimp clamps on the shrimp clamp positioning conveyor unit 624 also move along the conveying direction of the shrimp clamp positioning conveyor unit 624 along with the shrimp clamp positioning mechanism support 621.

In one embodiment of the disclosed crayfish shrimp clamp meat extracting apparatus 6, the shrimp clamp conveyor belt 612 transports the shrimp clamps, and the shrimp clamp transport block 613 elastically presses the shrimp clamps against the shrimp clamp conveyor belt 612 as the shrimp clamps are transported to the active area of the shrimp clamp transport block 613. The shrimp clamp conveyor 612 then transports the shrimp clamps onto the shrimp clamp positioning mechanism conveyor unit 623. The shrimp clamp positioning mechanism support first driving unit 625 drives the shrimp clamp positioning mechanism support 621 to move toward a direction close to or away from the shrimp clamp positioning transmission unit 624 so that the difference between the distance between the shrimp clamp head limiting portion 6210 and the shrimp clamp positioning transmission unit 624 and the distance between the shrimp clamp transmission block 613 and the shrimp clamp positioning transmission unit 624 is maintained at a certain value to ensure that the legs of the shrimp clamp pass through the shrimp clamp head limiting portion 6210 and the heads of the shrimp clamp are positioned at the side of the shrimp clamp head limiting portion 6210 adjacent to the shrimp clamp transmission belt 612. Then the shrimp-leg cutting blade 626 cuts the legs of the shrimp clamp so that the head and the legs of the shrimp clamp are separated. Then, the shrimp clamp positioning mechanism support second driving unit 628 drives the shrimp clamp positioning mechanism support 621 to move along the conveying direction of the shrimp clamp positioning conveyor unit 624, and the shrimp clamps on the shrimp clamp positioning conveyor unit 624 also move along the conveying direction of the shrimp clamp positioning conveyor unit 624 along with the shrimp clamp positioning mechanism support 621. Then, the shrimp clamp positioning block 622 can press and fix the head of the shrimp clamp on the shrimp clamp positioning mechanism transmission unit 623 under the driving of the shrimp clamp positioning block driving unit 623, and the shrimp clamp meat taking mechanism 623 can implement the operation of taking clamp meat.

Optionally, the shrimp clamp meat taking mechanism 63 further comprises a shrimp clamp meat taking mechanism connecting bracket 633. The shrimp clamp meat taking mechanism connecting bracket 633 can mount the clamp tip clamping component 631 on the shrimp clamp positioning mechanism bracket 621 by welding or bolt connection.

Further, the shrimp clamp meat taking mechanism 63 further includes a clamp tip holding assembly position adjusting member 634. The clamp point clamping assembly position adjuster 634 is located between the shrimp clamp meat taking mechanism connecting bracket 633 and the clamp point clamping assembly 631 to adjust the clamping position of the clamp point clamping assembly 631. One skilled in the art can select the type or configuration of the jaw tip clamping assembly position adjustment 634 according to actual requirements. For example, the jaw tip clamping assembly position adjuster 634 is a telescoping rod. Also for example, the tip clamp assembly position adjuster 634 is a rotating arm that can change the clamping angle of the tip clamp assembly 631. As another example, the jaw tip clamp assembly position adjuster 634 is a jointed arm robot.

Further, the shrimp clamp meat taking mechanism 63 further includes a clamp meat storage box 635. The clam meat receiving box 635 may collect the clam meat of the shrimp pincers. Point clamp assembly position adjustment 634 may control point clamp assembly 631, which clamps the side clamp with the flesh, to deliver the clamp flesh into clamp flesh receiving bin 635.

Optionally, the shrimp clamp meat removing mechanism 63 includes a pair of clamp point clamp assemblies 631. A pair of point clamp assemblies 631 can clamp the lateral and main clamp points of the shrimp clamp, respectively. Like this, the pincers point centre gripping subassembly 631 of the main pincers point of centre gripping shrimp pincers can play the effect of location shrimp pincers, and the pincers point centre gripping subassembly 631 of the side pincers point of centre gripping shrimp pincers can play the effect of rocking the side pincers and getting the meat.

Optionally, the jaw tip gripping member 6311 comprises a pair of mirror-symmetrically disposed disc-like clamping plates 63110. The jaw tip holding member rocking drive unit 6313 drives the pair of disk-shaped chucking plates 63110 to rotate synchronously. When the disc-shaped clamp plate 63110 is used to clamp the side tongs of the shrimp pincers, the disc-shaped clamp plate 63110 can synchronously rotate back and forth at a certain angle, so that the side tongs with meat can be separated from the shrimp pincers.

Optionally, the crawfish shrimp clamp meat taking device 6 further comprises a shrimp clamp direction changing mechanism 66. The shrimp clamp turning mechanism 66 includes a turning mechanism support 661, a turning mechanism holding member 662, a turning mechanism holding member rotation driving unit 663, and a shrimp clamp orientation detecting unit (not shown in the drawings). The diverter mechanism holding assembly 662 may hold the shrimp pincers and transport the held shrimp pincers to the shrimp pincers transport mechanism 61. The deviator clamp assembly 662 may be, for example, a jaw or the like. The deviator clamp assembly 662 may be mounted directly or indirectly to the deviator bracket 661 via an intermediate connecting bracket or the like. The shrimp clamp orientation detecting unit may detect the orientation of the shrimp clamp held by the direction-changing mechanism holding assembly 662, which may be, for example, a shrimp clamp shape detecting mechanism or the like. The turning mechanism holding assembly rotation driving unit 663 can drive the turning mechanism holding assembly 662 to rotate so that the shrimp pincers held by the turning mechanism holding assembly 662 are oriented in the same direction. The turning mechanism holding member rotation driving unit 663 may be, for example, a rotary motor or an air cylinder. In particular, the steering mechanism holding assembly rotary drive unit 663 may be installed at a shaft connection of the steering mechanism support 661 and the steering mechanism holding assembly 662. The orientation of the head and the tail of different shrimp pincers on the shrimp pincers transmission mechanism 61 can be the same through the shrimp pincers turning mechanism 66, and therefore the working efficiency of the crayfish shrimp pincers meat taking device 6 is improved.

Further, the deviator clamp assembly 662 includes a pair of symmetrically disposed deviator clamp transmission members 6621 and transmission member drive units 6622. The transmission element drive unit 6622 may be, for example, an electric motor or a motor-extendable rod, or the like. The deviator grip transmission element 6621 includes a transmission element support 66211 and a deviator transmission belt 66212. The direction change mechanism transfer belt 66212 is mounted on the transfer element support 66211, and the direction change mechanism transfer belt 66211 corresponds to the shrimp clamp transfer mechanism 61. The conveying member driving unit 6622 may drive the conveying member supports 66211 of the pair of direction changing mechanism holding conveying members 6621 to move toward or away from each other, so that the direction changing mechanism conveying belts 66212 hold or release the shrimp pincers. In an embodiment, the transmission element driving unit 6622 may be a telescopic rod, for example. A pair of diverter holding transport elements 6621 hold shrimp pincers therebetween and diverter transport belts 66212 transport the shrimp pincers to shrimp pincers transport mechanism 61.

In one embodiment, the transport element driving unit 6622 drives the transport element holders 66211 of the pair of direction changing mechanism holding transport elements 6621 to move toward each other so that the direction changing mechanism transport belts 66212 hold the shrimp pincers. Next, the shrimp clamp orientation detecting unit detects the orientation of the shrimp clamp, and if the leg of the shrimp clamp is not oriented to the shrimp clamp transporting mechanism 61, the deviator clamping assembly rotating driving unit 663 drives the deviator clamping assembly 662 to rotate so that the leg of the shrimp clamp clamped by the deviator clamping assembly 662 is oriented to the shrimp clamp transporting mechanism 61, so that when the shrimp clamp enters the shrimp clamp positioning mechanism 62, the head of the shrimp clamp can be located on the side of the shrimp clamp head limiting portion 6210 adjacent to the shrimp clamp transporting belt 612. Then, the conveying element driving unit 6622 drives the pair of the diverter holding conveying elements 6621 to move back and forth so that the diverter conveying belts 66212 release the shrimp pincers, and the diverter conveying belts 66212 convey the shrimp pincers to the shrimp pincers conveying mechanism 61.

Further, the crayfish shrimp clamp meat taking device 6 further comprises a shrimp clamp guiding mechanism 67. The shrimp clamp guiding mechanism 67 comprises a guiding mechanism bracket 671, a guiding mechanism transmission belt 672 and a plurality of guiding mechanism rolling shafts 673 which are arranged in parallel. The guide mechanism transmission belt 672 and the guide mechanism rolling shaft 673 are both arranged on the guide mechanism bracket 671.

Gaps are reserved between the rolling shafts 673 of the guide mechanism. The straightening mechanism rolling shafts 673 are configured to make a rotational movement so that the shrimp pincers pass through the gap between adjacent straightening mechanism rolling shafts 673. In specific implementation, the rolling shaft 673 of the pilot mechanism can be driven by a gear. In addition, the aligning mechanism rolling shafts 673 may be configured to rotate forward and backward at intervals, so that the shrimp pincers more efficiently pass through the gaps between the adjacent aligning mechanism rolling shafts 673. The shrimp clamp aligning mechanism 67 can align the shrimp clamps in the same direction as the length direction of the shrimp clamps, that is, the orientation of the shrimp clamps on the aligning mechanism conveyor belt 672 is aligned with the conveying direction of the aligning mechanism conveyor belt 672.

The guide mechanism conveyor belt 672 can convey shrimp pincers dropped from the gap between the guide mechanism rolling shafts 673 to the working area of the direction changing mechanism holding assembly 662. The turning mechanism clamping assembly 662 can clamp the shrimp pincers which are conveyed by the guide mechanism conveying belt one by one.

In one embodiment, the number of the shrimp clamp deviator 66 can correspond to the gaps between the rolling shafts 673 of the guiding mechanism, so that different shrimp clamp deviators 66 can clamp the shrimp clamps falling from the gaps between the rolling shafts 673 of different guiding mechanisms onto the conveying belt 672 of the guiding mechanism.

Further, the aligning mechanism rolling shaft 673 includes a shaft center (not shown) and a shaft sleeve (not shown). The shaft sleeve is sleeved outside the shaft center. The rolling shaft 673 of the guiding mechanism with the structure can conveniently replace the shaft sleeve, thereby being better suitable for the shrimp pincers with different sizes and specifications. In addition, the shaft sleeve can be made of flexible materials such as rubber or collodion to avoid damaging the shrimp clamp.

Further, the shrimp clamp flattening apparatus further includes a shrimp clamp feeding mechanism 68. The shrimp clamp feed mechanism 68 includes a shrimp clamp storage box 681 and a shrimp clamp feed mechanism conveyor 682. The shrimp clamp feeding mechanism conveyor 682 may convey the shrimp clamps stored in the shrimp clamp storage box 681 to the shrimp clamp guiding mechanism 67. The arrangement of the shrimp clamp supply mechanism 68 is beneficial to improving the automation operation of the shrimp clamp meat taking device 6 for crayfish, and after the shrimp clamp is poured into the shrimp clamp storage box 681, the shrimp clamp device can continuously realize the meat taking operation of the shrimp clamp.

Further, the shrimp clamp storage box 681 includes a shrimp clamp storage box case 6811 and a plurality of shrimp clamp baffles 6812. The shrimp clamp storage box 6811 is positioned above the shrimp clamp feed mechanism conveyor 682. The shrimp clamp storage box 6811 is provided with an opening on a side of the shrimp clamp feeding mechanism conveyor 682 for releasing shrimp clamps onto the shrimp clamp feeding mechanism conveyor 682. The shrimp clamp baffles 6812 can separate stacked shrimp clamps to allow a single layer of shrimp clamp to be transferred to the shrimp clamp straightening mechanism 67. The distances between the bottom surfaces of the plurality of shrimp clamp baffles 6812 and the surface of the shrimp clamp feeding mechanism conveyor 682 are different, so that the stacked shrimp clamps are pushed flat, and finally the shrimp clamps conveyed to the shrimp clamp guiding mechanism 67 are single-layered.

Further, the crayfish forceps meat taking device 6 further comprises a direction change mechanism main support 69 and a direction change mechanism support driving unit 70. The deviator bracket drive unit 70 may be, for example, an expansion link or an air cylinder. The turning mechanism support driving unit 70 is mounted on the turning mechanism main support 69, and the turning mechanism support driving unit 70 can drive the turning mechanism support 661 to move so that the turning mechanism holding member 662 is aligned with or separated from the guide mechanism conveying belt 672. Thus, the crayfish shrimp clamp meat taking device 6 can be provided with a plurality of shrimp clamp direction changing mechanisms 66, and the direction changing mechanism support driving unit 70 can drive different shrimp clamp direction changing mechanisms 66 to be received from the direction guiding mechanism conveying belt 672 to convey the shrimp clamps. In addition, the crayfish shrimp clamp meat taking device 6 can also be provided with a plurality of shrimp clamp transmission mechanisms 61 and a plurality of shrimp clamp positioning mechanisms 62 and shrimp clamp meat taking mechanisms 63 which correspond to the shrimp clamp transmission mechanisms 61 one by one, so that the crayfish shrimp clamp meat taking device 6 can efficiently realize the operation of taking the meat by the shrimp clamps.

Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims

1. An automatic crayfish meat taking device is characterized by comprising a crayfish flattening device, a crayfish conveying device, a crayfish forceps removing device, a crayfish head and tail removing device, a crayfish intestine and meat taking device and a crayfish forceps meat taking device; wherein,

the crayfish shrimp intestine removing and kernel taking device comprises a trunk positioning table, a shell breaking knife, a shrimp intestine line removing mechanism and a shrimp kernel stop block, wherein the trunk positioning table, the shell breaking knife, the shrimp intestine line removing mechanism and the shrimp kernel stop block are sequentially arranged, the trunk positioning table is provided with a trunk positioning surface, the trunk positioning surface is used for positioning the front surface of a trunk clamped on the crayfish transportation device, the front surface of the trunk is the surface of the trunk of the crayfish wrapped by the crayfish shell, the surface is opposite to the belly of the trunk of the crayfish, the shell breaking knife is arranged for cutting the front shell of the trunk, the shrimp intestine line removing mechanism comprises a shrimp intestine line removing mechanism base and a shrimp intestine line removing knife assembly, the shrimp intestine line removing knife assembly comprises a gut removing knife and a gut removing knife elastic connecting piece, the gut removing knife elastic connecting piece is connected with the shrimp intestine line removing mechanism base and the gut removing knife, the shrimp meat stopper is arranged to abut against shrimp meat in the trunk so that the shrimp meat leaves the trunk;

the crayfish shrimp clamp meat taking device comprises a shrimp clamp transmission mechanism, a shrimp clamp positioning mechanism and a shrimp clamp meat taking mechanism, wherein the shrimp clamp transmission mechanism is arranged for transmitting shrimp clamps to the shrimp clamp positioning mechanism, the shrimp clamp positioning mechanism comprises a shrimp clamp positioning mechanism support, a shrimp clamp positioning block and a shrimp clamp positioning block driving unit, the shrimp clamp positioning block driving unit is installed on the shrimp clamp positioning mechanism support, the shrimp clamp positioning block driving unit is arranged for driving the shrimp clamp positioning block to press and fix the shrimp clamps transmitted by the shrimp clamp transmission mechanism, the shrimp clamp meat taking mechanism comprises a clamp tip clamping assembly, the clamp tip clamping assembly comprises a clamp tip clamping piece, a clamp tip clamping piece clamping driving unit and a clamp tip clamping piece shaking driving unit, the clamp tip clamping piece clamping driving unit is arranged for driving the clamp tip clamping piece to clamp or release the clamp tip of the shrimp clamps, the clamp point clamping piece shaking driving unit is used for driving the clamp point clamping piece clamped with the clamp point to shake;

the shrimp clamp positioning mechanism also comprises a shrimp clamp positioning and transmitting unit;

the shrimp clamp positioning and conveying unit is used for holding shrimp clamps, so that the shrimp clamp positioning block can fixedly press the shrimp clamps conveyed by the shrimp clamp conveying mechanism on the shrimp clamp positioning and conveying unit;

the shrimp clamp conveying mechanism comprises a shrimp clamp conveying mechanism support, a shrimp clamp conveying belt, a shrimp clamp conveying press block and a shrimp clamp conveying press block elastic connecting piece;

the shrimp clamp conveying belt is communicated with the shrimp clamp positioning and conveying unit so as to convey the shrimp clamps to the shrimp clamp positioning and conveying unit;

the crayfish and shrimp clamp meat taking device also comprises a shrimp clamp meat taking device bracket;

2. The automated crayfish meat extraction apparatus of claim 1, wherein the flattening device gripper mechanism includes a flattening device gripper assembly and a flattening device flattening assembly;

3. The automated crayfish meat removal apparatus of claim 2 wherein the flattening device turnover mechanism further includes a flattening device turnover mechanism telescoping unit;

4. The automated crayfish meat extraction apparatus of claim 2 wherein the flattening device flattening assemblies include two sets, one set being on each side of the flattening device gripper assembly.

5. The automated crayfish meat extraction apparatus of claim 4 wherein the flattening device gripper mechanism further includes a weight judgment unit;

6. The automated crayfish meat extraction apparatus of claim 2 wherein the flattening device detection unit is a color sensor;

7. The automated crayfish meat extraction apparatus of claim 2 wherein the spreader clamp assembly further includes a first clamp clamping unit;

8. The automated crayfish meat extraction apparatus of claim 7 wherein the first gripper bar is a telescoping bar.

9. The automated crayfish meat extraction apparatus of claim 2 wherein the flattening device flattening assembly further includes a second gripper clamping unit;

10. The automated crayfish meat extraction apparatus of claim 9 wherein the second grasping bar is a telescoping bar.

11. The automated crayfish meat extraction apparatus of claim 2 wherein the crayfish flattening device further includes a flattening device main frame and a flattening device base drive unit;

12. The automated crayfish meat extraction apparatus of claim 2 wherein the crayfish flattening apparatus further includes a crayfish straightening mechanism;

13. The automated crayfish meat extraction device of claim 12, wherein the straightening mechanism rolling shaft includes a shaft center and a shaft sleeve, the shaft sleeve being fitted over the shaft center.

14. The automated crayfish meat extraction apparatus of claim 12 wherein the crayfish flattening apparatus further includes a crayfish feed mechanism;

15. The automated crayfish meat extraction apparatus of claim 14 wherein the crayfish storage bins include a crayfish storage bin housing and a plurality of crayfish baffles;

16. The automated crayfish meat extraction apparatus of claim 1 wherein the conveyor clamp mechanism is mounted on the conveyor turn-over stand and includes at least a pair of third clamps arranged to clamp an edge portion of the shell of the flattened crayfish and to hold the crayfish in the flattened condition.

17. The automated crawfish meat extraction apparatus of claim 16, wherein the crawfish transport further comprises a transport base chute;

18. The automated crayfish meat removal apparatus of claim 17, wherein the transport mechanism turnover mechanism further includes a transport mechanism turnover mechanism telescoping unit;

19. The automated crayfish meat removal apparatus of claim 18 wherein the transport mechanism turnover mechanism telescoping unit is a telescoping rod.

20. The automated crayfish meat removal apparatus of claim 16 wherein the transport device picking mechanism further includes a third picking member positioning member drive unit and a pair of third picking member positioning members;

21. The automated crayfish meat extraction apparatus of claim 20 wherein the transport device pinching mechanism further includes a pinching block driving unit;

22. The automated crayfish meat removal apparatus of claim 1 wherein the crayfish deboning device further includes a deboning device support and a crayfish head positioning mechanism drive unit;

23. The automated crayfish meat removal apparatus of claim 22 wherein the crayfish de-clamp device further includes a shrimp clamp collection bin;

24. An automated crayfish meat removal apparatus as claimed in claim 22 wherein the crayfish head positioning block has a crayfish head guide surface arranged to guide the crayfish head of the crayfish to the crayfish head positioning gap.

25. The automated crayfish meat removal apparatus of claim 22 wherein the crayfish head and tail removal device further includes a head and tail collection bin;

26. The automated crayfish meat removal apparatus of claim 25 wherein the fore-aft clamp retraction unit is a telescoping rod.

27. The automated crayfish meat extraction apparatus of claim 22 wherein the craniocaudal mechanism further includes a craniocaudal clamp support;

28. The automated crayfish meat extraction apparatus of claim 1 wherein the torso positioning table has a torso guiding surface in smooth transitional connection with the torso positioning surface;

29. The automated crayfish meat removal apparatus of claim 28 wherein the cutting edge of the shell breaking knife has a guide section and a straight section, the guide section having an arcuate shape, the straight section having a linear shape, and the guide section being adjacent the torso positioning station as compared to the straight section;

30. The automated crayfish meat removal apparatus of claim 28 wherein the crayfish gut removal mechanism base is provided with a gut removal knife mounting slot;

31. The automated crayfish meat removal apparatus of claim 30 wherein the gut removal knife further includes a gut removal knife body and a gut removal knife blade;

32. The automated crayfish meat removal apparatus of claim 28 wherein the shrimp gut removal knife assembly includes a pair of the gut removal knives;

33. The automated crayfish meat removal apparatus of claim 28 wherein the catgut removal knife elastic connection is a compression spring.

34. An automated crawfish meat extraction facility as claimed in claim 28, wherein the crawfish shrimp intestine and kernel removing device further comprises a shrimp intestine and kernel removing device support;

35. An automated crayfish meat removal apparatus as claimed in claim 34 wherein the shrimp gut removal and retrieval device support includes a support enclosure, a shrimp wire baffle, and a shrimp meat baffle;

the shell breaking knife is positioned at the tip of the V-shaped plate part;

36. The automated crawfish meat harvesting apparatus of claim 35, wherein the crawfish deli and kernel removing device further comprises a crawfish line receiving box and a shrimp kernel receiving box;

37. An automated crawfish meat extraction apparatus of claim 28, wherein the shrimp meat block is made of a flexible material.

38. The automated crayfish meat removal apparatus of claim 1, wherein the shrimp clamp positioning transport unit includes a plurality of parallel shrimp clamp positioning rolling axes and a shrimp clamp positioning rolling axis drive unit;

39. The automated crawfish meat extraction facility of claim 1, wherein the shrimp clamp meat extraction mechanism further comprises a shrimp clamp shell receiving bin;

40. The automated crayfish meat removal apparatus of claim 1 wherein the crayfish shrimp clamp meat removal device further includes a position sensor;

41. The automated crayfish meat removal apparatus of claim 1 wherein the shrimp clamp positioning mechanism further includes a shrimp clamp positioning transport unit mounting bracket and a shrimp clamp positioning mechanism bracket second drive unit;

42. The automated crayfish meat removal apparatus of claim 1 wherein the shrimp clamp meat removal mechanism further comprises a shrimp clamp meat removal mechanism attachment bracket;

43. The automated crayfish meat removal apparatus of claim 42 wherein the shrimp clamp meat removal mechanism further includes a clamp point clamp assembly position adjustment;

44. The automated crayfish meat removal apparatus of claim 43, wherein the shrimp clamp meat removal mechanism further includes a clamp meat receiving bin configured to collect clamp meat from the shrimp clamp.

45. The automated crayfish meat removal apparatus of claim 1 wherein the shrimp clamp meat removal mechanism includes a pair of the clamp point holding assemblies;

46. The automated crayfish meat removal apparatus of claim 1, wherein the jaw clamp includes a pair of mirror-symmetrically disposed disc-like clamp plates;

47. The automated crayfish meat removal apparatus of any one of claims 1 to 46, wherein the crayfish shrimp clamp meat removal device further includes a shrimp clamp direction changing mechanism;

48. The automated crayfish meat removal apparatus of claim 47 wherein the deviator clamp assembly includes a pair of symmetrically disposed deviator clamp transport elements and a transport element drive unit;

49. The automated crayfish meat removal apparatus of claim 47 wherein the crayfish shrimp clamp meat removal device further includes a shrimp clamp straightening mechanism;

50. The automated crayfish meat removal apparatus of claim 49 wherein the crayfish shrimp clamp meat removal device further includes a shrimp clamp feed mechanism;

51. The automated crayfish meat removal apparatus of claim 50, wherein the shrimp clamp storage bin includes a shrimp clamp storage bin box and a plurality of shrimp clamp baffles;

the shrimp clamp storage box body is positioned above the conveying belt of the shrimp clamp supply mechanism;

52. An automated crawfish meat extraction apparatus of any one of claims 49 to 51, wherein the crawfish meat extraction device further comprises a turning mechanism main support and a turning mechanism support driving unit;