CN108669462A - A kind of Automated water product soft-shelled turtle process line - Google Patents

Abstract

The invention discloses a kind of Automated water product soft-shelled turtle process line, including soft-shelled turtle flow-line equipment, storage device, turns over a device, measures transfer, soft shelled turtle slaughtering device, the first soft-shelled turtle device for peeling, the second soft-shelled turtle device for peeling, soft-shelled turtle decapsidate and internal organ device and soft-shelled turtle removes four limbs stripping and slicing device.The Automated water product soft-shelled turtle process line of the present invention to soft-shelled turtle can cut neck, bloodletting, remove rubber, open shell, go internal organ, segmentation etc. the operation of multiple steps with removing four limbs stripping and slicing plant automation by soft shelled turtle slaughtering device, the first soft-shelled turtle device for peeling, the second soft-shelled turtle device for peeling, soft-shelled turtle decapsidate and internal organ device and soft-shelled turtle, soft-shelled turtle treatment effeciency is high, it is at low cost, be conducive to handle soft-shelled turtle on a large scale.

Description

A kind of Automated water product soft-shelled turtle process line

Technical field

The present invention relates to soft-shelled turtle automatic business processing fields, more particularly, to a kind of Automated water product soft-shelled turtle processing stream Waterline.

Background technology

Turtle delicious, full of nutrition, the deliciousness being not only on dining table, and be a kind of tonic having many uses Product, therefore the market demand of soft-shelled turtle is very big.Although soft-shelled turtle culinary art is got up easily, the processing of soft-shelled turtle is very troublesome, needs Multiple steps such as clean, cut neck, bloodletting, remove rubber, open shell, go interior fat, segmentation.Existing soft-shelled turtle processing mode is artificial Processing, working efficiency is low and labor intensity is big, considerably increases the selling cost of soft-shelled turtle.

Therefore, how automatically efficient process soft-shelled turtle become this field urgent need to resolve technical barrier.

Invention content

It is an object of the present invention to provide it is a kind of can the Automated water product soft-shelled turtle of automatically efficient process soft-shelled turtle add The new solution of work assembly line.

According to the first aspect of the invention, a kind of Automated water product soft-shelled turtle process line is provided.

The Automated water product soft-shelled turtle process line includes soft-shelled turtle flow-line equipment, storage device, turns over a device, measures Transfer, soft shelled turtle slaughtering device, the first soft-shelled turtle device for peeling, the second soft-shelled turtle device for peeling, soft-shelled turtle decapsidate and internal organ device Four limbs stripping and slicing device is removed with soft-shelled turtle；Wherein,

The storage device includes storage box, and the storage box is exported equipped with soft-shelled turtle；

The device of turning over includes transmission belt, turns over an appliance stand and Fan Ge mechanisms, the transmission belt are arranged to transmit From the soft-shelled turtle of soft-shelled turtle outlet output, the Fan Ge mechanisms are turned over mounted on described on an appliance stand, Fan Ge mechanisms packet The first detector, Fan Ge mechanisms grippers and rotatory and extending device are included, first detector is arranged to detect the transmission The shell of the soft-shelled turtle taken and/or the direction of abdomen, Fan Ge mechanisms grippers are arranged to capture the abdomen in the transmission belt The soft-shelled turtle that portion soft-shelled turtle upward or release are captured, the rotatory and extending device are arranged to flexible and rotate the Fan Ge mechanisms Grippers, so that Fan Ge mechanisms grippers are mobile towards the direction closer or far from the transmission belt and by the first of crawl Fish overturns to shell upward；

The measurement transfer include measure steering mechanism, the measurement steering mechanism include rotating seat, compressing member and Measuring unit, the rotating seat is arranged to support and rotate the soft-shelled turtle of the shell transmitted from the transmission belt upward, described Compressing member is corresponding with the rotating seat with by soft-shelled turtle pressing, on the rotating seat, the measuring unit is arranged to measure position In the size of the soft-shelled turtle on the rotating seat；

The soft-shelled turtle flow-line equipment includes flow line bracket and grasping mechanism, and the grasping mechanism is mounted on the flowing water On line bracket, the grasping mechanism is arranged to capture the head of soft-shelled turtle, and soft-shelled turtle is transferred to from the measurement transfer In the soft shelled turtle slaughtering device, and soft-shelled turtle is driven to be moved along the flow line bracket, so that soft-shelled turtle kills in the soft-shelled turtle Kill device, the first soft-shelled turtle device for peeling, the second soft-shelled turtle device for peeling, the soft-shelled turtle decapsidate and internal organ device and institute Soft-shelled turtle is stated to go between four limbs stripping and slicing device to circulate successively；

The soft shelled turtle slaughtering device includes that soft-shelled turtle slaughters mechanism, and it includes that soft shelled turtle slaughtering device is flat that the soft-shelled turtle, which slaughters mechanism, Platform, soft-shelled turtle cut laryngotome, soft-shelled turtle cuts laryngotome driving unit and soft-shelled turtle blood collecting tank, and the soft shelled turtle slaughtering device platform is arranged to prop up Support soft-shelled turtle, the soft-shelled turtle cut laryngotome driving unit be arranged to drive the soft-shelled turtle to cut laryngotome to cut open the soft shelled turtle slaughtering device flat The throat of soft-shelled turtle on platform, the soft-shelled turtle blood collecting tank are arranged to collect soft-shelled turtle blood；

The first soft-shelled turtle device for peeling includes the first peeling mechanism and the first driving mechanism, first peeling mechanism packet Include left support plate, right support plate and the peeling knife being arranged in the left support plate and the right support plate, the peeling knife It is distributed in the left support plate and the opposite surface of the right support plate, the peeling knife includes connecting rod and blade part, institute Blade position is stated on the free end of the connecting rod, first driving mechanism is arranged to drive the left support plate and institute Right support plate is stated to swing opposite to each other；

The second soft-shelled turtle device for peeling includes the second peeling mechanism and the second driving mechanism, second peeling mechanism packet Peeling holder, upper peeling bracket and lower peeling bracket are included, is equipped in the peeling holder and goes to bellows, the upper peeling bracket and institute It states and is equipped with peeling tooth on the opposite surface of lower peeling bracket, and the upper peeling bracket and the lower peeling bracket are arranged to Relative rotation during peeling, second driving mechanism are arranged to that the upper peeling bracket is driven to enter or leave described Remove bellows；

The soft-shelled turtle decapsidate and internal organ device include decapsidate mechanism and gutting machine structure, and the decapsidate mechanism includes Decapsidate knife and decapsidate knife driving unit, the decapsidate knife driving unit are arranged to that the decapsidate knife is driven to swing, So that the gap between the head and shell of the soft-shelled turtle that the decapsidate knife captures on the grasping mechanism enters soft-shelled turtle and will Fresh-water turtle shell and soft-shelled turtle trunk are separated, and the gutting machine structure includes cutting line and cutting line driving unit, the cutting line Driving unit is arranged to that the cutting line is driven to rotate, so that under the cutting line detaches the internal organ on soft-shelled turtle trunk Come；

It includes going to four limbs mechanism and cutting agency that the soft-shelled turtle, which removes four limbs stripping and slicing device, described to go to four limbs mechanism including going four Limb knife and remove four limbs knife driving unit, it is described that four limbs knife driving unit is gone to be arranged to go four limbs knife and turtle described in driving Four limbs are in contact and cut off four limbs, and the cutting agency includes stripping and slicing cutter and stripping and slicing cutter driving unit, the stripping and slicing cutter Driving unit is arranged to the stripping and slicing cutter is driven to cut turtle blocking.

Optionally, the flow line bracket has disk-like shape, the soft shelled turtle slaughtering device, first soft-shelled turtle peeling Device, the second soft-shelled turtle device for peeling, the soft-shelled turtle decapsidate and internal organ device and the soft-shelled turtle remove four limbs stripping and slicing device ring It is arranged around the flow line bracket.

Optionally, the grasping mechanism includes grasping mechanism holder, grasping mechanism absorbent module and grasping mechanism crawl group Part, the grasping mechanism holder are mounted on the flow line bracket, the grasping mechanism absorbent module and the grasping mechanism Grabbing assembly is installed on the grasping mechanism holder；

The grasping mechanism absorbent module includes grasping mechanism Telescopic rotating part and grasping mechanism sucker, the grasping mechanism Telescopic rotating part is arranged to drive the grasping mechanism sucker flexible and/or rotation, the grasping mechanism sucker are arranged to Adsorb the shell of soft-shelled turtle；

The grasping mechanism grabbing assembly includes soft-shelled turtle head grabbing claw and multiple degrees of freedom revolving part, the multiple degrees of freedom rotation Part is arranged to drive the soft-shelled turtle head grabbing claw movement.

Optionally, the soft shelled turtle slaughtering device further includes soft-shelled turtle head exposure mechanism；

The soft-shelled turtle head exposure mechanism includes soft-shelled turtle head stretching platform, soft-shelled turtle head stretching positioning sucker disk and soft-shelled turtle head detection Device, the soft-shelled turtle head stretching platform are equipped with soft-shelled turtle abdomen and jack up part, and the soft-shelled turtle head stretches out positioning sucker disk and is arranged to adsorb Soft-shelled turtle is simultaneously located on soft-shelled turtle abdomen jack-up part by fresh-water turtle shell, and the soft-shelled turtle abdomen jacks up part and is arranged to be used for holding out against soft-shelled turtle Abdomen is so that soft-shelled turtle head stretches out, and the soft-shelled turtle head detector is arranged to be used for the position of detection soft-shelled turtle head, so that described Grasping mechanism captures the head of soft-shelled turtle.

Optionally, it further includes that the soft-shelled turtle elasticity being mounted on the soft shelled turtle slaughtering device platform is determined that the soft-shelled turtle, which slaughters mechanism, Position fixture, the flexibly positioned fixture of soft-shelled turtle are symmetrical arranged, soft-shelled turtle are located between two flexibly positioned fixtures of soft-shelled turtle；

The flexibly positioned fixture of soft-shelled turtle includes elastic component and positioning fixture clamping plate, one end of the elastic component and the first Fish slaughters apparatus platform and is fixedly connected, and the other end of the elastic component is connected with the positioning fixture clamping plate；

The soft shelled turtle slaughtering device platform is equipped with soft-shelled turtle neck limiting slot, and the bottom of the soft-shelled turtle neck limiting slot, which has, cuts larynx Knife via, the soft-shelled turtle cuts laryngotome driving unit and is arranged to the blade for driving the soft-shelled turtle to cut laryngotome cuts laryngotome mistake by described Hole.

Optionally, the decapsidate mechanism further includes the fresh-water turtle shell collecting box for collecting fresh-water turtle shell.

Optionally, the gutting machine structure further includes the internal organ collecting box for collecting soft-shelled turtle internal organ.

Optionally, the stripping and slicing cutter includes the cutter of the crisscross setting of polylith.

Optionally, the Automated water product soft-shelled turtle process line further includes soft-shelled turtle degreasing device, and the soft-shelled turtle goes Grease device is located at the soft-shelled turtle decapsidate and internal organ device and the soft-shelled turtle goes between four limbs stripping and slicing device；

The soft-shelled turtle degreasing device includes degreasing mechanism, and the degreasing mechanism includes degreasing mechanism base, first Flesh of fish four limbs pressing component, turtle jack up part and tweezers component, and the turtle jacks up part, the turtle four limbs pressing group Part and the tweezers component are installed on the degreasing mechanism base, the turtle four limbs pressing component be arranged to by On the degreasing mechanism base, the turtle jacks up part and is arranged to four limbs by the first of pressing the four limbs pressing of soft-shelled turtle The flesh of fish jacks up, so that the grease convex on turtle, the tweezers component is arranged to be used for the oil on gripping turtle Fat, the tweezers component include tweezers and tweezers driving unit, and the tweezers driving unit is arranged to drive the tweezers phase The turtle movement that part positioning is jacked up for the turtle four limbs pressing component and the turtle, so that the tweezers press from both sides Take the grease on turtle.

Optionally, the soft-shelled turtle degreasing device further includes degreasing device pedestal, and the soft-shelled turtle degreasing device has There are multiple degreasing mechanisms；

The degreasing device pedestal is equipped with degreasing mechanism sliding rail, the degreasing mechanism base and the degreasing Mechanism sliding rail sliding connection.

It was found by the inventors of the present invention that in the prior art, it is implicitly present in that soft-shelled turtle processing work efficiency is low and labor intensity Big problem.Therefore, the technical assignment or the technical problem to be solved is that those skilled in the art that the present invention to be realized Never expecting or it is not expected that, therefore the present invention is a kind of new technical solution.

The Automated water product soft-shelled turtle process line of the present invention can remove leather jacket by soft shelled turtle slaughtering device, the first soft-shelled turtle Set, the second soft-shelled turtle device for peeling, soft-shelled turtle decapsidate and internal organ device and soft-shelled turtle with removing four limbs stripping and slicing plant automation to soft-shelled turtle into Row cuts neck, bloodletting, the operation of multiple steps such as removing rubber, open shell, go internal organ, segmentation, and soft-shelled turtle treatment effeciency height is at low cost, has Conducive to handling soft-shelled turtle on a large scale.

By referring to the drawings to the detailed description of exemplary embodiment of the present invention, other feature of the invention and its Advantage will become apparent.

Description of the drawings

It is combined in the description and the attached drawing of a part for constitution instruction shows the embodiment of the present invention, and even With its explanation together principle for explaining the present invention.

Fig. 1 is the structural schematic diagram at a visual angle of disclosure Automated water product soft-shelled turtle process line embodiment.

Fig. 2 is the structural schematic diagram at another visual angle of disclosure Automated water product soft-shelled turtle process line embodiment.

Fig. 3 is the structural schematic diagram at a visual angle of disclosure grasping mechanism embodiment.

Fig. 4 is the structural schematic diagram at another visual angle of disclosure grasping mechanism embodiment.

Fig. 5 is the structural schematic diagram that disclosure soft-shelled turtle slaughters mechanism embodiment.

Fig. 6 is the structural schematic diagram of disclosure soft-shelled turtle head exposure mechanism embodiment.

Fig. 7 is the structural schematic diagram of disclosure decapsidate mechanism embodiment.

Fig. 8 is the structural schematic diagram of disclosure gutting machine structure embodiment.

Fig. 9 is the structural schematic diagram that the disclosure removes four limbs mechanism embodiment.

Figure 10 is the structural schematic diagram of the stripping and slicing blade embodiments of disclosure cutting agency.

Figure 11 is the structural schematic diagram of disclosure soft-shelled turtle degreasing device embodiment.

Figure 12 is the structural schematic diagram at a visual angle of disclosure degreasing mechanism embodiment.

Figure 13 is the structural schematic diagram at another visual angle of disclosure degreasing mechanism embodiment.

Figure 14 is the cut-away view of disclosure degreasing mechanism embodiment.

Figure 15 is the structural schematic diagram at a visual angle of the disclosure the first soft-shelled turtle device for peeling embodiment.

Figure 16 is the structural schematic diagram at another visual angle of the disclosure the first soft-shelled turtle device for peeling embodiment.

Figure 17 is the partial structural diagram of disclosure peeling knife embodiment.

Figure 18 is the structural schematic diagram of disclosure peeling knife embodiment.

Figure 19 is the structural schematic diagram of the disclosure the second soft-shelled turtle device for peeling embodiment.

Figure 20 is the cut-away view of the disclosure the second soft-shelled turtle device for peeling embodiment.

Figure 21 is disclosure storage device, turns over a device and measure the structural schematic diagram of transfer embodiment.

Figure 22 is the structural schematic diagram of disclosure storage device embodiment.

Figure 23 is that the disclosure turns over a structural schematic diagram for transfer embodiment.

Figure 24 is that the disclosure turns over a partial structural diagram for transfer embodiment.

Figure 25 is the partial structural diagram that the disclosure measures transfer embodiment.

It is indicated in figure as follows：

Soft-shelled turtle flow-line equipment-a, flow line bracket-a1, grasping mechanism-a2, grasping mechanism holder-a21, grasping mechanism Absorbent module-a22, grasping mechanism Telescopic rotating part-a221, grasping mechanism sucker-a222, grasping mechanism grabbing assembly-a23, Soft-shelled turtle head grabbing claw-a231, grabbing claw actuator-a2311, left grabbing claw-a2312, right grabbing claw-a2313, multiple degrees of freedom rotation Turn part-a232, storage device -1, storage box -11, preceding storage box -111, rear storage box -112, soft-shelled turtle outlet -1120, partition board - 113, soft-shelled turtle crosses mouth -1130, rotates driving lever -12, turns over a device -2, and transmission belt -21 turns over appliance stand -22, Fan Ge mechanism - 23, Fan Ge mechanism grippers -231, rotatory and extending device -232, the first revolving part -2321 of rotatory and extending device, rotary extension machine Structure extensible member -2322, the second revolving part -2323 of rotatory and extending device, slider-crank mechanism -233, turntable -2331, sliding rail - 2332, transfer -3 is measured, steering mechanism -31, rotating seat -311, compressing member -312, measuring unit -313, measurement are measured Item -3131 measures an actuator -3132, support base -314, topmast support -315, supporting rod -316, slide rail base -32, centre Transfer device -4, intermediate transfer device grippers -41, swingle -42, soft shelled turtle slaughtering device -5, soft-shelled turtle slaughter mechanism -51, first Fish slaughters apparatus platform -511, and laryngotome via -51100 are cut in soft-shelled turtle neck limiting slot -5110, and soft-shelled turtle cuts laryngotome -512, and soft-shelled turtle blood is received Collect slot -513, the flexibly positioned fixture -514 of soft-shelled turtle, elastic component -5141, positioning fixture clamping plate -5142, soft-shelled turtle head exposure mechanism - 52, soft-shelled turtle head stretching platform -521, soft-shelled turtle head stretches out positioning sucker disk -522, soft-shelled turtle head detector -523, soft-shelled turtle decapsidate and interior Dirty device -6, decapsidate mechanism -61, decapsidate knife -611, decapsidate knife driving unit -612, fresh-water turtle shell collecting box -613 are gone Splanchnic mechanism -62, cutting line -621, cutting line driving unit -622, internal organ collecting box -623, soft-shelled turtle degreasing device -7 are gone Grease mechanism -71, degreasing mechanism base -711, turtle four limbs pressing component -712, compression bar -7120, turtle jack up part - 713, tweezers component -714, tweezers -7141, tweezers fold up actuator -71411, main body -71412, tweezers driving unit - 7142, sparge pipe -7143, turtle cleat assembly -715, clamping plate -7151, clamping plate driving unit -7152, degreasing mechanism turn Disk -716, degreasing device pedestal -72, degreasing mechanism sliding rail -720, Grease Collection slot -73, grease testing agency -74, first Fish goes to four limbs stripping and slicing device -8, goes to four limbs mechanism -81, goes to four limbs knife -811, and four limbs knife driving unit -812, four limbs is gone to collect Case -813, cutting agency -82, cutting tool -820, cutter -8200, the first soft-shelled turtle device for peeling -9, the first remove the peel mechanism - 91, left support plate -911, right support plate -912, peeling knife -913, connecting rod -9131, blade part -9132, the first driving mechanism - 92, first driving mechanism holder -921, the first driving mechanism driving unit -922, the first driving mechanism actuator -9221, the first Driving mechanism shaft -9222, the first driving mechanism turntable -9223, left connecting rod component -923, right connecting rod component -924, the second first Fish device for peeling -10, the second removes the peel mechanism -101, removes the peel holder -1011, removes bellows -10111, cleaning water outs -10112, on Remove the peel bracket -1012, upper support frame -10121, upper air bag -10122, lower peeling bracket -1013, lower bracing frame -10131, lower gas Capsule -10132 removes the peel tooth -1014, lower peeling bracket revolving part -1015, the second peeling mechanism spraying-rinsing unit -1016, the second Driving mechanism -102, the second driving mechanism holder -1021, the second driving mechanism actuator -1022, the second driving mechanism is flexible Part -1023.

Specific implementation mode

Carry out the various exemplary embodiments of detailed description of the present invention now with reference to attached drawing.It should be noted that：Unless in addition having Body illustrates that the unlimited system of component and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally The range of invention.

It is illustrative to the description only actually of at least one exemplary embodiment below, is never used as to the present invention And its application or any restrictions that use.

Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable In the case of, the technology, method and apparatus should be considered as part of specification.

In shown here and discussion all examples, any occurrence should be construed as merely illustrative, without It is as limitation.Therefore, other examples of exemplary embodiment can have different values.

It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi It is defined, then it need not be further discussed in subsequent attached drawing in a attached drawing.

In order to solve the problems, such as that soft-shelled turtle processing work efficiency is low and labor intensity is big, the invention discloses a kind of Automated waters Product soft-shelled turtle process line.

As shown in Fig. 1 to Figure 25, the Automated water product soft-shelled turtle process line of the disclosure includes soft-shelled turtle flow-line equipment A, storage device 1, turn over device 2, measure transfer 3, soft shelled turtle slaughtering device 5, the first soft-shelled turtle device for peeling 9, the second soft-shelled turtle Device for peeling 10, soft-shelled turtle decapsidate and internal organ device 6 and soft-shelled turtle remove four limbs stripping and slicing device 8.

Storage device 1 includes storage box 11, and storage box 11 is equipped with soft-shelled turtle and exports 1120.Storage box 11 can be used for storage one Quantitative soft-shelled turtle, constantly to provide soft-shelled turtle to subsequent other devices.Soft-shelled turtle in storage box 11 exports 1120 by soft-shelled turtle Export storage device 1.The size of soft-shelled turtle outlet 1120 may be configured as that single soft-shelled turtle is only allowed to pass through.When it is implemented, can will deposit The bottom wall of storage tank 11 is set as transmission band structure, more efficiently to transmit soft-shelled turtle.

A device 2 is turned over to include transmission belt 21, turn over an appliance stand 22 and Fan Ge mechanisms 23.Transmission belt 21 is arranged to transmit From the soft-shelled turtle of 1120 output of soft-shelled turtle outlet.Fan Ge mechanisms 23, which are mounted on, to be turned on an appliance stand 22, can be connected by welding or bolt It the modes such as connects to be installed.Fan Ge mechanisms 23 include the first detector (not shown), Fan Ge mechanisms grippers 231 and rotation Telescoping mechanism 232.First detector is arranged to detect the shell of the soft-shelled turtle in transmission belt 21 and/or the direction of abdomen.First inspection The sensor that device may be, for example, detectable hardness is surveyed, since the hardness of soft-shelled turtle abdomen is less than the hardness of shell, to the first detector Can by the hardness in the face of soft-shelled turtle upward come judge soft-shelled turtle be shell or abdomen upward.Fan Ge mechanisms grippers 231 are arranged to The soft-shelled turtle that abdomen soft-shelled turtle upward or release in crawl transmission belt 21 are captured, Fan Ge mechanisms grippers 231 may be, for example, machine Tool clamping jaw or aspiration disk etc..Rotatory and extending device 232 is arranged to flexible and rotates Fan Ge mechanisms grippers 231, so that turning over A mechanism grippers 231 are mobile towards the direction closer or far from transmission belt 21 and overturn the soft-shelled turtle of crawl to shell upward.Rotation Turn telescoping mechanism 232 usually to be formed by rotatable and telescopic combination of devices, can realize Fan Ge mechanisms grippers 231 and pass The change of distance between defeated band 21, and realize the rotation of Fan Ge mechanisms grippers 231.It should be noted that turning in a device 2 "upper" refer to being directed toward the direction far from transmission belt 21, that is to say, " upward " refers to the direction for being directed away from transmission belt 21.

In general, when the first detector detects to have in transmission belt 21 abdomen soft-shelled turtle upward, rotatory and extending device 232 drives Fan Ge mechanisms grippers 231 move towards transmission belt 21 and pick up the soft-shelled turtle of abdomen upward, and then rotatory and extending device 232 drives The soft-shelled turtle that Dong Fange mechanisms grippers 231 rotate so that crawl overturns as shell upward, and then Fan Ge mechanisms grippers 231 will grab The soft-shelled turtle taken discharges to transmission belt 21, to ensure that the soft-shelled turtle in transmission belt 21 be shell upward.

It includes measuring steering mechanism 31 to measure transfer 3.It includes rotating seat 311, compressing member 312 to measure steering mechanism 31 With measuring unit 313.Rotating seat 311 is arranged to support and rotate the soft-shelled turtle of the shell transmitted from transmission belt 21 upward.Rotation Soft-shelled turtle on swivel base 311 can be rotated into head or tail portion towards consistent or other process demand direction.Compressing member 312 It is corresponding with rotating seat 311 with by soft-shelled turtle pressing on rotating seat 311.In addition, before 312 pressing soft-shelled turtle of compressing member, can first stir Soft-shelled turtle to the centre position of rotating seat 311, then by compressing member 312 by soft-shelled turtle pressing on rotating seat 311, will more reliably consolidate Soft-shelled turtle is determined on rotating seat 311.Compressing member 312 may be, for example, telescopic rod etc..Measuring unit 313 is arranged to be used for measuring and place In the size of the soft-shelled turtle on rotating seat 311.Measuring unit 313 may be, for example, infrared sensor etc..When it is implemented, measuring unit The dimension data of 313 measurable soft-shelled turtles, due to the direction that the longest direction of fresh-water turtle shell is head and tail part cloth, basis The dimension data of soft-shelled turtle can determine whether out the head of soft-shelled turtle and the position of tail portion, and rotating seat 311 rotates soft-shelled turtle according to correlated results to be made The direction for obtaining the head and tail portion of soft-shelled turtle goes to the direction needed with next process.

Soft-shelled turtle in the storage box 11 of storage device 1 passes through 1120 output of soft-shelled turtle outlet to the transmission belt 21 for turning over a device 2 On.When turning over the first detector of device 2 and detecting to have in transmission belt 21 abdomen soft-shelled turtle upward, rotatory and extending device 232 drives Dong Fange mechanisms grippers 231 move towards transmission belt 21 and pick up the soft-shelled turtle of abdomen upward, then rotatory and extending device 232 The soft-shelled turtle that driving Fan Ge mechanisms grippers 231 rotate so that crawl overturns as shell upward, and then Fan Ge mechanisms grippers 231 will The soft-shelled turtle of crawl discharges to transmission belt 21, at this time the soft-shelled turtle in transmission belt 21 be shell upward.Soft-shelled turtle in transmission belt 21 When being transferred on the rotating seat 311 for measuring transfer 3, soft-shelled turtle is pressed on rotating seat 311 by compressing member 312, to avoid first Fish is moved.Measuring unit 313 can measure the size of the soft-shelled turtle on rotating seat 311, the soft-shelled turtle measured according to measuring unit 313 Dimension data can determine whether out the head position of soft-shelled turtle.Rotating seat 311 rotates soft-shelled turtle according to correlated judgment so that the head of soft-shelled turtle It is positioned against consistent or other process demand direction.

Turning over a device 2 can automatically overturn the soft-shelled turtle of abdomen upward for shell portion upward, and measure at transfer 3 Realize the measurement of soft-shelled turtle size and the steering of soft-shelled turtle direction so that the regular arrangement of soft-shelled turtle is effectively improved soft-shelled turtle processing Working efficiency.

Soft-shelled turtle flow-line equipment a includes flow line bracket a1 and grasping mechanism a2.Flow line bracket a1 can be line style or ring Shape shape etc..Grasping mechanism a2 is mounted on flow line bracket a1, and grasping mechanism a2 can be moved along flow line bracket a1.Crawl Mechanism a2 is arranged to capture the head of soft-shelled turtle, and soft-shelled turtle is driven to be moved along flow line bracket a1, so that soft-shelled turtle is in soft-shelled turtle It slaughters device 5, the first soft-shelled turtle device for peeling 9, the second soft-shelled turtle device for peeling 10, soft-shelled turtle decapsidate and internal organ device 6 and soft-shelled turtle goes It circulates successively between four limbs stripping and slicing device 8.With the movement of grasping mechanism a2, the soft-shelled turtle on grasping mechanism a2 is between each device It is mobile, and relevant operation processing is carried out by each device.In general, soft shelled turtle slaughtering device 5, the first soft-shelled turtle device for peeling 9, the second soft-shelled turtle Device for peeling 10, soft-shelled turtle decapsidate and internal organ device 6 and soft-shelled turtle go four limbs stripping and slicing device 8 sequentially to be arranged along flow line bracket a1 Cloth,

Soft shelled turtle slaughtering device 5 slaughters mechanism 51 including soft-shelled turtle.It includes soft shelled turtle slaughtering device platform that soft-shelled turtle, which slaughters mechanism 51, 511, soft-shelled turtle cuts laryngotome 512, soft-shelled turtle cuts laryngotome driving unit (not shown) and soft-shelled turtle blood collecting tank 513.Soft-shelled turtle slaughters dress Horizontalization platform 511 is arranged to support soft-shelled turtle, grasping mechanism a2 that can be moved to soft-shelled turtle on soft shelled turtle slaughtering device platform 511.Soft-shelled turtle It cuts laryngotome driving unit and is arranged to the throat for driving soft-shelled turtle to cut the soft-shelled turtle that laryngotome 512 is cut open on soft shelled turtle slaughtering device platform 511. It may be, for example, motor or motor etc. that soft-shelled turtle, which cuts laryngotome driving unit, and in order to more efficiently cut the throat of soft-shelled turtle, soft-shelled turtle cuts laryngotome Driving unit can drive soft-shelled turtle to cut laryngotome 512 after soft-shelled turtle is placed on soft shelled turtle slaughtering device platform 511 and move linearly.Soft-shelled turtle Blood collecting tank 513 is arranged to collect soft-shelled turtle blood.Grasping mechanism a2 can tilt soft-shelled turtle when passing through soft-shelled turtle blood collecting tank 513, with Just soft-shelled turtle blood flows out more quickly.In addition, device for heating can be equipped in soft-shelled turtle blood collecting tank 513 so that soft-shelled turtle blood is more It flows as quickly out.

First soft-shelled turtle device for peeling 9 includes the first peeling mechanism 91 and the first driving mechanism 92.First peeling mechanism 91 is wrapped Include left support plate 911, right support plate 912 and the peeling knife 913 being arranged in left support plate 911 and right support plate 912.Left branch Fagging 911 and right support plate 912 may make up the working space for accommodating soft-shelled turtle.Peeling knife 913 is distributed in left support plate 911 and right branch On the opposite surface of fagging 912.In general, peeling knife 913 is evenly distributed in left support plate 911 and right support plate 912.When When soft-shelled turtle passes through between left support plate 911 and right support plate 912, the peeling knife in left support plate 911 and right support plate 912 913 can remove the rubber on the abdomen and shell of soft-shelled turtle totally.Peeling knife 913 includes connecting rod 9131 and blade part 9132.Knife Blade 9132 is located on the free end of connecting rod 9131.The concrete shape and size of blade part 9132 can be flexible according to actual demand Selection for example, blade part 9132 has saw-tooth like shape, or has fan shape.First driving mechanism 92 is arranged to drive Dynamic left support plate 911 and right support plate 912 are swung opposite to each other.Under the driving of the first driving mechanism 92,911 He of left support plate Right support plate 912 can be swung relative to each other, thus by the abdomen of the soft-shelled turtle between left support plate 911 and right support 912 With the rubber scraped clean on shell.First driving mechanism 92 may be, for example, motor or motor etc..In first soft-shelled turtle device for peeling "left", "right" merely illustrates the relative position relation between each component of the first soft-shelled turtle device for peeling, is gone when to the first soft-shelled turtle Leather jacket set carry out displacement, overturning or it is reverse when, this relative position relation will not change.The first soft-shelled turtle of the present invention goes Leather jacket sets 9 and realizes the rubber for removing clean soft-shelled turtle by the relative motion between left support plate 911 and right support plate 912, especially It is the rubber on the abdomen and shell of soft-shelled turtle.The removal of rubber is simple and efficient, and is required no hot water and is scalded bubble, does not interfere with the mouth of soft-shelled turtle Sense.

Second soft-shelled turtle device for peeling 10 includes the second peeling mechanism 101 and the second driving mechanism 102.Second peeling mechanism 101 include peeling holder 1011, upper peeling bracket 1012 and lower peeling bracket 1013.It is equipped in peeling holder 1011 and removes bellows 10111.It goes in bellows 10111 that peeling bracket 1012, lower peeling bracket 1013 and soft-shelled turtle can be accommodated.It removes the peel holder 1011 and goes The concrete structure and shape of bellows 10111 can be flexibly arranged according to actual demand.For example, peeling holder 1011, which has, encompasses circle The side wall of cylindrical shape goes bellows 10111 that can be formed by the side wall of peeling holder 1011.Upper peeling bracket 1012 and lower peeling support Peeling tooth 1014 is equipped on the opposite surface of frame 1013.Peeling tooth 1014 can be evenly distributed on peeling bracket 1012 and go down On the opposite surface of skin bracket 1013.Upper peeling bracket 1012 and lower peeling bracket 1013 are arranged to opposite during peeling Rotation, passes through relative rotation between the two, it is ensured that peeling tooth 1014 substantially effectively with upper peeling bracket 1012 and go down The rubber of soft-shelled turtle between skin bracket 1013 is in contact, to quickly and efficiently remove the rubber of soft-shelled turtle.Second driving mechanism 102 It is arranged to that peeling bracket 1012 is driven to enter or leave bellows 10111.Under the driving of the second driving mechanism 102, on Peeling bracket 1012 is positively retained at the position certain with lower peeling bracket 1013 so that above removes the peel bracket 1012 and lower peeling support Frame 1013 more efficiently removes the rubber of soft-shelled turtle.Second driving mechanism 102 may be, for example, motor or motor etc..Second soft-shelled turtle goes Leather jacket set in "upper", "lower" merely illustrate relative position relation between each component of the second soft-shelled turtle device for peeling, when right Second soft-shelled turtle device for peeling carry out displacement, overturning or it is reverse when, this relative position relation will not change.The present invention's Second soft-shelled turtle device for peeling realizes that removal is clean by the relative motion between upper peeling bracket 1012 and lower peeling bracket 1013 Rubber on the four limbs and shirt rim of the rubber of soft-shelled turtle, especially soft-shelled turtle.The removal of rubber is simple and efficient, and is required no hot water and is scalded Bubble, does not interfere with the mouthfeel of soft-shelled turtle.

Soft-shelled turtle decapsidate and internal organ device 6 include decapsidate mechanism 61 and gutting machine structure 62.Decapsidate mechanism 61 includes Decapsidate knife 611 and decapsidate knife driving unit 612.Decapsidate knife driving unit 612 is arranged to that decapsidate knife 611 is driven to put It is dynamic, so that the gap between the head and shell of the soft-shelled turtle that decapsidate knife 611 captures on grasping mechanism a2 enters soft-shelled turtle and will Fresh-water turtle shell and soft-shelled turtle trunk are separated.When it is implemented, decapsidate knife driving unit 612 drives the swing of decapsidate knife 611 Amplitude should not be too large, and interference to avoid between decapsidate knife 611 and the shell of soft-shelled turtle.Decapsidate knife driving unit 612 can example As for made of guide rail and motor combination, the driving structure that exportable multiple degrees of freedom acts.Gutting machine structure 62 includes cutting Line 621 and cutting line driving unit 622.Cutting line driving unit 622 is arranged to that cutting line 621 is driven to rotate, so that cutting Secant 621 separates the internal organ on soft-shelled turtle trunk.Cutting line driving unit 622 may be, for example, electric rotating machine etc..Cutting line 621 be linear cutter, and the abdomen that the cutting line 621 of this structure can be bonded soft-shelled turtle slides into the internal organ of soft-shelled turtle, with gripper The internal organ of the movement of structure a2, soft-shelled turtle can by high efficient and reliable separate.

It includes going to four limbs mechanism 81 and cutting agency 82 that soft-shelled turtle, which removes four limbs stripping and slicing device 8,.It includes going four to go to four limbs mechanism 81 Limb knife 811 and remove four limbs knife driving unit 812.It goes four limbs knife driving unit 812 to be arranged to driving and goes four limbs knife 811 and soft-shelled turtle The four limbs of meat are in contact and cut off four limbs.Four limbs knife 811 is gone usually to be arranged in pairs, to cut off the limb of the both sides of turtle simultaneously Foot.The four limbs cut down can be collected by four limbs collecting box 813.It may be, for example, electricity to remove four limbs knife driving unit 812 Machine or motor etc..Go four limbs knife 811 that will cut off when it is implemented, four limbs knife driving unit 812 is gone to may also be configured to driving Four limbs dial in four limbs collecting box 813.Cutting agency 82 include stripping and slicing cutter 820 and stripping and slicing cutter driving unit (in figure not It shows).Stripping and slicing cutter driving unit is arranged to stripping and slicing cutter 820 is driven to cut turtle blocking.The tool of stripping and slicing cutter 820 Body structure can be flexibly arranged according to actual demand.Cutting agency 82 may also include turtle scraper plate and turtle collecting box, soft-shelled turtle Meat scraper plate can scrape the turtle for being cut into block in turtle collecting box.

When it is implemented, soft-shelled turtle decapsidate and internal organ device 6 and soft-shelled turtle go four limbs stripping and slicing device 8 that can have corresponding work Make platform, more easily to handle soft-shelled turtle.

In use, the head of grasping mechanism a2 crawl soft-shelled turtles, and soft-shelled turtle is driven to be moved along flow line bracket a1.First, The soft-shelled turtle that grasping mechanism a2 enters soft shelled turtle slaughtering device 5 with soft-shelled turtle slaughters mechanism 51, and it is flat that soft-shelled turtle is moved to soft shelled turtle slaughtering device After on platform 511, soft-shelled turtle, which cuts laryngotome driving unit driving soft-shelled turtle and cuts laryngotome 512, cuts open soft-shelled turtle on soft shelled turtle slaughtering device platform 511 Throat.Then grasping mechanism a2 leaves soft shelled turtle slaughtering device platform 511 with the soft-shelled turtle for cutting larynx, into soft-shelled turtle blood collecting tank Soft-shelled turtle blood is collected in 513 working region.Then, grasping mechanism a2 enters the first soft-shelled turtle device for peeling 9 removal first with soft-shelled turtle Rubber on the abdomen and shell of fish removes the rubber on the four limbs and shirt rim of soft-shelled turtle into the second soft-shelled turtle device for peeling 10.Again so Afterwards, grasping mechanism a2 enters the decapsidate mechanism 61 of soft-shelled turtle decapsidate and internal organ device 6, decapsidate knife driving unit with soft-shelled turtle 612 driving decapsidate knives 611 are swung so that the head for the soft-shelled turtle that decapsidate knife 611 captures on grasping mechanism a2 and shell it Between gap enter soft-shelled turtle and fresh-water turtle shell and soft-shelled turtle trunk is separated.Followed by, grasping mechanism a2 with soft-shelled turtle trunk into Enter gutting machine structure 62, cutting line driving unit 622 drives cutting line 621 to rotate, so that cutting line 621 will be on soft-shelled turtle trunk Internal organ separate.Finally, grasping mechanism a2 goes to four limbs mechanism with what turtle entered that soft-shelled turtle removes four limbs stripping and slicing device 8 81.It is going at four limbs mechanism 81, it is that driving goes four limbs knife 811 to be in contact with the four limbs of turtle to remove four limbs knife driving unit 812 And cut off four limbs.The turtles of four limbs has been cut off by grasping mechanism a2 with cutting agency 82 is entered, by stripping and slicing cutter drives list Member driving stripping and slicing cutter 820 cuts turtle blocking.

The Automated water product soft-shelled turtle process line of the present invention can remove leather jacket by soft shelled turtle slaughtering device 5, the first soft-shelled turtle It sets the 9, second soft-shelled turtle device for peeling 10, soft-shelled turtle decapsidate and internal organ device 6 and soft-shelled turtle goes four limbs stripping and slicing device 8 automatically to first Fish cut neck, bloodletting, remove rubber, open shell, go internal organ, segmentation etc. the operation of multiple steps, and soft-shelled turtle treatment effeciency is high, cost It is low, be conducive to handle soft-shelled turtle on a large scale.

In one embodiment of disclosure Automated water product soft-shelled turtle process line, flow line bracket a1 has disk Shape shape, soft shelled turtle slaughtering device 5, soft-shelled turtle decapsidate and internal organ device 6 and soft-shelled turtle go four limbs stripping and slicing device 7 around flow line bracket A1 is arranged.The flow line bracket a1 spaces of this shape are small, are conducive to the working efficiency for improving each device.

In one embodiment of disclosure Automated water product soft-shelled turtle process line, grasping mechanism a2 includes gripper Structure holder a21, grasping mechanism absorbent module a22 and grasping mechanism grabbing assembly a23.Grasping mechanism absorbent module a22 and crawl Mechanism grabbing assembly a23 is installed on grasping mechanism holder a21.Grasping mechanism absorbent module a22 can realize fresh-water turtle shell surface Absorption, grasping mechanism grabbing assembly a23 can realize soft-shelled turtle head promptly, to reliably capturing soft-shelled turtle.

Grasping mechanism absorbent module a22 includes grasping mechanism Telescopic rotating part a221 and grasping mechanism sucker a222.Crawl Mechanism Telescopic rotating part a221 is arranged to drive grasping mechanism sucker a222 flexible and/or rotation, grasping mechanism sucker a222 It is arranged to adsorb the shell of soft-shelled turtle.Grasping mechanism Telescopic rotating part a221 refers to that flexible and rotation function device can be achieved, and is led to The position where soft-shelled turtle can be easily moved to by crossing grasping mechanism Telescopic rotating part a221, grasping mechanism sucker a222.

Grasping mechanism grabbing assembly a23 includes soft-shelled turtle head grabbing claw a231 and multiple degrees of freedom revolving part a232.Multiple degrees of freedom Revolving part a232 is arranged to drive soft-shelled turtle head grabbing claw a231 movements.In general, multiple degrees of freedom revolving part a232 can realize soft-shelled turtle The change of the position of head grabbing claw a231 three degree of freedom.It is stretched in addition, grasping mechanism grabbing assembly a23 may also include telescopic rod etc. Contracting device, to realize that soft-shelled turtle head grabbing claw a231 captures soft-shelled turtle head for greater flexibility.

Further, soft-shelled turtle head grabbing claw a231 includes grabbing claw actuator a2311, left grabbing claw a2312 and right crawl Pawl a2313.Grabbing claw actuator a2311 may be, for example, motor or telescopic rod etc..Grabbing claw actuator a2311 is arranged to drive Left grabbing claw a2312 and right grabbing claw a2313 is towards or away from movement, to capture soft-shelled turtle head for greater flexibility.

In one embodiment of disclosure Automated water product soft-shelled turtle process line, soft shelled turtle slaughtering device 5 further includes Soft-shelled turtle head exposure mechanism 52.

Soft-shelled turtle head exposure mechanism 52 includes soft-shelled turtle head stretching platform 521, soft-shelled turtle head stretching positioning sucker disk 522 and soft-shelled turtle head inspection Survey device 523.Soft-shelled turtle head stretching platform 521 is equipped with soft-shelled turtle abdomen and jacks up part (not shown).Soft-shelled turtle head stretches out positioning sucker disk 522 are arranged to adsorb fresh-water turtle shell and soft-shelled turtle is located in soft-shelled turtle abdomen to jack up on part.In addition, soft-shelled turtle head stretches out positioning sucker disk 522 can also be used to soft-shelled turtle measurement transfer 3 being transferred on soft-shelled turtle head stretching platform 521.Soft-shelled turtle abdomen jacks up part and is set The abdomen for holding out against soft-shelled turtle is set to so that soft-shelled turtle head stretches out.Soft-shelled turtle head detector 523 is arranged to be used for detection soft-shelled turtle head Position so that the head of grasping mechanism a2 crawl soft-shelled turtle.The quantity of soft-shelled turtle head detector 523 is not limited only to one, in order to Two soft-shelled turtles can be arranged along the length direction of soft-shelled turtle on soft-shelled turtle head stretching platform 521 in the position of more efficient detection soft-shelled turtle head Head detector 523.After soft-shelled turtle head stretches out on soft-shelled turtle head stretching platform 521, grasping mechanism a2 can be detected according to soft-shelled turtle head The position for the soft-shelled turtle head that device 523 detects accurately captures soft-shelled turtle head.After grasping mechanism a2 crawl soft-shelled turtle heads, killed entering soft-shelled turtle Before murderous intention structure 51, can also cleaning operation be carried out to soft-shelled turtle.

In one embodiment of disclosure Automated water product soft-shelled turtle process line, soft-shelled turtle slaughters mechanism 51 and further includes The flexibly positioned fixture of soft-shelled turtle on soft shelled turtle slaughtering device platform 511 514.The flexibly positioned fixture 514 of soft-shelled turtle is symmetrical arranged, Soft-shelled turtle to be located between the flexibly positioned fixture of two soft-shelled turtles 514.

The flexibly positioned fixture 514 of soft-shelled turtle includes elastic component 5141 and positioning fixture clamping plate 5142.One end of elastic component 5141 It is fixedly connected with soft shelled turtle slaughtering device platform 511, the other end of elastic component 5141 is connected with positioning fixture clamping plate 5142.In order to Elastic component 5141 is fixedly connected with soft shelled turtle slaughtering device platform 511 more easily, can be equipped on soft shelled turtle slaughtering device platform 511 The connecting plate being fixedly connected for elastic component 5141.After positioning fixture clamping plate 5142 is contacted with soft-shelled turtle, elastic component 5141 can basis The position of the size adjusting positioning fixture clamping plate 5142 of soft-shelled turtle.Above-mentioned elastic component 5141 may be, for example, compressed spring or shrapnel etc.. Above-mentioned be fixedly connected can be realized by modes such as welding.When it is implemented, the flexibly positioned fixture of two soft-shelled turtles 514 may make up flaring Shape, more reliably soft-shelled turtle to be fixed on soft shelled turtle slaughtering device platform 511.

Soft shelled turtle slaughtering device platform 511 is equipped with soft-shelled turtle neck limiting slot 5110.The bottom of soft-shelled turtle neck limiting slot 5110 has Cut laryngotome via 51100.Soft-shelled turtle cuts laryngotome driving unit and is arranged to that soft-shelled turtle is driven to cut the blade of laryngotome 512 by cutting laryngotome mistake Hole 51100.When soft-shelled turtle cuts the blade of laryngotome 512 by cutting laryngotome via 51100, the throat of soft-shelled turtle is cut open.Soft-shelled turtle neck Limiting slot 5110 is provided with conducive to the throat of soft-shelled turtle is more accurately cut open.

In one embodiment of disclosure Automated water product soft-shelled turtle process line, decapsidate mechanism 61 further includes using In the fresh-water turtle shell collecting box 613 for collecting fresh-water turtle shell.When it is implemented, fresh-water turtle shell can be by the grasping mechanism sucker of grasping mechanism a2 A222 absorption is moved to 613 top of fresh-water turtle shell collecting box, then discharges fresh-water turtle shell to fresh-water turtle shell collecting box 613.

In one embodiment of disclosure Automated water product soft-shelled turtle process line, gutting machine structure 62 further includes using In the internal organ collecting box 623 for collecting soft-shelled turtle internal organ.Internal organ collecting box 623 can be set within the scope of the oscillating stroke of cutting line 621, with More easily collect the internal organ cut off.

In one embodiment of disclosure Automated water product soft-shelled turtle process line, stripping and slicing cutter 820 includes polylith The cutter 8200 of crisscross setting.The cutter 8200 of this structure are conducive to turtle stripping and slicing more efficiently.

In one embodiment of disclosure Automated water product soft-shelled turtle process line, the processing of Automated water product soft-shelled turtle Assembly line further includes soft-shelled turtle degreasing device 7.Soft-shelled turtle degreasing device 7 is located at soft-shelled turtle decapsidate and internal organ device 6 and soft-shelled turtle goes Between four limbs stripping and slicing device 8.Grasping mechanism a2 brings the turtle handled in soft-shelled turtle decapsidate and internal organ device 6 into soft-shelled turtle In grease device 7, after completing degreasing, turtle is taken away soft-shelled turtle degreasing device 7 by grasping mechanism a2 again, and is brought soft-shelled turtle into and gone Four limbs stripping and slicing device 8.It, can also be right before removing four limbs stripping and slicing device 8 into soft-shelled turtle after turtle leaves soft-shelled turtle degreasing device 7 Soft-shelled turtle carries out cleaning operation.

Degreasing mechanism 71 includes degreasing mechanism base 711, turtle four limbs pressing component 712, turtle jack-up part 713 and tweezers component 714.Turtle jacks up part 713, turtle four limbs pressing component 712 and tweezers component 714 and is installed in On grease mechanism base 711.It may be, for example, that can be directed away from the direction of degreasing mechanism base 711 to stretch that turtle, which jacks up part 713, Exhibition has telescopic rod etc..Turtle four limbs pressing component 712 may be, for example, can clamping soft-shelled turtle four limbs clip etc..

Turtle four limbs pressing component 712 is arranged to the four limbs pressing by soft-shelled turtle on degreasing mechanism base 711.First The flesh of fish jacks up part 713 and is arranged to be jacked up four limbs by the turtle of pressing, so that the grease convex on turtle.Pass through Turtle four limbs pressing component 712 and turtle jack up pressing and jack-up of the part 713 to turtle, can be reliably solid by turtle It is scheduled on degreasing mechanism base 711, and the grease on turtle is made to outwardly protrude.

Tweezers component 714 includes tweezers 7141 and tweezers driving unit 7142.Tweezers 7141 can be the tweezers of tip, with more Effectively grease is pressed from both sides from turtle.Tweezers driving unit 7142 is arranged to drive tweezers 7141 relative to turtle four limbs pressure Gu component 712 and turtle jack up the turtle movement that part 713 positions, so that tweezers 7141 grip the grease on turtle. The usually 7141 multivariant movement of achievable tweezers of tweezers driving unit 7142, for example, tweezers driving unit 7142 can drive Tweezers 7141 are closer or far from turtle, and tweezers 7141 can be driven to be moved along the surface of turtle.

The soft-shelled turtle degreasing device 7 of the present invention will be fixed on the turtle on degreasing mechanism base 711 by tweezers Grease folder remove, realize degreasing automatic business processing, the removal of grease is simple and efficient.

In one embodiment of disclosure soft-shelled turtle degreasing device, turtle four limbs pressing component 712 includes compression bar 7120 and compression bar driving unit (not shown).Compression bar 7120 is arranged in pairs, to compress the forelimb on turtle respectively with after Limb.Compression bar driving unit is arranged to drive compression bar 7120 that the four limbs of turtle are pressed on degreasing mechanism base 711.

In one embodiment of disclosure soft-shelled turtle degreasing device, degreasing mechanism 71 further includes turtle cleat assembly 715。

Turtle cleat assembly 715 includes clamping plate 7151 and clamping plate driving unit 7152.Clamping plate 7151 is arranged in pairs.Clamping plate Driving unit 7152 is arranged to that 7151 stretching turtle of clamping plate is driven to jack up the turtle that part 713 jacks up.Clamping plate driving unit 7152 may be, for example, to be composed of multiple cylinders for driving clamping plate 7151 to be moved toward different directions.

The clamping plate 7151 being arranged in pairs constitutes tweezers gripping space, and tweezers 7141 are arranged to grip in tweezers gripping space Turtle on grease.The free end of clamping plate 7151 can fit with turtle, with preferably stretching turtle.Specific implementation When, the motion range of tweezers 7141 is limited in tweezers gripping space, the grease on the turtle in tweezers gripping space After the completion of folder removes, clamping plate 7151 can stretching different zones turtle so that tweezers 7141, which continue grease, presss from both sides the behaviour that removes Make.

Further, degreasing mechanism 71 further includes the degreasing mechanism turntable being mounted on degreasing mechanism base 711 716。

Turtle four limbs pressing component 712 and turtle jack up part 713 and are arranged on degreasing mechanism turntable 716, and Degreasing mechanism turntable 716 is arranged to rotate turtle four limbs pressing component 712 and turtle jacks up the soft-shelled turtle that part 713 positions Meat.After the completion of the grease folder on the turtle in tweezers gripping space removes, degreasing mechanism turntable 716 rotates, to substitute Turtle between pairs of clamping plate 7151, tweezers 7141 can continue to carry out the operation that grease folder removes to turtle.

In one embodiment of disclosure soft-shelled turtle degreasing device, tweezers 7141 fold up actuator 71411 including tweezers With the main body 71412 being arranged in pairs.

Tweezers fold up actuator 71411 and main body 71412 are driven to open and close, to grip the grease or release folder on turtle The grease got.It may be, for example, rotation motor that tweezers, which fold up actuator 71411, and the end of pairs of main body 71412 can be Engagement cooperation, tweezers, which fold up the end that actuator 71411 drives main body 71412 to engage, can reliablely and stablely realize tweezers The folding of ontology 71412.

In one embodiment of soft-shelled turtle degreasing device, tweezers component 714 further includes sparge pipe 7143.

Sparge pipe 7143 is disposed towards the water spray of tweezers 7141, to rinse the grease adhered on tweezers 7141.

In one embodiment of soft-shelled turtle degreasing device, soft-shelled turtle degreasing device 7 further includes degreasing device pedestal 72, And soft-shelled turtle degreasing device 7 has multiple degreasing mechanisms 71.

Degreasing device pedestal 72 is equipped with degreasing mechanism sliding rail 720.Degreasing mechanism base 711 and degreasing mechanism Sliding rail 720 is slidably connected so that multiple degreasing mechanisms 71 can be moved along degreasing mechanism sliding rail 720.Degreasing machine The shape of structure sliding rail 720 can be arranged according to actual demand, in general, degreasing mechanism sliding rail 720 may be configured as it is with annular shape.

Further, soft-shelled turtle degreasing device 7 further includes Grease Collection slot 73.Grease Collection slot 73 is arranged to be used for receiving The grease that collection tweezers 7141 grip.When it is implemented, degreasing mechanism base 711 may be configured as tower structure, tweezers 7141 greases gripped can be fallen in Grease Collection slot 73 from the gap of degreasing mechanism base 711.

Further, degreasing mechanism sliding rail 720 has elliptical shape.Grease Collection slot 73 is located at degreasing mechanism The both sides of the long axis of sliding rail 720.In this way, degreasing mechanism 71 degreasing mechanism sliding rail 720 long axis side move when, tweezers 7141 carry out the operation of gripping grease；Degreasing mechanism 71 is when the short axle side of degreasing mechanism sliding rail 720 is moved, tweezers 7141 Suspend the operation of grease gripping.

In one embodiment of soft-shelled turtle degreasing device, soft-shelled turtle degreasing device 7 further includes grease testing agency 74.Oil Fat testing agency 74 is arranged to detect the residual volume of grease on turtle.Grease testing agency 74 may include for detecting grease Sensor.When grease testing agency 74 detects that the removal of the grease on turtle is clean, turtle can just enter other works Sequence, otherwise degreasing mechanism 71 will continue grease gripping operation.

When it is implemented, grease testing agency 74 may be provided at the short axle side of degreasing mechanism sliding rail 720, in this way, deoiling The short axle side of fat mechanism sliding rail 720 can carry out whether grease removes clean detection, and the long axis side of degreasing mechanism sliding rail 720 is then The operation of gripping grease is carried out by tweezers 7141.

In one embodiment of the disclosure the first soft-shelled turtle device for peeling, peeling knife 913 is in left support plate 911 and right support Distribution density on plate 912 differs.In general, the distribution density of the peeling knife 913 in the support plate of the abdomen of soft-shelled turtle can It is set smaller than the distribution density of the peeling knife 913 in the support plate of the shell of soft-shelled turtle, in more efficiently removal rubber Avoid damage to turtle simultaneously.

In one embodiment of the disclosure the first soft-shelled turtle device for peeling, connecting rod 9131 is made of elastic material.Namely It is to say, when being in contact with soft-shelled turtle elastic deformation can occur for peeling knife 913, to be conducive to avoid damage to turtle.Above-mentioned bullet Property material may be, for example, rubber etc..

In one embodiment of the disclosure the first soft-shelled turtle device for peeling, blade part 9132 along connecting rod 9131 end face It radially distributes.This set is conducive to more efficiently remove the rubber of soft-shelled turtle.

Further, blade part 9132 the end face of connecting rod 9131 the area coverage of projection in the plane be more than and connect The surface area of the end face of extension bar 9131, more efficiently to remove the rubber of soft-shelled turtle.

Further, blade part 9132 has beveled end surface.As shown in Figure 17, the end face of blade part 9132 is directed away from The direction of the end face of connecting rod 9131 extends, so as to more efficiently remove the rubber of soft-shelled turtle.

In one embodiment of the disclosure the first soft-shelled turtle device for peeling, the first driving mechanism 92 includes the first driving mechanism Holder 921, the first driving mechanism driving unit 922, left connecting rod component 923 and right connecting rod component 924.First driving mechanism drives Unit 922 may be, for example, motor or motor etc..The company that left connecting rod component 923 and right connecting rod component 924 can be well known in the art The power of first driving mechanism driving unit 922 can be transferred to the first peeling mechanism 91 by rod structure.

First driving mechanism driving unit 922 is mounted on the first driving mechanism holder 921.Left connecting rod component 923 is set It is set to the first driving mechanism driving unit 922 of connection and left support plate 911, right connecting rod component 924 is arranged to connection first and drives Dynamic mechanism driving unit 922 and right support plate 912.

Further, the first driving mechanism driving unit 922 includes the first driving mechanism actuator 9221, the first driving machine Structure shaft 9222 and the first driving mechanism turntable 9223.First driving mechanism actuator 9221 is arranged to drive the first driving machine Structure shaft 9222 rotates, and the first driving mechanism turntable 9223 is fixedly connected with the first driving mechanism shaft 9222, left connecting rod component 923 and right connecting rod component 924 and the first driving mechanism turntable 9223 be rotatablely connected.In this way, when the first driving mechanism actuator When 9221 driving the first driving mechanism shaft 9222 rotation, the first driving mechanism shaft 9222 drives the first driving mechanism turntable 9223 rotate together, and the first driving mechanism turntable 9223 further drives left connecting rod component 923 and right connecting rod component 924 reciprocal It is mobile so that left support plate 911 and right support plate 912 are swung opposite to each other.

In one embodiment of the disclosure the second soft-shelled turtle device for peeling, peeling holder 1011 has cylindrical shape, on Peeling bracket 1012 and lower peeling bracket 1013 all have disk-like shape.When it is implemented, can be by upper 1012 He of peeling bracket The shape of lower peeling bracket 1013 is designed as matching with the shape for removing bellows 10111 of peeling holder 1011, to avoid up Occurring larger gap between skin bracket 1012 and lower peeling bracket 1013 and peeling holder 1011 causes soft-shelled turtle peeling unclean.

In one embodiment of the disclosure the second soft-shelled turtle device for peeling, the second peeling mechanism 101 further includes lower peeling support Frame revolving part 1015.Lower peeling bracket revolving part 1015 may be, for example, rotation motor or motor etc..Lower peeling bracket revolving part 1015 are arranged to that lower peeling bracket 1013 is driven to rotate relative to upper peeling bracket 1012.When it is implemented, up Skin bracket 1012 is positively retained at an opposing stationary state, and lower peeling bracket 1013 is driven by lower peeling bracket revolving part 1015 It rotates relative to upper peeling bracket 1012.

In one embodiment that the disclosure automates device for peeling, the second peeling mechanism 101 further includes being set to remove bellows The second peeling mechanism spraying-rinsing unit 1016 in 10111.Second peeling mechanism spraying-rinsing unit 1016 is arranged to court Soft-shelled turtle water spray between peeling bracket 1012 and lower peeling bracket 1013 upwards.Pass through the second peeling mechanism spraying-rinsing unit 1016 spraying-rinsing can rinse the rubber that the soft-shelled turtle between upper peeling bracket 1012 and lower peeling bracket 1013 removes Totally.Second peeling mechanism spraying-rinsing unit 1016, which may be configured as surrounding, goes bellows 10111 to arrange.

Removing the peel holder 1011 has cleaning water outs 10112, and ejected wash water is discharged bellows 10111.

In one embodiment that the disclosure automates device for peeling, upper peeling bracket 1012 and/or lower peeling bracket 1013 are equipped with peeling absorbing unit (not shown).It may be, for example, aspiration device etc. to remove the peel absorbing unit, can be by soft-shelled turtle It is adsorbed between peeling bracket 1012 and/or lower peeling bracket 1013.When it is implemented, in order to save cost, it can be only upper Remove the peel setting peeling absorbing unit on bracket 1012 or lower peeling bracket 1013.In addition, working as upper peeling bracket 1012 and lower peeling When bracket 1013 all has disc shape, the sucker that peeling absorbing unit can be set for the eccentric removes the peel efficiency to increase soft-shelled turtle.

In one embodiment that the disclosure automates device for peeling, upper peeling bracket 1012 includes upper support frame 10121 With upper air bag 10122.Upper air bag 10122 is mounted on upper support frame 10121.Upper air bag 10122 has certain elasticity, favorably In preferably coating soft-shelled turtle.

Lower peeling bracket 1013 includes lower bracing frame 10131 and lower gasbag 10132.Lower gasbag 10132 is mounted on lower support On frame 10131.Lower gasbag 10132 has certain elasticity, is conducive to preferably coat soft-shelled turtle.

Upper air bag 10122 and lower gasbag 10132 are oppositely arranged, and upper air bag 10122 and the opposite surface of lower gasbag 10132 On be equipped with peeling tooth 1014.Upper air bag 10122 and lower gasbag 10132 can be the rubber pneumatic bag of inflation.This structure gets on Skin bracket 1012 and lower peeling bracket 1013 are conducive to the more efficient rubber for reliably removing soft-shelled turtle.

Further, it is equipped with magnetic adsorptive material in upper air bag 10122 and lower gasbag 10132.Above-mentioned magnetic absorption material Material may be, for example, magnetic powder or magnet etc..By the suction-operated between magnetic adsorptive material, upper air bag 10122 and lower gasbag 10132 can wrap up soft-shelled turtle therebetween, realize the removal of soft-shelled turtle rubber.

In one embodiment that the disclosure automates device for peeling, the second driving mechanism 1012 includes the second driving mechanism Holder 1021, the second driving mechanism actuator 1022 and the second driving mechanism extensible member 1023.Second driving mechanism actuator 1022 may be, for example, cylinder or motor etc..Second driving mechanism extensible member 1023 may be, for example, telescopic rod etc..

Second driving mechanism actuator 1022 is mounted on the second driving mechanism holder 1021, the second driving mechanism actuator 1022 are arranged to that peeling bracket 1012 is driven to be directed away from or move close to the direction of peeling holder 1011, to avoid up Skin bracket 1012 is interferenceed with Surrounding Parts.

Second driving mechanism extensible member 1023 is mounted on the second driving mechanism actuator 1022, and the second driving mechanism is stretched Contracting part 1023 is arranged to that peeling bracket 1012 is driven to move towards the direction closer or far from lower peeling bracket 1013 so that Upper peeling bracket 1012 enters or leaves bellows 10111.

In this embodiment, when soft-shelled turtle is into when removing bellows 10111 and resting on lower peeling bracket 1013, second drives Peeling bracket 1012 is moved to the top of bellows 10111 in the driving of mechanism actuator 1022.Then the second driving mechanism is flexible The direction of peeling bracket 1012 towards lower peeling bracket 1013 is moved in the driving of part 1023, until soft-shelled turtle is pressed in peeling support It can implement soft-shelled turtle peeling between frame 1012 and lower peeling bracket 1013.After the completion of soft-shelled turtle peeling, the second driving mechanism extensible member Peeling bracket 1012 is directed away from the direction of lower peeling bracket 1013 and is moved to and leaves bellows 10111 in 1023 drivings, then Peeling bracket 1012 leaves peeling holder 1011 in the driving of second driving mechanism actuator 1022.

In one embodiment of Automated water product soft-shelled turtle process line, storage device 1 further includes rotation driving lever 12. Storage box 11 includes preceding storage box 111 and rear storage box 112.Partition board 113 is equipped between preceding storage box 111 and rear storage box 112, Partition board 113 crosses mouth 1130 equipped with soft-shelled turtle.Soft-shelled turtle outlet 1120 is located on side wall of the rear storage box 112 far from preceding storage box 111.

It rotates driving lever 12 to be mounted on partition board 113, the soft-shelled turtle in preceding storage box 111 is allocated to soft-shelled turtle and crosses mouth 1130, this Sample, soft-shelled turtle is sustainable efficiently to enter rear storage box 112 from preceding storage box 111.

In one embodiment of Automated water product soft-shelled turtle process line, it further includes crank block machine to turn over a device 2 Structure 233.Turning over a device 2 has multiple Fan Ge mechanisms 23.Slider-crank mechanism 233 is arranged to driving and turns over 22 edge of appliance stand The extending direction for transmission belt 21 moves back and forth.By slider-crank mechanism 233, turning over a device 23 can prolonging along transmission belt 21 Direction reciprocating movement is stretched, is conducive to more efficiently handle soft-shelled turtle.

Further, slider-crank mechanism 233 includes turntable 2331 and the sliding rail 2332 on the holder of transmission belt 21. Turntable 2331 and the driving unit of transmission belt 21 rotate synchronously, with while transmission belt 21 is transmitted, turntable 2331 rotates synchronously. It turns over an appliance stand 22 to be rotatablely connected with turntable 2331 so that turntable 2331, which can drive, turns over the movement of appliance stand 2.Turn over a device Holder 22 is slidably matched with sliding rail 2332.When it is implemented, spin, the spin and sliding rail can be equipped on an appliance stand 22 by turning over 2332 are slidably matched.

In one embodiment of Automated water product soft-shelled turtle process line, rotatory and extending device 232 includes that rotation is stretched The first revolving part of contracting mechanism 2321, rotatory and extending device extensible member 2322 and the second revolving part of rotatory and extending device 2323.Rotation The first revolving part of telescoping mechanism 2321 is connected with an appliance stand 22 is turned over, and rotatory and extending device extensible member 2322 is arranged to use In connection the first revolving part of rotatory and extending device 2321 and the second revolving part of rotatory and extending device 2323, rotatory and extending device second Revolving part 2323 is connected with Fan Ge mechanisms grippers 231.In this way, the first revolving part of rotatory and extending device 2321 can drive rotation Telescoping mechanism extensible member 2322 and the second revolving part of rotatory and extending device 2323 rotate together, the second revolving part of rotatory and extending device 2323 can drive Fan Ge mechanisms grippers 231 to rotate.

When it is implemented, when the first detector for turning over device 2 detects to have in transmission belt 21 abdomen soft-shelled turtle upward, rotation The rotatory and extending device extensible member 2322 for turning telescoping mechanism 232 drives Fan Ge mechanisms grippers 231 to be moved towards transmission belt 21, turns over A mechanism grippers 231 pick up the soft-shelled turtle of abdomen upward.Then the rotatory and extending device extensible member of rotatory and extending device 232 2322 driving Fan Ge mechanisms grippers 231 are directed away from the direction movement of transmission belt 21.Then rotatory and extending device second rotates The soft-shelled turtle that part 2323 drives Fan Ge mechanisms grippers 231 to rotate so that crawl overturns as shell upward, rotatory and extending device first The soft-shelled turtle of the rotation of revolving part 2321 and the release crawl of Fan Ge mechanisms grippers 231, soft-shelled turtle can drop back into transmission belt 21.It passes at this time Soft-shelled turtle on defeated band 21 be shell upward.

Further, Fan Ge mechanisms 23 are arranged in pairs.When it is implemented, the Fan Ge mechanisms 23 being arranged in pairs can For complementary design, soft-shelled turtle is efficiently overturn with more reliable.

In one embodiment of Automated water product soft-shelled turtle process line, Automated water product soft-shelled turtle process line It further include intermediate transfer device 4.Between intermediate transfer device 4 is set to Fan Ge mechanisms 23 and measures transfer 3, by transmission belt Soft-shelled turtle on 21, which is transferred to, to be measured on transfer 3.

Intermediate transfer device 4 includes intermediate transfer device grippers 41 and swingle 42.Intermediate transfer device grippers 41 It is arranged to capture the soft-shelled turtle of shell upward in transmission belt 21.Intermediate transfer device grippers 41 may be, for example, mechanical grip or gas Sucker etc..Swingle 42 is arranged to rotate intermediate transfer device grippers 41, will be grabbed in intermediate transfer device grippers 41 The soft-shelled turtle taken is transferred on rotating seat 311.Soft-shelled turtle is reliably transferred to survey by being provided with for intermediate transfer device 4 conducive to more efficient It measures on transfer 3.

In one embodiment of Automated water product soft-shelled turtle process line, it further includes sliding rail bottom to measure transfer 3 Seat 32.

It further includes support base 314 to measure steering mechanism 31, and rotating seat 311 is mounted on support base 314, and measures turning machine Structure 31 is mounted on by support base 314 in slide rail base 32.

Measuring transfer 3, there are multiple measurement steering mechanism 31, multiple measurement steering mechanism 31 to be arranged along cunning Sliding rail movement on flange of rail seat 32.In this way, measuring multiple soft-shelled turtles can be achieved at the same time in transfer 3 dimensional measurement and steering, greatly The big treatment effeciency for improving soft-shelled turtle.

Further, it further includes topmast support 315 and supporting rod 316 to measure steering mechanism 31.

Compressing member 312 and measuring unit 313 are installed on topmast support 315, and supporting rod 316 connects topmast support 315 With support base 314, with drive topmast support 315 towards closer or far from rotating seat 311 direction movement.Supporting rod 316 can example Such as it is telescopic rod.The movement of supporting rack 315 is driven by supporting rod 316, compressing member 312 and measuring unit 313 can be with tops Supporting rack 315 moves together, effectively avoid compressing member 312 and measuring unit 313 when soft-shelled turtle enters rotating seat 311 with soft-shelled turtle or Other component interferences.

Further, measuring unit 313 includes measurement item 3131 and the measurement item driving of multiple circular compressing members 312 setting Part 3132.Item 3131 is measured equipped with the second detector (not shown) for detecting soft-shelled turtle size.Second detector can For example, sensor etc. may be provided at the end for measuring item 3131, is in contact with the surface more easily with soft-shelled turtle.Measure item Actuator 3132 is arranged to drive multiple measurement items 3131 towards the direction movement closer or far from compressing member 312.Work as measurement Actuator 3132 drives the measurement item 3131 of all circular compressing members 312 to be moved to connect with the soft-shelled turtle under compressing member 312 Touch when, soft-shelled turtle can be measured the center position that item 3131 pushes to rotating seat 311, at this time measure an actuator 3132 stop after Continuous driving measures item 3131, and soft-shelled turtle is pressed on rotating seat 311 by compressing member 312, and subsequent measuring unit 313 measures the ruler of soft-shelled turtle Very little data can according to the dimension data of soft-shelled turtle due to the direction that the longest direction of fresh-water turtle shell is head and tail part cloth Judge that the head of soft-shelled turtle and the position of tail portion, rotating seat 311 rotate the head and tail portion that soft-shelled turtle makes soft-shelled turtle according to correlated results Direction go to the direction needed with next process.Then it measures the driving measurement item 3131 of an actuator 3132 and is directed away from pressure The direction movement of tight part 312, compressing member 312 leaves soft-shelled turtle, to facilitate soft-shelled turtle to enter next process.

Although some specific embodiments of the present invention are described in detail by example, the skill of this field Art personnel it should be understood that example above merely to illustrating, the range being not intended to be limiting of the invention.The skill of this field Art personnel are it should be understood that can without departing from the scope and spirit of the present invention modify to above example.This hair Bright range is defined by the following claims.

Claims (10)

1. a kind of Automated water product soft-shelled turtle process line, which is characterized in that including soft-shelled turtle flow-line equipment, storage device, A device, measurement transfer, soft shelled turtle slaughtering device, the first soft-shelled turtle device for peeling, the second soft-shelled turtle device for peeling, soft-shelled turtle is turned over to go outside Shell and internal organ device and soft-shelled turtle remove four limbs stripping and slicing device；Wherein,

The storage device includes storage box, and the storage box is exported equipped with soft-shelled turtle；

The device of turning over includes transmission belt, turns over an appliance stand and Fan Ge mechanisms, the transmission belt are arranged to be transferred from institute State the soft-shelled turtle of soft-shelled turtle outlet output, the Fan Ge mechanisms be mounted on it is described turn on an appliance stand, the Fan Ge mechanisms include the One detector, Fan Ge mechanisms grippers and rotatory and extending device, first detector are arranged to detect in the transmission belt Soft-shelled turtle shell and/or abdomen direction, Fan Ge mechanisms grippers are arranged to capture the abdomen court in the transmission belt On the soft-shelled turtle that is captured of soft-shelled turtle or release, the rotatory and extending device is arranged to flexible and rotates the Fan Ge mechanisms crawl Part, so that Fan Ge mechanisms grippers are mobile towards the direction closer or far from the transmission belt and turn over the soft-shelled turtle of crawl Go to shell upward；

The measurement transfer includes measuring steering mechanism, and the measurement steering mechanism includes rotating seat, compressing member and measurement Unit, the rotating seat are arranged to support and rotate the soft-shelled turtle of the shell transmitted from the transmission belt upward, the compression Part is corresponding with the rotating seat to be located at institute so that on the rotating seat, the measuring unit is arranged to measure by soft-shelled turtle pressing State the size of the soft-shelled turtle on rotating seat；

The soft-shelled turtle flow-line equipment includes flow line bracket and grasping mechanism, and the grasping mechanism is mounted on the assembly line branch On frame, the grasping mechanism is arranged to capture the head of soft-shelled turtle, and described in soft-shelled turtle is transferred to from the measurements transfer In soft shelled turtle slaughtering device, and soft-shelled turtle is driven to be moved along the flow line bracket, so that soft-shelled turtle slaughters dress in the soft-shelled turtle It sets, the first soft-shelled turtle device for peeling, the second soft-shelled turtle device for peeling, the soft-shelled turtle decapsidate and internal organ device and the first Fish goes between four limbs stripping and slicing device to circulate successively；

The soft shelled turtle slaughtering device includes that soft-shelled turtle slaughters mechanism, and it includes soft shelled turtle slaughtering device platform, first that the soft-shelled turtle, which slaughters mechanism, Fish cuts laryngotome, soft-shelled turtle cuts laryngotome driving unit and soft-shelled turtle blood collecting tank, and the soft shelled turtle slaughtering device platform is arranged to support first Fish, the soft-shelled turtle, which cuts laryngotome driving unit and is arranged to the soft-shelled turtle is driven to cut laryngotome, to cut open on the soft shelled turtle slaughtering device platform Soft-shelled turtle throat, the soft-shelled turtle blood collecting tank be arranged to collect soft-shelled turtle blood；

The first soft-shelled turtle device for peeling includes the first peeling mechanism and the first driving mechanism, and first peeling mechanism includes a left side Support plate, right support plate and the peeling knife being arranged in the left support plate and the right support plate, the peeling knife distribution On the opposite surface of the left support plate and the right support plate, the peeling knife includes connecting rod and blade part, the knife Blade is located on the free end of the connecting rod, and first driving mechanism is arranged to drive the left support plate and the right side Support plate is swung opposite to each other；

The second soft-shelled turtle device for peeling includes the second peeling mechanism and the second driving mechanism, and second peeling mechanism includes going Cutaneous branch frame, upper peeling bracket and lower peeling bracket are equipped in the peeling holder and remove bellows, the upper peeling bracket and it is described under Peeling bracket is equipped with peeling tooth on opposite surface, and the upper peeling bracket and the lower peeling bracket are arranged to going Relative rotation during skin, second driving mechanism are arranged to that the upper peeling bracket is driven to enter or leave the peeling Chamber；

The soft-shelled turtle decapsidate and internal organ device include decapsidate mechanism and gutting machine structure, and the decapsidate mechanism includes outside going Shell knife and decapsidate knife driving unit, the decapsidate knife driving unit are arranged to that the decapsidate knife is driven to swing, so that Gap between the decapsidate knife head and shell of the soft-shelled turtle that are captured on the grasping mechanism enters soft-shelled turtle and by soft-shelled turtle Shell and soft-shelled turtle trunk are separated, and the gutting machine structure includes cutting line and cutting line driving unit, the cutting line driving Unit is arranged to that the cutting line is driven to rotate, so that the cutting line separates the internal organ on soft-shelled turtle trunk；

It includes going to four limbs mechanism and cutting agency that the soft-shelled turtle, which removes four limbs stripping and slicing device, described to go to four limbs mechanism including removing four limbs knife With remove four limbs knife driving unit, it is described that four limbs knife driving unit is gone to be arranged to remove the four limbs of four limbs knife and turtle described in driving It is in contact and cuts off four limbs, the cutting agency includes stripping and slicing cutter and stripping and slicing cutter driving unit, the stripping and slicing cutter drives Unit is arranged to the stripping and slicing cutter is driven to cut turtle blocking.

2. Automated water product soft-shelled turtle process line according to claim 1, which is characterized in that the flow line bracket With disk-like shape, the soft shelled turtle slaughtering device, the first soft-shelled turtle device for peeling, the second soft-shelled turtle device for peeling, institute It states soft-shelled turtle decapsidate and internal organ device and the soft-shelled turtle goes four limbs stripping and slicing device ring to be arranged around the flow line bracket.

3. Automated water product soft-shelled turtle process line according to claim 1, which is characterized in that the grasping mechanism packet Grasping mechanism holder, grasping mechanism absorbent module and grasping mechanism grabbing assembly are included, the grasping mechanism holder is mounted on described On flow line bracket, the grasping mechanism absorbent module and the grasping mechanism grabbing assembly are installed in the grasping mechanism branch On frame；

The grasping mechanism absorbent module includes grasping mechanism Telescopic rotating part and grasping mechanism sucker, and the grasping mechanism is flexible Revolving part is arranged to drive the grasping mechanism sucker flexible and/or rotation, the grasping mechanism sucker are arranged to adsorb The shell of soft-shelled turtle；

The grasping mechanism grabbing assembly includes soft-shelled turtle head grabbing claw and multiple degrees of freedom revolving part, the multiple degrees of freedom revolving part quilt It is set as driving the soft-shelled turtle head grabbing claw movement.

4. Automated water product soft-shelled turtle process line according to claim 1, which is characterized in that the soft-shelled turtle slaughters dress It further includes soft-shelled turtle head exposure mechanism to set；

The soft-shelled turtle head exposure mechanism includes soft-shelled turtle head stretching platform, soft-shelled turtle head stretching positioning sucker disk and soft-shelled turtle head detector, institute It states soft-shelled turtle head stretching platform and is equipped with soft-shelled turtle abdomen jack-up part, the soft-shelled turtle head stretches out positioning sucker disk and is arranged to adsorb fresh-water turtle shell And soft-shelled turtle is located in soft-shelled turtle abdomen and is jacked up on part, the soft-shelled turtle abdomen jack up part be arranged to be used for holding out against the abdomen of soft-shelled turtle with So that soft-shelled turtle head stretches out, the soft-shelled turtle head detector is arranged to be used for the position of detection soft-shelled turtle head, so that the gripper Structure captures the head of soft-shelled turtle.

5. Automated water product soft-shelled turtle process line according to claim 1, which is characterized in that the soft-shelled turtle slaughters machine Structure further includes the flexibly positioned fixture of soft-shelled turtle being mounted on the soft shelled turtle slaughtering device platform, the flexibly positioned fixture pair of soft-shelled turtle Claim setting, soft-shelled turtle is located between two flexibly positioned fixtures of soft-shelled turtle；

The flexibly positioned fixture of soft-shelled turtle includes elastic component and positioning fixture clamping plate, and one end of the elastic component is killed with the soft-shelled turtle It kills apparatus platform to be fixedly connected, the other end of the elastic component is connected with the positioning fixture clamping plate；

The soft shelled turtle slaughtering device platform is equipped with soft-shelled turtle neck limiting slot, and the bottom of the soft-shelled turtle neck limiting slot, which has, cuts laryngotome mistake Hole, the soft-shelled turtle cuts laryngotome driving unit and is arranged to the blade for driving the soft-shelled turtle to cut laryngotome cuts laryngotome via by described.

6. Automated water product soft-shelled turtle process line according to claim 1, which is characterized in that the decapsidate mechanism It further include the fresh-water turtle shell collecting box for collecting fresh-water turtle shell.

7. Automated water product soft-shelled turtle process line according to claim 1, which is characterized in that the gutting machine structure It further include the internal organ collecting box for collecting soft-shelled turtle internal organ.

8. Automated water product soft-shelled turtle process line according to claim 1, which is characterized in that the stripping and slicing cutter packet Include the cutter of the crisscross setting of polylith.

9. the Automated water product soft-shelled turtle process line according to any one of claim 1 to 8, which is characterized in that institute It further includes soft-shelled turtle degreasing device to state Automated water product soft-shelled turtle process line, and the soft-shelled turtle degreasing device is located at the first Fish decapsidate and internal organ device and the soft-shelled turtle go between four limbs stripping and slicing device；

The soft-shelled turtle degreasing device includes degreasing mechanism, and the degreasing mechanism includes degreasing mechanism base, turtle Four limbs pressing component, turtle jack up part and tweezers component, the turtle jack up part, the turtle four limbs pressing component and The tweezers component is installed on the degreasing mechanism base, and the turtle four limbs pressing component is arranged to soft-shelled turtle Four limbs pressing on the degreasing mechanism base, the turtle jacks up part and is arranged to four limbs by the turtle of pressing It jacks up, so that the grease convex on turtle, the tweezers component is arranged to be used for the grease on gripping turtle, institute It includes tweezers and tweezers driving unit to state tweezers component, and the tweezers driving unit is arranged to drive the tweezers relative to institute It states turtle four limbs pressing component and the turtle jacks up the turtle movement of part positioning, so that the tweezers grip soft-shelled turtle Grease on meat.

10. Automated water product soft-shelled turtle process line according to claim 9, which is characterized in that the soft-shelled turtle deoils Fat device further includes degreasing device pedestal, and the soft-shelled turtle degreasing device has multiple degreasing mechanisms；

The degreasing device pedestal is equipped with degreasing mechanism sliding rail, the degreasing mechanism base and the degreasing mechanism Sliding rail is slidably connected.